Load handling machine and method for controlling such a machine

Abstract

The invention relates to a handling machine (1) comprising a chassis (2), two axles (5, 6), an accessory-holding arm (10) mounted on a rotary support (14), a control station (12) provided with a first control member, a first operating mode in which the wheels (7) are mounted so as to be able to rotate in a first direction when the first control member is actuated in the first direction of movement, a second operating mode in which the wheels (7) are mounted so as to be able to rotate in an opposing second direction when the first control member is actuated in the first direction of movement, and a switching system (16) comprising a sensor (17) for detecting the angular position of the arm (10). Each steering axle (5, 6) comprises a drive device (18) for pivoting the wheels (7) about a vertical axis, wherein the drive devices (18) can be activated selectively, and the control unit (15) is configured to control, in parallel with the switching from one operating mode to another, the activation of the drive device (18) of one of the axles (5, 6) and the deactivation of the drive device (18) of the other axle.

Description

Description Title of the invention: LOAD HANDLING MACHINE AND METHOD FOR CONTROLLING SUCH A MACHINE

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

[0002] It relates in particular to a handling machine comprising a chassis extending longitudinally from a first end towards the opposite end, at least two axles each equipped with wheels and arranged one at one end, the other at the other of the ends of said chassis, at least one motor system for driving the wheels in rotation, a handling system comprising at least one accessory-carrying arm, a control station equipped with at least one first control member mounted to move in at least one first direction of movement for driving the wheels in rotation, a support for the accessory-carrying arm mounted to rotate about a so-called vertical axis in the positioned state of the machine on a flat surface to allow the positioning of said accessory-carrying arm on one side or the other of a so-called reference plane orthogonal to the longitudinal axis of the chassis and passing through or parallel to the axis of rotation of the support,a control unit configured to control the movement of the chassis as a function of the actuation of the first control member, a first operating mode in which the wheels are, in the actuated state of the first control member in the first direction of movement, mounted to be mobile in rotation in a first direction.,

[0003] Such a handling machine is known as illustrated in document US 2021 / 276845. Document FR-3.056.202 also describes a load handling machine. The presence of a rotating support also called a turret allows, by rotating the turret, to reverse the front and rear of the machine. This can be confusing for the driver of the machine if he has to reverse his control movements at the same time. Furthermore, in such an embodiment, driving comfort is however not perfect when the machine is a two-wheel steer machine. Indeed, in this case, reversing the direction of travel results in the fact that the steering axle which was the front axle for a first direction of travel becomes the rear axle for the second direction of travel.

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

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

[0006] As mentioned above, the presence of a rotating support also called a turret allows, by rotating the turret, to reverse the front and rear of the machine. This can be confusing for the driver of the machine if he has to reverse his control movements at the same time. To avoid such confusion, two selectively activatable operating modes are provided which allow, for the same movement with the control member for rotating the wheels, to drive the machine in a first direction of movement for a first range of angular positions of the turret and the associated handling system and in a second direction of movement for a second range of angular positions of the turret and the associated handling system.

[0007] The machine is a machine with at least two selectively activatable steering axles with one of the steering axles arranged at one end of the chassis and the other steering axle arranged at the opposite end of the chassis. One of the steering axles is activated in the first operating mode of the machine while the other of the steering axles is activated in the second operating mode of the machine. Thus, ideally taken with respect to the forward direction of travel of the machine, the steering axle is preferably always the front axle, which makes it possible to ensure driving comfort for the driver of the machine in all circumstances and in particular whatever the angular position of the turret and the associated handling system. It should be noted that a so-called vertical axis extending substantially vertically means an axis which is vertical to within plus or minus 25°.

[0008] According to one embodiment of the invention, the switching system comprises at least one activatable switching control member, the control unit is configured to activate the switching control member as a function of at least the data provided by the sensor of a parameter representative of the angular position of the accessory-carrying arm, said control unit being configured to activate the switching control member in at least one angular position of the accessory-carrying arm corresponding to the positioned state of the accessory-carrying arm in the reference plane or at a distance from the reference plane less than a predetermined value, and the control unit is configured to control the switching from one operating mode to another in the activated state of the switching control member and as a function of at least one other condition.

[0009] The control unit can control the switching from one operating mode to another simply based on the data provided by the sensor of a parameter representative of the angular position of the accessory-carrying arm. However, again, to avoid destabilization of the driver of the machine with regard to the behavior of the machine, it is sometimes preferable for the switching system to include, in addition to said sensor of a parameter representative of the angular position of the accessory-carrying arm, at least one activatable switching control member. This switching member can take a large number of forms.

[0010] According to one embodiment of the invention, the or one of the activatable switching control members is formed by an acknowledgment member of a device for emitting an alert signal capable of emitting an alert signal as a function of the angular position of the accessory-carrying arm, the control unit is configured to activate the acknowledgment member in the emitted state of an alert signal by the emitting device, the acknowledgment member of the alert signal is a manually actuable member and the control unit is configured to, in the activated state of said acknowledgment member, control the switching from one operating mode to another in the actuated state of said acknowledgment member.

[0011] The presence of a device for emitting an alert signal capable of emitting an alert signal as a function of the angular position of the arm relative to the reference plane and of an acknowledgment member for said device for emitting an alert signal, as well as the obligation for the operator to actuate this acknowledgment member to control the switching from one operating mode to another, allows the operator to be perfectly aware of this switching.

[0012] According to one embodiment of the invention, the or one of the activatable switching control members is formed by a timer, the control unit is configured to activate the timer as a function at least of the data provided by the sensor of a parameter representative of the angular position of the accessory-carrying arm, said control unit being configured to activate the timer in at least one angular position of the accessory-carrying arm corresponding to the positioned state of the accessory-carrying arm in the reference plane or at a distance from the reference plane less than a predetermined value and the control unit is configured to control the switching from one operating mode to another in the activated state of the timer and at the end of a predetermined activation period of the timer.

[0013] Again, the presence of a timer capable of being activated to count up or down a predetermined period of time depending on the angular position of the arm relative to the reference plane allows the operator to prepare for switching, the switching only taking place when the predetermined period of time has elapsed.

[0014] According to one embodiment of the invention, the machine comprises, for the rotational drive of the support of the accessory-carrying arm, a third control member equipping the control station and a motor device for driving the rotation of said support and the control unit is configured to control the motor device for driving the rotation of the support as a function at least of the actuation of the third control member and of the data provided by the sensor of a parameter representative of the angular position of the accessory-carrying arm.

[0015] According to one embodiment of the invention, the control unit is configured to control the at least temporary stopping of the motor device for driving rotation of the support in the positioned state of the accessory-carrying arm in the reference plane or at a distance from the reference plane less than a predetermined value.

[0016] Thus, the control unit can, in the positioned state of the accessory-carrying arm in the reference plane or at a distance from the reference plane less than a predetermined value, command, in parallel with the activation of the switching control member, a stop of the motor device for driving rotation of the support to allow the driver of the machine to prepare for the switching. This switching can take place manually by an action of the driver or automatically after a predetermined period of time as mentioned above depending on the nature of the switching control member.

[0017] According to one embodiment of the invention, the first control member and the second control member are at least partially common.

[0018] Thus, the first and second control members can be implemented as a single control member, such as a pivoting lever, with each pivoting direction (forward / backward or right / left) corresponding to a control instruction.

[0019] According to one embodiment of the invention, the or one of the control stations is formed by a basket configured to form an accessory of the accessory-carrying arm.

[0020] According to one embodiment of the invention, the or one of the control stations is formed by a cockpit at least partially carried by the support.

[0021] According to one embodiment of the invention, the or one of the control stations is formed by a remote control positionable at a distance from the chassis.

[0022] According to one embodiment of the invention, for each axle, the device for driving the wheels of said axle in pivoting movement comprises a hydraulic cylinder with at least two chambers, a fluid circulation circuit for supplying pressurized fluid to one or other of the chambers of said cylinder depending on the direction of pivoting of the wheels, and at least one distributor with at least two positions arranged on said circuit, one of the positions of the distributor corresponding to an activated state of the device for driving the wheels in pivoting movement, the other or another of the positions of the distributor corresponding to an inactivated state of the device for driving the wheels in pivoting movement.

[0023] One of the positions of the distributor corresponds to an activated state of the wheel pivoting drive device in which one of the chambers of the cylinder is capable of being supplied with pressurized fluid, and the other or another of the positions of the distributor corresponds to an inactivated state of the wheel pivoting drive device in which a supply of pressurized fluid to the chambers of the cylinder is prevented.

[0024] According to one embodiment of the invention, the wheels of an axle are said to be in a straight position when they extend parallel to the longitudinal axis of the chassis, and in the inactivated state of a device for driving the wheels of an axle in pivoting movement, the wheels of said axle are in a straight position.

[0025] According to one embodiment of the invention, the motor system for driving the wheels in rotation comprises at least one electric motor with two directions of rotation.

[0026] The transition from one operating mode to another results, for the same movement of the first control member, in a reversal of the direction of rotation of the motor and, consequently, in the wheels rotating in an opposite direction.

[0027] The invention also relates to a method for controlling a handling machine comprising a chassis extending longitudinally from a first end towards the opposite end, at least two axles each equipped with wheels, at least one motor system for driving the wheels in rotation, a handling system comprising at least one accessory-carrying arm, a control station equipped with at least one first control member mounted to move in at least a first direction of movement for driving the wheels in rotation, a support for the accessory-carrying arm mounted to rotate about a so-called vertical axis in the positioned state of the machine on a flat surface to allow the positioning of said accessory-carrying arm on one side or the other of a so-called reference plane orthogonal to the longitudinal axis of the chassis and passing through or parallel to the axis of rotation of the support, a control unit configured to control the movement of the chassis as a function of the actuation of the first control member, a first operating mode in which the wheels are, in the actuated state of the first control member in the first direction of movement, mounted to be mobile in rotation in a first direction, a second operating mode in which the wheels are, in the actuated state of the first control member in the first direction of movement, mounted to be mobile in rotation in a second direction opposite to the first direction,a switching system comprising at least one sensor of a parameter representative of the angular position of the accessory-carrying arm to enable the angular position of the arm to be determined relative to the reference plane, the control unit being configured to control the switching from one operating mode to another as a function at least of the data provided by said sensor, characterized in that the or at least two of the axles are steering axles, in that each steering axle comprises, for driving the wheels of said axle in rotation around a so-called vertical axis extending substantially vertically in the positioned state of the machine on a horizontal plane surface, a device for driving said wheels in pivoting movement parallel to each other, in that said machine comprises, for each device for driving the wheels in pivoting movement,at least one second control member equipping the control station, in that the devices for driving the wheels in pivoting movement, which are activatable / deactivatable devices, being selectively activatable, said method comprises, in parallel with a step of controlling the switching from one operating mode to another, a step of activating the device for driving the wheels in pivoting movement of one of the axles and deactivating the device for driving the wheels in pivoting movement of the other axle.,

[0028] Brief description of the drawings

[0029] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the appended drawings in which:

[0030] [Fig. 1] represents a perspective view from above of a machine according to the invention equipped with a basket-type control station in a configuration in which the machine is in the first operating mode and the steering axle is that associated with one of the ends of the chassis;

[0031] [Fig. 2] represents a perspective view from above of a machine according to the invention equipped with a basket-type control station in a configuration in which the machine is in the second operating mode and the steering axle is the one associated with the other end of the chassis;

[0032] [Fig. 3] represents a perspective view from above of a machine according to the invention equipped with a basket-type control station in a configuration in which the arm of the handling system is in the reference plane corresponding to the switching zone;

[0033] [Fig. 4] represents a schematic view of a machine in the first mode of operation to illustrate the devices for rotating the wheels of the axles in the activated state of one of the drive devices with a detailed view of a part of the control station;

[0034] [Fig. 5] shows a schematic view of a machine in the second mode of operation to illustrate the drive devices for pivoting movement of the wheels of the axles in the activated state of one of the drive devices with a detailed view of a part of the control station;

[0035] [Fig. 6] represents a perspective view from above of a machine according to the invention equipped with a control station of the cockpit type in a configuration in which the machine is in the first operating mode and the steering axle is that associated with one of the ends of the chassis;

[0036] [Fig. 7] represents a perspective view from above of a machine according to the invention equipped with a control station of the cockpit type in a configuration in which the machine is in the second operating mode and the steering axle is the one associated with the other end of the chassis;

[0037] [Fig. 8] represents a perspective view from above of a machine according to the invention equipped with a control station of the cockpit type in a configuration in which the arm of the handling system is in the reference plane corresponding to the chassis switching zone;

[0038] [Fig. 9] represents a perspective view from above of a machine according to the invention equipped with a remote control type control station in a configuration in which the machine is in the first operating mode and the steering axle is that associated with one of the ends of the chassis.

[0039] As mentioned above, the invention relates to a handling machine 1 which may be in accordance with that shown in figures 1, 6 and 9. This handling machine 1 comprises a chassis 2 with two opposite ends 3 and 4 forming, one, the front end, the other, the rear end of the chassis 2 depending on the direction of advancement of the machine. This chassis 2 has a longitudinal axis XX' developing longitudinally from one of the ends in the direction of the opposite end of the chassis 2.

[0040] The machine 1 is a rolling machine and comprises a first axle 5 equipping one of the ends, represented at 3, of the chassis 2 and a second axle 6 equipping the other of the ends represented at 4 of the chassis 2. Each axle 5, 6 is at least in the form of a mechanical axis transverse to the longitudinal axis of the chassis 2. This mechanical axis is coupled at each of its ends by a pivot connection to a wheel 7. This pivot connection is represented at ZZ' in the figures.

[0041] To enable the rotational drive of the wheels 7, at least some of which are driven, and consequently the advancement of the machine 1, the machine 1 comprises a motor system 8 for driving the wheels 7 of the machine in rotation. This motor system 8 may comprise one or more electric and / or thermal and / or hydraulic motors capable of acting on the rotational drive in forward or reverse direction of the wheels 7 of the machine. In the example illustrated in Figures 4 and 5, the motor system 8 for driving the wheels in rotation comprises an electric motor 81 with two directions of rotation capable of acting on the wheels of one of the axles of the machine, in this case the one shown at 6 in the figures. Obviously, as the machine may indifferently comprise two or four-wheel drive, two electric motors 81 could have been provided in an equivalent manner, namely one per axle.

[0042] The handling machine 1 also comprises a handling system 9 carried by the chassis 2. This handling system 9 comprises at least one accessory-carrying arm 10 mounted to move between a high position and a low position. Generally, this accessory-carrying arm 10 is a pivoting arm mounted to pivot about a so-called horizontal axis in the positioned state of the machine 1 on a horizontal flat surface. The accessory-carrying arm 10 is intended to be equipped at its free end with an accessory 11. This accessory 11 may be a basket nacelle in certain configurations of the machine 1 or an accessory other than a basket nacelle, such as a bucket, a fork or the like. This accessory-carrying arm 10 is carried by a support 14 also called a turret.This support 14 is rotatably mounted on the chassis 2 about a so-called vertical axis YY', extending vertically in the positioned state of said machine 1 on a horizontal flat surface, to allow the positioning of said accessory-carrying arm 10 on one side or the other of a so-called reference plane P orthogonal to the longitudinal axis XX' of the chassis 2 and passing through or parallel to the axis YY' of rotation of the support 14. To allow the rotational driving of the support 14 of the accessory-carrying arm 10, the machine 1 comprises a motor device 23 for rotating the support 14. This motor device 23 may conventionally comprise a toothed crown carried by the support 14 in engagement with a rotating pinion carried by the chassis 2. The rotation of the pinion in engagement with the teeth of the crown causes a rotational movement of the support 14 and of the associated handling system 9 about the axis YY' of rotation of the support 14.

[0043] The machine 1 also comprises at least one control station 12 equipped with at least one first control member 13 mounted to move in at least one first direction of movement for driving the wheels 7 in rotation for moving the machine on the ground. The control station 12 may be single or the machine 1 may comprise several selectively activatable control stations 12. This or these control stations 12 may take different forms without departing from the scope of the invention. In the example of FIGS. 1 to 3, the or one of the control stations 12 is formed by a basket 121 configured to form an accessory 11 of the accessory-carrying arm 10. This basket is therefore a nacelle arranged at the end of the arm 10. The driver of the machine can take place in this nacelle which has a control console equipped with at least the first control member 13 described above. In the example of figures 6 to 8, the or one of the control stations 12 is formed by a pilot cabin 122 at least partially carried by the support 14. Again, this pilot cabin 122 can be equipped with at least the first control member 13 described above. Finally, in the example illustrated in figure 9, the or one of the control stations 12 is formed by a remote control 123 positionable at a distance from the chassis. This remote control 123 can be equipped with at least the first control member 13 described above. The same machine 1 can indifferently comprise one or more selectively activatable control stations 12 without departing from the scope of the invention.

[0044] The first control member 13 may be in the form of a pivoting lever, as illustrated in Figures 4 and 5. This pivoting lever pivots from a neutral position represented by N in two opposite directions of movement, represented by Av for the first direction of movement corresponding to a so-called forward movement of the machine 1 and by Ar for the second direction of movement corresponding to a reverse movement of the machine 1. The forward movement is illustrated by the arrow A in certain figures. The machine 1 comprises, at the level of the control station(s), a second control member 19 and a third control member 22. This third control member 22 is configured to control the rotational drive of the support 14 of the accessory-carrying arm 10.

[0045] The machine 1 comprises a control unit 15 configured to control the movement of the chassis 2 as a function of the actuation of the first control member 13. The control unit 15 is in the form of an electronic and computer system which comprises for example a microprocessor and a working memory. According to a particular aspect, the control unit 15 may be in the form of a programmable controller. In other words, the functions and steps described may be implemented in the form of a computer program or via hardware components (e.g. programmable gate arrays). In particular, the functions and steps operated by the control unit or its modules may be carried out by instruction sets or computer modules implemented in a processor or controller or be made by dedicated electronic components or components of the programmable logic circuit type (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the application-specific integrated circuit type (or ASIC which is the acronym for application-specific integrated circuit, which literally corresponds to application-specific integrated circuit). It is also possible to combine computer parts and electronic parts. When it is specified that the unit or means or modules of said unit are configured to carry out a given operation, this means that the unit includes computer instructions and the corresponding execution means which make it possible to carry out said operation and / or that the unit includes corresponding electronic components.

[0046] The machine 1 comprises a first operating mode in which the wheels 7 are, in the actuated state of the first control member 13 in the first direction of movement, i.e. in the direction of arrow Av, mounted to be movable in rotation in a first direction, i.e. in Figure 4 which illustrates this first operating mode, with the end 3 of the chassis forming the front end and the end 4 of the chassis forming the rear end. The machine 1 comprises a second operating mode in which the wheels are, in the actuated state of the first control member 13 in the first direction of movement, i.e. in the direction of arrow Av, mounted to be movable in rotation in a second direction opposite to the first direction, i.e. in Figure 5 which illustrates this second operating mode, with the end 4 of the chassis forming the front end and the end 3 of the chassis forming the rear end.Thus, for the same movement of the first control member 13, depending on the operating mode of the machine 1, the wheels turn in one direction or the other. This direction of rotation of the wheels 7 is here defined by the direction of rotation of the motor 81. The first and second operating modes are selectively activatable.

[0047] The machine 1 comprises a switching system 16 comprising at least one sensor 17 of a parameter representative of the angular position of the accessory-carrying arm to enable the angular position of the accessory-carrying arm 10 to be determined. accessory relative to the reference plane P. The data from this sensor 17 are supplied to the control unit 15. The control unit 15 is therefore configured to acquire the data supplied by said sensor 17. This sensor 17 may for example be a code wheel arranged at the level of the axis of rotation of the support 14, the accessory-carrying arm 10 being positioned in an angularly fixed manner on said support 14. Obviously, other types of sensors can be envisaged without departing from the scope of the invention. The control unit 15 is configured to control the switching from one operating mode to another as a function at least of the data supplied by said sensor 17. In practice, the switching generally takes place in an angular position of the accessory-carrying arm 10 corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value.

[0048] In the simplest version, the control unit 15 is configured to control the switching from one operating mode to another solely as a function of the data provided by said sensor 17. Thus, as soon as the accessory-carrying arm 10 crosses the plane P during the rotation of the support 14, the control unit 15 controls the switching from one operating mode to another. In practice, this may result for the driver of the machine 1 in a surprise effect linked to the change in behavior of the machine 1 which may take the driver of the machine 1 by surprise. To avoid this, the switching system 16 may comprise, in addition to said sensor 17, at least one activatable switching control member 20. The control unit 15 is configured to activate the switching control member 20 as a function at least of the data provided by the sensor 17 of a parameter representative of the angular position of the accessory-carrying arm 10.The control unit 15 is configured to activate the switching control member 20 in at least one angular position of the accessory-carrying arm 10 corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value. Thus, as soon as the sensor 17 detects the angular position of the accessory-carrying arm 10 desired for switching, it activates the switching control member 20. The control unit 15 is configured to control the switching of a mode of. operation to another in the activated state of the switching control member 20 and depending on at least one other condition. This condition may vary depending on the nature of the switching control member 20.

[0049] Figure 4 illustrates the case where the or one of the activatable switching control members 20 is formed by a member 200 for acknowledging a device 21 for emitting an alert signal. In this embodiment, the machine 1 comprises at the control station a device 21 for emitting an alert signal, this alert signal being able to be luminous or audible. The control unit 15 is configured to control the emission of an alert signal by said device 21 for emitting an alert signal as a function of the angular position of the accessory-carrying arm 10. In particular, the control unit 15 is configured to control the emission of an alert signal by said device 21 for emitting an alert signal in at least one angular position of the accessory-carrying arm 10 corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value.The control unit 15 is configured to activate the acknowledgment member 200 of the device 21 for transmitting an alert signal in the state in which an alert signal is transmitted by the transmitting device 21. This acknowledgment member 200 of the alert signal is a manually actuable member. This acknowledgment member 200 may, for example, be in the form of a button which lights up when an alert signal is transmitted. The operator then simply needs to press this acknowledgment member 200 for the transmission of the alert signal to cease and for the control unit 15 to control the switching from one operating mode to another. Thus, the control unit 15 is configured to, in the activated state of said acknowledgment member 200, control the switching from one operating mode to another in the actuated state of said acknowledgment member 200.This process of actuating the acknowledgment member 200 allows the driver of the machine to prepare for the change in behavior of the machine 1 which results from the switching. To allow the driver of the machine 1 not to have to act in haste, the control unit 15 can be configured to control the at least temporary stopping of the motor device 23 for driving the rotation of the support 14 in the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the plane. reference plane less than a predetermined value, including in the actuated state of the third control member 22. In this case, when the accessory-carrying arm 10 occupies a position corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value, the control unit 15 which acquires such information from the sensor 17 is configured to prevent further movement of the support 14, to control the emission of an alert signal by said device 21 for emitting an alert signal and to activate the member 200 for acknowledging the device 21 for emitting a warning signal. As soon as this acknowledgment member 200 is actuated by the driver of the machine, the switching takes place and the support 14 can rotate again.

[0050] Alternatively or additionally, the or one of the activatable switching control members 20 is formed by a timer 201 as illustrated in Figures 1 to 3. The control unit 15 is configured to activate the timer 201 as a function at least of the data provided by the sensor 17 of a parameter representative of the angular position of the accessory-carrying arm 10. In particular, the control unit 15 is configured to activate the timer 201 in at least one angular position of the accessory-carrying arm 10 corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value. The control unit 15 is configured to control the switching from one operating mode to another in the activated state of the timer 201. Again, to assist the driver of the machine 1, the control unit 15 can be configured to control the at least temporary stopping of the motor device 23 for driving the support 14 in rotation in the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane less than a predetermined value.In this case, when the accessory-carrying arm 10 occupies a position corresponding to the positioned state of the accessory-carrying arm 10 in the reference plane P or at a distance from the reference plane P less than a predetermined value, the control unit 15 which acquires such information from the sensor 17 is configured to prevent the continuation of a movement of the support 14 and to control the triggering of the timer 201 which counts or counts down a time. As soon as this counting or counting time which. corresponds to the activation period of the timer 201 has elapsed, the switching takes place and the support 14 can rotate again. The additional condition here is therefore the elapse of the activation period of the timer 201.

[0051] To complete the machine 1, the or at least two of the axles, namely the axles shown at 5 and 6 in the figures, are steering axles. Each steering axle comprises, for driving the wheels 7 of said axle in pivoting movement around a so-called vertical axis ZZ' of rotation extending substantially vertically in the positioned state of the machine 1 on a horizontal plane surface, a device 18 for driving the wheels 7 in pivoting movement parallel to each other. Thus, the wheels 7 of the same axle extend in substantially parallel planes, i.e. parallel to within plus or minus 20° and turn in the same direction of rotation and each pivot around a vertical axis ZZ' in the same direction. The wheels 7 of an axle are said to be in a straight position when they extend parallel to the longitudinal axis XX' of the chassis 2.The machine 1 comprises, for each device 18 for driving the wheels 7 in pivoting movement, at least one second control member 19 equipping the control station 12. This second control member 19 may be formed by a pivoting lever or a wheel equipping the end of a pivoting lever. In the examples shown, the first control member 13 and the second control member 19 are at least partially common. In this embodiment, the pivoting lever which has a first direction of movement, i.e. along the arrow Av and a second direction of movement i.e. along the arrow Ar to form the first control member 13 is also movable in two opposite directions called D and G for right and left to form the second control member 19.Thus, the same lever allows, according to its movements, the control on the one hand of the movement and the direction of forward / reverse movement of the machine, and on the other hand, the control in the direction of the machine 1. This second control member 19 is common to the devices 18 for driving the pivoting movement of the wheels 7.

[0052] In at least one configuration of the machine 1 called two-wheel steering, the devices 18 for driving the wheels 7 in pivoting movement, which are activatable / deactivatable devices, are selectively activatable, that is to say that when one of the drive devices 18 is in the activated state, the other is in the inactivated state, and vice versa. In the inactivated state of a device 18 for driving the wheels 7 of an axle in pivoting movement, the wheels 7 of said axle are in the straight position. The control unit 15 is configured to control, in parallel with the switching from one operating mode to another, the activation of the device 18 for driving the wheels 7 of one of the axles in pivoting movement and the deactivation of the device 18 for driving the wheels 7 of the other axle in pivoting movement. Thus, as illustrated in the figures, when the drive device 18 associated with the axle 5 arranged at the first end 3 of the chassis 2 is activated, the drive device 18 associated with the axle 6 arranged at the opposite end 4 of the chassis 2 is deactivated and vice versa. The machine 1 therefore has only one steering axle at a time in this configuration with two steering wheels. The second control member 19 is active on the activated wheel pivoting movement drive device 18 7.

[0053] As mentioned above, each axle 5, 6 comprises at least two wheels 7 pivoting around a vertical axis ZZ' extending substantially vertically in the positioned state of the machine 1 on a horizontal flat surface. This pivot axis of the wheels also extends substantially orthogonally, that is to say orthogonally to within plus or minus 20°, to the axis of rotation of the wheels. This vertical axis ZZ' extends, for each wheel 7, at the level of the pivot connection coupling a wheel 7 to the mechanical axis of the axle.

[0054] Each device 18 for driving the wheels 7 of an axle in pivoting movement comprises a hydraulic cylinder 181. This cylinder 181 conventionally comprises a body and a piston head dividing the body into two chambers shown at 1810 and 1811, for example in Figures 4 and 5. This piston head is provided, on each of its opposite faces, with a rod projecting from the body. Each output rod is connected to a wheel pivot by a steering rod in a manner known per se. The movement of the cylinder rod is transmitted, by the rod, to the pivot connection of the wheel to the mechanical axis of the axle, for rotation of the wheel around the vertical axis ZZ', as mentioned above.

[0055] The device 18 for driving the wheels of an axle in pivoting movement also comprises a fluid circulation circuit 182 for supplying pressurized fluid to one or other of the chambers 1810 or 1811 of the jack 181 depending on the desired direction of pivoting of the wheels 7 around the vertical axis ZZ'. Thus, when one of the chambers 1810 or 1811 of the jack 181 is supplied with pressurized fluid, the other is exhausted.

[0056] In the example of figures 4 and 5, the supply of the chamber 1810 of one of the jacks 181 generates a right rotation of the wheels of the axle associated with said jack and the supply of the chamber 1811 of the jack 181 generates a left rotation of the wheels of the axle associated with said jack.

[0057] To enable the supply of pressurized fluid to one or other of the chambers of the jack, the fluid circulation circuit 182 supplying the jack comprises a so-called direction reversing distributor 184 with at least two positions capable of being controlled in movement. The second control member 19 described above is configured to control the position of this direction reversing distributor 184 in the activated state of the device 18 for driving the pivoting movement of the wheels associated with said direction reversing distributor 184.

[0058] For reasons of simplicity of construction, the direction reversal distributor 184, allowing, depending on its position, a selection of the chamber of the cylinder 181 of the drive device 18 to be supplied under pressure, can be arranged on a portion of the fluid circulation circuit 182 common to the two devices 18 for driving the wheels of an axle in pivoting movement.

[0059] The fluid circulation circuit 182 therefore comprises a portion common to the two drive devices 18 and a separate portion for each drive device 18. Obviously, the operation described above for one of the drive devices 18 is identical for the other of the drive devices 18.

[0060] As mentioned above, each device 18 for driving the wheels 7 in pivoting motion is an activatable / deactivatable device. For this purpose, each device 18 for driving the wheels 7 in pivoting motion comprises at least one activation / deactivation distributor 183 with at least two positions arranged on the fluid circulation circuit 182. This activation / deactivation distributor 183 is therefore able to occupy two positions as illustrated in Figures 4 and 5. One of the positions of the activation / deactivation distributor 183 corresponds to an activated state of the device for driving the wheels in pivoting movement in which one of the chambers of the cylinder is able to be supplied with pressurized fluid. Another of the positions of the activation / deactivation distributor 183 corresponds to an inactivated state of the device 18 for driving the wheels in pivoting movement 7 in which a supply of pressurized fluid to the chambers of the cylinder is prevented. This activation / deactivation distributor 183 is here positioned on the portion of the fluid circulation circuit 182 common to the two drive devices 18. This activation / deactivation distributor 183 can be common to the two drive devices 18.This is the case in the example of Figures 4 and 5 where the activation / deactivation distributor 183 is common to both drive devices 18. The position of said activation / deactivation distributor 183 corresponding to an activated state of one of the drive devices 18 for pivoting the wheels corresponds to a deactivated state of the other of the drive devices 18 for pivoting the wheels. Thus, the activation / deactivation distributor 183 having two positions, each position of the activation / deactivation distributor 183 corresponds to an activated state of one of the drive devices 18 for pivoting the wheels and a deactivated state of the other of the drive devices 18 for pivoting the wheels, the activated drive device 18 not being the same from one position of the activation / deactivation distributor 183 to another.

[0061] It is noted that in this embodiment, the direction reversal distributor 184, controlled by the second control member 19, and the activation / deactivation distributor 183, controlled by the control unit 15 as a function of activation / deactivation conditions, are arranged in series on the fluid circulation circuit 182.

[0062] In practice, the control unit 15 is configured to control, in parallel with the switching from one operating mode to another, the activation of the device 18 for driving the pivoting movement of the wheels 7 of one axles and deactivation of the device 18 for driving the wheels of the other axle in pivoting motion. This switching is illustrated in Figures 1 to 3 for a machine equipped with a basket-type control station 121.

[0063] In Figure 1, the first operating mode is selected. Thus, when the first control member 13 is actuated in the first direction of movement, i.e. forward, the wheels turn to drive the machine forward towards the top of the sheet in the direction of arrow A shown in Figure 1.

[0064] The steering axle is the axle shown at 5 arranged at the first end 3 of the chassis 2. This steering axle is therefore arranged at the front of the chassis 2 taken with respect to the forward direction of movement of the chassis 2. It is the device 18 for driving the wheels of this axle in pivoting motion which is activated. The accessory-carrying arm 10 extends on the side of the reference plane P opposite that containing the first end 3 of the chassis 2. As long as this arm remains on this side of the reference plane P, the machine remains in this first operating mode. In this first operating mode, the activated device 18 for driving the wheels in pivoting motion is the one which is furthest from the basket 121.

[0065] When the driver of the machine 1 brings the accessory-carrying arm 10 into the reference plane P, as illustrated in FIG. 3, the drive device 18 activated in FIG. 1 is deactivated and these wheels are returned to the straight position. The control unit 15 can stop the movement drive of the machine, including in the actuated state of the first control member 13.

[0066] The activatable switching control member 20 is activated and the switching takes place as soon as another condition is met as described above. Thus, if the switching member 20 is the acknowledgment member 200 of a device 21 for emitting a warning signal, the warning signal is emitted when the accessory-carrying arm 10 is in the reference plane P and the actuation by the driver of the machine of the acknowledgment member 200 stops the emission of said warning signal and authorizes the driver of the machine to control the machine from the first control member once the control unit 15 has, following the actuation of the acknowledgment member 200, activated the device 18 drive of the axle 6 arranged at the end 4 of the chassis 2 opposite the first end 3 of the chassis 2 and activated the operating mode of the machine in which, when the first control member 13 is actuated in the first direction of movement, that is to say forward, the wheels turn to drive the machine forwards towards the bottom of the sheet according to the arrow A shown in Figure 2.

[0067] Again, the steering axle, which is shown at 6 in Figure 2, is arranged at the front of the chassis 2 taken with respect to the forward direction of movement of the chassis 2 and it is the device 18 for driving the wheels of this steering axle 6 in pivoting movement which is activated.

[0068] It is noted that in this mode of operation, the activated wheel pivoting drive device 18 is always the one which is furthest from the basket 121.

[0069] Obviously, we return to the first operating mode as soon as the accessory-carrying arm 10 returns to the position in figure 3.

[0070] Regardless of the operating mode activated, driving comfort is maximized for the operator. The operation described above would be similar with a switching control member that can be activated in the form of a timer, the activation of the timer taking place in the positioned state of the accessory-carrying arm 10 in the reference plane P, and the transition from one operating mode to another taking place as soon as the period counted or counted down by the timer has elapsed, this switching obviously taking place in parallel with the transition from one drive device to another.

[0071] Figures 6 to 8 similarly illustrate the transition from one operating mode to another of the machine 1 in parallel with the activation of the device 18 for driving the wheels of one of the axles in pivoting movement and the deactivation of the device 18 for driving the wheels of the other axles in pivoting movement.

[0072] Figure 6 corresponds to a first operating mode. Figure 7 corresponds to a second operating mode and Figure 8 to the position of the accessory-carrying arm 10 in the reference plane P when switching from one operating mode to another.

[0073] Figures 6 to 8 are distinguished from Figures 1 to 3 by the fact that the machine 1 comprises a control station in the form of a cabin 122 carried at least partially by the support 14.

[0074] In this case, the activated wheel pivoting drive device 18 is the one closest to the accessory or, in other words, the one that extends on the same side of the reference plane P as the side of the reference plane P containing the accessory 11.

[0075] Figure 9 simply illustrates an example of a handling machine 1 equipped with a remote control 123. The switching principle is similar to that of figures 6 to 8.

Claims

Claims

1. Handling machine (1) comprising a chassis (2) extending longitudinally from a first end (3) towards the opposite end (4), at least two axles (5, 6) each equipped with wheels (7), at least one motor system (8) for driving the wheels (7) in rotation, a handling system (9) comprising at least one accessory-carrying arm (10), at least one control station (12) equipped with at least one first control member (13) mounted to move in at least one first direction of movement for driving the wheels (7) in rotation, a support (14) for the accessory-carrying arm (10) mounted to rotate about an axis (YY') said to be vertical in the positioned state of the machine (1) on a horizontal plane surface to allow the positioning of said accessory-carrying arm (10) on one side or the other of a plane (P) said to be a reference plane orthogonal to the longitudinal axis of the chassis (2) and passing through or parallel to the axis (YY') of rotation of the support (14),a control unit (15) configured to control the movement of the chassis (2) as a function of the actuation of the first control member (13), a first operating mode in which the wheels (7) are, in the actuated state of the first control member (13) in the first direction of movement, mounted to be movable in rotation in a first direction, characterized in that the handling machine (1) comprises a second operating mode in which the wheels (7) are, in the actuated state of the first control member (13) in the first direction of movement, mounted to be movable in rotation in a second direction opposite to the first direction and a switching system (16) comprising at least one sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10) to enable the angular position of the arm (10) to be determined relative to the reference plane (P),in that the control unit (15) is configured to control the switching from one operating mode to another as a function at least of the data provided by said sensor (17), in that the or at least two of the axles are steering axles (5, 6), in that each steering axle (5, 6) comprises, for driving the wheels (7) of said axle (5, 6) in pivoting movement around a so-called vertical axis of rotation (ZZ') extending substantially vertically in the positioned state of the machine (1) on a flat surface, horizontal, a device (18) for driving said wheels (7) in a pivoting movement parallel to each other, in that said machine (1) comprises, for each device (18) for driving the wheels (7) in a pivoting movement, at least one second control member (19) equipping the control station (12), in that the devices (18) for driving the wheels (7) in a pivoting movement, which are activatable / deactivatable devices, are selectively activatable and in that the control unit (15) is configured to control, in parallel with the switching from one operating mode to another, the activation of the device (18) for driving the wheels (7) in a pivoting movement of one of the axles (5, 6) and the deactivation of the device (18) for driving the wheels (7) in a pivoting movement of the other axle.

2. Handling machine (1) according to claim 1, characterized in that the switching system (16) comprises at least one activatable switching control member (20), in that the control unit (15) is configured to activate the switching control member (20) as a function at least of the data provided by the sensor (17) of a parameter representative of the angular position of the accessory-carrying arm (10), said control unit (15) being configured to activate the switching control member (20) in at least one angular position of the accessory-carrying arm (10) corresponding to the positioned state of the accessory-carrying arm (10) in the reference plane (P) or at a distance from the reference plane (P) less than a predetermined value,and in that the control unit (15) is configured to control the switching from one operating mode to another in the activated state of the switching control member (20) and depending on at least one other condition.,

3. Handling machine (1) according to claim 2, characterized in that the or one of the activatable switching control members (20) is formed by a member (200) for acknowledging a device (21) for emitting an alert signal capable of emitting an alert signal as a function of the angular position of the accessory-carrying arm (10), in that the control unit (15) is configured to activate the acknowledgment member (200) in the emitted state of an alert signal by the emitting device (21), in that the member (200) for acknowledging the alert signal is a manually actuable member and in that the unit (15) control is configured to, in the activated state of said acknowledgment member (200), control the switching from one operating mode to another in the actuated state of said acknowledgment member (200).

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

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

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

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

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

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

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

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

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

13. Handling machine (1) according to one of claims 1 to 12, characterized in that the motor system (8) for driving the wheels (7) in rotation comprises at least one electric motor (81) with two directions of rotation.

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

Images