Load handling equipment

Abstract

Load handling equipment comprising a rolling chassis, an engine (3), two handling systems (4, 5) each comprising a hydraulic actuator (6), an operating control element for each actuator (6) of the handling systems (4, 5), a control unit for the handling systems (4, 5) depending on the control element and, for each handling system (4, 5), a fluid supply device (9) comprising a pump (10), a circuit (11) connecting the pump (10) to the actuator (6) and an opening / closing element (12) for the connecting circuit (11). The pumps (10) of the fluid supply devices (9) for the handling systems (4, 5) are separate, and the machine includes a communication device (13) for the connecting circuits (11) between these two handling systems (4, 5), this communication device (13) being movable between a closed and an open position. Figure for the abbreviation: Fig. 2

Description

Title of the invention: Load handling device

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

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

[0003] Such load handling equipment is well known to those versed in this art. Such load handling equipment is energy-intensive.

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

[0005] To this end, the invention relates to a load handling device comprising a chassis and drive elements moving on the ground of said chassis, and, carried by said chassis, - at least one motor, - at least two handling systems each comprising at least one hydraulic actuator, - at least one operating control device of at least one actuator of the handling systems, - a control unit configured to acquire control signals from said control element and to determine control instructions for the handling systems and, For each handling system, a fluid supply device comprising a pump, a pump connection circuit to at least one actuator and at least one opening / closing element for the connection circuit, characterized in that for one 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 includes a device for connecting the linking circuits between these two handling systems, this connecting device being mounted movable between a closed position in which the linking circuits are independent and an open position in which the linking circuits communicate with each other.

[0006] This design makes it possible to reduce the size of pumps dedicated to load handling. Indeed, until now, in the prior art, a single pump has been used for all handling systems, requiring the pump to be oversized. The design, which is the subject of the invention, makes it possible to reduce the size of the pumps. The presence of a device for connecting the linking circuits makes it possible, if necessary, to use the pump of one of the linking circuits to assist in the actuation of an actuator located on another linking circuit by combining the flow rates of said pumps. This results in lower overall consumption.

[0007] According to one embodiment of the invention, the control unit is configured to control the transition of the communication device of the linking circuits from the closed position to the open position as a function of the position of the opening / closing device(s) of the linking circuits and the control instructions of the handling systems determined as a function of the control signals of the operating control device of at least one actuator of the handling systems.

[0008] In other words, the control unit is configured to control the switching of the communication device of the linking circuits from the closed position to the open position according to the control signals of the control device in operation of at least one actuator of the handling systems and, in the unstressed state of the actuator(s) of one of the handling systems.

[0009] Thus the unused fluid flow from the pump of the handling system can be used if necessary for the actuation of the actuator(s) of the other or another handling system.

[0010] According to one embodiment of the invention, each pump has a maximum flow rate value and the control unit of the connecting circuit element is configured to control the switching of the connecting circuit element from the closed position to the open position when the opening / closing element or each of the connecting circuit element of one of the handling systems is in the closed position and the control setpoint for the other handling system corresponds to a flow rate demand of the pump of this other handling system greater than the maximum flow rate value of the pump of this other handling system.

[0011] Thus, each pump having a maximum flow value, the control unit is configured to control the switching of the communication device of the linking circuits from the closed position to the open position, at least in the unstressed 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 demand of the pump of this other handling system greater than the maximum flow value of the pump of this other handling system.

[0012] The communication device opens only if only one handling system is controlled and if the pump of said handling system cannot provide a sufficient flow rate.

[0013] According to one embodiment of the invention, each connecting circuit is equipped with a pressure sensor, and the control unit of the connecting circuit communication device is configured to control the transition of the connecting circuit communication device from the closed position to the open position, at least when the pressure sensors indicate the same pressure value to within 25%.

[0014] Each connecting circuit is equipped with a pressure sensor located between the pump and the opening / closing device(s) of said connecting circuit. The presence of such pressure sensors prevents a sudden jolt in the operation of the actuator(s) when the connecting device of the connecting circuits moves from the closed position to the open position.

[0015] According to one embodiment of the invention, the machine comprises a lifting arm in one or more sections, said arm is a pivoting arm mounted pivotally 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 first handling system comprises the or at least one section of the lifting arm called first arm section and the or at least one of the actuators of this handling system is a drive actuator for moving said first arm section between a low position and a high position.

[0016] 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 to that coupled to the chassis, and the or at least one of the actuators of this other handling system is a displacement control actuator of said tool holder.

[0017] In the state emitted by the control element of control signals of the drive actuator during movement of the arm section of the first handling system between a lower position and a higher position, the control unit is configured to, when these control signals correspond to a control setpoint defined by a flow demand of the pump of said first handling system greater than the maximum flow value of the pump of said first handling system, command the transition from the closed position to the open position of the device for connecting the linking circuits of the first handling system and another handling system of which at least one of the actuators is a control actuator in the movement of the tool holder, to the unstressed state of the actuator(s) of this other handling system, that is to say to the closed state of the opening / closing device(s) of the linking circuit of this other handling system including at least the control actuator in the movement of the tool holder.

[0018] Obviously, the converse is true.

[0019] According to one embodiment of the invention, the other or another of the handling systems comprises a second section of said lifting arm mounted in a telescopic interlocking fashion with said first section of arm and the or at least one of the actuators of this other handling system is a drive actuator for moving the second section of said arm to vary the length of the said telescopic arm.

[0020] In the state emitted by the control element of control signals of the drive actuator in movement of 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 setpoint defined by a flow demand of the pump of said first handling system greater than the maximum flow value of the pump of said first handling system, command the transition from the closed position to the open position of the element connecting the linking circuits of the first handling system and another handling system whose actuator or at least one of the actuators is a drive actuator in movement of the second arm section, in the unstressed state of the actuator(s) of this other handling system,that is to say, in the closed state of the opening / closing mechanism(s) of the connecting circuit of this other handling system, comprising at least the drive actuator for the movement of the second arm section.

[0021] Obviously, the converse is true.

[0022] According to one embodiment of the invention, the or at least one of the opening / closing members of the linking circuit of at least one of the handling systems is a distributor and the operating control member of at least one actuator of the handling systems comprises a pivoting lever also called a joystick.

[0023] According to one embodiment of the invention, the operating control element of 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 at least one of the actuators. donors of one of the handling systems, and the other, to a control signal from at least one of the actuators of the other or of another of the handling systems.

[0024] The control unit is configured to control the operation of the drive actuator in moving the first arm section between a low position and a high position and the operation of the drive actuator in moving the second arm section in the direction of a bringing together or moving apart of the first arm section, either in parallel or selectively, according to the control signals of the operating control element of at least one actuator of the handling systems.

[0025] Alternatively or in addition, the control unit is configured to control the operation of the drive actuator in moving the first arm section between a low position and a high position and the operation of the control actuator in moving the tool holder, either in parallel or selectively, depending on the control signals of the control element in operation of at least one actuator of the handling systems.

[0026] According to one embodiment of the invention, one or more of the motors of the machine is common to the pumps of both or at least two of the handling systems. This motor may be thermal or electric.

[0027] 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.

[0028] The invention further relates to a method for controlling a load handling machine, said machine comprising a chassis and drive elements moving on the ground of said chassis and, carried by said chassis, at least one motor, at least two handling systems each comprising at least one hydraulic actuator, at least one control element in operation of at least one actuator of the handling systems, a control unit configured to acquire control signals from said control element and to determine control commands for the handling systems and, for each handling system, a fluid supply device comprising a pump, a circuit connecting the pump to at least one actuator and at least one opening / closing element for the connecting circuit, characterized in that, the machine being of the aforementioned type,The said method comprises at least one step of driving the communication device of the linking circuits between at least two separate pump handling systems from a closed position in which the linking circuits are independent to an open position in which the linking circuits communicate with each other.

[0029] According to one embodiment of the method, the control method includes at least one step of driving the communication device of the linking circuits of one or more of at least two handling systems with separate pumps from the closed position to the open position when the opening / closing device or each of the linking circuit of one of the handling systems is in the closed position and the control setpoint for the other handling system corresponds to a flow demand of the pump of that other handling system greater than the value of the maximum flow of the pump of that other handling system. Brief description of the drawings

[0030] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the accompanying drawings in which:

[0031] [Fig-1] represents a perspective view of a handling device conforming to the invention;

[0032] [Fig.2] represents a schematic view of the fluid supply devices of the actuators of the machine in [Fig.1];

[0033] [Fig.3] represents a perspective view of a handling device conforming to the invention;

[0034] [Fig.4] represents a schematic view of the fluid supply devices of the actuators of the machine in [Fig.3];

[0035] [Fig.5] represents a schematic view of the constituent elements of the machine by 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 setpoint of said actuator corresponding to a flow demand of the pump of the handling system including said actuator lower than the maximum flow value of said pump;

[0036] [Fig.6] represents a schematic view of the constituent elements of the machine by participating in the control of the actuators of two handling systems with separate pumps, in the controlled state in operation of one actuator of each handling system;

[0037] [Fig.7] represents a schematic view of the constituent elements of the machine by 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 setpoint of said actuator corresponding to a flow demand of the pump of the handling system including said actuator greater than the maximum flow value of said pump;

[0038] [Fig.8] represents, in the form of block diagrams, the steps necessary to the opening of the device for connecting the linking circuits of one or two handling systems with separate pumps.

[0039] The invention relates to a load handling device 1 of the type shown, for example, in Figures 1 and 3. It should be noted that the term "load" may include a person.

[0040] This handling device 1 comprises, in a manner known per se, a chassis 2 and ground-based drive elements 19 for the chassis 2 in the form of wheels or tracks. The handling device 1 includes drive means for the ground-based drive elements 19 for the chassis 2, which may be in the form of motors associated with the wheels or otherwise. These drive means will not be described in further detail as they are of little importance to the invention.

[0041] The handling device 1 further comprises at least two handling systems 4 and 5, each comprising at least one hydraulic actuator 6 in the form of a cylinder.

[0042] In the examples shown, particularly in Figures 1 and 3, the device 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 mounted on the chassis 2 about a horizontal axis parallel to a flat surface when the device 1 is positioned on said flat surface, allowing the arm to move from a lowered position to a raised position and vice versa. This arm 16 may be a telescopic arm, as illustrated in [Fig. 1]. In this case, the arm comprises at least a first arm section 181 and a second arm section 182.

[0043] One of the handling systems, referred to as the first handling system, and shown in Figures 4, comprises the section of the lifting arm 16 shown in Figures 181 and called the first section 181. One or more actuators of this first handling system 4 are a drive actuator 6 for moving said first section 181 of the arm between a lowered position and a raised position. The device 1 comprises at least one other handling system shown in Figures 5. Figure 1 illustrates a first embodiment of this other handling system. In Figure 1, this other handling system 5 comprises a second section 182 of the arm mounted by telescopic interlocking with said first section 181 of the arm. One or more actuators 6 of this other handling system are a drive actuator 6 for moving the second section 182 of the arm 16 to vary the length of the telescopic arm 16.

[0044] 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 to the one coupled to the frame 2, and one or more of the actuators 6 of this other handling system 5 is a control actuator 6. in the movement of said tool carrier 17.

[0045] Obviously, the device 1 can include, in addition to the first handling system 4, two other handling systems, one of which conforms to that shown in [Fig. 1] and the other to that shown in [Fig. 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, i.e., are supplied by the same pump which will be described below.

[0046] The handling equipment 1 can therefore include two or more handling systems according to the wishes of the equipment manufacturer.

[0047] Each handling system is characterized by a fluid supply device 9 comprising a pump 10, a circuit 11 connecting the pump 10 to at least one actuator 6, and at least one opening / closing element 12 for the connecting circuit 11. These handling systems are distinguished from one another by the fact that each handling system comprises a separate pump.

[0048] Thus, the first handling system 4 described above and shown in Figures 1 and 3 includes a drive actuator 6 for moving 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 [Fig. 1], the other handling system 5 includes a drive actuator 6 for moving the second arm section 182 between a position close to and a position away 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 [Fig. 2].

[0049] In this embodiment, a pivoting drive actuator 6 for the tool holder 17 fitted to one end of the arm is also provided, but this actuator is supplied by the same pump 10 as that which supplies the drive actuator 6 for the first arm section between a low position and a high position, so that it belongs to the same handling system.

[0050] Fig. 2 therefore illustrates a case with two handling systems, one of which, called the first handling system 4, includes a drive actuator 6 for moving the first arm section between a low position and a high position, and a drive actuator 6 for pivoting the tool holder 17, while the other handling system 5 includes a drive actuator 6 for moving the second arm section 182.

[0051] Obviously, a third handling system could have been provided with a separate pump for the actuator 6 driving the moving tool holder, as is the case in [Fig. 4] where the actuator 6 driving the moving tool holder 17 can be supplied by a pump separate from the pump 10 which supplies The actuator 6 drives the movement of the first arm section between a lower and a higher position. Figures 3 and 4 therefore illustrate a first handling system 4 which includes an actuator 6 for moving the first arm section 181 up and down, and another handling system 5 which includes an actuator 6 for moving the tool holder 17.

[0052] For the sake of simplicity in 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, one or more, preferably, each of the opening / closing members 12 of 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.

[0053] Each pump 10 is associated with a motor 3 for its operation. The number of motors 3 can also vary. In the example of [Fig. 2], one of the motors 3 of the machine is common to the pumps 10 of both or at least two of the handling systems.

[0054] In the example of [Fig.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.

[0055] The motor or motors are preferably electric motors, although they may be internal combustion engines.

[0056] It should be noted that, as illustrated in particular in Figures 5 to 7, each connecting circuit 11 is equipped with a pressure sensor 14 located between the pump 10 and the opening / closing device(s) 12 of the connecting circuit 11. The role of these pressure sensors 14 will be specified below.

[0057] The handling device 1 further includes a control element 7 for the operational control of the actuators 6 of the handling systems. Generally, this control element 7 comprises a pivoting lever, also called a joystick. Such an example is shown in Figures 1 and 3. Ideally, the operational control element 7 for at least one actuator 6 of the handling systems 4, 5 is configured to, in at least one configuration, output in parallel at least two control signals, one corresponding to a control signal from the actuator(s) 1 or 2 of one of the handling systems, and the other to a control signal from the actuator(s) 6 or 2 of the handling systems.

[0058] Thus, when this control member 7 controls the drive actuator 6 in The first arm section 181 moves between a lowered and a raised position, and the drive actuator 6 moves the second arm section 182, which belong to two different handling systems, as illustrated in [Fig. 2]. This control element 7 may include a movable pivoting lever that pivots in the forward / backward direction for raising the arm. This control element 7 also includes, on the handle of the pivoting lever, a toggle button for controlling the drive actuator 6 that moves the second arm section 182.Thus, with only one hand positioned on the lever, one can, in parallel with a movement, for example forward, of the lever, press the toggle button with the thumb to simultaneously emit two control signals, each activating an actuator: on the one hand, the drive actuator 6, which moves the first arm section 181 between a low and a high position; on the other hand, the drive actuator 6, which moves the second arm section 182. Naturally, the control element 7 is also configured to selectively control one or the other of the actuators 6 in at least one configuration. Therefore, if only the pivoting lever is moved without actuating the toggle button, only the drive actuator 6, which moves the first arm section between a low and a high position, is activated.Similarly, simply activating the toggle button only causes movement of the second arm section 182. The control unit 7 can also control several actuators of the same handling system. This is the case in [Fig. 2]. In the example of [Fig. 2], the control unit 7, which includes a pivoting lever that pivots in the forward / backward direction for lifting the arm, can also be a pivoting lever that pivots in the right / left direction for pivoting the tool holder 17. This pivoting lever therefore has a first direction of movement, referred to as forward / backward, and a second direction of movement, referred to as left / right. These first and second directions correspond to the principal directions, and the lever can be actuated in an infinite number of directions.Moving the lever in any direction between the principal directions corresponds to a combined action of lifting the arm and moving the tool holder proportionally to the position of the control lever relative to the principal directions. The position of the lever can therefore allow simultaneous control of lifting the arm and moving the tool holder 17.

[0059] In the example of [Fig. 4], the operating control element 7 of the or 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 the or at least one of the actuators of One of the handling systems, and the other, receive a control signal from one or at least one of the actuators 6 of the other handling system. This lever is a pivoting lever with right / left and forward / backward movement directions. The pivoting lever can be moved forward / backward to move the first arm section 181 between a high and a low position, and left / right to pivot the tool holder 17. The drive actuator 6 moves the first arm section 181, and the control actuator moves the tool holder, each belonging to one of two different handling systems. This pivoting lever, with its right / left and forward / backward movement directions, therefore allows two actuators belonging to two separate handling systems to be controlled in parallel or selectively, depending on its position.Thus, if the pivoting lever occupies an intermediate tilt position between the front / back position and the right / left position, the drive actuator 6, which moves the first section 181 of the arm between a low position and a high position, and the control actuator 6, which moves the tool holder 17 in the direction of a dig or a dump, are controlled in parallel.

[0060] If this pivoting lever is pivoted forward or backward, only the drive actuator 6, which moves the first arm section 181 between a lower and a higher position, is controlled. If the pivoting lever is pivoted to the left or right, only the control actuator 6, which moves the tool holder 17 in the direction of digging or dumping, is controlled.

[0061] The handling equipment 1 further includes a control unit 8 configured to acquire control signals from the control element 7 and to determine, from said control signals, control instructions for the handling systems. These control signals from the control element 7 can, in particular, be obtained from motion sensors equipping the control element 7. These control instructions generally correspond to a flow rate request for the fluid supply to the hydraulic actuator 6 controlled by the control signal from the control element 7.

[0062] Each control instruction therefore includes at least one command to the handling system associated with the actuator 6 concerned by the [function], or a control signal from the control element 7. In particular, each control instruction includes a command to the pump 10 and to the opening / closing element 12 of the connecting circuit 11 linking the actuator 6 concerned by the [function], or a control signal from the control element 7 to said pump 10.

[0063] As illustrated in Figures 2, 4 and 5 to 7, the device 1 includes a communication element 13 for the connection circuits 11 of the handling systems 4 and 5 to differentiated pumps 10. This communication device 13 is in the form of an on / off valve. Alternatively, this communication device 13 may be in the form of a progressive or proportional valve. This communication device 13 is movably mounted between a closed position in which the connecting circuits 11 of the handling systems 4 and 5 with differentiated pumps 10 are independent and an open position in which the connecting circuits 11 of the handling systems 4 and 5 with differentiated pumps 10 communicate with each other.

[0064] In practice, the control unit 8 is configured to control the transition of the communication element 13 from the closed position to the open position, at least according to the control signals of the control element 7. In particular, the control unit 8 is configured to control the transition of the communication element 13 of the linking circuits 11 from the closed position to the open position according to the position of the opening / closing element(s) 12 of the linking circuits 11 and the control instructions determined according to the control signals of the control element 7 in operation of 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 connecting circuit 11 device 13 is configured to control the switching of the connecting circuit 11 device 13 from the closed position to the open position when the opening / closing device 12 of the connecting circuit 11 of one of the handling systems 4, 5 is in the closed position and the control setpoint for the other handling system 5 corresponds to a flow rate demand of the pump 10 of said handling system 5 greater than the maximum flow rate value of the pump 10 of said handling system 5.

[0065] It is also noted that the control unit 8 for the communication device 13 for the connecting circuits 11 is configured to control the transition of the communication device 13 for the connecting circuits 11 from the closed position to the open position, at least when the pressure sensors 14 located for each connecting circuit 11 between the pump 10 and the opening / closing device(s) 12 for said connecting circuit 11 indicate the same pressure value within ±25%. The pressure sensors 14 ensure equal pressure in the connecting circuits 11 to prevent a sudden jolt when the communication device 13 for said connecting circuits 11 opens.For reasons of operational optimization, each connecting circuit 11 includes a non-return valve 20 disposed 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 device 13.

[0066] The method for controlling the opening of the communication element 13 Linking circuits 11 are shown in [Fig.8].

[0067] In step S1, the communication device 13 is in the closed position. In step S2, a control signal for one or more of the actuators 6 of one of the handling systems is emitted by the control device 7. It is assumed, for example, that this control signal concerns the drive actuator 6 for moving the first arm section 181 between a low 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, which translates into a flow rate request for the drive actuator 6 for moving the first arm section 181 between a low 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.

[0068] If the flow demand of the pump of the first handling system 4 is less than the maximum flow value of that pump, then, in step S5, the communication device 13 is held in the closed position. Otherwise, if in step S3 the flow demand of the pump of the first handling system is greater than the maximum flow value of the pump of the first handling system, then in step S4, the control unit 8 checks the position of the opening / closing device 12 of the connection circuit 11 of another handling system 5 capable of communicating via the communication device 13 with the connection circuit 11 of the first handling system 4.

[0069] This other handling system 5 includes, 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 opening / closing element 12 of the connecting circuit 11 of this other handling system 5 in the closed position is equivalent to the actuator 6 of this other handling system being in the unloaded state, i.e., not supplied with fluid by a pump.

[0070]

[0071] If, in step S4, it is determined that one 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 connecting element 13 is held in the closed position. Conversely, if, in step S4, the control unit 8 determines that the opening / closing element 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 connecting element 13 to allow the pump 10 of this other handling system 5 to supply fluid actuator 6 of the first handling system.

[0072] Figures 5 to 7 show the different stages of this control process.

[0073] Figure 5 illustrates the case where the control element 7 emits a control signal of an actuator 6 of a single handling system illustrated in 4 in [Fig. 5] and which corresponds to the first handling system, i.e. the one which includes the actuator 6 for driving the movement of the first arm section between a lower and a higher position. The dots on the lines illustrate the control lines of the pump 10 and the opening / closing member 12 of the connecting circuit 11 of this first handling system 4, as well as the circulation of the fluid from the pump 10 via the opening / closing member 12 to the actuator 6 for driving the movement of the first arm section 181 between a lower and a higher position.

[0074] 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 drive actuator 6, which moves the first arm section between a lower and a higher 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].

[0075] Figure 6 illustrates the case where the control element 7 emits two control signals: one from the actuator 6 that drives the first arm section 181 of the first handling system 4, and the other from the actuator 6 of another handling system, such as the actuator 6 that drives the tool holder 17, or the actuator 6 that drives the second arm section 182. Again, the dots on the lines in Figure 6 illustrate the control lines of the pumps 10 and the opening / closing elements 12 of the connecting circuits 11 of the two handling systems 4 and 5, as well as the fluid flow from each pump 10 to its associated actuator 6.

[0076] 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 drive actuator 6, which moves the first arm section 181 between a lower and a higher position, is 120 liters / minute with respect to the actuation of the control element 7. The connecting element 13 is held in the closed state due to the activation of the actuators 6 of each handling system with a separate pump. This case illustrates steps S1, S2, S3, S4, S6 in [Fig. 8].

[0077] Figure 7 illustrates the case where, again, the control element 7 emits a control signal from an actuator 6 of a single handling system illustrated in 4 in Figure 7, which corresponds, for example, to the first handling system 4, i.e. to that which includes the actuator 6 for driving the movement of the first section 181 of the arm between a low position and a high position.

[0078] 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 drive actuator 6, which moves the first arm section 181 between a lower and an upper position, is 120 liters / minute with respect to the actuation of the control element 7. The control unit 8 determines, based on the control signals from the control element 7 and / or from the closed position of the opening / closing element 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 activated.The control unit 8 then commands the activation of the pump 10 of the other handling system 5 and the opening of the communication device 13 of the linking circuits 11 of the first handling system 4 and of 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 device 13 is located.

[0079] Thus, the control unit 8 commands 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, allows the setpoint of 120 liters / minute to be met. Again, the dots on the lines illustrate, in [Fig. 7], the control lines of the pumps of the two handling devices, the control line of the opening / closing element 12 of the first handling system 4 and of the communication element 13, and the fluid circulation lines.

[0080] Fig. 7 illustrates the steps SI, S2, S3, S4, S7 of Fig. 8 which lead to the opening of the communication organ 13.

[0081] Obviously, the examples described above apply similarly to the case where it would be the actuator of another handling system, such as the second handling system which would be controlled, the first handling system coming into support when the conditions are met.

Claims

Demands

1. Load handling machine (1) comprising a chassis (2) and ground-moving drive components (19) of said chassis, and, carried by said chassis (2), - at least one motor (3), - at least two handling systems (4, 5) each comprising at least one hydraulic actuator (6), - at least one control component (7) operating at least one actuator (6) of the handling systems (4, 5), - a control unit (8) configured to acquire control signals from said control component (7) and determine control commands 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) connecting the pump (10) to at least one actuator (6) and at least one opening / closing component (12) for the connecting 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) includes a communication device (13) for the connecting circuits (11) between these two handling systems (4, 5), this communication device (13) being movablely mounted between a closed position in which the connecting circuits (11) are independent and an open position in which the connecting circuits (11) communicate with each other.

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

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

4. Handling device (1) according to any one of 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 connecting circuit (13) linking device (11) is configured to control the passage of the connecting circuit (13) linking device (11) from the closed position to the open position, at least when the pressure sensors (14) indicate the same pressure value to within 25%.

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

6. Handling device (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 to 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 a displacement control actuator of said tool holder (17).

7. Handling device (1) according to any one of claims 5 or 6, characterized in that the other or one of the other handling systems (4, 5) comprises a second section (182) of said arm (16) of lifting mounted by telescopic interlocking with said first section (181) of arm and in that the or at least one of the actuators (6) of this other handling system (5) is a drive actuator in displacement of the second section (182) of said arm (16) to vary the length of the said telescopic arm (16).

8. Handling device (1) according to any one of claims 1 to 7, characterized in that the or at least one of the opening / closing members (12) of the linking circuit (11) of at least one of the handling systems (4, 5) is a distributor and in that the operating control member (7) of at least one actuator (6) of the handling systems (4, 5) comprises a pivoting lever also called a joystick.

9. Handling device (1) according to any one of claims 1 to 8, characterized in that the operating control member (7) of 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 corresponding one to a control signal from at least one of the actuators (6) of one of the handling systems (4, 5), and the other to a control signal from at least one of the actuators (6) of the other or of another of the handling systems (4, 5).

10. Handling machine (1) according to any 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 both or at least two of the handling systems (4, 5).

11. Handling machine (1) according to any 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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