Mobile elevating work platform with a vertical column

Abstract

A self-propelled aerial work platform (10) with a vertical column is described as comprising: - a base frame (15); - a pair of track assemblies (20, 25) connected to the base frame (15) to support it on the ground (S), - a telescopic column (30) that rises above the base frame (15) and is provided with a first end connected to the base frame (15) and an opposite free second end, - an operator-holder nacelle (130) attached to the column at said second end thereof, and - an actuator (50) configured to drive the telescopic column (30) along its own longitudinal axis (L) between a contracted configuration, wherein the telescopic column (30) has a minimum lengthening along said longitudinal axis (L) and the nacelle (130) is proximal to the base frame (15), and an elongated configuration, wherein the telescopic column (30) has a maximum lengthening along said longitudinal axis (L) and the nacelle (130) is distal from the base frame (15).

Description

[0001] MOBILE ELEVATING WORK PLATFORM WITH A VERTICAL COLUMN

[0002] TECHNICAL FIELD

[0003] The present invention relates to a mobile elevating work platform, also referred to as an aerial work platform, preferably an elevating work platform with a vertical column.

[0004] PRIOR ART

[0005] Mobile elevating work platforms, also known as aerial work platforms, are known to allow one or more operators to be lifted and stationed at height, obviating the need to erect scaffolding or other similar structures.

[0006] Such aerial work platforms, in general, comprise a self-propelled base frame, to which ground support and movement means, generally wheels or tracks, are connected as well as an operator-holder nacelle, which is connected to the base frame with the possibility of moving vertically closer to / away from it to allow said one or more of the nacelle guest operators to reach the site of interest at height.

[0007] To this end, various types of mechanisms are known nowadays to vertically support and move the nacelle in relation to the base frame, such as in particular the pantograph mechanism and the articulated arm mechanism.

[0008] A need felt in the industry is to make available a platform provided with a structure for supporting and moving the operator-holder nacelle that is constructively simpler and also easier to handle.

[0009] DISCLOSURE OF THE INVENTION

[0010] An object of the present invention is to fulfil these and other needs of the prior art, within the framework of a simple, rational and cost-effective solution.

[0011] These objects are achieved by the features of the invention set forth in the independent claim. The dependent claims outline preferred and / or particularly advantageous aspects of the invention.

[0012] In particular, the invention makes available an aerial work platform, particularly a self- propelled aerial work platform with a vertical column, comprising:

[0013] - a base frame;

[0014] - a pair of track assemblies (or tracked assemblies) connected to the base frame to support it on the ground,

[0015] - a telescopic column that rises above the base frame and is provided with a first end connected to the base frame and an opposite free second end, - an operator-holder nacelle attached to the column at said second end thereof, and

[0016] - an actuator configured to drive the telescopic column along its own longitudinal axis between a contracted configuration, wherein the telescopic column has a minimum lengthening along said longitudinal axis and the nacelle is proximal to the base frame, and an elongated configuration, wherein the telescopic column has a maximum lengthening along said longitudinal axis and the operator-holder nacelle is distal from the base frame.

[0017] Thanks to this solution, the invention makes available a platform wherein the positioning of the nacelle and its variation as required is particularly agile and streamlined, both from a construction perspective and from a control perspective.

[0018] Another aspect of the invention provides that the telescopic column may comprise at least two extensions, of which a lower extension that makes available said first end of the telescopic column, and an internally hollow upper extension that makes available said second end of the telescopic column, within which the lower extension is accommodated when the telescopic column is in a contracted configuration.

[0019] Preferably, the telescopic column may comprise three extensions, the lower extension, the upper extension and an intermediate extension, wherein when the telescopic column is in the retracted configuration, the first extension is contained within the intermediate extension and the intermediate extension is contained within the upper extension.

[0020] Thanks to this solution, the variation of the lengthening of the telescopic column is particularly versatile, and at the same time makes it possible to achieve a minimum lengthening with a particularly reduced footprint and a high maximum lengthening.

[0021] Yet another aspect of the invention provides that the telescopic column may be connected to the base frame by means of an articulation assembly configured to allow the rotation of the telescopic column relative to the base frame about a (preferably single) first rotation axis orthogonal to the longitudinal axis of the telescopic column and about a (preferably single) second rotation axis orthogonal to the first rotation axis and orthogonal to the longitudinal axis of the telescopic column.

[0022] Thanks to this solution, the platform is provided with an articulation assembly capable of allowing a versatile orientation of the vertical column, which allows the nacelle both to be moved and oriented as required, compensating for longitudinal and transversal ground unevenness in order to reach the site of interest and to be able to be maintained, in stationary working conditions, in a safe orientation with the telescopic column always vertical if the platform is (stationary or moving) on an uneven or otherwise non-horizontal ground (e.g. a double longitudinal / transversal slope) .

[0023] A further aspect of the invention provides that said articulation assembly may comprise:

[0024] - a first support bracket to which the telescopic column is rigidly attached, and

[0025] - a second support bracket, to which the first support bracket is hinged relative to said first rotation axis, and which is hinged in turn to the base frame relative to said second rotation axis.

[0026] Thanks to this solution, the architecture (i.e. structure) of the articulation assembly is lean, intuitive and may be quickly assembled.

[0027] Yet a further aspect of the invention provides that the platform may comprise an actuation unit comprising:

[0028] - a first drive actuator configured to rotate the first bracket relative to the second bracket about said first rotation axis, and

[0029] - a second drive actuator configured to rotate the second bracket relative to the base frame about said second rotation axis.

[0030] For example, preferably, the actuation unit comprises a single first drive actuator to rotate the first bracket about the first rotation axis and a single second drive actuator to rotate the second bracket about the second rotation axis.

[0031] Thanks to this solution, the assembly of the actuation unit is particularly quick, cost-effective and functional, as is its maintenance (routine or extraordinary).

[0032] In addition, the management of the vertical column movements is particularly agile and streamlined.

[0033] Another aspect of the invention provides that the nacelle may be provided with a seat, for example preferably a prismatic and / or concave seat with a downwardly facing concavity, within which the telescopic column is accommodated with the interposition of rolling bodies, preferably rotatably coupled to the nacelle with a rotation axis lying in a plane orthogonal to the longitudinal axis of the telescopic column, and that the nacelle can be further hinged to the telescopic column by means of a locking pin having an axis orthogonal to the longitudinal axis of the telescopic column.

[0034] Thanks to this solution, the assembly of the nacelle to the telescopic column is effective, robust, easy and intuitive. In detail, the telescopic column, by means of its second end (i.e. the upper extension) can be inserted smoothly with a reduced friction into the seat and subsequently the position of the nacelle along the longitudinal axis of the telescopic column is locked by means of said locking pin.

[0035] Yet another aspect of the invention provides that said locking pin may be a load cell.

[0036] Thanks to this solution, the nacelle is connected to the telescopic column so that all the forces in a direction parallel to a horizontal plane and all the momentums given by the loads applied on the nacelle are discharged (i.e. absorbed) by the rolling bodies, such as in the form of rollers.

[0037] The load alone (vertical weight force) burdening on the nacelle, on the other hand, is fully discharged onto the locking pin, i.e. the load cell.

[0038] Thus, the weight (i.e. load) detected by the load cell can be actually ascribable to the weight on the nacelle.

[0039] Thus, the measurement of the load on the nacelle is particularly accurate, simple and reliable.

[0040] A further aspect of the invention provides that the platform may comprise an electronic control unit operatively connected at least to the actuator.

[0041] Thanks to this solution, the operability of the actuator that drives the telescopic column can be managed in an automated and precise manner.

[0042] Another aspect of the invention provides that the platform may comprise an electronic control unit and that said electronic control unit may be configured to:

[0043] - detect a load value burdening on the nacelle by means of a (single) load cell (such as the aforesaid load cell made available by the locking pin);

[0044] - determine a limit lengthening (between the aforesaid maximum lengthening and the minimum lengthening) of the telescopic column, depending on the measured load value.

[0045] In particular, this limit lengthening may be different from, or less than, the maximum lengthening of the telescopic column.

[0046] Thanks to this solution, the functionality of the platform is particularly safe and reliable, in particular, it is possible to limit the lifting stroke of the nacelle depending on the (real) load detected on board the nacelle, e.g. if this load exceeds a pre-set reference load value.

[0047] Yet another aspect of the invention provides that the platform may comprise: - at least a first orientation sensor configured to detect an orientation of the base frame, operatively connected to an electronic control unit of the platform, and that said electronic control unit can also be configured to determine a limit lengthening value of the telescopic column as a function of said detected orientation (by the first orientation sensor).

[0048] For example, another aspect of the invention provides that the platform may comprise a group of sensors, of which at least a first orientation sensor configured to detect an orientation of the base frame (in particular relative to a horizontal plane) and at least one second orientation sensor configured to detect an orientation of the nacelle (i.e. , an orientation of the walkable surface thereof relative to a horizontal plane), said first orientation sensor and second orientation sensor being operatively connected to the electronic control unit of the platform, and that the electronic control unit may be configured to:

[0049] - determine a relative orientation between the base frame and the nacelle based on the orientations detected by the first orientation sensor and the second orientation sensor, and determine the limit lengthening of the telescopic column (depending on the load detected by the load cell and) also as a function of this determined relative orientation.

[0050] Thanks to this solution, the control of the platform to have it operate safely appears to be particularly versatile and timely.

[0051] A further aspect of the invention provides that the platform may comprise:

[0052] - a first orientation sensor configured to detect an orientation of the base frame (in particular relative to a horizontal plane),

[0053] - a second orientation sensor configured to detect an orientation of the nacelle (in particular an orientation of the nacelle walkable surface relative to a horizontal plane),

[0054] - an electronic control unit operatively connected to the first orientation sensor and the second orientation sensor, and that the electronic control unit can be configured to command the actuator unit to vary the tilt of the vertical column relative to the base frame while maintaining (i.e. to maintain) the longitudinal axis of the telescopic column vertical (e.g. in any tilt configuration of the base frame (i.e. in any ground support condition of the track assembly).

[0055] BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Further features and advantages of the invention will be more apparent after reading the following description provided by way of a non-limiting example, with the aid of the figures shown in the accompanying tables.

[0057] Figure 1 is a front side view of a self-propelled aerial work platform with a vertical column according to the invention, in which a platform telescopic column is in a contracted configuration.

[0058] Figure 2 is a front side view of the platform in Figure 1 , in which the telescopic column is in an elongated configuration.

[0059] Figure 3 is a front rear view of the platform in Figure 1 resting on a ground provided with a first slope.

[0060] Figure 4 is a front rear view of the platform in Figure 1 resting on a ground provided with a second slope.

[0061] Figure 5 is a partial-section front side view of the platform in Figure 1 , in which the platform is resting on a ground provided with a third slope.

[0062] Figure 6 is a view of the platform in Figure 5, in which the platform is resting on a ground provided with a fourth slope.

[0063] Figure 7 is a front view of the telescopic column of the platform in Figure 1 in a contracted configuration and of an operator-holder nacelle attached thereto.

[0064] Figure 8 is a section view along the trace VIII-VIII of Figure 7.

[0065] Figure 9 is an enlarged view of the portion IX of Figure 3.

[0066] Figure 10 is an enlarged view of the portion X of Figure 6.

[0067] Figure 11 is an enlarged view of the portion XI of Figure 8.

[0068] Figure 12 is an enlarged view of a locking pin joining the nacelle to the telescopic column of the platform according to the invention.

[0069] BEST MODE TO IMPLEMENT THE INVENTION

[0070] Referring in particular to these figures, 10 globally denotes an elevating work platform 10 (MEWP), more specifically a mobile elevating work platform, also known as an aerial work platform 10, tracked (without stabilisers), in detail a self-propelled aerial work platform 10 with a vertical column.

[0071] The platform 10 comprises a base frame 15, which for example is defined by a substantially (rigid) parallelepiped body, for example with a base elongated along a longitudinal axis, for example rectangular in shape, preferably contained in a casing.

[0072] The base frame 15 comprises, for example, a lower surface intended to face the ground S, in operation, an opposite upper surface facing upwards, two longitudinal sidewalls, one of which is right and one is left, and two opposite heads, one of which is front and one is rear (in the advancement direction of the platform 10 on the ground S).

[0073] In the present discussion, by right and left, respectively, it is intended the right and left side of the platform 10 relative to a rear front view thereof, such as in Figures 3 and 4.

[0074] The platform 10 further comprises at least one pair of powered track assemblies 20, 25 (or tracked assemblies) associated at opposite sides of the base frame 15 to support it on the ground S.

[0075] In practice, the track assemblies 20, 25 define the ground support S of the platform 10 (keeping the base frame 15 suspended, i.e. keeping it raised from the ground) and allow the movement thereof on the ground S.

[0076] For example, each track assembly 20, 25 may be preferably driven independently of each other.

[0077] Preferably, the platform 10 comprises a left track assembly 20 (or tracked assembly 20) and a right track assembly 25 (or tracked assembly 25), each of which is associated with the base frame 15 (independently of the other assembly).

[0078] In particular, left and right are understood to be a mirror-like arrangement relative to the longitudinal median plane of the base frame 15 orthogonal to the upper surface thereof. The left track assembly 20 is, thus, proximal (and parallel) to the left sidewall and the right track assembly 25 is proximal (and parallel) to the right sidewall.

[0079] For example, each track assembly 20, 25 is in a fixed position relative to the base frame 15.

[0080] It is not excluded, however, that each track assembly 20, 25 may be associated with the base frame 15 in a mobile manner relative thereto (driven by one or more suitably arranged actuators) so as to widen or narrow the plan footprint of the platform 10, or so as to selectively widen or narrow the wheel track.

[0081] Each track assembly 20, 25, in particular, comprises a train of pinions, at least one of which is driven by a respective motor and drives in rotation a flexible member (or track) closed on itself in a ring shape, e.g. made of rubber, whose lower branch defines a (large) longitudinal ground S support surface.

[0082] The platform 10 then comprises a telescopic column 30 that rises above the base frame 15, in particular above the upper surface thereof. The telescopic column 30 has, along its longitudinal development along a longitudinal axis L, a first end, the lower one, which is connected to the base frame 15 as will better appear hereinafter, and an opposite second end, the upper one, which is free.

[0083] In particular, the telescopic column 30 comprises at least two extensions, a lower extension 35 which makes available said first end of the telescopic column 30, and an internally hollow upper extension 40 which makes available said second end of the telescopic column 30, that are slidable into each other to vary the lengthening of the telescopic column 30 along its longitudinal development axis.

[0084] For example, as better visible in Figures 2-6, the telescopic column 30 comprises (or consists of) three extensions, the lower extension 35, the upper extension 40 and an intermediate extension 45 between the lower extension 35 and the upper extension 40, internally hollow.

[0085] The telescopic column 30 may be driven between a contracted configuration (e.g. shown in Figure 1 ), wherein it has a minimum lengthening along said longitudinal axis L, and an elongated configuration (e.g. shown in Figure 2), wherein the telescopic column 30 has a maximum lengthening along said longitudinal axis L.

[0086] Preferably, in the contracted configuration, the lower extension 35 is accommodated within the upper extension 40.

[0087] Furthermore, as better visible in Figure 8, where the intermediate extension 45 is also present, in the contracted position the lower extension 35 is accommodated within the intermediate extension 45, which in turn is accommodated within the upper extension 40. The platform 10 thus comprises an actuator 50 configured to drive the telescopic column 30 between the contracted configuration and the lengthened configuration (selectively arranging the telescopic column 30 in the contracted configuration, in the elongated configuration or in any one of the intermediate configurations between the contracted configuration and the elongated configuration).

[0088] For example, preferably, the platform 10 comprises a single actuator 50 suitable for driving the telescopic column 30 between the contracted configuration and the lengthened configuration.

[0089] Such an actuator 50, visible in Figure 8, can preferably be of the linear and hydraulic type and has a cylinder attached (preferably without residual degrees of freedom) to one of the lower extension 35 and the upper extension 40, preferably the lower extension 35, and a stem (e.g. with several extensions) sliding relative to the cylinder attached, preferably without residual degrees of freedom, to the other one of the lower extension 35 and the upper extension 40, preferably the upper extension 40.

[0090] The stem of the actuator 50 (e.g. with two extensions) slides relative to the cylinder along a sliding direction parallel to the longitudinal axis L of the telescopic column 30, between two extreme end-of-stroke positions, a first position, wherein the stem is more accommodated inside the cylinder, corresponding to the retracted configuration of the telescopic column 30 and a second position, wherein the stem protrudes more out of the cylinder, corresponding to the elongated configuration of the telescopic column 30.

[0091] The actuator 50 is arranged inside the telescopic column 30.

[0092] As mentioned above, the telescopic column 30 is connected, by means of its first end or by means of the lower extension 35, to the base frame 15 of the platform 10.

[0093] In particular, the telescopic column 30 is connected to the base frame 15 by means of an articulation assembly configured to allow the oscillation of the telescopic column 30 relative to the base frame 15 about a (preferably unique) first rotation axis R1 orthogonal to the longitudinal axis L of the telescopic column 30 and (also) about a (preferably unique) second rotation axis R2 orthogonal to the first rotation axis R1 and orthogonal to the longitudinal axis L of the telescopic column 30.

[0094] For example, as can be appreciated from Figures 3 and 4, said first rotation axis R1 may be equally-distant from the sidewalls of the support frame 15, i.e. it may lie on a longitudinal median plane of the base frame 15.

[0095] Said articulation assembly firstly comprises a first support bracket 55 to which the (lower end of the) telescopic column 30 is rigidly attached.

[0096] The first support bracket 55 is rigid, i.e. not deformable when submitted to the usual loads it is intended for, e.g. it is preferably made of metal.

[0097] The first support bracket 55, as better perceivable in Figure 10, firstly has a plate 60, preferably of a reduced thickness, provided with two opposite surfaces, preferably plane and parallel, an upper surface facing the telescopic column 30 and an opposite lower surface facing the base frame 15.

[0098] The plate 60 of the first support bracket 55 is (removably) attached, e.g. welded or bolted, to the telescopic column 30, below it.

[0099] More precisely, said lower end of said telescopic column 30, i.e. said first extension 35 of said telescopic column 30, is attached, e.g. welded or bolted, to the first support bracket 55, in particular to said plate 60 of the first support bracket 55.

[0100] In other words, the telescopic column 30 is arranged as resting on (and attached to) the plate 60 of the first support bracket 55, e.g. at said upper surface thereof.

[0101] The first support bracket 55 then comprises a first fork 65, substantially defined by two opposite and preferably parallel metal ears (placed at a non-zero distance from each other), which originates from the plate 60 moving away from it.

[0102] Each ear defining the first fork 65 comprises a respective preferably cylindrical hole, e.g. a through-hole, and the axes of the (cylindrical) holes coincide and are also preferably parallel to a longitudinal median axis of the base frame 15.

[0103] In detail, as better visible in Figure 9, said first fork 65 originates, without interruption, from the lower surface of the plate 60 of the first support bracket 55 below it (i.e. in a direction moving away from the upper surface and the telescopic column 30).

[0104] As visible in Figure 9, the first support bracket 55 then comprises a second fork 70, defined by two opposite and preferably mutually parallel metal ears (placed at a non-zero distance from each other), placed below the plate 60 and preferably protruding laterally beyond it.

[0105] Each of the ears defining the second fork 70 comprises a respective (preferably cylindrical) hole, e.g. a through-hole, and the axes of the (cylindrical) holes coincide with and are parallel to the axes of the holes of the first fork 65 (i.e. parallel to a longitudinal median axis of the base frame 15).

[0106] For example, each metal ear of the second fork 70 originates, preferably without interruptions, from a respective metal ear of the first fork 65 substantially square with it.

[0107] The articulation assembly then comprises a second support bracket 75, to which the first support bracket 55 is hinged relative to said first pivot axis R1 , in particular by means of the first fork 65.

[0108] Said second support bracket 75, for example, comprises a bar 60 elongated along its own longitudinal axis parallel to the second rotation axis R2, which is interposed between the metal ears of the first fork 65 and has a through-hole, with an axis orthogonal to the longitudinal development of the bar 60, adapted to be arranged coaxially to the holes of the first fork 65 for accommodating a first hinge pin P1 defining said first rotation axis R1 .

[0109] The second support bracket 75 is hinged to the base frame 15 relative to said second rotation axis R2.

[0110] For example, the bar 60 of the second support bracket 75 may have a (full development) inner cavity, within at least one (end) portion of which, a second hinge pin P2 (visible in the sectional view of Figure 10), is accommodated, defining said second rotation axis R2. Preferably, the second hinge pin P2 is defined by two pivot portions that are coaxial to each other (and axially separated from each other) which fit, respectively, into the opposite axial ends of the inner cavity of the bar 60.

[0111] The longitudinal development of said second hinge pin P2 is greater than the longitudinal development of the bar 60, so as to protrude from the inner cavity of the bar 60 and protrude beyond both opposite longitudinal ends thereof.

[0112] The ends of the second hinge pin protruding from the inner cavity of the longitudinal bar are each accommodated in a respective housing seat, and each of said housing seats has an axis coaxial to said second rotation axis R2.

[0113] Each of said seats is made available by a rigid support block 85 (i.e. not deformable when submitted to the usual loads for which it is intended) and for example made of metal attached to the base frame 15, e.g. welded or bolted to the upper surface thereof.

[0114] The bar 60, with the second hinge pin P2 accommodated within its longitudinal cavity and inserted with its opposite ends into said seats, is capable of rotating on itself about said second rotation axis R2.

[0115] The platform 10 further comprises an actuation unit configured to selectively and / or jointly actuate the oscillation (in both directions) of the telescopic column 30 about said first rotation axis R1 and (in both directions) about said second rotation axis R2.

[0116] In particular, said actuation unit is configured to have the first support bracket 55 oscillate (in both directions) relative to the second support bracket 75 about said first rotation axis R1 , driving the telescopic column 30 into oscillation therewith.

[0117] Furthermore, said actuating unit is configured to have the second support bracket 75 (independently) oscillate relative to the base frame 15 (in both directions) about said second rotation axis R2, driving the first support bracket 55 and the telescopic column 30 to oscillate therewith.

[0118] The actuation unit comprises, first of all, one first drive actuator 90 configured to have the telescopic column 30 oscillate (between two end-of-stroke positions) about said first rotation axis R1 , i.e. to have said first support bracket 55 oscillate about said second bracket about said first rotation axis R1 .

[0119] The first drive actuator 90 is preferably of the linear type and can also be a hydraulic actuator.

[0120] This first drive actuator 90, visible in Figure 9, is provided with a cylinder and a stem sliding relative to the cylinder.

[0121] In particular, the stem of the first drive actuator 90 is sliding relative to the cylinder, along a sliding direction between two extreme end-of-stroke positions, of which, a minimum lengthening position wherein the actuator stem is predominantly accommodated within the cylinder and a maximum lengthening position wherein the stem protrudes predominantly out of the cylinder.

[0122] The first actuator 90 has a first connection portion, for example made available by the cylinder at its end or at any axial position thereof, hinged to the first support bracket 55 relative to a hinge axis parallel (and eccentric) to the first rotation axis R1 and a second end, for example made available by the movable stem, hinged to the second support bracket 75 relative to a respective hinge axis parallel (and eccentric) to the first rotation axis R1 .

[0123] In detail, the first connection part of the first drive actuator 90 is hinged to the first support bracket 55 at the second fork 70 by means of the holes formed thereon.

[0124] The second end of the first drive actuator 90, on the other hand, is hinged to the second support bracket 75 by means of a hinge pin which is accommodated within an eyelet 100 made on the bar 60 of the second support bracket 75 and an eyelet formed in said second end of the first drive actuator 90.

[0125] The movement of the movable stem towards the maximum lengthening position causes a rotation of the telescopic column 30 in one direction, e.g. counter-clockwise with reference to Figure 10, about the first rotation axis R1 , while the movement of the mobile stem towards the minimum lengthening position causes a rotation of the telescopic column 30 in the opposite direction about the first rotation axis R1 , e.g. clockwise with reference to Figure 9.

[0126] The drive unit further comprises a second drive actuator 105 configured to oscillate the telescopic column 30 about said second rotation axis R2, i.e. to oscillate the second support bracket 75 relative to the base frame 15 about said second rotation axis R2.

[0127] The second drive actuator 105 is preferably of the linear type and can also be of the hydraulic type.

[0128] This second drive actuator 105, which is visible in Figure 10, is provided with a cylinder and a movable stem that slides relative to the cylinder.

[0129] The stem of the second drive actuator 105 is sliding relative to the cylinder between two extreme end-of-stroke positions of which a respective minimum lengthening position wherein the movable stem of the second drive actuator 105 is predominantly accommodated inside the cylinder and a respective maximum lengthening position wherein the movable stem protrudes predominantly out of the cylinder.

[0130] The second drive actuator 105 has a first end (or connection portion), which may for example be made available by the cylinder, hinged to the base frame 15 relative to a hinge axis parallel (and eccentric) to the second rotation axis R2 and a second end, made available by the movable stem, hinged to the second support bracket 75 relative to a respective hinge axis parallel (and eccentric) to the second rotation axis R2.

[0131] In particular, as visible in Figure 10, the first end of the second drive actuator 105 is hinged to the base frame 15 by means of a third support bracket 110, which is attached (e.g. bolted or welded) to the base frame 15 (i.e. to the upper surface thereof), that makes available a housing seat 115 of a respective hinge pin which is simultaneously inserted therein and in an eyelet formed at said first end of the second drive actuator 105.

[0132] The second end of the second drive actuator 105 is hinged to the second support bracket 75 by means of a respective fork 120 formed therein, rising from the bar 60 (and integral therewith), wherein said fork 120 comprises two opposite, parallel metal gussets each provided with a through-hole, and said through-holes are coaxial with each other.

[0133] The second end of the second drive actuator 105 is inserted within the respective fork 120, i.e., sandwiched between the metal gussets thereof, so that an eyelet made on said second end is arranged coaxially to the holes made in the fork to accommodate a respective hinge pin 125.

[0134] The movement of the movable stem of the second drive actuator 105 towards the position of maximum lengthening results in a rotation of the telescopic column 30 in one direction, e.g. clockwise with reference to Figure 10, about the second rotation axis R2, while the movement of the movable stem towards the minimum lengthening position results in a rotation of the telescopic column 30 in the opposite direction about the second rotation axis R2, e.g. counter-clockwise with reference to Figure 10. In the preferred example shown, an articulation assembly (and an actuation unit) which allows both the oscillation of the telescopic column 40 relative to the base frame 15 about a first rotation axis R1 and the (independent) oscillation of the telescopic column 40 relative to the base frame 15 about a second rotation axis R2 has been shown and described. In alternative, simpler embodiments, it could be provided that the platform 10 is provided with an articulation assembly (and an actuation unit) which allows the (only) oscillation of the telescopic column 40 relative to the base frame 15 about a first rotation axis R1 as described above, or the (only) oscillation of the telescopic column 40 relative to the base frame 15 about a second rotation axis R2 as described above.

[0135] The platform 10 also comprises an operator-holder nacelle 130, i.e. intended to support and transport one or more operators (people).

[0136] The nacelle 130 (which may also be called a basket) is provided with a walkable plane 135, e.g. of a substantially quadrangular plan shape, adapted to support one or more operators, and a railing (or fence) which rises from (or develops above) the walkable plane 135 and which peripherally delimits a space for housing the nacelle 130 which is closed below by the walkable plane 135.

[0137] The nacelle 130, or said walkable surface 135 and said railing, is rigid (i.e. not deformable when submitted to the usual loads it is intended for), e.g. made of metal and, for example, has an entrance / exit gate.

[0138] The nacelle 130, as can be appreciated in the enclosed Figures, is attached to the telescopic column 30 at the second end thereof.

[0139] In other words, the nacelle 130 is (removably) attached to the upper extension 40 of the telescopic column 30, as will be better described hereinafter.

[0140] Thus, when the telescopic column 30 is in the contracted configuration, the nacelle 130 is proximal to the base frame 15 (e.g. with the walking plane at a minimum distance from the upper surface of the base frame 15, e.g. at substantially the same height as the lower end of the telescopic column 30) whereas when the telescopic column 30 is in the elongated configuration the telescopic column 30 is distal from the base frame 15.

[0141] As better visible in figure 11 , the nacelle 130 is provided with a seat, e.g. a prismatic seat, adapted to accommodate the telescopic column 30 (i.e. at least said upper extension 40 thereof or the entire telescopic column when it is in the contracted configuration).

[0142] In detail, the nacelle 130 may have a rigid tubular structure, such as made of metal, within which said second end of the telescopic column 30, i.e. said upper extension 40 thereof, is housed.

[0143] The tubular structure defining said seat (e.g. prismatic) within which the (second end of the) telescopic column 30 is housed, may be open at both opposite ends or may be closed at the top (i.e. at the end distal from the base frame 15) thereby defining a concave seat with the concavity facing downwards, i.e. towards the base frame 15.

[0144] In particular, said telescopic column 30 is accommodated within the (prismatic) seat with the interposition of rolling bodies 145, e.g. in the form of rollers or wheels (as better visible in Figure 11 ).

[0145] These rolling bodies 145 are rotatably coupled (preferably in idle mode) to one of the nacelle 130 and the telescopic column 30 relative to rotation axes lying in a plane orthogonal to the longitudinal axis L of the telescopic column 30. For example, said rolling bodies 145 are attached, rotating idly relative to said rotation axes, to the nacelle 130.

[0146] Preferably, at least one rolling body 145, e.g. at least one roller or wheel, is interposed between each wall of the telescopic column 30 and the respective wall of the (prismatic) seat to which said wall of the telescopic column 30 faces.

[0147] In practice, the rolling bodies 145 can roll on the walls of the telescopic column 30 being free to rotate about their respective rotation axes, which are for example parallel to each other, orthogonal to the longitudinal axis L of the telescopic column and, for example, parallel to the respective walls of the (prismatic) seat which they are associated with.

[0148] Furthermore the nacelle 130 is hinged to the telescopic column 30 by means of a (single) locking pin 150 with an axis orthogonal to the longitudinal axis L of the telescopic column 30, i.e. also lying on a lying plane that is orthogonal to the longitudinal axis L of the telescopic column 30.

[0149] For example, the locking pin 150 is arranged underneath (the walkable surface 135 of) the nacelle 130.

[0150] This locking pin 150, better visible in Figure 8 and Figure 12, is in particular adapted to be simultaneously inserted in at least an eyelet formed in the nacelle 130, and in at least an eyelet formed in the telescopic column 30 (e.g. in number of two), said eyelets being adapted to be arranged coaxially to each other to accommodate the locking pin 150.

[0151] In detail, said (only) locking pin 150 can form, or be defined / consist of, a load sensor such as a load cell S1 (which defines the only load cell present to detect the load burdening on the nacelle 130).

[0152] In detail, as visible in Figure 12, the locking pin 150, acting as a load cell, is defined by a bar (e.g. cylindrical, with constant or variable cross-section), a deformation of which (by bending and / or shear or other) is indicative of the load burdening on it (in the radial direction relative to the central longitudinal axis).

[0153] In detail, one or more sensors (defining the load cell S1 ) are (rigidly) attached on the locking pin 150, for example two axially separated sensors (and between which the con- tact / connection point between the eyelet made in the nacelle 130 or in the telescopic column 30 and the locking pin 150 is interposed), wherein each sensor or the plurality of sensors (defining the load cell(s) S1 ) is configured to measure a deformation of the locking pin 150 (due to the weight burdening on the nacelle 130) with respect to an undeformed reference position (and make available a measured load value burdening on the nacelle 30 corresponding to said measured deformation).

[0154] The telescopic column 30, visible in Figure 9, is inserted within the (prismatic) seat defined by the nacelle 130, and the position of the nacelle 130 along the longitudinal development (along the longitudinal axis L) of the telescopic column 30 is locked by means of said locking pin 150 (i.e. said load cell).

[0155] In practice, the (seat of) the nacelle 130 is inserted / fitted to measure from above on (the upper extension 40 of) the telescopic column 40, defining with it - by means of the interposition of the rolling bodies 145 - a prismatic connection.

[0156] Furthermore, the nacelle 130 is axially locked relative to (the upper extension 40 of) the telescopic column 40 by means of the (only) locking pin 150 (defining / constituting a load cell).

[0157] Thanks to this connection, the main problem with this type of known platforms, resulting from the friction between the extensions of the telescopic column and / or actuator due to the “cantilevered” position of the load in the nacelle relative to the extensions themselves and due to their relative sliding during the lifting of the nacelle, is solved.

[0158] The solution (with rolling members 145 and locking pin 150 defining the load cell) makes the measurement of the weight / load burdening on nacelle 130 more reliable and accurate regardless of the method and position used to measure this weight, clearing the measurement made by the load cell S1 from the aforementioned friction.

[0159] In practice, the prismatic connection between the nacelle 130 and the upper extension 140 of the telescopic column 40, by means of the interposition of the rolling bodies 145, is substantially frictionless and / or with a low-friction.

[0160] The hinging of the nacelle 130 to the lower part of the upper extension 140 of the telescopic column 40 by means of the locking pin 150 defines both the hinge pin and the load cell (which detects the weight burdening on the nacelle 130).

[0161] Thus, a structure is formed in which all the forces in a direction parallel to a horizontal plane and all the momentums given by the loads applied on the platform are discharged onto the rolling bodies 135, and the only vertical load burdening on the nacelle 130 is totally discharged onto the load cell S1 , which then reads the precise load value without the need for mathematical corrections.

[0162] The platform 10 then comprises a group of sensors S1 , S2, ..., Sn (schematised in Figure 1 ) configured to detect one or more operational parameters of the platform 10.

[0163] The group of sensors S1 , S2, ..., Sn comprises at least a first orientation sensor, configured to detect an orientation of the base frame 15, in particular an orientation of the base frame relative to a zero position wherein the base frame 15 resting on the ground S (i.e., the ground support plane S defined by the track assemblies 20, 25) is substantially horizontal, i.e. when the platform 10 is resting on a plane, horizontal ground S.

[0164] Orientation, for example, means an absolute orientation relative to an absolute reference system defined by a horizontal plane (x, y) and a vertical axis (z).

[0165] For example, this orientation of the base frame 15 can be represented by a first value of side (left / right) tilt angle and a second value of front-rear tilt angle.

[0166] The group of sensors S1 , S2, ..., Sn may optionally comprise a second orientation sensor, configured to detect an orientation of the nacelle 130 (i.e. of the walkable surface 135 thereof) relative to a respective zero position wherein the walkable surface 135 of the nacelle 130 lies on a horizontal (or substantially horizontal) plane.

[0167] Orientation, for example, means an absolute orientation relative to an absolute reference system defined by a horizontal plane (x, y) and a vertical axis (z).

[0168] For example, this orientation of the nacelle 130, i.e. of the walkable surface 135 thereof, can be represented by a first value of a side (left / right) tilt angle and a second value of a front-rear tilt angle.

[0169] Finally, the group of sensors S1 , S2, ..., Sn may comprise a load sensor, such as a load cell, configured to detect a load burdening on the nacelle 130 (e.g. supported by it or intended to be lifted).

[0170] In particular, as mentioned above, said load sensor can be made available by, or de- fined / consisting of, the locking pin 150 by which the nacelle 130 is hinged to the telescopic column 30.

[0171] The platform 10 also comprises an electronic control unit 155 (which may, for example, comprise at least one of a micro-controller, a microprocessor, an FPGA, an ASIC, etc., and which is schematised in Figure 1 ) and, optionally, a storage unit (comprising, nonvolatile memory elements and, preferably, volatile memory elements) interconnected with each other and suitable for processing and storing, respectively, information - for example, in binary format.

[0172] The electronic control unit 155 is operationally connected to the group of sensors and configured to receive (and possibly process) the parameters / values detected (i.e. measured) by them.

[0173] The electronic control unit 155 is also operatively connected to each motor of the respective track assembly 20, 25 to selectively drive the movement of the platform 10 on the ground S.

[0174] “Movement” or “handling” of the platform 10 on the ground S herein refers to a translation movement of the platform 10 (i.e. of its base frame 15) along a user-controlled trajectory. The electronic control unit 155 is also operatively connected to the actuator 50 and is configured to selectively drive it between the first position and the second position (stopping it in any desired position between the first position and the second position), for example in response to commands given by the operator, so as to drive the telescopic column 30 in the contracted configuration or in the elongated configuration or in any intermediate configuration between the contracted configuration and the elongated configuration.

[0175] Yet, the electronic control unit 155 can be operatively connected to the drive unit, i.e. to the first drive actuator 90 and the second drive actuator 105, so as to selectively oscillate the telescopic column 30 about the first rotation axis R1 and / or about the second rotation axis R2 relative to the base frame 15.

[0176] In an advantageous embodiment, the electronic control unit 155 can be configured to control the lengthening of the telescopic column 30 along its longitudinal axis L, by controlling the stroke of the actuator stem 50 between the two extreme end-of stroke positions (i.e. between the first position and the second position), based on the value measured by the load cell.

[0177] In particular, the electronic control unit 155 can be configured to calculate / determine a limit lengthening of the telescopic column 30 along its longitudinal axis L, based on the load value measured by the load cell.

[0178] This limit lengthening of the telescopic column 30 is lower than the maximum lengthening thereof (and greater than or equal to the minimum lengthening of the telescopic column 30 along the longitudinal axis L), i.e. it corresponds to a configuration of the telescopic column 30 equal to the contracted configuration or intermediate between the configuration and the elongated configuration.

[0179] In other words, the electronic control unit 155 can be configured to determine a limit position of the movable stem of the actuator 50 that is intermediate between the first position and the second position, i.e. to determine a maximum stroke that can be actuated by the movable stem of the actuator (lengthened) towards the second position (without reaching it).

[0180] For example, the electronic control unit 155 can be configured to detect a current load value burdening on the nacelle 130 through the load cell (defined by the locking pin 150), compare the measured current load value with a predetermined reference load value (such as indicative of the fact that there is only one operator on the nacelle) and determine a limit lengthening, less than the maximum lengthening, to limit the height that the nacelle 130 can reach from the maximum permitted height, if the current load value is greater than the reference load value.

[0181] In alternative or in addition, the electronic control unit 155 may be configured to detect a current load value burdening on the nacelle 130 by the load cell (defined by the locking pin 150) and determine a respective limit lengthening, e.g. different from the maximum lengthening, to limit the height that the nacelle 130 can reach from the maximum allowed height, for each measured current load value (e.g. as output of a pre-calibrated map stored in the memory unit receiving the measured current load value as input).

[0182] Preferably, the electronic control unit 155 can also be configured to calculate / determine said limit lengthening of the telescopic column 30 (in addition to the load measured by the load cell) as a function of the (absolute) orientation of the base frame 15 detected by the first orientation sensor. In practice, the electronic control unit 155 can be configured to allow the lengthening of the telescopic column 30 only within a stability area determined on the basis of the (absolute) orientation of the base frame 15 and of the load burdening on the nacelle 130, inhibiting the lengthening of the telescopic column 30 beyond said critical limit lengthening value for the gravitational stability of the platform 10.

[0183] Even more preferably, the electronic control unit 155 can be configured to calculate / de- termine said limit lengthening of the telescopic column 30 as a function of the load detected by the load cell S1 (defined by the locking pin 150) and, moreover, as a function of the orientation of the base frame 15 and the nacelle 130.

[0184] In particular, to this end, the electronic control unit 155 can be configured to determine, based on the orientations detected by the first orientation sensor and the second orientation sensor, a relative orientation between the base frame 15 and the nacelle 130.

[0185] At this point, the electronic control unit 155 can be configured to determine said limit lengthening of the telescopic column 30 based on the (value of) load detected by the load cell and based on this determined relative orientation.

[0186] The electronic control unit 155 can also be configured to keep the nacelle 130 with the walkable surface 135 always horizontal by acting on the drive unit when the platform 10 is stationary.

[0187] In addition, the control system 155 is, moreover, configured to keep the nacelle 130 with the walkable surface 135 always horizontal even when the platform 10 is translating on the track assemblies 20, 25, for example in a zone of the ground S where the slope varies. In practice, the electronic control unit 155 is configured to command the drive unit to vary the tilt of the telescopic column 30 relative to the base frame15 while keeping the longitudinal axis L of the telescopic column 30 vertical, thereby returning the walkable plane 135 to a horizontal condition whenever this condition is disturbed by the ground support of the track assemblies 20, 25.

[0188] To this end, based on the orientation of the base frame 15 detected by the first orientation sensor and / or based on the orientation of the nacelle 130 detected by the second orientation sensor, the electronic control unit 155 acts on the drive unit i.e. on the first drive actuator 90 and / or on the second drive actuator 105 so as to have the telescopic column 30 oscillate about the first rotation axis R1 and / or the second rotation axis R2 relative to the base frame 15, so as to maintain the longitudinal axis of the telescopic column 30 parallel to the vertical, thereby balancing the various possible slopes of the ground S on which the platform 10 rests.

[0189] The invention thus conceived is susceptible to several modifications and variations, all falling within the scope of the inventive concept. Moreover, all details can be replaced by other technically equivalent elements.

[0190] In practice, the materials used, as well as the contingent shapes and sizes, can be whatever according to the requirements without for this reason departing from the scope of protection of the following claims.

Claims

CLAIMS1. A self-propelled aerial work platform (10) with a vertical column comprising:- a base frame (15);- a pair of track assemblies (20, 25) connected to the base frame (15) to support it on the ground (S),- a telescopic column (30) that rises above the base frame (15) and is provided with a first end connected to the base frame (15) and an opposite free second end,- an operator-holder nacelle (130) attached to the column at said second end thereof,- an actuator (50) configured to drive the telescopic column (30) along its own longitudinal axis (L) between a contracted configuration, wherein the telescopic column (30) has a minimum lengthening along said longitudinal axis (L) and the nacelle (130) is proximal to the base frame (15), and an elongated configuration, wherein the telescopic column (30) has a maximum lengthening along said longitudinal axis (L) and the nacelle (130) is distal from the base frame (15).

2. The platform (10) according to claim 1 , wherein the telescopic column (30) comprises at least two extensions, a lower extension (35) which makes available said first end of the telescopic column (30), and an internally hollow upper extension (40), which makes available said second end of the telescopic column (30), inside which the lower extension (35) is accommodated when the telescopic column (30) is in a contracted configuration.

3. The platform (10) according to claim 1 , wherein the telescopic column (30) is connected to the base frame (15) by means of an articulation assembly configured to allow the rotation of the telescopic column (30) relative to the base frame (15) about a first rotation axis (R1 ) orthogonal to the longitudinal axis (L) of the telescopic column (30) and about a second rotation axis (R2) orthogonal to the first rotation axis (R1 ) and orthogonal to the longitudinal axis (L) of the telescopic column (30).

4. The platform (10) according to claim 3, wherein said articulation assembly comprises:- a first support bracket (55) to which the telescopic column (30) is rigidly attached, and- a second support bracket (75), to which the first support bracket (55) is hingedrelative to said first rotation axis (R1 ), and which is hinged to the base frame (15) relative to said second rotation axis (R2).

5. The platform (10) according to the preceding claim, comprising an actuation unit comprising:- a first drive actuator (90) configured to rotate the first support bracket (55) relative to the second support bracket (75) about said first rotation axis (R1 ), and- a second drive actuator (105) configured to rotate the second support bracket (75) relative to the base frame (15) about said second rotation axis (R2).

6. The platform (10) according to claim 1 , wherein the nacelle (130) is provided with a seat (140) inside which the telescopic column (30) is accommodated with the interposition of rolling bodies (145), and wherein the nacelle (130) is further hinged to the telescopic column (30) by means of a locking pin (150) having an axis orthogonal to the longitudinal axis (L) of the telescopic column (30).

7. The platform (10) according to claim 6, wherein said locking pin (150) is a load cell.

8. The platform (10) according to claim 1 , comprising an electronic control unit (155) operatively connected to the actuator (50).

9. The platform (10) according to claims 7 and 8, wherein the electronic control unit (155) is configured to:- detect a load value burdening on the nacelle (130) by means of the load cell;- determine a limit lengthening of the telescopic column (30) depending on the detected load value.

10. The platform (10) according to the preceding claim, comprising:- at least a first orientation sensor configured to detect an orientation of the base frame (15) operatively connected to the electronic control unit (155), and wherein the electronic control unit (155) is configured to determine said limit lengthening of the telescopic column (30) also as a function of this detected orientation.

11. The platform (10) according to claim 5, comprising:- an electronic control unit (155),- a first orientation sensor configured to detect an orientation of the base frame (15)- a second orientation sensor configured to detect an orientation of the nacelle (155), said first orientation sensor and second orientation sensor being operatively connected to the electronic control unit (155), and wherein the electronic control unit (155) isconfigured to command the drive unit to vary the tilt of the telescopic column (30) relative to the base frame (15) while maintaining the longitudinal axis (L) of the telescopic column (30) vertical.

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