Frame and lifting arrangement for power machine

Abstract

The power machine may include a frame, a power source, one or more work group actuators, and one or more traction assemblies secured to the frame. The frame may include a base frame and a bridge frame that may support one or more actuators and one or more traction assemblies relative to the base frame. The base frame may support the power source relative to the bridge frame. A lift arm structure coupled to the frame is movable between a fully lowered position and a fully raised position and between a fully retracted position and a fully extended configuration. The extension actuator and the lift actuator may be controlled to move the lift arm along various travel paths within a lift envelope of the lift arm structure.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and is incorporated by reference to U.S. Provisional Application No. 63 / 401,451 filed on August 26, 2022, U.S. Provisional Application No. 63 / 489,455 filed on March 10, 2023, and U.S. Provisional Application No. 63 / 489,466 filed on March 10, 2023. Background Art

[0003] The present disclosure relates to power machines. More specifically, the present invention relates to a frame for a power machine. For the purposes of this disclosure, a power machine includes any type of machine that generates power for accomplishing a specific task or tasks. One type of power machine is a work vehicle. A work vehicle is typically a self-propelled vehicle with a work device such as a lift arm (although some work vehicles may have other work devices) that can be manipulated to perform a work function. Work vehicles include loaders (including mini loaders), excavators, utility vehicles, mowers, tractors (including compact tractors), and trenchers, to name a few examples.

[0004] A power machine may generally include a work unit actuator and other work unit working elements (eg, a lift arm structure) and a traction (or drive) actuator and other traction working elements (eg, tracked or wheeled ground engaging assemblies).

[0005] The above discussion is provided for general background information only and is not intended to be used to determine the scope of the claimed subject matter. Summary of the invention

[0006] Some examples of the present disclosure may provide a multi-piece frame for a power machine (e.g., a remotely operated power machine) so as to movably operate one or more implements or other working elements using power from a power source. According to some aspects of the present disclosure, a power machine may include a base frame, a bridge frame, a power source, one or more working group actuators, and one or more traction assemblies. The bridge frame supports the one or more actuators and the one or more traction assemblies relative to the base frame. The traction assembly may include one or more drive actuators supported by the bridge frame. The base frame supports the power source relative to the bridge frame.

[0007] Some examples of the present disclosure can provide an improved lifting arm structure for a power machine (e.g., a remotely operated power machine) to movably operate the implement. In particular, some implementations can increase the maximum lifting height of the lifting arm structure in a fully raised position while maintaining or reducing the headroom height of the power machine when the lifting arm structure is in a fully lowered position. In addition, some lifting arm structures according to the present disclosure allow the implement supported by the lifting arm to move relative to the frame of the power machine to any position within the lifting envelope of the lifting arm (e.g., a two-dimensional envelope from a side view or front view), including upward, downward, and forward and backward movement. For example, the actuators of the lifting arm structure can be arranged to move the lifting arms together or independently in the extension-retraction dimension and in the raise-lowering dimension.

[0008] According to some aspects of the present disclosure, a power machine may include a base frame and a bridge frame removably fixed to the base frame, a power source, one or more work group actuators, and one or more traction assemblies, including one or more drive actuators. The bridge frame may support the one or more work group actuators and the one or more traction assemblies relative to the base frame. The base frame may support the power source relative to the bridge frame.

[0009] In some examples, the power machine may also include a lift arm structure pivotally supported on the bridge frame relative to the base frame.

[0010] In some examples, the one or more working group actuators may include at least one lift arm actuator arranged to move the lift arm structure relative to the bridge frame and the base frame. The at least one lift arm actuator may be pivotally supported by the bridge frame and the lift arm structure.

[0011] In some examples, the power machine may include a plurality of group actuators, which may include one or more group actuators. A plurality of group actuators (eg, each actuator) in the plurality of group actuators may be supported by a bridge frame.

[0012] In some examples, the bridging frame may include: a first side (e.g., box) structure extending from a lower end to an upper end, a second side (e.g., box) structure extending from the lower end to the upper end, and a lateral support structure extending between the upper ends of the first side box structure and the second side box structure.

[0013] In some examples, the lateral support structure and the first and second side structures can define in combination an internal volume that receives a power source of the power machine. The internal volume can be open along one or more of the bottom side or the rear side of the bridge frame (e.g., continuously along the bottom side and the rear side).

[0014] In some examples, the power source may be an electrical power source.The base frame may be removably secured to the bridge frame to support the electrical power source for removal through at least one of a bottom side or a rear side of the bridge frame.

[0015] In some examples, the bridge frame may include a central tower extending upwardly between the first side box structure and the second side box structure. The central tower may include one or more pivot mounts for one or more lift actuators included in the one or more work group actuators. The one or more lift actuators may be arranged to raise and lower a lift arm structure of the power machine.

[0016] The central tower may also include one or more additional pivot mounts for one or more extension actuators that may be included in the one or more group actuators. The one or more extension actuators may be arranged to move a link relative to the bridge frame, the link pivotally supporting the lift arm structure relative to the bridge frame.

[0017] In some examples, the central tower may be disposed in front of an opening in a bottom side of the bridge frame, the opening aligned to receive the power source into an interior volume of the bridge frame.

[0018] In some examples, the bridge frame may include a base plate extending between lower ends of the first side structure and the second side structure. The bridge frame may be fixed to the base frame along the base plate and along the first and second side structures.

[0019] In some examples, the base frame may include a base plate and a power source mounted to the base plate. A rear tower of the base frame may extend upward from the base plate. The bridge frame may be fixed to the base plate along the base plate and along the rear tower.

[0020] In some examples, the base plate may extend laterally wider than the rear tower. The first and second side structures may be fixed to the rear tower at locations where the first and second side structures extend along the first and second inner surfaces of the rear tower. The base plate may be fixed to the base plate at locations where the base plate extends along the lower surface of the base plate.

[0021] In some examples, the lateral support structure may include a downwardly inclined guard plate extending forwardly from a rear end of the bridge frame. The guard plate may extend at least partially between the power source and the one or more working group actuators.

[0022] According to some aspects of the present disclosure, a power machine may include a multi-piece frame. The multi-piece frame may include a bridge frame and a base frame. The bridge frame may include a first side structure, a second side structure, and a bridge structure extending between upper ends of the first side structure and the second side structure. The base frame may include a base plate and a rear tower. The base frame may be removably fixed to the bridge frame along the base plate and the rear tower to support a power source of the power machine relative to the bridge frame. The bridge frame may support multiple working group actuators and drive assemblies of the power machine relative to the base frame.

[0023] In some examples, the first and second side structures of the bridge frame may be nested into the rear tower of the base frame.

[0024] In some examples, the base frame can be removably secured beneath the bridge frame to align the power source for removal through one or more (e.g., both) of the bottom or rear sides of the base frame when the power source is supported by the base frame.

[0025] According to some aspects of the present disclosure, a method for a power machine may include removing a first power source from the power machine by removing a first base frame supporting the power source from a bridge frame that pivotally supports a work group actuator and drive assembly of the power machine. After removing the first power source, one of the first base frame or a second base frame may be secured to the bridge frame, wherein the second power source is supported by one of the first base frame or the second base frame.

[0026] In some examples, the first base frame and the second base frame can be configured to be secured along a bottom side of the bridge frame to support the power source within the interior volume of the bridge frame.

[0027] In some examples, the first power source and the second power source may be electrical power sources configured for hot-swap engagement with a powertrain of the power machine.

[0028] According to some aspects of the present disclosure, a multi-piece frame for a power machine may include a bridge frame and a base frame. The bridge frame may include a first side structure, a second side structure, and a bridge structure extending between the upper ends of the first side structure and the second side structure. The bridge frame may include a plurality of mounting members for a plurality of working group actuators and drive assemblies of the power machine to support the working group actuators and drive assemblies relative to the base frame. The base frame may include a base plate and a rear tower. The base frame may be configured to be fixed to the bridge frame along the base plate and the rear tower to support the power source relative to the bridge frame.

[0029] According to some aspects of the present disclosure, a method of assembling a power machine may include mounting a power source to a base frame, pivotably mounting a work group actuator and a drive assembly to a bridge frame, and securing the base frame to the bridge frame.

[0030] According to some aspects of the present disclosure, a method for disassembling a power machine may include removing a power source from the power machine by removing a base frame supporting the power source from a bridge frame that pivotably supports a work unit actuator and drive assembly of the power machine.

[0031] According to some aspects of the present disclosure, a frame for a power machine may include a bridging frame. The bridging frame may include a first side structure, a second side structure, and a bridging structure. The first side structure may be configured to operatively support a first drive assembly of the power machine and one or more first pivot mounts for a lifting arm structure of the power machine. The second side structure may be configured to operatively support a second drive assembly of the power machine and one or more second pivot mounts for a lifting arm structure of the power machine. The bridging structure may extend between the upper ends of the first side structure and the second side structure to define, in combination with the first side structure and the second side structure, an internal volume configured to receive a power source of the power machine. The internal volume may be open along the bottom side of the bridging frame.

[0032] According to some aspects of the present disclosure, a loader may include a main frame, a traction element supported by the main frame, and a lift arm structure, the lift arm structure being coupled to the main frame and movable between a fully lowered position and a fully raised position. The lift arm structure may include a lift arm, a connecting link, a lift actuator, and an extension actuator. When the lift arm is in the fully lowered position, the lift arm may have a first end positioned in front of a second end (e.g., as defined by the front-to-back axis of the main frame relative to the traction movement, or as defined by the front of the extension direction of the lift arm from fully retracted to fully extended). The first end of the lift arm may define a pivot connection for a machine. The connecting link may have a first end pivotally coupled to the main frame at a connecting link pivot point and a second end pivotally coupled to the second end of the lift arm at a lift arm pivot point. The lift actuator may be configured to pivot the lift arm relative to the main frame and the connecting link about the lift arm pivot point. The extend actuator may be configured to pivot the connecting link about the connecting link pivot point to move the connecting link and the lift arm relative to the main frame.

[0033] In some examples, the lift actuator may be pivotally coupled to one of the main frame or the connecting link at a first end and pivotally coupled to the lift arm at a second end. The lift actuator may be configured to move between a retracted position and an extended position to pivot the lift arm about a lift arm pivot point to move the implement relative to the main frame. The extend actuator may be pivotally coupled to the main frame at a first end and pivotally coupled to the connecting link at a second end. The extend actuator may be configured to move between a retracted position and an extended position to pivot the connecting link about a connecting link pivot point to move the lift arm relative to the main frame.

[0034] In some examples, the connecting link pivot point may be at a lower elevation on the main frame than one or more of the first end of the lift actuator or the first end of the extend actuator.

[0035] In some examples, the first end of the lift actuator may be positioned forward of the second end of the lift actuator and rearward of the second end of the lift actuator.

[0036] In some examples, the first end of the extend actuator may be positioned at a lower height and forward of the first end of the lift actuator.

[0037] In some examples, the second end of the extend actuator may be at a lower height than the second end of the lift actuator for any position of the lift arm structure between the fully lowered position and the fully raised position relative to the vertical direction.

[0038] In some examples, the first end of the lift actuator and the first end of the extend actuator may be pivotally secured to the frame below the lift arm with the lift arm in the fully lowered position.

[0039] In some examples, the second end of the extend actuator may be positioned rearward of the second end of the lift actuator when the lift arm is in the fully lowered position.

[0040] In some examples, the lift arm structure may further include a tilt system configured to pivot the implement about the pivot connection. The tilt system may include a tilt actuator configured to extend and retract to rotate the implement relative to the lift arm.

[0041] According to some aspects of the present disclosure, a loader may include: a main frame, a lifting arm structure, and a control system. The lifting arm structure may be coupled to the main frame and may be movable between a fully lowered position and a fully raised position. The lifting arm structure may include a lifting arm pivotally supported relative to the main frame, and an actuator arranged to move the lifting arm structure between the fully lowered position and the fully raised position. The control system may include an electronic controller configured to receive a command input indicating a target movement of the lifting arm and provide a corresponding output to control the one or more actuators. The electronic controller may be configured to selectively operate in a radial lifting mode and a non-radial lifting mode, in which the control system controls the actuator based on the command input to move the lifting arm along a radial lifting path, and in which the control system controls the actuator based on the command input to move the lifting arm along a non-radial lifting path.

[0042] In some examples, the lift arm may include an implement pivot point at a first end, the first pivot point may be configured to support an implement. The lift arm structure may include a connecting link that pivotally supports the lift arm relative to a frame. The actuator may include a lift actuator pivotally secured to the lift arm and an extension actuator pivotally secured to the connecting link. The electronic controller may be configured to collectively control the lift actuator and the extension actuator to move the implement pivot point of the lift arm to any point within a lift envelope of the lift arm. The lift envelope may be defined by a plurality of boundaries that define a volume or area in space relative to a main frame of the loader.

[0043] In some examples, the retraction boundary may be defined by a first path of the implement pivot point when the lift actuator moves between a fully extended position and a fully retracted position with the extend actuator at a first extension length.

[0044] In some examples, the extension boundary may be defined by a second path of the implement pivot point arm when the lift actuator moves between the fully extended position and the fully retracted position with the extend actuator at the second extension length.

[0045] In some examples, the lower boundary may be defined by a third path of the implement pivot point when the extend actuator moves between a fully extended position and a fully retracted position with the lift actuator at the first lift length.

[0046] In some examples, a fourth path of the implement pivot point when the extend actuator moves between the fully extended position and the fully retracted position with the lift actuator at the second lift length may define the upper boundary.

[0047] In some examples, at least a portion of the retract boundary may be defined such that the first extension length of the extend actuator is a minimum arm extension position of the extend actuator. In some examples, a portion of the retract boundary may be defined by the extend actuator being in different positions.

[0048] In some examples, at least a portion of the extension boundary may be defined such that the second extension length of the extend actuator is a maximum arm extension position of the extend actuator.

[0049] In some examples, for a given extension of the lift actuator, movement of the extend actuator between the fully extended position and the fully retracted position may cause the implement pivot point to move along a corresponding extension path within the lift envelope. Different extensions of the lift actuator may provide different curvatures for the corresponding extension paths (e.g., a first curvature for a first lift actuator length, a second curvature for a second lift actuator length, etc.).

[0050] In some examples, for a given extension of the lift actuator, movement of the lift actuator between the fully extended position and the fully retracted position can cause the implement pivot point to move along a corresponding lift path within the lift envelope. Different extensions of the extend actuator can provide different curvatures for the corresponding lift paths (e.g., a first curvature for a first extend actuator length, a second curvature for a second extend actuator length, etc.).

[0051] In some examples, the electronic control system may be configured to limit movement of the implement pivot point to an operating envelope within the lift envelope (eg, smaller than the operating envelope along a plurality of boundaries).

[0052] In some examples, the electronic control system may be configured to simultaneously control the lift actuator and the extend actuator to selectively move the implement pivot point in a vertical direction and in a horizontal direction.

[0053] Some aspects of the present invention may provide a method for operating a loader. A command input indicative of a target movement of a lift arm may be received. The lift arm may be pivotally supported relative to a main frame of the power machine and may be included in a lift arm structure, the lift arm structure also comprising an actuator arranged to move the lift arm structure between a fully lowered position and a fully raised position. The actuator may be selectively controlled in a radial lift mode and a non-radial lift mode. In the radial lift mode, the actuator may be controlled based on the command input to move the lift arm along a radial lift path. In the non-radial lift mode, the actuator may be controlled based on the command input to move the lift arm along a non-radial lift path.

[0054] In some examples, the lift arm structure may further include a connecting link pivotally coupled to a main frame of the power machine and the lift arm to pivotally support the lift arm relative to the main frame.

[0055] In some examples, the actuator may include a lift actuator pivotally coupled to the lift arm and an extend actuator pivotally coupled to the connecting link. Selectively controlling the actuator may include (e.g., in one or more radial or non-radial lift modes): moving the lift actuator between a retracted position and an extended position to pivot the lift arm relative to the connecting link; and moving the extend actuator between a retracted position and an extended position to pivot the connecting link relative to the main frame.

[0056] In some examples, a power machine may include a frame and a lift arm movably coupled relative to the frame. In particular, the lift arm may be configured to move the implement to any point within a lift envelope, which may include upward, downward, or fore-and-aft movement of the implement relative to the frame. To cause such movement, the lift arm may be pivotally coupled to a connecting link, which in turn may be pivotally coupled to the frame. An extend actuator may extend between the frame and the connecting link, and a lift actuator may extend between the frame and the lift arm, such that coordinated operation of one or both of the extend actuator and the lift actuator may move the lift arm to position the implement within the lift envelope.

[0057] According to some aspects of the present disclosure, a loader may include a main frame having a front end opposite to a rear end, and a lifting arm structure coupled to the main frame. The lifting arm structure may move between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position). The lifting arm structure may include a lifting arm and a connecting link. When the lifting arm is in the fully lowered position, the lifting arm may have a first end positioned in front of a second end. The connecting link may have a first end and a second end, the first end being pivotally coupled to the main frame at a connecting link pivot point, and the second end being pivotally coupled to the second end of the lifting arm to define a lifting arm pivot point. The lifting arm structure may also include a lifting actuator, which may be pivotally coupled to the main frame at a first end and pivotally coupled to the lifting arm at a second end. The lifting actuator may be configured to move between a retracted position and an extended position so that the lifting arm pivots around the lifting arm pivot point so as to move the lifting arm relative to the main frame and the connecting link. The lift arm structure may also include an extension actuator that may be pivotally coupled to the main frame at a first end and pivotally coupled to the connecting link at a second end (e.g., between the first end and the second end). The extension actuator may be configured to move between a retracted position and an extended position to pivot the connecting link about a connecting link pivot point, thereby moving the lift arm relative to the main frame.

[0058] According to some aspects of the present disclosure, a loader may include a main frame having a front end opposite to a rear end, and a lifting arm structure coupled to the main frame. The lifting arm structure may be movable between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position). The lifting arm structure may include a lifting arm and a connecting link. When the lifting arm is in the fully lowered position, the lifting arm may have a first end positioned in front of the second end. The first end of the lifting arm may define a pivot connection. The connecting link may have a first end and a second end, the first end being pivotally coupled to the main frame at a connecting link pivot point, and the second end being pivotally coupled to the second end of the lifting arm to define a lifting arm pivot point. The lifting arm structure may also include: a lifting actuator configured to pivot the lifting arm relative to the main frame about the lifting arm pivot point; and an extension actuator configured to pivot the connecting link about the connecting link pivot point (e.g., to move the lifting arm relative to the main frame).

[0059] According to some aspects of the present disclosure, a lifting arm structure is provided, which can be configured to be operably supported on a loader having a main frame. The lifting arm structure can include a lifting arm having a first end and a second end, and a connecting link. The connecting link can have a first end and a second end, the first end being pivotally connected to the main frame at a connecting link pivot point, and the second end being pivotally connected to the second end of the lifting arm to define a lifting arm pivot point. The lifting arm structure can also include: a lifting actuator, the lifting actuator can be configured to pivot the lifting arm relative to the connecting link about the lifting arm pivot point; and an extension actuator, the extension actuator can be configured to pivot the connecting link about the connecting link pivot point (for example, to move the lifting arm relative to the main frame). The lifting arm structure can also include a control system having an electronic controller, the electronic controller being configured to receive an input indicating a target movement of the lifting arm and jointly controlling the lifting actuator and the extension actuator to move the first end of the lifting arm to any point within a lifting envelope. The lifting envelope can be defined by an inner boundary, an outer boundary, a lower boundary, and an upper boundary. The inner boundary may be defined by a first path of the lift arm when the lift actuator moves between a fully extended position and a fully retracted position, inclusive. The outer boundary may be defined by a second path of the lift arm when the lift actuator moves between a fully extended position and a fully retracted position, inclusive. The lower boundary may be defined by a third path of the lift arm when the extend actuator moves between a fully extended position and a fully retracted position, inclusive. The upper boundary may be defined by a fourth path of the lift arm when the extend actuator moves between a fully extended position and a fully retracted position, inclusive.

[0060] According to some aspects of the present disclosure, a loader may include a main frame having a front end opposite to a rear end, and a lifting arm structure coupled to the main frame. The lifting arm structure may be movable between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position). The lifting arm structure may include a lifting arm and a connecting link. When the lifting arm is in the fully lowered position, the lifting arm may have a first end positioned in front of the second end. The first end of the lifting arm may define a pivot connection. The connecting link may have a first end and a second end, the first end being pivotally coupled to the main frame at a connecting link pivot point, and the second end being pivotally coupled to the second end of the lifting arm to define a lifting arm pivot point. A lifting actuator may be configured to pivot the lifting arm relative to the main frame about the lifting arm pivot point. An extension actuator may be configured to pivot the connecting link about the connecting link pivot point so that the first end of the lifting arm moves between a minimum arm extension position closest to the frame and a maximum arm extension position farthest from the frame. The minimum arm extension position of the extend actuator may be one of the fully extended position or the fully retracted position of the extend actuator, and the maximum arm extension position of the extend actuator may be the other of the fully retracted position or the fully extended position of the extend actuator.

[0061] According to some aspects of the present disclosure, a loader may include a main frame having a front end opposite to a rear end, and a lifting arm structure coupled to the main frame. The lifting arm structure may be movable between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position). The lifting arm structure may include a lifting arm and a connecting link. When the lifting arm is in the fully lowered position, the lifting arm may have a first end positioned in front of a second end. The first end of the lifting arm may be configured to be operably coupled to the tool carrier at a tool carrier pivot point. The connecting link may have a first end and a second end, the first end being pivotally coupled to the main frame at the connecting link pivot point, and the second end being pivotally coupled to the second end of the lifting arm to define a lifting arm pivot point. In the fully lowered position and the fully raised position, the lifting arm pivot point may be positioned behind the connecting link pivot point. A lifting actuator may be configured to pivot the lifting arm around the lifting arm pivot point so that the tool carrier moves relative to the main frame. The extend actuator may be configured to pivot the connecting link about the connecting link pivot point and move the lift arm and implement carrier relative to the main frame.

[0062] The loader may also include a tilting system that may be configured to pivot the implement carrier around the implement carrier pivot point. The tilting system may include a rocker link, a tilt link, and a tilt actuator. The rocker link may include a first pivot point, a second pivot point, and a third pivot point. The rocker link may be pivotally coupled to the lift arm at the first pivot point. The tilt link may have a first end pivotally coupled to the rocker link at the second pivot point and a second end pivotally coupled to one of the implement carrier or the lift arm. The tilt actuator may have a first end pivotably coupled to the other of the implement carrier or the lift arm, and a second end pivotably coupled to the rocker link at the third pivot point. The tilt actuator may be configured to extend and retract to pivot the rocker link around the first pivot point. The pivoting of the rocker link may cause the implement carrier to rotate around the implement carrier pivot point via the tilt link.

[0063] According to some aspects of the present disclosure, a loader may include a main frame having a front end opposite to a rear end, and a lifting arm structure coupled to the main frame. The lifting arm structure may be movable between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position). The lifting arm structure may include a lifting arm and a connecting link. The lifting arm may have a first end, and when the lifting arm is in the fully lowered position, the first end is positioned in front of the second end. The first end of the lifting arm may be configured to be operably coupled to a machine carrier. The connecting link may have a first end and a second end, the first end being pivotally coupled to the main frame at a connecting link pivot point, and the second end being pivotally coupled to the second end of the lifting arm to define a lifting arm pivot point. The lifting arm structure may also include a lifting actuator and an extending actuator. The lifting actuator may be pivotally coupled to one of the main frame or the connecting link at a first end, and pivotally coupled to the lifting arm at a second end. The lift actuator may be configured to move between a retracted position and an extended position to pivot the lift arm about a lift arm pivot point to move the implement carrier relative to the main frame. The extend actuator may be pivotally coupled to the main frame at a first end and pivotally coupled to the connecting link at a second end. The extend actuator may be configured to move between a retracted position and an extended position to pivot the connecting link about a connecting link pivot point to move the lift arm and the implement carrier relative to the main frame.

[0064] According to some aspects of the present disclosure, a loader may include a main frame, a lifting arm structure, and a control system. The lifting arm structure may be coupled to the main frame and may be movable between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position), the lifting arm structure including a lifting arm pivotally supported relative to the main frame, and one or more actuators arranged to move the lifting arm structure between the fully lowered position and the fully raised position. The control system may include an electronic controller configured to receive an input indicating a target movement of the lifting arm and provide a corresponding output to control one or more actuators. The electronic controller may be configured to selectively operate in either a radial lifting mode and a non-radial lifting mode in response to a first operator input, in which the control system controls one or more actuators based on the first operator input to move the lifting arm along a radial lifting path, and in which the control system controls the one or more actuators to move the lifting arm along a non-radial lifting path.

[0065] According to some aspects of the present disclosure, a loader may include a main frame, a power source supported by the main frame, a traction assembly supporting the main frame and powered by the power source, and a lifting arm structure. The lifting arm structure may be coupled to the main frame and may be movable between a fully lowered position and a fully raised position (including the fully lowered position and the fully raised position), the lifting arm structure comprising a lifting arm pivotally supported relative to the main frame, and one or more actuators arranged to move the lifting arm structure between the fully lowered position and the fully raised position. The lifting arm structure (e.g., the lifting arm) may extend from the rear of the main frame to the front of the main frame along at least one (e.g., two opposite) lateral sides of the main frame. The main frame may not include an operator station for a human operator (i.e., such an operator station may not be included).

[0066] The Summary and Abstract are provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. The Summary is not intended to identify key features or essential features of the claimed subject matter, nor are they intended to be used as an aid in determining the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 is a block diagram illustrating the functional systems of a representative power machine upon which embodiments of the present disclosure may be advantageously practiced.

[0068] Figures 2 to 3 A perspective view of a representative power machine in the form of a track loader of the type upon which the disclosed embodiments may be practiced is shown.

[0069] Figure 4 The diagram shows that Figures 2 to 3 A block diagram of components of a power system for a loader such as the loader shown in FIG.

[0070] Figure 5 are front, right and top perspective views of a loader including a lift arm structure operably supported on a frame according to aspects of the present disclosure.

[0071] Figure 6 yes Figure 5 Front, left and top perspective views of a loader.

[0072] Figure 7 yes Figure 5 A top plan view of a loader.

[0073] Figure 8 yes Figure 5 A right side elevation view of a loader including schematically illustrating an alternative actuator arrangement for a lift arm structure.

[0074] Fig. 9 yes Figure 5 Rear, right and top perspective views of a loader with a lift arm removed to illustrate an actuator configured to move the lift arm relative to a frame.

[0075] Fig.10 yes Figure 5 A partial schematic diagram and a cross-sectional view of a loader, which is composed of Figure 7 Intercepted at line 10-10.

[0076] Fig.11 is a perspective view of an actuator for a lift arm structure.

[0077] Fig.12 The diagram shows Figure 5 Schematic diagram of the lifting envelope of a loader.

[0078] Fig.13 is a schematic diagram illustrating certain alignments of the pivot joints of a lift arm according to aspects of the present disclosure.

[0079] Fig.14 yes Figure 5 Front, right and top perspective views of another configuration of a loader including a lift arm structure with a bridging structure according to aspects of the present disclosure.

[0080] Fig.15 yes Fig.14 A cross-sectional view of a loader, taken along the sagittal plane along the centerline of the loader.

[0081] Fig.16 yes Fig.14 A top side cross-sectional view of a bridge structure of the loader, taken along a plane parallel to the top surface of the lift arms of the loader and passing through the pivot joint between the bridge structure and the two lift actuators of the loader.

[0082] Fig.17 yes Fig.14 Another top side cross-sectional view of the bridge structure of the loader, taken along a horizontal plane passing through the pivot joint between the bridge structure and the tilt actuator of the loader.

[0083] Fig.18 is a top side cross-sectional view of the actuator, taken along a plane parallel to the top surface of the lift arm of the loader and passing through the pivot joint between the lift arm and the tilt actuator.

[0084] Fig.19 yes Fig.14 A top plan view of a loader, with a detailed cross-section taken along a horizontal plane through the pivot joint between the inner and outer support plates of the lift arm and the connecting link.

[0085] Fig. 20 yes Fig.14 A top side cross-sectional view of a loader showing Fig.19 The figure is taken along a plane parallel to the top surface of the lift arm of the loader.

[0086] Fig.21 yes Fig.14 A top side cross-sectional view of a loader, taken along a plane parallel to the top surface of a lift arm of the loader and passing through a torsion member of the lift arm structure.

[0087] Fig. 22 yes Fig.14 A top plan cross-sectional view of a loader, the figure being along the Fig.21 A cross-sectional view of FIG. 1 is taken showing a detailed horizontal cross-sectional view of the pivot joint between the connecting link and the frame.

[0088] Fig.23 It includes a bridge frame and a base frame. Fig.14 Front, top isometric view of an example multi-piece frame of a loader.

[0089] Fig.24 yes Fig.23 Bottom, front perspective view of the frame.

[0090] Fig.25 is a rear, top isometric view of the bridge frame.

[0091] Fig.26 yes Fig.25 Rear, bottom isometric view of the bridge frame of the .

[0092] Fig. 27 is a top, front isometric view of the base frame.

[0093] Fig.28 yes Fig.23 A cross-sectional view of a frame of the embodiment of the present invention is taken along a vertical plane passing through the frame between the first side box structure and the central tower.

[0094] Fig.29 yes Fig.23 A cross-sectional view of a frame of the embodiment of the present invention is taken along a vertical plane passing through the drive sprocket axis extending between the first side box structure and the second side box structure.

[0095] Fig.30 yes Fig.23 A cross-sectional view of a frame taken along a vertical plane passing through the frame between the first side box structure and the outer side wall of the battery assembly.

[0096] Fig.31 yes Fig.14 A rear, bottom, right side isometric view of a loader with the base frame and power source removed. DETAILED DESCRIPTION

[0097] Before explaining any embodiment of the present disclosure in detail, it should be understood that the application of the present invention is not limited to the details of the construction and component arrangement set forth in the following description or shown in the following drawings. The present invention can have other embodiments and can be implemented or executed in various ways. In addition, it should be understood that the words and terms used herein are for descriptive purposes and should not be considered restrictive. The use of "including", "comprising" or "having" and its variations herein is meant to cover the terms listed thereafter and their equivalents as well as additional terms. Unless otherwise specified or limited, the terms "mount", "connect", "support" and "couple" and their variations are used in a broad sense and cover both direct and indirect mounting, connection, support and coupling. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings unless so identified.

[0098] As used herein, unless otherwise defined or limited, ordinal numbers are used herein for ease of reference, generally based on the order in which particular components are presented for relevant portions of the disclosure. In this regard, for example, designations such as "first," "second," and the like generally indicate only the order in which relevant components are introduced for discussion, and generally do not indicate or require a particular spatial arrangement, functional or structural primacy or order.

[0099] Also as used herein, unless otherwise defined or limited, directional terms are used to facilitate discussion with reference to a particular figure or example, or to indicate a spatial relationship relative to a particular other component or context, but are not intended to indicate an absolute orientation. For example, references to downward, forward, or other directions, or to the top, rear, or other positions (or features) may be used to discuss aspects of a particular example or figure, but similar orientations or geometries are not necessarily required in all installations or configurations. In some cases, reference to the front of a power machine may specifically refer to the side of the power machine where the implement (e.g., bucket) is located when the implement is in a fully lowered or other stationary position. Accordingly, in some cases, a forward direction may indicate a direction toward that particular side.

[0100] As also used herein, unless otherwise limited or defined, "substantially parallel" means a direction within ±12 degrees (e.g., within ±6 degrees or ±3 degrees) of a reference direction, including the end values. Accordingly, "substantially vertical" means a direction substantially parallel to the vertical direction, as defined relative to a reference system (e.g., for a power machine, as defined relative to a horizontal support surface on which the power machine is operably located), and similar derivative meanings are also provided for "substantially horizontal." "Substantially non-horizontal" means a direction that is substantially non-parallel to the horizontal direction, as defined relative to a reference system. In particular, for a power machine, horizontal is defined relative to a horizontal support surface on which the power machine is operably located. A linear path is substantially parallel to a reference direction if the straight line between the endpoints of the path is substantially parallel to the reference direction or the mean derivative (i.e., the average local slope) of the path within a common reference system because the reference direction is substantially parallel to the reference direction.

[0101] The present disclosure provides an improved lift arm structure that can allow the end of the lift arm (e.g., the end configured to support the implement relative to the frame) to move along various travel paths within the lift envelope, between a fully raised position and a fully lowered position. Accordingly, the operating characteristics of the lift arm (e.g., the end of the lift arm configured to operably support the implement) can be positioned at any point within the lift envelope and can allow for a greater maximum lift height (e.g., the maximum height of the implement relative to a supporting surface (e.g., the ground)) than conventional designs. In addition, some examples can achieve these or other improved aspects of lift arm operation while also maintaining or reducing the headroom height of the power machine (i.e., the maximum height of the power machine when the lift arm is in the fully lowered position).

[0102] Generally, a lift arm structure as disclosed herein may include a multi-component lift arm structure having a plurality of actuators that may individually and cooperatively move the links of the multi-component structure. Thus, more useful and extensive lift arm movements may be performed than is possible with conventional designs.

[0103] For example, some lifting arm structures according to the present disclosure may include a lifting arm and a connecting link supported by a frame and configured to move relative to the frame. More specifically, the lifting arm can extend from a first end (e.g., in a front-to-rear direction) to a second end, the first end can be pivotally connected to the connecting link at a lifting arm pivot point, and the second end can be configured to be operably connected to a machine (e.g., via a machine carrier at a machine carrier pivot point). The lifting arm can pivot between a lowered position (e.g., a minimum height position) and a raised position (e.g., a maximum height position) around the lifting arm pivot point. The movement of the lifting arm can cause the lifting arm (e.g., the second end of the lifting arm) to move along a travel path (e.g., an arcuate lifting path) to move in a substantially vertical direction. The specific shape of the travel path can vary depending on the front-to-rear position of the lifting arm relative to the frame.

[0104] Next, a first end of the connecting link may be pivotally coupled to the frame at a connecting link pivot point (e.g., at a rear end thereof), and a second end of the connecting link may be pivotally coupled to the lift arm at a lift arm pivot point. The connecting link may pivot about the connecting link pivot point to move the lift arm generally in a fore-and-aft direction between a forward position (e.g., an extended position) and a rearward position (e.g., a retracted position). Thus, pivotal movement of the connecting link may cause the lift arm (e.g., the second end of the lift arm) to move along a path of travel (e.g., an extended path). The specific shape of the path of travel caused by movement of the connecting link may vary depending on the position of the lift arm between the lowered position and the raised position, but may generally cause some fore-and-aft and up-and-down (e.g., a combination of vertical and horizontal) movement of the second end of the lift arm.

[0105] In this arrangement, movement of the lift arm and the connecting link about their respective pivot points can be facilitated by extension and retraction of an actuator (e.g., an electric actuator). For example, the lift actuator can be pivotally coupled to the frame of the power machine at a first end (e.g., between a first end and a second end of the lift arm) and pivotally coupled to the lift arm at a second end. The lift actuator can move between a fully retracted position (e.g., a minimum extended position) and a fully extended position (e.g., a maximum extended position) to pivot the lift arm between a lowered position and a raised position. For example, the lift arm can be in a lowered position when the lift actuator is in a fully retracted position, and the lift arm can be in a raised position when the lift actuator is in a fully extended position. Similarly, the extension actuator can be pivotally coupled to the frame of the power machine at a first end and pivotally coupled to the connecting link at a second end. Depending on the relative (e.g., fore-aft) positions of the extend actuator and the connecting link, the connecting link may be in a fully forward position when the extend actuator is in a fully retracted position, and the lift actuator may be in a fully rearward position when the lift actuator is in a fully extended position, or vice versa. In some cases, the extend actuator and the lift actuator may be arranged such that lines extending between the first and second ends of each actuator do not intersect each other for any position within the range of positions of the lift arm structure when geometrically projected onto a vertical center plane extending in the fore-aft direction of the power machine.

[0106] Depending on the relative pivotal movement of the lift arm and the connecting link, the lift envelope of the lift arm structure can have a curved, generally quadrilateral shape. In particular, the lift envelope can be defined by a rearward (or retracted) boundary, a forward (or extended) boundary, a lower boundary, and an upper boundary, as can be defined by different combinations of actuator orientations. In some cases, the rearward boundary can be defined by a first path of the lift arm, which is defined by moving the lift actuator between a fully extended position and a fully retracted position (e.g., moving the lift arm between a lowered position and a raised position), wherein the connecting link is in a fully rearward position. In some cases, the forward boundary can be defined by a second path of the lift arm, which is defined by moving the lift actuator between a fully extended position and a fully retracted position (e.g., moving the lift arm between a lowered position and a raised position), wherein the connecting link is in a fully forward position. In some cases, the lower boundary can be defined by a third path of the lift arm defined by moving the extend actuator between a fully extended position and a fully retracted position (e.g., moving the lift arm between a retracted position and an extended position), wherein the lift arm is in a lowered position. In some cases, the upper boundary can be defined by a fourth path of the lift arm defined by moving the extend actuator between a fully extended position and a fully retracted position (e.g., moving the lift arm between a retracted position and an extended position), wherein the lift arm is in a raised position.

[0107] In some embodiments, the fully raised position of the lift arm structure may correspond to the lift arm being positioned in a fully raised position and a fully extended position, and the fully lowered position of the lift arm structure may correspond to the lift arm being positioned in a fully lowered position and a fully retracted position. In other embodiments, the fully lowered or fully raised position of the lift arm structure may be different. Similarly, although travel within the full lift envelope is possible for certain example linkage arrangements and actuator arrangements, in some cases limitations may be imposed on such travel (e.g., this is achieved by a controller limiting the range of motion of one or more actuators). For example, in order to prevent potential contact with the lift arm or a machine supported by the lift arm, the actuator of the lift arm may not be fully retracted despite a command to fully lower the lift arm. Therefore, the lift arm structure may be configured to move within an operating envelope (e.g., which is smaller than the lift envelope).

[0108] In some cases, a controller (e.g., an electronic controller) may be provided to control movement along various types of travel paths within a lifting envelope (e.g., an operating envelope). The controller may be configured to receive an input (e.g., an operator input) indicating a target movement of the lifting arm, and jointly control the lifting actuator and the extension actuator to move the lifting arm (e.g., along a calculated travel path between a starting point and an end point) to any point within the lifting envelope. Accordingly, the travel path may include any of the (mainly) upward, downward, or forward and backward movements of the end of the lifting arm relative to the frame of the power machine. In some cases, the travel paths may be substantially (e.g., vertical or horizontal) straight, or they may be curved. In this regard, in some embodiments, the controller may include a locking function to limit the movement of the lifting arm along a travel path defined by fully extending the lifting actuator at a given extension of the extension actuator (e.g., a lifting path), or along a travel path defined by fully extending and retracting the extension actuator at a given extension of the lifting actuator (e.g., an extension path). In some embodiments, the controller may be configured to operate in a Cartesian mode in which the lift actuator and the extend actuator may be controlled simultaneously to cause, for example, pure vertical or pure horizontal movement of the lift arm relative to the frame of the loader.

[0109] In some embodiments, the lift arm structure may include a tilt system configured to adjust the posture of an implement (e.g., an implement carrier) relative to the lift arm. For example, the lift arm structure may include an implement carrier configured to support an implement on the lift arm, the implement carrier may be pivotally coupled to the second end of the lift arm at the implement carrier pivot point. To pivot the implement carrier, the tilt system may be configured as a bell crank system, the bell crank system including a rocker link defining a first, second, and third pivot points. The rocker link may be pivotally coupled to the lift arm at a first pivot point. The tilt link may extend between the rocker link and the implement carrier, wherein a first end of the tilt link is pivotally coupled to the rocker link at a second pivot point, and a second end of the tilt link is pivotally coupled to the implement carrier. A tilt actuator may extend between the rocker link and the lift arm, wherein a first end of the tilt actuator is pivotally coupled to the lift arm, and a second end of the tilt actuator is pivotally coupled to the rocker link at a third pivot point. Thus, actuation of the tilt actuator may change the attitude of the implement via driven movement of the rocker link and the tilt link.

[0110] In some embodiments, the positions of the tilt links and tilt actuators can be swapped, for example, such that the tilt actuator extends between the rocker link and the implement carrier, and such that the tilt link extends between the rocker link and the lift arm. In either case, the tilt actuator can be configured to move between a fully extended position and a fully retracted position to pivot the implement carrier about the implement carrier pivot point.

[0111] In some embodiments, it may be advantageous to position the tilt system generally above the lift arm because clearance below the lift arm may be increased, for example, to accommodate any lift or extend actuators. Additionally, where the tilt link extends between the rocker link and the lift arm, positioning the tilt system generally above the lift arm may help protect the tilt actuator from damage during operation. For example, in the fully lowered position of the lift arm structure, the tilt actuator may be positioned generally above and behind the other components of the tilt system such that the rocker link and the tilt link extend between the tilt actuator and the implement carrier. Additionally, in some cases, with the lift arm structure fully lowered, the tilt actuator may be oriented (e.g., substantially horizontally) such that the axis of extension of the tilt actuator is oriented to not intersect the implement carrier for any position of the lift arm structure.

[0112] As mentioned above and discussed further below, some embodiments may be particularly suitable for implementation on a mini loader. As used herein, a "mini loader" refers to a power machine that is smaller than traditional compact construction equipment. One specific form of a mini loader includes an operator station that is located at or near a rear portion of the loader and can be accessed from the rear of the loader. More specifically, a mini loader typically does not have a cab or operator compartment in which an operator can sit while operating the loader.

[0113] The concepts described herein can be practiced on a variety of power machines, as will be described below. Figure 1 A representative power machine on which embodiments may be practiced is illustrated in diagram form, and prior to disclosing any embodiments, Figures 2 to 3 An example of such a power machine is illustrated in FIG. 1 and described below. For the sake of brevity, only one power machine is illustrated and discussed as a representative power machine. However, as mentioned above, the embodiments below may include Figures 2 to 3 The representative power machine shown in the figure can be practiced on any of a plurality of power machines of different types of power machines. For the purpose of this discussion, the power machine includes a frame, at least one working element, and a power source that can provide power to the working element to complete the work task. One type of power machine is a self-propelled working vehicle. A self-propelled working vehicle is a type of power machine that includes a frame, a working element, and a power source that can provide power to the working element. At least one of the working elements is a starting system for moving the power machine under power. Some embodiments disclosed herein can be particularly advantageously implemented on a power machine configured as a mini loader. In particular, some embodiments can be particularly advantageously implemented on a cabless mini loader (e.g., a mini loader without an operator station or platform), including a remotely operated or semi-automatic or fully automatic mini loader, which can be configured to operatively support various implements on a lifting arm.

[0114] Figure 1 1 is a block diagram illustrating the basic systems of a power machine 100 , which is representative of any of a number of different types of power machines into which the embodiments discussed below may be advantageously incorporated. Figure 1 The block diagram of FIG. 1 identifies the various systems on the power machine 100 and the relationships between the various components and systems. As mentioned above, at the most basic level, for the purposes of this discussion, the power machine includes a frame, a power source, and a working element. The power machine 100 has a frame 110, a power source 120, and a working element 130. Figure 1The power machine 100 shown in FIG. 1 is a self-propelled work vehicle, and therefore it also has a traction element 140, which itself is a working element provided for moving the power machine on a supporting surface, and an operator station 150, which provides an operating position for controlling the working element of the power machine. A control system 160 is provided to interact with other systems to perform various work tasks at least in part in response to control signals provided by an operator. For example, the control system 160 can be an integrated or distributed architecture of one or more processor devices and one or more memories, which are collectively configured to receive operator input or other input signals (e.g., sensor data) and output commands for power machine operation accordingly.

[0115] Certain work vehicles have work elements that can perform dedicated tasks. For example, some work vehicles have a lift arm to which an implement, such as a bucket, is attached, for example, by a pinned arrangement. The work element (i.e., the lift arm) can be manipulated to position the implement in order to perform the 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 a work vehicle, the bucket is intended to be attached and in use. Such a work vehicle may be able to receive other implements by disassembling the implement / work element combination and reassembling another implement in place of the original bucket. However, other work vehicles are intended to be used with a wide variety of implements and have, for example, Figure 1 The implement interface 170 shown is an implement interface. At its most basic, the implement interface 170 is a connection mechanism between the frame 110 or work element 130 and the implement, which can be as simple as a connection point for attaching the implement directly to the frame 110 or work element 130, or can be more complex, as discussed below.

[0116] On some power machines, the implement interface 170 may include an implement carrier, which is a physical structure that is movably attached to the working element. The implement carrier has engagement features and locking features to receive any of a plurality of different implements and secure it to the working element. One characteristic of such an implement carrier is that once the implement is attached to the implement carrier, the implement carrier is secured to the implement (i.e., cannot move relative to the implement), and when the implement carrier moves relative to the working element, the implement moves with the implement carrier. The term "implement carrier" as used herein is not just a pivot connection point, but a dedicated device dedicated to receiving and securing to a variety of different implements. The implement carrier itself may be mounted to a working element 130 such as a lift arm or frame 110. The implement interface 170 may also include one or more power sources for providing power to one or more working elements on the implement. Some power machines may have multiple working elements with implement interfaces, each of which may, but need not, have an implement carrier for receiving an implement. Some other power machines may have a working element with multiple implement interfaces so that a single working element can receive multiple implements simultaneously. Each of these implement interfaces may, but need not, have an implement carrier.

[0117] The frame 110 includes a physical structure that can support various other components attached to it or positioned thereon. 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, an excavator can have an upper frame portion that rotates relative to a lower frame portion. Other work vehicles have an articulated frame so that one part of the frame pivots relative to another part to achieve a steering function.

[0118] The frame 110 supports the power source 120, which is configured to provide power to one or more working elements 130 including one or more traction elements 140, and in some cases, the power source is configured to provide power used by the attached machine via the machine interface 170. The power from the power source 120 can be directly provided to any one of the working elements 130, the traction elements 140 and the machine interface 170. Alternatively, the power from the power source 120 can be provided to the control system 160, which in turn selectively provides power to the elements that can use the power to perform the working function. The power source for the power machine typically includes an engine and a power conversion system (such as a mechanical transmission or a hydraulic system) configured to convert the output from the engine (such as an internal combustion engine) into a power form that can be used by the working element. Other types of power sources can be incorporated into the power machine, including a separate power source or a power source combined with an internal combustion engine. The power source can be used to selectively power some or all of the working elements of the power machine, and can usually be charged by the internal combustion engine as needed. Such a power machine is generally referred to as a hybrid vehicle.

[0119] Figure 1 A single working element designated as working element 130 is shown, but each power machine may have any number of working elements. Typically, the working element is attached to the frame of the power machine and can move relative to the frame when performing a working task. In some embodiments, as also discussed above, the working element may include a lifting arm assembly. In some embodiments, the working element may include a mower deck or other similar equipment. In addition, the traction element 140 is a special case of a working element because the working function of the traction element is generally to move the power machine 100 on a supporting surface. The traction element 140 is shown as being separated from the working element 130 because many power machines have additional working elements (e.g., lifting arms, mower decks, implements, etc.) in addition to the traction element, although this is not always the case. The power machine may have any number of traction elements, some or all of which may receive power from the power source 120 to propel the power machine 100. The traction element may be, for example, a track assembly, a wheel attached to an axle, etc. The traction elements may be mounted to the frame such that movement of the traction elements is limited to rotation about an axis (such that steering is accomplished by a sliding action), or alternatively, the traction elements may be pivotally mounted to the frame such that steering is accomplished by pivoting the traction elements relative to the frame.

[0120] The power machine 100 includes an operator station 150, which includes an operating position from which an operator can control the operation of the power machine. In some power machines, the operator station 150 is defined by an enclosed cab or a partially enclosed cab. Some power machines on which the disclosed embodiments can be practiced may not have a cab or a cab of the type described above. For example, a walking loader may not have a cab or a cab, but instead have an operating position that serves as an operator station from which the power machine is properly operated. More generally, power machines other than work vehicles may have an operator station that is not necessarily similar to the operating position and cab mentioned above. In addition, instead of an operator station adjacent to or located on the power machine, or in addition to an operator station adjacent to or located on the power machine, some power machines (such as the power machine 100, etc.) (whether or not they have a cab or an operator position) may also be able to be remotely operated (i.e., operated from a remotely located operator station). This may include applications in which at least some of the operator control functions of the power machine may be operated from an operating position associated with an implement coupled to the power machine. Alternatively, in the case of some power machines, a remote control device may be provided (i.e., remote from both the power machine and any implement coupled thereto) that may control at least some of the operator control functions on the power machine.

[0121] Figures 2 to 3 The figure shows a loader 200, which is Figure 1 A specific example of a power machine of the type illustrated in Figure 2 in which the embodiments discussed below may be advantageously employed is shown. The loader 200 is a track loader, and more specifically, a mini loader. Consistent with the definition, for purposes of this discussion, a mini loader is a mini loader relative to other compact loaders, such as conventional skid steer loaders and compact track loaders. As discussed above, particular mini loaders do not have an operator cab or cabin, but rather may be operated from an operator station located at or near the rear of the loader. Figures 2 to 3 The embodiment shown in is a mini loader without an operator's cab that can be operated from an operator's station at the rear of the loader. Some mini loaders have a platform that the operator can ride on. Other mini loaders can be operated by an operator who walks behind the loader. Still other mini loaders have a movable or removable platform to allow the operator to ride on the platform or walk behind the loader instead. Loader 200 is an example of a dual track crawler loader. In some embodiments, these types of mini loaders can also be wheel loaders.

[0122] Loader 200 is Figure 1 1 and discussed above. To this end, the features of the loader 200 described below include generally similar Figure 1 100. For example, the loader 200 is described below as having a frame 210, just as the power machine 100 has a frame 110. The crawler loader 200 is described herein to provide a reference to the environment in which the embodiments of the operator controller described below can be practiced. The loader 200 should not be considered restrictive, especially for the features that the loader 200 described herein may have, which are not necessary in the disclosed embodiments. Such features may or may not be included in power machines other than the loader 200 on which the embodiments disclosed below can be advantageously practiced. Unless otherwise specifically noted, the embodiments disclosed below can be practiced on various power machines, wherein the loader 200 is only one of those power machines. For example, to name just a few examples, some or all of the concepts discussed below can be implemented on many other types of work vehicles such as various other loaders, excavators, trenchers, mowers, and bulldozers.

[0123] As mentioned above, the loader 200 includes the frame 210. The frame 210 supports a power system 220, which is configured to generate or otherwise provide power for operating various functions on the power machine. The frame 210 also supports a working element in the form of a lifting arm structure 230, which is selectively powered by the power system 220 in response to a signal 3 from an operator control system 260, and can perform various working tasks. When the loader 200 is a working vehicle, the frame 210 is also supported by a traction system 240, which is also selectively powered by the power system 220 in response to a signal from the operator control system 260. The traction system 240 is configured to push the power machine on a supporting surface. The lifting arm structure 230 in turn supports a machine tool carrier 272, which is configured to receive various machines and secure the various machines to the loader 200 to perform various working tasks. The loader 200 can be operated from an operator station 250 from which the operator can manipulate various controls to cause the power machine to perform various functions, as discussed in more detail below. The frame 210 also supports a working element in the form of a lift arm structure 230 that is powered by the power system 220 and can perform various working tasks.

[0124] Various power machines that may include the embodiments discussed below, or interact with the structures or functions of the embodiments discussed below, may have various frame components that support various operating elements. The elements of the frame 210 discussed herein are provided for illustrative purposes, and the elements of the frame 210 are not necessarily the only frame types of power machines on which embodiments may be practiced and may be employed, unless explicitly specified. 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 supported by the chassis 211. The main frame 212 of the loader 200 is attached to the chassis 211, for example, with fasteners or by welding the chassis 211 to the main frame 212. The main frame 212 includes a pair of upright portions 214 located on both sides of the main frame and toward the rear of the main frame 212, the pair of upright portions 214 supporting the lifting arm structure 230 and the lifting arm structure 230 being pivotably attached to the pair of upright portions 214. A lifting arm structure 230 is illustratively pinned to each upright portion 214. For purposes of this discussion, the combination of mounting features and mounting hardware (including pins for pinning the lifting arm structure 230 to the main frame 212) located on the upright portion 214 and the lifting arm structure 230 are collectively referred to as joints 216 (one joint on each upright portion 214). The joints 216 are aligned along an axis 218 so that the lifting arm structure 230 can pivot about the axis 218 relative to the frame 210, as discussed below. Other power machines may not include upright portions on both sides of the frame, or may not have a lifting arm structure that can be mounted on upright portions on both sides of the frame and toward the rear of the frame. For example, some power machines may have a single arm that is mounted to a single side of the power machine or to the front or rear end of the power machine. Other machines may have multiple working elements including multiple lifting arms, each of which is mounted to the machine in its own configuration. The frame 210 also supports a pair of traction elements 242 on either side of the loader 200 , which on the loader 200 are track assemblies.

[0125] Figures 2 to 3 The lifting arm structure 230 shown in FIG. 2 is an example of a lifting arm assembly that can be attached to a power machine, such as the loader 200 or other power machines on which embodiments of the present discussion can be practiced. The lifting arm structure 230 has a pair of lifting arms 232 disposed on opposite sides of the frame 210. The first end 232A of each lifting arm 234 is pivotally coupled to the power machine at the joint 216, and the second end 232B of each lifting arm is pivotally coupled to the power machine at the joint 216. Figure 22 and 3. The lift arm structure 230 is positioned forward of the frame 210 when in the lowered position shown in FIG. 2. The lift arm structure 230 is movable relative to the frame 210 (i.e., the lift arm structure 230 can be raised and lowered) under the control of the loader 200. The movement (i.e., the raising and lowering of the lift arm structure 230) is described by a radial path of travel (generally shown by arrow 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. The embodiments discussed below may include a vertical path lift arm that travels along a path defined by multiple pivot axes of a multi-bar linkage (e.g., the second end of the lift arm moves in a substantially vertical direction for at least a portion of the path of travel), as opposed to a path defined by a single pivot axis for a radial path lift arm.

[0126] Each of the lift arms 232 is coupled to a cross member 236 that provides increased structural stability to the lift arm structure 230. A pair of actuators 238 (the actuators on the loader 200 are configured to selectively receive actuation from the power system 220 (in Figure 2 216 to represent that it is enclosed within the frame 210) is pivotally coupled to both the frame 210 and the lift arm 234 at pivotable joints 238A and 238B, respectively, on either side of the loader 200. Actuators 238 are sometimes individually and collectively referred to as lift cylinders. Actuation (i.e., extension and retraction) of the actuators 238 causes the lift arm structure 230 to pivot about the joint 216, thereby raising and lowering along a fixed path illustrated by arrows 233. Figure 2 and Figure 3 The lift arm structure 230 shown in the figure represents one type of lift arm structure that may be coupled to the power machine 200. Other lift arm structures having different geometries, components, and arrangements may be pivotally coupled to the loader 200 or other power machines on which the embodiments discussed herein may be practiced without departing from the scope of this discussion. For example, other machines may have a lift arm structure with lift arms, each lift arm having two portions pivotally coupled to each other along with a control arm (as opposed to a one-piece lift arm 232) to create a four-bar linkage and a generally vertical path of travel or at least a more vertical path of travel than the radial path of the lift arm structure 230. Other lift arm structures may have extendable or telescopic lift arms. Still other lift arm structures may have several (i.e., more than two) segments or portions. Some lift arms (most notably lift arms on excavators, but also lift arms on loaders) may have portions that are controllable to pivot relative to another segment, rather than as Figures 2 to 3230 shown in FIG. 2. Some power machines have a lift arm structure with a single lift arm, such as is known in excavators and even in some loaders and other power machines. Other power machines may have multiple lift arm structures, each lift arm structure being independent of another (other) lift arm structure.

[0127] An exemplary implement interface 270 is provided at the second end 234B of the arm 234. The implement interface 270 includes an implement carrier 272 configured to receive and secure a variety of different implements to the lift arm 230. Such a machine has a mechanical interface configured to engage with the implement carrier 272. The implement carrier 272 is pivotally mounted to the second end 232B of each of the arms 232. An implement carrier actuator 237 is operably coupled to the lift arm structure 230 and the implement carrier 272, and is operable to rotate the implement carrier relative to the lift arm structure. Other examples of power machines may have multiple implement carrier actuators. Still other examples of power machines of the type that may advantageously employ the disclosed embodiments discussed herein may not have a separate implement carrier (e.g., implement carrier 272), but instead may only allow implements (e.g., by pinning) to be directly attached to their lift arm structure.

[0128] The implement interface 270 also includes an implement power source 235 that can be used to connect to an implement on the lifting arm structure 230. The implement power source 235 includes a pressurized hydraulic fluid port to which the implement can be removably connected. The pressurized hydraulic fluid port selectively provides pressurized hydraulic fluid for powering one or more functions or actuators on the implement. The implement power source may, but need not, include an electrical source for powering an electrical actuator or electronic controller on the implement. The implement power source also illustratively includes electrical conduits that communicate with a data bus on the excavator 200 to allow communication between a controller on the implement and electronic devices on the loader 200. It should be noted that a particular implement power source for a loader 200 does not include an electrical source.

[0129] The lower portion 211 of the frame supports and has attached to it a pair of traction elements which are arranged in a Figures 2 to 32 are identified as left track assembly 242A and right track assembly 242B (collectively, traction elements 242). Each traction element 242 has a track frame 243 coupled to the frame 210. The track frame 243 supports and is surrounded by an endless track 244 that rotates under power to propel the loader 200 over a supporting surface. Various elements are coupled to or otherwise supported by the track frame 243 to engage and support the endless track 244 and to enable the endless track 244 to rotate about the track frame. For example, a sprocket 246 is coupled to or otherwise supported by the track frame 243 to engage and support the endless track 244 and to enable the endless track 244 to rotate about the track frame. An idler wheel 245 is held against the track by a tensioner (not shown) to maintain appropriate tension on the track. The track frame 243 also supports a plurality of rollers 248 that engage the track and extend across the track and support surface to support and distribute the weight of the loader 200 .

[0130] An operator station 250 is positioned toward the rear of the frame 210 and is configured to be used by an operator who is located behind or to the rear of the frame. A platform 252 is provided for the operator to stand on. While standing on the platform 252, the operator has access to a plurality of operator control inputs 262 which, when manipulated by the operator, can provide control signals to control operating functions of the power machine 200 including, for example, the traction system 240 and the lift arm 230. The operator control inputs 262 can include a joystick with an adjacent reference bar to allow the operator to rest their hand thereon while operating the joystick. Figures 2 to 3 In the embodiment shown in FIG. 2 , the operator station 250 opens to the rear of the power machine 200. Similar other power machines (including other mini loaders or various other power machines) may include an operator station toward the rear of the corresponding frame without necessarily opening to the rear of the power machine. In addition, some power machines (e.g., mini loaders) may include an operator station toward the rear of the frame, including an operator station that opens to the rear of the frame but does not have a support (e.g., standing) platform for the operator. For example, some operator stations include controls that can be operated by an operator walking behind the power machine.

[0131] In some cases, the various improvements to the lift arm configurations and control systems disclosed herein may be particularly beneficial for mini loaders (e.g., loaders sized to be driven through a 36" doorway and including a walk-behind or stand-up operator station). In particular, due to the vertically compressed geometry and the possibility of adaptable lift arm movement, some mini loaders may significantly benefit from embodiments of the disclosed principles. Particularly for mini loaders, some embodiments of the disclosed structures may thus provide increased visibility and increased operational use range for an operator located at the rear. Thus, for example, some embodiments of the disclosed technology may provide a mini loader (and other power machines) that is configured for a vertical (or other non-radial) path, a radial path, or a combination of remotely manipulated lift arm movement (e.g., as part of a selectable operating mode). Thus, some embodiments may allow an operator to perform a beneficial combination of pivotal movement of a load to various lift heights and substantially horizontal extension at various lift heights).

[0132] The display device 264 is arranged in the operator station so as to give an indication of information related to the operation of the power machine in a form that can be perceived by the operator (such as, for example, an auditory indication or a visual indication). The auditory indication can be made into a form such as a buzzer, a bell or the like or carried out through verbal communication. The visual indication can be made into a form such as a chart, a light, an icon, a meter, an alphanumeric symbol, etc. The display can be designed to provide special indications, such as warning lights or meters, or can dynamically provide programmable information, including programmable display devices such as monitors of various sizes and capabilities. The display device can provide diagnostic information, troubleshooting information, guidance information, and various other types of information to help the operator operate the power machine or the machine connected to the power machine. Other information that may be useful to the operator can also be provided.

[0133] As mentioned above, the frame 210 supports and generally surrounds the power system 220 so that the modified components of the power system 220 are Figures 2 to 3 It is not visible. Figure 4In particular, a diagram of various components of an electric power system 220 is included. The power system 220 includes one or more power sources 222, which are configured to generate or store power for use in a modified mechanical function. For the power machine 200, the power system 222 includes an internal combustion engine. Other power machines may include generators, rechargeable or replaceable batteries, various 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, which is operably connected to the power source 222. The power conversion system 224 is further connected to one or more actuators 226, which can perform functions on the power machine. The power conversion system in various power machines may include modified components, including mechanical transmissions, hydraulic systems, etc. The power conversion system 224 of the power machine 200 includes a pair of hydraulic drive pumps 224A and 224B that can be selectively controlled to provide power signals to drive motors 226A and 226B. The drive motors 226A and 226B are each operably connected to traction elements 242A, 242B, respectively. The drive pumps 224A and 224B can be mechanically, hydraulically or electrically coupled to an operator input device to receive an actuation signal for controlling the drive pumps.

[0134] As shown, the power conversion system 224 of the power machine 200 also includes a hydraulic implement pump 224C, which is also operably connected to the power source 222. The hydraulic implement pump 224C is operably connected to the working actuator circuit 238C. The working actuator circuit 238 includes a lifting cylinder 238 and a swing cylinder 235, and a control logic device for controlling their actuation. The control logic device selectively allows the lifting cylinder or the swing cylinder to be actuated in response to operator input. In some machines, the working actuator circuit also includes a control logic device for selectively providing pressurized hydraulic fluid to the attached machine. The control logic device of the power machine 200 includes an open center 3-way sliding valve arranged in series. The valve core is arranged to give priority to the lifting cylinder, then the swing cylinder, and then the pressurized fluid to the attached machine.

[0135] In other examples, the power conversion system 224 can be configured in other ways. For example, the drive pumps 224A, 224B can be electrically driven (e.g., using the power source 222 as a power source). In some cases, the actuator 226 can include an electric drive motor that can be powered by the power source 222 (e.g., as drive motors 226A, 226B). Accordingly, in some examples, the power conversion system 224 can include a motor controller or other components to replace the drive pumps 224A, 224B or (or in addition to the drive pumps 224A, 224B). Similarly, in some cases, the machine pump 224C can be replaced or supplemented with a motor or other actuator to perform a work group function (e.g., lifting, tilting, extending or retracting a lifting arm or various machines).

[0136] For illustrative purposes, the above description of power machine 100 and loader 200 is provided to provide an illustrative environment on which the embodiments discussed below may be practiced. Although the embodiments discussed may be practiced on power machines, such as those typically provided by Figure 1 1 and more particularly located on a loader such as loader 200, but unless otherwise noted or described, the concepts discussed below are not intended to limit their application to the environment specifically described above.

[0137] Embodiments of power machines according to the present disclosure may provide an improved arrangement for a lift arm structure that may increase the maneuverability and range of motion of the lift arm structure, as compared to conventional lift arm designs, without significantly increasing the overall footprint and size of the power machine. In particular, such a lift arm arrangement may allow a lift arm (e.g., an end of a lift arm configured to operably support an implement) to move along various travel paths (e.g., a lift or extension path) to any position within a lift envelope of the lift arm (e.g., a two-dimensional space defining the movement of the lift arm). Accordingly, the travel path may include any direction of movement within the lift envelope, for example, including any of horizontal, vertical, diagonal, or curvilinear movement of the lift arm.

[0138] In some implementations, in response to a particular input (e.g., an operator input), a control system of the power machine may control an actuator of the power machine to selectively provide a radial path movement of the lift arm or a non-radial path movement of the lift arm, including over a portion or all of the range of motion of the lift arm (e.g., from a fully lowered and fully raised configuration of the lift arm structure as a whole). For example, an operator selection or other input may indicate a particular operating mode, and may be responsive to a particular input command (e.g., different modes result in commands for different relative movements of different actuators in response to the same operator input). In particular, as an example, if a radial lift mode is indicated, the controller may selectively command the actuator to move the lift arm on a radial lift path in response to a first operator input, including if the first operator input does not correspond to a prescribed operator input pattern for a radial lift path (e.g., a straight line or other prescribed movement pattern at a joystick that corresponds to an actuator control for a radial lift command). Conversely, if a non-radial lift mode is indicated, the controller may command the actuator to move the lift arm on a non-radial lift path in response to the operator input (e.g., the first operator input), at least over a portion of the range of motion between the fully raised and fully lowered orientations.

[0139] In this regard, while commanded movement along a non-radial lift path may not be permitted in some radial lift modes, commanded movement along a radial lift path in some non-radial lift modes is possible. In addition, in some implementations, a combination of radial and non-radial lift modes that perform certain operations is possible. In some cases, the non-radial lift mode may include temporary operation in the radial lift mode, including that which may be started or ended in response to a specific operator input. For example, in some lift modes, the controller may command the actuator to provide radial lift path movement in response to one or more of the following: an operator input that is close to a radial lift path input (e.g., a joystick movement within a 10% deviation of a command of a specified radial lift path input); temporary activation of a button or other toggle key; an operator input corresponding to a specific pawl; providing clearance for a specific component or operation; or other various factors. In some cases, a radial or non-radial lift mode may be implemented relative to a specific spatial region of a lift arm envelope, a specific lift height, a specific pre-programmed or adaptive operation, and the like. For example, a radial lift arm may in some cases be selectively (e.g., automatically) implemented along a path at a particular radial distance relative to the main frame, over a portion of the lift arm's path of travel between fully lowered and fully raised orientations, or over other spatial regions of the lift arm's lift envelope.

[0140] Figures 5 to 10 The figure shows a loader 300 (eg, a mini loader) which is Figure 1300 for which the embodiments discussed herein may be advantageously employed. Similar to loader 200, the specific illustrated configuration of loader 300 should not be considered limiting, especially with respect to the description of features of loader 200, which are not essential to the disclosed embodiments and thus may or may not be included in power machines other than loader 300 for which the embodiments disclosed below may be advantageously practiced.

[0141] Unless otherwise specifically noted, the embodiments disclosed below may be practiced on a variety of power machines, of which the loader 300 is only one of those power machines. For example, some or all of the concepts discussed below may be implemented on many other types of work vehicles such as various other loaders (including compact crawler loaders and mini loaders, excavators, trenchers, lawn mowers), to name just a few examples. In particular, although various electric actuators are discussed below with respect to the lifting arms and frame structure of the illustrated loader 300, some embodiments may alternatively (or additionally) use one or more hydraulic actuators. For example, some systems may include hydraulic cylinders for lifting, tilting, and extending operations, which are powered by an engine-driven or electrically driven hydraulic pump and are controlled by various commonly known hydraulic control systems (e.g., having a main control valve, which is arranged to control the flow of hydraulic fluid to various implements and actuator ports based on the position of the main valve core, and the main valve core can be selectively moved using electrical, mechanical, or hydraulic pilot commands).

[0142] The loader 300 is configured as a track loader generally similar to the loader 200, wherein like reference numerals generally refer to like features unless otherwise indicated. In particular, the loader 300 includes a main frame 310 having a front end 310A opposite a rear end 310B and a right side extending therebetween (see Figure 5 ) and left side (see Figure 6 ). The frame 310 operably supports a traction system 340 having a pair of traction elements 342, one at the right and one at the left, to provide traction to propel the loader 300 along a supporting surface (not shown). In addition, the frame 310 is configured to operably support a lift arm structure 330.

[0143] In some cases, the loader 300 may be configured as a remotely operated or at least partially autonomous loader and may not include an operator station (e.g., similar to the operator station 250). Figures 5 to 10 As shown in FIG, loader 300 may be a cabless loader that is not configured to support an operator. In other cases, the techniques disclosed herein may be implemented on a power machine that does include a cab or other operator station.

[0144] The frame 310 may also be configured to support various other components. For example, similar to the frame 210, the frame 310 may support a power source 320 that may be configured to provide power for performing functions on the loader 300, including operations using the traction system 340 and the lift arm structure 330. In the illustrated embodiment, the power source 320 is an electrical power source, namely a battery 322 (see Fig. 9 and Fig.10 ), the power source can provide power for the operation of the traction system 340, the lifting arm structure 330 and other subsystems of the loader 300. The battery 322 can be supported by the frame 310, near the rear end 310B of the frame 310, and can include a plurality of battery cells housed by a battery housing. In other embodiments, other power sources (e.g., an internal combustion engine) can be used.

[0145] As also mentioned above, the lifting arm structures according to the present disclosure can be configured to provide increased maneuverability and range of motion compared to conventional designs. In particular, some lifting arm structures can include components that allow the lifting arm to move along a variety of different shaped paths of travel within a larger lifting envelope. That is, unlike conventional lifting arm structures that are typically configured to move along a single (e.g., substantially vertical) lifting path, the lifting arm structures according to the present disclosure can allow substantially vertical movement, substantially horizontal movement, or movement in any other direction within the lifting envelope of the lifting arm, as will be described in more detail below. Therefore, in some examples, the lifting arm can move along any desired path between any two points within the lifting envelope.

[0146] For example, the lifting arm structure 330 includes a pair of lifting arms 332 and a pair of connecting links 334. The lifting arms 332 are connected by a cross member 336 (see Figure 7 and Fig. 9 ) are coupled to each other, the cross member can provide increased structural stability for the lift arm structure 330, and the example bridging structure (as further discussed below) further increases the structural stability and provides protection for various components of the loader 300. As illustrated, the lift arms 332 are substantially identical to each other, as are the connecting links 334. Therefore, while only one lift arm 332 and connecting link 334 are discussed below, the discussion is equally applicable to each of the other lift arm and the other connecting link. However, similar principles can also be applied to other embodiments that include only a single lift arm and connecting link or do not have a laterally symmetrical lift arm structure (e.g., contrary to the illustrated example).

[0147] The lift arm structure 330 is operably supported on the frame 310 to enable the implement carrier 372 (and the supported implement) to move relative to the frame 310, although other attachment arrangements (e.g., integrated pivot points) may be used to support the implement in some cases. In the example shown, the lift arm 332 extends generally in a fore-and-aft direction between a first end 332A and a second end 334B. The first end 332A of the lift arm 332 is positioned at the front end 310A of the frame 310 and is configured to be pivotally coupled to the implement carrier 372 at an implement carrier pivot point 374 (or, in other embodiments, an implement pivot point 374 configured for direct or other connection to an implement). The second end 332B of the lift arm 332 is positioned at the rear end 310B of the frame 310 and is configured to be pivotally coupled to the connecting link 334 such that the lift arm 332 is movably (pivotally) supported on the frame 310 by the connecting link 334.

[0148] Accordingly, the connecting link 334 extends between the frame 310 and the lift arm 332 from a first end 334A configured to be pivotally coupled to the frame 310 to a second end 334B configured to be pivotally coupled to the lift arm 332. More specifically, the first end 334A of the connecting link 334 is pivotally coupled to the rear end 310B at a connecting link pivot point 337 (e.g., at the lower frame), and the second end 334B of the connecting link 334 is pivotally coupled to the second end 332A at a lift arm pivot point 338. In some embodiments, the connecting link 334 can be arranged such that for all positions of the connecting link 334, the connecting link pivot point 337 is closer to the front end 310A than the lift arm pivot point 338, and more generally, all positions 330 of the lift arm structure are within the associated lift (or other operating) envelope. Accordingly, for all positions of the lift arm structure 330 , the connecting link 334 may extend rearwardly from the perspective of movement along the connecting link 334 from the connecting link pivot point 337 to the lift arm pivot point 338 .

[0149] Due to the various pivot connections, the lift arm structure 330 can be moved relative to the frame 310 to position the first end 332A of the lift arm 332 (e.g., the implement carrier pivot point 374) and any connected implement carrier 372 or implement relative to the frame 310 at a desired position within the multi-path lift envelope (e.g., any desired position within the lift envelope, or any desired position having an operating envelope defined by the electronic control system to exclude a portion of the lift envelope). In particular, to facilitate movement of the lift arm structure, the loader 300 can include an actuator (e.g., a linear actuator) that can be configured to controllably move either or both of the connecting link 334 and the lift arm 332 relative to the frame 310 and relative to each other. In some embodiments, the actuator can be configured as an electric actuator, which can allow for more precise control of movement of the lift arm structure 330 compared to conventional hydraulic systems.

[0150] For example, the loader 300 may include a lift actuator 350 (eg, one for each lift arm 332) configured to pivot the lift arm 332 about the lift arm pivot point 338 to move the lift arm 332 relative to the frame 310 and the connecting link 334. Fig.11 , the lifting actuator 350 can be configured as an electric ball screw actuator, which includes a motor 351 (i.e., an electric motor) and an extendable portion configured as a ball screw 352, which are operably connected to each other via a gear box 353. As illustrated, the lifting actuator 350 is in a fold-back motor configuration, wherein the motor 351 and the screw 352 extend parallel to each other from the same side of the gear box 353. The screw 352 defines and extends away from the gear box 353 along an extension axis 354, and the motor 351 is parallel to the screw 352 and extends in the same direction as the screw. The screw 375 is configured to extend and retract linearly along the extension axis 354 when powered by the motor 351 via a gear box 376 to change the distance between the first connection 350A at the first end (e.g., the motor end of the actuator 350) and the second connection 350B at the second end (e.g., the extension end) of the actuator 350. As will be described in more detail below, the motor 351 can be controlled by commands from an electronic controller (e.g., in response to operator input) to control the extension and retraction of the actuator 350 (e.g., changing the extension length intercepted along the extension axis 377 between the first connector 350A and the second connector 350B).

[0151] exist Fig.11 In the example shown in FIG. 3 , the lift actuator 350 is configured as a U-clip mounted fold-back actuator. In other examples, other mounting configurations are possible. For example, Figures 5 to 10As shown in , the lift actuator can be a trunnion mounted, fold-back actuator because reduced actuator deadband length and other operational and packaging benefits can be provided. In other cases, other known mounting configurations are also possible, and some lift actuators can be configured with an in-line motor arrangement, i.e., the motor extends parallel to and away from the screw (or other extension member driven by the motor). In addition, although some particularly advantageous orientations of motors for particular actuators are discussed below, it should be understood that in some examples, the extension ends of the motors and actuators discussed herein can generally be reversed (i.e., such that the extension end of the actuator is attached to where the motor end of the actuator is located, and vice versa).

[0152] Continue to refer Figures 5 to 10 , the lift actuator 350 can be coupled between the frame 310 and the lift arm 332. More specifically, as illustrated, the motor end (e.g., the first end) of the lift actuator 350 can be pivotally coupled to the frame 310 at a motor end connection 350A, and the extension end (e.g., the second end) of the lift actuator 350 can be pivotally coupled to the lift arm 332 at an extension end connection 350B (e.g., coupled to a cross member 336 proximate the lift arm 332). Thus, extension and retraction of the lift actuator 350 causes the lift arm 332 to move along a travel path (e.g., an arcuate lift path) between a fully lowered position and a fully raised position. The lift actuator 350 can be fully retracted to move the lift arm 332 to the fully lowered position, and fully extended to move the lift arm 332 to the fully raised position.

[0153] In some embodiments, and with particular reference to Fig.10 , lift actuator 350 can be oriented to extend in a rearward direction. That is, lift actuator 350 can be oriented so that motor end connection 350A is positioned closer to front end 310A than extension end connection 350B. Accordingly, in the illustrated example, motor end connection 350A can also be positioned vertically below extension end connection 350B.

[0154] In other embodiments, the lift actuator may extend between the lift arm and other portions of the loader to pivot the lift arm about the lift arm pivot point. Figure 8As schematically illustrated in , the lift actuator 350 can be coupled to the lift arm 332 and the connecting link 334 and extend therebetween. Accordingly, the lift actuator 350 can be oriented in a forward direction such that the connection with the lift arm 332 (e.g., the extension end connection 350B) is positioned closer to the front end 310A of the loader 300 (e.g., at the motor end connection 350A) than the connection with the connecting link 334. Additionally, the motor end connection 350A can be positioned vertically below the extension end connection 350B. Thus, the lift arm 332 can be fully lowered when the lift actuator 350 is fully retracted, and can be fully raised when the lift actuator 350 is fully extended. In some embodiments, the motor end connection of the lift actuator can be pivotally coupled to the frame to be coaxial with the connecting link pivot point.

[0155] In the disclosed lifting arm structure example (for example, for Fig.10 and Fig.14 ), some or all of these or other spatial relationships may be maintained for any position of the lift arm structure 330, including to provide improved movement and control characteristics for the lift arm structure, or to help protect any sensitive electrical components of the lift actuator 350 by keeping the motor end closer to the frame 310. In addition, the specific relative vertical and horizontal alignment of the various pivot points of the illustrated example (e.g., as Fig.13 ) can provide overall improved versatility and range for the lift arm structure alone or in different combinations.

[0156] In some examples, lift actuator 350 can be in a motor-up configuration, wherein screw 352 is generally positioned between motor 351 and frame 310 (e.g., such that motor-end connector 350A is between motor 351 and frame 310) or otherwise generally below motor 351. Orienting lift actuator in a motor-up configuration can allow for a more compact package. For example, screw 352 can be positioned generally vertically lower than when extend actuator 356 is in an opposite motor-down configuration, in which motor 351 is generally positioned between screw 352 and frame 310 (e.g., such that motor 351 is between motor-end connector 350A and frame 310). Thus, a motor-up configuration can reduce the possibility of interference, for example, between extendable screw 352 and other lift arm structures.

[0157] In particular, still refer to Fig.10, the loader 300 can include an extend actuator 356 extending between the frame 310 and the connecting link 334 to move the connecting link 334 relative to the frame (and thereby also move the lift arm 332). In some cases, the extend actuator 356 can be an electric actuator similar to the lift actuator 350. As illustrated, for example, the extend actuator 356 can include a motor end (e.g., a first end) that can be pivotally coupled to the frame 310 at a motor end connection 356A and an extension end (e.g., a second end) that can be pivotally coupled to the connecting link 334 at an extension end connection 356B. As illustrated, the extension end connection 356B is pivotally coupled to the second end 334B of the connecting link 334 to be closer to the lift arm pivot point 338 than the connecting link pivot point 337. In other embodiments, the extension end connector 356B can be connected at the lift arm pivot point 338 so that the extension end connector 356B and the lift arm 332 can pivot about a common pivot axis, or so that the extension end connector 356B is closer to the connecting link pivot point 337 at the first end 334A of the connecting link 334 than the lift arm pivot point 338.

[0158] Thus, extension and retraction of the extension actuator 356 can cause the connecting link to pivot about the connecting link pivot point 337 (i.e., from Fig.10 , respectively, in a first counterclockwise direction and a second clockwise direction, from the perspective of ). Accordingly, moving the extend actuator 356 can cause the lift arm pivot point 338 to move along an arcuate path relative to the frame 310. Specifically, the connecting link 334 can move between a fully forward position (e.g., a minimum extended position of the extend actuator 356) in which the lift arm pivot point 338 is positioned farthest from the front end 310A of the frame 310, and a fully rearward position (e.g., a maximum extended position of the extend actuator 356) in which the lift arm pivot point 338 is positioned closest to the front end 310A of the frame 310 (e.g., in the illustrated example, along a straight line distance between the front end 310A and the lift arm pivot point 374). Because the lift arm 332 is coupled to the connecting link 334 at the lift arm pivot point 338, movement of the connecting link 334 also causes the lift arm 332 to move relative to the frame 310.

[0159] The arcuate movement of the lift arm pivot point 338 under the power of the extend actuator 356 can cause a generally fore-aft (e.g., horizontal) movement of the entire lift arm 332, wherein the pivotal movement of the lift arm 332 is also controlled (or constrained) by the lift actuator 350. Thus, the specific travel path 332 of the lift arm (e.g., the path of the implement carrier pivot point 374) caused by the movement of the connecting link 334 can be changed according to the specific extension of the lift actuator 350 between the fully retracted position and the fully extended position (e.g., a specific height position of the lift arm 332 between the lowered position and the raised position can be defined).

[0160] Depending on the particular position and orientation of the extend actuator 356, the connecting link 334 may be fully rearward when the extend actuator 356 is fully extended, and fully forward when the extend actuator 356 is fully retracted, or vice versa. In the illustrated example, the extend actuator 356 is positioned forward of the connecting link 334 such that the extend actuator 356 is generally located between the connecting link 334 and the front end 310A of the loader 300. In other words, the pivot connection between the extend actuator 356 and the frame 310 (e.g., the motor end connection 356A in the illustrated example) is positioned closer to the front end 310A than the connecting link pivot point 337. Accordingly, the extension actuator 356 can be oriented in a rearward direction such that the motor end connection 356A (or generally, the connection to the frame 310) is positioned closer to the front end 310A of the loader 300 than the extension end connection 356B (or generally, the connection to the connecting link 334). Thus, the connecting link 334 can be fully rearward when the extension actuator 356 is fully extended, and can be fully forward when the extension actuator 356 is fully retracted. Additionally, for the illustrated example, the motor end connection 356A can be positioned vertically below (but not vertically aligned with) the extension end connection 356B. In the disclosed example of a lift arm structure (e.g., for Fig.10 ), some or all of these spatial relationships may be maintained for any position of the lift arm structure 330, including to provide improved movement and control characteristics for the lift arm structure, or to help protect any sensitive electrical components of the extension actuator 350.

[0161] In other embodiments, for example, Figure 8As schematically illustrated by dashed lines in FIG. 3 , the extension actuator 356 can be positioned rearward of the connecting link 334 such that the connecting link 334 is approximately between the extension actuator 356 and the front end 310A of the loader 300. In other words, the connecting link pivot point 337 can be positioned closer to the front end 310A than the pivot connection between the extension actuator 356 and the frame 310. Accordingly, the extension actuator 356 can be oriented in a forward direction such that the connection to the connecting link 334 (e.g., the extension end connection 356B) is positioned closer to the front end 310A of the loader 300 than the connection to the frame 310 (e.g., at the motor end connection 356A). Additionally, the motor end connection 356A can be positioned vertically below the extension end connection 356B. In the disclosed example of a lift arm structure (e.g., for a lift arm 300 having a plurality of lift arms, the extension actuator 356 can be positioned rearward of the connecting link 334 such that the connecting link 334 is approximately between the extension actuator 356 and the front end 310A of the loader 300. Fig.10 ), some or all of these spatial relationships may be maintained for any position of the lift arm structure 330, including to provide improved movement and control characteristics for the lift arm structure, or to help protect any sensitive electrical components of the extend actuator 356. Thus, the connecting link 334 may be fully rearward when the extend actuator 356 is fully retracted, and may be fully forward when the extend actuator 356 is fully extended.

[0162] In general, the spatial arrangements discussed above (alone and in various combinations) can allow for a more compact height of the lift arm structure 330 and improved overall visibility (e.g., particularly for operators behind the power machine 300). Fig.10 As shown in FIG. 3 , for example, when the lift arm structure 330 is in a fully retracted configuration, the side-by-side arrangement of the various actuators 350, 356, 386 and the nesting of the actuators in the frame 310 can result in a relatively compact height of the power machine 300. This effect can also be enhanced by the relatively low mounting of the lift and extension actuators 350, 356 on the frame 310. In fact, some configurations can even further reduce the overall height by utilizing tilt or other actuators with different orientations. For example, in some cases, the lift actuator 350 can be pivotally connected to a lower point on the lift arm 332 (e.g., at or below the top of the frame 310) or the tilt actuator 386 can be directly (or otherwise) connected to the implement carrier 374, rather than being connected via a rocker arm linkage. In this regard, as also noted, some configurations of the disclosed lift arm and frame structure may be particularly beneficial for mini loaders (e.g., with a walk-behind or rear stand-up operator station) due to the corresponding improved visibility from the rear of the power machine.

[0163] Regardless of the position of the extension actuator 356 relative to the connecting link 334, the extension actuator 356 can be oriented in either a motor-up or motor-down configuration. Fig.10, the extend actuator 356 is in a motor-up configuration, similar to the lift actuator 350. Orienting the extend actuator 356 in this manner can allow for a more compact package. For example, the screw 357 of the extend actuator 356 can be positioned substantially vertically lower than when the extend actuator 356 is in a motor-up configuration, which can reduce the possibility of interference with other lift arm structures.

[0164] Notably, in some cases, multiple actuators may be provided for certain functions (e.g., two lift actuators 350 as shown), and single actuators may be provided for other functions (e.g., single extend actuator 356 and tilt actuator 386 as shown). In some cases, using a single actuator for certain functions (or other similar arrangements) may allow certain actuators to be located between other actuators for improved space efficiency, protection of certain actuators or components, or other reasons.

[0165] By pivotally supporting the lift arm on a connecting link that is pivotally coupled to the frame of the loader, the lift arm structure can be articulated (e.g., via extension and retraction of the lift actuator and the extend actuator) to move along various travel paths to any position within the lift envelope. For example, in contrast to conventional lift arm structures that move primarily along one or more fixed, substantially vertical lift paths, a lift arm arrangement as described above can move in any direction within the boundaries of the lift envelope. Thus, the lift arm structure can be articulated to move between any two points in the lift envelope, including along substantially vertical, substantially horizontal, or otherwise curvilinear travel paths.

[0166] For example, refer to Fig.12 , the lift arm structure 330 is operable to move the lift arm 332 (e.g., the first end 332A), and more specifically, the implement carrier pivot point 374, to any position within the lift envelope 400 of the loader 300. Due to the particular configuration of the lift arm structure 330 (e.g., the relative connection between the lift arm 332 and the connecting link 334), the lift envelope 400 has a substantially curved quadrilateral defined by a front boundary 404, a rear boundary 408, a lower boundary 412, and an upper boundary 416. In other embodiments, the lift envelope may be shaped differently. In the illustrated example, the lift envelope thus generally exhibits a curved trapezoidal shape, with similar concave profiles for the front boundary 404 and the rear boundary 408 and opposite concave profiles for the upper boundary 412 and the lower boundary 416, as viewed from the center of gravity of the power machine 300. In other examples, other overall shape profiles are possible.

[0167] The rear boundary 404 can be defined by a first path of the implement carrier pivot point 374 as the lift arm 332 moves between the lowered position and the raised position (e.g., by fully extending and retracting the lift actuator 350 with the connecting link 334 in a fully rearward or other minimum extended position). The rear boundary 404 can be defined by a second path of the implement carrier pivot point 374 as the lift arm 332 moves between the lowered position and the raised position (e.g., by fully extending and retracting the lift actuator 350 to a fully forward or other maximum extended position with the connecting link 334 moving away from the minimum extended position). Thus, the rear boundary 404 and the front boundary 408 can be arcuate paths oriented to move the implement carrier pivot point 374 in a substantially vertical direction. For a given extension of the connecting link 334 (e.g., a given extension of the extend actuator 356), actuation of the lift actuator 350 causes the implement carrier pivot point 374 to move along a path of travel between the lower boundary 412 and the upper boundary 416. The specific shape of the travel path caused by extension of lift actuator 350 may vary depending on the specific extension of extend actuator 356 (eg, the position of connecting link 334 ).

[0168] The lower boundary 412 can be defined by a third path of the implement carrier pivot point 374 when the lift arm 332 and the connecting link 334 move between the full forward position and the full rearward position (e.g., by fully retracting and fully extending the extend actuator 356 with the lift arm 332 in the lowered position, respectively). The upper boundary 416 can be defined by a fourth path of the implement carrier pivot point 374 when the lift arm 332 and the connecting link 334 move between the full forward position and the full rearward position (e.g., by fully retracting and fully extending the extend actuator 356 with the lift arm 332 in the raised position, respectively). Thus, for a given height of the lift arm 332 (e.g., a given extension of the lift actuator 350), actuation of the extend actuator 356 causes the implement carrier pivot point 374 to move along a path of travel between the rear boundary 404 and the front boundary 408.

[0169] The specific shape of the travel path caused by extension of the extend actuator 356 can vary depending on the specific extension of the lift actuator 350, but can generally cause vertical or horizontal movement alone or in combination through the selective application of actuator control. In general, a large range of movement can therefore be achieved by cooperatively controlling the lift actuator to rotate in an arc about the lift arm pivot, and the extend actuator to pivot the lift arm about an example center defined by the intersection of the connecting link action line and the extend actuator action line. Thus, for example, the travel path 420 along the lower boundary 412 can be an arcuate travel path that is concave downward, and this results in a combination of vertical and horizontal movement of the implement carrier pivot point 374. In addition, the travel path 422 along the upper boundary 416 can be an arcuate path that moves the implement carrier pivot point 374 in a substantially vertical direction, but this also causes the implement carrier pivot point 374 to move forward along a first portion of the travel path 422 and rearward along a second portion of the travel path 422. Furthermore, the travel path 424 between the lower boundary 412 and the upper boundary 416 may result in substantially linear movement in a diagonal direction (eg, at approximately a 45 degree angle relative to a horizontal plane).

[0170] Thus, in the illustrated example, the lift arm structure 330 is in a fully lowered and fully retracted position (i.e., a minimum lift position) when the implement carrier pivot point 374 is located at the intersection of the rear boundary 404 and the lower boundary 412, and is in a fully raised and fully extended position (i.e., a maximum lift position) when the implement carrier pivot point 374 is located at the intersection of the front boundary 408 and the upper boundary 416. Accordingly, the lift arm 332 may be in a fully lowered position, but not necessarily a fully rearward or fully forward position, when the implement carrier pivot point 374 is located along the lower boundary 412, and in a fully raised position, but not necessarily a fully rearward or fully forward position, when the implement carrier pivot point 374 is located along the upper boundary 416. Similarly, the lift arm 332 may be in a fully rearward position but not necessarily fully raised or lowered when the implement carrier pivot point 374 is located along the rear boundary 404 , and in a fully forward position but not necessarily fully raised or lowered when the implement carrier pivot point 374 is located along the front boundary 408 .

[0171] In other embodiments, the lift arm may be controlled to remain within other envelopes, including having Figures 5 to 10 In addition, the operational movement of the relevant pivot point (eg, implement carrier pivot point 374) can be constrained within an operational envelope within a structurally defined lift envelope, including as described in more detail below.

[0172] In some embodiments, the loader may include a controller (e.g., an electronic controller) that may be configured to selectively operate the actuators to articulate the lift arm structure based on operator input (e.g., at an operator control input, or a remote operator input at an autonomous controller or other electronic control system). For example, the loader 300 may include a controller 355 that may be configured to selectively control the extension and retraction of each of the lift actuator 350 and the extend actuator 356 to move the lift arm structure 330 along a corresponding travel path to move between any two points of the lift envelope 400 (or operating envelope 428, etc.), thereby effectively moving along a travel path of any shape within the relevant envelope. For example, the controller 355 may be configured to command the implement carrier pivot point 374 to a desired position, or to command a ratio of the extension length of the lift actuator 350 to the extension length of the extend actuator 356.

[0173] In some cases, the controller can be configured to operate in different operating modes, which can allow the operator to more easily command the desired movement. For example, in some embodiments, the controller 355 can be configured to operate in a locked mode, where only one of the lift actuator 350 or the extend actuator 356 is operated at any one time. Thus, the operator can command the lift arm structure 330 to move the implement carrier pivot point 374 along a lift path (e.g., by controlling the lift actuator 350, where the extend actuator 356 is locked at a given extension) or along an extension path (e.g., by controlling the extend actuator 356, where the lift actuator 350 is locked at a given extension). As another example, the controller 355 can be configured to operate in a combined operating mode, where the controller 355 is configured to map operator inputs (e.g., operator inputs at a two-axis joystick) to the implement carrier pivot point 374 along a travel path between two points (e.g., between a lowest point and a highest point, along a curved travel path, along a linear travel path, etc.). Thus, the controller 355 may selectively control each of the lift actuator 350 and the extend actuator 356 to move the implement carrier pivot point 374 along a path as determined by the directional command input by the operator.

[0174] As yet another example, in some cases, the controller 355 can be configured to operate in a Cartesian mode, wherein the controller 355 can selectively operate the lift actuator 350 and the extend actuator 356 to cause the implement carrier pivot point 374 to move only along a vertical (or substantially vertical) path of travel or only along a horizontal (or substantially horizontal) path of travel, even for operator inputs that would otherwise deviate from the command being substantially vertical or substantially horizontal. Thus, for example, an operator can cause the associated pivot point on the lift arm to trace a substantially rectangular path without having to provide a precise rectangular path input.

[0175] As yet another example, in some cases, the controller 355 can be configured to operate in a radial lift mode. Fig.12 In the arrangement illustrated in FIG. 3 , maintaining the extend actuator 356 at a specific extension will cause the connecting link 334 to be maintained at a specific angle relative to the vertical direction. In other words, the fixed length of the extend actuator 356 can orient the lift arm pivot point 338 at a specific fixed position relative to the frame 310. Therefore, with the extend actuator 356 at a fixed length, operation of the lift actuator 350 can cause the lift arm 332 to move along a radial lift path centered on the pivot point 338. In addition, compared to conventional radial path machines, the extend actuator 356 can be controlled (e.g., based on operator input or otherwise) to adjust the position of the pivot point 338. Therefore, the lift arm structure 330 can be moved to selectively change the specific radial path followed by the lift arm 332 during actuation of the lift actuator 350. In this regard, the relatively low position of the pivot 337 for the connecting link 334 can also advantageously result in a relatively low extension or retraction amount of the extend actuator 356, thereby resulting in a relatively large change in the position of the pivot 338.

[0176] In some cases, the power machine 300 can be selectively operated in a non-radial lift mode (e.g., rather than in a radial lift mode) such that the lift arm 332 follows a vertical or other non-radial lift path. For example, to track a desired non-radial lift path, the extend actuator 356 can be controlled to extend or retract simultaneously with the actuation of the lift actuator 350. Due to the synchronized movement of the actuators 350, 356, a variety of multi-pivot movements can be achieved for the lift arm 332. In particular, where the simultaneous (or other) movement of the actuators 350, 356 is determined based on a target path and known geometric relationships between various links and pivot points (as further described above), the lift arm 332 can be configured to move along a plurality of non-radial paths, including (optionally) any of a plurality of conventional vertical lift paths.

[0177] In some implementations, simultaneous control of the extend actuator 356 and the lift actuator 350 can also enable the lift arm 332 to track a lift path that may not be possible with a conventional radial or vertical path lift arm structure. For example, various combinations of extension / retraction of the lift actuator 350 and the extend actuator 350 (e.g., determined based on the structural length and current orientation of the lift arm structure 330) can be used to extend the implement carrier pivot point 374 (or another lift arm structure) horizontally or substantially horizontally at any of the various heights included in the lift envelope 400. For example, for a range of positions of the connecting link 334, the extend actuator 356 can be retracted (or extended) simultaneously with the extension (or retraction) of the lift actuator 350 to travel along a substantially horizontal path with the implement. In some cases, the user may accordingly select a telehandler mode (e.g., as opposed to a radial lift mode or a non-radial lift mode) to allow substantially vertical movement at various lift heights, or may otherwise perform telehandler operations at various lift heights (e.g., in a Cartesian mode, also as discussed above).

[0178] As with other operating modes, entering a radial or non-radial (or other) lift mode can sometimes be based on receiving an operator input (e.g., from a toggle switch or button). In some cases, in response to the operator input (or as a default), the controller 355 can selectively operate in a non-radial lift mode (e.g., a Cartesian mode or other mode noted above). In some cases, in response to a different operator input (or as a default), the controller 355 can selectively operate in a radial lift mode. Thus, for example, the controller 355 can receive an operator input for a target movement of the lift arm 332 that can correspond to the non-radial lift path 326, and can responsively command movement of the actuators 350, 356 to actually move the lift arm 332 in the radial lift path 328.

[0179] Typically, as also discussed above, the controller may be preprogrammed to selectively control one or more actuators based on commanded movement and known geometry of the associated lift arm structure, including during one or more mode operations discussed above. In some cases, control of the lift arm as disclosed herein may also rely on other operational inputs (e.g., spatial location information of portions of the lift arm provided by inertial or other sensors).

[0180] In some cases, the controller may be configured to restrict movement of the lift arm structure to an operational envelope that is different from the structurally defined lift envelope (e.g., a sub-region of the lift envelope defined by the structural parameters of the links and pivots of the associated lift arm structure). Control based on the operational envelope may, for example, prevent the lift arm structure or an implement supported thereon from contacting other parts of the loader (e.g., the frame or traction system) or interfering with other spatial or specific operations. For example, still referring to Fig.12 , the controller 355 can be configured to limit the movement of the lift arm structure 330 so that the implement carrier pivot point 374 remains within the operating envelope 428 ( Fig.12 In the illustrated example, the operational envelope 428 prevents the implement carrier pivot point 374 from reaching the intersection of the rear boundary 404 and the lower boundary 412. Thus, the operationally fully lowered position of the lift arm structure 330 may be at the vertically lowest point within the operational envelope 428, but in other examples, the operational envelope may define other spatial limitations for controlled movement of the lift arm.

[0181] Thus, the operating envelope 438 can effectively change the operational boundaries of the lift envelope, including further limiting the movement of the lift arm beyond the structural constraints (e.g., the lift envelope boundaries defined by the pivot placement and the adjustable or fixed link length). For example, according to the operating envelope 428, the upper portion of the rear (or retract) boundary can be defined as the extend actuator 356 at the minimum arm extension position, i.e., the position of the extend actuator 356 at which the lift arm is extended a minimum operating distance (e.g., the distance corresponding to the fully rearward position of the connecting link 334, and the maximum (or minimum) operating extension of the extend actuator 356). In contrast, the lower portion of the rear boundary can be defined as the extend actuator 356 moving away from the minimum arm extension position, i.e., the position at which the lift arm is extended beyond the minimum operating distance (e.g., in the case where the connecting link 334 is pivoted forward from the fully rearward position, and the minimum (or maximum) operating extension of the extend actuator 336). In such an example, the implement carrier 372 may be prevented from contacting the frame 310 by moving the extend actuator 356 away from the minimum arm extension position (eg, to the trimmed rear boundary 404 ).

[0182] In contrast, in some cases, the forward (or extension) boundary can be defined as the position of the extend actuator 356 being moved to a maximum arm extension position, i.e., the position of the extend actuator 356 at which the lift arm is extended a maximum operating distance (e.g., corresponding to a fully forward position of the connecting link 334, and a minimum (or maximum) operating extension of the extend actuator 356).

[0183] Next, in some embodiments, the lift actuator and the extend actuator may be advantageously arranged relative to each other and relative to other components or structures of the loader. Figure 7 , lift actuator 350 can be positioned inboard of lift arm 332 along a lateral side of loader 300. Positioning lift actuator 350 inboard of lift arm 332 can allow lift arm 332 to move lower than the position of lift actuator 350 if it were aligned with lift arm 332 (e.g., aligned vertically below). Additionally, extend actuator 356 can be positioned inboard of both lift arm 332 and lift actuator 350. In some cases, extend actuator 356 can be aligned along longitudinal plane 360 ​​(e.g., a vertical plane extending in the fore-aft direction and centered between the lateral sides) of loader 300.

[0184] In addition, now refer to Fig.10 , the lift actuator and the extend actuator can be arranged so that the actuators (e.g., the screws of the actuators) do not cross each other for any position of the lift arm structure, including, for example, to provide various benefits for packaging, assembly, serviceability, etc. In this regard, the lift actuator 350 can define a first line 358 (e.g., a line that can coincide with the extension axis 354) extending from the motor end connection 350A to the extension end connection 350B. Similarly, the extend actuator 356 can define a second line 359 extending from the motor end connection 356A to the extension end connection 356B. For the illustrated example, for any position of the lift arm structure 330 (e.g., for any extension of the lift actuator and the extend actuator 356), the first line 358 and the second line 359 will not cross each other when projected onto the longitudinal plane 360. However, in other embodiments, it is possible to have the lift actuator and the extend actuator cross each other in at least one position of the lift arm structure.

[0185] The lift actuator and the extension actuator can be arranged in various ways so that they do not cross. As a specific example, still referring to Fig.10, with the lift arm structure 330 in the fully lowered position, the motor end connection 356A of the extend actuator 356 can be positioned vertically below and forward of the motor end connection 350A of the lift actuator 350. In other embodiments, the motor ends can be arranged differently, such as such that the motor end connection 356A of the extend actuator 356 and the motor end connection 350A of the lift actuator 350 are aligned to rotate about a common pivot axis (not shown). In addition, the extension end connection 356B of the extend actuator 356 can be positioned vertically below and rearward of the extension end connection 350B of the lift actuator 350. Thus, the lift actuator 350 can be generally above the extend actuator 356, such that the extension end connection 356B is between the extension end connection 356B and the frame 310, and such that the motor end connection 356A is between the motor end connection 350A and the frame 310. In some embodiments, these relationships may hold for all positions of the lift arm structure 330 .

[0186] Other relative alignments of pivot connections between different lift arm members (e.g., rigid or extendable links) of the lift arm structure may also provide improved functionality compared to conventional designs. For example, specific horizontal and vertical alignments (or misalignments) of specific pivot points may provide an implement secured to the lift arm with improved smoothness and range of motion. In this regard, Fig.13 The vertical and horizontal alignment of each pivot point of the lift arm structure 330 in the fully lowered, fully rearward, and fully rolled back positions are shown. (Those skilled in the art will also recognize that the lift and operating envelopes 400, 428 shown in FIG. 400 and 400 are shown in FIG. 400 , 400 , and FIG. 400 , respectively, are shown in FIG. 400 , 400 , and 400 , respectively.) Fig.12 )), at all other structurally possible and operationally permissible locations, the inherent disclosure of the relative vertical and horizontal alignment of these points. ) In particular, the alignments illustrated individually and collectively for the movable pivot points at 338, 356B, 350, 374 relative to the fixed pivots at 337, 350A, 356A can individually and collectively provide improved performance and stability relative to conventional designs - including at specific locations (e.g., at the apex or boundary of a lifting or operating envelope) or within a specific range of movement (e.g., throughout the relevant envelope). However, in some examples, other illustrated alignments can also be particularly advantageous.

[0187] In some embodiments, components of the lift arm structure can be arranged relative to a traction system of the loader. For example, as mentioned above, the loader 300 includes a traction system having a traction element configured as an endless track 342. More specifically, a first left track assembly 342A and a second right track assembly 342B are operably supported on opposite left and right lateral sides of the frame 310, respectively, and extend in a fore-and-aft direction between a front end 310A and a rear end 310B of the frame 310. Similar to the lift actuator 350, although the discussion below only relates to the track assembly 342A, it is equally applicable to the second track assembly 342B.

[0188] like Fig.10 As shown in FIG. 1 , for example, track assembly 342A includes track frame 343 (see FIG. Figure 6 ), the track frame supports and is surrounded by an endless track 344 that rotates under power to propel the loader 300 on a supporting surface. In order to rotatably support and power the endless track 344 on the track frame 343, the track assembly 342A includes a drive sprocket 345 rotatably coupled to the track frame 343 to rotate about a drive sprocket axis 345A. More specifically, the drive sprocket 345 is fixedly coupled to a drive axis (not shown) of the loader 300 powered by a power source 320 (e.g., a battery 322) such that the drive sprocket 345 rotates with the drive shaft. In addition, to help keep the track 344 aligned when rotating on the track frame 343, the track assembly 342A includes a first idler wheel 346 (e.g., a front idler wheel) rotatably coupled to a first end 343A (e.g., a front end) of the track frame 343 to rotate about a first idler axis 346A (e.g., at the front-most axle) and a second idler wheel 347 (e.g., a rear idler wheel) rotatably coupled to a second end 343B (e.g., a rear end) of the track frame 343 to rotate about a second idler axis 347B (e.g., at the rear-most axle). The drive sprocket 345 may be positioned such that the drive sprocket axis 345A is located between the first idler axis 346A and the second idler axis 347A in the fore-aft direction.

[0189] Still reference Fig.10For all positions of the lift arm structure 330, the motor-end connector 350A of the lift actuator 350 and the motor-end connector 356A of the extension actuator 356 can be positioned in front of the second idler axis 347B (e.g., the rearmost axis) or in front of the drive sprocket axis 345A. In addition, the motor-end connector 350A of the lift actuator 350 and the motor-end connector 356A of the extension actuator 356 can be positioned behind the first idler axis 346A (e.g., the frontmost axis). Therefore, the motor-end connector 350A of the lift actuator 350 and the motor-end connector 356A of the extension actuator 356 (e.g., where applicable, the common pivot axis of the lift actuator 350 and the extension actuator 356) can be located between the drive sprocket axis 345A and the first idler axis 346A in the fore-and-aft direction. In addition, in some embodiments, the connecting link 334 can be behind the second idler axis 347B.

[0190] In some embodiments, the loader may include a tilt system configured to adjust the posture of an implement (e.g., an implement carrier) relative to a lift arm on which the implement is supported. For example, the loader 300 includes a tilt system 380 configured to adjust the posture of an implement carrier 372 relative to a lift arm 332 (e.g., by pivoting the implement carrier 372 about an implement carrier pivot point 374).

[0191] The tilt system 380 may generally include a rocker link 382, ​​a tilt link 384, and a tilt actuator 386 (e.g., an electric actuator similar to the lift actuator 350 and the extend actuator 356), which may be arranged relative to each other to form a bell crank that pivots the implement carrier 372 when the tilt actuator 386 is extended and retracted. More specifically, the rocker link 382 defines a first pivot point 382A, a second pivot point 382B, and a third pivot point 382C. The rocker link 382 may be pivotally coupled to the lift arm 332 at the first pivot point 382A. Accordingly, the tilt link 384 and the tilt actuator 386 may be coupled between the lift arm 332 and the implement carrier 372 to pivot the rocker link 382 and the implement carrier 372 relative to the lift arm 332.

[0192] like Fig.10372, wherein the first end 384A is pivotally coupled to the rocker link 382 at a second pivot point 382B, and the second end 384B is pivotally coupled to the implement carrier 372 at an attachment point 373. Accordingly, the tilt actuator 386 can extend between the rocker link 382 and the lift arm 332, wherein the motor end connection 386A (e.g., the first end) is pivotally coupled to the lift arm 332, and the extension end connection 386B (e.g., the second end) is pivotally coupled to the rocker link 382 at a third pivot point 382C. In some cases, the motor end connection 386A of the tilt actuator 386 and the extension end connection 350B of the lift actuator 350 can be coupled to the lift arm 332 for rotation about a common pivot axis. Furthermore, by positioning the tilt actuator 386 substantially behind the rest of the tilt system 380 (e.g., the rocker link 382 and the tilt link 384), the tilt actuator 386 can be moved away from the implement carrier 372 and any implement supported thereon to help protect the tilt actuator 386 from damage. Similarly, the tilt actuator 386 can be oriented in a motor-down configuration in which the motor 387 is positioned below the motor-end connection 386A (e.g., between the motor-end connection 386A and the frame 310), as can further protect sensitive motor components from damage.

[0193] The attitude of the implement carrier 372 can be adjusted by extending and retracting the tilt actuator 386 to pivot the rocker link 382 about the first pivot point 382A. The pivoting of the rocker link 382 simultaneously causes movement of the tilt link 384, which causes the implement carrier 372 to rotate about the implement carrier pivot point 374. The tilt actuator 386 can be configured to move between a fully retracted position and a fully extended position. The fully retracted position can correspond to a rolled back position of the implement carrier 372 in which the implement carrier 372 is rotated about the implement carrier pivot point 374 (e.g., in a counterclockwise direction, such as Fig.10 382A. The tilt actuator 386 may be positioned behind the first pivot point 382A when the implement carrier 372 is rolled back with the lift arm 332 fully lowered, as well as for other positions of the lift arm 332. The fully extended position may correspond to a rolled out position of the implement carrier 372 in which the implement carrier 372 is rotated about the implement carrier pivot point 374 (e.g., in a clockwise direction, as shown in FIG. Fig.10 382A) is rotated downward and away from the lifting arm 332. In some cases, the extended end connection 386B of the tilt actuator 386 can be in front of the first pivot point 382A in the rolled-out position.

[0194] In other embodiments, the tilt system 380 may be configured differently. For example, in some embodiments, the tilt actuator may have a motor end pivotally coupled to the rocker link and an extension end pivotally coupled to the lift arm. In other embodiments, the positions of the tilt link and the tilt actuator may be reversed, such that the tilt link may be coupled between the rocker link and the lift arm, and the tilt actuator may be coupled between the rocker link and the implement carrier. Furthermore, in some cases other tilt systems (or no tilt system) may be used entirely, including systems that simply have a tilt actuator that is pivotally and directly coupled to the lift arm and the implement carrier (or other implement pivot structure).

[0195] Then, when the corresponding lift arm structure is in the fully lowered position, the tilt system can be positioned generally above the lift arm (e.g., such that the lift arm is located between the tilt system and the frame of the loader). Fig.10 , the tilt system 380 is disposed generally above the lift arm 332. That is, the tilt system 380 is arranged such that the lift arm 332 is located between the tilt system 380 and the frame 310 of the loader 300, except at the connection with the lift arm 332 (e.g., the motor end connection 386A of the tilt actuator 386 and the first pivot point 382A of the rocker link 382). Thus, the tilt actuator 386 may also be disposed substantially above the lift actuator 350 or the extend actuator 356 (e.g., such that the tilt actuator 386 is above most of the length of the lift actuator 350 or the extend actuator 356, taken between the corresponding motor and the extension end). That is, it is also possible that some portion of the lift actuator 350 or the extend actuator 356 may be above the tilt actuator 386. For example, the tilt actuator 386 may be positioned such that the extension end connection 350B of the lift actuator 350 is above the motor end connection 386A of the tilt actuator 386 when the lift arm 332 is fully lowered.

[0196] Additionally, in some embodiments, the tilt actuator may be oriented such that the extension actuator of the tilt actuator does not intersect the implement carrier. Fig.10 , the tilt actuator 386 may be oriented so that when the lift arm 332 is fully lowered and the implement carrier 372 is rolled back, the extension axis 388 of the tilt actuator 386 is horizontal. Thus, even when the tilt actuator 386 pivots relative to the lift arm during extension and retraction, the extension axis 388 may not intersect the implement carrier 372 (although it may intersect the implement supported by the carrier).

[0197] Relatedly, in some embodiments, the tilt actuator 386 can be aligned along the longitudinal plane 360 ​​of the loader 300. As a result, and as Figure 7As best seen in FIG. 1 , the tilt actuator 386 can be located vertically above the extend actuator 356 and inside the lift actuator 350. By arranging the various actuators in this manner, the actuators can be nested with each other in the fully lowered position of the lift arm structure. Specifically, the extend actuator 356 and the tilt actuator 386 can be vertically stacked relative to each other and inside the lift actuator 350. Thus, by nesting the actuators with each other in this manner, the clearance height of the power machine 300 can be maintained or reduced with the lift arm 332 in the fully lowered position, while also allowing for an increased maximum lift height in the fully raised position compared to conventional lift arm arrangements. Relatedly, because the actuators, and more specifically the lift actuator 350 and the extend actuator 356, are positioned inside and generally below the remainder of the lift arm structure 332 (e.g., the lift arm 332 and the connecting link 334), and are at least partially recessed into the frame 310, they can be better protected from damage. Similarly, because the tilt actuator 386 is positioned rearward of the rocker link 382 , the tilt actuator 386 may be disposed further away from any implement supported on the lift arm 332 , which may reduce the risk of damage to the tilt actuator 386 .

[0198] Figures 14 to 22 The diagram shows Figures 5 to 10 Another configuration of a crawler loader 300 is shown in FIG. 1 , wherein like reference numerals generally refer to like features unless otherwise indicated. In particular, Figures 14 to 22 The lifting arm structure 330 of the loader 300 in the configuration may include a bridging structure 335 that forms a rigid structural extension from between (and above) the lifting arms 332. As discussed further below, the bridging structure 335 may include a plurality of internal reinforcement structures ( Fig.14 These internal reinforcement structures can provide improved mounting arrangements for various actuators of the loader 300 and generally increase the structural stability and protection of various components of the loader 300. In particular, as shown in reference Fig.14 and 19 As shown in Figures 14 to 22 The loader 300 configured in the embodiment may further include a Y-shaped link 389 disposed between the rocker link 382 and the implement carrier 372 (see Fig.15 ), the Y-shaped link can be used as a tilt actuator 386 and a bucket 392 or other implement (e.g., by attachment to an intervening implement carrier 372, as shown).

[0199] Especially if Fig.15As shown in FIG. 3 , the lift arm structure 330 may include a plurality of cross members extending between the two lift arms 332 and other components of the lift arm structure 330. Such cross members may generally be formed as a torsion tube or other beam structure and may provide improved structural stability to the lift arms 332 and the lift arm structure 330 as a whole.

[0200] As a specific example, a torque cylinder 390 (or other torque tube) may be disposed between the lift arms 332 toward the first ends 332A of the lift arms 332 (see FIG. Fig.15 ). In some embodiments, the torque cylinder 390 may include a connection structure that is connected to the tilt system 380 and operably supports the tilt system. In some embodiments, such a connection structure may be centrally located on the cross member and may protrude away from the centerline or outer contour of the cross member (e.g., as a cam). For example, the connection structure 391 may be provided as shown in FIG. Fig.14 , Fig.15 and Fig.17 390 in a cam arrangement centrally located on and extending away from the torque barrel. This connection structure can take a variety of forms, including but not limited to a clevis bracket mount with parallel cam plates (as shown).

[0201] In the illustrated example, the rocker link 382 of the tilt system 380 is pivotally coupled to the connecting structure 391 and is also connected to the tilt actuator 386 and the Y-link 389 in a bell crank arrangement. The Y-link 389 is connected to the implement carrier 372 (see FIG. 1 ) to which the bucket 392 is fixed. Fig.15 ), and actuation of the tilt actuator 386 can thus pivot the implement carrier 372 relative to the lift arm 332 via the bell crank movement of the rocker link 382. In particular, the laterally spaced apart connection locations between the Y-shaped link 389 and the tilt system 380 can provide a more even load distribution between the rocker link 382 and the lift arm 332 (e.g., while lifting the bucket 392) and generally improve the structural stability of the lift arm structure 330. In addition, the center-supported connection to the torque cylinder, and in particular the center-supported cam-type clevis mounting, can provide improved load characteristics for the components of the lift arm 332 during tilt operations, and can also generally help facilitate the illustrated improved installation of the tilt actuator 386 (as discussed above and further below).

[0202] As another example, a torque tube 394 (e.g., a torque cylinder, as shown) extends between the opposing arms of the connecting link 334. In the illustrated example, the torque tube 394 is positioned between the lift arm pivot point 338 and the pivot joint at the extension end connection 356B (i.e., the joint between the extension actuator 356 and the connecting link 334) toward the second end 334B of the connecting link 334. Fig.15 As shown in FIG. 1 , the torque tube 394 is located between the lift arm pivot point 338 and the end link 356B, and between the lift arm pivot point 338 and the connecting link pivot point 337 along the line of action RA of the connecting link 334 .

[0203] In order to provide improved structural characteristics to the lift arm structure 330 as a whole, the torque tube 394 is also aligned to be fixed to the extension actuator 356. In particular, similar to the torque tube 390 and the rocker arm link 382, ​​the torque tube 394 supports a connecting structure 397, which is formed as a centrally located cam-type clevis mounting structure extending from the connecting link 334 (see also Fig. 20 ). As with connection structure 391, connection structure 397 may alternatively include mounting structures other than parallel cam plates (as shown).

[0204] As also noted above, the lift arm pivot point 338, torque tube 394, connection structure 397, and connecting link pivot point 337 may advantageously be aligned along line of action RA. The extension actuator 356 may then be moved along the extension axis E1 (see also Fig.10 The extension axis E1 can be parallel to the top surface of the lifting arm 332 in the fully lowered position (see FIG. Fig.15 ).

[0205] In some cases, other cross members may also be provided. For example, as discussed further below, a torsion tube 544 (e.g., a cylinder as shown) may extend laterally across the bridge structure 335 to generally enhance the structural strength of the bridge structure 335 and the pivot joints between the lift arm 332 and the various actuators at the bridge structure 335 (also discussed below). In some cases, the torsion tube and bridge structure 335 may generally thus provide an improved structural configuration for movement of the lift arm structure powered by the various actuators 330.

[0206] In particular, as facilitated by the upwardly protruding structure of the bridging structure 335, the lift actuator 350 may be attached to the lift arm structure 330 above the top surface of each of the lift arms 332. Fig.15 As shown in FIG. 1 , the lifting actuator 350 can thereby be moved along the lifting axis L1 (see also Fig.10 The lift arm 332 is extended and retracted to pivot about the lift arm pivot point 338.

[0207] Furthermore, in the illustrated example, the bridge structure 335 also pivotally supports the tilt actuator 386 within the interior volume of the bridge structure 335. The tilt actuator 386 may also be secured above the top surface of the lift arm 332 (as desired), with corresponding improvements in the packaging and alignment of the actuator force. Fig.15 As shown in FIG. 1 , the tilt actuator 386 can thus be moved along the tilt axis T1 (see also FIG. 1 ). Fig.10 The axis 388) extends and retracts and can be disposed between two lift actuators 350 (see also Figures 16 to 18 As a further improvement to packaging and alignment with the workload, the arrangement may also orient the tilt actuator to be vertically aligned with (and above) the extend actuator 356. As also discussed above, the different actuators 350, 356, 386 may be controlled to extend or retract simultaneously or individually along the different axes L1, T1, E1 to operatively move the lift arm structure 330 (e.g., in a manner such as Fig.12 ), and the alignment of the various axes L1, T1, E1 can be relative to each other during such movement. Fig.15 The values ​​shown in the figure change in a predictable manner.

[0208] In order to properly align and support the various pivot joints and cross members, the bridge structure may include various external and internal support structures. Fig.14 , for example, the bridge structure 335 includes a base plate 502 on each lateral side, each of which transitions to an outer flange 504 and an inner flange 506. Likewise, the base plate 502 can be integrally formed (or otherwise connected) with the flanges 504, 506 to provide a mounting body 518 having a U-shaped profile. The mounting body 518 can be secured (e.g., welded) to a seat on and around the lifting arm 332 and thereby securely and rigidly connect the bridge structure 335 to the lifting arm 332 (e.g., such as permanently connected by various welds).

[0209] The bridging structure 335 also includes an upper guard rigidly secured to and extending above the mounting body 518. In the illustrated example, the upper guard is integrally formed to include the rear panel 508, the front panel 510, and the top panel 512, but other configurations are possible, and guarding may also be provided by other features (e.g., the outboard angled panels 536 discussed further below). In some cases, the base plate 502 may be angled upward to support the bridging structure 335 (e.g., its guard structure). For example, the base plate 502 may extend above the top surface of the lifting arm 332 to support the front panel 512 and the plate forming the inboard flange 506, as shown. Fig.17 However, in other examples, differently configured substrates or mounting bodies are possible.

[0210] In some examples, the bridging structure for the lift arm may also help pivotally secure the lift arm to other structures, including other movable links of the lift arm linkage structure. Fig.17 , the flanges 504, 506 of the mounting body 518 may also extend rearwardly parallel to each other to further define the mounting structure 520. Thus, the mounting structure 520 may define and extend the rear (proximal) end 332B of the lift arm 332 to provide a support structure for the lift arm pivot point 338. In other words, the mounting body 518 provided by the bridging structure 335 may pivotally couple the lift arm 332 to the connecting link 334 at the lift arm pivot point 338.

[0211] In some examples, the bridging structure can define a generally arched structure extending upward from the lifting arm at an oblique angle. For example, as also discussed above, the mounting body 518 seated on the lifting arm 332 is connected to (and connected through) the rear panel 508 and the front panel 510. In particular, the rear panel 508 extends from the rear end of the base plate 502 of the mounting body 518 at a first acute angle A1, and the front panel 510 extends from the front end of the base plate 502 of the mounting body 518 at a second acute angle A2 (see Fig.15 ). In some embodiments, the first angle A1 may be the same as the second angle A2. In some embodiments, the first angle A1 may be greater than the second angle A2. In some embodiments, the first angle A1 may be less than the second angle A2.

[0212] Also in the illustrated example, the rear panel 508 and the front panel 510 are connected by the top panel 512, such that the panels 508, 510, 512 collectively define an interior volume 526 (see, e.g. Fig.15 ). As described in further detail herein, various structures may be included within the interior to provide additional mounting locations for various actuators, as well as improved overall structural support. Fig.15As best shown in , the interior volume 526 may be dome-shaped or an open-bottomed trapezoidal (open-bottomed) shape, which may help to advantageously balance structural rigidity with a sufficiently elevated location for attachment joints for one or more actuators. However, other configurations are possible.

[0213] In some cases, the bridging structure (eg, a guard thereof) may include a cutout to provide an enlarged opening for accessing the interior volume of the bridging structure. Fig.16 For example, the rear panel 508 may include an arcuate cutout 531, and the front panel 510 may include a cutout 532. The cutouts 531, 532 may, for example, allow for improved fluid exchange of a gas (e.g., air) for cooling, accessibility to mechanical components, and maneuverability of the actuator. In particular, for example, the cutout 532 of the front panel 510 may allow for a relatively elevated position of the joint for tilting and lifting the actuators 386, 350, while helping to prevent interference between the front panel 510 and the actuators 386, 350 during operation.

[0214] Especially if Fig.16 and Fig.17 As shown in FIG. 3 , the interior volume 526 of the bridge structure 335 includes and is further defined by a plurality of support gussets 528, 534 and a plurality of cross members (e.g., a torsion tube as discussed above) and various pivot joints for the actuators. In different embodiments, a variety of such structures are possible. For example, in the illustrated configuration, the support gussets 528 extend longitudinally between the rear panel 508 and the front panel 510 of the bridge structure 335 and are parallel to each other. In some examples, four gussets 528 (e.g., Fig.16 In some examples, a plurality of support gussets 528 may be secured to the torsion tube 544 (eg, extending vertically therefrom) to provide basic structural rigidity to the bridging structure 335 alone and the bridging structure 335 and lifting arm 332 in combination.

[0215] In some cases, as also noted above, support gussets or other internal structures of the bridge structure can provide support for pivot joints with various actuators, including can allow for beneficial alignment of the actuator joints (e.g., as also discussed above). In this regard, for example, the plurality of support gussets 528 provide a set of actuator mounts 530A, 530B to pivotally support the tilt actuator 386 (e.g., as shown, at the base end) and the lift actuator 350 (e.g., at the extension end 350B, as shown). Fig.17As shown in FIG. 5 , adjacent sets of angled plates 528 can define various U-clip mounting arrangements for actuator mounts 530A, 530B. In particular, angled plates 528 can include outer angled plates 536 and inner angled plates 534, wherein inner angled plates 534 are disposed within interior volume 526, and outer angled plates 536 further define an outer side boundary of interior volume 526. As mentioned above, outer support angled plates 536 and inner support angled plates 534 can be parallel to each other, and torque tube 544 is only vertically fixed between inner angled plates 534. In the illustrated example, in particular, as shown in FIG. Fig.17 , the outboard gusset 536 can be formed of the same plate structure as the inboard flange 506. In other embodiments, other configurations are possible. Similarly, in some cases, additional cross members can be provided for support, including a brace plate 538 disposed between the two inboard support gussets 534 (as shown).

[0216] In the illustrated example, the two inner support gussets 534 and the brace plate 538 define a recessed area 540 for the actuator mount 530A of the tilt actuator 386, wherein the inner support gusset 534 specifically provides a U-clip mounting arrangement for the tilt actuator 386 beneath the brace plate 538. Thus, the brace plate 538 can provide improved structural stability between the two inner support gussets 534, particularly at the actuator mount 530A, by helping to redistribute stress concentrations from the load of the tilt actuator 386.

[0217] Additionally, in some embodiments, the torque tube 544 can be aligned with the actuator mount 530A of the tilt actuator 386 along a plane parallel to the lift arm 332, and in particular aligned with the pivot axis of the actuator mount 530A. Fig.18 As shown in the figure, the angle plate 534 supports the pin 547 to define a pivot axis at the end connection 386A of the tilt actuator 386, and the pivot axis is aligned with the torque tube 544 along a plane PL1, which is parallel to the top surface of the lift arm 332 (and generally substantially parallel to the elongation direction of the lift arm 332, excluding the downwardly bent knee and machine carrier portion at the front end 332A).

[0218] Also like Fig.17As shown in , and as generally discussed above, the support structure of the bridge structure can also provide pivot support for the lift actuator. For example, adjacent sets of angle plates 534, 536 can support pins 393 to connect the lift actuator 350 to the bridge structure 335 in a U-clamp-like manner, and thereby to the entire lift arm structure 330. In particular, the upward extension of the bridge structure 335 (and the supporting angle plates 534, 536) can therefore allow the lift actuator 350 to be connected at a beneficial position, spacing, and orientation relative to the lift arm 330 and various other actuators 386, 356. Such an arrangement can, for example, help provide beneficial relative alignment of the pivot joints and lines of action for the various actuators, as discussed above and further below. In addition, particularly as Fig.15 and Fig.17 As shown in FIG. 5 , in some cases, lift actuator mount 530B can be effectively positioned as the highest pivot connection on the power machine (where lift arm 330 is fully lowered) while still being horizontally aligned with torque tube 544 for proper structural support.

[0219] In some cases, a bridge structure as disclosed herein can help provide a particularly compact work group arrangement. More specifically, the bridge structure can generally provide additional space to arrange the mounting location of the actuator for the lifting arm structure, including having one or more favorable alignments, as also discussed herein. For example, as also Fig.15 As shown in FIG. 3 , due to the additional mounting space provided by the bridge structure 335 (e.g., as shown for the tilt actuator 386 and the lift actuator 350), the actuators of the lift arm structure 330 can be arranged very compactly within the frame 310. In particular, in the example shown, all of the working group actuators 350, 356, 386 are arranged laterally between the lift arms 332 (and within the lateral footprint of the frame 310) for a particularly compact overall profile. In addition, at least a portion of the actuators (e.g., the actuators 350, 386) can be partially housed within the bridge structure 335 for further space efficiency. However, in other arrangements, some actuators can be arranged laterally to the exterior of a particular lift arm or lift arm structure.

[0220] The bridging structure as shown herein can also provide improved structural support. In some cases, the torque tube 394 can independently provide sufficient lateral support for the lift arms 332. However, the bridging structure 335 extending between the lift arms 332 provides additional rigidity and structural support to the lift arms 332 to offset the induced loads. In addition, the profile of the bridging structure 335 can prevent debris from accumulating and entering the actuator disposed within the bridging structure 335.

[0221] In some embodiments, the actuators can be mounted on the outside of the lift arm or frame. For example, in some examples, any or all of the group actuators 350, 356, 386 can be mounted at similar or different locations on the outside of the lift arm 332 or frame 310. For example, the lift actuator 350 can be mounted on the outside of the lift arm 332 and above the traction system 240. In some cases, the bridge structure 335 can provide a mounting location for the lift actuator 350 and the tilt actuator 386. Additionally and alternatively, the tilt actuator 386 can be mounted above or below the lift arm 332 in other ways.

[0222] In some embodiments, additional, fewer, or alternative actuators may be mounted to the bridge structure 335 or the frame 310. For example, instead of Fig.14 In addition to the single tilt actuator 386 shown in the figure, two tilt actuators can be mounted to the bridge structure 335 or other parts of the lift arm structure 330 (e.g., the lift arm 332). In addition, as generally mentioned above, the number of other actuators (e.g., lift or extension actuators) or their mounting locations can also be changed. In some embodiments, one or more lift actuators can be pivotally fixed to the connecting link (or other lift arm links) instead of being directly fixed to the power machine frame. For example, as also discussed above, the lift arm can extend between the connecting link and the lift arm instead of extending between the lift arm and the frame.

[0223] In some cases, the lift arm structure may also include an improved joint between the lift arm and the connecting link. Fig.19 and Fig. 20 , for example, a lift arm attachment structure 550 is shown. The lift arm attachment structure 550 is aligned with and defines the lift arm pivot point 338 and includes an outer support structure 552 (e.g., an outer plate) and an inner support structure 554 (e.g., an inner plate) opposite the outer support structure 552. In particular, the outer support structure 552 and the inner support structure 554 provide a U-shaped clip mounting structure that receives a mounting pin 556 to pivotally secure the lift arm 332 (via an extended mounting structure 520 provided by the bridge structure 335). Thus, the lift arm 332 is supported by the outer structure 552 and the inner structure 554 on corresponding sides of the lift arm structure 330 and pivots therebetween.

[0224] In some embodiments, the cross member used to connect the links may extend through the support structure for the lift arm pivot point to provide further structural strength to the lift arm structure as a whole. Fig. 20As further illustrated in FIG. 5 , a torsion tube 394 for connecting the links 334 extends between the lift arm attachment structures 550, and in particular between (and through) the inboard support structure 554 and the outboard support structure 552. Thus, the torsion tube 394 can provide improved stiffness and uniformity of response generally between the lift arm attachment structures 550 and between the opposing lateral sides of the lift arm structure 330. Additionally, the spaced-apart configuration of the inboard support structure 554 and the outboard support structure 552 can provide improved operational support and structural stiffness relative to the pivot joint between the connecting link 334 and the extension actuator 356 (e.g., relative to the joint at the camming connection structure 397 along the central axis CA, in the illustrated example).

[0225] Fig. 20 Also illustrated is an inner guard 568 extending laterally between the lift arms 332 on the opposite side of the various actuators from the bridge structure 335. In the illustrated example, the inner guard 568 is formed by a profile panel mounted above the main frame 310 and the traction system 340, and generally below all of the actuators of the lift arm structure 330. Similar to the bridge structure 335, the inner guard 568 may provide additional protection for the actuators from below and behind, and may also protect the power system (e.g., battery pack) of the loader 300 from above and in front. However, in contrast to the bridge structure 335, the guard 568 may not necessarily provide direct structural support or mounting for the various actuators.

[0226] In some examples, other beneficial alignments may additionally (or alternatively) be provided. Fig.21 , lift actuator 350 may be mounted to frame 310 with a pivot axis at frame end 356A of extend actuator 356 that is aligned with torque tube 394 along plane PL2 that is parallel to the top surface of lift arm 332. In contrast, due to the offset provided by cam connection 397, the line of action of extend actuator 356 may not be aligned with plane PL2.

[0227] Also to provide improved packaging and force distribution, the connecting link may extend outward from the frame to engage the lift arm. In some examples, such an arrangement may help to laterally align the pivotal connection between the lift arm and the connecting link with the pivotal connection between the connecting link and the frame of the power machine (i.e., such that the joint extends at an overlapping lateral distance from the centerline), or the pivotal connection to the frame may be at least partially disposed inboard of the pivotal connection to the lift arm. Fig. 22, for example, the maximum width W1 measured at the lift arm pivot point 338 on the connecting link 334 is greater than the maximum width W2 between the opposite sides of the connecting link 334 measured at the connecting link pivot point 337. The larger width W1 at the lift arm pivot point 338 can provide structural stability for the lift arm 332 at the pivot connection between the connecting link 334 and the lift arm 332. In addition, the smaller width W2 can allow for a more compact arrangement at the connecting link pivot point 337 between the connecting link 334 and the main frame 310 of the loader 300, particularly at locations adjacent to the traction system 340. This enables the connecting link 334 to pivotally move within an improved range of motion without interfering with the traction system 340. In addition, in some cases, such spacing can also allow the lift arm pivot point to be laterally aligned with the connecting link pivot point (e.g., as shown for the pins defining the pivot points 338, 337 for the loader 300), with corresponding benefits for load distribution and movement efficiency.

[0228] Some power machines according to the present disclosure may include two (or more) separate and removably connected frames arranged to independently support the working system, traction system, and individual components of the power system of the power machine. For example, some power machines as discussed above in various ways may include a more rigid frame configured to support working and traction actuators (e.g., all such actuators) for the power machine, and a less rigid frame configured to support the main power source (e.g., battery or other power source) of the power machine. In particular, some examples of such frames can be removably fixed together into an operating configuration while independently supporting corresponding power machine components (e.g., a first frame supports the traction assembly and the working and traction actuators, and a second frame supports the battery and battery management system). In addition, in some cases, the frames can be easily separated and then reconnected as needed to improve efficiency and user convenience during various maintenance (or other) operations (including when the frames are still supporting the corresponding working groups, drives, and power system components).

[0229] As well as improved packaging and structural efficiency, this arrangement can allow for an improved manufacturing process, including due to the potential to prepare each frame individually as a subassembly, with the various working elements and power source components already attached to the relevant subassemblies before the subassemblies are joined together. In some cases, this can readily allow for an efficient modular manufacturing approach and improved access for servicing of a particular component or system (e.g., the power system, drive system or lift arm structure and associated actuators).

[0230] In particular, some examples may include a first frame that provides a structural bridge across a power source supported on a second frame. Thus, the first frame can support the traction and work group actuators and various other components relative to the second frame, and the second frame can support the power source relative to the first frame. In addition, in some cases, the first frame can thus effectively reinforce the second frame, thereby allowing the second frame to be constructed in a lighter or otherwise more easily repairable form. In a specific example, the bridging frame can independently support one or more drive motors, lifting actuators, extension actuators, lifting arm structures, or traction elements (e.g., wheels or tracks) relative to the base frame supporting the battery assembly to provide power to the actuators on the bridging frame.

[0231] Typically, the bridge frame (e.g., as further described below) can be configured to be self-supporting relative to the various actuators and other components attached thereto, regardless of whether the base frame is secured thereto. Thus, in some cases, the base frame can be easily installed onto or removed from the bridge frame to easily install or remove the battery from the power machine or to perform various other manufacturing or maintenance operations.

[0232] In some cases, the bridging frame may include welded or otherwise attached side box structures on opposite lateral sides of the first frame. The side box structures may provide pivotable and other mountings for the traction elements and the work group elements, and may be connected at the upper end by one or more structural cross members (e.g., various structural angle plates). Thus, this type of arrangement may provide and structurally connect together a suitably strong external (and outer) structure to support various actuators, work groups and traction components and pivotable mountings (e.g., for lifting arm structures, or for traction, lifting or extension actuators). In addition, when the base frame is operably fixed to the bridging frame, the side box structures may be further tied together by the structure of the base frame. For example, the base frame may be removably fixed to the bridging frame along the bottom portion of the bridging (and base) frame and along the upwardly extending rear portion of the bridging (and base) frame to provide further overall structural strength. Thus, while a base frame may generally provide a much less rigid structure than a bridge frame (e.g., to improve maneuverability), a base frame supporting a power source may be secured to a corresponding bridge frame to further enhance the overall structural integrity of the power machine while also providing the various manufacturing and maintenance benefits noted above.

[0233] As an example, Fig.23 and Fig.24 The figure shows a bridge frame 610 and a base frame 612 which are removably secured to each other to form a Fig.14300. In the example shown, the structures of the frames 610, 612 are laterally symmetrical across the front-to-rear centerline of the loader 300, but other configurations are possible. Therefore, discussion or illustration of the structure on one lateral side of either of the frames 610, 612 should be understood to be equally applicable to the opposite lateral side. In some cases, the disclosed multi-piece frame structure can be used with particular benefits in conjunction with power machines configured as loaders, particularly those having lift arm structures as discussed herein. However, in other examples, such as Fig.23 and Fig.24 The frame 310 shown in FIG. 3 or other multi-piece frames according to the present disclosure may be used with other power machines, not limited to loaders.

[0234] In the illustrated example, the various structural plate components (e.g., plates) of the bridge frame 610 can be coupled together in various known ways (e.g., using welding) to provide a suitably rigid support structure. For example, to support the towing assembly and the lifting arm structure, the bridge frame 610 includes a welded first side box structure 614 and a welded second side box structure 616. The box structures (as well as other components of the bridge frame) can also utilize bends, cuts, etc. in the plates to facilitate forming the desired shape. Each of the first side box structure 614 and the second side box structure 616 defines an outer side profile 618 and an inner side profile 620 opposite the outer side profile 618, respectively. Thus, the side box structures 614, 616 define various rectangular and other box shapes (with appropriate internal reinforcements) to provide a rigid attachment structure to secure the towing and working group working elements (e.g., as further discussed below) and the base frame 612.

[0235] To laterally reinforce the side box structures 614, 616 relative to each other, a lateral support structure configured as a frame bridge structure 622 extends between the first side box structure 614 and the second side box structure 616 along an upper end 623 of the frame 310 opposite the base plate 624. In some examples, the bridge structure 622 may include various gussets 632 extending between the first side box structure 614 and the second side box structure 616 within the interior volume 634 of the bridge structure 610 (see also Fig.25 and Fig.26). The gussets 632 and other internal structures of the bridging frame 610 may generally be appropriately arranged to ensure that there is sufficient space for the power source and related components within the internal volume 634 (e.g., for easy initial assembly or for later swapping out an interchangeable power source, as discussed further below). To provide further rigidity, the front cross member 626 also extends along the lower end 627 of the frame 310 at a front end 628 between the first side box structure 614 and the second side box structure 616. The front cross member 626 may include a front guard 629 extending upwardly therefrom between the first side box structure 614 and the second side box structure 616, wherein the guard 629 is angled forwardly and downwardly in the illustrated example to provide improved shedding of debris from the frame 310 of the loader 300.

[0236] To support the various actuator mountings, the bridge frame 610 also includes a central tower 630 extending upward from the base plate 624 between the first side box structure 614 and the second side box structure 616. Generally, such a central tower may include various structures for pivotable connections to various actuators coupled to the work group. The pivotable connections may include, for example, U-shaped clips, trunnions, or other types of mountings, including as further discussed below with respect to the illustrated examples. In some cases, as further discussed below, the central tower 630 may support multiple work group actuators (e.g., one or more tilt actuators and lift actuators) having one or more axes of rotation.

[0237] Also like Fig.23 and Fig.24 , the rear tower 640 of the base frame 612 includes a first side wall 642 and a second side wall 644 connected to a base plate 646 along the lower end 638 of the frame 310. The first side wall 642 and the second side wall 644 of the rear tower 640 are connected by a top cross member, which is configured as a guard 648 extending along the upper end 623 of the frame 310 (and the rear tower 640). Each of the first side wall 642 and the second side wall 644 of the rear tower 640 defines an inner side surface 654 and an outer side surface 656 opposite the inner side surface 654, respectively.

[0238] As generally noted above, the bridge frame 340 and the base frame 612 may be removably secured together to collectively form the frame 310 of the loader 300. For example, Fig.24 As shown in FIG. 6 , the base frame 612 and the bridge frame 610 can be removably fixed to each other by various fasteners 660 (e.g., threaded bolts, nuts, and washers). In particular, the base frame 612 includes a plurality of holes 662 disposed along the first side wall 642 and the second side wall 644 and the periphery of the base plate 646 (see also FIG. 6 ). Fig. 27). The bridging frame 610 includes a plurality of corresponding holes 664 (see Fig.25 and Fig.26 ), which are arranged along the perimeter of the first and second side box structures 614, 616 and the base plate 624. The plurality of holes 662 and the plurality of holes 664 can be concentrically aligned to receive the fastener mechanism 660 and thereby removably secure the base frame 612 and the bridge frame 610 together.

[0239] In some examples, the base frame can be located below or outside the bridge frame of the bridge frame at various connection points. In this way, for example, the relatively more rigid structure of the bridge frame can more easily provide lateral support to the base frame, and the base frame can be relatively easily removed from below (for example, where the bridge frame is raised on a hoist). To elaborate, in the illustrated example, the first side box structure 614 and the second side box structure 616 are secured to the rear tower 640 at locations where the plate extensions of the first side box structure 614 and the second side box structure 616 extend along the inner side surface 654 of the first side wall 642 and the second side wall 644. Similarly, the base plate 646 of the base frame 612 is secured to the base plate 624 of the bridge frame at locations where the base plate 646 extends along the lower surface 665 of the base plate 624. In this regard, for example, the bridge frame 610 can generally be considered to be nested in (and above) the base frame 612.

[0240] In various examples, various specific configurations of the side box structures and the bridge structure for the bridge frame are possible, including those involving the support of the working or traction elements and the connection to the base frame. Fig.25 and Fig.26 The diagram shows Fig.23 and Fig.24 6. In the illustrated example, as generally noted above, the first and second side box structures 614, 616 of the bridge frame 610 are (substantially) symmetrical about a center plane CP extending in the fore-aft direction.

[0241] In particular, the first side box structure 614 includes a plurality of openings 666, 668, 670 along the outer side profile 618 and a plurality of mounting holes for fasteners. Fig.28 and Fig.29As shown in FIG. 6 , openings 666, 668, 670 and a plurality of mounting eyelets can be used to mount track assemblies 342 to be fully operatively supported by bridge frame 610. For example, mounting openings 666 can receive drive motors 672 into side box structures 614 so that drive motors 672 are properly aligned to provide traction to respective track assemblies 342. Similarly, track frames 343 can be secured to bridge frame 610 at or near openings 668, 670 (e.g., via a torsion suspension system). In some embodiments, openings 666, 668, 670 and / or box structures 614 (more generally) can be used to route electrical wires or other lines within frame 310, or other openings can be provided in a variety of ways.

[0242] Especially if Fig.25 As shown in FIG. 6 , the bridge frame 610 includes a connecting link pivot point 337 defining a connecting link rotation axis CL that extends along a lower end 627 between an outer profile 618 and an inner profile 620 of each of the first side box structure 614 and the second side box structure 616. Thus, the connecting link 334 can be moved relative to the bridge frame 610 by an associated working group actuator (e.g., an extension actuator 356, such as Fig.15 and Fig.21 310 ) is rotatable about the connecting link axis CL. In this regard, the relatively low height of the pivot point 337 (e.g., within 10% or 20% of the total frame height from the bottom of the frame) can also advantageously position the pivot point 337 generally in an area of ​​particular strength for the bridge frame 610 and the frame 310.

[0243] Generally, the connecting link 334 can be connected within a pivot link mount 740 defined by the side box structure 614. In the illustrated example, the pivot link mount 740 is defined between the inner profile 620 and the outer profile 618 of the first side box structure 614 and the second side box structure 616 adjacent the base plate 624. In some examples, the pivot link mount 740 is defined along the rear plate extension of the box structures 614, 616 where the bridge frame 610 is fixed to the base frame 612. In other examples, other configurations are possible, including having other mounting locations along the side boxes or other known types of pivotable mounting structures.

[0244] As briefly noted above, one or more gang actuators configured to move the connecting links 334 (and generally lift the arm structure 330) may be mounted to a central tower 630 extending from a base plate 624 of the bridge frame 610. In the illustrated example, the cutout features 674 are aligned to provide access to pins that rotatably couple the central tower 630 to the gang actuators 350. In some examples, such as Fig.25, the feature 674 groove can thus be aligned along the first mounting axis M1 defined by the center tower 630, but other configurations are possible. In this configuration, the pin can be aligned along M1 and mounted via the cutout feature 674 into the dual shear mounting hole of the center tower 630 and into the actuator hole.

[0245] like Fig.23 and Fig.25 As shown in FIG. 6 , the central tower 630 can be formed as a branch structure that can jointly support multiple working group actuators. In particular, in the illustrated example, the tower 630 includes a first plate 690 and a second plate 692, which extend upward from the base plate 624 between the first side box structure 614 and the second side box structure 616. The first plate 690 and the second plate 692 are connected to the relevant working group actuators (e.g., Fig.21 636) and define a respective first pivot mount 694. In some cases, the plates 690, 692 may be a rolled or bent side of a unitary plate structure forming at least a portion of the center tower 636. In still other embodiments, the plates 690 / 692 may be welded to a rod of the center tower.

[0246] To support additional actuators, additional plates (e.g., welded or integral to the first and second plates 690, 692) may form a first branch 696 and a second branch 698 of the center tower 630. The branches 696, 698 may extend from the first and second plates 690, 692 toward the first and second side box structures 614, 616, respectively. The branches 696 / 698 provide suitable spacing for a laterally spaced mounting arrangement of the work group actuators. For example, each of the first and second branches 696, 698 may include an outer side plate 700 extending orthogonally to the laterally extending plates of the first and second branches 696, 698 and extending parallel to the first and second plates 690, 692. The outer side plate 700 of the first branch 696 and the first center plate 690 define a second pivot mount 702, and the outer side plate 700 and the second plate 692 of the second branch 696 define a third pivot mount 704 (e.g., having spacing and mounting holes to facilitate pinning with, for example, Fig.21 The lift actuator 350 shown in FIG. 3 is rotationally coupled).

[0247] Depending on the particular actuator to be secured, a variety of mounting configurations are possible. In some cases, multiple actuators may be supported relative to multiple pivot axes of the actuator. For example, plates 690, 692, 700 include a first mounting hole defining a first mounting axis M1 and a second mounting hole defining a second mounting axis M2. As mentioned above, for example, the first mounting axis M1 may correspond to the lift actuator 350, and the second mounting axis M2 may correspond to the extension actuator 356 (e.g., secured in front of and below the first mounting axis M1 as shown). Typically, any or all of the first mounting member 694, the second mounting member 702, and the third mounting member 704 may be a U-clip mounting structure or a trunnion mounting structure that may pivotally mount a corresponding actuator (e.g., a lift actuator or an extension actuator) about the first mounting axis M1 or the second mounting axis M2.

[0248] In addition to providing structural strength between the box structures 614 / 616, the lateral support bridge structure 622 can also provide protection for certain components and also help to shed and protect debris and exposure to the external environment. In some examples, such a protective structure can extend between the power source and one or more working group actuators to protect the power source from the actuator.

[0249] In some examples, the structure 622 may include a guard formed with a corrugated surface to more closely match the position and range of motion of a particular actuator. In the illustrated example, the structure 622 includes an upper guard plate forming an M-shaped profile. In particular, the top plate of the structure 622 may form a first peak surface 710, a second peak surface 712, and a channel 714 defined between the first peak surface 710 and the second peak surface 712. The channel 714 may be defined by an inner inclined panel 716, which extends downward at an angle from the first peak surface 710 and the second peak surface 712 toward a lower panel 718 across the center plane CP. In addition, the inner inclined panel 716 may be connected by the lower panel 718 to provide a continuous guard surface and avoid sharp valley profiles that may inhibit debris from falling off. The outer inclined surface 720 also extends outward from the peak surfaces 710, 712, angled at the upper ends of the first side box structure 614 and the second side box structure 616, and terminates near the outer side profile 618 of the bridging frame 610.

[0250] like Fig.26 As shown in FIG. 1 and as generally discussed above, one or more gussets 632 can be disposed between the upper ends of the lateral support structures 622 to provide structural support (e.g., to prevent buckling of the inner sidewalls and / or other support box structures 614 / 616). Typically, one or more gussets 632 can be disposed toward the battery or other power source ( Fig.26The lateral support structure 622 may extend downwardly from the first side box structure 614 to the second side box structure 616 to provide additional structural support while still providing adequate clearance. In the illustrated example, the lateral support structure 622 includes a first gusset 730 and a second gusset 732 that include one or more eyelets 734 for routing electrical wires within the interior volume 634 of the bridge frame 610. In some examples, gussets or other reinforcement structures may extend between the first side box structure 614 and the second side box structure 616, but are not limited to the upper end 623 of the bridge frame 610.

[0251] In some examples, the bridge frame can be configured for improved debris shedding as well as improved structural support. For example, the inner profile 620 and the outer profile 618 of the bridge frame 610 can provide a substantially vertical profile (e.g., but not vertical on average), which can facilitate shedding of debris from the bridge frame 610. With a similar effect, and also as discussed above with respect to the lateral support structure 622, the exposed upper structure of the bridge frame 610 can provide a substantially non-horizontal profile (e.g., having only an inclined surface as shown for the guard plate of the structure 622). In some examples, the outer profile 618 and the inner profile 620 can be connected to the side guards 728, which enclose the rear portion of the side box structure 614, 616 to prevent debris from entering its internal volume. The side guards 728 may extend between the upper end 623 of the cross support structure 622 and the lower end 627 of the bridge frame adjacent the connection link point 337, and the plates used to secure the bridge frame 610 to the base frame 612 (also described above) may extend behind the guards 728. In some configurations, the side guards 728 may also be substantially vertical.

[0252] In some examples, a threshold percentage of the exposed surface of the bridge frame can exhibit a particularly inclined surface to ensure optimal shedding of debris. For example, at least a corresponding threshold percentage of the top, inside, or outside surface of the bridge frame or its substructures that are exposed outside the bridge frame can be substantially non-horizontal (or substantially vertical). In some cases, 90% or more of the exposed surface of any (or all) of the top profile, inside profile, or outside profile of the side box structure of the bridge frame can be substantially non-horizontal (but not vertical) or substantially vertical. However, in other cases, other configurations are possible.

[0253] Fig. 27 The figure shows additional details of an example configuration of the base frame 612. As with the bridge frame 610, the different structures of the base frame 612 can be connected together by welding, can be integrally formed (e.g., bent, cut, etc.), or can be assembled in other ways (e.g., using fasteners). Fig. 27As shown in FIG. 1 , the width W1 between the inner side surfaces 746 of the rear tower 640 may be wider than the width between the outer surfaces of the first side box structure 614 and the second side box structure 616 of the bridge frame 610 (eg, see FIG. 1 ). Fig.26 ). Thus, the rear tower 640 may extend outside of the bridging frame 610, with the two frames 610, 612 connected in a nested configuration, as also discussed above.

[0254] In the illustrated example, the rear tower includes a top guard 648 extending between the first side wall 642 and the inner side surface 746 of the second side wall 644. In some embodiments, the top guard 648 can be shaped to follow the perimeter of the upper end 623 of the first side wall 642 and the second side wall 644, and can be configured to be generally aligned with the top of the lateral support structure 622 when installed (see, e.g. Fig.23 ).

[0255] In some examples, different features can be provided to help secure the power source to the base frame 612. For example, the base frame 612 can include battery mounts 752 / 756 arranged along the base 646. In the illustrated example, the battery mounts include a first battery mount 752 disposed along the base 646 near a first end 754 and a second mount 756 disposed along a rear panel 758 of the base 646 at a second end 760 opposite the first end 754. However, a variety of mounting configurations are possible, including having known mounting structures for batteries or non-battery power sources (e.g., fuel cells or combustion-based power sources). The first battery mount 752 and the second battery mount 756 can support a battery (not shown) on and / or above the base 646 of the frame 310. Such placement of the battery on / near the lower end 627 of the base frame 612 can provide benefits such as a lower center of mass and rear-biased weight distribution.

[0256] In some embodiments, the base frame 612 may include an integral rear guard (not shown) extending between the top guard 648 and the base plate 646 (or otherwise along the rear tower 640) to completely enclose the rear end 652 of the base frame 612. In some embodiments, slots 762 may be added along the first side wall 642 and the second side wall 644 to provide access to electrical components or for other purposes. In some examples, the slots 762 may be used to mount additional components (e.g., ultrasonic or other sensors for object detection).

[0257] Still reference Fig. 27 And refer again Fig.23 and Fig.24 The illustrated configuration of the base frame 612 can therefore facilitate a secure and removable attachment between the base frame 612 and the bridge frame 610. For example, Fig. 27 As shown in FIG. 6 , the base plate 646 may include a region where the width W2 of the base plate 646 extends laterally wider than a local width W3 of the rear tower 640 (eg, W3 is equal to the width W1). Fig.23 and Fig.24 6, the tower 640 of the base frame 612 can extend outside the side box structures 614, 616, and the base plate 646 can be further extended laterally to be located below the base plate 624 of the bridge frame 610. However, in other examples, other configurations are possible. The bridge frame 610 directly supports the work group actuators and traction elements, and indirectly supports the power source via the base frame 612. In some cases, the base plate 646 can extend along 30% or more of the length L of the base plate 624 of the bridge frame 612 connecting the frames 610, 612 (see Fig.28 ), but other configurations are possible. However, in general, the configuration of the base plate 646 can be flexibly selected to accommodate a battery or other power source of a specific size or weight. For example, for a longer battery, the base plate 646 can extend longer than the illustrated configuration.

[0258] like Fig.28 , the first battery mount 752 and the second battery mount 756 can support an isolation mount 770 (e.g., having various known types of mounting pads). The isolation mount 770 can help absorb internal impact energy or vibration, maintain battery alignment, and otherwise advantageously distribute operating forces throughout the compression range. However, in other examples, other configurations are possible.

[0259] As mentioned above, Fig.29 The figure shows details of the connection between the track assembly 342A / B and the bridge frame 610. In particular, the drive motor 672 is inserted into the bridge frame 610 at the opening 666, and the track frame 343 is fixed to the outer side profile 618 of the bridge frame 610. In the example shown, the second angle plate 732 of the lateral support structure 622 can be aligned (partially) above the drive motor 672 to extend laterally between the drive motors to strengthen it particularly with respect to the track assembly 342. However, in other examples, other configurations are possible.

[0260] Especially if Figures 28 to 30 , the bridge frame 610 thus includes all of the moving pivot points to support all of the actuators and moving loads from the track assemblies 342, lift arm structures 330, and associated actuators, but does not directly support the batteries 780 or other power source for those actuators. Fig.30, the base frame 612 directly supports the battery 780 and the corresponding control system 782 (e.g., CPU, motor controller, etc.), but does not directly support any lifting arm structure, working group actuator, drive actuator or other drive assembly components. Therefore, the base frame 612 does not need to be configured to directly withstand the dynamic loads from the operation of the power machine 300. Instead, the size and structure of the base frame 612 can be designed to be mainly used to support components to supply power or control functions to the working group or drive actuator (and corresponding drive or lifting components) supported by the bridge frame 610. Therefore, the relevant systems can be assembled (or maintained) separately on the relevant frames 610, 612, and then the frames 610, 612 can be assembled together as needed (e.g., each frame has been filled with components as described above). In other words, the base frame 612 can provide support for the power (and control) system and can be assembled with the bridge frame 610, which provides an actuator powered by a power source and a correspondingly moving working element (e.g., lifting arm structure and drive assembly).

[0261] In some examples, the bridge frame 610 may be a stand-alone structure configured to independently support its own weight and the weight of an attached actuator, etc., without the base frame 612 being attached. Fig.31 As shown in FIG, even with the base frame 612 removed, the bridge frame 610 can fully (and independently) support the various working elements required for the operation of the power machine 300. In some cases, the illustrated bridge frame subassembly can be substantially ready for operation, requiring only relevant power or control connections (e.g., connections to a power system pre-installed on the base frame 612).

[0262] Thus, in some cases, the loader 300 can be partially disassembled by removing the base frame 612 to provide improved access for servicing components within the interior volume 634 or components supported on the base plate 646, etc. Thus, for example, segmenting the frame 310 into a bridge frame 610 including the working group and drive hardware (e.g., actuators, drive components, etc.) and a bridge frame 610 including software and power components (e.g., batteries and control systems) can make it easier to maintain battery replacement, system updates, and provide easier access to the interior volume 634. In particular, during manufacturing or maintenance, such segmentation can allow a power source (e.g., battery) to be installed to the base frame 612 while the actuator, lift arm structure, and one or more drive components are separately secured to the bridge frame 610 (e.g., in parallel operation). Prior to use, the loader 300 can then be assembled by securing the base frame 612 to the bridge frame 610 and completing various associated transmission connections (e.g., for power and control signals). Furthermore, the loader 300 can be partially or completely disassembled as needed by reversing the process.

[0263] As also noted above, some examples of the disclosed removable base frame or bridge frame having an open lower (or rear) portion can allow for quick and easy interchange of power systems for a mini loader, track or skid steer compact loader, or other power machine. Fig.31 As shown in , the large open space provided by the interior volume 634 and the accessibility from the space below or behind the bridge frame 610 can allow for relatively simple and efficient swapping of one power source for another (e.g., via a hot-swap interchange, wherein a replacement power source is connected for delivering power to the power machine system via movement of the power source, which aligns the power source for operation). In particular, some implementations can thus allow the base frame 612 and the battery 780 to be quickly and easily removed from below or behind the power machine 300 (e.g., collectively, as a unified battery assembly), such as Fig.30 Fig.31 The box arrows in FIG.

[0264] For example, to replace a depleted or damaged battery, power machine 300 may be driven or lifted to an elevated position relative to a maintenance station, and fastener 660 (see Fig.24 ) can be removed, and then the battery 780 (e.g., still attached to the frame 612) can be removed from the remainder of the power machine 300. A replacement battery (which, for example, is substantially the same as the battery 780, or on a replacement frame that is substantially the same as the frame 612) can then be installed into the interior volume 634 (e.g., using the reverse operation), and the power machine 300 is thereby re-enabled for operation. Thus, the use of the improved frame structure as disclosed herein can correspond to an improved ability to exchange a depleted battery for a fully charged battery, and thus significantly extend the effective operating time of any given power machine. In addition, as also discussed above, including various pivot points for the lift arm structure 330 and associated actuators on the bridging frame 610 (or other upper frame) can allow the power source to be swapped as described without having to disconnect any actuators or other work group components (including traction components).

[0265] In some embodiments, the base tray or other support for the interchangeable battery can be configured differently from the base tray 646 of the base frame 612. For example, a base support similar to the base tray 646 can be formed separately from the base frame 612 so as to be attached to and removed from the base frame 612, or directly attached to and removed from the bridge frame 610. In some examples, the base tray 646 may not include a battery mount 752, but may include an opening for receiving a hot-swappable battery or other battery (e.g., where a separate support structure is removably fixed to the base tray 646 to fix the battery thereto). Thus, in some cases, a replacement battery can be inserted from the bottom end of the base tray 646 through the opening in the base tray 646 to provide power to the power machine 300. In other cases, the rear panel 758 or other rear frame structure may include an opening so that a replacement battery can be inserted from the rear end of the base frame 612. In some examples, a base pan 646 or other support structure may be integrally formed with the battery (eg, with or without the rear pylon 640 ) to secure the battery to the base frame 612 .

[0266] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above.

[0267] As used herein, unless otherwise limited or qualified, "or" represents a non-exclusive list of components or operations that can exist in any kind of combination, rather than an exclusive list of components that can exist only as alternatives to each other. For example, a list of "A, B, or C" indicates the following options: A; B; C; A and B; A and C; B and C; and A, B, and C. Accordingly, the term "or" as used herein is intended to indicate exclusive alternatives only when preceded by an exclusive term, such as "any one," "one of," "only one of," or "exactly one of." For example, a list of "one of A, B, or C" indicates the following options: A, but not B and C; B, but not A and C; and C, but not A and B. A list preceded by "one or more" (and variations thereof) and including "or" for different listed elements refers to the option of one or more of any or all of the listed elements. For example, the phrases "one or more of A, B, or C" and "at least one of A, B, or C" refer to the following options: one or more A; one or more B; one or more C; one or more A and one or more B; one or more B and one or more C; one or more A and one or more C; and one or more of A, one or more of B, and one or more of C. Similarly, a list preceded by "plurality" (and variations thereof) and including "or" to different listed elements refers to the option of multiple instances of any or all of the listed elements.

[0268] For example, the phrases "plurality of A, B, or C" and "two or more of A, B, or C" indicate the following options: A and B; B and C; A and C; and A, B, and C.

[0269] In some embodiments, various aspects of the present invention, including computerized implementations of methods according to the present invention, can be implemented as systems, methods, devices, or articles of manufacture using standard programming or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a processor device (e.g., a serial or parallel general-purpose or dedicated processor chip, a single-core or multi-core chip, a microprocessor, a field programmable gate array, a control unit, an arithmetic logic unit, and processor registers, etc.), a computer (e.g., a processor device operably connected to a memory) or another electronic operation controller to implement the aspects detailed herein. Thus, for example, embodiments of the present invention can be implemented as an instruction set tangibly embodied on a non-transitory computer-readable medium, so that the processor device can implement instructions based on reading instructions from the computer-readable medium. Consistent with the discussion below, some embodiments of the present invention may include (or utilize) a control device, such as an automation device, a dedicated or general-purpose computer including various computer hardware, software, firmware, etc. As a specific example, the control device may include a processor, a microcontroller, a field programmable gate array, a programmable logic controller, a logic gate, etc., as well as other typical components known in the art for implementing appropriate functions (e.g., memory, communication system, power source, user interface and other inputs, etc.). In some embodiments, the control device may include a centralized hub controller that receives, processes and (re)transmits control signals and other data to other distributed control devices (e.g., engine controllers, implement controllers, drive controllers, etc.), including as part of a hub-and-spoke architecture, etc.

[0270] The term "article of manufacture" as used herein is intended to encompass a computer program that can be accessed from any computer-readable device, carrier (e.g., non-transitory signal), or medium (e.g., non-transitory medium). For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., cards, strips, etc.). In addition, it should be understood that a carrier wave may be employed to carry computer-readable electronic data, such as those used in sending and receiving electronic mail or in accessing a network such as the Internet or a local area network (LAN). Those skilled in the art will recognize that many modifications may be made to these configurations without departing from the scope or spirit of the claimed subject matter.

[0271] Certain operations of the methods of the present invention or the systems for performing these methods may be schematically represented in the various figures or otherwise discussed herein. Unless otherwise specified or limited, representing specific operations in a specific spatial order in the various figures may not necessarily require performing those operations in a specific order corresponding to the specific spatial order. Accordingly, for specific embodiments of the present invention, certain operations represented in the various figures or otherwise disclosed herein may be performed in an order different from the order explicitly shown or described. In addition, in some embodiments, certain operations may be performed in parallel, including by dedicated parallel processing devices or separate computing devices configured to interoperate as part of a large system.

[0272] As used herein in the context of computer implementation, unless otherwise specified or limited, the terms "component", "system", "module", "block", "device", etc. are intended to cover hardware, software, a combination of hardware and software, or software in execution. For example, a component can be, but is not limited to, a processor device, a process executed (or executable) by a processor device, an object, an executable file, an execution thread, a computer program, or a computer. As an illustration, both an application running on a computer and a computer can be a component. One or more components (or systems, modules, etc.) can reside within an executing process or thread, can be located on one computer, can be distributed between two or more computers or other processor devices, or can be included in another device (or system, module, etc.).

[0273] Also as used herein, unless otherwise defined or limited, the terms "inboard" and "outboard" refer to the relative relationship (e.g., lateral distance) between one or more objects or structures and the centerline of the power machine along the lateral side of the power machine. For example, a first structure that is inboard of a second structure is positioned laterally inward from the second structure, such that the distance between the first structure and the centerline of the power machine is less than the distance between the second structure and the centerline of the power machine. Conversely, a first structure that is outboard of a second structure is positioned laterally outward from the second structure, such that the distance between the first structure and the centerline of the power machine is greater than the distance between the second structure and the centerline of the power machine.

[0274] Similarly, as used herein, unless otherwise defined or limited, the terms "interior" and "exterior" refer to the relative relationship (e.g., lateral distance) between the centerline of one or more structures (e.g., substructures) and a reference structure (e.g., main structure), the centerline extending in the fore-aft direction or between the first end and the second end of the reference structure. For example, the interior structure is disposed closer to the centerline of the reference structure than the exterior structure. In this regard, an exterior structure of a subassembly of a power machine may also be an exterior structure. In contrast, an exterior structure of a subassembly may not necessarily be outside of other components of the subassembly relative to the centerline of the subassembly.

[0275] Also as used herein in the context of power machinery, unless otherwise defined or limited, "traction" or "drive" is used to refer to the actuators and other working elements of the power machinery that can be powered by a power source to move the power machinery on the terrain (e.g., wheeled or tracked ground engaging elements, motors configured to power the ground engaging elements, and related components). In contrast, "working group" is used to refer to the actuators or other working elements of the power machinery that are associated with the power operation of the working elements and are not configured to provide powered travel on the terrain (e.g., lifting arm structures, attached implements, motors or other actuators that power the movement of the lifting arm structures or attached implements, and related components). Therefore, the traction (or drive) actuator is arranged to provide power for the travel of the power machinery, while the working group actuator is arranged to provide power for the non-travel working operation of the power machinery. Accordingly, the discussion of the working group function refers to one or more functions provided by the movement of one or more working elements of the power machinery, while the discussion of the traction (or drive) function refers to one or more functions provided for the movement of the power machinery itself on the terrain.

[0276] As used herein, unless otherwise limited or specified, "substantially identical" refers to two or more components or systems that are manufactured according to the same process and specifications, where the variations between the components or systems are within the limits of the acceptable tolerances for the relevant process or specifications. For example, two components may be considered substantially identical if they are manufactured according to the same standardized manufacturing steps, using the same materials, and within the same acceptable dimensional tolerances (e.g., as specified for a particular process or product).

[0277] In some implementations, the devices or systems disclosed herein may be utilized, manufactured, installed, etc. using methods embodying aspects of the present invention. Accordingly, any description herein of a particular feature, capability, or intended purpose of a device or system is generally intended to include disclosure of methods for using such a device for the intended purpose, otherwise achieving such capability, manufacturing related components of such a device or system (or the device or system as a whole), and installing disclosed (or otherwise known) components to support such purpose or capability. Similarly, unless otherwise indicated or limited, discussion herein of any method of manufacturing or using a particular device or system (including installing the device or system) is intended to inherently include disclosure of the utilized features and achieved capabilities of such a device or system as an embodiment of the present invention.

Claims

1. A power machine, comprising: Power source; one or more working group actuators; one or more traction assemblies, the one or more traction assemblies comprising one or more drive actuators; Base frame; as well as a bridging frame detachably fixed to the base frame; wherein the bridge frame supports the one or more work group actuators and the one or more traction assemblies relative to the base frame; and Wherein the base frame supports the power source relative to the bridge frame.

2. The power machine according to claim 2, wherein: the one or more gang actuators comprising at least one lift arm actuator arranged to move a lift arm structure relative to the bridge frame and the base frame, optionally or preferably wherein the lift arm structure is pivotably supported on the bridge frame relative to the base frame; and Wherein the at least one lift arm actuator is pivotably supported by the bridge frame and the lift arm structure.

3. The power machine according to claim 2, further comprising: A plurality of gang actuators including the one or more gang actuators, wherein each gang actuator of the plurality of gang actuators is supported by the bridge frame.

4. A power machine according to any one of the preceding claims, wherein: The bridging framework comprises: a first side box structure extending from a lower end to an upper end; A second side box structure extending from the lower end to the upper end; and A transverse support structure extends between upper ends of the first and second side box structures.

5. The power machine according to claim 4, wherein: The lateral support structure and the first and second side box structures define in combination an internal volume, the internal volume receiving a power source of the power machine, optionally or preferably, the power source being an electrical power source; The internal volume is open along one or more of the bottom side or the rear side of the bridge frame, and the base frame is removably secured to the bridge frame to support the power source so as to be removed through one or more of the bottom side or the rear side of the bridge frame.

6. The power machine according to claim 4 or 5, wherein: The bridging frame also includes a central tower extending upwardly between the first side box structure and the second side box structure, and includes one or more pivot mountings for one or more lifting actuators included in the one or more work group actuators, wherein the one or more lifting actuators are arranged to raise and lower the lifting arm structure of the power machine.

7. The power machine according to claim 6, wherein: The central tower also includes one or more additional pivot mountings for one or more extension actuators included in the one or more working group actuators, the one or more extension actuators being arranged to move relative to the bridge frame, the connecting rods pivotably supporting the lifting arm structure relative to the bridge frame.

8. The power machine according to claim 6 or 7, wherein: The central tower is disposed in front of an opening in a bottom side of the bridge frame, the opening being aligned to receive the power source into an interior volume of the bridge frame.

9. The power machine according to any one of claims 4 to 8, wherein: The bridging frame further includes a base plate extending between lower ends of the first and second side box structures; and Wherein the bridge frame is fixed to the base frame along the base plate and along the first side box structure and the second side box structure.

10. The power machine according to claim 9, wherein: The base frame includes a base plate and a rear tower extending upward from the base plate, the power source being mounted to the base plate; and The bridging frame is fixed to the base plate along the base plate and along the rear tower.

11. The power machine according to claim 10, wherein: The base plate extends laterally wider than the rear tower; wherein the first side box structure and the second side box structure are fixed to the rear tower at locations where the first side box structure and the second side box structure extend along the first inner side surface and the second inner side surface of the rear tower; and The base plate is fixed to the base plate at a location where the base plate extends along a lower surface of the base plate.

12. A power machine according to any one of the preceding claims, wherein: The lateral support structure includes a downwardly inclined guard plate extending forwardly from a rear end of the bridge frame; and The guard plate extends at least partially between the power source and the one or more working group actuators.

13. A multi-piece frame for a power machine, the multi-piece frame comprising: a bridging frame comprising a first side structure, a second side structure, and a bridging structure extending between upper ends of the first side structure and the second side structure; and A base frame, the base frame comprising a base plate and a rear tower; wherein the base frame is removably secured to the bridge frame along the base plate and the rear tower to support a power source of the power machine relative to the bridge frame; and The bridge frame supports a plurality of working group actuators and drive assemblies of the power machine relative to the base frame.

14. The power machine according to claim 15, wherein: The base frame is removably secured beneath the bridge frame to align the power source for removal through one or more of a bottom side or a rear side of the base frame when the power source is supported by the base frame.

15. A method for a power machine, the method comprising: removing a first power source from the power machine by removing a first base frame supporting the power source from a bridge frame capable of pivotably supporting a work group actuator and drive assembly of the power machine; and After removing the first power source, one of the first base frame or a second base frame is secured to the bridge frame, wherein the second power source is supported by one of the first base frame or the second base frame.

16. A loader, comprising: Main frame; a lift arm structure coupled to the main frame and movable between a fully lowered position and a fully raised position, the lift arm structure comprising a lift arm pivotally supported relative to the main frame, and an actuator arranged to move the lift arm structure between the fully lowered position and the fully raised position; as well as a control system including an electronic controller configured to receive command inputs indicative of target movement of the lift arm and to provide corresponding outputs to control the one or more actuators; The electronic controller is configured to selectively operate in a radial lift mode and a non-radial lift mode, wherein the control system controls the actuator based on the command input to move the lift arm along a radial lift path and the non-radial lift mode wherein the control system controls the actuator based on the command input to move the lift arm along a non-radial lift path.

17. The loader according to claim 16, wherein: The lift arm includes an implement pivot point at a first end, the implement pivot point being configured to support an implement, and the lift arm structure includes a connecting link pivotably supporting the lift arm relative to the frame; wherein the actuator comprises a lift actuator pivotably fixed to the lift arm and an extend actuator pivotably fixed to the connecting link; and Wherein the electronic controller is configured to collectively control the lift actuator and the extend actuator to move an implement pivot point of the lift arm to any point within a lift envelope of the lift arm, the lift envelope being defined by a plurality of boundaries.

18. The loader according to claim 17, wherein: The boundaries include multiple of the following: a retraction boundary (404) defined by a first path of the implement pivot point when the lift actuator moves between a fully extended position and a fully retracted position with the extend actuator at a first extension length; an extension boundary (408) defined by a second path of the implement pivot point arm when the lift actuator moves between the fully extended position and the fully retracted position with the extend actuator at the second extension length; a lower boundary (412) defined by a third path of the implement pivot point when the extend actuator moves between a fully extended position and a fully retracted position with the lift actuator at a first lift length; as well as An upper boundary (416) is defined by a fourth path of the lift arm when the extend actuator moves between the fully extended position and the fully retracted position with the lift actuator at the second lift length.

19. The loader according to claim 18, wherein: At least a portion of the retraction boundary is defined such that the first extension length of the extend actuator is a minimum arm extension length of the extend actuator.

20. A loader according to claim 18 or 19, wherein: At least a portion of the extension boundary is defined such that the second extension length of the extend actuator is a maximum arm extension position of the extend actuator.

21. A loader according to any one of claims 17 to 20, wherein: For a given extension of the lift actuator, movement of the extend actuator between the fully extended position and the fully retracted position causes the implement pivot point to move along a corresponding extension path within the lift envelope; and Different extensions of the lifting actuator provide different curvatures for corresponding extension paths.

22. A loader according to any one of claims 17 to 21, wherein: For a given extension of the extend actuator, movement of the lift actuator between the fully extended position and the fully retracted position causes the implement pivot point to move along a corresponding lift path within the lift envelope; and Different extensions of the extension actuator provide different curvatures for corresponding lifting paths.

23. A loader according to any one of claims 17 to 22, wherein: The electronic control system is configured to constrain movement of the implement pivot point to an operating envelope within the lift envelope.

24. A loader according to any one of claims 17 to 23, wherein: The electronic control system is configured to simultaneously control the lift actuator and the extend actuator to selectively move the implement pivot point in a vertical direction and in a horizontal direction.

25. A method of operating a loader, the method comprising: receiving a command input at an electronic controller indicative of a target movement of a lift arm pivotally supported relative to a main frame of the power machine and included in a lift arm structure, the lift arm structure also including an actuator arranged to move the lift arm structure between a fully lowered position and a fully raised position; and The electronic controller is used to selectively control the actuator in the following: a radial lift mode in which the actuator is controlled based on the command input to move the lift arm along a radial lift path; and A non-radial lift mode is provided in which the actuator is controlled based on the command input to move the lift arm along a non-radial lift path.

26. The method according to claim 25, wherein: The lift arm structure further includes a connecting link pivotably coupled to a main frame of the power machine and the lift arm to pivotably support the lift arm relative to the main frame.

27. The method according to claim 25 or 26, wherein: The actuator includes a lift actuator pivotably coupled to the lift arm and an extend actuator pivotably coupled to the connecting link; and Wherein selectively controlling the actuator comprises: moving the lift actuator between a retracted position and an extended position to pivot the lift arm relative to the connecting link; and The extension actuator is moved between a retracted position and an extended position to pivot the connecting link relative to the main frame.

28. A loader, comprising: Main frame; a traction element, the traction element being supported by the main frame; as well as a lifting arm structure coupled to the main frame and movable between a fully lowered position and a fully raised position, the lifting arm structure comprising: a lift arm having a first end (332A) positioned forward of a second end (332B) when the lift arm is in a fully lowered position, the first end (332A) of the lift arm defining a pivot connection (374) for an implement, and a connecting link having a first end (334A) pivotably coupled to the main frame at a connecting link pivot point (337) and a second end (334B) pivotably coupled to a second end (332B) of the lift arm at a lift arm pivot point (338); a lift actuator configured to pivot the lift arm relative to the main frame and the connecting link about the lift arm pivot point (338); and An extension actuator is configured to pivot the connecting link about the connecting link pivot point (337) to move the connecting link and the lift arm relative to the main frame.

29. The loader according to claim 28, wherein: The lift actuator is pivotally coupled to the main frame or one of the connecting links at a first end (350A) and pivotally coupled to the lift arm at a second end (350B), the lift actuator being configured to move between a retracted position and an extended position to pivot the lift arm about the lift arm pivot point (338) to move the implement relative to the main frame; and The extension actuator is pivotally connected to the main frame at a first end (356A) and pivotally connected to the connecting link at a second end (356B), and the extension actuator is configured to move between a retracted position and an extended position to cause the connecting link to pivot about the connecting link pivot point (337) and thereby move the lifting arm relative to the main frame.

30. A loader according to claim 28 or 29, wherein: The connecting link pivot point is at a lower height on the main frame than one or more of the first end of the lift actuator or the first end of the extend actuator.

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