HANDLING MACHINE

Description

[0001] The present invention relates to a handling machine.

[0002] It relates in particular to a handling machine comprising a chassis, a load and / or person handling system carried by the chassis, ground drive members of the machine, a control console configured to control at least the ground drive members and the handling system of the machine, a control unit configured to acquire data from the control console and to control at least the load and / or person handling system and / or the ground drive members of the machine at least as a function of said data.

[0003] Such a handling device is well known to those skilled in the art, for example from US2021 / 276845A1. Manufacturers of such devices are looking for constructive solutions that allow for versatile use of the device without compromising the simplicity of its manufacture.

[0004] An aim of the invention is to propose a handling machine of the aforementioned type whose design allows versatile use of the machine without compromising the simplicity of manufacture of the machine.

[0005] To this end, the invention relates to a handling machine comprising: a chassis, a load and / or person handling system carried by the chassis, ground drive members of the machine, a control console configured to control at least the ground drive members and the handling system of the machine, a control unit configured to acquire data from the control console and to control at least the load and / or person handling system and / or the ground drive members of the machine at least as a function of said data, characterized in that the control panel has at least three selectively activatable usage configurations, in that the first and second configurations of use are configurations of use in which the control console is carried directly or indirectly by the chassis of the machine, in that the third configuration of use is a configuration in which the control console is capable of operating at a distance from the chassis and the handling system of the machine, in that the control unit comprises a system for determining the configuration of use of the control console and in that the control unit is configured to control the machine according to the determined configuration of use.

[0006] The use of the control console in at least three configurations makes it possible to simplify the manufacture of the machine with regard to the state of the art. The presence of at least three configurations of use thus makes it possible to use the control console in the cockpit of the machine as a replacement for a fixed control device permanently installed in the cockpit. This thus results in the possibility of removing the fixed control device installed in the cockpit. This presence of at least three configurations of use makes it possible to use this same control console on a mobile platform, such as a basket, carried by the load and / or person handling system.Finally, this presence of at least three usage configurations makes it possible to use this same control panel at a distance, i.e. at a distance from the chassis and the handling system of the machine, in the manner of a remote control, with an operator placed at a distance from the chassis and the handling system of the machine, i.e. for example next to the machine.

[0007] According to one embodiment of the invention, the machine comprises a wired connection system between the control unit and the control console.

[0008] According to one embodiment of the invention, the wired connection system comprises a first wired link and a second wired link, the system for determining the usage configuration of the control panel is configured to determine that the control panel is in the first usage configuration in the connected state of the control panel to the control unit by the first wired link and to determine that the control panel is in the second usage configuration in the connected state of the control panel to the control unit by the second wired link. This results in simplicity in determining a usage configuration.Preferably, the control console comprises, for the connection of the first wired connection or the second wired connection to the control console, the same connector, and the electrical characteristics of the connection formed by the connector and the wired connection are a function of the wired connection by which the control console is connected to the control unit.

[0009] According to one embodiment of the invention, the machine comprises a radio communication connection system between the control unit and the control console.

[0010] According to one embodiment of the invention, the system for determining the operating configuration of the control panel is configured to determine that the control panel is in the third operating configuration in the unconnected state of the control panel and the control unit by the wired connection system and / or in the established state of radio communication between the control panel and the control unit. Again, this design makes it possible to simply determine the active operating configuration of the control panel.

[0011] According to one embodiment of the invention, the handling system comprises at least one pivoting arm mounted to pivot about a so-called horizontal axis between a high position away from the ground and a low position close to the ground.

[0012] According to one embodiment of the invention, the control unit is configured to control the pivoting movement of the arm to move from the low position to the high position at a maximum movement speed depending on the configuration of use of the control console. Thus, the maximum movement speed of the arm varies depending on whether the control console is in the cockpit, on a mobile platform, such as a basket, or at a distance from the chassis and the load and / or person handling system of the machine.

[0013] According to one embodiment of the invention, said machine comprises a cockpit carried at least partially by the chassis of the machine and a mobile platform coupleable to the handling system, the first configuration of use of the control console is a configuration in which the control console is arranged in the cockpit and the second configuration of use is a configuration in which the control console is mounted on the mobile platform to be able to be integral during movement with said platform. This mobile platform is generally formed by a basket also called a nacelle.

[0014] According to one embodiment of the invention, the mobile platform being an orientable platform mounted for its so-called right / left orientation with rotation around an axis orthogonal to the axis of rotation of the arm and the control console comprising at least one control member for the orientation of said platform, the control unit is configured to, in the actuated state of said control member, control the orientation of the platform in a direction or a sense of movement depending on the configuration of use of the control console. Thus, the same command using the same gesture from the control console can, depending on the configuration of use of the control console, generate in one configuration of use a movement towards the right of the platform and in another configuration of use a movement towards the left of the platform.

[0015] According to one embodiment of the invention, the control console comprises at least two control members, such as pivoting levers, configured to control one, the handling system, the other, the ground drive members of the machine.

[0016] According to one embodiment of the invention, the ground drive members of the machine are wheels, at least one of which is steered, the control member of the ground drive members of the machine is a member for driving the rotation and orientation of the or at least one of the steered wheels, and the control unit is configured to, in the actuated state of said control member, control the rotation and / or orientation of the or at least one of the steered wheels in a direction or direction of movement depending on the configuration of use of the control console. Again, the same command using the same gesture, i.e. using the same movement, from the control console can, depending on the configuration of use of the control console, generate, in one configuration of use, a rotation of the wheels in one direction, and in another configuration of use, a rotation of the wheels in the opposite direction.

[0017] According to one embodiment of the invention, in the first configuration in which the control console is arranged in the cockpit, the control unit is configured to, in the actuated then released state of said control member in orientation of the or at least one of the steered wheels, command an automatic return of the or at least one of the steered wheels to a so-called straight position corresponding to a straight line movement of the machine.

[0018] According to one embodiment of the invention, the control unit is configured to control the machine at a maximum speed depending on the operating configuration of the control console. Thus, the control unit automatically takes into account the operating configuration of the control console. The maximum speed of movement of the machine varies depending on whether the control console is in the cockpit, on a mobile platform, such as a basket, or at a distance from the chassis and the load and / or person handling system of the machine. This results in safe driving in all conditions.

[0019] According to one embodiment of the invention, the machine comprises a turret rotatably mounted on the chassis and the control console comprises at least one control member, such as a pivoting lever, for controlling the rotation of the turret. Preferably, this control member for controlling the rotation of the turret and the control member for controlling the orientation of the platform when the latter is present can be formed by a common control member, such as a pivoting lever.

[0020] According to one embodiment of the invention, the control unit is configured to allow or prohibit rotation of the turret depending on the configuration of use of the control console. Rotation of the turret can therefore be authorized or prohibited depending on whether the control console is in the cockpit, on a mobile platform, such as a basket, or at a distance from the chassis and the load and / or personnel handling system of the machine. This again results in safe driving in all conditions.

[0021] According to one embodiment of the invention, the control panel comprises at least one energy accumulator. Brève description des dessins

[0022] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the appended drawings in which: [ Fig. 1 ] represents a perspective view of a handling machine in the first configuration of use of the control panel; [ Fig. 2 ] represents a perspective view of a handling machine in the second configuration of use of the control panel; [ Fig. 3 ] represents a perspective view of a handling machine in the third configuration of use of the control panel; [ Fig. 4 ] represents a schematic view of the different communication possibilities between the control unit and the control desk; [ Fig. 5 ] represents a top view of two machines respectively in first and second configuration with the same movement of a control organ of the control panel to illustrate the difference in operation.

[0023] As mentioned above, the invention relates to a handling machine 1 as shown in figure 1 .

[0024] In a manner known per se, this machine 1 comprises a chassis 2 equipped with ground drive members 4 of the machine, such as wheels or tracks. In the examples shown, the chassis 2 is a rolling chassis equipped with four wheels. At least two of the wheels of the machine are steered wheels. Generally, the four wheels are driven. In the example shown, the four wheels are steered.

[0025] The machine 1 comprises a cockpit 10 carried at least partially by the chassis 2. This cockpit 10 comprises a seat on which an operator can sit.

[0026] In the example shown, the machine 1 comprises a turret 12 mounted for rotation on the chassis 2 around an axis, called vertical, in the positioned state of the machine 1 on a single horizontal plane.

[0027] The machine 1 also comprises a load and / or person handling system 3 carried by the chassis 2. The chassis 2 can directly carry the handling system 3 in the absence of a turret 12. When a turret 12 is present, the chassis can carry the load handling system 3 indirectly, i.e. via the turret 12.

[0028] This load handling system 3 generally comprises at least one pivoting arm 31 mounted to pivot about a so-called horizontal axis between a high position away from the ground and a low position close to the ground in the positioned state of the machine on a horizontal plane.

[0029] The free end of the arm 31 may be equipped with an accessory, such as a fork or a bucket, as illustrated in figure 1 or a mobile platform 11 as illustrated in figure 2 . This mobile platform 11, also called a basket, has a reception location for an operator who generally stands on the platform as illustrated in figure 2 .

[0030] The machine 1 also comprises a control console 5 configured to control at least the ground drive members 4 and the handling system 3 of the machine.

[0031] In the example shown, the control console 5 comprises two control members shown at 14 and 15 in the figures. These control members are pivoting levers configured to control, one shown at 14, the handling system 3, the other, shown at 15, the ground drive members 4 of the machine. Each time, the pivoting lever, also called joystick, pivots in the forward / reverse direction and the right / left direction. In addition, the head of this lever is a rotating head to form an additional control.

[0032] Thus, the control member 15 of the ground drive members 4 of the machine allows, by its forward / rearward pivoting movement, the control of rotation of the wheels of the machine in a first direction of movement, called forward, and in a second opposite direction of movement, called reverse and, by its left / right pivoting movement, a change in the directional orientation of the machine by turning the wheels to the left or right.

[0033] The wheel orientation control can also be operated using the rotary part of the control member 15.

[0034] The control member 14 of the handling system 3 makes it possible to control, by a forward / backward pivoting movement of said control member 14, the raising or lowering of the arm and, by a left / right movement of said control member 14, the actuation of a cylinder equipping the end of the lifting arm and active on the accessory to allow, for example, the digging or dumping of a bucket.

[0035] The rotary part of the control member 14 makes it possible to control the entry or exit of the telescope when the arm 31 is a telescopic arm.

[0036] In the example shown in the figure 1 , the control desk 5 also comprises a control member shown at 16 in the figures. This control member 16 is a rotation control member for the turret 12. This control member 16 is again formed by a pivoting lever.

[0037] Furthermore, in the example shown in figure 2 , the mobile platform 11 is an orientable platform mounted for its so-called right / left orientation with rotation around an axis orthogonal to the axis of rotation of the arm 31, and the control desk 5 comprises a member 18 for controlling the orientation of said platform.

[0038] In the examples shown, the control member 18 for the orientation of the mobile platform 11 and the control member 16 for the rotation of the turret 12 are formed by a single pivoting lever mounted to pivot in the front / rear direction and in the left / right direction, the head of this lever being a rotary head.

[0039] The machine 1 also comprises a control unit configured to acquire data from the control console 5 and to control at least the load and / or person handling system 3 and the ground drive members 4 of the machine at least as a function of said data.

[0040] Said control unit is in the form of an electronic and computer system which comprises for example a microprocessor and a working memory. In a particular aspect, the control unit may be in the form of a programmable controller. In other words, the described functions and steps may be implemented in the form of a computer program or via hardware components (e.g. programmable gate arrays).In particular, the functions and steps performed by the control unit or its modules may be performed by instruction sets or computer modules implemented in a processor or controller or may be performed by dedicated electronic components or components of the programmable logic circuit type (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the application-specific integrated circuit type (or ASIC which is the acronym for application-specific integrated circuit, which literally corresponds to application-specific integrated circuit). It is also possible to combine computer parts and electronic parts.Where it is specified that the unit or means or modules of said unit are configured to perform a given operation, this means that the unit comprises computer instructions and the corresponding execution means which enable said operation to be performed and / or that the unit comprises corresponding electronic components.

[0041] In a manner characteristic of the invention, the control console 5 has at least three selectively activatable usage configurations. The first and second usage configurations are usage configurations in which the control console 5 is carried directly or indirectly by the chassis 2 of the machine, and the third usage configuration is a configuration in which the control console 5 is capable of operating at a distance from the chassis 2 and the handling system of the machine 3.

[0042] The control unit 6 comprises a system 7 for determining the usage configuration of the control panel 5 and the control unit 6 is configured to control the machine 1 according to the determined usage configuration.

[0043] In particular, the first configuration of use of the control console 5 is a configuration in which the control console 5 is arranged in the cockpit 10. This first configuration of use may correspond either to a configuration in which the control console 5 is carried directly by the chassis, or to a configuration in which the control console 5 is, as illustrated in figure 1 , integrated into a part of the cockpit carried by the turret so that in this case, the control console 5 is carried directly by the chassis 2. This first configuration of use is shown in figure 1 .

[0044] The second configuration of use is a configuration in which the control panel 5 is mounted on the mobile platform 11 so that it can be secured to said mobile platform 11 during movement. This second configuration is illustrated in figure 2 .

[0045] The third configuration of use is a configuration in which the control console 5 is used in the manner of a remote control by an operator placed next to the machine, as illustrated in figure 3 .

[0046] The control unit 6 comprises a system 7 for determining the usage configuration of the control panel 5, and the control unit 6 is configured to control the machine 1 according to the determined usage configuration.

[0047] This system 7 for determining the usage configuration can form an electronic or computer module of the control unit 6.

[0048] The control panel 5 comprises at least one energy accumulator 13, such as a battery, for its operation.

[0049] The machine 1 also comprises a wired connection system 8 between the control unit 6 and the control console 5. This wired connection system 8 comprises a first wired connection 81 and a second wired connection 82.

[0050] The system 7 for determining the usage configuration of the control panel 5 is configured to determine that the control panel 5 is in the first usage configuration in the connected state of the control panel 5 to the control unit by the first wired connection 81. This determination system 7 is further configured to determine that the control panel 5 is in the second usage configuration in the connected state of the control panel 5 to the control unit 6 by the second wired connection 82.

[0051] So, as illustrated in the figure 4 , the control panel is equipped with a connector for connection via one or other of the wired links to the control unit 6 carried by the chassis 2.

[0052] The system 7 for determining the usage configuration of the control panel 5 is configured to detect an electrical characteristic of the connection formed by the connector / wired connection assembly.

[0053] Thus, for example, in the connected state of the control panel 5 to the control unit 6 by the first wired connection 81, the system 7 for determining the usage configuration of the control panel 5 is configured to detect a 12 Volt voltage signal from said wired connection. This determination system 7 is configured to detect a ground signal in the connected state of the control panel 5 to the control unit 6 by the second wired connection 82. Thus, the single wired connection allows the control unit to know what the usage configuration of the control panel 5 is.

[0054] In the first configuration of use, the control console 5 is in the cockpit 10 and connected by the first wired connection 81 to the control unit 6. In the second configuration of use, the control console 5 is in the mobile platform 11 and connected by the second wired connection 82 to the control unit 6.

[0055] The system 7 for determining the configuration of use of the control console 5 can be configured to determine that in the absence of a signal resulting from an absence of connection of the first and second wired links, the control console 5 is in the third configuration of use.

[0056] In practice, the machine 1 comprises a radiocommunication connection system 9 between the control unit 6 and the control console 5. This radiocommunication connection system 9 can comprise a transmitter / receiver 91 equipping the control console 5 and a transmitter / receiver 92 associated with the control unit 6.

[0057] As mentioned above, the system 7 for determining the use configuration of the control panel 5 can be configured to determine that the control panel 5 is in the third use configuration in the unconnected state of the control panel 5 and the control unit 6 by the wired connection system 8.

[0058] Alternatively, or in addition, the system 7 for determining the configuration of use of the control console can be configured to determine that the control console 5 is in the third configuration of use in the established state of radio communication between the control console 5 and the control unit 6.

[0059] In this third configuration of use, the operator is generally placed next to the chassis 2 of the machine 1, as illustrated in figure 3 , and pilots the machine remotely.

[0060] In summary, the system 7 for determining the configuration of use of the control panel 5 is configured to determine the configuration of use of the control panel according to the communication mode of the control panel 5 with the control unit 6.

[0061] The control unit 6 is configured to control the machine 1 according to the usage configuration determined by the usage configuration determination system 7.

[0062] Thus, the machine 1 has operating modes according to the determined usage configuration.

[0063] The control unit 6 can be configured to control the pivoting movement of the arm 31 for the transition from the low position to the high position according to a maximum movement speed depending on the usage configuration of the control panel 5.

[0064] In practice, the maximum speed of movement in raising and lowering of the lifting arm 31 of the handling system 3 is higher in the first configuration than in the second and third configurations. This maximum speed is of the order of 1 m / s in the first and third configurations, while it is close to 0.4 m / s in the second configuration of use.

[0065] The control unit 6 can also be configured to control the machine 1 at a maximum speed depending on the configuration of use of the control panel 5. Thus, the maximum speed of the machine 1 is the highest in the first configuration. For example, this maximum speed of movement of the machine is equal to 15 km / h in the first configuration, to 5 km / h in the second configuration and to 3 km / h in the third configuration.

[0066] Likewise, the control unit 6 can be configured to authorize or prohibit the rotation of the turret 12 depending on the usage configuration of the control console 5. Thus, the rotation of the turret 12 is prohibited in the first configuration of the control console 5.

[0067] The control unit 6 can also be configured to, in the actuated state of the control member 18 for the orientation of the mobile platform 11, control the orientation of the mobile platform 11 in a direction or direction of movement depending on the configuration of use of the control console. These operating modes are illustrated in figure 5 .

[0068] Thus, in the second configuration of using the control panel, as illustrated in the diagram at the top of the figure 5 where the control desk is on the mobile platform 11, the actuation of the control member 15 of the ground drive members 4 of the machine, namely the wheels, controls the orientation of the wheels closest to the pivoting connection of the arm 31 to the chassis and controls the forward movement of the machine in the direction indicated by the arrow D.

[0069] Conversely, in the first configuration of using the control panel, as illustrated in the diagram at the bottom of the figure 5 where the control console 5 is in the cockpit, the actuation of the control member 15 of the ground drive members 4 of the machine, namely the wheels, controls the orientation of the wheels furthest from the pivoting connection of the arm 31 to the chassis and controls the forward movement of the machine in the direction indicated by the arrow D.

[0070] It is therefore noted that the control unit 6 is configured to, in the actuated state of the control member 15 of the ground drive members 4 of the machine, control the rotation and / or orientation of the or at least one of the steered wheels in a direction or direction of movement depending on the configuration of use of the control console.

[0071] Furthermore, in the first configuration in which the control console 5 is arranged in the cockpit 10, the control unit 6 is configured to, in the actuated then released state of the control member 15 in orientation of the or at least one of the steered wheels, command an automatic return of the or at least one of the steered wheels to a so-called straight position corresponding to a straight line movement of the machine.

Claims

1. A handling machine (1), comprising: - a chassis (2), - a system (3) for handling a load and / or a person, carried by the chassis (2), - members (4) for driving the machine on the ground, - a control console (5) configured for controlling at least the members (6) for driving on the ground and the handling system (3) of the machine (1), and - a control unit (6) configured for acquiring data from the control console (5) and for controlling at least the system (3) for handling a load and / or a person and / or its members (4) for driving the machine (1) on the ground, according to said data at least, characterized in that the control console (5) has at least three selectively activatable use configurations, in that the first and second use configurations are use configurations in which the control console (5) is carried directly or indirectly by the chassis (2) of the machine (1), in that the third use configuration is a configuration in which the control console (5) is able to operate away from the chassis (2) and from the handling system (3) of the machine (1), in that the control unit (6) comprises a system (7) for determining the use configuration of the control console (5), and in that the control unit (6) is configured for controlling the machine (1) according to the determined use configuration.

2. The handling machine (1) as claimed in claim 1, characterized in that the machine (1) comprises a wireless communication connection system (8) between the control unit (6) and the control console (5).

3. The handling machine (1) as claimed in claim 2, characterized in that the wired connection system (8) comprises a first wired link (81) and a second wired link (82), the system (7) for determining the use configuration of the control console (5) is configured to determine that the control console (5) is in the first use configuration in the state of connection of the control console (5) to the control unit (6) via the first wired link (81) and to determine that the control console (5) is in the second use configuration in the state of connection of the control console (5) to the control unit (6) via the second wired link (82).

4. The handling machine (1) as claimed in any of claims 1 to 3, characterized in that the machine (1) comprises a wireless communication connection system (9) between the control unit (6) and the control console (5).

5. The handling machine (1) as claimed in claim 4, taken in combination with either of claims 2 and 3, characterized in that the system (7) for determining the use configuration of the control console (5) is configured to determine that the control console (5) is in the third use configuration in the state of non-connection of the control console (5) and the control unit (6) by the wired connection system (8) and / or in the state of establishment of wireless communication between the control console (5) and the control unit (6).

6. The handling machine (1) as claimed in any of claims 1 to 5, characterized in that the handling system (3) comprises at least one pivoting arm (31) mounted pivotably about an axis called the horizontal axis, between a high position away from the ground and a low position close to the ground.

7. The handling machine (1) as claimed in claim 6, characterized in that the control unit (6) is configured to control the pivoting movement of the arm (31) from the low position to the high position at a maximum speed of movement which depends on the use configuration of the control console (5).

8. The handling machine (1) as claimed in any of claims 1 to 7, characterized in that said machine (1) comprises a driver's position (10) carried at least partially by the chassis (2) of the machine (1) and a mobile platform (11) that can be coupled to the handling system (3), in that the first use configuration of the control console (5) is a configuration in which the control console (5) is placed in the driver's position (10), and in that the second use configuration is a configuration in which the control console (5) is mounted on the mobile platform (11) so that it can move integrally with said platform (11).

9. The handling machine (1) as claimed in claim 8, taken in combination with either of claims 6 and 7, characterized in that, the mobile platform (11) being an orientable platform mounted for what is known as right or left orientation by rotation about an axis orthogonal to the rotation axis of the arm (31), and the control console (5) comprising at least one controller (18) of the orientation of said platform (11), the control unit (6) is configured so that, in the activated state of said controller (18), it controls the orientation of the platform (11) in a direction of movement which depends on the use configuration of the control console (5).

10. The handling machine (1) as claimed in any of claims 1 to 9, characterized in that the control console (5) comprises at least two controllers (14, 15), such as pivoting levers (14, 15), of which one (14) is configured to control the handling system (3), and the other (15) is configured to control the members (4) for driving the machine (1) on the ground.

11. The handling machine (1) as claimed in claim 10, characterized in that the members (4) for driving the machine (1) on the ground are wheels including at least one steerable wheel, in that the controller (15) of the members (4) for driving the machine on the ground is a controller (15) for driving the steerable wheel or at least one of the steerable wheels in rotation and orientation, and in that the control unit (6) is configured so that, in the activated state of said controller (15), it controls the rotation and / or orientation of the steerable wheel or at least one of the steerable wheels according to a direction of movement which depends on the use configuration of the control console (5).

12. The handling machine (1) as claimed in claim 11, taken in combination with claim 8, characterized in that, in the first configuration in which the control console (5) is placed in the driver's position (10), the control unit (6) is configured so that, in the state where said controller (15) of the orientation of the steerable wheel or at least one of the steerable wheels is actuated and then released, it controls an automatic return of the steerable wheel or at least one of the steerable wheels to what is known as a straight position, corresponding to a movement of the machine (1) in a straight line.

13. The handling machine (1) as claimed in any of claims 1 to 12, characterized in that the control unit (6) is configured to control the machine (1) at a maximum speed which depends on the use configuration of the control console (5).

14. The handling machine (1) as claimed in any of claims 1 to 13, characterized in that the machine (1) comprises a turret (12) mounted rotatably on the chassis (2), and in that the control console (5) comprises at least one controller (16) such as a pivoting lever for controlling the rotation of the turret (12).

15. The handling machine (1) as claimed in claim 14, characterized in that the control unit (6) is configured to allow or prevent the rotation of the turret (12), depending on the use configuration of the control console (5).

16. The handling machine (1) as claimed in any of claims 1 to 15, characterized in that the control console (5) comprises at least one power accumulator (13).