Control device for a handling machine, and corresponding handling machine

Abstract

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

Description

Description Title of the invention: CONTROL DEVICE FOR HANDLING MACHINE, AND CORRESPONDING HANDLING MACHINE

[0001] FIELD OF INVENTION

[0002] The present invention relates generally to handling machines and the control of the machine for its movement on the ground and / or the handling of loads or persons.

[0003] Such a machine can notably be made in the form of a telescopic handler, a mechanical excavator, a bucket loader, a platform, a mast truck or another type of machine.

[0004] EARLIER ART

[0005] We know the state of the art of handling machines which include a control device allowing an operator to pilot these machines.

[0006] In particular, we know of control devices which allow the machine to be operated from inside a machine control station, and / or from outside the machine control station while remaining on the ground.

[0007] However, it is desirable to improve the comfort and / or precision of piloting such machines.

[0008] SUMMARY OF THE INVENTION

[0009] To this end, the invention relates to a control device for a handling machine comprising a rolling chassis and a load or person handling system carried by the rolling chassis, the control device comprising: - a main body; and - a handling control system mounted articulated to the main body around a first articulation axis, and a second articulation axis, the two articulation axes being intersecting each other; the control device being configured such that: pivoting the handling control system around the first axis generates a control signal for a first function of the machine's handling system, such as the movement of a lifting arm of the handling system; pivoting the handling control system around the second axis generates a control signal for a second function of the machine's handling system, such as the movement of a handling tool system relative to the lifting arm of the handling system; wherein, in the unloaded state of the handling control system, the handling control system extends at least partially, preferably predominantly, into an imaginary parallelepiped in which the main body of the control device is inscribed; and wherein, in the loaded state, in at least one of the extreme pivoting positions around the first articulation axis,The end portion of the handling control system, opposite the end portion of said handling control system articulated to the main body, extends beyond the imaginary parallelepiped, presenting a distance from the parallelepiped that is greater than the distance of said end portion from the imaginary parallelepiped in the unloaded state of the handling control system.

[0010] The control device according to the invention allows the operator to intuitively control the handling system of the machine, thanks to the two intersecting pivot axes of the handling control system, which allow the operator to easily control a first function of the handling system, such as the tilting of an arm of the handling system, by pivoting the handling control system of the control device around the first articulation axis, and a second function of the handling system, such as the digging or tilting of a tool of the handling system relative to an arm of said handling system, by pivoting the handling control system of the control device around the second axis.

[0011] The layout and mobility of the handling control system allow the operator to benefit from ergonomic and comfortable operation of the machine's handling system using a control device that allows the machine's handling system to be operated by placing one hand, preferably the palm, on the handling control system. Advantageously, the control device also allows the operator to control the machine's ground movement and, preferably, its direction using the other hand, which can activate a movement control system on the control device to control the machine's ground movement and, preferably, its steering system.According to one embodiment of the invention, at least in the unloaded state of the handling control system, said handling control system extends primarily within an imaginary parallelepiped in which the main body of the device is inscribed. In other words, the handling control system extends mainly within the volume defined by the main body of the control device.

[0012] Thanks to this arrangement of the handling control system, the handling functions are easy for the operator to use. In one embodiment, the handling control system forms a handle hinged to the main body of the control device, on which the operator can place the palm of one hand, for example the right hand, to rotate said handle around one or both of the provided articulation axes according to the desired movements of the machine's handling system.

[0013] According to one embodiment, the material handling control system features: - a length or width along each of the said articulation axes of at least 25 mm, preferably at least 40 mm; - a thickness along a direction orthogonal to said articulation axes of at least 10 mm, preferably at least 30 mm.

[0014] According to one embodiment, the handling control system has a shape adapted to the positioning of a palm of the hand on the control system.

[0015] According to one embodiment, the handling control system is provided with at least one additional control element, for example formed by at least one roller (also called a wheel) or mini-joystick, preferably located on the upper face of the handling control system, preferably on the part of the handling control system which is close to a central part of the main body, as opposed to the opposite part of the handling control system which is located, towards the outside of the control device.

[0016] According to one embodiment, the additional component has a deployment control function for at least part of the handling system, for example to generate a telescoping command for a machine arm.

[0017] In one embodiment, the first articulation axis and / or the second articulation axis are parallel or inclined with respect to the underside of the imaginary parallelepiped. It may be provided that one of the axes is inclined and the other parallel to the underside of the imaginary parallelepiped, or that both axes are inclined, or that both axes are parallel to the underside of the imaginary parallelepiped.

[0018] According to one embodiment, in the stressed state in at least one of the extreme pivoting positions around the first articulation axis, the end part of the handling control system opposite the articulated end of said handling control system extends out of the imaginary parallelepiped, preferably out of the upper face of the imaginary parallelepiped when the control system is inclined upwards or out of the lower face of the imaginary parallelepiped when the handling control system is inclined downwards.

[0019] According to one embodiment, the control device has an outer peripheral contour and the handling control system forms part of said outer peripheral contour.

[0020] According to one embodiment, the main body of the device has an elongated and curved lateral part in the extension of which the handling control system extends, at least in the state unsolicited from the handling control system, said lateral part and the handling control system delimiting between them a space, preferably through, in which part of the operator's hand can extend when said hand is resting on the handling control system.

[0021] In one embodiment, the handling control system has a free end that preferably extends opposite an end of the lateral part to the end of the lateral part to which the handling control system is articulated. This design of the device body provides a portion (end of the lateral part) that can be grasped manually, allowing for ergonomic use of the device as a handwheel.

[0022] According to one embodiment, the control device also includes a system for controlling the movement, and preferably the direction, of the machine, such as a joystick, configured to allow the movement and preferably the direction of said machine to be moved, the movement control system being located on a lateral part of the main body of the control device, opposite the lateral part of the main body to which the handling control system is articulated.

[0023] In one embodiment, the main body of the control device comprises a central portion flanked by two lateral portions: one equipped with the handling control system, and the other with the movement control system. These lateral portions define two hand-gripable sections, enabling ergonomic operation of the device as a steering wheel by allowing the user to place both hands on it.

[0024] According to one embodiment, at least one of the lateral parts of the control device forms a gripping area, preferably annular, adapted to allow the operator to grasp the control device and activate the movement control system with one hand (for example, with the thumb of the hand that grasps the control device). of movement at the level of the corresponding lateral part), while the handling control system articulated to the other lateral part of the main body is operated by the operator's other hand.

[0025] According to one embodiment, the main body of the control device has an elongated shape along a direction passing through the handling control system, preferably the central part, and the movement control system.

[0026] According to one embodiment, the control device is a steering wheel allowing the machine to be steered according to the rotation of said main body relative to the chassis of the machine or relative to the terrestrial reference frame.

[0027] According to one embodiment, the control device is removable from a pilot station carried by the chassis of the handling machine.

[0028] According to one embodiment, the main body of the control device is configured to be able to be attached to equipment, such as a harness, with which an operator is able to be equipped to allow the operator's arms to be relieved at least partially of the weight of the control device.

[0029] According to one embodiment, the control device includes a radio communication module for transmitting commands by radio to a processing unit of the handling machine, the processing unit being configured to control the ground movement of the machine and / or the actuation of the handling system of the machine according to the commands received.

[0030] According to one embodiment, the handling control system has an angular range of movement around the first articulation axis and / or around the second articulation axis, of at least 10°, preferably 20°.

[0031] The invention also relates to a handling machine comprising: - a rolling chassis; - a ground movement system for the rolling chassis and a steering system; - a handling system carried by the rolling chassis; - a control device according to any of the preceding embodiments. A processing unit (or control unit) of the machine is configured to define the actions associated with the demands of the handling control system, and where applicable, with the demands of the movement control system, of the control device.

[0032] According to one embodiment, the machine includes a driver's station carried by the rolling chassis; the driver's station includes a control device receiving support configured to receive the control device, preferably in a removable manner.

[0033] According to one embodiment, the machine's pilot station is devoid of a steering control device and / or a travel speed control device and / or an additional handling control device, usable in place of the control device.

[0034] The control device may also include one or more of the following features taken in any technically permissible combination.

[0035] In one embodiment, the cockpit comprises: - a seat, and a sensor for the presence of a driver on the seat, such as a weight sensor in the seat; - a seat belt for the driver and a belt fastening and unfastening system; the machine also comprising a processing unit which includes: a driver presence detection module configured to detect the presence or absence of the driver on the seat based on data provided by the driver presence sensor on the seat; a belt status detection module to detect whether the driver's belt is fastened or unfastened; a control device status detection module configured to detect whether the removable control device is positioned or removed relative to the receiving support; a radio communication module configured to communicate with a radio communication module of the control device; the processing unit also including a machine operation management module configured to: allow the machine to operate in a so-called nominal mode, when the presence of the operator on the seat, the fastened seatbelt, and the position of the control device in or on the receiving support are detected, the control device being configured to, in said nominal mode, allow control of at least part of the machine's movement and steering system and the machine's handling system; and limit the machine's operation to a so-called degraded mode, when at least one of the following conditions is met: - the control device is removed from the receiving support in the cockpit; - the absence of the driver in the cockpit seat is detected; - the driver's seat belt is unfastened; the degraded operating mode being an operating mode in which: - the maximum allowable value of at least one machine operating parameter is reduced compared to the maximum allowable value of said machine operating parameter in nominal mode; - and / or a function of the machine available in nominal mode is deactivated in degraded mode; the radio communication module of the control device being configured to communicate with the radio communication module of the processing unit to enable the control device to control ground movement and steering and / or the handling system when the control device is removed from the receiving support; and, in the state positioned in or on the receiving support, the control device is mounted pivotally relative to or with the receiving support so as to form a steering control element by said pivoting mobility, such as a steering wheel, to enable the operator in the machine's cab to control a wheel steering system of the machine by pivoting the control device.

[0036] Thanks to the rotary mobility of the control device, the machine can thus be devoid of a conventional steering wheel permanently linked to the wheel steering system, thanks to the removable control device which can be used as a steering wheel.

[0037] Having a removable control device that can be used as a steering element by pivoting it relative to or with the receiving support allows for the formation of a steering wheel, which the user (driver) can grip with both hands, thus providing comfort and precision in driving the vehicle when the user is in the vehicle, unlike the use of a button or joystick, while also providing the possibility of piloting the machine with this control device outside the machine thanks to its removability and the presence of the travel control system which forms part of the control device.

[0038] According to one embodiment, in the positioned state of the control device in or on the receiving support, the entire removable control device is mounted pivotally relative to the chassis of the machine to control the direction of the vehicle.

[0039] In the state of being removed from the control device relative to the receiving support, it is the movement control system, for example a joystick and buttons, which allows the user to control the movement on the ground and preferably the direction of the machine.

[0040] In one particular aspect, the movement and steering control system allows for the control of movement (preferably speed), direction, and orientation (specifically, forward, reverse, or neutral). It can be anticipated that the movement and steering system will include buttons for selecting forward, reverse, or neutral, and a joystick for steering the machine by tilting it left and right and for moving the machine at a speed proportional to the joystick's forward or backward movement.

[0041] The user can thus control the machine's ground movement and direction from outside the machine. Activating the mode of degraded operation in the removed state of the control device, allows for consideration of the fact that steering using the movement and steering control system mounted on the body of the control device is less precise and less comfortable to use than the steering element formed by the control device itself, such as a steering wheel, when the control device is positioned in or on the receiving support and the user can pivot it with both hands to steer the vehicle.

[0042] The limitation of performance or capacity of the machine when the user operates the machine with the control device, but without said control device being positioned in its receiving support of the cockpit, thus allows the user to operate the machine from outside the cockpit of the machine while reducing the risk of accident.

[0043] In particular, when the handling system includes a lifting arm, reducing the machine's maximum ground travel speed and / or maximum acceleration helps to limit machine instability and therefore the risk of the machine tipping over, taking into account that a user located outside the machine's cockpit can hardly judge or feel the effects of operating the machine with respect to machine instability, or that operating the machine is more difficult for a user located outside the cockpit, as opposed to operating the machine by a user present in the cockpit.

[0044] The nominal operating mode is a mode in which the machine exhibits maximum operating capabilities (i.e., capabilities corresponding to maximum operating values, which may nevertheless be limited by safety parameters defined, for example, in charts, based on the weight of the load being handled and / or the arm angle and / or the lateral inclination of the machine...). In other words, in nominal mode, all the machine's functions are usable up to their maximum value.

[0045] According to one embodiment of the invention, in degraded mode, the processing unit is configured to limit the maximum value of the speed, or acceleration, of ground movement of the rolling chassis of the machine relative to the maximum value of the speed, or acceleration, allowed in nominal mode.

[0046] According to one embodiment of the invention, the handling system comprises a lifting arm that can be tilted relative to the chassis, between a low position and a high position, the lifting arm being equipped with handling equipment, such as a work platform or a fork system, the lifting arm preferably being pivotally mounted at the rear of the machine, and wherein, in degraded mode, the processing unit is configured to limit the maximum allowable value of the angular velocity and / or angular acceleration of the lifting arm relative to the maximum value of the angular velocity and / or angular acceleration of the lifting arm allowed in nominal mode.

[0047] According to one embodiment of the invention, the handling system includes a lifting arm that can be tilted relative to the chassis, between a low position and a high position, the lifting arm being equipped with handling equipment, such as a work platform or a fork system, the lifting arm being telescopic and preferably pivotally mounted at the rear of the machine, and, in degraded mode, the processing unit is configured to limit the maximum allowable exit speed and / or exit acceleration of the lifting arm relative to the maximum allowable exit speed and / or exit acceleration of the lifting arm in nominal mode.

[0048] According to one embodiment of the invention, in the state positioned in or on the receiving support, the control device is mounted pivotally fixed to the receiving support which includes a shaft, called the steering shaft, coupled to the wheel steering system so that the pivoting of the control device pivots the steering shaft relative to the chassis.

[0049] According to one embodiment of the invention, the control device includes a rechargeable battery and an electrical connection system connected to the battery; the electrical connection system of the control device is configured so that, when the control device is positioned in or on the receiving support, it is connected to an electrical connection system of the receiving support to allow the battery to be recharged by a power supply system of the machine.

[0050] According to one embodiment of the invention, the control device state detection module is connected to the electrical connection system of the receiving support so as to detect the positioning of the control device in or on the receiving support when the electrical connection system of the control device is connected with the electrical connection system of the receiving support.

[0051] According to one embodiment of the invention, the electrical connection system of the control device is located on a side face and / or on a bottom face, as opposed to a top face of the control device which carries the control system of the ground movement and steering system of the machine and the control system of the handling system of the machine, while the electrical connection system of the receiving support is located on a side face and / or on a top face of the receiving support, so as to allow automatic connection of the electrical connection systems between them when the user drops the control device by gravity into the receiving support.

[0052] According to one embodiment of the invention, the machine includes a locking system for locking the control device to hold it in position in or on the receiving support, and for unlocking the control device from the receiving support to remove it.

[0053] According to one embodiment of the invention, the machine's movement control system is configured to allow control of: - the speed and / or acceleration of the rolling chassis's ground movement. machine; and - the direction of movement on the ground of the machine's rolling chassis; and, - at least in degraded mode, the machine's direction to allow a user to control the direction of ground movement of the machine's rolling chassis from outside the driver's seat.

[0054] According to one embodiment of the invention, the handling system includes a lifting arm that can be tilted relative to the chassis, between a low position and a high position, the lifting arm being equipped with handling equipment (handling tool system), such as a work platform or a fork system, mounted movable relative to the lifting arm, the lifting arm preferably being telescopic and preferably mounted pivoting at the rear of the machine, the handling control system is configured to allow control of: the angle of inclination of the lifting arm relative to the rolling chassis and the movement of the equipment relative to the lifting arm.

[0055] A control device is also proposed for a handling machine comprising a rolling chassis and a load or person handling system carried by the rolling chassis, the control device comprising: - a main body; and - a handling control system mounted and articulated to the main body around a first articulation axis and around a second articulation axis, the two articulation axes intersecting each other; the control device being configured such that: pivoting the handling control system around the first axis generates a control signal for a first function of the machine's handling system, such as the movement of a lifting arm of the handling system; pivoting the handling control system around the second axis generates a control signal for a second function of the machine's handling system, such as the movement of a handling tool system relative to the lifting arm of the handling system. The device may also include one or more of the characteristics of the above embodiments taken in any technically feasible combination.

[0056] BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other features and advantages of the invention will become apparent from the following description, which is purely illustrative and not limiting and should be read in conjunction with the accompanying drawings, on which:

[0058] - [Fig. 1] Figure 1 is a schematic side view of a lifting arm handling machine according to one embodiment, the handling machine being controllable by a control device which can be housed in a machine control station, either removably or not, or which can be held by an operator outside the control station and which allows control of the ground movement of the machine and the movement of the machine handling system;

[0059] - [Fig. 1 A] Figure 1 A is a schematic representation of a processing unit of a handling machine according to an embodiment of the invention;

[0060] - [Fig. 2] Figure 2 is a perspective view from a first angle of view of a control device according to an embodiment of the invention;

[0061] - [Fig. 3] Figure 3 is a perspective view from a second angle of view of a control device according to the embodiment of Figure 2;

[0062] - [Fig. 4] Figure 4 is a perspective view from a third angle of view of a control device according to an embodiment of Figure 3;

[0063] - [Fig. 5] Figure 5 is a perspective view from a fourth viewpoint of a control device according to an embodiment of Figure 4.

[0064] DETAILED DESCRIPTION

[0065] A more detailed description of the invention is given below with reference to the accompanying drawings, on which embodiments of The invention is shown in the drawings. In the drawings, the size and relative sizes of the elements may be exaggerated for clarity. Similar numbers refer to similar elements in all drawings. However, the invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0066] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in relation to an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0067] A handling machine 1 is proposed which includes a rolling chassis 12.

[0068] According to one embodiment, the rolling chassis 12 is equipped with a driver's station 120.

[0069] Advantageously, the cockpit includes a seat and a seat belt system. The seat belt system includes a seat belt and a belt fastening and unfastening device.

[0070] The cockpit 120 can be part of a cabin as illustrated in Figure 1. A load or personnel handling system 600 is mounted on the chassis 12. The cockpit 120 can be equipped with a screen 130.

[0071] The chassis 12 can be supported on the ground by means of a front axle 13 and a rear axle 14.

[0072] Figure 1 shows an example of a material handling machine 1 with a handling arm. Alternatively, the material handling machine can be a machine of another type, such as a mast lift or scissor lift or boom lift.

[0073] The material handling machine 1 includes a ground movement and steering system for the machine's rolling chassis, which may hereafter be referred to simply as the ground movement system. The ground movement system includes, for example, an electric motor and / or an internal combustion engine, and a wheel transmission system. The ground movement and steering system may also include a system for selecting forward, reverse, or neutral (FNR system, an acronym for Forward, Neutral, Rear). The ground movement and steering system includes a steering system for controlling the direction of the machine's movement, preferably by controlling the direction of at least some of the machine's wheels.It can therefore be predicted that the control of the movement of the machine includes the control of the direction of movement, preferably the direction of movement (forward / backward), and preferably the speed of movement.

[0074] The rolling chassis 12 also carries an actuation system for the handling system 600, such as a jack system, allowing the handling system 600 to be moved relative to the chassis 12. The handling system 600 in Figure 1 is a load handling system, but can be a person handling system.

[0075] As detailed below, the handling machine includes a processing unit 10 (also called a control unit), including for example a computer, which allows the ground movement of the machine and the handling system to be controlled via a human-machine interface.

[0076] The human-machine interface includes at least one control device 2 as detailed below, which may or may not be removable from a receiving support 290 with which the cockpit 120 may be equipped.

[0077] According to one embodiment, the cockpit further includes a handling control system, such as a joystick, which remains present in cockpit 120.

[0078] Handling system

[0079] The handling system 600 includes a handling tool system 614, which includes, for example, a tool holder 14 and a tool attached to the tool holder. The tool is, for example, a fork system, a bucket, or a work platform (basket). The handling system 600 also includes a moving drive device 6, such as a lifting arm, for raising and lowering the handling tool system 614.

[0080] The handling system 600 can also include a system for moving the tool system 614, such as a tilting cylinder, relative to the up and down drive device 6 for the tool system 614.

[0081] According to one embodiment of the invention, and as illustrated in Figure 1, the handling system 600 comprises an arm 6, commonly called a lifting arm, articulated to the rolling chassis 12 so that it can be moved between a lowered position and a raised position. In the case of a mast truck, the handling system comprises a mast equipped with a system of forks mounted to slide along the mast.

[0082] The lifting arm 6 (or handling arm) is mounted on the chassis 12 and can be oriented around a pivot point 7. In particular, this pivot point 7 is horizontal when the rolling chassis 12 is resting on a horizontal surface. In one particular configuration, the arm 6 projects forward from the front of the machine. In another embodiment, the pivot point 7 is closer to the rear axle than to the front axle of the machine.

[0083] In the illustrated example, the arm 6 is equipped with a load carrier 14, such as a fork or bucket system, articulated to the arm 6 by a linkage 15 and configured to carry a payload 9.

[0084] According to one embodiment of the invention, the arm 6 is of the telescopic type. The arm 6 thus comprises at least two deployable segments, for example by means of a deployment cylinder, not shown, arranged between at least two segments. Alternatively, the arm can be a non-telescopic arm.

[0085] As illustrated in the example in Figure 1, the arm 6 actuation device includes in particular a lifting actuator, for example a hydraulic cylinder 8, which allows the arm 6 to be moved up and down around the axis 7. Alternatively, the lifting actuator may be an electric cylinder.

[0086] The processing unit 10 can be configured to control the lifting actuator, for example via a hydraulic circuit (not shown), depending on the operator's request for a handling control system 220 of the control device 2 or, when present, of an additional handling control system mounted in the cockpit.

[0087] The hydraulic circuit may include a hydraulic pressure source and a hydraulic distributor interposed between the hydraulic pressure source and a solenoid valve controlling the hydraulic cylinder 8.

[0088] Alternatively, the handling machine can be fully electric.

[0089] Control device

[0090] The control device 2 comprises a main body 210 and a handling control system 220 mounted articulated to the main body 210 around two articulation axes A21, A22 intersecting each other (i.e. geometric axes that intersect).

[0091] It can be predicted that the A21, A22 articulation axes are perpendicular to each other, or that said axes form an angle between them within the range [60°-130°].

[0092] According to one embodiment, and as illustrated for example in Figure 4, when projected onto the plane of the upper face FS21 of the parallelepiped PR210, the axis A21 forms an angle of less than 45° with the longitudinal axis A210 of the control device 2. The longitudinal axis A210 of the control device 2 is parallel to the upper face FS21 of the parallelepiped PR210. and passes through the central part 270 and the lateral parts 21 OA, 21 OB (and / or through the handling control system 220 and / or the movement control system 250 shown below).

[0093] In one embodiment, and as illustrated for example in Figure 4, when projected onto the plane of the upper face FS21 of the parallelepiped PR210, the axis A22 forms an angle greater than 45° with the longitudinal axis A210 of the control device 2. In the following description, the mobility of the handling control system around the axis A21 allows the transmission, for example by radio, of a signal to the processing unit 10 of the machine, which is interpreted as a command to move the lifting arm 6 of the handling machine, such that this axis A21 is referred to as the lifting axis. However, in other embodiments, the articulation around said axis A21 can be used (by configuring the unit 10) to control another function of the handling system of the handling machine, which can be of various types.

[0094] According to one embodiment, in the fixed state on a receiving support in the machine's cockpit or in the carried and used state by an operator, for example in the hooked and suspended state on an operator's harness, and in the unstressed state of the control system 220, the direction of the pivot axis A22 of the handling control system 220 forms an angle of less than 50° with respect to the support plane of the device on the receiving support 290 or with respect to the plane of the underside face (lower face) of the control device 2.

[0095] According to one embodiment, in the fixed state on a receiving support in the machine's cockpit or in the carried and used state by an operator, for example in the hooked and suspended state on an operator's harness, and in the unstressed state of the control system 220, the direction of the pivot axis A21 of the handling control system 220 forms an angle of less than 50° with respect to the support plane of the device on the receiving support 290 or with respect to the plane of the underside face (lower face) of the control device 2, in particular with respect to the plane of the underside face of the central part 270 of the main body 210.

[0096] According to one embodiment, the dimension of the handling control system 220 considered in projection onto an axis orthogonal to axes A21 and A22 is smaller than the dimension of the handling control system 220 considered in projection onto axis A21 and / or onto axis A22.

[0097] In one embodiment, the handling control system 220 forms a handle on which the operator can rest their palm to grasp and manipulate it by rotating it around one or more of its pivot axes A21, A22, thus providing the operator with comfortable handling. Advantageously, the largest dimension of the handle (the part graspable by an operator's hand), considered in projection onto axis A21 or A22, is between 25 mm and 200 mm, preferably between 40 mm and 150 mm.

[0098] According to a particular aspect, the handle formed by the handling control system 220 allows the operator, when pulling the handle towards him (pivoting around the axis A21 in one direction), to control the upward tilt of the arm, and, conversely, when pushing the handle (pivoting around the axis A21 in the other direction), to control the downward tilt of the arm 6, both inside and outside the cockpit when the control device 2 is removable.

[0099] Similarly, in the following description, the mobility of the control system around axis A22 allows the transmission, for example via radio, of a signal to the processing unit 10 of the machine. This signal is interpreted as a command to move the tool system 614 relative to the lifting arm 6 of the handling machine, such that axis A22 is referred to as the digging axis. However, in other embodiments, the articulation around said axis A22 can be used (by configuring unit 10) to control another function of the handling system of the handling machine, which can be of various types.

[0100] Thus, in the illustrated examples, the lifting axis A21 controls the pivoting of the machine's arm 6 when an operator rotates the handling control system 220 relative to the body main 210 around said lifting axis A21. The digging axis A22 allows the pivoting of a tool of the handling system 600 of the machine relative to the arm 6 of the machine when an operator pivots the handling control system 220 relative to the main body 210 around said digging axis A22.

[0101] It can be anticipated that the handling control system 220 will have an angular range of movement around the lifting axis A21 and / or around the digging axis A22 of at least 10°, preferably 20°.

[0102] The 220 handling control system can have an elongated shape along the A22 digging axis.

[0103] Advantageously, in the unstressed state of the handling control system 220, the manually graspable part of the handling control system 220 extends mainly into a parallelepiped PR210 in which the main body 210 is inscribed.

[0104] The parallelepiped PR210 is an imaginary envelope. In the example in Figure 2, the parallelepiped PR210 is represented by a dashed line.

[0105] In the stressed state of the handling control system 220 in at least one of the extreme pivoting positions, the free end 2202 of the handling control system 220 opposite the end 2201 of the control system 220 which is articulated to the main body 210, extends out of the parallelepiped PR210 in which the main body 210 of the control device is inscribed.

[0106] In the case where, in the unstressed state of the handling control system 220, the free end 2202 opposite the end 2201 articulated to the main body 210 of the handling control system 220 extends out of the parallelepiped PR210 in which the main body 210 is inscribed, then, in the stressed state of the handling control system 220 in at least one of the extreme pivoting positions, the free end 2202 of the handling control system 220 opposite the end 2201 of the control system 220 which is articulated to the main body 210, extends out of the parallelepiped PR210 more than in the unstressed state of the handling control system 220.

[0107] In other words, as in the example illustrated in the figures, the free end 2202 opposite the end 2201 articulated to the main body 210 of the handling control system 220 which extends, in the unstressed state of the handling control system 220, out of said parallelepiped PR210, is even further apart (greater distance) from said parallelepiped PR210 in the stressed state of the handling control system 220 by pivoting around the axis A21 in an extreme position corresponding to the operator bringing (pulling) the handling control system 220 towards him, than in the unstressed state.

[0108] In particular, as illustrated for example in Figure 2, the end 2202 of the manually graspable part of the handling control system 220 extends out of the imaginary parallelepiped when the handling control system 220 is tilted upwards in the extreme position (as shown in dotted lines in Figure 2), so that the top of the end 2202 of the manually graspable part of the control system 220 has a distance D210' from the parallelepiped PR210 greater than the distance D210 from the top of the end 2202 of the manually graspable part of the control system 220 in the unstressed state of the handling control system 220.

[0109] In a case where, in the unstressed state of the handling control system 220, the free end 2202 opposite the end 2201 articulated to the main body 210 of the handling control system 220 extends inside the parallelepiped PR210 in which the main body 210 is inscribed, the distance of the free end 2202 from the parallelepiped PR210 is considered zero.

[0110] According to one particular aspect, when the handling control system 220 is tilted downwards, the handling control system 220 extends predominantly within the imaginary parallelepiped PR210, to a greater extent than in the unloaded state.

[0111] Preferably, each of the lifting and digging axes A21, A22 is parallel or inclined with respect to a mean plane PM2 in which the main body 210 of the control device 2 extends. The mean plane PM2 may be define as the plane which extends equidistantly between the plane passing through the upper surface FS21 and the plane passing through the lower surface FI21 of the parallelepiped PR210 in which the main body 210 of the control device is inscribed.

[0112] According to one embodiment, the upper face FS21 and the lower face FI21 of the imaginary parallelepiped PR210, in the configuration of use of the control device by an operator, are each larger than the other faces, called lateral faces and front and rear faces, of the parallelepiped.

[0113] According to a particular aspect, the lower face of the parallelepiped PR210, preferably coinciding with the face of the main body 210 of the control device 2, is parallel or coinciding with a coupling surface (support surface) of the control device 2 which allows the coupling of the control device 2 onto a receiving support included in a pilot station 120 of the handling machine 1.

[0114] The terms "lower" and "higher" are used by reference to a state of use of the control device by an operator who is piloting the machine from inside the cockpit or from outside the cockpit.

[0115] According to one embodiment, the average plane PM2 is thus parallel to the lower face of the main body 210 of the control device 2. In particular, when the control device is removable, the average plane PM2 is parallel to a coupling surface of the control device 2 which allows the coupling of the control device 2 onto a receiving support included in a pilot station 120 of the handling machine 1.

[0116] When the main body 210 of the control device 2 is usable as a steering wheel in the cab, whether removable or not, allowing the machine to be steered by rotating the control device 2 relative to the chassis around an axis of rotation, which may be the axis of a steering column on which the control device can be mounted, it may be provided that each of the lifting axes A21, A22 and cavage is parallel or inclined with respect to the plane orthogonal to this axis of rotation of the control device.

[0117] In one embodiment, and as illustrated for example in the figures, the control device 2 has a peripheral contour 200 (Figure 5), and the handling control system 220 forms part of said peripheral contour 200, at least in the unloaded state. This arrangement of the handling control system 220 allows for the formation of a lateral handle that the operator can comfortably manipulate.

[0118] The main body 210 of the device includes in particular a right-hand side portion 210A to which the handling control system 220 is articulated. A space E2A is left free between a portion of the right-hand side portion 210A of the main body and a portion of the handling control system 220, to allow the passage of part of the operator's hand within this space E2A between the right-hand side portion 210A of the main body and the handling control system 220.

[0119] According to one embodiment, at least in the unloaded state of the handling control system 220, the lateral part 210A has a curved, and preferably elongated, shape, along which the handling control system 220 extends. As illustrated, for example, in Figure 5, the free end 2202 of the handling control system 220 is located opposite an end 2101A of said lateral part 210A, which is opposite the end 2102A of said lateral part 210A to which the handling control system 220 is articulated. Said lateral part 210A of the main body 210 and the handling control system 220 define between them a space E2A, preferably through-space, in which a portion of the operator's hand can extend when said hand is resting on the handling control system 220.

[0120] When stressed in at least one of the extreme pivoting positions around the lifting axis A21, the end portion 2202 of the control system 220 opposite the articulated end 2201 of said control system extends out of the parallelepiped PR210, in particular above the upper face FS21 when the control system 220 is inclined upwards or possibly below the lower face FI21 when the 220 control system is tilted downwards.

[0121] Advantageously, when the control system 220 is stressed from one extreme pivoting position to the other extreme pivoting position around the lifting axis A21, the free end of the handling control system 220 passes on either side of the middle plane PM2 of the main body 210.

[0122] According to a preferred embodiment, and as illustrated for example in Figures 4 and 5, the device includes a displacement control system 250, preferably for steering, configured to allow the machine to be moved and steered, hereafter referred to as the displacement control system 250. The displacement control system 250 is located on a lateral side 21 OB of the main body 210 of the control device 2, opposite the side 21 OA of the main body 210 at which the handling control system 220 is articulated.

[0123] In one particular aspect, the travel control system 250 comprises a control system 252 for forward, reverse, and preferably neutral position, for example, formed by buttons, and a control system 251 for direction and speed, such as a joystick. It can be envisaged that pivoting the joystick left or right steers the machine left or right, and that pivoting the joystick forward or backward (with reference to the operator positioned behind the control device) controls forward or backward movement (a control relay may or may not be implemented by a joystick in the machine's cab).Advantageously, the left-center-right movement on the joystick of the movement control system corresponds to left-center-right direction when in radio control version, and otherwise the tilt (orientation) of the control device can control the direction like a traditional steering wheel.

[0124] According to one embodiment, as illustrated for example in the figures, the left lateral part 210B of the control device is thus equipped with a joystick 251 forming a forward and steering control system manipulable with the thumb of the left hand, and buttons 252 operable by another finger, while the operator can with his right hand operate the handling control system 220 by rotating it relative to the main body 210 around one and / or the other of the axes A21, A22.

[0125] The left lateral part 210B of the control device 2 can form a gripping area, preferably ring-shaped, adapted to allow the control device 250 to be operated by the left hand, for example the thumb of the left hand.

[0126] In one embodiment, the outer contour 200B of the left lateral part 210B is closed and continuous. In other words, the outer contour 200B has no portion that would be movable relative to the rest of the outer contour 200B of the left lateral part 210B. Conversely, the outer contour 200A is open to allow the mobility of the handling control system 220 articulated to the right lateral part 210A of the main body.

[0127] According to one embodiment, the control device 2 is configured so that it can be grasped by its opposite lateral ends by both hands, one of said lateral ends being formed by the handling control system 220 and the distance between the opposite ends of the control device 2 being for example between 38 and 42 cm.

[0128] According to one particular aspect, the main body 210 of the system has an elongated shape from the handling control system 220 to the movement control system 250.

[0129] The main body 210 can be fitted with a display 280, preferably in the central part of the control unit, i.e., between the handling control system 220 and the movement control system 250. The central part of the unit can also be fitted with control elements, such as buttons and / or switches, for controlling machine functions, either in combination or alternatively.

[0130] According to a preferred embodiment, the control device is a handwheel for steering the machine according to the rotation of said main body 210 at least when said handwheel is carried, removably or No, it is not supported by a bracket 290 attached to the cab 120 of the machine. In one alternative, the control device may be mounted, either permanently or removably, on a bracket 290 attached to the cab 120 of the machine, but the main body 210 may not pivot. In this case, the steering is controlled by the steering control system 251 of the control system 250.

[0131] Preferably, the control device is removable from the pilot station 120 carried by the chassis 12 of the handling machine, and in particular from a receiving support 290 which is integral with the chassis.

[0132] According to one particular aspect, the control device 2 includes a radio communication module 228 for transmitting commands by radio to the processing unit 10 of the handling machine 1. The processing unit 10 is configured to control the ground movement and direction of the machine, and the actuation of the handling system 600 of the machine according to the commands received transmitted by the radio communication module of the control device 2.

[0133] As illustrated in Figures 3 to 5, the handling control system 220 can carry one or more additional control elements 230, such as a control knob, for example for controlling the telescoping of the machine arm 6. The additional control element 230 is preferably located on the inner side 220I of the handling control system 220, facing the central part 270 of the main body 210, as opposed to the outer side 220E of the handling control system 220.

[0134] It can be foreseen, as illustrated for example in Figure 5, that the additional control element 230 includes a roller (wheel or wheel) or minijoystick, i.e. a control lever with a height between 15 mm and 100 mm, preferably between 15 mm and 30 mm, which can be operated by a finger such as the thumb.

[0135] The additional control unit 230 is configured with unit 10 to control at least one deployment function of the system. handling, on the upper face of the control system 220 and preferably on the left side (i.e. on the side of the control system 220 oriented towards the central part of the control device as opposed to the part of the control system 220 oriented towards the outside of the control device 2.

[0136] The deployment control function includes, for example, a telescoping function for an arm for a telescopic handler or a mast for a mast lift, or a lifting function for an articulated or scissor lift by articulation.

[0137] The possibility of simultaneously activating the control system 220 around one or more of these articulation axes, for example with the palm of the right hand, and said at least one additional control organ 230, for example with the thumb and / or index finger of the right hand, allows for synchronization of movements to enable combined actions.

[0138] Advantageously, the machine's cockpit 120 is devoid of a handling system control element that can be used instead of the handling control system 220 of the control device 2. Alternatively, when the machine is equipped with a handling system control element, such as an on-board joystick, that can be used instead of the handling control system 220 of the control device 2, then it may be possible to deactivate (inhibit) the handling control system 220 of the control device 2 when the control device 2 is carried by the receiving support 290 present in the cockpit 120.

[0139] It can also be provided that the machine's cab 120 is without a control element that can be used in place of the control system 250 for the movement of the control device 2. Alternatively, the machine's cab 120 can be provided that it is equipped with a control element for a part of the movement control system 250, for example, a control system for forward, reverse, or neutral travel. It can be provided that the control device 2 is used as a steering wheel by pivoting the entire control device. 2 relative to the machine chassis, that the steering control by the control system 250 carried by the control device 2 is inhibited.

[0140] When the control device 2 is carried in a non-removable manner by the receiving support 290 which is integral with the chassis of the machine, it can be considered that the control device 2 is part of the cockpit 120 carried by the chassis and is intended to be used by an operator present in the cockpit of the machine (i.e. in this case where the control device 2 cannot be moved outside the chassis for use on the ground by an operator).

[0141] When the control device 2 is removable from the receiving support 290 in the cockpit, which allows the control device 2 to be received, said control device 2 can be used for piloting the machine from inside the cockpit and the control device 2 can be removed from the receiving support 290 to allow external piloting (as shown schematically in Figure 1 by the dotted rectangle referenced 2).

[0142] The removable control device 2 allows an operator to control the ground movement of the machine from inside the machine's cockpit when the control device 2 is physically coupled to a receiving support in the cockpit, or from outside the machine when the control device is removed from the receiving support, while remaining on the ground, or from a work platform of the machine when the machine is equipped with such a platform.

[0143] Processing unit

[0144] As mentioned above, the machine includes a processing unit 10, such as a calculator.

[0145] In one embodiment, the processing unit 10 includes a module 702 for detecting the presence of the driver in the machine's cab and a module 704 for detecting the driver's seat belt, i.e., whether the driver's seat belt is fastened or unfastened. The processing unit 10 also includes a module 706 for detecting the position of the control device 2 in or on the receiving support.

[0146] The detection of the buckled (active) state of the belt and the presence of the driver in the cockpit (for example via a weight sensor in the driver's seat), in combination with the detection of the positioned state of the control device 2 in or on the receiving support, makes it possible to determine that the driver is in a situation of operating the machine from inside the control device 2 under suitable safety conditions to allow operation of the machine in nominal mode (detailed below).

[0147] Advantageously, the processing unit 10 also includes a radio communication module 708 configured to communicate with a radio communication module 228 of the control device 2, so as to allow the machine to be controlled with the control device 2 by radio transmission when the latter is removed from the receiving support of the machine and used by an operator for example outside the machine's control station, in degraded mode (detailed below).

[0148] In an embodiment where the control device 2 is removable, the control device 2 includes an electrical connection system linked to a battery of the control device. The electrical connection system of the control device is configured so that, when the control device is positioned in or on the receiving support, it is connected to the electrical connection system of the receiving support to allow the battery to be recharged by a machine power supply system that preferably includes a battery.

[0149] The electrical connection systems can be engaged by the cooperation of the side faces of the control device 2 and the support 290, and / or by the cooperation of the lower face of the control device 2 and the upper face of the support 290. Indeed, the electrical connection system of the control panel can be located on a side face and / or on the lower face, as opposed to the upper face of the control device which carries the movement control system 250, while the electrical connection system of the receiving support can be located on a side face and / or on the upper face of the receiving support 290.

[0150] The device 706 is connected to the electrical connection system of the receiving support 290 so as to detect the coupling of the control device 2 in or on the receiving support 290 when the electrical connection system of the control device 12 is connected with the electrical connection system of the receiving support 290.

[0151] According to one embodiment, it can be envisaged that the charging will be done by induction.

[0152] In one embodiment, the machine lacks a redundant steering control element, that is, an additional steering control element that would replace the steering function of the control device 2 when removed from the control device relative to its receiving support, and thus allow the machine to be steered even without the control panel. This prevents the control device from being forgotten when the machine is delivered to a worksite. The removable control panel and the absence of redundancy in at least the steering control limit the risk of theft of the machine when the control device is removed and stored in a secure location.

[0153] In one embodiment, the machine can also be provided without a redundant control element for the handling system; that is, without an additional control element for the handling system that would allow a handling control function of the control system 220 of the control device to be replaced when the control panel is removed from its receiving support, and thus to control the machine's handling system in the absence of the control panel. This helps to limit the machine's manufacturing costs.

[0154] It can be anticipated that none of the controls on the control device will be repeated in the cab itself, or that only some of the controls will be repeated, such as a speed or acceleration control, for example, an accelerator pedal in the cab corresponding to an acceleration function of the machine's ground movement control system on the control panel. Similarly, it can be anticipated that none, all, or one only part of the commands of the handling control system 220 of the control device are repeated in the cockpit 120 of the handling machine.

[0155] In the physically uncoupled state from the support 290, and preferably in the state away from the pilot station 120 of the machine, the control device 2 remains capable of communicating wirelessly with the processing unit 10 of the machine to allow a user to control the ground movement system of the machine with the control system 250 of the control device 2, and to control the handling system 600 with the handling control system 220 of the control device 2.

[0156] Preferably, the support 290 includes a locking system for the control device 2 on or in the support 290. The locking system is activatable and deactivatable, to allow the control device 2 to be kept physically coupled to the support 290 and to be detached.

[0157] In particular, the locking system may include a clip system for mechanically securing the control device to the support. To ensure correct positioning during clipping, alignment guides may be fitted to the support to allow only one position for the control device 2 on or in the receiving support 290.

[0158] The receiving support can be designed to have a recessed area for the control panel. The receiving support can be equipped with control elements, such as buttons, for controlling auxiliary functions. These control elements can take priority over equivalent control elements on the control panel when the control panel is positioned in or on the receiving support, thereby improving operational ergonomics.

[0159] The support may include an indexing system to define the position and orientation of the control device relative to the support, in the coupled state of the control device to the support.

[0160] A space can be provided in the cockpit (120) to store the control panel when the aircraft is not in use. To prevent theft or vandalism, the control panel can be designed to be lockable in position in or on the receiving bracket or in an anti-theft box located in the cockpit (particularly in the cab).

[0161] According to one particular aspect, the control device also includes additional elements, allowing control of auxiliary functions, such as: horn; lights; turn signals; stabilizer; safety information; brake control; and / or camera.

[0162] Steering wheel

[0163] According to one embodiment, the control device 2 can be used as a steering wheel when positioned in or on the receiving support 290 inside the cockpit 120. When positioned in or on the receiving support 290, the control console is pivotally coupled to the receiving support which is rotatably mounted relative to the chassis and connected to the machine's steering system.

[0164] Various technical means can be implemented to control the direction of the machine using the rotational movement of the control device: - by mechanical linkage: the receiving support of the control device can be mechanically linked to a wheel steering component (e.g., steering column, orbitrol-type pump system), or - by electronic link: the receiving support of the control device can be electrically connected to an angle sensor which sends angle information to a steering element (e.g. orbitrol type pump system, electric cylinder) or to the processing unit.

[0165] The machine can therefore be devoid of a conventional steering wheel permanently linked to the wheel steering system, thanks to the removable control device which can be used as a steering wheel.

[0166] It can be anticipated that the processing unit 10 will be configured to control the wheel steering system by controlling a ratio of gear reduction and / or progressive steering adapted according to the position or speed or angular acceleration of the control device.

[0167] It can be anticipated that at least some of the performance or control capabilities of the ground movement and / or handling system of the machine are reduced when the control console is removed from the receiving support in the cockpit to allow the user to control the machine outside the main cockpit, but with a reduced risk of accident.

[0168] According to one embodiment of the invention, the receiving support of the control device 2 includes a system for rotating the control device 2 with the support 290. In particular, the support 290 can be rotationally fixed to a shaft, called the steering shaft, which is mounted rotatably relative to the frame 12, and which forms part of the steering system of the machine or which is mechanically and / or electrically connected to the steering system of the machine.

[0169] According to this embodiment of the invention, the control device 2 is configured with the support 290, such that in the physically coupled state to the support 290 (i.e. in the positioned state of the control device 2 in or on the receiving support 290 with a mechanical coupling), the control device 2 can be driven in rotation by a user relative to the chassis 12 to form a steering control element of the machine.

[0170] Battery charging

[0171] As mentioned above, it can be anticipated that the control device includes a battery which is rechargeable when the control device 2 is positioned in or on the receiving support 290.

[0172] Advantageously, the connection system is configured so that connecting the control device 2 to the receiving support 290 is done simply by placing the control panel in the support. This connection enables the following functions: - the battery of the control device is recharged by connecting it to a power supply on the machine; - the position of the control device in the receiving support and therefore in the driver's seat) is detected through the connection with the connector connected to the detection module 706 of the processing unit.

[0173] In one particular aspect, once the two connectors are connected, the battery will begin charging without any further action required from the user. Furthermore, it can be anticipated that the connector that detects the connection of control device 2 to the support 290 and the charging of control device 2's battery will not require tightening or locking with the connector.

[0174] When the control device is removable and usable as a steering wheel, it can be provided that, when the steering wheel is fixed in the cab, the control systems 220, 250 of the control device (left and right handles) are deactivated. It can then be provided that an on-board control system in the cab, such as a joystick, can be reused to control the handling, and that a forward / reverse control system in the cab, such as a set of buttons and / or pedals, can be used, with steering wheel rotation used to control the direction.

[0175] Alternatively, only the handling control function of the control device 2 used as a steering wheel (i.e., the handling system control system) can be deactivated. The handling system control function remains controllable by a control system mounted in the cab, such as a joystick, thus preventing accidental activation of the handling control system 220 of the control device 2 while turning the steering wheel. Deactivation preferably occurs automatically when the control device 2 is fixed in the cab to the receiving bracket 290. The forward / reverse or neutral control buttons 252 can remain active. The functionality of the movement control system 250, which controls the steering system, can be retained, for example, implemented as a joystick, such as a small joystick (i.e.a small joystick usable with one finger or the thumb and forefinger. example and not intended to be gripped in the hand), as in the example illustrated in Figure 4, to control the direction of the machine.

[0176] Alternatively, it is possible to plan to retain all steering and handling functions.

[0177] Preferably the steering wheel travel is limited to + / - 60 degrees, so that the user does not risk reversing controls on the steering wheel by incorrectly or in the wrong direction using one or more steering wheel components.

[0178] It can be anticipated that the control device is usable for different machines and / or several machines could use the same control device.

[0179] Advantageously, the control device is equipped with means for attaching to equipment such as a harness with which an operator can be equipped to allow the operator, when outside the cab, to obtain good stability and optimize the handling of steering and handling functions.

Claims

Demands 1. Control device (2) for a handling machine (1) comprising a rolling chassis (12) and a load or person handling system (600) carried by the rolling chassis, the control device (2) comprising: - a main body (210); and - a handling control system (220) mounted articulated to the main body (210) around a first articulation axis (A21), and a second articulation axis (A22), the two articulation axes (A21, A22) being intersecting each other; the control device (2) being configured such that: the pivoting of the handling control system (220) about the first axis (A21) generates a control signal for a first function of the handling system (600) of the machine, such as the movement of a lifting arm (6) of the handling system; the pivoting of the handling control system (220) about the second axis (A22) generates a control signal for a second function of the handling system (600) of the machine, such as the movement of a handling tool system (614) relative to the lifting arm (6) of the handling system, in which, in the unused state of the handling control system (220),the handling control system (220) extends at least in part, preferably predominantly, into an imaginary parallelepiped (PR210) in which the main body (210) of the control device is inscribed, and in which, when stressed in at least one of the extreme pivoting positions about the first articulation axis (A21), the end part (2202) of the handling control system (220), opposite the end part (2201) of said handling control system (220) articulated to the main body (210), extends out of the imaginary parallelepiped (PR210), presenting a distance (D210') with respect to the parallelepiped (PR210) which is greater than the distance (D210) of said end part, (2202) with respect to the imaginary parallelepiped (PR210) in the unstressed state of the handling control system (220).

2. Control device (2) according to claim 1, wherein the handling control system (220) has: - a length or width along each of the said articulation axes (A21, A22) of at least 25 mm, preferably at least 40 mm; - a thickness along a direction orthogonal to said articulation axes (A21, A22) of at least 10 mm, preferably at least 30 mm.

3. Control device (2) according to any one of the preceding claims, wherein the handling control system (220) has a shape (220) adapted to the positioning of a palm of the hand on the control system (220).

4. Control device (2) according to any one of the preceding claims, wherein the handling control system (220) is provided with at least one additional control element (230), for example formed by at least one roller or mini-joystick, preferably located on the upper face of the handling control system (220), preferably on the part (220I) of the handling control system (220) which is close to a central part (270) of the main body (210), as opposed to the opposite part (220E) of the handling control system (220) which is located, towards the outside of the control device (2).

5. Control device (2) according to any one of the preceding claims, wherein the additional member (230) has a deployment control function for at least a part of the handling system (600).

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

7. Control device (2) according to any one of the preceding claims, wherein the main body (210) of the device has an elongated and curved lateral part (21 OA) in the extension of which extends the handling control system (220) at least in the unstressed state of the handling control system (220), said lateral part (21 OA) and the handling control system (220) delimiting between them a space (E2A), preferably through, in which a part of the operator's hand can extend in the resting state of said hand on the handling control system (220).

8. Control device (2) according to claim 7, wherein the handling control system (220) has a free end (2202) which preferably extends opposite an end (2101 A) of said lateral part (21 OA) opposite the end (2102A) of said lateral part (21 OA) to which the handling control system (220) is articulated.

9. Control device (2) according to any one of the preceding claims, wherein the control device (2) also comprises a control system (250) for moving, and preferably steering, the machine, such as a joystick, configured to allow moving and preferably steering said machine, the movement control system (250) being located on a lateral part (21 OB) of the main body (210) of the control device (2), opposite a lateral part (21 OA) of the main body (210) to which the handling control system (220) is articulated.

10. Control device (2) according to claim 9, in which the main body (210) of the control device comprises a central part (270) on either side of which are located: - the lateral part (21 OA) which is equipped with the handling control system (220), and - the lateral part (210B) which is equipped with the movement control system (250).

11. Control device (2) according to any one of claims 9 to 10, wherein at least one of the lateral parts (21 OA, 21 OB) of the control device (2) forms a gripping area, preferably annular, adapted to allow the operator to grasp the control device (2) and to activate the movement control system (250) with one hand, while the handling control system (220) articulated to the other lateral part (21 OA) of the main body is activated by the operator's other hand.

12. Control device (2) according to any one of claims 9 to 11, wherein the main body (210) of the system has an elongated shape passing through the handling control system (220) and the displacement control system (250).

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

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

15. Control device (2) according to any one of the preceding claims, wherein the main body (210) of the control device (2) is configured to be able to be attached to equipment, such as a harness, with which an operator is able to be equipped to allow the operator's arms to be relieved at least in part of the weight of the control device (2).

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

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

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

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

20. Machine according to one of the two preceding claims, wherein the machine's cockpit (120) is devoid of a steering control element and / or a travel speed control element and / or an additional handling control element, usable in place of the control device.

Images