SYSTEM FOR STABILIZING SELF-PROPELLED WORKING MACHINES

Description

DESCRIPTION Attached to a patent application for an INDUSTRIAL INVENTION having by title “System for stabilizing self-propelled operating machines” ******* The present invention relates to a stabilization system for self-propelled operating machines, in particular rotating telescopic handlers (telescopic handler or “telehandler”). Telescopic lifts are known, consisting of a vehicle equipped with a chassis 5 mobile on wheels, which includes a platform mounted on the frame, which in turn it mounts the driver's cabin and an extendable maneuvering arm telescopically. At the distal end of the arm, there is a device for lifting or move loads, such as a fork, a basket, a shifter 10 side, a winch, etc.. To lift and move loads at high heights and with a long reach significant, it is necessary to stabilize the vehicle, lifting the wheels from the soil. There are known outriggers for telescopic handlers of the so-called scissor type, 15 consisting of two stabilization groups, provided at the front and rear of the vehicle and mounted on its chassis near the wheels. Each stabilization group includes a pair of swivel arms and telescopically extendable, usually with a single extension, which feature respective distal ends, intended to rest on the ground by means of 20 support feet (or slippers), and proximal ends, hinged to a support frame. In practice, the stabilizer arms are arranged crosswise with respect to each other. and, when lifted, they move in a scissors-like fashion. Once the load handling operations are completed, the 25 stabilizers are returned to the non-use configuration in which they have the minimum encumbrance, thus lowering the machine to place the wheels on the ground. A first example of a sequence involves the arms rotating upwards, until that the wheels rest on the ground. At this stage, the extensions protrude from the relative first segment or sheath and are therefore still extracted. At this point, the 5 arms are rotated upwards so as to place them horizontally, parallel to each other to the other; only after the arms have reached this horizontal position, the The extensions are completely retracted, so as to conclude the operations recovery and allow the operator to start the vehicle moving. While the known solution allows for proper recovery of the stabilizers, 10 in the sector to which the invention relates, the need has long been felt for speed up this operation to allow for better efficiency use of operating machines, which represent a limited resource in as they are notoriously very expensive and bulky. In this context, the technical task underlying the present invention is 15 propose a stabilization system for self-propelled operating machines and a control method for stabilizers, which meet the above requirement reported. Further features and advantages of the present invention will appear. made clearer by the indicative, and therefore non-limiting, description of 20 a preferred but not exclusive embodiment of a system, such as illustrated in the attached drawings where: - Figure 1 is an axonometric view of a telehandler including the stabilization system of the invention; - figures 2 – 4 are front views of the machine in figure 1 which 25 show different phases of the reentry sequence of the stabilizers included in the proposed system; - Figure 5 is a front view of a stabilization group that includes one of the two pairs of stabilizer arms that are provided in the system of invention. 30 With reference to the attached figures, 1 has been indicated overall a vehicle comprising the system of the invention. The system according to the invention is preferably structured, but not exclusively, to be implemented on a vehicle 1 consisting of a self-propelled work machine such as a telehandler or platform air, etc… and can be rotary or even fixed, such as 5 shown in figures 1 – 5. The system of the invention includes stabilizers 10 intended to be mounted on vehicle 1. In the embodiment shown, each stabilizer 10 includes at least one pair of stabilizer arms 2 telescopic. In the following description, such telescopic stabilizer arms 10 will be simply referred to as arms. Each arm 2 is equipped with a longitudinal axis C. Preferably, the stabilizers 10 provided in the system of the invention are of the so-called “scissor” or “X” type, and each includes a pair of 2 arms, for example with a single extension. The two pairs of arms are placed 15 respectively in a front and a rear area of ​​the vehicle 1, near wheels 11. Please note that when the adjective “horizontal” is used in this description or we speak of "horizontal" planes, we mean to refer to horizontality in the case of flat and horizontal ground. 20 In fact, it is clear that if the ground on which the wheels 11 or the stabilizers rest 10 is not regular or is inclined, the “horizontal” reference is inclined by consequence. In the preferred but not exclusive embodiment shown, the stabilizers 10 include a support structure 100, fixed or 25 incorporated into the frame of the machine 1, to which the arms 2 of a pair are individually hinged, in a cross configuration, so as to to be able to move in counter-rotation, like scissors. Even more in detail, the two arms 2 connected to the same structure of support 100 are mounted opposite each other, so that they can move in 30 parallel planes, generally vertical. The stabilizers 10 of the proposed system are designed to assume a active configuration, in which they stabilize machine 1, lifting its wheels off the ground, and an inactive configuration, in which the wheels 11 are placed on the ground. In the inactive configuration of the stabilizers, the arms 2 are located in a 5 raised position, in which they are clear of the ground and retracted into the vehicle (yes see figure 5), and in particular allow the free movement of the vehicle 1. In the active configuration (figures 1 and 2), the arms 2 rest on the ground to stabilize the vehicle. In the following description, the active or inactive configuration is associated with both the 10 stabilizers and the 10 arms 2 of the stabilizers 10. In the active configuration of the stabilizers, shown in figure 3, the arms 2 they rest on the ground and lift the wheels off the ground, so as to free the wheels themselves from the load due to the weight of the vehicle. In essence, the active stabilizer configuration is a configuration in which the load 15 of the vehicle, i.e. the load due to the weight of the vehicle, is supported only by the arms 2, as shown in figure 3. It is however possible that, when the arms 2 rest on the ground, the arms 2 do not stop their movement, but continue to move to lift further the wheels, as shown in figure 2. This could be 20 necessary to level the vehicle on sloping ground or uneven, that is, non-horizontal terrain. In general, the active configuration of the stabilizers 10, i.e. the position assumed by the arms 2 in the active configuration of the stabilizers, depends on the specific conditions in which vehicle 1 is operating, with 25 particular reference to the type of ground on which the machine must stabilize 1. In fact, based on the slope or the conformation of the ground on which the vehicle 1 stabilizes, the arms 2 can rest on the ground at different angles and lengths variables. In the embodiment shown, preferred but not exclusive, 30 each arm 2 comprises a first segment 21 and a second segment 22. The first segment 21 is rotatable between a raised position and a working position. The rotation of the first segment 21 causes the rotation of the entire arm 2 between the said raised and working positions. In the description that follows, speaking of rotation of an arm 2 will mean the 5 rotation of the corresponding first segment 21, and vice versa. It should be noted that when in this description we speak of angle of inclination of an arm 2 in a certain position, or inclination of an arm 2 in a certain position, we refer to the angle A included between the longitudinal axis C of the arm 2, when the relative first 10 segment 21 is in the raised position, and the longitudinal axis C in this particular position. In other words, the inclination angles or the inclinations that will be mentioned are measured with respect to the reference defined by the angular position of the longitudinal axis C when the first segment 21 of arm 2 is in the raised position. The position 15 of the longitudinal axis C of an arm 2 in the raised position of the relative first segment 21 is indicated with the trace line P in figure 2 and in figure 4. When rotating from the working position to the working position raised, or vice versa, each first segment 21 and the relative arm 2 they sweep a total angle of rotation that depends on the characteristics 20 construction of the stabilizer and the stabilization conditions. The second segment 22 is sliding with respect to the first segment 21 between a extended position and a closed position. The second segment 22 is also equipped with a foot 20 for contact with the ground. Foot 20 is associated with a free end of the second segment 20. 25 The closed position is the position of minimum extension, or maximum retraction, of the second segment 22. Preferably, in this position only the foot 20 protrudes from the first segment 21. However, it is not excluded that, in addition at foot 20, also a portion of the end of the second segment 22 may protrude from the first segment 21. 30 When the first segments 21 are in the working position and the second ones segments 22 are in the extended position, the stabilizers are in the in the active configuration. When the first 21 segments are in the raised position and the second segments 22 are in the position closed, the stabilizers are in the inactive configuration. Preferably, but not necessarily, the first segment 21 is hollow. The 5 second segment 22 is slidably inserted into the first segment 21. In In particular, the second segment 22 is sliding with respect to the first segment 21 between said extended position, in which it protrudes from the first segment 21 for a longest section, and called closed position, in which it protrudes from the first segment 21 for a shorter length section. Preferably, in the 10 closed position of the first segment 22, only the foot 20 protrudes from the first segment 21. In the embodiment shown, preferred but not exclusive, each segment 21, 22 comprises a straight beam. The beam of the second segment 22 is inserted with the possibility of sliding in the beam 15 quarry of the first segment 21. The invention comprises first handling means 3, arranged for rotate the first segments 21 individually between the raised position and the working position. The rotation of the segments 21 determines the rotation of the respective arm 2 of which they are part. 20 Preferably, the first means of movement comprise a cylinder hydraulic 3 for each arm 2. In detail, the first segment 21 of each arm 2 is connected to the support structure 100 via a first hinge 43; furthermore, for the purpose of movement of the arm 2 around the first hinge 43, is foreseen 25 the use of said hydraulic cylinder 3, whose thrust is also used for the lifting during stabilization. Each hydraulic cylinder 3 is connected via a second hinge 41 to the support structure 100 and, via a third hinge 42, to the first segment 21 of the respective arm 2. 30 The first and third hinges 42, 43 are located in two distinct points of the length of the first segment 21, preferably corresponding to the side upper, the first being more internal, that is, closer to the extremity proximal of the first segment 21, and the third outermost, that is, closest at the distal end. In practice, the hydraulic cylinders 3 are operated in thrust to bring the 5 stabilizers in the active configuration, i.e. to rotate the arms 2 towards the working position and bring the feet 20 to the ground, so as to lift the vehicle 1, while they are operated in recovery to bring the stabilizers into the inactive configuration and bring the vehicle 1 back to rest on its wheels, with the arms 2 raised and retracted to a rest position. 10 In particular, the hydraulic cylinders 3 are operated in thrust to rotate the first segments 21, and the relative arms 2, towards the working position, while they are operated in recovery to rotate the first segments 21 and the related arms 2 towards the raised position. The invention then includes second means of movement, for example 15 comprising hydraulic cylinders (not shown), arranged to move individually the second segments 22 between the extended position and the position closed. In practice, for the purpose of extending the second segment 22 outside the first segment 21, the use of a hydraulic cylinder is foreseen, inserted between 20 second segment 22 and first segment 21 and connected to each other in correspondence of opposite ends. The system of the invention includes a processing unit, arranged for adjust the movements of the stabilizers 10, according to the detailed procedures in the I continue. 25 In general, it should be noted that, in this description, the processing unit It is presented as divided into distinct functional modules for the sole purpose of describe its features clearly and completely. In practice, such a processing unit can consist of a single electronic device, even of the type commonly found on this type 30 machines, appropriately programmed to perform the functions described; the different modules may correspond to hardware entities and / or software routines that are part of the programmed device. Alternatively or in addition, these functions can be performed by a plurality of electronic devices on which the aforementioned functional modules can be distributed. 5 In general, the processing unit may make use of one or more microprocessors for executing the instructions contained in the modules memory and the above mentioned functional modules can also be distributed on of a plurality of computers locally or remotely based on the architecture of the network in which they reside. 10 Advantageously, the processing unit is configured to control said first and second means of movement so that the stabilizers (10) are brought from the active configuration to the inactive configuration through movements that include at least one synchronous phase in which implement simultaneously: 15 at least a portion of the rotation of the first segments 21, in the direction that goes from working position to raised position; at least a portion of the sliding of the second segments 22, in the direction that goes from the extended position to the closed position. In essence, the processing unit is configured to control the said first and 20 seconds handling means so that the stabilizers 10 are brought from the active configuration to the inactive configuration via movements that include at least one synchronous phase in which the rotation of the first 21 segments, towards the raised position, is implemented simultaneously with the sliding of the second segments 22 towards the 25 closed position. In other words, at least some of the movements that the stabilizers carry 10 from active configuration to inactive configuration includes a rotation of the first segments 21 which occurs simultaneously, or in simultaneous, with the scrolling of the second segments 22. 30 The synchronous phase according to the present invention involves significant advantages compared to the known technique. In fact, while in the known technique sequential movements are foreseen, with some movements that can only take place after others, in stabilization system according to the present invention at least a part of the movements that bring the stabilizers from the active configuration to the 5 inactive configurations occur simultaneously, in the modes already described. This results in a significant time saving. In a first possible embodiment, the processing unit is configured to control said first and second means of movement in so that the said synchronous phase includes a final stretch of the sliding of the 10 seconds segments 22 towards the closing position, i.e. a stretch of the sliding of the second segments 22 which ends in the closed position of the second segments 22. In other words, at least one final stretch of the scrolling of the second segments 22, which extends from a position intermediate, placed at a predetermined distance from the closed position, up to 15 at the closing position, occurs simultaneously with a stretch of the rotation of the first segments from the working position to the position raised. This means that, in each arm 2, the second segment 22 reaches the closed position before the first segment reaches the raised position. 20 In a second possible embodiment, the processing unit is configured to control said first and second means of movement in so that the said synchronous phase includes a final stretch of the rotation of the first segments 21 towards the raised position, that is a stretch of the rotation of the first segments 21 which ends in the raised position of the 25 first segments 21. In other words, at least one final segment of the rotation of the first segments 21, which extends from an intermediate position, placed at a fixed angle from the raised position, to the raised position, It occurs simultaneously with a stretch of the seconds ticking away segments 22 from the extended position to the closed position. 30 In a further possible embodiment, represented in the figures, the processing unit is configured to bring the stabilizers 10 from the active configuration to inactive configuration through movements that include the following phases: rotation of the first segments 21 from the working position to a position intermediate Am; 5 called synchronous phase. In one possible embodiment, following the rotation of the first segments 21 from the working position to an intermediate position Am, the control unit commands a scrolling of the second segments 22 from the position extended to an intermediate position. Subsequently to this phase 10 of sliding, the control unit controls the synchronous phase. This allows that the synchronous phase starts from substantially equal configurations for tilt and extension of the arms 2. In essence, in the embodiment shown in the figures, the switching of the stabilizers 10 from the active configuration to the 15 inactive configuration includes the following steps. Initially, the processing unit commands the rotation of the first segments 21 from the working position to an intermediate position Am (figure 4). This intermediate position is a position in which the wheels 11 of the vehicle 1 are they are in contact with the ground and the feet 20 are detached from the ground, as 20 visible in figure 4, for a height sufficient to ensure that the feet 20 do not crawl on the ground. Preferably, in the intermediate position the inclination angle Am 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 working position of the relative first 25 segment 21. In other words, the angle of rotation completed by the first segments 21 from the working position to the intermediate position Am is less or equal to 50% of the total rotation angle from the working position to the raised position. Upon reaching this intermediate position Am, the processing unit 30 commands the implementation of the synchronous phase, during which, in contemporary, the rotation of the first 21 segments towards the raised position and the sliding of the second segments towards the position closed, until the inactive configuration of the stabilizers, illustrated in figure 5. Possibly, but not necessarily, before the synchronous phase the control unit commands the sliding of the 5 seconds segments 22 to an intermediate position. In one possible embodiment of the invention, the first of the phases described, i.e. the rotation of the first segments 21 from the working position at an intermediate position Am, it is a rotation directed in one direction only. In in other words, each arm rotates directly from the working position to the 10 intermediate position. As already mentioned, the intermediate position is essentially a position where the feet are 20 feet off the ground certain altitude, as shown in figure 4. In a further possible embodiment of the invention, the first of the phases described, that is the rotation of the first segments 21 from the position 15 working at an intermediate position Am, includes a first rotation, which brings the first segments 21 beyond the intermediate position Am, that is, it brings the first segments in a reference position between the position of rest and the intermediate position Am. Subsequently, a phase is implemented in where the first segments 21 rotate in the opposite direction from the position of 20 reference to the intermediate position Am. In this further form of realization of the invention, it is possible to ensure that the arms 2 of one stabilizer are arranged in intermediate positions Am symmetrical to each other with respect to a plane perpendicular to the reference plane P, even in the case where the vehicle is on an inclined plane. 25 In a further possible embodiment, the processing unit is configured to implement the synchronous phase during the entire movement of the stabilizers 10 from active to inactive configuration. In in other words, in this embodiment, the processing unit implements simultaneously the rotation of the first segments 21 and the sliding of the 30 seconds segment 22 from active configuration to inactive configuration of the stabilizers 10. All the described embodiments allow to significantly reduce the time needed to bring the 10 stabilizers from the configuration active to inactive configuration. Preferably, in the inactive configuration of the stabilizers 10, the arms 2 5 are inclined upwards, that is, with respect to a horizontal plane, the extremities that support the feet 20 are located at a higher altitude with respect to the ends hinged to the support structure 100. This allows to further reduce the transverse bulk of the stabilizers, because the 20 feet are at a shorter distance from each other than in the case where, 10 in the raised position, the arms are horizontal. Preferably, the inclination of the arms, in this configuration, is between 1° and 3°. In another possible embodiment, in the inactive configuration of the stabilizers 10, the arms 2 are substantially horizontal and parallel to each other them. In the active configuration, and in at least some of the configurations 15 intermediate between the active and inactive one, the 2 arms are crossed. Note that, preferably, the arms 2 of both stabilizers 10 are move synchronously. However, a solution is possible in which the 2 arms of a stabilizer move out of sync with the arms 2 of the other stabilizer. 20 The invention therefore provides for a control of the retraction of the stabilizers 10 significantly different from that used with known systems. In fact, while in known systems, the rotation of the first segments and the the scrolling of the second segments occurs according to a sequence predetermined, the invention provides for a control in which, at least for a part 25 of the movements, the rotation of the first 21 segments and the sliding of the second segments 22 occur simultaneously. This allows for save a significant amount of time. The processing unit is connected to the controls located in the cabin of the machine, so that the operator can operate the stabilizers 10 30 via a joystick, one or more switches or other controls. In practice, by continuously acting on a command, for example a joystick, a lever or similar, the arms 2 perform the movements described above to determine the transition from the active configuration to the current configuration inactive stabilizers 10. The operator can stop the movements simply by releasing the command, for safety reasons. 5 The system according to the present invention preferably comprises a electro-hydraulic distributor which controls the above mentioned 3 cylinders which move in rotation and extension (or retraction) of the arms 2, i.e. the first segments 21 and the second segments 22 of the arms 2.. The distributor is connected to the 3 cylinders and regulates their operation based on 10 of control signals coming from the processing unit. The control signals are produced by the processing unit to activate the cylinders 3 in the stabilizer arms 2, so as to perform the movements described above. The invention may include first detection means, connected to the unit 15 processing and configured to measure the inclination of the arms 2 with respect to a reference, for example to the position of the longitudinal axis C in the raised position of the arms 2 (reference P in figures 2 and 4). In a alternative solution, the reference could be defined by the plane in which lies the lower wall of the support structure 100, or a plane thereof 20 parallel. In a further alternative, the reference P is a horizontal plane. The first means of detection may include, for example, encoders and / or potentiometric angular position detectors, microswitches or sensors proximity. In general, the first means of detection are configured to detect the angular position of the arms 2a,2b. In other words, the first means 25 detectors are set up to produce a tilt signal depending on of the findings made, transmitted to the processing unit that controls the hydraulic distributor in accordance with the received inclination signals. In any case, the first means of detection allow to determine the inclination of the arm 2, that is the angle formed by the first segment 21 and the 30 reference P. Furthermore, the invention may include second detection means (not represented), connected to the processing unit and configured to measure the length of the protruding part of the second segment 22 with respect to the respective first segment 21. The second detection means are configured to detect and quantify the 5 extraction position of the second segments 22 with respect to the corresponding first ones segments 21. For example, second means of detection include a sensor of cable position, equipped with a reel, integral with the first segment 21a,21b, whose wire is connected to the second segment 22a,22b, or vice versa. 10 The winder is connected to an encoder or a position transducer angular. Alternatively, position sensors can be used that detect the distance of a fixed reference to the second segment 22a,22b with respect to the first segment 21a,21b and so on. For example, you can use 15 linear potentiometric sensors. In any case, whatever the sensor used, it is designed for generate an extension signal, representative of the position of the second segment 22a,22b compared to the first segment 21a,21b, which signal is transmitted to the processing unit which, in accordance with the 20 signals received, command the distributor to operate the hydraulic cylinders in so as to produce the movements already described above. The control unit is configured to receive signals from the first and second means of detection, and to control the first and second means of movement so as to implement the steps according to the present invention, 25 already described above. Preferably, the invention further comprises a pressure sensor, e.g. for example a strain gauge cell or a pressure switch, for each arm 2. This pressure sensor is designed to detect the presence of a load acting on the relevant arm 2 and to transmit a corresponding signal 30 to the control unit. The presence of a load is significant of the contact between the foot 20 of arm 2 and the ground or other reference. The sensor signal pressure is used by the control unit to generate a signal alarm, configured to draw the operator's attention to the condition of load of the relevant arm 2. This alarm signal allows you to warn the operator of potential dangerous conditions. For example, in the presence of the 5 signal from a pressure sensor, the control unit prevents the reentry of the related second segment 2, to avoid a crawling on the ground. Note that the processing unit includes a memory module in which control parameters function of the positions of the first and the 10 second segment 21,22. Additionally, the processing unit may include a configured user interface to allow an operator to select or set parameters check. The preferred operation of the invention takes place substantially in the 15 following modes. Once the planned operations have been concluded, during which the machine 1 is stabilized, the operator in the cabin starts the re-entry phases of the stabilizers 10, via a special command. As mentioned, the 2 arms move synchronized and, more specifically, all of them 20 four at the same time. Initially, the arms 2 are lifted by rotating the first segments 21 upwards, first touching the wheels 11 to the ground, then continuing until reaching the intermediate position Am (figure 3). In practice, to achieve this, the 3 hydraulic cylinders placed between the first segments 21 and 25 the support structure 100 are operated in recovery so as to rotate the first segments 21, and then the arms 2, up to a position where the first Detecting means detect the intermediate position Am. At this point, the synchronous phase of movements takes place, in which the first 21 segments rotate in conjunction with the seconds hand 30 segments 22, until the sensors of the second detection means signal to the processing unit that the second segments 22 have reached the closing position, determined on the basis of the relevant control parameter stored, and the first 21 segments have reached the raised position, detectable by the first means of detection (figure 5). The invention also takes the form of a method for controlling 5 scissor stabilizers 10 of self-propelled operating machines 1 which can be implemented through the system described above. The proposed method foresees that, starting from the active configuration of the stabilizers 10 (figures 1 and 2), in which the wheels of the machine 1 are raised from the ground and the arms 2 are oblique to the ground, with the second 10 segments in the extended position and the feet 20 placed on the ground, the stabilizers 10 are brought into the inactive configuration (figure 4) by means of movements that include the synchronous phase already described, in which the following are implemented: at the same time: at least a portion of the rotation of the first segments (21), in the direction that goes 15 from working position to raised position; at least a section of the sliding of the second segments (22), in the direction that goes from the extended position to the closed position. In a first possible form of implementation of the method, the synchronous phase includes a final stretch of the sliding of the second segments (22) towards 20 the closing position, or a stretch of the seconds hand segments (22) which ends in the closed position of the second segments (22). In a second possible form of implementation of the method, the synchronous phase includes a final stretch of the rotation of the first segments (21) towards the raised position, or a portion of the rotation of the first segments (21) 25 which ends in the raised position of the first segments (21). In a third possible form of implementation of the method, preferred but not exclusive and represented in the figures, the method according to this invention provides that the stabilizers (10) are carried by the active configuration to inactive configuration through movements that 30 include the following phases: rotation of the first segments (21) from the working position to a position intermediate Am; implementation of the synchronous phase. In this third possible implementation of the method, the arms 2 rotate from the working position of the first segments 21 to the intermediate position 5 Am, in which the wheels 11 rest on the ground and the arms 2 are detached from the ground (figure 4). Subsequently, the synchronous phase takes place, in which rotation of the first segments 21 and sliding of the second segments 22 occur at the same time, in the manner already described above, until reaching the inactive configuration of the stabilizers 10, in which the 10 first segments 21 are in the raised position and the second segments are in the closed position. In one possible form of implementation of the method, following the rotation of the first segments (21) from the working position to a position intermediate Am, a sliding of the second segments (22) takes place from the 15 position extended to an intermediate position and, subsequently, is implemented the synchronous phase. This allows the synchronous phase to be implemented starting from substantially equal configurations for inclination and extension of both arms. In a further possible form of implementation of the method, the synchronous phase 20 takes up the entire displacement of the stabilizers (10) from the configuration active to inactive configuration. In particular, the method provides simultaneously the rotation of the first segments 21 and the sliding of the second segments 22 from active configuration to inactive configuration of the stabilizers 10. 25 As already underlined, in the inactive configuration of the stabilizers 10 i arms 2 have minimum length, so that the stabilizers 10 define the minimum lateral bulk of the machine. In the active configuration of the stabilizers 10, the arms 2 have length maximum and the wheels 11 are detached from the ground, so that the load of the 30 vehicle is supported by arms 2. Furthermore, the invention also takes the form of a computer program which, running on a processing unit, implements the steps of the method proposed. THE AGENCY Eng. Giovanni Casadei

Claims

1) Method for controlling a scissor stabiliser (10) of self-propelled operating machines (1), such as telescopic lifts or the like, of the type comprising at least one pair of rotatable telescopic stabilising arms (2), wherein each arm (2) comprises: a first segment (21) rotatable between a raised position and a working position; a second segment (22), slidable with respect to the first segment (21) between an extended position and a closed position and provided with a foot (20) for contact with the ground;wherein the stabilizer (10) can be activated between an active configuration, in which the first segments (21) are in the working position and the second segments in the extended position with the relative feet (20) resting on the ground, so that the wheels (11) of said machine (1) are raised from the ground, and an inactive configuration, in which the first segments (21) are in the raised position and the second segments (22) in the closed position, so that the wheels (11) rest on the ground; characterised in that the stabilizers (10) are moved from the active configuration to the inactive configuration by means of movements which include a synchronous phase in which at least one section of the rotation of the first segments (21) is carried out simultaneously, in the direction which goes from the working position to the raised position; at least one section of the sliding of the second segments (22), in the direction which goes from the extended position to the closed position.; 2) Method according to claim 1, wherein said synchronous phase comprises a final section of the sliding of the second segments (22) towards the closed position, or a section of the sliding of the second segments (22) which ends in the closed position of the second segments (22). 3) Method according to claims 1 or 2, wherein said synchronous phase comprises a final section of the rotation of the first segments (21) towards the raised position, or a section of the rotation of the first segments (21) Eng. Giovanni CASADEI (Register no. 1195 B) 71.M0236.12.IT.82 which ends in the raised position of the first segments (21). 4) Method according to one of the preceding claims, wherein the stabilizers (10) are brought from the active configuration to the inactive configuration through movements comprising the following phases: rotation of the first segments (21) from the working position to an intermediate position; said synchronous phase. 5) Method according to claim 4, comprising a sliding phase of the second segments (22) from the extended position to an intermediate position, subsequent to said rotation phase of the first segments (21) from the working position to an intermediate position and preceding said synchronous phase. 6) Method according to claim 1, wherein said synchronous phase occupies the entire displacement of the stabilizers (10) from the active configuration to the inactive configuration. 7) Method according to at least one of the preceding claims, wherein, in the inactive configuration of the stabilizers (10), the arms (2) are inclined upwards. 8) Method according to at least one of the preceding claims, wherein, in the closed position of the second segments (22), the arms (2) have a minimum length. 9) Stabilisation system for a self-propelled operating machine (1), such as a telescopic handler or similar, comprising at least two scissor stabilisers (10), arranged to assume an active configuration, in which they stabilise said machine (1) by lifting the wheels (11) of the machine (1) from the ground, and an inactive configuration, in which said wheels (11) are resting on the ground, where: each stabiliser (10) comprises at least one pair of rotating telescopic stabilising arms (2); each arm (2) comprises a first segment (21), rotatable between a raised position and a working position, and a second segment (22), slidable with respect to the first segment (21) between an extended position and a closed position and provided with a foot (20) for contact with the ground;first movement means (3), arranged to rotate the first segments (21) between said raised position and said working position; second movement means, arranged to move the second segments (22) between said closed position and said extended position; characterised by the fact that it comprises a processing unit configured to control said first and second movement means in such a way that the stabilisers (10) are brought from the active configuration to the inactive configuration by means of movements which comprise at least one synchronous phase in which the following are carried out simultaneously: at least one section of the rotation of the first segments (21), in the direction which goes from the working position to the raised position; at least one section of the sliding of the second segments (22), in the direction which goes from the extended position to the closed position.; 10) System according to claim 9, wherein said processing unit is configured to control said first and second movement means to implement said synchronous phase including a final section of the sliding of the second segments (22) towards the closed position, or a section of the sliding of the second segments (22) which ends in the closed position of the second segments (22). 11) System according to claim 9 or 10, wherein said processing unit is configured to control said first and second movement means to implement said synchronous phase including a final section of the rotation of the first segments (21) towards the raised position, or a section of the rotation of the first segments (21) which ends in the raised position of the first segments (21). 12) System according to one of claims 9 to 11, wherein the stabilisers (10) comprise, for each pair of arms (2), a support structure (100) designed to be fixed to the frame of the machine (1), to which the first segments (21) are hinged, in which the relative second segments (22) are inserted with the possibility of sliding, wherein the system comprises: first detection means, connected to said processing unit and configured to measure the inclination of each arm (2) with respect to a reference plane (P) fixed with respect to said structure (100); second detection means, connected to the processing unit and configured to measure the length of a protruding part of each second segment (22) with respect to the respective first segment (21);a tilt module, included in the processing unit, configured to detect whether the arms (2) are in the intermediate position, in which they are tilted with respect to the reference plane by an intermediate angle Am, or in the raised position; an extension module, included in the processing unit, configured to detect whether the second segments (22) are in the extended position or in the closed position.; 13) Self-propelled working machine (1), such as a telescopic handler or the like, comprising a stabilization system according to at least one of claims 11 to 14. 14) A computer program which, running on a processing unit, implements the steps of the method according to at least one of claims 1 to 8.