EP3395748A1 - Hoisting engine - Google Patents

Hoisting engine Download PDF

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Publication number
EP3395748A1
EP3395748A1 EP18169406.8A EP18169406A EP3395748A1 EP 3395748 A1 EP3395748 A1 EP 3395748A1 EP 18169406 A EP18169406 A EP 18169406A EP 3395748 A1 EP3395748 A1 EP 3395748A1
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EP
European Patent Office
Prior art keywords
arm
machine
platform
elevation
sensor
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EP18169406.8A
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German (de)
French (fr)
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EP3395748B1 (en
Inventor
Patrice Challon
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Manitou BF SA
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Manitou BF SA
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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
    • 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
    • B66F11/044—Working platforms suspended from booms
    • 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 present invention generally relates to nacelle lifting gear.
  • Such a machine usually comprises a rolling frame provided with a powertrain.
  • the frame comprises a turret which carries, via a movement mechanism, an elevation arm at the end of which is coupled a nacelle, also called platform, in which there is an operator.
  • the nacelle is in the form of a working floor equipped with guardrails against the risk of falls.
  • the nacelle is usually equipped with a control interface of the machine that allows the operator to control the lifting and lowering movement of the lift arm and the movement of the machine.
  • the lifting and lowering movement of the lifting arm is made possible by two connecting arms arranged substantially parallel to each other. These connecting arms are each hinged on the one hand to the turret and, on the other hand, to a connecting piece.
  • the elevation arm is articulated on said connecting piece.
  • a link is further mounted hinged between one of the link arms and the telescopic arm to animate the relative movement of the elevating arm relative to the link arms.
  • the raising and lowering movement of the lifting arm is achieved by the actuation of a lifting cylinder, the body of which is articulated to the connecting shaft situated on the side of the lifting arm, and whose stem is articulated to said elevation arm.
  • Such a design of the lifting and lowering system of the lift arm keeps the connecting piece in an orientation that remains unchanged regardless of the angular position of the lift arm relative to the ground.
  • Maintaining the orientation of the connecting piece during the angular displacement of the elevating arm allows the use of a simple master-slave jack system to maintain the horizontality of the floor of the platform during the lifting and release. lowering the lift arm.
  • a master cylinder is coupled, on the one hand, to the connecting piece whose orientation is fixed and, on the other hand, to the elevation arm.
  • a slave cylinder is coupled on the one hand to the arm and on the other hand to the nacelle system.
  • the connecting piece whose orientation remains unchanged during the movement of the arm is used as a reference so that it is easy to configure the master cylinder so that, during the angular displacement of the elevation arm, it sends to slave cylinder, an oil flow that compensates for the impact of the angular displacement of the elevation arm on the orientation of the platform.
  • the present invention aims to provide a machine to overcome all or part of the problems described above.
  • an object of the present invention is to provide an aerial work platform machine for which the number of mechanical parts necessary for the displacement of the elevation arm is reduced, while maintaining in a simple and reliable way the maintenance function of the horizontality of the floor of the platform regardless of the position of the lift arm during operation of the machine.
  • the invention relates to a machine according to claim 1
  • the machine is in accordance with one of claims 2 to 11.
  • the fact of keeping the angular parameter sensor in the platform system, and not for example on the lift arm itself, provides a measurement which makes it possible to determine the inclination of the platform and thus to control a correction of angle without this correction being distorted by a possible buckling of the elevation arm or by the situation of the machine on a sloping ground.
  • the invention relates to a lifting machine 1, also called aerial work platform.
  • Said machine comprises a pod system 7 which includes a platform 71, also called nacelle.
  • the nacelle system 7 comprises a parallelogram structure 70 coupled to the platform 71 and articulated to the elevating arm 2 by means of a hinge device 72.
  • the hinge device 72 of the nacelle system 7 is articulated at the end of the lifting arm 2 to allow the nacelle system 7 to rotate in a given angular range around the horizontal axis A7.
  • the nacelle system 7 in the example illustrated in the figures is a pendular system.
  • the platform 7 is directly articulated to the elevation arm 2 by a hinged portion secured to the platform 71, that is to say without possible relative displacement between the platform and said hinged portion which allows articulate the nacelle system to the lift arm.
  • Said machine 1 comprises a frame 100 provided with moving means, for example wheels 19.
  • the frame 100 comprises a chassis 102 rolling and a turret 101 rotatably mounted on the frame 102 rolling.
  • the turret 101 is rotatably mounted around an orthogonal axis A1 with respect to the ground support plane of the machine.
  • said machine does not have a turret but a fixed structure relative to the chassis.
  • said machine comprises stabilizers, making the machine non-movable.
  • the machine comprises an arm 2 of telescopic elevation at the end of which is coupled the nacelle system 7.
  • the elevation arm 2 is carried by the turret 101 by means of a displacement mechanism which makes it possible to accompany the movement of the elevation arm 2 between a raised position and a lowered position.
  • Said displacement mechanism comprises a first connecting arm 3 and a second linking arm 4, called a pull rod, articulated to the turret of the frame 100 at two distinct points of the turret 101.
  • the link arm 3 and the tie rod 4 are further articulated directly to the lifting arm 2 at two distinct points of the lifting arm 2.
  • the link arm 3, as well as the tie rod 4, is located between the turret 101 and the lift arm 2.
  • the connecting arm 3 is located between the tie rod 4 and the lifting arm 2.
  • a lifting cylinder 5 is articulated to the connecting arm 3 and the arm 2 elevation.
  • the lift cylinder 5 allows lifting and lowering of the lift arm 2.
  • a correction jack 8 is articulated to the elevation arm 2 and the nacelle system 7.
  • the tie rod 4 is of shorter length than that of the connecting arm 3.
  • the tie rod 4 and the linking arm 3 define, with the turret 101 of the frame 100 to which they are articulated, and with the lower end 20 of the arm 2 of elevation, a deformable quadrilateral.
  • Said vehicle 1 also comprises a sensor 9 configured to measure an angular parameter representative of an inclination, or of a variation of inclination, of the nacelle system 7.
  • Said angular parameter may be an angle, or a variation of angle, measured by the sensor in a vertical plane so as to obtain a measurement representative of the inclination of the platform relative to the horizontal plane.
  • said angular parameter representative of the inclination of the platform corresponds to an angle or variation of angle around a horizontal axis corresponding to or parallel to the hinge axis A7 of the nacelle system 7 relative to the arm 2 elevation.
  • a second sensor is provided to provide a redundancy function to limit the risk of measurement error and thus improve the safety of the machine.
  • the embodiments described in connection with a sensor also applies to the use of a second sensor.
  • the senor 9 is arranged in the part 72 of the nacelle system which is articulated to the end of the arm 2 elevation.
  • the sensor can also be arranged on the platform 71, in the absence or in the presence of parallelogram structure 70.
  • the machine comprises a control system 10 configured to control, according to said parameter measured by the sensor 9, the correction jack 8 so as to maintain the platform 71 of the platform system 7 horizontal.
  • control system 10 comprises a processing system 11, which comprises, for example, a computer, to which the sensor is connected and a hydraulic distributor 12 to which the correction jack is connected and which is controllable by the processing unit. function of the data provided by the sensor.
  • the processing system 11 can compare the value measured by the sensor 9 at a given instant with a reference value corresponding to the horizontality of the floor of the platform and, in case of a difference greater than a given threshold value, to control, through the hydraulic distributor 12, the correction cylinder 8 for correcting the inclination of the platform system 7, according to the difference, in order to maintain the horizontal platform.
  • the processing system controls the hydraulic distributor so as to send to the correction cylinder 8 an oil flow adapted to correct the position of the platform 71 to maintain its horizontality.
  • the distributor 12 comprises a proportional valve (not shown) which makes it possible to control the oil flow supplied to the correction jack 8, and the control of the distributor 12 by the processing system 11 comprises the control of said proportional valve to obtain an oil flow for actuating the correction cylinder 8 to maintain the horizontal platform.
  • the flow of oil to be sent according to the measured parameter can be defined by charts and / or a mathematical formula.
  • the machine 1 comprises a hydraulic circuit which includes the hydraulic distributor 12.
  • a motor 13, for example the engine of the powertrain of the machine makes it possible to pressurize the oil in order to circulate it in the hydraulic circuit. It can be envisaged to consider that the motor 13 is or is not part of the control system.
  • the processing system 11 can be implemented in the form of electronic components and / or a computer processor, for example of the microprocessor or microcontroller type.
  • the control or control functions can be implemented as implemented programs that include computer instructions for performing their function, or as dedicated electronic components.
  • a second processing system for performing independently of the first tilt angle monitoring from the information of a second angular parameter sensor, and thus improve the safety of the machine.
  • program storage devices such as computer-readable digital data storage media, or executable programs. Programs or instructions can also be run from program storage devices.
  • program storage devices such as computer-readable digital data storage media, or executable programs. Programs or instructions can also be run from program storage devices.
  • the platform 71 advantageously comprises a control interface (not shown) making it possible to control the movement of the vehicle 1, the output of the elevation arm 2, the rotation of the turret 101, the pivoting of the nacelle system 7, and the lift cylinder 5 to control lifting and lowering of the lift arm 2.
  • the control interface is connected to a control system for controlling the actuators associated with the functions presented below.
  • Said control system may be distinct from the control system 10 or comprise common parts, such as a computer and the hydraulic distributor.
  • the control interface can also be implemented in the form of electronic components and / or a computer processor.

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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

L'invention concerne un engin (1) de levage comprenant un système de nacelle (7) comprenant une plateforme (71). L'engin comprend un bras (2) d'élévation auquel est articulé le système de nacelle (7), un premier bras (3) de liaison et un tirant (4) articulés au bâti (100) en deux points distincts du bâti de l'engin. Un vérin (8) de correction est articulé au bras (2) d'élévation et au système de nacelle (7). Le premier bras (3) de liaison et le tirant sont en outre articulés directement au bras (2) d'élévation en deux points distincts du bras. Un capteur (9) est configuré pour mesurer un paramètre angulaire représentatif d'une inclinaison, ou d'une variation d'inclinaison, du système de nacelle (7) par rapport à l'horizontal, et un système de commande (10) est configuré pour commander, en fonction dudit paramètre mesuré par le capteur (9), le vérin (8) de correction de manière à maintenir horizontalement la plateforme (71) du système de nacelle (7).

Figure imgaf001
The invention relates to a lifting machine (1) comprising a platform system (7) comprising a platform (71). The machine comprises an elevation arm (2) to which is articulated the nacelle system (7), a first connecting arm (3) and a tie rod (4) hinged to the frame (100) at two distinct points of the frame of the craft. A correction jack (8) is articulated to the lift arm (2) and the nacelle system (7). The first link arm (3) and the tie rod are further articulated directly to the lifting arm (2) at two distinct points of the arm. A sensor (9) is configured to measure an angular parameter representative of an inclination, or variation of inclination, of the nacelle system (7) relative to the horizontal, and a control system (10) is configured to control, according to said parameter measured by the sensor (9), the cylinder (8) correction so as to maintain horizontally platform (71) of the nacelle system (7).
Figure imgaf001

Description

DOMAINE DE L'INVENTIONFIELD OF THE INVENTION

La présente invention concerne de manière générale les engins de levage à nacelle.The present invention generally relates to nacelle lifting gear.

ART ANTERIEURPRIOR ART

On connait de l'état de la technique des engins à nacelle élévatrice servant à faciliter l'accès à une zone de travail en hauteur. Un tel engin comporte usuellement un bâti roulant muni d'un groupe motopropulseur. Le bâti comprend une tourelle qui porte, par l'intermédiaire d'un mécanisme de déplacement, un bras d'élévation à l'extrémité duquel est couplé une nacelle, encore appelée plateforme, dans laquelle se trouve un opérateur. La nacelle se présente sous la forme d'un plancher de travail équipé de rambardes de protection contre le risque de chutes.The state of the art of aerial work platform machines is known to facilitate access to a work area at height. Such a machine usually comprises a rolling frame provided with a powertrain. The frame comprises a turret which carries, via a movement mechanism, an elevation arm at the end of which is coupled a nacelle, also called platform, in which there is an operator. The nacelle is in the form of a working floor equipped with guardrails against the risk of falls.

La nacelle est usuellement équipée d'une interface de pilotage de l'engin qui permet à l'opérateur de piloter le mouvement de levée et de baisse du bras d'élévation et le déplacement de l'engin.The nacelle is usually equipped with a control interface of the machine that allows the operator to control the lifting and lowering movement of the lift arm and the movement of the machine.

Le mouvement de levée et de baisse du bras d'élévation est rendu possible par deux bras de liaison agencés sensiblement parallèles l'un par rapport à l'autre. Ces bras de liaison sont chacun articulés d'une part à la tourelle et, d'autre part, à une pièce de liaison.The lifting and lowering movement of the lifting arm is made possible by two connecting arms arranged substantially parallel to each other. These connecting arms are each hinged on the one hand to the turret and, on the other hand, to a connecting piece.

Le bras d'élévation est monté articulé sur ladite pièce de liaison. Une biellette est en outre montée articulée entre l'un des bras de liaison et le bras télescopique pour animer le déplacement relatif du bras d'élévation par rapport aux bras de liaison.The elevation arm is articulated on said connecting piece. A link is further mounted hinged between one of the link arms and the telescopic arm to animate the relative movement of the elevating arm relative to the link arms.

Le mouvement de levée et de baisse du bras d'élévation est obtenu par l'actionnement d'un vérin de levage, dont le corps est articulé à l'arbre de liaison situé du côté du bras d'élévation, et dont la tige est articulée audit bras d'élévation.The raising and lowering movement of the lifting arm is achieved by the actuation of a lifting cylinder, the body of which is articulated to the connecting shaft situated on the side of the lifting arm, and whose stem is articulated to said elevation arm.

Un telle conception du système de levage et d'abaissement du bras d'élévation permet de maintenir la pièce de liaison dans une orientation qui reste inchangée quelle que soit la position angulaire du bras d'élévation par rapport au sol.Such a design of the lifting and lowering system of the lift arm keeps the connecting piece in an orientation that remains unchanged regardless of the angular position of the lift arm relative to the ground.

La conservation de l'orientation de la pièce de liaison au cours du déplacement angulaire du bras d'élévation permet d'utiliser un simple système de vérin maître-esclave pour conserver l'horizontalité du plancher de la nacelle lors de la levée et de l'abaissement du bras d'élévation. En particulier, un vérin maître est couplé, d'une part, à la pièce de liaison dont l'orientation est fixe et, d'autre part, au bras d'élévation. Un vérin esclave est couplé d'une part au bras et, d'autre part, au système de nacelle. Ainsi au cours du déplacement du bras d'élévation, le vérin maître transfert au vérin esclave un débit d'huile qui est fonction du déplacement angulaire du bras d'élévation.Maintaining the orientation of the connecting piece during the angular displacement of the elevating arm allows the use of a simple master-slave jack system to maintain the horizontality of the floor of the platform during the lifting and release. lowering the lift arm. In particular, a master cylinder is coupled, on the one hand, to the connecting piece whose orientation is fixed and, on the other hand, to the elevation arm. A slave cylinder is coupled on the one hand to the arm and on the other hand to the nacelle system. Thus, during the displacement of the elevating arm, the master cylinder transfers to the slave cylinder an oil flow which is a function of the angular displacement of the elevation arm.

En effet, la pièce de liaison dont l'orientation reste inchangée au cours du déplacement du bras sert de référence de sorte qu'il est aisé de configurer le vérin maitre pour que, lors du déplacement angulaire du bras d'élévation, il envoie au vérin esclave, un débit d'huile qui compense l'impact du déplacement angulaire du bras d'élévation sur l'orientation de la plateforme.Indeed, the connecting piece whose orientation remains unchanged during the movement of the arm is used as a reference so that it is easy to configure the master cylinder so that, during the angular displacement of the elevation arm, it sends to slave cylinder, an oil flow that compensates for the impact of the angular displacement of the elevation arm on the orientation of the platform.

Cependant, une telle cinématique de levage et d'abaissement du bras d'élévation est complexe et nécessite un nombre important de pièces mécaniques et d'articulations.However, such kinematics lifting and lowering of the elevation arm is complex and requires a large number of mechanical parts and joints.

La présente invention a pour but de proposer un engin permettant de palier à tout ou partie des problèmes exposés ci-dessus.The present invention aims to provide a machine to overcome all or part of the problems described above.

En particulier, un but de la présente invention est de proposer un engin à nacelle élévatrice pour lequel le nombre de pièce mécanique nécessaire au déplacement du bras d'élévation est réduit, tout en conservant de manière simple et fiable la fonction de maintien de l'horizontalité du plancher de la nacelle quelle que soit la position du bras d'élévation lors du fonctionnement de l'engin.In particular, an object of the present invention is to provide an aerial work platform machine for which the number of mechanical parts necessary for the displacement of the elevation arm is reduced, while maintaining in a simple and reliable way the maintenance function of the horizontality of the floor of the platform regardless of the position of the lift arm during operation of the machine.

RESUME DE L'INVENTIONSUMMARY OF THE INVENTION

A cet effet, l'invention a pour objet un engin selon la revendication 1For this purpose, the invention relates to a machine according to claim 1

Le fait de réaliser le montage articulé du bras principal et du tirant, directement sur le bras d'élévation, permet de simplifier la cinématique de levage et d'abaissement du bras d'élévation et ainsi de réduire le nombre de pièce mécanique et d'articulation à utiliser par comparaison aux solutions connues de l'état de la technique.Achieving the articulated mounting of the main arm and the tie rod, directly on the elevating arm, makes it possible to simplify the kinematics of lifting and lowering of the elevation arm and thus to reduce the number of mechanical parts and articulation to use compared to known solutions of the state of the art.

En outre, le fait de combiner à cette cinématique simplifiée, l'utilisation d'un capteur qui mesure un paramètre angulaire représentatif de l'inclinaison ou de la variation d'inclinaison de la plateforme pour commander le vérin de correction, permet d'assurer le maintien horizontal de la plateforme malgré le fait qu'aucune pièce dans le mécanisme de déplacement du bras d'élévation ne conserve une orientation constante lors du déplacement dudit bras d'élévation.In addition, the fact of combining with this simplified kinematics, the use of a sensor which measures an angular parameter representative of the inclination or the variation of inclination of the platform to control the correction jack, makes it possible to ensure the horizontal holding of the platform despite the fact that no part in the mechanism of displacement of the elevating arm keeps a constant orientation during the displacement of said elevating arm.

Selon une caractéristique avantageuse de l'invention, l'engin est conforme à l'une des revendications 2 à 11.According to an advantageous characteristic of the invention, the machine is in accordance with one of claims 2 to 11.

Le fait de ménager le capteur de paramètre angulaire dans le système de nacelle, et non pas par exemple sur le bras d'élévation lui-même, fournit une mesure qui permet de déterminer l'inclinaison de la plateforme et ainsi de commander une correction d'angle sans que cette correction soit faussée par un éventuel flambage du bras d'élévation ou bien par la situation de l'engin sur un sol en dévers.The fact of keeping the angular parameter sensor in the platform system, and not for example on the lift arm itself, provides a measurement which makes it possible to determine the inclination of the platform and thus to control a correction of angle without this correction being distorted by a possible buckling of the elevation arm or by the situation of the machine on a sloping ground.

BREVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS

D'autres caractéristiques et avantages de l'invention ressortiront encore de la description qui suit, laquelle est purement illustrative et non limitative et doit être lue en regard des dessins annexés, sur lesquels :

  • la figure 1 est une vue d'une partie d'un engin de levage conformément à un mode de réalisation de l'invention, le bras d'élévation étant en position levée, l'extrémité du bras d'élévation et le système de nacelle couplé audit bras n'étant pas représenté ;
  • la figure 2 est une vue d'une partie d'un engin de levage conformément à un mode de réalisation de l'invention, montrant l'extrémité du bras d'élévation et le système de nacelle couplé audit bras, l'autre partie de l'engin pouvant être par exemple conforme à la figure 1, un vérin de correction et un système de commande correspondant étant aussi schématisés sur la figure 2 ;
  • la figure 3 est une vue de la partie de l'engin de la figure 1, en position abaissée du bras d'élévation ;
  • la figure 4 est une vue de détail de la zone IV de la figure 2 montrant l'agencement du capteur dans le système de nacelle et le vérin de correction, conformément à un mode de réalisation de l'invention.
Other features and advantages of the invention will become apparent from the description which follows, which is purely illustrative and nonlimiting and should be read with reference to the accompanying drawings, in which:
  • the figure 1 is a view of a portion of a hoist according to one embodiment of the invention, the lift arm being in the raised position, the end of the lift arm and the nacelle system coupled to said arm not being represented;
  • the figure 2 is a view of a portion of a hoist according to one embodiment of the invention, showing the end of the lifting arm and the nacelle system coupled to said arm, the other part of the machine which may be, for example, in accordance with the figure 1 , a correction jack and a corresponding control system are also shown schematically on the figure 2 ;
  • the figure 3 is a view of the part of the craft of the figure 1 in the lowered position of the lift arm;
  • the figure 4 is a detail view of the IV zone of the figure 2 showing the arrangement of the sensor in the nacelle system and the correction jack, in accordance with one embodiment of the invention.

DESCRIPTION DETAILLEEDETAILED DESCRIPTION

Le concept de l'invention est décrit plus complètement ci-après avec référence aux dessins joints, sur lesquels des modes de réalisation du concept de l'invention sont montrés. Sur les dessins, la taille et les tailles relatives des éléments peuvent être exagérées à des fins de clarté. Des numéros similaires font référence à des éléments similaires sur tous les dessins. Cependant, ce concept de l'invention peut être mis en oeuvre sous de nombreuses formes différentes et ne devrait pas être interprété comme étant limité aux modes de réalisation exposés ici. L'étendue de l'invention est par conséquent définie par les revendications jointes. Les modes de réalisation qui suivent sont examinés, par souci de simplification, en relation avec la terminologie et la structure d'un véhicule de manutention de charge.The concept of the invention is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for clarity. Similar numbers refer to similar items on all drawings. However, this concept of the invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. The scope of the invention is therefore defined by the appended claims. The following embodiments are examined, for the sake of simplicity, in relation to the terminology and structure of a load handling vehicle.

Une référence dans toute la spécification à « un mode de réalisation » signifie qu'une fonctionnalité, une structure, ou une caractéristique particulière décrite en relation avec un mode de réalisation est incluse dans au moins un mode de réalisation de la présente invention. Ainsi, l'apparition de l'expression « dans un mode de réalisation » à divers emplacements dans toute la spécification ne fait pas nécessairement référence au même mode de réalisation. En outre, les fonctionnalités, les structures, ou les caractéristiques particulières peuvent être combinées de n'importe quelle manière appropriée dans un ou plusieurs modes de réalisation.Reference throughout the specification to "an embodiment" means that a particular feature, structure, or feature described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in one embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. In addition, the particular features, structures, or features may be combined in any suitable manner in one or more embodiments.

L'invention concerne un engin 1 de levage, encore appelé engin à nacelle élévatrice. Ledit engin comprend un système de nacelle 7 qui comporte une plateforme 71, encore appelée nacelle.The invention relates to a lifting machine 1, also called aerial work platform. Said machine comprises a pod system 7 which includes a platform 71, also called nacelle.

Dans l'exemple illustré plus particulièrement à la figure 2, le système de nacelle 7 comprend une structure à parallélogramme 70 couplée à la plateforme 71 et articulée au bras d'élévation 2 par l'intermédiaire d'un dispositif d'articulation 72.In the example illustrated more particularly in figure 2 , the nacelle system 7 comprises a parallelogram structure 70 coupled to the platform 71 and articulated to the elevating arm 2 by means of a hinge device 72.

Le dispositif d'articulation 72 du système de nacelle 7 est articulé à l'extrémité du bras d'élévation 2 pour permettre au système de nacelle 7 de pivoter dans une plage angulaire donnée autour de l'axe horizontal A7. Autrement dit, le système de nacelle 7 dans l'exemple illustré aux figures, est un système pendulaire. En variante, on peut prévoir que la plateforme 7 soit directement articulée au bras d'élévation 2 par une partie articulée solidaire de la plateforme 71, c'est-à-dire sans déplacement relatif possible entre la plateforme et ladite partie articulée qui permet d'articuler le système de nacelle au bras d'élévation.The hinge device 72 of the nacelle system 7 is articulated at the end of the lifting arm 2 to allow the nacelle system 7 to rotate in a given angular range around the horizontal axis A7. In other words, the nacelle system 7 in the example illustrated in the figures, is a pendular system. Alternatively, it can be provided that the platform 7 is directly articulated to the elevation arm 2 by a hinged portion secured to the platform 71, that is to say without possible relative displacement between the platform and said hinged portion which allows articulate the nacelle system to the lift arm.

Ledit engin 1 comprend un bâti 100 muni de moyens de déplacement, par exemple des roues 19. Le bâti 100 comprend un châssis 102 roulant et une tourelle 101 montée rotative sur le châssis 102 roulant. La tourelle 101 est montée rotative autour d'un axe orthogonal A1 par rapport au plan d'appui au sol de l'engin. En variante, on pourrait prévoir que ledit engin ne comporte pas de tourelle mais une structure fixe par rapport au châssis roulant.Said machine 1 comprises a frame 100 provided with moving means, for example wheels 19. The frame 100 comprises a chassis 102 rolling and a turret 101 rotatably mounted on the frame 102 rolling. The turret 101 is rotatably mounted around an orthogonal axis A1 with respect to the ground support plane of the machine. Alternatively, it could be provided that said machine does not have a turret but a fixed structure relative to the chassis.

Selon un mode de réalisation, on peut prévoir que ledit engin comporte des stabilisateurs, rendant l'engin non mobile.According to one embodiment, it can be provided that said machine comprises stabilizers, making the machine non-movable.

L'engin comprend un bras 2 d'élévation télescopique à l'extrémité duquel est couplé le système de nacelle 7.The machine comprises an arm 2 of telescopic elevation at the end of which is coupled the nacelle system 7.

Le bras 2 d'élévation est porté par la tourelle 101 par l'intermédiaire d'un mécanisme de déplacement qui permet d'accompagner le déplacement du bras 2 d'élévation entre une position relevée et une position abaissée. Ledit mécanisme de déplacement comprend un premier bras de liaison 3 et un deuxième bras de liaison 4, appelé tirant, articulés à la tourelle du bâti 100 en deux points distincts de la tourelle 101.The elevation arm 2 is carried by the turret 101 by means of a displacement mechanism which makes it possible to accompany the movement of the elevation arm 2 between a raised position and a lowered position. Said displacement mechanism comprises a first connecting arm 3 and a second linking arm 4, called a pull rod, articulated to the turret of the frame 100 at two distinct points of the turret 101.

Le bras de liaison 3 et le tirant 4 sont en outre articulés directement au bras 2 d'élévation en deux points distincts du bras 2 d'élévation. Le bras de liaison 3, de même que le tirant 4, est situé entre la tourelle 101 et le bras 2 d'élévation. En outre, en position abaissée du bras d'élévation, le bras de liaison 3, est situé entre le tirant 4 et le bras 2 d'élévation.The link arm 3 and the tie rod 4 are further articulated directly to the lifting arm 2 at two distinct points of the lifting arm 2. The link arm 3, as well as the tie rod 4, is located between the turret 101 and the lift arm 2. In addition, in the lowered position of the elevating arm, the connecting arm 3 is located between the tie rod 4 and the lifting arm 2.

Un vérin 5 de levage est articulé au bras de liaison 3 et au bras 2 d'élévation. Le vérin 5 de levage permet le levage et l'abaissement du bras 2 d'élévation.A lifting cylinder 5 is articulated to the connecting arm 3 and the arm 2 elevation. The lift cylinder 5 allows lifting and lowering of the lift arm 2.

Un vérin 8 de correction est articulé au bras 2 d'élévation et au système de nacelle 7.A correction jack 8 is articulated to the elevation arm 2 and the nacelle system 7.

Le tirant 4 est de longueur inférieure à celle du bras de liaison 3. Le tirant 4 et le bras de liaison 3 définissent, avec la tourelle 101 du bâti 100 auxquels ils sont articulés, et avec l'extrémité inférieure 20 du bras 2 d'élévation, un quadrilatère déformable.The tie rod 4 is of shorter length than that of the connecting arm 3. The tie rod 4 and the linking arm 3 define, with the turret 101 of the frame 100 to which they are articulated, and with the lower end 20 of the arm 2 of elevation, a deformable quadrilateral.

Ledit engin 1 comprend aussi un capteur 9 configuré pour mesurer un paramètre angulaire représentatif d'une inclinaison, ou d'une variation d'inclinaison, du système de nacelle 7. Ledit paramètre angulaire peut être un angle, ou une variation d'angle, mesurée par le capteur dans un plan vertical de manière à obtenir une mesure représentative de l'inclinaison de la plateforme par rapport au plan horizontal. Autrement dit, ledit paramètre angulaire représentatif de l'inclinaison de la plateforme correspond à un angle ou variation d'angle autour d'un axe horizontal correspondant à ou parallèle à l'axe d'articulation A7 du système de nacelle 7 par rapport au bras 2 d'élévation.Said vehicle 1 also comprises a sensor 9 configured to measure an angular parameter representative of an inclination, or of a variation of inclination, of the nacelle system 7. Said angular parameter may be an angle, or a variation of angle, measured by the sensor in a vertical plane so as to obtain a measurement representative of the inclination of the platform relative to the horizontal plane. In other words, said angular parameter representative of the inclination of the platform corresponds to an angle or variation of angle around a horizontal axis corresponding to or parallel to the hinge axis A7 of the nacelle system 7 relative to the arm 2 elevation.

Comme expliqué ci-avant, une telle conception d'articulation du tirant 4 et du bras de liaison 3 directement sur le bras 2, combinée à l'utilisation d'un capteur d'inclinaison pour commander le vérin 8 de correction, permet de définir une cinématique de levée et d'abaissement du bras 2 de manière simple et avec un nombre réduit de pièce tout en conservant la fonctionnalité de maintien de l'horizontale de la plateforme, c'est-à-dire du plancher de la plateforme. Autrement dit, une telle conception de l'engin permet de bénéficier d'une correction d'assiette automatique de la plateforme de manière simple et fiable tout en bénéficiant également d'une cinématique simplifiée de déplacement du bras d'élévation. En particulier, la présence du capteur 9 permet de s'exempter de vérin maitre.As explained above, such a joint design of the tie rod 4 and the link arm 3 directly on the arm 2, combined with the use of a tilt sensor to control the correction jack 8, makes it possible to define a lift and lowering kinematics of the arm 2 in a simple manner and with a reduced number of parts while retaining the functionality of maintaining the horizontal platform, that is to say, the floor of the platform. In other words, such a design of the machine makes it possible to benefit from an automatic attitude correction of the platform in a simple and reliable manner while also benefiting from a simplified kinematics of movement of the elevating arm. In particular, the presence of the sensor 9 makes it possible to freeze the master cylinder.

Avantageusement, il est prévu un deuxième capteur pour assurer une fonction de redondance afin de limiter le risque d'erreur de mesure et ainsi améliorer la sécurité de l'engin. Ainsi, les modes de réalisation décrits en lien avec un capteur s'applique aussi à l'utilisation d'un deuxième capteur.Advantageously, a second sensor is provided to provide a redundancy function to limit the risk of measurement error and thus improve the safety of the machine. Thus, the embodiments described in connection with a sensor also applies to the use of a second sensor.

Selon un mode de réalisation préféré illustré plus particulièrement aux figures 2 et 4, le capteur 9 est agencé dans la partie 72 du système de nacelle qui est articulée à l'extrémité du bras 2 d'élévation. Le capteur peut aussi être agencé sur la plateforme 71, en l'absence ou en présence de structure à parallélogramme 70.According to a preferred embodiment illustrated more particularly in figures 2 and 4 , the sensor 9 is arranged in the part 72 of the nacelle system which is articulated to the end of the arm 2 elevation. The sensor can also be arranged on the platform 71, in the absence or in the presence of parallelogram structure 70.

L'engin comprend un système de commande 10 configuré pour commander, en fonction dudit paramètre mesuré par le capteur 9, le vérin 8 de correction de manière à maintenir horizontale la plateforme 71 du système de nacelle 7.The machine comprises a control system 10 configured to control, according to said parameter measured by the sensor 9, the correction jack 8 so as to maintain the platform 71 of the platform system 7 horizontal.

Avantageusement, le système de commande 10 comprend un système 11 de traitement, qui comprend par exemple un calculateur, à laquelle est raccordée le capteur et un distributeur 12 hydraulique auquel est raccordé le vérin de correction et qui est commandable par l'unité de traitement en fonction des données fournies par le capteur.Advantageously, the control system 10 comprises a processing system 11, which comprises, for example, a computer, to which the sensor is connected and a hydraulic distributor 12 to which the correction jack is connected and which is controllable by the processing unit. function of the data provided by the sensor.

Lorsque l'engin est sous tension, c'est-à-dire alimenté électriquement, le capteur 9 mesure de manière régulière, la valeur dudit paramètre angulaire. Avantageusement, le système de traitement 11 peut comparer la valeur mesurée par le capteur 9 à un instant donné avec une valeur de référence correspondant à l'horizontalité du plancher de la plateforme et, en cas de différence supérieure à une valeur seuil donnée, commander, par l'intermédiaire du distributeur hydraulique 12, le vérin 8 de correction pour corriger l'inclinaison du système de nacelle 7, en fonction de ladite différence, afin de maintenir la plateforme horizontale. En particulier, le système de traitement commande le distributeur hydraulique de manière à envoyer au vérin 8 de correction un débit d'huile adapté à corriger la position de la plateforme 71 pour maintenir son horizontalité.When the machine is powered, that is to say electrically powered, the sensor 9 measures regularly, the value of said angular parameter. Advantageously, the processing system 11 can compare the value measured by the sensor 9 at a given instant with a reference value corresponding to the horizontality of the floor of the platform and, in case of a difference greater than a given threshold value, to control, through the hydraulic distributor 12, the correction cylinder 8 for correcting the inclination of the platform system 7, according to the difference, in order to maintain the horizontal platform. In particular, the processing system controls the hydraulic distributor so as to send to the correction cylinder 8 an oil flow adapted to correct the position of the platform 71 to maintain its horizontality.

Selon un mode de réalisation, il est prévu d'opérer une étape de calibration du capteur, de préférence en sortie d'usine de l'engin, pour définir l'horizontalité de sorte que la valeur mesurée par le capteur correspond à l'angle d'inclinaison de la plateforme par rapport à l'horizontale.According to one embodiment, it is planned to carry out a step of calibrating the sensor, preferably at the factory outlet of the machine, to define the horizontality so that the value measured by the sensor corresponds to the angle inclination of the platform relative to the horizontal.

Selon un mode de réalisation, le distributeur 12 comprend une vanne proportionnelle (non représentée) qui permet de piloter le débit d'huile fourni au vérin 8 de correction, et la commande du distributeur 12 par le système de traitement 11 comprend la commande de ladite vanne proportionnelle pour obtenir un débit d'huile permettant d'actionner le vérin 8 de correction pour maintenir la plateforme horizontale.According to one embodiment, the distributor 12 comprises a proportional valve (not shown) which makes it possible to control the oil flow supplied to the correction jack 8, and the control of the distributor 12 by the processing system 11 comprises the control of said proportional valve to obtain an oil flow for actuating the correction cylinder 8 to maintain the horizontal platform.

Le débit d'huile à envoyer en fonction du paramètre mesuré peut être défini par des abaques et/ou une formule mathématique.The flow of oil to be sent according to the measured parameter can be defined by charts and / or a mathematical formula.

L'engin 1 comprend un circuit hydraulique dont fait partie le distributeur 12 hydraulique. Un moteur 13, par exemple le moteur du groupe motopropulseur de l'engin permet de mettre en pression l'huile afin de la faire circuler dans le circuit hydraulique. On peut prévoir de considérer que le moteur 13 fait ou non partie du système de commande.The machine 1 comprises a hydraulic circuit which includes the hydraulic distributor 12. A motor 13, for example the engine of the powertrain of the machine makes it possible to pressurize the oil in order to circulate it in the hydraulic circuit. It can be envisaged to consider that the motor 13 is or is not part of the control system.

Le système de traitement 11 peut être réalisé sous la forme de composants électroniques et/ou d'un processeur informatique, par exemple de type microprocesseur ou microcontrôleur. Les fonctions de commande ou pilotage peuvent être réalisées sous la forme de programmes implémentés qui comprennent des instructions informatiques permettant de réaliser leur fonction, ou sous la forme de composant électroniques dédiés. Avantageusement, il est prévu un deuxième système de traitement pour effectuer indépendamment du premier une surveillance de l'angle d'inclinaison à partir des informations d'un deuxième capteur de paramètre angulaire, et ainsi améliorer la sécurité de l'engin.The processing system 11 can be implemented in the form of electronic components and / or a computer processor, for example of the microprocessor or microcontroller type. The control or control functions can be implemented as implemented programs that include computer instructions for performing their function, or as dedicated electronic components. Advantageously, there is provided a second processing system for performing independently of the first tilt angle monitoring from the information of a second angular parameter sensor, and thus improve the safety of the machine.

Ces programmes d'ordinateur, ou instructions informatiques, peuvent être contenus dans des dispositifs de stockage de programme, par exemple des supports de stockage de données numériques lisibles par ordinateur, ou des programmes exécutables. Les programmes ou instructions peuvent aussi être exécutés à partir de périphériques de stockage de programme.These computer programs, or computer instructions, may be contained in program storage devices, such as computer-readable digital data storage media, or executable programs. Programs or instructions can also be run from program storage devices.

Ces programmes d'ordinateur, ou instructions informatiques, peuvent être contenus dans des dispositifs de stockage de programme, par exemple des supports de stockage de données numériques lisibles par ordinateur, ou des programmes exécutables. Les programmes ou instructions peuvent aussi être exécutés à partir de périphériques de stockage de programme.These computer programs, or computer instructions, may be contained in program storage devices, such as computer-readable digital data storage media, or executable programs. Programs or instructions can also be run from program storage devices.

La plateforme 71 comprend avantageusement une interface de pilotage (non représentée) permettant de commander le déplacement de l'engin 1, la sortie du bras d'élévation 2, la rotation de la tourelle 101, le pivotement du système de nacelle 7, et le vérin 5 de levage pour piloter la levée et l'abaissement du bras d'élévation 2. L'interface de pilotage est raccordée à un système de commande permettant de commander les actionneurs associés aux fonctions présentée ci-dessous. Ledit système de commande peut être distinct du système de commande 10 ou comprendre des parties communes, tels qu'un calculateur et le distributeur hydraulique. L'interface de pilotage peut aussi être réalisée sous la forme de composants électroniques et/ou d'un processeur informatique.The platform 71 advantageously comprises a control interface (not shown) making it possible to control the movement of the vehicle 1, the output of the elevation arm 2, the rotation of the turret 101, the pivoting of the nacelle system 7, and the lift cylinder 5 to control lifting and lowering of the lift arm 2. The control interface is connected to a control system for controlling the actuators associated with the functions presented below. Said control system may be distinct from the control system 10 or comprise common parts, such as a computer and the hydraulic distributor. The control interface can also be implemented in the form of electronic components and / or a computer processor.

L'invention n'est pas limitée aux modes de réalisation illustrés dans les dessins. En conséquence, il doit être entendu que, lorsque les caractéristiques mentionnées dans les revendications annexées sont suivies par des signes de référence, ces signes sont inclus uniquement dans le but d'améliorer l'intelligibilité des revendications et ne sont nullement limitatifs de la portée des revendications.The invention is not limited to the embodiments illustrated in the drawings. Accordingly, it should be understood that when the features mentioned in the appended claims are followed by reference signs, these signs are included solely for the purpose of improving the intelligibility of the claims and are in no way limiting to the scope of the claims. claims.

De plus, le terme « comprenant » n'exclut pas d'autres éléments ou étapes. En outre, des caractéristiques ou étapes qui ont été décrites en référence à l'un des modes de réalisation exposés ci-dessus peuvent également être utilisées en combinaison avec d'autres caractéristiques ou étapes d'autres modes de réalisation exposés ci-dessus.Moreover, the term "including" does not exclude other elements or steps. In addition, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.

Claims (11)

Engin (1) de levage comprenant : - un système de nacelle (7) comprenant une plateforme (71) ; - un bâti (100) ; - un bras (2) d'élévation auquel est articulé le système de nacelle (7) ; - un premier bras de liaison (3) et un deuxième bras de liaison (4) articulés au bâti (100) ; - un vérin (8) de correction articulé au bras (2) d'élévation et au système de nacelle (7) ; caractérisé en ce que le premier bras de liaison (3) et le deuxième bras de liaison (4), appelé tirant, étant en outre articulés directement au bras (2) d'élévation; et en ce que ledit engin (1) comprend aussi : - un capteur (9) configuré pour mesurer un paramètre angulaire représentatif d'une inclinaison, ou d'une variation d'inclinaison, du système de nacelle (7) par rapport l'horizontal, - un système de commande (10) configuré pour commander, en fonction dudit paramètre mesuré par le capteur (9), le vérin (8) de correction de manière à maintenir horizontalement la plateforme (71) du système de nacelle (7). Lift gear (1) comprising: a nacelle system (7) comprising a platform (71); - a frame (100); - An arm (2) of elevation which is articulated the nacelle system (7); - a first link arm (3) and a second link arm (4) hinged to the frame (100); - A correction jack (8) articulated to the arm (2) elevation and the nacelle system (7); characterized in that the first link arm (3) and the second link arm (4), called the tie rod, are further articulated directly to the lift arm (2); and in that said machine (1) also comprises: a sensor (9) configured to measure an angular parameter representative of an inclination, or of a variation of inclination, of the nacelle system (7) with respect to the horizontal, - A control system (10) configured to control, according to said parameter measured by the sensor (9), the cylinder (8) of correction so as to maintain horizontally the platform (71) of the nacelle system (7). Engin (1) selon la revendication 1, caractérisé en ce que le tirant (4) est de longueur inférieure à celle du premier bras de liaison (3).Machine (1) according to claim 1, characterized in that the tie rod (4) is shorter than the length of the first connecting arm (3). Engin (1) selon l'une des revendications précédentes, caractérisé en ce que le capteur (9) est un inclinomètre.Machine (1) according to one of the preceding claims, characterized in that the sensor (9) is an inclinometer. Engin (1) selon l'une des revendications précédentes, caractérisé en ce que, le capteur (9) est solidaire de la plateforme (71) ou d'une partie (72) du système de nacelle (7) dont l'inclinaison par rapport au sol varie de la même façon que l'inclinaison de la plateforme (71) par rapport au sol.Machine (1) according to one of the preceding claims, characterized in that the sensor (9) is integral with the platform (71) or a part (72) of the nacelle system (7) whose inclination by relative to the ground varies in the same way as the inclination of the platform (71) relative to the ground. Engin (1) selon la revendication 4, caractérisé en ce que ladite partie du système (72) de nacelle comprend un dispositif d'articulation permettant d'articuler le système de nacelle (7) au bras (2) d'élévation.Machine (1) according to claim 4, characterized in that said part of the nacelle system (72) comprises a hinge device allowing articulating the nacelle system (7) to the lift arm (2). Engin (1) selon l'une des revendications précédentes, caractérisé en ce que le système de nacelle (7) comprend une structure à parallélogramme (70) couplée à la plateforme (71) et articulée au bras (2) d'élévation.Machine (1) according to one of the preceding claims, characterized in that the nacelle system (7) comprises a parallelogram structure (70) coupled to the platform (71) and articulated to the arm (2) elevation. Engin (1) selon l'une des revendications 1 à 5, caractérisé en ce que le système de nacelle (7) comprend une partie articulée au bras (2) d'élévation et en ce que la plateforme (71) est solidaire de ladite partie articulée au bras (2) d'élévation.Machine (1) according to one of claims 1 to 5, characterized in that the nacelle system (7) comprises a portion articulated to the arm (2) elevation and in that the platform (71) is integral with said articulated part to the arm (2) elevation. Engin (1) selon l'une des revendications précédentes, caractérisé en ce que, ledit engin comportant un circuit hydraulique qui comprend un distributeur (12) hydraulique auquel est raccordé le vérin (8) de correction pour permettre de commander ledit vérin (8) de correction,
le système de commande (10) comprend un système de traitement (11), auquel est raccordé le capteur (9), qui est configuré pour commander le distributeur (12) hydraulique, en fonction du paramètre mesuré par le capteur (9), de manière à actionner le vérin (8) de correction pour maintenir horizontalement la plateforme (71).Machine (1) according to one of the preceding claims, characterized in that , said machine comprising a hydraulic circuit which comprises a distributor (12) hydraulic which is connected to the cylinder (8) for correcting to control said cylinder (8) correction,
the control system (10) comprises a processing system (11) to which is connected the sensor (9), which is configured to control the hydraulic distributor (12), depending on the parameter measured by the sensor (9), in order to actuate the correction jack (8) to maintain the platform (71) horizontally. Engin (1) selon l'une des revendications précédentes, caractérisé en ce que, le bâti (100) comprend un châssis (102), de préférence roulant, et une tourelle (101) montée rotative sur le châssis (102), ledit premier bras (3) de liaison et le tirant (4) étant montés articulés sur la tourelle (101).Machine (1) according to one of the preceding claims, characterized in that , the frame (100) comprises a frame (102), preferably rolling, and a turret (101) rotatably mounted on the frame (102), said first connecting arm (3) and the tie rod (4) being hingedly mounted on the turret (101). Engin (1) selon l'une des revendications précédentes, caractérisé en ce que ledit engin comprend un vérin (5) de levage articulé au premier bras (3) de liaison et au bras (2) d'élévation pour permettre le levage et l'abaissement du bras (2) d'élévation.Machine (1) according to one of the preceding claims, characterized in that said machine comprises a lifting jack (5) hinged to the first link arm (3) and to the lifting arm (2) to allow the lifting and the lifting. lowering the arm (2) elevation. Engin (1) selon l'une des revendications précédentes, caractérisé en ce que ledit bras (2) d'élévation est un bras télescopique.Machine (1) according to one of the preceding claims, characterized in that said arm (2) elevation is a telescopic arm.
EP18169406.8A 2017-04-28 2018-04-26 Hoisting engine Active EP3395748B1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4331215A (en) * 1980-02-12 1982-05-25 Jlg Industries, Inc. Controls for aerial lift platform apparatus
FR2511998A1 (en) * 1981-08-27 1983-03-04 Laillet Jean Vertically movable maintenance basket - has actuator operating via support arms to move basket vertically
US20120211301A1 (en) * 2011-02-22 2012-08-23 Genie Industries, Inc. Platform leveling system
US9162861B1 (en) * 2014-04-18 2015-10-20 Westchester Capital, Llc Dielectric support arm for a yoke platform

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4331215A (en) * 1980-02-12 1982-05-25 Jlg Industries, Inc. Controls for aerial lift platform apparatus
FR2511998A1 (en) * 1981-08-27 1983-03-04 Laillet Jean Vertically movable maintenance basket - has actuator operating via support arms to move basket vertically
US20120211301A1 (en) * 2011-02-22 2012-08-23 Genie Industries, Inc. Platform leveling system
US9162861B1 (en) * 2014-04-18 2015-10-20 Westchester Capital, Llc Dielectric support arm for a yoke platform

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FR3065717B1 (en) 2020-04-24
FR3065717A1 (en) 2018-11-02

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