EP1829812B1 - Control device, in particular for a handling machine - Google Patents

Control device, in particular for a handling machine Download PDF

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Publication number
EP1829812B1
EP1829812B1 EP20070290270 EP07290270A EP1829812B1 EP 1829812 B1 EP1829812 B1 EP 1829812B1 EP 20070290270 EP20070290270 EP 20070290270 EP 07290270 A EP07290270 A EP 07290270A EP 1829812 B1 EP1829812 B1 EP 1829812B1
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EP
European Patent Office
Prior art keywords
configuration
handling machine
load
handling
machine
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Not-in-force
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EP20070290270
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German (de)
French (fr)
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EP1829812A3 (en
EP1829812A2 (en
Inventor
Marcel-Claude Braud
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Manitou BF SA
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Manitou BF SA
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Publication of EP1829812A3 publication Critical patent/EP1829812A3/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • 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 invention relates to a control device for a handling machine, particularly for the handling of people.
  • the invention also relates to a personal handling machine equipped with a device according to the invention.
  • the invention is particularly useful in its application to the control of telescopic boom lifts carrying a basket or a load support tray.
  • Self-propelled lifting machines must have a control system for processing movement authorizations based on the load in the basket, in accordance with EN 280, which defines the general rules for personal handling design.
  • linear interpolations can then be performed to compare the calculated load with the allowed load in the corresponding configuration.
  • a first object of the invention is to improve and simplify the method for calculating the on-board load by reducing the number of pressures to be memorized in order to calculate the load on board and to control the movements of the machine, and by processing the authorizations of Reliable movement, simple and fast.
  • a second object of the invention is to provide a new control device more reliable and faster than the control systems of the prior art.
  • Safety systems are known for handling machines with telescopic arms to prevent the tilting of the machine. These safety systems use at least one sensor generally attached to the rear axle to detect its support on the ground and to provide a signal to a comparator for providing input to a control means of a proportional hydraulic valve, so as to to reduce the feed rate of a hydraulic actuator, so that the speed of movement of the load is progressively reduced when lowering the telescopic arm
  • a third object of the invention is to use the calculated load of the machine to determine, in the corresponding machine configuration, the load displacement chart by acting on the load displacement speeds.
  • the subject of the invention is a control device, in particular for a person handling machine, comprising means for calculating the on-board load and for defining the operating charts from said calculated onboard load.
  • the invention also relates to a handling machine, including persons, comprising a device according to the invention.
  • a flowchart of operation of a device according to the invention comprises the steps of the calculation means of a control device according to the invention.
  • the flowchart comprises a first part intended to evaluate the load embedded in a basket or a handling machine tray, and a second part intended to define the operating charts of the handling machine according to the configuration of the machine of the machine. handling and the embedded load calculated in the first part.
  • the first part begins with a step 100 of calibration of a handling machine maintaining the length of the telescopic arm constant.
  • This calibration step 100 is performed by varying only the angle of the lifting arm of the machine corresponding to the angle of inclination of the basket or tray relative to the lifting arm: indeed, to maintain, in this calibration step 100, the basket or tray parallel to the frame, these two angles must remain equal.
  • Calibrating the constant arm length handling machine makes it possible to memorize a small number of pressure or effort values. Thus, it is possible to memorize only ten values of force or pressure of the lifting cylinder corresponding to ten lifting angles for a static configuration of the machine.
  • step 104 the lever arms of the hydraulic actuators of the machine and the geometric characteristics of the machine are determined by acquisition of measurements from corresponding sensors and processing of the signal received from these sensors.
  • step 105 the forces or other quantities related to the theoretical idle forces provided by the tilt cylinders are calculated as a function of the geometric characteristics determined in step 104 and the configuration of the handling machine.
  • step 106 the forces or other quantities related to the theoretical idle forces of the lifting actuators are calculated as a function of the geometric characteristics determined in step 104 and of the configuration of the handling machine.
  • step 107 the quantities relating to the previously calculated idle forces of the inclination and lifting jacks are corrected by correcting them by the corrections of forces or pressures corresponding to the configuration of the machine, taking account of the flow rates. hydraulic actuators in the corresponding hydraulic actuators.
  • the corrections of the correction values as a function of the flow rate are done by extrapolation between the stored corrections with maximum hydraulic flow rate and at a zero flow rate.
  • step 108 the load of the handling machine is calculated by solving the lever arm equations taking into account the corrected hydraulic forces determined in the previous steps.
  • step 200 the calculated load determined in step 108 of the first part is used to establish a tilt equilibrium equation of the handling machine according to the invention.
  • a handling machine comprises a frame whose tendency to tilt depends on its weight, the weight of the telescopic arm, the weight of the basket or any other load handling device and the calculated weight of the load, as well as to any aggravating efforts due for example to a manual action or action of the wind likely to overturn the handling machine according to the invention.
  • the handling machine thus comprises a center of gravity linked to the chassis and depending on the ground position of the chassis and of these ground support points, and a second center of gravity corresponding to the displaceable assembly comprising the telescopic arm, the basket or other load-holding device and the load located inside or on said device.
  • step 201 calculates the tilting moment with respect to the ground contact line of the front wheels of the handling machine according to the invention.
  • step 202 calculates the moment of tilting with respect to the line defined by the stabilizers of the handling machine according to the invention. 'invention.
  • step 203 the equilibrium general equation of the machine is expressed around its overturning point, corresponding to a minimum limit load on the rear axle, taking into account possible manual forces and the reversal moment likely to occur. to be in the wind.
  • step 204 the quantities representing the forces (forces or pressures) of the corresponding lifting actuators as a function of the load on the rear axle are expressed in order to establish the setpoint laws of the actuators as a function of the maximum authorized speeds and the nature movements: aggravating or degrading for the stability of the handling machine according to the invention.
  • a hardware diagram of a control device comprises a management computer 1 and a security computer 2 communicating with each other via a link bus, for example a CAN bus.
  • the computers 1 and 2 receive in parallel independent signals in from redundant sensors equipping a handling machine according to the invention.
  • This personal handling machine comprises one or a pair of jacks 10a, 10b of inclination, a lifting cylinder 11, at least one telescoping jack 12, possibly a pair of jacks 13a, 13b of stabilizers and measuring sensors fixed on the machine according to the invention.
  • the tilt cylinders 10a, 10b are equipped with sensors making it possible to define the forces they exert, as well as the lifting cylinder 11, or the telescoping cylinder (s) 12.
  • Any stabilizer cylinders 13a, 13b are equipped with sensors to know their states: retracted or supported on the ground.
  • the chassis C of the machine according to the invention also carries two inclination sensors.
  • the beam 14 telescopic arm also carries two redundant tilt sensors relative to the horizontal.
  • the signals transmitted by the aforementioned redundant sensors are transmitted independently and distributed between the management computer 1 and the security computer 2.
  • the computers 1 and 2 cooperate with one another to ensure a secure and controlled operation of the device according to the invention, after storage of the parameters obtained by calibration and geometric constants of the machine according to the invention.
  • the signals coming from the sensors make it possible to determine the configuration as well as the geometry of the machine and to select the parameters corresponding to the determined configuration.
  • Each computer 1 or 2 constantly checks the operation of the measurement sensors, the coherence of the measurements between redundant or duplicated sensors, the operation of the communication bus 3 and automatically cuts off the motor M of the machine according to the invention in the event of a fault.
  • the management computer 1 performs the calculations of the operating flowchart described with reference to the figure 1 and manages the authorizations of movements of the tilt, lift and telescoping actuators of the machine according to the invention.
  • the security calculator 2 performs certain security calculations such as the calculation of the height of the tray or basket, the calculation of the stability and loading limits and checks the consistency of the results with the calculations made by the management computer 1.
  • Thresholds of coherence between controlled functions make it possible to decide on the relevance of the measurements and calculations carried out.
  • the machine according to the invention becomes secure by prohibiting all or part of its movements.
  • a safety member 15 is also activated when a push button 16 of the "dead man” type in the vicinity of the frame or a push button 17 of the "dead man” type located in the tray or basket is not maintained for a predetermined duration less than ten seconds, which allows, when possible stabilizers are not in place, to limit by default the progress of the machine at slow speeds.
  • a handling machine comprises, in a known manner, a chassis C equipped with wheels and any stabilizers 13, in known manner carrying a telescopic arm 14 pivoting about a horizontal axis under the action of a jack 11 lifting.
  • the telescopic arm 14 contains at least one telescoping cylinder and carries at its end remote from the chassis C a tray or basket P or any other device intended to carry a load, subjected to the action of tilt cylinders 10 able to maintain said substantially horizontal device.
  • the self-propelled chassis C supports a motor and a control cabinet containing the computers 1 and 2 of the control device according to the invention.
  • the management computer 1 defines the calculation according to the flowchart described with reference to the figure 1 an abacus 20 surrounding a stability area allowing movements at maximum rates, and an abacus 21 defining with the abacus 20 a Intermediate zone in which outgoing or aggravating movements are allowed at reduced flows, and re-entrant or degrading movements are allowed at maximum or intermediate rates.
  • the security calculator 2 defines by calculation an abacus 22 corresponding to a security value for the stability of the machine according to the invention. As soon as the safety chart 22 is reached, the safety computer 2 cuts all the energies of the machine according to the invention by shutting down the heat engine and deactivating the safety member 15.
  • Charts 20, 21 and 22 of the figure 3 are established for deployed outriggers 13 defining a pivot line in front of the front wheels: of course, the computers 1 and 2 similarly define similar charts when the stabilizers 13 are retracted and define a pivot line on the front wheels.
  • the invention is also applicable to the control of load handling machines, such as variable reach trolleys, forklifts, loaders, public works equipment and the like.

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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)
  • Operation Control Of Excavators (AREA)
  • Preliminary Treatment Of Fibers (AREA)

Description

L'invention est relative à un dispositif de commande pour une machine de manutention, notamment pour la manutention de personnes.The invention relates to a control device for a handling machine, particularly for the handling of people.

Un état de la technique le plus proche est décrit dans le document DE-A-19612 423 .A state of the art closest is described in the document DE-A-19612 423 .

L'invention est également relative à une machine de manutention de personnes équipée d'un dispositif selon l'invention.The invention also relates to a personal handling machine equipped with a device according to the invention.

L'invention est particulièrement utile dans son application à la commande de nacelles élévatrices à bras télescopique portant un panier ou un plateau de support de charge.The invention is particularly useful in its application to the control of telescopic boom lifts carrying a basket or a load support tray.

La manutention de personnes doit respecter des règles de sécurité strictes destinées à éviter tout risque de surcharge ou d'instabilité de la machine de manutention de personnes.The handling of persons must comply with strict safety rules to avoid any risk of overload or instability of the handling machine.

Les machines automotrices d'élévation de personnes doivent comporter un système de commande permettant de traiter des autorisations de mouvement en fonction de la charge embarquée dans le panier, conformément à la norme EN 280 définissant les règles générales de conception de manutention de personnes.Self-propelled lifting machines must have a control system for processing movement authorizations based on the load in the basket, in accordance with EN 280, which defines the general rules for personal handling design.

Dans le cas des machines élévatrices comportant des actionneurs hydrauliques tels que des vérins, il est connu de détecter les pressions hydrauliques des vérins portant la charge et de mémoriser un nombre important de valeurs de pressions ou de forces obtenues par mesures dans diverses configurations de la machine élévatrice à vide: en statique, en mouvement de montée, en mouvement de descente.In the case of elevating machines comprising hydraulic actuators such as cylinders, it is known to detect the hydraulic pressures of the cylinders carrying the load and to memorize a large number of pressure values or forces obtained by measurements in various configurations of the machine. vacuum lift: static, uphill movement, downhill movement.

Ainsi en ce qui concerne certains matériels de manutention de charge et / ou de personnes comportant plusieurs vérins, pour une configuration statique de la machine, il est nécessaire de relever de nombreuses valeurs de pression ou de force correspondant aux angles de levage et aux valeurs de télescopage nécessaires à l'exploration de l'ensemble des positions qu'il est possible d'atteindre avec la machine. Il en est de même en ce qui concerne les configurations en mouvement de montée et les configurations en mouvement de descente, ce qui conduit à plusieurs centaines de pressions ou de forces à mémoriser.Thus, with regard to certain load-handling equipment and / or persons having several cylinders, for a static configuration of the machine, it is necessary to record numerous pressure or force values corresponding to the lifting angles and the values of the machine. Telescoping necessary to explore all the positions that can be achieved with the machine. The same is true of rising and falling configurations, which leads to several hundreds of pressures or forces to be memorized.

A partir des valeurs mémorisées, on peut ensuite procéder par interpolations linéaires pour comparer la charge calculée à la charge autorisée dans la configuration correspondante.From the stored values, linear interpolations can then be performed to compare the calculated load with the allowed load in the corresponding configuration.

Un premier but de l'invention est d'améliorer et de simplifier le procédé de calcul de la charge embarquée en réduisant le nombre de pressions à mémoriser pour calculer la charge embarquée et pour commander les mouvements de la machine, et en traitant les autorisations de mouvement de manière fiable, simple et rapide.A first object of the invention is to improve and simplify the method for calculating the on-board load by reducing the number of pressures to be memorized in order to calculate the load on board and to control the movements of the machine, and by processing the authorizations of Reliable movement, simple and fast.

Un deuxième but de l'invention est de proposer un nouveau dispositif de commande plus fiable et plus rapide que les systèmes de commande de l'art antérieur.A second object of the invention is to provide a new control device more reliable and faster than the control systems of the prior art.

On connaît des systèmes de sécurité pour des machines de manutention à bras télescopiques destinés à empêcher le basculement de la machine. Ces systèmes de sécurité utilisent au moins un capteur généralement fixé sur l'essieu arrière pour détecter son appui sur le sol et pour fournir un signal à un comparateur en vue de fournir une entrée à un moyen de commande d'une valve hydraulique proportionnelle, afin de réduire le débit d'alimentation d'un actionneur hydraulique, de sorte que la vitesse de déplacement de la charge est progressivement réduite lors de l'abaissement du bras télescopiqueSafety systems are known for handling machines with telescopic arms to prevent the tilting of the machine. These safety systems use at least one sensor generally attached to the rear axle to detect its support on the ground and to provide a signal to a comparator for providing input to a control means of a proportional hydraulic valve, so as to to reduce the feed rate of a hydraulic actuator, so that the speed of movement of the load is progressively reduced when lowering the telescopic arm

Ces systèmes de sécurité donnent généralement satisfaction mais présentent l'inconvénient de présenter une fiabilité réduite, d'imposer le fait que l'essieu arrière soit oscillant et de limiter l'espace de déplacement du bras télescopique dans une configuration donnée de machine.These safety systems are generally satisfactory but have the disadvantage of having a reduced reliability, to impose the fact that the rear axle is oscillating and to limit the space of movement of the telescopic arm in a given machine configuration.

Un troisième but de l'invention est d'utiliser la charge calculée de la machine pour déterminer, dans la configuration correspondante de machine, l'abaque de déplacement de la charge en agissant sur les vitesses de déplacement de la charge.A third object of the invention is to use the calculated load of the machine to determine, in the corresponding machine configuration, the load displacement chart by acting on the load displacement speeds.

L'invention a pour objet un dispositif de commande, notamment pour machine de manutention de personnes, comportant des moyens pour calculer la charge embarquée et pour définir les abaques de fonctionnement à partir de ladite charge embarquée calculée.The subject of the invention is a control device, in particular for a person handling machine, comprising means for calculating the on-board load and for defining the operating charts from said calculated onboard load.

Selon d'autres caractéristiques alternatives de l'invention :

  • lesdits moyens pour calculer la charge embarquée et pour définir des abaques de fonctionnement à partir de ladite charge embarquée calculée comportent un calculateur de gestion et un calculateur de sécurité.
  • le calculateur de gestion utilise un nombre réduit de paramètres d'étalonnage obtenus en maintenant la longueur d'un bras de manutention constante.
  • les calculateurs de gestion et de sécurité sont reliés par un bus de communication.
  • les calculateurs de gestion et de sécurité reçoivent de manière indépendante des signaux en provenance de capteurs de mesure redondants et indépendants.
  • le calculateur de sécurité vérifie la cohérence des mesures indépendantes effectuées pour les capteurs indépendants.
  • le dispositif comporte des moyens pour déterminer la configuration d'une machine de manutention.
  • la configuration de la machine de manutention est déterminée dans le groupe comprenant : une configuration statique, une configuration en mouvement de montée, une configuration en mouvement de descente.
  • le dispositif gère les autorisations de mouvement en fonction de la configuration de la machine de manutention.
According to other alternative features of the invention:
  • said means for calculating the on-board load and for defining operating charts from said calculated onboard load comprise a management computer and a security calculator.
  • the management computer uses a reduced number of calibration parameters obtained by maintaining the length of a constant handling arm.
  • the management and security computers are connected by a communication bus.
  • the management and safety computers independently receive signals from redundant and independent measuring sensors.
  • the safety calculator checks the consistency of the independent measurements made for the independent sensors.
  • the device comprises means for determining the configuration of a handling machine.
  • the configuration of the handling machine is determined in the group comprising: a static configuration, a climbing movement configuration, a downhill motion configuration.
  • the device manages the movement authorizations according to the configuration of the handling machine.

L'invention a également pour objet une machine de manutention, notamment de personnes, comportant un dispositif selon l'invention.The invention also relates to a handling machine, including persons, comprising a device according to the invention.

L'invention sera mieux comprise grâce à la description qui va suivre donnée à titre d'exemple non limitatif en référence aux dessins annexés dans lesquels :

  • La figure 1 représente schématiquement un ordinogramme de fonctionnement d'un dispositif selon l'invention.
  • La figure 2 représente schématiquement un diagramme matériel d'un dispositif selon l'invention.
  • La figure 3 représente schématiquement une machine de manutention selon l'invention.
The invention will be better understood from the following description given by way of nonlimiting example with reference to the accompanying drawings in which:
  • The figure 1 schematically represents a flow chart of operation of a device according to the invention.
  • The figure 2 schematically represents a hardware diagram of a device according to the invention.
  • The figure 3 schematically represents a handling machine according to the invention.

En référence à la figure 1, un ordinogramme de fonctionnement d'un dispositif selon l'invention comporte les étapes directrices des moyens de calcul d'un dispositif de commande selon l'invention.With reference to the figure 1 , a flowchart of operation of a device according to the invention comprises the steps of the calculation means of a control device according to the invention.

L'organigramme comporte une première partie destinée à évaluer la charge embarquée dans un panier ou sur un plateau de machine de manutention, et une deuxième partie destinée à définir les abaques de fonctionnement de la machine de manutention en fonction de la configuration de la machine de manutention et de la charge embarquée calculée dans la première partie.The flowchart comprises a first part intended to evaluate the load embedded in a basket or a handling machine tray, and a second part intended to define the operating charts of the handling machine according to the configuration of the machine of the machine. handling and the embedded load calculated in the first part.

La première partie débute par une étape 100 d'étalonnage d'une machine de manutention en maintenant la longueur du bras télescopique constante.The first part begins with a step 100 of calibration of a handling machine maintaining the length of the telescopic arm constant.

Cette étape 100 d'étalonnage s'effectue en faisant varier uniquement l'angle du bras de levage de la machine correspondant à l'angle d'inclinaison du panier ou du plateau par rapport au bras de levage : en effet, pour maintenir, dans cette étape 100 d'étalonnage, le panier ou plateau parallèle au châssis, ces deux angles doivent rester égaux.This calibration step 100 is performed by varying only the angle of the lifting arm of the machine corresponding to the angle of inclination of the basket or tray relative to the lifting arm: indeed, to maintain, in this calibration step 100, the basket or tray parallel to the frame, these two angles must remain equal.

Le fait d'étalonner la machine de manutention à longueur de bras constante permet de mémoriser un faible nombre de valeurs de pression ou d'efforts. Ainsi, il est possible de mémoriser uniquement dix valeurs d'effort ou de pression du vérin de levage correspondant à dix angles de levage pour une configuration statique de la machine.Calibrating the constant arm length handling machine makes it possible to memorize a small number of pressure or effort values. Thus, it is possible to memorize only ten values of force or pressure of the lifting cylinder corresponding to ten lifting angles for a static configuration of the machine.

Il en est de même en ce qui concerne la configuration en mouvement de montée et la configuration en mouvement de descente, ce qui conduit à un total de trente pressions à mémoriser pour le vérin de levage de la machine de manutention décrite en référence à la figure 3.It is the same with respect to the upward movement configuration and the downhill movement configuration, which leads to a total of thirty pressures to be memorized for the lifting cylinder of the handling machine described with reference to the figure 3 .

Les mêmes opérations sont effectuées, dans cette étape 100 d'étalonnage, pour les vérins d'inclinaison, ce qui conduit à un total de trente pressions à mémoriser par vérin d'inclinaison de la machine de manutention décrite en référence à la figure 3.The same operations are performed, in this calibration step 100, for the tilt cylinders, which leads to a total of thirty pressures to be memorized by tilt cylinder of the handling machine described with reference to FIG. figure 3 .

Les valeurs d'efforts ou de pression ainsi mesurées sont comparées à une étape 101 à des valeurs d'efforts ou de pression théoriques obtenues par calcul à une étape 102, et leurs différences sont mémorisées à une étape 103 sous forme de corrections d'efforts ou de corrections de pression.The values of forces or pressures thus measured are compared, at a step 101, with values of theoretical forces or pressures obtained by calculation at a step 102, and their differences are memorized at a step 103 in the form of force corrections. or pressure corrections.

A partir des valeurs des corrections mémorisées à l'étape 103, à un débit hydraulique maximum, on peut déterminer des corrections correspondant à chaque configuration de la machine de manutention selon l'invention.From the values of the corrections stored in step 103, at a maximum hydraulic flow rate, corrections corresponding to each configuration of the handling machine according to the invention can be determined.

A l'étape 104, on détermine les bras de leviers des actionneurs hydrauliques de la machine et les caractéristiques géométriques de la machine par acquisition de mesures en provenance de capteurs correspondants et traitement du signal reçu en provenance de ces capteurs.In step 104, the lever arms of the hydraulic actuators of the machine and the geometric characteristics of the machine are determined by acquisition of measurements from corresponding sensors and processing of the signal received from these sensors.

A l'étape 105, on calcule les efforts ou autres grandeurs liées aux efforts à vide théoriques fournis par les vérins d'inclinaison en fonction des caractéristiques géométriques déterminées à l'étape 104 et de la configuration de la machine de manutention.In step 105, the forces or other quantities related to the theoretical idle forces provided by the tilt cylinders are calculated as a function of the geometric characteristics determined in step 104 and the configuration of the handling machine.

A l'étape 106, on calcule les efforts ou autres grandeurs liées aux efforts à vide théoriques des actionneurs de levage en fonction des caractéristiques géométriques déterminées à l'étape 104 et de la configuration de la machine de manutention.In step 106, the forces or other quantities related to the theoretical idle forces of the lifting actuators are calculated as a function of the geometric characteristics determined in step 104 and of the configuration of the handling machine.

A l'étape 107, on corrige les grandeurs liées aux efforts à vide précédemment calculées des vérins d'inclinaisons et de levage, en les corrigeant par les corrections d'efforts ou de pressions correspondant à la configuration de la machine en tenant compte des débits hydrauliques dans les actionneurs hydrauliques correspondants.In step 107, the quantities relating to the previously calculated idle forces of the inclination and lifting jacks are corrected by correcting them by the corrections of forces or pressures corresponding to the configuration of the machine, taking account of the flow rates. hydraulic actuators in the corresponding hydraulic actuators.

Ainsi, les ajustements des valeurs de corrections en fonction du débit se font par extrapolation entre les corrections mémorisées à débit hydraulique maximal et à un débit nul.Thus, the corrections of the correction values as a function of the flow rate are done by extrapolation between the stored corrections with maximum hydraulic flow rate and at a zero flow rate.

A l'étape 108, on calcule la charge de la machine de manutention par résolution des équations de bras de leviers en tenant compte des efforts hydrauliques corrigés déterminés aux étapes précédentes.In step 108, the load of the handling machine is calculated by solving the lever arm equations taking into account the corrected hydraulic forces determined in the previous steps.

On obtient ainsi une charge calculée dont la valeur correspond aux efforts ou autres grandeurs traduisant directement ces efforts mesurées par les capteurs équipant les actionneurs hydrauliques de la machine de manutention selon l'invention.This gives a calculated load whose value corresponds to the forces or other quantities directly translating these forces measured by the sensors equipping the hydraulic actuators of the handling machine according to the invention.

A l'étape 200, on part de la charge calculée déterminée à l'étape 108 de la première partie pour établir une équation d'équilibre en basculement de la machine de manutention selon l'invention.In step 200, the calculated load determined in step 108 of the first part is used to establish a tilt equilibrium equation of the handling machine according to the invention.

Une machine de manutention selon l'invention comporte un châssis dont la tendance au basculement dépend de son poids, du poids du bras télescopique, du poids du panier ou tout autre dispositif de manutention de charge et du poids calculé de la charge, ainsi qu'aux éventuels efforts aggravants dus par exemple à une action manuelle ou à une action du vent susceptibles de renverser la machine de manutention selon l'invention.A handling machine according to the invention comprises a frame whose tendency to tilt depends on its weight, the weight of the telescopic arm, the weight of the basket or any other load handling device and the calculated weight of the load, as well as to any aggravating efforts due for example to a manual action or action of the wind likely to overturn the handling machine according to the invention.

La machine de manutention selon l'invention comporte ainsi un centre de gravité lié au châssis et dépendant de la position au sol du châssis et de ces points d'appuis au sol, et un deuxième centre de gravité correspondant à l'ensemble déplaçable comprenant le bras télescopique, le panier ou autre dispositif de maintien de charge et la charge située à l'intérieur ou sur ledit dispositif.The handling machine according to the invention thus comprises a center of gravity linked to the chassis and depending on the ground position of the chassis and of these ground support points, and a second center of gravity corresponding to the displaceable assembly comprising the telescopic arm, the basket or other load-holding device and the load located inside or on said device.

Dans le cas où la machine de manutention repose sur ses roues, on calcule à l'étape 201 le moment de basculement par rapport à la ligne de contact au sol des roues avant de la machine de manutention selon l'invention.In the case where the handling machine rests on its wheels, step 201 calculates the tilting moment with respect to the ground contact line of the front wheels of the handling machine according to the invention.

Dans le cas où la machine de manutention selon l'invention comporte des stabilisateurs déployés et prenant appui sur le sol, on calcule à l'étape 202 le moment de basculement par rapport à la ligne définie par les stabilisateurs de la machine de manutention selon l'invention.In the case where the handling machine according to the invention comprises outriggers deployed and resting on the ground, step 202 calculates the moment of tilting with respect to the line defined by the stabilizers of the handling machine according to the invention. 'invention.

A l'étape 203, on exprime l'équation générale d'équilibre de la machine autour de son point de renversement, correspondant à une charge limite minimale sur le pont arrière, en tenant compte des efforts manuels éventuels et du moment de renversement susceptible d'être du au vent.In step 203, the equilibrium general equation of the machine is expressed around its overturning point, corresponding to a minimum limit load on the rear axle, taking into account possible manual forces and the reversal moment likely to occur. to be in the wind.

A l'étape 204, on exprime les grandeurs représentant les efforts (forces ou pressions) des actionneurs de levage correspondants en fonction de la charge sur le pont arrière pour établir les lois de consigne des actionneurs en fonction des vitesses maximales autorisées et de la nature des mouvements : aggravants ou désaggravants pour la stabilité de la machine de manutention selon l'invention.In step 204, the quantities representing the forces (forces or pressures) of the corresponding lifting actuators as a function of the load on the rear axle are expressed in order to establish the setpoint laws of the actuators as a function of the maximum authorized speeds and the nature movements: aggravating or degrading for the stability of the handling machine according to the invention.

En référence à la figure 2, un diagramme matériel d'un dispositif de commande selon l'invention comporte un calculateur 1 de gestion et un calculateur 2 de sécurité communiquant entre eux par l'intermédiaire d'un bus de liaison, par exemple un bus CAN. Les calculateurs 1 et 2 reçoivent en parallèle des signaux indépendants en provenance de capteurs redondants équipant une machine de manutention selon l'invention.With reference to the figure 2 a hardware diagram of a control device according to the invention comprises a management computer 1 and a security computer 2 communicating with each other via a link bus, for example a CAN bus. The computers 1 and 2 receive in parallel independent signals in from redundant sensors equipping a handling machine according to the invention.

Cette machine de manutention de personnes selon l'invention comporte un ou une paire de vérins 10a, 10b d'inclinaison, un vérin 11 de levage, au moins un vérin 12 de télescopage, éventuellement une paire de vérins 13a, 13b de stabilisateurs et des capteurs de mesure fixés sur la machine selon l'invention.This personal handling machine according to the invention comprises one or a pair of jacks 10a, 10b of inclination, a lifting cylinder 11, at least one telescoping jack 12, possibly a pair of jacks 13a, 13b of stabilizers and measuring sensors fixed on the machine according to the invention.

Les vérins 10a, 10b d'inclinaison sont équipés de capteurs permettant de définir les efforts qu'ils exercent, ainsi que le vérin 11 de levage, le ou les vérin(s) 12 de télescopage.The tilt cylinders 10a, 10b are equipped with sensors making it possible to define the forces they exert, as well as the lifting cylinder 11, or the telescoping cylinder (s) 12.

Les éventuels vérins 13a, 13b de stabilisateur sont équipés de capteurs permettant de connaître leurs états : rétractés ou en appui sur le sol.Any stabilizer cylinders 13a, 13b are equipped with sensors to know their states: retracted or supported on the ground.

Le châssis C de la machine selon l'invention porte également deux capteurs d'inclinaison. La poutre 14 bras télescopique porte également deux capteurs redondants d'inclinaison par rapport à l'horizontale.The chassis C of the machine according to the invention also carries two inclination sensors. The beam 14 telescopic arm also carries two redundant tilt sensors relative to the horizontal.

Les signaux transmis par les capteurs redondants précités sont transmis de manière indépendante et répartie entre le calculateur 1 de gestion et le calculateur 2 de sécurité.The signals transmitted by the aforementioned redundant sensors are transmitted independently and distributed between the management computer 1 and the security computer 2.

Les calculateurs 1 et 2 coopèrent entre eux pour assurer de manière sécurisée et contrôlée le fonctionnement du dispositif selon l'invention, après mémorisation des paramètres obtenus par étalonnage et des constantes géométriques de la machine selon l'invention.The computers 1 and 2 cooperate with one another to ensure a secure and controlled operation of the device according to the invention, after storage of the parameters obtained by calibration and geometric constants of the machine according to the invention.

Les signaux en provenance des capteurs permettent de déterminer la configuration ainsi que la géométrie de la machine et de sélectionner les paramètres correspondants à la configuration déterminée.The signals coming from the sensors make it possible to determine the configuration as well as the geometry of the machine and to select the parameters corresponding to the determined configuration.

Chaque calculateur 1 ou 2 vérifie en permanence le fonctionnement des capteurs de mesure, la cohérence des mesures entre capteurs redondants ou doublés, le fonctionnement du bus 3 de communication et coupe automatiquement le moteur M de la machine selon l'invention en cas de défaut.Each computer 1 or 2 constantly checks the operation of the measurement sensors, the coherence of the measurements between redundant or duplicated sensors, the operation of the communication bus 3 and automatically cuts off the motor M of the machine according to the invention in the event of a fault.

Le calculateur 1 de gestion effectue les calculs de l'ordinogramme de fonctionnement décrit en référence à la figure 1 et gère les autorisations des mouvements des actionneurs d'inclinaison, de levage et de télescopage de la machine selon l'invention.The management computer 1 performs the calculations of the operating flowchart described with reference to the figure 1 and manages the authorizations of movements of the tilt, lift and telescoping actuators of the machine according to the invention.

Le calculateur 2 de sécurité effectue certains calculs de sécurité tels que le calcul de hauteur du plateau ou panier, le calcul des limites de stabilité et de chargement et vérifie la cohérence des résultats avec les calculs effectués par le calculateur 1 de gestion.The security calculator 2 performs certain security calculations such as the calculation of the height of the tray or basket, the calculation of the stability and loading limits and checks the consistency of the results with the calculations made by the management computer 1.

Des seuils de cohérence entre fonctions contrôlées permettent de statuer sur la pertinence des mesures et des calculs effectués.Thresholds of coherence between controlled functions make it possible to decide on the relevance of the measurements and calculations carried out.

En cas de cohérence reconnue des résultats, le fonctionnement de la machine reste normalement possible.In case of recognized consistency of the results, the operation of the machine is normally possible.

Dans le cas où les éléments comparés diffèrent au-delà des seuils définis la machine selon l'invention se met en sécurité en interdisant tout ou partie de ses mouvements.In the case where the compared elements differ beyond the defined thresholds the machine according to the invention becomes secure by prohibiting all or part of its movements.

Un organe 15 de sécurité est également activé lorsqu'un poussoir 16 de type « homme mort » au voisinage du châssis ou un poussoir 17 de type « homme mort » situé dans le plateau ou panier n'est pas maintenu pendant une durée prédéterminée inférieure à dix secondes, ce qui permet, lorsque les éventuels stabilisateurs ne sont pas en place, de limiter par défaut l'avancement de la machine à des vitesses lentes.A safety member 15 is also activated when a push button 16 of the "dead man" type in the vicinity of the frame or a push button 17 of the "dead man" type located in the tray or basket is not maintained for a predetermined duration less than ten seconds, which allows, when possible stabilizers are not in place, to limit by default the progress of the machine at slow speeds.

En référence à la figure 3, une machine de manutention selon l'invention comporte de manière connue un châssis C équipé de roues et d'éventuels stabilisateurs 13, portant de manière connue un bras télescopique 14 pivotant autour d'un axe horizontal sous l'action d'un vérin 11 de levage.With reference to the figure 3 , a handling machine according to the invention comprises, in a known manner, a chassis C equipped with wheels and any stabilizers 13, in known manner carrying a telescopic arm 14 pivoting about a horizontal axis under the action of a jack 11 lifting.

Le bras télescopique 14 contient au moins un vérin de télescopage et porte à son extrémité éloignée du châssis C un plateau ou panier P ou tout autre dispositif destiné à porter une charge, soumis à l'action de vérins 10 d'inclinaison aptes à maintenir ledit dispositif sensiblement horizontal.The telescopic arm 14 contains at least one telescoping cylinder and carries at its end remote from the chassis C a tray or basket P or any other device intended to carry a load, subjected to the action of tilt cylinders 10 able to maintain said substantially horizontal device.

Le châssis C automoteur supporte un moteur et une armoire A de commande contenant les calculateurs 1 et 2 du dispositif de commande selon l'invention.The self-propelled chassis C supports a motor and a control cabinet containing the computers 1 and 2 of the control device according to the invention.

Le calculateur 1 de gestion définit par le calcul suivant l'ordinogramme décrit en référence à la figure 1 un abaque 20 entourant une aire de stabilité permettant des mouvements à débits maximaux, et un abaque 21 définissant avec l'abaque 20 une zone intermédiaire dans laquelle les mouvements sortants ou aggravants sont autorisés à débits réduits et les mouvements rentrants ou désaggravants sont autorisés à débits maximaux ou intermédiaires.The management computer 1 defines the calculation according to the flowchart described with reference to the figure 1 an abacus 20 surrounding a stability area allowing movements at maximum rates, and an abacus 21 defining with the abacus 20 a Intermediate zone in which outgoing or aggravating movements are allowed at reduced flows, and re-entrant or degrading movements are allowed at maximum or intermediate rates.

Le calculateur 2 de sécurité définit par calcul un abaque 22 correspondant à une valeur de sécurité pour la stabilité de la machine selon l'invention. Dès que l'abaque 22 de sécurité est atteint, le calculateur 2 de sécurité coupe l'ensemble des énergies de la machine selon l'invention par coupure du moteur thermique et désactivation de l'organe 15 de sécurité.The security calculator 2 defines by calculation an abacus 22 corresponding to a security value for the stability of the machine according to the invention. As soon as the safety chart 22 is reached, the safety computer 2 cuts all the energies of the machine according to the invention by shutting down the heat engine and deactivating the safety member 15.

Les abaques 20, 21 et 22 de la figure 3 sont établis pour des stabilisateurs 13 déployés définissant une ligne de pivotement en avant des roues avant : bien entendu, les calculateurs 1 et 2 définissent de manière analogue des abaques similaires lorsque les stabilisateurs 13 sont rétractés et définissent une ligne de pivotement sur les roues avant.Charts 20, 21 and 22 of the figure 3 are established for deployed outriggers 13 defining a pivot line in front of the front wheels: of course, the computers 1 and 2 similarly define similar charts when the stabilizers 13 are retracted and define a pivot line on the front wheels.

L'invention décrite en référence à un mode de réalisation particulier n'y est nullement limitée, mais couvre au contraire toute modification de forme et toute variante de réalisation dans le cadre des revendications annexées.The invention described with reference to a particular embodiment is not limited thereto, but on the contrary covers any modification of form and any variant embodiment within the scope of the appended claims.

En particulier, l'invention est également applicable à la commande de machines de manutention de charges, telles que chariot à portée variable, chariots à mât, chargeuses, matériels de travaux publics et analogues.In particular, the invention is also applicable to the control of load handling machines, such as variable reach trolleys, forklifts, loaders, public works equipment and the like.

Claims (9)

  1. A control device for a handling machine making it possible to handle people, including means (1, 2) for calculating the onboard load and defining the operating charts (20, 21, 22) from said calculated onboard load, the means (1, 2) including a management computer (1), characterized in that the management computer (1) uses a reduced number of obtained calibration parameters (100) while keeping the length of a handling arm (14) constant.
  2. The device according to claim 1, characterized in that said means (1, 2) for calculating the onboard load and defining the operating charts (20, 21, 22) from said calculated onboard load include a management computer (1) and a security computer (2).
  3. The device according to claim 2, characterized in that the management and security computers (1, 2) are connected by a communication bus (3).
  4. The device according to claim 2, characterized in that the management and security computers (1, 2) independently receive signals from redundant and independent measuring sensors.
  5. The device according to claim 4, characterized in that the security computer (2) verifies the coherence of the independent measurements done for the independent sensors.
  6. The device according to any one of the preceding claims, characterized in that the device includes means (1, 2) for determining the configuration of a handling machine.
  7. The device according to claim 6, characterized in that the configuration of the handling machine is determined in a group comprising: a static configuration, an upward movement configuration, a downward movement configuration.
  8. The device according to claim 6 or claim 7, characterized in that the device manages the movement authorizations based on the configuration of the handling machine.
  9. A handling machine including a device according to any one of claims 1 to 8.
EP20070290270 2006-03-03 2007-03-02 Control device, in particular for a handling machine Not-in-force EP1829812B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0601930A FR2898120B1 (en) 2006-03-03 2006-03-03 "CONTROL DEVICE, IN PARTICULAR FOR HANDLING MACHINE"

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EP1829812A2 EP1829812A2 (en) 2007-09-05
EP1829812A3 EP1829812A3 (en) 2009-04-01
EP1829812B1 true EP1829812B1 (en) 2013-11-13

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FR (1) FR2898120B1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2950618B1 (en) * 2009-09-28 2011-10-21 Haulotte Group LIFT BOOM AND METHOD OF CONTROLLING SUCH NACELLE
CN104058336B (en) * 2013-12-18 2016-02-24 徐州重型机械有限公司 Front-handling mobile crane and control method thereof and system
AU2015318258B2 (en) 2014-09-15 2019-02-14 Crown Equipment Corporation Lift truck with optical load sensing structure

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DE19612423A1 (en) * 1996-03-28 1997-10-02 Siemens Ag Redundant control and safety system for crane
JP2000143172A (en) * 1998-11-12 2000-05-23 Yutani Heavy Ind Ltd Operation control device for construction machine
JP2000166291A (en) * 1998-11-24 2000-06-16 Toshiba Corp Crane-controlling device
DE10110176A1 (en) * 2001-03-02 2002-09-05 Putzmeister Ag Mobile work-tool, especially concrete pumping vehicle has force sensors in each support foot monitored by an evaluating electronics
US7014054B2 (en) * 2002-07-01 2006-03-21 Jlg Industries, Inc. Overturning moment measurement system

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EP1829812A3 (en) 2009-04-01
EP1829812A2 (en) 2007-09-05
FR2898120A1 (en) 2007-09-07

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