Self-propelled works vehicle

Abstract

A self-propelled works vehicle, which comprises at least: - a vehicle (2), which can move over ground (A), - a boom (5), which is supported by the vehicle (2) with the capacity to rotate about a main axis (B), and a free end of said boom (5) is adapted to rotatably support a work accessory (6), for the definition of at least one configuration of use, - a hydraulic tilting actuator (10), adapted to actuate the rotation of the accessory (6) with respect to the boom (5) for the consequent control of the inclination of the accessory (6); the works vehicle (1) further comprises an electronic control and management unit (11), equipped at least with an operating module (12) which is provided at least with first instructions for a first delivery of pressurized fluid to the hydraulic tilting actuator (10), in the configuration of use, upon detection of a command to rotate the boom (5).

Description

[0001] SELF-PROPELLED WORKS VEHICLE

[0002] The present invention relates to a self-propelled works vehicle.

[0003] As is known, works vehicles are self-propelled or towed vehicles, on wheels or crawler tracks, designed to operate on the road or on construction sites, and optionally fitted with special attachments.

[0004] Within this vast and heterogeneous category, an undoubtedly important role is played by telescopic handlers, which 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.

[0005] In the configuration usually adopted in telescopic 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.

[0006] 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, which can be raised or lowered by the boom and which is chosen as a function of the activity that the handler is called on to perform.

[0007] 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 joint (which rotates about an additional vertical axis).

[0008] Moreover, works vehicles are also known which have the same configuration, but in which the boom is not telescopic and instead comprises a single profiled element which therefore lacks the capacity to be extended or retracted.

[0009] In any case, the movements of the boom, plus the rotation of the turret if present, confer great versatility on the works vehicle, in that they enable the accessory to reach works areas located at different heights and to get aroundany obstacles, be they natural or man-made.

[0010] One of the challenges that companies that make the above works vehicles are called on to overcome is that of ensuring the constancy of the inclination of the accessory with respect to the ground, during the rotation of the boom that supports it. In other words, it is necessary to introduce contrivances to "compensate" for the rotation of the boom and in particular to prevent the accessory from rotating integrally with the boom, with a consequent variation in the inclination of the accessory.

[0011] The reasons that determine such a need can be many, as a function of the type of accessory mounted on the handler: for example if the accessory is a work platform for accommodating an operator, it is evident that the footboard on which the operator stands must be kept horizontal, when the platform is being raised (or lowered) by virtue of the rotation of the boom.

[0012] And if the accessory is a pallet fork, then, whatever angle is formed between the boom and the ground, the fork tines must always be horizontal in order to guard against the danger of overturning the load and so be able to move the load in safety.

[0013] Other accessories, in addition to those mentioned above by way of example, can present similar requirements.

[0014] To perform the compensation, conventional works machines are fitted with a hydraulic actuator interposed between the boom and the accessory, which is actuated after the boom begins to rotate and the accessory has begun to incline, and which rotates the accessory, with respect to the boom, in the direction opposite to the rotation imposed by the movement of the latter.

[0015] However, the various conventional solutions described up to this point exhibit an unwanted drawback: since the activation of the tilting actuator depends on the detection of a first change in inclination of the accessory, the response of the tilting actuator can be delayed, because its reaction speed depends on the capacity to rapidly shift great amounts of pressurized fluid, overcoming the resistance and inertia that are intrinsic in the chosenimplementation. This represents a real hazard (or a potential source of danger), in that a change of a few degrees or tenths of a degree of the accessory, if not promptly corrected, can result in the load falling, or a hazard for the operator occupying the basket.

[0016] The aim of the present invention is to solve the above-mentioned problems, by providing a self-propelled works vehicle that is capable of reacting promptly to any movement of the boom.

[0017] Within this aim, an object of the invention is to provide a method that makes it possible to react promptly to any movement of the boom.

[0018] Another object of the invention is to provide a self-propelled works vehicle and a method that make it possible to ensure the substantial constancy of the inclination of the accessory mounted on the free end of its boom, with a solution that is structurally simple.

[0019] Another object of the invention is to provide a self-propelled works vehicle and a method that ensure the compensation of the rotation of the boom with a response that is rapid and prompt.

[0020] Another object of the invention is to provide a self-propelled works vehicle and a method that are capable of actuating the compensation of the rotation of the boom with a solution that is economical and has a limited impact on the overall weight of the self-propelled works vehicle.

[0021] Another object of the invention is to provide a self-propelled works vehicle and a method that overcome the drawbacks of the prior art in a manner different from any existing solutions.

[0022] Another object of the invention is to provide a self-propelled works vehicle and propose a method that are highly reliable and certain to be safe in use.

[0023] Another object of the invention is to provide a self-propelled works vehicle and propose a method that can be carried out at low cost.

[0024] This aim and these and other objects which will become more apparent hereinafter are achieved by a self-propelled works vehicle accordingto claim 1 , optionally provided with one or more of the characteristics of the dependent claims, and by a method according to claim 10.

[0025] Further characteristics and advantages of the invention will become more apparent from the description of a preferred, but not exclusive, embodiment of the self-propelled works vehicle and the method according to the invention, which are illustrated by way of non-limiting example in the accompanying drawings wherein:

[0026] Figure 1 is a side view of the self-propelled works vehicle according to the invention, and shows its operation in the compensation mode;

[0027] Figure 2 is a block diagram of the self-propelled works vehicle according to the invention;

[0028] Figure 3 is a block diagram of the method according to the invention. With particular reference to the figures, the reference numeral 1 generally designates a self-propelled works vehicle.

[0029] The works vehicle 1 comprises first of all at least one vehicle (or lorry) 2, which can move over ground A.

[0030] 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.

[0031] Preferably, the vehicle 2 is also provided with a stabilization system 4 (scissor stabilizers or another type of stabilization, and in any case also conventional), which can be used to raise the vehicle 2 off the ground A (as shown in the accompanying Figure 1) and ensure a firmer hold.

[0032] The entire vehicle 2 can in any case be of the conventional type, and adopt the practical solution that in each instance is deemed best suited to the requirements.

[0033] The works vehicle 1 further comprises at least one boom 5, which is supported (directly or indirectly) by the vehicle 2 with the possibility ofrotating about a main axis B. The main axis B is typically, but not necessarily, horizontal or parallel to the ideal resting ideal plane of the vehicle 2 (and perpendicular to the plane on which Figure 1 ideally lies).

[0034] In the present description, when reference is made to "direct" or "indirect" support (or coupling, or connection, or the like), it means whether or not an additional component is interposed between the cited elements: in the affirmative, the support is "indirect", and in the negative, the support is "direct".

[0035] Preferably, the boom 5 is telescopic and comprises at least one first member 5a and a second member 5a, which (is arranged in series and) can move in an alternating straight motion with respect to the first member 5a. In this case therefore, the works vehicle l is a telescopic handler.

[0036] In more detail, the telescopic boom 5 can comprise two and only two members 5a, just as it can have a greater number of members (Figure 1 shows three), which in any case are arranged in series, according to the specific requirements.

[0037] In any case the scope of protection claimed herein covers works vehicles 1 in which the boom 5 lacks the capacity for telescopic movement (i.e. the boom 5 is composed of a single profiled member or other member).

[0038] A free end of the boom 5, at the opposite end with respect to the vehicle 2, is adapted to rotatably support (directly or indirectly) a work accessory 6, so as to define at least one configuration of use; the term "configuration of use" means the presence of an accessory 6 mounted on the free end of the boom 5, as in the accompanying Figure 1. "Rotatable support" means that, once mounted, the accessory 6 can rotate with respect to the boom 5, about an auxiliary axis of rotation C, typically parallel to the main axis B.

[0039] If the works vehicle 1 is a telescopic handler, then the boom 5 is articulated to the vehicle 2 at a first member 5a, while at the terminal portion of the last member 5a, at the opposite end with respect to the vehicle 2, is the free end of the telescopic boom 5, which is configured to support a workaccessory 6.

[0040] More generally, the boom 5 is first of all associated with a first possible movement, of rotation about the main axis B; furthermore, if the boom 5 is telescopic, then the possibility exists of the relative sliding or translation of its members 5a (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 free end (and therefore the accessory 6) away from or toward the main axis B and the vehicle 2.

[0041] Moreover, the possibility is not ruled out of the self-propelled works vehicle 1 being provided with two or more booms 5, for example mutually articulated.

[0042] In the example in the accompanying figures, the rotary coupling (about the auxiliary axis of rotation C) between the boom 5 and the accessory 6 is obtained by virtue of the interposition between them of a quick coupling 7 ; in more detail, the quick coupling 7 is supported by an appendage 8 which is rigidly anchored to the end of the boom 5.

[0043] In any case, different methods of coupling the accessory 6 are not ruled out, either direct or indirect.

[0044] The accessory 6 can be of any type; in the accompanying figures it is a pallet fork and its fork tines: this is a solution that, as will be explained in the discussion below, represents an application of significant practical interest, but the mention made of it here should not be understood as limiting of the scope of protection claimed herein. In fact, the accessory 6 could be any other device, attachment or utensil adapted for the purpose for which the works vehicle 1 is intended to be used; for example, in another application of significant practical interest, it could be a platform designed to accommodate an operator.

[0045] The accessory 6 can also be interchangeable, so that it can be substituted at each use, according to the specific requirements. The accessory 6 or a set of accessories 6 can be comprised in the works machine 1 , but thescope of protection claimed herein also extends to works vehicles 1 that are sold without accessories 6, which may therefore be sourced or supplied separately.

[0046] The self-propelled works vehicle 1 can have further components and setups, which may be conventional; for example, typically, but not necessarily, it is provided with a cab 9, supported directly or indirectly by the vehicle 2 and designed to accommodate an operator, who is in charge of controlling the works vehicle 1.

[0047] The works vehicle 1 further comprises a hydraulic tilting actuator 10: in the configuration of use the hydraulic tilting actuator 10 is adapted to actuate directly or indirectly the rotation of the accessory 6 with respect to the boom 5, about an auxiliary axis of rotation C, parallel to the main axis B, for the consequent control of the inclination of the accessory 6. The movement commanded by the tilting actuator 10 is usually termed "tilting" in the sector in question, unsurprisingly, and is made possible by the fact that, as has been seen, the accessory 6 is rotatably supported by the boom 5.

[0048] It should be noted that in the present description, the term "inclination" means the angle formed by any plane defined on the accessory 6 (by the plane on which the fork tines lie, for example) with an ideal reference plane, horizontal for example, such angle being in particular variable as a consequence of any rotation about the auxiliary axis of rotation C or about any other reference axis parallel to the latter (so for example, about the main axis B).

[0049] In the embodiment of the accompanying Figure 1, to execute the task just described, the tilting actuator 10 comprises a cylindrical jacket which is coupled to the appendage 8 (and therefore to the free end of the boom 5) and a stem, which can slide within the jacket and is coupled to the quick coupling 7, to which the accessory 6 is coupled in the configuration of use. The scope of protection claimed herein also extends to other types of hydraulic tilting actuator 10 and to different methods of mounting the accessory 6 and ofconnecting the tilting actuator 10.

[0050] More generally, it is emphasized that, for all aspects not discussed in the present description, any implementation detail relating to the works vehicle 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 boom 5, 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.

[0051] According to the invention, the works vehicle 1 comprises an electronic control and management unit 11 , equipped at least with an operating module 12 which is provided at least with first instructions for at least a first delivery of pressurized fluid to the hydraulic tilting actuator 10, in the configuration of use, upon detection of a command to rotate the boom 5 (about the main axis B).

[0052] Typically, this command is the one imparted by the operator, who, by actuating a joystick, a button or other, similar device, wishes to lower or raise the boom 5 (by making it rotate about the main axis B).

[0053] The objective of the first delivery of fluid is to quickly activate the tilting actuator 10, as soon as it is readied to raise or lower the boom 5. Taking into account in fact the resistance and inertia of the components that actuate the movement of the boom 5 and open the safety devices, the first delivery is commanded effectively at the same time as the movement of the boom 5, or in the moments immediately afterward, and therefore even before an appreciable change can be detected or perceived in inclination of the accessory 6, consequent to the rotation of the boom 5. This makes it possible from this point onward to achieve the set aim, in that the reaction of the works vehicle 1 (of the electronic unit 11, of the operating module 12 and therefore of the tilting actuator 10) is very rapid and makes it possible to react promptly to any movement of the boom 5 with the immediate activation of the tilting actuator10, to which pressurized fluid is sent without waiting for the detection of any movement of the boom 5 or of the accessory 6.

[0054] The pressurized fluid referred to here is typically oil, but the possibility is not excluded of using different practical solutions, while remaining within the scope of protection claimed herein.

[0055] The electronic unit 11 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).

[0056] Typically the electronic unit 11 is the same unit that governs the entire works vehicle 1. However, the possibility is not ruled out that the electronic unit 11 can be a dedicated electronic contrivance, to be mounted on the works vehicle 1 and intended to interact with the other components described herein solely for the purposes that the invention sets out to achieve.

[0057] More generally however, all the functions that will be described in the discussion below for the electronic unit 11 and / or the operating module 12 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.

[0058] Usefully, in the preferred, but not limiting, embodiment of the protection claimed herein, the works vehicle 1 can comprise means 13 for acquiring information (directly or indirectly) relating to the inclination of the accessory 6, in the configuration of use; in particular, the means 13 can acquire the inclination value assumed by the accessory 6, after a rotation of the boom 5 has been executed (even, and especially, of minimal extent) or the inclination value the accessory 6 is about to assume, following a command to rotate the boom 5. In other words, the means 13 are capable of recognizing any change in the parameters that determine or command the inclination of the accessory 6.In the following pages, some possible embodiments will be provided of the means 13, which are of significant practical interest, but it should be made clear from this point onward that any type of means 13 and any method of acquisition (which implies the monitoring of any value relating to the inclination of the accessory 6 or to the components that rotate the boom 5 and therefore cause / command a change in the inclination) should be understood as falling within the scope of protection claimed herein.

[0059] Furthermore, with further reference to the preferred, but not exclusive, embodiment, the operating module 12 can be provided at least with second instructions for a second delivery of pressurized fluid to the hydraulic tilting actuator 10, in an amount calculated on the basis of the information acquired by the means 13 in order to compensate for the rotation of the boom 5 and so maintain or restore a predefined inclination value (the value that the accessory 6 had before the rotation of the boom 5 was commanded).

[0060] The second delivery can occur seamlessly with the first delivery.

[0061] The term inclination "value" (with "inclination" having the meaning as explained above) means a parameter representing the breadth of the angle formed by any plane defined on the accessory 6 with an ideal reference plane, where this angle is in particular variable as a consequence of any rotation about the auxiliary axis of rotation C or about any other reference axis parallel to the latter (so for example, about the main axis B).

[0062] In other words therefore, taking into account the possible geometric parameters and / or other parameters of interest, and also the amount of fluid already delivered with the first delivery and, especially, in consideration of the information supplied by the means 13 relating to the inclination actually assumed, the operating module 12 proceeds to automatically activate the hydraulic tilting actuator 10 (by effecting a second delivery of a conveniently chosen / calculated amount of fluid), in so doing ensuring that it commands a rotation of the accessory 6 (with respect to the boom 5) by an extent that is such as to compensate for (cancel out) any (even minimal) variation ininclination otherwise imposed on the accessory 6 by the rotation of the boom 5, so keeping this inclination constant, restoring the predefined value.

[0063] In order to be able to consider the possible geometric / dimensional parameters of interest for the purposes of the calculation, the unit 11 can be connected to transducers or measurement instruments of any type.

[0064] The works vehicle 1 is thus capable of actuating an optimal mode for compensating the rotation of the boom 5, in which the inclination of the accessory 6 (as defined on the foregoing pages) is (or must be) automatically kept substantially constant (at least) during the rotation of the boom 5 about the main axis B.

[0065] Control of the tilting actuator 10 is therefore done electronically, with no need to connect it to other hydraulic components and in particular without needing to equip the works vehicle 1 with a complex mechanical / hydraulic circuit, as happens in some conventional solutions. The works vehicle 1 is therefore capable of keeping the inclination of the accessory 6 constant with a solution that is structurally simple. The choice to perform a first delivery of fluid as soon as the rotation of the boom 5 is commanded ensures that the response of the unit 11 and of the operating module 12 is anticipated considerably, with respect to what could happen if we waited to detect the first changes to the inclination of the accessory 6 before proceeding (in the invention this detection triggers the second delivery, instead of the first). Thus, the response is in any case rapid and prompt, despite any resistance, inertia or other factors that could delay the movement of the boom 5, of the tilting actuator 10 (or other components), once the respective commands are received. The second delivery on the other hand is calibrated for the effective variation in inclination of the accessory 6, and makes it possible to compensate it completely.

[0066] For example, and with reference to the embodiment in the accompanying figures, the operating module 12 can proceed to keep the fork tines parallel to the ground A (or rather, horizontal), as is normally required forthe correct use of this accessory 6. In such case, the ideal reference plane chosen for the measurement of the inclination value can be the horizontal plane, the angle of interest can in turn be the angle formed by the plane on which the fork tines lie which is of course the horizontal plane: the predefined value to be maintained will therefore be 0°. More generally however, the operating module 12 can be responsible for keeping constant, or promptly returning to, any predefined inclination value of the accessory 6 with respect to the ground A or other ideal reference plane, according to the specific requirements.

[0067] In a first implementation option, the first instructions can simply specify that in the first delivery the amount of fluid involved is a preset fixed value, i.e. without taking account in any way of the actual extent of the movement imposed on the boom 5 or of any other specific circumstance, precisely because its function is first to anticipate as far as possible the delivery of fluid, which will then in turn overcome resistance and inertia. Preferably though, the first instructions entail detecting at least the direction of rotation imposed on the boom 5 and that the first delivery is of an amount of pressurized fluid that, be it fixed or otherwise, is such as to impose a rotation of the accessory 6 in the opposite direction.

[0068] Even more preferably, the works vehicle 1 can comprise a verification sensor 14 for checking the position of the accessory 6; in such case, the amount of pressurized fluid of the first delivery can be calculated by the operating module 12 (by virtue of the first instructions with which it is programmed), on the basis of the information acquired by the verification sensor 14. The possibility exists of delivering more or less pressurized fluid, as a function of the position of the accessory 6, in particular taking account of whether it is closer to or further away from the ground A.

[0069] The amount of pressurized fluid delivered with the first delivery can also be varied on the basis of further information relating to the command imparted, such as the extent of the movement imposed on the boom 5 forexample (by checking by how much, or how fast, the operator has moved the joystick that controls the boom 5).

[0070] In a first embodiment of the means 13, they can comprise at least one sensor for measuring the inclination assumed by the accessory 6, which is functionally associated with the electronic unit 11.

[0071] It should be noted that the works vehicle 1 can comprise a number at will of measurement sensors (and / or of verification sensors 14), which may be conventional and capable of measuring any specific value that is useful for the purposes described above. The role of the verification sensor 14 and / or the role of the measurement sensor can be performed by other transducers or sensors, already provided on the works vehicle 1 for other functions.

[0072] In a possible embodiment of significant practical interest which does not limit the invention, the inclination measurement sensor can comprise at least one accelerometer or at least one gyroscope; in particular, the possibility exists that the inclination measurement sensor avails of both an accelerometer and a gyroscope, and that it is provided with an algorithm that uses the readings of one to correct the readings of the other, and vice versa. In other words, by virtue of such algorithm the accelerometer makes it possible to correct the offset error of the gyroscope, while the latter makes it possible to reduce the effect of external accelerations on the accelerometer. To enable mutual error correction, the inclination measurement sensor is provided with an algorithm chosen for example from a complementary filter, the Kalman_ filter or the Madgwick filter: these algorithms make it possible to determine the inclination of the accessory 6 in an efficient manner, independently of external accelerations and of other defects of accelerometers and of gyroscopes.

[0073] In an embodiment of significant practical interest, as an alternative to or complementing the previous embodiment, and in which the works vehicle 1 comprises at least one hydraulic lifting actuator 15 adapted to actuate the rotation of the boom 5 about the main axis, the means 13 comprise at least onesensor for detecting the amount of pressurized fluid delivered to the hydraulic lifting actuator 15. This last quantity of fluid evidently determines the extent of rotation imposed on the boom 5: in this solution therefore, the second instructions with which the operating module 12 is programmed calculate the amount of pressurized fluid sent to the tilting actuator 10 with the second delivery based on the amount of pressurized fluid delivered to the hydraulic lifting actuator 15 and therefore of the consequent rotation imposed on the boom 5, obviously for the purposes of compensating for it.

[0074] The means 13 can comprise either the sensor for measuring the inclination assumed by the accessory 6 or the sensor for detecting the amount of pressurized fluid delivered to the hydraulic lifting actuator 15, but the possibility is not ruled out of using both or of availing of further, different contrivances for recognizing the inclination of the accessory 6.

[0075] The hydraulic lifting actuator 15 can be implemented, in practice, like the tilting actuator 10, and therefore comprise a cylindrical jacket and a stem that can slide with respect to it. A similar construction form can be (preferably but not necessarily) used for a hydraulic extraction actuator 16, which is responsible for actuating the telescopic movement of the members 5a.

[0076] In an embodiment of significant practical interest, in which the means 13 comprise the detection sensor described above, it can in particular be configured to detect the state of a main valve 17, (which is comprised in the works vehicle 1 and is) adapted in turn to control and distribute pressurized fluid to the hydraulic lifting actuator 15. The "state" of the main valve 17 means the arrangement and configuration of its components that allow or block (in whole or in part) the passage of pressurized fluid.

[0077] Even more specifically, the main valve 17 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 hydraulic lifting actuator 15; in this embodiment therefore, the detection sensor or in any case the means 13 can be configured to monitor the position ofthe shuttle (the position determining the width of the passage port) instant by instant. In other words, the means 13 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 hydraulic lifting actuator 15.

[0078] However, the possibility is not ruled out of using main valves 17 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.

[0079] In a possible embodiment of the works vehicle 1, the operating module 12 is configured to always execute the first instructions and the second instructions, when the electronic unit 11 is powered: this can for example be useful when the accessory 6 is a work platform and, for reasons of safety, it is necessary to ensure that the footboard on which the operator stands is always horizontal.

[0080] In another possible embodiment of the works vehicle 1 , the electronic unit 11 can be configured to also actuate a free tilting mode of the accessory 6, which can be activated (at least) in the configuration of use (when the accessory 6 is mounted), as an alternative to the compensation mode. In the free tilting mode, the inclination of the accessory 6 is freely variable and therefore, for example, the rotation movements of the boom 5 (about the main axis B) and the rotation movements of the accessory 6 about the auxiliary axis of rotation C are commanded in a mutually independent manner and there is no delivery of pressurized fluid following the movement of the boom 5. This makes it possible to block and / or disable the automatic compensation, if required by the specific application (and by the specific peculiarities of the accessory 6 being used).

[0081] The compensation mode or the free tilting mode can be activated by the operator by pressing a button or acting on a selector or a key, made available by a display or other interface of the electronic unit 11.In an embodiment of significant practical interest, the boom 5 is mounted on a turret 18 which is coupled to the vehicle 2 by means of a joint 19, which rotates about a working axis D which is perpendicular to the ideal resting plane of the vehicle 2. In this case, the works vehicle 1 is a "rotary" telescopic handler and, by virtue of the additional capacity of the boom 5 (and of the accessory 6) to rotate, it offers even greater versatility, in that, when the vehicle 2 is stationary, the area that can be reached by the free end of the boom 5 is appreciably increased, and so too therefore is the scope of operation of the accessory 6.

[0082] It should be noted in any case that it is also possible for the only movements of the boom 5 with respect to the vehicle 2 to be those illustrated on the foregoing pages (rotation about the main axis B and relative sliding of the members 5a).

[0083] Advantageously, the electronic unit 11 is provided with a BUS communication channel 20 for controlling at least the vehicle 2, the boom 5 and the tilting actuator 10. More generally, the channel 20 enables the unit 11 and the operating module 12 to interface with the boom 5, the vehicle 2, the tilting actuator 10, and also with other components of the works vehicle 1 (motors, pumps or other distribution elements for example), in any case to coordinate its operation and optimally manage the dispensing of energy.

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

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

[0086] - a boom 5, which is supported by the vehicle 2 with the capacity to rotate about a main axis B and the free end of which, at the opposite end with respect to the vehicle 2, is adapted to rotatably support a work accessory 6, so as to define at least one configuration of use,

[0087] - a hydraulic tilting actuator 10, which, in the configuration of use, is adapted to actuate directly or indirectly the rotation of the accessory 6 with respect to the boom 5, about an auxiliary axis of rotation C, parallel to the mainaxis B, in order to consequently control the inclination of the accessory 6. So in other words, the method 100 is adapted for controlling a works vehicle 1 of the type illustrated on the foregoing pages. The works vehicle 1 to which the method 100 is directed can therefore comprise any implementation detail described above.

[0088] According to the invention, the method 100 entails at least, in a step a., detecting (automatically) that a rotation command has been imparted (typically by the operator) to the boom 5 and then, in a step b. following the previous step, performing a first delivery of pressurized fluid to the hydraulic tilting actuator 10. Step b. is executed by the operating module 12.

[0089] Preferably, but not necessarily, the method 100 further entails, in a step c., acquiring information relating to the accessory 6 and then, in a step d., performing a second delivery of pressurized fluid to the hydraulic tilting actuator 10, in an amount calculated on the basis of the information acquired in step c. in order to compensate for the rotation of the boom 5, and maintain or restore a predefined inclination value. The method 100 thus makes it possible to optimally actuate a mode for compensating for the rotation of the boom 5.

[0090] The operation of the works vehicle 1 according to the invention can be easily understood from the foregoing description, but in any case is briefly described below.

[0091] The vehicle 2 can move over the ground A in order to bring the works vehicle 1 to the place and exact point where it is necessary to execute an intervention (usually at a given height from the ground A).

[0092] 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.

[0093] According to consolidated methods, to move the accessory 6 it is possible to rotate the boom 5 and / or optionally extract / retract its members 5a, so as to move it (when the vehicle 2 is stationary) and enable it to reach the point of operation where the intended action is to be performed.

[0094] In this context, the operating module 12 will react promptly to anyrotation movement of the boom 5 and, preferably, will ensure the substantial constancy of the inclination of the accessory 6 (and for example the parallelism of the fork tines of Figure 1 , or of the footboard of a work platform, to a reference horizontal plane), in particular during the lifting or lowering of the boom 5. In more detail, this result is obtained by virtue of a first delivery and, preferably, a second delivery of pressurized fluid: the first delivery is performed immediately, as soon as a command is imparted to the boom 5, so as to anticipate the response of the functional unit 11 and of the operating module 12 in particular, in consideration of the fact that the pressurized fluid needs time to circulate.

[0095] Subsequently, the second delivery is better calibrated to the actual condition of the accessory 6, and so makes it possible to obtain an optimal compensation.

[0096] In this way the works vehicle 1 and the method 100 according to the invention achieve the set objectives, in that the operating module 12 of the electronic unit 11 makes it possible first of all to react promptly to any movement of the boom 5 that could alter the inclination of the accessory 6 and, preferably, it ensures that the inclination of the accessory 6 mounted on the free end of the boom 5 is kept substantially constant, with a solution that is structurally simple, and in particular without using complex circuits of the mechanical / hydraulic type. This result is obtained with a prompt and rapid response by virtue of the double delivery of fluid (and in particular by virtue of the first delivery, which is commanded immediately).

[0097] The invention makes it possible to eliminate at least one of the cylinders adopted in the circuits of those conventional solutions that make use of complex circuits for actuating the tilting cylinder, and therefore ensures compensation of the rotation of the boom 5 with a solution that is low cost, reliable (because it is electronically controlled), and low weight. Eliminating a cylinder (compared to conventional solutions) furthermore makes it possible to avoid reinforcing the supporting structures excessively, in that, compared toconventional solutions, the stresses in play are certainly lower.

[0098] 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.

[0099] In practice the materials employed, provided they are compatible with the specific use, and the contingent dimensions and shapes, may be any according to requirements and to the state of the art.

[0100] The disclosures in Italian Patent Application No. 102025000002115 from which this application claims priority are incorporated herein by reference.

[0101] Where technical features mentioned in any claim are followed by reference signs, such reference signs have been inserted 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 self-propelled works vehicle, comprising at least:- a vehicle (2), which can move over ground (A),- a boom (5), which is supported by said vehicle (2) with the capacity to rotate about a main axis (B), a free end of said boom (5), at the opposite end with respect to said vehicle (2), being adapted to rotatably support a work accessory (6), for the definition of at least one configuration of use,- a hydraulic tilting actuator (10), in said configuration of use said tilting actuator (10) being adapted to actuate directly or indirectly the rotation of the accessory (6) with respect to said boom (5), about an auxiliary axis of rotation (C), which is parallel to said main axis (B), for the consequent control of the inclination of the accessory (6),characterized in that it comprises an electronic control and management unit (11), equipped at least with an operating module (12) which is provided at least with first instructions, for at least one first delivery of pressurized fluid to said hydraulic tilting actuator (10), in said configuration of use, upon detection of a command to rotate said boom (5).

2. The works vehicle according to claim 1, characterized in that it comprises means (13) for acquiring information relating to the inclination of the accessory (6), in said configuration of use, said operating module (12) being provided at least with second instructions, for a second delivery of pressurized fluid to said hydraulic tilting actuator (10), in an amount calculated on the basis of the information acquired by said means (13) in order to compensate for the rotation of said boom (5), and maintain or restore a predefined inclination value.

3. The works vehicle according to claim 1 or 2, characterized in that it comprises a verification sensor (14) for checking the position of the accessory (6), the amount of pressurized fluid of said first delivery being calculated by said operating module (12) on the basis of the information acquired by said verification sensor (14).

4. The works vehicle according to claim 2 or 3, characterized in that said means (13) comprise at least one sensor for measuring the inclination assumed by the accessory (6), which is functionally associated with said electronic unit (11).

5. The works vehicle according to one or more of claims 2-4, comprising at least one hydraulic lifting actuator (15), adapted to actuate the rotation of said boom (5) about said main axis (B), characterized in that said means (13) comprise at least one sensor for detecting the amount of pressurized fluid delivered to said hydraulic lifting actuator (15).

6. The works vehicle according to claim 5, characterized in that said at least one detection sensor is configured to detect the state of a main valve (17), which is adapted to control and distribute pressurized fluid to said hydraulic lifting actuator (15).

7. The works vehicle according to claim 6, characterized in that said main valve (17) is a shuttle valve, comprising a movable shuttle, for regulating the width of a passage opening for the pressurized fluid along a supply duct of said hydraulic lifting actuator (15), said at least one detection sensor being configured to monitor the position of said shuttle instant by instant.

8. The works vehicle according to one or more of the preceding claims, characterized in that said boom (5) is mounted on a turret (18) which is coupled to said vehicle (2) by means of a joint (19), which rotates about a working axis (D) which is perpendicular to the ideal resting plane of said vehicle (2).

9. The works vehicle according to one or more of the preceding claims, characterized in that said electronic unit (11) is equipped with a BUS communication channel (20) for controlling at least said vehicle (2), said boom (5) and said tilting actuator (10).

10. A method for controlling a self-propelled works vehicle (1), comprising at least:- a vehicle (2), which can move over ground (A),- a boom (5), which is supported by said vehicle (2) with the capacity to rotate about a main axis (B), a free end of said boom (5), at the opposite end with respect to said vehicle (2), being adapted to rotatably support a work accessory (6), for the definition of at least one configuration of use,- a hydraulic tilting actuator (10), in said configuration of use said tilting actuator (10) being adapted to actuate directly or indirectly the rotation of the accessory (6) with respect to said boom (5), about an auxiliary axis of rotation (C), which is parallel to said main axis (B), for the consequent control of the inclination of the accessory (6),said method (100) comprising at least the following steps:a. detecting that a rotation command has been imparted to the boom (5),b. performing at least one first delivery of pressurized fluid to the hydraulic tilting actuator (10).

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