Control device for handling machine, and corresponding handling machine

Abstract

The invention relates to a control device (2) for a material handling machine configured such that pivoting a material handling control system (220) about a first axis (A21) generates a control signal for a first function of the machine's material handling system, and pivoting the material handling control system (220) about a second axis (A22) generates a control signal for a second function of the machine's material handling system. The invention also relates to a corresponding material handling machine. See Fig. 5 for abbreviations.

Description

Title of the invention: Control device for handling machine, and corresponding handling machine FIELD OF INVENTION

[0001] The present invention relates generally to handling machines and the control of the machine for its movement on the ground and / or the handling of loads or persons.

[0002] Such a machine may in particular be made in the form of a telescopic arm truck, a mechanical excavator, a bucket loader, a platform, a mast truck or another type of machine. EARLIER ART

[0003] The prior art is known of handling machines which include a control device enabling an operator to pilot these machines.

[0004] In particular, control devices are known which allow the machine to be operated from inside a machine cockpit, and / or while remaining on the ground from outside the machine cockpit.

[0005] However, it is desirable to improve the comfort and / or precision of piloting such machines. Summary of the invention

[0006] To this end, the invention relates to a control device for a handling machine comprising a rolling chassis and a load or person handling system carried by the rolling chassis, the control device comprising: - a main body; and - a handling control system mounted articulated to the main body around a first articulation axis, and around a second articulation axis, the two articulation axes being intersecting each other; the control device being configured such that: The pivoting of the handling control system around the first axis generates a control signal for a first function of the machine's handling system, such as the movement of a lifting arm of the handling system; the pivoting of the handling control system around the second axis generates a control signal for a second function of the machine's handling system, such as the movement of a handling tool system relative to the lifting arm of the handling system.

[0007] The control device according to the invention allows the operator to intuitively control the machine's handling system, thanks to the two axes secant pivoting of the handling control system, which allow the operator to easily control a first function of the handling system, such as the tilting of an arm of the handling system, by pivoting the handling control system of the control device around the first articulation axis, and a second function of the handling system, such as the digging or tilting of a tool of the handling system relative to an arm of said handling system, by pivoting the handling control system of the control device around the second axis.

[0008] According to one embodiment of the invention, at least in the unloaded state of the handling control system, said handling control system extends mainly within an imaginary parallelepiped in which the main body of the device is inscribed. In other words, the handling control system extends mainly within the volume defined by the main body of the control device.

[0009] The arrangement and mobility of the handling control system allow the operator to benefit from ergonomic and comfortable operation of the machine's handling system using such a control device. This device allows the operator to control the machine's handling system by placing one hand, preferably the palm of the hand, on the handling control system. Advantageously, the control device also allows the operator to control the machine's ground movement and, preferably, its direction using the other hand, which can activate a movement control system on the control device to control the machine's ground movement and, preferably, its steering system.

[0010] Thanks to such an arrangement of the handling control system, the handling functions are easy for the operator to use. In one embodiment, the handling control system forms a handle articulated to the main body of the control device on which the operator can place the palm of a hand, for example the right hand, to rotate said handle around one and / or the other of the articulation axes provided according to the desired movements of the machine's handling system.

[0011] According to one embodiment, at least in the unstressed state of the handling control system, the handling control system extends at least in part, preferably predominantly, into an imaginary parallelepiped in which the main body of the control device is inscribed.

[0012] According to one embodiment, the first articulation axis and / or the second articulation axis are parallel or inclined with respect to the lower face of the imaginary parallelepiped. It may be provided that one of the axes is inclined and the other parallel to the lower face of the imaginary parallelepiped, or that the two axes are inclined or that the two axes are parallel to the lower face of the imaginary parallelepiped.

[0013] According to one embodiment, in the stressed state in at least one of the extreme pivoting positions around the first articulation axis, the end part of the handling control system opposite the articulated end of said handling control system extends out of the imaginary parallelepiped, preferably out of the upper face of the imaginary parallelepiped when the control system is inclined upwards or out of the lower face of the imaginary parallelepiped when the handling control system is inclined downwards.

[0014] According to one embodiment, the control device has an outer peripheral contour and the handling control system forms a part of said outer peripheral contour.

[0015] According to one embodiment, the main body of the device having a lateral part and, in the unstressed state of the handling control system, said lateral part has an elongated and curved shape in the extension of which extends the handling control system, the free end of which extends opposite an end of said lateral part opposite the end of said lateral part to which the handling control system is articulated, said lateral part and the handling control system delimiting between them a space, preferably through, in which a part of the operator's hand can extend when said hand is resting on the handling control system.

[0016] According to an embodiment, in which the control device also includes a control system for moving, and preferably steering, the machine, such as a joystick, configured to allow moving and preferably steering said machine, the movement control system being located on a lateral part of the main body of the control device, opposite the lateral part of the main body to which the handling control system is articulated.

[0017] According to one embodiment, the or each lateral part of the control device forms a gripping area, preferably annular, adapted to allow the control device to be held and the movement control system to be operated by one hand, while the handling control system articulated to the other lateral part of the main body can be operated by the operator's other hand.

[0018] According to one embodiment, the main body of the control device has an elongated shape between the handling control system and the movement control system.

[0019] According to one embodiment, the control device is a steering wheel allowing the machine to be steered according to the rotation of said main body relative to the chassis of the machine or relative to the terrestrial reference frame.

[0020] According to one embodiment, the control device is removable from a pilot station carried by the chassis of the handling machine.

[0021] According to one embodiment, the main body of the control device is configured to be able to be attached to equipment, such as a harness, with which an operator is able to be equipped to allow the operator's arms to be relieved at least partially of the weight of the control device.

[0022] According to one embodiment, the control device includes a radio communication module for transmitting commands by radio to a processing unit of the handling machine, the processing unit being configured to control the ground movement of the machine and / or the actuation of the handling system of the machine according to the commands received.

[0023] According to one embodiment, the handling control system carries one or more control elements, such as a control wheel, for example to generate a telescoping command for a machine arm.

[0024] According to one embodiment, the handling control system has an angular range of movement around the first articulation axis and / or around the second articulation axis, of at least 10°, preferably 20°.

[0025] The invention also relates to a handling machine comprising: - a rolling chassis; - a ground movement system for the rolling chassis and a steering system; - a handling system carried by the rolling chassis; - a control device according to any one of the preceding embodiments.

[0026] According to one embodiment, the machine includes a pilot station carried by the rolling chassis; the pilot station includes a control device receiving support configured to receive the control device, preferably in a removable manner.

[0027] According to one embodiment, the machine's pilot station is devoid of a steering control element and / or a travel speed control element and / or an additional handling control element, usable in place of the control device.

[0028] The control device may also include one or more of the following features taken in any technically permissible combination.

[0029] According to one embodiment, the cockpit comprises: - a seat, and a sensor for the presence of a driver on the seat, such as a weight sensor in the seat; - a seat belt for the driver and a system for fastening and unfastening the seat belt; the machine also includes a processing unit which comprises: a driver presence detection module configured to detect the presence or absence of the driver in the seat from data provided by the driver presence sensor in the seat; a belt status detection module to detect whether the driver's belt is fastened or unfastened; a control device state detection module configured to detect the positioned or removed state of the removable control device relative to the receiving support; a radio communication module configured to communicate with a radio communication module of the control device; The processing unit also includes a machine operation management module configured for: to allow the machine to operate in a so-called nominal mode, when the presence of the driver on the seat, the fastened state of the seatbelt and the positioned state of the control device in or on the receiving support are detected, the control device being configured to, in said nominal mode, allow control of at least part of the machine's movement and steering system and the machine's handling system; and limit the machine's operation to a so-called degraded mode of operation when at least one of the following conditions is met: - the control device is removed from the receiving support in the cockpit; - the absence of the driver in the cockpit seat is detected; - the driver's seat belt is unfastened; The degraded operating mode is an operating mode in which: - the maximum allowable value of at least one machine operating parameter is reduced compared to the maximum allowable value of said machine operating parameter in nominal mode; - and / or a machine function available in nominal mode is deactivated in degraded mode; the radio communication module of the control device being configured to communicate with the radio communication module of the processing unit for allow the control device to control ground movement and direction and / or the handling system when the control device is removed from the receiving support; and, in the state positioned in or on the receiving support, the control device is mounted pivotally relative to or with the receiving support so as to form a steering control element by said pivoting mobility, such as a steering wheel, to enable the driver present in the machine's cockpit to control a steering system of the machine's wheels by pivoting the control device.

[0030] Thanks to the rotary mobility of the control device, the machine can thus be devoid of a conventional steering wheel permanently linked to the wheel steering system, thanks to the removable control device which can be used as a steering wheel.

[0031] Having a removable control device usable as a steering element by its pivoting mounting relative to or with the receiving support allows the formation of a steering wheel, which the user (driver) can grasp with both hands, which allows for comfort and precision in driving the vehicle when the user is in the vehicle, unlike the use of a button or joystick, while also providing the possibility of piloting the machine with this control device outside the machine thanks to its removability and the presence of the movement control system which forms part of the control device.

[0032] According to one embodiment, in the positioned state of the control device in or on the receiving support, it is the entire removable control device that is mounted pivotally relative to the chassis of the machine to control the direction of the vehicle.

[0033] In the state of being removed from the control device relative to the receiving support, it is the movement control system, for example a joystick and buttons, which allows the user to control the movement on the ground and preferably the direction of the machine.

[0034] According to a particular aspect, the movement and steering control system allows for the control of movement (preferably speed), direction, and direction of travel (in particular, forward, reverse, or neutral). The movement and steering system may thus include buttons for selecting forward, reverse, or neutral, and a joystick for steering the machine by tilting it left and right and for moving the machine at a speed proportional to the joystick's forward or backward movement.

[0035] The user can thus control the ground movement and direction of the machine from outside the machine. Activating the degraded operating mode when the control device is removed allows for consideration of the fact that steering using the movement and steering control system mounted on the body of the control device is less precise and less comfortable to use than the steering element formed by the control device itself, such as a steering wheel, when the control device is positioned in or on the receiving support and the user can rotate it with both hands to steer the vehicle.

[0036] The limitation of performance or capacity of the machine when the user operates the machine with the control device, but without said control device being positioned in its receiving support of the cockpit, thus allows the user to operate the machine from outside the cockpit of the machine while reducing the risk of accident.

[0037] In particular, when the handling system includes a lifting arm, reducing the maximum ground travel speed of the machine, and / or the maximum acceleration, makes it possible to limit the instability of the machine and therefore the risk of the machine tipping over to take into account the fact that a user located outside the machine's cockpit can hardly judge or feel the effects of piloting the machine with regard to the instability of the machine or the fact that piloting the machine is more difficult for a user located outside the cockpit, as opposed to piloting the machine by a user present in the cockpit.

[0038] The nominal operating mode is a mode in which the machine exhibits maximum operating capabilities (i.e., capabilities corresponding to the maximum operating values, which may nevertheless be limited by safety parameters defined, for example, in charts, based on the weight of the load being handled and / or the angle of the arm and / or the lateral inclination of the machine...). In other words, in nominal mode, all the machine's functions are usable up to their maximum value.

[0039] According to one embodiment of the invention, in degraded mode, the processing unit is configured to limit the maximum value of the speed, or acceleration, of ground movement of the rolling chassis of the machine compared to the maximum value of the speed, or acceleration, allowed in nominal mode.

[0040] According to one embodiment of the invention, the handling system comprises a lifting arm that can be tilted relative to the chassis, between a low position and a high position, the lifting arm being equipped with handling equipment, such as a work platform or a fork system, the lifting arm being preferably mounted pivoting at the rear of the machine, and in which, in degraded mode, the processing unit is configured to limit the maximum allowable value of the angular velocity and / or angular acceleration of the lifting arm relative to the maximum value of the angular velocity and / or angular acceleration of the lifting arm allowed in nominal mode.

[0041] According to one embodiment of the invention, the handling system comprises a lifting arm that can be tilted relative to the chassis, between a low position and a high position, the lifting arm being equipped with handling equipment, such as a work platform or a fork system, the lifting arm being telescopic and preferably pivotally mounted at the rear of the machine, and, in degraded mode, the processing unit is configured to limit the maximum allowable exit speed and / or exit acceleration of the lifting arm relative to the maximum allowable exit speed and / or exit acceleration of the lifting arm in nominal mode.

[0042] According to one embodiment of the invention, in the state positioned in or on the receiving support, the control device is mounted pivotally fixed to the receiving support which includes a shaft, called the steering shaft, coupled to the wheel steering system so that the pivoting of the control device pivots the steering shaft relative to the chassis.

[0043] According to one embodiment of the invention, the control device includes a rechargeable battery and an electrical connection system connected to the battery, the electrical connection system of the control device is configured so that, in the positioned state of the control device in or on the receiving support, it is connected to an electrical connection system of the receiving support to allow the battery to be recharged by an electrical power supply system of the machine.

[0044] According to one embodiment of the invention, the control device state detection module is connected to the electrical connection system of the receiving support so as to detect the positioning of the control device in or on the receiving support when the electrical connection system of the control device is connected with the electrical connection system of the receiving support.

[0045] According to one embodiment of the invention, the electrical connection system of the control device is located on a side face and / or on a bottom face, as opposed to a top face of the control device which carries the control system for the machine's ground movement and steering system and the control system for the machine's handling system, while the electrical connection system of the receiving support is located on a side face and / or on a top face of the receiving support, so as to allow an automatic connection of the electrical connection systems between them when the user drops the control device by gravity into the receiving support.

[0046] According to one embodiment of the invention, the machine includes a locking system for locking the control device to hold it in position in or on the receiving support, and for unlocking the control device from the receiving support to remove it.

[0047] According to one embodiment of the invention, the machine's movement control system is configured to allow control of: - the speed and / or acceleration of the machine's rolling chassis on the ground; and - the direction of ground movement of the machine's rolling chassis; and, - at least in degraded mode, the direction of the machine to allow a user to control the direction of ground movement of the machine's rolling chassis from outside the driver's seat.

[0048] According to one embodiment of the invention, the handling system comprising a lifting arm tiltable relative to the chassis, between a low position and a high position, the lifting arm being equipped with a handling equipment (handling tool system), such as a work platform or a fork system, mounted movable relative to the lifting arm, the lifting arm preferably being telescopic and preferably mounted pivoting at the rear of the machine, the handling control system is configured to allow control of: the angle of inclination of the lifting arm relative to the rolling chassis and the movement of the equipment relative to the lifting arm. Brief description of the drawings

[0049] 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:

[0050] - [Fig. 1] [Fig. 1] is a schematic side view of a handling machine with a lifting arm according to one embodiment, the handling machine being controllable by a control device which can be housed in a pilot station of the machine, in a removable or non-removable manner, or which can be held by an operator outside the pilot station and which allows the ground movement of the machine and the movement of the handling system of the machine to be controlled;

[0051] - [Fig.1A] [Fig.1A] is a schematic representation of a processing unit of a handling machine according to an embodiment of the invention;

[0052] - [Fig.2] [Fig.2] is a perspective view from a first viewing angle of a control device according to an embodiment of the invention;

[0053] - [Fig.3] [Fig.3] is a perspective view from a second viewing angle of a control device according to the embodiment of [Fig.2];

[0054] - [Fig.4] [Fig.4] is a perspective view from a third viewing angle of a control device according to an embodiment of [Fig.3];

[0055] - [Fig.5] [Fig.5] is a perspective view from a fourth viewing angle of a control device according to an embodiment of [Fig.4]. DETAILED DESCRIPTION

[0056] A more detailed description of the invention is given below with reference to the accompanying drawings, in which embodiments of the invention are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for clarity. Similar numbers refer to similar elements in all the drawings. However, the invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0057] 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.

[0058] A handling machine 1 is proposed which includes a rolling chassis 12.

[0059] According to one embodiment, the rolling chassis 12 is equipped with a driver's seat 120.

[0060] Advantageously, the cockpit includes a seat and a seat belt system. The seat belt system includes a seat belt and a belt fastening and unfastening device.

[0061] The cockpit 120 can be part of a cabin as illustrated for example in [Fig. 1]. A load or person handling system 600 is carried by the chassis 12. The cockpit 120 can be equipped with a screen 130.

[0062] The chassis 12 can be supported on the ground by means of a front axle 13 and a rear axle 14.

[0063] In [Fig. 1], an example of a material handling machine 1 with a handling arm has been shown. Alternatively, the material handling machine may be a machine of another type, such as a mast truck or a scissor lift or a boom lift.

[0064] The handling machine 1 includes a ground movement and steering system for the machine's rolling chassis, which may hereafter be referred to simply as the ground movement system. The ground movement system includes, for example, an electric motor and / or an internal combustion engine, and a wheel transmission system. The ground movement and steering system may also include a system for selecting forward, reverse, or neutral (the so-called FNR system, which stands for Forward, Neutral, Rear). The ground movement and steering system includes a steering system for controlling the direction of the machine's movement, preferably by controlling the direction of at least some of the machine's wheels.It can therefore be anticipated that controlling the movement of the machine includes controlling the direction of movement, preferably the direction of movement (forward / backward), and preferably the speed of movement.

[0065] The rolling chassis 12 also carries an actuation system for the handling system 600, such as a jack system, allowing the handling system 600 to be moved relative to the chassis 12. The handling system 600 in [Fig.1] is a load handling system, but can be a person handling system.

[0066] As detailed below, the handling machine includes a processing unit 10 (also called a control unit), including for example a computer, which allows the ground movement of the machine and the handling system to be controlled via a human-machine interface.

[0067] The human-machine interface includes at least one control device 2 as detailed below, which may or may not be removable from a receiving support with which the cockpit 120 is equipped. According to one embodiment, the cockpit further includes a handling control system, such as a joystick, which remains present in the cockpit 120.

[0068] Handling system

[0069] The handling system 600 includes a handling tool system 614, which includes, for example, a tool holder 14 and a tool attached to the tool holder. The tool is, for example, a fork system or bucket or a work platform (basket). The handling system 600 also includes a moving drive device 6, such as a lifting arm, at least for raising and lowering the handling tool system 614.

[0070] The handling system 600 may also include a system for moving the tool system 614, such as a tilting cylinder, relative to the up and down drive device 6 for the tool system 614.

[0071] According to one embodiment of the invention and as illustrated in [Fig. 1], the handling system 600 comprises an arm 6, commonly called a lifting arm, articulated to the rolling chassis 12 so as to be able to be moved between a lowered position and a raised position. In the case of a mast truck, the handling system comprises a mast equipped with a system of forks mounted to slide along the mast.

[0072] The lifting arm 6 (or handling arm) is mounted on the chassis 12 and can be oriented about an axis of rotation 7. In particular, said axis of rotation 7 is horizontal when the rolling chassis 12 is supported on a horizontal surface. In one particular aspect, the arm 6 protrudes towards the front of the machine. In one embodiment, the axis 7 is closer to the rear axle than to the front axle of the machine.

[0073] In the illustrated example, the arm 6 is equipped with 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.

[0074] According to one embodiment of the invention, 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.

[0075] As illustrated in the example of [Fig.1], the arm 6 actuation device includes in particular a lifting actuator, for example a hydraulic cylinder 8, which allows the arm 6 to be moved up and down around the axis 7. Alternatively, the lifting actuator may be an electric cylinder.

[0076] The processing unit 10 can be configured to control the lifting actuator, for example via a hydraulic circuit (not shown), depending on the operator's request for a handling control system 220 of the control device 2 or, when present, of an additional handling control system mounted in the cockpit.

[0077] The hydraulic circuit may include a hydraulic pressure source and a hydraulic distributor interposed between the hydraulic pressure source and a control solenoid valve for the hydraulic cylinder 8.

[0078] Alternatively, the handling machine can be fully electric.

[0079] Control device

[0080] The control device 2 comprises a main body 210 and a handling control system 220 mounted articulated to the main body 210 around two axes A21, A22 of articulation intersecting each other (i.e. geometric axes that intersect).

[0081] It can be foreseen that the articulation axes A21, A22 are perpendicular to each other, or that said axes form an angle between them within the range [60°-130°].

[0082] In the following description, the mobility of the handling control system around axis A21 allows the transmission, for example by radio, to the processing unit 10 of the machine of a signal which is interpreted as a command to move the lifting arm 6 of the handling machine, so that this axis 21 is called the lifting axis. However, in other embodiments, the articulation around said axis 21 can be used to control another function of the handling system of the handling machine, which can be of various types.

[0083] The handle formed by the handling control system 220 allows the operator, when pulling the handle towards him, to control the upward tilt of the arm, and, conversely, when pushing the handle, to control the downward tilt of the arm 6, both inside and outside the cockpit when the control device 2 is removable.

[0084] Similarly, in the following description, the mobility of the control system around axis A22 allows the transmission, for example by radio, to the processing unit 10 of the machine of a signal which is interpreted as a command to move the tool system 614 relative to the lifting arm 6 of the handling machine, so that this axis 22 is called the digging axis. However, in other embodiments, the articulation around said axis 22 can be used to control another function of the handling system of the handling machine, which can be of various types.

[0085] Thus, in the illustrated examples, the lifting axis A21 controls the pivoting of the machine arm 6 when an operator rotates the handling control system 220 relative to the main body 210 around said lifting axis A21. The digging axis A22 controls the pivoting of a tool of the machine's handling system 600 relative to the machine arm 6 when an operator rotates the handling control system 220 relative to the main body 210 around said digging axis A22.

[0086] It can be foreseen that the handling control system 220 has an angular range of movement around the lifting axis A21 and / or around the digging axis A22, of at least 10°, preferably 20°.

[0087] The handling control system 220 may have an elongated shape along the digging axis A22.

[0088] In the unstressed state of the handling control system 220, the handling control system 220, preferably the free end 2202 opposite the end 2201 articulated to the main body 210, extends predominantly in a parallelepiped PR210 in which the main body 210 is inscribed.

[0089] The parallelepiped PR210 is an imaginary envelope. In the example in [Fig.2], the parallelepiped PR210 is represented by dashed lines.

[0090] In the stressed state of the handling control system 220 in at least one of the extreme pivoting positions, it can be foreseen that the handling control system 220, preferably the free end 2202 of the handling control system 220 opposite the end 2201 of the control system 220 which is articulated to the main body 210, extends at least partly out of the parallelepiped PR210 in which the main body 210 of the control device is inscribed.

[0091] Preferably, the lifting and digging axes A21, A22 are parallel or inclined with respect to a mean plane PM2 in which the main body 210 of the control device 2 extends. The mean plane PM2 can be defined as the plane which extends equidistantly between the plane passing through the upper surface FS21 and the plane passing through the lower surface FI21 of the parallelepiped PR210 in which the main body 210 of the control device is inscribed.

[0092] According to a particular aspect, the lower face, preferably coinciding with the face FI21, of the main body 210 of the control device 2, is parallel or coinciding with a coupling surface of the control device 2 which allows the coupling of the control device 2 onto a receiving support included in a cockpit 120 of the handling machine 1.

[0093] The terms "lower" and "upper" are used by reference to a state of use of the control device by an operator who is piloting the machine from inside the cockpit or from outside the cockpit.

[0094] According to one embodiment, the average plane PM2 is thus parallel to the lower face of the main body 210 of the control device 2. In particular, when the control device is removable, the average plane PM2 is parallel to a coupling surface of the control device 2 which allows the coupling of the control device 2 onto a receiving support included in a pilot station 120 of the handling machine 1.

[0095] When the main body 210 of the control device 2 is usable as a steering wheel in the cockpit, whether removable or not, allowing the machine to be steered by rotating the control device 2 relative to the chassis around an axis of rotation, which may be the axis of a steering column on which the control device can be mounted, it may be provided that the axes A21, A22 of Lifting and digging are parallel or inclined with respect to the plane orthogonal to this axis of rotation of the control device.

[0096] The control device 2 has a peripheral contour 200 ([Fig.5]) and the handling control system 220 forms part of said peripheral contour 200 in its unloaded state. This arrangement of the handling control system 220 allows it to form a side handle that the operator can comfortably manipulate.

[0097] The main body 210 of the device includes in particular a right-hand side portion 210A to which the handling control system 220 is articulated. A space E2A is left free between a portion of the right-hand side portion 210A of the main body and a portion of the handling control system 220, to allow the passage of part of the operator's hand within this space E2A between the right-hand side portion 210A of the main body and the handling control system 220.

[0098] According to one embodiment, in the unloaded state of the handling control system 220, the lateral part 210A has a curved, and preferably elongated, shape, along which the handling control system 220 extends. As illustrated, for example, in [Fig. 5], the free end 2202 of the handling control system 220 is located opposite an end 2101A of said lateral part 210A, which is opposite the end 2102A of said lateral part 210A to which the handling control system 220 is articulated. Said lateral part 210A of the main body 210 and the handling control system 220 define between them a space E2A, preferably through-space, in which a portion of the operator's hand can extend when said hand is resting on the handling control system 220.

[0099] In the stressed state in at least one of the extreme pivoting positions around the lifting axis A21, the end part 2202 of the control system 220 opposite the articulated end 2201 of said control system extends out of the parallelepiped PR210, in particular above the upper face FS21 when the control system 220 is inclined upwards or below the lower face FI21 when the control system 220 is inclined downwards.

[0100] Advantageously, when the control system 220 is stressed from one extreme pivoting position to the other extreme pivoting position around the lifting axis A21, the free end of the handling control system 220 passes on either side of the middle plane PM2 of the main body 210.

[0101] According to a preferred embodiment and as illustrated for example in Figures 4 and 5, the device comprises a control system 250 for movement and preferably direction configured to allow movement and direction of said machine, also referred to hereafter as the displacement control system 250. The displacement control system 250 is located on a lateral side 210B of the main body 210 of the control device 2, opposite the side 210A of the main body 210 at which the handling control system 220 is articulated.

[0102] According to a particular aspect, the travel control system 250 comprises a control system 252 for forward movement, reverse movement, and preferably a neutral position, for example formed by buttons, and a control system 251 for direction and speed, such as a joystick. It can be envisaged that pivoting the joystick to the left or right allows the machine to be steered to the left or right, and that pivoting the joystick forward or backward (with reference to the operator positioned behind the control device) allows the forward or backward movement to be controlled (a control relay may or may not be implemented by a joystick in the machine's cab).Advantageously, the left-center-right movement on the joystick of the control device corresponds to left-center-right direction when in radio control mode, and otherwise the tilt (orientation) of the control device can control the direction like a traditional steering wheel.

[0103] According to one embodiment, as illustrated for example in the figures, the left lateral part 210B of the control device is thus provided with a joystick 251 forming a forward and direction control system that can be manipulated with the thumb of the left hand, and buttons 252 that can be operated by another finger, while the operator can, with his right hand, operate the handling control system 220 by rotating it relative to the main body 210 around one and / or the other of the axes A21, A22.

[0104] The left lateral part 210B of the control device 2 can form a gripping area, preferably annular, adapted to allow the control device 250 to be operated by the left hand.

[0105] According to one embodiment, the outer contour 200B of the left lateral part 210B is closed and continuous. In other words, the outer contour 200B has no portion that would be movable relative to the rest of the outer contour 200B of the left lateral part 210B. Conversely, the outer contour 200A is open to allow the mobility of the handling control system 220 articulated to the right lateral part 210A of the main body.

[0106] According to one embodiment, the control device 2 is configured so that it can be grasped by its opposite lateral ends by both hands, one of said lateral ends being formed by the handling control system 220 and the distance between the opposite ends of the control device 2 being between 38 and 42 cm.

[0107] According to a particular aspect, the main body 210 of the system has an elongated shape between the handling control system 220 and the movement control system 250.

[0108] The main body 210 can be fitted with a screen 280, preferably in the central part of the control device, i.e., between the handling control system 220 and the movement control system 250. The central part of the device can be fitted, either in combination or alternatively, with control elements, such as buttons and / or switches, for controlling machine functions.

[0109] According to a preferred embodiment, the control device is a steering wheel for steering the machine based on the rotation of the main body 210, at least when the steering wheel is mounted, removably or permanently, on a support 290 attached to the driver's seat 120 of the machine. In another variant, the control device may be mounted, removably or permanently, on a support 290 attached to the driver's seat 120 of the machine, but the main body 210 may not be pivotable. In this case, the steering is controlled by means of the steering control system 251 of the control system 250.

[0110] Preferably, the control device is removable from the pilot station 120 carried by the chassis 12 of the handling machine, and in particular from a receiving support 290 which is integral with the chassis.

[0111] According to a particular aspect, the control device 2 includes a radio communication module 228 for transmitting commands by radio to the processing unit 10 of the handling machine 1. The processing unit 10 is configured to control the ground movement and direction of the machine, and the actuation of the handling system 600 of the machine according to the commands received transmitted by the radio communication module of the control device 2.

[0112] As illustrated for example in Figures 3 to 5, the handling control system 220 can carry one or more control elements 230, such as a control wheel, for example for controlling the telescoping of the machine arm 6.

[0113] Advantageously, the machine's cockpit 120 is devoid of a handling system control element that can be used instead of the handling control system 220 of the control device 2. Alternatively, when the machine is equipped with a handling system control element, such as an on-board joystick, that can be used instead of the handling control system 220 of the control device 2, then it may be possible to deactivate (inhibit) the handling control system 220 of the control device 2 when the control device 2 is carried by the receiving support 290 present in the cockpit 120.

[0114] It can also be provided that the machine's cab 120 is without a control element that can be used in place of the control system 250 for the movement of the control device 2. Alternatively, the machine's cab 120 can be provided that it is equipped with a control element for a part of the movement control system 250, for example, a control system for forward, reverse, or neutral travel. It can be provided that, when the control device 2 is used as a steering wheel by pivoting the entire control device 2 relative to the machine's frame, the steering control by the control system 250 carried by the control device 2 is inhibited.

[0115] When the control device 2 is permanently mounted on the receiving bracket 290, which is integral with the machine frame, the control device 2 can be considered part of the cab 120 carried by the frame and is intended for use by an operator present in the machine cab. In this case, the control device 2 cannot be moved outside the frame for use on the ground by an operator.

[0116] When the control device 2 is removable from the receiving support 290 in the cockpit, which allows the control device 2 to be received, said control device 2 can be used for piloting the machine from inside the cockpit and the control device 2 can be removed from the receiving support 290 to allow external piloting (as schematically represented in [Fig.1] by the dotted rectangle referenced 2).

[0117] The removable control device 2 allows an operator to control the ground movement of the machine from inside the machine's cockpit in the physically coupled state of the control device 2 to a receiving support present in the cockpit, or from outside the machine in the withdrawn state of the control device from the receiving support, while remaining on the ground, or from a work platform of the machine when the machine is equipped with such a platform.

[0118] Processing unit

[0119] As mentioned above, the machine includes a processing unit 10, such as a computer.

[0120] According to one embodiment, the processing unit 10 comprises a module 702 for detecting the presence of the driver in the machine's cab and a module 704 for detecting the seat belt, i.e., whether the driver's seat belt is fastened or unfastened. The processing unit 10 also comprises a module 706 for detecting the position of the control device 2 in or on the receiving support.

[0121] The detection of the buckled (active) state of the belt and the presence of the driver in the cockpit (for example via a weight sensor in the driver's seat), in combination with the detection of the positioned state of the control device 2 in or on the receiving support, makes it possible to determine that the driver is in a situation of piloting the machine from inside the control device 2 under suitable safety conditions to allow operation of the machine in nominal mode (detailed below).

[0122] Advantageously, the processing unit 10 also includes a radio communication module 708 configured to communicate with a radio communication module 228 of the control device 2, so as to allow the machine to be controlled with the control device 2 by radio transmission when the latter is removed from the receiving support of the machine and used by an operator for example outside the machine's control station, in degraded mode (detailed below).

[0123] According to an embodiment in which the control device 2 is removable, the control device 2 includes an electrical connection system linked to a battery of the control device. The electrical connection system of the control device is configured so that, when the control device is positioned in or on the receiving support, it is connected to the electrical connection system of the receiving support to allow the battery to be recharged by a machine power supply system that preferably includes a battery.

[0124] The electrical connection systems can be engaged by cooperation of the lateral faces of the control device 2 and the support 290, and / or by cooperation of the lower face of the control device 2 and the upper face of the support 290. Indeed, the electrical connection system of the control console can be located on a lateral face and / or on the lower face, as opposed to the upper face of the control device which carries the movement control system 250, while the electrical connection system of the receiving support can be located on a lateral face and / or on the upper face of the receiving support 290.

[0125] The device 706 is connected to the electrical connection system of the receiving support 290 so as to detect the coupling of the control device 2 in or on the receiving support 290 when the electrical connection system of the control device 12 is connected with the electrical connection system of the receiving support 290.

[0126] According to one embodiment, it can be provided that the charging is done by induction.

[0127] According to one embodiment, the machine is devoid of a control element for redundant steering, that is to say, an additional steering control device This would allow the steering function of control unit 2 to be replaced when the unit is removed from its mounting bracket, thus enabling the machine to be steered even without the control panel. This prevents the control unit from being forgotten when the machine is delivered to a worksite. The removable control panel and the absence of redundancy in at least the steering control function reduce the risk of machine theft when the control unit is removed and stored securely.

[0128] According to one embodiment, the machine may also be provided without a redundant control element for the handling system, that is to say, without an additional control element for the handling system that would allow a handling control function of the control system 220 of the control device to be replaced when the control panel is removed from its receiving support, and thus to control the machine's handling system in the absence of the control panel. This makes it possible to limit the machine's manufacturing costs.

[0129] It may be envisaged that none of the controls present on the control device are repeated in the operator's cab itself, or that only some of the controls are repeated, such as a speed or acceleration control, for example, an accelerator pedal present in the operator's cab corresponding to an acceleration function of the machine's ground movement control system on the control panel. Similarly, it may be envisaged that none, all, or only some of the controls of the handling control system 220 of the control device are repeated in the operator's cab 120 of the handling machine.

[0130] In the physically uncoupled state from the support 290, and preferably in the state away from the pilot station 120 of the machine, the control device 2 remains capable of communicating by wireless link with the processing unit 10 of the machine to allow a user to control the ground movement system of the machine with the control system 250 of the control device 2, and to control the handling system 600 with the handling control system 220 of the control device 2.

[0131] Preferably, the support 290 includes a locking system for the control device 2 on or in the support 290. The locking system is activatable and deactivatable, to allow the control device 2 to be kept physically coupled to the support 290 and to be detached.

[0132] In particular, the locking system may include a clip system for mechanically fixing the control device to the support. To ensure proper positioning at the time of clipping, keying devices can be fixed on the support to allow only one position of the control device 2 on or in the receiving support 290.

[0133] The receiving support may be provided with a recessed area for the control panel. The receiving support may be equipped with control elements, such as buttons, for controlling auxiliary functions. These control elements may take precedence over equivalent control elements on the control panel when the control panel is positioned in or on the receiving support, thereby improving operating ergonomics.

[0134] The support may include an indexing system for defining the position and orientation of the control device relative to the support, in the coupled state of the control device to the support.

[0135] A space may be provided in the cockpit 120 for storing the control panel when the machine is not in use. To prevent theft or vandalism, the control panel may be designed to be lockable in position in or on the receiving bracket or in an anti-theft box provided in the cockpit (in particular in the cab).

[0136] According to a particular aspect, the control device also includes additional elements, enabling the control of auxiliary functions, such as: horn; lights; turn signals; stabilizer; safety information; brake control; and / or camera.

[0137] Steering wheel

[0138] According to one embodiment, the control device 2 can be used as a steering wheel when positioned in or on the receiving support 290 inside the cockpit 120. When positioned in or on the receiving support 290, the control console is pivotally coupled to the receiving support which is rotatably mounted relative to the chassis and connected to the machine's steering system.

[0139] Various technical means can be implemented for controlling the direction of the machine with the rotational movement of the control device: - by mechanical linkage: the receiving support of the control device can be mechanically linked to a wheel steering element (e.g., steering column, orbitrol-type pump system), or - by electronic link: the receiving support of the control device can be electrically connected to an angle sensor which sends angle information to a steering element (e.g. orbitrol type pump system, electric cylinder) or to the processing unit.

[0140] The machine can thus be devoid of a conventional steering wheel permanently linked to the wheel steering system, thanks to the removable control device which can be used as a steering wheel.

[0141] It can be foreseen that the processing unit 10 is configured to control the wheel steering system by controlling a gear ratio and / or steering progression adapted according to the position or speed or angular acceleration of the control device.

[0142] It can be anticipated that at least some of the performance or control capabilities of the ground movement and / or handling system of the machine is reduced when the control console is removed from the receiving support present in the cockpit to allow the user to control the machine outside the main cockpit, but with a reduced risk of accident.

[0143] According to one embodiment of the invention, the receiving support of the control device 2 comprises a system for rotating the control device 2 with the support 290. In particular, the support 290 can be rotationally fixed to a shaft, called the steering shaft, which is rotatably mounted relative to the frame 12, and which forms part of the steering system of the machine or which is mechanically and / or electrically connected to the steering system of the machine.

[0144] According to this embodiment of the invention, the control device 2 is configured with the support 290, such that in the physically coupled state to the support 290 (i.e. in the positioned state of the control device 2 in or on the receiving support 290 with a mechanical coupling), the control device 2 can be driven in rotation by a user relative to the chassis 12 to form a steering control element of the machine.

[0145] Battery charging

[0146] As mentioned above, it can be foreseen that the control device includes a battery which is rechargeable in the positioned state of the control device 2 in or on the receiving support 290.

[0147] Advantageously, the connection system is configured so that connecting the control device 2 to the receiving support 290 is achieved simply by placing the control panel in the support. This connection enables the following functions: - the battery of the control device is recharged by connecting it to a power supply on the machine; - the position of the control device in the receiving support and therefore in the driver's seat) is detected through the connection with the connector connected to the detection module 706 of the processing unit.

[0148] According to one particular aspect, once the two connectors are connected together, the battery is recharged without any further action required from the user. Furthermore, it can be envisaged that the connector for detecting the connection of the control device 2 to the support 290 and for recharging the battery of the control device 2 does not require tightening or locking with the connector.

[0149] When the control device is removable and usable as a steering wheel, it can be provided that, when the steering wheel is fixed in the cab, the control systems 220, 250 of the control device (left and right handles) are deactivated. It can then be provided that an on-board control system in the cab, such as a joystick in the cab, can be reused to control the handling, and that a forward / reverse control system in the cab, such as a set of buttons, can be used, and that the rotation of the steering wheel can be used to control the direction.

[0150] Alternatively, only the handling control function of the control device 2 used as a steering wheel (i.e., the handling system control system) can be deactivated. The handling system control function remains controllable by a control system mounted in the cab, such as a joystick, thus preventing accidental activation of the handling control system 220 of the control device 2 while turning the steering wheel. Deactivation preferably occurs automatically when the control device 2 is fixed in the cab to the receiving support 290. The forward / reverse or neutral control buttons 252 can remain active. The functionality of the movement control system 250, which controls the steering system, can be retained, for example, implemented as a joystick, for example, a small joystick (i.e.A small joystick, usable with a finger or thumb and forefinger (for example, and not intended to be held in the whole hand), as in the example shown in [Fig. 4], is used for steering the wheel. Preferably, the wheel's travel is limited to + / - 60 degrees to maintain the same orientation for the buttons. Alternatively, the steering and handling functions can be retained entirely on the wheel.

[0151] It can be foreseen that the control device is usable for different machines and / or several machines could use the same control device.

[0152] Advantageously, the control device is provided with means for attaching to equipment such as a harness with which an operator can be equipped to enable the operator, when outside the cab, to obtain good stability and optimize the handling of steering and handling functions.

Claims

Demands

1. 1. Control device (2) for a handling machine (1) comprising a rolling chassis (12) and a handling system (600) for a load or person carried by the rolling chassis, the control device (2) comprising: - a main body (210); and - a handling control system (220) mounted articulated to the main body (210) about a first articulation axis (A21), and a second articulation axis (A22), the two articulation axes (A21, A22) being intersecting each other;the control device (2) being configured such that: the pivoting of the handling control system (220) around the first axis (A21) generates a control signal for a first function of the handling system (600) of the machine, such as the movement of a lifting arm (6) of the handling system, the pivoting of the handling control system (220) around the second axis (A22) generates a control signal for a second function of the handling system (600) of the machine, such as the movement of a handling tool system (614) relative to the lifting arm (6) of the handling system.;

2. 2. Control device (2) according to claim 1, wherein, at least in the unstressed state of the handling control system (220), the handling control system (220) extends at least in part, preferably predominantly, into an imaginary parallelepiped (PR210) in which the main body (210) of the control device is inscribed.

3. 3. Control device (2) according to claim 2, characterized in that the first articulation axis (A21) and / or the second articulation axis (A22) are parallel or inclined with respect to the lower face (FI21) of the imaginary parallelepiped (PR210).

4. 4. Control device (2) according to any one of claims 2 to 3, wherein, at least in the stressed state in at least one of the extreme pivoting positions about the first articulation axis (A21), the end portion (2202) of the handling control system (220) opposite the articulated end (2201) of said handling control system extends out of the imaginary parallelepiped (PR210), preferably out of the face upper (FS21) of the imaginary parallelepiped when the handling control system (220) is inclined upwards or out of the lower face of the imaginary parallelepiped when the handling control system (220) is inclined downwards.

5. 5. Control device (2) according to any one of the preceding claims, wherein the control device (2) has an outer peripheral contour (200) and the handling control system (220) forms a part of said outer peripheral contour (200).

6. 6. Control device (2) according to any one of the preceding claims, wherein the main body (210) of the device has a lateral portion (210A) and, in the unloaded state of the handling control system (220), said lateral portion (210A) has an elongated and curved shape extending from the lateral portion of the handling control system (220), the free end (2202) of which extends opposite an end (2101A) of said lateral portion (210A) opposite the end (2102A) of said lateral portion (210A) to which the handling control system (220) is articulated, said lateral portion (210A) and the handling control system (220) defining between them a space (E2A), preferably through-space, in which a portion of the operator's hand can extend when said hand is resting on the handling control system (220).

7. 7. Control device (2) according to any one of the preceding claims, wherein the control device (2) also comprises a control system (250) for moving, and preferably steering, the machine, such as a joystick, configured to allow moving and preferably steering said machine, the movement control system (250) being located on a lateral part (210B) of the main body (210) of the control device (2), opposite the lateral part (210A) of the main body (210) to which the handling control system (220) is articulated.

8. 8. Control device (2) according to claim 7, wherein the lateral part or each lateral part (210B) of the control device (2) forms a gripping area, preferably annular, adapted to allow the control device (2) to be held and the movement control system (250) to be operated by one hand, while that the handling control system (220) articulated to the other lateral part (210A) of the main body is operated by the operator's other hand.

9. 9. Control device (2) according to any one of claims 7 and 8, wherein the main body (210) of the system has an elongated shape between the handling control system (220) and the displacement control system (250).

10. 10. Control device (2) according to any one of the preceding claims, wherein the control device (2) is a steering wheel for steering the machine as a function of the rotation of said main body (210) relative to the chassis of the machine or relative to the terrestrial reference frame.

11. 11. Control device (2) according to any one of the preceding claims, wherein the control device (2) is removable from a pilot station (120) carried by the chassis (12) of the handling machine.

12. 12. Control device (2) according to claim 11, wherein the main body (210) of the control device (2) is configured to be able to be attached to equipment, such as a harness, with which an operator is able to be equipped to allow the operator's arms to be relieved at least partially of the weight of the control device (2).

13. 13. Control device (2) according to any one of the preceding claims, wherein the control device (2) comprises a radio communication module (228) for transmitting commands by radio to a processing unit (10) of the handling machine (1), the processing unit (10) being configured to control the ground movement of the machine and / or the actuation of the handling system (600) of the machine according to the commands received.

14. 14. Control device (2) according to any one of the preceding claims, wherein the handling control system (220) carries one or more control elements (230), such as a control wheel, for example to generate a telescoping command of an arm (6) of the machine.

15. 15. Control device (2) according to any one of the preceding claims, wherein the handling control system (220) has an angular range of travel around the first axis of articulation and / or around the second axis of articulation, of at least 10°, preferably 20°.

16. 16. Handling machine (1) comprising: - a rolling chassis (12); - a ground movement system for the rolling chassis (12) and a steering system; - a handling system (600) carried by the rolling chassis (12); - a control device (2) according to any one of the preceding claims.

17. 17. Handling machine (1) according to claim 16 comprising a pilot station (120) carried by the rolling chassis (12); the pilot station comprises a receiving support (290) for the control device (2) configured to receive the control device, preferably in a removable manner.

18. 18. Machine according to claim 16 or 17, wherein the machine's cockpit (120) is devoid of a steering control element and / or a travel speed control element and / or an additional handling control element, usable in place of the control device (2).

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