Handling machine
Patent Information
- Application Number
- DE202024107284
- Authority / Receiving Office
- DE · DE
- Patent Type
- Utility models
- Current Assignee / Owner
- Priority Date
- 2023-12-18
- Filing Date
- 2024-12-16
- Publication Date
- 2025-03-06
- Estimated Expiration
- 2034-12-31
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
The present invention relates to a handling machine.More particularly, it relates to a handling machine comprising at least one chassis having two opposite ends, one of which forms the front end and the other the rear end of the chassis, depending on the direction of advancement of the machine, a first axle and a second axle, one of which is integrated into one of the ends and the other into the opposite end of the chassis, a motor device for driving the advancement at the bottom of the machine, at least one system for controlling the motor device for driving the advancement at the bottom of the machine, a control unit and a handling system comprising at least one arm for supporting an attachment movably mounted between an upper position and a lower position, and at least one attachment couplable to the arm, each axle comprising at least two wheels, which swing about a so-called vertical axis which extends substantially vertically when the machine is positioned on a horizontal planar surface, and includes a device for driving the swinging motion of the wheels about the vertical axis parallel to each other, wherein the machine includes, for each device for driving the swinging motion of the wheels, at least one so-called steering member for controlling the driving device in the direction of swinging the associated wheels according to a first direction or a second, opposite direction for the steering control of the machine.Note that a so-called vertical axis extending substantially vertically means an axis vertical within plus or minus 25°. Such a machine is well known to those skilled in the art. For cost reasons, it is necessary to make such handling machines more and more versatile, in particular with respect to the use of the machine and thus with respect to attachments which can be positioned at the end of the arm. At the same time, however, this versatility must not impair the ease of use of such a machine and, in particular, the driving comfort.To this end, the invention relates to a handling machine comprising at least one chassis having two opposite ends, one of which, depending on the direction of advancement of the machine, forms the front end and the other the rear end of the chassis, a first axle and a second axle, one of which is integrated into the one of the ends and the other into the opposite end of the chassis, a motor device for driving the advancement at the bottom of the machine, at least one system for controlling the motor device for driving the advancement at the bottom of the machine, a control unit and a handling system comprising at least one arm for supporting an attachment movably mounted between an upper position and a lower position, and at least one attachment couplable to the arm, wherein each axle comprises at least two wheels which pivot about a so-called vertical axis which extends substantially vertically when the machine is positioned on a horizontal flat surface, and a device for driving the pivoting movement of the wheels parallel to one another, wherein the machine comprises, for each device for driving the pivoting movement of the wheels, at least one so-called steering member for controlling the driving device in the direction of pivoting of the associated wheels according to a first direction or a second, opposite direction for the steering control of the machine, characterized in that the or at least one of the implements is a basket, in that the machine comprises a so-called two-steered-wheel operating mode in which the devices for driving the pivoting movement of the wheels, which are activatable / deactivatable devices, are selectively activatable, in that, in the two-steered-wheel operating mode, the machine comprises a so-called two-steered-wheel operating mode in which the devices for driving the pivoting movement of the wheels, which are activatable / deactivatable devices, are selectively activatable, the machine includes at least two locations for controlling steering and travel at the bottom of the machine, each control location being capable of including the or at least one of the steering members and the or at least one of the systems for controlling the motor device, and the control locations being selectively activatable, that one of the control locations, referred to as a first control location, is arranged on the basket to enable controlling steering and travel of the machine from the basket, and that the other or at least one other of the control locations is a laid control location which is positioned or can be positioned at a distance from the basket, and that the driving unit is configured to control activation of the one or the other of the driving devices for pivoting the wheels at least depending on the activated control location.The ability to mount a basket-type implement on the end of the arm allows for height work without interfering with the use of the machine with conventional implements such as a bucket, forks, or others. The presence of two selectively activatable control stations, together with two steering axles which are selectively activatable in dependence on at least the activated control station, provides the operator of the machine with ride comfort irrespective of the occupied control station without impairing the versatility of the machine which enables both working in elevation and load handling.According to an embodiment of the invention, in the activated state of the first control station, the activated drive device for pivoting the wheels is the drive device for pivoting the wheels of the axle that is furthest from the basket. This configuration provides the operator of the machine located in the basket with the desired riding comfort.According to an embodiment of the invention, the machine comprises a superstructure mounted rotatably on the chassis about a so-called vertical axis which, when the machine is positioned on a horizontal plane surface, extends vertically, and the basket is supported by the superstructure and the drive unit is configured to control an activation of one or the other of the drive devices for pivoting the wheels at least depending on the activated control location and the angular position of the superstructure. Thus, the activation of the steering axis is dependent not only on the activated control location but also on the angular position of the activated control location, in order to again enable maximum driving comfort.According to an embodiment of the invention, the machine comprises at least one member for locking the superstructure at a predetermined angular position, and the control unit is configured to prevent activation of the or each of the laid control places in the unlocked state of the superstructure. This arrangement makes it possible, when the laid control place is a control place mounted on the chassis with a part of the control place positioned on the superstructure and a part of the control place positioned on the chassis, to prevent accidents associated with controlling the machine from the laid control place.According to an embodiment of the invention, the or at least one of the systems for controlling the motor device for driving the travel on the floor of the machine and the or at least one of the steering members are integrated into a remote control, which can be positioned at a distance from the basket and from the chassis of the machine, and the remote control, in the state positioned at a distance from the basket and from the chassis of the machine, forms the or at least one of the laid control places of the machine and the machine comprises at least one member for activating the remote control. The activated state of the remote control enables the control of the motor device for driving the movement on the floor of the machine by means of the control system and the control of the activated drive device by means of the steering member or members. In this way, it may be possible to control the handling machine from the basket, from a laid control place supported by the chassis, and from the remote controller, which may be positioned at a distance from the basket and from the laid control place supported by the chassis, without impairing ride comfort.According to an embodiment of the invention, the or at least one of the guided control spaces is supported by the chassis and comprises, in addition to a location for receiving the or one of the systems for controlling the motor device for driving the movement on the floor of the machine and a location for receiving the or at least one of the steering members, at least one seat on which the driver of the machine can sit and a location for receiving the legs of the operator which is arranged in front of the seat, and the control unit is configured to control, in the activated state of the guided control space supported by the chassis, an activation of the device for driving the pivoting movement of that axis which, with respect to the direction of movement in the forward gear of the machine, is arranged in front of the location for receiving the legs of the operator of the control space.According to an embodiment of the invention, the machine comprises a sensor representative of the occupied state of the seat, and the driving unit is configured to prevent activation of the first control location at least in the occupied state of the seat. This configuration makes it possible to prevent interference in control.According to an embodiment of the invention, the machine comprises a manual member for activating the first control location and / or a manual member for activating the or at least one of the laid control locations. The presence of at least one manual activation member allows the operator of the machine to intentionally perform activation of a control station.According to an embodiment of the invention, the or one of the systems for controlling the motor device for driving the movement at the bottom of the machine and the or at least one of the steering members are integrated in a control panel couplable / uncoupled with respect to the basket, and at least in the coupled state of the control panel to the basket, the first control station is in the activated state. At least in the coupled state of the control console to the basket and in the actuated state of the activation member, the first control location may be in the activated state. The presence of a couplable / decoupled control console makes it possible to use such a control console for a plurality of control positions. This results in simpler production and lower costs.According to an embodiment of the invention, the laid control room, wherein the or at least one of the laid control rooms supported by the chassis includes an area for receiving the control console, is in the activated state at least in the state in which the control console is positioned in the area.According to an embodiment of the invention, the or at least one of the guided control spaces, which can be positioned at a distance from the basket and from the chassis of the machine, is formed by the control console, which is in the form of a remote control in the state uncoupled from the basket. Thus, a same control console can be used for a plurality of laid control places in addition to the first control place.According to an embodiment of the invention, the machine comprises at least one sensor for the position of the arm and / or at least one sensor for determining the length of the arm when the arm is length adjustable, and the driving unit is configured to control the activation of the first control location depending on at least the data provided by the at least one sensor for the position of the arm and / or the at least one sensor for determining the length of the arm. Thus, in the case of a telescopic arm, the control unit may be configured to control the activation of the first control location only in the retracted position of the arm.According to one embodiment of the invention, for each axle, the device for driving the pivoting motion of the wheels of the axle comprises a hydraulic cylinder having at least two chambers, a fluid circulation circuit for supplying the one or the other of the chambers of the cylinder with pressurized fluid depending on the pivoting direction of the wheels, and at least one manifold having at least two positions arranged in the circuit, one of the positions of the manifold corresponding to an activated state of the device for driving the pivoting motion of the wheels, the other or another of the positions of the manifolds corresponding to an inactivated state of the device for driving the pivoting motion of the wheels. The activated state of the device for driving the pivotal movement of the wheels is a state in which at least one of the chambers of the cylinder is capable of being supplied with pressurized fluid. The inactivated state of the device for driving the pivotal motion of the wheels is a state in which the chambers of the cylinder are prevented from being supplied with pressurized fluid.According to an embodiment of the invention, the distributor for activating / deactivating the device for driving the pivoting motion of the wheels of the first axle coincides with the distributor for activating / deactivating the device for driving the pivoting motion of the wheels of the second axle. Thus, in one of the positions of the distributor for activation / deactivation, the device for driving the pivoting movement of the wheels of the first axle is activated and the device for driving the pivoting movement of the wheels of the second axle is deactivated, while in the other or in another of the positions of the distributor for activation / deactivation, the device for driving the pivoting movement of the wheels of the first axle is deactivated and the device for driving the pivoting movement of the wheels of the second axle is activated.Preferably, the machine comprises, arranged in series with said actuator activation / deactivation manifold, a second manifold having at least two positions, one of the positions of said second manifold corresponding to the supply of pressurized fluid to one of the chambers of the cylinder of the activated actuator, the other or another of the positions of said second manifold corresponding to the supply of pressurized fluid to the other of the chambers of the cylinder of the activated actuator.According to an embodiment of the invention, the chassis has a longitudinal axis extending longitudinally from one of the ends towards the other end of the chassis, and the wheels of an axle are in a so-called straight position when they extend parallel to the longitudinal axis, and in the deactivated state of a device for driving the pivoting movement of the wheels of an axle, the wheels of the axle are in the straight position. Preferably, the driving unit is configured to, when switching from one control station to another, i.e. when a control station changes from the activated state to the deactivated state in parallel with the change of a control station from the inactivated state to the activated state, control the change to the straight position of the wheels of the axle whose device for driving the pivoting movement of the wheels is associated with the control station which is being deactivated.Brief Description of the DrawingsThe invention will be understood from a reading of the following description of embodiments with reference to the accompanying drawings, wherein: FIG. 1 is a partial perspective view of a handling machine according to the invention; FIG. 2 is a schematic view of controlling the devices for driving the pivoting motion of the wheels in the activated state of the laid control room supported by the chassis; FIG. 3 is a schematic view of controlling the devices for driving the pivoting motion of the wheels in the activated state of the first control station; FIG. 4 is a schematic view of controlling the devices for driving the pivoting motion of the wheels in the activated state of a laid control station which can be positioned at a distance from the chassis and from the basket; FIG. 5 is a partial perspective view of a handling machine according to the invention; FIG. 6 is a partial perspective view of a handling machine according to the invention; FIG. 7 is a schematic view of controlling a device for driving the pivoting motion of the wheels according to a first pivoting direction of the wheels; FIG. 8 is a schematic view of controlling a device for driving the pivoting motion of the wheels according to a second pivoting direction of the wheels opposite to the first pivoting direction; FIG. 9 illustrates, in the form of blocks, the steps for activating / deactivating the control stations and the devices for driving the pivoting motion of the wheels.As mentioned above, the invention relates to a handling machine 1, which may be similar to that shown in Figures 1, 5 and 6. This handling machine 1 comprises a chassis 2 having two opposite ends 3 and 4, one of which, depending on the direction of advancement of the machine, forms the front end and the other the rear end of the chassis 2. This chassis 2 has a longitudinal axis extending longitudinally from one of the ends toward the opposite end of the chassis 2.The machine 1 is a mobile machine and includes a first axle 5 integrated into one of the ends, shown as 3, of the chassis 2 and a second axle 6 integrated into the other of the ends, shown as 4, of the chassis 2. Each axle 5, 6 is at least in the form of a mechanical axle transverse to the longitudinal axis of the chassis 2. This mechanical axle is pivotally coupled at each of its ends to a wheel 12.In order to enable the wheels 12 to be driven in rotation and subsequently the forward movement of the machine 1, the machine 1 includes a motor device 7 for driving the travel at the bottom of the machine. This motor device 7 may include one or more electric and / or combustion and / or hydraulic motors capable of acting on the rotational drive of the wheels 12 of the machine in forward or reverse gear. Such a motor device 7 will not be described further here, since it is irrelevant for the invention. Also, the machine may include both two and four driven wheels.For the control of this motor device 7, the machine 1 includes a system 18 for controlling the motor device 7 for driving. This control system 18 may be in the form of a pivot lever as illustrated in Figures 2 to 4. This swing lever swings from a neutral position in two opposite directions, for example, front and rear corresponding to forward advance of the engine and reverse advance of the engine, respectively.The engine 1 includes a drive unit 8 capable of controlling the motor device 7 by means of operation of the control system 18. The drive unit 8 is in the form of an electronic and computer system which contains, for example, a microprocessor and a working memory. According to a particular aspect, the drive unit can be in the form of a programmable controller. In other words, the described functions and steps can be implemented in the form of a computer program or by means of hardware components (e.g. programmable gate arrays). In particular, the functions and steps performed by the driving unit or its modules may be performed by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components or components of the programmable logic circuit (or FPGA, which is the English acronym for field-programmable gate array, which means the field-programmable gate array in a literal translation) type or of the integrated circuit type for a particular application (or ASIC, which is the English acronym for application-specific integrated circuit, which means the application-specific integrated circuit in a literal translation). It is also possible to combine computer components and electronic components. When it is indicated that the unit or means or modules of the unit are configured to perform a given operation, this means that the unit includes computer instructions and the corresponding execution means that enable the operation to be performed, and / or that the unit includes corresponding electronic components.The handling machine 1 further includes a handling system 9 supported by the chassis 2. This handling system 9 includes at least one arm 10 for supporting an attachment, which is movably mounted between an upper position and a lower position. Generally, this attachment support arm 10 is a pivot arm that is pivotally mounted about an axis referred to as horizontal when the machine is positioned on a horizontal planar surface. This arm 10 for supporting an attachment can be supported directly by the chassis or else by an upper carriage 16 which is mounted rotatably on the chassis 2 about an axis which is designated as vertical and which extends vertically when the machine 1 is positioned on a horizontal planar surface.FIGS. 1 and 5 illustrate a machine 1 with an upper carriage 16, while FIG. 6 illustrates a machine 1 without an upper carriage 16.The arm 10 is equipped with an attachment at its free end. This attachment is, in certain configurations of the machine 1, a basket 110 or else an attachment other than a basket, such as a bucket, a fork 111 as illustrated in FIG. 2, or something else.As mentioned above, each axle 5, 6 includes at least two wheels 12 pivotable about a vertical axis XX' which, when the machine 1 is positioned on a horizontal plane surface, extends substantially vertically. This pivot axis of the wheels further extends substantially orthogonally, i.e. orthogonally within plus or minus 20°, to the axis of rotation of the wheels. This vertical axis XX' extends in the area of the pivot connection coupling a wheel to the mechanical axis of the axle.In order to enable the pivoting movement of the wheels about a vertical axis XX' and thus form steered wheels of the machine, each axle 5 or 6 comprises a device 13 for driving the pivoting movement of the wheels 12 of the axle parallel to each other. Thus, the wheels 12 of a same axis extend in substantially parallel planes, i.e. parallel within plus or minus 20°, and rotate with the same direction of rotation and each pivot according to the same direction about a vertical axis XX' in the mode of operation of interest for the invention.Each device 13 for driving the pivoting motion of the wheels 12 of an axle includes a hydraulic cylinder 131. This cylinder 131 conventionally comprises a body and a piston head which divides the body into two chambers, shown in Figures 2 to 4, for example, as 1311 and 1312. This piston head has on each of its opposite surfaces a stem projecting from the body. Each output shaft is connected in a manner known per se by a steering rod to a pivot bearing. The movement of the stem of the cylinder is transmitted through the rod to the pivot connection of the wheel with the mechanical axis of the axle to rotate the wheel about the vertical XX' axis, as mentioned above.The device 13 for driving the pivoting motion of the wheels of an axle further comprises a fluid circulation circuit 132 for supplying the one or the other of the chambers 1311 or 1312 of the cylinder 131 with pressurized fluid, depending on the desired direction of rotation of the wheels about the vertical axis. Thus, when one of the chambers 1311 or 1312 of the cylinder 131 is supplied with pressurized fluid, the outlet occurs in the other.In the example of FIGS. 7 and 8, the supply to the chamber 1311 of one of the cylinders 131 generates a rightward rotation of the wheels of the cylinder-associated axle, and the supply to the chamber 1312 of the cylinder 131 generates a leftward rotation of the wheels of the cylinder-associated axle.In order to allow the supply of pressurized fluid to one or the other of the chambers of the cylinder, the fluid circulation circuit 132 supplying the cylinder includes a distributor 133 having at least two positions capable of being controlled movably. To this end, the machine 1 comprises, for each device 13 for driving the pivoting motion of the wheels 12, a steering member 19 for controlling the driving device 13 in the associated direction of pivoting of the wheels 12 according to a first direction or a second, opposite direction for steering control of the machine 1.In the examples illustrated in FIGS. 2 to 4, the steering member 19 for controlling a device 13 for driving the pivoting movement of the associated wheels according to a first direction, for example to the right, or a second, opposite direction, for example to the left, is a pivot lever capable of pivoting from a neutral position to the left or to the right. Ideally, this steering member 19 is common to the two driving devices 13, as in the example shown. Ideally, this steering member 19, when in the form of a lever, coincides with the system 18 for controlling the motor device 7.In this way, a single lever, depending on its movements, allows, on the one hand, the control of the forward / rearward movement and the forward / rearward movement direction of the machine and, on the other hand, the control of the steering of the machine 1.For simplicity of construction, the distributor 133, which, depending on its position, allows selection of the chamber to be pressurized of the cylinder 131 of the driving device 13, may be arranged in a portion of the fluid circulation circuit 132 common to the two devices 13 for driving the pivoting motion of the wheels of an axle.The fluid circulation circuit 132 thus includes a portion common to the two driving devices 13 and a separate portion for each driving device 13. Each device 13 for driving the pivoting motion of the wheels 12 is an activatable / deactivatable device.To this end, each device 13 for driving the pivoting movement includes at least one distributor 134 for activation / deactivation having at least two positions, which is arranged in the fluid circulation circuit 132. This activation / deactivation manifold 134 is thus capable of assuming two positions, as illustrated in FIGS. 2 and 3. One of the positions of the activation / deactivation manifold 134 corresponds to an activated state of the device for driving the pivoting motion of the wheels, in which one of the chambers of the cylinder is capable of being supplied with pressurized fluid. Another one of the positions of the activation / deactivation manifold 134 corresponds to an inactivated state of the device 13 for driving the pivoting motion of the wheels 12, in which pressurized fluid is prevented from supplying the chambers of the cylinder. This activation / deactivation manifold 134 is positioned here in the portion of the fluid circulation circuit 132 common to the two driving devices 13. This activation / deactivation manifold 134 may be common to the two driving devices 13. Thus, in the example of FIGS. 2 to 4, the distributor 134 for activation / deactivation is common to the two driving devices 13. The position of the distributor 134 for activation / deactivation corresponding to an activated state of one of the devices 13 for driving the pivoting motion of the wheels corresponds to a deactivated state of the other of the devices 13 for driving the pivoting motion of the wheels. Thus, when the distributor 134 for activation / deactivation has two positions, each position of the distributor 134 for activation / deactivation corresponds to an activated state of one of the devices 13 for driving the pivoting motion of the wheels and a deactivated state of the other of the devices 13 for driving the pivoting motion of the wheels, wherein the activated driving device 13 is not the same from one position to another of the distributor 134 for activation / deactivation.It should be noted that, in this embodiment, the distributor 133 controlled by the steering member 19 and the distributor 134 for activation / deactivation controlled by the driving unit 8 depending on activation / deactivation conditions are arranged in series in the fluid circulation circuit 132.The machine 1 thus includes a so-called two-steered-wheel operating mode, in which the means 13 for driving the pivoting motion of the wheels 12 are selectively activatable, that is to say that when one of the driving means 13 is in the activated state, the other is in the deactivated state and vice versa.The driving unit 18 controls the transition of each driving device 13 from a deactivated state to an activated state and vice versa depending on activation / deactivation conditions.At least in this two-steered-wheel operating mode, the machine 1 comprises, in at least one configuration, at least two locations for controlling the steering and the travel on the floor of the machine 1. each control location is capable of comprising the or at least one of the steering members 19 and the or at least one of the systems 18 for controlling the motor device 7 for driving the travel on the floor of the machine, so as to enable controlling the steering and the travel on the floor of the machine 1 by means of the at least one steering member 19 and the at least one system 18 for controlling the motor device 7. The figures illustrate a possible machine that includes three control locations.Of course, the invention applies equally to a machine which contains at most two control positions.One of the control stations, referred to as the first control station, is shown as 14 in the figures. This first control location is arranged on the basket 110 to allow control of the steering and the travel of the machine 1 from the basket 110. The other control location or locations, in this case two, are laid control locations, i.e. which are positioned or can be positioned at a distance from the basket 110 in order to be accessible also in the upper position of the basket 110.As shown in FIGS. 1, 5 and 6, the or one of the control places laid, shown as 15A in the figures, may be in the form of a driver's cabin. This laid control space 15A is carried by the chassis 2 and includes, in addition to a location 22 for receiving the or one of the systems 18 for controlling the motor device 7 for driving the movement on the floor of the machine 1 and a location 23 for receiving the or at least one of the steering members 19, at least one seat 17 on which the driver of the machine 1 can sit and a location 24 for receiving the legs of the operator, which is arranged in front of the seat 17.The or one of the installed control spaces, shown as 15B in FIG. 4, may be positionable at a distance from the basket 110 and the chassis 2. This laid control space 15B constitutes a remote control 151 comprising the or one of the systems 18 for controlling the motor device 7 for driving the travel on the floor of the machine 1 and the or at least one of the steering members 19.In the examples shown, the steering member 19 for controlling the distributor 133 for controlling the pivoting motion of the wheels of the activated driving device 13 and the system 18 for controlling the motor device 7 for driving the travel at the bottom of the machine are each time formed by a single pivoting lever. These elements could of course also have been designed separately without departing from the scope of the invention.Of course, each control station is further capable of including at least one member for controlling the handling system 9, this control member also being in the form of a pivoting lever.In the examples shown, the or one of the systems 18 for controlling the motor device 7 for driving the travel at the bottom of the machine 1 and the or at least one of the steering members 19 are integrated in a control console 28 couplable / uncoupled with respect to the basket 110. The or one of the guided control spaces, which can be positioned at a distance from the basket 110 and from the chassis 2 of the machine 1 and is shown as 15B in the figures, can be formed by the control console 28, which is in the form of a remote control in the state in which it is uncoupled from the basket 110.Thus, a same control console 28 can change from one control location to another. Alternatively or additionally, at least one of the control stations may include one of the systems 18 for controlling the motor device 7 for driving the travel on the floor of the machine and one of the steering members 19 permanently arranged on the control station. This solution is generally more expensive. In the case where a same control console 28 changes from one control location to another, a same movement of the control system 18 may generate a rotational movement of the wheels in one of the control locations according to a first direction and a rotational movement of the wheels in an opposite direction in another control location.Each control location is an activatable / deactivatable location. In the activated state, a control station can control, by means of the or one of the systems 18 for controlling the motor device 7 for driving the travel on the floor of the machine and the or one of the steering members 19 integrated in the control station, at least one of the drive devices 13 for pivoting the wheels and the motor device 7 for driving the travel on the floor of the machine 1. It is immaterial whether the or one of the systems 18 for controlling the motor device 7 for driving the movement on the bottom of the machine and the or one of the steering members 19 integrated in the control station are permanently installed or removably mounted.Activation of a control location may depend on one or more conditions. Each time it is the driving unit 8 which controls the activation of the control space when the conditions are fulfilled. Examples of activation conditions are described below. The basket 110 can be electrically connected to the machine 1. One of the activation conditions may be the electrical connection of the basket 110 to the machine, in particular to the lifting arm 10 of the basket 110. The basket 110 can be mechanically coupled to the machine 1, in particular to the arm 10. The or one of the activation conditions may be the mechanical coupling of the basket 110 to the arm 10. If the steering member 19 and the system 18 for controlling the motor device 7 are integrated in a control console 28 capable of changing from one control station to another, the or an activation condition may be the positioning of the control console 28 at the location intended for it in each control station and / or the electrical connection of this control console to the control station to be activated.At least in the coupled state of the control console 28 to the basket 110, the first control station 14 is thus in the activated state. Similarly, the or one of the control slots carried by the chassis 2 and shown as 15A in the figures includes a region 29 for receiving the control console 28.The machine 1 may include a manual activation member 26 for activating the first control station 14 and / or a manual activation member 27 for activating the or at least one of the controlled stations 15A or 15B, and the or one of the activation conditions of a control station may be the actuation of this manual activation member. This manual activation member or members may take several forms, constituted for example by a control console start button, a switch placed in the control space carried by the chassis, or others.If the machine 1 includes at least one sensor 30 for the position of the arm 10 and / or at least one sensor 31 for determining the length of the arm 10, if this arm 10 is a variable-length arm, such as a telescopic arm 10, the or one of the activation conditions of the first control station 14 may be connected to the position of the arm 10, i.e. to the height of the basket 110 and / or to the length of the arm, the arm 10 having to be in the position with the smallest length to allow such activation and the basket 110 having to be at a height less than a predetermined height.The control unit 8 can thus be configured to control the activation of the first control station 14 depending on at least the data provided by the at least one sensor 30 for the position of the arm 10 and / or the at least one sensor 31 for determining the length of the arm 10.In the case where the control space 15A laid, carried by the chassis 2, consists of at least two parts and includes at least one part mounted directly on the chassis 2 and one part mounted on the superstructure 16, the machine 1 includes at least one member for locking 20 the superstructure 16 in a predetermined angular position. This locking member 20 may be formed by a locking finger connecting the superstructure 16 and the chassis 2 in the locked position.The or one of the conditions for activating the laid control room or rooms 15A or 15B is the locking of the superstructure 16, and in this way any rotation of the superstructure 16 in the activated state of a laid control room is prevented.The control unit 8 is thus configured to prevent the activation of the or each of the laid control locations 15A, 15B in the unlocked state of the superstructure 16.If the or one of the guided control spaces, which can be positioned at a distance from the chassis 2 and from the basket 110, is a remote control 151, the or one of the activation conditions can be the actuation of an element 21 for activating the remote control 151 in order, in the activated state of the remote control 151, to enable the control of the motor device 7 for driving the travel on the floor of the machine by means of the control system 18 integrated in the remote control 151 and the control of the activated drive device by means of the or the steering elements 19 integrated in the remote control 151.In the case of a laid control room supported by the chassis 2 and equipped with a seat 17, the or one of the activation conditions of the first control room 14 may be associated with the occupied state of the seat 17. In this case, the machine 1 includes a sensor 25 representative of the occupied state of the seat 17, and the driving unit 8 is configured to prevent activation of the first control location 14 in the occupied state of the seat 17.This condition is particularly important in the renewed case of a control station which is laid and which is carried by the chassis 2 and is made up of at least two parts. In practice, for example, at least a part of the seat 17 is mounted movably between a first position allowing access to the seat 17 and a second position blocking access to the seat 17, and the machine 1 includes, as a sensor 25 representative of the occupied state of the seat 17, a sensor for position detection of the seat, and the driving unit 8 is configured to prevent activation of the first control station 14 in the first position of the seat.Of course, other activation conditions may be contemplated without departing from the scope of the invention.For example, in the case of a machine corresponding to that in Fig. 5 equipped with a superstructure 16 and in which the laid control station 15A carried by the chassis 2 is made up of at least two parts, the conditions for activating the first control station 14 are as follows:The basket 110 is mechanically coupled to the machine 1 as confirmed by a sensor, the member 20 for locking the superstructure 16 is in the unlocked position, the seat of the control station 15A, which is carried by the chassis 2, is in the second position, which blocks access to the seat, the basket 110 is electrically connected to the machine 1, the control console is electrically connected to the basket 110, the control console start button is actuated.In the case of a machine 1 corresponding to that in Figure 6 and having no superstructure, the conditions for activating the first control station 14 are as follows: the basket 110 is mechanically coupled to the machine 1 as confirmed by a sensor, the telescopic arm 10 is in the retracted position and the basket 110 is in a position lower than a predetermined height, the member for activating the first control station, such as a switch located in the laid control station carried by the chassis, has been actuated.In order to enable driving comfort, the control unit 8 is configured to control activation of one or the other of the drive devices 13 for pivoting the wheels 12, at least depending on the activated control location. Thus, in the activated state of the first control station 14, the activated drive device 13 for pivoting the wheels is the drive device 13 for pivoting the wheels of the axle that is furthest away from the basket 110, as illustrated in FIG. 3.When the machine 1 includes an upper carriage 16, the control unit 8 is configured to control, at least depending on the activated control location and the angular position of the upper carriage, an activation of one or the other of the drive devices for pivoting the wheels.In the case where the first control room 14 is activated, the activated drive device 13 for pivoting the wheels remains the drive device 13 for pivoting the wheels of the axle that is furthest from the basket. When considering a reference plane transverse to the longitudinal axis of the chassis, which extends through the axis of rotation of the superstructure 16, the activated drive device 13 for pivoting the wheels depends on the position of the first control station 14 with respect to this reference plane.In the case of a laid control room 15A supported by the chassis 2, as illustrated in FIGS. 1, 5 and 6, the driving unit 8 is configured to control, in the activated state of the laid control room 15A, activation of the device 13 for driving the pivoting motion of the axis that is located in front of the operator's leg receiving room 24 of the control room 15A with respect to the advancing direction of the machine 1.In the case of a laid control station 15B positioned at a distance from the chassis 2 and from the basket 110, as illustrated in Figure 4, the device 13 for driving the pivoting movement of the wheels is activated of the axle closest to the attachment in the lowered position of the arm.From this, for each control station, a riding comfort of the machine 1 results due to the fact that it is the front axle steerable with respect to the direction of advancement of the chassis.Of course, if a steering member 19 and a system 18 for controlling the motor device 7 for driving at the bottom of the machine are integrated, for example, into a control station carried by an upper carriage, the control unit 8 can associate, for a same movement of the steering member 19, a pivoting movement in a first direction (to the right) of the wheels of the axle associated with the drive device 13 activated by the control station for a first angular position range of the upper carriage and a pivoting movement in a second direction (to the left) opposite to the first direction of the wheels of the axle associated with the drive device 13 activated by the control station for a second angular position range of the upper carriage. This reversal of the control direction is already known for handling machines which have an upper carriage.It should be noted that, in the inactivated state of the device 13 for driving the pivotal movement of the axle's wheels 12, the axle's wheels 12 are in a straight position, that is, extend parallel to the longitudinal axis of the chassis 2. The driving unit 8 is configured to, when switching from one control location to another, i.e. when a control location changes from the activated state to an inactivated state in parallel with the change of another control location from the inactivated state to the activated state, control the change to the straight position of the wheels of the axle whose device for driving the pivoting movement of the wheels is associated with the control location being deactivated.In summary, the operation of such a machine may correspond to FIG. 9.Assume that a control station is activated and a device 13 for driving the pivoting motion of the wheels of an axle is also activated. Assume that the driver of the engine desires to control the engine using another control room.In step S 1, it is checked whether the activation conditions for activating the control location to be activated are fulfilled. If the answer is positive, the method moves on to step S 2, in which the previously activated control station is deactivated and the wheels of the axle whose device 13 for driving the pivoting movement of the wheels is associated with the control station which is currently deactivated are brought into the straight position before the drive device 13 is deactivated. In step S 3, the control space to be activated is activated, and the device 13 for driving the pivoting motion of the wheels of an axle associated with the newly activated control space is activated.These steps are illustrated, for example, by the transition from FIG. 2 to FIG. 3. In Fig. 2, the laid control room 15A supported by the chassis 2 is activated, and the device 13 for driving the pivotal motion of the wheels of the first axle, which corresponds to the front axle with respect to the direction of travel of the machine and is shown as 5 in Fig. 2, is activated. This first axis 5 forms the steering axis of the machine 1.The control of the pivoting movement of the wheels of the first axle 5 takes place with the aid of a steering element 19 which is integrated into the control station 15A which has been laid.The machine 1 is equipped with an attachment in the form of a fork 111. When the operator of the machine wants to control the machine 1 from the basket 110, the forks 111 are uncoupled from the arm and the basket 110 is coupled to the arm 10.If necessary, the telescope is retracted.An activation member of the first control room 14 disposed in the laid control room 15A supported by the chassis 2 is activated.These operations activate the first control station 14 and deactivate the device 13 for driving the pivoting motion of the wheels of the first axle 5, the wheels of the first axle 5 being previously returned to the straight position. The device 13 for driving the pivoting motion of the wheels of the second axle 6 (corresponding to the rear axle in FIG. 2 ) is activated. The control panel 28 is moved from the laid control place 15A supported by the chassis 2 to the basket 110. The basket 110 is electrically connected to the machine 1 and the control panel 28 is electrically connected to the basket 110. The machine 1 can now be controlled from the first control station 14, as illustrated in FIG. 3, wherein the steering axis is now formed by the second axis, which forms the front axis of the machine with respect to the direction of forward movement of the machine 1.It should be noted that the engine may include other modes of operation, such as a four steered wheel mode of operation, without departing from the scope of the invention.
Claims
A handling machine (1) at least comprising a chassis (2) having two opposite ends (3, 4) of which, depending on the direction of advancement of the machine (1), one forms the front end and the other forms the rear end of the chassis (2), a first axle (5) and a second axle (6), one (5) of which is integrated into the one of the ends (3) and the other (6) is integrated into the opposite end (4) of the chassis (2), a motor device (7) for driving the advancement at the bottom of the machine (1), at least one system (18) for controlling the motor device (7) for driving the advancement at the bottom of the machine (1), a control unit (8) and a handling system (9) comprising at least one arm (10) for supporting an attachment, An attachment movably mounted between an upper position and a lower position and comprising at least one attachment couplable to the arm (10), each axle (5, 6) comprising at least two wheels (12) which pivot about a so-called vertical axis which, when the machine (1) is positioned on a horizontal planar surface, extends substantially vertically, and a device (13) for driving the pivoting movement of the wheels (12) parallel to each other, the machine (1) comprising, for each device (13) for driving the pivoting movement of the wheels (12), at least one so-called steering member (19) for controlling the driving device (13) in the direction of pivoting of the associated wheels (12) according to a first direction or a second, opposite direction for the steering control of the machine (1), characterized in that the or at least one of the attachments is a basket (110), the machine (1) comprising a so-called two-steered-wheel operating mode in which the devices (13) for driving the pivoting motion of the wheels (12), which are activatable / deactivatable devices, are selectively activatable, in the two-steered-wheel operating mode the machine (1) comprising at least two locations (14, 15A, 15B) for controlling the steering and the travel on the bottom of the machine, each control location (14, 15A, 15B) being capable of comprising the or at least one of the steering members (19) and the or at least one of the systems (18) for controlling the motor device (7), and the control locations (14, 15A, 15B) being selectively activatable, in which one (14) of the control locations (14, 15A, 15B) is referred to as the first control location (14), The control unit (8) is arranged on the basket (110) to allow control of steering and travel of the machine (1) from the basket (110), and that the other or at least one other (15A, 15B) of the control spaces (14, 15A, 15B) is a laid control space which is positioned or can be positioned at a distance from the basket (110), and that the control unit (8) is configured to control activation of the one or the other of the drive devices (13) for pivoting the wheels (12) at least depending on the activated control space (14, 15A, 15B).Handling machine (1) according to claim 1, characterized in that, in the activated state of the first control station (14), the activated driving device (13) for pivoting the wheels (12) is the driving device (13) for pivoting the wheels (12) of the axis furthest from the basket (110).Handling machine (1) according to any of claims 1 or 2, characterized in that the machine (1) includes a superstructure (16), which extends vertically about a so-called vertical axis, which, when the machine (1) is positioned on a horizontal plane surface, is mounted rotatably on the chassis (2), that the basket (110) is supported by the superstructure, and that the control unit (8) is configured to control an activation of one or the other of the drive devices (13) for pivoting the wheels (12) at least depending on the activated control location (14, 15A, 15B) and the angular position of the superstructure (16).Handling machine (1) according to claim 3, characterised in that the machine (1) comprises at least one member for locking (20) the superstructure (16) in a predetermined angular position and in that the control unit (8) is configured to prevent the activation of the or each of the laid control places (15A, 15B) in the unlocked state of the superstructure (16).Handling machine (1) according to any one of claims 1 to 4, characterised in that the or at least one of the systems (18) for controlling the motor device (7) for driving the travel at the bottom of the machine (1) and the or at least one of the steering members (19) are integrated into a remote control (151) which can be positioned at a distance from the basket (110) and from the chassis (2) of the machine (1), in that the remote control (151), in the state positioned at a distance from the basket (110) and from the chassis (2) of the machine (1), forms the or at least one of the laid control places (15A, 15B) of the machine (1) and in that the machine (1) includes at least one member (21) for activating the remote control (151).Handling machine (1) according to any one of claims 1 to 5, characterised in that the (15A) or at least one (15A) of the control locations (15A, 15B) laid is carried by the chassis (2) and, in addition to a location (22) for receiving the or one of the systems (18) for controlling the motor device (7) for driving the movement on the floor of the machine (1) and a location (23) for receiving the or at least one of the steering members (19), includes at least one seat (17) on which the driver of the machine (1) can sit and a location (24) for receiving the legs of the operator, which is arranged in front of the seat (17), and in that the control unit (8) is configured to be activated in the state of the control location (15A) laid, which is supported by the chassis (2) to control activation of the device (13) for driving the pivoting motion of the axle, which is located, with respect to the direction of travel, in the forward speed of the machine (1) in front of the location (24) for receiving the legs of the operator of the control station (15A).The handling machine (1) according to claim 6, characterized in that it includes a sensor (25) representative of the occupied state of the seat (17), and in that the control unit (8) is configured to prevent the activation of the first control station (14) at least in the occupied state of the seat (17).Handling machine (1) according to any one of claims 1 to 7, characterised in that the machine (1) comprises a manual member for activating (26) the first control station (14) and / or a manual member for activating (27) the or at least one of the installed control stations (15A, 15B).Handling machine (1) according to any one of claims 1 to 8, characterised in that the or one of the systems (18) for controlling the motor device (7) for driving the movement at the bottom of the machine (1) and the or at least one of the steering members (19) are integrated into a control console (28) which can be coupled / decoupled with respect to the basket (110), and in that at least in the coupled state of the control console (28) with the basket (110), the first control station (14) is in the activated state.Handling machine (1) according to claim 9, characterized in that, wherein the or at least one (15A) of the laid control places (15A, 15B) supported by the chassis (2) includes an area (29) for receiving the control console (28), the laid control place (15A) is in the activated state at least in the state in which the control console (28) is positioned in the area (29).Handling machine (1) according to any of claims 9 or 10, characterized in that the or at least one (15B) of the laid control places (15A, 15B) which can be positioned at a distance from the basket (110) and from the chassis (2) of the machine (1) is formed by the control console (28) which, in the condition uncoupled from the basket (110), is in the form of a remote control.The handling machine (1) according to any one of claims 1 to 11, characterized in that the machine (1) includes at least one sensor (30) for the position of the arm (10) and / or at least one sensor (31) for determining the length of the arm (10) when the arm is length adjustable, and that the driving unit (8) is configured to control the activation of the first control location (14) depending on at least the data provided by the at least one sensor (30) for the position of the arm (10) and / or the at least one sensor (31) for determining the length of the arm (10).Handling machine (1) according to any one of claims 1 to 12, characterised in that, for each axle (5, 6), the device (13) for driving the pivoting motion of the wheels (12) of the axle (5, 6) comprises a hydraulic cylinder (131) having at least two chambers (1311, 1312), a fluid circulation circuit (132) for supplying the one or the other of the chambers (1311, 1312) of the cylinder (131) with pressurized fluid depending on the pivoting direction of the wheels and at least one manifold (134) having at least two positions arranged in the circuit (132), one of the positions of the manifold (134) corresponding to an activated state of the device (13) for driving the pivoting motion of the wheels, the other or another of the positions of the distributors (134) corresponds to an inactivated state of the device (13) for driving the pivoting movement of the wheels (12).Handling machine (1) according to claim 13, characterised in that the distributor (134) for activating / deactivating the device (13) for driving the pivoting movement of the wheels of the first axle (5) coincides with the distributor (134) for activating / deactivating the device (13) for driving the pivoting movement of the wheels of the second axle (6).Handling machine (1) according to any one of claims 1 to 14, characterized in that the chassis (2) has a longitudinal axis extending longitudinally from one of the ends (3, 4) towards the other end of the chassis (2), that the wheels (12) of an axle (5, 6) are in a so-called straight position when they extend parallel to the longitudinal axis, and that, in the deactivated state of a device (13) for driving the pivoting movement of the wheels (12) of an axle (5, 6), the wheels (12) of the axle (5, 6) are in the straight position.