Telescopic handler

Abstract

A telescopic handler, which comprises at least: - a vehicle (2), which can move over ground (A), - a telescopic boom (5), which is supported by the vehicle (2) with the capacity to rotate about a main axis (B) and comprises at least two members (6) with the capacity for relative sliding; a first end (5a) of the telescopic boom (5), at the opposite end with respect to the vehicle (2), is configured to support a work accessory (7), - a first, main hydraulic fluid actuator (10), configured to actuate a movement selected from the rotation of the telescopic boom (5) about the main axis (B) and the relative sliding of the members (6) of the telescopic boom (5), - a second, auxiliary hydraulic fluid actuator (11), configured to actuate the other movement selected from the rotation of the telescopic boom (5) about the main axis (B) and the relative sliding of the members (6) of the telescopic boom (5); the handler (1) comprises at least one electronic control and management unit (12), provided with an operating module (12a) which can be activated on command, for actuating at least one controlled movement mode of the first end (5a) according to a substantially straight predefined trajectory with orientation selected from substantially horizontal and substantially vertical; the operating module (12a) is provided with instructions for delivering an amount of pressurized fluid to the auxiliary hydraulic fluid actuator (11), calculated on the basis of the amount of pressurized fluid delivered to the main hydraulic fluid actuator (10).

Description

[0001] TELESCOPIC HANDLER

[0002] The present invention relates to a telescopic handler.

[0003] Telescopic handlers are self-propelled work vehicles and are widespread; they are used to move cumbersome goods and equipment and / or to carry out installation, repair or maintenance activities, in particular when it is necessary to work at considerable heights or in any case at points that are difficult to access from the ground.

[0004] In the configuration usually adopted in handlers, the most common is a vehicle (or truck), which is provided with driven wheels or crawler tracks for moving over ground, and which supports a telescopic boom.

[0005] The boom can rotate, with respect to the vehicle, about a horizontal axis, and at the opposite end it supports an accessory of various nature, chosen as a function of the activity that the handler is called on to perform.

[0006] Often the vehicle also has a cab, which can accommodate the operator in charge of controlling the handler and the movements of the boom in particular. Furthermore, in "rotating" handlers, the boom and optionally the cab are mounted on a turret that surmounts the vehicle and is joined to the latter through a rotary coupling (which rotates about an additional vertical axis).

[0007] The various movements of the boom, plus the rotation of the turret if present, confer great versatility on the machine, in that they enable the accessory to reach works areas located at different heights and to get around any obstacles, be they natural or man-made.

[0008] Although the configuration described up to this point has enabled telescopic handlers to earn a role of undoubted importance among the different types of self-propelled work vehicles, it is still possible to identify some drawbacks.

[0009] In particular, it must be noted that in some uses, not only is it important to be able to reach operating points of greater or lesser accessibility, it is also important what trajectory the accessory travels in order to approach and reach the destination, and / or to leave it.

[0010] For example in fact, when the accessory is a pallet fork, which is used for retrieving pallets or containers at various heights, it is necessary to move the accessory with a horizontal trajectory, proximate to the pickup point, so as to enable the forks to enter underneath the pallet and then proceed with the retrieval.

[0011] When setting down the pallet, it is equally important to ensure horizontal movement, in order to prevent impacts against the surrounding structures and / or guard against the danger of overturning.

[0012] In other cases, it may alternatively be necessary to ensure a vertical movement of the accessory.

[0013] In these cases, and in general every time that the trajectory must be horizontal or vertical in order to comply with constraints imposed by the nature of the objects to be moved, or to guard against the danger of impacts and collisions, difficulties arise that are hard to overcome.

[0014] In fact, the trajectory of the accessory is obtained from the combination of at least two different movements, i.e. the rotation of the boom and the telescopic extraction (or retraction) of its members, which are commanded separately by the operator. For the operator, therefore, it is often inconvenient, if not impossible, to successfully impose rotation and extraction movements instant by instant such that their combination translates with sufficient precision to a straight horizontal or vertical movement of the free end of the boom and therefore of the accessory.

[0015] The aim of the present invention is to solve the abovementioned problems, by providing a telescopic handler that makes it possible to effectively control the trajectory of the accessory mounted on the end of its boom.

[0016] Within this aim, an object of the invention is to provide a method that makes it possible to effectively control the trajectory of the accessory mounted on the end of the boom of a telescopic handler. Another object of the invention is to ensure the straight (horizontal or vertical) movement of the accessory mounted on the end of the boom of a telescopic handler.

[0017] Another object of the invention is to provide a handler and propose a method for its control, in order to enable the accessory to reach a specific point of operation, or to move away from it, by following a predefined trajectory.

[0018] Another object of the invention is to provide a telescopic handler and propose a method that ensure a high reliability of operation.

[0019] Another object of the invention is to provide a telescopic handler that adopts an alternative technical and structural architecture to that of conventional telescopic handlers.

[0020] Another object of the invention is to provide a telescopic handler and propose a method that can be easily obtained starting with elements and materials readily available on the market.

[0021] Another object of the invention is to provide a telescopic handler and propose a method that are low cost and safely applied.

[0022] This aim and these and other objects which will become more apparent hereinafter are achieved by a handler according to claim 1 and by a method according to claim 9.

[0023] Further characteristics and advantages of the invention will become more apparent from the description of a preferred, but not exclusive, embodiment of the telescopic handler and of the method according to the invention, which is illustrated by way of non-limiting example in the accompanying drawings wherein:

[0024] Figure 1 is a side view of the telescopic handler according to the invention, in a first configuration;

[0025] Figure 2 is a side view of the telescopic handler according to the invention, in a second configuration, and shows the movements of the boom, in dotted lines, following actuation of the controlled movement mode; Figure 3 is a view from above of the telescopic handler of Figure 2;

[0026] Figure 4 is a block diagram of the handler according to the invention;

[0027] Figure 5 is a block diagram of the method according to the invention.

[0028] With particular reference to the figures, the reference numeral 1 generally designates a telescopic handler, which comprises first of all at least one vehicle (or truck) 2, which can move over ground A.

[0029] For example in fact, the vehicle 2 can be provided with wheels 3 or crawler tracks, which make it possible to move on roads as well as on a construction site, on agricultural land, in the yard of a building, inside a hangar, warehouse or factory, or in any other place where its transit or use is required.

[0030] Preferably, the vehicle 2 is provided with a stabilization system 4 (scissor stabilizers or another type of stabilization, in any case also conventional), which can be used to raise the vehicle 2 off the ground A and ensure a firmer hold.

[0031] The entire vehicle 2 can in any case be of the conventional type, and for example can adopt the implementation solution that in each instance is deemed best suited to the requirements.

[0032] The handler 1 further comprises at least one telescopic boom 5, which is supported (directly or indirectly) by the vehicle 2 with the possibility of rotating about a main axis B. The main axis B is typically, but not necessarily, horizontal.

[0033] In the present description, when reference is made to "direct" or "indirect" support, it means whether or not an additional component is interposed between the elements involved: in the affirmative, the support is "indirect", and in the negative, the support is "direct".

[0034] The telescopic boom 5 comprises at least two members 6 (arranged in series and) having the capacity for relative (i.e. telescopic) sliding. In this regard, it should be noted that the telescopic boom 5 can have two and only two members 6, just as it can have a greater number of members, according to the specific requirements.

[0035] So, typically, the telescopic boom 5 is articulated to the vehicle 2 at a first member 6, while at the terminal portion of the last member 6, at the opposite end with respect to the vehicle 2, there is a first end 5a of the telescopic boom 5, which is configured to support a work accessory 7 (the second end, at the opposite end from the first end, is obviously part of the first member 6).

[0036] The telescopic boom 5 is therefore associated with at least two possible movements: a rotation (of the entire telescopic boom 5) about the main axis B, and a relative sliding or translation of its members 6 (in other words, a movement of extraction or retraction), in order to increase or decrease the overall length of the telescopic boom 5, so as to move the first end 5a away from or toward the main axis B and the vehicle 2.

[0037] However, the possibility is not ruled out of the handler 1 being provided with two or more telescopic booms 5, for example mutually articulated.

[0038] The accessory 7 can be of any type; in the accompanying figures it is a pallet fork (complete with fork tines): this is a solution that, as will be explained in the discussion below, represents an application of significant practical interest, but which should not be understood as limiting of the scope of protection claimed herein. In fact, the accessory 7 could be any other device, attachment or utensil adapted for the purpose for which the handler 1 is intended to be used (it could also be a platform designed to accommodate an operator).

[0039] The accessory 7 can also be interchangeable, so that it can be substituted at each use, according to the specific requirements. The accessory 7 or a set of accessories 7 can therefore be comprised in the handler 1, but the scope of protection claimed herein also extends to handlers 1 that are sold without accessories 7, which may therefore be sourced or supplied separately. The handler 1 can have further components and setups, which may be conventional; among these it should be noted that typically, but not necessarily, it is provided with a cab 8, supported directly or indirectly by the vehicle 2 and designed to accommodate an operator, who is in charge of controlling the handler 1.

[0040] Furthermore, the telescopic boom 5 and the cab 8 (if present) can be supported by the vehicle 2 (indirectly) with the interposition of a rotary coupling 9, which enables the former to rotate with respect to the latter, about a vertical axis C. Handlers 1 of this type are known in the sector as "rotary" and, by virtue of the additional capacity of the telescopic boom 5 (and of the accessory 7) to rotate, offer even greater versatility, in that, when the vehicle 2 is stationary, the area that can be reached by the first end 5a is appreciably increased, and so too therefore is the scope of operation of the accessory 7.

[0041] The handler 1 further comprises a first hydraulic fluid actuator 10 (hereinafter referred to as "main", for reasons that will shortly become clear) and a second hydraulic fluid actuator 11, referred to as "auxiliary".

[0042] The main (or "principal", or "master") actuator 10 is configured to command a movement selected from the rotation of the telescopic boom 5 about the main axis B and the relative sliding of the members 6 of the telescopic boom 5; the auxiliary (or "slave") actuator 11 is configured to command the other movement selected from the two just mentioned.

[0043] In the accompanying figures, purely for the purposes of example, it has been chosen to designate as main (with reference numeral 10) the hydraulic fluid actuator which is (visible in Figure 1 and) designed to command the rotation of the telescopic boom 5, while the actuator that commands the relative sliding of the members 6 is the auxiliary actuator and therefore has the reference numeral 11.

[0044] To command the abovementioned movements, the hydraulic fluid actuators 10, 11 are supplied with pressurized fluid, which can be (but not necessarily) oil, for example.

[0045] As mentioned, it is also possible for the roles of main actuator 10 and auxiliary actuator 11 to be inverted, while remaining within the scope of protection claimed herein.

[0046] Further details will be given below of an embodiment of the actuators 10, 11 that is of particular practical interest, but it should be noted that these can be of any type, while remaining within the scope of protection claimed herein.

[0047] More generally, it is emphasized that, for all aspects not discussed in the present description, any implementation detail relating to the handler 1 can be conventional. In particular therefore, the person skilled in the art can choose in each instance the setup and the form of implementation of the vehicle 2, of the system 4, of the telescopic boom 5, of the cab 8, etc., deemed most suitable based on the common general knowledge of the sector and according to the specific requirements, while remaining within the scope of protection claimed herein.

[0048] According to the invention, the handler 1 comprises at least one electronic control and management unit 12, which is provided with an operating module 12a which can be activated on command, for actuating at least one controlled movement mode of the first end 5a of the telescopic boom 5 according to a substantially straight predefined trajectory with orientation selected from substantially horizontal and substantially vertical.

[0049] If the selected orientation is substantially horizontal, the trajectory will therefore be such as to maintain the first end 5 a, and therefore the accessory 7, substantially at the same longitudinal elevation (or height), measured with respect to any ideal horizontal plane. In the accompanying figures the horizontal plane can coincide with the ground A (given that the latter is shown as flat, not inclined).

[0050] If the selected orientation is substantially vertical, the trajectory will instead be such as to maintain the first end 5a, and therefore the accessory 7, substantially at the same distance from any vertical axis (for example the one that passes through the center of gravity of the vehicle 2).

[0051] The adverb "substantially" is used here to include trajectories that are not perfectly horizontal or vertical, but are in any case such as to produce similar effects and generate similar benefits, according to the specific requirements or circumstances.

[0052] The adverb "substantially" likewise is intended to include trajectories that differ from (perfectly) horizontal or vertical trajectories by displacements of modest extent.

[0053] The electronic unit 12 is shown only schematically in the accompanying figures but it can be of conventional type, and for example it can comprise or be constituted by a controller, a PLC, a computer, another form of hardware, reprogrammable or otherwise (for example with a microprocessor).

[0054] Typically the electronic unit 12 is the same unit that governs the entire handler 1. However, the possibility is not ruled out that the electronic unit 12 can be a dedicated electronic contrivance, to be mounted on the handler 1 and intended to interact with the other components described herein solely for the purposes that the invention sets out to achieve.

[0055] In the present description, the term "module" means a software component or a part of a program that, optionally drawing on internal or external hardware components, contains routines and / or instructions capable of performing specific operations (at least the operations described herein).

[0056] More generally however, all the functions that will be described in the description below for the electronic unit 12 and / or the operating module 12a (or other modules which, as will be seen, will be introduced in the discussion below) can be executed using software and / or hardware components that the person skilled in the art is capable of selecting, drawing on common knowledge of the sector.

[0057] According to the invention, the operating module 12a is provided with instructions for delivering an amount of pressurized fluid to the auxiliary hydraulic fluid actuator 11, calculated (by the operating module 12a or by the unit 12) on the basis of the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10 (in order to obtain a controlled movement of the first end 5a according to the substantially straight predefined trajectory defined above).

[0058] In other words therefore, taking into account the geometric parameters and / or other parameters of interest (for example lever arm parameters and / or other dimensional parameters of the kinematic mechanism involved), the operating module 12a proceeds to automatically activate the auxiliary hydraulic fluid actuator 11 (by delivering a conveniently-chosen amount of fluid), ensuring that the combination of the movement commanded by the latter with the movement commanded by the main hydraulic fluid actuator 10 (typically as a result of the operator's input) is such as to produce or maintain a substantially straight predefined trajectory, substantially horizontal or vertical, for the first end 5a (and therefore the accessory 7).

[0059] In order to be able to consider the geometric / dimensional parameters of interest for the purposes of the calculation, the unit 12 can be connected to measurement sensors of any type.

[0060] So for example, in the configuration in the accompanying figures, during the actuation of the controlled movement mode, at each command to rotate the telescopic boom 5 in one direction or the other, the electronic unit 12 with the operating module 12a detects the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10 and proceeds to calculate the amount of pressurized fluid to be delivered to the auxiliary hydraulic fluid actuator 11 so that the telescopic boom 5 is extended or retracted by a length that is such as to keep the first end 5a (and the accessory 7) along a substantially horizontal, substantially straight trajectory.

[0061] As mentioned, if the roles of main hydraulic fluid actuator 10 and auxiliary hydraulic fluid actuator 11 are reversed with respect to the solution in the figures, then the input supplied relates to the relative sliding of the telescopic boom 5 (in one direction or the other) and the electronic unit 12 and the operating module 12a in particular calculate the amount of pressurized fluid to be delivered so that the telescopic boom 5 will be rotated accordingly.

[0062] Thus from this point onward the set aim is achieved.

[0063] It should be noted that the handler 1 can be supplied with an operating module 12a capable of executing a controlled movement mode which entails, for the first end 5a, only the substantially horizontal trajectory or only the substantially vertical trajectory.

[0064] Likewise, handlers 1 according to the invention can be provided which offer the user a command to choose from two controlled movement modes, one for the substantially horizontal trajectory and one for the substantially vertical trajectory.

[0065] In particular, Figure 2 shows an example of an operating module 12a that actuates a controlled movement mode of the first end 5a according to a horizontal substantially straight predefined trajectory: in dotted lines the figure shows a number of successive positions of the first end 5a and of the accessory 7, which are moved according to a substantially horizontal predefined trajectory.

[0066] The choice to confer a horizontal trajectory on the first end 5a and on the accessory 7 is particularly important, in that it meets a need that is frequently felt (and difficult for conventional handlers to cater for): in fact, for example, just when the accessory 7 comprises a pallet fork and the associated fork tines (as in the accompanying figures), when picking up and setting down a pallet it is necessary to ensure the horizontal trajectory.

[0067] The controlled movement mode (or each controlled movement mode) can be activated on command by the user, for example by pressing a button, or acting on a selector, or tapping on an icon displayed on an interface of the electronic unit 12; however, such controlled movement mode is (evidently) not the only one provided for the handler 1.

[0068] In particular in fact, the electronic unit 12 can be provided with a main module 12b, normally active for actuating a free movement mode of the first end 5a, in which the rotation movements of the telescopic boom 5 about the main axis B and the relative sliding movements of the members 6 are controlled in a mutually independent manner (delivery of fluid to the actuators 10, 11 occurs in a mutually independent manner). That is to say, the free movement mode corresponds to the normal operation of conventional handlers, in which the operator can, for example, make the telescopic boom 5 rotate without there being any corresponding extraction (or retraction) of its members 6, or simultaneously make these members extract or retract for a length of travel chosen at will.

[0069] In particular, in a practical embodiment of significant interest, which in any case does not limit the invention, the instructions with which the operating module 12a is provided (for actuating the controlled movement mode) comprise the calculation of the value of the volume or of the mass of pressurized fluid to be delivered instant by instant to the auxiliary hydraulic fluid actuator 11, based on the value of the volume or of the mass of pressurized fluid delivered to the main hydraulic fluid actuator 10 (and obviously based on the need to ensure the predefined trajectory of the first end 5 a).

[0070] To calculate the value of the volume or of the mass of pressurized fluid to be delivered instant by instant to the auxiliary hydraulic fluid actuator 11, the operating module 12a can consider the value, in a given instant, of:

[0071] - the volume of the compartment reserved for the pressurized fluid in one or both actuators 10, 11, and / or

[0072] - the lever arm, given by the position of the telescopic boom 5, and / or

[0073] - any other parameter of interest that may be in play.

[0074] These data can be acquired by adapted measurement sensors mounted on the handler 1.

[0075] Even more specifically, in the preferred (non-limiting) embodiment, the handler 1 comprises a main valve 13, which is configured to control and distribute pressurized fluid to the main hydraulic fluid actuator 10, and means 14 for detecting the status of the main valve 13, which are controlled by the electronic unit 12.

[0076] The main valve 13 and the means 14 can be of any type and in particular the means 14 can comprise one or more measurement sensors of any type, which are capable of detecting the status of the main valve 13; by "status" of the main valve 13 what is meant is the arrangement and the configuration of its components that permit or prevent (even only partially) the passage of pressurized fluid.

[0077] By virtue therefore of the means 14, the electronic unit 12 can obtain information about the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10.

[0078] Even more specifically, the main valve 13 can be a shuttle valve, which therefore comprises a movable shuttle, configured to adjust the width of a port for the passage of the pressurized fluid, along a supply duct of the main hydraulic fluid actuator 10; in this embodiment therefore, the detection means 14 are configured to monitor the position of the shuttle (the position determining the width of the passage port) instant by instant. In other words, the means 14 (for example comprising a conveniently chosen measurement sensor) are responsible for detecting whether the shuttle completely or partially obstructs the supply duct, plus the dimension of the passage port, so as to be able to extract the data of interest, i.e. the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10.

[0079] However, the possibility is not ruled out of using main valves 13 of another type and / or other systems of distribution and adjustment of the pressurized fluid, and as a consequence other methods of detecting their status and the amount of fluid delivered. The auxiliary hydraulic fluid actuator 11 can in turn be managed through an auxiliary valve 15, such as a shuttle valve: the operating module 12a in this case is provided with instructions for moving the shuttle of the auxiliary valve 15 as a function of the amount of pressurized fluid to be delivered to the auxiliary hydraulic fluid actuator 11, on the basis of the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10.

[0080] While reiterating that the actuators 10, 11 can be provided in any manner, while remaining within the scope of protection claimed herein, in an embodiment of significant practical interest, illustrated in the accompanying figures for the purposes of non-limiting example, at least one of the hydraulic fluid actuators 10, 11 comprises a cylindrical jacket 10a, Ila and a piston which can slide in the jacket 10a, Ila in a reciprocating manner. Preferably, as shown in the accompanying figures, each hydraulic fluid actuator 10, 11 comprises a respective cylindrical jacket 10a, Ila and a corresponding piston 10b, 11b which can slide in the jacket 10a, Ila in a reciprocating manner.

[0081] Usefully, the handler 1 can comprise at least one sensor for detecting the position of the first end 5a. In particular, the handler 1 can comprise any number of detection sensors, which may be conventional and capable of measuring any specific quantity useful for the purpose, and which make it possible to extract the position of the first end 5a with sufficient precision. The data supplied by the detection sensor (or by each sensor) can first of all be used to verify compliance with the safety conditions stipulated for the handler 1 and to activate alarms or countermeasures if the movements imposed on the first end 5a lead to unstable, or in any case dangerous, conditions for the handler 1.

[0082] Furthermore, usefully the electronic unit 12 can be provided with instructions to verify the correct movement of the first end 5a along the predefined trajectory, on the basis of the data supplied by the detection sensor (or by each sensor). The handler 1 can be fitted with one or more detection sensors dedicated solely to providing data to the electronic unit 12 for this latter objective, or detection sensors that are normally used to check for the dangerous conditions mentioned above can also be used for this purpose.

[0083] Advantageously, the electronic unit 12 is provided (or associated) with a BUS communication channel 16 for controlling at least the vehicle 2 and / or the telescopic boom 5. The channel 16 enables the unit 12 (and its modules 12a, 12b) to interface with the telescopic boom 5, the vehicle 2, the actuators 10, 11, and also with other components of the handler 1 (motors, pumps or other distribution elements for example), in any case to coordinate its operation and optimally manage the delivery of energy.

[0084] Protection is also claimed herein for a method 100 for controlling (or a use / utilization of) a telescopic handler 1 , which comprises at least:

[0085] - a vehicle 2, which can move over ground A,

[0086] - a telescopic boom 5, which is supported by the vehicle 2 with the capacity to rotate about a main axis B and comprises at least two members 6 with the capacity for relative sliding (and wherein a first end 5a of the telescopic boom 5, at the opposite end with respect to the vehicle 2, is configured to support a work accessory 7),

[0087] - a first, main hydraulic fluid actuator 10, configured to actuate a movement selected from the rotation of the telescopic boom 5 about the main axis B and the relative sliding of the members 6 of the telescopic boom 5,

[0088] - a second, auxiliary hydraulic fluid actuator 11 , configured to actuate the other movement selected from the rotation of the telescopic boom 5 about the main axis B and the relative sliding of the members 6 of the telescopic boom 5.

[0089] So, in other words, the method 100 is adapted for controlling a handler 1 of the type illustrated on the foregoing pages. It can therefore comprise any implementation detail described above.

[0090] According to the invention, the method 100 comprises at least one step a. of activating a controlled movement mode of the first end 5a of the telescopic boom 5 according to a substantially straight predefined trajectory with orientation chosen between substantially horizontal and substantially vertical.

[0091] As noted, the step a. can basically be obtained by means of a button, a switch, a selector or other element made available to the operator.

[0092] The method 100 further entails, in a step b., monitoring (preferably instant by instant) the amount of pressurized fluid delivered to the main actuator 10, and therefore delivering, in a step c., an amount of pressurized fluid to the auxiliary hydraulic fluid actuator 11 that is necessary for the controlled movement of the first end 5a (along the predefined trajectory), calculating it on the basis of the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10.

[0093] The operation of the handler 1 according to the invention can be easily understood from the foregoing description, but in any case is briefly described below.

[0094] The vehicle 2 can move over the ground A in order to bring the handler 1 to the place and exact point where it is necessary to execute an intervention (usually at a given height from the ground A).

[0095] After having reached the point of operation it is possible to activate the system of stabilizers 4, in order to obtain superior stability on the ground A.

[0096] In this step, the operating module 12a is not activated and, for example, the handler 1 operates in the free movement mode: the operator commands, in a mutually independent manner, the rotation of the telescopic boom 5 and the relative sliding of its members 6 (for example, by respectively moving a joystick and turning a wheel mounted on the joystick for reasons of ergonomics). When the need arises to confer and ensure a substantially horizontal or substantially vertical trajectory for the accessory 7, the operating module 12a can be activated, which as explained above makes it possible to obtain this result.

[0097] So for example, it is thus possible to ensure a horizontal movement of the forks when the handler 1 is to be used to retrieve a pallet, so making it possible for the forks to be slid correctly under the pallet, while guarding against the danger of collision with or chafing against the pallet beneath (in the typical case of stacked pallets). Likewise, the horizontal movement is also ensured when the pallet has been retrieved and is supported by the forks, so preventing any risk of slipping or, worse, overturning.

[0098] In particular, if the movement associated with the main hydraulic fluid actuator 10 is the rotation of the telescopic boom 5, then when that movement is commanded (for example by actuating the joystick), the operating module 12a proceeds to automatically command (with no need for the wheel to be turned) a corresponding retraction or extraction movement of the members 6 (their relative sliding), so that the combination of the two movements confers the desired predefined trajectory on the accessory 7, mounted on the first end 5a.

[0099] For example, following the command to rotate the telescopic boom 5, the electronic unit 12 can move the shuttle of the main valve 13 to the fully- open position of the passage port; the operating module 12a (by virtue of the means 14) can thus extract data relating to the amount of oil delivered in the time it is open.

[0100] Thus, the operating module 12a can extract the data for the number of liters delivered by the distributor to the main actuator 10 and then calculate, and deliver to the auxiliary actuator 11, the amount of oil needed to obtain the horizontal (or vertical) movement of the first end 5a, with sufficient precision to slide the forks out from under the pallet (or to slide them under it). In this context, the volume of oil sent to the main hydraulic fluid actuator 10 (and / or the volume of the compartment reserved for the oil or other pressurized fluid inside the cylinder of the main actuator 10) is correlated to the lever arm, which changes continuously as a function of the position of the telescopic boom 5, and consequently the operating module 12a calculates, and proceeds to send, the correct volume of oil to the auxiliary hydraulic fluid actuator 11, so obtaining the desired straight movement.

[0101] It should be noted that it can be arranged so that the role of "main" and "auxiliary" is defined solely for the actuators 10, 11 and therefore if the operator tries to control the movement of the auxiliary actuator 11 while in the controlled movement mode, nothing will happen (and an error message may be displayed).

[0102] Likewise, the possibility exists that the operating module 12a is configured to identify any one at will of the actuators 10, 11 mounted on the handler 1 as the main hydraulic fluid actuator, in particular designating the actuator designed to command the movement requested by the operator, whatever it is, as such.

[0103] In this case, if the operator (in the controlled movement mode) should command any of the rotation movements of the telescopic boom 5 and relative sliding movements of its members 6, the operating module 12a will still be capable of commanding the other movement in order to ensure the predefined trajectory of the first end 5a.

[0104] In any case, the handler 1 and the method 100 according to the invention achieve the set objectives, in that the operating module 12a of the electronic unit 12 makes it possible to effectively control the trajectory of the accessory 7 mounted on the first end 5a of the telescopic boom 5.

[0105] In particular, by virtue of the choice to calculate the amount of pressurized fluid to be delivered to the auxiliary hydraulic fluid actuator 11 , on the basis of the amount of pressurized fluid delivered to the main hydraulic fluid actuator 10, the invention can ensure the substantially horizontal or substantially vertical straight movement of the accessory 7 mounted on the first end 5a of the telescopic boom 5.

[0106] Thus, the accessory 7 can reach a specific point of operation, or it can be moved away from it, following a predefined trajectory.

[0107] The invention thus conceived is susceptible of numerous modifications and variations, all of which are within the scope of the appended claims. Moreover, all the details may be substituted by other, technically equivalent elements.

[0108] In the embodiments illustrated, individual characteristics shown in relation to specific examples may in reality be substituted with other, different characteristics, existing in other embodiments.

[0109] In practice, the materials employed, as well as the dimensions, may be any according to requirements and to the state of the art.

[0110] The disclosures in Italian Patent Application No. 102024000028806 from which this application claims priority are incorporated herein by reference.

[0111] Where technical features mentioned in any claim are followed by reference signs, those reference signs have been included for the sole purpose of increasing the intelligibility of the claims and accordingly, such reference signs do not have any limiting effect on the interpretation of each element identified by way of example by such reference signs.

Claims

CLAIMS1. A telescopic handler, comprising at least:- a vehicle (2), which can move over ground (A),- a telescopic boom (5), which is supported by said vehicle (2) with the capacity to rotate about a main axis (B) and comprises at least two members (6) with the capacity for relative sliding, a first end (5a) of said telescopic boom (5), at the opposite end with respect to said vehicle (2), being configured to support a work accessory (7),- a first, main hydraulic fluid actuator (10), configured to actuate a movement selected from the rotation of said telescopic boom (5) about said main axis (B) and the relative sliding of said members (6) of said telescopic boom (5),- a second, auxiliary hydraulic fluid actuator (11), configured to actuate the other movement selected from the rotation of said telescopic boom (5) about said main axis (B) and the relative sliding of said members (6) of said telescopic boom (5), characterized in that it comprises at least one electronic control and management unit (12), provided with an operating module (12a) which can be activated on command, for actuating at least one controlled movement mode of said first end (5a) according to a substantially straight predefined trajectory with orientation selected from substantially horizontal and substantially vertical, said operating module (12a) being provided with instructions for delivering an amount of pressurized fluid to said auxiliary hydraulic fluid actuator (11), calculated on the basis of the amount of pressurized fluid delivered to said main hydraulic fluid actuator (10).

2. The telescopic handler according to claim 1, characterized in that said electronic unit (12) is provided with a main module (12b), normally active for actuating a free movement mode of said first end (5a), in which the rotation movements of said telescopic boom (5) about said main axis (B) and the relative sliding movements of said members (6) of said telescopicboom (5) are controlled in a mutually independent manner.

3. The telescopic handler according to claim 1, characterized in that said instructions comprise calculating the value of the volume or mass of pressurized fluid to be delivered instant by instant to said auxiliary hydraulic fluid actuator (11), on the basis of the value of the volume or mass of pressurized fluid delivered to said main hydraulic fluid actuator (10).

4. The telescopic handler according to one or more of the preceding claims, characterized in that it comprises:- a main valve (13), configured to control and distribute pressurized fluid to said main hydraulic fluid actuator (10),- means (14) for detecting the state of said main valve (13), which are controlled by said electronic unit (12).

5. The telescopic handler according to claim 4, characterized in that said main valve (13) is a shuttle valve, comprising a movable shuttle, configured to adjust the width of a passage port for the pressurized fluid along a supply duct of said main hydraulic fluid actuator (10), said means (14) for detecting being configured to monitor the position of said shuttle instant by instant.

6. The telescopic handler according to claim 1, characterized in that at least one of said first ans second hydraulic fluid actuators (10, 11) comprises a cylindrical jacket (10a, Ila) and a piston (10b, 11b) which can slide in said jacket (10a, Ila) in a reciprocating manner.

7. The telescopic handler according to one or more of the preceding claims, characterized in that it comprises at least one sensor for detecting the position of said first end (5a), said electronic unit (12) being provided with instructions for verifying the correct movement of said first end (5a) according to said predefined trajectory based on the data supplied by said at least one detection sensor.

8. The telescopic handler according to one or more of the preceding claims, characterized in that said electronic unit (12) is provided with a BUScommunication channel (16) for controlling at least said vehicle (2), said telescopic boom (5) and / or said actuators (10, 11).

9. A method for controlling a telescopic handler (1), comprising at least:- a vehicle (2), which can move over ground (A),- a telescopic boom (5), which is supported by the vehicle (2) with the capacity to rotate about a main axis (B) and comprises at least two members (6) with the capacity for relative sliding, a first end (5a) of the telescopic boom (5), at the opposite end with respect to the vehicle (2), being configured to support a work accessory (7),- a first, main hydraulic fluid actuator (10), configured to actuate a movement selected from the rotation of the telescopic boom (5) about the main axis (B) and the relative sliding of the members (6) of the telescopic boom (5),- a second, auxiliary hydraulic fluid actuator (11), configured to actuate the other movement selected from the rotation of the telescopic boom (5) about the main axis (B) and the relative sliding of the members (6) of the telescopic boom (5), said method comprising at least the following steps: a. activating a controlled movement mode of the first end (5a) of the telescopic boom (5) according to a substantially straight predefined trajectory with orientation chosen between substantially horizontal and substantially vertical, b. monitoring the amount of pressurized fluid delivered to the main hydraulic fluid actuator (10), c. delivering an amount of pressurized fluid to the auxiliary hydraulic fluid actuator (11) that is necessary for said controlled movement of the first end (5a), calculating it on the basis of the amount of pressurized fluid delivered to the main hydraulic fluid actuator (10).

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