Coupler for automatic coupling of an accessory to the arm of a handling machine and its locking / unlocking mechanism

Abstract

The invention relates to a coupler (5) for the automatic coupling of an attachment (4) to the arm (2) of a handling machine (1). The coupler comprises a frame (15) with a hydraulic module (17), a locking cylinder (24), and a control unit (50). The frame includes locations for receiving a hydraulic module (8) and a locking portion (9) of the attachment. The locking cylinder (24) can move between an unlocked and a locked position, allowing mechanical locking of the coupler to the attachment. The hydraulic module (17) is mounted on the second rod (26) of the cylinder and moves with it to connect to the hydraulic module (8) of the attachment. The coupler includes a presence detection sensor (45) in a first location (20), and the control unit (50) controls the cylinder based on the sensor data. (See Fig. 3 for abbreviations.)

Description

Title of the Invention: Coupler for Automatic Coupling of an Accessory to the Arm of a Handling Machine and Its Locking / Unlocking Method

[0001] The present invention relates to load handling.

[0002] In particular, the invention relates to a coupler for automatic coupling of an accessory to the arm of a handling machine, a set for a handling machine comprising such a coupler and an accessory, as well as a locking / unlocking method for such a coupler of an accessory, comprising at least a locking part and a hydraulic module.

[0003] To couple or uncouple an attachment to the arm of a material handling machine, it is known to use a coupler carried on one end of this arm. The attachment is, for example, a hydraulic gripper, for grasping and moving objects of different shapes, a lifting hook, for lifting and transporting heavy loads, forks, for handling pallets and crates, slings, for lifting loads safely, a suction cup, for handling flat and smooth objects, a material handling bucket, for transporting bulk materials, or any other attachment generally used on a material handling machine.

[0004] The couplers are designed to allow mechanical locking of the accessory on the machine and to allow a hydraulic, electrical and / or pneumatic connection between the handling machine and the accessory.

[0005] In some cases, the coupler is said to be automatic, meaning that it allows coupling and / or uncoupling without the operator having to leave the machine. Various automatic couplers have been proposed to meet different needs.

[0006] Document WO2015090587A1 describes such an automatic coupler for a material handling machine. In particular, the coupler described in this document includes a transfer device designed to move, using a mobile trolley, a hydraulic, electrical, and / or pneumatic module of the attachment from a storage position on the attachment side to a connection position on the machine side, thus enabling a smooth and / or electrical connection between the attachment module and the machine module. The coupler also includes guide elements to ensure a precise and repeatable connection between the modules.

[0007] One object of the invention is to further improve automatic couplers to ensure greater safety during the locking and unlocking operations of the accessory on the coupler.

[0008] For this purpose, the invention relates to a coupler for an automatic coupling of an accessory to the arm of a handling machine, the coupler being pre-couplingable to said arm, said coupler comprising a chassis, said chassis comprising at least: - a hydraulic module; - a locking cylinder; - a control unit for the locking cylinder; - said chassis comprising a first receiving location for a corresponding hydraulic module of an accessory to which the hydraulic module of the coupler is connectable, and at least a second receiving location for a locking part of said accessory; said locking cylinder being mounted movable between an unlocked position in which it extends out of the second location(s) and a locked position in which it extends at least partially into the second location(s) to allow mechanical locking of said coupler to said accessory, said locking cylinder comprising a body, a first rod and a second rod, the first rod and the second rod each being mounted movable relative to the chassis between a retracted position and an extended position, the extended position of the first and second rods corresponding to the locked position of the locking cylinder, the hydraulic module of the coupler being mounted in a manner fixed to the second rod of the locking cylinder, the movement of the second rod from the retracted position to the extended position allowing the movement of the hydraulic module of the coupler from a disconnected position to an active position in which it is connectable to the corresponding hydraulic module of said accessory in the positioned state of the hydraulic module of said accessory in the first location, said control unit being configured to control the movement of the first rod and the second rod, characterized in that the coupler includes a sensor for detecting a presence in the first location, and in that the control unit is configured to control the cylinder according to the data provided by the presence detection sensor.

[0009] The present invention enables the locking cylinder to be controlled, and therefore the movement of the coupler's hydraulic module to be controlled, based on data from the sensor that detects a presence in the first position. This allows one or more presence checks in the first position to be added during locking / unlocking operations, thereby improving the safety of these operations.

[0010] According to one embodiment of the invention, the coupler includes a locking cylinder position sensor configured to determine the cylinder position, and The control unit is configured to control the cylinder based on data provided by the presence detection sensor and data provided by the locking cylinder position sensor.

[0011] Preferably, the control unit is further configured to allow movement of the first rod and / or the second rod only when the locking cylinder position sensor detects that the cylinder position is within at least a predetermined range of values.

[0012] According to one embodiment of the invention, the body, the first rod or the second rod further comprises a locking member of the cylinder, the locking member being controlled by the control unit, and the control unit is configured to control the cylinder and the locking member according to the data provided by the presence detection sensor.

[0013] Preferably, the locking member of the first or second rod is configured to lock the position of said rod in at least two different positions. These at least two positions may include the retracted position and the extended position of the rod comprising the locking member. According to a particular embodiment, the locking member of the first or second rod is configured to lock the position of said rod comprising the locking member in both the retracted and extended positions.

[0014] The locking member may include a movable finger between a retracted position and an extended position.

[0015] The locking member may include a finger actuator configured to allow movement of the finger between the retracted position and the extended position.

[0016] The finger actuator can be an electric, pneumatic or hydraulic actuator, preferably hydraulic.

[0017] The finger actuator can be a hydraulic cylinder controlled by a hydraulic valve carried by the hydraulic module of the coupler.

[0018] The chassis may include at least one recessed locking pattern configured to cooperate with the finger of the locking member to allow the rod to be locked between the first rod or the second rod carrying the locking member.

[0019] According to one embodiment of the invention, the cylinder body is a hollow cylinder in which the first rod is received, the second rod being fixed to the body by one end, the locking cylinder being configured so as to allow linear movement of the first rod inside the body, the first rod delimiting inside the body a first chamber and a second chamber whose dimensions vary according to the position of the first rod relative to the body, and the hydraulic module includes a pilot-operated cylinder valve connected to the first chamber, the second chamber and a hydraulic source, the pilot-operated cylinder valve being configured to selectively put the first chamber or the second chamber into hydraulic communication with a hydraulic source or to prevent hydraulic communication between the first chamber, the second chamber and the hydraulic source.

[0020] According to one embodiment of the invention, the locking cylinder position sensor is a sensor of the position of the first rod relative to the body.

[0021] According to one embodiment of the invention, the presence detectable by the presence detection sensor in the first location corresponds to a good alignment between the hydraulic module of the coupler and the corresponding hydraulic module of said accessory in the positioned state of the hydraulic module of said accessory in the first location.

[0022] According to one embodiment of the invention, the control unit is configured to allow the movement of the first rod and / or the second rod from the retracted position to the extended position only when the presence detection sensor detects a presence in the first location.

[0023] Preferably, the control unit is configured to allow the second rod, on which the hydraulic module is securely mounted, to move from the retracted position to the extended position only when the presence detection sensor in the first position detects a presence in the first position. This ensures that, during an accessory locking operation on the coupler, the corresponding hydraulic module of the accessory to which the coupler's hydraulic module is connected is present.

[0024] According to one embodiment of the invention, the hydraulic module of the coupler is mounted on the cylinder using an elastically deformable connecting element so as to form a floating connection between the hydraulic module of the coupler and the second rod.

[0025] The elastically deformable connecting element is for example formed by one or more springs.

[0026] According to one embodiment of the invention, the presence detection sensor is a proximity sensor.

[0027] According to one embodiment of the invention, the first and / or second rod comprises a shoulder configured to come into contact with a first portion of the chassis when said rod is in the retracted position and with a second portion of the chassis when said rod is in the extended position.

[0028] Preferably, the shoulder is arranged on the first rod, that is to say on the rod on which the hydraulic module of the coupler is not mounted.

[0029] The invention further relates, in combination with the above, to an assembly for a handling machine comprising a coupler and an accessory, the accessory comprising a hydraulic module connectable to the hydraulic module of the coupler, characterized in that the coupler is of the aforementioned type and in that the hydraulic module of the accessory is configured to be received in the first receiving location and the accessory comprises at least one locking part configured to be received in said at least one second receiving location of the coupler.

[0030] Preferably, the accessory comprises at least two locking parts, the coupler comprising at least two second receiving locations, each of said at least two locking parts being configured to be received in one of said at least two second receiving locations of the coupler.

[0031] The invention further relates to a method for locking / unlocking a coupler of an accessory, comprising at least a locking part and a hydraulic module, the coupler being pre-coupled to the arm of a handling machine, characterized in that the coupler being of the aforementioned type and the first rod and the second rod being previously in the retracted position, the method comprises the following steps: a) position said at least one locking part of the accessory in said at least a second receiving location of the coupler and insert the hydraulic module of the accessory into the first receiving location of the coupler; b) detect, using the presence detection sensor in the first location, the presence of the hydraulic module of the accessory in the first receiving location of the coupler; c) move, relative to the coupler frame, the first rod and the second rod from the retracted position to the extended position so as, on the one hand, to connect the hydraulic module of the coupler to the corresponding hydraulic module of the accessory and, on the other hand, to lock the accessory onto the coupler; d) move, relative to the coupler frame, the first rod and the second rod from the extended position to the retracted position so as, on the one hand, to separate the hydraulic module of the coupler and the corresponding hydraulic module of the accessory and, on the other hand, to unlock the accessory from the coupler.

[0032] According to one embodiment of the invention, the accessory comprises at least two accessory locking parts, step c) comprises the following successive steps: cl) move, relative to the chassis of the coupler, the first rod from the retracted position to the extended position so as to engage in one of the said at least two locking parts of the accessory, the second rod being immobile relative to the chassis of the coupler; (c2) move, relative to the coupler frame, the second rod from the retracted position to the extended position so as to engage in one of at least two other locking parts of the accessory, the first rod being stationary relative to the coupler frame, the hydraulic module of the coupler moving simultaneously from the disconnected position to the active position so as to connect the hydraulic module of the coupler to the corresponding hydraulic module of the accessory; and step (d) comprises the following successive steps: dl) move, relative to the chassis of the coupler, the first rod from the extended position to the retracted position so as to disengage it from the locking part of the accessory in which it was engaged, the second rod being immobile relative to the chassis of the coupler; d2) move, relative to the coupler frame, the second rod from the extended position to the retracted position so as to disengage it from the locking part of the accessory in which it was engaged, the first rod being stationary relative to the coupler frame, the hydraulic module of the coupler moving simultaneously from the active position to the disconnected position so as to separate the hydraulic module of the coupler and the corresponding hydraulic module of the accessory.

[0033] According to one embodiment of the invention, the second rod comprising the locking member, at the beginning of steps c1) and d1), the locking member is actuated to block the position of the second rod relative to the chassis, steps c2) and d2) previously comprising the actuating of the locking member to unlock the position of the second rod, and step d) comprises, after step d2), a step d3) in which the locking member is actuated to block the position of the second rod relative to the chassis.

[0034] According to one embodiment of the invention, the first rod comprising the shoulder, during steps c2) and d2), the first rod comes into butt respectively with the first portion of the chassis and the second portion of the chassis.

[0035] According to one embodiment of the invention, between steps b) and c1), the method comprises detecting the position of the cylinder using the locking cylinder position sensor, step c1) being carried out only if the cylinder position is within a first predetermined range of values, the first predetermined range of values ​​corresponding to the first and second rods being positioned in the retracted position, and, between steps c1) and c2) the method comprises detecting the position of the cylinder using the locking cylinder position sensor, step c2) being carried out only if the cylinder position is within a second range predetermined range of values, the second predetermined range of values ​​corresponding to a positioning of the second rod in the retracted position and of the first rod in the extended position.

[0036] According to one embodiment of the invention, between step d1) and d2), the method includes detecting the position of the cylinder using the locking cylinder position sensor, step d2) being implemented only if the position of the cylinder is within a fourth predetermined range of values, the fourth predetermined range of values ​​corresponding to a positioning of the second rod in the extended position and of the first rod in the retracted position.

[0037] According to one embodiment of the invention, the method includes, between step c) and step d), a step of verifying the correct connection between the hydraulic module of the coupler and the corresponding hydraulic module of the accessory.

[0038] The step of verifying the correct connection between the hydraulic module of the coupler and the corresponding hydraulic module of the accessory can be carried out using an electrical measurement. Brief description of the drawings

[0039] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the accompanying drawings in which:

[0040] [Fig-1] represents, in top view, a device comprising an assembly according to the invention,

[0041] [Fig.2] schematically represents an accessory of an assembly according to the invention,

[0042] [Fig.3] schematically represents a coupler of an assembly according to the invention,

[0043] [Fig.4] represents a diagram of a first part of a locking method according to the invention,

[0044] [Fig. 5] represents a diagram of a second part of a locking method according to the invention,

[0045] [Fig. 6] represents a diagram of a third part of a locking method according to the invention,

[0046] [Fig.7] schematically represents a step in a locking process according to the invention,

[0047] [Fig.8] is a view similar to that of [Fig.7] illustrating another step of a locking method according to the invention,

[0048] [Fig.9] is a view similar to that of [Fig.7] illustrating another step of a locking method according to the invention,

[0049] [Fig. 10] is a view similar to that of [Fig. 7] illustrating another step of a locking method according to the invention,

[0050] [Fig. 11] is a view similar to that of [Fig. 7] illustrating another step of a locking method according to the invention,

[0051] [Fig. 12] represents a diagram of a first part of an unlocking method according to the invention,

[0052] [Fig. 13] represents a diagram of a second part of an unlocking method according to the invention,

[0053] [Fig. 14] represents a diagram of a third part of an unlocking method according to the invention,

[0054] [Fig. 15] schematically represents a step in an unlocking process according to the invention,

[0055] [Fig. 16] is a view similar to that of [Fig. 15] illustrating another step of an unlocking method according to the invention,

[0056] [Fig. 17] is a view similar to that of [Fig. 15] illustrating another step of an unlocking method according to the invention, and

[0057] [Fig. 18] is a view similar to that of [Fig. 15] illustrating another step of an unlocking method according to the invention.

[0058] In the following description, identical elements or elements with identical functions bear the same reference numeral. For the sake of brevity, they are not described opposite each figure; only the differences between the embodiments are described.

[0059] In the figures, the actual proportions have not always been respected, for the sake of clarity.

[0060] Figure [Fig.1] illustrates a handling device 1 comprising an arm 2, also called a boom.

[0061] Supported by a front end 3 of the arm 2, the device 1 comprises an assembly 6 according to the invention, including a coupler 5 and an attachment 4. In this example, the attachment 4 is a bucket. However, the invention is not limited to this type of attachment 4; all types of attachments generally used on load-handling equipment can be used.

[0062] As schematically illustrated in [Fig.2], the accessory 4 comprises a coupling part 7 including, in this example, a hydraulic module 8 and two locking parts 9.

[0063] The hydraulic module 8 of the accessory 4 may include a plurality of hydraulic fittings 10 and an electrical fitting 11.

[0064] Each locking part 9 may include at least one orifice 12 to allow mechanical locking of the accessory 4 onto the coupler 5.

[0065] As illustrated in [Fig.3], the coupler 5 comprises a chassis 15 on which various elements are mounted.

[0066] The chassis 15 is pre-coupled to the arm 3 of the machine 1. The coupling of the chassis 15 to the arm 3 is for example achieved using a coupling portion 16, the latter being connectable to the hydraulic circuits and to an electrical circuit of the machine 1.

[0067] The chassis 15 also includes a hydraulic module 17, which can be connected to the corresponding hydraulic module 8 of the accessory 5. The hydraulic module 17 includes, like the corresponding hydraulic module 8 of the accessory 5, a plurality of hydraulic fittings 18 and an electrical fitting 19.

[0068] The hydraulic fittings 18 and the electrical fitting 19 are connected to the coupling portion 16, which allows the hydraulic fittings 18 to be in fluid communication with the hydraulic circuits of the machine 1 and the electrical fitting 19 to be in continuity with the electrical circuit of the machine 1.

[0069] The chassis 15 also includes a first receiving location 20 for the corresponding hydraulic module 8 of the accessory 4. In this example, the first location 20 is opposite the hydraulic module 17 of the coupler 5.

[0070] The chassis 15 further includes two second locations 21 for receiving the locking parts 9 of the accessory 4. Each location 21 includes at least one orifice 22, in this example two, for the mechanical locking of the accessory 4 onto the coupler 5.

[0071] The chassis 15 further includes a locking cylinder 24 formed of a first rod 25, a second rod 26 and a body 27.

[0072] Each of the first rod 25 and the second rod 26 is mounted movably on the chassis 15 between a retracted position, allowing the insertion or extraction of the accessory 4, and an extended position, allowing the locking of the accessory 4 on the coupler 5.

[0073] In this example, the body 27 is a hollow cylinder in which the first rod 25 is received, the cylinder 24 being configured so as to allow a linear movement of the first rod 25 inside the body 27. The first rod 25 delimits inside the body 27 a first chamber 28 and a second chamber 29 whose dimensions vary according to the position of the first rod 25 relative to the body 27.

[0074] In this example, the first rod 25 includes a shoulder 30 configured to come to rest on a first portion 31 of the frame 15 when the first rod 25 is in the retracted position and on a second portion 32 of the frame 15 when the first rod 25 is in the extended position.

[0075] The second rod 26 is fixed to the body 27 by one end.

[0076] The hydraulic module 17 is mounted by means of a floating link 35 formed of springs, on the body 27 of the cylinder 24. Thus, given that the second rod 26 is fixed to the body 27, the hydraulic module 17 is mounted fixed in movement to the second rod 26.

[0077] In particular, the movement of the second rod 26 from the retracted position to the extended position allows the hydraulic module 17 of the coupler 5 to be moved from a disconnected position to an active position in which it is connectable to the corresponding hydraulic module 8 of said accessory 4 in the positioned state of the hydraulic module 8 of said accessory 4 in the first location 20.

[0078] The hydraulic module 17 further includes a pilot-operated cylinder valve 36 connected to the first chamber 28, the second chamber 29, and a hydraulic source. In this example, the hydraulic source is from the coupling portion 16. The pilot-operated cylinder valve 36 thus allows the cylinder to be moved, depending on which chamber is supplied with hydraulic fluid.

[0079] The pilot-operated valve of cylinder 36 is configured to selectively put the first chamber 28 or the second chamber 29 into hydraulic communication with the hydraulic source or to prevent hydraulic communication between the first chamber 28, the second chamber 29 and the hydraulic source.

[0080] The body 27 further includes a locking member 40 of the cylinder 24. The body 27 and the second rod 26 being fixed relative to each other, the locking member 40 is configured to block the position of the second rod 26.

[0081] The locking member 40 may include a movable finger 41 between a retracted position and an extended position, in which it cooperates with an opening 42 in the frame 15. The frame 15 includes two openings 42 to allow the second rod 26 to be locked in two different positions, in this example in the retracted position and in the extended position. These openings 42 are axially offset along a line parallel to the direction of placement of the second rod 26.

[0082] In addition, the locking member 40 includes a hydraulic cylinder 43, for the movement of the finger 41, controlled by a hydraulic valve 44 carried by the hydraulic module 17 of the coupler 5.

[0083] The hydraulic module 17 also includes a presence detection sensor 45 in the first location 20, in this example a proximity sensor.

[0084] As will be detailed later, when the presence detection sensor 45 detects a presence in the first location 20, this indicates that the hydraulic module 8 of the accessory 4 is correctly positioned in the first location 20. In other words, this indicates that the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of the accessory 4 are correctly aligned.

[0085] The presence detection sensor 45 can extend beyond the surface of the hydraulic module 17 of the coupler 5. In this case, the hydraulic module 8 of Accessory 4 advantageously includes a recess 46 configured to receive the presence detection sensor 45 in the coupled state of the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of accessory 4.

[0086] The chassis 15 further includes a locking cylinder position sensor 47 configured to determine the position of the cylinder 24. In this example, the locking cylinder position sensor 47 is configured to determine the position of the first rod 25 relative to the body 27.

[0087] The chassis 15 includes a control unit 50 configured to control at least the movement of the cylinder 24 and the locking member 40.

[0088] The control unit 50 is further configured to control the cylinder 24 and the locking member 40 according to the data provided by the presence detection sensor 45 and the data provided by the position sensor of the locking cylinder 47.

[0089] In particular, the control unit 50 is configured to allow the movement of the first rod 25 and the second rod 26 from the retracted position to the extended position only when the presence detection sensor 45 detects a presence in the first location 20. In addition, the control unit 50 is configured to allow the movement of the first rod 25 and the second rod 26 only when the position sensor of the locking cylinder 47 detects that the position of the cylinder 24 is within at least a predetermined range of values.

[0090] Figures 4 to 18 illustrate an example of a locking and unlocking method for the accessory 4 and the coupler 5 described above. In particular, the locking is illustrated in Figures 4 to 11 and the unlocking in Figures 12 to 18.

[0091] In step VI, illustrated in particular in [Fig. 7], the first rod 25 and the second rod 26 are in the retracted position. The operator then manipulates the tool 1 to engage the accessory 4 on the coupler 5. In particular, in this step VI, the locking parts 9 are positioned so as to be received in the second slots 21 of the coupler 5.

[0092] As illustrated in [Fig. 8], once the locking parts 9 are received in the second slots 21, the ports 12 of the accessory 4 and the ports 22 of the chassis 15 of the coupler 5 are aligned. Furthermore, the hydraulic module 8 of the accessory 4 is received in the first slot 20.

[0093] In a new step V2, the operator requests, for example from the cab of the machine 1, the locking of the accessory 4 onto the coupler 5. The control unit 50 will, in a new step V3, check if the presence detection sensor 45 detects a presence in the first location 20, which corresponds to the correct positioning of the hydraulic module 8 of the accessory 4 relative to the hydraulic module 17 of the coupler 5.

[0094] If the presence detection sensor 45 does not detect a presence in the first location 20, the control unit 50 will ask the operator 50, in step V3a, whether the accessory 4 is equipped with a hydraulic module. If the answer is no, the operator is notified and the locking process is stopped. The operator must then restart from step VI. If the answer is yes, the process proceeds to step V5, described below.

[0095] If the presence detection sensor 45 detects a presence in the first location 20, the control unit 50 will verify, in step V4, using the position sensor of the locking cylinder 47, that the position of the cylinder 24 is within a first predetermined range of values. The first predetermined range of values ​​corresponds to the positioning of the first rod 25 and the second rod 26 in the retracted position. In this example, the cylinder 24 is within the first range of values ​​when the stroke of the first rod 25 relative to the body 27 is less than a first predetermined threshold. If the position of the cylinder 24 is outside the first range of values, the control unit 50 commands the pilot valve 36 to position the first rod 25 and the second rod 26 in the retracted position.

[0096] Next, in a further step V5, the control unit 50 operates the pilot valve 36 to supply the first chamber 28 of the body 27 with hydraulic fluid. This supply enables the movement of the cylinder 24. In this step, the locking member 40 locks the position of the second rod 26. Thus, only the first rod 25 moves from the retracted position to the extended position.

[0097] During its movement, as illustrated in [Fig.9], the first rod 25 will penetrate the orifices 22 of one of the second chassis locations 21 15 and the orifice 12 of one of the locking parts 9 of the accessory 4.

[0098] Next, in step V6, the control unit 50 will verify, using the position sensor of the locking cylinder 47, that the position of the cylinder 24 is within a second predetermined range of values. The second predetermined range of values ​​corresponds to the positioning of the first rod 25 in the extended position and the second rod 26 in the retracted position. In this example, the cylinder 24 is within the second range of values ​​when the stroke of the first rod 25 relative to the body 27 is greater than a second predetermined threshold. Once in position, the shoulder 30 comes to rest against the second portion 32 of the frame 15.

[0099] Next, in a step V7 illustrated in [Fig. 10], the pilot unit 50 will command the pilotable valve 44 to move the finger 41 of the locking member 40 into the retracted position to unlock the second rod 26.

[0100] During this step V7, the pilot-operated valve 36 continues to supply the first chamber 28 of the body 27 with hydraulic fluid, which causes the second rod 26 to move from the retracted position to the extended position in a step V8 illustrated in [Fig. 11]. In this step, since the shoulder 30 of the first rod 25 comes to rest against the second portion 32 of the frame 15, the first rod 25 is stationary.

[0101] This movement of the second rod 26 causes the hydraulic module 17 of the coupler 5 to move from the disconnected position to the active position to connect to the corresponding hydraulic module 8 of said accessory 4. During its movement, the second rod 26 will enter the orifices 22 of the other of the second chassis locations 21 15 and the orifice 12 of the other of the locking parts 9 of the accessory 4.

[0102] This coupling allows the hydraulic connections 18 of the hydraulic module 17 of the coupler 5 and the hydraulic connections 10 of the hydraulic module 8 of the accessory 4 to be connected hydraulically. It also allows the electrical connection 19 of the hydraulic module 17 of the coupler 5 to be connected to the electrical connection 11 of the hydraulic module 8 of the accessory 4.

[0103] Next, in a step V9, the correct coupling between the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of the accessory 4 is checked, in this example by checking the correct electrical connection between the electrical fitting 19 of the hydraulic module 17 of the coupler 5 and the electrical fitting 11 of the hydraulic module 8 of the accessory 4.

[0104] If at step V9 the coupling between the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of the accessory 4 is good, the operator receives, in a step V10, confirmation of the good hydraulic connection between the coupler 5 and the accessory 4.

[0105] Next, in step VII, the control unit 50 will verify, using the position sensor of the locking cylinder 47, that the position of the cylinder 24 is within a third predetermined range of values. The third predetermined range of values ​​corresponds to the positioning of the first rod 25 in the extended position and the second rod 26 in the extended position. In this example, the cylinder 24 is within the third range of values ​​when the stroke of the first rod 25 relative to the body 27 is greater than a third predetermined threshold.

[0106] Next, in step V12, the power supply to the controllable valve 44 is cut off.

[0107] Then, in step V13, the power supply to the controllable valve 36 is cut off.

[0108] Finally, in a step V14, the operator receives confirmation of the end of the locking process.

[0109] If, in step V9, the coupling between the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of the attachment 4 is incorrect, the operator is prompted to specify, in step V15, whether or not the attachment 4 is equipped with an electrical connection. If the answer is no, the process proceeds to step VI1. If the answer is yes, the operator is prompted to confirm that they wish to continue. Once confirmed, the process resumes at step VI3.

[0110] Next, for unlocking, as illustrated in Figures 12 to 18, the process begins with a step D1, in which the operator requests the unlocking of the accessory 4 of the coupler 5.

[0111] The control unit 50 will, in a step D2, check that the angle of arm 2 is within a predetermined range of angle values. If so, the operator is prompted to confirm the operation in a step D3a. If not, the operator receives a warning message about the angle of arm 2 and is prompted to confirm the operation in a step D3b.

[0112] After confirmation, the unlocking operation continues in a step D4, illustrated in [Fig. 15], in which the pilot unit 50 will command the pilotable valve 44 to move the finger 41 of the locking member 40 into the extended position so that it cooperates with one of the ports 42 to block the second rod 26 relative to the frame 15.

[0113] Next, in a step D5, also illustrated in [Fig. 15], the control unit 50 operates the pilot valve 36 to supply the second chamber 29 of the body 27 with hydraulic fluid. This supply enables the movement of the cylinder 24. In this step, the locking member 40 locks the position of the second rod 26. Thus, only the first rod 25 is moved from the extended position to the retracted position.

[0114] Next, in a step D6, the control unit 50 will verify, using the position sensor of the locking cylinder 47, that the position of the cylinder 24 is within a fourth predetermined range of values. The fourth predetermined range of values ​​corresponds to the positioning of the first rod 25 in the retracted position and the second rod 26 in the extended position. In this example, the cylinder 24 is within the fourth range of values ​​when the stroke of the first rod 25 relative to the body 27 is less than the second predetermined threshold. Once in position, the shoulder 30 comes to rest against the first portion 31 of the frame 15.

[0115] After confirmation, the unlocking operation continues in a step D7, illustrated in [Fig. 16], in which the pilot unit 50 will command the pilotable valve 44 to move the finger 41 of the locking member 40 into the retracted position to unlock the second rod 26 relative to the frame 15.

[0116] During step D7, the pilot-operated valve 36 continues to supply the second chamber 29 of the body 27 with hydraulic fluid, which causes the second rod 26 to move relative to the frame 15. In this step, since the shoulder 30 of the first rod 25 comes to rest on the first portion 31 of the frame 15, the first rod 25 is stationary.

[0117] Then, as illustrated in [Fig. 17], due to the movement of the second rod 26 from the extended position to the retracted position, the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of the accessory 4 will uncouple.

[0118] Next, in a step D8, the uncoupling between the hydraulic module 17 of the coupler 5 and the hydraulic module 8 of the accessory 4 is checked by the control unit 50, in this example by checking the break in the electrical connection between the electrical connector 19 of the hydraulic module 17 of the coupler 5 and the electrical connector 11 of the hydraulic module 8 of the accessory 4.

[0119] If the verification cannot be performed by the control unit 50, for example, if there is no electrical connection between the coupler 5 and the accessory 4, the operator is prompted, in step D9, to indicate whether a manual uncoupling operation is necessary. Once this manual operation has been carried out, or if no manual operation is required, the operator is prompted to confirm that the unlocking should proceed.

[0120] In both cases, the process continues in a step D10, in which the control unit 50 verifies, using the position sensor of the locking cylinder 47, that the position of the cylinder 24 is within the first predetermined range of values. As a reminder, the first predetermined range of values ​​corresponds to the positioning of the first rod 25 and the second rod 26 in the retracted position. In this example, the cylinder 24 is within the first range of values ​​when the stroke of the first rod 25 relative to the body 27 is less than the first predetermined threshold.

[0121] Next, in a step DI 1, illustrated in [Fig.18], the pilot unit 50 commands the pilotable valve 44 to move the finger 41 of the locking member 40 into the extended position so that it cooperates with one of the ports 42 to block the second rod 26 relative to the frame 15.

[0122] Next, in a step D12 the power supply to the pilot valve 44 and the power supply to the pilot valve 36 are cut off.

[0123] Finally, in step D13, the operator receives confirmation that the unlocking process is complete. The operator can then maneuver the machine 1 to remove the locking parts 9 and the hydraulic module 8 from the attachment 4, respectively, from the second position 21 and the first position 20.

Claims

1. Demands Coupler (5) for automatic coupling of an accessory (4) to the arm (2) of a handling machine (1), the coupler (5) being pre-coupleable to said arm (2), said coupler (5) comprising a frame (15), said frame (15) comprising at least: - a hydraulic module (17); - a locking cylinder (24); - a piloting unit (50) for the locking cylinder (24); - said chassis (15) comprising a first location (20) for receiving a hydraulic module (8) corresponding to an accessory (4) to which the hydraulic module (17) of the coupler (5) is connectable, and at least a second location (21) for receiving a locking part (9) of said accessory (4); said locking cylinder (24) being mounted movable between an unlocked position in which it extends out of the second position(s) (21) and a locked position in which it extends at least partially into the second position(s) (21) to allow mechanical locking of said coupler (5) to said accessory (4), said locking cylinder (24) comprising a body (27), a first rod (25) and a second rod (26), the first rod (25) and the second rod (26) each being mounted movable relative to the frame (15) between a retracted position and an extended position, the extended position of the first and second rods (25; 26) corresponding to the locked position of the locking cylinder (24), the hydraulic module (17) of the coupler (5) being mounted integrally with the second rod (26) of the locking cylinder (24), the movement of the second rod (26) from the retracted position to the extended position allowing the movement of the hydraulic module (17) of the coupler (5) from a disconnected position to an active position in which it is connectable to the corresponding hydraulic module (8) of said accessory (4) in the positioned state of the hydraulic module (8) of said accessory (4) in the first location (20), said control unit (50) being configured to control the movement of the first rod (25) and the second rod (26), characterized in that the coupler (5) comprises a presence detection sensor (45) in the first location (20), and in that the control unit (50) is configured to control the cylinder (24) according to the data provided by the presence detection sensor (45).

2. Coupler (5) according to claim 1, characterized in that it comprises a locking cylinder position sensor (47) configured to determine the position of the cylinder (24), and in that the control unit (50) is configured to control the cylinder (24) according to the data provided by the presence detection sensor (45) and the data provided by the locking cylinder position sensor (47).

3. Coupler (5) according to any one of claims 1 or 2, characterized in that the body (27), the first rod (25) or the second rod (26) further comprises a locking member (40) of the cylinder (24), the locking member (40) being controlled by the control unit (50), and the control unit (50) is configured to control the cylinder (24) and the locking member (40) according to the data provided by the presence detection sensor (45).

4. Coupler (5) according to any one of the preceding claims, characterized in that the body (27) of the cylinder (24) is a hollow cylinder in which the first rod (25) is received, the second rod (26) being fixed to the body (27) by one end, the locking cylinder (24) being configured so as to allow linear movement of the first rod (25) inside the body (27), the first rod delimiting inside the body (27) a first chamber (28) and a second chamber (29) whose dimensions vary according to the position of the first rod (25) relative to the body (27), and the hydraulic module (17) comprises a pilot-operated cylinder valve (36) connected to the first chamber (28), the second chamber (29) and a hydraulic source,the controllable cylinder valve (36) being configured to selectively put the first chamber (28) or the second chamber (29) into hydraulic communication with a hydraulic source or to prevent hydraulic communication between the first chamber (28), the second chamber (29) and the hydraulic source.

5. Coupler (5) according to the preceding claim, in combination with one of claim 2 or 3, characterized in that the sensor of the position of the locking cylinder (47) is a sensor of the position of the first rod (25) relative to the body (27).

6. Coupler (5) according to any one of the preceding claims, characterized in that the presence detectable by the presence detection sensor (45) in the first location (20) corresponds to a good alignment between the hydraulic module (17) of the coupler (5) and the corresponding hydraulic module (8) of said accessory (4) in the positioned state of the hydraulic module (8) of said accessory (4) in the first location (20).

7. Coupler (5) according to any one of the preceding claims, characterized in that the control unit (50) is configured to allow movement of the first rod (25) and / or the second rod (26) from the retracted position to the extended position only when the presence detection sensor (45) detects a presence in the first location (20).

8. Coupler (5) according to any one of the preceding claims, characterized in that the hydraulic module (17) of the coupler (5) is mounted on the cylinder (24) using an elastically deformable connecting element (35) so as to form a floating connection between the hydraulic module (17) of the coupler (5) and the second rod (26).

9. Coupler (5) according to any one of the preceding claims, characterized in that the presence detection sensor (45) is a proximity sensor.

10. Coupler (5) according to any one of the preceding claims, characterized in that the first and / or second rod (25; 26) comprises a shoulder (30) configured to abut against a first portion (31) of the frame (15) when said rod is in the retracted position and against a second portion (32) of the frame (15) when said rod is in the extended position.

11. Assembly (6) for a handling machine (1) comprising a coupler (5) and an attachment (4), the attachment (4) comprising a hydraulic module (8) connectable to the hydraulic module (17) of the coupler (5), characterized in that the coupler (5) conforms to any one of the preceding claims and in that the hydraulic module (8) of the attachment (4) is configured to be received in the first receiving location (20) and the attachment (4) comprises at least one locking portion (9) configured to be received in said at least a second receiving location (21) of the coupler (5).

12. A method for locking / unlocking a coupler (5) of an accessory (4), comprising at least one locking part (9) and a hydraulic module (8), the coupler (5) being pre-coupled to the arm (2) of a handling device (1), characterized in that the coupler (5) being in accordance with any one of claims 1 to 10 and the first rod (25) and the second rod (26) being previously in the retracted position, the method comprises the following steps: a) positioning said at least one locking part (9) of the accessory (4) in said at least one second receiving location (21) of the coupler (5) and inserting the hydraulic module (8) of the accessory (4) into the first receiving location (20) of the coupler (5); b) detect, using the presence detection sensor (45) in the first location (20), the presence of the hydraulic module (8) of the accessory (4) in the first receiving location (20) of the coupler (5);(c) move, relative to the frame (15) of the coupler (5), the first rod (25) and the second rod (26) from the retracted position to the extended position so as, on the one hand, to connect the hydraulic module (17) of the coupler (5) to the corresponding hydraulic module (8) of the accessory (4) and, on the other hand, to lock the accessory (4) onto the coupler (5); (d) move, relative to the frame (15) of the coupler (5), the first rod (25) and the second rod (26) from the extended position to the retracted position so as, on the one hand, to separate the hydraulic module (17) of the coupler (5) and the corresponding hydraulic module (8) of the accessory (4) and, on the other hand, to unlock the accessory (4) from the coupler.

13. A method according to the preceding claim, characterized in that the accessory (4) comprises at least two locking parts (9) of the accessory (4), step c) comprises the following successive steps: c) moving, relative to the frame (15) of the coupler (5), the first rod (25) from the retracted position to the extended position so as to engage in one of said at least two locking parts

14. (9) of the accessory (4), the second rod (26) being immobile relative to the chassis (15) of the coupler (5); c2) move, relative to the frame (15) of the coupler (5), the second rod (26) from the retracted position to the extended position so as to engage in one of the other at least two locking parts (9) of the accessory (4), the first rod (25) being stationary relative to the frame (15) of the coupler (5), the hydraulic module (17) of the coupler (5) moving simultaneously from the disconnected position to the active position so as to connect the hydraulic module of the coupler (17) to the corresponding hydraulic module (8) of the accessory (4); and step d) includes the following successive steps: dl) move, relative to the frame (15) of the coupler (5), the first rod (25) from the extended position to the retracted position so as to disengage it from the locking part (9) of the accessory (4) in which it was engaged, the second rod (26) being stationary relative to the frame (15) of the coupler (5); d2) move, relative to the frame (15) of the coupler (5), the second rod (26) from the extended position to the retracted position so as to disengage it from the locking part (9) of the accessory (4) in which it was engaged, the first rod (25) being stationary relative to the frame (15) of the coupler (5), the hydraulic module (17) of the coupler (5) moving simultaneously from the active position to the disconnected position so as to separate the hydraulic module (17) of the coupler (5) and the corresponding hydraulic module (8) of the accessory (4). The method according to the preceding claim, the coupler (5) being according to any one of claims 1 to 2 and 4 to 10 taken in combination with claim 3, the second rod (26) comprising the locking member (40), characterized in that, at the beginning of steps c1) and d1), the locking member (40) is actuated to block the position of the second rod (40) relative to the chassis (15), steps c2) and d2) previously comprising the actuating of the locking member (40) to unlock the position of the second rod (26), and in that step d) comprises, after step d2), a step d3) in which the locking member (40) is actuated to block the position of the second rod (26) relative to the chassis (15).

15. Method according to claim 13 or 14, the coupler being according to any one of claims 1 to 9 taken in combination with claim 10, the first rod (25) comprising the shoulder (30), characterized in that, during steps c2) and d2) the first rod (25) comes into butt respectively with the second portion (32) of the frame (15) and the first portion (31) of the frame (15).

16. A method according to any one of claims 13 to 15, the coupler being according to any one of claims 1 and 3 to 10 taken in combination with claim 2, characterized in that between step b) and cl), the method comprises detecting the position of the cylinder (24) using the position sensor of the locking cylinder (47), step cl) being carried out only if the position of the cylinder (24) is within a first predetermined range of values, the first predetermined range of values ​​corresponding to a positioning of the first and second rods (25;26) in the retracted position, and in that, between step c1) and c2) the method includes detecting the position of the cylinder (24) using the locking cylinder position sensor (47), step c2) being implemented only if the position of the cylinder (24) is within a second predetermined range of values, the second predetermined range of values ​​corresponding to a positioning of the second rod (26) in the retracted position and of the first rod (25) in the extended position.;

17. A method according to any one of claims 13 to 16, the coupler being according to any one of claims 1 and 3 to 10 taken in combination with claim 2, characterized in that between step d1) and d2), the method comprises detecting the position of the cylinder (24) using the locking cylinder position sensor (47), step d2) being carried out only if the position of the cylinder (24) is within a fourth predetermined range of values, the fourth predetermined range of values ​​corresponding to a positioning of the second rod (26) in the extended position and of the first rod (25) in the retracted position.

18. A method according to any one of claims 12 to 17, characterized in that it comprises, between step c) and step d), a step of verifying the correct connection between the module hydraulic (17) of the coupler (5) and the corresponding hydraulic module (8) of the accessory (4).

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