Electric power machine

Abstract

A power machine (300, 400) can include a frame (310, 410), a lift arm (330, 430), and one or more electrical devices for controlling one or more work elements. An electrical tilt actuator (333, 433) can be secured to the lift arm (330, 430) to change an attitude of an implement carrier (372, 472), an electrical lift actuator (338, 438) can be secured to the frame (310, 410) to raise and lower the lift arm (334, 434), an electrical drive motor (326) can be mounted to a track frame (343) to move a track, or a battery assembly (322, 418) and an electrical control module (360, 420) can be secured to the frame (310, 410), including behind an operator station (455).

Description

BACKGROUND

[0001] The present disclosure relates to power machines. More specifically, the present disclosure relates to power machines that operate entirely or partially under electric power. For the purposes of the present disclosure, a power machine includes any type of machine that generates power for the purpose of accomplishing a particular task or a variety of different tasks. One type of power machine is a work vehicle. Work vehicles such as loaders are typically self-propelled vehicles that have work equipment such as a lift arm that can be manipulated to perform work functions. Just to name a few examples, work vehicles include loaders, excavators, utility vehicles, tractors, and trenchers.

[0002] Conventional power machines can include hydraulic systems and related components that are configured to use output from a power source (e.g., an internal combustion engine) to perform different work functions. More specifically, hydraulic motors can be configured to power movement of the power machine, and hydraulic actuators (e.g., hydraulic cylinders) can be used to move a lift arm structure attached to the power machine in order to tilt or otherwise move an implement connected to the lift arm structure, or to perform other operations.

[0003] The above discussion is merely provided for general background information and does not purposefully aid in the determination of the scope of the claimed subject matter. SUMMARY

[0004] Some embodiments of the present disclosure provide a power machine for moveably operating an implement. The power machine can include a main frame supporting an operator station and a lift arm structure. The lift arm structure can include a lift arm extending along a lateral side of the frame. A proximal end of the lift arm is moveably secured to the frame at a rear portion of the frame. A distal end of the lift arm can include a tilt actuator pocket, an open side of which faces a forward direction of the power machine with the lift arm in a fully lowered position. The power machine can also include an implement carrier moveably secured to the distal end of the lift arm, an electric tilt actuator, and an electric lift actuator. The electric tilt actuator can be secured to the lift arm within the tilt actuator pocket and is configured to be controllably extended and retracted to change an attitude of the implement carrier. The electric lift actuator can be secured at a first end to the rear portion of the frame and at a second end to the lift arm. Further, the electric lift actuator can be disposed within a lift actuator pocket defined by the frame and is configured to be controllably extended and retracted to raise and lower the lift arm.

[0005] Some embodiments of the present disclosure provide a power machine comprising a track frame laterally to the main frame; and an electric drive motor mounted to the track frame and configured to move a track about the track frame to move the power machine over terrain. The track frame is movably secured to the main frame.

[0006] Some embodiments of the present disclosure provide a power machine having at least a portion of an electric drive motor laterally extending from a track frame to overlap a main frame.

[0007] Some embodiments of the present disclosure provide a power machine comprising an electric drive motor laterally extending through an opening in a main frame.

[0008] Some embodiments of the present disclosure provide a power machine comprising an electric tilt actuator secured to a lift arm by a pin connection within a proximal end of a channel.

[0009] Some embodiments of the present disclosure provide a power machine comprising a tilt actuator pocket having a channel tapered such that a distal end of the channel has a smaller lateral width than a proximal end of the channel.

[0010] Some embodiments of the present disclosure provide a power machine comprising a tilt actuator pocket laterally supporting an electric tilt actuator at least partially outside an operator station.

[0011] Some embodiments of the present disclosure provide a power machine comprising an electric lift actuator having a motor end of the electric lift actuator pin connected within a lift actuator pocket and an extendable end of the electric lift actuator extending out of the lift actuator pocket to a pin connection with a lift arm.

[0012] Some embodiments of the present disclosure provide a power machine in which a motor of a motor end of an electric lift actuator is located behind one or more of a pin connection with a lift arm or a pin connection between the electric lift actuator and a lift actuator pocket in all operational orientations of the lift arm.

[0013] Some embodiments of the present disclosure provide a power machine comprising a power assembly having a battery assembly secured to a main frame to be located rearward of an operator station.

[0014] Some embodiments of the present disclosure provide a power machine having a battery assembly including a battery housing enclosing a plurality of battery cells. The battery housing can be disposed entirely rearward of an operator station.

[0015] Some embodiments of the present disclosure provide a power machine having a battery assembly including a battery management system that is one or more of fixed to the battery housing or located within the battery housing. The battery assembly can be fixed to a main frame such that a center of gravity of the battery assembly is laterally offset from a centerline of the power machine within the power machine.

[0016] Some embodiments of the present disclosure provide a power machine including a battery management system that is disposed substantially below a top of a battery housing.

[0017] Some embodiments of the present disclosure provide a power machine having a plurality of mounting bars extending laterally from a main frame rearward of an operator station. A battery assembly can be fixed to the mounting bars by a plurality of isolation mounts.

[0018] Some embodiments of the present disclosure provide a power machine having a plurality of isolation mounts. The plurality of isolation mounts can include one or more of a front set of isolation mounts or a rear set of isolation mounts, the front set of isolation mounts including a first isolation mount located on a first lateral side of a center of gravity of the power machine and a second isolation mount located on a second lateral side of the center of gravity of the power machine; the rear set of isolation mounts including a third isolation mount located on the first lateral side of the center of gravity of the power machine and a fourth isolation mount located on the second lateral side of the center of gravity of the power machine.

[0019] Some embodiments of the present disclosure provide a power machine having a front set of isolation mounts disposed forward of a center of gravity of the power machine.

[0020] Some embodiments of the present disclosure provide a power machine including a front set of isolation mounts disposed forward of a center of gravity of the power machine calculated without a weight of the battery assembly.

[0021] Some embodiments of the present disclosure provide a power machine including a support plate fixed to a main frame to extend over a battery assembly and rearward of an operator station. Further, a power assembly can include a power control module supported by the support plate relative to the main frame.

[0022] Some embodiments of the present disclosure provide a power machine having electrical wires configured to provide electrical control and power signals. A first subset of the electrical wires can extend from a power control module through an interior volume of a lift arm to a connector for controlling and providing power to an implement. The connector can be disposed at a distal end of the lift arm.

[0023] Some embodiments of the present disclosure provide a power machine including a second subset of electrical wires routed from a power control module via a lift actuator pocket to an interior volume of a lift arm and configured to provide electrical control and power signals to an electrical lift actuator.

[0024] Some embodiments of the present disclosure provide a power machine including an electrical power assembly having a cooling module supported by a support plate.

[0025] Some embodiments of the present disclosure provide a power machine including an electrical power assembly having a base plate that is detachable from the support plate and supports a power control module relative to the support plate.

[0026] Some embodiments of the present disclosure provide a power machine including a base plate having one or more lift points configured to collectively support the base plate and a power control module during alignment of the base plate relative to a support plate during installation of an electrical power assembly.

[0027] Some embodiments of the present disclosure provide a power machine including an electrical power assembly having a guard plate extending at least partially vertically from a base plate rearward of a power control module to at least partially shield the power control module toward a rear of the power machine.

[0028] Some embodiments of the present disclosure provide a power machine including an electrical power assembly having a guard plate with one or more routing openings configured to receive electrical wires carrying electrical control and power signals from a power control module.

[0029] Some embodiments of the present disclosure provide a power machine having a support plate disposed laterally aligned with and above a battery and bolted to a main frame.

[0030] Some embodiments of the present disclosure provide a lift arm structure comprising a lift arm configured to be movably secured to a frame to extend along a lateral side of the frame, a machine carrier movably secured to the lift arm, and an electric tilt actuator secured to the lift arm within a tilt actuator pocket defined by the lift arm. The tilt actuator pocket can be disposed proximate the machine carrier such that an open side of the pocket faces the machine carrier. The electric tilt actuator can be configured to be controllably extended and retracted to change a pose of the machine carrier.

[0031] Some embodiments of the present disclosure provide a lift arm structure having an electric tilt actuator that is a ball screw.

[0032] Some embodiments of the present disclosure provide a lift arm structure having an electric tilt actuator that has a fold-back motor configuration.

[0033] Some embodiments of the present disclosure provide a lift arm structure comprising a motor end of an electric tilt actuator secured to a lift arm by a pin connection within a tilt actuator pocket, wherein a motor of the electric tilt actuator extends forward of the tilt actuator pocket.

[0034] Some embodiments of the present disclosure provide a lift arm structure having a pin connection for securing an electric tilt actuator to a lift arm, the pin connection being a dual-sided pin connection supported at opposing sidewalls of a tilt actuator pocket. The opposing sidewalls can extend in a forward direction to at least partially laterally shield the electric tilt actuator.

[0035] Some embodiments of the present disclosure provide a lift arm structure having an electric lift actuator secured at a first end to a rear portion of a frame and at a second end to an underside of a lift arm. The electric lift actuator can be configured to be controllably extended and retracted to raise and lower the lift arm.

[0036] Some embodiments of the present disclosure provide a lift arm structure having an electric lift actuator that is a ball screw.

[0037] Some embodiments of the present disclosure provide a lift arm structure comprising an electric lift actuator pin-connected within a lift actuator pocket at a rear portion of a frame, wherein a motor of the electric lift actuator is disposed entirely within the lift actuator pocket rearward of an extendable portion of the electric lift actuator.

[0038] Some embodiments of the present disclosure provide a lift arm structure including an implement carrier including at least one engagement member movable between a locked configuration and an unlocked configuration to secure or release an implement relative to the implement carrier. The lift arm structure can include an electrical attachment actuator configured to move the engagement member between the locked configuration and the unlocked configuration.

[0039] Some embodiments of the present disclosure provide a lift arm structure having one or more sensors configured to detect an indicator of force applied by an electrical attachment actuator to move an engagement member between a locked configuration and an unlocked configuration and communicate the indicator to a control system to determine an operational state of one or more of the engagement member or an implement.

[0040] Some embodiments of the present disclosure provide a power machine including a frame, a cab supported by the frame, a lift arm movably secured to the frame to extend along a lateral side of the frame, an electrical tilt actuator, an electrical lift actuator, and a battery assembly. The electrical tilt actuator can be secured to the lift arm and an implement carrier, and the electrical tilt actuator is configured to be controllably extended and retracted to change a posture of the implement carrier. The electrical lift actuator can be secured at a first end to the frame and at a second end to the lift arm, and the electrical lift actuator is configured to be controllably extended and retracted to raise and lower the lift arm. The battery assembly can be configured to power the electrical tilt actuator and the electrical lift actuator, and the battery assembly is disposed entirely rearward of the cab.

[0041] Some embodiments of the present disclosure provide a power machine having an electrical lift actuator rotatably mounted within a mounting pocket of a lateral side of a rear portion of a frame.

[0042] Some embodiments of the present disclosure provide a power machine having a tilt actuator disposed within a tilt actuator pocket defined by a lift arm proximate a front portion of a frame.

[0043] Some embodiments of the present disclosure provide a power machine including a tilt actuator pocket that is a tapered channel that opens in a forward direction relative to a frame when the lift arm is fully lowered. The channel can taper such that a distal end of the channel has a smaller cross-sectional area than a proximal end of the channel.

[0044] Some embodiments of the present disclosure provide a power machine for mobile operation of an implement. The power machine can include a main frame supporting an operator station and a lift arm structure. The lift arm structure can include a lift arm extending along a lateral side of the frame with a proximal end of the lift arm movably secured to the frame at a rear portion of the frame, an implement carrier movably secured to a distal end of the lift arm, an electric tilt actuator, and an electric lift actuator. The electric tilt actuator can be secured to the lift arm and configured to controllably extend and retract to change an attitude of the implement carrier. The electric lift actuator can be secured at a first end to the rear portion of the frame and at a second end to the lift arm and configured to controllably extend and retract to raise and lower the lift arm.

[0045] Some embodiments of the present disclosure provide a power machine for mobile operation of an implement. The power machine can include a main frame supporting an operator station and a lift arm structure. The lift arm structure can include a lift arm extending along a lateral side of the frame with a proximal end of the lift arm movably secured to the frame at a rear portion of the frame, an implement carrier movably secured to a distal end of the lift arm, an electric tilt actuator, and an electric lift actuator. The electric tilt actuator can be secured to the lift arm and configured to controllably extend and retract to change an attitude of the implement carrier. The electric lift actuator can be secured at a first end to the rear portion of the frame and at a second end to the lift arm and configured to controllably extend and retract to raise and lower the lift arm. An electric power assembly can include a battery assembly secured to the main frame to be located rearward of the operator station. A support plate can be secured to the main frame to extend over the battery assembly and rearward of the operator station. The electric power assembly can further include a power control module supported by the support plate relative to the main frame.

[0046] Some embodiments of the present disclosure provide a power machine for operably moving an implement. The power machine can include a main frame supporting an operator station and a lift arm structure. The lift arm structure can include a lift arm extending along a lateral side of the frame with a proximal end of the lift arm movably secured to the frame at a rear portion of the frame. The lift arm structure can also include an implement carrier movably secured to a distal end of the lift arm and an electric tilt actuator secured to the lift arm and configured to controllably extend and retract to change an attitude of the implement carrier. The implement carrier can include at least one engagement member movable between a locked configuration and an unlocked configuration to secure or release an implement relative to the implement carrier. The lift arm structure can also include an electric attachment actuator configured to move the engagement member between the locked configuration and the unlocked configuration and one or more sensors configured to detect an indicator of force applied by the electric attachment actuator to move the at least one engagement member between the locked configuration and the unlocked configuration and communicate the indicator to a control system to determine an operational state of one or more of the engagement member or the implement.

[0047] This summary and abstract are provided to introduce some concepts in a simplified form that are further described below in the detailed description. This summary and abstract are not intended to identify key features of the claimed subject matter, nor are they intended to be used in determining the scope of the claimed subject matter. BRIEF DESCRIPTION OF DRAWINGS

[0048] FIG. 1 is a block diagram illustrating functional systems of a representative power machine on which embodiments of the present disclosure can be advantageously implemented.

[0049] FIG. 2 is a perspective view generally showing a front of a power machine on which embodiments disclosed herein can be advantageously implemented.

[0050] FIG. 3 is a perspective view generally showing a rear of the power machine shown in FIG. 2

[0051] FIG. 4 is a block diagram illustrating components of a power system of a loader, such as FIG. 2 and FIG. 3

[0052] FIG. 5 ​​is a top plan view showing certain components of a power machine in the form of an electric compact track loader according to an embodiment of the present disclosure.

[0053] FIG. 6 is a partial cross-sectional perspective view of the power machine of FIG. 5

[0054] FIG. 7 is a partial perspective view of a rear portion of the power machine generally showing FIG. 5

[0055] FIG. 8 is a partial perspective view of components of a track assembly of the power machine of FIG. 5

[0056] FIG. 8A is an elevational side view showing a track assembly and frame of another power machine according to the present disclosure.

[0057] FIG. 9 is a perspective view of a lift actuator of the power machine of FIG. 5

[0058] is a perspective view of a trunnion of the lift actuator of FIG. 10 FIG. 9

[0059] is a partial front perspective view of the power machine of FIG. 11 FIG. 5 FIG. 9 is a partial perspective view of a front portion of the power machine generally showing a tilt actuator for a lift arm structure of the power machine.

[0060] FIG. 12 is a perspective view of a front portion of a power machine generally showing FIG. 5

[0061] FIG. 13A is a perspective view of a rear portion of the power machine shown in

[0062] FIG. 13B is another perspective view of a rear portion of the power machine generally showing FIG. 13A

[0063] is another perspective view of a rear portion of the power machine generally showing FIG. 13C FIG. 13A is a partial perspective view of a front portion of the lift arm structure generally showing

[0064] FIG. 14 FIG. 13A

[0065] FIG. 15 ​​​​​​​​​​is a partial perspective view of a front portion of the lift arm structure of FIG. 13A

[0066] FIG. 16A is a perspective view of the lift arm structure of the power machine of FIG. 13A

[0067] FIG. 16B is another perspective view of the lift arm structure of FIG. 16A

[0068] FIG. 17 is a partial perspective view of a top portion of the power machine of FIG. 13A

[0069] FIG. 18 is a partial perspective view of a side portion of the power machine of FIG. 17

[0070] FIG. 19 is a perspective view of a rear portion of the power machine of FIG. 13A

[0071] FIG. 20 is a perspective view of the battery assembly for use in the power machine of FIG. 19

[0072] FIG. 21 is an elevational side view of the battery assembly of FIG. 20

[0073] FIG. 22 is a cross-sectional view of the power machine of FIG. 13B

[0074] FIG. 23 is a cross-sectional view of the power machine of FIG. 13B

[0075] FIG. 24 is a partial perspective view of a rear portion of the power machine of FIG. 13C

[0076] FIG. 25A is a top plan view of the power machine of FIG. 13B

[0077] FIG. 25B is a perspective view of the control subassembly of FIG. 25A

[0078] FIG. 26 is a method for installing a battery assembly and a control subassembly into a power machine according to an embodiment of the present application.​​​​​​​​​​​​​

[0079] FIG. 27 It is shown in general FIG. 13A A partial perspective view of the front of the power machinery, including the connector and lifting arm structure.

[0080] FIG. 28 It is shown in general FIG. 13A A partial perspective view of the front of the power machinery, including the implement carrier.

[0081] FIG. 29 yes FIG. 13A A perspective view of selected components of the power machinery, including the track assembly and frame of the power machinery.

[0082] FIG. 30 yes FIG. 13A Elevation top view of the power machinery. Detailed Implementation

[0083] The concepts disclosed in this discussion are described and illustrated with reference to exemplary embodiments. However, these concepts are not limited in their application to the construction details and arrangement of components in the illustrative embodiments, and can be implemented or practiced in a variety of other ways. The terminology used herein is for descriptive purposes and should not be construed as limiting. Words such as “comprising,” “including,” and “having,” as used herein, and variations thereof, are intended to cover items listed after these words, equivalents of the listed items, and additional items.

[0084] As used herein in the context of power machinery, unless otherwise defined or limited, the term "lateral" means a direction that extends at least partially to the left or right of a reference line defined by the fore-and-aft direction of the power machinery. Accordingly, for example, a lateral sidewall of the cab of the power machinery may be the left or right sidewall of the cab relative to the operator's reference frame, in which the operator is oriented or otherwise to engage controls at the operator's station in the cab in an operable manner. Similarly, the "centerline" of the power machinery refers to a reference line extending in the fore-and-aft direction of the power machinery, approximately halfway between the opposing lateral sides of the external space enveloping the power machinery.

[0085] While the power machinery disclosed herein can be embodied in many different forms, several specific embodiments are discussed herein. It should be understood that the embodiments described herein are merely examples of the principles described herein, and the invention is not intended to be limited to the illustrated embodiments. Throughout this disclosure, unless otherwise specified, the terms "about" and "approximately" refer to plus or minus 5% of the number following each term.

[0086] Some of the discussion below describes improved components and configurations for use with a power machine, including components and configurations that use electric power (e.g., as opposed to hydraulic power) to operate certain power machine components or otherwise implement certain power machine functions. In some embodiments, electric components can be mounted to a frame of a power machine in order to selectively move a work element of the power machine, including a lift arm or implement carrier. In some embodiments, electric components can provide motive power to a power machine, including to a track-type power machine (e.g., a compact track loader).

[0087] Accordingly, some embodiments can provide improvements over conventional power machines, including power machines that use hydraulic components for certain operations. For example, using electric components (e.g., motors and actuators) instead of conventional hydraulic components to perform certain functions can improve the overall precision, control, and speed of certain power machine operations. Moreover, using electric components can also reduce overall component size, the likelihood of failure, and general maintenance requirements as compared to conventional hydraulic systems. However, some aspects of the technology disclosed below can be advantageously used with power machines in which some (or all) of the relevant components are hydraulically operated.

[0088] Continuing, some embodiments can provide structural advantages for supporting, maintaining, and operating actuators and other components. For example, some embodiments can include a lift arm having a pocket that at least partially houses an associated actuator. For some such configurations, the pocket can provide a stable and robust support for a pin connection (or other connection), which can in turn support particularly stable operation of a tilt (or other) actuator. Moreover, in some cases, the pocket can at least partially shield the actuator from debris or undesirable contact.

[0089] Moreover, some embodiments can include power assemblies that can provide improved accessibility, power routing, or weight distribution as compared to conventional designs. For example, some embodiments can include a battery assembly that is supported within an associated power machine at a substantially rearward location, which can help to provide a beneficial rearward location of a center of gravity of the power machine. Likewise, some embodiments can include an electrical system having control or power wiring that is effectively routed through structural features of the power machine (including sidewalls of an actuator pocket) and within a lift arm or other structure. In some cases, such an arrangement can provide effective mounting and signal routing, and can also help to protect signal wires (e.g., for power or control) from pinch points or adverse contact.

[0090] As another example, some embodiments can include control modules that are structured for particularly efficient installation and operation. For example, some embodiments can include power control modules having control electronics (and, in some cases, cooling systems) that are commonly supported by a single structural assembly that can be easily installed into or removed from a power machine as a unit. In some cases, the power control modules can be structured for installation (e.g., supported by an integral structural assembly) to be supported by a main frame of the power machine above and laterally aligned with a battery assembly (i.e., within a common lateral extent relative to the power machine). In some cases, such a configuration can allow particularly efficient installation and access for maintenance, as well as particularly efficient routing of control, power, and other (e.g., cooling) conduits to other components of the power machine.

[0091] Other benefits will also be apparent from the following discussion, including benefits related to orientation of traction motors, benefits related to control of actuators and attachment mechanisms (e.g., for implements), and benefits related to space considerations (e.g., regarding operator station clearances).

[0092] These concepts can be implemented on a variety of different power machines, as will be described hereafter. In FIG. 1 A representative power machine in which embodiments can be implemented is illustrated in block form in FIGS. 2-3 One example of such a power machine prior to disclosure of any embodiments is illustrated and described hereafter. For the sake of brevity, only one type of power machine is discussed. However, as noted above, the following embodiments can be implemented on any number of power machines including different types of power machines than the representative power machine illustrated. FIGS. 2-3 For the purposes of this discussion, a power machine includes a frame, at least one work element, and a power source that can provide power to the work elements to accomplish work tasks. One type of power machine is a self-propelled work vehicle. A self-propelled work vehicle is a class of power machines that includes a frame, work elements, and a power source that can provide power to the work elements. At least one of the work elements is a motive system for moving the power machine under power.

[0093] Embodiments of the present disclosure are presented below in the context of a compact track loader, where electrical components and other related components are arranged on and secured to a frame. In some embodiments, electrical components and related systems according to the present disclosure can be used with other types of power machines, including with articulated power machines and with non-articulated power machines having traction elements other than tracks (i.e., wheels). Further, some embodiments of the present disclosure are presented in the context of electrical subassemblies for controlling work functions, such as by controlling actuators to manipulate one or more implements. In some embodiments, electrical subassemblies according to the present disclosure can also be configured for other uses, such as for controlling other features, actuations, or movements of the power machine.

[0094] FIG. 1 A block diagram of the basic systems of a power machine 100 on which embodiments discussed below can be advantageously incorporated is illustrated, and the power machine 100 can be any of a variety of different types of power machines. FIG. 1 The block diagram identifies various different systems on the power machine 100, as well as the relationship between various different components and systems. As noted above, at the most basic level, a power machine for purposes of this discussion includes a frame, a power source, and a work element. The power machine 100 has a frame 110, a power source 120, and a work element 130. Because FIG. 1 The power machine 100 shown in FIG. 1 is a self-propelled work vehicle, and as such, the power machine 100 also has a traction element 140, which itself is a work element arranged to move the power machine over a support surface, and an operator station 150, which provides an operating position for controlling the work elements of the power machine. A control system 160 is arranged to interact with other systems to perform various different work tasks, at least partially in response to control signals provided by an operator.

[0095] Certain work vehicles have work elements capable of performing specialized tasks. For example, some work vehicles have a lift arm to which an implement, such as a bucket, is attached, for example, by a pin connection. The work element (i.e., the lift arm) can be manipulated to position the implement for purposes of performing a task. In some cases, the implement can be positioned relative to the work element, for example, by rotating the bucket relative to the lift arm, to further position the implement. Under normal operation of such work vehicles, the bucket will be attached and in use. Such work vehicles are capable of accepting other implements by disassembling the implement / work element combination and reassembling another implement in place of the original bucket. However, other work vehicles will be used with a wide variety of implements, and have features such as FIG. 1The implement interface 170, or the like, is shown. Most fundamentally, the implement interface 170 is a connection mechanism between the frame 110 or work element 130 and an implement, which can be as simple as a connection point for attaching an implement directly to the frame 110 or work element 130, or can be more complex, as discussed below.

[0096] On some power machines, the implement interface 170 can include an implement carrier, which is a physical structure that is movably attached to a work element. The implement carrier has engagement and locking features to accept and secure any one of a plurality of implements to the work element. One characteristic of such an implement carrier is that, once an implement is attached to the implement carrier, the implement carrier is secured to the implement (i.e., cannot move relative to the implement), and the implement moves with the implement carrier as the implement carrier moves relative to the work element. The term "implement carrier" as used herein is not just a pivot connection point, but is a specialized device specifically intended to accept and be secured to a variety of different implements. The implement carrier itself can be mounted to a work element 130, such as a lift arm, or to the frame 110. The implement interface 170 can also include one or more power sources for providing power to one or more work elements on the implement. Some power machines can have multiple work elements with implement interfaces, each of which can, but need not, have an implement carrier for receiving an implement. Some other power machines can have a work element with multiple implement interfaces, such that a single work element can receive multiple implements at the same time. Each of these implement interfaces can, but need not, have an implement carrier.

[0097] The frame 110 includes a physical structure that can support a variety of different other components that are attached to or positioned on the frame 110. The frame 110 can include any number of individual components. Some power machines have a rigid frame. That is, no part of the frame can move relative to another part of the frame. Other power machines have at least one part that can move relative to another part of the frame. For example, a backhoe can have an upper frame portion that rotates relative to a lower frame portion. Other work vehicles have a hinged frame, such that a portion of the frame pivots relative to another portion to implement a steering function.

[0098] The frame 110 supports a power source 120 that is capable of providing power to one or more work elements 130, including one or more traction elements 140, and in some cases, the power source 120 is capable of providing power for use by an attached implement via an implement interface 170. Power from the power source 120 can be provided directly to any of the work elements 130, traction elements 140, and implement interface 170. Alternatively, power from the power source 120 can be provided to a control system 160 that in turn selectively provides power to elements that are capable of using the power to perform work functions. Power sources for power machines typically include an engine such as an internal combustion engine, and a power conversion system such as a mechanical transmission or a hydraulic system that is capable of converting output from the engine into a form of power that can be used by work elements. Other types of power sources can be incorporated into power machines, including power sources or combinations of power sources commonly referred to as hybrid power sources.

[0099] FIG. 1 A single work element designated as work element 130 is shown, but various different power machines can have any number of work elements. Typically, work elements are attached to the frame of the power machine and are capable of moving relative to the frame when performing work tasks. In addition, traction elements 140 are a special case of work elements because the work function of traction elements is typically to move the power machine 100 over a support surface. Traction elements 140 are shown as separate from work elements 130 because many power machines have additional work elements in addition to traction elements, but this is not always the case. A power machine can have any number of traction elements, some or all of which can receive power from the power source 120 to propel the power machine 100. Traction elements can be, for example, wheels attached to an axle, track assemblies, and the like. Traction elements can be mounted to the frame such that movement of the traction elements is limited to rotation about an axle (such that steering is accomplished by sliding movement), or alternatively, the traction elements are pivotally mounted to the frame to accomplish steering by pivoting the traction elements relative to the frame.

[0100] Power machinery 100 includes an operator station 150, which includes an operating position from which an operator can control the operation of the power machinery. In some power machinery, the operator station 150 is defined by an enclosed or partially enclosed cab. Some power machinery that can implement the disclosed embodiments may not have a cab or operator's cab of the type described above. For example, a walk-behind loader may not have a cab or operator's cab, but instead has an operating position serving as an operator station from which the power machinery can be properly operated. More broadly, power machinery, other than work vehicles, may have an operator station that does not necessarily have an operating position and operator's cab similar to those mentioned above. Furthermore, power machinery such as 100 and some other power machinery, regardless of whether they have an operator's cab or operator's position, can be remotely operated (i.e., operated from an operator station located at a distance), which may serve as a replacement or addition to an operator station located on or adjacent to the power machinery. This can include applications where at least some of the operator-controlled functions of the power machinery can be operated from an operating position associated with the implements connected to the power machinery. Alternatively, for some power machinery, a remote control device (i.e., remote from both the power machinery and any implements connected to it) can be installed, which is capable of controlling at least some of the operator-controlled functions on the power machinery.

[0101] FIGS. 2-3 A loader 200 is shown, which is FIG. 1 The illustrated example is a specific example of a power machine of the type shown, in which the embodiments discussed below can be advantageously employed. Loader 200 is a tracked loader, and more specifically a compact tracked loader. A tracked loader is a loader having annular tracks (opposite to wheels) as traction elements. Loader 200 is... FIG. 1 This is a specific example of the power machinery 100 broadly illustrated and discussed above. Therefore, the features of the loader 200 described below include those related to... FIG. 1The reference numbers used in the various figures used herein have been used generally similarly throughout. For example, the loader 200 is described as having a frame 210 just as the power machine 100 has a frame 110. The track loader 200 is described herein to provide reference to an environment in which the embodiments described below relating to track assemblies and mounting elements for mounting track assemblies to power machines can be implemented. The loader 200 should not be considered limiting with respect to the features of the loader 200 that have been described herein that are not essential to the disclosed embodiments and thus can or can not be included in power machines other than the loader 200 in which the embodiments disclosed below can be advantageously implemented. Unless otherwise specifically stated, the embodiments disclosed below can be implemented on a variety of different power machines, and the loader 200 is merely one of these power machines. For example, just a few examples, some or all of the concepts discussed below can be implemented on a number of other types of work vehicles such as various other loaders, excavators, trenchers, and dozers.

[0102] The loader 200 includes a frame 210 that supports a power system 220 that is capable of generating or otherwise providing power for operating various different functions on the power machine. The frame 210 also supports a work element in the form of a lift arm structure 230 that is powered by the power system 220 and can perform a variety of different work tasks. Since the loader 200 is a work vehicle, the frame 210 also supports a traction system 240 that is also powered by the power system 220 and can propel the power machine over a support surface. The lift arm structure 230 in turn supports an implement carrier 272 that can receive and secure various different implements to the loader 200 for performing various different work tasks. The loader 200 can be operated from an operator station 255 from which an operator can manipulate various different control devices to cause the power machine to perform various different functions. A control system 260 is provided for controlling the various different functions of the loader 200.

[0103] The various different power machines that can include and / or interact with the embodiments discussed below can have various different frame components that support various different work elements. The elements of the frame 210 discussed herein are provided for illustrative purposes and should not be considered to be the only frame types that power machines on which embodiments can be implemented can employ. The frame 210 of the loader 200 includes a chassis or lower portion 211 of the frame and a main frame or upper portion 212 of the frame that is supported by the chassis. The main frame 212 of the loader 200 is attached to the chassis 211, for example, with fasteners or by welding the chassis to the main frame. The main frame 212 includes a pair of upright portions 214 (only one of which is shown in FIG. 2 FIG. 1) located on opposite sides of the frame 210 and toward the rear of the frame, which support a lift arm structure 230, and the lift arm structure 230 is pivotally attached to the pair of upright portions 214. The lift arm structure 230 is illustratively pinned to each of the upright portions 214. The combination of mounting features on the upright portions 214 and the lift arm structure 230 and mounting hardware, including pins for pinning the lift arm structure to the main frame 212, are collectively referred to as joints 216 (one positioned on each upright portion 214) for purposes of discussion. The joints 216 are aligned along an axis 218 so that the lift arm structure can pivot relative to the frame 210 about the axis 218, as discussed below. Other power machines can not include upright portions on opposite sides of the frame, or can not have a lift arm structure that can be mounted to upright portions located on opposite sides of the frame and toward the rear of the frame. For example, some power machines can have a single arm that is mounted to a single side of the power machine or to a front or rear end of the power machine. Other machines can have multiple work elements that include multiple lift arms, each of which is mounted to the machine in its own configuration. The frame 210 also supports a pair of traction elements 242 (only one of which is shown in FIG. 2 FIG. 1) on opposite sides of the loader 200, which are track assemblies on the loader 200.

[0104] FIG. 1 The lift arm structure 230 shown is one example of many different types of lift arm structures that can be attached to a power machine such as the loader 200 or other power machines on which the embodiments discussed herein can be implemented. The lift arm structure 230 has a pair of lift arms 232 that are disposed on opposite sides of the frame 210. A first end 232A of each of the lift arms 232 is pivotally connected to the power machine at the joint 216, and a second end 232B of each of the lift arms is configured to support a work element 234, such as a bucket or other implement, when in a lowered position as shown in FIG. 1. The lift arm structure 230 is configured to be raised and lowered relative to the frame 210 about the axis 218, as discussed below. The lift arms 232 are illustratively pinned to the upright portions 214 of the frame 210. The combination of mounting features on the upright portions 214 and the lift arms 232 and mounting hardware, including pins for pinning the lift arms to the frame 212, are collectively referred to as the joint 216 for purposes of discussion. The joints 216 are aligned along the axis 218 so that the lift arms can pivot relative to the frame 210 about the axis 218, as discussed below. Other power machines can not include upright portions on opposite sides of the frame, or can not have a lift arm structure that can be mounted to upright portions located on opposite sides of the frame and toward the rear of the frame. For example, some power machines can have a single arm that is mounted to a single side of the power machine or to a front or rear end of the power machine. Other machines can have multiple work elements that include multiple lift arms, each of which is mounted to the machine in its own configuration. The frame 210 also supports a pair of traction elements 242 (only one of which is shown in FIG. 2The lowered position is shown positioned forward of the frame 210. The lift arm structure 230 is movable relative to the frame 210 (i.e., the lift arm structure can be raised and lowered) under control of the loader 200. This movement (i.e., raising and lowering of the lift arm structure 230) is described by a path of travel generally shown by arrows 233. For purposes of this discussion, the path of travel 233 of the lift arm structure 230 is defined by the path of movement of the second end 232B of the lift arm structure.

[0105] As FIG. 2 shown, each of the lift arms 232 of the lift arm structure 230 includes a first portion 234A and a second portion 234B pivotally coupled to the first portion 234A. The first portion 234A of each lift arm 234 is pivotally coupled to the frame 210 at one of the joints 216, and the second portion 234B extends from its connection with the first portion 234A to the second end 232B of the lift arm structure 230. The lift arms 232 are each coupled to a cross member 236 that is attached to the first portion 234A. The cross member 236 provides added structural stability to the lift arm structure 230. A pair of actuators 238 (only one of which is shown in FIG. 1 The actuators 238, which are hydraulic cylinders on the loader 200 configured to receive pressurized fluid from the power system 220, are pivotally coupled to both the frame 210 and the lift arms 234 at pivotable joints 238A and 238B, respectively, on either side of the loader 200. The actuators 238 are sometimes referred to individually as lift cylinders. Actuation (i.e., extension and retraction) of the actuators 238 causes the lift arm structure 230 to pivot about the joints 216 and, in turn, to be raised and lowered along a fixed path indicated by the arrows 237. Each of a pair of control links 217 (only one of which is shown) is pivotally mounted to the frame 210 and one of the lift arms 232 on either side of the frame 210. The control links 217 help to define the fixed path of travel of the lift arm structure 230. FIG. 2The illustrated lift arm structure 230 is representative of one type of lift arm structure that can be coupled to a power machine 100. Other lift arm structures having different geometries, components, and arrangements can be pivotally coupled to a loader 200 or other power machine on which the embodiments discussed herein can be implemented without departing from the scope of the present discussion. For example, other machines can have a lift arm structure with a lift arm having one segment that is pivotally coupled to the frame at one end and positioned in front of the frame at the other end (as opposed to the two segments 234A and 234B of the lift arm 234). Other lift arm structures can have a lift arm that is extendable or telescoping. Still other lift arm structures can have multiple (i.e., more than two) segments or portions. Some lift arms (most notably on excavators, but possibly on loaders as well) can have a segment that is pivotable relative to another segment in a controllable manner rather than moving uniformly (i.e., along a predetermined path) as in the case of the lift arm structure 230 illustrated. Some power machines have a lift arm structure with a single lift arm, such as is known in excavators or even some loaders and other power machines. Other power machines can have multiple lift arm structures, each of which is independent of the other. FIG. 2 The illustrated lift arm structure 230 is representative of one type of lift arm structure that can be coupled to a power machine 100. Other lift arm structures having different geometries, components, and arrangements can be pivotally coupled to a loader 200 or other power machine on which the embodiments discussed herein can be implemented without departing from the scope of the present discussion. For example, other machines can have a lift arm structure with a lift arm having one segment that is pivotally coupled to the frame at one end and positioned in front of the frame at the other end (as opposed to the two segments 234A and 234B of the lift arm 234). Other lift arm structures can have a lift arm that is extendable or telescoping. Still other lift arm structures can have multiple (i.e., more than two) segments or portions. Some lift arms (most notably on excavators, but possibly on loaders as well) can have a segment that is pivotable relative to another segment in a controllable manner rather than moving uniformly (i.e., along a predetermined path) as in the case of the lift arm structure 230 illustrated. Some power machines have a lift arm structure with a single lift arm, such as is known in excavators or even some loaders and other power machines. Other power machines can have multiple lift arm structures, each of which is independent of the other.

[0106] An exemplary implement interface 270 is provided at the second end 232B of the lift arm assembly 234. The implement interface 270 includes an implement carrier 272 that is capable of receiving and securing a variety of different implements to the lift arm structure 230. Such implements have a mechanical interface that is configured to engage the implement carrier 272. The implement carrier 272 is pivotally mounted at the second end 232B of the lift arm 234. An implement carrier actuator operably couples the lift arm structure 230 and the implement carrier 272 and is operable to rotate the implement carrier relative to the lift arm structure.

[0107] The implement interface 270 also includes an implement power source 235 that is available for connection to an implement on the lift arm structure 230. The implement power source 235 includes a pressurized hydraulic fluid port to which an implement can be coupled. The pressurized hydraulic fluid port is capable of selectively providing pressurized hydraulic fluid to power one or more functions or actuators on the implement. The implement power source can also include an electrical power source for powering electrical actuators and / or electronic controllers on the implement. The electrical power source 235 also illustratively includes an electrical conduit that is in communication with a data bus on the excavator 200 to allow communication between controllers on the implement and electronics on the loader 200. It should be noted that the particular implement power source on the loader 200 does not include an electrical power source.

[0108] A pair of traction elements 242 are supported by and attached to the lower frame 211, which are identified in FIGS. 2-3 Each of the traction elements 242 has a track frame 243 coupled to the lower frame 211. The track frame 243 supports and is surrounded by an endless track 244 that rotates under power to propel the loader 200 over a support surface. Various different elements are coupled to or otherwise supported by the track frame 243 for engaging and supporting the endless track 244 and causing the endless track 244 to rotate about the track frame. For example, a sprocket 246 is supported by the track frame 243 and engages the endless track 244, causing the endless track to rotate about the track frame. Idlers 245 are held against the track 244 by tensioners (not shown) to maintain proper tension on the track. The track frame 243 also supports a plurality of rollers 248 that engage the track and support the surface through the track engagement to support and distribute the weight of the loader 200.

[0109] The upper frame portion 212 supports a cab 250 that at least partially defines an operator compartment or station 255. A seat 254 is provided within the cab 250 in which an operator can sit while operating the excavator. When seated in the seat 254, the operator will have access to a plurality of operator input devices 256 that the operator can manipulate to control various different work functions, such as manipulating the lift arm structure 230, the traction system 240, etc.

[0110] Display devices are provided in the cab to give indications of information related to the operation of the power machine in a form that can be perceived by the operator, such as audible indications and / or visual indications. Audible indications can be made in the form of beeps, chimes, etc. or through verbal communication. Visual indications can be made in the form of graphics, lights, icons, gauges, alphanumeric symbols, etc. Displays can be dedicated to providing dedicated indications, such as warning lights or gauges, or can dynamically provide programmable information, including programmable display devices such as monitors of various different sizes and functionality. The display devices can provide diagnostic information, troubleshooting information, instructional information, and various different other types of information to assist the operator in operating the power machine or an implement coupled to the power machine.

[0111] FIG. 4The power system 220 is illustrated in more detail. Broadly, the power system 220 includes one or more power sources 222 that are capable of generating and / or storing power for operating various different machine functions. On the loader 200, the power system 220 includes an internal combustion engine. Other power machines can include a generator, a rechargeable battery, various different other power sources, or any combination of power sources that can provide power for a given power machine component. The power system 220 also includes a power conversion system 224 that is operably coupled to the power source 222. The power conversion system 224, in turn, is coupled to one or more actuators 226 that can perform functions on the power machine. The power conversion system in various different power machines can include various different components, including a mechanical transmission, a hydraulic system, etc. The power conversion system 224 of the power machine 200 includes a hydrostatic drive pump 224A that provides a power signal to drive motors 226A, 226B, 226C, and 226D. The four drive motors 226A, 226B, 226C, and 226D are each, in turn, operably coupled to four axles 228A, 228B, 228C, and 228D, respectively. Although not shown, the four axles are coupled to wheels 242A, 242B, 244A, and 244B, respectively. The hydrostatic drive pump 224A can be mechanically, hydraulically, and / or electrically coupled to an operator input device to receive actuation signals for controlling the drive pump. The power conversion system also includes an implement pump 224B that is also driven by the power source 222. The implement pump 224B is configured to provide pressurized hydraulic fluid to a work actuator circuit 237. The work actuator circuit 237 is in communication with work actuators 239. The work actuators 239 are representative of a plurality of actuators, including a lift cylinder, a tilt or swing cylinder, an extension cylinder, etc. The work actuator circuit 237 can include valves and other devices to selectively provide pressurized hydraulic fluid to various different work actuators represented by block 239 in FIG. 1. In addition, the work actuator circuit 237 can be configured to provide pressurized hydraulic fluid to work actuators on attached implements. FIG. 4

[0112] The descriptions of the power machines 100 and 200 above are provided for illustrative purposes to provide an illustrative environment in which embodiments discussed below can be implemented. Although the discussed embodiments can be implemented on power machines generally described above, for example, by the block diagram of the power machine 100 in FIG. 1, and more particularly on loaders such as the track loader 200, the concepts discussed below are not intended to limit their application to the specifically described environments unless otherwise stated or indicated. FIG. 1

[0113] ​​In conventional arrangements, the lift actuator 238 and the traction system 340 can use hydraulic components (i.e., hydraulic actuators or motors), which can result in certain inefficiencies. For example, the use of hydraulic actuators can result in somewhat imprecise execution of certain operations, can require frequent maintenance and related activities (e.g., addressing leaks of hydraulic fluid, wear of seals, etc.), can impose undesirable size requirements, and can exhibit limited performance capabilities (e.g., with respect to actuation speed, responsiveness to operator commands or external factors, etc.). Complex control of hydraulic actuators can also be difficult, including synchronization of operation of the actuators and associated power machine work elements. Thus, while conventional power machines that use hydraulic actuators can provide substantial power and functionality, including for motorized power and operation of the lift arm and implements, it can be difficult to achieve optimal performance with respect to multiple design constraints.

[0114] Embodiments of the present disclosure can address one or more of the above problems or other problems. For example, some embodiments can use electric systems for motorized power or for other operation of work elements including the lift arm structure and implements. In some embodiments, such electric systems can be readily substituted for hydraulic systems on pre-existing power machine structures, such as by replacing hydraulic cylinders and motors with electric actuators and motors, thereby potentially improving multiple aspects of machine performance with little or no adjustment of the existing power machine frame or other support structures.

[0115] As also noted above, use of electric components (e.g., in place of hydraulic components) in some embodiments can facilitate improved overall system functionality, including with respect to precision and complexity of control of work elements. For example, electric actuators can generally provide enhanced motion control capabilities compared to hydraulic actuators, including with respect to precise positioning of components (e.g., precise extension of a lift actuator or tilt actuator) and complex simultaneous control of multiple electric components (e.g., simultaneous control of multiple drive motors or work actuators). Use of electric components can also facilitate reduced maintenance frequency and reduced likelihood of component failure, including by eliminating hydraulic leaks and removing components (e.g., seals) that are prone to substantial wear. Thus, use of electric systems instead of hydraulic systems can reduce overall costs and time required to maintain a power machine. Moreover, in some cases, hydraulic systems require more components and space than electric systems of equivalent capability. Thus, use of electric systems instead of hydraulic systems can reduce the space occupation required by these systems on a power machine, with corresponding benefits for overall system design. For example, a power machine that universally uses electric systems instead of hydraulic systems can be more compact or more convenient for users, or can more easily be equipped with additional components for enhanced functionality.

[0116] FIG. 5An example arrangement of components for a motorized power machine 300, which is a FIG. 1 one particular example of a power machine 100 broadly illustrated and discussed above and with respect to which the embodiments discussed herein can be advantageously employed. The power machine 300 is similar in certain respects to the loader 200 described above, and like numbers refer to like parts unless otherwise described below. For example, like the loader 200, the power machine 300 includes a frame 310, a lift arm structure 330 (see FIG. 12 ), and a traction system 340.

[0117] As shown in FIG. 5 and FIG. 6 , the frame 310 is substantially similar to the frame 210 of the power machine 200, however the particular elements of the frame 310 discussed herein are provided for illustrative purposes and are not intended to represent the only type of frame for a power machine on which embodiments of the present disclosure can be used. In general, the frame 310 includes a rear frame end 310A and a front frame end 310B, and further includes a lower frame portion 311 and an upper main frame 312. The main frame 312 includes a pair of upright lateral walls 314 disposed on opposite sides of the lower frame portion 311. The frame is substantially symmetrical about a longitudinal axis 313 (e.g., a centerline of the power machine 300), and the upright lateral walls 314 extend substantially parallel to the longitudinal axis 313.

[0118] Referring to FIG. 5 , in particular, the frame 310 is configured to support a cab similar to the cab 250 of the power machine 200, and can correspondingly include an operator station (not shown in FIG. 5 , but an example of an operator station 255 can be seen in FIG. 2 ) from which an operator can manipulate various different control devices (i.e., an operator control system) to cause the power machine to perform various different work functions. Similar to the operator station 250 of the power machine 200, for example, the operator station of the power machine 300 can include an operator seat (not shown in FIG. 5 ) and various different operator input devices (not shown in FIG. 5 ), including control levers that an operator can manipulate to control various different machine functions.

[0119] The frame 310 is also configured to support a variety of other components. For example, similar to the frame 210 of the power machine 200, the frame 310 supports a power source 316 configured to provide power for performing functions on the power machine 300, including using the traction system 340 and the lift arm structure 330 (see, e.g. FIG. 12operation of the traction system 340, the lift arm structure 330, and other subsystems of the power machine 300. In particular, the power source 316 includes a battery assembly 322 having a plurality of battery cells housed by a battery enclosure that is supported on a battery mount 364 that extends laterally across the frame 310 proximate the rear frame end 310A. The battery assembly 322 is configured to provide power to a control module 360 (e.g., through intermediate conductors (not shown)) that is supported on a support plate 352 above the battery assembly 322. The control module 360 can then control the routing of power from the battery assembly 322 to other electrical devices of the power machine 300, including motors and linear actuators of various different work elements, as discussed further below. In addition, in some embodiments, the control module 360 can be configured to receive signals from the other electrical devices, which can generally allow for feedback-based or other control of the various different devices or of the power machine 300.

[0120] In some cases, the control module 360 can be formed as a subassembly that can be fully assembled outside of the power machine, then lifted into the power machine 200 (e.g., through appropriate lifting points) and secured to the frame 310 as a unit, including through mounting plates, support rails, suitable isolation mounts, or other support structures. Such an arrangement can sometimes allow for easier access to the battery assembly 322, including for replacement or otherwise maintenance of the particular battery cells included within the battery enclosure, without having to disassemble the battery assembly 322 from the power machine 300. In addition, from the illustrated position above the battery assembly 322 and to the rear of the operator station (as also discussed below), wiring for power and control signals can be effectively routed from the control module 360 to a variety of other components.

[0121] In some embodiments, other power sources can be used, including other electrical storage devices (e.g., devices including capacitors). In some embodiments, a combination of different types of power sources can be used, generally referred to as a hybrid power source. For example, although the power machine 300 is not illustrated as including an internal combustion engine, some embodiments can include such an engine in combination with an electrical power system, where the engine is configured to charge a battery assembly or other electrical storage device for electrically powered operation.

[0122] Generally, the control module 360 is configured as an electronic device that can appropriately control the delivery of power to other devices, including electric motors and linear actuators distributed about the power machine 300. In some embodiments, the control module 360 can selectively power these components in response to operator input from within an operator station (not shown), or as part of a predetermined (e.g., automated) control strategy based on one or more locally-stored or remotely-stored control algorithms.

[0123] In some embodiments, in addition to controlling the operation of electric motors and actuators, the control module can also control the operation of the battery assembly. For example, the control module 360 can be configured to automatically optimize the power availability, battery life, or other aspects of the operation of the battery assembly 322. In some embodiments, the control module 360 can optimize battery performance in different ways depending on the specific type of operation currently being performed, or based on a variety of other factors.

[0124] In different embodiments, the components of the power source can be positioned and supported relative to the frame in different ways. In the power machine 300, as described above, the battery assembly 322 is supported on mounts 364, and the control module 360 is supported on a support plate 352 above the battery assembly 322. In particular, the mounts 364 extend substantially perpendicular to the longitudinal axis 313, and support the battery assembly 322 proximate to the front and rear ends of the battery assembly 322. Two battery mounts 364 are provided in the illustrated embodiment, although alternative embodiments can include more or fewer battery mounts 364. Similarly, while a single horizontal support plate 352 is shown, other embodiments can have other configurations.

[0125] As FIG. 5 and FIG. 6 As best seen, the support plate 352, control module 360, mounts 364, and battery assembly 322 are disposed proximate to the rear frame end 310A of the power machine 300, behind the operator station (not shown). Generally, this arrangement can result in an efficient use of the space within the power machine 300 that is typically used for the power source 316, while also allowing easy access to the battery assembly 322 and control module 360, such as for operational configuration of the control module 360, replacement of the battery assembly 322, or other tasks. However, other configurations are possible in other embodiments. For example, in alternative embodiments, the power source or control module can be disposed proximate to the front frame end 310B, in front of, above, or below the operator station (not shown). Additionally or alternatively, in some embodiments, the control module can be disposed below or flush with the power source.

[0126] Turning to FIG. 7The control module 360 includes a control interface 366 on a rear face 368 of the control module such that the control interface 366 protrudes toward the rear frame end 310A. The control interface 366 can provide connections for battery management, connections for power distribution, and connections for controlling various different components of the power machine 300, such as electric motors and other actuators. Because the control module 360 is aligned toward the rear frame end 310A in the illustrated configuration, the control interface 366, like the power source 316 generally, can be easily accessed through a rear hatch of the power machine 300. However, other configurations are possible in other embodiments, including configurations in which the control interface faces toward or is otherwise accessible from an operator station of the power machine. Moreover, while not shown in FIG. 7 , some embodiments can include a guard plate at a rear of the control interface 366, as such can protect the control module 360 during operation and maintenance of the power machine 300.

[0127] Returning to FIG. 5 , the frame 310 also supports a traction system 340, which is generally similar to the traction system 240 of the power machine 200. Thus, as discussed further below, the traction system 340 can be powered by electric power from the power source 316 in order to propel the power machine over a support surface.

[0128] Different embodiments can include different types of traction systems, including wheeled or tracked traction systems, all of which can be electrically powered, as appropriate. In the illustrated embodiment, the traction system 340 is a tracked system that includes a pair of traction elements 342 disposed on opposite sides of the frame 310. More specifically, the traction elements 342 are configured as a left track assembly 340A and a right track assembly 340B, disposed on opposite sides of the frame 310 to be substantially symmetrical about the longitudinal axis 313. Generally, the traction elements 342 are substantially similar to the traction elements 242 of the power machine 200. For example, each of the track assemblies 340A, 340B has a track frame 343 coupled to the lower frame portion 311. Each of the track frames 343 is configured to support an endless track (not shown) that rotates under power about the respective track frame 343 in order to propel the power machine 300 over a support surface.

[0129] As shown particularly in FIG. 8 , the traction system 340 includes drive motors 326 that are fixed to the respective track frames 343 and extend laterally inwardly from the respective track frames 343 toward the main frame 312. As noted above, the drive motors 326 are electric motors that can be powered by the battery assembly 322 and controlled by the control module 360 (see FIG. 5) to drive the tracks and thereby propel the power machine 300. Thus, the drive motors 326 can be readily controlled in a variety of ways, including in response to signals from an operator control system or in accordance with a predetermined electronic control algorithm.

[0130] Still referring to FIG. 8 , each of the drive motors 326 is mounted to a respective track frame 343 by a support member 359 that is configured as a support plate that extends vertically upward from the track frame 343. In order to allow the track frames 343 and associated components to be properly spaced apart from the main frame 312, the housing of the drive motor 326 extends laterally inward from the support member 359 so as to overlap laterally with the main frame 312. However, other configurations are possible in other embodiments.

[0131] An interface plate 361 is also provided to secure each of the drive motors 326 to the respective support member 359. While a particular configuration of the interface plate 361 is shown in FIG. 18 , other interface plates can have any kind of configuration, including configurations having a different hole pattern than shown. A hub or other associated structure can also allow a sprocket or other similar component to be mounted to the drive motor 326 so that the drive motor 326 can be rotated to provide power to the movement of an associated track (not shown).

[0132] In some embodiments, the track frames can be movable relative to the main frame of the power machine. For example, still referring to FIG. 8 , the multi-link torsion suspension linkage (including the torsion bars 337, 339) for the power machine 300 allows each of the track frames 343 to move relative to the frame 310 during operation of the power machine 300 (e.g., in response to changes in terrain). Correspondingly, since the drive motors 326 are mounted to the track frames 343, the drive motors 326 are also configured to be movable relative to the frame 310.

[0133] To allow the track frame 343 and attached drive motors 326 to move relative to the main frame 312, each of the drive motors 326 extends from the track frame 343 through an opening 362 defined in the main frame 312. The opening 362 is generally circular and is flared relative to the outer perimeter of the drive motor 326 so as to allow the track frame 343 and drive motors 326 to move collectively relative to the frame 310 without interference between the main frame 312 and the drive motors 326. As a result, during operation, including during travel over uneven terrain or other obstacles, the track frame 343 can move appropriately relative to the frame 310. Relatedly, the frame 310 of the power machine 300 can maintain relative stability when the power machine 300 is traveling or maneuvering over uneven surfaces, which can provide enhanced comfort and maneuverability for the operator. Moreover, the lateral inward extension of the drive motors 326 through the opening 362 can help protect the drive motors 326 from impact and debris during operation of the power machine 300.

[0134] Although a generally circular profile is shown for the opening 362, other shapes are possible, including a teardrop shape as shown for the hole 362' in FIG. 8A The hole 362' is formed in a power machine frame 310' that is generally similar to the frame 310 and can support similar (or other) components as the frame 310. In particular, the hole 362' is based on two radial features 363A', 363B' connected by a tangent, with the forward radial feature 363B' exhibiting a greater radius than the rearward radial feature 363A'. This configuration of the hole 362' can provide clearance for components related to or attached to the drive motor, including connections for cooling lines. Other similar hole shapes can be incorporated, which can be advantageous.

[0135] Although a movable track frame can provide certain benefits, some embodiments can include a track frame that is not movable relative to the main frame of the power machine. In such embodiments, the electric drive motors can be mounted to the track frame similarly to the drive motors 326, or can be otherwise mounted directly to the main frame of the power machine rather than to the track frame.

[0136] As discussed generally above, the electric actuators can also be effectively used for non-traction operations of the work machine. For example, returning again to FIG. 5, tilt actuators 333 and lift actuators 338 (all of which are electric) can be used to perform a variety of different functions in conjunction with the lift arm structure 330. In the illustrated embodiment, the tilt actuators 333 and lift actuators 338 are supported on opposite lateral sides of the frame 310 so as to be substantially symmetrical about the longitudinal axis 313. In particular, the lift actuators 338 are fixed to the frame 310 within lift actuator pockets 335 that are disposed proximate to the rear end 310A of the frame 310, in lateral alignment with the associated lift arms 334 of the lift arm structure 330 (i.e., vertically disposed below, as shown) (see FIG. 12 ). Conversely, the tilt actuators 333 are disposed proximate to the front end 310B of the frame 310, laterally disposed inward of the associated lift arms 334 of the lift arm structure 330 (see FIG. 12 ). However, other configurations are possible in other embodiments, including configurations with non-symmetrical arrangements of electric lift actuators or electric tilt actuators.

[0137] FIG. 9 An example configuration of the lift actuator 338 is illustrated in detail. In the illustrated example, the lift actuator 338 is an electric ball screw actuator, and includes a first mounting feature 376, an extendable portion of a screw 378 configured to be controllably extended and retracted relative to the first mounting feature 376, and an electric motor 379. In other embodiments, the lift actuator can be configured as other types of electric actuators, including lead screw actuators, belt driven actuators, or other geared actuators. Further, while the lift actuator 338 is illustrated with the motor 379 in a fold-back configuration, other electric lift actuators can be arranged differently, including with the motor in an in-line or perpendicular configuration.

[0138] To rotatably secure the lift actuator 338 to the frame 310, the first mounting feature 376 is disposed at a motor end 380 of the lift actuator 338, and includes opposing mounting openings 382 (only one of which is shown in FIG. 9 ) configured to secure the lift actuator 338 to the frame 310 within the corresponding lift actuator pocket 335 (see, e.g., FIG. 11 ). A second mounting feature 388 is disposed at an extension end 390 of the lift actuator 338, and is configured to rotatably secure the lift actuator 338 to the corresponding lift arm 334 of the lift arm structure 330 FIG. 9The lead screw 378 is configured to linearly extend and / or retract the second mounting feature 388 when driven by an electric motor 379, which is powered by the battery assembly 322 and controlled by commands from the control module 360 (see, e.g., FIG. 1). Thus, when secured to the frame 310 at the corresponding pocket 335 (see also FIG. 5 ), the lift actuator 338 can be selectively operated to raise or lower the lift arm structure 330 relative to the frame 310 based on operator input (or otherwise). FIG. 11

[0139] Further, the lift actuator pocket 335 can provide lateral and rear protection for the electric motor 379, particularly when the electric motor 379 is disposed behind the lead screw 378 (e.g., as shown in FIG. 5 ), with appropriately placed openings through lateral sidewalls of the lift actuator pocket 335 allowing particularly efficient routing of power and control signals, as well as cooling lines (not shown for the power machine 300). Further, the illustrated arrangement and other arrangements (e.g., as discussed below) can beneficially place the electric motor behind the pin connection between the extendable end of the lift actuator (e.g., the lead screw 378) and the lift arm (e.g., the lift arm 334), and at least partially behind the pin connection between the lift actuator and the lift actuator pocket, in all directions of operation of the lift arm.

[0140] In some embodiments, mounting arrangements for lift actuators can include a combination of fixed and removable components. Turning to FIG. 10 , for example, the first mounting pin 386 for securing the lift actuator 338 forms part of a trunnion 392, which further includes a mounting flange 394 configured to be secured or bolted to the frame 310, as best seen in FIG. 11 . With continued reference to FIG. 11 , when the trunnion 392 is secured to the frame 310, the first mounting pin 386 of the trunnion 392 extends through the frame 310 into the lift actuator pocket 335, where it can engage one of the mounting openings 382 of the first mounting feature 376 (see FIG. 9 ) to pivotally secure the lift actuator 338 within the pocket 335.

[0141] ​A fixed second mounting pin 396 is also attached to the frame to extend into the lift actuator pocket 335 on an opposite side of the pocket 335 from the trunnion 392. In particular, the first mounting pin 386 of the trunnion 392 and the fixed second mounting pin 396 are positioned such that they are substantially axially aligned. Thus, the mounting pins 386, 396 are configured to extend into opposite mounting openings 382 of the lift actuator 338 such that the lift actuator 338 is pivotally secured within the pocket 335 beneath the corresponding lift arm (e.g., FIG. 12 The illustrated lift arm 334). FIG. 5 ) under the frame 310.

[0142] In some embodiments, the illustrated pin connection arrangement can allow for an electric actuator, including a ball screw actuator 338, to be readily installed in place of a hydraulic actuator, including in operations for converting or repurposing a power machine or power machine frame for electrically powered operation. However, in other embodiments, the electric lift actuator can be otherwise secured to the power machine frame.

[0143] In some cases, the use of mounting components that can be detachably secured to a main frame of a power machine can more generally facilitate the easy installation of a lift actuator. For example, for the power machine 300, the lift actuator 338 can first be seated within the pocket 335 and rotatably engaged with the fixed second mounting pin 396 (e.g., further facilitated by the rearward orientation of the motor 379). The first mounting pin 386 of the trunnion 392 can then be extended through the frame 310 into the pocket 335 so as to rotatably engage the lift actuator 338 opposite the fixed second mounting pin 396. Finally, the mounting flange 394 can be secured to the frame 310 so as to rotatably secure the lift actuator 338 within the pocket 335. Moreover, the lift actuator 338 can then be readily detached from the frame 310 using an order of operations that is opposite to that discussed above as desired. However, in other embodiments, other configurations including other pin connection arrangements can be used to otherwise rotatably secure a lift actuator to a power machine frame.

[0144] Turning now to FIG. 12 Also as discussed above, the lift arm structure 330 has a set of lift arms 334 disposed on opposite sides of the frame 310. The lift arm structure 330 including the lift arms 334 is one example of a lift arm structure that can be attached to a power machine such as the power machine 300 or other power machines on which embodiments of the present discussion can be implemented. However, alternative configurations are also possible.

[0145] Also as noted above, the lift arm structure 330 is generally configured to be raised and lowered relative to the frame 310 as by the electric lift actuator 338 (see FIG. 9The power source is provided. Specifically, in the illustrated embodiment, the first end (not shown) of each of the lifting arms 334 is pivotally coupled to the power machinery 300 (e.g., similar to...). FIG. 3 (See the lifting arm 234). For example, the proximal first end (not shown) may be pivotally coupled to the power mechanism 300 near the rear end 310A of the frame 310. Thus, actuation of the lifting actuator 338 can move the distal second end 332 of each of the lifting arms 334 generally upward and downward relative to the frame 310, including moving it to a position such that... FIG. 12 The position shown is where it has fully descended.

[0146] In addition, the machine interface 370 is located at the second end 332 of the lifting arm 334, such as FIG. 12 As shown. The tool interface 370 includes a tool carrier 372, which is pivotally mounted to the second end 332 of each of the lifting arms 334 and is configured to receive various different tools and secure the tools to the lifting arm structure 330. Therefore, the lifting actuator 338 (see...) FIG. 5 It can be used to move (i.e., raise and / or lower) implements (not shown) together with the lifting arm 334 to perform a variety of different operations.

[0147] For example FIG. 12 As shown, specifically, the tilt actuator 333 is rotatably coupled to the lifting arm 334 and the tool carrier 372, and is thus configured to controllably rotate the tool carrier 372 relative to the lifting arm structure 330. Therefore, for example, the control module 360 ​​can electronically control the operation of the tilt actuator 333, as controlled by the battery assembly 322 (see...). FIG. 5 It provides power to selectively change the posture of the implement fixed to the implement carrier 372 relative to the lifting arm 334.

[0148] In the illustrated embodiment, each of the lifting arms 334 includes an inward bend 398 disposed between a first end (not shown) and a second end 332. More specifically, the inward bend 398 is configured such that the second end 332 of the lifting arm 334 is positioned closer to the longitudinal axis 313 (i.e., more laterally inward) than the first end (not shown) of the lifting arm 334. However, in other embodiments, other configurations are also possible, including configurations in which the lifting arm structure includes different or no inward bends or only a single lifting arm.

[0149] In addition to providing other advantageous lifting arm geometry, the inward bend 398 of the lifting arm 334 also provides useful mounting features for the tilt actuator 333. Specifically, as FIG. 12As shown, a first end 374 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the lift arm 334 at a lateral extension boss 331 at a corresponding inward elbow 398, and a second end 375 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the implement carrier 372. Thus, because supported by the boss 331, the tilt actuators 333 are disposed in a relatively protected position laterally inward relative to the lift arm 334 for electronic control of the attitude of the implement carrier 372. Moreover, with appropriate configuration, including as shown, laterally spaced tilt actuators (e.g., actuators 333) can provide sufficient clearance for the footwell of an operator station (not shown in FIG. 12 As shown, a first end 374 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the lift arm 334 at a lateral extension boss 331 at a corresponding inward elbow 398, and a second end 375 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the implement carrier 372. Thus, because supported by the boss 331, the tilt actuators 333 are disposed in a relatively protected position laterally inward relative to the lift arm 334 for electronic control of the attitude of the implement carrier 372. Moreover, with appropriate configuration, including as shown, laterally spaced tilt actuators (e.g., actuators 333) can provide sufficient clearance for the footwell of an operator station (not shown in FIG. 12 As shown, a first end 374 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the lift arm 334 at a lateral extension boss 331 at a corresponding inward elbow 398, and a second end 375 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the implement carrier 372. Thus, because supported by the boss 331, the tilt actuators 333 are disposed in a relatively protected position laterally inward relative to the lift arm 334 for electronic control of the attitude of the implement carrier 372. Moreover, with appropriate configuration, including as shown, laterally spaced tilt actuators (e.g., actuators 333) can provide sufficient clearance for the footwell of an operator station (not shown in FIG. 13A As shown, a first end 374 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the lift arm 334 at a lateral extension boss 331 at a corresponding inward elbow 398, and a second end 375 of each of the tilt actuators 333 is rotatably coupled (e.g., pinned) to the implement carrier 372. Thus, because supported by the boss 331, the tilt actuators 333 are disposed in a relatively protected position laterally inward relative to the lift arm 334 for electronic control of the attitude of the implement carrier 372. Moreover, with appropriate configuration, including as shown, laterally spaced tilt actuators (e.g., actuators 333) can provide sufficient clearance for the footwell of an operator station (not shown in

[0150] In the illustrated embodiment, like the lift actuators 338, each of the tilt actuators 333 is an electric ball screw actuator, with a foldback motor configuration, and includes a motor 333a and an extendable portion configured as a ball screw 333b. The tilt actuators 333 are arranged with the motor 333a disposed outside of the frame 310 relative to the ball screw 333b, i.e., the ball screw 333b is disposed between the motor 333a and the frame 310. Additionally, the first end 374 of each tilt actuator 333 that is coupled to the frame 310 is a base end, while the second end 375 that is coupled to the implement interface 370 is a rod end. However, in other embodiments, other configurations are possible. For example, the tilt actuators can be other types of electric actuators, including lead screw actuators, belt driven actuators, or other geared actuators, or can include motors in an inline or perpendicular configuration. Moreover, the tilt actuators can be arranged on the power machine in different manners than illustrated.

[0151] In some embodiments, an implement can be attached directly to a lift arm structure, rather than via an implement carrier to a lift arm structure (e.g., as shown for the lift arm 334 and the implement carrier 372). In some such cases, an electric actuator can still be installed and used to adjust the attitude of the implement directly, rather than by adjusting the attitude of the implement carrier, similar to the tilt actuators 333.

[0152] FIGS. 13A-25B 、 FIG. 27 and FIG. 28 Another example arrangement of components for an electric power machine 400 is illustrated, which is FIG. 1The power machine 100 broadly illustrated and as discussed above is one specific example of a power machine 100, and the embodiments discussed herein can be advantageously employed with respect to the electric power machine 400. Referring to FIG. 13A and FIG. 13B , the power machine 400 is similar in certain respects to the loader 200 and power machine 300 described above, and like numbers indicate like parts unless otherwise described below. For example, similar to the power machine 300, the power machine 400 includes a frame 410, a lift arm structure 430, and a traction system 440. The traction system 440 is similar in design and function to the traction system 440 of FIG. 8 and includes a traction element 442 configured as a looped track powered by an electric drive motor 442A. Similar to the frame 310 of the power machine 300, the frame 410 supports a power source for providing electrical power for operation of the traction system 440, the lift arm structure 430, and other subsystems of the power machine 400. In particular, the power source includes a battery assembly 418 and a control subassembly 420.

[0153] Turning to FIG. 13B , in particular, the frame 410 supports a cab 450 that is structurally similar to the cab 250 of the power machine 200, and correspondingly includes an operator station 455 from which an operator can manipulate various different control devices (i.e., an operator control system) to cause the power machine to perform various different work functions. Similar to the operator station 255 of the power machine 200, and with reference again to FIG. 13A , the operator station 455 can include an operator seat 456 and operator input devices 457 configured as joysticks, although other operator input devices can include other control levers or other devices of known configuration that an operator can manipulate to control various different machine functions.

[0154] Further, and still referring to FIG. 13A and FIG. 13B , the power machine 400 includes tilt actuators 433 and lift actuators 438 that are supported on opposite lateral sides of the frame 410 so as to be substantially symmetrical about a central longitudinal axis 413 (e.g., a centerline of the power machine 400). In particular, the lift actuators 438 are secured to the frame 310 within lift actuator pockets 435 disposed proximate a rear end 410A of the frame 410 laterally aligned (i.e., vertically disposed below) with respect to the associated lift arms 434 of the lift arm structure 430, an arrangement substantially similar to as FIG. 6The illustrated power machine 300. While the illustrated embodiment includes multiple lift actuators and tilt actuators disposed on opposite lateral sides of the frame, other configurations are possible. For example, in some embodiments, a power machine can include a single lift arm structure that can be moved by one or more lift actuators (e.g., on only one lateral side of the frame), or can include an implement carrier that can be moved by one or more tilt actuators (e.g., at a central location or on only one lateral side of the frame). Moreover, while the illustrated embodiment includes a lift arm structure with a vertical path (i.e., a lift arm structure with a lift arm connected to the frame by one or more links of a linkage mechanism), other configurations are possible. For example, a power machine according to some embodiments can include a lift arm structure with a radial path (i.e., a lift arm structure with a lift arm that is pivotally attached to a frame of the power machine at a single joint or at multiple joints along a single pivot axis) and an actuator mounted to both the frame and the lift arm. FIG. 13A and FIG. 13B The illustrated embodiment of

[0155] The lift arm structure 430 of the power machine 400 can be substantially similar in function to the lift arm structure 330 of FIG. 12 However, returning to FIG. 13A , as opposed to the power machine 300 of FIG. 12 , the tilt actuator 433 of the present embodiment is disposed within a tilt actuator pocket 422 that is formed in the lift arm structure 430 and that is proximate to the front end 410B of the frame 310 when the lift arm structure 430 is in the fully lowered configuration (see also FIG. 16A ). However, in other embodiments, other configurations are possible in addition to those disclosed herein, including configurations with asymmetrically arranged electrical lift or tilt actuators, configurations with a single lift or tilt actuator, configurations with additional lift or tilt actuators, and configurations of lift arm structures without tilt or lift actuator pockets.

[0156] A tilt actuator pocket can provide a variety of benefits for mounting an actuator, including potentially improving structural strength, and facilitating the ready implementation of a double-sided pin connection to the actuator, protecting the actuator from damage by debris or from certain impacts, and (as also discussed with respect to FIG. 12 ) providing a beneficial spacing of the lift actuator relative to the operator station. Reference is made to FIG. 14 and FIG. 15In the illustrated embodiment, each of the tilt actuator pockets 422 is formed as an elongated channel defined by a lateral inner wall 424, a lateral outer wall 425, and a base wall 426, with the inner wall 424 disposed inwardly laterally from the outer wall 425. In the illustrated embodiment, the inner wall 424 is substantially planar, while the outer wall 425 includes an inward bend 427. Correspondingly, the pockets 422 are tapered such that the width (and cross-sectional area) at the distal end 428 is less than the width (and cross-sectional area) at the proximal end 429. However, other arrangements are possible in other embodiments, including pockets that are otherwise tapered. In this embodiment, the lift arm 434 is tapered such that the width of the ends of the lift arm has an appropriate width for receiving and securing the implement carrier 472 to the lift arm. Thus, in some embodiments, the lift arm can have different tapering, or no tapering at all, with different machine widths and / or implement carrier widths.

[0157] In some embodiments, the pocket can entirely enclose the actuator over at least a portion of the length of the actuator. For example, as shown in some cases, the pocket 422 can include a cover 431 configured to extend over the distal end of the tilt actuator 433 (not shown), such that the actuator is at least partially enclosed by the pocket, and thereby substantially shielded from the front, rear, and both lateral sides. In some embodiments, the cover can be an integrally formed structure of the pocket on the lift arm. In some embodiments, the cover can be separately formed and attached to extend the pocket on the lift arm. In some embodiments, the cover can extend only partially around a particular portion of the actuator. FIG. 14 FIG. 14 In some embodiments, the pocket can entirely enclose the actuator over at least a portion of the length of the actuator. For example, as shown in some cases, the pocket 422 can include a cover 431 configured to extend over the distal end of the tilt actuator 433 (not shown), such that the actuator is at least partially enclosed by the pocket, and thereby substantially shielded from the front, rear, and both lateral sides. In some embodiments, the cover can be an integrally formed structure of the pocket on the lift arm. In some embodiments, the cover can be separately formed and attached to extend the pocket on the lift arm. In some embodiments, the cover can extend only partially around a particular portion of the actuator.

[0158] In addition to other benefits described above and below, the pockets 422 can be beneficial in reducing the weight of the lift arm structure 430, while maintaining appropriate structural integrity of the lift arm structure 430. In this regard, for example, some of the pockets in the lift arm can be formed to partially include shields made of a separate, lighter material than the material of the lift arm.

[0159] Referring to FIG. 16A each of the pockets 422 is configured to partially receive a corresponding tilt actuator 433 therein, with the width and length of the pocket 422 correspondingly sized to receive at least a portion of the tilt actuator 433. In particular, in the illustrated embodiment, the proximal end 429 of each of the pockets 422 is wider than the corresponding width of the motor end of the corresponding tilt actuator 433. Thus, as discussed further below, at least a portion of the tilt actuator 433 can be received within the pocket 422 and shielded laterally (and rearwardly) by the pocket 422 during operation.

[0160] ​Continuing, the first end 474 of each of the tilt actuators 433 is rotatably coupled (e.g., pin-connected) to the lifting arm 434. Specifically, referring again... FIG. 14 and FIG. 15 A pair of laterally extending bosses 444 are provided at corresponding points on the inner wall 424 and outer wall 425 near the proximal ends 429 of the recess 422, thereby defining a first attachment point 445 for the tilting actuator 433. In particular, as facilitated by the general configuration of the recess 422, the first attachment point 445 provides a double-pin connection that can provide sufficient strength and durability during the extended service life of the power machinery 300.

[0161] Return to FIG. 16A Each of the tilting actuators 433 has a second end 475 that is rotatably coupled (e.g., pin-connected) to the tool carrier 472 at a second attachment point 446. (Turn to...) FIG. 16B In some installations, the actuation line 447 (i.e., the extension axis) of the tilt actuator 433 may be substantially parallel to the base wall 426 and / or inner wall 424 of the corresponding recess 422 (see example). FIG. 14 In some installations, the actuation line of the tilt actuator can be connected to a pin between the implement carrier and the boom structure (e.g., FIG. 16B The pivot point 448 of the tool carrier 472 is laterally aligned or substantially laterally aligned (i.e., laterally separated from the pin connection by less than the maximum width of the recess 422). This arrangement, facilitated by the position and geometry of the corresponding recess(s), can help reduce adverse moments or torsional stresses on the relevant components; however, other configurations are also possible.

[0162] Return to FIG. 16A Although each of the tilt actuators 433 is shown with its first base end 474 located at the proximal end 429 of the recess 422 and its second rod end 475 located at (and beyond) the distal end 428 of the recess 422, the tilt actuators 433 can be mounted in different arrangements. For example, a tilt actuator can be mounted with its rod end and its base end located at the proximal and distal ends of the tilt actuator recess, respectively. Similarly, although the tilt actuators 433 are shown with their motors 433A located outside the recess 422 and in a forward position relative to the corresponding lead screw 433B of the tilt actuator 433, the motors 433A can be arranged in different positions relative to the recess 422 and the lead screw 433B.

[0163] In some cases, the illustrated lateral spacing arrangement of the tilt actuators as shown (including through the use of the lift actuator pockets) can provide significant space benefits. For example, the illustrated locations of the pockets 422, lead screws 433B, and motors 433A can generally increase the available lateral space near the front end 410B of the implement carrier 472 and frame 410 as compared to conventional arrangements. For example, such an arrangement can at least partially (e.g., completely) laterally dispose the tilt actuators 433 outside of the operator station 455, and can accordingly enhance access to the operator station 455 (see, e.g., FIG. 4A), provide increased clearance for the foot box of the cab 450, or provide other similar benefits. FIG. 13A

[0164] In addition to providing useful mounting features and beneficial lift arm geometry, the tilt actuator pockets 422 of the lift arm structure 430 can also provide useful protection for the tilt actuators 433. In particular, as shown in FIG. 16A , the tilt actuators 433 are substantially protected and encapsulated by the pockets 422, with full lateral protection for the pin connections within the pockets 422, and partial protection for other portions of the tilt actuators 433 (particularly portions toward the motor end of the tilt actuators 433), which can accommodate more sensitive components and access points (e.g., for electrical connections). In some embodiments, the tilt actuator pockets can surround a portion of the tilt actuators (e.g., the motor end of the tilt actuators) at least 90 degrees, at least 120 degrees, or at least 180 degrees around the actuation line of the tilt actuators, although other configurations are possible. Further, as previously discussed, the pockets can fully enclose the tilt actuators over at least a portion of the actuator length.

[0165] Generally, the tilt actuators 433 of the power machine 400 operate substantially similarly to the tilt actuators 333 of the power machine 300 as shown in FIGS. 5-12 . Likewise, each of the lift arm structures 430 includes an electric lift actuator 438 and can be moved by the electric lift actuator 438, which is functionally similar to the lift actuator 338 of FIG. 5 . Turning to FIG. 17 , the lift actuators 438 are secured to the frame 410 within lift actuator pockets 435 disposed proximate the rear end 410A of the frame 410, in lateral alignment with (i.e., vertically disposed below, as shown) the associated lift arm 434 of the lift arm structure 430. Each of the lift actuators 438 includes a lead screw 478 and an electric motor 479 for selectively extending and retracting the lead screw 478. However, alternative configurations are possible.

[0166] Referring to FIG. 18 ​, each of the lift actuators 438 in the illustrated embodiment is arranged such that its first base end 480 is fixed to the frame 410 and disposed proximate to the lower portion 41 1 of the frame 410, and its second rod end 490 extends out of the lift actuator pocket 435 to be fixed to the lift arm structure 430. As discussed above, this can provide beneficial protection and in some cases ease of installation and maintenance. However, the lift actuators 438 can be arranged differently in alternative embodiments. For example, in some embodiments, the base end of the lift actuator can be connected to the lift arm structure, and the rod end of the lift actuator can be connected to the frame.

[0167] Continuing, the pin connection 476 between the lift actuators 438 and the main frame of the power machine 400 is disposed within the lift actuator pocket 435 such that in all operating orientations of the lift arm structure 430, the corresponding electric motor 479 is disposed behind the pin connection 476 and the pin connection between the lead screw 478 and the lift arm structure 430 (i.e., away from the implement carrier 472 and the operator station 455 (see FIG. 13B ) is disposed). Also as generally discussed above, this can provide beneficial actuation characteristics (e.g., lift force curves) for operation of the power machine 400, as well as provide useful protection and facilitate simpler installation and maintenance. However, in other embodiments, the lift actuators can be arranged differently, including relative to the lift actuator pocket. For example, the lift actuators can be installed such that the motor of the lift actuator is disposed closer to the implement carrier than the lead screw of the lift actuator.

[0168] Further, in some embodiments, additional structures can be used to protect and / or isolate the lift actuators 438. For example, in some embodiments, additional panels and / or brackets can be installed so as to substantially cover the motors of the lift actuators. Additionally or alternatively, panels can be used to separate the motors from the lead screws of the lift actuators. Further, while the present application is generally configured for electric power machines, the lift actuators can also be hydraulic actuators.

[0169] As discussed above, power machines according to embodiments of the present application can use electricity to operate certain components or otherwise implement certain power machine functions. For example, referring again to FIG. 13A , the power machine 400 according to the present embodiment includes lift actuators 438, and the tilt actuator 433 is electrically powered so as to selectively move the lift arm 434 and the implement carrier 472. Further, the traction elements 442 are electrically powered by drive motors 442A to move the power machine 400. Accordingly, instead of the conventional diesel engines and hydraulic interfaces used in existing power machines, power machines according to embodiments of the present application can require batteries and central controls. For example, referring to FIG. 19The battery assembly 418 and control subassembly 420 are disposed in the frame 410 of the power machine 400 and are configured to transmit power and control signals to components of the power machine 400, such as lift actuators 438, tilt actuators 433, drive motors 442A, etc.

[0170] Turning to FIG. 20 The battery assembly 418 includes a battery housing 502 for holding and enclosing a plurality of battery cells and a battery management system 519, which can include a variety of components configured in known manners to measure voltage or current, balance battery cell loads, control charging and discharging, control communications between electrical components, etc. For example, the battery housing 502 defines a battery cell cavity 514 and a control cavity 518 configured to house the plurality of battery cells and the battery management system, respectively. In the illustrated embodiment, the control cavity 518 is positioned laterally relative to the battery cell cavity 514. In particular, the control cavity 518 is positioned alongside the battery cell cavity 514 such that the control cavity 518 and the battery cell cavity 514 are aligned along the same horizontal plane. Indeed, in the illustrated example, the control cavity 518, including the battery management system 519, is disposed substantially (i.e., 90% or more by volume or height) below the top of the battery cell cavity 514, below the top of the battery housing 502, and below the top of the battery assembly 418 as a whole.

[0171] Returning to FIG. 19 By positioning the battery assembly 418 such that the control cavity 518 is alongside the battery cell cavity 514, some controls can be accessed from a side of the power machine 400 (in some cases) or from a side of the battery assembly 418 when the battery assembly is detached from the power machine 400. Accordingly, such positioning can generally enhance overall accessibility to the controls. Moreover, such a configuration can allow for access to the battery cells from above without requiring the user to detach the battery management system or other control components or bypass the battery management system or other control components. Thus, for example, the battery cells can be maintained and otherwise managed from the top of the power machine 400, including can allow for replacement or otherwise maintenance of particular battery cells without requiring substantial detachment of other components from the battery assembly 418 or the power machine 400.

[0172] While the illustrated configuration can be particularly beneficial, including for the reasons discussed above, other embodiments of the present application can provide power machines with battery assemblies having different configurations. For example, a battery assembly can include a battery cell cavity disposed below a control cavity. In this manner, the battery cells can be accessed from a side of the power machine and the battery management system can be accessed from the top of the power machine. Moreover, in some embodiments, a power machine can include a battery assembly that is accessible from a cab of the power machine.

[0173] In some embodiments, certain mounting configurations for the battery can provide benefits in terms of weight distribution, stability, and the management of power and control signals. FIG. 20 For example, battery assembly 418 is secured to a first mounting structure 522 and a second mounting structure 526 for securing battery assembly 418 to frame 410. Typically, the mounting structures for the battery assembly can be constructed as rigid bodies (e.g., integrally formed bodies) that are fixed to and extend laterally from the main frame of the power machinery. In this respect, for example, the first mounting structure 522 is an L-shaped elongated strut that can be secured by fasteners to a fixing member 528 extending from a first end 530 of battery housing 502. Similarly, the second mounting structure 526 is an L-shaped elongated strut that supports battery assembly 418 at an opposite second end 534 of battery housing 502. In the illustrated embodiment, an intermediate mounting structure 538 is disposed between the second mounting structure 526 and the battery housing 502. Thus, as FIG. 21 Ideally, the first mounting structure 522 and the second mounting structure 526 can be positioned in different horizontal planes, thus facilitating a useful and stable mounting orientation within the power machinery 400. In the illustrated embodiment, the first mounting structure 522 is elevated relative to the second mounting structure 526, but other configurations are also possible.

[0174] In the illustrated embodiment, the intermediate mounting structure 538 is an elongated U-shaped member defining an elongated channel; however, a variety of other configurations are possible. The intermediate mounting structure 538 can be secured to the second mounting structure 526 by a series of fasteners, and the intermediate mounting structure 538 also engages the battery housing. For example, in some embodiments, the battery housing 502 can simply rest on top of the intermediate mounting structure 538, for example, with the elongated channel open toward the battery housing 502. In some embodiments, the intermediate mounting structure can be permanently secured to the battery housing, for example, by welding. Additionally or alternatively, one or more fastening devices such as bolts, magnets, pins, latches, clamps, adhesives, etc., can be used to connect the intermediate mounting structure and the battery housing. Although the illustrated embodiment includes an intermediate mounting structure 538 disposed between the second mounting structure 526 and the battery housing 502, alternative embodiments may omit the intermediate mounting structure.

[0175] Also FIG. 20 and 21The illustrated isolation mounts, which are configured as discrete isolators 546 (e.g., rubber isolators), can be arranged along the first mounting structure 522 and the second mounting structure 526 to dampen vibrations from the power machine 400 and reduce the noise that comes with it. However, in alternative embodiments, more or fewer isolators than the illustrated can be used. Moreover, other configurations for damping vibrations and reducing noise are possible, including any kind of known isolation mount structure.

[0176] Turning to FIG. 22 , the battery assembly 418 is mounted to the frame 410 by the first mounting structure 522 and the second mounting structure 526. In the illustrated embodiment, the battery assembly 418 is disposed proximate the rear frame end 410A. For example, a volumetric center 550 of the battery assembly 418 can be disposed between 10% and 50%, between 15% and 40%, or between 20% and 30% of the overall length L of the frame 410 spaced apart from the rear wall 590 of the frame 410. Additionally, the battery assembly 418 is disposed proximate the lower portion 411 of the power machine 400. For example, the volumetric center 550 of the battery assembly 418 can be spaced apart from the base 554 of the frame 410 between 15% and 50%, between 20% and 35%, or between 28% and 40% of the overall height H of the frame 410, measured from the base 554 of the frame 410 to the highest point of the frame 410. The illustrated height of the battery assembly 418 relative to the frame 410 can provide a beneficial weight distribution for the power machine 400 as a whole (e.g., providing improved stability when operating on sloped terrain) with an appropriate balance of convenience for servicing and replacing portions or all of the battery assembly 418. However, in other embodiments, the battery assembly can instead be placed relatively lower in the power machine.

[0177] Still referring to FIG. 22 , the battery housing 502 includes a top wall 558, a front wall 562, a base wall 566, and a rear wall 570. Each of the top wall 558, the front wall 562, the base wall 566, and the rear wall 570 is a substantially planar component in the illustrated embodiment, although other configurations are possible. The top wall 558 is disposed in a plane defined by the substantially horizontally extending top wall 558. In the illustrated embodiment, to provide a particularly beneficial weight distribution, the top wall 558 is located below an upper (sitting) surface 456A defined by the seat 456 (schematically shown in FIG. 22 ) but above a lower side 456B of the seat 456 at which the seat 456 is fixed to the frame 410. Moreover, the top wall 558 is disposed generally above the tilt actuator 433. For example, in the illustrated embodiment, the top wall 558 is above a first attachment point 445 for the tilt actuator 433 when the lift arm structure 430 is in a fully lowered configuration.

[0178] In some embodiments, the specific positioning of the battery assembly relative to other components can provide improved overall stability of the power machinery, including through the spatial considerations discussed above. As another example, in the illustrated embodiment, the top wall 558 is positioned between approximately 40% and 60% of the total height H of the frame 410 from the base 554, but other configurations are possible. Also as described above, when the lifting arm structure 430 is in a lowered configuration, for example at the lifting actuator 438 (see example...) FIG. 18 When fully retracted, the top wall 558 can be aligned with or below the first end 474 of the tilt actuator 433 and the corresponding attachment point 445 of the tilt actuator 433. Thus, for example, the volume center 550 and center of gravity 614 of the battery assembly 418 are generally supported above the frame 410, but also positioned below the attachment point 445. Similarly, the volume center 550 and center of gravity 614 are also positioned below the lower side 456B of the seat 456, at which the seat 456 is secured to the cab 450. (Although the volume center 550 and center of gravity 614 are vertically coincident in the illustrated embodiment, this may not be the case in other configurations.) Furthermore, as... FIG. 19 Ideally, the top wall 558 (as well as the volume center 550 and the center of gravity 614) is also located below the second end 490 of the lifting actuator 438 and the corresponding attachment point 445. See again... FIG. 22 In the illustrated embodiment, the top wall 558 is also above the traction element 442 (and the drive motor 442A) and above the lower end of the cab 450; however, other configurations are also possible.

[0179] Similar to the top wall 558, the base wall 566 is disposed in a substantially horizontal plane defined by the base wall 566. In the illustrated embodiment, the base wall 566 is positioned between 10% and 40%, 15% and 25%, or less than 25% of the total height H of the frame 410 from the base 554, but other configurations are also possible. When the lifting arm structure 430 is in the lowered configuration, the base wall 566 is above the second end 475 and the corresponding pivot point of the tilt actuator 433, and below the first end 474 and the corresponding pivot point of the tilt actuator 433. Furthermore, as FIG. 19 Ideally, the base wall 566 is positioned below the second end 490 of the lifting actuator 438 and the corresponding pivot point. See again. FIG. 22In the illustrated embodiment, the base wall 566 is positioned entirely below the cab 450; however, in alternative embodiments, the base wall may be above the cab or substantially in line with it. Furthermore, when the lifting boom structure 430 is in a lowered configuration, the base wall 566 may be closer to the second end 475 of the tilt actuator 433 than the first end 474. In some embodiments, in the lowered configuration, the base wall 566 may be substantially in line with or below the second end 475 of the tilt actuator 433.

[0180] The front wall 562 is the portion of the battery housing 502 closest to the front frame end 410B, and is disposed in a substantially vertical plane defined by the front wall 562. In the illustrated embodiment, the front wall 562 is disposed behind the cab 450, but in front of the lift actuator 438 (see example...). FIG. 23 This arrangement allows the battery assembly 418 to be positioned as a single unit entirely behind the cab 450 and operator's station 455. As generally described above, this arrangement provides an optimal balance between weight distribution and accessibility. However, in some embodiments, the front wall 562 may be below or aligned with the edge of the cab 450. Furthermore, the front wall 562 may be spaced from the rear wall 590 of the frame 410 by between 30% and 70%, 35% and 50%, or 40% and 48% of the total length L of the frame 410. Accordingly, the front wall 562 may be positioned with respect to a portion of the traction element 442 (and the drive motor 442A). FIG. 22 (Not shown in the image) are aligned such that the vertical plane defined by the front wall 562 intersects the traction element 442 (and the drive motor 442A). For example, the vertical plane defined by the front wall 562 may intersect the traction element 442 closer to the rear end 582 of the traction element 442 than the front end 586 of the traction element 442. However, in some cases, the front wall 562 may be behind the drive motor 442A.

[0181] The rear wall 570 is a portion of the battery housing 502 located behind the cab 450, closest to the rear frame end 410A, and similarly positioned in a substantially vertical plane defined by the rear wall 570. The rear wall 570 may be spaced from the rear wall 590 of the frame 410 by less than 30% of the total length L of the frame 410. In some embodiments, the rear wall 570 may be spaced from the rear wall 590 by less than 20%, less than 15%, or less than 8% of the total length L of the frame 410. Accordingly, the rear wall 570 may be positioned behind the traction element 442 and the cab 450. FIG. 23The plane defined by the rear wall 570 can intersect the lift actuator 438, as best seen. In some embodiments, the plane defined by the rear wall 570 intersects only the motor 479 of the lift actuator 438. In some embodiments, the plane defined by the rear wall 570 can be disposed behind the lift actuator 438.

[0182] Referring to FIG. 23 In particular, the lateral walls of the battery housing 502 (e.g., the right lateral wall 594 and the left lateral wall 598) are similarly configured such that each is substantially planar and disposed within a substantially vertical plane defined by the lateral wall 594, 598, respectively. The lateral walls 594, 598 are laterally substantially equally spaced from the central axis 413 of the power machine 400, which can ensure optimal (e.g., maximized) use of the space for the power source. However, in some embodiments, the lateral walls 594, 598 can be off-center, e.g., closer to the left side 606 of the frame 410 or closer to the right side 610 of the frame 410. Further, in some embodiments, the lateral walls 594, 598 can be spaced apart by between about 30% and 50% or between 35% and 45% of the overall width W2 of the frame 410. In some embodiments, the lateral walls 594, 598 can be spaced apart by less than 50% of the overall width W2 of the frame 410. In some embodiments, the lateral walls 594, 598 can be spaced apart by more than 38% of the overall width W2 of the frame 410.

[0183] The position of each of the top wall 558, the front wall 562, the base wall 566, the rear wall 570, and the lateral walls 594, 598 in the illustrated embodiment is merely one configuration of a battery assembly according to the present disclosure. Other configurations are possible, including configurations having battery housings of different shapes, sizes, positions, and orientations.

[0184] Still referring to FIG. 23 The control cavity 518, including the battery management system 519, is positioned proximate the right side 610 of the power machine 400 and defines the right lateral wall 594 of the battery housing 502. The control cavity 518 can occupy about 10% of the overall volume of the battery housing 502. In some embodiments, the control cavity can occupy less than 20%, less than 15%, less than 12%, or less than 10% of the overall volume of the battery housing 502. Correspondingly, the battery cell cavity 514 is disposed proximate the left side 606 of the frame, defines the left lateral wall 598, and can occupy at least 60%, at least 70%, at least 80%, or at least 88% of the overall volume of the battery housing 502. As also noted above, placing the control cavity to the side of the battery assembly can provide improved access to the battery cells and other benefits. However, other configurations are possible.

[0185] In some embodiments, the weight and volume distribution of the battery assembly can be selected to optimize overall use of space and weight distribution within the power machine. In this regard, for example, FIG. 23 a center of gravity 614 of the battery assembly 418, and a center of gravity 618 of the power machine 400 with the battery assembly 418, and a center of gravity 618A of the power machine without the battery assembly 418. In some embodiments, one or more of the centers of gravity 618, 618A can be below the underside of the seat (e.g., underside 456B of the seat 456 in FIG. 22 ), can be below the top attachment point of the tilt or swing cylinder (e.g., attachment point 445 in FIG. 22 ), or can be otherwise advantageously arranged.

[0186] As discussed herein, in configurations in which the power machine includes a battery assembly, general references to the center of gravity of the power machine are intended to refer to the center of gravity of the power machine that is calculated to include the contribution (and weight distribution) of the weight of the battery assembly. In this regard, for example, in configurations in which the power machine includes a battery assembly, the center of gravity of the power machine that does not account for the battery assembly weight will be expressly designated as such (e.g., for the center of gravity 618A, as discussed above).

[0187] In the illustrated embodiment, the center of gravity 618 of the power machine 400 is generally rearward of the cab 450 (not shown in FIG. 23 ) and the operator station 455. More particularly, one or more of the centers of gravity 618, 618A of the power machine 400 without the battery can be spaced apart from the rear wall 590 of the frame 410 by about 40%, about 45%, between 40% and 50%, between 35% and 55%, or between 38% and 45% of the overall length L of the frame 410. Similarly, in some embodiments, one or more of the centers of gravity 618, 618A can be rearward of the drive motor 442A. Accordingly, as a result of the placement of the battery assembly 418 relatively close to the rear frame end 410A, the center of gravity 614 of the battery assembly 418 is rearward of the center of gravity 618A of the power machine 400 without the battery assembly 418, and contributes to a rearward position of the overall center of gravity 618 relative to the center of gravity 618A without the battery assembly 418. As generally described above, this rearward repositioning of the overall center of gravity 618 of the power machine 400 can contribute to improved overall stability and performance of the power machine 400, while also corresponding to improved access to the battery assembly 418 for maintenance or other purposes.

[0188] As another example, the center of gravity of the battery assembly can sometimes be positioned off-center relative to the power machine 400. For example, as FIG. 23As shown, the center of gravity 614 is closer to the left side lateral wall 598 than the right side lateral wall 594. Thus, when the battery assembly 418 is installed into the frame 410 in a manner that is centered with the central axis 413, the center of gravity 614 of the battery can be off-center with respect to the central axis 413, yet still close to the central axis 413 in the illustrated embodiment (e.g., less than 15%, less than 10%, less than 5%, or less than 3% of the overall width W2 of the frame 410 from the central axis 413 of the frame 410). Among other benefits, this off-center alignment of the center of gravity of the battery assembly can in some cases help to balance other aspects of the weight distribution of the power machine. For example, in the illustrated embodiment, the center of gravity 618A of the power machine 400 without the battery assembly 418 is slightly off-center with respect to the central axis 413. However, due to the relatively off-center orientation of the center of gravity 614 of the battery assembly 418, the overall center of gravity 618 of the power machine 400 is substantially laterally centered, i.e., within 10% or 10% of the overall width W2 from the central axis 413.

[0189] In some embodiments, the mounting system for securing the battery assembly to the power machine can include structural features that also provide for balancing with respect to a particular center of gravity location, or otherwise optimize the structural features. For example, with common reference to FIG. 20 、 FIG. 21 and FIG. 23 , a front set of two of the spacers 546 are disposed toward the front of the battery assembly 418, with a first of the spacers 546 being on a first lateral side of each of the centers of gravity 614, 618, 618A and a second of the spacers 546 being on a second lateral side of the centers of gravity 614, 618, 618A. Similarly, a rear set of two of the spacers 546 are disposed toward the back of the battery assembly 418, with a third of the spacers 546 being on the first lateral side of the centers of gravity 614, 618, 618A and a fourth of the spacers 546 being on the second lateral side of the centers of gravity 614, 618, 618A. Further, a front spacer 546 is disposed forward of each of the centers of gravity 614, 618, 618A and a rear spacer 546 is disposed rearward of each of the centers of gravity 614, 618, 618A. Collectively and individually (e.g., with respect to each set of spacers 546 or with respect to any of the centers of gravity 614, 618, 618A), this arrangement can also help to improve the stability and accessibility of the power machine 400.

[0190] As generally described above, a power machine can generally include electronic components for providing power and control to electric actuators and other components. In some embodiments, some or all of these electronic components can be provided at particularly beneficial locations on the power machine, or can be included in a subassembly that can be easily assembled separately from the power machine, and then effectively mounted to the power machine as a single unit. Returning FIG. 22 For example, similar to the battery assembly 418, it can be beneficial to provide the control subassembly 420 toward the rear frame end 410A, including placing the control subassembly 420 proximate to the battery assembly 418 to provide convenient access for maintenance or other operator operations, and to allow effective routing of electrical wiring for power and control signals. As shown, for example, the control subassembly 420 is provided within the last half of the frame 410 behind the cab 450. Additionally, the control subassembly 420 is provided above the battery assembly 418. In some embodiments, the control subassembly 420 can be substantially laterally aligned with the battery assembly 418, such that the control subassembly 420 is similarly positioned laterally relative to the frame 410 as the battery assembly 418 (e.g., directly above or below the battery assembly 418). Such a configuration can provide significant space efficiency as well as improved access to the battery assembly 418 and control subassembly 420, although other configurations are possible.

[0191] In some embodiments, the control subassembly can be supported by a separate component that is itself directly secured to the frame of the power machine, including as such can allow the control subassembly to be easily mounted or dismounted as a unit rather than as multiple components. In the illustrated embodiment, for example, the control subassembly 420 is supported by a frame plate 622 that can be secured to the frame 410. In particular, in the illustrated embodiment, the frame plate 622 is bolted to the frame 410, which can allow the frame plate 622 to be quickly and easily dismounted for enhanced access to the battery assembly 418. However, other known attachment mechanisms are possible.

[0192] In some embodiments, the frame plate or other support component for the control subassembly can be configured to provide a particularly stable platform for the control subassembly at a particularly beneficial location within the power machine. For example, the frame plate 622 provides a generally planar upper support surface that is positioned directly above the volumetric center 550 and the center of gravity 614 of the battery assembly 418 and rearward of the center of gravity 618, 618A of the power machine 400. In some embodiments, the frame plate 622 can be spaced apart from the base 554 of the frame 410 between 40% and 70%, between 45% and 60%, or between 50% and 65% of the overall height H of the frame 410. In some embodiments, the frame plate 622 can be above the tilt actuator 433 but below the pin connection between the lift actuator 438 and the lift arm structure 430 when the lift arm structure 430 is in the lowered configuration. For example, as shown in FIG. 6, the frame plate 622 is positioned above the tilt actuator 433 and below the pin connection between the lift actuator 438 and the lift arm structure 430 when the lift arm structure 430 is in the lowered configuration. FIG. 19 As best seen, the plane defined by the frame plate 622 intersects the lift actuator 438 below the lift arm structure 430.

[0193] In different embodiments, the frame plate can take on a variety of configurations. FIG. 24 The frame plate 622 is illustrated in detail. In particular, the frame plate 622 includes a substantially planar base portion 626 having flanged lateral edges 630. The flanged lateral edges 630 are bolted to opposing interior walls 634 of the frame 410 in the illustrated embodiment, although the flanged lateral edges 630 can be secured to the frame 410 in different ways in alternative embodiments. The flanged lateral edges 630 are generally tapered to correspond to the angle of the frame 410, although the flanged lateral edges 630 are made in different shapes in alternative embodiments. The long edges 638 of the frame plate 622 additionally include a flange that extends substantially along the length of the frame plate 622. Accordingly, the flange extends substantially entirely between the opposing interior walls 634 when secured to the frame 410. Further, the frame plate 622 includes a plurality of openings 646 in the illustrated embodiment that can reduce the weight of the frame plate 622 or, in some cases, allow routing of wiring or other tubing. While the illustrated embodiment includes three openings 646, embodiments of the present application can include frame plates of any configuration having more or fewer holes. Further, in some embodiments, the frame plate can be formed from a plurality of separate components that are assembled, including components that correspond to the flanged lateral edges 630 and the base portion 626, respectively.

[0194] Also as described above and with reference to FIG. 25AThe frame plate 622 is generally arranged to support the control subassembly 420, which is generally behind the operator station 455 and above the battery assembly 418. Depending on the needs of the particular power machine, the control subassembly 420 can include a number of modules that are generally supported by a control support structure 650 and thus also by the frame plate 622. In some cases, the modules supported by the control support structure 650, which is configured to support a number of control modules and assemblies, are generally identified as control modules 660 in the illustrated embodiment.

[0195] In some embodiments, as FIG. 25A The control modules 660 can include a number of motor controllers, such as a first motor controller 662 for controlling one of the drive motors 442A, a second motor controller 666 for controlling another one of the drive motors 442A, third and fourth motor controllers 670, 672 for individually controlling each of the tilt actuators 433, and fifth and sixth motor controllers 674, 676 for individually controlling each of the lift actuators 438, as illustrated.

[0196] The power machine 400 additionally includes an electric vehicle central module ("EVCM") 678, which is arranged on the frame 410 separate from the control modules 660 in the illustrated embodiment, although other arrangements are possible. For example, in some embodiments, the EVCM can be arranged on a support plate with one or more control modules. The EVCM 678 is configured to be in electronic communication with each of the motor controllers 662, 666, 670, 672, 674, 676, including for controlling or monitoring the associated actuators (e.g., lift actuators 438, tilt actuators 433) or other motors (e.g., drive motors 442A). In addition, the EVCM 678 is configured to receive command signals from the operator controls 680 (e.g., joystick 457) for controlling and powering various components, such as through the motor controllers 662, 666, 670, 672, 674, 676. FIG. 13A

[0197] ​Each of the motor controllers 662, 666, 670, 672, 674, 676 can be electrically connected to components of the power machine 400, e.g., for transmitting power signals and / or control signals. For example, each of the third and fourth motor controllers 670, 672 are electrically connected to a respective one of the tilt actuators 433, and each of the fifth and sixth motor controllers 674, 676 are electrically connected to a respective one of the lift actuators 438. Similarly, the first and second motor controllers 662, 666 are electrically connected to the drive motor 442A, respectively. Arrows 682 are used herein to illustrate electrical connections between the control module 660 and various different components of the power machine 400. The arrows 682 can represent one or more wires for transmitting both control signals and power to one or more components.

[0198] In some embodiments, multiple wires can be routed along similar paths to provide power and control signals to different components. For example, one or more wire bundles can be routed from the control module 660 to different components of the power machine 400. In some cases, multiple wires can be collectively routed away from the control module before being separately routed to different areas and / or components of the power machine. For example, as discussed further below, a wire set including wires for control and power signals for each of the drive motor 442A, the lift actuators 438, and the tilt actuators 433 corresponding to the left side 606 of the frame 410 of the power machine 400 can be collectively routed from the control subassembly 420 to the lift actuator pocket 435 on the left side 606 of the frame, and then split / divided into at least a first subset of one or more wires for providing power and control to the lift actuators 438, and a second subset of one or more wires for providing power and control to an implement (not shown) or the tilt actuators 433 attached to the distal end of the lift arm structure 430.

[0199] In some embodiments, the control subassembly can include a cooling system. For example, in some embodiments, a cooling system 698 can be mounted to the base plate 654 (and thereby supported relative to the frame 410) along with one or more other control modules. Generally, the cooling system can be any type of system configured to cool components of the machine, e.g., one or more controllers or one or more actuators, as needed. For example, the cooling system 698 can include a heat exchanger, a reservoir for coolant, and a pump configured to pump coolant through one or more hoses routed to various different components of the power machine 400. Accordingly, with reference to the present embodiment, coolant hoses can extend from the cooling system 698 to the drive motor 442A, the lift actuators 438, and the tilt actuators 433. In some embodiments, the cooling system 698 can be configured to cool only one or more of these components, e.g., based on the power requirements of the components. FIG. 25AOne or more of the illustrated motor controllers 662, 666, 670, 672, 674, 676, or extensions to one or more of the actuators 433, 438, 442A.

[0200] In some embodiments, the coolant hoses can be specifically configured to route coolant from the cooling system to a traction actuator, such as FIG. 25A the drive motor 442A identified in FIG. 6, for direct cooling of the traction actuator, although other routings (e.g., different from the routing for electrical signals) are possible. In some embodiments, the coolant hoses can be routed to additional or alternative components of the power machine. Moreover, embodiments of the present application can include cooling systems disposed at various locations throughout the frame of the power machine. For example, the cooling systems can be mounted to a base plate, a frame plate, directly to the frame, or a different structure.

[0201] FIG. 25B Additional aspects of the control support structure 650 are detailed. In this regard, it is noted that the schematic representation of the control module 660 shown in the drawings (e.g., FIG. 22 ) is provided by way of example only. That is, while the drawings illustrate a single cube representing the control module 660, the control module according to embodiments of the present application can include one or more components, structures, or modules that can completely fill or extend beyond, or not completely fill or extend beyond, the spatial area represented by the representation of the control module 660 in the drawings.

[0202] Generally, the control support structure can be formed to include rigid supports that can support the weight of the associated control modules, including during shipping of the control modules and control support structure as a single unit to the power machine. In this regard, in the illustrated embodiment, the control support structure 650 includes a base plate 654 and a rear plate 658 that can be integrally formed or otherwise made integral. For example, in some embodiments, each of the base plate 654 and the rear plate 658 can be a substantially planar (or otherwise configured) component with appropriate attachment features (e.g., flanges, bosses, etc.), and the rear plate 658 can be secured to the base plate 654, such as using fasteners, adhesives, welding, etc. In the illustrated embodiment, the rear plate 658 is a plate-like structure with a sloped portion, although other configurations are possible.

[0203] Reference is also made to FIG. 19rear panel 658 includes an opening 708 that is configured for routing of electrical wires, coolant hoses, or other tubing therethrough. For example, wires and coolant hoses, as visually represented by arrows 682, can extend from the control subassembly 420 through the opening 708 and then be routed to various different other components (e.g., actuators or traction motors). Moreover, in this regard, a side opening 710 is also defined by the inner wall 634 of the frame 410 and is configured for receiving wires and hoses, for example, as indicated by arrows 682. The side opening 710 generally opens into the lift actuator pocket 435 such that one or more of the electrical wires can electrically connect the lift actuator 438 to the control subassembly 420 (or in some cases, provide coolant flow to and from the lift actuator 438). In contrast, wires, hoses, or other tubing can alternatively be routed to the traction motors (e.g., similar to the motors 326 of FIG. 8

[0204] In some cases, wires or hoses can be routed from the opening 708 (or other) through the lift arm structure 430 in order to provide electronic communication or coolant flow to equipment toward the front end 410B of the main frame 410. For example, starting from the lift actuator pocket 435, one or more electrical wires can be routed into the lift arm 434 through one or more lift arm openings 714 that are provided at corresponding rear ends 718 of the lift arms 434. Thus, for example, the electrical wires can reach the tilt actuator and implement by extending along one or more of the lift arms 434 within the enclosed interior volume of the relevant lift arm 434. Accordingly, in part, individually, and collectively due to the orientation of the control support structure 650, the configuration of the lift actuator pocket 435 and the lift arms 434, the electrical wires can be efficiently routed and substantially protected throughout the entire routing path from the control subassembly to the tilt actuator and implement.

[0205] Referring again to FIG. 25A and FIG. 25B , the control subassembly 420 can be pre-assembled such that it can be easily installed in the power machine 400. More particularly, the control modules 660 (which can include each of the motor controllers 662, 666, 670, 672, 674, 676) and, where appropriate FIG. 25A ​The cooling system 698 can be secured to the rear panel 658 prior to installation of the control subassembly 420 in the power machine 400, as shown in FIG. 6. In some cases, the rear panel 658 or an additional housing structure can also be secured to the base panel 654 prior to installation of the control subassembly. Further, the control subassembly 520 can include one or more lift points (e.g., a plurality of lift points 722, as shown) formed in the control support structure 650 to allow the subassembly 420 to be lifted as a single unit for insertion into or removal from the power machine.

[0206] When the subassembly 420 is inserted into the power machine, a lifting mechanism such as a jib crane with chains attached to the lift points 722 can facilitate alignment and securing with the power machine 400. For example, in some embodiments, the lift points 722 can be attachment points for chain attachment for lifting the subassembly, which are distributed to provide a stable and advantageous lifting orientation for the control subassembly 420 as a whole.

[0207] As FIG. 25B The lift points 722 are provided as an advantageous example, as illustrated. In this regard, while the illustrated embodiment includes three lift points 722 having particular relative positions, other configurations are possible. For example, some lift points can be formed as structures added to the frame of the control support structure (e.g., as components protruding from a base or back panel thereof). In some cases, the lift points can be located at a single shared height relative to the base panel of the control support structure (e.g., at a single shared height above the base panel 654 of the control support structure 650). FIG. 25B

[0208] Continuing, again with reference to FIG. 25A , the control subassembly 420 can be lifted into the power machine 400 such that the control subassembly 420 is supported by the frame panel 622. Thus, again, the orientation of the frame panel 622 relative to the battery assembly 418 and the power machine 400 as a whole, and the unitary configuration of the control subassembly 420 can facilitate easy installation and maintenance of the control subassembly 420 and easy access to the battery assembly 418 as needed.

[0209] In this regard, for example, FIG. 26 A method 750 for installing a battery assembly and control subassembly into a power machine according to embodiments of the present application is illustrated. In some embodiments, the method 750 can be implemented with respect to the power machine 400, the battery assembly 418, and the control subassembly 420. In other implementations, the method 750 can be implemented with respect to other components in other contexts.

[0210] ​Specifically, in operation 754, the battery assembly can be installed. More specifically, in some embodiments, the battery assembly can be lifted, for example, by a lifting point into the frame of the power machinery, and rigidly secured to the frame, for example using mounting structures, spacers, and fasteners. In some cases, also as discussed above, the battery assembly can be installed in a particularly advantageous (e.g., rearward, low) orientation using specific spacers (or other mounting elements). In operation 758, the frame plate can be installed in the power machinery by rigidly securing it to the frame of the power machinery. Typically, the frame plate can be secured to the frame above the battery assembly, but other configurations are possible. Furthermore, the frame plate can typically be installed after the associated battery assembly to facilitate easier installation of the battery assembly; however, other approaches are also possible.

[0211] In operation 762, the control sub-assembly can be lifted into the power machinery. For example, the control sub-assembly can be lifted into the machinery via a lifting point so that it is substantially aligned with the frame plate before being lowered onto it. In some embodiments, the control sub-assembly can be assembled into a single unit before being lifted to alignment with the frame plate. For example, multiple control modules (e.g., control modules for electronic power and control or control modules for cooling) can be secured to a single support structure outside the power machinery, allowing the modules to be lifted collectively via this support structure for installation, with subsequent operations requiring only the securing of the support structure and connection of associated wiring or other conduits.

[0212] In operation 766, the control subassembly can be secured to the frame plate, for example, using fasteners and spacers. As mentioned above, in some cases, using a separate frame plate to support the control subassembly relative to the main frame of the power machinery can provide certain advantages over conventional approaches, including facilitating easy installation of pre-assembled, monolithic control subassemblies. Finally, in operation 770, the control subassembly can be electrically connected to components of the power machinery. For example, wiring can be routed from the control subassembly to components distributed throughout the power machinery. Furthermore, in some embodiments, the control subassembly may include a cooling system. Thus, coolant hoses can be routed throughout the power machinery for cooling components. In some embodiments, after the control subassembly is secured to the power machinery, it can be electrically connected (or otherwise connected) for controlling components of the power machinery.

[0213] In some embodiments, as described above, electrical or control signals can be routed through the internal volume of the lifting boom. This can be useful, for example, for protecting the wires used to control the implements, lifting actuators, or other components from crushing, abrasion, or unintended contact. In this regard, reference is now made to... FIG. 27The lifting arm structure 430 according to the illustrated embodiment also includes a connector opening 776, which may be equipped with a connector 780 for transmitting power and control signals to electrically powered or electrically controlled implements or other electrical components located at the front of the power machinery 400. For example, returning to... FIG. 16B The wire indicated by arrow 784 can be routed from a power source (e.g., control subassembly 420) to connector 780. Specifically, connector 780 can be used to supply power and control signals from control subassembly 420 to high-power electronic components and accessories, such as electronic actuators or motors of machines configured to perform operational tasks. As previously discussed... FIG. 9 The control sub-component 420 and battery component 418 are positioned near the rear end 410A of the frame 410. Accordingly, refer to... FIG. 16B For example, the wire indicated by arrow 784 can be routed through the lifting arm structure 430 toward the front end 410B of the frame 410 to the connector opening 776. In this respect, because the connector opening 776 is located at the second end 788 of the lifting arm structure 430, particularly at the front end 789 of the lifting arm structure 430, the connector 780 can be positioned close to the tilt actuator 433, the implement carrier 472, and the implement 792 connected to the implement carrier, thereby simplifying and shortening (and generally protecting) the electrical connection between the implement 792 and the control subassembly 420. Furthermore, by providing the connector opening 776 at the front end 789 of the lifting arm structure 430, the wire can generally be routed from the front frame end 410B of the power machinery 400 (see, for example...) FIG. 22 Proximity connector 780. Although the lifting arm structure 430 is illustrated as having FIG. 27 The connector 780 is configured in a specific way, but the power machinery according to embodiments of this disclosure can use any type of connector known and used in the art. Accordingly, in alternative embodiments, the size and shape of the connector opening can be set differently to accommodate different connectors.

[0214] In some embodiments, electronic (or other) actuators and controls may also be used to improve the performance of the power machinery relative to attachments or implements of the lifting arm. Go to FIG. 28 For example, the tool interface 796, including the tool carrier 472, is configured to resemble FIG. 12 The tool interface 370 differs in some respects. For example, the tool carrier 472 includes a pair of engaging levers 802 for securing the tool to the tool carrier 472. The levers 802 are configured in a locking configuration ( FIG. 20The levers 802 are configured to rotate between a locked configuration (shown) and an unlocked configuration (not shown) to operably extend and retract the corresponding pins 804. In the locked configuration, the levers 802 generally extend inward, i.e., toward the central axis 413, and the corresponding pins 804 are in the extended position. To move the pins to the retracted position, the levers are configured to pivot outward, e.g., the lever 802A is configured to rotate clockwise and the lever 802B is configured to rotate counterclockwise, as FIG. 28 As shown, the pins 804 are substantially retracted. When the pins 804 are retracted, an implement, such as a bucket or tray, can be secured to the implement carrier 472 by engaging the implement with the support edges 808 and the support faces 812 of the implement carrier 472. Once the implement is supported by the support edges 808 and engages the support faces 812, the engagement levers 800 can be pivoted toward the locked configuration, i.e., inward, causing the pins 804 to extend to engage corresponding openings on the implement, thereby locking the implement to the implement carrier.

[0215] While the illustrated embodiment includes two levers used to selectively control two pins, alternative embodiments can include more or fewer pins and levers. Further, other attachment arrangements are possible, including those that use engagement members other than levers and pins (e.g., cams, gears, sliders, etc.), and those that use direct movement of the engagement members to secure the implement (e.g., levers that pivot into or out of direct engagement with the implement).

[0216] In some embodiments, an actuator can be configured to move the engagement members for the implement. For example, as FIG. 28 shown, a linear electric actuator 814 is configured to move the levers 802 to engage or disengage the pins 804 relative to the implement, including based on operator commands or other signals relayed by the control subassembly 420 (see FIG. 25A ). While the actuator 814 is configured to move the pins 804 through the levers 802, other configurations can include actuators configured to directly move similar pins, to otherwise engage or disengage the relevant engagement members (e.g., of the types listed above), or to include engagement members that can directly engage or disengage the implement (e.g., as an attachment to an extendable portion of the actuator).

[0217] In some embodiments, one or more sensors may be configured to detect indicators of the force applied by the actuator to the engagement member in order to provide information about the engagement of the implement. For example, current sensor 816 (or other sensors) may be configured to monitor the current (or other indicator) of the force (e.g., torque) applied by the actuator 814 electrically attached to the actuator to move lever 802 between a locked configuration and an unlocked configuration. Analysis of these indicators (or the forces they indicate) (including by comparison with baseline values ​​or a desired range, or by detecting changes over time) may be used to assess the operational status of the associated engagement member(s) or implement(s). For example, an unexpected peak in the required actuation force may indicate misalignment of the engagement member of the implement or other similar malfunction (e.g., a stuck pin or lever), while an increase in the required actuation force over time may indicate the need to inject grease into certain areas of the associated mechanism to reduce overall friction. In some cases, appropriate remedial measures may be taken upon detection of a particular operational condition. For example, actuator 814 can automatically disengage when appropriate, or it can provide an alarm to the operator (e.g., via control sub-component 420) to prompt appropriate manual intervention.

[0218] Although sensor 816 is FIG. 28 The components are illustrated, but other configurations are possible. For example, some current (or other) sensors can be formed as integrated software or hardware modules within the controller or other components, configured to determine the current (or other relevant parameters) for a particular actuator or other component. For example, relative to... FIG. 28 The example shown is a linear actuator 814 (or, for example, a linear actuator 814). FIG. 25A The EVCM 678 shown can sometimes be configured as an integrated hardware or software module that can detect the current flowing through the linear actuator 814 during a particular operation.

[0219] In some embodiments, as discussed above, drive motors or other traction actuators may advantageously be mounted on the track frame and / or extend in a relationship of lateral overlap with the main frame of the power machinery. For example, as FIG. 29 and FIG. 30 As illustrated, each of the drive motors 442A is mounted to the corresponding track frame 443 via a support member 459 extending vertically upward from the track frame 443. To allow proper spacing between the track frame 443 and associated components and the frame 410, the housing of the drive motor 442A extends laterally inward from the support member 459 to laterally overlap with the main frame 410.

[0220] Specifically, the drive motor 442A is illustrated as extending through an opening 462 in the main frame 410 (e.g., a teardrop-shaped opening, as shown in the figure).FIG. 8A The openings 462 can provide sufficient clearance so that the drive motors 442A can properly overlap laterally with the main frame 410, and also allow the track frame 443 (and the drive motors 442A rigidly mounted thereto) to properly move relative to the main frame 410 (e.g., through movement at the torsion bars 437, 439) without interference between the motors 442A and the main frame 410. Relatedly, the frame 410 of the power machine 400 can maintain relative stability when the power machine 400 is traveling or maneuvering over uneven surfaces, which can provide enhanced comfort and maneuverability for the operator. Further, the lateral inward extension of the drive motors 442A through the openings 462 can help protect the drive motors 442A from impact and debris during operation of the power machine 400.

[0221] As also noted above, while movable track frames can provide certain benefits, some embodiments can include track frames that are not movable relative to the main frame of the power machine. In such embodiments, the electric drive motors can be mounted to the track frame in a similar manner to the drive motors 442A (e.g., so as to overlap laterally with the main frame), or can be mounted directly to the main frame of the power machine rather than the track frame.

[0222] Accordingly, embodiments of the disclosed power machines and components thereof can provide improvements over conventional designs. For example, the structural arrangements discussed herein can allow for relatively easy conversion from hydraulic to electric power for a particular power machine platform. And the fast response and precise control provided by electric actuators can allow work elements including traction elements, lift arms, and implement carriers to be quickly and accurately adjusted, including through complex and adaptive control strategies implemented by electronic control modules. Further, in some cases, electric actuation and control can simplify the implementation of automated repetitions or iterative movements of work elements, while also reducing the need for maintenance and eliminating problems and other related issues associated with hydraulic fluid leaks. Power machines according to embodiments of the present disclosure also provide improved installation capabilities. For example, the structural arrangements discussed herein can allow for relatively easy installation of battery assemblies and control subassemblies for electrically controlling and powering components of the power machine. The location and arrangement of the battery assemblies and control subassemblies according to embodiments of the present disclosure can be improved compared to conventional designs. For example, positioning the battery assemblies proximate to the base end and rear end of the power machine can help with weight balance, coast-to-turn, and side slope stability of the power machine. Further, positioning the control subassemblies proximate to the top end of the power machine can improve accessibility to the components and protect the components.

[0223] While the application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes can be made and equivalents can be substituted for elements thereof without departing from the spirit and scope of the concepts discussed herein.

Claims

1. A power machine (300, 400) for mobilely operating implements, said power machine (300, 400) comprising: The main frame (310, 410) supporting the operator station (455); and The lifting arm structure (330, 430) supported by the main frame includes: A lifting arm (334, 434) extends laterally along the frame (310, 410), wherein the proximal end of the lifting arm (334, 434) is movably fixed to the rear portion (310A, 410A) of the frame (310, 410), and the distal end of the lifting arm (334, 434) includes a tilt actuator recess (422), wherein, when the lifting arm (334, 434) is in the fully lowered position, the opening side of the tilt actuator recess (422) faces forward in the direction of the power machinery (300, 400), wherein the tilt actuator recess (422) is a tapered channel, the tapering of the channel such that the distal end of the channel has a smaller cross-sectional area than the proximal end of the channel; The tool carrier (372, 472) is movably fixed to the distal end of the lifting arm (334, 434); An electric tilt actuator (333, 433), fixed to the lifting arm (334, 434) within a tilt actuator recess (422), the electric tilt actuator (333, 433) being configured to controllably extend and retract to change the posture of the machine carrier (372, 472); and An electric lifting actuator (338, 438) is fixed at a first end to the rear portion (310A, 410A) of the frame (310, 410) and at a second end to the lifting arm (334, 434). The electric lifting actuator (338, 438) is disposed within a lifting actuator recess (335, 435) defined by the frame (310, 410), and the electric lifting actuator is configured to controllably extend and retract to raise and lower the lifting arm (334, 434).

2. The power machinery (300, 400) according to claim 1 further includes: Track frame (343), the track frame being located on the lateral side of the main frame (310, 410); and An electric drive motor (326) is mounted to the track frame (343) and is configured to move the tracks around the track frame (343) to move the power machinery (300, 400) over the terrain. The track frame (343) is movably fixed to the main frame (310, 410).

3. The power machinery (300, 400) according to claim 2, wherein, At least a portion of the electric drive motor (326) extends laterally from the track frame (343) to overlap with the main frame (310, 410).

4. The power machinery (300, 400) according to claim 3, wherein, The electric drive motor (326) extends laterally through the opening (352) in the main frame (310, 410).

5. The power machinery (300, 400) according to claim 1, wherein, The electric tilt actuators (333, 433) are fixed to the lifting arm (334, 434) by a pin connection within the proximal end of the tilt actuator recess (422).

6. The power machinery (300, 400) according to claim 5, wherein, The tilting actuator recess (422) includes a channel that tapers such that the distal end of the channel has a smaller lateral width than the proximal end of the channel.

7. The power machinery (300, 400) according to claim 1, wherein, The tilt actuator recess (422) supports the electric tilt actuator (333, 433) at least partially to the outside of the operator station (455) in the lateral direction.

8. The power machinery (300, 400) according to claim 1, wherein, The electric lifting actuator (338, 438) has a motor end (380, 480) and an extendable end (390, 490) of the electric lifting actuator (338, 438). The motor end is pin-connected to the lifting actuator recess (335, 435), and the extendable end extends out of the lifting actuator recess (335, 435) to be pin-connected to the lifting arm (334, 434).

9. The power machinery (300, 400) according to claim 8, wherein, In all operating orientations of the lifting arms (334, 434), the motor (379, 479) of the motor end (380, 480) of the electric lifting actuator (338, 438) is located behind one or more pin connections, either in the pin connection with the lifting arms (334, 434) or in the pin connection between the electric lifting actuator (338, 438) and the lifting actuator recess (335, 435).

10. The power machinery (300, 400) according to claim 1 further includes an electric power assembly (316, 416), the electric power assembly comprising: Battery assembly (322, 418), which is fixed to the main frame (310, 410) and located behind the operator station (455).

11. The power machinery (300, 400) according to claim 10, wherein, The battery assembly (322, 418) includes a battery housing (502) that encloses a plurality of battery cells; and wherein the battery housing (502) is located entirely behind the operator station (455).

12. The power machinery (300, 400) according to claim 10, wherein, The battery assembly (322, 418) further includes a battery management system, which is fixed to or located within the battery housing (502); and The battery components (322, 418) are fixed to the main frame (310, 410) such that the center of gravity of the battery components (322, 418) is laterally offset from the centerline of the power machinery (300, 400) within the power machinery (300, 400).

13. The power machinery (300, 400) according to claim 12, wherein, The battery management system is located substantially below the top (558) of the battery housing (502).

14. The power machinery (300, 400) according to claim 10, wherein, Multiple mounting rods (522, 526) extend laterally from the main frame (310, 410) behind the operator station (455); as well as The battery assembly (322, 418) is fixed to the mounting rod (522, 526) by a plurality of isolation mounting parts (546).

15. The power machinery (300, 400) according to claim 14, wherein, The plurality of isolation mounts (546) includes one or more of the following: The front assembly of the isolation mounting member (546) includes a first isolation mounting member located on a first lateral side of the center of gravity of the power machinery (300, 400) and a second isolation mounting member located on a second lateral side of the center of gravity of the power machinery (300, 400); or The rear assembly of the isolation mounting member (546) includes a third isolation mounting member located on the first lateral side of the center of gravity of the power machinery (300, 400) and a fourth isolation mounting member located on the second lateral side of the center of gravity of the power machinery (300, 400).

16. The power machinery (300, 400) according to claim 15, wherein, The front assembly of the isolation mounting member (546) is positioned in front of the center of gravity of the power machinery (300, 400).

17. The power machinery (300, 400) according to claim 16, wherein, The front assembly of the isolation mounting (546) is positioned in front of the center of gravity of the power machinery, calculated without the weight of the battery assembly (322, 418).

18. The power machinery (300, 400) according to claim 11 further includes: A support plate (622) is fixed to the main frame (310, 410) and extends above the battery assembly (322, 418) and behind the operator station (455); The power assembly (416) also includes a power control module (360, 420) supported by the support plate (622) relative to the main frame (310, 410).

19. The power machinery (300, 400) according to claim 18 further includes a wire (682) configured to provide electrical control and power signals. in, A first subset of the wires extends from the power control module (360, 420) through the internal volume of the lifting arm (334, 434) to a connector (780) for controlling and powering the implement (792), the connector (780) being located at the distal end of the lifting arm (334, 434).

20. The power machinery (300, 400) according to claim 19, wherein, The wires (682) are routed from the power control modules (360, 420) via the lifting actuator recesses (335, 435) to the internal volume of the lifting arms (334, 434), and a second subset of the wires is also configured to provide electrical control and power signals to the electric lifting actuators (338, 438).

21. The power machinery (300, 400) according to claim 19, wherein, The power components (316, 416) also include a cooling module supported by the support plate (622).

22. The power machinery (300, 400) according to claim 18, wherein, The power assembly (316, 416) also includes a base plate (654) which is detachable from the support plate (622) and supports the power control module (360, 420) relative to the support plate (622).

23. The power machinery (300, 400) according to claim 22, wherein, The base plate (654) includes one or more lifting points (722) configured to collectively support the base plate (654) and the power control module (360, 420) during the alignment of the base plate (654) relative to the support plate (622) during the installation of the power components (316, 416).

24. The power machinery (300, 400) according to claim 23, wherein, The power assembly (316, 416) also includes a guard plate (658) that extends vertically at least partially from the base plate (564) behind the power control module (360, 420) to at least partially protect the power control module (360, 420) toward the rear of the power machinery (300, 400).

25. The power machinery (300, 400) according to claim 24, wherein, The guard plate (658) includes one or more routing openings (708) configured to receive wires for carrying electrical control and power signals from the power control modules (360, 420).

26. The power machinery (300, 400) according to claim 22, wherein, The support plate (622) is configured to be laterally aligned with and above the battery assembly (322, 418), and the support plate is bolted to the main frame (310, 410).

27. A lifting boom structure (330, 430) for a power machine (300, 400) having a frame (310, 410), said lifting boom structure (330, 430) comprising: Lifting arms (334, 434) are configured to be movably fixed to the frame (310, 410) to extend along the lateral side of the frame (310, 410). The implement carrier (372, 472) is movably fixed to the lifting arm (334, 434); and An electric tilt actuator (333, 433) is fixed to the lifting arm (334, 434) within a tilt actuator recess (422) defined by the lifting arm (334, 434). The tilt actuator recess (422) is disposed close to the tool carrier (372, 472) such that the opening side of the tilt actuator recess (422) faces the tool carrier (372, 472). The electric tilt actuator (333, 433) is configured to controllably extend and retract to change the posture of the tool carrier (372, 472). The tilt actuator recess (422) is a tapered channel, the tapering of which results in the distal end of the channel having a smaller cross-sectional area than the proximal end of the channel.

28. The lifting arm structure (330, 430) according to claim 27, wherein, The electrically tilting actuators (333, 433) are ball screws.

29. The lifting arm structure (330, 430) according to claim 27, wherein, The electric tilt actuators (333, 433) have a foldback motor configuration.

30. The lifting arm structure (330, 430) according to claim 29, wherein, The motor ends (374, 474) of the electric tilt actuators (333, 433) are fixed to the lifting arm (334, 434) by a pin connection within the tilt actuator recess (422), wherein the motors (333A, 433A) of the electric tilt actuators (333, 433) extend in front of the tilt actuator recess (422).

31. The lifting arm structure (330, 430) according to claim 30, wherein, The pin connection used to secure the electric tilt actuators (333, 433) to the lifting arm (334, 434) is a double-sided pin connection, which is supported at opposite sidewalls of the tilt actuator recess (422); and in, The opposing sidewalls extend in a forward direction to at least partially protect the electrically tilting actuators (333, 433) laterally.

32. The lifting arm structure (330, 430) according to claim 27 further includes: An electric lifting actuator (338, 438) is fixed at a first end to the rear portion (310A, 410A) of the frame (310, 410) and at a second end to the underside of the lifting arm (334, 434). The electric lifting actuator (338, 438) is configured to controllably extend and retract to raise and lower the lifting arm (334, 434).

33. The lifting arm structure (330, 430) according to claim 32, wherein, The electric lifting actuators (338, 438) are ball screws.

34. The lifting arm structure (330, 430) according to claim 32, wherein, The electric lifting actuators (338, 438) are pin-connected to the rear portion (310A, 410A) of the frame (310, 410) within the lifting actuator recess (335, 435), wherein the motor of the electric lifting actuator (338, 438) is completely disposed within the lifting actuator recess (335, 435) behind the extendable portion of the electric lifting actuator (338, 438).

35. The lifting arm structure (330, 430) according to claim 27, wherein, The tool carrier (372, 472) includes at least one engaging member (804) movable between a locked configuration and an unlocked configuration to secure or release the tool (792) relative to the tool carrier (372, 472); and The lifting arm structure (330, 430) further includes an electrically attached actuator (814) configured to move the engagement member (804) between the locking configuration and the unlocking configuration.

36. The lifting arm structure (330, 430) according to claim 35 further includes: One or more sensors (816) are configured to detect an indicator of the force applied by the electrically attached actuator (814) to move the engagement member (804) between the locking configuration and the unlocking configuration, and to transmit the indicator to a control system to determine the operating state of one or more of the engagement member (804) or the machine (792).

37. A power machine (300, 400), comprising: Frame (310, 410); The cab (450) is supported by the frame (310, 410); Lifting arms (334, 434) are movably fixed to the frame (310, 410) to extend along the lateral side of the frame (310, 410). Electrically tilting actuators (333, 433) are fixed to the lifting arms (334, 434) and the implement carriers (372, 472), and the electrically tilting actuators (333, 433) are configured to controllably extend and retract to change the posture of the implement carriers (372, 472). The tilting actuators (333, 433) are disposed in a tilting actuator recess (422) defined by the lifting arms (334, 434) and close to the front portion (310B, 410B) of the frame (310, 410), wherein the tilting actuator recess (422) is a tapered channel that opens forward relative to the frame (310, 410) when the lifting arms (334, 434) are fully lowered, and the tapering of the channel results in the distal end of the channel having a smaller cross-sectional area than the proximal end of the channel. and An electric lifting actuator (338, 438), fixed at a first end to the frame (310, 410) and at a second end to the lifting arm (334, 434), the electric lifting actuator (338, 438) being configured to controllably extend and retract to raise and lower the lifting arm (334, 434); and Battery assembly (322, 418), configured to power the electric tilt actuator (333, 433) and the electric lift actuator (338, 438), is located entirely behind the cab (450).

38. The power machinery (300, 400) according to claim 37, wherein, The electric lifting actuators (338, 438) are rotatably mounted in the mounting recesses (335, 435) on the lateral side of the rear portion (310A, 410A) of the frame (310, 410).

39. A power machine (300, 400) for mobilely operating a implement (792), said power machine (300, 400) comprising: The main frame (310, 410) supporting the operator station (455); and The lifting arm structure (330, 430) supported by the main frame includes: Lifting arms (334, 434) extend laterally along the frame (310, 410), wherein the proximal end of the lifting arms (334, 434) is movably fixed to the rear portion (310A, 410A) of the frame (310, 410). The tool carrier (372, 472) is movably fixed to the distal end of the lifting arm (334, 434); An electric tilt actuator (333, 433) is fixed to the lifting arm (334, 434) and located within a tilt actuator recess (422) defined by the lifting arm (334, 434). The electric tilt actuator (333, 433) is configured to controllably extend and retract to change the orientation of the machine carrier (372, 472). The tilt actuator recess (422) includes a channel that tapers such that the distal end of the channel has a smaller lateral width than the proximal end of the channel. and An electric lifting actuator (338, 438) is fixed at a first end to the rear portion (310A, 410A) of the frame (310, 410) and at a second end to the lifting arm (334, 434), the electric lifting actuator (338, 438) being configured to controllably extend and retract to raise and lower the lifting arm (334, 434).

40. A power machine (300, 400) for mobilely operating a implement (792), said power machine (300, 400) comprising: The main frame (310, 410) supporting the operator station (455); The lifting arm structure (330, 430) supported by the main frame includes: A lifting arm (334, 434) extends laterally along the frame (310, 410), wherein the proximal end of the lifting arm (334, 434) is movably fixed to the frame (310, 410) at the rear portion (310A, 410A) of the frame (310, 410), wherein the lifting arm (334, 434) includes a tilt actuator recess (422), the proximal end of the tilt actuator recess (422) narrowing toward the distal end of the tilt actuator recess (422) opposite to the proximal end; The tool carrier (372, 472) is movably fixed to the distal end of the lifting arm (334, 434); Electrically tilting actuators (333, 433), fixed to the lifting arm (334, 434), the electrically tilting actuators (333, 433) being configured to controllably extend and retract to change the posture of the implement carrier (372, 472); and An electric lifting actuator (338, 438) is fixed at a first end to the rear portion (310A, 410A) of the frame (310, 410) and at a second end to the lifting arm (334, 434), the electric lifting actuator (338, 438) being configured to controllably extend and retract to raise and lower the lifting arm (334, 434). Power assembly (316, 416), the power assembly including battery assembly (322, 418), the battery assembly being fixed to the main frame (310, 410) to be located behind the operator station (455); and A support plate (622), fixed to the main frame (310, 410), extends above the battery assembly (322, 418) and behind the operator station (455). The power components (316, 416) also include power control modules (360, 420) supported by the support plate (622) relative to the main frame (310, 410).

41. A power machine (300, 400) for mobilely operating a implement (792), said power machine (300, 400) comprising: The main frame (310, 410) supports the operator station (455) and the lifting arm structure (330, 430). and The lifting arm structure (330, 430) includes: A lifting arm (334, 434) extends laterally along the frame (310, 410), wherein the proximal end of the lifting arm (334, 434) is movably fixed to the frame (310, 410) at the rear portion (310A, 410A) of the frame (310, 410), wherein the lifting arm (334, 434) includes a tilt actuator recess (422), the proximal end of the tilt actuator recess (422) narrowing toward the distal end of the tilt actuator recess (422) opposite to the proximal end; The implement carrier (372, 472) is movably fixed to the distal end of the lifting arm (334, 434), and the implement carrier (372, 472) includes at least one engaging member (804) movable between a locking configuration and an unlocking configuration to fix or release the implement (792) relative to the implement carrier (372, 472); Electrically tilting actuators (333, 433) are fixed to the lifting arm (334, 434) and are configured to extend and retract controllably to change the posture of the machine carrier (372, 472). An electrical attachment actuator (814) is configured to move the engagement member (804) between the locking configuration and the unlocking configuration; and One or more sensors (816) are configured to detect an indicator of the force applied by the electrically attached actuator (814) to move the at least one engaging member (804) between the locking configuration and the unlocking configuration, and to transmit the indicator to a control system to determine the operating state of one or more of the engaging member (804) or the machine (792).

Images