EP4361351A1 - Handling machine - Google Patents

Abstract

The invention relates to a handling machine (1) comprising: a chassis (2); a boom (3), a tool (5) or a tool holder frame (4) which is pivotally mounted on a front end of the boom (3); at least one dumping cylinder (25) which has a defined stroke between a first and a second dumping position, capable of causing a pivoting of the tool (5) or the tool-carrying frame (4) relative to the boom (3) and at least one compensation cylinder (30, 31) which is pivotally mounted on the arrow (3) around a sixth axis (N) and on the front connecting rod (17) around a seventh axis (M ) in such a way that during an upward movement of the boom (3) towards the extreme raised position, the compensation cylinder (30,31) moves towards a first compensation position so that the tool (5) or the tool holder frame (4) pivots towards an extreme dumping position.

Description

Technical area

The invention relates to the field of handling machines comprising a pivotally mounted boom and a tool, such as a bucket for example, which is hingedly mounted on the boom.

Technology background

In the state of the art, handling machines are known in which the boom is pivotally mounted on the chassis by means of an articulation device of the deformable parallelogram type, that is to say comprising two connecting rods which are each pivotally mounted, on the one hand, on the chassis and, on the other hand, on the boom. The machines also include a lifting cylinder which is pivotally mounted, on the one hand, on the chassis and, on the other hand, on the boom and which thus makes it possible to move the boom between an extreme lowered position and an extreme raised position. Furthermore, a tool or a tool-carrying frame intended to receive a tool is pivotally mounted on one end of the boom and a tipping cylinder makes it possible to pivot said tool or tool-carrying frame relative to the boom. Such articulation means are particularly advantageous in that the deformable parallelogram articulation device is capable of preventing, or at least limiting, the longitudinal movement of the center of gravity of the machine during pivoting of the boom. The risk of the machine tipping over is thus limited.

It is also known to equip handling machines of the aforementioned type with a compensation device which makes it possible to vary the stroke of the dumping cylinder as a function of variations in the stroke of the lifting cylinder so as to maintain constant or substantially constant l the inclination of the tool relative to the ground, when moving the boom between the extreme lowered position and the extreme raised position. These compensation devices include one or more compensation valves which are controlled according to the stroke of the lifting cylinder.

These handling machines are not fully satisfactory.

In particular, with a compensation device of the aforementioned type, the reliability of the compensation is variable since the operation of the compensation valve depends on the viscosity of the oil used and this varies depending on the duration and the conditions. of use (external temperature in particular).

Summary

An idea underlying the invention consists of proposing a handling machine which does not present the aforementioned drawbacks, that is to say equipped with compensation means which make it possible to reliably maintain the inclination of the tool relative to the chassis, constant or substantially constant, during the movement of the boom.

• un châssis ; et
• une flèche qui est montée articulée sur le châssis de la machine entre une position extrême abaissée et une position extrême relevée au moyen d'un dispositif d'articulation comportant une bielle avant et une bielle arrière, la bielle arrière étant montée pivotante sur le châssis autour d'un premier axe et sur la flèche autour d'un deuxième axe, la bielle avant étant montée pivotante sur la flèche autour d'un troisième axe et sur le châssis autour d'un quatrième axe, le premier axe, le deuxième axe, le troisième axe et le quatrième axe étant parallèles les uns aux autres,
• un outil ou un cadre porte-outil qui est destiné à recevoir un outil, ledit outil ou cadre porte-outil étant monté pivotant sur une extrémité avant de la flèche autour d'un cinquième axe parallèle aux premier, deuxième, troisième et quatrième axes , ledit outil ou cadre porte-outil étant ainsi apte à pivoter selon un premier sens dirigé vers une position extrême de déversement ou selon un deuxième sens dirigé depuis la position extrême de déversement vers une position extrême de cavage ;
• au moins un vérin de bennage qui présente une course définie entre une première et une deuxième positions de bennage, ledit au moins un vérin de bennage étant, d'une part, associé à la flèche et, d'autre part, associé, directement ou indirectement par l'intermédiaire d'un balancier et d'une bielle de bennage par exemple, à l'outil ou au cadre porte-outil de sorte qu'un mouvement du vérin de bennage vers la première position de bennage entraîne un pivotement de l'outil ou du cadre porte-outil selon le deuxième sens et qu'un mouvement du vérin de bennage vers la deuxième position de bennage entraîne un pivotement de l'outil ou du cadre porte-outil selon le premier sens ;
• au moins un vérin de compensation qui présente une course définie entre une première et une deuxième positions de compensation, ledit vérin de compensation étant relié hydrauliquement au vérin de bennage de sorte qu'un mouvement dudit vérin de compensation en direction de la première position de compensation entraîne un mouvement du vérin de bennage en direction de la deuxième position de bennage et qu'un mouvement dudit vérin de compensation en direction de la deuxième position de compensation entraîne un mouvement du vérin de bennage en direction de la première position de bennage ; le vérin de compensation étant monté pivotant sur la flèche autour d'un sixième axe et sur la bielle avant autour d'un septième axe d'une manière telle que lors d'un mouvement de montée de la flèche en direction de la position extrême relevée, le vérin de compensation se déplace en direction de la première position de compensation de sorte que l'outil ou le cadre porte-outil pivote selon le premier sens et que lors d'un mouvement de descente de la flèche en direction de la position extrême abaissée, le vérin de compensation se déplace en direction de deuxième position de compensation de sorte que l'outil ou le cadre porte-outil pivote selon le deuxième sens.

According to a first aspect, the invention proposes a handling machine comprising:

• a chassis ; And
• a boom which is mounted articulated on the chassis of the machine between an extreme lowered position and an extreme raised position by means of an articulation device comprising a front connecting rod and a rear connecting rod, the rear connecting rod being pivotally mounted on the chassis around of a first axis and on the arrow around a second axis, the front connecting rod being pivotally mounted on the arrow around a third axis and on the chassis around a fourth axis, the first axis, the second axis, the third axis and the fourth axis being parallel to each other,
• a tool or a tool holder frame which is intended to receive a tool, said tool or tool holder frame being pivotally mounted on a front end of the boom around a fifth axis parallel to the first, second, third and fourth axes, said tool or tool-carrying frame thus being capable of pivoting in a first direction directed towards an extreme dumping position or in a second direction directed from the extreme dumping position towards an extreme digging position;
• at least one dumping cylinder which has a defined stroke between a first and a second dumping position, said at least one dumping cylinder being, on the one hand, associated with the boom and, on the other hand, associated, directly or indirectly via a pendulum and a dumping rod for example, to the tool or the tool-carrying frame so that a movement of the dumping cylinder towards the first dumping position causes a pivoting of the tool or the tool-carrying frame in the second direction and a movement of the dumping cylinder towards the second dumping position causes a pivoting of the tool or the tool-carrying frame in the first direction;
• at least one compensation cylinder which has a defined stroke between a first and a second compensation position, said compensation cylinder being hydraulically connected to the tipping cylinder so that a movement of said compensation cylinder in the direction of the first compensation position causes a movement of the dumping cylinder in the direction of the second dumping position and that a movement of said compensation cylinder in the direction of the second compensation position causes a movement of the dumping cylinder in the direction of the first dumping position; the compensation cylinder being pivotally mounted on the boom around a sixth axis and on the front connecting rod around a seventh axis in such a way that during an upward movement of the boom towards the extreme raised position , the compensation cylinder moves in the direction of the first compensation position so that the tool or the tool holder frame pivots in the first direction and that during a downward movement of the boom in the direction of the extreme position lowered, the compensation cylinder moves in the direction of the second compensation position so that the tool or the tool holder frame pivots in the second direction.

Thus, the use of the aforementioned compensation cylinder does not present the disadvantages of the aforementioned compensation valve, in particular in that the reliability of the compensation which is ensured by the compensation cylinder no longer depends on the viscosity of the oil used. . In addition, the arrangement of said compensation cylinder which acts between the front connecting rod and the boom is particularly compact and allows said compensation cylinder to be positioned in a configuration allowing it to ensure a substantially constant position of the tool or the frame tool holder relative to the frame when moving the boom, for at least one inclination of the tool or the tool holder frame relative to the frame.

According to embodiments, such a handling machine may have one or more of the following characteristics.

According to one embodiment, the compensation cylinder is arranged to extend during movement towards the second compensation position and to retract during movement towards the first compensation position. Thus, the compensation cylinder is arranged to exert an assistance force participating with the lifting cylinder in the movement of the boom towards the extreme raised position. This makes it possible to restrict the dimensioning of the lifting cylinder and consequently its size, its cost and the flow of hydraulic fluid to be supplied to operate it.

According to one embodiment, the dumping cylinder is arranged to extend during movement towards the second dumping position and to retract during movement towards the first dumping position.

According to one embodiment, the boom comprises two lifting arms extending on either side of a longitudinal axis of the machine, the front connecting rod being arranged between the two lifting arms and being mounted articulated on each of the two lifting arm around the third axis. This contributes in particular to the compactness of the machine.

According to one embodiment, the machine comprises two compensation cylinders which are positioned on either side of the front connecting rod and which are respectively pivotally mounted on one and the other of the two lifting arms around the sixth axis and are pivotally mounted on the front connecting rod around the seventh axis, each of the two compensation cylinders being hydraulically connected to said dumping cylinder. This arrangement allows the compensation cylinders to exert forces on the boom and the front connecting rod which are balanced in relation to the median plane of the machine without harming the compactness of the machine.

According to one embodiment, the dumping cylinder comprises a first chamber and a second chamber which are separated from each other by a piston which is integral with a rod of the dumping cylinder, said rod of the dumping cylinder passing through the second bedroom; the compensation cylinder comprising a first chamber and a second chamber which are separated from each other by a piston which is integral with a rod of said compensation cylinder, said rod of said compensation cylinder passing through the second chamber of said compensation cylinder, the first chamber and the second chamber of the tipping cylinder being hydraulically linked respectively to the first chamber and the second chamber of the tipping cylinder.

According to one embodiment, the dumping cylinder and the compensation cylinder are arranged so that, from a determined position of the tool-carrying frame or of the tool when the boom is in the extreme lowered position, the travel angular Δα1 of the tool holder frame or the tool relative to the boom around the fifth axis during a movement of the boom from the extreme lowered position to the extreme raised position is between -Δα2-x and - Δα2+x; with :
Δα 2: the angular clearance of the boom relative to the chassis during movement of the boom from the extreme lowered position to the extreme raised position; and x = 20°.

According to one embodiment, the predetermined position of the tool-carrying frame or of the tool when the boom is in the extreme lowered position is the extreme digging position. This ensures a substantially constant maintenance of the inclination of the tool relative to the frame for the recessed positions of the tool, that is to say those which are the most critical to prevent the material from escapes from the tool during the movement of the arrow.

According to one embodiment, the dumping cylinder is pivotally mounted on a beam and on the boom, a dumping rod being pivotally mounted on the beam and on the tool-carrying frame or the tool.

According to one embodiment, the dumping cylinder is pivotally mounted on fixing lugs each projecting upwards from a crosspiece linking two lifting arms of the boom.

According to one embodiment, the boom comprises two lifting arms extending on either side of a longitudinal axis of the machine.

According to one embodiment, the chassis comprises a projecting portion which projects upwards between the two lifting arms, said projecting portion projecting beyond the two lifting arms when the boom is in the extreme lowered position.

According to one embodiment, the projecting portion comprises two uprights arranged between the two lifting arms respectively on either side of the longitudinal plane of the machine, the front connecting rod being pivotally mounted around the fourth axis between said uprights.

According to one embodiment, the chassis comprises two spars which extend longitudinally on either side of the longitudinal plane, between the two lifting arms, the spars being connected to each other by crosspieces, the two uprights of the projecting portion being respectively formed in one and the other of the two spars.

According to one embodiment, the front connecting rod comprises a bent portion which has a concavity oriented upwards so that a front portion of the front connecting rod, located at the front of said bent portion is located between the two uprights of the protruding portion when the boom is in the extreme lowered position.

According to one embodiment, the machine does not have a cabin intended to accommodate a driver, which makes the machine particularly compact.

According to one embodiment, the first, second, third and fourth axes are positioned so that, during movement of the arrow between the extreme lowered position and the extreme raised position, the fifth axis moves horizontally over a distance h and vertically over a distance v with h less than 15% of v, preferably less than 10% of v, for example of the order of 7% of v. This makes it possible to significantly limit the risk of the machine tipping over since the center of gravity of the machine moves little in the longitudinal direction of the machine during movements of the boom.

According to one embodiment, the machine comprises a lifting cylinder which has a first end pivotally mounted on the boom and a second end pivotally mounted on the frame.

According to one embodiment, the front connecting rod comprises a bent portion which has a concavity oriented upwards so that a front portion of the front connecting rod, located at the front of said bent portion is located between the two uprights of the protruding portion when the boom is in the extreme lowered position. This contributes to the compactness and aesthetics of the machine.

According to one embodiment, the machine comprises two anti-friction pads which are respectively fixed on a side face of one and the other of the uprights so as to be positioned between said upright and one of the lifting arms when the boom is in the extreme lowered position. Thus, the anti-friction pads make it possible to limit the friction likely to occur between the boom and the protruding portion of the chassis, in the event of transverse bending of the boom.

According to one embodiment, the machine further comprises a bodywork fixed to the chassis, said bodywork having a central recess in which the boom is housed in the extreme lowered position.

According to one embodiment, the machine comprises a front axle and a rear axle, which are each mounted on the chassis along a transverse axis and are each equipped with two wheels, the machine further comprising an electric motor which is coupled to at least one of the front and rear axles via a transmission device.

According to one embodiment, the machine comprises an electrical energy storage device comprising one or more batteries and connected to the electric motor, said electrical energy storage device being arranged in a housing space of the bodywork, positioned behind the rear axle. This makes it possible to form a counterweight intended to compensate for the load carried by the tool.

Brief description of the figures

• [fig.1] La figure 1 est une vue en perspective avant droite d'une machine de manutention, selon un mode de réalisation, dans laquelle la flèche est représentée en position de transport et équipée d'un godet.
• [fig.2] La figure 2 est une vue en perspective similaire à celle de la figure 1 dans laquelle la flèche est représentée en position de transport et sans outil.
• [fig.3] La figure 3 est une vue latérale de la machine de manutention dans laquelle la flèche est représentée dans une position extrême abaissée et équipée d'un godet.
• [fig.4] La figure 4 est une vue de dessus de la machine de manutention.
• [fig.5] La figure 5 est une vue latérale droite partielle de la machine de manutention avec la flèche dans une position intermédiaire entre la position extrême relevée et la position extrême abaissée et équipée d'un godet et dans laquelle seuls le châssis, la flèche, son dispositif d'articulation ainsi que les vérins de levage, de bennage et de compensation sont représentés.
• [fig.6] La figure 6 est une vue latérale droite partielle de la machine de manutention avec la flèche dans la position extrême relevée et dans laquelle seuls le châssis, la flèche, son dispositif d'articulation ainsi que les vérins de levage, de bennage et de compensation sont représentés.
• [fig.7] La figure 7 est une vue partielle en perspective avant gauche de la machine de manutention avec la flèche dans une position extrême relevée et dans laquelle seuls le châssis, la flèche, son dispositif d'articulation ainsi que les vérins de levage, de bennage et de compensation sont représentés.
• [fig.8] La figure 8 est une représentation schématique du circuit hydraulique de commande.

The invention will be better understood, and other aims, details, characteristics and advantages thereof will appear more clearly during the following description of several particular embodiments of the invention, given solely by way of illustration and not limitation. , with reference to the attached drawings.

• [ fig.1 ] There figure 1 is a right front perspective view of a handling machine, according to one embodiment, in which the boom is shown in the transport position and equipped with a bucket.
• [ fig.2 ] There figure 2 is a perspective view similar to that of the figure 1 in which the boom is shown in the transport position and without tools.
• [ fig.3 ] There Figure 3 is a side view of the handling machine in which the boom is shown in an extreme lowered position and equipped with a bucket.
• [ fig.4 ] There figure 4 is a top view of the handling machine.
• [ fig.5 ] There figure 5 is a partial right side view of the handling machine with the boom in an intermediate position between the extreme raised position and the extreme lowered position and equipped with a bucket and in which only the chassis, the boom, its articulation device as well that the lifting, dumping and compensation cylinders are shown.
• [ fig.6 ] There Figure 6 is a partial right side view of the handling machine with the boom in the extreme raised position and in which only the chassis, the boom, its articulation device as well as the lifting, dumping and compensation cylinders are represented.
• [ fig.7 ] There figure 7 is a partial left front perspective view of the handling machine with the boom in an extreme raised position and in which only the chassis, the boom, its articulation device as well as the lifting, dumping and compensation cylinders are represented .
• [ fig.8 ] There figure 8 is a schematic representation of the hydraulic control circuit.

Description of embodiments

By convention, the “longitudinal” direction of the handling machine corresponds to the front-to-back orientation. Furthermore, the “transverse” direction is oriented perpendicular to the longitudinal direction. The terms “rear” and “front” correspond respectively to the abbreviations AR and AV indicated in the figures and are used to define the relative position of one element relative to another in the longitudinal direction. The terms “front” and “rear” are adopted here in relation to the direction of loading of the tool, i.e. the tool is positioned at the front of the machine. This definition does not prefigure the preferred direction of movement of the machine which can therefore occur either forwards or backwards.

With reference to figures 1 to 7 , we describe a handling machine 1 according to one embodiment. Machine 1 has a chassis 2, visible on the figures 5 to 7 , and an arrow 3 which is mounted articulated on the chassis 2 by an articulation device described subsequently. In the embodiment shown, a tool holder frame 4, intended to receive a tool 5, is mounted articulated at the end of the arrow 3. By tool, we designate, for example, forks or a bucket, such as a single bucket, a silage bucket, a distributor bucket or others. In another embodiment not shown, the machine 1 does not include a tool holder frame 4 and the tool 5 is mounted permanently articulated, that is to say immovably, at the end of the boom 3.

Chassis 2 is mobile. To do this, in the embodiment shown, the machine 1 comprises two axles, a front axle 6 and a rear axle 7, which are each mounted on the chassis 2 along a transverse axis and are each equipped with two wheels, the one on the left and the other on the right. At least one and preferably both front 6 and rear 7 axles are steering axles, that is to say they are equipped with means allowing the orientation of the wheels to be varied relative to the longitudinal direction of the machine 1.

Machine 1 has a bodywork 8, visible on the figures 1 to 4 , which rests on the chassis 2 and is fixed to it. The bodywork 8 has accommodation spaces for receiving equipment from the machine 1.

The machine 1 comprises at least one electric motor, not illustrated, which is fixed to the chassis 2 and which is coupled to at least one of the front axles 6 or rear 7, or to both, via a device transmission, mechanical or hydraulic. The machine 1 also includes an electrical energy storage device, not visible, which includes one or more batteries and which is connected to the electric motor in order to supply it with electrical energy. Advantageously, the electrical energy storage device is arranged in a housing space 9, shown for example on the figure 1 , which is located at the rear of the body 8, behind the rear axle 7. Taking into account this arrangement, the body 8 has a height which decreases from the rear towards the front.

The boom 3 comprises two lifting arms 12, 13 which extend longitudinally, parallel to each other and which are arranged on either side of the median longitudinal plane of the machine 1. The two lifting arms 12 , 13 are connected to each other by means of crosspieces 14, 15, 16, for example visible on the figure 4 .

The boom 3 is mounted movable relative to the chassis 2 between an extreme lowered position, shown on the Figure 3 , and an extreme raised position, shown on the Figure 6 . The arrow 3 is thus capable of taking a plurality of positions between the two aforementioned extreme positions and in particular a transport position, represented on the figures 1 and 2 in which the tool-carrying frame 4 is positioned at a sufficient distance from the ground so as not to degrade the ground clearance of the machine 1.

The boom 3 is mounted articulated on the chassis 2 by means of an articulation device comprising two connecting rods, namely a front connecting rod 17 and a rear connecting rod 18, in particular visible on the figures 5 to 7 . The rear connecting rod 18 is, on the one hand, pivotally mounted on the chassis 2 around an axis A and, on the other hand, pivotally mounted on the arrow 3 around an axis B. The front connecting rod 17 is, d 'on the one hand, pivotally mounted on the arrow 3 around an axis D and, on the other hand, pivotally mounted on the chassis 2 around an axis C. The four geometric axes A, B, C and D are parallel to each other to each other and oriented transversely. The axes A, B, C and D thus define the vertices of a deformable quadrilateral. The axes A, B, C and D are positioned so that when the front connecting rod 17 and the rear connecting rod 18 straighten, the boom 3 tilts and the front end of the boom 3 rises relative to its rear end . According to an advantageous embodiment, the axes A, B, C and D are also positioned so that the articulation axis G of the tool holder frame 4 relative to the arrow 3 moves only very little horizontally during of the movement of the arrow 3. Thus, according to an advantageous embodiment, during the movement of the arrow 3 between the extreme lowered position and the extreme raised position, the articulation axis G moves vertically over a distance v and horizontally according to a distance h; with h less than 15% of v, preferably less than 10% of v and for example of the order of 7% of v.

In the embodiment shown, this kinematics of the arrow 3 is notably obtained thanks to the position of the axis C on a projecting portion 11 of the chassis 2, that is to say at a height greater than that of the A axis.

As shown in particular on the figures 1, 2 And 4 , the bodywork 8 has a central recess 19 in which the lifting arms 12, 13 as well as the front connecting rod 17 and the rear connecting rod 18 are housed at least partially when the boom 3 is in the transport position. The lifting cylinder 24 as well as the compensation cylinders 30, 31, described subsequently, are also housed in the central recess 19 when the boom 3 is in the transport position. Furthermore, the lifting arms 12, 13 have a general shape which substantially follows the profile of the upper surface of the bodywork 8, when the boom 3 is in the transport position. In other words, in the transport position of the boom 3, the lifting arms 12, 13 are, from the rear to the front, inclined downwards. The lifting arms 12, 13 further comprise an elbow portion 20 whose concavity is oriented towards the ground so that the front end of said lifting arms 12, 13 is positioned in front of the chassis 2 and the bodywork 8 of the machine 1 , when boom 3 is in the transport position or in the extreme lowered position.

According to the embodiment shown, the rear connecting rod 18 comprises two hinge flanges which respectively carry a hinge pin cooperating with one and the other of the two lifting arms 12, 13. Furthermore, the front connecting rod 17 is positioned between the two lifting arms 12, 13. The front connecting rod 17 therefore extends in the median longitudinal plane of the machine 1. In addition, the front connecting rod 17 is articulated on a projecting portion 11 of the chassis 2 which makes projection, between the two lifting arms 12, 13, upwards, beyond said lifting arms 12, 13 when the boom 3 is in the transport position or in the extreme lowered position.

As shown in particular on the Figure 7 , the projecting portion 11 comprises two uprights 21, 22, parallel to each other, and arranged between the two lifting arms 12, 13, respectively on either side of the median longitudinal axis of the machine 1 In the embodiment shown, the uprights 21, 22 are formed in one piece with the two longitudinal beams of the chassis 2 which are connected to each other by crosspieces, and extend on either side. other of the median longitudinal plane, between the two lifting arms 12, 13.

According to an advantageous embodiment, the projecting portion 11 also makes it possible to take up the forces exerted on the arrow 3 in a transverse direction and tending to make it bend, which makes it possible to limit the risks that the arrow 3 does not deform so irreversible. Furthermore, in the embodiment shown, the projecting portion 11 comprises anti-friction pads 23, visible in particular on the figures 3, 4 And 6 , which are each fixed on a side face of one of the uprights 21, 22 of the projecting portion 11. The anti-friction pads 23 are thus each positioned between one of the uprights 21, 22 and one of the lifting arms 12 , 13 when the boom is in the transport position or in the extreme lowered position. The anti-friction pads 23 are made of a material having a low coefficient of friction, such as polyamide 6 for example. The anti-friction pads 23 are each spaced transversely from one of the lifting arms 12, 13 by a determined clearance so that one of said lifting arms 12, 13 only comes into contact with the corresponding anti-friction pad 23 when said lifting arm 12, 13 is subjected to a transverse force causing it to bend in the direction of said anti-friction pad 23.

The front end of the front connecting rod 17 is housed in the space provided between the two uprights 21, 22. In addition, as shown in particular on the figures 7 and 8 , the front connecting rod 17 has a bent portion 39 whose concavity is oriented upwards. Thus, when the boom 3 is in the transport position or in the extreme lowered position, the front portion of the front connecting rod 17, that is to say that which is arranged at the front of the bent portion 39 is also located between the two uprights 21, 22 of the projecting portion 11, which contributes to the compactness and aesthetics of the machine 1.

The machine 1 includes a lifting cylinder 24, particularly visible on the figures 5 to 7 , allowing arrow 3 to be moved between the extreme lowered position and the extreme raised position. To do this, the lifting cylinder 24 has one end which is mounted hinged on the chassis 2 around a hinge pin E and another end which is mounted hinged on the arrow 3 around a hinge axis F , the articulation axes E and F being parallel to A, B, C and D. Thus, when the lifting cylinder 24 deploys, it causes a movement of the arrow 3 in the direction of the extreme raised position. On the contrary, when the lifting cylinder 24 retracts, it causes a movement of the arrow 3 towards the extreme lowered position.

The machine 1 comprises a tool holder frame 4 which is intended to be secured to a tool 5 and which is mounted articulated at the front end of the boom 3 around an axis G. The tool holder frame 4 is thus suitable to take a plurality of positions between two extreme positions, namely an extreme digging position and an extreme dumping position. A tipping cylinder 25 acts on the tool-holder frame 4 via a pendulum 26 so as to pivot said tool-holder frame 4 (or the tool 5 if the latter is permanently mounted hinged on the arrow 3) around the axis G, relative to the arrow 3. The dumping cylinder 25 has a first end which is mounted articulated on the arrow 3 around an axis H, parallel to the axes A, B, C and D. More particularly, in the embodiment shown, the first end of the dumping cylinder 25 is mounted articulated on two fixing lugs 27, 28 which each project upwards from the crosspiece 15 connecting the two lifting arms 12, 13. The second end of the tipping cylinder 25 is mounted articulated on the balance 26 around an axis I, parallel to H. As shown in particular on the figure 1 to 3 , when the boom 3 is in the transport position or in the extreme lowered position, the fixing lugs 27, 28 are located in front of the projecting portion 11, close to it. The fixing lugs 27, 28 extend to a height lower than that of the projecting portion 11 when the arrow 3 is in the transport position or below it. In other embodiments, the machine 1 can also include several, and in particular two, tipping cylinders 25. In this case, the tipping cylinders 25 are arranged parallel to each other and mounted articulated on the boom 3 and on the balance 26 around the same geometric axes.

The two ends of the balance 26 are respectively mounted articulated on the arrow 3 around an axis J and on a tipping rod 29 around an axis K. Said tipping rod 29 is also mounted articulated around an axis L on the tool holder frame 4 so that the pivoting movement of the balance wheel 26 around the axis K causes the tool holder frame 4 to pivot around the axis G. The axes G, J, K and L are parallel to each other, as well as 'to axes A, B, C and D and oriented transversely. The axes G, J, K and L thus define the vertices of a deformable quadrilateral.

In the configuration shown, when the dumping cylinder 25 deploys, it causes a pivoting of the tool holder frame 4 relative to the arrow 3, around the axis G, in a first direction, that is to say towards the extreme dumping position whereas, on the contrary, when the dumping cylinder 25 retracts, it causes the tool-carrying frame 4 to pivot relative to the arrow 3 in a second direction, that is to say say in the direction of the extreme tilt position.

Furthermore, the machine 1 comprises at least one compensation cylinder 30, 31 which is hydraulically connected to the tipping cylinder 25. In the embodiment shown, the machine comprises two compensation cylinders 30, 31, visible in particular on the figure 7 , which are each hydraulically connected to the dumping cylinder 25.

As shown on the figure 8 , the machine comprises a hydraulic control circuit which is configured to ensure control of the lifting cylinder 24 and the dumping cylinder 25. The hydraulic circuit comprises in particular a reservoir 35, a pump 36 connected to the reservoir 35 as well as a distributor with sharing of flow rates 37. The pump 36 is also supplied with electrical energy by the electrical energy storage device described previously. The flow sharing distributor 37 is configured to put the hydraulic fluid coming from the pump into communication with the lifting cylinder 24, with the tipping cylinder 25 or simultaneously with the lifting cylinder 24 and the tipping cylinder 25.

The tipping cylinder 25 is a double-acting cylinder. In other words, it has two variable volume chambers, namely a first chamber 38, bottom side, and a second chamber 40, stem side, which are separated from each other by a piston 41 which is integral of the rod 42 of the tipping cylinder 25 and is housed in the body of said tipping cylinder 25. In addition, the first chamber 38 and the second chamber 40 comprise a respective supply orifice through which said first or second chamber 38, 40 is connected to a line 43, 44 of the hydraulic circuit. Thus, when the hydraulic pressure in the first chamber 38 is greater than that in the second chamber 40, the dumping cylinder 25 extends whereas on the contrary, when the hydraulic pressure in the second chamber 40 is greater than that prevailing in the first chamber 38, the dumping cylinder 25 retracts. Furthermore, according to an advantageous embodiment, the line of the hydraulic circuit leading to the second chamber 40 is equipped with a valve balancing device 45 making it possible to block the outlet of hydraulic fluid coming from the second chamber 40 when the pressure difference between the two lines 43, 44 connected to the dumping cylinder 25 is abnormal and exceeds a threshold. In such a case, the balancing valve 45 prevents the uncontrolled extension of the dumping cylinder 25, which prevents the movement of the tool 5 towards its extreme dumping position.

The lifting cylinder 24 is also a double-acting cylinder and also has two variable volume chambers, namely a first chamber 46, on the bottom side, and a second chamber 47, on the rod side which are separated from each other by a piston 48 which is integral with the rod 49 of the lifting cylinder 24. The lifting cylinder 24 is also associated with a balancing valve 50. However, the balancing valve 50 is here associated with the line 51 leading towards the first chamber 46. The balancing valve 50 aims to prevent uncontrolled retraction of the lifting cylinder 24, which prevents the movement of the arrow 3 towards the extreme lowered position.

The compensation cylinders 30, 31 are also double-acting cylinders which each have two variable volume chambers, namely a first chamber 52, on the bottom side, and a second chamber 53, on the rod side, separated from each other. by a piston 54 linked to the rod 55 of said compensation cylinder 30, 31. The first chambers 52, 53 of the compensation cylinders 30, 31 are hydraulically connected to the first chamber 38 of the dumping cylinder 25 while the second chambers 53 of the compensation cylinders 30, 31 are hydraulically connected to the second chamber 40 of the tipping cylinder 25. Thus, the retraction of the compensation cylinders 30, 31 causes the extension of the tipping cylinder 25 while, on the contrary, the extension of the cylinders compensation 30, 31 causes the retraction of the dumping cylinder 25.

Returning to the figures 5 to 7 , we observe that the compensation cylinders 30, 31 are each pivotally mounted, on the one hand, on the front connecting rod 17 around an axis M, and, on the other hand, on one of the lifting arms 12, 13 around an axis N, the axes N and M being parallel to the axes A, B, C and D. The two compensation cylinders 30, 31 are respectively arranged on either side of the front connecting rod 17 and between the two lifting arms 12, 13.

The axis N is positioned, relative to the hinge axis D of the front connecting rod 17, downwards and towards the rear. Thus, when the arrow 3 is moved from the extreme lowered direction towards the extreme raised position, the compensation cylinders 30, 31 retract whereas on the contrary, when the arrow 3 is moved from the extreme raised position towards the the extreme lowered position, the compensation cylinders 30, 31 extend.

Thus, taking into account the aforementioned arrangement, when the arrow 3 moves towards its extreme raised position, the compensation cylinders 30, 31 retract which causes the extension of the tipping cylinder 25 and, consequently, the movement of the tool holder frame 4 towards the extreme dumping position. On the contrary, when the arrow 3 moves towards the extreme lowered position, the compensation cylinders 30, 31 extend which causes the retraction of the tipping cylinder 25 and, consequently, the movement of the tool holder frame 4 towards the extreme tilt position.

• Δα2+x ; avec :

Δα2 : le débattement angulaire de la flèche 3 par rapport au châssis 2 lors d'un mouvement de la flèche 3 depuis la position extrême abaissée jusqu'à la position extrême relevée ; x : une tolérance de 20.Furthermore, according to an advantageous embodiment, the compensation cylinders 30, 31 as well as the tipping cylinder 25 are arranged so that, from a determined position of the tool holder frame 4 or the tool 5 when the arrow 3 is in the extreme lowered position, the angular movement Δα1 of the tool holder frame 4 or the tool 5 around the axis G relative to the arrow 3 during a movement of the arrow 3 from the position extreme lowered to the extreme raised position is between -Δα2-x and

• Δα2+x; with :

Δα2: the angular clearance of the boom 3 relative to the chassis 2 during movement of the boom 3 from the extreme lowered position to the extreme raised position; x: a tolerance of 20.

According to an advantageous embodiment, the determined position of the tool holder frame 4 or the tool 5 relative to the arrow 3 is the extreme digging position.

Thus, such an arrangement is advantageous in that the compensation cylinders 30, 31 make it possible to pivot the tool holder frame 4 or the tool 5 around the axis G in order to compensate for the angular movement of the arrow 3 relative to to the chassis 2 during the movement of the arrow 3 so that the relative inclination of the tool holder frame 4 or the tool 5 relative to the chassis 2 remains constant or substantially constant.

; avec :

• n1 : le nombre de vérins de bennage 25 supérieur ou égal à 1 ;
• S1 : la surface d'application du piston 41, du côté de la première chambre 38 de chaque vérin de bennage 25 (égale à la section de la première chambre 38) ;
• n2 : le nombre de vérins de compensation 30, 31 supérieur ou égal à 1 ;
• S2 : la surface d'application du piston 54 du côté de la première chambre 52 de chaque vérin de compensation 30, 31 (égale à la section de la première chambre 52) ; et
• L2 : la course de chaque vérin de compensation 30, 31 correspondant au débattement angulaire Δα2 précité.

Furthermore, the stroke L1 of the tipping cylinder(s) 25 corresponding to said aforementioned angular clearance Δα1 is equal to $\frac{\mathrm{not}2\times \mathrm{<figure-callout\; id="2"\; label="L"\; filenames="imgf0003.png"\; state="\{\{state\}\}">L</figure-callout>}2\times \mathrm{<figure-callout\; id="2"\; label="S"\; filenames="imgf0003.png"\; state="\{\{state\}\}">S</figure-callout>}2}{\mathrm{not}1\times \mathrm{<figure-callout\; id="1"\; label="S"\; filenames="imgf0001.png,imgf0002.png"\; state="\{\{state\}\}">S</figure-callout>}1}$

; with :

• n1: the number of tipping cylinders 25 greater than or equal to 1;
• S1: the application surface of the piston 41, on the side of the first chamber 38 of each tipping cylinder 25 (equal to the section of the first chamber 38);
• n2: the number of compensation cylinders 30, 31 greater than or equal to 1;
• S2: the application surface of the piston 54 on the side of the first chamber 52 of each compensation cylinder 30, 31 (equal to the section of the first chamber 52); And
• L2: the stroke of each compensation cylinder 30, 31 corresponding to the aforementioned angular clearance Δα2.

; avec :

• S3 : la surface d'application du piston 41 du côté de la deuxième chambre 40 de chaque vérin de bennage 25 (égale à la section de la première chambre 38 moins la section de la tige 42) ; et
• S4 : la surface d'application du piston 54 du côté de la deuxième chambre 53 de chaque vérin de compensation 30, 31 (égale à la section de la première chambre 52 moins la section de la tige 55).

Furthermore, so that the compensation can operate in an identical manner during the movement of the arrow3 towards the extreme lowered position and towards the extreme raised position, the ratio between the application surfaces S1 and S3 of the piston 41, respectively directed towards the first and the second chamber 38, 40 of each dumping cylinder 25 is equal to the ratio between the application surfaces S2 and S4 of the piston 54, respectively directed towards the first and the second chamber 52, 53 of each compensation cylinder 30, 31 , that's to say $\frac{S3}{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="imgf0001.png,imgf0002.png"\; state="\{\{state\}\}">S</figure-callout>}1}=\frac{S4}{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="imgf0003.png"\; state="\{\{state\}\}">S</figure-callout>}2}$

; with :

• S3: the application surface of the piston 41 on the side of the second chamber 40 of each tipping cylinder 25 (equal to the section of the first chamber 38 minus the section of the rod 42); And
• S4: the application surface of the piston 54 on the side of the second chamber 53 of each compensation cylinder 30, 31 (equal to the section of the first chamber 52 minus the section of the rod 55).

• d'une part, le vérin de bennage 25 est montée articulée sur la flèche 3 et le balancier 26 de sorte qu'une extension du vérin de bennage 25 entraîne un pivotement de l'outil 5 ou du cadre porte-outil 4 en direction de la position extrême de cavage et qu'une rétraction du vérin de bennage 25 entraîne un pivotement de l'outil 5 ou du cadre porte-outil 4 en direction de la position extrême de déversement ; et que
• d'autre part, les vérins de compensation 30, 31 sont montées articulées sur la flèche 3 et la bielle avant 17 de sorte qu'un mouvement de la flèche 3 en direction de la position extrême relevée entraîne une extension des vérins de compensation 30, 31 et qu'un mouvement de la flèche en direction de la position extrême abaissée entraîne une rétraction des vérins de compensation 30, 31.

In another embodiment not illustrated, the hinge axes H, I, M and N of the tipping cylinders 25 and compensation cylinders 30, 31 are moved so that said tipping cylinders 25 and compensation cylinders 30, 31 have directions of reversed actuation, that is to say:

• on the one hand, the tipping cylinder 25 is mounted articulated on the arrow 3 and the balance 26 so that an extension of the tipping cylinder 25 causes a pivoting of the tool 5 or the tool holder frame 4 in the direction of the extreme tilting position and that a retraction of the dumping cylinder 25 causes a pivoting of the tool 5 or the tool-carrying frame 4 towards the extreme dumping position; and
• on the other hand, the compensation cylinders 30, 31 are mounted articulated on the arrow 3 and the front connecting rod 17 so that a movement of the arrow 3 towards the extreme raised position causes an extension of the compensation cylinders 30, 31 and that a movement of the arrow towards the extreme lowered position causes a retraction of the compensation cylinders 30, 31.

Note however that, compared to this embodiment, the embodiment shown is advantageous in that the compensation cylinders 30, 31 make it possible to exert an assistance force participating with the lifting cylinder 24 in the movement of the boom 3 towards the extreme raised position.

Furthermore, in the embodiment shown, the machine 1 is autonomous, that is to say it is capable of moving and carrying out handling operations in an automated manner, without the intervention of a driver. . The machine 1 therefore has no cabin intended to accommodate a driver, which allows it to be make it particularly compact. Furthermore, as shown in particular on the figures 1 to 4 , the machine 1 comprises at least one spatial detection sensor 10, that is to say a sensor generating signals which include information representative of the position of objects located in the environment of the machine 1. The detection sensor space 10 is fixed on the projecting portion 11, preferably at its top. The spatial detection sensor 10 is chosen from cameras and in particular stereoscopic cameras, time-of-flight cameras, LIDARS, radars and ultrasonic sensors. In the embodiment shown, the spatial detection sensor 10 is a stereoscopic camera. The machine 1 can also include at least one other spatial position sensor, which is advantageously of a different type from the spatial detection sensor 10 described above and making it possible to ensure redundancy of the information collected. The machine 1 may in particular include other spatial position sensors, such as LIDARS for example, at the front and rear of the machine 1, for example under its chassis 2.

Although the invention has been described in connection with several particular embodiments, it is quite obvious that it is in no way limited and that it includes all the technical equivalents of the means described as well as their combinations if these fall within the scope of the invention, as defined by the claims.

The use of the verb “include”, “understand” or “include” and its conjugated forms does not exclude the presence of other elements or other steps than those set out in a claim.

In the claims, any parenthetical reference sign shall not be construed as a limitation of the claim.

Claims (10)

Handling machine (1) comprising: - a chassis (2); And - a boom (3) which is mounted articulated on the chassis (2) of the machine (1) between an extreme lowered position and an extreme raised position by means of an articulation device comprising a front connecting rod (17) and a rear connecting rod (18), the rear connecting rod (18) being pivotally mounted on the chassis (2) around a first axis (A) and on the arrow (3) around a second axis (B), the front connecting rod (17) being pivotally mounted on the boom (3) around a third axis (D) and on the chassis (2) around a fourth axis (C), the first axis (A), the second axis (B ), the third axis (D) and the fourth axis (C) being parallel to each other, - a tool (5) or a tool holder frame (4) which is intended to receive a tool (5), said tool (5) or tool holder frame (4) being pivotally mounted on a front end of the boom ( 3) around a fifth axis (G) parallel to the first, second, third and fourth axes (A, B, D, C), said tool (5) or tool holder frame (4) thus being able to pivot according to a first direction directed towards an extreme dumping position or in a second direction directed towards an extreme digging position; - at least one dumping cylinder (25) which has a defined stroke between a first and a second dumping position, said at least one dumping cylinder (25) being associated, on the one hand, with the boom (3) and , on the other hand, to the tool (5) or to the tool-carrying frame (4) so that a movement of the dumping cylinder (25) towards the first dumping position causes a pivoting of the tool (5 ) or the tool holder frame (4) in the second direction and that a movement of the dumping cylinder (25) towards the second dumping position causes a pivoting of the tool (5) or the tool holder frame (4 ) according to the first meaning; - at least one compensation cylinder (30, 31) which has a defined stroke between a first and a second compensation position, said compensation cylinder (30, 31) being hydraulically connected to the dumping cylinder (25) so that a movement of said compensation cylinder (30, 31) towards the first compensation position causes a movement of the cylinder of dumping (25) towards the second dumping position and that a movement of said compensation cylinder (30, 31) towards the second compensation position causes a movement of the dumping cylinder (25) towards the first position dumping; the compensation cylinder (30, 31) being pivotally mounted on the boom (3) around a sixth axis (N) and on the front connecting rod (17) around a seventh axis (M) in such a way that during an upward movement of the arrow (3) towards the extreme raised position, the compensation cylinder (30,31) moves in the direction of the first compensation position so that the tool (5) or the tool holder frame (4) pivots in the first direction and that during a downward movement of the boom (3) towards the extreme lowered position, the compensation cylinder (30,31) moves in the direction of the second compensation position so that the tool (5) or the tool holder frame (4) pivots in the second direction. Handling machine (1) according to claim 1 in which the compensation cylinder (30, 31) is arranged to extend during movement in the direction of the second compensation position and retract during movement in the direction of the first compensation position. Handling machine (1) according to claim 1 or 2, in which the dumping cylinder (25) is arranged to extend during movement towards the second dumping position and to retract during movement in direction of the first dumping position. Handling machine (1) according to any one of claims 1 to 3, in which the boom (3) comprises two lifting arms (12, 13) extending on either side of a longitudinal axis of the machine (1), the front connecting rod (17) being arranged between the two lifting arms (12, 13) and being mounted articulated on each of the two lifting arms (12, 13) around the third axis (D). Handling machine (1) according to claim 4, comprising two compensation cylinders (30, 31) which are positioned on either side of the front connecting rod (17) and which are respectively pivotally mounted on one and the other of the two lifting arms (12, 13) around the sixth axis (N) and are pivotally mounted on the front connecting rod (17) around the seventh axis (M), each of the two compensation cylinders (30, 31) being hydraulically connected to said at least one dumping cylinder (25). Handling machine (1) according to any one of claims 1 to 5, in which the dumping cylinder (25) comprises a first chamber (38) and a second chamber (40) which are separated from each other by a piston (41) which is integral with a rod (42) of the tipping cylinder (25), said rod (42) of the tipping cylinder (25) passing through the second chamber (40); the compensation cylinder (30, 31) comprising a first chamber (52) and a second chamber (53) which are separated from each other by a piston (54) which is integral with a rod (55) of said compensation cylinder (30, 31), said rod (55) of said compensation cylinder (30, 31) passing through the second chamber (53) of said compensation cylinder (30, 31), the first chamber (38) and the second chamber (40) of the dumping cylinder (25) being hydraulically linked respectively to the first chamber (52) and the second chamber (53) of the dumping cylinder (25). Handling machine (1) according to any one of claims 1 to 6, in which the dumping cylinder (25) and the compensation cylinder (30, 31) are arranged so that, from a determined position of the tool holder frame (4) or the tool (5) when the arrow (3) is in the extreme lowered position, the angular clearance Δα1 of the tool holder frame (4) or the tool (5) relative to to the arrow (3) around the fifth axis (G) during a movement of the arrow (3) from the extreme lowered position to the extreme raised position is between -Δα2-x and - Δα2+x; with : Δα2: the angular clearance of the boom (3) relative to the chassis (2) during movement of the boom (3) from the extreme lowered position to the extreme raised position; And x = 20°. Handling machine (1) according to claim 7, in which the predetermined position of the tool holder frame (4) or of the tool (5) when the boom (3) is in the extreme lowered position is the extreme tilt position. Handling machine (1) according to any one of claims 1 to 8, in which the dumping cylinder (25) is pivotally mounted on a beam (26) and on the boom (3) and in which a dumping rod ( 29) is pivotally mounted on the balance (26) and on the tool-holder frame (4) or the tool (5). Handling machine (1) according to any one of claims 1 to 9, in which the boom (3) comprises two lifting arms (12, 13) extending on either side of a longitudinal axis of the machine (1) and in which the frame (2) comprises a projecting portion (11) which projects upwards between the two lifting arms (12, 13), said projecting portion (11) projecting beyond the two lifting arm (12, 13) when the boom (3) is in the extreme lowered position.

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