System for stabilizing self-propelled operating machine

Abstract

A method for controlling a scissor stabilizer of a self-propelled operating machine, the scissor stabilizer comprising at least one pair of rotatable telescopic stabilizing arms, each arm comprising: a first section rotatable between a raised position and an operating position; a second section slidable relative to the first section between an extended position and a closed position and provided with a foot, the stabilizer being activatable between an active configuration in which the first section is in the operative position and the second section is in the extended position, the foot resting on the ground, and an inactive configuration in which the first section is in the operative position and the second section is in the closed position, a movable configuration in which the first section is in a raised position and the second section is in a closed position such that the wheel rests on the ground, and a movable configuration in which the first section is in a raised position and the second section is in a closed position; the stabilizer is brought from an active configuration to an inactive configuration by a movement comprising a synchronization phase in which the following movements are simultaneously actuated: at least one rotation of the first section; and at least one section of the second section slides.

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, typically by means of a single sliding member, the arms having respective distal and proximal ends, the distal ends being designed to rest on the ground by means of support feet and the proximal ends being hinged to a support 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] 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.

[0010] Although prior art solutions allow the stabilizer to be restored correctly, the sector has long felt the need to speed up this operation, allowing greater efficiency in the use of the operating machines, which represent a limited resource since they are very expensive and bulky. Summary of the Invention

[0011] 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 meet the above-mentioned needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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:

[0013] Figure 1 is an axonometric view of a telehandler including a stabilization system according to the present invention;

[0014] Figures 2 to 4 yes Figure 1 a front view of the machine showing the different steps of the retraction sequence of the stabilizers included in the proposed system;

[0015] Figure 5 is a front view of a stabilization unit including one pair of stabilization arms among two pairs of stabilization arms provided in the system according to the present invention. DETAILED DESCRIPTION

[0016] With reference to the accompanying drawings, reference numeral 1 denotes as a whole a vehicle comprising a system according to the invention.

[0017] 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, such as Figures 1 to 5 As shown in .

[0018] 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.

[0019] Each arm 2 is provided with a longitudinal axis C.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] According to the preferred but non-limiting embodiment shown, the 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 cross-like configuration so as to be movable in counter-rotating manner similar to a pair of scissors.

[0024] 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.

[0025] 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.

[0026] In the inactive configuration of the stabilizer, the arm 2 is in a raised position, wherein the arm is away from the ground and retracted into the vehicle (see Figure 5 ), 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.

[0027] 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.

[0028] 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 2 This may be necessary to level the vehicle on sloping or uneven ground, that is, non-level ground.

[0029] 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.

[0030] 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.

[0031] According to the preferred but not exclusive embodiment shown, each arm 2 comprises a first section 21 and a second section 22 .

[0032] The first section 21 is rotatable between a raised position and an operating position. Rotation of the first section 21 causes the entire arm 2 to rotate between the raised position and the operating position. In the following description, when reference is made to the rotation of the arm 2, reference is made to the corresponding rotation of the first section 21, and vice versa.

[0033] It should be noted that when this description refers to the angle of inclination of the arm 2 in a predetermined position, or the degree of inclination of the arm 2 in a predetermined position, reference is made to the angle A between the longitudinal axis C of the arm 2 when the corresponding first section 21 is in the raised position and the longitudinal axis C in this predetermined position. In other words, the angle of inclination or the 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 section 21 of the arm 2 is in the raised position. Figure 2 and Figure 4 , the position of the longitudinal axis C of the arm 2 in the raised position of the corresponding first segment 21 is indicated by the line P. When performing a rotation from the operating position to the raised position, or vice versa, each first segment 21 and the associated arm 2 passes through a total rotation angle that depends on the structural characteristics of the stabilization device and the stabilization conditions.

[0034] The second section 22 is slidable relative to the first section 21 between an extended position and a closed position. The second section 22 is also provided with a foot 20 for contacting the ground. The foot 20 is associated with a free end of the second section 22.

[0035] The closed position is the position of minimum extension or maximum retraction of the second section 22. Preferably, in this position, only the foot 20 protrudes from the first section 21. In any case, in addition to the foot 20, the end of the second section 22 may also protrude from the first section 21.

[0036] When the first section 21 is in the operating position and the second section 22 is in the extended position, the stabilizer is in the active configuration. When the first section 21 is in the raised position and the second section 22 is in the closed position, the stabilizer is in the inactive configuration.

[0037] Preferably, but not necessarily, the first section 21 is hollow. The second section 22 is slidably inserted into the first section 21. Specifically, the second section 22 is slidable relative to the first section 21 between an extended position, in which the second section protrudes a longer portion from the first section 21, and a closed position, in which the second section protrudes a shorter portion from the first section 21. Preferably, in the closed position of the second section 22, only the legs 20 protrude from the first section 21.

[0038] According to the preferred, but not exclusive, embodiment shown, each section 21 , 22 comprises a rectilinear beam. The beam of the second section 22 is inserted in a sliding manner in the hollow beam of the first section 21 .

[0039] The invention comprises a first movement device 3 designed to individually rotate the first segment 21 between a raised position and an operating position. The rotation of the segment 21 determines the rotation of the corresponding arm 2 of which it is part. Preferably, the first movement device comprises a hydraulic cylinder 3 for each arm 2.

[0040] Preferably, the first movement means comprise a hydraulic cylinder 3 for each arm 2 .

[0041] In more detail, the first section 21 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.

[0042] Each hydraulic cylinder 3 is connected to the supporting structure 100 by a second articulation 41 and to the first section 21 of the corresponding arm 2 by a third articulation 42 .

[0043] The first and third hinges 42, 43 are positioned at two different points of the length of the first section 21, preferably on the upper side, the first hinge being more inside, ie closer to the proximal end of the first section 21 and the third hinge being more outside, ie closer to the distal end.

[0044] 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 rotate the arm 2 towards the operating position and to move the foot 20 to the ground, making it possible to raise the vehicle, and by a retracting action to move the stabilizer into the inactive position and return the vehicle to rest on the wheels, the arm 2 being raised and retracted into the parked position.

[0045] In particular, the hydraulic cylinder 3 is actuated by a pushing action to rotate the first section 21 and the corresponding arm 2 towards the operating position, and is actuated by a retracting action to rotate the first section 21 and the corresponding arm 2 towards the raised position.

[0046] The invention comprises second movement means, for example comprising a hydraulic cylinder (not shown), designed to move the second section 22 alone between the extended position and the closed position.

[0047] In practice, in order to extend the second section 22 to the outside of the first section 21, a hydraulic cylinder is used which is interposed between the second section 22 and the first section 21 and connected to each other at opposite ends.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Advantageously, the processing unit is configured to control the first and second movement means so as to move the stabilizer 10 from the active configuration to the inactive configuration by movements comprising at least one synchronized phase actuated simultaneously:

[0054] The first section 21 rotates at least one section from the operating position to the raised position;

[0055] The second section 22 slides at least one way in a direction from the extended position to the closed position.

[0056] In simple terms, the processing unit is configured for commanding the first and second movement means so that the stabilizer 10 is brought from the active configuration to the inactive configuration by a movement comprising at least one synchronous phase, wherein the rotation of the first section 21 towards the raised position and the sliding of the second section 22 towards the closed position are actuated simultaneously.

[0057] In other words, at least part of the movement that brings the stabilizer 10 from the active configuration to the inactive configuration consists of a rotation of the first section 21 that occurs simultaneously with the sliding of the second section 22 .

[0058] The synchronization phase according to the invention offers considerable advantages over the prior art.

[0059] In fact, while in the prior art there are sequential movements (some movements can be performed only after others), in the stabilization system according to the invention, at least part of the movement of bringing the stabilizer from the active configuration to the inactive configuration occurs simultaneously in the above-described mode. This allows a considerable saving of time.

[0060] According to a first possible embodiment, the processing unit is configured to control the first and second movement devices so that the synchronization phase includes the final sliding portion of the second segment 22 toward the closed position, the final sliding portion of the second segment 22 being the portion that ends at the closed position. In other words, at least the final sliding portion of the second segment 22, extending from an intermediate position located at a predetermined distance from the closed position to the closed position, occurs simultaneously with the rotation of the first segment from the operating position to the raised position. This means that, in each arm 2, the second segment 22 reaches the closed position before the first segment reaches the raised position.

[0061] According to a second possible embodiment, the processing unit is configured to command the first and second moving devices so that the synchronization phase includes a final rotation of the first segment 21 toward the raised position, the final rotation of the first segment being the rotation that ends in the raised position of the first segment. In other words, at least the final rotation of the first segment 21 from an intermediate position at a predetermined angle from the raised position to the raised position and the sliding of the second segment 22 from the extended position to the closed position occur simultaneously.

[0062] According to another possible embodiment shown in the figures, the processing unit is configured for moving the stabilizer 10 from the active configuration to the inactive configuration by a movement comprising the following steps:

[0063] Rotating the first section 21 from the operating position to the intermediate position Am; and

[0064] The synchronization phase.

[0065] According to one possible embodiment, after the first section 21 has rotated from the operating position to the intermediate position Am, the control unit commands the second section 22 to slide from the extended position to the intermediate position. After this sliding step, the control unit commands the synchronization phase. This allows the synchronization phase to start from a configuration that is substantially equal in terms of inclination and extension of the arm 2.

[0066] Briefly, according to the embodiment shown in the figures, the conversion of the stabilizer 10 from the active configuration to the inactive configuration comprises the following steps.

[0067] Initially, the processing unit commands the first segment 21 to rotate from the operating position to the intermediate position Am ( Figure 4 This intermediate position is where the wheels 11 of the vehicle 1 are positioned in contact with the ground and the feet 20 are separated from the ground (e.g. 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 corresponding first section 21. In other words, the rotation angle formed by the first section 21 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] On reaching the intermediate position Am, the processing unit commands the actuation of the synchronization phase, during which there is simultaneous rotation of the first segment 21 towards the raised position and sliding of the second segment towards the closed position, until reaching the inactive configuration of the stabilizer, as Figure 5 If necessary, but not necessarily, before the synchronization phase, the control unit commands the second segment 22 to slide to the intermediate position.

[0070] According to a possible embodiment of the invention, the first step described, i.e. the rotation of the first section 21 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.

[0071] According to another possible embodiment of the present invention, the first step described, namely, rotating the first segment 21 from the operating position to the intermediate position Am, includes a first rotation that moves the first segment 21 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 segment 21 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.

[0072] According to another possible embodiment, the processing unit is configured to actuate the synchronization phase throughout the movement of the stabilizer 10 from the active configuration to the inactive configuration. In other words, according to this embodiment, the processing unit actuates simultaneously the rotation of the first section 21 and the sliding of the second section 22 when the stabilizer 10 moves from the active configuration to the inactive configuration.

[0073] All of the described embodiments significantly reduce the time necessary to move the stabilizer 10 from the active configuration to the inactive configuration.

[0074] Preferably, in the inactive configuration of the stabilizer 10, the arm 2 is tilted upward (i.e., relative to the horizontal plane), with the end of the supporting foot 20 at a higher elevation than the end pivoted to the support structure 100. This allows for a further reduction in the lateral dimensions of the stabilizer, since the mutual distance of the feet 20 is smaller than if the arm were horizontal in the raised position. Preferably, in this configuration, the inclination of the arm is between 1° and 3°.

[0075] According to another possible embodiment, in the inactive configuration of the stabilizer 10, the arms 2 are substantially horizontal and parallel to one another. 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.

[0076] It should be noted that preferably the arms 2 of the two stabilizers 10 move in a synchronized manner. In any case, a solution is possible in which the arm 2 of a stabilizer moves in an asynchronous manner with the arm 2 of the other stabilizer.

[0077] Thus, the present invention includes a retraction control for the stabilizer 10 that is significantly different from the control used by prior art systems.

[0078] In fact, while in prior art systems the rotation of the first segment and the sliding of the second segment occur according to a predetermined sequence, the present invention comprises a controller in which, at least for a portion of the movement, the rotation of the first segment 21 and the sliding of the second segment 22 occur simultaneously. This allows a considerable time period to be saved.

[0079] 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, one or more switches, or other controls.

[0080] In practice, by continuously pressing a control element (such as a joystick, lever, etc.), 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 element.

[0081] The system according to the invention preferably comprises an electro-hydraulic distributor which controls the above-mentioned cylinder 3 which moves in rotation and extends (or retracts) the arm 2 , that is to say the first section 21 and the second section 22 of the arm 2 .

[0082] The distributor is connected to the cylinder 3 and regulates operation based on control signals from the processing unit.

[0083] Control signals are generated by the processing unit for activating the cylinders 3 in the stabilizing arm 2 in order to perform the above-mentioned movements.

[0084] The invention may comprise first detection means connected to the processing unit and configured for measuring the inclination of the arm 2 relative to a reference plane, for example relative to the position of the longitudinal axis C in the raised position of the arm 2 ( Figure 2 and Figure 4 According to an alternative embodiment, the reference plane may be defined by a plane in which the lower wall of the support structure 100 lies or a plane parallel thereto. According to another alternative, the reference plane P is a horizontal plane.

[0085] The first detection device may include, 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 the arm 2. In other words, the first detection device is designed to generate a tilt signal based on the measured value. This tilt signal is transmitted to a processing unit, which controls the hydraulic distributor based on the received tilt signal.

[0086] In any case, the first detection means allow the inclination of the arm 2 , ie the angle formed by the first section 21 with the reference plane P, to be determined.

[0087] 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 segment 22 relative to the corresponding first segment 21 .

[0088] The second detection means are configured to measure and quantify the withdrawn position of the second segments 22 relative to the corresponding first segments 21 .

[0089] For example, the second detection means comprises a wired position sensor provided with a winder integral with the first section 21, the wire of which is connected to the second section 22, or vice versa. The winder is connected to an encoder or to an angular position sensor.

[0090] Alternatively, a position sensor may be used which measures the distance of a fixed reference relative to the first section 21 to the second section 22 etc. For example, a linear potentiometric sensor may be used.

[0091] In any case, whatever sensor is used, it is designed to generate an extension signal representative of the position of the second section 22 relative to the first section 21, 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.

[0092] 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.

[0093] Preferably, the present invention further comprises a pressure sensor for each arm 2, such as a unit comprising an extensometer or a pressure switch. The pressure sensor is designed to detect the presence of a load acting on the relevant arm 2 and to transmit a corresponding signal to the control unit. The presence of a load indicates contact between the foot 20 of the arm 2 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 relevant second section 22 from retracting to prevent it from sliding on the ground.

[0094] It should be noted that the processing unit comprises a memory module in which control parameters associated with the positions of the first segment 21 and the second segment 22 are recorded.

[0095] Furthermore, the processing unit may include a user interface configured to allow an operator to select or set control parameters.

[0096] The preferred operation of the present invention is basically performed in the following mode.

[0097] Once the planned operation has ended, during which the machine 1 has been stabilized, the operator in the cab initiates the procedure for the retraction of the stabilizers 10 using special controls.

[0098] As already mentioned, the arms 2 move in a synchronized manner, more specifically all four simultaneously.

[0099] Initially, the arm 2 is raised by the upward rotation of the first section 21 so that the wheel 11 first touches the ground and then continues until a predetermined intermediate position Am ( Figure 3 ).

[0100] In practice, to obtain this, the hydraulic cylinder 3 situated between the first section 21 and the support structure 100 is actuated in retracting manner to rotate the first section 21 and therefore the arm 2 to a position in which the first detection means detect the intermediate position Am.

[0101] At this point, the synchronous phase of the movement is activated, in which the rotation of the first segment 21 is carried out simultaneously with the sliding of the second segment 22, until the sensor of the second detection device sends a signal to the processing unit indicating that the second segment 22 has reached the closed position, which is determined based on the corresponding stored control parameters, and that the first segment 21 has reached the raised position, which can be measured by the first detection device ( Figure 5 ).

[0102] 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.

[0103] 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 ( Figure 4 ), where the following steps are performed simultaneously:

[0104] The first section 21 rotates at least one section from the operating position to the raised position;

[0105] The second section 22 slides at least one way in a direction from the extended position to the closed position.

[0106] According to a first possible embodiment of the method, the synchronization phase comprises a last sliding of the second segment 22 towards the closed position, this last sliding of the second segment being the sliding that ends in the closed position of the second segment 22 .

[0107] According to a first possible embodiment of the method, the synchronization phase comprises a last rotation of the first segment 21 towards the raised position, this last rotation of the first segment being the rotation ending in the raised position of the first segment.

[0108] According to a third possible embodiment of the method, which is preferred but not exclusive and is illustrated in the accompanying drawings, the method according to the invention comprises a stabilizer 10 brought from an active configuration to an inactive configuration by a movement comprising the following steps:

[0109] Rotating the first section 21 from the operating position to the intermediate position Am; and

[0110] Actuation of the synchronization phase.

[0111] According to a third possible embodiment of the method, the arm 2 is rotated from the operating position of the first section 21 to an intermediate position Am in which the wheels 11 rest on the ground and the arm 2 is detached from the ground ( Figure 4). The synchronization phase is then actuated, in which the rotation of the first segment 21 and the sliding of the second segment 22 occur simultaneously in the pattern described above, until reaching the inactive configuration of the stabilizer 10 in which the first segment 21 is in the raised position and the second segment in the closed position.

[0112] According to a possible embodiment of the method, after the first section 21 has rotated from the operating position to the intermediate position Am, the sliding of the second section 22 from the extended position to the intermediate position is actuated, and then the synchronization phase is actuated. This allows the synchronization phase to be actuated starting from a configuration that is substantially equal in terms of inclination and extension of the two arms.

[0113] According to another possible embodiment of the method, the synchronization phase occupies the entire movement from the active configuration to the inactive configuration of the stabilizer 10. In particular, the method comprises synchronizing the rotation of the first section 21 and the sliding of the second section 22 when the stabilizer 10 moves from the active configuration to the inactive configuration.

[0114] 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.

[0115] 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 .

[0116] 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 or the like, wherein the scissor-type stabilizer is of the type comprising at least one pair of rotatable telescopic stabilizer arms (2), wherein: Each of said arms (2) comprises: A first section (21) capable of rotating between a raised position and an operating position; a second section (22) capable of sliding relative to the first section (21) between an extended position and a closed position and provided with a foot (20) for contacting the ground; wherein the stabilizer (10) is activatable between an active configuration, in which the first section (21) is in the operating position and the second section is in the extended position, with the associated foot (20) resting on the ground so that the wheels (11) of the machine (1) are elevated from the ground, and an inactive configuration, in which the first section (21) is in the elevated position and the second section (22) is in the closed position so that the wheels (11) rest on the ground; Characterized in that the stabilizer (10) is brought from the active configuration to the inactive configuration by movements comprising a synchronization phase in which the following movements are simultaneously actuated: The first section (21) rotates at least one section from the operating position to the raised position; The second section (22) slides at least one section in a direction from the extended position to the closed position.

2. The method according to claim 1, wherein The synchronization phase includes a last sliding portion of the second segment (22) toward the closed position, the last sliding portion of the second segment (22) being the sliding portion that ends at the closed position of the second segment (22).

3. The method according to claim 1 or 2, wherein: The synchronization phase includes a last rotation of the first segment (21) toward the raised position, the last rotation of the first segment (21) being the rotation that ends at the raised position of the first segment (21).

4. A method according to any one of the preceding claims, wherein The stabilizer (10) moves from the active configuration to the inactive configuration by a movement comprising the following steps: rotating the first section (21) from the operating position to an intermediate position; and The synchronization phase.

5. The method according to claim 4, comprising, after the step of rotating the first section (21) from the operating position to the intermediate position and before the synchronization phase, the step of sliding the second section (22) from the extended position to the intermediate position.

6. The method according to claim 1, wherein The synchronization phase occupies the entire movement of the stabilizer (10) from the active configuration to the inactive configuration.

7. 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.

8. 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.

9. 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 and an inactive configuration, wherein in the active configuration the scissor-type stabilizers stabilize the machine (1) by lifting the wheels (11) of the machine (1) from the ground, and in the inactive configuration the wheels (11) rest on the ground, wherein: Each of the stabilizers (10) comprises at least one pair of rotatable telescopic stabilizing arms (2); Each of the arms (2) comprises: a first section (21) rotatable between a raised position and an operating position; and a second section (22) slidable relative to the first section (21) 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 (21) between the raised position and the operating position; A second moving device is designed to move the second section (22) between the closed position and the extended position; Characterized in that the stabilization system comprises a processing unit configured to control the first movement device and the second movement device so that the stabilizer (10) moves from the active configuration to the inactive configuration by a movement comprising at least one synchronous phase, in which the following movements are simultaneously actuated: The first section (21) rotates at least one section from the operating position to the raised position; The second section (22) slides at least one section in a direction from the extended position to the closed position.

10. The stabilization system according to claim 9, wherein: The processing unit is configured to control the first moving device and the second moving device for actuating the synchronization phase, the synchronization phase comprising a last sliding portion of the second segment (22) toward the closed position, the last sliding portion of the second segment (22) being the sliding portion that ends at the closed position of the second segment (22).

11. The stabilization system according to claim 9 or 10, wherein: The processing unit is configured to control the first moving device and the second moving device for actuating the synchronization phase, the synchronization phase comprising a last rotation of the first segment (21) toward the raised position, the last rotation of the first segment (21) being the rotation that ends at the raised position of the first segment (21).

12. A stabilization system according to any one of claims 9 to 11, wherein: The stabilizer (10) comprises a support structure (100) for each pair of arms (2), the support structure being designed to be fixed to the frame of the machine (1), the first section (21) being hinged to the support structure, the associated second section (22) being slidably inserted into the support structure, wherein the system comprises: a first detection device connected to the processing unit and configured to measure the inclination of each of the arms (2) relative to a reference plane (P), the reference plane being fixed relative to the structure (100); a second detection device connected to the processing unit and configured to measure the length of a portion of each second segment (22) protruding relative to the corresponding first segment (21); a tilting module, included in the processing unit, configured to detect whether the arm (2) is in an intermediate position (Am) or in the raised position, in which the arm is tilted at an intermediate angle relative to the reference plane; An extension module, included in the processing unit, is configured to detect whether the second section (22) is in the extended position or in the closed position.

13. A self-propelled maneuvering machine (1), such as a telehandler or the like, comprising a stabilising system according to any one of claims 9 to 12.

14. A computer program for executing the steps of the method according to any one of claims 1 to 8 when the computer program is run on an electronic processing unit.

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