Stabilizers for self-propelled working machines
The stabilizing system for a self-propelled working machine ( 1 ) such as a telescopic handler or the like, comprising a plurality of stabilizer arms ( 2 ) able to be placed on the ground so as to enable stabilization of the machine ( 1 ). The system ( 1 ) further comprises: one or more measuring devices ( 6 ) able to detect a pressure to which the arms ( 2 ) are subjected and to produce pressure signals according to the detected pressure; and at least one processing unit connected to the measuring devices ( 6 ) and comprising a position module configured to determine, based on the pressure signals, whether the arms ( 2 ) are placed on the ground.
1. A stabilizing system for a self-propelled working machine ( 1 ), comprising a scissor stabilizer ( 10 ) that includes a pair of stabilizer arms ( 2 ) able to be placed on a ground so as to enable stabilization of said machine ( 1 ), each stabilizer arm ( 2 ) being rotatable and including an activator ( 5 ) suitable for determining a rotation of its respective stabilizer arm ( 2 ) for lifting of the machine ( 1 ), characterized in that the system comprises:
a measuring device ( 6 ) for each arm ( 2 ) able to detect a pressure to which said arm ( 2 ) is subjected and to produce a pressure signal according to said detected pressure; and
at least one processing unit connected to said measuring devices ( 6 ) and comprising a position module configured to determine, based on said pressure signals, whether the arms ( 2 ) are placed on the ground, wherein said scissor stabilizer ( 10 ) is equipped with a support element ( 3 ) for said pair of arms ( 2 ), said support element ( 3 ) being fixed or fixable to the working machine ( 1 ), a sleeve ( 21 ) of each arm ( 2 ) being connected by means of a first hinge ( 41 ) to said support element ( 3 ), and wherein a hydraulic cylinder ( 5 ) is comprised in each actuator, the cylinder ( 5 ) being connected by means of a second hinge ( 42 ) to said support element ( 3 ) and by means of a third hinge ( 43 ) to the sleeve ( 21 ) of a respective arm ( 2 ), wherein each one of said measuring devices ( 6 ) comprises a force sensor ( 6 ) connected to a respective stabilizer arm ( 2 ), and wherein at least one of said measuring devices ( 6 ) is a first measuring device ( 6 ) which comprises an extensometer pin ( 6 ) included in said second hinge ( 42 ) or said third hinge ( 43 ).
2. The system according to claim 1 , wherein each stabilizer arm ( 2 ) is telescopic and comprises an extractable element ( 22 ) slidably inserted substantially without any play in the sleeve ( 21 ) of the respective arm ( 2 ) so as to enable extension or retraction of the arm ( 2 ), the extractable element ( 22 ) bearing a member ( 20 ) for being placed on the ground.
3. The system according to claim 1 , wherein said position module is configured to check whether the pressure detected by one or more of said measuring devices ( 6 ) is above or below at least one pre-established placement threshold, thereby determining whether the arms ( 2 ) are placed on the ground.
4. The system according to claim 1 , comprising a second scissor stabilizer ( 10 ) that includes a pair of said arms ( 2 ) for stabilization.
5. The system according to claim 1 , wherein at least one of said measuring devices ( 6 ) comprises an extensometer pin ( 6 ) included in said second hinge ( 42 ).
6. The system according to claim 1 , wherein at least one of said measuring devices ( 6 ) comprises an extensometer pin ( 6 ) included in said first hinge ( 41 ).
7. The system according to claim 1 , wherein at least one measuring device for measuring the fluid dynamic pressure is inserted in the hydraulic cylinder ( 5 ) associated with at least one arm ( 2 ) or it is fluid-dynamically connected thereto.
8. The system according to claim 1 , wherein said force sensor ( 6 ) is suitable for detecting a direction of the detected pressure and said processing unit comprises a direction module configured to determine the position of the respective arm ( 2 ), in accordance with the direction detected by the sensor ( 6 ).
9. The system according to claim 1 , wherein said processing unit comprises a safety module configured to determine whether the pressure measured by one or more of said measuring devices ( 6 ) is above or below a safety threshold which is a function of a maximum load to which an arm ( 2 ) can be subjected without the machine ( 1 ) overturning.
10. A self-propelled working machine ( 1 ) comprising a stabilizing system according to claim 1 .
11. The self-propelled working machine ( 1 ) according to claim 10 , wherein the self-propelled working machine ( 1 ) is a telescopic handler.
12. The system according to claim 1 , wherein the self-propelled working machine ( 1 ) is a telescopic handler.
13. The system according to claim 1 , wherein at least one of said measuring devices ( 6 ) comprises an extensometer pin ( 6 ) included in said third hinge ( 43 ).
14. The system according to claim 1 , wherein said first measuring device ( 6 ) consists of said extensometer pin ( 6 ).
15. A method for verifying a ground-placement state of stabilizers ( 10 ) for a self-propelled working machine ( 1 ), comprising the following steps:
providing a working machine ( 1 ) that is equipped with stabilizers ( 10 ) comprising a plurality of arms ( 2 ) that are moveable between a raised, resting position and at least one lowered position, in which the arms ( 2 ) are placed on the ground, wherein each arm ( 2 ) is provided with an extensometer pin ( 6 ) in a second hinge ( 42 ) connecting a hydraulic cylinder ( 5 ) to a support element ( 3 ) or in a third hinge ( 43 ) connecting a hydraulic cylinder ( 5 ) to a sleeve ( 21 ) of a respective arm ( 2 );
lowering the arms ( 2 ) towards the lowered position;
measuring the pressure exerted on the arms ( 2 ); and
establishing whether the arms ( 2 ) are placed on the ground based on the pressure measurement made on them.
16. The method according to claim 15 , wherein whether the arms ( 2 ) are placed on the ground is established by checking whether the pressure measured on the arms ( 2 ) is above or below a predetermined placement threshold.
17. The method according to claim 15 , comprising the step of determining whether the pressure measured on the arms ( 2 ) is above or below a safety threshold, which is a function of the maximum load to which an arm ( 2 ) can be subjected without the machine ( 1 ) overturning.
18. A computer-readable medium comprising a physical substrate, the physical substrate having encoded thereon instructions for carrying out the steps of the method according to claim 15 .
19. The method according to claim 15 , wherein the self-propelled working machine ( 1 ) is a telescopic handler.