Handling machine capable of being stowed on board a carrier vehicle
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- MANITOU BF SA
- Filing Date
- 2024-08-19
- Publication Date
- 2026-07-08
Smart Images
Figure FR2024051093_06032025_PF_FP_ABST
Abstract
Description
Description Title of the invention: HANDLING DEVICE CAPABLE OF BEING MOUNTED ON A CARRIER VEHICLE
[0001] The present invention relates to a handling machine capable of being mounted on a carrier vehicle, as well as a ready-to-install assembly for controlling the handling system of such a handling machine.
[0002] It relates in particular to a handling machine capable of being mounted on a carrier vehicle, said machine comprising a chassis, ground movement members of the chassis, a load handling system carried by the chassis, a driver's station equipped with at least one control member for the load handling system, and a remote control of the load handling system in the form of a remote control equipped with at least one control member for the handling system, the load handling system comprising at least one fork to allow the machine to be re-loaded onto the carrier vehicle,said machine comprising a device for detecting the presence of an operator in the cockpit and a control unit configured to acquire data from the presence detection device and to prevent control of the handling system with the remote control in the detected state of a presence in the cockpit by the presence detection device.,
[0003] Such a machine is known as illustrated by patent EP 0 905 083 or patent US2021 / 009392. The presence of a remote control for loading the machine onto the carrier vehicle makes it possible to limit the risky behavior of operators who, in the absence of a remote control, are forced, once the machine is loaded onto the carrier vehicle, to disembark from the vehicle by jumping, with the problems of falling and injury to the operator that this can cause. However, other types of accidents can be observed due to the multiplication of controls.
[0004] An aim of the invention is to propose a handling machine of the aforementioned type whose design makes it possible to guarantee the safety of the operator in all circumstances, including during the phases of loading and unloading the handling machine from the carrier vehicle.
[0005] To this end, the subject of the invention is a handling machine capable of being loaded onto a carrier vehicle, said machine comprising a chassis, members for moving the chassis on the ground, a load handling system carried by the chassis, a driver's station equipped with at least one control member for the load handling system, and a remote control of the load handling system in the form of a remote control equipped with at least one control member for the handling system, the load handling system comprising at least one fork to allow the machine to be reloaded onto the carrier vehicle,said machine comprising a device for detecting the presence of an operator in the cockpit and a control unit configured to acquire data from the presence detection device and to prevent control of the handling system with the remote control in the detected state of a presence in the cockpit by the presence detection device, characterized in that the remote control is connected by a wired connection to the chassis, in that the remote control comprises an emergency stop member and a safety member called a "dead man", and in that the control unit is configured to authorize control of the handling system with the remote control at least in the actuated state of the "dead man" member and in the non-actuated state of the emergency stop member.,
[0006] Thanks to this design, operator safety is guaranteed in all circumstances. In particular, control of the machine from the remote control, in the presence of an operator in the cab or in the absence of actuation of the "dead man" device, is prevented so that an operator in the cab cannot find himself in a dangerous situation due to inadvertent use of the remote control. The realization of the remote control in the form of a wired remote control requires the operator to remain close to the machine, which allows the operator to constantly view the machine. The wired connection, in combination with the presence detection device, requires the operator to remain close to the machine during the loading / unloading phases while preventing him from getting into the machine. A wired remote control also makes it possible to avoid disturbances to the operation linked to the environment and limits the risks of losing such a remote control.
[0007] The emergency stop device is configured to, in the actuated state, command a cut-off of the electrical power supply to the remote control and inform the control unit. The presence of an emergency stop device and a "dead man" device on the remote control makes it possible to integrate all safety management on the machine. The presence of a so-called "dead man" safety device makes it possible to prevent involuntary control of the handling machine using the remote control. This enhances safety.
[0008] According to one embodiment of the invention, the control member(s) of the remote control handling system are carried by a housing.
[0009] According to one embodiment of the invention, the housing of the remote control has a location for receiving an operator's hand for gripping the remote control and the emergency stop member is arranged outside said location. The fact that the emergency stop member is arranged outside said location allows said emergency stop member to be actuated by simple pressure on any surface in the state in which the remote control is gripped by said hand. It is not necessary to actuate this emergency stop member directly using the hand. This again results in increased safety.
[0010] According to one embodiment of the invention, the emergency stop member is an emergency stop button.
[0011] According to one embodiment of the invention, the "dead man" member is arranged inside said location to allow, in parallel with gripping the remote control with one hand, the actuation of the "dead man" member with said hand. Thus, the other hand of the operator is entirely free to operate the controls of the remote control. The fact that both hands are at the level of the remote control during a movement command prevents injury to the hands linked to movement of the machine.
[0012] According to one embodiment of the invention, the remote control housing is a housing of generally parallelepiped shape with two end faces connected to each other by lateral faces, the “dead man” member and the control members of the remote control handling system are arranged on two opposite side faces of the housing and the emergency stop member is arranged on one end face of the housing.
[0013] According to one embodiment of the invention, the control member(s) of the remote control handling system are proportional control members. The control members are configured to generate a control instruction proportional to the movement travel of the control member. This results in increased precision of the controlled movements.
[0014] According to one embodiment of the invention, the number of control members of the remote control handling system being at least equal to two, said control members are each mounted to be movable between at least two positions and the direction of relative movement of at least some of the control members of the remote control handling system, configured to control predetermined functions of the handling system, is identical to the direction of relative movement of at least some of the control members of the cockpit handling system configured to control the same predetermined functions of the handling system. This arrangement of the remote control control members reproducing the arrangement of the control members equipping the cockpit allows “intuitive” actuation of the remote control.
[0015] According to one embodiment of the invention, the number of control members of the remote control handling system being at least equal to two, the or at least two of the control members of the remote control handling system are, for controlling a first and a second function of the handling system, pivoting levers with the travel of one of the levers following a direction orthogonal to the direction of the travel of the other of the levers, the number of control members of the cockpit handling system is at least equal to two, and the or at least two of the control members of the cockpit handling system are, for controlling said first and second functions of the handling system, pivoting levers with the travel of one of the levers following a direction orthogonal to the direction of travel of the other lever. Thus, if the control members of the remote control for, for example, lifting and telescoping the handling system, one moves in the forward / rearward direction of the machine, the other in the right / left direction of the machine, the same is true for the control members of the cockpit with the same associated handling system control functions.
[0016] According to one embodiment of the invention, the handling system comprises one or more hydraulic actuators and at least one slide valve for selectively supplying and / or exhausting the one or more actuators. The one or more hydraulic actuators of the handling system are configured to, in the actuated state, allow at least one movement of the fork or at least a portion of the fork of the handling system.
[0017] According to one embodiment of the invention, the or each control member of the cockpit handling system is in direct contact by mechanical coupling with the slide valve of the or at least one of the distributors.
[0018] According to one embodiment of the invention, the machine comprises, between the control member(s) of the handling system of the remote control and at least one of the distributors, one or more hydraulic cylinders for actuating the slide of the or at least one of the distributors and the control unit is configured to control the operation of the cylinder(s) according to the data provided by the control member(s) of the handling system of the remote control. This arrangement makes it possible to obtain a distributor with double controls in a simple manner. This arrangement allows the operator to take back control of the handling system from the cockpit at any time if he so wishes.
[0019] According to one embodiment of the invention, the or each hydraulic cylinder is associated with a fluid circulation circuit equipped with at least one proportionally controlled circuit closure member, and the control unit is configured to control a movement of said closure member within a predetermined range of positions as a function of the data provided by the or at least one of the control members of the system. handling of the remote control. Preferably, the shut-off member of the proportional control circuit is an electro-proportional pressure regulator.
[0020] According to one embodiment of the invention, the handling machine is a handling machine with an arm and one of the actuators of the handling system is an actuator for driving the arm to move between a high position and a low position, one of the actuators is an actuator for tilting the fork relative to the arm, and, when the arm is a telescopic arm, one of the actuators is an actuator for retracting and extending the arm.
[0021] According to one embodiment of the invention, the handling machine is a masted handling machine, one of the actuators of the handling system is an actuator for driving the chassis and the fork in relative movement in the direction of moving the fork away from or towards the ground movement members of the chassis, and, if necessary, one of the actuators is an actuator for tilting the fork relative to the mast and / or an actuator for entering or exiting the fork which is a telescopic fork and / or an actuator for driving the fork in movement called an apron extender.
[0022] According to one embodiment of the invention, the cockpit comprises at least one seat on which an operator is able to sit and the device for detecting the presence of an operator in the cockpit comprises at least one presence sensor associated with the seat. Alternatively, the presence detection system may be a sensor associated with a control member or with an element, such as the floor, of the cockpit. The control unit is configured to authorize control of the handling system with the remote control at least in the undetected state of a presence in the cockpit by the presence detection device.
[0023] Brief description of the drawings
[0024] The invention will be clearly understood upon reading the following description of exemplary embodiments, with reference to the appended drawings in which:
[0025] [Fig. 1] represents a partial side view of a handling machine in the state on board a carrier vehicle;
[0026] [Fig. 2] represents in the form of two partial side views the raising of a handling machine relative to a carrier vehicle and the lowering of a handling machine relative to a carrier vehicle;
[0027] [Fig. 3] represents two perspective views of a handling machine according to the invention, one corresponding to an arm handling machine, the other to a mast handling machine;
[0028] [Fig. 4] represents a perspective view of a remote control;
[0029] [Fig. 5] represents a perspective view of a remote control in parallel with a perspective view of a cockpit to illustrate the parallelism of the movements of the control members with the associated functions;
[0030] [Fig. 6] schematically represents the control circuits of the actuator(s) of the handling system;
[0031] [Fig. 7] represents, in block form, the process of authorizing control of the load handling system from a remote control.
[0032] The handling machine 1, object of the invention, is a fork machine 10 to be able to be loaded onto a carrier vehicle 30, as illustrated in figure 1. This carrier vehicle 30 can be a truck or any other type of vehicle arranged at the rear or laterally to be able to house, at least partially, the fork(s) 10 of said handling machine 1. Thus, such a carrier vehicle 30 can comprise tunnels under the chassis to house the forks 10 and, if necessary, a drawer.
[0033] The handling machine 1 comprises a chassis 2 and ground movement members 3 of the chassis 2 in the form of wheels or tracks. This handling machine comprises motorization means in the form, for example, of at least one electric or thermal motor for driving the wheels in rotation or for moving the tracks in a loop.
[0034] The chassis 2 carries a load handling system 4 which can be a lifting arm 22 handling system 4, as illustrated in the left view of figure 3 or a mast 23 handling system, as illustrated in the right view of figure 3.
[0035] The handling system 4 therefore comprises, in addition to the fork(s) 10 of said handling machine 1, a mast 23 or an arm 22 by means of which the fork(s) 10 are connected to the chassis 2. The handling system 4 also comprises one or more hydraulic actuators 17 and at least one slide valve distributor 18 for the selective supply and / or exhaust of the actuator(s) 17. Each hydraulic actuator 17 is generally formed by a cylinder.
[0036] In the case of a handling machine 1 with arm 22, one of the actuators 17 of the handling system 4 is an actuator for driving the arm 22 to move between a high position and a low position. The lifting arm 22 is a pivoting arm mounted to pivot about a so-called horizontal axis in the positioned state of said machine on a horizontal flat surface.
[0037] This first actuator 17 is arranged between the chassis 2 and the lifting arm 22, as can be seen in Figure 3 seen from the left. Another actuator 17 is an actuator for tilting the fork 10 relative to the lifting arm 22.
[0038] Finally, when the arm 22 is a telescopic arm formed of at least two arm sections mounted to slide together, one of the actuators 17 is an actuator for driving the arm sections to move in the direction of an increase or reduction of the interlocking zone corresponding respectively to the retraction or extension of the lifting arm 22.
[0039] In the case of such a handling machine 1, the loading procedure on a carrier vehicle 30 may be as follows. The forks of the handling machine are introduced into tunnels positioned at the rear of the carrier vehicle under the chassis of said carrier vehicle 30 while slightly telescoping the arm 22 to increase the distance between the carrier vehicle 30 and the machine 1 during the loading procedure.
[0040] The operator lowers the lifting arm 22 and actuates in parallel the actuator 17 between the arm 22 and the fork 10 for a forward tilt of the machine until the handling machine 1 is completely raised. Sliding bars supporting the machine can then be extended from the carrier vehicle and positioned under the handling machine 1. The retraction complete lifting arm telescope allows the machine to rest on said support bars.
[0041] The vehicle is then tilted backwards via the actuator 17 positioned between the arm 22 and the fork 10 until the so-called front tires of the chassis come to bear against the underside of the chassis of the carrier vehicle. The loading procedure is completed. The unloading procedure is carried out by the reverse movements. This procedure will not be described in more detail because it is well known to those skilled in this art.
[0042] Alternatively, and as illustrated in the right-hand view of Figure 3, the handling machine 1 may be a machine with a mast 23. In this case, the actuator 17, or one of the actuators 17, of the handling system 4 is an actuator 17 for driving the chassis 2 and the fork 10 in relative movement in the direction of moving the fork 10 away from or towards the members 3 for moving the chassis 2 on the ground.
[0043] If necessary, an actuator 17 for tilting the fork 10 relative to the mast 23 and / or an actuator for entering or exiting the fork 10, which may be a telescopic fork, and / or an actuator for driving the movement of the fork 10, called an apron extender, may be provided.
[0044] An example of a procedure for loading or unloading such a handling machine 1 from a carrier vehicle 30 is described in international application WO 2020 / 161409.
[0045] In the simplest version, the mast is a mast of adjustable length. This mast carries the forks. The length of the mast is adjusted by actuating the or one of the actuators 17. It is therefore sufficient, with the mast adjusted to its longest position, to insert the forks carried by the mast into sleeves of the carrier vehicle, then to actuate the actuator 17 in the direction of reducing the length of the mast, which has the effect of causing the ground movement members 3 of the machine 1 to move away from the ground in the direction of lifting the handling machine 1, as illustrated in Figure 2 seen from the left, to a predetermined height. Boarding is then completed.
[0046] Obviously, for unloading or unloading, it is sufficient to proceed in reverse by actuating the actuator 17 in the direction of a increasing the length of the mast 23, which has the effect of bringing the ground movement members 3 of the machine 1 closer to the ground. Obviously, these operations can be supplemented by more complex actions involving the actuation of an actuator 17 for the apron extender interposed between the fork and the mast, as illustrated in the right-hand view of Figure 3 or the actuation of an actuator 17 for varying the length of the forks or other. Again, such a procedure is well known to those skilled in the art.
[0047] To enable the control of the actuator(s) 17 of the load handling system 4, the handling machine 1 comprises a control station 5 equipped with at least one member 6 for controlling the load handling system 4.
[0048] The cockpit 5 is presented, as illustrated in Figures 1 to 3, in the form of a cabin forming a driving position with a steering wheel and a driver's seat 28. The control member(s) 6 of the handling system 4, equipping the cockpit 5, are arranged inside the cabin and here adjoin the seat 28.
[0049] In the example shown in Figure 5, the number of control members 6 of the handling system 4 of the cockpit 5 is equal to three.
[0050] The control members 6 comprise a first pivoting lever, also called a joystick, which moves in the forward / rearward direction of the machine to control the lifting of the arm 22, a second pivoting lever in the right / left direction, and common with the first pivoting lever, to control the variation in length of said arm 22 which is a telescopic arm and a third pivoting lever which moves in the forward / rearward direction of the machine to control the inclination of the forks. This number of control members 6 can also be equal to three in the case of a mast handling machine, as shown in the right-hand view of Figure 3.In this case, three pivoting levers can be provided in the same direction, for example the forward / reverse direction of the machine with the first pivoting lever controlling the actuator 17 for tilting the mast, the second pivoting lever controlling the actuator 17 for controlling the variation in length of the mast, and a third lever. controlling the actuator 17 positioned between the fork and the mast at the level of the apron extender.
[0051] Obviously, the number of control members 6 could, in a similar manner, have been equal to one, two, or greater than three without departing from the scope of the invention.
[0052] In practice, each control member 6 of the cockpit 5 is in direct engagement by mechanical coupling with the slide of the or at least one of the distributors 18. Thus, for example, the distributor 18 of the actuator 17 for driving the movement of the arm 22 is a lever distributor 18. The same is true for the distributor 18 of each actuator 17.
[0053] The movement of a control member 6 of the pilot station 5 causes a corresponding movement of the slide valve of the distributor 18 of the associated actuator 17.
[0054] The handling machine 1 also comprises, for controlling the handling system 4, a remote control, also called a remote control, shown at 7 in the figures. This remote control 7 is equipped with at least one control member 8 for the handling system 4 and is connected by a wired connection 9 to the chassis 2. This remote control 7 comprises a housing 13 and the control member(s) 8 for the handling system 4 of the remote control 7 are carried by said housing 13. These control members 8 are also in the form of a pivoting lever, as illustrated in figures 4 and 5.
[0055] To facilitate the transition from a control of the handling system 4, from the control members 6 of the cockpit 5, to a control of the handling system 4 from the control members 8 of the remote control 7 and vice versa, ideally the control members 8 of the handling system 4 of the remote control 7, which are at least two in number, are each mounted to be movable between at least two positions, and the relative movement of the control members 8 of the handling system 4 of the remote control 7 is identical to the relative movement of the control members 6 of the handling system 4 of the cockpit 5.
[0056] In particular, at least two of the control members 8 of the handling system 4 of the remote control 7 are pivoting levers with the movement stroke of one of the levers following a direction orthogonal to the direction of the movement stroke of the other of the levers. Similarly, two of the control members 6 of the handling system 4 of the cockpit 5 are pivoting levers with the movement stroke of one of the levers following a direction orthogonal to the direction of the movement stroke of the other of the levers. This solution is illustrated in FIG. 5.
[0057] The control members 6 of the driving station 5 corresponding to the telescoping and tilting of the forks are also in the form of pivoting levers with the same directions of movement on the remote control 7. Thus, the operator is not disturbed when moving from the driving station 5 to the remote control 7 or vice versa.
[0058] In practice, for example, when the driver of the machine is in the driving position 5 and operates one of the pivoting levers to the right or to the left for telescoping, he acts in the same way on the pivoting lever of the remote control. At the same time, when the driver of the machine acts in the driving position 5 on the pivoting lever controlling the inclination of the forks by moving the said lever forwards or backwards of the machine, he acts at the remote control in the same way on the lever corresponding to the function of inclining the forks. As a result, the telescoping lever and the fork tilt lever move in directions orthogonal to each other at the driving position 5, as is the case at the level of the corresponding pivoting levers on the remote control 7.Similarly, the forward / backward movement of the pivoting arm control lever is the same on the remote control 7 or in the cockpit 5.
[0059] The handling machine 1 further comprises a control unit 12. The control unit 12 is 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 carry out a given operation, this means that the unit comprises computer instructions and the corresponding execution means which enable said operation to be carried out and / or that the unit comprises corresponding electronic components.
[0060] The housing 13 of the remote control 7 is a housing of generally parallelepiped shape with two end faces 131 connected to each other by lateral faces 132.
[0061] This remote control 7 comprises an emergency stop member 14 configured to control a cut-off of the electrical power supply to the remote control 7 and to inform the control unit 2 in the event of a stop, that is to say in the event of actuation of said emergency stop member 14.
[0062] This remote control 7 also includes a safety device called a “dead man” 15. This “dead man” device 15 must be actuated to allow control of the handling system 4 with the remote control 7.
[0063] The emergency stop member 14 is an emergency stop button. Similarly, the “dead man” safety member 15 is a button.
[0064] The housing 13 of the remote control 7 has a location 16 for receiving an operator's hand for gripping the remote control 7, and the emergency stop member 14 is arranged outside said location 16 for allow actuation of said emergency stop member by simple pressure on any surface in the state in which the remote control 7 is seized by said hand.
[0065] In the example shown in Figure 4, the “dead man” member 15 and the control members 8 of the handling system 4 of the remote control 7 are arranged on two opposite lateral faces 132 of the housing 13, and the emergency stop member 14 is arranged on an end face 131 of the housing 13.
[0066] The “dead man” member 15 is thus arranged inside the location 16 to allow, in parallel with grasping the remote control 7 with one hand, the actuation of the “dead man” member 15 with said hand.
[0067] The operator therefore grasps, using one hand, the remote control 7 with a thumb on one lateral face, the palm of the hand on an adjacent lateral face equipped with the “dead man” member 15, and the other fingers of the hand on a third lateral face opposite the one on which the thumb rests. This position of the hand automatically generates, by pressing, the actuation of the “dead man” member 15 which must be actuated to authorize a command of the handling system 4 from the remote control 7.
[0068] The positioning of the emergency stop member 14 on an end face 131 of the housing 13 of the remote control 7 makes it possible, using the hand holding the remote control 7, to press on any surface to trigger the stop without needing the operator's second hand and without needing to reposition the hand holding the remote control 7 on said remote control 7.
[0069] Control of the handling system 4 with the remote control 7 is not possible under all conditions.
[0070] In particular, the machine 1 comprises a device 11 for detecting the presence of an operator in the cockpit 5 and the control unit 12 is configured to acquire data from the presence detection device 11 and to prevent control of the handling system 4 with the remote control 7 in the detected state of a presence in the cockpit 5 by the presence detection device 11. Thus, control of the handling system 4 with the remote control 7 is prevented when an operator is in the cockpit 5. Conversely, control of the handling system 4 with remote control 7 can be authorized when no operator is present in the cockpit 5.
[0071] This presence detection device 11 can have a variable design. In the example shown, the presence detection device 11 comprises a presence sensor associated with the seat 28. This presence sensor can be formed by a simple contactor active when an operator takes a seat on the seat 28 of the cockpit 5.
[0072] Alternatively or additionally, a pressure sensor integrated into the floor of the cockpit 5 or a sensor integrated into the access door or guardrail serving as an access door to the cockpit 5 may be provided as a presence detection device 11. Regardless of its design, the control unit 12 always prevents control of the handling system 4 with the remote control 7 in the detected state of a presence in the cockpit 5.
[0073] Thus, as illustrated in Figure 7, the steps necessary to move from a prohibition of a command of the handling system 4 from the remote control 7 to an authorization of a command of the handling system 4 from the remote control 7 may be the following.
[0074] It is assumed that in step S1, a command from the remote control 7 is prevented. In step S2, the absence of the driver of the machine in the cockpit 5 is tested. Thus, the control unit 12 processes the data received from the presence detection device 11 to conclude whether or not the driver is absent in the cockpit 5.
[0075] If an absence of the driver is noted in the cockpit 5, then the control unit 12 goes to step S3. If the driver is not absent from the cockpit 5, that is to say if the presence detection device 11 delivers a signal to the control unit 12, then the control unit 12 returns to step S1 to carry out a new test in step S2.
[0076] In step S3, the actuation of the safety member, called "dead man" 15, is tested. If an actuation of the "dead man" safety member 15 is detected, then the control unit 12 goes to step S4, otherwise the control unit 12 returns to step S1.
[0077] In step S4, it is tested whether the emergency stop member 14 is released, i.e. not actuated. If this is the case, then the control unit 12 proceeds to step S5 where control of the handling system 4 from the remote control 7 is enabled. Otherwise, the control unit 12 returns to step S1.
[0078] Figure 7 illustrates that, when there is no driver in the cockpit 5, the actuation of the “dead man” safety device 15 and the non-actuation of the emergency stop device 14 are the additional conditions for the transition from a prohibition of a command of the handling system 4 from the remote control 7 to an authorization of a command of the handling system 4 from the remote control 7.
[0079] As illustrated in Figure 6, the control member(s) 8 of the handling system 4 of the remote control 7 are proportional control members 8 configured to generate a control instruction proportional to the movement stroke of the control member.
[0080] In particular, the machine 1 comprises, between the control member(s) 8 of the handling system 4 of the remote control 7 and the or at least one of the distributors 18 of the or at least one of the actuators 17 of the handling system 4, one or more hydraulic cylinders 19 for actuating the slide of the or at least one of the distributors 18, and the control unit 12 is configured to control the operation of the cylinder(s) 19 as a function of the data provided by the control member(s) 8 of the handling system 4 of the remote control.
[0081] The distributor 18 of an actuator 17 of the handling system 4 is thus a dual-control distributor. Such a distributor 18 comprises a lever control, as described above, resulting from the mechanical coupling of the slide of said distributor 18 with a control member 6 of the handling system 4 equipping the cockpit 5, and a hydraulic control resulting from the presence of the hydraulic cylinder(s) 19 generally attached to said distributor 18. As a variant, the distributor 18 of an actuator 17 of the handling system 4 could comprise, instead of a lever control, a hydraulic control. As a further variant, the or each hydraulic control could be replaced by an electric control.
[0082] The or each hydraulic cylinder 19 is associated with a fluid circulation circuit 20 equipped with at least one proportionally controlled circuit 20 closure member 21, and the control unit 12 is configured to control a movement of said closure member 21 within a predetermined range of positions as a function of the data provided by the or at least one of the control members 8 of the handling system 4 of the remote control 7.
[0083] In the example presented, the fluid circulation circuit 20 is supplied by a low-pressure pump 25, generally already present on the handling machine 1. This low-pressure pump 25 connected to a reservoir 24 is to be distinguished from the so-called main pump 27 which supplies the hydraulic actuator(s) 17 of the handling system 4 via the distributor(s) 18.
[0084] The fluid circulation circuit 20 comprises, as a closure member of the proportional control circuit 20 connecting the low-pressure pump 25 to each cylinder 19, when the cylinders 19 for controlling the spool of the distributor 18 are single-acting, or to the cylinder 19, when the cylinder 19 is a double-acting cylinder, an electro-proportional pressure regulator. In the example shown in Figure 6, the cylinders 19 are single-acting so that the fluid circulation circuit 20 comprises two closable fluid circulation lines 26 each connecting the low-pressure pump 25 to a cylinder 19. Obviously, other configurations of the fluid circulation circuit could have been envisaged without departing from the scope of the invention.
[0085] The actuation of the or each electro-proportional pressure regulator with the function of a partial or total shut-off member of the fluid circulation circuit 20 is a function of the actuation of the or a control member 8 of the handling system 4 equipping the remote control 7.
[0086] This hydraulic control is precise and simple due to the use of a low pressure pump 25 generally already present on the handling machine 1.
[0087] In fact, the actuation of a control member 8 of the remote control 7 is transmitted via the control unit 12 to a closure member 21 of the proportionally controlled circuit 20 to open the circuit 20 more or less depending on the actuation of the control member 8 of the the remote control 7, and supply the or one of the cylinders 19 generating a movement of the drawer of the distributor 18 of the actuator 17 of the handling system 4.
[0088] The movement of the distributor spool 18 of the actuator 17 of the handling system 4 can be viewed in the control station 5. It results in a movement of the control members 6 equipping the control station 5.
[0089] Obviously, at any time, the driver can abandon the remote control 7 to control the handling system 4 using the control members 6 of the cockpit 5, after having taken his place inside the cockpit 5.
[0090] The presence detection device 11 and the or each circuit 20 for proportional control of the distributor 18 of an actuator 17 may be in the form of a ready-to-mount assembly attached to the machine in combination with a suitable configuration of the control unit 12.
[0091] The control of the handling system 4 of the machine, from the remote control 7, is precise and reliable. The handling machine 1 is thus a reliable machine without compromising the safety of said machine.
Claims
Claims
1. Handling machine (1) capable of being loaded onto a carrier vehicle (30), said machine (1) comprising a chassis (2), ground movement members (3) of the chassis (2), a load handling system (4) carried by the chassis (2), a control station (5) equipped with at least one member (6) for controlling the load handling system (4), and a remote control of the load handling system in the form of a remote control (7) equipped with at least one member (8) for controlling the handling system (4), the load handling system (4) comprising at least one fork (10) to allow the machine (1) to be reloaded onto the carrier vehicle (30),said machine (1) comprising a device (11) for detecting the presence of an operator in the cockpit (5) and a control unit (12) configured to acquire data from the presence detection device (11) and to prevent control of the handling system (4) with the remote control (7) in the detected state of a presence in the cockpit (5) by the presence detection device (11), characterized in that the remote control (7) is connected by a wired connection (9) to the chassis (2), in that the remote control (7) comprises an emergency stop member (14) and a so-called "dead man" safety member (15), and in that the control unit (12) is configured to authorize control of the handling system (4) with the remote control (7) at least in the actuated state of the "dead man" member (15) and in the non-actuated state of the emergency stop member (14).,
2. Handling machine (1) according to claim 1, characterized in that the control member(s) (8) of the handling system (4) of the remote control (7) are carried by a housing (13).
3. Handling machine (1) according to claim 2, characterized in that the housing (13) of the remote control (7) has a location (16) for receiving an operator's hand for gripping the remote control (7) and in that the emergency stop member (14) is arranged outside said location (16).
4. Handling machine (1) according to one of the claims 1 to 3, characterized in that the emergency stop member (14) is an emergency stop button.
5. Handling machine (1) according to claim 3, characterized in that the "dead man" member (15) is arranged inside said location (16) to allow, in parallel with grasping the remote control (7) with one hand, the actuation of the "dead man" member (15) with said hand.
6. Handling machine (1) according to one of the claims 2 to 5, characterized in that the housing (13) of the remote control (7) is a housing of generally parallelepipedal shape with two end faces (131) connected to each other by lateral faces (132), in that the "dead man" member (15) and the member(s) (8) for controlling the system (4) for handling the remote control (7) are arranged on two opposite lateral faces (132) of the housing (13) and in that the emergency stop member (14) is arranged on an end face (131) of the housing (13).
7. Handling machine (1) according to one of claims 1 to 6, characterized in that the control member(s) (8) of the handling system (4) of the remote control (7) are proportional control members (8).
8. Handling machine (1) according to one of claims 1 to 7, characterized in that the number of control members (8) of the handling system (4) of the remote control (7) being at least equal to two, said control members (8) are each mounted movable between at least two positions and in that the direction of relative movement of at least some of the control members (8) of the handling system (4) of the remote control (7), configured to control predetermined functions of the handling system (4), is identical to the direction of relative movement of at least some of the control members (6) of the handling system (4) of the cockpit (5) configured to control the same predetermined functions of the handling system (4).
9. Handling machine (1) according to one of claims 1 to 8, characterized in that the number of control members (8) of the handling system (4) of the remote control (7) being at least equal to two, the or at least two of the control members (8) of the handling system (4) of the remote control (7) are, for the control of a first and a second function of the handling system (4), pivoting levers with the travel of one of the levers following a direction orthogonal to the direction of the travel of the other of the levers, in that the number of control members (6) of the handling system (4) of the cockpit (5) is at least equal to two, and in that the or at least two of the control members (6) of the handling system (4) of the cockpit (5) are, for the control of said first and second functions of the handling system (4), pivoting levers with the travel of one of the levers following a direction orthogonal to the direction of the travel of the other of the levers.
10. Handling machine (1) according to one of claims 1 to 9, characterized in that the handling system (4) comprises one or more hydraulic actuators (17) and at least one slide valve distributor (18) for the selective supply and / or exhaust of the actuator(s) (17).
11. Handling machine (1) according to claim 10, characterized in that the or each control member (6) of the handling system (4) of the control station (5) is in direct contact by mechanical coupling with the drawer of the or at least one of the distributors (18).
12. Handling machine (1) according to one of claims 10 or 11, characterized in that it comprises, between the control member(s) (8) of the handling system (4) of the remote control (7) and at least one of the distributors (18), one or more hydraulic cylinders (19) for actuating the slide of the or at least one of the distributors (18) and in that the control unit (12) is configured to control the operation of the cylinder(s) (19) as a function of the data provided by the control member(s) (8) of the handling system (4) of the remote control (7).
13. Handling machine (1) according to claim 12, characterized in that the or each hydraulic cylinder (19) is associated with a fluid circulation circuit (20) equipped with at least one member (21) for closing the circuit (20) with proportional control, and in that the control unit (12) is configured to control a movement of said closing member (21) within a predetermined range of positions as a function of the data provided by the or at least one of the control members (8) of the system (4) for handling the remote control (7).
14. Handling machine (1) according to one of claims 10 to 13, characterized in that the handling machine (1) is a handling machine with an arm (22) and in that one of the actuators (17) of the handling system (4) is an actuator for driving the arm (22) to move between a high position and a low position, in that one of the actuators (17) is an actuator for tilting the fork (10) relative to the arm (22), and in that, when the arm (22) is a telescopic arm, one of the actuators (17) is an actuator for retracting and extending the arm (22).
15. Handling machine (1) according to one of claims 10 to 13, characterized in that the handling machine (1) is a handling machine with a mast (23), in that one of the actuators (17) of the handling system (4) is an actuator for driving the chassis (2) and the fork (10) in relative movement in the direction of moving the fork (10) away from or towards the members (3) for moving the chassis (2) on the ground, and in that, if necessary, one of the actuators (17) is an actuator for tilting the fork (10) relative to the mast (23) and / or an actuator for entering or exiting the fork (10) which is a telescopic fork and / or an actuator for driving the fork (10) in movement called an apron extender.
16. Handling machine (1) according to one of claims 1 to 15, characterized in that the driving position (5) comprises at least one seat (28) on which an operator is able to take a seat and in that the device (11) for detecting the presence of an operator in the driving position (5) comprises at least one presence sensor associated with the seat (28).