Handling equipment

Abstract

A material handling machine comprising a drive chassis, two axles (5, 6), a drive control system (18), a steering unit, and a material handling system including an attachment-carrying lifting arm (10) and at least one attachment, each axle (5, 6) comprising two wheels pivoting about a vertical axis and a drive device (13) for pivoting the wheels, the machine comprising, for each drive device (13), at least one steering control element (19). The machine includes a platform basket (110) and a two-wheel steering mode in which the wheel pivoting drive devices (13) are selectively activated. The machine includes at least two selectably activated control stations (14, 15A) for steering and ground movement of the machine. The first control station (14) is located at the platform basket (110).The control unit is configured to activate one or the other of the drive devices (13) depending on the activated control station (14, 15A). Figure for the abbreviation: Fig. 3.

Description

Title of the invention: Handling machine

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

[0002] It relates in particular to a handling machine comprising at least one chassis with two opposite ends forming, one, the front end, the other, the rear end of said chassis depending on the direction of travel of the machine, a first axle and a second axle equipping one, one of the ends, the other, the opposite end of said chassis, a motor device for driving the machine for movement on the ground, at least one system for controlling the motor device for driving the machine for movement on the ground, a control unit and a handling system comprising at least one accessory-carrying arm mounted to move between a high position and a low position and at least one accessory which can be coupled to said arm,each axle comprising at least two wheels pivoting around a so-called vertical axis extending substantially vertically in the positioned state of the machine on a horizontal flat surface and a device for driving said wheels in pivoting movement around said vertical axis in a manner parallel to each other, said machine comprising, for each device for driving the wheels in pivoting movement, at least one so-called directional member for controlling the drive device in the direction of pivoting of the associated wheels in a first direction or a second opposite direction for controlling the direction of said machine.

[0003] It should be noted that a so-called vertical axis extending substantially vertically is understood to mean an axis which is vertical to within plus or minus 25°. Such handling equipment is well known to those skilled in the art. For cost reasons, it is necessary for such handling equipment to be increasingly versatile, particularly in terms of the use of the equipment and therefore of accessories which can be positioned at the end of the arm. At the same time, this versatility must not impair the comfort of use of such equipment and in particular the driving comfort.

[0004] To this end, the invention relates to a handling machine comprising at least one chassis with two opposite ends forming, one, the front end, the other, the rear end of said chassis depending on the direction of travel of the machine, a first axle and a second axle equipping one, one of the ends, the other, the opposite end of said chassis, a motor device for driving the machine for movement on the ground, at least one system for controlling the motor device for driving the machine for movement on the ground, a control unit and a handling system comprising at least one accessory-carrying arm mounted to move between a high position and a low position and at least one accessory coupleable to said arm, each axle comprising at least two wheels pivoting around a so-called vertical axis extending substantially vertically in the positioned state of the machine on a horizontal flat surface and a device for driving said wheels in pivoting movement parallel to each other, said machine comprising, for each device for driving the wheels in pivoting movement, at least one so-called directional member for controlling the drive device in the direction of pivoting of the associated wheels in a first direction or a second opposite direction for controlling the direction of said machine, characterized in that the or at least one of the accessories is a basket basket, in that said machine comprises a so-called two-wheel steering operating mode in which the devices for driving the wheels in pivoting movement, which are activatable / deactivatable devices, are selectively activatable, in that, in the two-wheel steering operating mode, the machine comprises,at least two control stations for steering and moving the machine on the ground, each control station being capable of comprising the or at least one of the steering members and the or at least one of the control systems of the motor device and said control stations being selectively activatable, in that one of the control stations, called the first control station, is arranged at the nacelle basket to allow control of the steering and moving of the machine from the nacelle basket and in that the other or at least one other of the control stations is a remote control station positioned or positionable at a distance from the nacelle basket, and in that the control unit is configured to control activation of one or other of the wheel pivoting drive devices at least as a function of the activated control station.

[0005] The possibility of adapting a basket-type accessory to the end of the arm allows work at elevation without hindering the use of the machine with traditional accessories such as a bucket, forks or other. The presence of two selectively activatable control stations in parallel with two selectively activatable steering axles depending at least on the activated control station allows the driver of the machine driving comfort regardless of the control station occupied without hindering the versatility of the machine which allows both work at elevation and load handling.

[0006] According to one embodiment of the invention, in the activated state of the first control station, the activated wheel pivot drive device is the wheel pivot drive device of the axle furthest from the basket. This design provides the desired driving comfort to the driver of the machine positioned in the basket.

[0007] According to one embodiment of the invention, the machine comprises a turret mounted for rotation on the chassis around a so-called vertical axis extending vertically in the positioned state of said machine on a horizontal flat surface, the nacelle basket is carried by the turret, and the control unit is configured to control an activation of one or other of the wheel pivoting drives at least as a function of the activated control station and the angular position of the turret. Thus, the activation of the steering axle is also a function, in addition to the activated control station, of the angular position of said activated control station, to again enable maximum driving comfort.

[0008] According to one embodiment of the invention, the machine comprises at least one member for locking the turret in a predetermined angular position and the control unit is configured to prevent the activation of the or each of the remote control stations in the unlocked state of the turret. This arrangement makes it possible, when the remote control station is a control station mounted on the chassis with a part of the control station positioned on the turret and a part of the control station positioned on the chassis, to avoid any accident which would be linked to a control of the machine from the remote control station.

[0009] According to one embodiment of the invention, the or at least one of the control systems of the ground-moving drive motor device of the machine and the or at least one of the directional members are integrated into a remote control that can be positioned remotely from the nacelle basket and the chassis of the machine, the remote control forms, in the state positioned remotely from the nacelle basket and the chassis of the machine, the or at least one of the remote control stations of the machine and the machine comprises at least one member for activating said remote control. The activated state of the remote control allows the control of the ground-moving drive motor device of the machine from said control system and the control of the activated drive device from the or at least one directional member.It may thus be possible to control the handling machine from the basket, from a remote control station carried by the chassis and from said remote control which can be positioned remotely from the basket and from the remote control station carried by the chassis without compromising driving comfort.

[0010] According to one embodiment of the invention, the or at least one of the remote control stations is carried by the chassis and comprises at least in addition to a location for receiving the or one of the control systems of the ground-moving drive device of the machine and a location for receiving the or at least one of the steering members, a seat on which the driver of the machine is able to sit and a location for receiving the operator's legs arranged in front of the seat and the control unit is configured to, in the activated state of the remote control station carried by the chassis, control an activation of the pivoting drive device of the axle arranged in front of the location for receiving the operator's legs of said control station taken in relation to the forward direction of movement of the machine.

[0011] According to one embodiment of the invention, the machine comprises a sensor representative of the occupied state of the seat and the control unit is configured to prevent the activation of the first control station at least in the occupied state of the seat. This design makes it possible to avoid control interference.

[0012] According to one embodiment of the invention, the machine comprises a manual member for activating the first control station and / or a manual member for activating the or at least one of the remote control stations. The presence of at least one manual activation member allows the driver of the machine to activate a control station with full knowledge of the facts.

[0013] According to one embodiment of the invention, the or one of the control systems of the ground-moving drive motor device of the machine and the or at least one of the directional members are integrated into a control console that can be coupled / uncoupled from the nacelle basket, and the first control station is in the activated state at least in the coupled state of the control console to the nacelle basket. The first control station can be in the activated state at least in the coupled state of the control console to the nacelle basket and in the actuated state of said activation member. The presence of a coupleable / uncoupleable control console makes it possible to use such a control console for several control stations. This results in simplicity of manufacture and lower cost.

[0014] According to one embodiment of the invention, the or at least one of the remote control stations carried by the chassis comprising a zone for receiving the control console, said remote control station is in the activated state at least in the positioned state of the control console in said zone.

[0015] According to one embodiment of the invention, the or at least one of the remote control stations that can be positioned remotely from the nacelle basket and the chassis of the machine is formed by the control console in the form of a remote control in the uncoupled state of the nacelle basket. Thus, the same control console can be used for several remote control stations in addition to the first control station.

[0016] According to one embodiment of the invention, the machine comprises at least one arm position sensor and / or at least one sensor for determining the length of the arm when the arm is of adjustable length and the control unit is configured to control the activation of the first control station as a function at least of the data provided by the at least one arm position sensor and / or the at least one sensor for determining the length of the arm. Thus, in the case of a telescopic arm, the control unit can be configured to control the activation of the first control station only in the retracted position of the arm.

[0017] According to one embodiment of the invention, for each axle, the device for driving the wheels of said axle in pivoting movement comprises a hydraulic cylinder with at least two chambers, a fluid circulation circuit for supplying pressurized fluid to one or other of the chambers of said cylinder depending on the direction of pivoting of the wheels, and at least one distributor with at least two positions arranged on said circuit, one of the positions of the distributor corresponding to an activated state of the device for driving the wheels in pivoting movement, the other or another of the positions of the distributor corresponding to an inactivated state of the device for driving the wheels in pivoting movement. The activated state of the device for driving the wheels in pivoting movement is a state in which at least one of the chambers of the cylinder is capable of being supplied with pressurized fluid.The inactivated state of the wheel pivoting drive device is a state in which a supply of pressurized fluid to the cylinder chambers is prevented.

[0018] According to one embodiment of the invention, the activation / deactivation distributor of the device for driving the wheels of the first axle in pivoting motion is common with the activation / deactivation distributor of the device for driving the wheels of the second axle in pivoting motion. Thus, in one of the positions of the activation / deactivation distributor, the device for driving the wheels of the first axle in pivoting motion is activated and the device for driving the wheels of the second axle in pivoting motion is deactivated, while in the other or another of the positions of the activation / deactivation distributor, the device for driving the wheels of the first axle in pivoting motion is deactivated and the device for driving the wheels of the second axle in pivoting motion is activated.

[0019] Preferably, the machine comprises, arranged in series with this distributor for activating / deactivating the drive devices, a second distributor with at least two positions, one of the positions of this second distributor corresponding to the supply of pressurized fluid to one of the chambers of the cylinder of the activated drive device, the other or another of the positions of this second distributor corresponding to the supply of pressurized fluid to the other of the chambers of the cylinder of the activated drive device.

[0020] According to one embodiment of the invention, the chassis has a longitudinal axis extending longitudinally from one of the ends towards the other end of the chassis, the wheels of an axle are said to be in a straight position when they extend parallel to said longitudinal axis and in the inactivated state of a device for driving the wheels of an axle in pivoting movement, the wheels of said axle are in a straight position. Preferably, the control unit is configured to, at the switched state from one control station to another, i.e. when a control station is switched from the activated state to the inactivated state in parallel with the switch of a control station from the inactivated state to the activated state, controlling the transition to the straight position of the wheels of the axle whose wheel pivoting drive device is associated with the control station being deactivated. Brief description of the drawings

[0021] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the appended drawings in which:

[0022] [Fig. 1] represents a partial perspective view of a handling machine according to the invention;

[0023] [Fig.2] represents a schematic view of the control of the devices drive in movement with pivoting of the wheels in the activated state of the remote control station carried by the chassis;

[0024] [Fig.3] represents a schematic view of the control of the devices of pivoting movement drive of the wheels in the activated state of the first control station;

[0025] [Fig.4] represents a schematic view of the control of the devices drive in movement with pivoting wheels in the activated state of a remote control station positionable at a distance from the chassis and the nacelle basket;

[0026] [Fig.5] represents a partial perspective view of a handling machine in accordance with the invention;

[0027] [Fig.6] represents a schematic view of a handling machine conforming to the invention;

[0028] [Fig.7] represents a schematic view of the control of a device driving in movement by pivoting the wheels in a first pivoting direction of the wheels;

[0029] [Fig.8] represents a schematic view of the control of a drive device for pivoting the wheels in a second direction of pivoting of the wheels opposite to the first direction of pivoting;

[0030] [Fig.9] represents in the form of blocks the activation / deactivation steps of the control stations and wheel-pivoting drive devices.

[0031] As mentioned above, the invention relates to a handling machine 1 which may be in accordance with that shown in Figures 1, 5 and 6. This handling machine 1 comprises a chassis 2 with two opposite ends 3 and 4 forming, one, the front end, the other, the rear end of the chassis 2 depending on the direction of travel of the machine. This chassis 2 has a longitudinal axis developing longitudinally from one end towards the opposite end of the chassis 2.

[0032] The machine 1 is a rolling machine and comprises a first axle 5 equipping one of the ends represented at 3 of the chassis 2 and a second axle 6 equipping the other of the ends represented at 4 of the chassis 2. Each axle 5, 6 is at least in the form of a mechanical axis transverse to the longitudinal axis of the chassis 2. This mechanical axis is coupled at each of its ends by a pivot connection to a wheel 12.

[0033] To enable the rotational drive of the wheels 12 which are driven and consequently the advancement of the machine 1, the machine 1 comprises a motor device 7 for driving the machine in movement on the ground. This motor device 7 may comprise one or more electric and / or thermal and / or hydraulic motors capable of acting on the rotational drive in forward or reverse gear of the wheels 12 of the machine. Such a motor device 7 will not be described in more detail because it is of little importance for the invention. Similarly, the machine may comprise indifferently two or four drive wheels.

[0034] The machine 1 comprises, for controlling this motor device 7, a system 18 for controlling the drive motor device 7. This control system 18 may be in the form of a pivoting lever, as illustrated in FIGS. 2 to 4. This pivoting lever pivots from a neutral position in two opposite directions, for example forward and backward, one corresponding to a forward movement of the machine, the other to a reverse movement of the machine.

[0035] The machine 1 comprises a control unit 8 capable of controlling the motor device 7 from the actuation of the control system 18. The control unit 8 is in the form of an electronic and computer system which comprises for example a microprocessor and a working memory. According to a particular aspect, the control unit may be in the form of a programmable 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. programmable gate arrays).In particular, the functions and steps performed by the control unit or its modules may be performed by instruction sets or computer modules implemented in a processor or controller or may be performed by dedicated electronic components or components of the programmable logic circuit type (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the application-specific integrated circuit type (or ASIC which is the acronym for application-specific integrated circuit, which literally corresponds to application-specific integrated circuit). It is also possible to combine computer parts and electronic parts. When it is specified that the unit or means or modules of said unit are configured to perform a given operation, this means that the unit includes computer instructions and the means of execution. corresponding components that enable said operation to be carried out and / or that the unit includes corresponding electronic components.

[0036] The handling machine 1 also comprises a handling system 9 carried by the chassis 2. This handling system 9 comprises at least one accessory-carrying arm 10 mounted to move between a high position and a low position. Generally, this accessory-carrying arm 10 is a pivoting arm mounted to pivot about a so-called horizontal axis in the positioned state of the machine on a horizontal flat surface. This accessory-carrying arm 10 can be carried directly by the chassis or by a turret 16 mounted to rotate on the chassis 2 about a so-called vertical axis extending vertically in the positioned state of said machine 1 on a horizontal flat surface.

[0037] Figures 1 and 5 illustrate a machine 1 with a turret 16, while [Fig.6] illustrates a machine 1 without a turret 16.

[0038] The arm 10 is equipped at its free end with an accessory. This accessory is a basket nacelle 110 in certain configurations of the machine 1 or an accessory other than a basket nacelle, such as a bucket, a fork 111, as illustrated in [Fig.2] or other.

[0039] As mentioned above, each axle 5, 6 comprises at least two wheels 12 pivoting around a vertical axis XX' extending substantially vertically in the positioned state of the machine 1 on a horizontal flat surface. This pivot axis of the wheels also extends substantially orthogonally, that is to say orthogonally to within plus or minus 20°, to the axis of rotation of the wheels. This vertical axis XX' extends at the level of the pivot connection coupling a wheel to the mechanical axis of the axle.

[0040] To enable the wheels to pivot about a vertical axis XX' and thus form steered wheels of the machine, each axle 5 or 6 comprises a device 13 for driving the wheels 12 of the axle to pivot in a manner parallel to each other. Thus, the wheels 12 of the same axle extend in substantially parallel planes, i.e. parallel to within plus or minus 20° and turn in the same direction of rotation and each pivot about a vertical axis XX' in the same direction in the operating mode of interest for the invention.

[0041] Each device 13 for driving the wheels 12 of an axle in pivoting motion comprises a hydraulic cylinder 131. This cylinder 131 conventionally comprises a body and a piston head dividing the body into two chambers shown at 1311 and 1312, for example in FIGS. 2 to 4. This piston head is provided, on each of its opposite faces, with a rod projecting from the body. Each output rod is connected to a wheel pivot by a steering rod in a manner known per se. The movement of the cylinder rod is transmitted by the rod to the pivot connection of the wheel to the mechanical axis of the axle for rotation of the wheel around the vertical axis XX', such that mentioned above.

[0042] The device 13 for driving the wheels of an axle in pivoting movement also comprises a fluid circulation circuit 132 for supplying pressurized fluid to one or other of the chambers 1311 or 1312 of the jack 131 depending on the desired direction of rotation of the wheels around the vertical axis. Thus, when one of the chambers 1311 or 1312 of the jack 131 is supplied with pressurized fluid, the other is exhausted.

[0043] In the example of figures 7 and 8, the supply of the chamber 1311 of one of the jacks 131 generates a right rotation of the wheels of the axle associated with said jack and the supply of the chamber 1312 of the jack 131 generates a left rotation of the wheels of the axle associated with said jack.

[0044] To enable the supply of pressurized fluid to one or other of the chambers of the jack, the circuit 132 for circulating fluid supplying the jack comprises a distributor 133 with at least two positions capable of being controlled in movement. For this purpose, said machine 1 comprises, for each device 13 for driving the wheels 12 in pivoting movement, a directional member 19 for controlling the drive device 13 in the direction of pivoting of the associated wheels 12 in a first direction or a second opposite direction for the control in the direction of said machine 1. This directional member 19 may be in the form of a steering wheel or a manually operable pivoting lever.

[0045] In the examples shown in Figures 2 to 4, the directional member 19 for controlling a device 13 for driving the associated wheels in a pivoting movement in a first direction, for example to the right, or a second opposite direction, for example to the left, is a pivoting lever capable of pivoting from a neutral position to the left or to the right. Ideally, this directional member 19 is common to both drive devices 13, as in the example shown. Ideally, this directional member 19 is, when it is in the form of a lever, common with the system 18 for controlling the motor device 7.

[0046] Thus, the same lever allows, according to its movements, the control on the one hand of the movement and the direction of forward / backward movement of the machine, and on the other hand, the control in the direction of the machine 1.

[0047] For reasons of simplicity of construction, the distributor 133, allowing, depending on its position, a selection of the chamber of the cylinder 131 of the drive device 13 to be supplied under pressure, can be arranged on a portion of the fluid circulation circuit 132 common to the two devices 13 for driving the wheels of an axle in pivoting movement.

[0048] The fluid circulation circuit 132 therefore comprises a portion common to the two drive devices 13 and a separate portion for each drive device 13. Obviously, the operation described above for one of the drive devices 13 is identical for the other of the drive devices 13. Each drive device 13 for pivoting movement of the wheels 12 is an activatable / deactivatable device.

[0049] For this purpose, each pivoting movement drive device 13 comprises at least one activation / deactivation distributor 134 with at least two positions arranged on the fluid circulation circuit 132. This activation / deactivation distributor 134 is therefore able to occupy two positions as illustrated in FIGS. 2 and 3. One of the positions of the activation / deactivation distributor 134 corresponds to an activated state of the wheel pivoting movement drive device in which one of the chambers of the cylinder is able to be supplied with pressurized fluid. Another of the positions of the activation / deactivation distributor 134 corresponds to an inactivated state of the wheel pivoting movement drive device 13 12 in which a supply of pressurized fluid to the chambers of the cylinder is prevented.This activation / deactivation distributor 134 is here positioned on the portion of the fluid circulation circuit 132 common to the two drive devices 13. This activation / deactivation distributor 134 may be common to the two drive devices 13. This is the case in the example of FIGS. 2 to 4 where the activation / deactivation distributor 134 is common to the two drive devices 13. The position of said activation / deactivation distributor 134 corresponding to an activated state of one of the drive devices 13 in pivoting movement of the wheels corresponds to a deactivated state of the other of the drive devices 13 in pivoting movement of the wheels.Thus, the activation / deactivation distributor 134 having two positions, each position of the activation / deactivation distributor 134 corresponds to an activated state of one of the devices 13 for driving the wheels in pivoting movement and a deactivated state of the other of the devices 13 for driving the wheels in pivoting movement, the activated drive device 13 not being the same from one position to another of the activation / deactivation distributor 134.

[0050] It is noted that in this embodiment, the distributor 133, controlled by the directional member 19, and the activation / deactivation distributor 134, controlled by the control unit 8 as a function of activation / deactivation conditions, are arranged in series on the fluid circulation circuit 132.

[0051] The machine 1 therefore comprises an operating mode, called two-wheel steering, in which the devices 13 for driving the pivoting movement of the wheels 12 are selectively activatable, that is to say that when one of the driving devices 13 is in the activated state, the other is in the inactivated state, and vice versa.

[0052] The control unit 18 controls the transition of each drive device 13 from a deactivated state to an activated state and vice versa depending on activation / deactivation conditions.

[0053] At least in this two-wheel steering operating mode, the machine 1 comprises, in at least one configuration, at least two control stations for steering and ground movement of the machine 1. Each control station is capable of comprising one or at least one of the steering members 19 and one or at least one of the systems 18 for controlling the motor device 7 for driving the machine for ground movement, to enable control of the direction and ground movement of the machine 1 from said at least one steering member 19 and from the at least one system 18 for controlling the motor device 7. The figures illustrate the possibility of a machine comprising three control stations.

[0054] Obviously, the invention applies in a similar manner to a machine comprising at most two control stations.

[0055] One of the control stations, called the first control station, is shown at 14 in the figures. This first control station is arranged at the level of the nacelle basket 110 to allow control of the direction and movement of the machine 1 from the nacelle basket 110. The other control station(s), which here are two in number, are remote control stations, i.e. positioned or positionable at a distance from the nacelle basket 110 so as to be accessible even in the high position of the nacelle basket 110.

[0056] As shown in Figures 1, 5 and 6, the or one of the remote control stations shown at 15A in the figures may be in the form of a cockpit. This remote control station 15A is carried by the chassis 2 and comprises at least, in addition to a location 22 for receiving the or one of the systems 18 for controlling the motor device 7 for driving the machine 1 when moving on the ground and a location 23 for receiving the or at least one of the steering members 19, a seat 17 on which the driver of the machine 1 is able to sit and a location 24 for receiving the operator's legs arranged in front of the seat 17.

[0057] The or one of the remote control stations, shown at 15B in [Fig.4], can be positioned at a distance from the nacelle basket 110 and the chassis 2. This remote control station 15B forms a remote control 151 integrating the or one of the systems 18 for controlling the motor device 7 for driving the machine 1 for movement on the ground and the or at least one of the directional members 19.

[0058] In the examples shown, each time, the directional member 19 for controlling the distributor 133 for controlling the pivoting movement of the wheels of the activated drive device 13 and the system 18 for controlling the motor device 7 for driving the machine on the ground are formed by a single and same pivoting lever. However, these elements could have been differentiated without departing from the scope of the invention.

[0059] Obviously, each control station is also capable of comprising at least one control member of the handling system 9, this control member also being able to be in the form of a pilot lever.

[0060] In the examples shown, the or one of the systems 18 for controlling the motor device 7 for driving the machine 1 for moving on the ground and the or at least one of the directional members 19 are integrated into a control console 28 which can be coupled / uncoupled from the nacelle basket 110. The or one of the remote control stations which can be positioned remotely from the nacelle basket 110 and from the chassis 2 of the machine 1 and shown at 15B in the figures can be formed by the control console 28 which is in the form of a remote control in the uncoupled state from the nacelle basket 110.

[0061] Thus, the same control console 28 can move from one control station to another. As a variant or in addition, at least one of the control stations can comprise one of the control systems 18 of the motor device 7 for driving the machine for moving it on the ground, and one of the directional members 19 which are permanently arranged at the level of the control station. This solution generally proves to be more expensive. In the case where the same control console 28 moves from one control station to another, the same movement of the control system 18 can generate in one of the control stations a rotational movement of the wheels in a first direction and in another control station a rotational movement of the wheels in an opposite direction.

[0062] Each control station is an activatable / deactivatable station. In the activated state, a control station can, from the or one of the control systems 18 of the ground-moving drive device 7 of the machine, and from the or one of the steering members 19 equipping said control station, control at least one of the wheel pivoting drive devices 13 and the ground-moving drive device 7 of the machine 1. It matters little whether the or one of the control systems 18 of the ground-moving drive device 7 of the machine and the or one of the steering members 19, equipping the control station, are permanently installed or removably mounted.

[0063] The activation of a control station may depend on one or more conditions. Each time, it is the control unit 8 which controls the activation of the control station when the conditions are met. Examples of activation conditions are described below. The nacelle basket 110 is electrically connectable to the machine 1. One of the activation conditions may be the electrical connection of the nacelle basket 110 to said machine, in particular to the lifting arm 10 of said nacelle basket 110. The nacelle basket 110 is mechanically connected to the machine 1, in particular to the arm 10. The or one of the activation conditions may be the mechanical coupling of the nacelle basket 110 to the arm 10. When the directional member 19 and the system 18 for controlling the motor device 7 are integrated into a control console 28 capable of moving from one control station to another, the or one activation condition may be the positioning of the control console 28 in the location dedicated to it at each control station and / or the electrical connection of this control console to the control station to be activated.

[0064] Thus, the first control station 14 is in the activated state, at least in the coupled state of the control console 28 to the nacelle basket 110. Similarly, the or one of the remote control stations carried by the chassis 2 and shown at 15A in the figures comprises a zone 29 for receiving the control console 28. This remote control station 15A is in the activated state, at least in the positioned state of the control console 28 in said zone 29.

[0065] The machine 1 may comprise a manual activation member 26 for the first control station 14 and / or a manual activation member 27 for the or at least one of the remote control stations 15A or 15B, and the or one of the conditions for activating a control station may be the actuation of this manual activation member. This or these manual activation members may take several forms and, for example, be formed by a start button on the control console, a switch arranged in the remote control station carried by the chassis or other.

[0066] When the machine 1 comprises at least one sensor 30 for the position of the arm 10 and / or at least one sensor 31 for determining the length of the arm 10, when this arm 10 is an arm of variable length, such as a telescopic arm 10, the or one of the activation conditions of the first control station 14 may be linked to the position of the arm 10, that is to say to the height of the nacelle basket 110 and / or to the length of the arm, the arm 10 having to be in the position of shortest length to authorize such activation, and the nacelle basket 110 having to be at a height lower than a predetermined height.

[0067] The control unit 8 can therefore be configured to control the activation of the first control station 14 as a function of at least the data provided by the at least one sensor 30 for the position of the arm 10 and / or the at least one sensor 31 for determining the length of the arm 10.

[0068] In the case where the remote control station 15A carried by the chassis 2 is at least in two parts and comprises at least one part mounted directly on the chassis 2 and one part mounted on the turret 16, the machine 1 comprises at least one locking member 20 of the turret 16 in a predetermined angular position. This locking member 20 may be formed by a locking finger connecting the turret 16 and the chassis 2 in the locked position.

[0069] The or one of the conditions for the activation of the control station(s) 15A or 15B remote is the locking of the turret 16. This prevents any rotation of the turret 16 in the activated state of a remote control station.

[0070] The control unit 8 is therefore configured to prevent the activation of the or each of the remote control stations 15A, 15B in the unlocked state of the turret 16.

[0071] When the or one of the remote control stations that can be positioned remotely from the chassis 2 and the nacelle basket 10 is a remote control 151, the or one of the activation conditions may be the actuation of a member 21 for activating said remote control 151, to allow, in the activated state of the remote control 151, the control of the motor device 7 for driving the machine for movement on the ground from the control system 18 equipping the remote control 151 and the control of the activated drive device from the directional member(s) 19 equipping the remote control 151.

[0072] In the case of a remote control station carried by the chassis 2 and equipped with a seat 17, the or one of the activation conditions of the first control station 14 may be linked to the occupied state of the seat 17. In this case, the machine 1 comprises a sensor 25 representative of the occupied state of the seat 17 and the control unit 8 is configured to prevent the activation of the first control station 14 in the occupied state of the seat 17.

[0073] This condition is important in particular in the case again of a remote control station carried by the chassis 2 and made in at least two parts. In practice, for example, at least one part of the seat 17 is mounted to move between a first position for authorizing access to the seat 17 and a second position for blocking access to the seat 17 and the machine 1 comprises, as a sensor 25 representative of the occupied state of the seat 17, a seat position detection sensor and the control unit 8 is configured to prevent activation of the first control station 14 in the first position of the seat.

[0074] Obviously, other activation conditions can be envisaged without departing from the scope of the invention.

[0075] For example, in the case of a machine conforming to that of [Fig.5] equipped with a turret 16 and where the remote control station 15A carried by the chassis 2 is in at least two parts, the conditions for activating the first control station 14 are: - the nacelle basket 110 is mechanically coupled to the machine 1, as confirmed by a sensor, the locking member 20 of the turret 16 is in the unlocked position, the seat of the remote control station 15A carried by the chassis 2 is in the second position for blocking access to the seat, the nacelle basket 110 is electrically connected to the machine 1, the control console is electrically connected to the nacelle basket 110, the start button of the control console is actuated.

[0076] In the case of a machine 1 conforming to that of [Fig.6] without a turret, the conditions for activating the first control station 14 are the nacelle basket 110 is mechanically coupled to the machine 1, as confirmed by a sensor, the telescopic arm 10 is in the retracted position and the nacelle basket 110 is in a position lower than a predetermined height, the activation member of the first control station, such as a switch, arranged in the remote control station carried by the chassis has been actuated.

[0077] To enable driving comfort, the control unit 8 is configured to control an activation of one or other of the wheel pivoting drive devices 13 12 at least depending on the activated control station. Thus, in the activated state of the first control station 14, the activated wheel pivoting drive device 13 is the wheel pivoting drive device 13 of the axle furthest from the basket 110, as illustrated in [Fig. 3].

[0078] When the machine 1 comprises a turret 16, the control unit 8 is configured to control an activation of one or other of the wheel pivoting drive devices, at least as a function of the activated control station and the angular position of the turret.

[0079] In the case where it is the first control station 14 which is activated, the activated wheel pivoting drive device 13 remains the wheel pivoting drive device 13 of the axle furthest from the nacelle basket. Thus, if we consider a reference plane transverse to the longitudinal axis of the chassis and passing through the axis of rotation of the turret 16, the activated wheel pivoting drive device 13 is a function of the position of the first control station 14 relative to this reference plane.

[0080] In the case of a remote control station 15A carried by the chassis 2, as illustrated in FIGS. 1, 5 and 6, the control unit 8 is configured to, in the activated state of the remote control station 15A, control an activation of the device 13 for driving the pivoting movement of the axle arranged in front of the location 24 for receiving the legs of the operator of said control station 15A taken relative to the direction of travel of the machine 1.

[0081] In the case of a remote control station 15B positioned at a distance from the chassis 2 and the nacelle basket 110, as illustrated in [Fig.4], it is the device 13 for driving the wheels of the axle in pivoting movement which is closest to the accessory in the lowered position of the arm which is activated.

[0082] This results in driving comfort for each control station for the machine 1 due to the fact that it is the front axle which is directional relative to the direction of travel of the chassis.

[0083] Obviously, when a directional member 19 and a system 18 for controlling the ground drive motor device 7 of the machine are for example integrated into a control station carried by a turret, the piloting unit 8 can associate, for a same movement of the directional member 19, a pivoting movement towards a first direction (towards the right) of the wheels of the axle associated with the drive device 13 activated by said control station, for a first angular position range of the turret, and a pivoting movement towards a second direction opposite to the first direction (towards the left) of the wheels of the axle associated with the drive device 13 activated by said control station for a second angular position range of the turret. This reversal of the direction of control is already known for handling machines equipped with a turret.

[0084] It should be noted that the wheels 12 of an axle are in a straight position, i.e. extend parallel to the longitudinal axis of the chassis 2, in the inactivated state of the device 13 for driving the wheels 12 of said axle in a pivoting motion. The control unit 8 is configured to, in the switched state from one control station to another, i.e. when a control station is switched from the activated state to an inactivated state, in parallel with the switch of another control station from the inactivated state to the activated state, control the switching to the straight position of the wheels of the axle, the device for driving the wheels in a pivoting motion is associated with the control station being deactivated.

[0085] In summary, the operation of such a device can be in accordance with [Fig.9].

[0086] It is assumed that a control station is activated and that a device 13 for driving the wheels of an axle in pivoting motion is also activated. It is assumed that the driver of the machine wishes to control the machine from another control station.

[0087] In step S1, it is checked whether the activation conditions for activating the control station to be activated are met. If the answer is positive, we proceed to step S2 where the previously activated control station is deactivated and the wheels of the axle, the device 13 for driving said wheels in pivoting movement is associated with the control station being deactivated, are brought into the straight position before deactivation of said driving device 13. In step S3, the control station to be activated is activated and the device 13 for driving the wheels of an axle in pivoting movement associated with the newly activated control station is activated.

[0088] These steps are illustrated for example by the transition from [Fig.2] to [Fig.3]. In [Fig.2], the remote control station 15A carried by the chassis 2 is activated and the device 13 for driving the wheels of the first axle corresponding to the front axle, taken with respect to the direction of movement of the machine and shown at 5 in [Fig.2], is activated. This first axle 5 forms the steering axle of the machine 1.

[0089] The pivoting movement control of the wheels of the first axle 5 is operated from a directional member 19 equipping the remote control station 15A.

[0090] The machine 1 is equipped with an accessory in the form of a fork 111. When the driver of the machine wishes to control the machine 1 from the basket 110, the forks 111 are uncoupled from the arm and the basket 110 is coupled to the arm 10.

[0091] If necessary, retract the telescope.

[0092] An activation member of the first control station 14 arranged in the remote control station 15A carried by the chassis 2 is activated.

[0093] These operations activate the first control station 14 and deactivate the device 13 for driving the wheels of the first axle 5 in pivoting motion, the wheels of the first axle 5 having previously been brought back into a straight position. The device 13 for driving the wheels of the second axle 6 (which corresponded to the rear axle in [Fig.2]) in pivoting motion is activated. The control console 28 is moved from the remote control station 15A carried by the chassis 2 to the basket 110. The basket 110 is electrically connected to the machine 1 and the control console 28 is electrically connected to the basket 110. The machine 1 can then be controlled from the first control station 14, as illustrated in [Fig. 3], with the steering axle now formed by the second axle which forms the front axle of the machine taken with respect to the forward direction of movement of the machine 1.

[0094] It should be noted that the machine may include other modes of operation, such as a four-wheel steering mode of operation without departing from the scope of the invention.

Claims

Claims

1. Handling machine (1) comprising at least one chassis (2) with two opposite ends (3, 4) forming, one, the front end, the other, the rear end of said chassis (2) depending on the direction of travel of the machine (1), a first axle (5) and a second axle (6) equipping one (5), one of the ends (3), the other (6), the opposite end (4) of said chassis (2), a motor device (7) for driving the machine (1) in ground movement, at least one system (18) for controlling the motor device (7) for driving the machine (1) in ground movement, a control unit (8) and a handling system (9) comprising at least one accessory-carrying arm (10) mounted movably between a high position and a low position and at least one accessory coupleable to said arm (10), each axle (5,6) comprising at least two wheels (12) pivoting about a so-called vertical axis extending substantially vertically in the positioned state of the machine (1) on a horizontal flat surface and a device (13) for driving said wheels (12) in pivoting movement parallel to each other, said machine (1) comprising, for each device (13) for driving the wheels (12) in pivoting movement, at least one so-called directional member (19) for controlling the drive device (13) in the direction of pivoting of the associated wheels (12) in a first direction or a second opposite direction for the control in the direction of said machine (1), characterized in that the or at least one of the accessories is a basket (110), in that said machine (1) comprises a so-called two-wheel steering operating mode in which the devices (13) for driving the wheels (12) in pivoting movement, which are devices can be activated / deactivated,are selectively activatable, in that, in the two-wheel steering operating mode, the machine (1) comprises at least two control stations (14, 15A, 15B) for steering and ground movement of the machine, each control station (14, 15A, 15B) being capable of comprising the or at least one of the steering members (19) and the or at least one of the control systems (18) of the motor device (7) and said control stations (14, 15A, 15B) being selectively activatable, in that one (14) of the control stations (14, 15A, 15B) called the first control station (14) is arranged at the nacelle basket (110) to allow control in, direction and movement of the machine (1) from the basket (110) and in that the other or at least one other (15A, 15B) of the control stations (14, 15A, 15B) is a remote control station positioned or positionable at a distance from the basket (110), and in that the control unit (8) is configured to control an activation of one or other of the devices (13) for pivoting the wheels (12) at least as a function of the activated control station (14, 15A, 15B).

2. Handling machine (1) according to claim 1, characterized in that, in the activated state of the first control station (14), the activated device (13) for pivoting the wheels (12) is the device (13) for pivoting the wheels (12) of the axle furthest from the basket (110).

3. Handling machine (1) according to one of claims 1 or 2, characterized in that the machine (1) comprises a turret (16) rotatably mounted on the chassis (2) around a so-called vertical axis extending vertically in the positioned state of said machine (1) on a horizontal flat surface, in that the nacelle basket (110) is carried by the turret, and in that the control unit (8) is configured to control an activation of one or other of the devices (13) for pivoting the wheels (12) at least as a function of the activated control station (14, 15A, 15B) and the angular position of the turret (16).

4. Handling machine (1) according to claim 3, characterized in that the machine (1) comprises at least one locking member (20) of the turret (16) in a predetermined angular position and in that the control unit (8) is configured to prevent the activation of the or each of the remote control stations (15A, 15B) in the unlocked state of the turret (16).

5. Handling machine (1) according to one of claims 1 to 4, characterized in that the or at least one of the systems (18) for controlling the motor device (7) for driving the machine (1) for moving on the ground and the or at least one of the directional members (19) are integrated into a remote control (151) which can be positioned remotely from the basket (110) and the chassis (2) of the machine (1), in that the remote control (151) forms, in the state positioned remotely from the basket (110) and the chassis (2) of the machine (1), the or at least one of the remote control stations (15A, 15B) of the machine (1) and in that the machine (1) comprises at least one member (21) for activating said remote control (151).

6. Handling machine (1) according to one of claims 1 to 5, characterized in that the (15A) or at least one (15A) of the remote control stations (15A, 15B) is carried by the chassis (2) and comprises at least, in addition to a location (22) for receiving the or one of the systems (18) for controlling the motor device (7) for driving the machine (1) while moving on the ground and a location (23) for receiving the or at least one of the steering members (19), a seat (17) on which the driver of the machine (1) is able to sit and a location (24) for receiving the operator's legs arranged in front of the seat (17) and in that the control unit (8) is configured so that, in the activated state of the remote control station (15A) carried by the chassis (2),controlling an activation of the device (13) for driving the axle in pivoting movement arranged in front of the location (24) for receiving the operator's legs of said control station (15A) taken in relation to the direction of forward movement of the machine (1).,

7. Handling machine (1) according to claim 6, characterized in that it comprises a sensor (25) representative of the occupied state of the seat (17) and in that the control unit (8) is configured to prevent activation of the first control station (14) at least in the occupied state of the seat (17).

8. Handling machine (1) according to one of claims 1 to 7, characterized in that the machine (1) comprises a manual activation member (26) for the first control station (14) and / or a manual activation member (27) for the or at least one of the remote control stations (15A, 15B).

9. Handling machine (1) according to one of claims 1 to 8, characterized in that the or one of the systems (18) for controlling the motor device (7) for driving the machine (1) on the ground and the or at least one of the directional members (19) are integrated in a console (28) for controlling the basket (110) which can be coupled / uncoupled, and in that the first control station (14) is in the activated state at least in the coupled state of the control console (28) to the basket (110).

10. Handling machine (1) according to claim 9, characterized in that the or at least one (15A) of the remote control stations (15A, 15B) carried by the chassis (2) comprising a zone (29) for receiving the control console (28), said remote control station (15A) is in the activated state at least in the positioned state of the control console (28) in said zone (29).

11. Handling machine (1) according to one of claims 9 or 10, characterized in that the or at least one (15B) of the remote control stations (15A, 15B) positionable at a distance from the basket cradle (110) and the chassis (2) of the machine (1) is formed by the control console (28) in the form of a remote control in the uncoupled state of the basket cradle (110).

12. Handling machine (1) according to one of claims 1 to 11, characterized in that the machine (1) comprises at least one sensor (30) for the position of the arm (10) and / or at least one sensor (32) for determining the length of the arm (10) when the arm is of adjustable length and in that the control unit (8) is configured to control the activation of the first control station (14) as a function at least of the data provided by the at least one sensor (30) for the position of the arm (10) and / or the at least one sensor (31) for determining the length of the arm (10).

13. Handling machine (1) according to one of claims 1 to 12, characterized in that, for each axle (5, 6), the device (13) for driving the wheels (12) of said axle (5, 6) in pivoting movement comprises a hydraulic cylinder (131) with at least two chambers (1311, 1312), a fluid circulation circuit (132) for supplying pressurized fluid to one or other of the chambers (1311, 1312) of said cylinder (131) depending on the direction of pivoting of the wheels, and at least one distributor (134) with at least two positions arranged on said circuit (132), one of the positions of the distributor (134) corresponding to an activated state of the device (13) for driving the wheels in pivoting movement, the other or another of the positions of the distributor (134) corresponding to an inactivated state of the device (13) drive in movement by pivoting the wheels (12).

14. Handling machine (1) according to claim 13, characterized in that the distributor (134) for activating / deactivating the device (13) for driving the wheels of the first axle (5) in pivoting movement is common with the distributor (134) for activating / deactivating the device (13) for driving the wheels of the second axle (6) in pivoting movement.

15. Handling machine (1) according to one of claims 1 to 14, characterized in that the chassis (2) has a longitudinal axis developing longitudinally from one of the ends (3, 4) in direction of the other end of the chassis (2), in that the wheels (12) of an axle (5, 6) are said to be in the straight position when they extend parallel to said longitudinal axis and in that in the inactivated state of a device (13) for driving the wheels (12) of an axle (5, 6) in pivoting movement, the wheels (12) of said axle (5, 6) are in the straight position.