Load handling equipment

Abstract

Load handling equipment comprising a rolling chassis, a motor (4), a transmission of motion from the motor shaft (5) to the wheels (3), a control system (7) for the ground speed of the equipment, a control unit (8) configured to acquire a signal from said control system (7) and determine a ground speed setpoint, a load handling system (9) comprising a pump (12) and a hydraulic circuit (13) connecting the pump (12) to an actuator (11), a device (14) for determining the actual ground speed of the equipment. The pump (12) of the handling system (9) is coupled to the motor shaft (5). The equipment is equipped with a pressure and / or flow control system (15) for said circuit (13), and the control unit (8) is configured to control the control system (15) based on the result of the comparison between the speed setpoint and the actual speed. Figure for the abstract: Fig. 3

Description

Title of the invention: Load handling machine

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

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

[0003] Such handling equipment is known. Current trends in load handling equipment are as follows. When the engine is a thermal engine, the trend is to reduce the size of the engine, which is accompanied by a reduction in the efficiency in terms of engine brake power. When the engine is an electric motor with a motor / generator function, this engine has a powerful engine brake when it acts as a generator. However, when the batteries associated with said engine are full, it becomes impossible to use the engine as a generator to brake the machine. Another trend observed is to try to remove the service brake to keep only the parking brake. This parking brake can be used as an emergency brake but its all-or-nothing operation makes braking abrupt and dangerous.Manufacturers of handling equipment are therefore looking for solutions to overcome malfunctions or insufficient power of the engine brake.

[0004] An aim of the invention is to propose a handling machine whose design allows the exercise of a braking torque which can be variable and therefore progressive on the motor shaft without having to act on the motor.

[0005] Another aim of the invention is to propose a handling machine whose design allows the production of a so-called emergency brake at reduced cost.

[0006] To this end, the invention relates to a load handling machine comprising a chassis equipped with ground movement drive members, an engine having a rotating motor shaft, a mechanical or hydraulic transmission of the rotational movement of the motor shaft of the engine to the ground movement drive members, a system for controlling the ground movement speed of the machine, a control unit configured at least to acquire a signal from said control system and determine a ground movement speed setpoint, a load handling system comprising at least one load handling device, at least one hydraulic actuator for controlling the operation of the handling device, at least one hydraulic pump equipped with a fluid outlet and a hydraulic circuit for connecting the hydraulic pump to the at least one actuator, a device for determining the actual ground movement speed of the machine, characterized in that the hydraulic pump of the load handling system is,for its operation, coupled to the motor shaft of the engine forming a multi-purpose motor for controlling the movement of the drive members for movement on the ground and the load handling system, in that the machine is equipped with at least one system for regulating the pressure and / or flow rate of said hydraulic circuit for connecting the hydraulic pump to the at least one hydraulic actuator for controlling the operation of the handling device, and in that the control unit is configured to control the system for regulating the pressure and / or flow rate of the hydraulic circuit for connecting the hydraulic pump to the at least one actuator as a function at least of the result of the comparison between the ground movement speed setpoint and the actual ground movement speed of the machine determined by the device for determining the actual ground movement speed of the machine.

[0007] The use of the handling system to exert a braking torque which can be variable on the motor shaft makes it possible to have a reliable emergency brake at reduced cost.

[0008] According to one embodiment of the invention, the control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator in the direction of an increase in the pressure and / or an increase in the flow rate at the outlet of the hydraulic pump at least when the ground travel speed setpoint is lower than the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine.

[0009] According to one embodiment of the invention, the motor is an electric motor / generator also called a reversible electric motor, the machine comprises an energy accumulator configured to supply the motor / generator with electrical energy. in a first operating mode called engine of the engine / generator and for receiving and storing electrical energy from the engine / generator in a second operating mode called generator of the engine / generator, and a system for determining a parameter representative of the charge level of said energy accumulator and the control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator as a function of the charge level of the energy accumulator. Thus, a modular braking action can be exerted on the engine operating as a generator even when the charge level of the energy accumulator is equal to its maximum.

[0010] According to one embodiment of the invention, the energy accumulator comprises at least one battery and the system for determining a parameter representative of the charge level of said energy accumulator is a sensor for measuring the voltage of the battery(ies). Alternatively, the system for determining a parameter representative of the charge level of said energy accumulator is a battery controller capable of providing information to the control unit.

[0011] According to one embodiment of the invention, the system for controlling the ground travel speed of the machine comprises a braking control member mounted to move between at least two positions and / or an acceleration control member mounted to move between at least two positions and at least one member for detecting an actuation of said braking control member and / or at least one member for detecting an actuation of said acceleration control member. Thus, a reduction in the ground travel speed of the machine may result in particular from an actuation of the braking control member and / or a release of the acceleration control member and / or the actuation of a speed regulator and / or the actuation of a speed limiter.

[0012] According to one embodiment of the invention, the control unit is configured to control the system for regulating the pressure and / or the flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator as a function at least of the result of the comparison between the ground travel speed setpoint determined at least as a function of the data provided by the or one of the members for detecting an actuation of said braking control member and / or the or one of the members for detecting an actuation of said acceleration control member, and the actual ground travel speed of the machine determined by the device for determining the actual ground travel speed of the machine.

[0013] According to one embodiment of the invention, the system for regulating the pressure and / or flow rate of the hydraulic circuit connecting the hydraulic pump to the at least one actuator comprises at least one pressure regulator or a flow regulator. flow arranged on the hydraulic circuit connecting the hydraulic pump to at least one actuator or on a bypass branch of said circuit. This pressure and / or flow regulator may take the form of a valve, a distributor, a nozzle or other.

[0014] According to one embodiment of the invention, the hydraulic pump of the load handling system is a variable displacement pump and the system for regulating the pressure and / or flow rate of said hydraulic circuit for connecting the hydraulic pump to the at least one actuator comprises a circuit for controlling the displacement of the hydraulic pump.

[0015] According to one embodiment of the invention, the load handling device mounted on the chassis comprises at least one mast or lifting arm and a load handling accessory carried by the mast or arm.

[0016] According to one embodiment of the invention, the or at least one of the hydraulic actuators for controlling the operation of the handling device is a jack.

[0017] According to one embodiment of the invention, the device for determining the actual ground movement speed of the machine comprises at least one sensor for the rotation speed of at least one of the ground drive members of the machine and / or a geolocation system.

[0018] Alternatively or additionally, the device for determining the actual ground travel speed of the machine may comprise at least one sensor for the rotation speed of the drive shaft, the transmission ratio of the drive shaft to the wheels being predetermined. Brief description of the drawings

[0019] The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:

[0020] [Fig. 1] represents a side view of a mast handling machine according to the invention;

[0021] [Fig.2] represents a side view of a handling device with arm according to the invention;

[0022] [Fig.3] represents in the form of a functional diagram, the interactions of the engine with different elements of the machine in the case of a hydraulic transmission;

[0023] [Fig.4] represents in the form of a functional diagram, the interactions of the engine with different elements of the machine in the case of a mechanical transmission;

[0024] [Fig.5] represents a schematic view of the control unit with inputs and outputs of said unit.

[0025] As mentioned above, the invention relates to a load handling machine 1 of the type, for example, of that shown in Figures 1 and 2.

[0026] It should be noted that the term “charge” should be taken in a broad sense and equates a person with a charge.

[0027] This handling machine 1 comprises a mobile chassis 2 equipped for this purpose with ground movement drive members 3. These ground movement drive members 3 may be formed by wheels, as illustrated in FIGS. 1 and 2, or, for example, by tracks.

[0028] This machine 1 comprises, again for the movement of the chassis 2 and the operation of the load handling system 9 which will be described below, a motor 4 having a rotating motor shaft 5. This motor 4 can be a thermal engine or an electric motor. When the motor 4 is an electric motor, this motor is generally an electric motor / generator also called a reversible electric motor.

[0029] For this purpose, the machine 1 comprises an energy accumulator 16 configured to supply electrical energy to the motor / generator, this energy accumulator 16 being formed of at least one or more batteries arranged on the chassis 2.

[0030] This energy accumulator 16 is configured to supply electrical energy to the motor / generator in a first operating mode called motor of the motor / generator and to receive and store electrical energy from the motor / generator in a second operating mode, called generator of the motor / generator.

[0031] The machine 1 may comprise in this case, a system 17 for determining a parameter representative of the charge level of the energy accumulator 16 produced, for example, in the form of a sensor for measuring the voltage of the battery(ies). The information relating to the charge level is addressed to a control unit 8 which will be described below.

[0032] Regardless of the thermal or electrical nature of the engine 4, the machine 1 comprises a mechanical 61 or hydraulic 62 transmission of the rotational movement of the engine shaft 5 to the drive members 3 for moving the machine 1 on the ground.

[0033] In the example shown, the motor shaft 5 is coaxial with the motor 4. [Fig. 4] illustrates a mechanical transmission 61. This mechanical transmission 61 may be formed of one or more pinions or sets of pinions capable of meshing with each other. A portion of the pinions is carried by the input shaft of the mechanical transmission 61 which is engaged or formed by the motor shaft 5. At least one of the pinions is carried by an output shaft forming the drive shaft of the drive members 3 moving on the ground, such as the wheels of the machine.

[0034] Such a mechanical transmission 61 will not be described in further detail because it is well known to those skilled in the art and its design is of little importance to the invention.

[0035] [Fig. 3] illustrates a hydraulic transmission 62. In the example shown, the motor shaft 5 forms the rotational drive shaft of a hydraulic pump. This hydraulic pump, also called a hydrostatic pump, itself powers hydraulic wheel motors or hydrostatic motors on a mechanical reducer. Each wheel motor is associated with at least one drive member 3 for moving the machine on the ground, such as a wheel of the machine. Again, such a hydraulic transmission 62 will not be described in more detail because it is well known to those skilled in the art and its design is of little importance for the invention.

[0036] The machine 1 also comprises a load handling system 9. This load handling system 9 comprises at least one load handling device 10, at least one hydraulic actuator 11 for controlling the operation of the handling device 10, at least one hydraulic pump 12 equipped with a fluid outlet and a hydraulic circuit for connecting the hydraulic pump 12, in particular the fluid outlet of said hydraulic pump 12, to the at least one actuator 11.

[0037] A first example of a load handling device 10, called a mast device, is shown in [Fig.l]. The load handling machine 1, also called a forklift truck here, comprises, for the production of the handling device 10, a mast 101 carrying a handling accessory 103, formed here by forks. A first hydraulic actuator 11, such as a jack, ensures the inclination of the mast, while a second hydraulic actuator allows the accessory 103 to be moved up and down along the mast 101.

[0038] In the example of [Fig.2], the load handling device 10 is said to be an arm device. This load handling device 10 comprises a lifting arm 102 mounted on the chassis 2 pivoting about a so-called horizontal axis for pivoting the arm 102 between a low position and a high position. This lifting arm 102 can carry a load handling accessory, such as a bucket, a nacelle or for example a fork.

[0039] A hydraulic actuator (not shown), such as a jack, is arranged between the chassis 2 and the lifting arm 102, to enable the lifting arm 102 to be driven in pivoting movement. Similarly, such actuators may be provided at the level of the lifting arm 102, when the lifting arm 102 is a telescopic arm, and at the level of the connection between the lifting arm 102 and the accessory, when the accessory is orientable.

[0040] All the hydraulic actuators 11, regardless of their number and position and the design of the handling device 10, are powered by the hydraulic pump 12, the drive of which is carried out using the motor shaft 5 which is a multi-purpose motor shaft 5 allowing, on the one hand, the actuation of the mechanical transmission 61 or hydraulic transmission 62, and on the other hand, the actuation of the hydraulic pump 12 of the handling system 9. This hydraulic pump 12 is connected by a hydraulic circuit, represented at 13 in the figures, to the actuator(s) 11 described above.

[0041] This hydraulic circuit 13 conventionally comprises one or more distributors making it possible to supply the actuators 11 from instructions supplied by the control unit 8. The control unit 8 can itself control this or these distributors according to control instructions delivered for example via the actuation of a pivoting lever, also called a joystick, actuable by the operator and arranged at the driving position of the machine.

[0042] The machine 1 comprises a system 15 for regulating the pressure and / or flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one hydraulic actuator 11 for controlling the operation of the load handling device 10. This regulation system 15 can have a large number of forms. Generally, the system 15 for regulating the pressure and / or flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 comprises at least one pressure regulator 151 or one flow regulator 152 arranged on the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11, or on a branch 131 of said circuit 13.

[0043] [Fig. 4] illustrates a pressure regulator 151 in the form of a valve 2 / 2 arranged, upstream of the supply distributor of the hydraulic actuator 11 for controlling the handling device 10 in operation, between said distributor and the hydraulic pump 12 for supplying fluid to the hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one actuator 11 for controlling the handling device 10 in operation.

[0044] This 2 / 2 valve is movable between a closed position and an open position. In the closed position, this 2 / 2 valve here makes it possible to prevent the supply of fluid to the hydraulic actuator 11 for controlling the handling device 10 in operation. This 2 / 2 valve allows, by closing said circuit 13, an increase in the pressure of this circuit. This results, by increasing the pressure at the circuit 13, in the indirect creation of a braking torque on the motor shaft 5 which ensures the rotational drive of the hydraulic pump 12 for supplying fluid to the hydraulic circuit 13.

[0045] Actuation of the 2 / 2 valve, as described above, in the direction of closing the 2 / 2 valve, therefore makes it possible to generate a braking torque which can be useful for completing braking, as will be described below. This braking action can be modulated depending on the degree of closure of the valve.

[0046] The hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one hydraulic actuator 11 for controlling the operation of the handling device 10 also comprises, in the example shown in FIGS. 3 and 4, a branch 131 of the circuit 13, opening into a tank. This branch 131 can be equipped with a pressure regulator 151 and / or a flow regulator 152.

[0047] In the example shown, it is equipped with a nozzle delimiting a calibrated passage of variable dimension towards the tank. Again, the actuation of this nozzle, in the direction of a reduction of the passage section, makes it possible to increase the pressure of the circuit 13 and consequently to indirectly generate a braking action on the motor shaft 5.

[0048] Obviously, the bypass branch 131 can be omitted and the circuit 13 can also comprise only one main branch. Similarly, a pressure regulator and / or a flow regulator can be envisaged in a form other than that described above, without departing from the scope of the invention.

[0049] It should be noted that the hydraulic pump 12 of the load handling system 9 may be a variable displacement pump. The system 15 for regulating the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 may comprise a control circuit 153 for the displacement of the hydraulic pump 12. In this case, an increase in the displacement of the hydraulic pump 12, coupled with the pressure control, may indirectly generate a braking action on the motor shaft 5 for rotating the hydraulic pump 12.

[0050] The machine 1 also comprises a device 14 for determining the actual ground travel speed Vr of the machine. This device 14 is shown in the figures in the form of a sensor for the rotation speed of at least one of the ground drive members 3 of the machine, i.e. a sensor for the rotation speed of at least one wheel of the machine. Alternatively, the system 14 for determining the actual ground travel speed Vr of the machine could have integrated a geolocation system to provide location data to the control unit 8. The information from the sensor for the rotation speed of at least one of the ground drive members 3 of the machine relating to the actual ground travel speed Vr of the machine 1 is sent to the control unit 8. The control unit 8 is therefore configured to acquire data from the device 14 for determining the actual ground speed Vr of the machine corresponding to said actual speed Vr..

[0051] The machine 1 also comprises, as mentioned above, a control unit 8 in the form of an electronic and computer system which comprises for example a microprocessor and a working memory. According to a particular aspect, the control unit may be in the form of a programmable automaton. In other words, the functions and steps described may be implemented in the form of a computer program or via hardware components (e.g. networks of programmable gates). In particular, the functions and steps performed by the control unit or its modules can be performed by instruction sets or computer modules implemented in a processor or controller or 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.When 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 make it possible to carry out said operation and / or that the unit comprises corresponding electronic components.

[0052] The machine 1 further comprises a control system 7 for the ground movement speed of the machine, and the control unit 8 is configured to acquire a signal from said control system 7, and to determine a ground movement speed Vc setpoint for the machine 1.

[0053] In the example shown in [Fig.l], the control system 7 for the ground speed of the machine 1 comprises a braking control member 71 mounted to move between two positions. This braking control member 71 is in the form of a brake pedal.

[0054] This control system 7 also comprises a member 73 for detecting an actuation of said braking control member 71. This detection member 73 is here in the form of a brake pedal position sensor. The data from said detection member 73 of an actuation of the braking control member 71 are addressed to the control unit 8. This control unit 8 determines, from this information, the speed setpoint Vc for movement on the ground of the machine.

[0055] In fact, the sensor provides information on the depression of the brake pedal and the control unit 8 determines, from this pedal depression value, the speed setpoint Vc, i.e. the ground speed of the machine expected after braking.

[0056] The control unit 8 compares the speed setpoint values ​​Vc and actual speed Vr. The control unit 8 is configured to control the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 in the direction of an increase in the pressure and / or an increase in the flow rate at the outlet of the hydraulic pump 12 at least when the speed setpoint Vc of movement at the ground is less than the actual ground travel speed Vr of the machine determined by the device 14 for determining the actual ground travel speed of the machine 1.

[0057] Indeed, if the actual ground movement speed Vr of the machine is less than or equal to the speed setpoint Vc, the control unit 8 does not act on the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one actuator 11 for controlling the operation of the handling device 10.

[0058] Conversely, if the actual ground travel speed Vr of the machine 1 is greater than the speed setpoint Vc, the control unit 8 compensates for insufficient braking by acting on the pressure and / or flow rate regulation system 15 of the hydraulic circuit 13 to increase the pressure in said circuit 13 and thus generate mechanical resistance inducing, indirectly, a braking torque on the motor shaft 5 of the rotation drive of the hydraulic pump 12 to supplement the braking action controlled via the braking control member 71.

[0059] A similar operation can be obtained with an acceleration control member 72 and a member 74 for detecting an actuation of said acceleration control member 72. When the acceleration control member 72 is an accelerator pedal, the member 74 for detecting an actuation of said acceleration control member 72 can be a sensor for detecting the position of said accelerator pedal.

[0060] The data from the detection member 74 of an actuation of the acceleration control member 72 are addressed to the control unit 8. The control unit 8 determines, from this information, the speed setpoint Vc for movement on the ground of the machine.

[0061] In fact, the sensor here provides information on the release of the accelerator pedal and the control unit 8, from this value of release of the accelerator pedal, determines the speed setpoint Vc, that is to say the ground speed of the machine expected at the end of the deceleration of the machine 1.

[0062] The control unit 8 compares the speed setpoint values ​​Vc and actual speed Vr and acts on the system 15 for regulating the pressure and / or flow rate of the hydraulic circuit 13, in a similar manner to what was described above in the case of actuation of the braking control member.

[0063] Obviously, these two actions can be combined. Similarly, the braking control member 71 can take the form of a speed variator or a speed limiter 75. The same applies to the acceleration control member 72.

[0064] In the case where the motor 4 is an electric motor / generator, as described above, the control unit 8 can, in addition, be configured to control the regulation system 15 of the pressure and / or the flow rate of the hydraulic connection circuit 13 of the hydraulic pump 12 to at least one actuator 11, depending on the charge level of the energy accumulator 16. Thus, when the charge level of the energy accumulator 16 is equal to 100% and the motor / generator is, in the second operating mode called generator, a braking action can be obtained by acting on the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 by increasing the pressure the flow rate in said hydraulic circuit 13, as described above, or even by increasing the displacement of the hydraulic pump 12.

[0065] The possibility which is given to the control unit 8 to act according to the result of the comparison between the ground movement speed Vc setpoint and the actual ground movement speed Vr of the machine 1, on the regulation system 15 of the pressure and / or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to the at least one actuator 11 for controlling the handling device 10 in operation, makes it possible to use a part of the handling device 10 and in particular the fluid circuit of the handling device 10, as an emergency brake for the machine 1.

[0066] This emergency braking action can be modulated according to the action on the pressure and / or flow regulation system 15.

Claims

Claims

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

2. Load handling machine (1) according to claim 1, characterized in that the control unit (8) is configured to control the regulation system (15) of the pressure and / or the flow rate of the hydraulic circuit (13) connecting the hydraulic pump (12) to at least an actuator (11) in the direction of an increase in pressure and / or an increase in flow rate) at the outlet of the hydraulic pump (12) at least when the ground travel speed setpoint (Vc) is lower than the actual ground travel speed (Vr) of the machine (1) determined by the device (14) for determining the actual ground travel speed of the machine (1).

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

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

5. Load handling machine (1) according to one of claims 1 to 4, characterized in that the system (7) for controlling the ground speed of the machine comprises a braking control member (71) mounted to move between at least two positions and / or an acceleration control member (72) mounted to move between at least two positions and at least one member (73) for detecting an actuation of said braking control member (71) and / or at least one member (74) for detecting an actuation of said acceleration control member (72).

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

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

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

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

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

11. Load handling machine according to one of claims 1 or 2, characterized in that the device (14) for determining the actual speed (Vr) of movement on the ground of the machine (1) comprises at least one sensor of the rotation speed of at least one of the ground drive members (3) of the machine and / or a geolocation system.

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