LOAD HANDLING MACHINE

Description

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

[0002] It relates in particular to a load handling machine comprising: a chassis equipped with ground movement drive members, such as wheels or tracks, an engine having a rotating motor shaft, a mechanical or hydraulic transmission of the rotational movement of the motor shaft of the engine to the ground movement drive members, a system for controlling the ground movement speed of the machine, a control unit configured at least to acquire a signal from said control system and determine a ground movement speed setpoint, a load handling system comprising at least one load handling device, at least one hydraulic actuator for controlling the operation of the handling device, at least one hydraulic pump and a hydraulic circuit for connecting the hydraulic pump to the at least one actuator, a device for determining the actual ground movement speed of the machine.

[0003] Such handling equipment is known. Current trends in load handling equipment are as follows. When the engine is a thermal engine, the trend is to reduce the size of the engine, which is accompanied by a reduction in efficiency in terms of engine brake power. When the engine is an electric motor with motor / generator function, this engine has a powerful engine brake when acting as a generator. However, when the batteries associated with said engine are full, it becomes impossible to use the engine as a generator to brake the machine. Another trend observed is to try to remove the service brake to keep only the parking brake. This parking brake can be used as an emergency brake but its on / off operation makes braking abrupt and dangerous.Material handling equipment manufacturers are therefore looking for solutions to overcome malfunctions or insufficient power of the engine brake. There is also known material handling equipment where braking is carried out by action on the pump driving the rotation of the wheels, as illustrated by patent EP1985576. Document US6782961 describes a material handling equipment incorporating a torque converter. Document US6413185 describes a truck equipped with an adjustable transmission.

[0004] Document EP 2 993 332 B1 discloses the preamble of claim 1.

[0005] An aim of the invention is to propose a handling machine whose design allows the exercise of a braking torque which can be variable and therefore progressive on the motor shaft without having to act on the motor.

[0006] Another aim of the invention is to propose a handling machine whose design allows the production of a so-called emergency brake at reduced cost.

[0007] For this purpose, the subject of the invention is a load handling machine comprising a chassis equipped with ground movement drive members, an engine having a rotating motor shaft, a mechanical or hydraulic transmission of the rotational movement of the motor shaft of the engine to the ground movement drive members, a system for controlling the ground movement speed of the machine, a control unit configured at least to acquire a signal from said control system and determine a ground movement speed setpoint, a load handling system comprising at least one load handling device, at least one hydraulic actuator for controlling the operation of the handling device, at least one hydraulic pump equipped with a fluid outlet and a hydraulic circuit for connecting the hydraulic pump to the at least one actuator, a device for determining the actual ground movement speed of the machine,in which the hydraulic pump of the load handling system is, for its operation, coupled to the motor shaft of the motor forming a multi-purpose motor for controlling the movement of the drive members for movement on the ground and of the load handling system, in which the machine is equipped with at least one system for regulating the pressure and / or the flow rate of said hydraulic circuit for connecting the hydraulic pump to at least one hydraulic actuator for controlling the operation of the handling device,characterized in that the control unit is configured to control the system for regulating the pressure and / or flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator as a function at least of the result of the comparison between the ground travel speed setpoint and the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine.,

[0008] The control unit is configured to control the system for regulating the pressure and / or flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator as a function at least of the result of the comparison between the ground travel speed setpoint and the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine to enable, by varying the pressure and / or flow rate, in particular in the direction of an increase in the pressure and / or flow rate, in the hydraulic circuit connecting the hydraulic pump to the at least one actuator to generate a braking torque on the drive motor shaft when the pump is operating.

[0009] This braking torque results from the resistance encountered by the hydraulic pump during a variation in pressure and / or flow in the direction of an increase in pressure and / or flow in the hydraulic circuit connecting the hydraulic pump to at least one actuator. This resistance encountered by the pump is transmitted to the drive shaft.

[0010] Using the handling system to apply a braking torque that can be varied on the motor shaft provides a reliable emergency brake at low cost.

[0011] According to one embodiment of the invention, the control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator in the direction of an increase in the pressure and / or an increase in the flow rate at the outlet of the hydraulic pump at least when the ground travel speed setpoint is lower than the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine.

[0012] The control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator in the direction of an increase in the pressure and / or an increase in the flow rate at the outlet of the hydraulic pump at least when the ground travel speed setpoint is lower than the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine to allow, by variation of the pressure and / or the flow rate, in particular in the direction of an increase in the pressure and / or the flow rate, in the hydraulic circuit connecting the hydraulic pump to the at least one actuator to generate a braking torque on the drive motor shaft when the pump is operating.

[0013] According to one embodiment of the invention, the engine is an electric motor / generator also called a reversible electric motor, the machine comprises an energy accumulator configured to supply electrical energy to the motor / generator in a first operating mode called the motor / generator motor and to receive and store electrical energy from the motor / generator in a second operating mode called the generator mode of the motor / generator, and a system for determining a parameter representative of the charge level of said energy accumulator and the control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator as a function of the charge level of the energy accumulator.Thus, a modular braking action can be exerted on the motor operating as a generator even when the charge level of the energy accumulator is equal to its maximum.

[0014] According to one embodiment of the invention, the energy accumulator comprises at least one battery and the system for determining a parameter representative of the charge level of said energy accumulator is a sensor for measuring the voltage of the battery(ies). Alternatively, the system for determining a parameter representative of the charge level of said energy accumulator is a battery controller capable of providing information to the control unit.

[0015] According to one embodiment of the invention, the system for controlling the ground travel speed of the machine comprises a braking control member mounted to move between at least two positions and / or an acceleration control member mounted to move between at least two positions and at least one member for detecting an actuation of said braking control member and / or at least one member for detecting an actuation of said acceleration control member. Thus, a reduction in the ground travel speed of the machine may result in particular from an actuation of the braking control member and / or a release of the acceleration control member and / or the actuation of a speed regulator and / or the actuation of a speed limiter.

[0016] According to one embodiment of the invention, the control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator as a function at least of the result of the comparison between the ground travel speed setpoint determined at least as a function of the data provided by the or one of the members for detecting an actuation of said braking control member and / or the or one of the members for detecting an actuation of said acceleration control member, and the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine.

[0017] According to one embodiment of the invention, the system for regulating the pressure and / or flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator comprises at least one pressure regulator or one flow regulator arranged on the hydraulic circuit connecting the hydraulic pump to the at least one actuator or on a bypass branch of said circuit. This pressure and / or flow regulator may in particular take the form of a valve, a distributor, a nozzle or other.

[0018] According to one embodiment of the invention, the hydraulic pump of the load handling system is a variable displacement pump and the system for regulating the pressure and / or flow rate of said hydraulic circuit for connecting the hydraulic pump to the at least one actuator comprises a circuit for controlling the displacement of the hydraulic pump.

[0019] According to one embodiment of the invention, the load handling device mounted on the chassis comprises at least one mast or lifting arm and a load handling accessory carried by the mast or arm.

[0020] According to one embodiment of the invention, the or at least one of the hydraulic actuators for controlling the operation of the handling device is a jack.

[0021] According to one embodiment of the invention, the device for determining the actual ground movement speed of the machine comprises at least one sensor for the rotation speed of at least one of the ground drive members of the machine and / or a geolocation system.

[0022] Alternatively or additionally, the device for determining the actual ground speed of the machine may comprise at least one sensor for the rotation speed of the drive shaft, the transmission ratio of the drive shaft to the wheels being predetermined. Brève description des dessins

[0023] 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 side view of a mast handling machine according to the invention; [ Fig. 2 ] represents a side view of a handling device with an arm according to the invention; [ Fig. 3 ] represents in the form of a functional diagram, the interactions of the engine with different elements of the machine in the case of a hydraulic transmission; [ Fig. 4 ] represents in the form of a functional diagram, the interactions of the engine with different elements of the machine in the case of a mechanical transmission; [ Fig. 5 ] represents a schematic view of the control unit with inputs and outputs of said unit.

[0024] As mentioned above, the invention relates to a load handling machine 1 of the type, for example, of that shown in figures 1 And 2 .

[0025] It should be noted that the term "charge" should be taken in a broad sense and equates a person with a charge.

[0026] This handling machine 1 comprises a mobile chassis 2 equipped for this purpose with ground movement drive members 3. These ground movement drive members 3 may be formed by wheels, as illustrated in figures 1 And 2 , or, for example, by caterpillars.

[0027] This machine 1 comprises, again for the movement of the chassis 2 and the operation of the load handling system 9 which will be described below, a motor 4 having a rotating motor shaft 5. This motor 4 can be a thermal engine or an electric motor. When the motor 4 is an electric motor, this motor is generally an electric motor / generator also called a reversible electric motor.

[0028] For this purpose, the machine 1 comprises an energy accumulator 16 configured to supply electrical energy to the motor / generator, this energy accumulator 16 being formed of at least one or more batteries arranged on the chassis 2.

[0029] This energy accumulator 16 is configured to supply electrical energy to the motor / generator in a first operating mode called the motor / generator motor and to receive and store electrical energy from the motor / generator in a second operating mode, called the generator of the motor / generator.

[0030] The machine 1 may comprise in this case, a system 17 for determining a parameter representative of the charge level of the energy accumulator 16 produced, for example, in the form of a sensor for measuring the voltage of the battery(ies). The information relating to the charge level is addressed to a control unit 8 which will be described below.

[0031] Regardless of the thermal or electrical nature of the engine 4, the machine 1 comprises a mechanical 61 or hydraulic 62 transmission of the rotational movement of the engine shaft 5 to the drive members 3 for moving the machine 1 on the ground.

[0032] In the example shown, the motor shaft 5 is coaxial with the motor 4. The figure 4 illustrates a mechanical transmission 61. This mechanical transmission 61 may be formed of one or more pinions or sets of pinions capable of meshing with each other. A portion of the pinions is carried by the input shaft of the mechanical transmission 61 which is engaged or formed by the motor shaft 5. At least one of the pinions is carried by an output shaft forming the drive shaft of the drive members 3 moving on the ground, such as the wheels of the machine.

[0033] Such a mechanical transmission 61 will not be described in further detail because it is well known to those skilled in the art and its design is of little importance to the invention.

[0034] There figure 3 illustrates a hydraulic transmission 62. In the example shown, the motor shaft 5 forms the rotational drive shaft of a hydraulic pump. This hydraulic pump, also called a hydrostatic pump, itself powers hydraulic wheel motors or hydrostatic motors on a mechanical reducer. Each wheel motor is associated with at least one member 3 for driving the machine on the ground, such as a wheel of the machine. Again, such a hydraulic transmission 62 will not be described in more detail because it is well known to those skilled in the art and its design is of little importance to the invention.

[0035] The machine 1 also comprises a load handling system 9. This load handling system 9 comprises at least one load handling device 10, at least one hydraulic actuator 11 for controlling the operation of the handling device 10, at least one hydraulic pump 12 equipped with a fluid outlet and a hydraulic circuit for connecting the hydraulic pump 12, in particular the fluid outlet of said hydraulic pump 12, to the at least one actuator 11.

[0036] A first example of a load handling device 10, called a mast, is shown in figure 1 . The load handling machine 1, also called here a forklift, comprises, for the production of the handling device 10, a mast 101 carrying a handling accessory 103, formed here by forks. A first hydraulic actuator 11, such as a jack, ensures the inclination of the mast, while a second hydraulic actuator allows the accessory 103 to be moved up and down along the mast 101.

[0037] In the example of the figure 2 , the load handling device 10 is said to be an arm device. This load handling device 10 comprises a lifting arm 102 mounted on the chassis 2 pivoting around a so-called horizontal axis for pivoting the arm 102 between a low position and a high position. This lifting arm 102 can carry a load handling accessory, such as a bucket, a nacelle or for example a fork.

[0038] A hydraulic actuator (not shown), such as a jack, is arranged between the frame 2 and the lifting arm 102, to enable the lifting arm 102 to be driven in pivoting movement. Similarly, such actuators may be provided at the level of the lifting arm 102, when the lifting arm 102 is a telescopic arm, and at the level of the connection between the lifting arm 102 and the accessory, when the accessory is orientable.

[0039] All the hydraulic actuators 11, regardless of their number and position and the design of the handling device 10, are powered by the hydraulic pump 12, the drive of which is carried out using the motor shaft 5 which is a multi-purpose motor shaft 5 allowing, on the one hand, the actuation of the mechanical transmission 61 or hydraulic transmission 62, and on the other hand, the actuation of the hydraulic pump 12 of the handling system 9. This hydraulic pump 12 is connected by a hydraulic circuit, represented at 13 in the figures, to the actuator(s) 11 described above.

[0040] This hydraulic circuit 13 conventionally comprises one or more distributors making it possible to supply the actuators 11 from instructions provided by the control unit 8. The control unit 8 can itself control this or these distributors according to control instructions delivered for example via the actuation of a pivoting lever, also called a joystick, actuable by the operator and arranged at the driving position of the machine.

[0041] The machine 1 comprises a system 15 for regulating the pressure and / or flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one hydraulic actuator 11 for controlling the operation of the load handling device 10. This regulation system 15 can have a large number of forms. Generally, the system 15 for regulating the pressure and / or flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 comprises at least one pressure regulator 151 or one flow regulator 152 arranged on the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11, or on a branch 131 of said circuit 13.

[0042] There figure 4 illustrates a pressure regulator 151 in the form of a 2 / 2 valve arranged, upstream of the supply distributor of the hydraulic actuator 11 for controlling the operation of the handling device 10, between said distributor and the hydraulic pump 12 for supplying fluid to the hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one actuator 11 for controlling the operation of the handling device 10.

[0043] This 2 / 2 valve is movable between a closed position and an open position. In the closed position, this 2 / 2 valve here makes it possible to prevent the supply of fluid to the hydraulic actuator 11 for controlling the handling device 10 during operation. This 2 / 2 valve allows, by closing said circuit 13, an increase in the pressure of this circuit. This results, by increasing the pressure at the circuit 13, in the indirect creation of a braking torque on the motor shaft 5 which ensures the rotational drive of the hydraulic pump 12 for supplying fluid to the hydraulic circuit 13.

[0044] Actuating the 2 / 2 valve, as described above, in the direction of closing the 2 / 2 valve, therefore makes it possible to generate a braking torque which can be useful for completing braking, as will be described below. This braking action can be modulated depending on the degree of closure of the valve.

[0045] The hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one hydraulic actuator 11 for controlling the operation of the handling device 10 also comprises, in the example shown in figures 3 And 4 , a branch 131 of the circuit 13, opening into a tank. This branch 131 can be equipped with a pressure regulator 151 and / or a flow regulator 152.

[0046] In the example shown, it is equipped with a nozzle delimiting a calibrated passage of variable dimension towards the tank. Again, the actuation of this nozzle, in the direction of a reduction of the passage section, makes it possible to increase the pressure of the circuit 13 and consequently to indirectly generate a braking action on the motor shaft 5.

[0047] Obviously, the bypass branch 131 can be omitted and the circuit 13 can also comprise only one main branch. Similarly, a pressure regulator and / or a flow regulator can be envisaged in a form other than that described above, without departing from the scope of the invention.

[0048] It should be noted that the hydraulic pump 12 of the load handling system 9 may be a variable displacement pump. The system 15 for regulating the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 may comprise a control circuit 153 for the displacement of the hydraulic pump 12. In this case, an increase in the displacement of the hydraulic pump 12, coupled with the pressure control, may indirectly generate a braking action on the rotational drive motor shaft 5 of the hydraulic pump 12.

[0049] The machine 1 also comprises a device 14 for determining the actual ground travel speed Vr of the machine. This device 14 is shown in the figures in the form of a sensor for the rotation speed of at least one of the ground drive members 3 of the machine, i.e. a sensor for the rotation speed of at least one wheel of the machine. Alternatively, the system 14 for determining the actual ground travel speed Vr of the machine could have integrated a geolocation system to provide location data to the control unit 8. The information from the sensor for the rotation speed of at least one of the ground drive members 3 of the machine relating to the actual ground travel speed Vr of the machine 1 is sent to the control unit 8. The control unit 8 is therefore configured to acquire data from the device 14 for determining the actual ground speed Vr of the machine corresponding to said actual speed Vr.

[0050] The machine 1 also comprises, as mentioned above, a control unit 8 in the form of an electronic and computer system which comprises, for example, a microprocessor and a working memory. According to a particular aspect, the control unit may be in the form of a programmable controller. In other words, the functions and steps described 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.

[0051] The machine 1 further comprises a control system 7 for the ground movement speed of the machine, and the control unit 8 is configured to acquire a signal from said control system 7, and to determine a ground movement speed Vc setpoint for the machine 1.

[0052] In the example shown in the figure 1 , the control system 7 for the ground travel speed of the machine 1 comprises a braking control member 71 mounted to move between two positions. This braking control member 71 is here in the form of a brake pedal.

[0053] This control system 7 also comprises a member 73 for detecting an actuation of said braking control member 71. This detection member 73 is here in the form of a brake pedal position sensor. The data from said detection member 73 for an actuation of the braking control member 71 are sent to the control unit 8. This control unit 8 determines, from this information, the speed setpoint Vc for movement on the ground of the machine.

[0054] In fact, the sensor provides information on the depression of the brake pedal and the control unit 8 determines, from this pedal depression value, the speed setpoint Vc, i.e. the ground speed of the machine expected after braking.

[0055] The control unit 8 compares the speed setpoint values ​​Vc and actual speed Vr. The control unit 8 is configured to control the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 in the direction of an increase in the pressure and / or an increase in the flow rate at the outlet of the hydraulic pump 12 at least when the ground travel speed setpoint Vc is lower than the actual ground travel speed Vr of the machine determined by the device 14 for determining the actual ground travel speed of the machine 1.

[0056] Indeed, if the actual ground movement speed Vr of the machine is less than or equal to the speed setpoint Vc, the control unit 8 does not act on the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one actuator 11 for controlling the operation of the handling device 10.

[0057] Conversely, if the actual ground travel speed Vr of the machine 1 is greater than the speed setpoint Vc, the control unit 8 compensates for insufficient braking by acting on the pressure and / or flow regulation system 15 of the hydraulic circuit 13 to increase the pressure in said circuit 13 and thus generate mechanical resistance inducing, indirectly, a braking torque on the motor shaft 5 of the rotational drive of the hydraulic pump 12 to supplement the braking action controlled via the braking control member 71.

[0058] A similar operation can be obtained with an acceleration control member 72 and a member 74 for detecting an actuation of said acceleration control member 72. When the acceleration control member 72 is an accelerator pedal, the member 74 for detecting an actuation of said acceleration control member 72 can be a sensor for detecting the position of said accelerator pedal.

[0059] The data from the detection member 74 of an actuation of the acceleration control member 72 are sent to the control unit 8. The control unit 8 determines, from this information, the speed setpoint Vc for movement on the ground of the machine.

[0060] In fact, the sensor here provides information on the release of the accelerator pedal and the control unit 8, from this value of release of the accelerator pedal, determines the speed setpoint Vc, i.e. the ground speed of the machine expected after the deceleration of the machine1.

[0061] The control unit 8 compares the speed setpoint values ​​Vc and actual speed Vr and acts on the system 15 for regulating the pressure and / or flow rate of the hydraulic circuit 13, in a similar manner to what was described above in the case of actuation of the braking control member.

[0062] Obviously, these two actions can be combined. Similarly, the braking control member 71 can take the form of a speed variator or a speed limiter 75. The same applies to the acceleration control member 72.

[0063] In the case where the motor 4 is an electric motor / generator, as described above, the control unit 8 can, in addition, be configured to control the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11, as a function of the charge level of the energy accumulator 16. Thus, when the charge level of the energy accumulator 16 is equal to 100% and the motor / generator is, in the second operating mode called generator, a braking action can be obtained by acting on the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 by increasing the pressure the flow rate in said hydraulic circuit 13, as described above, or even by increasing the displacement of the hydraulic pump 12.

[0064] The possibility given to the control unit 8 to act according to the result of the comparison between the ground movement speed Vc setpoint and the actual ground movement speed Vr of the machine 1, on the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one actuator 11 for controlling the operation of the handling device 10, makes it possible to use a part of the handling device 10 and in particular the fluid circuit of the handling device 10, as an emergency brake for the machine 1.

[0065] This emergency braking action can be modulated according to the action on the pressure and / or flow regulation system 15.

Claims

1. Load-handling vehicle (1) comprising a chassis (2) equipped with members (3) for driving the movement along the ground, a motor (4) having a rotary drive shaft (5), a mechanical (61) or hydraulic (62) transmission for transmitting the rotational movement of the drive shaft (5) of the motor (4) to the members (3) for driving the movement along the ground, a system (7) for controlling the speed of movement of the vehicle (1) along the ground, a control unit (8) configured at least to acquire a signal from said control system (7) and to determine a speed setpoint (Vc) for movement along the ground, a load-handling system (9) comprising at least one load-handling device (10), at least one hydraulic actuator (11) for controlling in operation the handling device (10), at least one hydraulic pump (12) equipped with a fluid outlet and a hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11), a device (14) for determining the actual speed (Vr) of movement of the vehicle along the ground, wherein the hydraulic pump (12) of the load-handling system (9) is, for its operation, coupled to the drive shaft (5) of the motor (4) forming a versatile motor (4) for controlling the driving of the movement of the members (3) for driving the movement along the ground and the load-handling system (9), wherein the vehicle (1) is equipped with at least one system (15) for regulating the pressure and / or the flow rate in said hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one hydraulic actuator (11) for controlling in operation the handling device (10), characterized in that the control unit (8) is configured to control the system (15) for regulating the pressure and / or the flow rate in the hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) as a function at least of the result of the comparison between the speed setpoint (Vc) for movement along the ground and the actual speed (Vr) of movement of the vehicle (1) along the ground determined by the device (14) for determining the actual speed of movement of the vehicle (1) along the ground.

2. Load-handling vehicle (1) according to Claim 1, characterized in that the control unit (8) is configured to control the system (15) for regulating the pressure and / or the flow rate in the hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) in the sense of increasing the pressure and / or increasing the flow rate at the outlet of the hydraulic pump (12) at least when the speed setpoint (Vc) for movement along the ground is lower than the actual speed (Vr) of movement of the vehicle (1) along the ground determined by the device (14) for determining the actual speed of movement of the vehicle (1) along the ground.

3. Load-handling vehicle (1) according to either of Claims 1 and 2, characterized in that the motor (4) is an electric motor / generator, also referred to as reversible electric motor, in that the vehicle (1) comprises an energy accumulator (16) configured to supply electrical energy to the motor / generator in a first operating mode, termed motor of the motor / generator, and to receive and store electrical energy from the motor / generator in a second operating mode, termed generator of the motor / generator, and a system (17) for determining a parameter representative of the level of charge of said energy accumulator (16), and in that the control unit (8) is configured to control the system (15) for regulating the pressure and / or the flow rate in the hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) as a function of the level of charge of the energy accumulator (16).

4. Load-handling vehicle (1) according to Claim 3, characterized in that the energy accumulator (16) comprises at least one battery, and in that the system (17) for determining a parameter representative of the level of charge of said energy accumulator (16) is a sensor for measuring the voltage of the battery or batteries.

5. Load-handling vehicle (1) according to one of Claims 1 to 4, characterized in that the system (7) for controlling the speed of movement of the vehicle along the ground comprises a braking control member (71) mounted so as to be movable between at least two positions and / or an acceleration control member (72) mounted so as to be movable between at least two positions and at least one member (73) for detecting an actuation of said braking control member (71) and / or at least one member (74) for detecting an actuation of said acceleration control member (72).

6. Load-handling vehicle (1) according to Claim 5, characterized in that the control unit (8) is configured to control the system (15) for regulating the pressure and / or the flow rate in the hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) as a function at least of the result of the comparison between, the speed setpoint (Vc) for movement along the ground determined at least as a function of the data provided by the or one of the members (73) for detecting an actuation of said braking control member (71) and / or the or one of the members (74) for detecting an actuation of said acceleration control member (72), and the actual speed (Vr) of movement of the vehicle (1) along the ground determined by the device (14) for determining the actual speed of movement of the vehicle along the ground.

7. Load-handling vehicle (1) according to one of Claims 1 to 6, characterized in that the system (15) for regulating the pressure and / or the flow rate in the hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) comprises at least one pressure regulator (151) or flow rate regulator (152) disposed on the hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) or on a bypass branch (131) of said circuit (13).

8. Load-handling vehicle (1) according to one of Claims 1 to 7, characterized in that the hydraulic pump (12) of the load-handling system (9) is a variable displacement pump, and in that the system (15) for regulating the pressure and / or the flow rate in said hydraulic circuit (13) for connecting the hydraulic pump (12) to the at least one actuator (11) comprises a circuit (153) for controlling the displacement of the hydraulic pump (12).

9. Load-handling vehicle (1) according to one of Claims 1 to 8, characterized in that the load-handling device (10) mounted on the chassis (2) comprises at least one mast (101) or lifting arm (102) and a load-handling accessory (103) borne by the mast (101) or the arm (102).

10. Load-handling vehicle (1) according to one of Claims 1 to 9, characterized in that the or at least one of the hydraulic actuators (11) for controlling in operation the handling device (10) is a cylinder.

11. Load-handling vehicle according to either of Claims 1 and 2, characterized in that the device (14) for determining the actual speed (Vr) of movement of the vehicle (1) along the ground comprises at least one sensor for sensing the rotational speed of at least one of the members (3) for driving the vehicle along the ground and / or a geolocation system.