Load-handling vehicle

Abstract

The invention relates to a load-handling vehicle comprising an undercarriage, a motor (3), two handling systems (4, 5) each comprising a hydraulic actuator (6), a member for controlling the operation of each actuator (6) of the handling systems (4, 5), a control unit for controlling the handling systems (4, 5) according to the control member and, for each handling system (4, 5), a fluid supply device (9) comprising a pump (10), a circuit (11) for connecting the pump (10) to the actuator (6) and a member (12) for opening / closing the connecting circuit (11). The pumps (10) of the fluid supply devices (9) of the handling systems (4, 5) are separate, and the vehicle comprises a member (13) for establishing communication between the connecting circuits (11) that connect these two handling systems (4, 5), the communication member (13) being mounted so as to be movable between a closed position and an open position.

Description

Description Title of the invention: LOAD HANDLING DEVICE

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

[0002] It relates in particular to a load handling machine comprising a chassis and drive members moving on the ground of said chassis and, carried by said chassis, - at least one engine, - at least two handling systems each comprising at least one hydraulic actuator, - at least one control member in operation of at least one actuator of the handling systems, - a control unit configured to acquire control signals from said control member and determine control instructions for the handling systems and, for each handling system, a fluid supply device comprising a pump, a connecting circuit, the pump or at least one actuator and at least one member for opening / closing the connecting circuit.

[0003] Such load handling equipment is well known to those skilled in the art. Such load handling equipment is energy intensive. Also known are handling equipment as illustrated in document EP4074900 where each circuit connecting a pump to a hydraulic actuator is equipped with a bypass circuit to power a meter. The connecting circuits do not communicate with each other.

[0004] One aim of the invention is to reduce the consumption of such handling equipment without harming its operation.

[0005] To this end, the invention relates to a load handling machine comprising a chassis and drive members for moving said chassis on the ground, and, carried by said chassis, - at least one engine, - at least two handling systems each comprising at least one hydraulic actuator, - at least one control member in operation of at least one actuator of the handling systems, - a control unit configured to acquire control signals from said control member and determine control instructions for the handling systems and, for each handling system, a fluid supply device comprising a pump, a circuit for connecting the pump to at least one actuator and at least one member for opening / closing the connection circuit, characterized in that for the or at least two of the handling systems, the pump of the fluid supply device of one of the handling systems is separate from the pump of the fluid supply device of the other of the handling systems, and in that the machine comprises a member for establishing communication between the connection circuits between these two handling systems,this communication member being mounted to move between a closed position in which the connection circuits are independent and an open position in which the connection circuits communicate with each other.

[0006] The member for establishing communication between the connecting circuits between the two handling systems is mounted to be movable between a closed position in which the connecting circuits are independent and an open position in which the connecting circuits communicate with each other to allow the pump of one of the connecting circuits to be used to assist in actuating the or at least one of the actuators of the other or another of the connecting circuits by accumulating the flow rates of the pumps of the connecting circuits. The communication between the connecting circuits is therefore a non-permanent communication. In the open position of the communication member, the connecting circuits communicate with each other to allow an accumulation of the flow rate of the pumps each associated with a connecting circuit.

[0007] This design allows for a reduction in the size of the pumps dedicated to load handling and overall consumption. Indeed, until now in the state of the art, a single pump is used for all handling systems, requiring the pump to be oversized. When two pumps are used, they operate independently with respect to the actuators they power. The design, the subject of the invention, allows for a reduction in the size of the pumps. The presence of a communication device connecting circuits allows, if necessary, the pump of one of the connecting circuits to be used to assist in the actuation of an actuator located on another connecting circuit by accumulating the flow rates of said pumps. This results in overall lower consumption.

[0008] According to one embodiment of the invention, the control unit is configured to control the passage of the communication member of the connection circuits from the closed position to the open position as a function of the position of the opening / closing member(s) of the connection circuits and the control instructions of the handling systems determined as a function of the control signals of the control member in operation of the at least one actuator of the handling systems.

[0009] In other words, the control unit is configured to control the passage of the communication member of the connection circuits from the closed position to the open position as a function of the control signals of the control member in operation of the at least one actuator of the handling systems and, in the unsolicited state of the actuator(s) of one of the handling systems.

[0010] Thus the fluid flow from the pump of the unsolicited handling system can be used if necessary for the actuation of the actuator(s) of the other or another handling system.

[0011] According to one embodiment of the invention, each pump has a maximum flow rate value and the control unit of the member for establishing communication between the connecting circuits is configured to control the passage of the member for establishing communication between the connecting circuits from the closed position to the open position when the or each member for opening / closing the connecting circuit of one of the handling systems is in the closed position and the control instruction for the other handling system corresponds to a flow rate demand from the pump of this other handling system greater than the maximum flow rate value of the pump of this other handling system.

[0012] Thus, each pump having a maximum flow rate value, the control unit is configured to control the passage of the communication device of the connection circuits from the closed position to the open position, at least in the unsolicited state of the actuator(s) of one of the handling systems and, when the control setpoint for the other handling system corresponds to a flow rate demand from the pump of this other handling system greater than the maximum flow rate value of the pump of this other handling system.

[0013] The communication device only opens if only one handling system is controlled and if the pump of said handling system cannot provide sufficient flow.

[0014] According to one embodiment of the invention, each connection circuit is equipped with a pressure sensor, and the control unit of the communication member of the connection circuits is configured to control the passage of the communication member of the connection circuits from the closed position to the open position, at least when the pressure sensors indicate the same pressure value to within plus or minus 25%.

[0015] Each connecting circuit is equipped with a pressure sensor arranged between the pump and the opening / closing member(s) of said connecting circuit. The presence of such pressure sensors makes it possible to avoid a jolt in the operation of the actuator(s) when the connecting circuit communication member moves from the closed position to the open position.

[0016] According to one embodiment of the invention, the machine comprises a so-called lifting arm in one or more sections, said arm is a pivoting arm pivotally mounted on the chassis around an axis parallel to a flat surface in the positioned state of the machine on said flat surface, one of the handling systems called the first handling system comprises the or at least one section of the lifting arm called the first arm section and the or at least one of the actuators of this handling system is an actuator for driving the movement of said first arm section between a low position and a high position.

[0017] According to one embodiment of the invention, the other or another of the handling systems comprises a tool holder positioned at the end of the arm opposite that coupled to the chassis, and the or at least one of the actuators of this other handling system is an actuator for controlling the movement of said tool holder.

[0018] In the state emitted by the control member of control signals of the actuator for driving the arm section of the first handling system between a low position and a high position, the control unit is configured to, when these control signals correspond to a control instruction defined by a flow rate demand of the pump of said first handling system greater than the maximum flow rate value of the pump of said first handling system, control the passage from the closed position to the open position of the member for establishing communication between the connection circuits of the first handling system and another handling system of which at least one of the actuators is an actuator for controlling the movement of the tool holder, in the unsolicited state of the actuator(s) of this other handling system,that is to say in the closed state of the opening / closing member(s) of the connecting circuit of this other handling system comprising at least the actuator for controlling the movement of the tool holder.,

[0019] Of course, the converse is true.

[0020] According to one embodiment of the invention, the other or another of the handling systems comprises a second section of said lifting arm mounted to fit telescopically with said first arm section and the or at least one of the actuators of this other handling system is an actuator for driving the movement of the second section of said arm to vary the length of the so-called telescopic arm.

[0021] In the state emitted by the control member of control signals of the actuator for driving the arm section of the first handling system to move between a low position and a high position, the control unit is configured to, when these control signals correspond to a control instruction defined by a flow rate request from the pump of said first handling system greater than the maximum flow rate value of the pump of said first handling system, control the passage from the closed position to the open position of the member for establishing communication between the connection circuits of the first handling system and another handling system of which the or at least one of the actuators is an actuator for driving the second arm section to move, in the state unsolicited from the actuator(s) of this other handling system, i.e. in the closed state of the opening / closing member(s) of the connecting circuit of this other handling system comprising at least the actuator for driving the movement of the second arm section.

[0022] Of course, the converse is true.

[0023] According to one embodiment of the invention, the or at least one of the opening / closing members of the connection circuit of at least one of the handling systems is a distributor and the control member in operation of the at least one actuator of the handling systems comprises a pivoting lever also called a joystick.

[0024] According to one embodiment of the invention, the control member in operation of the at least one actuator of the handling systems is configured to, in at least one configuration, emit in parallel at least two control signals, one corresponding to a control signal of the at least one of the actuators of one of the handling systems, and the other to a control signal of the at least one of the actuators of the other or another of the handling systems.

[0025] The control unit is configured to control the operation of the drive actuator for moving the first arm section between a low position and a high position and the operation of the drive actuator for moving the second arm section in the direction of moving the first arm section closer to or further apart, either in parallel or selectively, depending on the control signals from the operating control member of the at least one actuator of the handling systems.

[0026] Alternatively or additionally, the control unit is configured to control the operation of the drive actuator for moving the first arm section between a low position and a high position and the operation of the control actuator for moving the tool holder, either in parallel or selectively, depending on the control signals from the control member in operation of the at least one actuator of the handling systems.

[0027] According to one embodiment of the invention, the or at least one of the engines of the machine is common to the pumps of the two or at least two of the handling systems. This engine can be thermal or electric.

[0028] According to one embodiment of the invention, the number of motors is greater than one and a pump of each handling system is associated with a motor. Again, this motor can be thermal or electric.

[0029] The invention also relates to a method for controlling a load handling machine, said machine comprising a chassis and drive members for moving said chassis on the ground and, carried by said chassis, at least one engine, at least two handling systems each comprising at least one hydraulic actuator, at least one control member in operation of the at least one actuator of the handling systems, a control unit configured to acquire control signals from said control member and determine control instructions for the handling systems and, for each handling system, a fluid supply device comprising a pump, a circuit for connecting the pump to the at least one actuator and at least one member for opening / closing the connection circuit, characterized in that, the machine being of the aforementioned type,said method comprises at least one step of driving the member for establishing communication between the connection circuits between the at least two separate pump handling systems to move between a closed position in which the connection circuits are independent and an open position in which the connection circuits communicate with each other.

[0030] According to one embodiment of the method, the control method comprises at least one step of driving the movement of the member for establishing communication between the connecting circuits of the or at least two handling systems with separate pumps from the closed position to the open position when the or each member for opening / closing the connecting circuit of one of the handling systems is in the closed position and the control instruction for the other handling system corresponds to a flow rate request from the pump of this other handling system greater than the value of the maximum flow rate of the pump of this other handling system.

[0031] Brief description of the drawings

[0032] The invention will be clearly understood upon reading the following description of exemplary embodiments, with reference to the appended drawings in which:

[0033] [Fig. 1] represents a perspective view of a handling machine according to the invention;

[0034] [Fig. 2] represents a schematic view of the fluid supply devices of the actuators of the machine of figure 1;

[0035] [Fig. 3] represents a perspective view of a handling machine according to the invention;

[0036] [Fig. 4] represents a schematic view of the fluid supply devices of the actuators of the machine of figure 3;

[0037] [Fig. 5] represents a schematic view of the constituent elements of the machine participating in the control of the actuators of the two handling systems with separate pumps in the controlled state in operation of the actuator of one of the handling systems, the control instruction of said actuator corresponding to a flow rate demand of the pump of the handling system comprising said actuator lower than the maximum flow rate value of said pump;

[0038] [Fig. 6] represents a schematic view of the constituent elements of the machine participating in the control of the actuators of two handling systems with separate pumps, in the controlled state in operation of an actuator of each handling system;

[0039] [Fig. 7] represents a schematic view of the constituent elements of the machine participating in the control of the actuators of two handling systems with separate pumps, in the controlled operating state of an actuator of one of the handling systems, the control instruction of said actuator corresponding to a flow rate demand of the pump of the handling system comprising said actuator greater than the maximum flow rate value of said pump;

[0040] [Fig. 8] represents, in the form of block diagrams, the steps necessary for opening the communication device for the connecting circuits of one or two handling systems with separate pumps.

[0041] The invention relates to a load handling machine 1 of the type shown, for example, in Figures 1 and 3. It should be noted that the term "load" may include a person.

[0042] This handling machine 1 comprises, in a manner known per se, a chassis 2 and members 19 for driving the chassis 2 on the ground in the form of wheels or tracks. The handling machine 1 comprises motor means for driving the members 19 for driving the chassis 2 on the ground, which may take the form of motors associated with the wheels or otherwise. These motor means will not be described in more detail because they are of little importance for the invention.

[0043] The handling machine 1 also comprises at least two handling systems 4 and 5, each comprising at least one hydraulic actuator 6 in the form of a jack.

[0044] In the examples shown, in particular in Figures 1 and 3, the machine 1 comprises a lifting arm 16, which may be in one section 181 or in several sections 181, 182. The arm 16 is a pivoting arm pivotally mounted on the chassis 2 around a so-called horizontal axis parallel to a flat surface in the positioned state of the machine 1 on said flat surface for the arm to move from a low position to a high position and vice versa. This arm 16 may be a telescopic arm, as illustrated in Figure 1. In this case, the arm comprises at least a first arm section 181 and a second arm section 182.

[0045] One of the handling systems, called the first handling system, and represented at 4 in the figures comprises the section of the lifting arm 16 represented at 181 and called the first section 181. The or at least one of the actuators of this first handling system 4 is an actuator 6 for driving the movement of said first arm section 181 between a low position and a high position. The machine 1 comprises at least one other handling system represented at 5 in the figures. Figure 1 illustrates a first embodiment of this other handling system. In Figure 1, this other handling system 5 comprises a second arm section 182 mounted to telescopically fit with said first arm section 181. The or at least one of the actuators 6 of this other handling system is an actuator 6 for driving the movement of the second section 182 of the arm 16 to vary the length of the telescopic arm 16.

[0046] Figure 3 illustrates another embodiment of this other handling system 5. This other handling system 5 comprises a tool holder 17 positioned at the end of the arm 16 opposite that coupled to the chassis 2, and the or at least one of the actuators 6 of this other handling system 5 is an actuator 6 for controlling the movement of said tool holder 17.

[0047] Obviously, the machine 1 can comprise, in addition to the first handling system 4, two other handling systems, one of which is in accordance with that shown in Figure 1 and the other of which is in accordance with that shown in Figure 3. It can also be provided that the actuator 6 for driving the movement of one of the arm sections and the actuator 6 for driving the movement of the tool holder belong to the same handling system, that is to say are supplied by the same pump which will be described below.

[0048] The handling machine 1 can therefore include two or more handling systems according to the wishes of the machine manufacturer.

[0049] Each handling system is characterized by a fluid supply device 9 comprising a pump 10, a circuit 11 for connecting the pump 10 to at least one actuator 6 and at least one member 12 for opening / closing the connecting circuit 11. These handling systems are distinguished from one another by the fact that each handling system comprises a separate pump.

[0050] Thus, the first handling system 4 described above and shown in Figures 1 and 3 comprises an actuator 6 for driving the movement of the first arm section 181 between a low position and a high position, this actuator 6 being able to be powered by a first pump 10. In Figure 1, the other handling system 5 comprises an actuator 6 for driving the movement of the second arm section 182 between a position close to and a position separated from the first arm section to vary the length of the arm 16, this actuator 6 being able to be powered by a second pump 10 separate from the first pump, as illustrated in Figure 2.

[0051] In this embodiment, an actuator 6 is also provided for driving the pivoting movement of the tool holder 17 equipping a end of the arm, but this actuator is powered by the same pump 10 as that which powers the actuator 6 for driving the movement of the first arm section between a low position and a high position, so that it belongs to the same handling system.

[0052] Figure 2 therefore illustrates a case with two handling systems, one of which, called the first handling system 4, comprises an actuator 6 for driving the movement of the first arm section between a low position and a high position, and an actuator 6 for driving the pivoting movement of the tool holder 17, while the other handling system 5 comprises an actuator 6 for driving the movement of the second arm section 182.

[0053] Obviously, a third handling system could have been provided with a separate pump for the actuator 6 for driving the tool holder 17 in movement, as is the case in FIG. 4 where the actuator 6 for driving the tool holder 17 in movement can be supplied by a pump separate from the pump 10 which supplies the actuator 6 for driving the first arm section between a low position and a high position. FIGS. 3 and 4 therefore illustrate a first handling system 4 which comprises an actuator 6 for driving the first arm section 181 up and down and another handling system 5 which comprises an actuator 6 for driving the tool holder 17 in movement.

[0054] For reasons of simplification of the description, the invention will be described below with two handling systems with separate pumps, although the number of handling systems with separate pumps may be greater than two. Regardless of the number of handling systems with separate pumps, preferably each time, the or one, preferably each of the members 12 for opening / closing the connecting circuit 11 is a distributor composed of one or more control sections controlled by a control unit 8 which will be described below.

[0055] Each pump 10 is, for its operation, associated with a motor 3. The number of motors 3 can also vary. In the example of Figure 2, one of the motors 3 of the machine is common to the pumps 10 of the two or at least two of the handling systems.

[0056] In the example of Figure 4, the number of motors used to drive the pumps is greater than one and a pump 10 of each handling system is associated with a motor 3.

[0057] The or each motor is preferably an electric motor, although it can be a heat engine.

[0058] It is noted that, as illustrated in particular in Figures 5 to 7, each connection circuit 11 is equipped with a pressure sensor 14 arranged between the pump 10 and the opening / closing member(s) 12 of the connection circuit 11. The role of these pressure sensors 14 will be specified below.

[0059] The handling machine 1 also comprises a control member 7 for controlling the operation of the actuators 6 of the handling systems. Generally, this control member 7 comprises a pivoting lever also called a joystick. Such an example is shown in Figures 1 and 3. Ideally, the control member 7 for controlling the operation of the at least one actuator 6 of the handling systems 4, 5 is configured to, in at least one configuration, emit in parallel at least two control signals, one corresponding to a control signal of the or at least one of the actuators of one of the handling systems, and the other to a control signal of the or at least one of the actuators 6 of the other or another of the handling systems.

[0060] Thus, when this control member 7 controls the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position, and the actuator 6 for driving the movement of the second arm section 182, which belong to two different handling systems, as illustrated in FIG. 2, this control member 7 may comprise a pivoting lever that can pivot in the forward / rearward direction for lifting the arm. This control member 7 also comprises, on the knob of the pivoting lever, a rocker button for controlling the actuator 6 for driving the movement of the second arm section 182. Thus, with a single hand positioned on the lever, it is possible, in parallel with a movement, for example forward, of the lever, to press with the thumb on the rocker button to emit in parallel two control signals that each control an actuator, namely, a on the one hand, the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position, on the other hand, the actuator 6 for driving the movement of the second arm section 182. Obviously, the control member 7 is also configured to, in at least one configuration, selectively control one or the other of the actuators 6. Thus, if only the pivoting lever is pivotally moved without actuation of the rocker button, only the actuator 6 for driving the movement of the first arm section between a low position and a high position is actuated. Similarly, the sole actuation of the rocker button generates only a movement of the second arm section 182. The control member 7 can also, for the same handling system, control several actuators of said handling system. This is the case in FIG. 2.In the example of Figure 2, the control member 7, which comprises a pivoting lever that can pivot in the forward / backward direction for lifting the arm, can also be a lever that pivots in the right / left direction for pivoting the tool holder 17. This pivoting lever therefore comprises a first direction of movement called forward / backward and a second direction of movement called left / right. These first and second directions correspond to the main directions and the lever can be driven in an infinite number of directions. The movement of the lever in any direction between the main directions corresponds to a combined action of controlling the lifting of the arm and moving the tool holder proportionally to the position of the control lever relative to the main directions. The position of the lever can therefore allow in parallel the control of lifting the arm and moving the tool holder 17.

[0061] In the example of Figure 4, the control member 7 for operating the or at least one actuator 6 of the handling systems 4, 5 which is configured to, in at least one configuration, emit in parallel at least two control signals, one corresponding to a control signal of the or at least one of the actuators of one of the handling systems, and the other to a control signal of the or at least one of the actuators 6 of the other or another of the handling systems, is a pivoting lever with right / left and forward / backward movement directions. The pivoting lever is pivotally movable in the forward / rearward direction for moving the first arm section 181 between a high position and a low position and in the right / left direction for pivoting the tool holder 17, the actuator 6 for driving the movement of the first arm section 181 and the actuator for controlling the movement of the tool holder belonging to two different handling systems. This pivoting lever with its right / left and forward / rearward movement directions therefore makes it possible to control in parallel or selectively two actuators belonging to two separate handling systems depending on its position.Thus, if the pivoting lever occupies an intermediate tilt position between the front / rear position and the right / left position, the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position, and the actuator 6 for controlling the movement of the tool holder 17 in the direction of digging or dumping are controlled in parallel.

[0062] If this pivoting lever is pivoted forwards or backwards, only the actuator 6 for driving the first arm section 181 between a low position and a high position is controlled. If the pivoting lever is pivoted to the left or to the right, only the actuator 6 for controlling the movement of the tool holder 17 in the direction of digging or dumping is controlled.

[0063] The handling machine 1 further comprises a control unit 8 configured to acquire control signals from the control member 7 and determine, from said control signals, control instructions for the handling systems. These control signals from the control member 7 may in particular be obtained from motion sensors equipping the control member 7. These control instructions generally correspond to a flow rate request for the supply of fluid to the hydraulic actuator 6 controlled by the control signal from the control member 7.

[0064] Each control instruction therefore comprises at least one command of the handling system associated with the actuator 6 concerned by the or a control signal of the control member 7. In particular, each control instruction comprises a command of the pump 10 and the member 12 opening / closing of the connection circuit 11 connecting the actuator 6 concerned by the or a control signal from the control member 7 to said pump 10.

[0065] As illustrated in Figures 2, 4 and 5 to 7, the machine 1 comprises a member 13 for connecting the circuits 11 for connecting the handling systems 4 and 5 with differentiated pumps 10. This communication member 13 is in the form of an all-or-nothing valve. Alternatively, this communication member 13 may be in the form of a progressive or proportional valve. This communication member 13 is mounted to move between a closed position in which the circuits 11 for connecting the handling systems 4 and 5 with differentiated pumps 10 are independent and an open position in which the circuits 11 for connecting the handling systems 4 and 5 with differentiated pumps 10 communicate with each other to allow a combination of the flow rate of the pumps each associated with a connecting circuit.

[0066] In practice, the control unit 8 is configured to control the passage of the communication member 13 from the closed position to the open position, at least as a function of the control signals from the control member 7. In particular, the control unit 8 is configured to control the passage of the communication member 13 of the connection circuits 11 from the closed position to the open position as a function of the position of the opening / closing member(s) 12 of the connection circuits 11 and the control instructions determined as a function of the control signals from the control member 7 in operation of the at least one actuator 6 of the handling systems 4, 5.Each pump 10 has a maximum flow rate value and the control unit 8 of the member 13 for establishing communication between the connecting circuits 11 is configured to control the passage of the member 13 for establishing communication between the connecting circuits 11 from the closed position to the open position when the or each member 12 for opening / closing the connecting circuit 11 of one 4 of the handling systems 4, 5 is in the closed position and the control instruction for the other handling system 5 corresponds to a flow rate demand from the pump 10 of said handling system 5 greater than the maximum flow rate value of the pump 10 of said handling system 5.

[0067] It is also noted that the control unit 8 of the member 13 for establishing communication between the connecting circuits 11 is configured to control the passage of the member 13 for establishing communication between the connecting circuits 11 from the closed position to the open position, at least when the pressure sensors 14 arranged for each connecting circuit 11 between the pump 10 and the member(s) 12 for opening / closing said connecting circuit 11 indicate the same pressure value to within plus or minus 25%. The pressure sensors 14 make it possible to ensure the equal pressure of the connecting circuits 11 to avoid a jolt when opening the member 13 for establishing communication between said connecting circuits 11.For reasons of operational optimization, each connecting circuit 11 comprises a non-return valve 20 arranged between the pump and the point of the connecting circuit 11 where the connecting circuit 11 can be connected to the connecting circuit 11 of another handling system via the communication member 13.

[0068] The method of controlling the opening of the member 13 for establishing communication between the connection circuits 11 is shown in Figure 8.

[0069] In step S1, the communication member 13 is in the closed position. In step S2, a control signal for the or at least one of the actuators 6 of one of the handling systems is emitted by the control member 7. It is assumed, for example, that this control signal concerns the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position, i.e. the actuator 6 of the first handling system 4. In step S3, the control unit 8 compares the value of the control setpoint resulting from the control signal emitted in S2 and resulting in a flow rate request for the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position of the first handling system 4 with the maximum flow rate value of the pump 10 of this first handling system 4.

[0070] If the flow rate demand of the pump of the first handling system 4 is lower than the maximum flow rate value of this pump, then, in step S5, the communication member 13 is kept in the closed position. Otherwise, if in step S3, the flow rate demand of the pump of the first handling system is higher than the maximum flow rate value of the pump of the first handling system, then in step S4, the control unit 8 checks the position of the opening / closing member 12 of the connection circuit 11 of another handling system 5 capable of communicating via the communication member 13 with the connection circuit 11 of the first handling system 4.

[0071] This other handling system 5 comprises, for example, the actuator 6 for controlling the movement of the tool holder 17 in the example of FIG. 4, or the actuator 6 for driving the movement of the second arm section, in the example of FIG. 2. The member 12 for opening / closing the connection circuit 11 of this other handling system 5 in the closed position, is equivalent to the fact that the actuator 6 of this other handling system is in the unstressed state, that is to say in the state not supplied with fluid by a pump.

[0072] If, in step S4, it is concluded that the or at least one of the actuators 6 of this other handling system 5 with a separate pump 10 is activated, then the control unit 8 proceeds to step S6 and the communication member 13 is kept in the closed position. Conversely, if, in step S4, the control unit 8 concludes that the opening / closing member 12 of the connecting circuit 11 of this other handling system 5 with a separate pump 10 is in the closed position, i.e. that the actuator 6 of this other handling system 5 is not activated, the control unit 8 commands, in step S7, the opening of the communication member 13 to allow the pump 10 of this other handling system 5 to supply fluid to the actuator 6 of the first handling system.

[0073] Figures 5 to 7 show the different stages of this control process.

[0074] Figure 5 illustrates the case where the control member 7 emits a control signal for an actuator 6 of a single handling system illustrated at 4 in Figure 5 and which corresponds to the first handling system, i.e. the one which comprises the actuator 6 for driving the movement of the first arm section between a low position and a high position. The points on the lines illustrate the control lines of the pump 10 and of the member 12 for opening / closing the connecting circuit 11 of this first handling system 4, as well as the circulation of the fluid from the pump 10 via the member 12 opening / closing towards the actuator 6 for driving the first arm section 181 to move between a low position and a high position.

[0075] It is assumed that the pump 10 of this first handling system 4 has a maximum flow rate of 100 liters / minute and that the flow rate demand for supplying fluid to the actuator 6 for driving the movement of the first arm section between a low position and a high position is 70 liters / minute with respect to the actuation of the control member 7. The communication member 13 is therefore maintained in the closed state. This illustrates steps S1, S2, S3, S5 of FIG. 8.

[0076] Figure 6 illustrates the case where the control member 7 emits two control signals, one from the actuator 6 for driving the movement of the first arm section 181 of the first handling system 4, the other from the actuator 6 of another handling system, such as the actuator 6 for controlling the movement of the tool holder 17, or the actuator 6 for driving the movement of the second arm section 182. Again, the points on the lines illustrate, in Figure 6, the control lines of the pumps 10 and the members 12 for opening / closing the circuits 11 connecting the two handling systems 4, 5 as well as the circulation of fluid from each pump 10 to the associated actuator 6.

[0077] It is assumed that the pump 10 of the first handling system 4 has a maximum flow rate of 100 liters / minute and that the flow rate demand for supplying fluid to the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position is 120 liters / minute with respect to the actuation of the control member 7. The communication member 13 is maintained in the closed state due to the stress of the actuators 6 of each handling system with a separate pump. This case illustrates the steps S1, S2, S3, S4, S6 in FIG. 8.

[0078] Figure 7 illustrates the case where, again, the control member 7 emits a control signal for an actuator 6 of a single handling system illustrated at 4 in Figure 7 and which corresponds, for example, to the first handling system 4, that is to say to the one which comprises the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position.

[0079] It is assumed that the pump 10 of this first handling system 4 has a maximum flow rate of 100 liters / minute and that the flow rate demand for supplying fluid to the actuator 6 for driving the movement of the first arm section 181 between a low position and a high position is 120 liters / minute with respect to the actuation of the control member 7. The control unit 8 determines from the control signals of the control member 7 and / or from the closed position of the opening / closing member 12 of the other handling system 5 detected, for example, from the pressure sensors 15 that the actuator 6 of this other handling system 5 is not being used.The control unit 8 then commands the operation of the pump 10 of the other handling system 5 and the opening of the member 13 for establishing communication between the connecting circuits 11 of the first handling system 4 and this other handling system 5 to allow the pump 10 of this other handling system 5 to supply the actuator 6 of the first handling system 4 via the communication circuit on which the communication member 13 is arranged.

[0080] Thus, the control unit 8 controls the pump 10 of this other handling system 5 to deliver 20 liters / minute which, added to the 100 liters / minute of the pump of the first handling system 4, makes it possible to meet the control setpoint of 120 liters / minute. Again, the points on the lines illustrate, in Figure 7, the control lines of the pumps of the two handling devices, the control line of the opening / closing member 12 of the first handling system 4 and of the communication member 13 and the fluid circulation lines.

[0081] Figure 7 illustrates steps S1, S2, S3, S4, S7 of figure 8 which lead to the opening of the communication member 13.

[0082] Obviously, the examples described above apply in a similar manner to the case where it is the actuator of another handling system, such as the second handling system which is controlled, the first handling system coming into support when the conditions are met.

Claims

Claims

1. Load handling machine (1) comprising a chassis (2) and members (19) for driving said chassis to move on the ground, and, carried by said chassis (2), - at least one engine (3), - at least two handling systems (4, 5) each comprising at least one hydraulic actuator (6), - at least one control member (7) for operating at least one actuator (6) of the handling systems (4, 5), - a control unit (8) configured to acquire control signals from said control member (7) and determine control instructions for the handling systems (4, 5) and, for each handling system (4, 5), a fluid supply device (9) comprising a pump (10), a circuit (11) for connecting the pump (10) to at least one actuator (6) and at least one member (12) for closing / closing the connection circuit (11), characterized in that for the or at least two of the handling systems (4, 5), the pump (10) of the fluid supply device (9) of one of the handling systems (4, 5) is separate from the pump (10) of the fluid supply device (9) of the other of the handling systems (4, 5), and in that the machine (1) comprises a member (13) for connecting the connection circuits (11) between these two handling systems (4, 5),this communication member (13) being mounted to move between a closed position in which the connection circuits (11) are independent and an open position in which the connection circuits (11) communicate with each other.

2. Load handling machine (1) according to claim 1, characterized in that the control unit (8) is configured to control the passage of the member (13) for establishing communication between the connection circuits (11) from the closed position to the open position as a function of the position of the member(s) (12) for opening / closing the connection circuits (11) and the control instructions for the handling systems (4, 5) determined as a function of the control signals from the control member (7) in operation of the at least one actuator (6) of the handling systems (4, 5).

3. Handling machine (1) according to one of the claims 1 or 2, characterized in that each pump (10) has a maximum flow rate value and in that the unit (8) for controlling the member (13) for establishing communication between the connecting circuits (11) is configured to control the passage of the member (13) for establishing communication between the connecting circuits (11) from the closed position to the open position when the or each member (12) for opening / closing the circuit (11) connecting one of the handling systems (4, 5) is in the closed position and the control instruction for the other handling system corresponds to a flow rate request from the pump (10) of this other handling system greater than the maximum flow rate value of the pump (10) of this other handling system.

4. Handling machine (1) according to one of the claims 2 or 3, characterized in that each connecting circuit (11) is equipped with a pressure sensor (14), and in that the control unit (8) of the member (13) for connecting the connecting circuits (11) is configured to control the passage of the member (13) for connecting the connecting circuits (11) from the closed position to the open position, at least when the pressure sensors (14) indicate the same pressure value to within plus or minus 25%.

5. Handling machine (1) according to one of claims 1 to 4, characterized in that the machine (1) comprises an arm (16) called a lifting arm in one or more sections (181, 182), said arm (16) is a pivoting arm pivotally mounted on the chassis (2) around an axis parallel to a flat surface in the positioned state of the machine (1) on said flat surface, and in that one (4) of the handling systems (4, 5) called the first handling system comprises the or at least one section (181) of the lifting arm (16) called the first arm section, in that the or at least one of the actuators (6) of this handling system (4) is an actuator for driving the movement of said first arm section (181) between a low position and a high position.

6. Handling machine (1) according to claim 5, characterized in that the other or another of the handling systems (4, 5) comprises a tool holder (17) positioned at the end of the arm (16) opposite that coupled to the chassis (2), and in that the or at least one of the actuators (6) of this other handling system (5) is an actuator for controlling the movement of said tool holder (17).

7. Handling machine (1) according to one of claims 5 or 6, characterized in that the other or another of the handling systems (4, 5) comprises a second section (182) of said lifting arm (16) mounted to fit telescopically with said first arm section (181) and in that the or at least one of the actuators (6) of this other handling system (5) is an actuator for driving the movement of the second section (182) of said arm (16) to vary the length of the so-called telescopic arm (16).

8. Handling machine (1) according to one of claims 1 to 7, characterized in that the or at least one of the members (12) for closing / closing the circuit (11) connecting at least one of the handling systems (4, 5) is a distributor and in that the member (7) for controlling the operation of the at least one actuator (6) of the handling systems (4, 5) comprises a pivoting lever also called a joystick.

9. Handling machine (1) according to one of claims 1 to 8, characterized in that the control member (7) for operating the at least one actuator (6) of the handling systems (4, 5) is configured to, in at least one configuration, emit in parallel at least two control signals, one corresponding to a control signal from at least one of the actuators (6) of one of the handling systems (4, 5), and the other corresponding to a control signal from at least one of the actuators (6) of the other or another of the handling systems (4, 5).

10. Handling machine (1) according to one of claims 1 to 9, characterized in that the or at least one of the motors (3) of the machine (1) is common to the pumps (10) of the two or at least two of the handling systems (4, 5).

11. Handling machine (1) according to one of claims 1 to 9, characterized in that the number of motors (3) is greater than one and in that a pump (10) of each handling system (4, 5) is associated with a motor (3).

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