EP3480159A1 - Machine for working at height and method of stabilising such a machine - Google Patents

Abstract

A work machine at height comprising a frame, at least one ground displacement member connected to said frame and at least one working member (4), comprising a proximal end (40) connected to said frame and a distal end adapted for s' extending in height away from said frame, the frame comprising at least one stabilizing device (5) comprising a main frame (50) defining a horizontal plane (PH), a ballast (52), displacement means (6, 7) said ballast (52) in said horizontal plane (PH) and control means configured to move the ballast (52) in said horizontal plane (PH) according to the position of the distal end of the working member in order to 'increase the stability of the machine.

Description

GENERAL TECHNICAL FIELD AND PRIOR ART

The present invention relates to the field of work machines in height, in particular, a machine for the elevation of equipment and people to carry out a maintenance operation in operated railway environment.

With reference to the figure 1 , a work machine in height 100 conventionally comprises a frame 102 equipped with displacement members 103 on the ground S (wheels, tracks, axle, etc.) and at least one working member 104 adapted to extend in height for example, to act on an equipment E located in height (catenary, etc.).

In known manner, the working member 104 is movable relative to the frame 102 in order to tilt, turn or bend to reach the desired point in height. In practice, the working member 104 extends cantilever and it is important to ensure the stability of the work machine 100 during the displacement of the working member 104 to prevent a tilting and a reversal of the work machine 100. This is all the more critical that the work member 104 may comprise at its upper end a nacelle hosting operators.

In order to avoid any accident by tilting or overturning, the possibilities of displacement of the working member 104 are limited within a tolerance range θ as illustrated in FIG. figure 1 . Such a tolerance range θ is in a known manner represented by a so-called stability polygon.

Also, to reach a position outside the tolerance range θ, it is necessary to deploy stabilizing crutches to prevent the machine from overturning, which increases the duration of implementation. Moreover, the presence of crutches increases the size of the machine which then exceeds the size of the rail track on which it circulates. In other words, the use of such a machine requires a significant capability footprint, that is to say, an obligation of all railway operators to significantly reduce or even cease their activities. Indeed, the operators have in particular the obligation to interrupt the rail traffic on the track or tracks directly adjacent to the one where the machine is present, as well during the installation phase of this one as in the realization phase of works.

In a known manner, to eliminate this disadvantage, a specific machine is used for each task to ensure that the machine is adapted to perform the task and thus prevent tipping. Such an implementation is expensive and does not allow to perform different tasks in the same railway area.

The invention therefore aims to eliminate at least some of these disadvantages by proposing a new type of work machine height.

Incidentally, it is known from the patent application WO2009 / 02509A1 a frame for a construction vehicle, in particular, of the "backhoe" type. The vehicle frame has movable portions to allow the frame to lengthen or shorten. Thus, the size of the chassis evolves according to the needs.

GENERAL PRESENTATION OF THE INVENTION

To this end, the invention relates to a work machine at height comprising a frame, at least one ground displacement member connected to said frame and at least one working member, comprising a proximal end connected to said frame and a distal end adapted to extend in height away from said frame.

The invention is remarkable in that the chassis comprises at least one stabilization device comprising a main frame defining a horizontal plane, a ballast, means for moving said weight in said horizontal plane and control means configured to move the ballast in said horizontal plane depending on the position of the distal end of the working member to increase the stability of the work machine.

A dynamic displacement of the ballast makes it possible to move the center of gravity of the chassis. Thus, the cantilever of the working member can be compensated by adapting the position of the center of gravity. This advantageously makes it possible to increase the angular working range of the working member and to avoid the use of stabilizing crutches or the use of specific machines for each task to be performed. In addition, the stabilization is obtained "internally" without increasing the dimensions of the work machine. In other words, the work machine does not exceed the size of a railway track, which allows the movement of trains on the rail or railways adjacent to that on which the work machine is located. Productivity is thus improved and the capacity footprint is reduced significantly compared to that of a conventional machine. The displacement means are configured to move the ballast in said horizontal plane in the main frame so as not to change the size of the stabilization device.

In addition, a displacement of the ballast in a horizontal plane allows a robust guidance despite the high weight of the ballast.

Preferably, the displacement means comprise first displacement means along a longitudinal axis and second displacement means along a lateral axis. The use of dedicated displacement means for each axis of displacement increases the reliability and limits the risk of malfunction. This is particularly advantageous in view of the high weight of the ballast.

More preferably, the displacement means are configured to move the ballast along a longitudinal axis over a distance of between 50 cm and 90 cm and along a lateral axis over a distance of between 1100 cm and 2200 cm.

Preferably, the ballast has a mass of between 1000 kg and 4000 kg.

Preferably, the work machine comprises rail displacement means, in particular, railway wheels. Preferably, the work machine comprises means for measuring the mechanical forces of said railway wheels in order to measure the mechanical stability of the work machine.

Preferably, the ballast extends along the length of the chassis to improve the stability of the chassis during the dynamic displacement of the ballast. Preferably, the ballast has a length of between 200 cm and 400 cm.

According to a preferred aspect, the stabilizing device comprises an auxiliary frame movably mounted in the main frame, the ballast being mounted movably in the auxiliary frame. The use of dedicated frames for each axis of movement increases the reliability and limits the risk of malfunction. This is particularly advantageous in view of the high weight of the ballast.

Preferably, the displacement means comprise first means for moving the auxiliary frame in the main frame along a longitudinal axis and second means for moving the ballast in the auxiliary frame along a lateral axis.

Preferably, the stabilizing device comprises a guide spar which extends into a through-opening of the ballast to guide it. Such a spar allows, on the one hand, to guide the ballast and, on the other hand, to partially support its mass.

• une étape de mesure de la position de l'extrémité distale de l'organe de travail par rapport au châssis,
• une étape de détermination, par le module de commande, d'une position du lest dans le plan horizontal qui améliore la stabilité et
• une étape de déplacement du lest, par les moyens de déplacement, à la position déterminée.

The invention further relates to a method of stabilizing a work machine in height as presented above, the method comprising:

• a step of measuring the position of the distal end of the working member relative to the frame,
• a step of determining, by the control module, a ballast position in the horizontal plane which improves the stability and
• a step of moving the ballast, by the displacement means, to the determined position.

Thanks to the method according to the invention, the work machine is stabilized in a practical and fast manner, which allows greater freedom of movement of the working member. Security is also improved. The gauge of the railway is not exceeded.

Preferably, the stabilization method comprises a step of measuring the stability of the frame. The position of the ballast in the horizontal plane is determined to improve the stability. More preferably, the stability measurement is performed by measuring the mechanical forces on the railway wheels.

PRESENTATION OF FIGURES

• la figure 1 est une représentation schématique d'un engin de travail en hauteur selon l'art antérieur,
• la figure 2 est une représentation schématique d'une partie inférieure d'un engin de travail en hauteur selon une forme de réalisation de l'invention,
• la figure 3 est une représentation schématique d'un dispositif de stabilisation de l'engin de levage de la figure 2 comportant un cadre principal et un cadre auxiliaire,
• la figure 4 est une représentation schématique du cadre auxiliaire de la figure 3,
• la figure 5 est une représentation schématique des premiers moyens de déplacement du cadre auxiliaire de la figure 3,
• la figure 6 est une représentation schématique du cadre auxiliaire de la figure 3,
• la figure 7 est une représentation schématique des deuxièmes moyens de déplacement du lest dans le cadre auxiliaire,
• la figure 8 est une représentation schématique de l'ouverture traversante du lest et
• la figure 9 est une représentation schématique d'un engin de travail en cours de stabilisation.

The invention will be better understood on reading the description which will follow, given solely by way of example, and referring to the appended drawings in which:

• the figure 1 is a schematic representation of a machine working at height according to the prior art,
• the figure 2 is a schematic representation of a lower part of a work machine in height according to one embodiment of the invention,
• the figure 3 is a schematic representation of a stabilization device of the hoist of the figure 2 having a main frame and an auxiliary frame,
• the figure 4 is a schematic representation of the auxiliary framework of the figure 3 ,
• the figure 5 is a schematic representation of the first means of displacement of the auxiliary frame of the figure 3 ,
• the figure 6 is a schematic representation of the auxiliary framework of the figure 3 ,
• the figure 7 is a schematic representation of the second ballast moving means in the auxiliary frame,
• the figure 8 is a schematic representation of the through opening of the ballast and
• the figure 9 is a schematic representation of a work machine being stabilized.

It should be noted that the figures disclose the invention in detail to implement the invention, said figures can of course be used to better define the invention where appropriate.

DESCRIPTION OF ONE OR MORE MODES OF REALIZATION AND IMPLEMENTATION

With reference to the figure 2 it is shown the lower part of a work machine in height 1 according to one embodiment. In this example, the working machine 1 is adapted to perform railway work, in particular, a maintenance operation at height (structure, catenary, substation) in operated railway. Advantageously, unlike the prior art, the work machine 1 is multifunctional and is capable of performing heterogeneous tasks. For this purpose, it must be able to work over a wide angular range of inclination as will be presented later.

As illustrated in figure 2 , the work machine 1 comprises a frame 2, preferably made of metal, and a plurality of ground displacement members 3 connected to said frame 2. In this embodiment, the displacement members 3 are in the form of axles, but It goes without saying that wheels, tracks or the like could be suitable. Preferably, the work machine comprises rail displacement means, in particular, railway wheels. The frame 2 has dimensions defining a railway gauge adapted to extend on only one railway track.

The working machine 1 further comprises a working member 4, comprising a proximal end 40 connected to said frame 2 and a distal end adapted to extend at a distance from said frame 2 at a higher altitude than the frame 2 at an altitude lower than that of the frame 2. In this example, the working member 4 is in the form of an articulated arm and is adapted to extend cantilevered to reach positions distant in height.

According to the invention, the chassis 2 comprises a stabilization device 5 configured to increase the stability of the working machine 1 as a function of the position of the working member 4. In other words, the stabilization device 5 makes it possible to maintain the center of gravity of the chassis 2 in a dynamically acceptable position range so that the work machine 1 remains balanced. The risk of overturning is thus reduced and the working range of the working member 4 is increased significantly.

With reference to the figure 3 , the stabilizing device 5 comprises a main frame 50 defining a horizontal plane PH, an auxiliary frame 51 mounted in said main frame 50, a ballast 52 mounted in said auxiliary frame 51 and displacement means configured to move the ballast 52 in said horizontal plane PH. The stabilization device 5 further comprises a control module (not shown) configured to changing the position of the ballast 52 in said horizontal plane PH as a function of the position of the distal end of the working member 4 in order to increase the stability of the working machine 1. The various elements of the stabilizing device 5 will be presented from now on.

With reference to the figure 3 , there is shown a main frame 50 defining a horizontal plane PH. The main frame 50 has in this example a rectangular shape and comprises two longitudinal longitudinal members 501 extending along an axis X and two side members 502 extending along an axis Y. The X, Y axes are orthogonal and define the horizontal plane PH . In order to limit the travel of the auxiliary frame 51, the main frame 50 further comprises two abutment members 503 which extend parallel to the side rails 502 and are located therebetween. As illustrated in figure 3 , the auxiliary frame 51 is adapted to move longitudinally along the X axis in the space defined between the longitudinal longitudinal members 501 and the stop rails 503. The longitudinal longitudinal members 501 of the auxiliary frame 50 are adapted to guide the auxiliary frame 51 according to the X axis and to prohibit any deflection along the Y axis.

With reference to the figure 4 it is shown the auxiliary frame 51. In a similar manner to the main frame 50, the auxiliary frame 51 has in this example a rectangular shape and comprises two longitudinal spars 511 extending along an axis X and two lateral spars 512 extending according to A Y axis. To guide the ballast 52, the auxiliary frame 51 further comprises a guide spar 513 which extends parallel to the side rails 512 and is located therebetween. As illustrated in figure 4 each side face of the guide spar 513 comprises a guide rail 516.

The longitudinal members of the main frame 50 and the auxiliary frame 51 are preferably made of metal, but it goes without saying that other materials could be suitable, in particular, composite materials. In this example, the main frame 50 has a length of the order of 9m and a width of the order of 3m. The auxiliary frame 51 has, for its part, a length of the order of 7m and a width of the order of 2.8m.

With reference to Figures 3 to 5 , the stabilizing device 5 comprises first moving means 6 configured to move the auxiliary frame 51 in a motorized manner relative to the main frame 50. In this embodiment, the first displacement means 6 are configured to carry out a movement according to the invention. longitudinal axis X and are connected between a lateral spar 502 of the main frame 50 and a lateral spar 512 of the auxiliary frame 51 as illustrated in FIG. figure 3 . The lateral stop spar 503, situated on the passage of the first displacement means 6, comprises an opening 506 in which said first displacement means 6 extend as illustrated in FIG. figure 3 .

In this example, with reference to the figure 5 , the first displacement means 6 comprise a jack 61, preferably double acting, and a chain 62. Advantageously, such first displacement means 6 are compact and make it possible to optimally manage the dynamic behavior of the displacements while using commercially available components whose purchase, replacement and maintenance costs are reduced.

Preferably, the cylinder 61 is configured to provide a thrust of at least 770 kg. The speed of movement of the auxiliary frame 51 can reach 0.3 m / s.

In this embodiment, with reference to the figure 4 , each longitudinal spar 511 of the auxiliary frame 51 comprises two guide rollers 515 which cooperate with a rail supported by a longitudinal spar 501 of the main frame 50. Nevertheless, it goes without saying that other guide means along the longitudinal axis X could agree.

Preferably, the first moving means 6 extend in the horizontal plane PH in order to limit the space requirement and to limit the mechanical and dynamic stresses.

As illustrated in figure 6 , the ballast 52 is in the form of a parallelepiped extending longitudinally along the axis X and laterally along the axis Y. Preferably, the length of the ballast 52 is between 200 cm and 400 cm, its width is between 100 cm and 280 cm and its thickness is between 5 cm and 100 cm.

The ballast 52 has a mass of between 1 t and 4 t, in particular 2.6 t, and is preferably produced in a material having a high density, in particular steel.

With reference to the figure 6 , the ballast 52 has a through opening 520 extending along the axis Y so as to allow support of the ballast 52 by the guide spar 513 of the auxiliary frame 51. In this example, the ballast 52 is guided at ends by the side rails 512 and the guide rail 513. It goes without saying that several guide rails 513 could be provided to support the ballast 52.

In this embodiment, the ballast 52 comprises two guide rollers 525 ( Figure 8 ) which cooperate with rails supported by the side members 512, 513 of the auxiliary frame 51. With reference to the figure 8 representing the through opening 520 of the ballast 52, the ballast 52 comprises two pairs of guide rollers 525 to cooperate with two guide rails 516 supported by the lateral guide spar 513 of the auxiliary frame 51. Thus, the ballast 52 is supported and Optimally guided by the lateral guide beam 513. Nevertheless, it goes without saying that other guide means along the longitudinal axis Y may be suitable.

With reference to Figures 6 to 8 , the stabilizing device 5 comprises second displacement means 7 configured to motorize the ballast 52 relative to the auxiliary frame 51. In this embodiment, the second displacement means 7 are configured to perform a movement according to the invention. lateral axis Y and are connected between the longitudinal longitudinal members 511 of the auxiliary frame 51 as illustrated in FIG. figure 6 .

In this example, with reference to the figure 7 the second displacement means 7 comprise two jacks 71, preferably double-acting, and a chain 72. Such a structure is advantageous as previously described. The speed of movement of the ballast 52 can reach 0.3 m / s.

Preferably, the second moving means 7 extend in the horizontal plane PH in order to limit the space requirement and to limit the mechanical and dynamic stresses.

According to the invention, the stabilizing device 5 further comprises a control module (not shown) adapted to control the movement of the ballast 52 in the main frame 50. In this embodiment, the control module is connected, on the one hand, to the first displacement means 6 to allow displacement along the longitudinal axis X and, on the other hand, to the second displacement means 7 to allow displacement along the lateral axis Y.

The control module is connected to means for measuring the position of the distal end of the working member 4 with respect to the frame 2.

The position of the distal end can be determined in several ways. In this embodiment, each working member 4 is telescopic and is equipped with angular sensors. Also, the position of the distal end is obtained by measuring the telescoped length and measuring the angular tilt values in a horizontal and vertical reference. In this example, each working member 4 is telescopic by means of a cable associated with a winder. The telescoped length is measured by means of the winder which provides the cable length unwound at a given moment.

The control module is connected to means for measuring the stability of the machine. In this example, the control module is connected to means for measuring the inclination of the frame 2 with respect to a reference horizontal plane which is independent of the machine 1. Such a measurement makes it possible to provide additional information for controlling the Thus, the control module is connected to means for measuring the mechanical forces applied to the chassis 2 wheel wheels. reversal is high. Thus, dynamically, depending on the position of the distal end of the working member 4, the control module determines a displacement of the ballast in order to increase the stability measurement of said machine 1. Preferably, the Command parameters can be entered in a command table or obtained by self-learning.

An example of implementation of a stabilization method of the invention will now be presented.

In this example, with reference to the figure 9 , the machine 1 comprises a frame 2 and two working members 4 each comprising, at a distal end, a nacelle 41 adapted to accommodate operators (only one nacelle 41 shown in FIG. figure 9 ). Each nacelle 41 can accommodate a mass of 300kg and is able to be moved up to 9.5 meters in height and up to 4 meters lateral offset. In this embodiment, the machine 1 further comprises a working member 4 fulfilling a crane function and which is adapted to carry a load of 150 kg up to 8.5 meters in height and up to 4 meters lateral offset . The machine 1 further comprises a skid mat (not shown) having a thrust capacity 500kg. Such a machine 1 is thus configured to perform heterogeneous tasks in the same railway area. As will be presented later, depending on the working member used, the stabilization module 5 prevents any reversal and this, even for significant offsets.

According to the invention, the method comprises a step of measuring the position of the distal end of the working member 4 with respect to the frame 2.

The method then comprises a step of determining, by the control module, a position of the ballast 52 in the horizontal plane PH which improves the stability

Finally, the method comprises a step of moving the ballast 52, by the displacement means 6,7, to the determined position. Preferably, the stabilization method is implemented in real time to ensure a dynamic balance ensuring stability. With reference to the figure 9 , it is shown the nacelle 41 lateral maximum offset to the left with the ballast 52 positioned to the right to ensure stability. Such a solution makes it possible to remain in the gauge of the railway track, which allows a circulation on the adjacent lane, which was not possible in the prior art.

Advantageously, the chassis 2 is stabilized during a forward offset (stabilizing moment in offset before 0.3 tm), backward (stabilizing moment rearward rearward 2.6 tm) or lateral (stabilizing moment in offset before 2 , 9 tm).

Thanks to the invention, a work machine 1 can be internally stabilized without resorting to means increasing its bulk. Also, advantageously, the vehicle can remain in the rail gauge to perform maintenance steps, which allows the operation of adjacent rail tracks.

Claims (10)

A machine for working at height (1) comprising a frame (2), at least one ground displacement member (3) connected to said frame (2) and at least one working member (4), comprising a proximal end (40) connected to said frame (2) and a distal end adapted to extend in height away from said frame (2), characterized in that the frame (2) comprises at least one stabilizing device (5) comprising a main frame (50) defining a horizontal plane (PH), a ballast (52), displacement means (6, 7) of said ballast (52) in said horizontal plane (PH) and control means configured to move the ballast (52). ) in said horizontal plane (PH) according to the position of the distal end of the working member (4) to increase the stability of the work machine (1). Machine according to claim 1, wherein the displacement means comprise first displacement means (6) along a longitudinal axis (X) and second displacement means (7) along a lateral axis (Y). Machine according to one of claims 1 to 2, wherein the displacement means (6, 7) are configured to move the ballast (52) along a longitudinal axis (X) over a distance of between 50 cm and 90 cm and along a lateral axis (Y) over a distance of between 1100 cm and 2200 cm. Machine according to one of claims 1 to 3, wherein the ballast (52) has a mass of between 1 t and 4 t. Machine according to one of claims 1 to 4, wherein the ballast (52) extends along the length of the frame (2). Machine according to one of claims 1 to 5, wherein the ballast (52) has a length of between 200 cm and 400 cm. Machine according to one of claims 1 to 6, wherein the stabilizing device (5) comprises an auxiliary frame (51) movably mounted in the main frame (50), the ballast (52) being mounted movably in the auxiliary frame (51). Machine according to Claim 7, in which the displacement means comprise first displacement means (6) of the auxiliary frame (51) in the main frame (50) along a longitudinal axis (X) and second displacement means (7). ballast (52) in the auxiliary frame (51) along a lateral axis (Y). Machine according to one of claims 7 to 8, wherein the stabilizing device (5) comprises a guide beam (513) which extends into a through opening (520) of the ballast (52) to guide it. Method of stabilizing a work machine at height according to one of claims 1 to 9, the method comprising: at. a step of measuring the position of the distal end of the working member (4) relative to the frame (2), b. a step of determining, by the control module, a ballast position (52) in the horizontal plane (PH) which improves the stability and c. a step of moving the ballast (52) by the displacement means (6, 7) to the determined position.

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