Stabilization system for self-propelled operating machine

Abstract

A stabilization system for a self-propelled operating machine, comprising: at least two stabilizers designed to adopt an active configuration and an inactive configuration, each stabilizer comprising at least one pair of stabilization arms; each arm comprises: a first section rotatable between a raised position and an operating position; the second section can slide between an extending position and a closing position relative to the first section and is provided with a supporting leg; the first moving device is designed to rotate the first section between a raised position and an operating position; second moving means designed to move the second section between a closed position and an extended position; the stabilization system comprises: a processing unit configured to control the first and second mobile devices in the following steps: rotating the first segment from the operating position to the intermediate position; sliding the second section of the first arm to a closed position; rotating the first section of the second arm from an intermediate position to a raised position; sliding a second section of the second arm to a closed position; the first section of the first arm is rotated from an intermediate position to a final position.

Description

Technical Field

[0001] The present invention relates to a system for stabilizing a self-propelled operating machine, in particular a rotating telehandler or "telehandler." Background Art

[0002] There are prior art telehandlers consisting of a vehicle equipped with a movable frame on wheels, the vehicle comprising a platform mounted on the frame, the platform in turn being equipped with a cab and a telescopically extendable operating arm.

[0003] At the distal end of the arm there is a device for lifting or moving the load, such as a fork, a cage, a lateral transfer unit, a crane or the like.

[0004] In order to lift and move loads at great heights and over a large "reach," the vehicle must be stabilized to raise the wheels above the ground.

[0005] There are prior art stabilisers for telehandlers of the so-called “scissor lift” type, which comprise two stabiliser units arranged at the front and rear of the vehicle and mounted on the vehicle's frame close to the wheels.

[0006] Each stabilizing unit comprises a pair of arms which are telescopically rotatable and extendable, usually by means of a single or two sliding members, the arms having respective distal and proximal ends, the distal ends being intended to rest on the ground by means of supporting feet, the proximal ends being hinged to a supporting frame.

[0007] In practice, the stabilizing arms are positioned crosswise relative to each other and, during lifting, move like a pair of scissors.

[0008] Once the operation for moving the load has been completed, the stabilizers are moved into a non-operating configuration in which they have minimal overall dimensions, thereby lowering the machine until the wheels rest on the ground.

[0009] Restoration of the known stabilizer to the non-operational configuration is performed by a predetermined sequence of movements.

[0010] The first embodiment of this sequential movement involves the arms rotating upward until the wheels rest on the ground. During this step, the sliding member protrudes from the associated first section, or "sleeve," and is therefore still withdrawn. At this point, the arms rotate upward so that they become horizontal and parallel to one another; the sliding member fully retracts only after the arms have reached the horizontal position, thus concluding the restoration operation and allowing the operator to begin driving the vehicle.

[0011] According to a second embodiment of the sequence, which is more efficient and faster than the first embodiment, the arm performs a first rotation to separate the foot from the ground. The sliding member is then fully retracted. The final step of the sequence is a full rotation of the arm.

[0012] The prior art sequence involves symmetrical and simultaneous movements of the two arms of each stabilizer. In other words, the two arms of each stabilizer simultaneously perform movements that are symmetrical relative to each other.

[0013] In many cases, the simultaneous return of both stabilizer arms can create a potentially dangerous situation, particularly if the vehicle is operating in a non-planar area or if the vehicle's stability is imperfect. There are also situations where the presence of obstacles in the stabilizer's operating environment, or their size, prevents the simultaneous return of the arms. Summary of the Invention

[0014] In this context, the technical aim forming the basis of the present invention is to propose a system for stabilizing a self-propelled operating machine and a method for controlling the stabilization which overcome the technical problems outlined above. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Further features and advantages of the present invention will become apparent from the following detailed description with reference to a preferred, non-limiting embodiment of the system shown in the accompanying drawings, in which:

[0016] Figure 1 is an axonometric view of a telehandler including a stabilization system according to the present invention;

[0017] Figures 2 to 8 yes Figure 1 Front view of the machine showing the different steps of the sequence for restoring the stabilizer included in the proposed system. DETAILED DESCRIPTION

[0018] With reference to the accompanying drawings, reference numeral 1 denotes as a whole a vehicle comprising a system according to the invention.

[0019] The system according to the invention is preferably, but not exclusively, configured to be implemented on a vehicle 1 comprising a self-propelled operating machine such as a telehandler or an aerial platform, and which may be of the rotary type or even of the stationary type, as shown in the accompanying drawings.

[0020] The system according to the invention comprises a stabilizer 10 intended to be mounted on a vehicle 1. According to the embodiment shown, each stabilizer 10 comprises at least one pair of telescopic stabilizing arms 2. In the following description, the telescopic stabilizing arms will be simply referred to as arms.

[0021] Each arm 2 is provided with a longitudinal axis C.

[0022] Preferably, the stabilizers 10 provided in the system according to the invention are of the so-called "scissor" or "X" type, and each stabilizer comprises, for example, a pair of arms 2 with a single sliding member. The two pairs of arms are located in the front and rear areas of the vehicle 1, respectively, close to the wheels 11.

[0023] It should be noted that when the adjective "horizontal" is used in this specification or when referring to a "horizontal" plane, it is used to refer to horizontality in the context of flat and level ground.

[0024] In fact, it is obvious that if the ground on which the wheels 11 or the stabilizer 10 rest is irregular or inclined, the "horizontal" reference is correspondingly inclined.

[0025] According to the preferred but non-limiting embodiment shown, each stabilizer 10 comprises a support structure 100 fixed to or coupled to the frame of the machine 1 , to which a pair of arms 2 are individually articulated in a configuration similar to a cross so as to be able to move in a counter-rotating manner similar to a pair of scissors.

[0026] In more detail, two arms 2 connected to the same support structure 100 are mounted one in front of the other to move in parallel planes, which are generally vertical.

[0027] The stabilizer 10 of the proposed system is designed to adopt an active configuration in which it stabilizes the machine 1 , raising the wheels above the ground, and an inactive configuration in which the wheels 11 rest on the ground.

[0028] In the inactive configuration of the stabilizer, the arm 2 is in a raised position, wherein the arm is away from the ground (see Figure 8 ), and in particular allows the vehicle 1 to be driven freely. In the active configuration ( Figure 1 and Figure 2 ), the arm 2 rests on the ground to stabilize the vehicle. In the subsequent description, active configuration or inactive configuration is associated with both the stabilizer 10 and the arm 2 of the stabilizer 10.

[0029] In the active configuration of the stabilizer, e.g. Figure 3 As shown, the arm 2 rests on the ground and separates the wheel from the ground so that the wheel is not affected by the load due to the weight of the vehicle. Simply put, the active configuration of the stabilizer is a configuration in which the load of the vehicle (that is, the load due to the weight of the vehicle) is supported only by the arm 2, as shown in FIG. Figure 3 shown.

[0030] However, when the arm 2 rests on the ground, the arm 2 may not stop the relative motion but continue to move to further lift the wheel, e.g. Figure 2This may be necessary to level the vehicle on sloping or uneven ground, that is, non-level ground.

[0031] Generally, the active configuration of the stabilizer 10 (that is to say the position adopted by the arms 2 in the active configuration of the stabilizer) depends on the specific conditions in which the vehicle 1 operates, in particular with regard to the type of ground on which the machine 1 must be stabilized.

[0032] In practice, the arm 2 may rest on the ground with variable inclination and length, depending on the slope or shape of the ground on which the vehicle 1 is to be stabilized.

[0033] According to the preferred but non-exclusive embodiment shown, each arm 2 comprises a first section 21 a , 21 b and a second section 22 a , 22 b .

[0034] The first sections 21a, 21b are rotatable between a raised position and an operating position. The rotation of the first sections 21a, 21b determines the overall rotation of the corresponding arm 2, including the second sections 22a, 22b. In the following description, when referring to the rotation of the arm 2, reference is made to the rotation of the corresponding first sections 21a, 21b, and vice versa.

[0035] It should be noted that when this specification refers to the angle of inclination of the arm 2 in the predetermined position, or the degree of inclination of the arm 2 in the predetermined position, reference is made to the angle A between the longitudinal axis C of the arm 2 when the respective first segment 21a, 21b is in the raised position and the longitudinal axis C in the predetermined position. In other words, the angle of inclination or degree of inclination to be referred to is measured relative to a reference defined by the angular position of the longitudinal axis C when the first segments 21a, 21b of the arm 2 are in the raised position. In the accompanying drawings, the position of the longitudinal axis C of the arm 2 in the raised position of the respective first segments 21a, 21b is indicated by line P. When performing a rotation from the operating position to the raised position, or vice versa, each first segment 21a, 21b and the associated arm 2 complete a total rotation angle that depends on the structural characteristics of the stabilization device and the stabilization conditions.

[0036] The second sections 22a, 22b are slidable relative to the first sections 21a, 21b between an extended position and a closed position. The second sections 22a, 22b are also provided with feet 20 for contacting the ground. The feet 20 are associated with the free ends of the second sections 22a, 22b.

[0037] The closed position is the position of minimum extension or maximum retraction of the second segments 22a, 22b. Preferably, in this position, only the legs 20 protrude from the first segments 21a, 21b. In any case, in addition to the legs 20, the ends of the second segments 22a, 22b may also protrude from the first segments 21a, 21b.

[0038] When the first sections 21a, 21b are in the operating position and the second sections 22a, 22b are in the extended position, the stabilizer is in the active configuration. When the first sections 21a, 21b are in the raised position and the second sections 22a, 22b are in the closed position, the stabilizer is in the inactive configuration.

[0039] Preferably, but not necessarily, the first sections 21a, 21b are hollow. The second sections 22a, 22b are slidably inserted into the first sections 21a, 21b. Specifically, the second sections 22a, 22b are slidable relative to the first sections 21a, 21b between an extended position, in which the second sections protrude a longer portion from the first sections 21a, 21b, and a closed position, in which the second sections protrude a shorter portion from the first sections 21a, 21b. Preferably, in the closed position of the second sections 22a, 22b, only the legs 20 protrude from the first sections 21a, 21b.

[0040] According to the preferred but not exclusive embodiment shown, each segment 21a, 21b, 22a, 22b comprises a rectilinear beam.The beam of the second segment 22a, 22b is inserted in a sliding manner in the hollow beam of the first segment 21a, 21b.

[0041] The present invention comprises a first movement device 3 designed to individually rotate the first segments 21a, 21b between a raised position and an operating position. As already mentioned, the rotation of the segments 21a, 21b determines the rotation of the corresponding arm 2 of which the segment is part. Preferably, the first movement device comprises a hydraulic cylinder 3 for each arm 2.

[0042] In more detail, the first section 2a, 2b of each arm 100 is connected to the support structure 100 by a first hinge 43; moreover, at the end of the movement of the arm 2 about the first hinge 43, a hydraulic cylinder 3 is used, whose thrust is used to lift the arm during the stabilization step.

[0043] Each hydraulic cylinder 3 is connected to the supporting structure 100 by a second articulation 41 and to the first section 21 a , 21 b of the respective arm 2 by a third articulation 42 .

[0044] The first and third hinges 42, 43 are positioned at two different points of the length of the first section 21a, 21b, preferably on the upper side, the first hinge being more inside, i.e. closer to the proximal end of the first section 21a, 21b and the third hinge being more outside, i.e. closer to the distal end.

[0045] In practice, the hydraulic cylinders 3 are actuated by a pushing action to move the stabilizer 10 into the active configuration, that is to say to move the arms 2 to the ground and lift the vehicle 1 , whereas they are actuated by a retracting action when the vehicle 1 is restored to rest on its wheels and the stabilizer 10 is raised to the inactive position.

[0046] In particular, the hydraulic cylinder 3 is actuated by a pushing action to rotate the first sections 21a, 21b towards the operating position, and the hydraulic cylinder is actuated by a retracting action to rotate the first sections 21a, 21b towards the raised position.

[0047] The invention comprises second movement means, for example comprising hydraulic cylinders (not shown), designed to move the second sections 22a, 22b individually between the extended position and the closed position.

[0048] In practice, in order to extend the second sections 22a, 22b to the outside of the first sections 21a, 21b, hydraulic cylinders are used which are interposed between the second sections 22a, 22b and the first sections 21a, 21b and connected to each other at opposite ends.

[0049] The system according to the invention comprises a processing unit designed to regulate the movement of the stabilizer 10 , as described in more detail below.

[0050] In general, it should be noted that in this specification, the processing units are presented as being divided into separate functional modules in order to clearly and completely describe the functions.

[0051] In practice, the processing unit may consist of a single electronic device, also of the type commonly found on machines of this type, suitably programmed to carry out the functions described; the various modules may correspond to hardware units and / or software forming part of the programmed device.

[0052] Alternatively or additionally, the function may be performed by multiple electronic devices, and the above-mentioned functional modules can be distributed across the multiple electronic devices.

[0053] Generally speaking, the processing unit may have one or more microprocessors for executing the instructions contained in the memory module, and the above functional modules may also be distributed on multiple local or remote computers based on the architecture of the network in which they are located.

[0054] Advantageously, the processing unit is configured to control the first and second movement means so that each stabilizer 10 passes from the active configuration to the inactive configuration through a sequence of movements comprising the following operating steps:

[0055] - Rotate the first sections 21a, 21b from the operating position to the intermediate position Am; this intermediate position is essentially the position where the foot 20 is separated from the ground, such as Figure 4 As shown;

[0056] - Sliding the second section 22a of the first arm 2a to a closed position (closed position, retracted position);

[0057] - rotating the first section 21b of the second arm 2b from the neutral position to the raised position;

[0058] - Sliding the second section 22b of the second arm 2b to the closed position;

[0059] - Rotating the first section 21a of the first arm 2a from the intermediate position to the final position.

[0060] Therefore, the solution according to the present invention involves separate and asymmetrical actuation of the first and second arms 2a, 2b of each stabilizer. In situations where the vehicle is positioned on sloping or irregular terrain, or where obstacles are located in strategic locations on one side or the other, the present invention allows the arm positioned on one side of the vehicle to be activated first. In other words, the first arm 2a in the aforementioned series of movements can be either of the two arms of the stabilizer 10.

[0061] The solution according to the invention also allows preventing collisions and / or interferences between the parts of the two arms 2 a , 2 b of each stabilizer.

[0062] According to a first possible embodiment of the present invention, the sliding of the second section 22a of the first arm 2a to the closed position and the rotation of the first section 21b of the second arm 2b from the intermediate position to the raised position occur simultaneously.

[0063] According to a second possible embodiment of the present invention, the sliding of the second section 22b of the second arm 2b to the closed position and the rotation of the first section 21a of the first arm 2a from the intermediate position to the final position occur simultaneously.

[0064] According to a third possible embodiment of the present invention, the rotation of the first segment 21b of the second arm 2b from the intermediate position to the raised position occurs simultaneously with the sliding of the second segment 22b of the second arm 2b to the closed position. Preferably, but not necessarily, according to this third possible embodiment of the present invention, at least a portion of the movement of the second segments 22a, 22b from the extended position to the closed position occurs simultaneously. Preferably, the second segment 22b of the second arm 2b stops at the midpoint of its travel until the second segment 22a of the first arm 2a reaches its closed position. This allows for more precise actuation of the motor means designed to move the individual segments 21a, 21b, 22a, 22b.

[0065] Each of the three embodiments described above allows reducing the time to implement the series of movements, by performing at least two steps of the method simultaneously, and therefore reducing the time necessary to transfer each stabilizer 10 from the active configuration to the inactive configuration.

[0066] Briefly, the conversion of each stabilizer 10 from the active configuration to the inactive configuration comprises the following steps.

[0067] Initially, the processing unit controls the first segments 21a, 21b to Figure 3 The operating position shown is rotated to the intermediate position Am. This intermediate position is when the wheels 11 of the vehicle 1 are positioned in contact with the ground and the legs 20 are separated from the ground (as shown in FIG. Figure 4 (as shown) a position of sufficient height to ensure that the support foot 20 does not slide on the ground.

[0068] Preferably, in the intermediate position, the inclination angle of the arm 2 is greater than or equal to 50% of the total rotation angle of the arm 2 between the raised position and the operating position of the respective first segments 21a, 21b. In other words, the rotation angle formed by the first segments 21a, 21b from the operating position to the intermediate position Am is less than or equal to 50% of the total rotation angle from the operating position to the raised position.

[0069] In the second step, the processing unit controls the second section 22a of the first arm 2a to slide to the closed position ( Figure 5 ).

[0070] In the third step, the processing unit controls the first section 21b of the second arm 2b to rotate from the middle position to the raised position ( Figure 6 ).

[0071] In the fourth step, the processing unit controls the second section 22b of the second arm 2b to slide to the closed position ( Figure 7 ).

[0072] In the fifth step, the processing unit controls the first section 21a of the first arm 2a to rotate from the intermediate position to the final position ( Figure 8 ).

[0073] At the end of the fifth step, the stabilizer is in the inactive configuration.

[0074] It should be noted that the first arm may be either of the two arms of the stabilizer 10 , that is to say that the arm activated first within the scope of the procedure according to the invention may be either of the two arms of the stabilizer 10 .

[0075] Furthermore, the steps according to the invention can be performed independently by the front and rear stabilizers of the vehicle, and each stabilizer can choose which arm to activate first.

[0076] According to the first possible embodiment of the present invention, the second step and the third step occur simultaneously, that is, the second section 22a of the first arm 2a slides to the closed position and the first section 21b of the second arm 2b rotates from the middle position to the raised position simultaneously.

[0077] According to the above-mentioned second possible embodiment of the present invention, the fourth step and the fifth step occur simultaneously, that is, the second section 22b of the second arm 2b slides to the closed position and the first section 21a of the first arm 2a rotates from the intermediate position to the final position simultaneously.

[0078] According to the third possible embodiment of the present invention, the third step and the fourth step occur simultaneously, that is, the first section 21b of the second arm 2b rotates from the middle position to the raised position and the second section 22b of the second arm 2b slides to the closed position simultaneously.

[0079] According to a possible embodiment of the present invention, the first step described, i.e. the rotation of the first segments 21a, 21b from the operating position to the intermediate position Am, is a direct rotation in only one direction. In other words, each arm rotates directly from the operating position to the intermediate position. As already mentioned, the intermediate position is essentially the position where the foot 20 is separated from the ground by a certain height, such as Figure 4 shown.

[0080] According to another possible embodiment of the present invention, the first step described, namely, rotating the first segments 21a, 21b from the operating position to the intermediate position Am, includes a first rotation that moves the first segments 21a, 21b beyond the intermediate position Am, that is, to a reference position between the rest position and the intermediate position Am. Subsequently, the step of rotating the first segments 21a, 21b in the opposite direction from the reference position to the intermediate position Am is performed. According to this alternative embodiment of the present invention, even when the vehicle is on an inclined plane, it is possible to ensure that the stabilizer arms 2 are positioned in the intermediate positions Am that are symmetrical relative to a plane perpendicular to the reference plane P.

[0081] Preferably, in the inactive configuration of the stabilizer 10, the arm 2 is tilted upwards, i.e. tilted obliquely upwards relative to the horizontal plane, the end of the arm supporting the foot 20 being at a higher level than the end pivoted to the support structure 100. Preferably, in this configuration, the inclination of the arm is between 1° and 3°.

[0082] According to another possible embodiment, in the inactive configuration of the stabilizer 10, the arms 2 are substantially horizontal and parallel to each other. In the active configuration, and in at least a portion of an intermediate configuration between the active and inactive configurations, the arms 2 are crossed.

[0083] Preferably, the arm 2 of the stabilizer 10 moves synchronously with the arm 2 of the other stabilizer. However, solutions are also possible in which the arm 2 of the stabilizer moves asynchronously with the arm 2 of the other stabilizer. Furthermore, as already mentioned, the first arm can be either of the two arms of the stabilizer 10; that is, within the scope of the steps according to the present invention, the arm that is activated first can be either of the two arms of the stabilizer 10. Furthermore, the front and rear stabilizers of the vehicle can independently perform the steps according to the present invention, and each stabilizer can choose which arm to activate first.

[0084] The processing unit is connected to controls located in the cab of the machine so that an operator can operate the stabilizer 10 via a joystick or other controls.

[0085] In practice, by continuously pressing a control (such as a joystick, lever, etc. or a switch), the arm 2 performs the above-mentioned movement to determine the transition of the stabilizer 10 from the active configuration to the inactive configuration. The operator can interrupt the movement for safety reasons by simply releasing the control.

[0086] The system according to the present invention includes an electro-hydraulic distributor that controls the aforementioned cylinders, which rotate and extend (or retract) the arms 2, that is, the first sections 21a, 21b and the second sections 22a, 22b of the arms 2a, 2b. The distributor is connected to the cylinders and regulates their operation based on control signals from a processing unit.

[0087] Control signals are generated by the processing unit for activating the cylinders in the stabilizing arm 2 in order to perform the above-mentioned movements.

[0088] The present invention may include a first detection device connected to the processing unit and configured to measure the inclination of the arms 2a, 2b relative to a reference plane P. As already explained, the reference plane P may be defined by the longitudinal axis C of the arms 2a, 2b when the respective first segments 21a, 21b are in the raised position. Alternatively, the reference plane P may be a horizontal plane. Alternatively, the reference plane P may be defined by a plane in which the lower wall of the support structure 100 lies or a plane parallel thereto.

[0089] The first detection device may comprise, for example, an encoder and / or a potentiometric angular position detector, a microswitch, or a proximity sensor. Generally speaking, the first detection device is configured to measure the angular position of arms 2a, 2b. In other words, the first detection device is designed to generate a tilt signal based on the measured values. This tilt signal is transmitted to a processing unit, which controls the hydraulic distributor based on the received tilt signal.

[0090] In any case, the first detection means allow the inclination of the arm 2 , ie the angle formed by the first segments 21 a , 21 b with the reference plane P, to be determined.

[0091] Furthermore, the present invention may comprise a second detection device (not shown) connected to the processing unit and configured to measure the length of the protruding portion of the second segments 22 a , 22 b relative to the respective first segment 21 .

[0092] The second detection means are configured to measure and quantify the withdrawn position of the second segments 22a, 22b relative to the respective first segments 21a, 21b.

[0093] For example, the second detection means comprises a wired position sensor provided with a winder integral with the first section 21a, 21b, the wire of which is connected to the second section 22a, 22b, or vice versa. The winder is connected to an encoder or to an angular position sensor.

[0094] Alternatively, a position sensor may be used which measures the distance of a fixed reference relative to the first section 21a, 21b to the second section 22a, 22b etc. For example, a linear potentiometric sensor may be used.

[0095] In any case, whatever sensor is used, it is designed to generate an extension signal representative of the position of the second sections 22a, 22b relative to the first sections 21a, 21b, this signal being transmitted to a processing unit which controls the distributor as a function of the signal received, so that the distributor actuates the hydraulic cylinder in such a way as to generate the above-mentioned signal.

[0096] The control unit is configured to receive signals from the first detection device and the second detection device, and control the first movement device and the second movement device to perform the above steps according to the present invention.

[0097] Preferably, the present invention also includes a pressure sensor for each arm 2a, 2b, such as a unit having an extensometer or a pressure switch. The pressure sensor is designed to detect the presence of a load acting on the relevant arm 2a, 2b and to transmit a corresponding signal to the control unit. The presence of a load indicates contact between the support foot 20 of the arm 2a, 2b and the ground or other contact element. The signal from the pressure sensor is used by the control unit to generate an alarm signal configured to draw the operator's attention to the load condition of the relevant arm 2. This alarm signal allows the operator to be alerted to a potentially dangerous situation. For example, in the presence of a signal from the pressure sensor, the control unit prevents the retraction of the relevant second section 2a, 2b to prevent it from sliding on the ground.

[0098] It should be noted that the processing unit comprises a memory module in which control parameters associated with the positions of the first segments 21a, 21b and the second segments 22a, 22b are recorded.

[0099] Furthermore, the processing unit may include a user interface configured to allow an operator to select or set control parameters.

[0100] The preferred operation of the present invention is basically performed in the following mode.

[0101] Once the planned operation has ended, during which the machine 1 has been stabilized, the operator in the cab initiates the procedure for retraction of the stabilizers 10 using special controls.

[0102] As already mentioned, the arms 2 move in a synchronized manner, more specifically all four simultaneously.

[0103] Initially, the arm 2 is raised by the upward rotation of the first sections 21a, 21b so that the wheel 11 first touches the ground ( Figure 3 ), and then continue until it reaches the predetermined middle position Am ( Figure 4 ). As already explained, the rotation of the first sections 21a, 21b from the operating position to the intermediate position Am can occur in two different ways. In the first way, the rotation is a direct rotation in only one direction. In other words, each arm rotates directly from the operating position to the intermediate position. In the second way, the rotation of the first sections 21a, 21b from the operating position to the intermediate position Am includes a first rotation that moves the first sections 21a, 21b beyond the intermediate position Am, that is, it moves the first sections to a reference position between the stop position and the intermediate position Am. Subsequently, a step of rotating the first sections 21a, 21b from the reference position to the intermediate position Am in the opposite direction is performed. As already mentioned, this makes it possible to ensure that the arms 2 of the stabilizer are positioned in the intermediate positions Am that are symmetrical to each other with respect to a plane perpendicular to the reference plane P, even if the vehicle is on an inclined plane.

[0104] Then, the already described steps were carried out ( Figures 5 to 8 ).

[0105] The invention also relates to a method for controlling scissor-like stabilizers 10 of a self-propelled operating machine 1 actuable by means of the system described above.

[0106] According to the proposed method, from the active configuration of the stabilizer 10 ( Figure 1 and Figure 2 ), with the wheels of the machine 1 raised from the ground surface and the arms 2 tilted relative to the ground, with the second section in the extended position and the feet 20 resting on the ground surface, the stabilizer 10 is brought to the inactive configuration by the following steps: Figure 8):

[0107] - rotating the first sections 21a, 21b from the operating position to an intermediate position; the intermediate position is essentially the position in which the foot 20 is detached from the ground;

[0108] - Sliding the second section 22a of the first arm 2a to the closed position;

[0109] - rotating the first section 21b of the second arm 2b from the neutral position to the raised position;

[0110] - Sliding the second section 22b of the second arm 2b to the closed position;

[0111] - Rotating the first section 21a of the first arm 2a from the intermediate position to the final position.

[0112] According to a first possible embodiment of the method, the sliding of the second section 22a of the first arm 2a to the closed position and the rotation of the first section 21b of the second arm 2b from the intermediate position to the raised position occur simultaneously.

[0113] According to a second possible embodiment of the method, the sliding of the second section 22b of the second arm 2b to the closed position and the rotation of the first section 21a of the first arm 2a from the intermediate position to the final position occur simultaneously.

[0114] According to a third possible embodiment of the method, the rotation of the first segment 21b of the second arm 2b from the intermediate position to the raised position occurs simultaneously with the sliding of the second segment 22b of the second arm 2b to the closed position. Preferably, but not necessarily, according to this third possible embodiment of the method, at least a portion of the movement of the second segments 22a, 22b from the extended position to the closed position occurs simultaneously. Preferably, the second segment 22b of the second arm 2b stops at the midpoint of its travel until the second segment 22a of the first arm 2a reaches its closed position. This allows for more precise actuation of the motor means designed to move the individual segments 21a, 21b, 22a, 22b.

[0115] Each of the three embodiments described above allows reducing the time to perform the series of movements, by performing at least two steps of the method simultaneously, and therefore reducing the time necessary to transfer each stabilizer 10 from the active configuration to the inactive configuration.

[0116] As already mentioned, in the inactive configuration of the stabilizer 10 , the arm 2 has a minimum length, so that the stabilizer 10 defines the smallest lateral dimension of the machine.

[0117] In the active configuration of the stabilizer 10 , the arms 2 are at their maximum length and the wheels 11 are detached from the ground, so that the load of the vehicle is supported by the arms 2 .

[0118] Furthermore, the present invention relates to a computer program that runs on an electronic processing unit for implementing the steps of the proposed method.

Claims

1. A method for controlling a scissor-type stabilizer (10) of a self-propelled operating machine (1), such as a telescopic forklift, wherein the scissor-type stabilizer is of the type comprising at least one pair of rotatable telescopic stabilizer arms (2a, 2b), wherein: Each of said arms (2a, 2b) comprises: a first section (21a, 21b) rotatable between a raised position and an operating position; a second section (22a, 22b) capable of sliding between an extended position and a closed position relative to the first section (21a, 21b) and provided with a foot (20) for contacting the ground; wherein the stabilizer (10) is activatable between an active configuration, in which the first sections (21a, 21b) are in the operating position and the second sections (22a, 22b) are in the extended position with the respective legs (20) resting on the ground, such that the wheels (11) of the machine (1) are elevated from the ground, and an inactive configuration, in which the first sections (21a, 21b) are in the elevated position and the second sections (22a, 22b) are in the closed position, such that the wheels (11) rest on the ground; Characterized in that the method comprises the following steps for moving the stabilizer (10) from the active configuration to the inactive configuration: rotating the first section (21a, 21b) from the operating position to an intermediate position (Am); Sliding the second section (22a) of the first arm (2a) to the closed position; rotating the first section (21b) of the second arm (2b) from the intermediate position to the raised position; sliding the second section (22b) of the second arm (2b) to the closed position; The first section (21a) of the first arm (2a) is rotated from the intermediate position to a final position.

2. The method according to claim 1, wherein The step of rotating the first segment (21a, 21b) from the operating position to the intermediate position (Am) comprises: a first rotation, wherein the first rotation moves the first segment (21a, 21b) from the operating position to a reference position between a stop position and the intermediate position (Am); and a second rotation, wherein the first segment (21a, 21b) is rotated in the opposite direction from the reference position to the intermediate position (Am).

3. The method according to claim 1 or 2, wherein: The sliding of the second section (22a) of the first arm (2a) to the closed position and the rotation of the first section (21b) of the second arm (2b) from the intermediate position to the raised position occur simultaneously.

4. A method according to any one of the preceding claims, wherein The sliding of the second section (22b) of the second arm (2b) to the closed position occurs simultaneously with the rotation of the first section (21a) of the first arm (2a) from the intermediate position to the final position.

5. A method according to any one of the preceding claims, wherein The rotation of the first section (21b) of the second arm (2b) from the intermediate position to the raised position and the sliding of the second section (22b) of the second arm (2b) to the closed position occur simultaneously.

6. A method according to any one of the preceding claims, wherein The first section (21a, 21b) completes a total rotation angle from the operating position to the raised position, the total rotation angle depending on the structural characteristics of the stabilizing device and the stabilizing conditions.

7. A method according to any one of the preceding claims, wherein In the intermediate position (Am), the inclination angle of the first section (21a, 21b) is greater than or equal to 50% of the total rotation angle of the corresponding arm (2).

8. A method according to any one of the preceding claims, wherein In the inactive configuration of the stabilizer (10), the arms (2) are tilted upwards.

9. A method according to any one of the preceding claims, wherein In the fully closed position of the second section (22), the arm (2) has a minimum length.

10. A stabilization system for a self-propelled operating machine (1), such as a telescopic forklift, comprising at least two scissor-type stabilizers (10), the scissor-type stabilizers being designed to adopt an active configuration, in which the scissor-type stabilizers stabilize the machine (1) by raising the wheels (11) of the machine (1) from the ground, and an inactive configuration in which the wheels (11) rest on the ground, wherein: Each stabilizer (10) comprises at least one pair of rotatable telescopic stabilizing arms (2a, 2b); Each of the arms (2a, 2b) comprises: a first section (21a, 21b) rotatable between a raised position and an operating position; and a second section (22a, 22b) slidable relative to the first section (21a, 21b) between an extended position and a closed position and provided with a foot (20) for contacting the ground; A first moving device (3) is designed to rotate the first section (21a, 21b) between the raised position and the operating position; A second moving device is designed to move the second section (22a, 22b) between the closed position and the extended position; The stabilization system includes a processing unit configured to control the first mobile device and the second mobile device to perform the following steps: rotating the first section (21a, 21b) from the operating position to an intermediate position; Sliding the second section (22a) of the first arm (2a) to the closed position; rotating the first section (21b) of the second arm (2b) from the intermediate position to the raised position; sliding the second section (22b) of the second arm (2b) to the closed position; The first section (21a) of the first arm (2a) is rotated from the intermediate position to a final position.

11. The stabilization system according to claim 10, wherein: The processing unit is configured to control the first and second moving devices to perform an actuation step of rotating the first segment (21a, 21b) from the operating position to the intermediate position (Am), the actuation step comprising the following steps: - a first rotation, said first rotation moving said first segment (21a, 21b) from said operating position to a reference position between a rest position and said intermediate position (Am); - a second rotation in which the first segment (21a, 21b) is rotated in the opposite direction from the reference position to the intermediate position (Am).

12. The stabilization system according to claim 10 or 11, wherein: The processing unit is configured to control the first moving device and the second moving device so that the sliding of the second section (22a) of the first arm (2a) to the closed position and the rotation of the first section (21b) of the second arm (2b) from the intermediate position to the raised position are actuated simultaneously.

13. A stabilization system according to any one of claims 10 to 12, wherein: The processing unit is configured to control the first moving device and the second moving device so that the sliding of the second section (22b) of the second arm (2b) to the closed position and the rotation of the first section (21a) of the first arm (2a) from the intermediate position to the final position are actuated simultaneously.

14. A stabilization system according to any one of claims 10 to 12, wherein: The processing unit is configured to control the first moving device and the second moving device so that the rotation of the first section (21b) of the second arm (2b) from the intermediate position to the raised position and the sliding of the second section (22b) of the second arm (2b) to the closed position are actuated simultaneously.

15. A self-propelled operating machine (1), such as a telehandler or the like, comprising a stabilising system according to any one of claims 10 to 14.

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