HANDLING MACHINE WITH A HAND-OPERATED CONTROL UNIT

Description

FIELD OF INVENTION

[0001] The present invention relates generally to handling machines. EARLIER ART

[0002] We know of the state of the art of handling machines which include, at the end of a lifting arm, a handling device, such as a fork device, which can be pivoted relative to the lifting arm around a substantially horizontal axis, in one direction for a digging operation and in the opposite direction for a dumping operation.

[0003] The handling device can also be lowered or raised by pivoting the lifting arm around a substantially horizontal axis relative to the chassis of the handling machine.

[0004] When the lifting arm is of the telescopic type, the handling device can also be moved by controlling the telescoping mobility of the arm.

[0005] Usually the mobilities of the lifting arm and the handling device are controlled using a joystick which includes a control body which can be grasped manually and a fixed base relative to which the control body has several mobilities.

[0006] The joystick control body has a first mobility around a substantially horizontal axis and transverse to the longitudinal axis of the machine to allow the joystick body to be rotated forward or backward relative to a neutral position, so that rotating the joystick body backward controls the lifting arm and rotating the joystick body forward controls the lowering of the lifting arm.

[0007] The joystick body has a second range of motion around a roughly horizontal axis parallel to the machine's longitudinal axis. This allows the joystick body to be rotated laterally to one side or the other relative to a neutral position, i.e., to the left or right of the machine as seen from the operator's perspective in the cab. Rotating the joystick to one side of the machine pivots the handling device into the digging position, and rotating it to the opposite side pivots the handling device into the dumping position.

[0008] The joystick control body may include a wheel that the operator can rotate with a finger in either direction to control the telescoping mobility of the arm in the direction of an extension or retraction of the arm.

[0009] However, numerous joystick handling errors are observed during digging and dumping operations. The consequence of an incorrect movement can be a load falling due to the tilting of the forks, or the loss of material filling a bucket, for example. This creates a safety hazard and a risk of losing the handled load.

[0010] The operator must often test the pivoting of the joystick control body by making a small movement to visually observe the movement of the handling device, and possibly correct by making the opposite movement.

[0011] Application WO2020245531 A1 describes a load handling machine which includes a rolling chassis, a rolling chassis drive system, a chassis-mounted load handling system, a piloting unit, and a load handling system control device that can be manually operated by an operator.

[0012] The present invention aims to provide a new handling machine that can overcome all or part of the problems described above. SUMMARY OF THE INVENTION

[0013] To this end, the invention relates to a handling machine, comprising: a chassis; a telescopic lifting arm carried by the chassis, the lifting arm comprising two arm sections that can slide relative to each other, the lifting arm being mounted to pivot relative to the chassis between a lowered and a raised position; a handling device, such as a bucket or a fork system, mounted at one end of the lifting arm, the handling device being capable of pivoting relative to the lifting arm between a lowered position, called the dumping position, and a raised position, called the digging position; a processing unit for controlling the pivoting of the lifting arm, the sliding of the second section of the lifting arm, and the pivoting of the handling device; and a control device comprising: a control body, such as the body of a joystick, operable by the operator's hand to generate a control signal for pivoting the lifting arm,by pivoting the control body forwards or backwards around a first pivot axis, and a control element operable with the operator's thumb, such as a knob or slider, said control element being carried by the control body, on one side of the control body, and mounted to pivot or slide relative to the control body around or along a second pivot or sliding axis, to generate a sliding control signal for the second section of the lifting arm, characterized in that the control element is also mounted to pivot or slide relative to the control body around or along a third pivot or sliding axis, transverse to the second pivot or sliding axis, to control the pivoting of the handling device relative to the lifting arm between the dumping position and the digging position.

[0014] The new design of the control device, which is preferably in the form of a joystick (control lever), allows the operator to control the pivoting of the handling device for digging or dumping, by using the control element, such as a wheel or slider, located on a lateral side of the moving body of the control device, by moving the thumb up (and forward) for digging or down (and backward) for dumping.

[0015] As explained previously, in the prior art, pivoting the handling device for digging or dumping required pivoting the moving body of the control device laterally, i.e. around an axis substantially parallel to the longitudinal axis of advance of the machine, which is not intuitive, and requires having sufficient lateral space around the control device so as not to hit any element.

[0016] Thanks to the machine according to the invention, by a simple movement of his thumb, substantially upwards, while remaining positioned on the lateral control member to move the lateral control member relative to the moving body of the control device which carries it, the operator can intuitively control the digging.

[0017] Similarly, by simply moving their thumb down to shift the lateral control element relative to the moving body of the control device it supports, the operator can intuitively control the tipping action. Unlike prior art, the operator does not need to laterally tilt the moving body of the control device to achieve the tipping and tipping functions, thus avoiding handling errors (since right or left movement does not intuitively translate to tipping or tipping, which are rotational movements of the handling device in a vertical plane) and also preventing obstruction or constraint from lateral bulk around the joystick.

[0018] Note that such a design of the control device allows for a possible combination of different mobilities, such as a combined movement of raising the arm and digging the handling device.

[0019] Positioning the control element, such as a knob or slider, laterally—that is, on the side of the control device—so that it is accessible by the thumb, allows the operator to precisely control the digging and dumping movement. The thumb is indeed a precise and strong finger. The operator no longer needs to move their wrist laterally to control digging and dumping, which reduces the risk of musculoskeletal disorders (ligament strain).

[0020] It is therefore possible to design the control device so that it does not have lateral tilting mobility of its body, which makes it possible to limit the width of the cabin.

[0021] The handling machine may also include one or more of the following features taken in any technically permissible combination.

[0022] According to one embodiment of the invention, the control body of the control device comprises a single pivot axis which is formed by the first pivot axis.

[0023] According to one embodiment of the invention, the control body of the control device is devoid of lateral pivoting mobility.

[0024] According to one embodiment of the invention, in the unstressed state of the main body of the control device, the third pivoting or sliding axis of the control member is, with reference to a displacement along said third axis from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented downwards.

[0025] According to one embodiment of the invention, in the unstressed state of the main body of the control device, the second pivoting or sliding axis of the control member is, with reference to a displacement along said second axis) from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented upwards.

[0026] According to one embodiment of the invention, the control element is located on a lateral side of the joystick body corresponding to a positioning area for the operator's thumb.

[0027] According to one embodiment of the invention, the second pivoting or sliding axis and the third pivoting or sliding axis are orthogonal. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features and advantages of the invention will become apparent from the following description, which is purely illustrative and not limiting and should be read in conjunction with the accompanying drawings, on which: there Figure 1 is a side view of a handling machine according to an embodiment of the invention, during a lifting command of the lifting arm; Figure 1A is a side view illustrating the pivoting of the control joystick body towards the operator (i.e., towards the rear of the machine) to control the lifting of the arm shown in the Figure 1 ; there Figure 2 is a side view of a handling machine according to an embodiment of the invention, during a command to extend the telescopic lifting arm; the Figure 2Ais a side view illustrating the pivoting of the side wheel of the control joystick body, around a first pivot axis of a wheel, forward (and downward) to control the extension of the arm shown in the Figure 2 ; there Figure 3 is a side view of a handling machine according to an embodiment of the invention, during a digging command of the handling device; the Figure 3A is a side view illustrating the pivoting of the side wheel of the control joystick body, around a second pivoting axis of a wheel, upwards (and forwards) to control the digging of the handling device shown in the Figure 3 ; there Figure 4 is a perspective view illustrating the first pivot axis and the second pivot axis of the lateral wheel of the control joystick body, orthogonal to each other, of the handling machine according to an embodiment of the invention; the Figure 4Ais a perspective view illustrating a straight sliding axis (translation) and a straight sliding axis (translation) of a lateral slider of the body of a control joystick, the axes being orthogonal to each other, for a handling machine according to an embodiment of the invention; the Figure 5 is a side view of a handling machine according to an embodiment of the invention. DETAILED DESCRIPTION

[0029] The concept of the invention is described more fully below with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for clarity. Similar numbers refer to similar elements in all the drawings. However, this concept of the invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are offered so as to make this description complete and to communicate the scope of the concept of the invention to those skilled in the art.

[0030] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in relation to an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0031] As detailed below, a load handling machine is proposed in which the movements of the lifting arm and the handling device mounted at the end of the lifting arm are controlled by an ergonomic control device 16. The design of the control device 16, described below, makes its operation intuitive and natural, thus reducing the risk of operator error.

[0032] With reference to the figures, a load handling machine 1 is shown, comprising a chassis 2 and a telescopic lifting arm 6 pivotally mounted on the chassis 2. Alternatively, the arm 6 can be supported by a rotating turret (not shown) mounted on the chassis. Indeed, the invention also applies to rotating telescopic handlers. In the example illustrated in the Figure 1 The chassis is a rolling chassis.

[0033] A handling device 14 is articulated at one end of the lifting arm 6. The lifting arm 6 can be moved between a lowered position and a raised position.

[0034] An actuation system, preferably formed of cylinders, allows the said lifting arm 6 to be moved relative to the chassis 2 and the handling device 14 to be moved relative to the lifting arm 6.

[0035] The handling machine includes a processing unit 10, comprising for example a computer, which allows the handling arm to be controlled. In particular, the machine includes a manual control device 16 which allows the operator, by activating said control device, to transmit to the processing unit 10 control signals for the position of the arm 6 (lifting angle, length) and control signals for the handling device (inclination relative to the arm).

[0036] In the example illustrated in the figures, the telescopic lifting arm 6 comprises a first section 61 and a second section 62, mounted sliding relative to the first section 61. According to other embodiments, the telescopic lifting arm 6 comprises a greater number of sections mounted sliding relative to each other.

[0037] The control device 16 enables the arm manipulator function to be performed, i.e., to control the angular position of the arm 6 and the telescoping position of the arm 6 which corresponds to the exit position of the second section 62 of the arm relative to the first section of the arm 61 as detailed below.

[0038] The control device 16 shown below provides a more natural correspondence between the movements of the operator and those of the machine. Lifting arm

[0039] In the example illustrated in the figures, and more particularly in the Figure 5 The lifting arm 6 (or handling arm) is mounted on the chassis 2 and can be oriented around a pivot point 7. In one embodiment, the pivot point 7 is parallel to the ground contact plane of the machine's wheels, so that when the machine's wheels are in contact with a horizontal surface, the pivot point 7 is horizontal. The arm 6 projects forward from the machine.

[0040] In one embodiment, the lifting arm 6 is articulated to the chassis 2 in a zone closer to the rear axle (i.e., the axle connecting the two rear wheels 4) than to the front axle (i.e., the axle connecting the two front wheels 3). In the case of a machine with a turret, the lifting arm 6 can similarly be articulated to the turret in a zone closer to the rear axle than to the front axle when the arm is oriented towards the front of the machine.

[0041] In other words, the arm 6 is configured to pivot around an axis transverse to the machine's longitudinal axis to move between a lowered and a raised position. The arm allows for various angles of inclination relative to the ground contact plane of the machine's wheels, and in particular, for a maximum angle in the raised position, for example, between 55° and 70°, relative to the ground contact plane of the machine's wheels. The minimum angle that the arm can reach in the lowered position relative to the ground contact plane of the machine's wheels is, for example, between -5° and 5°. In one embodiment, the arm has an angular deflection of at least 50°. Handling device

[0042] In one embodiment, the handling device 14 comprises a tool holder 141, also called an apron, and a handling tool 142 attached to the tool holder in a removable manner. The tool holder 141 can accommodate various types of handling tools. Alternatively, the handling tool can be integrated into the apron 141, without the possibility of removing the tool from the apron.

[0043] The tool holder 141 is mounted articulated relative to the lifting arm 6. The handling device is articulated to the arm 6 by a pivot axis 15 parallel to the axis 7 and configured to perform different operations depending on the handling tool coupled to the carriage.

[0044] Thus, in the example illustrated in the Figure 1 The handling tool includes forks for handling a load 9, such as a pallet, but the forks can be replaced by a bucket or other tool.

[0045] As mentioned above, arm 6 is telescopic. Arm 6 thus comprises at least a first section 61 and a second section 62 deployable by means of a deployment cylinder, not shown, arranged between the two sections. The arm may comprise more than two sections.

[0046] In the example of the Figure 1 , the actuation device of the handling device includes in particular a lifting cylinder V1 which allows the arm 6 to be moved up and down around the axis 7, under the control of the processing unit 10. The lifting arm 6 forms an angle with a reference position such as the horizontal (or the machine's ground support plane).

[0047] According to one embodiment, the actuation device of the handling device also includes a tilting cylinder V3 which allows the apron 141 to be rotated relative to the lifting arm 6, under the control of the processing unit 10. It can also be provided that the actuation device of the handling device includes a rotation cylinder located on the tool side to allow the tool to be rotated relative to the apron.

[0048] It can also be envisaged that the actuation device of the handling device 14 includes a compensating cylinder V2 which is coupled to the frame 2 and the lifting arm 6 and in fluidic communication with the tilting cylinder V3, such that the tilting cylinder V3 is slaved to the compensating cylinder to substantially maintain the orientation of the platform 141 (and therefore of the tool) when the lifting arm 6 is moved. However, the tilting cylinder V3 remains controllable by the operator using a control element 17 shown below to control the tilt of the platform 141 relative to the arm 6 in order to perform operations with the handling tool 142 coupled to the platform. Other compensation methods, for example electronic ones, can be considered.

[0049] In the example illustrated in the figures, the cylinders are hydraulic cylinders. Alternatively, the cylinders can be of the electric type. Order

[0050] The handling machine includes a human-machine interface that allows the handling machine to be controlled.

[0051] The human-machine interface includes the control device 16. The control device includes a fixed base relative to the chassis 2, and a movable control body 160 relative to this fixed base, which allows control of the lifting arm 6 and the handling device 14. In the example illustrated in the figures, the control device 16 is housed in the cab of the handling machine.

[0052] The control device 16 is connected to the processing unit 10 which can thus control all or part of the cylinders, for example via a hydraulic circuit (not shown), depending on the operator's input of the control body 160.

[0053] When the machine is equipped with a hydraulic circuit, the hydraulic circuit may include a hydraulic pressure source and a hydraulic distributor interposed between the hydraulic pressure source and a control solenoid valve for each actuator formed by a hydraulic cylinder. The control solenoid valve may be operated by the processing unit 10 according to the operator's input to the control device 16. Alternatively, and as mentioned above, the cylinders may be electric cylinders.

[0054] The human-machine interface may also include a screen 13 which allows, for example, the operator to have feedback on the actions he performs.

[0055] When the machine is a motorized rolling machine, the human-machine interface also usually includes a ground-based movement control system, such as a set of pedals, allowing acceleration and braking, and a steering wheel allowing the machine to be steered. Control device

[0056] As mentioned above, the control device 16 includes a main control body 160, such as the body of a joystick, which can be operated by the operator's hand to generate a control signal for pivoting the lifting arm 6, by pivoting the control device 16 forwards or backwards around a first pivot axis A1 to generate a pivot control signal PIV6 for the lifting arm 6 (See Figure 1 ).

[0057] The control device 16 also includes a control element 17, such as a wheel, carried by the control body 160, on a lateral side of the control body 160. Preferably, the control element 17 is located on a side of the joystick body 160 corresponding to a thumb positioning area of ​​the operator's hand.

[0058] According to one embodiment and as illustrated in the Figure 4 The control element 17 is mounted to pivot relative to the main body 160 around a second pivot axis A2, which can be actuated with the operator's thumb to generate a sliding control signal T6 for the second section of the lifting arm (See Figure 2 ).

[0059] According to an alternative embodiment illustrated in the Figure 4AThe control element 17 can be in the form of a slider, mounted to move (rectilinear translation) relative to the main body 160 along a second axis A2' to generate a sliding control signal T6 for the second section of the lifting arm. The second axis A2' can correspond to the axis A2 shown above.

[0060] As illustrated in the Figure 4 , the control element 17 is also mounted to pivot about a third axis A3, transverse to the second pivot axis A2, to control the pivoting PIV14 of the handling device 14 relative to the lifting arm 6 between the tipping position and the digging position (see Figure 3 ).

[0061] According to an alternative embodiment illustrated in the Figure 4A, the control member 17 is also mounted to move by sliding (rectilinear translation) along a third axis A3', transverse to the second axis A2', to control the pivoting PIV14 of the handling device 14 relative to the lifting arm 6. The third axis A3' can correspond to the axis A3 shown above.

[0062] It is understood that the control element 17 can be used simultaneously along its two axes of mobility to control in a combined manner the retraction or extension of the arm 6 and the pivoting PIV14 of the handling device 14 relative to the arm 6.

[0063] According to a particular embodiment not illustrated, it may be provided that the control member 17 is mounted, relative to the main body 160, pivoting around an axis to control one of the pivoting mobilities of the handling and telescoping device of the arm, and that the control member is mounted sliding along another axis, preferably orthogonal to the previous axis, to control the other mobility.

[0064] According to a particular design and as illustrated more specifically in the Figure 3 , it can be predicted that, in the unstressed state of the main body 160 of the control device 16, the third pivot axis A3 (or alternatively the sliding axis A3'), is, with reference to a displacement along said third pivot axis A3 (respectively A3') from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented downwards.

[0065] It can also be foreseen that, in the unstressed state of the main body 160 of the control device 16, the second pivot axis A2 (or alternatively the sliding axis A2'), is, with reference to a displacement along said second pivot axis A2 (respectively A2') from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented upwards.

[0066] According to a preferred embodiment, the main body 160 of the control device 16 comprises a single pivot axis which is formed by the first pivot axis A1. Alternatively, although less advantageous in terms of size, the main body may be provided to have one or more other mobilities to assign one or more other control functions to them.

[0067] According to a preferred embodiment, the control device 16 operates in an electro-proportional manner to allow, when the operator moves the control body 160 and / or the control member 17 into a given position, to emit a signal which is a function of the position of the control body 160 and / or the control member 17, and thus to be able to precisely control the arm and / or the handling device.

[0068] In particular, the processing unit 10 is configured so that the greater the displacement stroke of the control body 160 or the control element 17 imposed by the operator, the greater the commanded displacement speed of the arm 6 or the corresponding handling device 14.

[0069] The control body 160 differs in particular from levers, or joysticks, known from the prior art, in that the control body 160 is equipped with a control element 17 on one lateral side of the control body which has two axes A2, A3 (or alternatively two axes A2', A3'), with different mobility as illustrated in the Figure 4 and explained previously, one of the mobilities used to control the telescoping and the other mobility used to control the tilting of the handling device for the cage or the tipping, said controls being able to be combined. Processing unit

[0070] As mentioned above, the machine includes a processing unit. The processing unit is, for example, a computer. The processing unit used to control the actuation system of the lifting arm and the handling device may be shared, in whole or in part, with the processing unit that controls the machine's ground movement.

[0071] The processing unit may, for example, take the form of a processor and a data memory in which computer instructions executable by said processor are stored, or it may take the form of a microcontroller.

[0072] The functions and steps described can be implemented as a computer program or via hardware components (e.g., programmable gate arrays). Specifically, the functions and steps performed by the processing unit or its modules can be implemented by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components, or by components such as field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs). It is also possible to combine computer and electronic components.

[0073] When 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 includes computer instructions and the corresponding means of execution which enable said operation to be performed and / or that the unit includes corresponding electronic components.

[0074] The processing unit is thus an electronic and / or computer unit. When it is specified that said unit is configured to perform a given operation, this means that the unit includes computer instructions and the corresponding means of execution that allow said operation to be carried out and / or that the unit includes corresponding electronic components.

[0075] Preferably, the handling machine includes a sensor system connected to the processing unit. The sensor system includes a sensor for the angle of the lifting arm, and preferably a sensor for the telescoping position of the arm, i.e., the position of the second section 62 of the arm 6 relative to the first section 61.

[0076] The design of the new control device (manual joystick) allows the operator to act manually on the control device in a natural and intuitive way, in particular by allowing the control element, preferably formed by a wheel or a slider, to be rotated around a pivot axis or along a slide, downwards and forwards to extend the arm and conversely upwards and backwards to reduce it, and by allowing the wheel or the slider to be rotated around another pivot axis or along another slide, upwards and forwards to dig and conversely downwards and backwards to dump, while retaining, as in the prior art, the possibility of pulling the movable control body of the control device towards oneself to increase the angle of the lifting arm, and pushing the movable control body to reduce the angle of the lifting arm.

[0077] The invention is not limited to the embodiments illustrated in the drawings.

[0078] Furthermore, the term "including" does not exclude other elements or steps. In addition, features or steps described with reference to one of the embodiments set out above may also be used in combination with other features or steps from other embodiments set out above.

Claims

1. A handling machine comprising: - a chassis (2); - a telescopic lifting arm (6) carried by the chassis (2), the lifting arm (6) comprising two arm segments (61, 62) which can be shifted slidingly (T6) in relation to one another, the lifting arm (6) being mounted pivotably (PIV6) in relation to the chassis (2) between a low position and a high position; - a handling device (14), such as a bucket or a system of forks, which is mounted at one end of the lifting arm, the handling device (14) being able to pivot (PIV14) in relation to the lifting arm (6) between a lowered position, referred to as discharge position, and a raised position, referred to as pick-up position; - a processing unit (10) for controlling the pivoting (PIV6) of the lifting arm (6), the sliding (T6) of the second segment (62) of the lifting arm, and the pivoting (PIV14) of the handling device (14); and - a control device (16) comprising: a control body (160), such as the body of a joystick, which can be operated with an operator's hand to generate a control signal for pivoting the lifting arm (6), by pivoting the control body (160) toward the front or toward the rear of the machine about a first pivot axis (A1), and a control member (17), which can be operated with the thumb of the operator's hand, such as a rotary selector or a slider, said control member (17) being carried by the control body (160), on one side of the control body (160), and mounted pivotably or slidingly in relation to the control body (160) about or along a second pivot or sliding axis (A2, A2'), to generate a control signal for sliding (T6) the second segment of the lifting arm (6), characterized in that the control member (17) is also mounted pivotably or slidingly in relation to the control body (160) about or along a third pivot or sliding axis (A3, A3'), transverse to the second pivot or sliding axis (A2, A2'), to control the pivoting (PIV14) of the handling device (14) in relation to the lifting arm (6) between the discharge position and the pick-up position.

2. The handling machine (1) as claimed in claim 1, wherein the control body (160) of the control device (16) comprises a single pivot axis which is formed by the first pivot axis (A1).

3. The handling machine (1) as claimed in claim 1 or 2, wherein the control body (160) of the control device (16) does not have any lateral pivoting mobility.

4. The handling machine (1) as claimed in any one of the preceding claims, wherein, in the non-operated state of the main body (160) of the control device (16), the third pivot or sliding axis (A3, A3') of the control member (17) has, with reference to a shift along said third axis (A3, A3') from a point situated toward the rear of the machine to a point situated toward the front of the machine, a downwardly oriented inclination in relation to the horizontal.

5. The handling machine (1) as claimed in any one of the preceding claims, wherein, in the non-operated state of the main body (160) of the control device (16), the second pivot or sliding axis (A2, A2') of the control member (17) has, with reference to a shift along said second axis (A2, A2') from a point toward the rear of the machine to a point toward the front of the machine, an upwardly oriented inclination in relation to the horizontal.

6. The handling machine (1) as claimed in any one of the preceding claims, wherein the control member (17) is situated on a lateral side of the body (160) of the joystick corresponding to an area where the thumb of the operator's hand is positioned.

7. The handling machine (1) as claimed in any one of the preceding claims, wherein the second pivot or sliding axis (A2, A2') and the third pivot or sliding axis (A3, A3') are orthogonal.