EP3480159B1 - Machine for working at height and method of stabilising such a machine - Google Patents

Description

GENERAL TECHNICAL FIELD AND PRIOR ART

The present invention relates to the field of machines for working at height, in particular, a machine for lifting equipment and people who have to carry out a maintenance operation in an operated railway environment.

With reference to the figure 1 , a work machine at 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 equipment E located at 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 height point. In practice, the working member 104 extends cantilevered and it is important to guarantee the stability of the working machine 100 when moving the working member 104 in order to avoid tilting and overturning of the work machine 100. This is all the more critical as the work member 104 can include at its upper end a nacelle accommodating 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 figure 1 . Such a tolerance range θ is in a known manner represented by a so-called stability polygon.

Also, to reach a position located outside the tolerance range θ, it is necessary to deploy stabilization legs to prevent the vehicle from overturning, which increases the duration of implementation. Furthermore, the presence of crutches increases the size of the machine which then protrudes from the gauge of the rail track on which it travels. In other words, the use of such a machine requires a substantial capacity footprint, that is to say, an obligation on all railway operators to considerably reduce or even cease their activities. In fact, operators have the particular obligation to interrupt rail traffic on the track (s) directly adjacent to that where the machine is present, both during the installation phase of the latter and during the construction phase. works.

In a known manner, to eliminate this drawback, a specific machine is used for each task in order to ensure that the machine is suitable for performing the task and thus to avoid any tilting. Such an implementation is expensive and does not allow different tasks to be carried out in the same rail zone.

The aim of the invention is therefore to eliminate at least some of these drawbacks by proposing a new type of machine for working at height.

Incidentally, we know 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 changes as needed.

GENERAL PRESENTATION OF THE INVENTION

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

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

A dynamic displacement of the ballast allows the center of gravity of the chassis to be shifted. Thus, the overhang of the working member can be compensated by adapting the position of the center of gravity. This advantageously makes it possible to increase the working angular range of the working member and to avoid the use of stabilizing legs or the use of specific machinery for each task to be performed. In addition, stabilization is obtained "internally" without increasing the dimensions of the work machine. In other words, the work machine does not exceed the gauge of a rail track, which allows trains to run on the railway track (s) adjacent to that on which the work machine is located. Productivity is thus improved and the capacity footprint is significantly reduced 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 modify the size of the stabilization device.

In addition, a displacement of the ballast in a horizontal plane allows 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 displacement axis makes it possible to increase reliability and limit the risk of malfunction. This is particularly advantageous in view of the high mass 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 1,100 cm and 2,200 cm.

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

Preferably, the working machine comprises means for moving railways, in particular rail 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 frame to improve the stability of the frame during dynamic movement of the ballast. Preferably, the ballast has a length of between 200 cm and 400 cm.

According to a preferred aspect, the stabilization device comprises an auxiliary frame movably mounted in the main frame, the ballast being movably mounted in the auxiliary frame. The use of dedicated frames for each axis of movement increases reliability and limits the risk of malfunction. This is particularly advantageous in view of the high mass 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 stabilization device comprises a guide spar which extends in a through opening of the ballast in order to guide it. Such a spar makes it possible, 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 at 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 position of the ballast in the horizontal plane which improves stability and
• a step of moving the ballast, by the moving means, to the determined position.

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

Preferably, the stabilization method comprises a step of measuring the stability of the chassis. The position of the ballast in the horizontal plane is determined to improve stability. More preferably, the stability measurement is carried out 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 for working at height according to the prior art,
• the figure 2 is a schematic representation of a lower part of a machine for working at height according to one embodiment of the invention,
• the figure 3 is a schematic representation of a device for stabilizing the lifting gear of the figure 2 comprising a main frame and an auxiliary frame,
• the figure 4 is a schematic representation of the auxiliary frame of the figure 3 ,
• the figure 5 is a schematic representation of the first means for moving the auxiliary frame of the figure 3 ,
• the figure 6 is a schematic representation of the auxiliary frame of the figure 3 ,
• the figure 7 is a schematic representation of the second means for moving the ballast 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 set out the invention in detail in order to implement the invention, said figures being able of course to serve to better define the invention if necessary.

DESCRIPTION OF ONE OR MORE EMBODIMENTS AND IMPLEMENTATION

With reference to the figure 2 , there is shown the lower part of a work machine at height 1 according to one embodiment. In this example, the working machine 1 is suitable for carrying out railway works, in particular, a maintenance operation at height (engineering structure, catenary, substation) in an operating railway environment. Advantageously, unlike the prior art, the work machine 1 is multifunctional and is capable of performing heterogeneous tasks. To this end, it must be able to work over a wide angular range of inclination, as will be presented below.

As shown in figure 2 , the work machine 1 comprises a frame 2, preferably metallic, and several ground displacement members 3 connected to said frame 2. In this exemplary embodiment, the displacement members 3 are in the form of axles but they are It goes without saying that wheels, tracks or the like could be suitable. Preferably, the working machine comprises means for moving railways, in particular rail wheels. The frame 2 has dimensions defining a rail gauge suitable for extending over only a rail 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 away from said frame 2 as well at a higher altitude than the frame 2 that '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 cantilever in order to reach positions distant in height.

According to the invention, the frame 2 comprises a stabilization device 5 configured to increase the stability of the work machine 1 as a function of the position of the work member 4. In other words, the stabilization device 5 makes it possible to maintain the center of gravity of the frame 2 in an acceptable position range dynamically 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 significantly increased.

With reference to the figure 3 , the stabilization 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 modify 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 stabilization device 5 will now be presented.

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 side members 501 extending along an X axis and two lateral side members 502 extending along a Y axis. The X, Y axes are orthogonal and define the horizontal plane PH . In order to limit the stroke of the auxiliary frame 51, the main frame 50 further comprises two stop side members 503 which extend parallel to the side side members 502 and are located between them. As shown in figure 3 , the auxiliary frame 51 is adapted to move longitudinally along the X axis in the space defined between the longitudinal side members 501 and the stop side members 503. The longitudinal side members 501 of the auxiliary frame 50 are adapted to guide the auxiliary frame 51 according to the X axis and to prevent any movement along the Y axis.

With reference to the figure 4 , there is shown the auxiliary frame 51. Analogously to the main frame 50, the auxiliary frame 51 has in this example a rectangular shape and comprises two longitudinal longitudinal members 511 extending along an axis X and two lateral longitudinal members 512 extending along an axis Y. In order to guide the ballast 52, the auxiliary frame 51 further comprises a guide spar 513 which extends parallel to the side spars 512 and is located between them. As shown in figure 4 , each side face of the guide spar 513 comprises a guide rail 516.

The side members of the main frame 50 and of 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 7 m and a width of the order of 2.8 m.

With reference to figures 3 to 5 , the stabilization device 5 comprises first displacement means 6 configured to move in a motorized manner the auxiliary frame 51 relative to the main frame 50. In this embodiment, the first displacement means 6 are configured to carry out a displacement along the line. 'longitudinal axis X and are connected between a side spar 502 of the main frame 50 and a side spar 512 of the auxiliary frame 51 as illustrated in figure 3 . The lateral stop spar 503, located on the passage of the first displacement means 6, comprises an opening 506 in which extend the said first displacement means 6 as illustrated in 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 with reduced purchase, replacement and maintenance costs.

Preferably, the cylinder 61 is configured to provide a thrust of at least 770 kg. The moving speed 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. However, it goes without saying that other guide means along the longitudinal axis X might be suitable.

Preferably, the first displacement means 6 extend in the horizontal plane PH in order to limit the bulk and limit the mechanical and dynamic stresses.

As shown in figure 6 , the ballast 52 is in the form of a parallelepiped extending longitudinally along the X axis and laterally along the Y axis. 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 tonnes, and is preferably made from 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 Y axis 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 the ends by the side spars 512 and by the guide spar 513. It goes without saying that several guide spars 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 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 spar 513. However, it goes without saying that other guide means along the longitudinal axis Y could be suitable.

With reference to figures 6 to 8 , the stabilization device 5 comprises second displacement means 7 configured to move the ballast 52 in a motorized manner relative to the auxiliary frame 51. In this embodiment, the second displacement means 7 are configured to carry out a displacement according to the lateral axis Y and are connected between the longitudinal side members 511 of the auxiliary frame 51 as shown in 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 presented above. The displacement speed of the ballast 52 can reach 0.3 m / s.

Preferably, the second displacement means 7 extend in the horizontal plane PH in order to limit the bulk and limit the mechanical and dynamic stresses.

According to the invention, the stabilization 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 exemplary 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 by measuring the angular values of inclination in a horizontal and vertical frame of reference. In this example, each working member 4 is telescopic by means of a cable associated with a reel. The telescoped length is measured through the reel which provides the length of cable unwound at a given time.

The control module is connected to means for measuring the stability of the vehicle. In this example, the control module is connected to means for measuring the inclination of the frame 2 relative to a horizontal reference plane which is independent of the machine 1. Such a measurement makes it possible to provide additional information for controlling the frame. ballast and thus limit the risk of tilting of the chassis 2. In addition, the control module is connected to means for measuring the mechanical forces applied to the shod wheels of the chassis 2. In fact, the less the mechanical forces, the greater the risk. rollover rate 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 measurement of stability 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 (a single nacelle 41 shown in 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 suitable for carrying a load of 150 kg up to 8.5 meters in height and up to 4 meters of lateral offset. . The machine 1 further comprises a skidding mat (not shown) having a thrust capacity of 500 kg. Such a machine 1 is thus configured to perform heterogeneous tasks in the same railway area. As will be presented below, depending on the working organ used, the stabilization module 5 makes it possible to avoid any overturning, even for large 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 movement means 6, 7, to the determined position. Preferably, the stabilization method is implemented in real time to ensure dynamic balancing ensuring stability. With reference to the figure 9 , the nacelle 41 is shown in maximum lateral offset to the left with the ballast 52 positioned to the right to guarantee stability. Such a solution makes it possible to remain within the template of the rail track, which allows movement on the adjacent track, which was not possible in the prior art.

Advantageously, the chassis 2 is stabilized during an offset forward (stabilizing moment in front offset 0.3 tm), rearward (stabilizing moment in rear offset 2.6 tm) or lateral (stabilizing moment in front offset 2 , 9 tm).

Thanks to the invention, a work machine 1 can be stabilized internally without resorting to means increasing its size. Also, advantageously, the vehicle can remain within the rail gauge to carry out maintenance steps, which makes it possible to authorize operation of the adjacent rail tracks.

Claims (10)

1. A work at height machine (1) comprising a chassis (2), at least one ground moving member (3) connected to said chassis (2) and at least one work member (4), comprising a proximal end (40) connected to said chassis (2) and a distal end adapted to extend in height at a distance from said chassis (2), which machine being characterised in that the chassis (2) comprises at least one stabilisation device (5) comprising a main frame (50) defining a horizontal plane (PH), a ballast (52), means for moving (6, 7) said ballast (52) in said horizontal plane (PH) and control means configured to move the ballast (52) in said horizontal plane (PH) in the main frame (50) depending on the position of the distal end of the work member (4) in order to increase stability of the work machine (1).
2. The machine according to claim 1, wherein the moving means comprise first moving means (6) along a longitudinal axis (X) and second moving means (7) along a lateral axis (Y).
3. The machine according to one of claims 1 to 2, wherein the moving means (6, 7) are configured to move the ballast (52) along a longitudinal axis (X) over a distance between 50cm and 90cm and along a lateral axis (Y) over a distance between 1100cm and 2200cm.
4. The machine according to one of claims 1 to 3, wherein the ballast (52) has a mass between 1t and 4t.
5. The machine according to one of claims 1 to 4, wherein the ballast (52) extends along the length of the chassis (2).
6. The machine according to one of claims 1 to 5, wherein the ballast (52) has a length between 200cm and 400cm.
7. The machine according to one of claims 1 to 6, wherein the stabilisation device (5) comprises an auxiliary frame (51) movably mounted in the main frame (50), the ballast (52) being movably mounted in the auxiliary frame (51).
8. The machine according to claim 7, wherein the moving means comprise first means for moving (6) the auxiliary frame (51) in the main frame (50) along a longitudinal axis (X) and second means for moving (7) the ballast (52) in the auxiliary frame (51) along a lateral axis (Y).
9. The machine according to one of claims 7 to 8, wherein the stabilisation device (5) comprises a guide stringer (513) which extends in a through opening (520) of the ballast (52) in order to guide it.
10. A method for stabilising a work at height machine according to one of claims 1 to 9, the method comprising:

    a. a step of measuring the position of the distal end of the work member (4) relative to the chassis (2),

    b. a step of determining, by the control module, a position of the ballast (52) in the horizontal plane (PH) which improves stability and

    c. a step of moving the ballast (52), by the moving means (6, 7), to the determined position in the main frame (50).

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