Handling machine comprising a system of solenoid valves controlling a hydraulic device for actuating a component of the machine

Abstract

The invention relates to a handling machine comprising a hydraulically actuated component (OF), a hydraulic actuation device (DA) configured to actuate the component (OF); a system of solenoid valves (EV1, EV2); a hydraulic connecting line (LR) between the solenoid valves; a pressure sensor (CP1) in the connecting line (LR); a supply line (LA) connecting the second solenoid valve (EV2) to the actuation device (DA), and a pressure sensor (CP2) in the supply line (LA). The control system (130) is configured to detect a malfunction of at least one of the solenoid valves (EV1, EV2) based on one or more pressures measured by one or more of the pressure sensors (CP1, CP2) and the power supply status of one or more solenoid valves. Figure for the abstract: Fig. 2

Description

Title of the invention: Handling machine comprising a solenoid valve system for controlling a hydraulic device for actuating a component of the machine. SCOPE OF THE INVENTION

[0001] The present invention relates generally to a handling machine comprising a system of solenoid valves for controlling a hydraulic device for actuation of a component of the machine, such as a braking component. EARLIER ART

[0002] Prior art solutions exist for verifying the operating status of a control system for a hydraulic device that actuates a braking and unbraking mechanism of the machine. During this verification process, it is checked that a solenoid valve changes position in accordance with a position change instruction transmitted by an associated control system. The position change instruction may correspond to an electrically energized state of the solenoid valve to move it to a first position or to an electrically de-energized state of the solenoid valve to allow it to be returned, for example by a spring, to a second position.

[0003] However, according to these known prior art solutions, the machine cannot move on the ground during the verification process. Yet, performing the known verification (diagnostic) process can be time-consuming, especially in cold weather, while evolving safety standards require more frequent checks of the operating status of the control solenoid valves of a handling machine. This problem, which arises for a braking and unbraking device, can also arise for other operating components of the machine actuated by a hydraulic actuation device.

[0004] It is therefore desirable to reduce the diagnostic time of the operation of the control system of a hydraulic device for actuation of a component of the machine.

[0005] The present invention aims to provide a new machine that addresses, at least partially, one or more of the problems described above. Summary of the invention

[0006] To this end, the invention relates to a handling machine comprising a rolling chassis, a ground-based drive system for the machine, and a handling system carried by the rolling chassis, the handling machine also comprising: - a hydraulically actuated component, such as a braking and unbraking device; - a hydraulic actuation device configured to actuate said component; - a hydraulic circuit comprising an oil reservoir, a delivery line communicating with the reservoir, and a pressure line enabling the said component to be actuated when the hydraulic actuation device is put into hydraulic communication with the pressure line; - a control system comprising a first control unit and a second control unit, and a solenoid valve system comprising a first two-way solenoid valve, controllable by the first control unit and a second two-way solenoid valve, controllable by the second control unit; - a hydraulic connection line between the solenoid valves; - a first sensor, called the first pressure sensor, configured to measure a parameter representative of the hydraulic pressure in the connecting line; - a hydraulic supply line for the actuation device, which connects the second solenoid valve to the actuation device, - a second sensor, called the second pressure sensor, configured to measure a parameter representative of the hydraulic pressure in the supply line; the first solenoid valve being movable between: a discharge position in the electrically unpowered state of the first solenoid valve, in which the connecting line communicates with the tank, and a hydraulic supply position, in the electrically powered state of the first solenoid valve, in which the connecting line communicates with the pressure line, the second solenoid valve being movable between: a discharge position, in the electrically unpowered state of the second solenoid valve, in which the supply line of the actuation device communicates with the tank, and a hydraulic supply position, in the electrically powered state of the second solenoid valve, in which the supply line of the actuation device communicates with the connection line; the control system being configured to detect a malfunction of at least one of the solenoid valves based on one or more pressures measured by one or more pressure sensors and the power supply status of one or more of the solenoid valves.

[0007] The use of pressure sensors and their arrangement with the two solenoid valves of the solenoid valve system allows for simple verification (diagnosis) and The operating status of one or each of the said solenoid valves is quickly determined. Furthermore, the cost of such a solution is limited.

[0008] Comparing the pressure values ​​measured by the sensors with threshold values ​​allows for a quick verification of whether one or both of the solenoid valves are changing position in accordance with a position change request issued by the associated control unit. The pressure measurement makes it possible to determine whether the control state (energized or not) of the associated solenoid valve is consistent with the measured pressure. Such consideration of the measured pressure and the control state for each solenoid valve in the solenoid valve system thus contributes to ensuring machine safety.

[0009] The verification of the operation of the solenoid valve system can be carried out in real time or on command, as soon as an action is initiated on the machine, such as a ground movement action of the machine and / or a handling action.

[0010] If a malfunction is detected in at least one solenoid valve, a machine safety procedure can be triggered whereby, for example, the machine's movement on the ground and / or the actuation of the handling system is prevented or limited. Alternatively, if a fault is detected in at least one of the solenoid valves, the machine can be put into safety mode. In a particular aspect, the safety procedure is implemented in such a way that intervention on the machine is required to correct the fault before the machine can be used again.

[0011] Preferably, each solenoid valve in the solenoid valve system is associated with a control unit configured to acquire a pressure value measured by the sensor associated with the solenoid valve and independent of the control unit of the other solenoid valve. Any malfunctions can thus be detected separately on each solenoid valve in the solenoid valve system, thereby improving the reliability of the process for verifying the operating status of the solenoid valve system.

[0012] According to one embodiment, the machine component actuated by the hydraulic actuation device controlled by the solenoid valve system is a braking and unbraking device that forms part of a so-called negative braking system. In other words, in the absence of hydraulic pressure applied to the braking component, the machine element intended to be braked or unbraked, such as one or more wheels of the machine, is braked.

[0013] The system may also include one or more of the following features taken in any technically permissible combination.

[0014] According to one embodiment, the machine comprises a processing system, which may include the control system, said processing system enabling to control the machine's ground movement and the activation of the handling system, In the event of a malfunction of at least one of the said solenoid valves being detected by the control system, the processing system is configured to command the stopping or limitation of the movement of the machine on the ground and / or the stopping or limitation of the actuation of the handling system.

[0015] According to one embodiment, upon receiving a first instruction for a command of the actuation device, such as a brake release command, the control system is configured to: a) power the first solenoid valve to allow communication between the connection line and the pressure line, b) if the pressure measured by the first sensor is greater than or equal to a first threshold value, and if the pressure measured by the second sensor is less than a second threshold value, then the second control unit commands the power supply of the second solenoid valve to put the supply line of the component into communication with the connecting line which already communicates with the pressure line via the first solenoid valve, otherwise the control system generates a malfunction detection signal of at least one of the solenoid valves.

[0016] According to one embodiment, before step a), if the pressure measured by the first sensor is greater than or equal to the first threshold value, then the control system, preferably the first control unit, generates a malfunction detection signal for the first solenoid valve.

[0017] According to one embodiment, between step a) and b) if the pressure measured by the second sensor is greater than or equal to the second threshold value, then the control system, preferably the second control unit, generates a malfunction detection signal for the second solenoid valve.

[0018] According to one embodiment, upon receiving a second instruction for a command to the actuation device, such as a braking command, the control system is configured to: c) cut off the power supply to the second solenoid valve to allow it to be in the discharge position for which the supply line of the actuation device communicates with the tank, d) preferably, cut off the power supply to the first solenoid valve to allow it to be in the discharge position for which the connecting line communicates with the tank.

[0019] According to one embodiment, between steps c) and d) if the pressure measured by the second sensor is greater than or equal to the second threshold value, then the system pilot unit, preferably the second pilot unit, is configured to generate a malfunction detection signal for the second solenoid valve.

[0020] According to one embodiment, after step d) if the pressure measured by the first sensor is greater than or equal to the first threshold value, then the control system, preferably the first control unit, is configured to generate a malfunction detection signal for the first solenoid valve.

[0021] According to one embodiment, the actuation device includes a hydraulic valve.

[0022] According to one embodiment, the actuation device includes a hydraulic distributor.

[0023] According to one embodiment, the actuable part by the actuating device is a braking and unbraking part. Brief description of the drawings

[0024] Other features and advantages of the invention will become apparent from the following description, which is purely illustrative and not limiting and should be read in conjunction with the accompanying drawings, on which:

[0025] - [Fig. 1] [Fig. 1] is a schematic view of a handling machine according to a method of implementing the invention;

[0026] - [Fig.2] [Fig.2] is a view of the circuit of a part of a hydraulic circuit of a handling machine, which includes a hydraulic actuation device for a machine component, and a solenoid valve system configured to manage the hydraulic communication between, on the one hand, the actuation device and, on the other hand, the pressure line and the discharge line of the hydraulic circuit according to an embodiment of the invention, the solenoid valves being in the discharge position; a supply line to the actuation device being equipped with a pressure sensor and a connecting line between the two solenoid valves also being equipped with a pressure sensor;

[0027] - [Fig.3] [Fig.3] is a view of the circuit of [Fig.2], with a solenoid valve of the solenoid valve system controlled in hydraulic supply position, so that the connecting line between the two solenoid valves is in hydraulic communication with the pressure line, which is detected by the first sensor and is identified as correct operation of the first solenoid valve;

[0028] - [Fig.4] [Fig.4] is a view of the circuit of [Fig.3], in a configuration according to which, following the pressure measurement by the sensor on the connecting line, the second solenoid valve is electrically powered so that the connecting line, supplied by the pressure line, is put into communication with the power supply line of the actuation device, which is detected by the second sensor and is identified as correct operation of the second solenoid valve;

[0029] - [Fig.5] [Fig.5] is a view of the circuit of [Fig.4], in a configuration according to in which, the second solenoid valve is no longer electrically powered so that the second solenoid valve is returned to the discharge position according to which the supply line is put in communication with the discharge line of the tank;

[0030] - [Fig.6] [Fig.6] is a view of the circuit of [Fig.5], in a configuration according to in which the first solenoid valve is no longer electrically powered so that the first solenoid valve is returned to the discharge position according to which the connecting line is put into communication with the discharge line of the tank;

[0031] - [Fig.7] [Fig.7] is a view of the circuit of [Fig.2], in a configuration according to in which the first solenoid valve is blocked in the hydraulic supply position, so that, despite a stoppage or absence of power supply to the solenoid valve, the connecting line remains under pressure, which is measured by the first sensor and which is identified as a malfunction of the first solenoid valve;

[0032] - [Fig.8] [Fig.8] is a view of the circuit of [Fig.2], in a configuration according to in which the second solenoid valve is locked in the hydraulic supply position, so that, despite a stoppage or absence of electrical supply to the solenoid valve, the supply line remains in communication with the connection line, the first solenoid valve being in the return position;

[0033] - [Fig.8A] [Fig.8A] is a view of the circuit of [Fig.8], in a configuration according to which the first solenoid valve is controlled in the hydraulic supply position so that the connecting line is under pressure, as well as the hydraulic supply line which is in communication with the connecting line, while the control state of the second solenoid valve is a non-electrically supplied state, which is identified as a malfunction of the second solenoid valve;

[0034] - [Fig.9] [Fig.9] is a view reproducing the circuit configuration of [Fig.4], the two solenoid valves being electrically powered and in the hydraulic supply position;

[0035] - [Fig.9A] [Fig.9A] is a view of the circuit of [Fig.9], in a configuration according to which the second solenoid valve is no longer electrically powered so as to return to the discharge position, the first solenoid valve remaining electrically powered and being in the hydraulic supply position;

[0036] - [Fig.9B] [Fig.9B] is a view of the circuit of [Fig.9A], in a configuration according to which the second solenoid valve remains in the discharge position, the first solenoid valve no longer being electrically powered but being blocked so that it remains in the hydraulic supply position, which is detected by the sensor of pressure of the connection line and identified as a malfunction of the first solenoid valve;

[0037] - [Fig. 10] [Fig. 10] is a view showing the circuit configuration of [Fig. 9], the two solenoid valves being electrically powered and in the hydraulic supply position;

[0038] - [Fig. 1OA] [Fig. 1OA] is a view of the circuit of [Fig. 10], in a configuration according to which the second solenoid valve is no longer electrically powered but is blocked so that it remains in the hydraulic supply position, the first solenoid valve remaining electrically powered and being in the hydraulic supply position, so that the supply line remains under pressure, which is detected by the second sensor and identified as a malfunction of the second solenoid valve;

[0039] - [Fig.1OB] [Fig.1OB] is a view of the circuit of [Fig.1OA], in a configuration in which the first solenoid valve is no longer electrically powered so as to return to the discharge position, so that the supply line is in communication with the discharge line via the connecting line between the two solenoid valves, which allows the oil present in the supply line to be discharged into the tank. DETAILED DESCRIPTION

[0040] Embodiments are described below with reference to the accompanying drawings. Similar numbers refer to similar features in all drawings. However, the invention can be implemented in many different forms and should not be construed as being limited to the embodiments shown here. The scope of the invention is defined by the accompanying claims.

[0041] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in relation to an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0042] With reference to the figures, a handling machine is shown which includes a system of solenoid valves EV1, EV2 for controlling a hydraulic actuation device DA of a component OF of the machine. In the following description, said component of the machine is or includes a braking and unbraking device, in particular a braking and unbraking device of a braking system of vehicle with hydraulic spring release. It can be provided that the braking and release mechanism allows several elements to be braked or released, or that said braking and release mechanism of the machine includes a braking and release mechanism for each element to be braked or released.

[0043] The element to be braked is, for example, one or more wheels of the vehicle. In the event of a failure of the solenoid valve system, if the solenoid valves remain stuck in the open position (hydraulic supply configuration), the wheel(s) associated with the braking and release mechanism will remain unbraked, even if the operator presses the brake pedal. It is therefore important to check the proper functioning of the solenoid valves before allowing the machine to move on the ground.

[0044] Furthermore, the solution according to the invention based on the detection of pressure downstream (considered in the case of pressurizing the machine component) of each solenoid valve allows for rapid monitoring, which avoids disturbing the operator, in order to prevent him from activating his movement control several times due to insufficient machine responsiveness, which would penalize the normal use of the machine and generate misunderstanding on the part of the operator.

[0045] The invention also applies to other types of machine components, in particular for securing hydraulic power component(s).

[0046] The hydraulic actuation device DA, interposed between the solenoid valve system and the machine component to be actuated (for release in the case of a negative brake) or released (for return to the braking position), can be a hydraulic valve for controlling said component. Alternatively, the hydraulic actuation device DA can be a hydraulic distributor capable of supplying various hydraulic components, such as hydraulic cylinders, of the machine's handling system. The hydraulic cylinders can include a cylinder for controlling the angle of a lifting arm, called a lifting cylinder, a cylinder for controlling the extension of the arm when it is telescopic, called a telescoping cylinder, or a cylinder for controlling the tilt of a tool or carriage at the end of the arm, called a tilting cylinder.

[0047] Said braking and release member and the hydraulic actuation device may form all or part of a spring-loaded hydraulic release vehicle brake system, also called a negative brake system.

[0048] According to this embodiment, the braking and release mechanism is capable of assuming a braking configuration for at least one element of the machine, such as a wheel of the vehicle, and a return system, for example a spring system, allows the braking and release mechanism to be returned to the braking configuration. The braking and release mechanism is also capable of assuming a release configuration (or unbraking) thanks to a hydraulic control circuit which allows the passage of the braking and unbraking device into the said release configuration.

[0049] The hydraulic control circuit includes the EV1, EV2 solenoid valve system shown below.

[0050] As mentioned above, the description given below in the context of a braking element of a negative braking system is applicable to other types of hydraulically actuated machine elements.

[0051] Handling machine

[0052] The handling machine 1 can be of the telescopic arm trolley type, as illustrated for example in [Fig.1], or of another type, for example a platform or a mast trolley.

[0053] The handling machine 1 comprises a chassis 2. Preferably the chassis is a rolling chassis 2 supported on the ground by means of a front axle 3 and a rear axle 4.

[0054] The handling machine 1 includes a motorized system for moving the machine on the ground. The motorized system for moving the machine includes, for example, an electric motor and / or an internal combustion engine, and a wheel transmission and steering control system for directing the movement of the machine.

[0055] The rolling chassis 2 carries a handling system 600 and an actuation system allowing the handling system to be moved relative to the chassis 2. The handling system 600 can also be a person handling system.

[0056] In the illustrated examples, the handling system includes an arm 6, usually called a lifting arm, articulated to the chassis 2 so that it can be moved between a lowered position and a raised position. In the case of a mast truck, the handling system includes a mast equipped with a fork system mounted to slide along the mast. The handling machine 1 may also be of the platform type with a handling system that may include a lifting arm or a scissor lift system.

[0057] The handling machine includes a processing system 10 comprising, for example, one or more computers, which allows the operator, via a human-machine interface (which may include a control element, such as a joystick), to control the handling machine, and in particular to control the movement of the machine and / or the handling system, such as the position of the arm 6.

[0058] In the example of [Fig. 1], the rolling chassis 2 includes a cab 20 having a door allowing an operator to get into the cab 20 to drive the machine. We can anticipate that the machine is equipped with a screen 13 for example to display a message relating to a malfunction signal.

[0059] The lifting arm 6 (or handling arm) is mounted on the chassis 2 and can be oriented about an axis of rotation (axis of rotation referred to as 7 in [Fig. 1]). In particular, said axis of rotation 7 is horizontal when the rolling chassis 2 is supported on a horizontal surface. The arm 6 projects forward from the machine. In one embodiment, the axis of rotation 7 is closer to the rear axle than to the front axle of the machine. The arm 6 can also be mounted on a turret that is rotatably mounted on the chassis of the machine.

[0060] The handling system, such as the arm 6, is equipped with a load or person handling device 614. As in the example illustrated in [Fig. 1], the handling device 614 may include a load carrier 14, such as a fork or bucket system, articulated to the arm 6 by a linkage 15 and configured to carry a payload 9.

[0061] Advantageously, the arm 6 is of the telescopic type. The arm 6 thus comprises at least two deployable segments, for example by means of a deployment cylinder, not shown, arranged between the at least two segments. Alternatively, the arm may be a non-telescopic arm.

[0062] The arm actuation system includes a lifting actuator, for example a hydraulic cylinder 8, which allows the arm 6 to be moved up and down about the horizontal axis 7, under the control of a piloting system. Alternatively, the lifting actuator may be an electric cylinder. The piloting system may include at least one control device 12, such as a joystick, or a control panel that communicates with the machine's processing system 10.

[0063] The processing system 10 can be configured to control the lifting cylinder, and any other cylinders, for example via a hydraulic circuit depending on the operator's input to the control system.

[0064] The handling machine includes a hydraulic circuit, which may include the hydraulic cylinder control circuit mentioned above, to enable the operation of one or more hydraulic actuators of the machine.

[0065] The machine's hydraulic circuit includes a hydraulic pressure source, such as a hydraulic pump, which pressurizes the oil in a line, called the pressure line LP, of the hydraulic circuit, and an oil reservoir T into which the oil can be pumped via a discharge line LT. The hydraulic circuit may include a hydraulic distributor.

[0066] In the following description, we are interested in a part of the hydraulic circuit which includes a system of solenoid valves EV1, EV2, linked to a hydraulic DA actuation device of a component OF of the machine (which in the example described is a braking and unbraking component of a negative braking system), whose operating condition we wish to verify.

[0067] Checking the operating status of the solenoid valve system

[0068] The machine includes a system for verifying the operating status of the EV1, EV2 solenoid valve system, which forms the control system for the DA actuation device of said OF operating element of the machine. The operating status of the EV1, EV2 solenoid valve system is verified by pressure measurement using a first pressure sensor CPI positioned on a hydraulic connection line LR between the EV1, EV2 solenoid valves of the EV1, EV2 solenoid valve system, and a second pressure sensor CP2 positioned on a supply line LA between the second EV2 solenoid valve and the DA actuation device.

[0069] The machine includes a solenoid valve control system 130, which may be part of the machine's processing system 10. The control system 130 for solenoid valves EV1 and EV2 comprises a control unit 110 for the first solenoid valve EV1 and a control unit 120 for the second solenoid valve EV2. The control units 110 and 120 are preferably separate. According to a less advantageous embodiment, however, the control units 110 and 120 may be a single control unit.

[0070] The first solenoid valve EV 1 is thus controllable by the first unit of pilot unit 110, and the second solenoid valve EV2 is controllable by the second pilot unit 120. The first pilot unit 110 and the second pilot unit 120 can be considered as part of the machine's processing system 10.

[0071] The hydraulic circuit includes a connecting line LR between solenoid valves EV1 and EV2, on which a pressure sensor CPI is positioned. In other words, solenoid valves EV1 and EV2 are in series. The hydraulic circuit includes a supply line LA from the operating element OF, which connects the second solenoid valve EV2 to an actuation device DA of the OF element, and on which a pressure sensor CP2 is positioned.

[0072] When it is indicated that the control system 130 is configured to perform a given action, this action can be performed by the control unit 110 and / or 120. Preferably, the control unit 110 performs an action related to the solenoid valve EV1 to which it is associated, and the control unit 120 performs an action related to the solenoid valve EV2 to which it is associated. The control system 130 is configured to detect a malfunction of at least one of the solenoid valves EV1, EV2 based on one or more pressures. measured by one or more CPI, CP2 pressure sensors and the controlled state of the solenoid valves by the pilot units 110, 120.

[0073] The hydraulic circuit also includes the pressure line LP, and a return (discharge) line to the tank T. The discharge line LT includes a branch connected to the solenoid valve EV1 and another branch connected to the solenoid valve EV2.

[0074] As explained above, it can be foreseen that the first unit 110 and the second unit 120 are formed by the same control unit, but preferably the units are distinct to facilitate the detection of a malfunction of the system.

[0075] The first solenoid valve EV1 is movable between a return position in The absence of power to the EV1 solenoid valve, in which the LR connection line communicates with the T tank, and an activation position, when powered, in which the LR connection line communicates with the LP pressure line. In this position, the CPI pressure sensor detects a pressure greater than or equal to a first threshold value corresponding to the pressurization of the LR connection line.

[0076] The electrically powered or unpowered state of each solenoid valve EV1, EV2 is controlled by the corresponding control unit 110, 120.

[0077] The second solenoid valve EV2 is movable between a return position when EV2 is not powered, in which the supply line LA of the actuating device DA communicates with the tank T, and an activation position when powered, in which the supply line LA of the actuating device DA communicates with the connecting line LR. In this position, the pressure sensor CP2 detects a pressure greater than or equal to a second threshold value corresponding to the pressurization of the supply line LA.

[0078] Thus, when the solenoid valves EV1 and EV2 are each returned to the discharge position, i.e. not electrically powered, the DA actuation device is not under hydraulic pressure, so that it does not act on the OF component of the machine.

[0079] Thus, in the case where said OF component is a braking / unbraking component of a spring-loaded hydraulic release (SHRR) vehicle brake system, also known as a negative brake, then the absence of pressure in the DA actuation device causes the OF braking component to remain retracted against the element to be braked. In other words, in the absence of power to solenoid valves EV1 and EV2, the OF component performs its braking function. Subsequently, and as detailed below, if the DA actuation device is pressurized with the LP line via solenoid valves EV1 and EV2, the DA actuation device transmits the supply pressure to the OF component, which is then moved to the unbraking position.

[0080] When solenoid valve EV1 is functioning correctly and is electrically powered, it moves to the activation position, in which the LR connection line is connected to the LP pressure line, so that sensor CPI measures a pressure greater than or equal to the first threshold value. Furthermore, when solenoid valve EV2 is functioning correctly and is electrically powered, with the control triggered by the pilot system 130 following a CPI pressure measurement greater than or equal to the first threshold value, it moves to the active position, in which the LA supply line is connected to the LP pressure line via the LR connection line, so that sensor CP2 measures a pressure greater than or equal to the second threshold value.In the event of a solenoid valve malfunction, the associated pressure sensor does not detect a pressure greater than or equal to the aforementioned threshold values, which indicates that the solenoid valve is not in the activation position it is supposed to occupy despite the electrical command that has been applied to it.

[0081] The term "controlled state" means a controlled state of power supply or power supply shutdown.

[0082] The return line to the tank (or discharge line) LT is connected to the first solenoid valve EV1 and the second solenoid valve EV2 such that when the solenoid valves EV1, EV2 are in the return position (i.e. not electrically powered) (see for example [Fig.2] or [Fig.6]), the connecting line LR is in communication with the return line to the tank LT via the first solenoid valve EV1 and the supply line LA is in communication with the return line to the tank LT via the second solenoid valve EV2.

[0083] In other words, the solenoid valve EV 1 includes a discharge path which allows The EV2 solenoid valve includes a discharge line connecting the LR supply line to the T reservoir in the EV1 solenoid valve's return (discharge) position (when the solenoid valve is de-energized), and a supply line connecting the LR supply line to the LP pressure line (when the solenoid valve is energized). The EV2 solenoid valve also includes a discharge line connecting the LA supply line to the T reservoir in the EV1 solenoid valve's return (discharge) position (when the solenoid valve is de-energized), and a second LP supply line connecting the LA supply line to the LR supply line when the solenoid valve is energized.

[0084] Default configuration of the solenoid valve system: braking

[0085] By default, as illustrated in [Fig. 2], the second solenoid valve EV2 is left unpowered to allow it to be in the return (discharge) position, for which the supply line LA of the actuation device DA of the OF component communicates with tank T. The first solenoid valve EV1 is also left electrically unpowered to allow it to be in the return (discharge) position for which the connecting line LR communicates with tank T. As illustrated in [Fig.2], the sensors CPI and CP2 then measure a pressure of 0 bar (noted Ob).

[0086] In this default configuration, the DA actuation device does not act on the OF component so that when the OF component is a braking and unbraking component returned to the braking position, said braking component continues to exert a braking force on a braked element of the machine.

[0087] Control of the solenoid valve system in the direction of a release

[0088] The control system 130 is configured to, upon receiving an instruction from Control of the DA actuation device, such as a brake release control for the braking system, operates the solenoid valves as follows:

[0089] Preferably, the control system 130 checks, in an initial step, that the measured pressures are below the threshold values ​​to verify that the solenoid valves are in the return (discharge) position. It can thus be anticipated that if the pressure measured by the CPI and / or CP2 sensor is greater than or equal to the corresponding threshold value, but the control system 130 has not yet transmitted an electrical command to move the EV1, EV2 solenoid valve to the active position, there is a malfunction of the EV1, EV2 solenoid valve, which is supposed to be in the discharge (return) position, but which in reality must have remained in the position corresponding to its energized state.

[0090] Step a): As illustrated for example in [Fig. 3], the first solenoid valve EV 1 is energized to connect the LR connection line with the LP pressure line. The pressure measured by the first CPI sensor in the LR connection line is then greater than or equal to the first threshold value.

[0091] Otherwise, i.e., if the pressure measured by the first CPI sensor remains below said first threshold value despite the electrical command in step a), a malfunction detection signal for solenoid valve EV1 is emitted. Indeed, in the EV1 solenoid valve's return position, the LR connection line is supposed to be pressurized by the LP pressure line. It is then likely that solenoid valve EV1 has remained in the position corresponding to its unpowered state, where the LR connection line is connected to tank T, even though it has received an electrical command to move to the activation position.

[0092] Step b): As illustrated for example in [Fig. 3] and [Fig. 4], if the pressure measured by the first sensor CPI is greater than or equal to said first threshold value, then the control system 130, preferably the second control unit 120, commands the power supply to the second solenoid valve EV2 to connect the supply line LA of the actuation device DA with the The LR connection line is already in fluidic communication with the LP pressure line via the first solenoid valve EV1. The operation of the solenoid valves is then considered normal.

[0093] Furthermore, it can be anticipated that if the pressure measured by sensor CP2 is greater than or equal to the second given threshold value, while the control unit 120 has not yet transmitted an electrical command to move solenoid valve EV2 to the active position, i.e., between step a) and step b), there is a malfunction of solenoid valve EV2, which is supposed to be in the discharge position (recall) with communication from the supply line LA to the tank T, but which in reality must have remained in the position corresponding to its electrically powered state, for which line LA is connected to line LR, and thus receives the pressure from line LP as soon as the first solenoid valve EVL is powered.

[0094] Control of the solenoid valve system in the direction of braking

[0095] The pilot units 110, 120 are configured to, upon receipt of another actuation device (AD) command instruction, such as a braking command instruction, perform the following steps:

[0096] Step c): stop the power supply to the second solenoid valve EV2 to allow it to be returned to the discharge position for which the supply line LA of the actuation device DA communicates with the tank T. A corresponding example is illustrated in [Fig.5].

[0097] Preferably, the control system 130 executes a step d) corresponding to the shutdown of the power supply to the EVL solenoid valve. A corresponding example is illustrated in [Fig.6].

[0098] Thus, if the solenoid valve EV2 is blocked in the active position in which the supply line LA communicates with the connecting line LR (as for example in the case of Figures 10A and 10B detailed below), commanding the passage of the solenoid valve EV1 to the discharge position allows (in the case of correct operation of the solenoid valve EV1) the supply line LA to be put in communication with the tank T via the connecting line LR, which allows the oil present in the supply line LA to be discharged towards the tank T, for example to obtain a braking of the machine despite the malfunction of the second solenoid valve EV2.

[0099] Advantageously, after step c), if the pressure measured by the second sensor CP2 is greater than or equal to the second threshold value, then the control system 130 emits a malfunction detection signal for the second solenoid valve EV2. Indeed, the second solenoid valve EV2 is probably stuck in the energized position when it is supposed to be de-energized.

[0100] After step d), if the pressure measured by the first CPI sensor is greater than or equal to the first threshold value, then the system emits a malfunction detection signal for the first solenoid valve EV1. Indeed, the solenoid valve EV1 is probably stuck in the energized position when it is supposed to be de-energized.

[0101] Malfunction Case

[0102] For each case of malfunction of at least one of said solenoid valves EV1, EV2, the processing system 10 commands the stopping or limitation of the machine's ground movement and / or the stopping or limitation of the actuation of the handling system. This limitation of movement and / or actuation is commanded as long as the malfunction is present.

[0103] In particular, it can be foreseen that in the event of a malfunction of at least one of said solenoid valves EV1, EV2, the control system 130 generates a malfunction signal which is sent back to the processing system 10. The processing system 10 of the machine can then execute a safety procedure according to which the movement on the ground of the machine and / or the actuation of the handling system 600 is prevented or limited, until the malfunction is resolved.

[0104] According to a first case, as illustrated for example in [Fig. 7], it may happen that the solenoid valve EV1 is stuck in the active position even though it is not electrically powered. In this case, the pressure sensor CPI measures a pressure greater than or equal to the first threshold value, and the control system 130 then detects an inconsistency between the pressure measurement by the sensor CPI and the fact that the solenoid valve EV1 is not electrically powered.

[0105] According to a second case, as illustrated for example in [Fig. 8] and [Fig. 8A], it can happen that the solenoid valve EV2 is blocked in the active position even though it is not electrically powered. Initially, as illustrated in [Fig. 8], the solenoid valves EV1 and EV2 are not powered. As illustrated in [Fig. 8A], when the solenoid valve EV1 moves to the hydraulic supply position (active position) by being electrically powered, following a corresponding instruction from the control system, for example for braking, the CPI sensor measures a pressure greater than or equal to the first threshold value, which indicates correct operation of the solenoid valve EV1, but the pressure sensor CP2 measures a pressure greater than or equal to the second threshold value even though the control system has not yet commanded the electrical supply to the solenoid valve EV2 (which is therefore supposed to be in the discharge position).The control system 130 then detects an inconsistency between the pressure measurement by the CP2 sensor and the fact that the EV2 solenoid valve is not electrically powered.

[0106] According to a third case, as illustrated for example in Figures 9, 9A, and 9B, it may happen that the solenoid valve EV1 is blocked in the active position while it is energized, and that the solenoid valve EV2 is also in the active position when electrically energized, but not blocked (see [Fig. 9]). In this configuration, the supply line LA is pressurized so that the actuation device DA actuates the braking and unbraking mechanism OF, which allows the brakes to be unbraked.

[0107] When the operator commands the brakes, the control system 130 stops supplying power to the solenoid valve EV2, returning it to the discharge position whereby the supply line LA communicates with the discharge line LT. This allows the oil to be returned to the reservoir T, thus enabling braking by returning the braking and release mechanism to its braking position when it is no longer pressurized by the actuating device DA ([Fig. 9A]). The control system 130 also stops the power supply to the solenoid valve EVL. However, as illustrated in [Fig. 9B], the solenoid valve EV1 remains locked in the active hydraulic supply position, so that despite the power supply to the solenoid valve EV1 being stopped, the pressure sensor CPI measures a pressure greater than or equal to the first corresponding threshold value. The 130 control system thus detects a malfunction of the EVL solenoid valve

[0108] According to a fourth case, as illustrated for example in [Fig. 10], it may happen that the solenoid valve EV2 is electrically powered and locks in the active hydraulic supply position, and that the solenoid valve EV1 is also in the active position, being electrically powered, but not locked (see [Fig. 9]). In this configuration, the supply line LA is pressurized so that the actuation device DA actuates the braking / unbraking mechanism, thus releasing the brakes.

[0109] When the operator commands the brakes, the control system 130 stops supplying power to the solenoid valve EV2 to return it to the discharge position, but the solenoid valve EV2 remains stuck in the hydraulic supply position in which the supply line LA communicates with the connection line LR. The control system 130 detects that the pressure measured by the sensor CP2 remains greater than or equal to the second corresponding threshold value (despite the power supply to the solenoid valve EV2 being cut off) and thus detects a malfunction ([Fig. 1OA]) which prevents the discharge of oil from the supply line LA and therefore the braking.

[0110] The control system 130 then stops supplying power to the solenoid valve EV1 to return it to the discharge position so as to connect the supply line LR to the discharge line LT (and no longer to the pressure line LP). Thus, the oil present in the supply line LA is discharged into the tank T via the line The LR connection and the LT discharge line, passing through the EV1 solenoid valve ([Fig.1OB]). The braking element is then no longer under pressure and is returned to the unbraked position.

[0111] In each case, the control system 130 then generates a malfunction signal and preferably the control system 130 or the processing system 10 executes a procedure to put the machine into safety, for example by preventing or limiting the movement of the machine and / or the handling system.

[0112] Control unit and processing system

[0113] The control unit or units and the processing system may, for example, take the form of a processor and a data memory in which computer instructions executable by said processor are stored, or take the form of a microcontroller.

[0114] In other words, the functions and steps described can be implemented as a computer program or via hardware components (e.g., programmable gate arrays). In particular, the functions and steps performed by the control unit(s) and / or the processing system can be implemented 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.

[0115] Each control unit or processing system is thus an electronic and / or computer unit or system. When it is specified that said unit or system is configured to perform a given operation, this means that the unit or system includes computer instructions and the corresponding means of execution that enable said operation to be performed and / or that the unit or system includes corresponding electronic components.

[0116] The invention is not limited to the embodiments illustrated in the drawings. Consequently, it must be understood that, where the features mentioned in the appended claims are followed by reference numerals, these numerals are included solely for the purpose of improving the intelligibility of the claims and are in no way limiting the scope of the claims.

[0117] Furthermore, the term "including" does not exclude other elements or steps. In addition, features or steps that have been described with reference to one of the modes of The embodiments described above can also be used in combination with other features or steps of other embodiments described above.

Claims

Demands

1. Handling machine comprising a rolling chassis (2), a ground-moving drive system for the machine, and a handling system (600) carried by the rolling chassis (2), the handling machine also comprising: - a hydraulically actuable component (OF), such as a braking and release component; - a hydraulic actuation device (DA) configured to actuate the component (OF); - a hydraulic circuit comprising an oil reservoir (T), a delivery line (LT) communicating with the reservoir, and a pressure line (LP) enabling the actuating of said component (OF) when the hydraulic actuation device (DA) is hydraulically connected to the pressure line (LP);- a control system (130) comprising a first control unit (110) and a second control unit (120), and a solenoid valve system comprising a first two-way solenoid valve (EV1), controllable by the first control unit (110) and a second two-way solenoid valve (EV2), controllable by the second control unit (120); - a hydraulic connecting line (LR) between the solenoid valves (EV1 and EV2); - a first sensor, called the first pressure sensor (CPI), configured to measure a parameter representative of the hydraulic pressure in the connecting line (LR); - a hydraulic supply line (LA) of the actuation device (DA), which connects the second solenoid valve (EV2) to the actuation device (DA); - a second sensor, called the second pressure sensor (CP2), configured to measure a parameter representative of the hydraulic pressure in the supply line (LA);the first solenoid valve (EV1) being movable between: a discharge position in the electrically unpowered state of the first solenoid valve (EV1), in which the connecting line (LR) communicates with the tank (T), and a hydraulic supply position, in the electrically powered state of the first solenoid valve (EV1), in which the; connection line (LR) communicates with the pressure line (LP), the second solenoid valve (EV2) being movable between: a discharge position, in the electrically unpowered state of the second solenoid valve (EV2), in which the supply line (LA) of the actuation device (DA) communicates with the tank (T), and a hydraulic supply position, in the electrically powered state of the second solenoid valve, in which the supply line (LA) of the actuation device (DA) communicates with the connection line (LR); the pilot system (130) being configured to detect a malfunction of at least one of the solenoid valves (EV1, EV2) as a function of one or more pressures measured by one or more of the pressure sensors (CPI, CP2) and the electrical power state of one or more of the solenoid valves.

2. Machine according to claim 1, wherein the machine includes a processing system (10), which may include the piloting system (130), said processing system (10) allowing the machine's ground movement and the actuation of the handling system to be controlled, in the event of the detection of a malfunction of at least one of said solenoid valves (EV1, EV2) by the piloting system (130), the processing system (10) is configured to control the stopping or limitation of the machine's ground movement and / or the stopping or limitation of the actuation of the handling system.

3. A machine according to claim 1 or 2, wherein, upon receiving a first instruction for a control of the actuation device (AD), such as a brake release command, the control system (130) is configured to: a) energize the first solenoid valve (EV1) to enable communication between the connecting line (LR) and the pressure line (LP), b) if the pressure measured by the first sensor (CPI) is greater than or equal to a first threshold value, and if the pressure measured by the second sensor (CP2) is less than a second threshold value, then the second control unit (120) commands the power supply to the second solenoid valve (EV2) to enable communication between the connecting line (LR) and the pressure line (LP). communication the supply line (LA) of the organ (OF) with the connection line (LR) which already communicates with the pressure line (LP) via the first solenoid valve (EV1), otherwise the control system (130) generates a malfunction detection signal of at least one of the solenoid valves (EV1, EV2).

4. Machine according to claim 3, wherein, before step a), if the pressure measured by the first sensor (CPI) is greater than or equal to the first threshold value, then the control system (130) generates a malfunction detection signal of the first solenoid valve (EV1).

5. Machine according to claim 3 or 4, wherein, between step a) and b) if the pressure measured by the second sensor (CP2) is greater than or equal to the second threshold value, then the control system (130) generates a malfunction detection signal of the second solenoid valve (EV2).

6. Machine according to any one of the preceding claims, wherein, upon receipt of a second instruction for an actuation device (DA) command, such as a braking command, the pilot system (130) is configured to: c) cut off the power supply to the second solenoid valve (EV2) to enable it to be in the discharge position for which the supply line (LA) of the actuation device (DA) communicates with the tank (T), d) preferably, cut off the power supply to the first solenoid valve (EV1) to enable it to be in the discharge position for which the connecting line (LR) communicates with the tank (T).

7. Machine according to claim 6, wherein, between step c) and d) if the pressure measured by the second sensor (CP2) is greater than or equal to the second threshold value, then the pilot system (130), preferably the second pilot unit (120), is configured to generate a malfunction detection signal of the second solenoid valve (EV2).

8. Machine according to claim 6 or 7, wherein, after step d) if the pressure measured by the first sensor (CPI) is greater than or equal to the first threshold value, then the control system (130) is configured to generate a malfunction detection signal for the first solenoid valve (EV1).

9. Machine according to any one of the preceding claims, wherein the actuation device (AD) comprises a hydraulic valve.

10. Machine according to any one of the preceding claims, wherein the actuation device (AD) comprises a hydraulic distributor.

11. Machine according to any one of the preceding claims, wherein the member (OF) actuated by the actuation device (DA) is a braking and unbraking member.

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