Load handling equipment and method for controlling such equipment

Abstract

Handling equipment (1) comprising a chassis (2), two axles (5, 6), an accessory-carrying arm (10) mounted on a rotating support (14), a control station (12) equipped with a first control element, a first operating mode in which the wheels (7) are, in the actuated state of the first control element in the first direction of travel, mounted to rotate freely in a first direction, a second operating mode in which the wheels (7) are, in the actuated state of the first control element in the first direction of travel, mounted to rotate freely in a second opposite direction, a switching system (16) comprising a sensor (17) of the angular position of the arm (10).Each steering axle (5, 6) includes a pivoting drive device (18) about a vertical axis of said wheels (7). The drive devices (18) are selectively activatable, and the control unit (15) is configured to command, in parallel with the switching from one operating mode to another, the activation of the drive device (18) of one of the axles (5, 6) and the deactivation of the drive device (18) of the other axle. Figure for the abbreviation: Fig. 3.

Description

Title of the invention: Load handling device and method for controlling such a device

[0001] The present invention relates to a load handling device and a method for controlling such a device.

[0002] It relates in particular to a handling machine comprising a chassis extending longitudinally from a first end to the opposite end, at least two axles each equipped with wheels and arranged one at one end, the other at the other end of said chassis, at least one drive system for rotating the wheels, a handling system comprising at least one accessory-carrying arm, a control station equipped with at least one first control element mounted movable in at least one first direction of movement for driving the wheels in rotation, a support for the accessory-carrying arm mounted for rotation about a so-called vertical axis in the position of the machine on a flat surface to allow the positioning of said accessory-carrying arm on one side or the other of a so-called reference plane orthogonal to the longitudinal axis of the chassis and passing through or parallel to the axis of rotation of the support,a control unit configured to control the movement of the chassis as a function of the actuation of the first control element, a first operating mode in which the wheels, when the first control element is actuation in the first direction of movement, are mounted to rotate freely in a first direction, a second operating mode in which the wheels, when the first control element is actuation in the first direction of movement, are mounted to rotate freely in a second direction opposite to the first direction, a switching system comprising at least one sensor for a parameter representative of the angular position of the accessory arm to allow the determination of the angular position of the arm relative to the reference plane, the control unit being configured to control the switching from one operating mode to another as a function of at least the data provided by said sensor.

[0003] Such a handling machine is known. The presence of a rotating support, also called a turret, allows the front and rear of the machine to be reversed by rotating the turret. This could be confusing for the machine operator if they had to simultaneously reverse their control movements. To avoid such confusion, two selectively activated operating modes are provided, which allow, for the same movement with the wheel drive control, the machine to be driven in one direction of travel for a first A range of angular positions for the turret and associated handling system, and a second direction of travel for a second range of angular positions for the turret and associated handling system. However, in such an embodiment, driving comfort is not perfect when the vehicle has two steering wheels. Indeed, in this case, reversing the direction of travel means that the steering axle, which was the front axle for the first direction of travel, becomes the rear axle for the second direction of travel.

[0004] One object of the invention is to provide a machine whose design allows for perfect driving comfort regardless of the operating mode of the machine.

[0005] To this end, the invention relates to a handling device comprising a chassis extending longitudinally from a first end to the opposite end, at least two axles each equipped with wheels, at least one drive system for rotating the wheels, a handling system comprising at least one accessory-carrying arm, at least one control station equipped with at least one first control element mounted to move in at least one first direction of movement for driving the wheels in rotation, a support for the accessory-carrying arm mounted to rotate about a so-called vertical axis in the positioned state of the device on a horizontal flat surface to allow the positioning of said accessory-carrying arm on one side or the other of a so-called reference plane orthogonal to the longitudinal axis of the chassis and passing through or parallel to the axis of rotation of the support,a control unit configured to control the movement of the chassis as a function of the actuation of the first control element, a first operating mode in which the wheels, when the first control element is actuation in the first direction of movement, are mounted to rotate freely in a first direction, a second operating mode in which the wheels, when the first control element is actuation in the first direction of movement, are mounted to rotate freely in a second direction opposite to the first direction, a switching system comprising at least one sensor for a parameter representative of the angular position of the accessory arm to allow the angular position of the arm to be determined relative to the reference plane, the control unit being configured to control the switching from one operating mode to another as a function of at least the data provided by said sensor,characterized in that one or at least two of the axles are steering axles, in that each steering axle comprises, for driving the wheels of said axle in pivoting motion about a vertical axis of rotation extending substantially vertically when the machine is positioned on a horizontal flat surface, a device for driving said wheels in pivoting motion parallel to each other, in that said machine comprises, for each device, wheel pivot drive, at least one second control unit equipping the control station, in that the wheel pivot drive devices, which are switchable / switchable devices, are selectively switchable and in that the control unit is configured to control, in parallel with the switching from one operating mode to another, the activation of the wheel pivot drive device of one of the axles and the deactivation of the wheel pivot drive device of the other axle.

[0006] The vehicle is a vehicle with at least two selectively activated steering axles, one of the steering axles being located at one end of the chassis and the other at the opposite end. One of the steering axles is activated in the vehicle's first operating mode, while the other is activated in the vehicle's second operating mode. Thus, ideally, relative to the vehicle's forward direction of travel, the steering axle is preferably always the front axle, which ensures driving comfort for the vehicle operator in all circumstances, and in particular regardless of the angular position of the turret and the associated handling system. It should be noted that a vertical axis extending substantially vertically is understood to be an axis that is vertical to within ±25°.

[0007] According to one embodiment of the invention, the switching system comprises at least one activatable switching control element, the control unit is configured to activate the switching control element based on at least the data provided by the sensor of a parameter representative of the angular position of the accessory arm, said control unit being configured to activate the switching control element in at least one angular position of the accessory arm corresponding to the positioned state of the accessory arm in the reference plane or at a distance from the reference plane less than a predetermined value, and the control unit is configured to control the switching from one operating mode to another in the activated state of the switching control element and based on at least one other condition.

[0008] The control unit can switch from one operating mode to another simply based on data provided by the sensor of a parameter representing the angular position of the attachment arm. However, again, to avoid destabilizing the machine operator with regard to the machine's behavior, it is sometimes preferable for the switching system to include, in addition to said sensor of a parameter representing the angular position of the attachment arm, at least one switchable control element. This switch element can take many forms.

[0009] According to one embodiment of the invention, the or one of the activatable switching control members is formed by an acknowledgment member of an alert signal emitting device capable of emitting an alert signal depending on the angular position of the accessory-carrying arm, the control unit is configured to activate the acknowledgment member in the emitted state of an alert signal by the emitting device, the alert signal acknowledgment member is a manually actuable member and the control unit is configured to, in the activated state of said acknowledgment member, control the switching from one operating mode to another in the activated state of said acknowledgment member.

[0010] The presence of a warning signal emitting device capable of emitting a warning signal according to the angular position of the arm relative to the reference plane and of an acknowledgement device for said warning signal emitting device and the obligation for the operator to activate this acknowledgement device to control the switching from one operating mode to another allows the operator to be fully aware of this switching.

[0011] According to one embodiment of the invention, the or one of the activatable switching control elements is formed by a timer, the control unit is configured to activate the timer based on at least the data provided by the sensor of a parameter representative of the angular position of the accessory arm, said control unit being configured to activate the timer in at least one angular position of the accessory arm corresponding to the positioned state of the accessory arm in the reference plane or at a distance from the reference plane less than a predetermined value and the control unit is configured to control the switching from one operating mode to another in the activated state of the timer and at the end of a predetermined activation period of the timer.

[0012] Again, the presence of a timer capable of being activated to count or count down a predetermined period of time depending on the angular position of the arm relative to the reference plane allows the operator to prepare for switching, the switching only taking place when the predetermined period of time has elapsed.

[0013] According to one embodiment of the invention, the machine comprises, for the rotation drive of the accessory arm support, a third control member equipping the control station and a motor device for rotating said support and the control unit is configured to control the motor device for rotating the support as a function at least of the actuation of the third control member and the data provided by the sensor of a parameter representative of the angular position of the accessory arm.

[0014] According to one embodiment of the invention, the control unit is configured to command the at least temporary stop of the motor device for rotating the support in the positioned state of the accessory-carrying arm in the reference plane or at a distance from the reference plane less than a predetermined value.

[0015] Thus, the control unit can, when the accessory-carrying arm is positioned in the reference plane or at a distance from the reference plane less than a predetermined value, simultaneously activate the switching control element and stop the support's rotating drive motor to allow the machine operator to prepare for switching. This switching can occur manually by the operator or automatically after a predetermined period of time, as mentioned above, depending on the nature of the switching control element.

[0016] According to one embodiment of the invention, the first control member and the second control member are at least partially common.

[0017] Thus, the first and second control elements can be made in the form of a single control element, such as a pivoting lever, with each pivoting direction (forward / backward or right / left) corresponding to a control instruction.

[0018] According to one embodiment of the invention, the control station or one of the control stations is formed by a basket configured to form an accessory of the accessory-carrying arm.

[0019] According to one embodiment of the invention, the control station or one of the control stations is formed by a cockpit at least partially supported by the support.

[0020] According to one embodiment of the invention, the control station or one of the control stations is formed by a remote control that can be positioned at a distance from the chassis.

[0021] According to one embodiment of the invention, for each axle, the wheel pivot drive device of said axle comprises a hydraulic cylinder with at least two chambers, a fluid circulation circuit for supplying pressurized fluid to one or the 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 disposed on said circuit, one of the positions of the distributor corresponding to an activated state of the wheel pivot drive device, the other or another of the positions of the distributor corresponding to an inactivated state of the wheel pivot drive device.

[0022] One of the distributor positions corresponds to an activated state of the wheel pivot drive device in which one of the cylinder chambers is able to be supplied with pressurized fluid, and the other or another of the distributor positions corresponds to an inactivated state of the wheel pivot drive device in which a fluid supply under Pressure in the cylinder chambers is prevented.

[0023] According to one embodiment of the invention, the wheels of an axle are said to be in a straight position when they extend parallel to the longitudinal axis of the chassis, and in the inactive state of a drive device for pivoting the wheels of an axle, the wheels of said axle are in a straight position.

[0024] According to one embodiment of the invention, the wheel rotation drive motor system comprises at least one electric motor with two directions of rotation.

[0025] The transition from one operating mode to another results, for the same movement of the first control element, in a reversal of the direction of rotation of the motor and, consequently, in a rotation of the wheels in the opposite direction.

[0026] The invention also relates to a method for controlling a handling machine comprising a chassis extending longitudinally from a first end to the opposite end, at least two axles each equipped with wheels, at least one drive system for rotating the wheels, a handling system comprising at least one accessory-carrying arm, a control station equipped with at least one first control element mounted to move in at least one first direction of movement for driving the wheels in rotation, a support for the accessory-carrying arm mounted to rotate about a so-called vertical axis in the machine's positioned position on a flat surface to allow the positioning of said accessory-carrying arm on one side or the other of a so-called reference plane orthogonal to the longitudinal axis of the chassis and passing through or parallel to the axis of rotation of the support,a control unit configured to control the movement of the chassis as a function of the actuation of the first control element, a first operating mode in which the wheels, when the first control element is actuation in the first direction of movement, are mounted to rotate freely in a first direction, a second operating mode in which the wheels, when the first control element is actuation in the first direction of movement, are mounted to rotate freely in a second direction opposite to the first direction, a switching system comprising at least one sensor for a parameter representative of the angular position of the accessory arm to allow the angular position of the arm to be determined relative to the reference plane, the control unit being configured to control the switching from one operating mode to another as a function of at least the data provided by said sensor,characterized in that one or at least two of the axles are steering axles, in that each steering axle comprises, for driving the wheels of said axle in rotation around a so-called vertical axis extending substantially vertically when the machine is positioned on a horizontal flat surface, a drive device in , pivoting movement of said wheels in a parallel manner with each other, in that said machine includes, for each wheel pivoting drive device, at least one second control unit equipping the control station, in that the wheel pivoting drive devices, which are activatable / deactivatable devices, being selectively activatable, said method includes in parallel with a control step for switching from one operating mode to another, a step for activating the wheel pivoting drive device of one of the axles and deactivating the wheel pivoting drive device of the other axle. Brief description of the drawings

[0027] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the accompanying drawings in which:

[0028] [Fig-1] represents a top perspective view of a machine according to the invention equipped with a basket-type control station in a configuration in which the machine is in the first operating mode and the steering axle is that associated with one of the ends of the chassis;

[0029] [Fig.2] represents a top perspective view of a device conforming to the invention equipped with a basket-type control station in a configuration in which the machine is in the second operating mode and the steering axle is the one associated with the other end of the chassis;

[0030] [Fig.3] represents a top perspective view of a machine according to the invention equipped with a basket-type control station in a configuration in which the handling system arm is in the reference plane corresponding to the switching area;

[0031] [Fig.4] represents a schematic view of a machine in the first operating mode operation to illustrate the wheel rotation drive devices of the axles in the activated state of one of the drive devices with a detailed view of part of the control station;

[0032] [Fig.5] represents a schematic view of a machine in the second operating mode to illustrate the drive devices in pivoting wheel movement of the axles in the activated state of one of the drive devices with a detailed view of part of the control station;

[0033] [Fig.6] represents a top perspective view of a machine according to the invention equipped with a cockpit-type control station in a configuration in which the machine is in the first operating mode and the steering axle is that associated with one of the ends of the chassis;

[0034] [Fig.7] represents a top perspective view of a device conforming to the invention equipped with a cockpit-type control station in a configuration in which the machine is in the second operating mode and the steering axle is the one associated with the other end of the chassis;

[0035] [Fig-8] represents a top perspective view of a machine according to the invention equipped with a cockpit-type control station in a configuration in which the handling system arm is in the reference plane corresponding to the chassis switching area;

[0036] [Fig.9] represents a top perspective view of a machine according to the invention equipped with a remote control type control station in a configuration in which the machine is in the first operating mode and the steering axle is that associated with one of the ends of the chassis.

[0037] As mentioned above, the invention relates to a handling device 1 which may conform to that shown in Figures 1, 6 and 9. This handling device 1 comprises a frame 2 with two opposing ends 3 and 4, one forming the front end and the other the rear end of the frame 2, depending on the direction of travel of the device. This frame 2 has a longitudinal axis XX' extending longitudinally from one end towards the opposite end of the frame 2.

[0038] The machine 1 is a rolling machine and comprises a first axle 5 equipping one of the ends, represented in 3, of the chassis 2 and a second axle 6 equipping the other of the ends represented in 4 of the chassis 2. Each axle 5, 6 is presented 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 joint to a wheel 7. This pivot joint is represented in ZZ' in the figures.

[0039] To enable the rotation of the wheels 7, at least some of which are drive wheels, and consequently the forward movement of the machine 1, the machine 1 includes a drive system 8 for rotating the wheels 7 of the machine. This drive system 8 may include one or more electric and / or thermal and / or hydraulic motors capable of acting on the forward or reverse rotation of the wheels 7 of the machine. In the example illustrated in Figures 4 and 5, the drive system 8 includes a reversible electric motor 81 capable of acting on the wheels of one of the axles of the machine, in this case the one shown in Figure 6. Obviously, since the machine can have either two or four drive wheels, two electric motors 81 could have been provided, namely one per axle.

[0040] The handling equipment 1 further comprises a handling system 9 carried by the chassis 2. This handling system 9 comprises at least one accessory-carrying arm 10 movable between a high position and a low position. Generally, this accessory-carrying arm 10 is a pivoting arm mounted to pivot about an axis called The horizontal position of the machine 1 on a horizontal flat surface is defined as follows: The accessory arm 10 is designed to be equipped at its free end with an accessory 11. This accessory 11 can be a platform basket in certain configurations of the machine 1, or an accessory other than a platform basket, such as a bucket, fork, or other. This accessory arm 10 is supported by a bracket 14, also called a turret. This bracket 14 is rotatably mounted on the chassis 2 about a vertical axis YY', extending vertically when the machine 1 is positioned on a horizontal flat surface, to allow the accessory arm 10 to be positioned on one side or the other of a reference plane P, orthogonal to the longitudinal axis XX' of the chassis 2 and passing through or parallel to the axis YY' of rotation of the bracket 14.To enable the rotation of the support 14 of the accessory arm 10, the machine 1 includes a motor device 23 for rotating the support 14. This motor device 23 can conventionally include a toothed ring carried by the support 14 in contact with a rotating pinion carried by the chassis 2. The rotation of the pinion in contact with the teeth of the ring causes a rotational movement of the support 14 and the associated handling system 9 around the axis YY' of rotation of the support 14.

[0041] The machine 1 further comprises at least one control station 12 equipped with at least one first control element 13 mounted to move in at least one first direction of travel for driving the wheels 7 in rotation for the purpose of moving the machine on the ground. The control station 12 may be a single station, or the machine 1 may comprise several selectively activatable control stations 12. This or these control stations 12 may take different forms without departing from the scope of the invention. In the example of Figures 1 to 3, the control station or one of the control stations 12 is formed by a basket 121 configured to form an accessory 11 of the accessory-carrying arm 10. This basket is therefore a platform located at the end of the arm 10. The machine operator can sit in this platform, which has a control console equipped with at least the first control element 13 described above.In the example shown in Figures 6 to 8, one or more of the control stations 12 is formed by a driver's cab 122, at least partially supported by the support 14. Again, this driver's cab 122 can be equipped with at least the first control element 13 described above. Finally, in the example illustrated in [Fig. 9], one or more of the control stations 12 is formed by a remote control 123 that can be positioned at a distance from the chassis. This remote control 123 can be equipped with at least the first control element 13 described above. A single device 1 can include one or more selectively activatable control stations 12 without departing from the scope of the invention.

[0042] The first control member 13 may be in the form of a pivoting lever, as illustrated in Figures 4 and 5. This pivoting lever pivots from a The neutral position is represented at N along two opposite directions of movement, represented at Av for the first direction of movement corresponding to forward movement of the machine 1, and at Ar for the second direction of movement corresponding to reverse movement of the machine 1. Forward movement is illustrated by arrow A in some figures. The machine 1 includes, at the control station(s), a second control element 19 and a third control element 22. This third control element 22 is configured to control the rotation drive of the support 14 of the accessory arm 10.

[0043] The machine 1 includes a control unit 15 configured to control the movement of the chassis 2 based on the actuation of the first control element 13. The control unit 15 is in the form of an electronic and computer system which includes, for example, a microprocessor and working memory. In one particular aspect, the control unit 15 may be in the form of a programmable logic controller (PLC). In other words, the functions and steps described may be implemented as a computer program or via hardware components (e.g., programmable gate networks).In particular, the functions and steps performed by the control unit or its modules can be carried out by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components, or by components such as field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs). It is also possible to combine computer and electronic components.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 corresponding means of execution which enable said operation to be performed and / or that the unit includes corresponding electronic components.

[0044] The device 1 comprises a first operating mode in which the wheels 7, when the first control element 13 is actuated in the first direction of travel, i.e., along arrow Av, are mounted to rotate freely in a first direction, i.e., in [Fig. 4], which illustrates this first operating mode, with the end 3 of the chassis forming the front end and the end 4 of the chassis forming the rear end. The device 1 comprises a second operating mode in which the wheels, when the first control element 13 is actuated in the first direction of travel, i.e., along arrow Av, are mounted to rotate freely in a second direction. Opposite to the first direction, that is, in [Fig. 5], which illustrates this second mode of operation, with end 4 of the chassis forming the front end and end 3 of the chassis forming the rear end. Thus, for the same displacement of the first control element 13, depending on the operating mode of the machine 1, the wheels rotate in one direction or the other. This direction of rotation of the wheels 7 is defined here by the direction of rotation of the motor 81. The first and second modes of operation can be selectively activated.

[0045] The device 1 includes a switching system 16 comprising at least one sensor 17 for a parameter representative of the angular position of the accessory-carrying arm, enabling the determination of the angular position of the accessory-carrying arm 10 relative to the reference plane P. The data from this sensor 17 are provided to the control unit 15. The control unit 15 is therefore configured to acquire the data provided by said sensor 17. This sensor 17 may, for example, be an encoder wheel located at the axis of rotation of the support 14, the accessory-carrying arm 10 being positioned angularly at a fixed angle on said support 14. Obviously, other types of sensors can be considered without departing from the scope of the invention. The control unit 15 is configured to control the switching from one operating mode to another based at least on the data provided by said sensor 17.In practice, the switching generally takes place in an angular position of the accessory-carrying arm 10 corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value.

[0046] In the simplest version, the control unit 15 is configured to control the switching from one operating mode to another solely based on data provided by the sensor 17. Thus, as soon as the accessory-carrying arm 10 crosses plane P during the rotation of the support 14, the control unit 15 commands the switching from one operating mode to another. In practice, this can result in a surprise effect for the operator of the machine 1 due to the change in the machine 1's behavior, potentially catching the operator off guard. To avoid this, the switching system 16 can include, in addition to the sensor 17, at least one switchable control element 20. The control unit 15 is configured to activate the switch control element 20 based at least on data provided by the sensor 17 for a parameter representative of the angular position of the accessory-carrying arm 10.The control unit 15 is configured to activate the switching control element 20 in at least one angular position of the accessory arm 10 corresponding to the positioned state of the accessory arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value. Thus, as soon as the sensor 17 detects the . The desired angular position of the accessory-carrying arm 10 for switching activates the switching control element 20. The control unit 15 is configured to control the switching from one operating mode to another when the switching control element 20 is activated and based on at least one other condition. This condition may vary depending on the nature of the switching control element 20.

[0047] Figure 4 illustrates the case where one or more of the activatable switching control elements 20 is formed by an acknowledgment element 200 of a warning signal emitting device 21. In this embodiment, the machine 1 includes, at the control station, a warning signal 21 emitting device, this warning signal being either visual or audible. The control unit 15 is configured to control the emission of a warning signal by said warning signal emitting device 21 according to the angular position of the accessory-carrying arm 10. In particular, the control unit 15 is configured to control the emission of an alert signal by said device 21 for emitting an alert signal in at least one angular position of the accessory-carrying arm 10 corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value.The control unit 15 is configured to activate the acknowledgment element 200 of the alarm emitting device 21 when an alarm signal is emitted by the emitting device 21. This acknowledgment element 200 is manually operated. For example, this acknowledgment element 200 can be a button that illuminates when an alarm signal is emitted. The operator simply presses this acknowledgment element 200 to stop the alarm signal transmission and for the control unit 15 to switch from one operating mode to another. Thus, the control unit 15 is configured so that, when the acknowledgment element 200 is activated, it switches from one operating mode to another when the acknowledgment element 200 is activated.This actuation procedure for the acknowledgement device 200 allows the machine operator to prepare for the change in machine 1's behavior resulting from the switching. To allow the machine operator 1 to avoid acting hastily, the control unit 15 can be configured to command the at least temporary stop of the motor device 23 that drives the support 14's rotation when the accessory-carrying arm 10 is positioned in the reference plane P or at a distance from the reference plane less than a predetermined value, including when the third control device 22 is actuated. In this case, when the accessory-carrying arm 10 is in a position corresponding to the position of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value. Once completed, the control unit 15, which acquires such information from sensor 17, is configured to prevent further movement of the support 14, to trigger the emission of a warning signal by the warning signal emitting device 21, and to activate the acknowledgment element 200 of the warning signal emitting device 21. As soon as this acknowledgment element 200 is activated by the machine operator, the switchover occurs and the support 14 can rotate again.

[0048] Alternatively or in addition, one or more of the switchable control elements 20 is formed by a timer 201 as illustrated in Figures 1 to 3. The control unit 15 is configured to activate the timer 201 based on at least the data provided by the sensor 17 of a parameter representative of the angular position of the accessory-carrying arm 10. In particular, the control unit 15 is configured to activate the timer 201 in at least one angular position of the accessory-carrying arm 10 corresponding to the position of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value. The control unit 15 is configured to control the switching from one operating mode to another in the activated state of the timer 201.Again, to assist the operator of the machine 1, the control unit 15 can be configured to command the at least temporary stop of the motor device 23 that drives the rotation of the support 14 when the accessory arm 10 is positioned in the reference plane P or at a distance from the reference plane less than a predetermined value. In this case, when the accessory arm 10 is in a position corresponding to the position of the accessory arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value, the control unit 15, which acquires such information from the sensor 17, is configured to prevent further movement of the support 14 and to trigger the timer 201, which starts or starts counting down a time.As soon as this counting or countdown time, which corresponds to the activation period of timer 201, has elapsed, the switchover occurs and the support 14 can rotate again. The additional condition here is therefore the elapsed activation period of timer 201.

[0049] To complete the device 1, one or at least two of the axles, namely the axles shown in Figures 5 and 6, are steering axles. Each steering axle comprises, for driving the wheels 7 of said axle in pivoting motion about a vertical axis ZZ' of rotation extending substantially vertically when the device 1 is positioned on a horizontal flat surface, a device 18 for driving said wheels 7 in pivoting motion parallel to each other. Thus, the wheels 7 of the same axle extend in substantially parallel planes, that is to say, parallel to within ±20°, and rotate in the same direction. The wheels 7 of an axle rotate in the same direction and pivot around a vertical axis ZZ'. The wheels 7 of an axle are said to be in a straight position when they extend parallel to the longitudinal axis XX' of the chassis 2. The machine 1 includes, for each drive device 18 for pivoting wheels 7, at least one second control element 19 located at the control station 12. This second control element 19 may be a pivoting lever or a knob at the end of a pivoting lever. In the examples shown, the first control element 13 and the second control element 19 are at least partially shared.In this embodiment, the pivoting lever, which has a first direction of movement, i.e., along the arrow Av, and a second direction of movement, i.e., along the arrow Ar, to form the first control element 13, is also movable in two opposite directions, designated D and L for right and left, to form the second control element 19. Thus, the same lever allows, depending on its movements, the control, on the one hand, of the movement and direction of forward / backward movement of the machine, and on the other hand, the control in the direction of the machine 1. This second control element 19 is common to the drive devices 18 for pivoting wheel movement 7.

[0050] In at least one configuration of the vehicle 1, referred to as a two-wheel steering configuration, the wheel steering drive devices 18 7, which are switchable / switchable devices, are selectively switchable; that is, when one of the drive devices 18 is in the activated state, the other is in the deactivated state, and vice versa. When a wheel steering drive device 18 7 of an axle is in the deactivated state, the wheels 7 of that axle are in the straight position. The control unit 15 is configured to control, in parallel with the switching from one operating mode to another, the activation of the wheel steering drive device 18 7 of one axle and the deactivation of the wheel steering drive device 18 7 of the other axle.Thus, as illustrated in the figures, when the drive device 18 associated with the axle 5 located at the first end 3 of the chassis 2 is activated, the drive device 18 associated with the axle 6 located at the opposite end 4 of the chassis 2 is deactivated, and vice versa. The vehicle 1 therefore has only one steering axle at a time in this two-wheel steering configuration. The second control element 19 is active on the drive device 18 when the pivoting wheels 7 are activated.

[0051] As mentioned above, each axle 5, 6 comprises at least two wheels 7 pivoting about a vertical axis ZZ' extending substantially vertically when the machine 1 is positioned on a horizontal flat surface. This wheel pivot axis also extends substantially orthogonally, that is, orthogonally to more or less than 20° to the nearest, to the axis of rotation of the wheels. This vertical axis ZZ' extends, for each wheel 7, at the level of the pivot joint coupling a wheel 7 to the mechanical axis of the axle.

[0052] Each drive device 18 for pivoting the wheels 7 of an axle comprises a hydraulic cylinder 181. This cylinder 181 conventionally comprises a body and a piston head dividing the body into two chambers, shown for example in Figures 4 and 5, 1810 and 1811. This piston head is provided, on each of its opposite faces, with a rod projecting from the body. Each rod is connected to a wheel pivot by a steering link in a manner known per se. The displacement of the cylinder rod is transmitted, via the steering link, to the wheel pivot joint on the axle's mechanical axis, for rotation of the wheel about the vertical axis ZZ', as mentioned above.

[0053] The wheel pivoting drive device 18 of an axle further includes a fluid circulation circuit 182 for supplying pressurized fluid to either chamber 1810 or 1811 of the cylinder 181, depending on the desired direction of pivoting of the wheels 7 around the vertical axis ZZ'. Thus, when one of the chambers 1810 or 1811 of the cylinder 181 is supplied with pressurized fluid, the other is exhausted.

[0054] In the example of figures 4 and 5, supplying chamber 1810 of one of the cylinders 181 generates a right-hand rotation of the wheels of the axle associated with said cylinder and supplying chamber 1811 of cylinder 181 generates a left-hand rotation of the wheels of the axle associated with said cylinder.

[0055] To allow the supply of pressurized fluid to either chamber of the cylinder, the fluid circulation circuit 182 supplying the cylinder includes a reversing valve 184 with at least two positions, capable of being actuated during movement. The second control element 19 described above is configured to control the position of this reversing valve 184 when the wheel-pivoting drive device 18 associated with said reversing valve 184 is activated.

[0056] For reasons of simplicity of construction, the direction reversing distributor 184, allowing, depending on its position, a selection of the chamber of the cylinder 181 of the drive device 18 to be supplied under pressure, may be disposed on a portion of the fluid circulation circuit 182 common to the two drive devices 18 in pivoting movement of the wheels of an axle.

[0057] The fluid circulation circuit 182 therefore comprises a portion common to both drive devices 18 and a separate portion for each drive device 18. Obviously, the operation described above for one of the drive devices 18 is identical for the other drive device 18.

[0058] As mentioned above, each wheel pivot drive device 18 is an activatable / deactivatable device. To this end, each wheel pivot drive device 18 includes at least one activation / deactivation valve 183 with at least two positions located on the fluid circulation circuit 182. This activation / deactivation valve 183 is therefore capable of occupying two positions as illustrated in Figures 4 and 5. One of the positions of the activation / deactivation valve 183 corresponds to an activated state of the wheel pivot drive device in which one of the cylinder chambers is capable of being supplied with pressurized fluid.Another position of the activation / deactivation valve 183 corresponds to an inactivated state of the wheel-swivel drive device 18 7, in which pressurized fluid is prevented from reaching the cylinder chambers. This activation / deactivation valve 183 is positioned here on the portion of the fluid circulation circuit 182 common to both drive devices 18. This activation / deactivation valve 183 may be common to both drive devices 18. This is the case in the example of Figures 4 and 5, where the activation / deactivation valve 183 is common to both drive devices 18. The position of said activation / deactivation valve 183 corresponding to an activated state of one of the wheel-swivel drive devices 18 corresponds to a deactivated state of the other wheel-swivel drive device 18.Thus, the activation / deactivation distributor 183 having two positions, each position of the activation / deactivation distributor 183 corresponds to an activated state of one of the wheel pivoting drive devices 18 and a deactivated state of the other wheel pivoting drive devices 18, the activated drive device 18 not being the same from one position to another of the activation / deactivation distributor 183.

[0059] It is noted that in this embodiment, the direction reversing distributor 184, controlled by the second control element 19, and the activation / deactivation distributor 183, controlled by the pilot unit 15 according to activation / deactivation conditions, are arranged in series on the fluid circulation circuit 182.

[0060] In practice, the control unit 15 is configured to control, in parallel with the switching from one operating mode to another, the activation of the wheel-pivoting drive device 18 of one axle and the deactivation of the wheel-pivoting drive device 18 of the other axle. This switching is illustrated in Figures 1 to 3 for a machine equipped with a basket-type control station 121.

[0061] In [Fig. 1], the first operating mode is selected. Thus, when the The first control organ 13 is actuated in the first direction of movement, i.e. forward, the wheels turn to drive the machine forward towards the top of the sheet along arrow A shown in [Fig.1].

[0062] The steering axle is the axle shown in 5, located at the first end 3 of the chassis 2. This steering axle is therefore located at the front of the chassis 2 relative to the forward direction of travel of the chassis 2. The wheel pivot drive 18 of this axle is activated. The accessory arm 10 extends on the side of the reference plane P opposite to the side containing the first end 3 of the chassis 2. As long as this arm remains on this side of the reference plane P, the machine remains in this first operating mode. In this first operating mode, the activated wheel pivot drive 18 is the one furthest from the basket 121.

[0063] When the operator of the machine 1 brings the accessory-carrying arm 10 into the reference plane P, as illustrated in [Fig. 3], the drive device 18 activated in [Fig. 1] is deactivated and these wheels are returned to the straight position. The control unit 15 can stop the drive while the machine is moving, including when the first control element 13 is actuated.

[0064] The switchable switching control element 20 is activated and switching takes place as soon as another condition is met as described above.Thus, if the switching element 20 is the acknowledgment element 200 of a warning signal emitting device 21, the warning signal is emitted when the accessory-carrying arm 10 is in the reference plane P, and the operator's acknowledgment of the element 200 stops the emission of said warning signal and allows the operator to control the machine from the first control element once the control unit 15, following the acknowledgment of the element 200, has activated the drive device 18 of the axle 6 located at the end 4 of the chassis 2 opposite the first end 3 of the chassis 2 and activated the machine's operating mode in which, when the first control element 13 is actuated in the first direction of travel, i.e., forward, the wheels turn to propel the machine forward. forwards towards the bottom of the sheet following arrow A shown in [Fig.2].

[0065] Again, the steering axle, which is represented in 6 in [Fig.2], is located at the front of the chassis 2 taken with respect to the direction of forward movement of the chassis 2 and it is the device 18 for driving the pivoting wheels of this steering axle 6 which is activated.

[0066] It is noted that in this mode of operation, the wheel pivoting drive device 18 is always the one that is furthest from the basket 121.

[0067] Obviously, we return to the first operating mode as soon as the accessory-carrying arm 10 returns to the position of [Fig.3].

[0068] Regardless of the operating mode activated, driving comfort is maximized for the operator. The operation described above would be similar with a switching control element activatable in the form of a timer, the activation of the timer occurring when the accessory-carrying arm 10 is positioned in the reference plane P, and the switch from one operating mode to another occurring as soon as the period counted or deducted by the timer has elapsed, this switching obviously occurring in parallel with the switch from one drive device to another.

[0069] Figures 6 to 8 similarly illustrate the transition from one operating mode to another of the machine 1 in parallel with the activation of the wheel pivoting drive device 18 of one of the axles and the deactivation of the wheel pivoting drive device 18 of the other axles.

[0070] Figure 6 corresponds to a first operating mode. Figure 7 corresponds to a second operating mode and Figure 8 to the position of the accessory-carrying arm 10 in the reference plane P when switching from one operating mode to another.

[0071] Figures 6 to 8 differ from figures 1 to 3 in that the machine 1 includes a control station in the form of a cabin 122 carried at least partially by the support 14.

[0072] In this case, the wheel pivoting drive device 18 is the one closest to the accessory or, in other words, the one that extends on the same side of the reference plane P as the side of the reference plane P containing the accessory 11.

[0073] Figure 9 simply illustrates an example of a handling device 1 equipped with a remote control 123. The switching principle is similar to that of figures 6 to 8.

Claims

Demands

1. A handling machine (1) comprising a chassis (2) extending longitudinally from a first end (3) to the opposite end (4), at least two axles (5, 6) each equipped with wheels (7), at least one drive system (8) for rotating the wheels (7), a handling system (9) comprising at least one attachment arm (10), at least one control station (12) equipped with at least one first control element (13) movable in at least one first direction of movement for rotating the wheels (7), a support (14) for the attachment arm (10) mounted for rotation about an axis (YY') referred to as vertical in the positioned state of the machine (1) on a horizontal flat surface to allow the positioning of said attachment arm (10) on one side or the other of a plane (P) referred to as a reference plane orthogonal to the longitudinal axis of the chassis (2) and passing through or parallel to the axis (YY') of rotation of the support (14),a control unit (15) configured to control the movement of the chassis (2) according to the actuation of the first control element (13), a first operating mode in which the wheels (7) are, in the actuation state of the first control element (13) in the first direction of movement, mounted to rotate freely in a first direction, a second operating mode in which the wheels (7) are, in the actuation state of the first control element (13) in the first direction of movement, mounted to rotate freely in a second direction opposite to the first direction, a switching system (16) comprising at least one sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10) to allow the determination of the angular position of the arm (10) with respect to the reference plane (P),the control unit (15) being configured to control the switching from one operating mode to another based at least on the data provided by said sensor (17), characterized in that one or at least two of the axles are steering axles (5, 6), in that each steering axle (5, 6) comprises, for driving the wheels (7) of said axle (5, 6) in pivoting motion around a vertical axis of rotation (ZZ') extending substantially vertically when the machine (1) is positioned on a horizontal flat surface, a device (18) for driving said wheels (7) in parallel with each other in pivoting motion, in that,

2.

3. said machine (1) includes, for each wheel pivoting travel drive device (18) (7), at least one second control unit (19) equipping the control station (12), in that the wheel pivoting travel drive devices (18) (7), which are switchable / switchable devices, are selectively switchable and in that the control unit (15) is configured to control, in parallel with the switching from one operating mode to another, the activation of the wheel pivoting travel drive device (18) (7) of one of the axles (5, 6) and the deactivation of the wheel pivoting travel drive device (18) (7) of the other axle. Handling device (1) according to claim 1, characterized in that the switching system (16) comprises at least one activatable switching control element (20), in that the control unit (15) is configured to activate the switching control element (20) based on at least the data provided by the sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10), said control unit (15) being configured to activate the switching control element (20) in at least one angular position of the accessory-carrying arm (10) corresponding to the positioned state of the accessory-carrying arm (10) in the reference plane (P) or at a distance from the reference plane (P) less than a predetermined value, and in that the control unit (15) is configured to control the switching from one operating mode to another in the activated state of the switching control element (20) and based on at least one other condition. Handling device (1) according to claim 2, characterized in that the one or more of the activatable switching control elements (20) is formed by an acknowledgment element (200) of a warning signal emitting device (21) capable of emitting a warning signal as a function of the angular position of the accessory-carrying arm (10), in that the control unit (15) is configured to activate the acknowledgment element (200) in the emitted state of a warning signal by the emitting device (21), in that the warning signal acknowledgment element (200) is a manually actuated element and in that the control unit (15) is configured to, in the activated state of said acknowledgment element (200), control the switching from one operating mode to another in the actuated state of said element (200) acquittal.

4. Handling device (1) according to any one of claims 2 or 3, characterized in that the or one of the activatable switching control elements (20) is formed by a timer (201), in that the control unit (15) is configured to activate the timer (201) based at least on the data provided by the sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10),said control unit (15) being configured to activate the timer (201) in at least one angular position of the accessory-carrying arm (10) corresponding to the positioned state of the accessory-carrying arm (10) in the reference plane (P) or at a distance from the reference plane (P) less than a predetermined value, and in that the control unit (15) is configured to control the switching from one operating mode to another in the activated state of the timer (201) and at the end of a predetermined activation period of the timer (201).

5. Handling device (1) according to any one of claims 1 to 4, characterized in that the device (1) comprises, for the rotation drive of the support (14) of the accessory-carrying arm (10), a third control element (22) equipping the control station (12) and a motor device (23) for rotation drive of said support (14) and in that the pilot unit (15) is configured to control the motor device (23) for rotation drive of the support (14) as a function at least of the actuation of the third control element (22) and the data provided by the sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10).

6. Handling device (1) according to claim 5, characterized in that the pilot unit (15) is configured to control the at least temporary stop of the motor device (23) for rotating the support (14) in the positioned state of the accessory-carrying arm (10) in the reference plane (P) or at a distance from the reference plane (P) less than a predetermined value.

7. Handling device (1) according to any one of claims 1 to 6, characterized in that the first control member (13) and the second control member (19) are at least partially common.

8. Handling device (1) according to any one of claims 1 to 7, characterized in that the or one of the control stations (12) is formed by a basket (121) configured to form an accessory (11) of the accessory-carrying arm (10).

9. Handling device (1) according to any one of claims 1 to 8, characterized in that the or one of the control stations (12) is formed by a pilot cabin (122) at least partially supported by the support (14).

10. Handling device (1) according to any one of claims 1 to 9, characterized in that the or one of the control stations (12) is formed by a remote control (123) positionable at a distance from the chassis (2).

11. A handling device (1) according to any one of claims 1 to 10, characterized in that for each axle (5, 6), the wheel pivot drive (18) for the axle (7) of said axle (5, 6) comprises a hydraulic cylinder (181) with at least two chambers (1810, 1811), a fluid circulation circuit (182) for supplying pressurized fluid to one or the other of the chambers (1810, 1811) of said cylinder (181) depending on the direction of pivot of the wheels (7), and at least one distributor (183) with at least two positions disposed on said circuit (182), one of the positions of the distributor (183) corresponding to an activated state of the wheel pivot drive (18), the other or another of the positions of the distributor (183) corresponding to an inactivated state of the device (18) wheel pivoting drive (7).

12. Handling machine (1) according to any one of claims 1 to 11, characterized in that the wheels (7) of an axle (5, 6) are said to be in straight position when they extend parallel to the longitudinal axis (XX') of the chassis (2), and in that, in the inactivated state of a pivoting drive device (18) for the movement of the wheels (7) of an axle (5, 6), the wheels (7) of said axle (5, 6) are in straight position.

13. Handling device (1) according to any one of claims 1 to 12, characterized in that the wheel (7) drive motor system (8) comprises at least one electric motor (81) with two directions of rotation.

14. A method for controlling a handling machine (1) comprising a chassis (2) extending longitudinally from a first end (3) to the opposite end (4), at least two axles (5, 6) each equipped with wheels (7), at least one motor system (8) for rotating the wheels (7), a handling system (9) comprising at least one accessory-carrying arm (10), a control station (12) equipped with at least one first control element (13) mounted to move in at least one first direction of travel for the rotational drive of the wheels (7), a support (14) for the accessory-carrying arm (10) mounted for rotation about a vertical axis (YY') in the positioned state of the machine (1) on a flat surface to allow the positioning of said accessory-carrying arm (10) on one side or the other of a reference plane (P) orthogonal to the longitudinal axis of the chassis (2) and passing through or parallel to the axis (YY') of rotation of the support (14), a control unit (15) configured to control the movement of the chassis (2) according to the actuation of the first control element (13), a first operating mode in which the wheels (7) are, in the actuation state of the first control element (13) in the first direction of movement, mounted to rotate freely in a first direction, a second operating mode in which the wheels (7) are, in the actuation state of the first control element (13) in the first direction of movement,mobile mountings rotating in a second direction opposite to the first direction, a switching system (16) comprising at least one sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10) to allow determination of the angular position of the arm (10) with respect to the reference plane (P), the control unit (15) being configured to control the switching from one operating mode to another as a function at least of the data provided by said sensor (17), characterized in that one or at least two of the axles are steering axles (5, 6), in that each steering axle (5, 6) comprises, for the rotational drive of the wheels (7) of said axle (5, 6) around a rotation axis (ZZ') said to be vertical extending substantially vertically in the positioned state of the machine (1) on a horizontal flat surface,a drive device (18) for the movement of said wheels (7) in a parallel manner, in that said machine (1) comprises, for each drive device (18) for the movement of the wheels (7), at least one second control element (19) equipping the control station (12), in that the drive devices (18) for the movement of the wheels (7), which are switchable / switchable devices, being selectively switchable, said method comprises, in parallel with a step of controlling the switching from one operating mode to another, a step of activating the drive device (18) for the movement of the wheels (7) of one of the axles (5, 6) and of deactivating the drive device (18), pivoting movement of the wheels (7) of the other axle.

Images