EP4493507B1 - Handhabungsmaschine mit einer handbedienbaren steuereinrichtung - Google Patents

Handhabungsmaschine mit einer handbedienbaren steuereinrichtung

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Publication number
EP4493507B1
EP4493507B1 EP23714805.1A EP23714805A EP4493507B1 EP 4493507 B1 EP4493507 B1 EP 4493507B1 EP 23714805 A EP23714805 A EP 23714805A EP 4493507 B1 EP4493507 B1 EP 4493507B1
Authority
EP
European Patent Office
Prior art keywords
control
machine
lifting arm
pivot
handling
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
EP23714805.1A
Other languages
English (en)
French (fr)
Other versions
EP4493507A1 (de
EP4493507C0 (de
Inventor
Thierry Lehmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manitou BF SA
Original Assignee
Manitou BF SA
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 SA filed Critical Manitou BF SA
Publication of EP4493507A1 publication Critical patent/EP4493507A1/de
Application granted granted Critical
Publication of EP4493507B1 publication Critical patent/EP4493507B1/de
Publication of EP4493507C0 publication Critical patent/EP4493507C0/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F9/0759—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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/283—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a single arm pivoted directly on the chassis
    • E02F3/286—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a single arm pivoted directly on the chassis telescopic or slidable
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • 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
    • G05G2009/04774—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 switches or sensors on the handle

Definitions

  • the present invention relates generally to handling machines.
  • a handling device such as a fork device, which can be pivoted relative to the lifting arm around a substantially horizontal axis, in one direction for a digging operation and in the opposite direction for a dumping operation.
  • the handling device can also be lowered or raised by pivoting the lifting arm around a substantially horizontal axis relative to the chassis of the handling machine.
  • the handling device can also be moved by controlling the telescoping mobility of the arm.
  • a joystick which includes a control body which can be grasped manually and a fixed base relative to which the control body has several mobilities.
  • the joystick control body has a first mobility around a substantially horizontal axis and transverse to the longitudinal axis of the machine to allow the joystick body to be rotated forward or backward relative to a neutral position, so that rotating the joystick body backward controls the lifting arm and rotating the joystick body forward controls the lowering of the lifting arm.
  • the joystick body has a second range of motion around a roughly horizontal axis parallel to the machine's longitudinal axis. This allows the joystick body to be rotated laterally to one side or the other relative to a neutral position, i.e., to the left or right of the machine as seen from the operator's perspective in the cab. Rotating the joystick to one side of the machine pivots the handling device into the digging position, and rotating it to the opposite side pivots the handling device into the dumping position.
  • the joystick control body may include a wheel that the operator can rotate with a finger in either direction to control the telescoping mobility of the arm in the direction of an extension or retraction of the arm.
  • the operator must often test the pivoting of the joystick control body by making a small movement to visually observe the movement of the handling device, and possibly correct by making the opposite movement.
  • the demand WO2020245531 A1 describes a load handling machine which includes a rolling chassis, a drive system for moving the rolling chassis, a load handling system carried by the chassis, a piloting unit, and a control device for the load handling system which can be operated manually by an operator.
  • the present invention aims to provide a new handling machine that can overcome all or part of the problems described above.
  • control device which preferably takes the form of a joystick (control lever)
  • the operator controls the pivoting of the handling device for digging or dumping by using the control element, such as a knob or slider, located on a lateral side of the moving body of the control device, by moving the thumb upwards (and forwards) for digging or downwards (and backwards) for dumping.
  • control element such as a knob or slider
  • pivoting the handling device for digging or dumping required pivoting the moving body of the control device laterally, i.e. around an axis substantially parallel to the longitudinal axis of advance of the machine, which is not intuitive, and requires having sufficient lateral space around the control device so as not to hit any element.
  • the machine according to the invention by a simple movement of his thumb, substantially upwards, while remaining positioned on the lateral control member to move the lateral control member relative to the moving body of the control device which carries it, the operator can intuitively control the digging.
  • the operator can intuitively control the tipping action.
  • the operator does not need to laterally tilt the moving body of the control device to achieve the tipping and tipping functions, thus avoiding handling errors (since right or left movement does not intuitively translate to tipping or tipping, which are rotational movements of the handling device in a vertical plane) and also preventing obstruction or constraint from lateral bulk around the joystick.
  • control device allows for a possible combination of different mobilities, such as a combined movement of raising the arm and digging the handling device.
  • the thumb-accessible design allows the operator to precisely control the digging and dumping motion.
  • the thumb is indeed a precise and resilient finger. The operator no longer needs to move their wrist laterally to control digging and dumping, thus reducing the risk of musculoskeletal disorders (ligament strain).
  • control device so that it does not have lateral tilting mobility of its body, which makes it possible to limit the width of the cabin.
  • the handling machine may also include one or more of the following features taken in any technically permissible combination.
  • control body of the control device comprises a single pivot axis which is formed by the first pivot axis.
  • the third pivoting or sliding axis of the control member is, with reference to a displacement along said third axis from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented downwards.
  • An actuation system preferably formed of cylinders, allows the said lifting arm 6 to be moved relative to the chassis 2 and the handling device 14 to be moved relative to the lifting arm 6.
  • the telescopic lifting arm 6 comprises a first section 61 and a second section 62, mounted sliding relative to the first section 61. According to other embodiments, the telescopic lifting arm 6 comprises a greater number of sections mounted sliding relative to each other.
  • the control device 16 enables the arm manipulator function to be performed, i.e., to control the angular position of the arm 6 and the telescoping position of the arm 6 which corresponds to the exit position of the second section 62 of the arm relative to the first section of the arm 61 as detailed below.
  • the control device 16 shown below provides 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 chassis 2 and can be oriented around a pivot point 7.
  • the pivot point 7 is parallel to the ground contact plane of the machine's wheels, so that when the machine's wheels are in contact with a horizontal surface, the pivot point 7 is horizontal.
  • the 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 (i.e., the axle connecting the two rear wheels 4) than to the front axle (i.e., the axle connecting the two front wheels 3).
  • the lifting arm 6 can similarly be articulated to the turret in a zone closer to the rear axle than to the front axle when the arm is oriented towards the front of the machine.
  • the arm 6 is configured to pivot around an axis transverse to the machine's longitudinal axis to move between a lowered and a raised position.
  • the arm allows for various angles of inclination relative to the ground contact plane of the machine's wheels, and in particular, for a maximum angle in the raised position, for example, between 55° and 70°, relative to the ground contact plane of the machine's wheels.
  • the minimum angle that the arm can reach in the lowered position relative to the ground contact plane of the machine's wheels is, for example, between -5° and 5°.
  • the arm has an angular deflection of at least 50°.
  • the handling device 14 comprises a tool holder 141, also called an apron, and a handling tool 142 attached to the tool holder in a removable manner.
  • the 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 a pivot axis 15 parallel to the axis 7 and configured to perform different operations depending on the handling tool coupled to the carriage.
  • the handling tool includes forks for handling a load 9, such as a pallet, but the forks can be replaced by a bucket or other tool.
  • the actuation device of the handling device includes in particular a lifting cylinder V1 which allows the arm 6 to be moved up and down 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 machine's ground support plane).
  • the actuation device of the handling device also includes a tilting cylinder V3 which allows the apron 141 to be rotated relative to the lifting arm 6, under the control of the processing unit 10. It can also be provided that the actuation device of the handling device includes a rotation cylinder located on the tool side to allow the tool to be rotated relative to the apron.
  • the actuation device of the handling device 14 includes a compensating cylinder V2 which is coupled to the chassis 2 and the lifting arm 6 and in fluidic communication with the tilting cylinder V3 so that the tilting cylinder V3 is slaved to the compensating cylinder to substantially maintain the orientation of the apron 141 (and therefore of the tool) when the lifting arm 6 is moved.
  • the tilting cylinder V3 remains controllable by the operator using a control element 17 shown below to control the tilt of the apron 141 by related to arm 6 in order to perform operations with the handling tool 142 coupled to the apron.
  • Other compensation methods for example electronic, may be considered.
  • the cylinders are hydraulic cylinders.
  • the cylinders can be of the electric type.
  • the handling machine includes a human-machine interface that allows the handling machine to be controlled.
  • the human-machine interface includes the control device 16.
  • the control device includes a fixed base relative to the chassis 2, and a movable control body 160 relative to this fixed base, which allows control of the lifting arm 6 and the handling device 14.
  • the control device 16 is housed in the cab of the handling machine.
  • the control device 16 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 operator's input of the control body 160.
  • the hydraulic circuit may include a hydraulic pressure source and a hydraulic distributor interposed between the hydraulic pressure source and a control solenoid valve for each actuator formed by a hydraulic cylinder.
  • the control solenoid valve may be operated by the processing unit 10 according to the operator's input to the control device 16.
  • the cylinders may be electric cylinders.
  • the human-machine interface may also include a screen 13 which allows, for example, the operator to have feedback on the actions he performs.
  • the human-machine interface also usually includes a control system for ground movement, such as a set of pedals, allowing acceleration and braking, and a steering wheel allowing steering of the machine.
  • a control system for ground movement such as a set of pedals, allowing acceleration and braking, and a steering wheel allowing steering of the machine.
  • control device 16 includes a main control body 160, such as the body of a joystick, which can be operated by the operator's hand to generate a control signal for pivoting the lifting arm 6, by pivoting the control device 16 forwards or backwards around a first pivot axis A1 to generate a pivot control signal PIV6 for the lifting arm 6 (See Figure 1 ).
  • main control body 160 such as the body of a joystick
  • the control device 16 also includes a control element 17, such as a wheel, carried by the control body 160, on a lateral side of the control body 160.
  • a control element 17 is located on a side of the joystick body 160 corresponding to a thumb positioning area of the operator's hand.
  • the control element 17 is mounted to pivot relative to the main body 160 around a second pivot axis A2, which can be actuated with the operator's thumb to generate a sliding control signal T6 for the second section of the lifting arm (See Figure 2 ).
  • the control element 17 can be in the form of a slider, mounted to move (rectilinear translation) relative to the main body 160 along a second axis A2' to generate a sliding control signal T6 for the second section of the lifting arm.
  • the second axis A2' can correspond to the axis A2 shown above.
  • control element 17 is also mounted to pivot about a third axis A3, transverse to the second pivot axis A2, to control the pivoting PIV14 of the handling device 14 relative to the lifting arm 6 between the tipping position and the digging position (see Figure 3 ).
  • control element 17 is also mounted to be movable by sliding (rectilinear translation) along a third axis A3', transverse to the second axis A2', to control the pivoting PIV14 of the handling device 14 relative to the lifting arm 6.
  • the third axis A3' can correspond to the axis A3 shown above.
  • control element 17 can be used simultaneously along its two axes of mobility to control in a combined manner the retraction or extension of the arm 6 and the pivoting PIV14 of the handling device 14 relative to the arm 6.
  • control member 17 is mounted, relative to the main body 160, pivoting around an axis to control one of the pivoting mobilities of the handling and telescoping device of the arm, and that the control member is mounted sliding along another axis, preferably orthogonal to the previous axis, to control the other mobility.
  • the third pivot axis A3 (or alternatively the sliding axis A3'), is, with reference to a displacement along said third pivot axis A3 (respectively A3') from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented downwards.
  • the second pivot axis A2 (or alternatively the sliding axis A2'), is, with reference to a displacement along said second pivot axis A2 (respectively A2') from a point located towards the rear of the machine to a point located towards the front of the machine, inclined with respect to the horizontal by being oriented upwards.
  • the main body 160 of the control device 16 comprises a single pivot axis formed by the first pivot axis A1.
  • the main body may be provided to have one or several other mobilities to assign them one or more other control functions.
  • control device 16 operates in an electro-proportional manner to allow, when the operator moves the control body 160 and/or the control member 17 into a given position, to emit a signal which is a function of the position of the control body 160 and/or the control member 17, and thus to be able to precisely control the arm and/or the handling device.
  • the processing unit 10 is configured so that the greater the displacement stroke of the control body 160 or the control element 17 imposed by the operator, the greater the commanded displacement speed of the arm 6 or the corresponding handling device 14.
  • the control body 160 differs in particular from levers, or joysticks, known from the prior art, in that the control body 160 is equipped with a control element 17 on one lateral side of the control body which has two axes A2, A3 (or alternatively two axes A2', A3'), with different mobility as illustrated in the Figure 4 and explained previously, one of the mobilities used to control the telescoping and the other mobility used to control the tilting of the handling device for the cage or the tipping, said controls being able to be combined.
  • the machine includes a processing unit.
  • the processing unit is, for example, a computer.
  • the processing unit used to control the actuation system of the lifting arm and the handling device may be shared, in whole or in part, with the processing unit that controls the machine's ground movement.
  • the processing unit may, for example, take the form of a processor and a data memory in which computer instructions executable by said processor are stored, or it may take the form of a microcontroller.
  • the functions and steps described can be implemented as a computer program or via hardware components (e.g., programmable gate arrays). Specifically, the functions and steps performed by the processing unit or its modules can be implemented by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components, or by components such as field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs). It is also possible to combine computer and electronic components.
  • hardware components e.g., programmable gate arrays.
  • FPGAs field-programmable gate arrays
  • ASICs application-specific integrated circuits
  • the unit or means or modules of said unit are configured to perform a given operation, this means that the unit includes computer instructions and the corresponding means of execution which enable said operation to be performed and/or that the unit includes corresponding electronic components.
  • the processing unit is thus an electronic and/or computer unit.
  • said unit is configured to perform a given operation, this means that the unit includes computer instructions and the corresponding means of execution that allow said operation to be carried out and/or that the unit includes corresponding electronic components.
  • the handling machine includes a sensor system connected to the processing unit.
  • the sensor system includes a sensor for the angle of the lifting arm, and preferably a sensor for the telescoping position of the arm, i.e., the position of the second section 62 of the arm 6 relative to the first section 61.
  • the design of the new control device allows the operator to act manually on the control device in a natural and intuitive way, in particular by allowing the control element, preferably formed by a wheel or a slider, to rotate around an axis pivot or along a slide, downwards and forwards to lengthen the arm and conversely upwards and backwards to shorten it, and allowing the knob to be rotated or the cursor to slide around another pivot axis or along another slide, upwards and forwards to dig and conversely downwards and backwards to dump, while retaining, as in the prior art, the possibility of pulling the movable control body of the control device towards oneself to increase the angle of the lifting arm, and pushing the movable control body to reduce the angle of the lifting arm.
  • the control element preferably formed by a wheel or a slider

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Control Devices (AREA)
  • Earth Drilling (AREA)

Claims (7)

  1. Handhabungsmaschine, umfassend:
    - ein Fahrgestell (2);
    - einen teleskopischen Hubarm (6), der von dem Fahrgestell (2) getragen wird, wobei der Hubarm (6) zwei zueinander gleitend verlagerbare (T6) Armabschnitte (61, 62) umfasst, wobei der Hubarm (6) in Bezug auf das Fahrgestell (2) zwischen einer unteren Position und einer oberen Position schwenkbeweglich (PIV6) montiert ist;
    - eine Handhabungsvorrichtung (14) wie eine Schaufel oder ein Gabelsystem, die an einem Ende des Hubarms montiert ist, wobei die Handhabungsvorrichtung (14) geeignet ist, in Bezug auf den Hubarm (6) zwischen einer abgesenkten Position, Entleerposition genannt, und einer angehobenen Position, Aufnahmeposition genannt, zu schwenken (PIV14);
    - eine Verarbeitungseinheit (10), die es ermöglicht, das Schwenken (PIV6) des Hubarms (6), das Gleiten (T6) des zweiten Abschnitts (62) des Hubarms und das Schwenken (PIV14) der Handhabungsvorrichtung (14) zu steuern; und
    - eine Steuervorrichtung (16), umfassend:
    einen Steuerkörper (160) wie den Körper eines Joysticks, der mit einer Hand der Bedienperson betätigbar ist, um ein Steuersignalsignal zum Schwenken des Hubarms (6) durch Schwenken des Steuerkörpers (160) zur Vorderseite oder zur Rückseite der Maschine hin um eine erste Schwenkachse (A1) zu erzeugen, und
    ein Steuerorgan (17), das mit dem Daumen der Hand der Bedienperson betätigbar ist, wie ein Rad oder ein Schieber, wobei das Steuerorgan (17) von dem Steuerkörper (160), auf einer Seite des Steuerkörpers (160), getragen wird und in Bezug auf den Steuerkörper (160) um eine oder entlang einer zweiten Schwenk- oder Gleitachse (A2, A2') schwenkbar oder gleitend montiert ist, um ein Steuersignal zum Gleiten (T6) des zweiten Abschnitts des Hubarms (6) zu erzeugen,
    dadurch gekennzeichnet, dass das Steuerorgan (17) auch schwenkbeweglich oder gleitend in Bezug auf den Steuerkörper (160) um eine oder entlang einer dritten Schwenk- oder Gleitachse (A3, A3') montiert ist, die quer zu der zweiten Schwenk- oder Gleitachse (A2, A2') verläuft, um das Schwenken (PIV14) der Handhabungsvorrichtung (14) in Bezug auf den Hubarm (6) zwischen der Entleerposition und der Aufnahmeposition zu steuern.
  2. Handhabungsmaschine (1) nach Anspruch 1, wobei der Steuerkörper (160) der Steuervorrichtung (16) eine einzige Schwenkachse umfasst, die durch die erste Schwenkachse (A1) gebildet wird.
  3. Handhabungsmaschine (1) nach Anspruch 1 oder 2, wobei der Steuerkörper (160) der Steuervorrichtung (16) keine seitliche Schwenkbeweglichkeit aufweist.
  4. Handhabungsmaschine (1) nach einem der vorhergehenden Ansprüche, wobei, im nicht betätigten Zustand des Hauptkörpers (160) der Steuervorrichtung (16), die dritte Schwenk- oder Gleitachse (A3, A3') des Steuerorgans (17) unter Bezugnahme auf eine Verlagerung entlang der dritten Achse (A3, A3') von einem zur Rückseite der Maschine hin gelegenen Punkt zu einem zur Vorderseite der Maschine hin gelegenen Punkt in Bezug auf die Horizontale geneigt ist, wobei sie nach unten hin gerichtet ist.
  5. Handhabungsmaschine (1) nach einem der vorhergehenden Ansprüche, wobei, im nicht betätigten Zustand des Hauptkörpers (160) der Steuervorrichtung (16), die zweite Schwenk- oder Gleitachse (A2, A2') des Steuerorgans (17) unter Bezugnahme auf eine Verlagerung entlang der zweiten Achse (A2, A2') von einem zur Rückseite der Maschine hin gelegenen Punkt zu einem zur Vorderseite der Maschine hin gelegenen Punkt in Bezug auf die Horizontale geneigt ist, wobei sie nach oben hin gerichtet ist.
  6. Handhabungsmaschine (1) nach einem der vorhergehenden Ansprüche, wobei das Steuerorgan (17) auf einer seitlichen Seite des Körpers (160) des Joysticks gelegen ist, die einem Positionierungsbereich des Daumens der Hand der Bedienperson entspricht.
  7. Handhabungsmaschine (1) nach einem der vorhergehenden Ansprüche, wobei die zweite Schwenk- oder Gleitachse (A2, A2') und die dritte Schwenk- oder Gleitachse (A3, A3') orthogonal verlaufen.
EP23714805.1A 2022-03-17 2023-03-15 Handhabungsmaschine mit einer handbedienbaren steuereinrichtung Active EP4493507B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2202370A FR3133605B1 (fr) 2022-03-17 2022-03-17 Machine de manutention comprenant un dispositif de commande sollicitable manuellement
PCT/FR2023/050348 WO2023175273A1 (fr) 2022-03-17 2023-03-15 Machine de manutention comprenant un dispositif de commande sollicitable manuellement

Publications (3)

Publication Number Publication Date
EP4493507A1 EP4493507A1 (de) 2025-01-22
EP4493507B1 true EP4493507B1 (de) 2025-12-31
EP4493507C0 EP4493507C0 (de) 2025-12-31

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EP23714805.1A Active EP4493507B1 (de) 2022-03-17 2023-03-15 Handhabungsmaschine mit einer handbedienbaren steuereinrichtung

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US (1) US20250162849A1 (de)
EP (1) EP4493507B1 (de)
FR (1) FR3133605B1 (de)
WO (1) WO2023175273A1 (de)

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Publication number Priority date Publication date Assignee Title
US20260077985A1 (en) * 2024-09-13 2026-03-19 Hyster-Yale Materials Handling, Inc. Dynamically stable ergonomic control for man-up lift truck
FR3166375A1 (fr) * 2024-09-16 2026-03-20 Manitou Bf Dispositif de commande pour machine de manutention, et machine de manutention correspondante

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Publication number Priority date Publication date Assignee Title
US6226582B1 (en) * 1997-07-21 2001-05-01 Sre Controls, Inc. Integrated control for electric lift trucks
EP1015378B1 (de) * 1997-07-25 2002-04-17 Crown Equipment Corporation Vielfunktionsregelgriff
US6374147B1 (en) * 1999-03-31 2002-04-16 Caterpillar Inc. Apparatus and method for providing coordinated control of a work implement
FR2858861B1 (fr) * 2003-08-11 2007-06-22 Manitou Bf Dispositif de commande par interaction avec la main d'un operateur
US8893818B2 (en) * 2010-12-17 2014-11-25 Caterpillar Inc. Hydraulic system having dual tilt blade control
US10036139B2 (en) * 2014-11-24 2018-07-31 Caterpillar Inc. Machine input device having multi-axis tool control
US10718098B1 (en) * 2016-03-24 2020-07-21 The Toro Company Stand-on or walk-behind utility loader with variable length lift arm assembly
US12545564B2 (en) * 2019-06-07 2026-02-10 Manitou Bf Load handling machine, mechanical shovel, bucket loader or the like, and method for controlling a load handling machine
US11828043B2 (en) * 2020-12-21 2023-11-28 Caterpillar Inc. Manual input device and method

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FR3133605B1 (fr) 2024-03-01
FR3133605A1 (fr) 2023-09-22
EP4493507A1 (de) 2025-01-22
WO2023175273A1 (fr) 2023-09-21
US20250162849A1 (en) 2025-05-22
EP4493507C0 (de) 2025-12-31

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