Rotary telescopic handler

Abstract

A rotary telescopic handler, which comprises at least: - a vehicle (2), which can move over ground (A), - a rotating turret (5), supported by the vehicle (2) with the possibility of rotation about a first axis (B), which is perpendicular to the ideal resting plane of the vehicle (2), - a telescopic boom (6) supported by the turret (5) with the capacity to rotate about a second axis (C), which is perpendicular to the first, and comprising at least two members (7) with the capacity for relative sliding, a first end (6a) of the telescopic boom (6), at the opposite end with respect to the vehicle (2) and to the turret (5), being configured to support a work accessory (8), - a first actuator (10), a second actuator (11), which is hydraulic fluid-operated, and a third actuator (12), hydraulic fluid-operated, which are configured respectively to actuate the rotation of the turret (5) about the first axis (B), the rotation of the telescopic boom (6) about the second axis (C), and the relative sliding of the members (7) of the telescopic boom (6); the handler (1) comprises at least one electronic control and management unit (13), provided with an operating module (13a) which can be activated on command, at least for actuating, during the rotation of the turret (5) about the first axis (B), a controlled movement mode of the first end (6a) according to a substantially straight predefined trajectory; to this end, the operating module (13a) is provided with instructions for delivering an amount of pressurized fluid to either or both of the second actuator (11) and the third actuator (12), calculated on the basis of the extent of the rotation of the turret (5) commanded by the first actuator (10) and to impart the substantially straight predefined trajectory to the first end (6a).

Description

[0001] ROTARY TELESCOPIC HANDLER

[0002] The present invention relates to a rotary 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.

[0007] Among the handlers that adopt the general configuration described above, a role of undoubted practical interest is played by handlers, known as "rotary" handlers, in which 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).

[0008] The capacity of the turret to rotate is added to the various movements that the boom can perform, and ensure maximum versatility for the machine, in that these movements enable the accessory to reach works areas located at different heights and to get around any obstacles, be they natural or manmade.

[0009] Although the configuration described up to this point has enabled rotary telescopic handlers to earn a role of undoubted importance among the various types of self-propelled work vehicles, it is still possible to identify some drawbacks. To execute the desired operation, it often happens that the handler is positioned beside or in any case proximate to flat vertical walls, defined by buildings, bridges, tunnels or other infrastructure (or also by natural obstacles that have a similar shape structure).

[0010] Such walls may simply represent an obstacle or in any case an element to get around during the movement of the boom and of the accessory, or they may be the objective of the operation (for example, because the accessory is a work platform designed to accommodate an operator while they paint the facade of a building or clean its glass facing).

[0011] In all these cases, it can therefore happen that the need arises to rotate the turret while at the same time making the accessory track the wall and move parallel to it while, preferably, remaining at the same vertical elevation.

[0012] In these cases, difficulties are encountered that it is difficult to overcome.

[0013] In fact, the trajectory of the accessory is obtained from the combination of three different movements, i.e. the rotation and the telescopic extraction of the boom and the rotation of the turret, which are commanded separately by the operator: in the use case described above therefore, he or she first of all needs to command the rotation of the turret and at the same time he or she must impart, instant by instant, rotation movements and retraction or extraction movements, such that the combination of these translates to a straight horizontal movement of the accessory.

[0014] Evidently this is a complex activity, made even more complicated by the fact that it needs to be performed with the utmost precision, given that any error, even of minimal extent, could result in the impact of the accessory against the wall that it is intended to track.

[0015] The aim of the present invention is to solve the abovementioned problems, by providing a rotary telescopic handler that makes it possible in a simple manner to impart a straight (preferably horizontal) trajectory to the accessory, while its turret is being rotated.

[0016] Within this aim, an object of the invention is to propose a method that makes it possible in a simple manner to impart a straight (preferably horizontal) trajectory to the accessory of a telescopic handler, while its turret is being rotated.

[0017] Another object of the invention is to provide a rotary handler and propose a method that offers practical modalities of controlling the trajectory of the accessory, in order to enable it to track a flat vertical wall, while the turret is being rotated.

[0018] Another object of the invention is to provide a rotary handler and propose a method that ensure a high reliability of operation and of precision of the trajectory imparted to the accessory.

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

[0020] Another object of the invention is to provide a rotary handler and propose a method that are easily obtained starting from elements and materials that are readily available on the market.

[0021] Another object of the invention is to provide a rotary 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 10.

[0023] Further characteristics and advantages of the invention will become more apparent from the description of a preferred, but not exclusive, embodiment of the 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 rotary telescopic handler according to the invention;

[0025] Figures 2 and 3 are views from above of two different versions of the handler according to the invention, showing the movements of the boom and of the accessory, following the actuation of the controlled movement mode;

[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 rotary 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 a rotating turret 5, which is supported by the vehicle 2 with the capacity to rotate (ensured for example by a rotary coupling 5a) about a first axis B; the first axis B is perpendicular to the ideal resting plane of the vehicle 2. Evidently, the ideal resting plane is defined solely by the shape structure of the vehicle 2 proper; it typically coincides with the ground A, and if the ground is not on a slope, it is horizontal (and therefore the first axis B, as in the accompanying Figure 1, is vertical).

[0033] The handler 1 further comprises at least one telescopic boom 6, which is supported (directly or indirectly) by the turret 5 with the capacity to rotate about a second axis C, perpendicular to the first (and transverse with respect to the longitudinal extension of the turret 5). Effectively therefore, when the handler 1 is on the plane, the second axis C is horizontal.

[0034] In the present discussion, 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".

[0035] The telescopic boom 6 comprises at least two members 7 (arranged in series and) having the capacity for relative (i.e. telescopic) sliding. In this regard, it should be noted that the telescopic boom 6 can have two and only two members 7, just as it can have a greater number of members, according to the specific requirements.

[0036] So, typically, the telescopic boom 6 is articulated to the turret 5 at a first member 7; at the opposite end with respect to the vehicle 2 and to the turret 5 (at the terminal portion of the last member 7), there is a first end 6a of the telescopic boom 6, which is configured to support a work accessory 8 (the second end, at the opposite end from the first, is obviously part of the first member 7).

[0037] The telescopic boom 6 is therefore associated with at least two possible movements: a rotation (of the entire telescopic boom 6) about the second axis C, and a relative sliding or translation of its members 7 (in other words, a movement of extraction or retraction), in order to increase or decrease the overall length of the telescopic boom 6, so as to move the first end 6a away from or toward the second axis C and the vehicle 2. Furthermore, the turret 5 and the telescopic boom 6 that it supports can rotate about the first axis B.

[0038] By virtue of the additional capacity of the telescopic boom 6 (and the accessory 8) to rotate, afforded by the turret 5, the handler 1 ensures maximum versatility, in that, when the vehicle 2 is stationary, the area that can be reached by the first end 6a is greatly extended, and so too therefore is the scope of operation of the accessory 8.

[0039] However, the possibility is not ruled out of the handler 1 being provided with two or more telescopic booms 6, for example mutually articulated.

[0040] The accessory 8 can be of any type; in the accompanying Figure 1 it comprises a pallet fork (complete with fork tines), but this should not be understood as limiting of the scope of protection claimed herein. In fact, the accessory 8 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).

[0041] The accessory 8 can also be interchangeable, so that it can be substituted at each use, according to the specific requirements. The accessory 8 or a set of accessories 8 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 8, which may therefore be sourced or supplied separately.

[0042] 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 9, supported directly or indirectly (and in any case solidly) by the turret 5 and designed to accommodate an operator, who is in charge of controlling the handler 1.

[0043] The handler 1 further comprises at least one first actuator 10, a second actuator 11, which is of the hydraulic fluid type, and a third actuator 12, also of the hydraulic fluid type.

[0044] In this regard it should be noted that the first actuator 10 can alternatively be of any type: preferably it is selected from an electric actuator, even of a type in and of itself known, and a hydraulic fluid actuator (in the latter case therefore, like the other two actuators just described), also of a type in and of itself known, but the possibility is not excluded of using further and different types, while remaining within the scope of protection claimed herein.

[0045] The first actuator 10 is configured to command the rotation of the turret 5 about the first axis B; the second actuator 11 is configured to command the rotation of the telescopic boom 6 about the second axis C; finally, the third actuator 12 is configured to command the relative sliding of the members 7 of the telescopic boom 6.

[0046] Further details will be given below of an embodiment of the second actuator 11 and of the third actuator 12 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 fitting and the form of implementation of the vehicle 2, of the stabilization system 4, of the telescopic boom 6, of the cab 9, 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 13, which is provided with an operating module 13a which can be activated on command, at least for actuating, during the rotation of the turret 5 about the first axis B, a controlled movement mode of the first end 6a of the telescopic boom 6 according to a substantially straight predefined trajectory.

[0049] The adverb "substantially" is used here to include trajectories that are not perfectly straight, but are in any case such as to produce similar effects and generate similar benefits, according to the specific requirements or circumstances.

[0050] The electronic unit 13 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).

[0051] Typically the electronic unit 13 is the same unit that governs the entire handler 1. However, the possibility is not ruled out that the electronic unit 13 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.

[0052] In the present discussion, 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).

[0053] More generally however, all the functions that will be described in the discussion below for the electronic unit 13 and / or the operating module 13a (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.

[0054] According to the invention therefore, the operating module 13a is provided with instructions to deliver an amount of pressurized fluid to either or both of the second actuator 11 and the third actuator 12, such amount being calculated on the basis of the extent of the rotation (of the angle of rotation) of the turret 5 commanded by the first actuator 10 and to impart a substantially straight predefined trajectory to the first end 6a (and to the accessory 8).

[0055] Effectively, 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), while the turret 5 is being rotated (and with it, the telescopic boom 6 and the accessory 8) about the first axis B, based on the extent of rotation of the turret 5 the operating module 13a proceeds to automatically activate either or both of the second actuator 11 and the third actuator 12 (by delivering a conveniently-chosen amount of fluid), ensuring that the combination of the movement commanded with the rotation of the turret 5 is such to produce or maintain a substantially straight predefined trajectory for the first end 6a (and therefore for the accessory 8).

[0056] In order to be able to consider the geometric / dimensional parameters of interest for the purposes of the calculation, the unit 13 can be connected to measurement sensors of any type.

[0057] Thus, as clearly shown in the accompanying Figures 2 and 3, while the turret 5 is rotating about the first axis B, it is possible to arrange things so that the accessory 8 does not move in turn along an imaginary circumference, but instead along a straight trajectory that enables it to track (or in any case move parallel to) a flat wall D beside which the handler 1 has been positioned (and preferably stabilized).

[0058] Thus from this point onward the set aim is achieved.

[0059] The 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 13; however, such controlled movement mode is (evidently) not the only one provided for the handler 1.

[0060] In particular in fact, the electronic unit 13 can be provided with a main module 13b, normally active for actuating a free movement mode of the first end 6a, in which the various movements of the turret 5 (rotation about the first axis B) and of the telescopic boom 6 (rotation about the second axis C and relative sliding of its members 7) are controlled in a mutually independent manner. So the free movement mode corresponds to the normal operation of conventional handlers, in which the operator can, for example, make the telescopic boom 6 and the accessory 8 rotate integrally with the turret 5. In particular, in the preferred embodiment, which does not limit the application of the invention, the operating module 13a is provided with instructions to deliver a respective amount of pressurized fluid both to the second actuator 11 and to the third actuator 12, in any case calculating this amount on the basis of the extent of the rotation of the turret 5 commanded by the first actuator 10 and so as to impart a predefined (or non-predefined) trajectory which is substantially straight and (also) horizontal, to the first end 6a of the telescopic boom 6 (and to the accessory 8).

[0061] In this case therefore, the trajectory will be such as to maintain the first end 6a, and therefore the accessory 8, 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).

[0062] In an embodiment of significant practical interest, but in any case not limiting of the invention, the handler 1 comprises a fourth actuator 14 (which can be chosen to be of any type, while remaining within the scope of protection claimed herein). At least in a configuration for use, in which the accessory 8 is coupled to the telescopic boom 6, the fourth actuator 14 is configured to command the rotation of the accessory 8 with respect to the telescopic boom 6 about a third axis E, which is parallel to the first axis B, in order to obtain consequent control of the inclination of the accessory 8.

[0063] The term "inclination" means the angle formed by any plane defined on the accessory 8 (by the plane on which the fork tines lie, for example) with an ideal reference plane, vertical for example, such angle being in particular variable as a consequence of any rotation about the third axis E or about any other reference axis parallel to the latter (so for example, about the first axis B).

[0064] The accompanying Figure 3 shows a handler 1 in which the inclination of the accessory 8 with respect to the telescopic boom 6 can vary, by virtue of the presence of the fourth actuator 14.

[0065] Usefully, in the embodiment just introduced and if the fourth actuator 14 is chosen to be of the hydraulic fluid type, the operating module 13a can be provided with instructions to deliver a respective amount of pressurized fluid to the fourth actuator 14 as well, during the rotation of the turret 5, calculated on the basis of the extent of the rotation of the latter commanded by the first actuator 10 and so as to ensure the constancy of the inclination of the accessory 8.

[0066] So in addition to keeping the trajectory of the accessory 8 straight (and preferably horizontal), as clearly shown in Figure 3 the operating module 13a can execute the necessary calculations to deliver the amount of fluid to the fourth actuator 14 that is necessary to ensure that the accessory 8 does not alter its inclination while it moves along the straight trajectory imposed by the operating module 13a. Thus, and again with reference to Figure 3, it is possible to keep the accessory 8 parallel to the wall D while the latter is tracked by the former: this can be particularly useful, for example, when the accessory 8 is a work platform or basket to accommodate an operator who needs to interact with the wall D (it may be a wall to be pained or a glass facing to be cleaned). In fact, the constancy of the inclination makes it possible to keep the platform parallel to the wall D with the front side of the former constantly facing and parallel to the wall D proper.

[0067] In particular, if the first actuator 10 is of the hydraulic fluid type, the instructions with which the operating module 13a is provided can include monitoring the amount of pressurized fluid delivered thereto, and as a consequence delivering the correct amount of pressurized fluid to the second actuator 11 and / or to the third actuator 12, in order to impart the predefined straight (preferably horizontal) trajectory to the accessory 8.

[0068] More specifically, and with further reference to the embodiment wherein the first actuator 10 is of the hydraulic fluid type, the instructions with which the operating module 13a 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 second actuator 11 and / or to the third actuator 12 (and / or to the fourth actuator 14), on the basis of the value of the volume or of the mass of pressurized fluid delivered to the first actuator 10 (and obviously in order to ensure the predefined trajectory of the first end 6a).

[0069] To calculate the value of the volume or of the mass of pressurized fluid to be delivered instant by instant to the second actuator 11 and / or to the third actuator 12 and / or to the fourth actuator 14, the operating module 13a can consider the value, in a given instant, of:

[0070] - the volume of the compartment reserved for the pressurized fluid in one or more of the actuators 10, 11, 12, 14,

[0071] - the lever arm, given by the position of the telescopic boom 6, and / or

[0072] - any other parameter of interest that may be in play.

[0073] These data can be acquired by adapted measurement sensors mounted on the handler 1.

[0074] If the first actuator 10 is of another type, for example electric, measurement sensors can be selected that the person skilled in the art would deem most suitable to monitor these parameters or these values.

[0075] Even more specifically, in the preferred (non-limiting) embodiment, the handler 1 comprises a main valve 15, which is configured to control and distribute pressurized fluid to the first actuator 10 (obviously if it is of the hydraulic fluid type), and means 16 for detecting the status of the main valve 15, which are controlled by the electronic unit 13.

[0076] The main valve 15 and the means 16 can be of any type and in particular the means 16 can comprise one or more measurement sensors of any type, which are capable of detecting the status of the main valve 15 ; by "status" of the main valve 15 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 16, the electronic unit 13 can obtain information about the amount of pressurized fluid delivered to the first actuator 10.

[0078] Even more specifically, the main valve 15 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 first actuator 10 (if of the hydraulic fluid type); in this embodiment therefore, the detection means 16 are configured to monitor the position of the shuttle (the position determining the width of the passage port) instant by instant.

[0079] In other words, the means 16 (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 first actuator 10.

[0080] However, the possibility is not ruled out of using main valves 15 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.

[0081] One or more of the second actuator 11, the third actuator 12 and the fourth actuator 14 can in turn also be managed by means of an auxiliary valve 17, such as a shuttle valve: the operating module 13a in this case is provided with instructions for moving the shuttle of each auxiliary valve 17 as a function of the amount of pressurized fluid to be delivered to the respective actuator 11, 12, 14, on the basis of the amount of pressurized fluid delivered to the first actuator 10.

[0082] While reiterating that the actuators 10, 11, 12, 14 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, one or more thereof comprises a cylindrical jacket 18 and a piston 19 which can slide in the jacket 18 in a reciprocating manner. In the accompanying Figure 1 this implementation choice is clearly shown for the second actuator 11 and the third actuator 12. The first actuator 10 and the fourth actuator 14 are shown only in the block diagram of Figure 4, but it should be noted that they can be chosen to be of any conventional type.

[0083] Usefully, the handler 1 can comprise at least one sensor for detecting the position of the first end 6a. 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, which make it possible to extract the position of the first end 6a 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 6a lead to unstable, or in any case dangerous, conditions for the handler 1.

[0084] Furthermore, usefully the electronic unit 13 can be provided with instructions to verify the correct movement of the first end 6a along the predefined trajectory, while the turret 5 is rotating, 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 13 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.

[0085] If the check returns a negative result, and therefore it detects an even minimal deviation of the effective trajectory of the first end 6a of the telescopic boom 6 (and therefore of the accessory 8), with respect to the predefined trajectory, the electronic unit 13 can be provided with instructions to automatically correct the deviation, as a consequence commanding one or both of the second actuator 11 and the third actuator 12.

[0086] Advantageously, the electronic unit 13 can be provided (or associated) with a BUS communication channel 20 for controlling at least the vehicle 2 and / or the turret 5 and / or the telescopic boom 6. The channel 20 enables the unit 13 (and its modules 13a, 13b) to interface with the turret 5, the telescopic boom 6, the vehicle 2, the actuators 10, 11, 12, 14 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.

[0087] Protection is also claimed herein for a method 100 for controlling (or a use / utilization of) a rotary telescopic handler 1, which comprises at least:

[0088] - a vehicle 2, which can move over ground A,

[0089] - a rotating turret 5, supported by the vehicle 2 with the possibility of rotation about a first axis B, which is perpendicular to the ideal resting plane of the vehicle 2 (on the ground A),

[0090] - a telescopic boom 6, which is supported by the turret 5 with the capacity to rotate about a second axis C, which is perpendicular to the first axis B, and which comprises at least two members 7 with the capacity for relative sliding; a first end 6a of the telescopic boom 6, at the opposite end with respect to the vehicle 2 and to the turret 5, being configured to support a work accessory 8,

[0091] - a first actuator 10, a second actuator 11, which is hydraulic fluid- operated, and a third actuator 12, hydraulic fluid-operated, which are configured respectively to actuate the rotation of the turret 5 about the first axis B, the rotation of the telescopic boom 6 about the second axis C, and the relative sliding of the members 7 of the telescopic boom 6.

[0092] 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.

[0093] According to the invention, the method 100 comprises at least one step a. of activating a controlled movement mode, according to which, during the rotation of the turret 5 about the first axis B, the first end 6a of the telescopic boom 6 moves according to a substantially straight (and preferably horizontal) predefined trajectory.

[0094] 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.

[0095] The method 100 furthermore comprises, in a step b., monitoring (preferably instant by instant) the extent of the rotation of the turret 5 commanded by the first actuator 10 and then, in a step c., delivering an amount of pressurized fluid to either or both of the second actuator 11 and the third actuator 12 (and preferably both) that is necessary for the abovementioned controlled movement of the first end 6a (and therefore of the accessory 8), calculating it on the basis of the extent of the rotation of the turret 5 commanded by the first actuator 10.

[0096] The operation of the handler 1 according to the invention can be easily understood from the foregoing description, but in any case it is briefly described below.

[0097] 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).

[0098] After having reached the point of operation it is possible to activate the stabilization system 4, in order to obtain superior stability on the ground A.

[0099] Once the position of interest is reached with the vehicle 2, in a conventional manner it is first of all possible to move the accessory 8 by commanding, in a mutually independent manner, the various movements of the turret 5 (rotation about the first axis B) and of the telescopic boom 6 (rotation about the second axis C and relative sliding of its members 7), so actuating the already-mentioned free movement mode of the first end 6a.

[0100] In an entirely innovative and particular manner, if the need arises to move the accessory 8 in a straight movement during the rotation of the turret 5, for example to track a wall D as in the accompanying Figures 2, 3, the controlled movement mode can be activated: thus, the extent of rotation of the turret 5 is used (by the operating module 13a and / or by the electronic unit 13) to calculate the amount of fluid to be delivered to the second actuator 11 and / or to the third actuator 12, so that the trajectory of the first end 6a of the telescopic boom 6, and therefore of the accessory 8, is straight (and preferably horizontal).

[0101] In the controlled movement mode therefore, the operator need only command the rotation of the turret 5, leaving it to the operating module 13a and / or the electronic unit 13 to automatically handle the rotation of the telescopic boom 6 (about the second axis C) and / or command the extraction or the retraction of the members 7 of the latter, in order to obtain the desired trajectory of the accessory 8.

[0102] For example, if the first actuator 10 is of the fluid hydraulic type, then following the command to rotate the turret 5, the electronic unit 13 can move the shuttle of the main valve 15 to the fully-open position of the passage port; the operating module 13a (by virtue of the means 16) can thus extract data relating to the amount of oil delivered in the time it is open.

[0103] Thus, the operating module 13a can extract the data for the number of liters delivered by the distributor to the first actuator 10 and then calculate, and deliver to the second actuator 11 and / or to the third actuator 12, the amount of oil necessary to impart the straight (preferably horizontal) trajectory on the accessory 8.

[0104] In a similar manner, the operating module 13a can also ensure the constancy of the inclination of the accessory 8.

[0105] In practice it has been found that the handler 1 and the method 100 according to the invention fully achieve the set aim and objects, in that the operating module 13a takes care of commanding either or both of the second actuator 11 and the third actuator 12, on the basis of the rotation imposed on the turret 5, in order to obtain, in a simple manner, a substantially straight (preferably horizontal) predefined trajectory of the first end 6a of the telescopic boom 6 and of the accessory 8, while the turret 5 is being rotated.

[0106] Thus, it is for example possible to proceed so that the accessory 8 tracks a vertical flat wall D, by moving in a straight (horizontal) motion even when the turret 5 is being rotated.

[0107] The calculations necessary to command the second actuator 11 and / or the third actuator 12 (and optionally the fourth actuator 14) are executed by the operating module 13a of the electronic unit 13 and are based on the data (detected preferably instant by instant) corresponding to the rotation of the turret 5, and this ensures high reliability of operation and precision of the trajectory imposed on the accessory 8.

[0108] 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.

[0109] 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.

[0110] In practice, the materials employed, as well as the dimensions, may be any according to requirements and to the state of the art.

[0111] The disclosures in Italian Patent Application No. 102024000028812 from which this application claims priority are incorporated herein by reference.

[0112] 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 rotary telescopic handler, comprising at least:- a vehicle (2), which can move over ground (A),- a rotating turret (5), supported by said vehicle (2) with the possibility of rotation about a first axis (B), which is perpendicular to the ideal resting plane of said vehicle (2),- a telescopic boom (6) supported by said turret (5) with the capacity to rotate about a second axis (C), which is perpendicular to said first axis(B), and comprising at least two members (7) with the capacity for relative sliding, a first end (6a) of said telescopic boom (6), at the opposite end with respect to said vehicle (2) and to said turret (5), being configured to support a work accessory (8),- a first actuator (10), a second actuator (11), which is hydraulic fluid- operated, and a third actuator (12), hydraulic fluid-operated, which are configured respectively to actuate the rotation of said turret (5) about said first axis (B), the rotation of said telescopic boom (6) about said second axis(C), and the relative sliding of said members (7) of said telescopic boom (6), characterized in that it comprises at least one electronic control and management unit (13), provided with an operating module (13a) which can be activated on command, at least for actuating, during the rotation of said turret (5) about said first axis (B), a controlled movement mode of said first end (6a) according to a substantially straight predefined trajectory, said operating module (13 a) being provided with instructions for delivering an amount of pressurized fluid to either or both of said second actuator (11) and said third actuator (12), calculated on the basis of the extent of the rotation of said turret (5) commanded by said first actuator (10) and to impart said substantially straight predefined trajectory to said first end (6a).

2. The rotary telescopic handler according to claim 1, characterized in that said operating module (13a) is provided with instructions for delivering a respective amount of pressurized fluid to each of said second actuator (11)and said third actuator (12), which are calculated on the basis of the extent of the rotation of said turret (5) commanded by said first actuator (10) and to impart said horizontal substantially straight predefined trajectory to said first end (6a).

3. The telescopic handler according to claim 1 or 2, characterized in that said first actuator (10) is selected from an electric actuator and a hydraulic fluid actuator.

4. The telescopic handler according to one or more of the preceding claims, characterized in that it comprises a fourth actuator (14), in at least one configuration for use, wherein said accessory (8) is coupled to said telescopic boom (6), said fourth actuator (14) being configured to command the rotation of said accessory (8) with respect to said telescopic boom (6) about a third axis (E), which is parallel to said first axis (B), for consequent control of the inclination of said accessory (8).

5. The rotary telescopic handler according to claim 4, characterized in that said operating module (13a) is provided with instructions for delivering, during the rotation of said turret (5), a respective amount of pressurized fluid to said fourth actuator (14), selected to be of the hydraulic fluid type, calculated on the basis of the extent of the rotation of said turret (5) commanded by said first actuator (10) for the constancy of inclination of said accessory (8).

6. The handler according to one or more of claims 3-5, characterized in that said instructions comprise calculating the value of the volume or mass of pressurized fluid to be delivered instant by instant to either or both of said second actuator (11) and said third actuator (12), on the basis of the value of the volume or mass of pressurized fluid delivered to said first actuator (10), chosen to be of the hydraulic fluid type.

7. The telescopic handler according to one or more of claims 3-6, characterized in that it comprises:- a main valve (15), configured to control and distribute pressurizedfluid to said first actuator (10), chosen to be of the hydraulic fluid type.- means (16) for detecting the state of said main valve (15), which are controlled by said electronic unit (13).

8. The telescopic handler according to claim 7, characterized in that said main valve (15) 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 first actuator (10), chosen to be of the hydraulic fluid type, said detection means (16) being configured to monitor the position of said shuttle, instant by instant.

9. 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 (6a), said electronic unit (13) being provided with instructions for verifying the correct movement of said first end (6a) according to said predefined trajectory, during the rotation of said turret (5), based on the data supplied by said at least one detection sensor.

10. A method for controlling a telescopic handler (1), comprising at least:- a vehicle (2), which can move over ground (A),- a rotating turret (5), supported by said vehicle (2) with the possibility of rotation about a first axis (B), which is perpendicular to the ideal resting plane of said vehicle (2),- a telescopic boom (6) supported by said turret (5) with the capacity to rotate about a second axis (C), which is perpendicular to said first axis (B), and comprising at least two members (7) with the capacity for relative sliding, a first end (6a) of said telescopic boom (6), at the opposite end with respect to said vehicle (2) and to said turret (5), being configured to support a work accessory (8),- a first actuator (10), a second actuator (11), which is hydraulic fluid- operated, and a third actuator (12), hydraulic fluid-operated, which are configured respectively to actuate the rotation of said turret (5) about said22 first axis (B), the rotation of said telescopic boom (6) about said second axis (C), and the relative sliding of said members (7) of said telescopic boom (6), said method (100) comprising at least the following steps: a. activating a controlled movement mode, according to which, during the rotation of the turret (5) about the first axis (B), the first end (6a) of the telescopic boom (6) moves according to a substantially straight predefined trajectory, b. monitoring the extent of the rotation of the turret (5) commanded by the first actuator (10), c. delivering an amount of pressurized fluid to either or both of the second actuator (11) and the third actuator (12) that is necessary for said controlled movement of the first end (6a), calculating it on the basis of the extent of the rotation of the turret (5) commanded by the first actuator (10).

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