Patent Description:
More particularly, a stabilised machine, such as a mobile elevating work platform, also known as aerial work platform, tracked and stabilised, i.e. fitted with stabilisers, and/or a mobile stabilised crane, tracked and stabilised, i.e. fitted with stabilisers.

As is well known, mobile stabilised elevating work platforms (AWPs), commonly referred to as "Spiders", are essentially platforms classified, according to European, Canadian, US and Australian regulations (EN280, NSI/SAIA A92. <NUM>-<NUM>, CAN/CSA -B354. <NUM>:<NUM>, AS/NZS <NUM>:<NUM>) as Group B and Type <NUM>.

In particular, they are mobile elevating work platforms, usually tracked, in which, during operation at height of the arm, the vertical projection of the centre of gravity of the free end of the arm may extend beyond the tilting line of the frame.

Therefore, apart from their transport configuration, in which the arm is centred along the longitudinal axis of the tracks and retracted, i.e. it is placed at a minimum height above the ground (which may not exceed <NUM> in height), these machines may be used to raise the arm to the desired working height only after they have been suitably stabilised, i.e. only after all the stabilisers (generally four in number) have been brought into contact with the ground and the frame supporting the arm has been levelled.

The purpose of the stabilisers in these known machines is to extend the ground support area by placing themselves at the vertices of a virtual rectangle of ground support, so that the lateral space occupied by the stabilised machine, i.e. by the stabilisers when extended, is between <NUM> and about <NUM>.

In this way, it is possible to ensure that the arm moves within a certain working volume that prevents the machine from tipping over.

Moreover, almost all the machines of this type known on the market, according to the requirements of manufacturers and users, are designed so that (under transport conditions) they can pass through a door of standard dimensions (i.e. with a minimum width of <NUM>).

Also stabilised cranes have similar requirements, i.e. they have a self-propelled base frame on motorised tracks which supports an articulated arm for lifting loads and is provided with stabilisers for ground support.

Generally, in order to use aerial work platforms or cranes it is necessary to first stabilise the base frame on the ground, for example by lowering the stabiliser feet so that they rest on the ground and support the base frame, which once it is levelled is such that the axis of rotation of the turntable is in a vertical position.

With the base frame thus stabilised, it is then possible to extend and/or incline and/or rotate the arm within a certain operating volume, so as to bring the free end of the arm to a desired working position at height.

The operating volume of the arm is defined a priori on the basis of the minimum ground support area (i.e. the aforementioned rectangle) defined by the stabilisers.

In practice, in order for the machine to operate safely, the manufacturers of such machines determine the minimum ground support area, defined with the stabilisers lowered to their lower end of stroke, and on the basis of this they determine the maximum working volume within which the arm can move safely.

There are also stabilised machines (for example, platforms and/or cranes) for which the stabilisers can be oriented around axes orthogonal to the support plane, so as to define a plurality of ground support rectangles having different conformations. Also in this case, however, for each configuration that the support feet can assume, a maximum working volume is defined within which the arm can safely move, which is defined on the basis of the minimum ground support area, defined with the stabilisers lowered to their lower end of stroke in each configuration.

<CIT> and <CIT> disclose machines according to the preamble of claim <NUM>; <CIT> disclose another example of stabilised machine.

A need felt in the sector is that of increasing the potential use and admissible performance of this type of machine.

An object of the present invention is to solve such requirements of the prior art, with a simple, rational and low-cost solution.

In particular, an object of the present invention is to allow to increase the working volume of the arm allowed by the stabilised machine, under those circumstances and conditions of ground support of the stabilisers that allow it.

Such objects are achieved by the characteristics of the invention given in the independent claim. The dependent claims outline preferred and/or particularly advantageous aspects of the invention.

The invention, particularly, makes available a stabilised machine (e.g., a stabilised work platform or a stabilised crane) comprising;.

Thanks to this solution, it is possible to monitor the inclination of each stabiliser, thus being able to define a real or actual ground support area, for each working configuration of the stabilised machine and, therefore, being able to define, for each working configuration assumed by the stabilisers, a suitable volume of movement of the elevating arm.

In particular, the electronic control unit is configured to:.

Thanks to this, it is possible to adapt the (maximum permissible value for this) selected operational parameter as a function of the real working position assumed by the stabilisers.

In particular, it is possible to increase the safe working volume of the elevating arm where the working positions of the stabilisers define a larger ground support zone/area (e.g. in very favourable support configurations, such as support on a flat ground and/or in obstacle-free areas), but - at the same time - to dynamically adapt and thus reduce the safe operating volume of the elevating arm where the working positions of the stabilisers define a more limited ground support zone/area (e.g. in less favourable support configurations, such as the support on inclined planes and/or limited by obstacles).

Advantageously, the electronic control unit can be configured to:.

According to one aspect of the invention, each sensor may be an angle sensor, configured to detect an absolute inclination of the respective stabiliser.

Alternatively, each sensor may be a position sensor, configured to detect a relative position between a cylinder and a rod of a jack driving the respective stabiliser.

Advantageously, then, each stabiliser (or related actuator) may comprise a pressure sensor operatively connected to the electronic control unit, wherein the electronic control unit is configured to detect the attainment of a working position based on a signal received from the pressure sensor.

Thanks to this solution, the stabilised machine can have a redundant safety system to determine that the single stabiliser is in a working position (i.e. it is supported on the ground and supporting the machine with the support arrangement raised off the ground).

Further characteristics and advantages of the invention will become clear from reading the following description provided by way of non-limiting example, with the aid of the figures illustrated in the accompanying tables.

With particular reference to such figures, a stabilised machine, preferably an elevating work platform (AWP), more particularly, a mobile elevating work platform, also known as aerial work platform, tracked and stabilised, for example of a self-propelled type or a stabilised crane, commonly known as a "spider crane", has been globally referred to as <NUM>.

The machine <NUM> comprises a base frame <NUM>, which for example is defined by a substantially parallelepiped (rigid) body, for example with an elongated base along a longitudinal axis, for example rectangular in shape, preferably contained in a casing.

The base frame <NUM> comprises, for example, a lower surface <NUM> intended to face the ground S, in operation, an opposed upper surface <NUM> facing upwards.

The upper surface <NUM> comprises a planar portion defining a support plane.

For example, the base frame <NUM> further comprises two longitudinal sidewalls, one of which is right and one of which is left, and two opposed heads, one of which is front and one of which is rear (in the direction of advancement of the machine <NUM> on the ground S).

In the present discussion, by right and left, respectively, it is intended the right and left side of the machine <NUM> with respect to a view of the same according to the direction V of <FIG>.

The machine <NUM> further comprises a motorised ground support arrangement <NUM>, for example defined by at least one pair of motorised track arrangements <NUM>,<NUM> associated with opposite parts of the base frame <NUM> for the support on the ground S of the same.

In practice, the track arrangements <NUM>,<NUM> define the ground support S of the machine <NUM> (keeping suspended the base frame <NUM>, for example raised from the ground S, so that the lower surface <NUM> is separated from the ground S by a first non-zero distance, for example fixed) and allow the movement of the same on the ground S.

In the preferred embodiment shown in the figures, each of the track arrangements <NUM> and <NUM> is, preferably, driven independently of each other.

Preferably, the machine <NUM> comprises a right track arrangement <NUM> and a left track arrangement <NUM>, each of which is individually associated with the base frame <NUM>, for example movably with respect thereto, as will be better described below. In particular, by a right and left arrangement it is understood as being specular with respect to the longitudinal median plane of the base frame <NUM> orthogonal to the upper surface <NUM> thereof (e.g., with respect to an advancement or backward direction imposed by the elements of support <NUM> to the same machine on the ground).

The right track arrangement <NUM> is, therefore, proximal (and parallel) to the right sidewall and the left track arrangement <NUM> is proximal (and parallel) to the left sidewall.

Each track arrangement <NUM> and <NUM>, in particular, comprises a train of sprockets, at least one of which is driven by a respective motor, adapted to drive in rotation a flexible member closed on itself into a ring, for example made of rubber, the lower branch of which defines a (large) longitudinal ground support surface S. In practice, the longitudinal ground support surfaces S of the track arrangements <NUM> and <NUM> are coplanar with each other and, preferably, are placed at a lower level than the lower surface of the base frame <NUM>.

The longitudinal axis of the longitudinal support surface defined by each track arrangement <NUM> and <NUM> is substantially parallel to the prevailing direction of the base frame <NUM> (i.e., the longitudinal axis A) and defines the advancement or backward direction (in a straight line) of the machine <NUM>.

The machine <NUM> comprises one or more stabilisers <NUM>, which are configured to stabilise the ground support S of the machine, for example by enlarging the ground support area with respect to the ground support area defined by the track arrangements <NUM> and <NUM> (both when they are in their approached position and when they are in their distanced position).

For example, the stabilisers <NUM> are individually movably associated with the base frame <NUM>.

Preferably, each of the stabilisers <NUM> is rotatably associated with the base frame <NUM> with a possibility of oscillating about a respective (single) axis of oscillation, which is parallel to the support plane defined by the upper surface <NUM>.

In particular, each stabiliser <NUM> is configured to be switchable, alternatively, between at least one working position (shown in the figures), in which the stabiliser <NUM> is supported on the ground S (for example so as to be added to or replace the ground support S defined by one or both of the track arrangements <NUM> and <NUM>), moving to a lower level of the lower surface <NUM> of the base frame <NUM> (and/or to the lower surface of the track arrangements <NUM>,<NUM>), and a rest position (not shown), in which it is raised off the ground, for example it is arranged at a higher height than the lower surface <NUM> of the base frame <NUM>, preferably but not limited to a higher height of the upper surface <NUM>.

Essentially, when one or more of the stabilisers <NUM> is in a working position, one or each of the track arrangements <NUM> and/or <NUM> is raised off the ground S, i.e., the lower surface <NUM> of the base frame <NUM> is moved from a second distance above the ground greater than the first distance.

In practice, each stabiliser <NUM> is configured to be stopped in a plurality of working positions, for example between two limit working positions, of which a lower limit working position (see <FIG> and <FIG>), wherein the stabiliser <NUM> is at its lower end of stroke, i.e., is distal from (and placed inferiorly to) the lower surface <NUM> of the base frame <NUM> and/or the lower surface of the track arrangement proximal thereto (and/or the second aforesaid distance is maximum), and an upper limit working position (see <FIG> and <FIG>), wherein the stabiliser <NUM> is proximal to (and placed inferiorly to) the lower surface <NUM> of the base frame <NUM> and/or the lower surface of the track arrangement proximal thereto (and/or the aforesaid second distance is minimum, or at most zero).

Each stabiliser <NUM>, at least in each working position or only in each working position, protrudes laterally and/or longitudinally beyond the lateral and/or longitudinal (in plan) overall volume of the base frame <NUM> and, preferably, also of the track arrangements <NUM>,<NUM> (even when they are in their enlarged position).

In the example, each stabiliser <NUM> comprises a ground support foot disposed at the free end of a support arm, which has an opposed end constrained to the base frame <NUM>, for example with a constraint such that the support arm has at least one degree of freedom. Preferably, (the constrained end of) the support arm is rotatably coupled to the base frame <NUM>, for example by means of a hinge defining said axis of oscillation.

In the shown example, each stabiliser <NUM> is associated with the base frame <NUM> by means of a constraint such that only one degree of (rotational) freedom is left for the support arm.

It is not excluded that in certain circumstances, it can be envisaged that each stabiliser <NUM> can be associated with the base frame <NUM> by means of a constraint such as to leave two rotational degrees of freedom to the support arm, one of which around the aforesaid axis of oscillation and the other around an axis of revolution orthogonal to the support plane defined by the upper surface <NUM>.

In the example, the machine <NUM> comprises four stabilisers <NUM>, of which two front stabilisers (one right and one left) and two rear stabilisers (one right and one left).

In the example, each stabiliser <NUM> in its working position protrudes laterally and longitudinally (anteriorly or posteriorly, depending on whether it is a front or rear stabiliser) from the base frame <NUM> (and from the proximal track arrangement <NUM>, <NUM>).

In practice, when each of the stabilisers <NUM> is in any working position, the support feet thereof are positioned at the vertices of an imaginary quadrilateral (for example, a rectangle, see <FIG>), the dimensions (area and shape) of which vary, depending on the working positions assumed by the stabilisers <NUM>.

For example, such an imaginary quadrilateral has a minimum area (indicated schematically by Amin in <FIG>) when all stabilisers <NUM> are in their lower limit working position and has a maximum area (indicated schematically by Amax in <FIG>) when all stabilisers <NUM> are in their upper limit working position.

The area of the imaginary quadrilateral, therefore, is variable between the minimum area and the maximum area, as the working positions assumed by the stabilisers <NUM> vary between the lower limit working position and the upper limit working position.

In the rest position, however, each stabiliser <NUM> is contained within the lateral and longitudinal overall volume of the base frame <NUM>.

Each stabiliser <NUM> further comprises, an actuator <NUM>, which is configured to alternately move the stabiliser <NUM> between any one of the working positions and the rest position, for example by stopping the stabiliser <NUM> in one of them stably.

Preferably, each actuator <NUM> is defined by a (hydraulic or pneumatic) jack comprising a cylinder hinged to one between the base frame <NUM> and the stabiliser <NUM> (e.g., the stabiliser <NUM>) and a removable rod hinged to the other between the stabiliser <NUM> and the base frame <NUM> (e.g., the base frame <NUM>), wherein the hinge axes of each jack are parallel to the axis of oscillation of the respective stabiliser <NUM>.

The machine <NUM> further comprises a motorised turntable <NUM> supported on top of the base frame <NUM>, for example on top of the support plane defined by the upper surface <NUM> thereof.

The turntable <NUM> comprises a (single) central axis of rotation orthogonal to the support plane defined by the upper surface <NUM> of the base frame <NUM>.

The turntable <NUM>, for example, comprises a first lower ring (rigidly fixed to the upper surface <NUM> of the base frame <NUM>), which is rotatably coupled to a second upper ring with respect to said (single) axis of rotation.

The turntable <NUM> further comprises an electric motor provided with an encoder, which is configured to rotatably drive the second ring with respect to the first ring (and is supported by the first ring) about the axis of rotation, for example by an angle of (at least) <NUM>° (or greater).

The machine <NUM> further comprises an elevating arm <NUM> (see <FIG>), that is, configured to be raised and lowered with respect to the ground S.

For example, the elevating arm <NUM> is of the extendable type, the term "extendable" being understood in a general sense meaning that it is capable of extending its length or can be implemented alternately between a contracted configuration and an extended configuration, for example in a telescopic manner or in an articulated manner or by means of a combination of telescopic and articulated connections.

The elevating arm <NUM> is carried by the turntable <NUM>, i.e., by the second ring thereof, by interposition of a support base, which is rigidly fixed (e.g., by bolts) on top of the second ring thereof and, for example, is provided with counterweights.

The elevating arm <NUM> comprises, in the example, a first arm section <NUM>, a first end of which (proximal to the turntable <NUM>) is articulated to the support base (and therefore to the turntable <NUM>) so as to be able to oscillate with respect thereto about a (single) axis of articulation, which is (always) orthogonal to the axis of rotation of the turntable <NUM>.

In practice, the first end of the first section <NUM> (i.e., the elevating arm <NUM>) is hinged to the support base by means of a hinge pin defining said axis of articulation.

The first section <NUM> of the elevating arm <NUM> is rotatable about its axis of articulation between two distinct end-of-stroke positions, of which a first lower rest position, in which the first section <NUM> lies on a plane substantially orthogonal to the axis of rotation of the turntable <NUM>, a second upper operational position, in which the first section <NUM> is arranged with longitudinal development substantially parallel to the axis of rotation of the turntable <NUM>.

The first section <NUM> of the elevating arm <NUM> is, in the example, telescopic (with two or more stretches).

In particular, the first section <NUM> comprises a first (outer) stretch, which has a first end (defining the first end of the same first section) hinged, as described above, to the support base and at least a second (inner) stretch, which is slidably coupled to the first stretch and comprises a first end inserted into the first stretch and a second free end.

The second stretch is slidable within the first stretch between two end-of-stroke positions, of which a first retracted position, wherein the second end of the second stretch is proximal to a second (free) end of the first stretch, and a second extracted position, wherein the second end of the second stretch is distal from the second (free) end of the first stretch.

In the example, the first section <NUM> of the elevating arm <NUM> further comprises a third (inner) stretch, which is in turn slidably coupled to the second stretch and comprises a first end inserted into the second stretch and a second free end.

The third stretch is also slidable within the second stretch between two end-of-stroke positions, of which a first retracted position, wherein the second end of the third stretch is proximal to the second (free) end of the second stretch, and a second extracted position, wherein the second end of the third stretch is distal from the second (free) end of the second stretch.

The second end of the last stretch of the series of stretches defining the first section <NUM> of the elevating arm <NUM>, in the example of the third stretch, actually defines the second end of the same first section <NUM>.

The second stretch (as well as the third stretch), i.e., each stretch of the first section <NUM> (except for the first stretch) is thus alternately movable between the respective retracted position and the respective extracted position.

Thus, the first section <NUM> is, overall, operable between a retracted configuration (of maximum contraction), which is defined when all of the stretches of which the first section <NUM> is composed are in their retracted position, and an extended configuration (of maximum extension), which is defined when all of the stretches of which the first section <NUM> is composed are in their extended position.

The elevating arm <NUM>, for example, may further comprise a second arm section <NUM>, which preferably comprises a first end constrained to the second (free) end of the first arm section <NUM> and an opposed free end.

For example, the second section <NUM>, also referred to as an antenna or JIB, is articulated to the first section <NUM> by means of at least one connecting axis parallel to the axis of articulation that constrains the first section <NUM> to the turntable <NUM> (i.e., to the support base).

In the example, the second section <NUM> is defined by an articulated quadrilateral, wherein all connecting axes are parallel to each other and parallel to the axis of articulation.

The second section <NUM> is movable about one or more connecting axes between a first working position, in which it is substantially squared to the first section <NUM> (e.g., parallel thereto), and a second working position, in which it is substantially aligned with and axially extends the first section <NUM>.

The machine <NUM> comprises, then, a first drive arrangement configured to rotatably drive the elevating arm <NUM>, i.e. (the first stretch of) the first section <NUM>, about its axis of articulation between the two distinct end-of-stroke positions.

The first drive arrangement comprises a first hydraulic jack, provided with a rod slidably movable inside a cylinder, wherein the rod in the example is hinged to the support base about a hinge axis parallel and eccentric to the axis of articulation and the cylinder is hinged to the first section <NUM> (i.e., the first stretch thereof) about a hinge axis parallel and eccentric to the axis of articulation, for example at two anchor ears located near an intermediate zone between the first end and the second end of the first stretch itself. The first drive arrangement comprises a respective hydraulic circuit, for example contained in the casing located on the upper surface <NUM> of the base frame <NUM>, for actuating the first hydraulic jack, between an extended configuration, in which the rod is in a position extracted from the cylinder, and a retracted configuration. The variation of the first hydraulic jack between the extended configuration and the retracted configuration allows the rotation of the elevating arm <NUM> as a whole with respect to the turntable <NUM> (i.e. with respect to the support base), respectively between the second upper position and the first lower position thereof.

When the first hydraulic jack is in the retracted configuration, the elevating arm <NUM> as a whole (i.e., the first section <NUM>) is in its first lower position. Otherwise, when the first hydraulic jack is in the extracted configuration, the elevating arm <NUM> as a whole is in its second upper position. Obviously, the first hydraulic jack (and the respective hydraulic circuit) is configured to carry (and support) the elevating arm <NUM> also in any position that is intermediate between the first lower position and the second upper position.

The machine <NUM> comprises, then, a second drive arrangement configured to drive in extension (and contraction) the elevating arm <NUM>.

For example, the second drive arrangement comprises a first linear actuator (or a plurality of first linear actuators), which is configured to drive in extension and contraction the first section <NUM> of the elevating arm <NUM>.

The first linear actuator is, preferably, contained within (the box-like structure) of the first section <NUM>.

The first linear actuator comprises a respective hydraulic circuit, for example contained in the casing located on the upper surface <NUM> of the base frame <NUM>, for actuating the first linear actuator between an extended configuration and a retracted configuration. The variation of the first linear actuator between the extended configuration and the retracted configuration allows the first section <NUM> to be switched between its extended configuration (of maximum extension) and its retracted configuration (of maximum contraction).

Obviously, the first linear actuator (and respective hydraulic circuit) is configured to move the first section <NUM> of the elevating arm <NUM> into any configuration that is intermediate between the extended configuration and the retracted configuration.

The machine <NUM> further comprises a third drive arrangement, which is configured to rotatably drive the second section <NUM> of the elevating arm <NUM> with respect to the first section <NUM>.

The third drive arrangement comprises, for example, second linear actuator provided with a slidably movable rod within a cylinder, wherein the rod in the example is hinged to the second free end (of the third stretch) of the first section <NUM> about a hinge axis parallel and eccentric to the connecting axis and the cylinder is hinged to the second section <NUM> about a hinge axis parallel and eccentric to the connecting axis, for example, at two anchor ears located near a zone that is intermediate between the first end and the second end of the second section <NUM> itself.

The third drive arrangement comprises a hydraulic circuit, for example contained in the casing located on the upper surface <NUM> of the base frame <NUM>, for actuating the second linear actuator between an extended configuration, in which the rod is in a position extracted from the cylinder, and a retracted configuration. The variation of the second linear actuator between the extended configuration and the retracted configuration allows the rotation of the second section <NUM> with respect to the first section <NUM> of the elevating arm <NUM>, respectively, between the second working position and the first working position thereof.

When the second linear actuator is in the retracted configuration, the second section <NUM> is in its first working position. Otherwise, when the second linear actuator is in the extracted configuration, the second section <NUM> is in its second working position. Obviously, the second linear actuator (and the respective hydraulic circuit) is configured to move (and support) the second section <NUM> to any position that is intermediate between the first working position and the second working position.

The machine <NUM> further comprises an operating arrangement <NUM>, which is configured to be supported at the free end of the elevating arm <NUM>.

The operating arrangement <NUM> may comprise or consist of a nacelle intended to support and transport one or more persons (and, thus, the machine <NUM> is configured as an aerial platform).

In such a case, the second end of the second section <NUM>, i.e., the second free end of the elevating arm <NUM> as a whole, comprises a coupling or connection attachment (for example, provided with a joint with an axis parallel to the axis of rotation of the turntable <NUM>), which is intended to be connected, in a releasable manner, to the nacelle.

The nacelle is hinged to a free end of the second section <NUM> about a hinge axis parallel to the axis of articulation of the first section <NUM>.

Alternatively, the operating arrangement <NUM> may comprise or consist of a winch, such as a motorised winch, or other load lifting system, such as a hook, clamp, gripper, or the like (and, thus, the machine <NUM> is configured as a crane).

In such a case, the second section <NUM> may not be present and, the free end of the first section <NUM>, may be directly connected to the load lifting system.

For example, the machine <NUM> may be variously configured and modified by providing the possibility to selectively couple the nacelle and the load lifting system to the free end of the elevating arm <NUM>.

The machine <NUM> further comprises a control system <NUM> (schematically shown in <FIG>), which is configured to control the operation of the machine itself.

In the embodiment considered, the control system <NUM> comprises a controller module <NUM>, a sensor arrangement <NUM> and, optionally, a user interface <NUM>.

In particular, the controller module <NUM> comprises an electronic control unit <NUM> (for example, comprising at least one of a microcontroller, a microprocessor, an FPGA, an ASIC, etc.) and, optionally, a storage unit <NUM> (comprising, non-volatile memory elements and, preferably, volatile memory elements) interconnected with each other and adapted to process and store, respectively, information - for example, in binary format. The sensor arrangement <NUM> comprises, for example, an orientation sensor, e.g., mounted on the turntable or on the base frame <NUM>, configured to detect an orientation of the base frame <NUM> with respect to a zero position at which the base frame <NUM> is supported on the ground (i.e., the ground support plane defined by the track arrangement <NUM> and <NUM>) is substantially horizontal.

Orientation, for example, means an absolute orientation with respect to an absolute reference system defined by a horizontal plane (x,y) and a vertical axis (z).

The sensor arrangement <NUM> comprises, for example, also a first angle sensor, which is for example mounted on the turntable <NUM> and is configured to detect, with respect to a zero angular position, a relative angular position between the first ring and the second ring of the turntable <NUM>.

For example, the zero angular position is defined at a position whereby the elevating arm <NUM> is superimposed in plan on the base frame <NUM> and substantially centred thereon, i.e., lying on a longitudinal median plane of the base frame <NUM>.

For example, the first angle sensor is defined by the encoder of the electric motor of the turntable <NUM>.

Still, the sensor arrangement <NUM> may further comprise a second angle sensor, for example mounted on one between the base frame <NUM> and the first section <NUM> of the elevating arm <NUM>, which is configured to detect an angular position (of the first section <NUM>) of the elevating arm <NUM> with respect to the turntable <NUM> (i.e., with respect to the base frame <NUM>) about the axis of articulation from the first lower position (assumed as zero position).

The sensor arrangement <NUM> further comprises an extension sensor, for example mounted on the first section <NUM> of the elevating arm <NUM>, which is configured to detect an extension (of the first section <NUM>) of the elevating arm <NUM> with respect to the retracted configuration thereof (assumed as zero position).

Still, the sensor arrangement <NUM> may comprise a third angle sensor, for example mounted on one between the first section <NUM> and the second section <NUM> of the elevating arm <NUM>, which is configured to detect an angular position of the second section <NUM> with respect to the first section <NUM> about the connecting axis with respect to the first working position (assumed as zero position).

In addition, the sensor arrangement <NUM> may comprise a fourth angle sensor, for example mounted on the coupling or connection attachment, which is configured to detect an angular position of the operating arrangement <NUM> with respect to the second section <NUM> around the axis of the joint defined by the coupling or connection attachment with respect to an alignment position (assumed as zero position).

Finally, the sensor arrangement <NUM> may comprise a load sensor, such as a load cell, mounted on at least one between the operating arrangement <NUM> and the coupling or connection attachment (or the second section <NUM>), which is configured to detect a load weighing on the operating arrangement <NUM> (e.g., supported by it or intended to be lifted by it).

The sensor arrangement <NUM> comprises a plurality of inclination sensors <NUM>, one for each stabiliser <NUM>, wherein each inclination sensor <NUM> is configured to detect an inclination of the respective stabiliser about the axis of oscillation thereof with respect to the base frame <NUM>.

For example, each inclination sensor <NUM> (mounted on the respective stabiliser <NUM>) is configured to detect an absolute inclination of the respective stabiliser <NUM> with respect to an absolute reference system defined by a horizontal plane (x,y) and a vertical axis (z). As an alternative to or in addition to the inclination sensor <NUM>, the sensor arrangement may include a plurality of position sensors, one for each stabiliser <NUM>, configured to detect a reciprocal position between the cylinder and the rod of the jack of the actuator <NUM> of the respective stabiliser <NUM>.

Further, the sensor arrangement <NUM> may include a plurality of pressure sensors <NUM>, one (or more) for each stabiliser <NUM>, that is one or more pressure sensors <NUM> for each actuator <NUM>, each of which is located at the respective actuator <NUM>.

Each pressure sensor <NUM> is configured to detect a support pressure of the respective stabiliser <NUM>, so as to define when it transitions from a rest position to the upper limit working position and/or any working position.

As an alternative or in addition to the pressure sensors <NUM>, the sensor arrangement <NUM> may include a load cell and/or one or more limit switches (so-called "micro") for each stabiliser <NUM>.

The sensors of the sensor arrangement <NUM> globally are individually operatively connected to the controller module <NUM> and, preferably, to the electronic control unit <NUM> thereof. Finally, if provided, the user interface <NUM> may comprise an input module for receiving instructions from an operator and an output module for providing the operator with information. The user interface <NUM> may be integrated into the machine <NUM>, for example at the casing or nacelle, and/or be separate or separable therefrom. Accordingly, the user interface <NUM> may be wired to the controller module <NUM> and/or comprise a transceiver element for communicating with a corresponding transceiver element (not shown) included in the controller module <NUM>.

The control system <NUM>, i.e., the electronic control unit <NUM>, is also operatively connected to each motor of the respective track arrangement <NUM> and <NUM> to drive the movement thereof on the ground S.

A "movement" or "handling" of the machine <NUM> on the ground S is understood herein as a translation displacement of the machine <NUM> (i.e. of its base frame <NUM>) along a trajectory controlled by the user, for example by means of the user interface <NUM> and the controller module <NUM>, for example by means of the command of the actuation (by the controller module <NUM>) of the motors (individually or simultaneously) of the respective track arrangements <NUM> and <NUM>.

The control system <NUM>, i.e., the electronic control unit <NUM>, is also operatively individually connected to the first drive arrangement, the second drive arrangement, the third drive arrangement, and the fourth drive arrangement.

The machine <NUM> is operable in a controlled manner, by means of the control system <NUM>, as will be better described below.

For example, the machine <NUM> is operable in a controlled manner by moving the elevating arm <NUM> when the stabilisers <NUM> are in any working position.

In particular, the stabilisers <NUM> are moved to a desired working position, for example, by a command from an operator.

The electronic control unit <NUM> is configured to measure a pressure value on each stabiliser <NUM>, via the respective pressure sensor <NUM>.

At this point, the electronic control unit <NUM> compares each pressure value with a certain reference pressure value, for example obtained by calibration and stored in the storage unit <NUM>.

The reference pressure value is, for example, a pressure value that is a function of the weight of the machine <NUM>.

If the measured pressure value is greater than the reference pressure value, then, the electronic control unit <NUM> identifies the stabiliser <NUM> as (actually) supported on the ground.

In parallel, the control system <NUM> is configured such that the base frame <NUM> is always arranged with the support plane defined by the upper surface in a horizontal position, i.e. with the axis of rotation of the turntable <NUM> in a vertical position.

When the stabilisers <NUM> are stationary in a respective desired working position, the control system <NUM> is configured to operate the elevating arm <NUM> by controlling its stabilization, as will be more fully described below.

With particular reference to the flowchart in <FIG>, a control performed by the electronic control unit <NUM> is described below.

In particular, the electronic control unit <NUM> is configured to measure (block S1), via each inclination sensor <NUM> and/or via the position sensor, a respective value of a first parameter indicative of the inclination of each stabiliser <NUM>.

For example, the first indicative parameter may be the value of the absolute inclination of the stabiliser <NUM> or the relative position between the cylinder and the rod of the actuator <NUM>.

For example, the electronic control unit <NUM> is configured to determine/calculate (block S2) an actual value of a second parameter that is indicative of a ground support area S defined by the stabilisers <NUM> as a function of the measured values of the first indicative parameter.

Essentially, the electronic control unit <NUM> is configured to determine/calculate a value of a lateral distance of each stabiliser <NUM> (i.e., each support foot thereof) from a longitudinal (vertical) plane of the base frame <NUM> that contains the axis of rotation of the turntable <NUM> (and is orthogonal to the axis of rotation of the track arrangements <NUM> and <NUM>) and/or a value of a front distance of each stabiliser <NUM> (i.e., each foot of support thereof) from a transverse (vertical) plane of the base frame <NUM> that contains the axis of rotation of the turntable <NUM> (and is parallel to the axis of rotation of the track arrangements <NUM> and <NUM>).

Based on such lateral distance values and such frontal distance values, in essence, the electronic control unit <NUM> determines/calculates an actual value of the ground support area (as the area of the quadrilateral having vertices at the stabiliser support feet <NUM>). At this point, the electronic control unit <NUM> is configured to control (block S3) at least one operational parameter, chosen in the set among elevating arm extension stroke <NUM> (i.e. of the first section <NUM> thereof), elevating arm articulation arc <NUM> (i.e. of the first section <NUM> with respect to the base frame <NUM> and/or of the second section <NUM> with respect to the first section <NUM>), elevating arm rotation arc <NUM>, for example about the axis of rotation of the turntable <NUM>, and combinations thereof, based on the measured values of the first indicative parameter and/or based on the actual value of the second indicative parameter of the ground support area S defined by the stabilisers <NUM>.

In particular, the electronic control unit <NUM> is configured to determine (block S4) a maximum extension stroke of the elevating arm <NUM> for each set of values of the first measured indicative parameter (in the given selected working position) and/or the second determined indicative parameter.

For example, the maximum extension stroke of the elevating arm <NUM>, i.e., the first section <NUM>, is determined by the electronic control unit <NUM> as the output of one (or more) pre-calibrated map stored in the storage unit <NUM> which receives as input the set of values of the first measured indicative parameter (e.g., each measured angle/position value) and/or the set of values of the second determined indicative parameter (e.g., each determined/calculated distance value or the determined/calculated support area value). Such a pre-calibrated map can be predetermined during experimental activities studied as a function of structural calculations in various working configurations.

For example, the electronic control unit <NUM> is such as to determine:.

The control system <NUM>, therefore, for the given maximum extension stroke value allows the actuation of the second drive arrangement (e.g. by the operator) for extension stroke values lower than or equal to the determined maximum extension stroke value of the extension stroke <NUM> of the elevating arm and, therefore, inhibits the actuation of the second drive arrangement in actuating the elevating arm <NUM> for extension strokes greater than the determined maximum value of the extension stroke of the elevating arm <NUM>. In practice, the control system <NUM> allows the extension of the elevating arm <NUM> within a stability area determined based on the actual value of the ground support area, inhibiting the extension of the elevating arm <NUM> beyond extension values that would be critical to the gravitational stability of the machine <NUM>.

In other words, the control system <NUM>, i.e., the electronic control unit <NUM>, is configured to dynamically determine the value of maximum extension stroke allowed to the elevating arm <NUM>, which value of maximum extension stroke is variable depending on the variation of the support area of the stabilisers <NUM>.

The higher the actual ground support area defined by the stabilisers <NUM> (stationary in a given actual working position), the higher the maximum extension stroke value allowed to the elevating arm <NUM> in such configuration.

In addition, the control system <NUM> may also be configured to take into account the load weighing on the operating arrangement <NUM>.

In particular, the aforementioned value of maximum extension stroke allowed to the elevating arm <NUM> can be, moreover, determined/corrected as a function of a load acting on the operating arrangement <NUM>.

In particular, the control system <NUM> may be configured to measure a value of a load acting on the operating arrangement <NUM>.

In this case, said value of load acting on the operating arrangement can be used as a further input of the aforementioned map for determining, as an output, the value of maximum extension stroke allowed to the elevating arm <NUM> in said configuration of the stabilisers <NUM>.

For example, a map may be defined for each (discrete) point of the variables which are then interpolated by the control system <NUM> to find the output corresponding to the measured/determined inputs or, alternatively, a map may be provided for each possible input. Alternatively or additionally, the electronic control unit <NUM> is configured to determine (block S5) a permissible arc of articulation (and/or limit values of a permissible arc of articulation) of the elevating arm <NUM> for each set of values of the first measured indicative parameter (in the given selected working position).

For example, the permissible arc of articulation (and/or the limit values of a permissible arc of articulation) of the elevating arm <NUM>, i.e. of the first section <NUM> and/or the second section, is determined by the electronic control unit <NUM> as the output of one (or more) pre-calibrated map stored in the storage unit <NUM> that receives as input the set of values of the first measured indicative parameter (e.g., each measured angle/position value) and/or the set of values of the second determined indicative parameter (e.g., each determined/calculated distance value or determined/calculated support area value).

Such a pre-calibrated map can be predetermined during experimental activities studied as a function of structural calculations in various working configurations.

In addition, the electronic control unit <NUM> can be configured to determine (block S6) a permissible arc of rotation (and/or limit values of a permissible arc of rotation) of the elevating arm <NUM> for each set of values of the first measured indicative parameter (in the given selected working position).

For example, the permissible arc of rotation (and/or the limit values of a permissible arc of rotation) of the elevating arm <NUM>, i.e., of the first section about the axis of rotation of the turntable <NUM>, is determined by the electronic control unit <NUM> as the output of one (or more) pre-calibrated map stored in the storage unit <NUM> that receives as input the set of values of the first measured indicative parameter (e.g., each measured angle/position value) and/or the set of values of the second determined indicative parameter (e.g., each determined/calculated distance value or determined/calculated support area value).

Thus, the electronic control unit <NUM> is configured to operate the elevating arm <NUM> within the extension and/or articulation and/or rotation limits defined by the maximum extension stroke and/or the permissible arc of articulation and/or the permissible arc of rotation determined.

The invention thus conceived is susceptible to several modifications and variations, all falling within the scope of the appended claims.

Moreover, all the details can be replaced by other technically equivalent elements.

Claim 1:
A stabilised machine (<NUM>) that comprises;
- a self-propelled base frame (<NUM>) movably supported by a motorised ground support arrangement (<NUM>) and provided with an upper support plane;
- a motorised turntable (<NUM>) supported on top of the support plane of the base frame (<NUM>) and rotatable with respect to an axis of rotation orthogonal to the support plane;
- an elevating arm (<NUM>), one first end of which is articulated to the turntable (<NUM>) and one second opposed free end of which is adapted to be fixed to an operating arrangement (<NUM>);
- a plurality of stabilisers (<NUM>) each of which is rotatably associated with the base frame (<NUM>) about an axis of oscillation lying on a plane orthogonal to the axis of rotation of the turntable (<NUM>), alternatively between a working position, in which it is supported on the ground in addition to or as an alternative to the group support arrangement (<NUM>), and a rest position, in which it is raised off the ground;
- a control system (<NUM>) comprising a plurality of sensors (<NUM>), one for each of the stabilisers (<NUM>), wherein each sensor (<NUM>) is configured to detect a first parameter indicative of an inclination of the respective stabiliser (<NUM>) about its axis of rotation, and an electronic control unit (<NUM>) operatively coupled to the plurality of sensors (<NUM>);
characterized in that the electronic control unit (<NUM>) is configured to:
- measure a value of said first parameter indicative of each stabiliser (<NUM>), when the relative stabiliser (<NUM>) is stationary in a working position; and
- control at least one operational parameter chosen from the set among: elevating arm extension stroke, elevating arm articulation arc, elevating arm rotation arc and combinations thereof, based on the measured values of the first indicative parameter.