WO2023073320A1 - Handling machine with a telescopic arm comprising a device for controlling said arm - Google Patents

Handling machine with a telescopic arm comprising a device for controlling said arm Download PDF

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Publication number
WO2023073320A1
WO2023073320A1 PCT/FR2022/052034 FR2022052034W WO2023073320A1 WO 2023073320 A1 WO2023073320 A1 WO 2023073320A1 FR 2022052034 W FR2022052034 W FR 2022052034W WO 2023073320 A1 WO2023073320 A1 WO 2023073320A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
sliding
control
control member
lifting arm
Prior art date
Application number
PCT/FR2022/052034
Other languages
French (fr)
Inventor
Valentin BREHIER
Original Assignee
Manitou Bf
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Manitou Bf filed Critical Manitou Bf
Publication of WO2023073320A1 publication Critical patent/WO2023073320A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04777—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional push or pull action on the handle

Definitions

  • Handling machine with telescopic arm comprising a device for controlling said arm
  • the present invention generally relates to telescopic arm handling machines.
  • the present invention aims to provide a new telescopic arm handling machine to overcome all or part of the problems outlined above.
  • the subject of the invention is a load or person handling machine, comprising:
  • a telescopic lifting arm carried by the frame comprising several sections including at least a first section and a second section slidably movable relative to the first section; the lifting arm being pivotally mounted between a low position and a high position,
  • control device that can be activated with an operator's hand to generate a control signal for pivoting the lifting arm or a control signal for sliding the second section of the lifting arm
  • the control device comprises a fixed base relative to the frame and a control member mounted movable relative to the base, said control member having at least one sliding mobility allowing the control member to continuously assume different positions between a neutral position of inactivity and at least one end-of-travel position, so that the sliding movement of the control member by the operator generates a command signal for pivoting the arm and/or for sliding the second section of the lifting arm, which is a function of the position of the control member along the available sliding travel
  • the processing unit is configured to control in a combined manner the pivoting of the lifting arm and the sliding of the second section of the lifting arm, depending on the control signal generated, to move the handling device horizontally or vertically.
  • the telescopic lifting arm of the handling machine is thus controllable by a control member which has at least one sliding mobility to allow the handling device to be moved, which comprises for example a bucket or a system of forks, horizontally or vertically.
  • the processing unit determines the rectilinear movement (sliding) of the control member performed by the operator and then simultaneously controls the lifting and telescoping of the arm, in order to obtain a horizontal or vertical movement of the tool located at arm's length.
  • Such a design of the handling machine allows the behavior of the machine substantially corresponds to the behavior of the operator, that is to say that, for the operator, the control gesture is close to a natural gesture of the operation that he will have to perform.
  • the handling machine may also comprise one or more of the following characteristics taken in any technically admissible combination.
  • said at least one sliding mobility of the control member comprises a sliding mobility along a front-rear axis so that the biasing of the control member according to said forward-backward sliding mobility generates a signal for controlling the horizontal movement of the handling device
  • the processing unit is configured to, upon receipt of this signal, control in a combined manner the pivoting of the lifting arm and the sliding of the second section of the telescopic arm so as to move the handling device in a direction parallel to the horizontal.
  • said at least one sliding mobility of the control member comprises a sliding mobility along an up-down axis so that the biasing of the control member according to said up-down sliding mobility generates a control signal for vertical movement of the handling device
  • the processing unit is configured to, upon receipt of this signal, control in a combined manner the pivoting of the lifting arm and the sliding of the second section of the telescopic arm so as to move the handling device in a direction parallel to the vertical.
  • control member also comprises pivoting mobility around an axis orthogonal to the front-to-rear sliding axis and to the top-bottom sliding axis allowing the operator to control a pivoting mobility of the handling device relative to the arm.
  • the control device is an electro-proportional device so that the greater the travel of the control member imposed by the operator, the greater the speed of movement corresponding control of the arm or of the handling device is large.
  • control member has a peripheral wall of concave shape, seen from the outside of the control device.
  • the frame being provided with a turret which carries the lifting arm, the turret is movably mounted around an axis orthogonal to the ground support plane of the machine, the control member comprises a pivoting mobility about an axis parallel to a top-bottom axis to make it possible to control the rotation of the turret by pivoting of the control member about said top-bottom axis.
  • control member comprises pivoting mobility around an axis parallel to the front-rear sliding axis, making it possible to control a mechanism of the handling device, such as a mechanism for closing or opening a jaw associated with a bucket used as a tool at the end of the arm.
  • control member is configured to be recalled to the neutral position of inactivity.
  • the handling device comprises a tool holder articulated at the end of the lifting arm and a handling tool, such as a bucket or a system of forks, fixed removable or non-removable way to the tool holder.
  • a handling tool such as a bucket or a system of forks, fixed removable or non-removable way to the tool holder.
  • the machine comprises a sensor system connected to the processing unit, the sensor system comprising at least one sensor of the angle of the lifting arm, and preferably a sensor of the position of the second section relative to the first section.
  • Figure 1 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention, showing the arm in different positions;
  • Figure 2 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention, showing a vertical movement of the tool located at the end of the arm;
  • Figure 2A is a schematic side view illustrating the manual upward or downward translational movement of the control member to control the vertical movement of the tool of the handling machine as illustrated in Figure 2;
  • Figure 3 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention showing a horizontal displacement of the tool located at the end of the arm;
  • Figure 3A is a schematic side view illustrating the manual forward or rearward translational movement of the control member to control the horizontal movement of the tool of the handling machine as illustrated in Figure 3;
  • Figure 4 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention showing the actuation of equipment, such as a jaw, associated with the tool located at arm's length;
  • Figure 4A is a schematic side view illustrating the manual pivoting movement around an axis parallel to the front-rear axis of the control member to control the actuation of the equipment of the handling machine as shown in Figure 4;
  • Figure 5 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention showing the pivoting relative to the arm of the tool located at the end of the arm;
  • Figure 5A is a schematic side view illustrating the manual pivoting movement about a lateral axis, transverse to the front-rear axis, of the control member to control the pivoting relative to the arm of the tool located at the end of the arm as shown in Figure 5.
  • a load handling machine 1 which comprises a frame 2 and a telescopic lifting arm 6 pivotally mounted on the frame 2. It is also possible to provide that the arm 6 is carried by a turret rotary mounted on frame 2 as explained below. In effect, the invention also applies to rotating telescopic trucks.
  • the frame is a rolling frame.
  • a handling device 14 is articulated at one end of the arm 6 for lifting.
  • the lifting arm 6 can be moved between a so-called lowered position and a raised position.
  • An actuation system preferably made up of cylinders, makes it possible to move said lifting arm 6 relative to the frame 2 and to move the handling device 14 relative to the lifting arm 6.
  • the handling machine includes a processing unit 10, comprising for example a computer, which controls the handling arm.
  • the machine comprises a manual control device 12 which enables the operator, by actuating said control device, to transmit to the processing unit 10 command signals for the position of the arm 6.
  • the telescopic lifting arm 6 comprises a first section 61 and a second section 62, mounted to slide with respect to the first section 61 .
  • the telescopic lifting arm 6 comprises a greater number of sections mounted to slide relative to each other.
  • the control device 12 makes it possible to perform a manipulator function of the arm, that is to say control of the angular position of the arm 6 and of the telescoping position of the arm 6 which corresponds to the exit position. of the second section 62 of the arm with respect to the first section of the arm 61 as detailed below.
  • the control device 12 presented below makes it possible to provide a more natural correspondence between the movements of the operator and those of the machine.
  • the lifting arm 6 (or handling arm) is mounted on the frame 2 and orientable around an axis of rotation 7.
  • the axis of rotation 7 is parallel to the ground support plane of the wheels of the machine so that when the wheels of the machine are resting on horizontal ground, the axis of rotation 7 is horizontal.
  • Arm 6 projects forward from the machine.
  • the lifting arm 6 is articulated to the chassis 2 in a zone closer to the rear axle (that is to say the axis or axle which connects the two rear wheels 4 ) than the front axle (that is to say the axis or axle which connects the two front wheels 3).
  • the arm 6 is configured to pivot around an axis transverse to the longitudinal axis of the machine to be moved between a lowered position and a raised position.
  • the arm makes it possible to reach different angles of inclination with respect to the plane of support on the ground of the wheels of the machine, and in particular to reach in the high position a maximum angle, for example of a value between 55° and 70°, in relation to the plane of support on the ground of the wheels of the machine.
  • the minimum angle that the arm can reach in the low position with respect to the plane of support on the ground of the wheels of the machine is for example between - 5° and 5°.
  • the arm has an angular movement of at least 50°.
  • the handling device 14 comprises a tool holder 141, also called an apron, and a handling tool 142 fixed to the tool holder in a removable manner.
  • Tool holder 141 can accommodate different types of handling tools.
  • the handling tool can be integrated into the apron 141, without the possibility of removing the tool from the apron.
  • the tool holder 141 is mounted articulated relative to the lifting arm 6.
  • the handling device is articulated to the arm 6 by an articulation axis 15 parallel to the axis 7 and configured to be able to carry out different operations according to the handling tool coupled to the apron.
  • the handling tool comprises forks to handle a load 9, such as a pallet, but the forks can be replaced by a bucket or another tool.
  • the arm 6 is of the telescopic type.
  • the arm 6 thus comprises at least a first section 61 and a second section 62 deployable using a jack deployment, not shown, arranged between the two sections.
  • the arm can comprise more than two sections.
  • the actuating device of the handling device includes in particular a lifting cylinder V1 which makes it possible to move the arm 6 upwards and downwards around the axis 7, under the control of the processing unit 10.
  • the lifting arm 6 forms an angle with a reference position such as the horizontal (or the ground support plane of the machine).
  • the machine comprises a sensor C6 which makes it possible to determine the angle of the arm 6 and thus control the actuation of the cylinder V1 for the angular displacement of the arm.
  • the actuating device of the handling device also comprises a tilt cylinder V3 which makes it possible to pivot the apron 141 relative to the lifting arm 6, under the control of the control unit. treatment 10.
  • the actuating device of the handling device comprises a rotation cylinder located on the side of the tool (also called an accessory) to allow the tool to be rotated relative to the apron.
  • the actuating device of the handling device 14 comprises a compensation cylinder V2 which is coupled to the frame 2 and to the lifting arm 6 and in fluid communication with the tilt cylinder V3 so that the tilt cylinder V3 is slaved to the compensation cylinder to substantially maintain the orientation of the apron 141 (and therefore of the tool) when the lifting arm 6 is moved.
  • the tilt cylinder V3 remains controllable by the operator using a device, such as the control device 12, connected to the processing unit 10 to control the inclination of the apron 141 with respect to to the arm 6 in order to perform operations with the handling tool 142 coupled to the apron.
  • Other means of compensation for example of the electronic type, can be envisaged.
  • the jacks are hydraulic jacks.
  • the jacks can be of the electric type.
  • the handling machine comprises a man-machine interface which makes it possible to control the handling machine.
  • the man-machine interface comprises the control device 12.
  • the control device comprises a fixed base 120 with respect to the frame 2, and a mobile control member 121, with respect to this fixed base 120, which makes it possible to control the lifting arm 6.
  • the control device 12 is housed in the cabin of the handling machine.
  • the control device 12 is connected to the processing unit 10 which can thus control all or part of the cylinders, for example via a hydraulic circuit (not shown), depending on the stress by the operator of the control device 121 .
  • the hydraulic circuit may comprise a source of hydraulic pressure and a hydraulic distributor interposed between the source of hydraulic pressure and a control solenoid valve for each actuator formed by a hydraulic cylinder.
  • the control solenoid valve can be controlled by the processing unit 10 according to the request of the control member 121 by the operator.
  • control device 12 operates electro-proportionally to allow, when the operator moves the control member 121 to a given position, to emit a signal which is a function of said position and/or angle of the control member 121 and thus be able to control the lifting arm 6 precisely and quickly.
  • the processing unit 10 is configured so that the greater the displacement travel of the control member 121 imposed by the operator, the greater the controlled displacement speed of the arm or of the tool. matching is great.
  • control member 121 differs in particular from known levers of the state of the art in that the control member 121 has vertical mobility allowing the operator to move manually by rectilinear translation of the control member 121 on a given displacement distance, upwards or downwards, that is to say, with reference to the machine, towards the roof of the cabin of the handling machine or towards the floor of the cabin.
  • the control member 121 may further comprise one or more axes of rotation. In particular, provision may be made for the control member to have three axes of rotation and three axes of translation.
  • control member 121 makes it possible to control the vertical movement of the tool 142 of the handling arm as explained below.
  • the control member 121 differs in particular from the levers known from the state of the art in that the control member 121 also has horizontal mobility allowing the operator to manually move the member by rectilinear translation. control 121 on a given displacement stroke, forwards or backwards, that is to say towards the front wheels or towards the rear wheels.
  • the control member 121 can also have lateral translation mobility.
  • the man-machine interface can also include a screen 13 which, for example, allows the operator to have feedback on the actions he performs.
  • the man-machine interface also usually comprises a ground movement control system, such as a set of pedals, making it possible to accelerate and brake, and a steering wheel making it possible to to steer the machine.
  • a ground movement control system such as a set of pedals, making it possible to accelerate and brake, and a steering wheel making it possible to to steer the machine.
  • control member 121 has a peripheral wall of concave shape, seen from the outside of the control device, which facilitates a good grip of the control member to carry out sliding operations (rectilinear translation), such as forward-backward or up-down.
  • Processing unit The machine comprises, as mentioned above, a processing unit.
  • the processing unit is for example a computer.
  • the processing unit used to control the system for actuating the lift arm may be wholly or partly common with the processing unit which makes it possible to control the movement of the machine on the ground.
  • the processing unit is for example in the form of a processor and a data memory in which are stored computer instructions executable by said processor, or even in the form of a microcontroller.
  • the functions and steps described may be implemented as a computer program or via hardware components (eg programmable gate arrays).
  • the functions and steps performed by the processing unit or its modules can be performed by instruction sets or computer modules implemented in a processor or controller or be performed by dedicated electronic components or components of the logic circuit type.
  • programmable or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array
  • ASIC acronym of English application-specific integrated circuit, which literally corresponds to integrated circuit specific to an application. It is also possible to combine computer parts and electronic parts.
  • the unit or means or modules of said unit are configured to carry out a given operation
  • the processing unit is thus an electronic and/or computer unit.
  • the handling machine comprises a sensor system connected to the processing unit.
  • the sensor system comprises a sensor C6 of the angle of the lifting arm 6, and preferably a sensor C62 of the telescoping position of the arm 6, that is to say the position of the second section 62 of the arm 6 relative to the first section 61 .
  • the processing unit 10 makes it possible to determine, by measurement using the sensor system and/or by theoretical estimation, the telescoped length.
  • the processing unit 10 is configured to receive a signal representative of the sliding displacement (rectilinear translation) of the control member 121 and to control the arm and/or the tool according to the signal received as detailed below. After.
  • the control member 121 comprises rectilinear translational mobility upwards and downwards (by reference to a position of the machine resting on the ground by at least part of its wheels, i.e. to say with or without stabilizer feet 5 active), that is to say along the axis AHB as shown in Figure 2A.
  • the control member 121 can be actuated by translation upwards or roof of the cabin (up direction) and towards the ground (down direction).
  • the up/down translational mobility allows the operator to pull the actuator up and press the actuator down.
  • the control member 121 is movable in translation on either side of a neutral position in which it is recalled, between a high end position and a low end position.
  • the processing unit 10 controls the angular displacement P6 of the arm 6 so as to increase the angle of the arm 6 relative to the ground, while controlling the sliding of the second section 62 of the arm 6, that is to say the extension or the retraction of the second section 62 with respect to the first section 61, according to the angular position of the arm 6, to obtain a displacement of the tool 142 which is in rectilinear vertical translation upwards, that is to say for the tool 142 (which is located at the end of the arm) at a constant position in projection on a horizontal plane during the movement of the arm towards the top.
  • the processing unit 10 controls the angular displacement of the arm 6 so as to reduce the angle of the arm relative to the ground, while by controlling the extension or the retraction of the second section 62, according to the angular position of the arm 6, to obtain a movement of the tool 142 which is in vertical rectilinear translation downwards, that is to say to maintain the tool 142 at a constant position in projection on the ground during the movement of the arm downwards.
  • the control member 121 comprises rectilinear translation mobility forwards and backwards (by reference to a position of the machine resting on the ground by at least part of its wheels, that is that is to say with or without active stabilizer feet), that is to say along the axis AAvAr as illustrated in FIG. 3A.
  • the control device can be actuated by translation towards the windshield (forward direction) and towards the operator (reverse direction).
  • the front/rear rectilinear translational mobility allows the operator to pull the control device backwards, that is to say towards him, and to push the control device towards the front, i.e. towards the windshield.
  • the control member 121 is movable in translation on either side of a neutral position in which it is recalled, between a front end position and a rear end position.
  • the processing unit 10 controls the angular displacement of the arm so as to reduce or increase the angle of the arm 6 with respect to the ground, while controlling the extension or retraction of the second section 62, depending on the position angle of the arm, to obtain a displacement of the tool 142 which is in rectilinear horizontal translation forwards, that is to say to maintain the tool 142 in a constant position in projection on a vertical axis during the moving the arm forward.
  • the processing unit 10 controls the angular displacement P6 of the arm 6 so as to increase the angle of the arm 6 by relative to the ground, while controlling the extension or the retraction of the second section 62, according to the angular position of the arm, to obtain a movement of the tool 142 which is in horizontal rectilinear translation towards the rear, that is to say say to maintain the tool 142 at a constant position in projection on a vertical axis during the rearward movement of the arm.
  • the front-rear sliding axis AAvArde and the top-bottom sliding axis AHB of the control member 121 are orthogonal to each other.
  • control member 121 comprises a pivoting mobility around an axis parallel to the front-rear sliding axis AAvAr making it possible to control a mechanism 143 associated with the tool 142, such as closing or opening a jaw associated with a bucket used as a tool at the end of the arm 6.
  • control member 121 comprises pivoting mobility around an axis AT orthogonal to the front-to-rear sliding axis and to the sliding axis high bottom allowing the operator to control the pivoting P14 of the tool 142 relative to the arm 6.
  • the horizontal and vertical directions are considered absolutely, that is to say with respect to the terrestrial reference frame and not with reference to the ground which may be horizontal or inclined.
  • the machine includes a system for determining the horizontality which makes it possible, for example, to determine the angle of the lifting arm not with respect to the frame but with respect to the horizontal.
  • the system for determining horizontality also makes it possible to determine the vertical.
  • the handling machine comprises a frame provided with a turret which carries the lifting arm.
  • the turret is movably mounted around an axis orthogonal to the ground support plane of the wheels of the machine.
  • the control member 121 comprises a pivoting mobility about an axis parallel to the top-bottom axis AHB to allow control of the rotation of the turret by pivoting of the control member 121 about said axis Up down.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a handling machine comprising: a chassis (2) and a telescopic lifting arm (6) carried by the chassis (2), the lifting arm comprising a plurality of sections including at least a first section (61) and a second section (62) that is slidably movable with respect to the first section (61); a handling device (14) mounted at one end of the lifting arm (6); and a control device (12) which is suitable for one-handed operation by an operator and which comprises a base (120) that is stationary with respect to the chassis (2) and a control member (121) mounted so as to be movable with respect to the base (120), said control member (121) having at least a sliding mobility for generating a control signal for pivoting the arm and/or for sliding the second section (62) of the lifting arm, so as to control in a combined manner the pivoting of the lifting arm (6) and the sliding of the second section (62) of the lifting arm, depending on the control signal generated, in order to obtain a horizontal or vertical movement of the handling device (14).

Description

Machine de manutention à bras télescopique comprenant un dispositif de commande dudit bras Handling machine with telescopic arm comprising a device for controlling said arm
[0001] DOMAINE DE L’INVENTION [0001] FIELD OF THE INVENTION
[0002] La présente invention concerne de manière générale les machines de manutention à bras télescopique. The present invention generally relates to telescopic arm handling machines.
[0003] ART ANTERIEUR [0003] PRIOR ART
[0004] Pour essayer de déplacer horizontalement ou verticalement une charge portée par un outil situé à une extrémité d’un bras de levage télescopique d'un chariot de manutention, l'opérateur doit effectuer des mouvements combinés de pivotement d’un levier de commande vers l'avant ou l'arrière pour baisser ou lever le bras de levage, tout en tournant une molette présente sur le levier, pour commander la rentrée ou la sortie du bras de levage télescopique. To try to move horizontally or vertically a load carried by a tool located at one end of a telescopic lifting arm of an industrial truck, the operator must perform combined pivoting movements of a control lever forwards or backwards to lower or raise the lifting arm, while turning a wheel on the lever to control the retraction or extension of the telescopic lifting arm.
[0005] Ces opérations sont complexes, fastidieuses et sources d’erreur pour l'utilisateur qui doit se concentrer sur les opérations à effectuer avec le levier et la molette associée. En outre, cette combinaison complexe de mouvements peut entraîner des troubles musculosquelettiques. [0005] These operations are complex, tedious and sources of error for the user who must concentrate on the operations to be carried out with the lever and the associated wheel. Also, this complex combination of movements can lead to musculoskeletal disorders.
[0006] La présente invention a pour but de proposer une nouvelle machine de manutention à bras télescopique permettant de pallier tout ou partie des problèmes exposés ci-dessus. The present invention aims to provide a new telescopic arm handling machine to overcome all or part of the problems outlined above.
[0007] RESUME DE L’INVENTION [0007] SUMMARY OF THE INVENTION
[0008] A cet effet, l’invention a pour objet une machine de manutention de charge ou de personne, comprenant : To this end, the subject of the invention is a load or person handling machine, comprising:
- un châssis ; - a chassis ;
- un bras de levage télescopique porté par le châssis, le bras de levage comprenant plusieurs tronçons incluant au moins un premier tronçon et un deuxième tronçon déplaçable à coulissement par rapport au premier tronçon ; le bras de levage étant monté mobile à pivotement entre une position basse et une position élevée, - A telescopic lifting arm carried by the frame, the lifting arm comprising several sections including at least a first section and a second section slidably movable relative to the first section; the lifting arm being pivotally mounted between a low position and a high position,
- un dispositif de manutention monté à une extrémité du bras de levage, - a handling device mounted at one end of the lifting arm,
- une unité de traitement permettant de commander le pivotement du bras de levage, et le coulissement du deuxième tronçon du bras de levage, et - a processing unit making it possible to control the pivoting of the lifting arm, and the sliding of the second section of the lifting arm, and
- un dispositif de commande sollicitable avec une main d’un opérateur pour générer un signal de commande de pivotement du bras de levage ou un signal de commande de coulissement du deuxième tronçon du bras de levage, caractérisée en ce que le dispositif de commande comprend une base fixe par rapport au châssis et un organe de commande monté mobile par rapport à la base, ledit organe de commande présentant au moins une mobilité de coulissement permettant à l’organe de commande de prendre en continu différentes positions entre une position neutre d’inactivité et au moins une position de fin de course, de sorte que le déplacement à coulissement de l’organe de commande par l’opérateur génère un signal de commande de pivotement du bras et/ou de coulissement du deuxième tronçon du bras de levage, qui est fonction de la position de l’organe de commande le long de la course de coulissement disponible, et l’unité de traitement est configurée pour commander de manière combinée le pivotement du bras de levage et le coulissement du deuxième tronçon du bras de levage, en fonction du signal de commande généré, pour déplacer horizontalement ou verticalement le dispositif de manutention. - a control device that can be activated with an operator's hand to generate a control signal for pivoting the lifting arm or a control signal for sliding the second section of the lifting arm, characterized in that the control device comprises a fixed base relative to the frame and a control member mounted movable relative to the base, said control member having at least one sliding mobility allowing the control member to continuously assume different positions between a neutral position of inactivity and at least one end-of-travel position, so that the sliding movement of the control member by the operator generates a command signal for pivoting the arm and/or for sliding the second section of the lifting arm, which is a function of the position of the control member along the available sliding travel, and the processing unit is configured to control in a combined manner the pivoting of the lifting arm and the sliding of the second section of the lifting arm, depending on the control signal generated, to move the handling device horizontally or vertically.
[0009] Le bras de levage télescopique de la machine de manutention est ainsi commandable par un organe de commande qui présente au moins une mobilité de coulissement pour permettre de déplacer le dispositif de manutention, qui comprend par exemple un godet ou un système de fourches, horizontalement ou verticalement. [0009] The telescopic lifting arm of the handling machine is thus controllable by a control member which has at least one sliding mobility to allow the handling device to be moved, which comprises for example a bucket or a system of forks, horizontally or vertically.
[0010] L’unité de traitement détermine le déplacement rectiligne (coulissement) de l’organe de commande effectué par l’opérateur et commande alors simultanément le levage et le télescopage du bras, afin d’obtenir un mouvement horizontal ou vertical de l’outil situé en bout de bras. [0010] The processing unit determines the rectilinear movement (sliding) of the control member performed by the operator and then simultaneously controls the lifting and telescoping of the arm, in order to obtain a horizontal or vertical movement of the tool located at arm's length.
[0011] Une telle conception de la machine de manutention dont le déplacement horizontal ou vertical du dispositif de manutention est commandable par translation rectiligne de l’organe de commande, permet que le comportement de la machine corresponde sensiblement au comportement de l'opérateur, c'est à dire que, pour l'opérateur, le geste de commande se rapproche d'un geste naturel de l'opération qu'il va devoir effectuer. Such a design of the handling machine, the horizontal or vertical movement of the handling device of which is controllable by rectilinear translation of the control member, allows the behavior of the machine substantially corresponds to the behavior of the operator, that is to say that, for the operator, the control gesture is close to a natural gesture of the operation that he will have to perform.
[0012] Cela permet d'introduire une homologie entre le mouvement de la machine et le mouvement de l'opérateur sur l'organe de commande, contrairement aux dispositifs de commande de type levier pivotant connus de l'état de la technique dont le maniement peut être perturbant. [0012] This makes it possible to introduce a homology between the movement of the machine and the movement of the operator on the control member, unlike the control devices of the pivoting lever type known from the state of the art whose handling can be disturbing.
[0013] La machine de manutention peut aussi comporter une ou plusieurs des caractéristiques suivantes prises dans toute combinaison techniquement admissible. [0013] The handling machine may also comprise one or more of the following characteristics taken in any technically admissible combination.
[0014] Selon un mode de réalisation de l’invention, ladite au moins une mobilité de coulissement de l’organe de commande comprend une mobilité de coulissement selon un axe avant-arrière de sorte que la sollicitation de l’organe de commande selon ladite mobilité de coulissement avant-arrière génère un signal de commande de déplacement horizontal du dispositif de manutention, et l’unité de traitement est configurée pour, à réception de ce signal, commander de manière combinée le pivotement du bras de levage et le coulissement du deuxième tronçon du bras télescopique de manière à déplacer le dispositif de manutention selon une direction parallèle à l’horizontale. [0014] According to one embodiment of the invention, said at least one sliding mobility of the control member comprises a sliding mobility along a front-rear axis so that the biasing of the control member according to said forward-backward sliding mobility generates a signal for controlling the horizontal movement of the handling device, and the processing unit is configured to, upon receipt of this signal, control in a combined manner the pivoting of the lifting arm and the sliding of the second section of the telescopic arm so as to move the handling device in a direction parallel to the horizontal.
[0015] Selon un mode de réalisation de l’invention, ladite au moins une mobilité de coulissement de l’organe de commande comprend une mobilité de coulissement selon un axe haut-bas de sorte que la sollicitation de l’organe de commande selon ladite mobilité de coulissement haut-bas génère un signal de commande de déplacement vertical du dispositif de manutention, et l’unité de traitement est configurée pour, à réception de ce signal, commander de manière combinée le pivotement du bras de levage et le coulissement du deuxième tronçon du bras télescopique de manière à déplacer le dispositif de manutention selon une direction parallèle à la verticale. [0015] According to one embodiment of the invention, said at least one sliding mobility of the control member comprises a sliding mobility along an up-down axis so that the biasing of the control member according to said up-down sliding mobility generates a control signal for vertical movement of the handling device, and the processing unit is configured to, upon receipt of this signal, control in a combined manner the pivoting of the lifting arm and the sliding of the second section of the telescopic arm so as to move the handling device in a direction parallel to the vertical.
[0016] Selon un mode de réalisation de l’invention, l’organe de commande comprend aussi une mobilité de pivotement autour d’un axe orthogonal à l’axe de coulissement avant arrière et à l’axe de coulissement haut-bas permettant à l’opérateur de commander une mobilité de pivotement du dispositif de manutention par rapport au bras. [0016] According to one embodiment of the invention, the control member also comprises pivoting mobility around an axis orthogonal to the front-to-rear sliding axis and to the top-bottom sliding axis allowing the operator to control a pivoting mobility of the handling device relative to the arm.
[0017] Selon un mode de réalisation de l’invention, le dispositif de commande est un dispositif électro-proportionnel de sorte que plus la course de déplacement de l'organe de commande imposée par l’opérateur est grande, plus la vitesse de déplacement commandée correspondante du bras ou du dispositif de manutention est grande. [0017] According to one embodiment of the invention, the control device is an electro-proportional device so that the greater the travel of the control member imposed by the operator, the greater the speed of movement corresponding control of the arm or of the handling device is large.
[0018] Selon un mode de réalisation de l’invention, l’organe de commande présente une paroi périphérique de forme concave, vue de l’extérieur du dispositif de commande. According to one embodiment of the invention, the control member has a peripheral wall of concave shape, seen from the outside of the control device.
[0019] Selon un mode de réalisation de l’invention, le châssis étant muni d'une tourelle qui porte le bras de levage, la tourelle est montée mobile autour d'un axe orthogonal au plan d'appui au sol de la machine, l’organe de commande comprend une mobilité de pivotement autour d’un axe parallèle à un axe haut- bas pour permettre de commander la rotation de la tourelle par pivotement de l’organe de commande autour dudit axe haut-bas. [0019] According to one embodiment of the invention, the frame being provided with a turret which carries the lifting arm, the turret is movably mounted around an axis orthogonal to the ground support plane of the machine, the control member comprises a pivoting mobility about an axis parallel to a top-bottom axis to make it possible to control the rotation of the turret by pivoting of the control member about said top-bottom axis.
[0020] Selon un mode de réalisation de l’invention, l’organe de commande comprend une mobilité de pivotement autour d’un axe parallèle à l’axe de coulissement avant-arrière, permettant de commander un mécanisme du dispositif de manutention, tel qu’un mécanisme de fermeture ou d’ouverture d’une mâchoire associée à un godet utilisé comme outil au bout du bras. [0020] According to one embodiment of the invention, the control member comprises pivoting mobility around an axis parallel to the front-rear sliding axis, making it possible to control a mechanism of the handling device, such as a mechanism for closing or opening a jaw associated with a bucket used as a tool at the end of the arm.
[0021] Selon un mode de réalisation de l’invention, l’organe de commande est configuré pour être rappelé en position neutre d’inactivité. According to one embodiment of the invention, the control member is configured to be recalled to the neutral position of inactivity.
[0022] Selon un mode de réalisation de l’invention, le dispositif de manutention comprend un porte-outil articulé à l’extrémité du bras de levage et un outil de manutention, tel qu’un godet ou un système de fourches, fixé de manière démontable ou indémontable au porte-outil. According to one embodiment of the invention, the handling device comprises a tool holder articulated at the end of the lifting arm and a handling tool, such as a bucket or a system of forks, fixed removable or non-removable way to the tool holder.
[0023] Selon un mode de réalisation de l’invention, la machine comprend un système de capteur raccordé à l’unité de traitement, le système de capteur comprenant au moins un capteur de l’angle du bras de levage, et de préférence un capteur de la position du deuxième tronçon par rapport au premier tronçon. [0024] BREVE DESCRIPTION DES DESSINS According to one embodiment of the invention, the machine comprises a sensor system connected to the processing unit, the sensor system comprising at least one sensor of the angle of the lifting arm, and preferably a sensor of the position of the second section relative to the first section. [0024] BRIEF DESCRIPTION OF THE DRAWINGS
[0025] D'autres caractéristiques et avantages de l'invention ressortiront encore de la description qui suit, laquelle est purement illustrative et non limitative et doit être lue en regard des dessins annexés, sur lesquels : Other characteristics and advantages of the invention will emerge from the description which follows, which is purely illustrative and not limiting and must be read in conjunction with the appended drawings, in which:
[0026] - [Fig. 1] la Figure 1 est une vue schématique de côté d’une machine de manutention à bras télescopique selon un mode de réalisation de l’invention, montrant le bras dans différentes positions ; [0026] - [Fig. 1] Figure 1 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention, showing the arm in different positions;
[0027] - [Fig. 2] la Figure 2 est une vue schématique de côté d’une machine de manutention à bras télescopique selon un mode de réalisation de l’invention, montrant un déplacement vertical de l’outil situé à l’extrémité du bras ; [0027] - [Fig. 2] Figure 2 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention, showing a vertical movement of the tool located at the end of the arm;
[0028] - [Fig. 2A] la Figure 2A est une vue schématique de côté illustrant le déplacement manuel à translation vers le haut ou vers le bas de l’organe de commande pour commander le déplacement vertical de l’outil de la machine de manutention comme illustré en Figure 2 ; [0028] - [Fig. 2A] Figure 2A is a schematic side view illustrating the manual upward or downward translational movement of the control member to control the vertical movement of the tool of the handling machine as illustrated in Figure 2;
[0029] - [Fig. 3] la Figure 3 est une vue schématique de côté d’une machine de manutention à bras télescopique selon un mode de réalisation de l’invention montrant un déplacement horizontal de l’outil situé au bout du bras ; [0029] - [Fig. 3] Figure 3 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention showing a horizontal displacement of the tool located at the end of the arm;
[0030] - [Fig. 3A] la Figure 3A est une vue schématique de côté illustrant le déplacement manuel à translation vers l’avant ou vers l’arrière de l’organe de commande pour commander le déplacement horizontal de l’outil de la machine de manutention comme illustré en Figure 3 ; [0030] - [Fig. 3A] Figure 3A is a schematic side view illustrating the manual forward or rearward translational movement of the control member to control the horizontal movement of the tool of the handling machine as illustrated in Figure 3;
[0031] - [Fig. 4] la Figure 4 est une vue schématique de côté d’une machine de manutention à bras télescopique selon un mode de réalisation de l’invention montrant l’actionnement d’un équipement, tel qu’une mâchoire, associé à l’outil situé au bout du bras ; [0031] - [Fig. 4] Figure 4 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention showing the actuation of equipment, such as a jaw, associated with the tool located at arm's length;
[0032] - [Fig. 4A] la Figure 4A est une vue schématique de côté illustrant le déplacement manuel à pivotement autour d’un axe parallèle à l’axe avant-arrière de l’organe de commande pour commander l’actionnement de l’équipement de la machine de manutention comme illustré en Figure 4 ; [0033] - [Fig. 5] la Figure 5 est une vue schématique de côté d’une machine de manutention à bras télescopique selon un mode de réalisation de l’invention montrant le pivotement par rapport au bras de l’outil situé au bout du bras ; [0032] - [Fig. 4A] Figure 4A is a schematic side view illustrating the manual pivoting movement around an axis parallel to the front-rear axis of the control member to control the actuation of the equipment of the handling machine as shown in Figure 4; [0033] - [Fig. 5] Figure 5 is a schematic side view of a telescopic arm handling machine according to one embodiment of the invention showing the pivoting relative to the arm of the tool located at the end of the arm;
[0034] - [Fig. 5A] la Figure 5A est une vue schématique de côté illustrant le déplacement manuel à pivotement autour d’un axe latéral, transversal à l’axe avant-arrière, de l’organe de commande pour commander le pivotement par rapport au bras de l’outil situé en bout du bras comme illustré en Figure 5. [0034] - [Fig. 5A] Figure 5A is a schematic side view illustrating the manual pivoting movement about a lateral axis, transverse to the front-rear axis, of the control member to control the pivoting relative to the arm of the tool located at the end of the arm as shown in Figure 5.
[0035] DESCRIPTION DETAILLEE [0035] DETAILED DESCRIPTION
[0036] Le concept de l'invention est décrit plus complètement ci-après avec référence aux dessins joints, sur lesquels des modes de réalisation du concept de l'invention sont montrés. Sur les dessins, la taille et les tailles relatives des éléments peuvent être exagérées à des fins de clarté. Des numéros similaires font référence à des éléments similaires sur tous les dessins. Cependant, ce concept de l'invention peut être mis en œuvre sous de nombreuses formes différentes et ne devrait pas être interprété comme étant limité aux modes de réalisation exposés ici. Au lieu de cela, ces modes de réalisation sont proposés de sorte que cette description soit complète, et communiquent l'étendue du concept de l'invention aux hommes du métier. The inventive concept is described more fully below with reference to the accompanying drawings, in which embodiments of the inventive concept are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for purposes of clarity. Like numbers refer to like elements throughout the drawings. However, this concept of the invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. Instead, these embodiments are provided so that this description is complete, and communicates the scope of the inventive concept to those skilled in the art.
[0037] Une référence dans toute la spécification à « un mode de réalisation » signifie qu'une fonctionnalité, une structure, ou une caractéristique particulière décrite en relation avec un mode de réalisation est incluse dans au moins un mode de réalisation de la présente invention. Ainsi, l'apparition de l'expression « dans un mode de réalisation » à divers emplacements dans toute la spécification ne fait pas nécessairement référence au même mode de réalisation. En outre, les fonctionnalités, les structures, ou les caractéristiques particulières peuvent être combinées de n'importe quelle manière appropriée dans un ou plusieurs modes de réalisation. [0037] Reference throughout the specification to "an embodiment" means that a particular feature, structure, or feature described in connection with an embodiment is included in at least one embodiment of the present invention. . Thus, the appearance of the phrase "in one embodiment" at various places throughout the specification does not necessarily refer to the same embodiment. Further, the particular functionalities, structures, or features may be combined in any suitable manner in one or more embodiments.
[0038] En référence aux figures, on a représenté une machine 1 de manutention de charge qui comprend un châssis 2 et un bras 6 de levage télescopique monté pivotant sur le châssis 2. On peut aussi prévoir que le bras 6 soit porté par une tourelle rotative montée sur le châssis 2 comme expliqué ci-après. En effet, l'invention s’applique également aux chariots télescopiques rotatifs. Dans l'exemple illustré à la Figure 1 , le châssis est un châssis roulant. [0038] With reference to the figures, there is shown a load handling machine 1 which comprises a frame 2 and a telescopic lifting arm 6 pivotally mounted on the frame 2. It is also possible to provide that the arm 6 is carried by a turret rotary mounted on frame 2 as explained below. In effect, the invention also applies to rotating telescopic trucks. In the example illustrated in Figure 1, the frame is a rolling frame.
[0039] Un dispositif de manutention 14 est articulé à une extrémité du bras 6 de levage. Le bras 6 de levage peut être déplacé entre une position dite abaissée et une position levée. Un système d’actionnement, de préférence formés de vérins, permet de déplacer ledit bras 6 de levage par rapport au châssis 2 et de déplacer le dispositif de manutention 14 par rapport au bras 6 de levage. A handling device 14 is articulated at one end of the arm 6 for lifting. The lifting arm 6 can be moved between a so-called lowered position and a raised position. An actuation system, preferably made up of cylinders, makes it possible to move said lifting arm 6 relative to the frame 2 and to move the handling device 14 relative to the lifting arm 6.
[0040] La machine de manutention inclut une unité de traitement 10, comprenant par exemple un calculateur, qui permet de commander le bras de manutention. En particulier, la machine comprend un dispositif de commande 12 manuel qui permet à l’opérateur, en sollicitant ledit dispositif de commande, de transmettre à l’unité de traitement 10 des signaux de commande de la position du bras 6. Dans l'exemple illustré aux figures, le bras 6 de levage télescopique comprend un premier tronçon 61 et un deuxième tronçon 62, monté coulissant par rapport au premier tronçon 61 . Selon d’autres modes de réalisation, le bras 6 de levage télescopique comprend un plus grand nombre de tronçons montés coulissant les uns par rapport aux autres. The handling machine includes a processing unit 10, comprising for example a computer, which controls the handling arm. In particular, the machine comprises a manual control device 12 which enables the operator, by actuating said control device, to transmit to the processing unit 10 command signals for the position of the arm 6. In the example illustrated in the figures, the telescopic lifting arm 6 comprises a first section 61 and a second section 62, mounted to slide with respect to the first section 61 . According to other embodiments, the telescopic lifting arm 6 comprises a greater number of sections mounted to slide relative to each other.
[0041] Le dispositif de commande 12 permet de réaliser une fonction de manipulateur du bras, c'est-à-dire de commande de la position angulaire du bras 6 et de la position de télescopage du bras 6 qui correspond à la position de sortie du deuxième tronçon 62 du bras par rapport au premier tronçon du bras 61 comme détaillé ci-après. The control device 12 makes it possible to perform a manipulator function of the arm, that is to say control of the angular position of the arm 6 and of the telescoping position of the arm 6 which corresponds to the exit position. of the second section 62 of the arm with respect to the first section of the arm 61 as detailed below.
[0042] Le dispositif de commande 12 présenté ci-après permet de fournir une correspondance plus naturelle entre les mouvements de l’opérateur et ceux de la machine. The control device 12 presented below makes it possible to provide a more natural correspondence between the movements of the operator and those of the machine.
[0043] Bras de levage [0043] Lift arm
[0044] Dans l'exemple illustré aux figures et comme rappelé ci-dessus, le bras 6 de levage (ou bras de manutention) est monté sur le châssis 2 et orientable autour d’un axe de rotation 7. Selon un mode de réalisation, l’axe de rotation 7 est parallèle au plan d’appui au sol des roues de la machine de sorte que lorsque les roues de la machine sont en appui sur un sol horizontal, l’axe de rotation 7 est horizontal. Le bras 6 est saillant vers l’avant de la machine. [0045] Dans l'exemple illustré aux figures, le bras de levage 6 est articulé au châssis 2 dans une zone plus proche du pont arrière (c'est-à-dire de l’axe ou essieu qui relie les deux roues arrière 4) que du pont avant (c'est-à-dire l’axe ou essieu qui relie les deux roues avant 3). Dans le cas d’une machine avec tourelle on peut de même prévoir que le bras de levage 6 soit articulé à la tourelle dans une zone plus proche du pont arrière que du pont avant. In the example illustrated in the figures and as mentioned above, the lifting arm 6 (or handling arm) is mounted on the frame 2 and orientable around an axis of rotation 7. According to one embodiment , the axis of rotation 7 is parallel to the ground support plane of the wheels of the machine so that when the wheels of the machine are resting on horizontal ground, the axis of rotation 7 is horizontal. Arm 6 projects forward from the machine. In the example illustrated in the figures, the lifting arm 6 is articulated to the chassis 2 in a zone closer to the rear axle (that is to say the axis or axle which connects the two rear wheels 4 ) than the front axle (that is to say the axis or axle which connects the two front wheels 3). In the case of a machine with a turret, provision can also be made for the lifting arm 6 to be articulated to the turret in a zone closer to the rear axle than to the foredeck.
[0046] Autrement dit, le bras 6 est configuré pour pivoter autour d’un axe transversal à l’axe longitudinal de la machine pour être déplacé entre une position abaissée et une position levée. Le bras permet d’atteindre différents angles d’inclinaison par rapport au plan d’appui au sol des roues de la machine, et notamment d’atteindre en position haute un angle maximal, par exemple de valeur comprise entre 55° et 70°, par rapport au plan d’appui au sol des roues de la machine. L’angle minimal que peut atteindre le bras en position basse par rapport au plan d’appui au sol des roues de la machine est par exemple compris entre - 5° et 5 °. Selon un mode de réalisation, le bras présente un débattement angulaire d’au moins 50°. In other words, the arm 6 is configured to pivot around an axis transverse to the longitudinal axis of the machine to be moved between a lowered position and a raised position. The arm makes it possible to reach different angles of inclination with respect to the plane of support on the ground of the wheels of the machine, and in particular to reach in the high position a maximum angle, for example of a value between 55° and 70°, in relation to the plane of support on the ground of the wheels of the machine. The minimum angle that the arm can reach in the low position with respect to the plane of support on the ground of the wheels of the machine is for example between - 5° and 5°. According to one embodiment, the arm has an angular movement of at least 50°.
[0047] Dispositif de manutention [0047] Handling device
[0048] Selon un mode de réalisation, le dispositif de manutention 14 comprend un porte-outil 141 , encore appelé tablier, et un outil 142 de manutention fixé au porte-outil de manière démontable. Le porte-outil 141 peut recevoir différents types d’outils de manutention. En variante, l’outil de manutention peut être intégré au tablier 141 , sans possibilité de démontage de l’outil par rapport au tablier. According to one embodiment, the handling device 14 comprises a tool holder 141, also called an apron, and a handling tool 142 fixed to the tool holder in a removable manner. Tool holder 141 can accommodate different types of handling tools. Alternatively, the handling tool can be integrated into the apron 141, without the possibility of removing the tool from the apron.
[0049] Le porte-outil 141 est monté articulé par rapport au bras 6 de levage. Le dispositif de manutention est articulé au bras 6 par un axe d’articulation 15 parallèle à l’axe 7 et configuré pour pouvoir réaliser différentes opérations selon l’outil de manutention couplé au tablier. The tool holder 141 is mounted articulated relative to the lifting arm 6. The handling device is articulated to the arm 6 by an articulation axis 15 parallel to the axis 7 and configured to be able to carry out different operations according to the handling tool coupled to the apron.
[0050] Ainsi dans l'exemple illustré à la Figure 1 , l’outil de manutention comprend des fourches pour manier une charge 9, telle qu’une palette, mais les fourches peuvent être remplacées par un godet ou un autre outil. [0050] Thus in the example illustrated in Figure 1, the handling tool comprises forks to handle a load 9, such as a pallet, but the forks can be replaced by a bucket or another tool.
[0051] Le bras 6 est du type télescopique. Le bras 6 comprend ainsi au moins un premier tronçon 61 et un deuxième tronçon 62 déployable à l’aide d’un vérin de déploiement, non représenté, agencé entre les deux tronçons. Le bras peut comprendre plus de deux tronçons. The arm 6 is of the telescopic type. The arm 6 thus comprises at least a first section 61 and a second section 62 deployable using a jack deployment, not shown, arranged between the two sections. The arm can comprise more than two sections.
[0052] Dans l’exemple de la Figure 1 , le dispositif d’actionnement du dispositif de manutention inclut en particulier un vérin de levage V1 qui permet de déplacer le bras 6 vers le haut et vers le bas autour de l'axe 7, sous la conduite de l’unité de traitement 10. Le bras 6 de levage forme un angle avec une position de référence telle que l’horizontale (ou le plan d’appui au sol de la machine). [0052] In the example of Figure 1, the actuating device of the handling device includes in particular a lifting cylinder V1 which makes it possible to move the arm 6 upwards and downwards around the axis 7, under the control of the processing unit 10. The lifting arm 6 forms an angle with a reference position such as the horizontal (or the ground support plane of the machine).
Préférentiellement, la machine comprend un capteur C6 qui permet de déterminer l’angle du bras 6 et contrôler ainsi l’actionnement du vérin V1 pour le déplacement angulaire du bras. Preferably, the machine comprises a sensor C6 which makes it possible to determine the angle of the arm 6 and thus control the actuation of the cylinder V1 for the angular displacement of the arm.
[0053] Selon un mode de réalisation, le dispositif d’actionnement du dispositif de manutention comprend aussi un vérin d’inclinaison V3 qui permet de faire pivoter le tablier 141 par rapport au bras 6 de levage, sous la conduite de l’unité de traitement 10. Selon un autre mode de réalisation, le dispositif d’actionnement du dispositif de manutention comprend un vérin de rotation situé du côté de l’outil (encore appelé accessoire) pour permettre de faire tourner l’outil par rapport au tablier. [0053]According to one embodiment, the actuating device of the handling device also comprises a tilt cylinder V3 which makes it possible to pivot the apron 141 relative to the lifting arm 6, under the control of the control unit. treatment 10. According to another embodiment, the actuating device of the handling device comprises a rotation cylinder located on the side of the tool (also called an accessory) to allow the tool to be rotated relative to the apron.
[0054] On peut prévoir aussi que le dispositif d’actionnement du dispositif de manutention 14 comprend un vérin de compensation V2 qui est couplé au châssis 2 et au bras 6 de levage et en communication fluidique avec le vérin d’inclinaison V3 de sorte que le vérin d’inclinaison V3 est asservi au vérin de compensation pour conserver sensiblement l’orientation du tablier 141 (et donc de l’outil) lorsque le bras 6 de levage est déplacé. Pour autant le vérin d’inclinaison V3 reste commandable par l’opérateur à l’aide d’un organe, tel que l’organe de commande 12, raccordé à l’unité de traitement 10 pour commander l’inclinaison du tablier 141 par rapport au bras 6 afin d’effectuer des opérations avec l’outil 142 de manutention couplé au tablier. D’autres moyens de compensation, par exemple de type électronique, peuvent être envisagés. It is also possible to provide that the actuating device of the handling device 14 comprises a compensation cylinder V2 which is coupled to the frame 2 and to the lifting arm 6 and in fluid communication with the tilt cylinder V3 so that the tilt cylinder V3 is slaved to the compensation cylinder to substantially maintain the orientation of the apron 141 (and therefore of the tool) when the lifting arm 6 is moved. However, the tilt cylinder V3 remains controllable by the operator using a device, such as the control device 12, connected to the processing unit 10 to control the inclination of the apron 141 with respect to to the arm 6 in order to perform operations with the handling tool 142 coupled to the apron. Other means of compensation, for example of the electronic type, can be envisaged.
[0055] Dans l'exemple illustré aux figures, les vérins sont des vérins hydrauliques, En variante, les vérins peuvent être du type électrique. In the example illustrated in the figures, the jacks are hydraulic jacks. As a variant, the jacks can be of the electric type.
[0056] Commande [0057] La machine de manutention comprend une interface homme-machine qui permet de commander la machine de manutention. [0056] Command The handling machine comprises a man-machine interface which makes it possible to control the handling machine.
[0058] L’interface homme-machine comprend le dispositif de commande 12. Le dispositif de commande comprend une base fixe 120 par rapport au châssis 2, et un organe de commande 121 mobile, par rapport à cette base fixe 120, qui permet de commander le bras de levage 6. Dans l'exemple illustré aux figures, le dispositif de commande 12 est logé dans la cabine de la machine de manutention. The man-machine interface comprises the control device 12. The control device comprises a fixed base 120 with respect to the frame 2, and a mobile control member 121, with respect to this fixed base 120, which makes it possible to control the lifting arm 6. In the example illustrated in the figures, the control device 12 is housed in the cabin of the handling machine.
[0059] Le dispositif de commande 12 est connecté à l’unité de traitement 10 qui peut ainsi commander tout ou partie des vérins, par exemple par l’intermédiaire d’un circuit hydraulique (non représenté), en fonction de la sollicitation par l’opérateur de l’organe de commande 121 . The control device 12 is connected to the processing unit 10 which can thus control all or part of the cylinders, for example via a hydraulic circuit (not shown), depending on the stress by the operator of the control device 121 .
[0060] Le circuit hydraulique peut comprendre une source de pression hydraulique et un distributeur hydraulique intercalé entre la source de pression hydraulique et une électrovanne de commande pour chaque actionneur formé par un vérin hydraulique. L’électrovanne de commande peut être commandée par l’unité de traitement 10 en fonction de la sollicitation de l’organe de commande 121 par l’opérateur. En variante, on peut prévoir que les vérins soient des vérins électriques. The hydraulic circuit may comprise a source of hydraulic pressure and a hydraulic distributor interposed between the source of hydraulic pressure and a control solenoid valve for each actuator formed by a hydraulic cylinder. The control solenoid valve can be controlled by the processing unit 10 according to the request of the control member 121 by the operator. As a variant, provision can be made for the jacks to be electric jacks.
[0061] Selon un mode de réalisation préféré, le dispositif de commande 12 fonctionne de manière électro-proportionnelle pour permettre, lorsque l’opérateur déplace l’organe de commande 121 en une position donnée, d’émettre un signal qui est fonction de ladite position et/ou angle de l’organe de commande 121 et pouvoir ainsi commander précisément et rapidement le bras de levage 6. According to a preferred embodiment, the control device 12 operates electro-proportionally to allow, when the operator moves the control member 121 to a given position, to emit a signal which is a function of said position and/or angle of the control member 121 and thus be able to control the lifting arm 6 precisely and quickly.
[0062] En particulier, l’unité de traitement 10 est configurée de sorte que plus la course de déplacement de l'organe de commande 121 imposée par l’opérateur est grande, plus la vitesse de déplacement commandée du bras ou de l’outil correspondant est grande. [0062] In particular, the processing unit 10 is configured so that the greater the displacement travel of the control member 121 imposed by the operator, the greater the controlled displacement speed of the arm or of the tool. matching is great.
[0063] Comme détaillé ci-après, l’organe de commande 121 se distingue notamment des leviers connus de l’état de la technique du fait que l’organe de commande 121 présente une mobilité verticale permettant à l’opérateur de déplacer manuellement par translation rectiligne l’organe de commande 121 sur une course de déplacement donnée, vers le haut ou vers le bas, c'est-à-dire, par référence à la machine, vers le toit de la cabine de la machine de manutention ou vers le plancher de la cabine. L’organe de commande 121 peut comprendre en outre un ou plusieurs axes de rotation. On peut en particulier prévoir que l’organe de commande présente trois axes de rotation et trois axes de translation. [0063] As detailed below, the control member 121 differs in particular from known levers of the state of the art in that the control member 121 has vertical mobility allowing the operator to move manually by rectilinear translation of the control member 121 on a given displacement distance, upwards or downwards, that is to say, with reference to the machine, towards the roof of the cabin of the handling machine or towards the floor of the cabin. The control member 121 may further comprise one or more axes of rotation. In particular, provision may be made for the control member to have three axes of rotation and three axes of translation.
[0064] Le déplacement par translation haut-bas de l’organe de commande 121 permet de commander le déplacement vertical de l’outil 142 du bras de manutention comme expliqué ci-après. The movement by up-down translation of the control member 121 makes it possible to control the vertical movement of the tool 142 of the handling arm as explained below.
[0065] L’organe de commande 121 se distingue notamment des leviers connus de l’état de la technique du fait que l’organe de commande 121 présente aussi une mobilité horizontale permettant à l’opérateur de déplacer manuellement par translation rectiligne l’organe de commande 121 sur une course de déplacement donnée, vers l’avant ou vers l’arrière, c'est-à-dire vers les roues avant ou vers les roues arrière. L’organe de commande 121 peut aussi présenter une mobilité de translation latérale. [0065] The control member 121 differs in particular from the levers known from the state of the art in that the control member 121 also has horizontal mobility allowing the operator to manually move the member by rectilinear translation. control 121 on a given displacement stroke, forwards or backwards, that is to say towards the front wheels or towards the rear wheels. The control member 121 can also have lateral translation mobility.
[0066] Le déplacement par translation avant-arrière de l’organe de commande 121 permet de commander le déplacement horizontal de l’outil 142 du bras 6 de manutention comme expliqué ci-après. [0066] The movement by forward-backward translation of the control member 121 makes it possible to control the horizontal movement of the tool 142 of the handling arm 6 as explained below.
[0067] L’interface homme-machine peut aussi comprendre un écran 13 qui permet par exemple à l’opérateur d’avoir un retour d’information des actions qu’il effectue. [0067] The man-machine interface can also include a screen 13 which, for example, allows the operator to have feedback on the actions he performs.
[0068] Lorsque la machine est une machine roulante motorisée, l’interface homme- machine comprend aussi usuellement un système de commande de déplacement au sol, tel qu’un ensemble de pédales, permettant d’accélérer et de freiner, et un volant permettant de diriger la machine. [0068] When the machine is a motorized wheeled machine, the man-machine interface also usually comprises a ground movement control system, such as a set of pedals, making it possible to accelerate and brake, and a steering wheel making it possible to to steer the machine.
[0069] Selon un mode de réalisation particulier, l’organe de commande 121 présente une paroi périphérique de forme concave, vue de l’extérieur du dispositif de commande, ce qui facilite une bonne prise en main de l'organe de commande pour effectuer des opérations de coulissement (translation rectiligne), telles que avant-arrière ou haut-bas. According to a particular embodiment, the control member 121 has a peripheral wall of concave shape, seen from the outside of the control device, which facilitates a good grip of the control member to carry out sliding operations (rectilinear translation), such as forward-backward or up-down.
[0070] Unité de traitement [0071] La machine comprend comme évoqué ci-dessus une unité de traitement. L’unité de traitement est par exemple un calculateur. L’unité de traitement utilisée pour commander le système d’actionnement du bras de levage peut être commune en tout ou partie avec l’unité de traitement qui permet de commander le déplacement au sol de la machine. [0070] Processing unit The machine comprises, as mentioned above, a processing unit. The processing unit is for example a computer. The processing unit used to control the system for actuating the lift arm may be wholly or partly common with the processing unit which makes it possible to control the movement of the machine on the ground.
[0072] L’unité de traitement se présente par exemple sous la forme d’un processeur et d’une mémoire de données dans laquelle sont stockées des instructions informatiques exécutables par ledit processeur, ou encore sous la forme d’un microcontrôleur. The processing unit is for example in the form of a processor and a data memory in which are stored computer instructions executable by said processor, or even in the form of a microcontroller.
[0073] Les fonctions et étapes décrites peuvent être mises en œuvre sous forme de programme informatique ou via des composants matériels (p. ex. des réseaux de portes programmables). En particulier, les fonctions et étapes opérées par l’unité de traitement ou ses modules peuvent être réalisées par des jeux d’instructions ou modules informatiques implémentés dans un processeur ou contrôleur ou être réalisées par des composants électroniques dédiés ou des composants de type circuit logique programmable (ou FPGA qui est l’acronyme de l’anglais field- programmable gate array, ce qui correspond littéralement à réseau de portes programmable in-situ) ou de type circuit intégré propre à une application (ou ASIC qui est l’acronyme de l'anglais application-specific integrated circuit, ce qui correspond littéralement à circuit intégré spécifique à une application ). Il est aussi possible de combiner des parties informatiques et des parties électroniques. [0073] The functions and steps described may be implemented as a computer program or via hardware components (eg programmable gate arrays). In particular, the functions and steps performed by the processing unit or its modules can be performed by instruction sets or computer modules implemented in a processor or controller or be performed by dedicated electronic components or components of the logic circuit type. programmable (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the integrated circuit type specific to an application (or ASIC which is the acronym of English application-specific integrated circuit, which literally corresponds to integrated circuit specific to an application). It is also possible to combine computer parts and electronic parts.
[0074] Lorsqu’il est précisé que l’unité ou des moyens ou modules de ladite unité sont configurés pour réaliser une opération donnée, cela signifie que l’unité comprend des instructions informatiques et les moyens d’exécution correspondants qui permettent de réaliser ladite opération et/ou que l’unité comprend des composants électroniques correspondants. When it is specified that the unit or means or modules of said unit are configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding means of execution which make it possible to carry out said operation and/or that the unit includes corresponding electronic components.
[0075] L’unité de traitement est ainsi une unité électronique et/ou informatique. Lorsqu’il est précisé que ladite unité est configurée pour réaliser une opération donnée, cela signifie que l’unité comprend des instructions informatiques et les moyens d’exécution correspondants qui permettent de réaliser ladite opération et/ou que l’unité comprend des composants électroniques correspondants. [0076] Préférentiellement, la machine de manutention comprend un système de capteur raccordé à l’unité de traitement. Le système de capteur comprend un capteur C6 de l’angle du bras de levage 6, et de préférence un capteur C62 de la position de télescopage du bras 6, c'est-à-dire de la position du deuxième tronçon 62 du bras 6 par rapport au premier tronçon 61 . The processing unit is thus an electronic and/or computer unit. When it is specified that said unit is configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding means of execution which make it possible to carry out said operation and/or that the unit comprises electronic components correspondents. [0076] Preferably, the handling machine comprises a sensor system connected to the processing unit. The sensor system comprises a sensor C6 of the angle of the lifting arm 6, and preferably a sensor C62 of the telescoping position of the arm 6, that is to say the position of the second section 62 of the arm 6 relative to the first section 61 .
[0077] L’unité de traitement 10 permet de déterminer, par mesure à l’aide du système de capteur et/ou par estimation théorique, la longueur télescopée. The processing unit 10 makes it possible to determine, by measurement using the sensor system and/or by theoretical estimation, the telescoped length.
[0078] L’unité de traitement 10 est configurée pour recevoir un signal représentatif du déplacement à coulissement (translation rectiligne) de l’organe de commande 121 et commander le bras et/ou l’outil en fonction du signal reçu comme détaillé ci-après. The processing unit 10 is configured to receive a signal representative of the sliding displacement (rectilinear translation) of the control member 121 and to control the arm and/or the tool according to the signal received as detailed below. After.
[0079] Déplacement vertical du dispositif de manutention [0079] Vertical displacement of the handling device
[0080] L’organe de commande 121 comprend une mobilité de translation rectiligne vers le haut et vers le bas (par référence à une position de la machine en appui sur un sol par au moins une partie de ses roues, c'est-à-dire avec ou sans pieds stabilisateur 5 actifs), c'est-à-dire selon l’axe AHB comme illustré à la figure 2A. Autrement dit, l’organe de commande 121 peut être actionné par translation vers le haut ou toit de la cabine (sens haut) et vers le sol (sens bas). La mobilité de translation haut/bas permet à l’opérateur de tirer sur l’organe de commande vers le haut et d’appuyer sur l’organe de commande vers le bas. [0080] The control member 121 comprises rectilinear translational mobility upwards and downwards (by reference to a position of the machine resting on the ground by at least part of its wheels, i.e. to say with or without stabilizer feet 5 active), that is to say along the axis AHB as shown in Figure 2A. In other words, the control member 121 can be actuated by translation upwards or roof of the cabin (up direction) and towards the ground (down direction). The up/down translational mobility allows the operator to pull the actuator up and press the actuator down.
[0081] L’organe de commande 121 est déplaçable à translation de part et d’autre d’une position neutre dans laquelle il est rappelé, entre une position d’extrémité haute et une position d’extrémité basse. The control member 121 is movable in translation on either side of a neutral position in which it is recalled, between a high end position and a low end position.
[0082] Lorsque l’opérateur tire l’organe de commande 121 vers le haut, l’unité de traitement 10 commande le déplacement angulaire P6 du bras 6 de manière à augmenter l’angle du bras 6 par rapport au sol, tout en commandant le coulissement du deuxième tronçon 62 du bras 6, c'est-à-dire la sortie ou la rentrée du deuxième tronçon 62 par rapport au premier tronçon 61 , selon la position angulaire du bras 6, pour obtenir un déplacement de l’outil 142 qui soit en translation rectiligne verticale vers le haut, c'est-à-dire pour l’outil 142 (qui est situé à l’extrémité du bras) à une position constante en projection sur un plan horizontal au cours du déplacement du bras vers le haut. [0083] De même, lorsque l’opérateur appuie sur l’organe de commande 121 vers le bas, l’unité de traitement 10 commande le déplacement angulaire du bras 6 de manière à réduire l’angle du bras par rapport au sol, tout en commandant la sortie ou la rentrée du deuxième tronçon 62, selon la position angulaire du bras 6, pour obtenir un déplacement de l’outil 142 qui soit en translation rectiligne verticale vers le bas, c'est-à-dire pour maintenir l’outil 142 à une position constante en projection sur le sol au cours du déplacement du bras vers le bas. When the operator pulls the control member 121 upwards, the processing unit 10 controls the angular displacement P6 of the arm 6 so as to increase the angle of the arm 6 relative to the ground, while controlling the sliding of the second section 62 of the arm 6, that is to say the extension or the retraction of the second section 62 with respect to the first section 61, according to the angular position of the arm 6, to obtain a displacement of the tool 142 which is in rectilinear vertical translation upwards, that is to say for the tool 142 (which is located at the end of the arm) at a constant position in projection on a horizontal plane during the movement of the arm towards the top. Similarly, when the operator presses the control member 121 downwards, the processing unit 10 controls the angular displacement of the arm 6 so as to reduce the angle of the arm relative to the ground, while by controlling the extension or the retraction of the second section 62, according to the angular position of the arm 6, to obtain a movement of the tool 142 which is in vertical rectilinear translation downwards, that is to say to maintain the tool 142 at a constant position in projection on the ground during the movement of the arm downwards.
[0084] On peut prévoir qu’une loi de commande soit prédéfinie dans l’unité de traitement 10 qui, lorsqu’elle détecte un déplacement de l’organe de commande 121 vers le haut ou vers le bas, applique une loi de commande au vérin de levage V1 et au vérin de télescopage (non représenté) permettant de conserver la position de l’outil 142 (et donc de l’outil correspondant) en projection dans un plan horizontal, en même temps que le bras s’élève ou s’abaisse angulairement et ainsi obtenir le déplacement vertical V de l’outil 142 de manutention comme illustré à la Figure 2. Provision can be made for a control law to be predefined in the processing unit 10 which, when it detects a movement of the control member 121 upwards or downwards, applies a control law to the lifting cylinder V1 and the telescoping cylinder (not shown) making it possible to maintain the position of the tool 142 (and therefore of the corresponding tool) in projection in a horizontal plane, at the same time as the arm rises or s lowers angularly and thus obtain the vertical displacement V of the handling tool 142 as illustrated in Figure 2.
[0085] Déplacement horizontal du dispositif de manutention [0085] Horizontal movement of the handling device
[0086] L’organe de commande 121 comprend une mobilité de translation rectiligne vers l’avant et vers l’arrière (par référence à une position de la machine en appui sur un sol par au moins une partie de ses roues, c'est-à-dire avec ou sans pieds stabilisateur actifs), c'est-à-dire selon l’axe AAvAr comme illustré à la Figure 3A. Autrement dit, le dispositif de commande peut être actionné par translation vers le parebrise (sens avant) et vers l’opérateur (sens arrière). [0086] The control member 121 comprises rectilinear translation mobility forwards and backwards (by reference to a position of the machine resting on the ground by at least part of its wheels, that is that is to say with or without active stabilizer feet), that is to say along the axis AAvAr as illustrated in FIG. 3A. In other words, the control device can be actuated by translation towards the windshield (forward direction) and towards the operator (reverse direction).
[0087] La mobilité de translation rectiligne avant/arrière permet à l’opérateur de tirer sur le dispositif de commande vers l’arrière, c'est-à-dire vers lui, et de pousser sur l’organe de commande vers l’avant, c'est-à-dire vers le pare-brise. [0087] The front/rear rectilinear translational mobility allows the operator to pull the control device backwards, that is to say towards him, and to push the control device towards the front, i.e. towards the windshield.
[0088] L’organe de commande 121 est déplaçable à translation de part et d’autre d’une position neutre dans laquelle il est rappelé, entre une position d’extrémité avant et une position d’extrémité arrière. The control member 121 is movable in translation on either side of a neutral position in which it is recalled, between a front end position and a rear end position.
[0089] Lorsque l’opérateur pousse sur l’organe de commande 121 pour le translater vers l’avant, l’unité de traitement 10 commande le déplacement angulaire du bras de manière à réduire ou augmenter l’angle du bras 6 par rapport au sol, tout en commandant la sortie ou la rentrée du deuxième tronçon 62, selon la position angulaire du bras, pour obtenir un déplacement de l’outil 142 qui soit en translation rectiligne horizontale vers l’avant, c'est-à-dire pour maintenir l’outil 142 à une position constante en projection sur un axe vertical au cours du déplacement du bras vers l’avant. When the operator pushes on the control member 121 to translate it forward, the processing unit 10 controls the angular displacement of the arm so as to reduce or increase the angle of the arm 6 with respect to the ground, while controlling the extension or retraction of the second section 62, depending on the position angle of the arm, to obtain a displacement of the tool 142 which is in rectilinear horizontal translation forwards, that is to say to maintain the tool 142 in a constant position in projection on a vertical axis during the moving the arm forward.
[0090] De même, lorsque l’opérateur tire sur le dispositif de commande 12 pour le translater vers l’arrière, l’unité de traitement 10 commande le déplacement angulaire P6 du bras 6 de manière à augmenter l’angle du bras 6 par rapport au sol, tout en commandant la sortie ou la rentrée du deuxième tronçon 62, selon la position angulaire du bras, pour obtenir un déplacement de l’outil 142 qui soit en translation rectiligne horizontale vers l’arrière, c'est-à-dire pour maintenir l’outil 142 à une position constante en projection sur un axe vertical au cours du déplacement du bras vers l’arrière. Similarly, when the operator pulls on the control device 12 to translate it backwards, the processing unit 10 controls the angular displacement P6 of the arm 6 so as to increase the angle of the arm 6 by relative to the ground, while controlling the extension or the retraction of the second section 62, according to the angular position of the arm, to obtain a movement of the tool 142 which is in horizontal rectilinear translation towards the rear, that is to say say to maintain the tool 142 at a constant position in projection on a vertical axis during the rearward movement of the arm.
[0091] On peut prévoir qu’une loi de commande soit prédéfinie dans l’unité de traitement 10 qui, lorsqu’elle détecte un déplacement de l’organe de commande 121 vers l’avant ou vers l’arrière, applique une loi de commande au vérin de levage V1 et au vérin de télescopage (non représenté) permettant de conserver la position de l’outil 142 (et donc de l’outil correspondant) en projection sur un axe vertical, en même temps que le bras s’élève ou s’abaisse angulairement, pour obtenir un déplacement horizontal H de l’outil 142 de manutention comme illustré à la Figure 3. Provision can be made for a control law to be predefined in the processing unit 10 which, when it detects a movement of the control member 121 forwards or backwards, applies a command to the lifting jack V1 and to the telescoping jack (not shown) making it possible to maintain the position of the tool 142 (and therefore of the corresponding tool) in projection on a vertical axis, at the same time as the arm rises or lowers angularly, to obtain a horizontal displacement H of the handling tool 142 as illustrated in Figure 3.
[0092] Dans l'exemple illustré aux figures, l’axe AAvArde coulissement avant-arrière et à l’axe AHB de coulissement haut-bas de l’organe de commande 121 sont orthogonaux l’un par rapport à l’autre. In the example illustrated in the figures, the front-rear sliding axis AAvArde and the top-bottom sliding axis AHB of the control member 121 are orthogonal to each other.
[0093] Mobilités additionnelles [0093] Additional mobility
[0094] Selon un mode de réalisation et comme illustré aux Figures 4 et 4A, l’organe de commande 121 comprend une mobilité de pivotement autour d’un axe parallèle à l’axe AAvAr de coulissement avant-arrière permettant de commander un mécanisme 143 associé à l’outil 142, tel que la fermeture ou l’ouverture d’une mâchoire associée à un godet utilisé comme outil au bout du bras 6. [0094] According to one embodiment and as illustrated in Figures 4 and 4A, the control member 121 comprises a pivoting mobility around an axis parallel to the front-rear sliding axis AAvAr making it possible to control a mechanism 143 associated with the tool 142, such as closing or opening a jaw associated with a bucket used as a tool at the end of the arm 6.
[0095] Selon un mode de réalisation et comme illustré aux Figures 5 et 5A, l’organe de commande 121 comprend une mobilité de pivotement autour d’un axe AT orthogonal à l’axe de coulissement avant arrière et à l’axe de coulissement haut bas permettant à l’opérateur de commander le pivotement P14 de l’outil 142 par rapport au bras 6. [0095] According to one embodiment and as illustrated in Figures 5 and 5A, the control member 121 comprises pivoting mobility around an axis AT orthogonal to the front-to-rear sliding axis and to the sliding axis high bottom allowing the operator to control the pivoting P14 of the tool 142 relative to the arm 6.
[0096] Préférentiellement, les directions horizontale et verticale sont considérées de manière absolue c'est-à-dire par rapport au référentiel terrestre et non par référence au sol qui peut être horizontal ou incliné. La machine comprend un système de détermination de l'horizontalité qui permet par exemple de déterminer l'angle de bras de levage non pas par rapport au châssis mais par rapport à l'horizontale. Le système de détermination de l'horizontalité permet aussi de déterminer la verticale. Preferably, the horizontal and vertical directions are considered absolutely, that is to say with respect to the terrestrial reference frame and not with reference to the ground which may be horizontal or inclined. The machine includes a system for determining the horizontality which makes it possible, for example, to determine the angle of the lifting arm not with respect to the frame but with respect to the horizontal. The system for determining horizontality also makes it possible to determine the vertical.
[0097] Tourelle [0097] Turret
[0098] Selon un mode de réalisation particulier, non représenté, la machine de manutention comprend un châssis muni d'une tourelle qui porte le bras de levage. La tourelle est montée mobile autour d'un axe orthogonal au plan d'appui au sol des roues de la machine. On peut prévoir que l’organe de commande 121 comprend une mobilité de pivotement autour d’un axe parallèle à l’axe haut-bas AHB pour permettre de commander la rotation de la tourelle par pivotement de l’organe de commande 121 autour dudit axe haut bas. According to a particular embodiment, not shown, the handling machine comprises a frame provided with a turret which carries the lifting arm. The turret is movably mounted around an axis orthogonal to the ground support plane of the wheels of the machine. It is possible to provide that the control member 121 comprises a pivoting mobility about an axis parallel to the top-bottom axis AHB to allow control of the rotation of the turret by pivoting of the control member 121 about said axis Up down.
[0099] L'invention n’est pas limitée aux modes de réalisation illustrés dans les dessins. The invention is not limited to the embodiments illustrated in the drawings.
[0100] De plus, le terme « comprenant » n’exclut pas d’autres éléments ou étapes. En outre, des caractéristiques ou étapes qui ont été décrites en référence à l’un des modes de réalisation exposés ci-dessus peuvent également être utilisées en combinaison avec d’autres caractéristiques ou étapes d’autres modes de réalisation exposés ci-dessus. Further, the term "comprising" does not exclude other elements or steps. Furthermore, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.

Claims

Revendications Claims
[Revendication 1 ] 1 . Machine (1 ) de manutention de charge ou de personne, comprenant : [Claim 1 ] 1 . Machine (1) for handling loads or people, comprising:
- un châssis (2) ; - a frame (2);
- un bras de levage (6) télescopique porté par le châssis (2), le bras de levage comprenant plusieurs tronçons incluant au moins un premier tronçon (61 ) et un deuxième tronçon (62) déplaçable à coulissement (T6) par rapport au premier tronçon (61 ) ; le bras de levage (6) étant monté mobile à pivotement (P6) entre une position basse et une position élevée, - a telescopic lifting arm (6) carried by the frame (2), the lifting arm comprising several sections including at least a first section (61) and a second section (62) movable by sliding (T6) relative to the first section (61); the lifting arm (6) being mounted so as to pivot (P6) between a low position and a high position,
- un dispositif de manutention (14) monté à une extrémité du bras (6) de levage, - a handling device (14) mounted at one end of the lifting arm (6),
- une unité de traitement (10) permettant de commander le pivotement (P6) du bras de levage (6), et le coulissement (T6) du deuxième tronçon (62) du bras de levage, et - a processing unit (10) making it possible to control the pivoting (P6) of the lifting arm (6), and the sliding (T6) of the second section (62) of the lifting arm, and
- un dispositif de commande (12) sollicitable avec une main d’un opérateur pour générer un signal de commande de pivotement (P6) du bras de levage (6) ou un signal de commande de coulissement (T6) du deuxième tronçon du bras de levage, caractérisée en ce que le dispositif de commande (12) comprend une base (120) fixe par rapport au châssis (2) et un organe de commande (121 ) monté mobile par rapport à la base (120), ledit organe de commande (121 ) présentant au moins une mobilité de coulissement permettant à l’organe de commande (121 ) de prendre en continu différentes positions entre une position neutre d’inactivité et au moins une position de fin de course, de sorte que le déplacement à coulissement de l’organe de commande (121 ) par l’opérateur génère un signal de commande de pivotement (P6) du bras et/ou de coulissement (T6) du deuxième tronçon (62) du bras de levage, qui est fonction de la position de l’organe de commande (121) le long de la course de coulissement disponible, et l’unité de traitement (10) est configurée pour commander de manière combinée le pivotement (P6) du bras de levage (6) et le coulissement (P6) du deuxième tronçon (62) du bras de levage, en fonction du signal de commande généré, pour déplacer horizontalement ou verticalement le dispositif de manutention (14). - a control device (12) that can be activated with an operator's hand to generate a pivoting control signal (P6) for the lifting arm (6) or a sliding control signal (T6) for the second section of the lifting arm lifting, characterized in that the control device (12) comprises a base (120) fixed relative to the frame (2) and a control member (121) mounted to move relative to the base (120), said control member (121) having at least one sliding mobility allowing the control member (121) to continuously assume different positions between a neutral position of inactivity and at least one end-of-travel position, so that the sliding movement of the control member (121) by the operator generates a command signal for pivoting (P6) of the arm and/or for sliding (T6) of the second section (62) of the lifting arm, which is a function of the position of the control member (121) along the available sliding stroke, and the processing unit (10) is configured to control in a combined manner the pivoting (P6) of the lifting arm (6) and the sliding ( P6) of the second section (62) of the lifting arm, depending on the control signal generated, to move the handling device (14) horizontally or vertically.
[Revendication 2] 2. Machine selon la revendication 1 , dans laquelle ladite au moins une mobilité de coulissement de l’organe de commande (121 ) comprend une mobilité de coulissement selon un axe avant-arrière (AAVA,-) de sorte que la sollicitation de l’organe de commande (121 ) selon ladite mobilité de coulissement avant-arrière génère un signal de commande de déplacement horizontal du dispositif de manutention (14), et l’unité de traitement (10) est configurée pour, à réception de ce signal, commander de manière combinée le pivotement (P6) du bras de levage (6) et le coulissement (T6) du deuxième tronçon du bras (62) télescopique de manière à déplacer le dispositif de manutention (14) selon une direction parallèle à l’horizontale. [Claim 2] 2. Machine according to claim 1, wherein said at least one sliding mobility of the control member (121) comprises a sliding mobility along a front-rear axis (AAVA, -) so that the actuation of the control member (121) according to said front-rear sliding mobility generates a signal for controlling the horizontal movement of the handling device (14), and the processing unit (10) is configured to, on reception of this signal, controlling in a combined manner the pivoting (P6) of the lifting arm (6) and the sliding (T6) of the second section of the telescopic arm (62) so as to move the handling device (14) in a direction parallel to the horizontal.
[Revendication 3] 3. Machine selon l'une quelconque des revendications précédentes, dans laquelle ladite au moins une mobilité de coulissement de l’organe de commande (121 ) comprend une mobilité de coulissement selon un axe haut-bas (AHB) de sorte que la sollicitation de l’organe de commande (121 ) selon ladite mobilité de coulissement haut-bas génère un signal de commande de déplacement vertical du dispositif de manutention (14), et l’unité de traitement (10) est configurée pour, à réception de ce signal, commander de manière combinée le pivotement (P6) du bras de levage (6) et le coulissement (T6) du deuxième tronçon du bras (62) télescopique de manière à déplacer le dispositif de manutention (14) selon une direction parallèle à la verticale. [Claim 3] 3. Machine according to any one of the preceding claims, wherein said at least one sliding mobility of the control member (121) comprises a sliding mobility along an up-down axis (AHB) so that the actuation of the control member (121) according to said up-down sliding mobility generates a control signal for vertical movement of the handling device (14), and the processing unit (10) is configured to, at reception of this signal, controlling in a combined manner the pivoting (P6) of the lifting arm (6) and the sliding (T6) of the second section of the telescopic arm (62) so as to move the handling device (14) in a direction parallel to the vertical.
[Revendication 4] 4. Machine selon les revendications 2 et 3, dans laquelle l’organe de commande (121 ) comprend aussi une mobilité de pivotement autour d’un axe (AT) orthogonal à l’axe de coulissement avant arrière (AAVAI-) et à l’axe de coulissement haut-bas (AHB) permettant à l’opérateur de commander une mobilité de pivotement (P14) du dispositif de manutention (14) par rapport au bras (6). [Claim 4] 4. Machine according to claims 2 and 3, wherein the control member (121) also comprises a pivoting mobility about an axis (AT) orthogonal to the front-rear sliding axis (AAVAI- ) and the up-down sliding axis (AHB) allowing the operator to control pivoting mobility (P14) of the handling device (14) relative to the arm (6).
[Revendication 5] 5. Machine selon l'une quelconque des revendications précédentes, dans laquelle le dispositif de commande (12) est un dispositif électro-proportionnel de sorte que plus la course de déplacement de l'organe de commande (121 ) imposée par l’opérateur est grande, plus la vitesse de 19 déplacement commandée correspondante du bras (6) ou du dispositif de manutention (14) est grande. [Claim 5] 5. Machine according to any one of the preceding claims, in which the control device (12) is an electro-proportional device so that the greater the displacement stroke of the control member (121) imposed by operator is greater, the greater the speed of 19 corresponding controlled movement of the arm (6) or the handling device (14) is large.
[Revendication 6] 6. Machine selon l'une quelconque des revendications précédentes, dans laquelle l’organe de commande (121 ) présente une paroi périphérique de forme concave, vue de l’extérieur du dispositif de commande. [Claim 6] 6. Machine according to any one of the preceding claims, in which the control member (121) has a peripheral wall of concave shape, seen from outside the control device.
[Revendication 7] 7. Machine selon l'une quelconque des revendications précédentes, dans laquelle le châssis (2) étant muni d'une tourelle qui porte le bras de levage, la tourelle est montée mobile autour d'un axe orthogonal au plan d'appui au sol de la machine, l’organe de commande (121) comprend une mobilité de pivotement autour d’un axe parallèle à un axe haut-bas (AHB) pour permettre de commander la rotation de la tourelle par pivotement de l’organe de commande (121 ) autour dudit axe haut-bas (AHB). [Claim 7] 7. Machine according to any one of the preceding claims, in which the frame (2) being provided with a turret which carries the lifting arm, the turret is movably mounted about an axis orthogonal to the plane of support on the ground of the machine, the control member (121) comprises a pivoting mobility around an axis parallel to an up-down axis (AHB) to make it possible to control the rotation of the turret by pivoting of the control member (121) about said top-bottom axis (AHB).
[Revendication 8] 8. Machine selon l'une quelconque des revendications précédentes, prise en dépendance de la revendication 2, dans laquelle l’organe de commande (121 ) comprend une mobilité de pivotement autour d’un axe parallèle à l’axe (AAVAI-) de coulissement avant-arrière, permettant de commander un mécanisme (143) du dispositif de manutention (14), tel qu’un mécanisme de fermeture ou d’ouverture d’une mâchoire associée à un godet utilisé comme outil au bout du bras (6). [Claim 8] 8. Machine according to any one of the preceding claims, taken in dependence on claim 2, wherein the control member (121) comprises a pivoting mobility about an axis parallel to the axis ( AAVAI-) fore-aft sliding, making it possible to control a mechanism (143) of the handling device (14), such as a mechanism for closing or opening a jaw associated with a bucket used as a tool at the end of the arms (6).
[Revendication 9] 9. Machine selon l'une quelconque des revendications précédentes, dans laquelle l’organe de commande (121) est configuré pour être rappelé en position neutre d’inactivité. [Claim 9] 9. Machine according to any one of the preceding claims, in which the control member (121) is configured to be returned to the neutral position of inactivity.
[Revendication 10] 10. Machine selon l'une quelconque des revendications précédentes, dans laquelle le dispositif de manutention (14) comprend un porte-outil (141 ) articulé à l’extrémité du bras de levage (6) et un outil (142) de manutention, tel qu’un godet ou un système de fourches, fixé de manière démontable ou indémontable au porte-outil. [Claim 10] 10. Machine according to any one of the preceding claims, in which the handling device (14) comprises a tool holder (141) articulated at the end of the lifting arm (6) and a tool (142 ) handling, such as a bucket or a system of forks, removably or unremovably attached to the tool carrier.
[Revendication 11] 11. Machine selon l'une quelconque des revendications précédentes, dans laquelle la machine comprend un système de capteur raccordé à l’unité de traitement (10), le système de capteur comprenant au moins un capteur (C6) de l’angle du bras (6) de levage, et de préférence un capteur (C62) de la position du deuxième tronçon (62) par rapport au premier tronçon (61 ). [Claim 11] 11. Machine according to any one of the preceding claims, in which the machine comprises a sensor system connected to the processing unit (10), the sensor system comprising at least one sensor (C6) of the angle of the lifting arm (6), and preferably a sensor (C62) of the position of the second section (62) relative to the first section (61).
PCT/FR2022/052034 2021-10-28 2022-10-26 Handling machine with a telescopic arm comprising a device for controlling said arm WO2023073320A1 (en)

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FR2111447A FR3128705B1 (en) 2021-10-28 2021-10-28 Handling machine with telescopic arm comprising a device for controlling said arm

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04130299U (en) * 1991-05-20 1992-11-30 株式会社アイチコーポレーシヨン Work equipment operating device
US20070003395A1 (en) * 2002-07-15 2007-01-04 Stock Of Sweden Ab Device in a vehicle adapted to handle loads
JP2010150044A (en) * 2010-02-12 2010-07-08 Tadano Ltd Operation device for high lift work vehicle
DE202016101354U1 (en) * 2015-03-13 2016-06-15 Iveco Magirus Ag Steiger machine control apparatus
US20180171578A1 (en) * 2016-12-16 2018-06-21 Clark Equipment Company Loader with telescopic lift arm
JP2019094161A (en) * 2017-11-22 2019-06-20 株式会社タダノ Operation lever device of work machine
US10647560B1 (en) * 2011-05-05 2020-05-12 Enovation Controls, Llc Boom lift cartesian control systems and methods

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04130299U (en) * 1991-05-20 1992-11-30 株式会社アイチコーポレーシヨン Work equipment operating device
US20070003395A1 (en) * 2002-07-15 2007-01-04 Stock Of Sweden Ab Device in a vehicle adapted to handle loads
JP2010150044A (en) * 2010-02-12 2010-07-08 Tadano Ltd Operation device for high lift work vehicle
US10647560B1 (en) * 2011-05-05 2020-05-12 Enovation Controls, Llc Boom lift cartesian control systems and methods
DE202016101354U1 (en) * 2015-03-13 2016-06-15 Iveco Magirus Ag Steiger machine control apparatus
US20180171578A1 (en) * 2016-12-16 2018-06-21 Clark Equipment Company Loader with telescopic lift arm
JP2019094161A (en) * 2017-11-22 2019-06-20 株式会社タダノ Operation lever device of work machine

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FR3128705B1 (en) 2023-11-24

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