Electric power machine

Abstract

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

Description

[0001] This application is a divisional application, based on the PCT national phase application with an international filing date of March 2, 2021, which entered into China on September 2, 2022, with national application number 202180018811.2 and invention title "Electric Power Machinery". The corresponding PCT international application number is PCT / US2021 / 020525. Background Technology

[0002] This disclosure relates to powered machinery. More specifically, this disclosure relates to powered machinery that operates wholly or partially under electric power. For the purposes of this disclosure, powered machinery includes any type of machinery that generates power to perform a specific task or various different task purposes. One type of powered machinery is a work vehicle. Work vehicles, such as loaders, are typically self-propelled vehicles with work equipment such as booms (however, some work vehicles may have other work equipment), which can be manipulated to perform work functions. To name just a few examples, work vehicles include loaders, excavators, multi-purpose vehicles, tractors, and trenchers.

[0003] Conventional power machinery may include hydraulic systems and related components, configured to perform various operational functions using output from a power source (e.g., an internal combustion engine). More specifically, hydraulic motors may be configured to power the motion of the power machinery, and hydraulic actuators (e.g., hydraulic cylinders) may be used to move a lifting arm structure attached to the power machinery to tilt or otherwise move the implements connected to the lifting arm structure, or to perform other operations.

[0004] The above discussion is provided only for general background information and is not intended to help determine the scope of the subject matter for which protection is sought. Summary of the Invention

[0005] Some embodiments of this disclosure provide a power mechanism for movably operating a implement. The power mechanism may include a main frame and a lifting arm structure, the main frame supporting an operator's station. The lifting arm structure may include a lifting arm extending laterally along the frame. The proximal end of the lifting arm is movably fixed to the frame at a rear portion of the frame. The distal end of the lifting arm may include a tilt actuator recess, the opening side of which faces forward in the power mechanism when the lifting arm is in a fully lowered position. The power mechanism may further include an implement carrier, an electric tilt actuator, and an electric lifting actuator, the implement carrier being movably fixed to the distal end of the lifting arm. The electric tilt actuator may be fixed to the lifting arm within the tilt actuator recess, and the electric tilt actuator is configured to controllably extend and retract to change the orientation of the implement carrier. The electric lifting actuator may be fixed at a first end to the rear portion of the frame and at a second end to the lifting arm. Furthermore, the electric lifting actuator may be disposed within a lifting actuator recess defined by the frame, and the electric lifting actuator is configured to controllably extend and retract to raise and lower the lifting arm.

[0006] Some embodiments of this disclosure provide a power machine comprising: a track frame located on a lateral side of a main frame; and an electric drive motor mounted to the track frame and configured to move tracks surrounding the track frame to move the power machine across terrain. The track frame is movably fixed to the main frame.

[0007] Some embodiments of this disclosure provide a power machine having at least a portion of an electric drive motor extending laterally from the track frame to overlap with the main frame.

[0008] Some embodiments of this disclosure provide a power machine including an electric drive motor that extends laterally through an opening in a main frame.

[0009] Some embodiments of this disclosure provide a power mechanism including an electric tilt actuator that is fixed to a lifting arm by a pin connection within the proximal end of a channel.

[0010] Some embodiments of this disclosure provide a power machine including a tilting actuator recess having a channel that tapers such that the distal end of the channel has a smaller lateral width than the proximal end of the channel.

[0011] Some embodiments of this disclosure provide a power mechanism including a tilt actuator recess that at least partially supports an electrically tilting actuator to the outside of an operator's station in a lateral direction.

[0012] Some embodiments of this disclosure provide a power machine including an electric lifting actuator having a motor end and an extendable end, the motor end being pin-connected to a recess in the lifting actuator, and the extendable end extending out of the recess to be pin-connected to a lifting arm.

[0013] Some embodiments of this disclosure provide a power mechanism in which, in all operating orientations of the lifting arm, the motor at the motor end of the electric lifting actuator is located behind one or more pin connections, either a pin connection to the lifting arm or a pin connection between the electric lifting actuator and the lifting actuator recess.

[0014] Some embodiments of this disclosure provide a power machine including an electric power assembly with a battery module fixed to a main frame located behind an operator's station.

[0015] Some embodiments of this disclosure provide a power machine having a battery assembly including a battery housing enclosing a plurality of battery cells. The battery housing can be located entirely behind the operator's station.

[0016] Some embodiments of this disclosure provide a power machine having a battery assembly including a battery management system, the battery management system being either fixed to or located within the battery housing. The battery assembly can be fixed to a main frame such that the center of gravity of the battery assembly is laterally offset from the centerline of the power machine within the power machine.

[0017] Some embodiments of this disclosure provide a power machine that includes a battery management system disposed substantially below the top of a battery housing.

[0018] Some embodiments of this disclosure provide a power mechanism having a plurality of mounting rods extending laterally from the main frame behind an operator's station. A battery assembly can be secured to the mounting rods via a plurality of insulating mounts.

[0019] Some embodiments of this disclosure provide a power machine having a plurality of isolation mounting members. The plurality of isolation mounting members may include one or more of a front group or a rear group of isolation mounting members. The front group of isolation mounting members includes a first isolation mounting member located on a first lateral side of the center of gravity of the power machine and a second isolation mounting member located on a second lateral side of the center of gravity of the power machine. The rear group of isolation mounting members includes a third isolation mounting member located on the first lateral side of the center of gravity of the power machine and a fourth isolation mounting member located on the second lateral side of the center of gravity of the power machine.

[0020] Some embodiments of this disclosure provide a power machine having a front assembly of isolation mounting members disposed in front of the center of gravity of the power machine.

[0021] Some embodiments of this disclosure provide a power machine including a front assembly of isolating mounts disposed in front of the power machine's center of gravity, calculated without the weight of the battery assembly.

[0022] Some embodiments of this disclosure provide a power mechanism including a support plate fixed to a main frame to extend above a battery assembly and behind an operator's station. Furthermore, the power assembly may include a power control module supported relative to the main frame by the support plate.

[0023] Some embodiments of this disclosure provide a power machine having wires configured to provide electrical control and power signals. A first subset of the wires extends from a power control module through the internal volume of the lifting arm to a connector for controlling and powering the implement. The connector may be located at the distal end of the lifting arm.

[0024] Some embodiments of this disclosure provide a power machine including a second subset of wires routed from a power control module via a lifting actuator recess to an internal volume of a lifting arm, and the second subset of wires is further configured to provide electrical control and power signals to an electric lifting actuator.

[0025] Some embodiments of this disclosure provide a power machine including an electric component having a cooling module supported by a support plate.

[0026] Some embodiments of this disclosure provide a power machine including an electric component having a base plate detachable from a support plate and supporting a power control module relative to the support plate.

[0027] Some embodiments of this disclosure provide a power mechanism including a base plate having one or more lifting points configured to collectively support the base plate and a power control module during the alignment of the base plate relative to a support plate during the installation of a power assembly.

[0028] Some embodiments of this disclosure provide a power machine including an electrical component having a guard plate that extends at least partially vertically from a base plate behind a power control module to at least partially protect the power control module toward the rear of the power machine.

[0029] Some embodiments of this disclosure provide a power machinery, the electrical component including a guard plate having one or more routing openings configured to receive wires for carrying electrical control and power signals from a power control module.

[0030] Some embodiments of this disclosure provide a power machine having a support plate arranged laterally aligned with and above a battery, and the support plate being bolted to the main frame.

[0031] Some embodiments of this disclosure provide a lifting arm structure comprising: a lifting arm configured to be movably fixed to a frame to extend laterally along the frame; a tool carrier movably fixed to the lifting arm; and an electric tilt actuator fixed to the lifting arm within a tilt actuator recess defined by the lifting arm. The tilt actuator recess may be disposed close to the tool carrier such that the opening side of the recess faces the tool carrier. The electric tilt actuator may be configured to controllably extend and retract to change the orientation of the tool carrier.

[0032] Some embodiments of this disclosure provide a lifting arm structure having an electrically tilting actuator, which is a ball screw.

[0033] Some embodiments of this disclosure provide a lifting arm structure having an electric tilt actuator having a folding motor configuration.

[0034] Some embodiments of this disclosure provide a lifting arm structure including a motor end of an electric tilt actuator, the motor end of which is fixed to the lifting arm by a pin connection within a tilt actuator recess, wherein the motor of the electric tilt actuator extends in front of the tilt actuator recess.

[0035] Some embodiments of this disclosure provide a lifting arm structure having a pin connection for securing an electric tilt actuator to the lifting arm. This pin connection is a double-sided pin connection, supported at opposing sidewalls of a tilt actuator recess. The opposing sidewalls may extend forward to at least partially laterally protect the electric tilt actuator.

[0036] Some embodiments of this disclosure provide a lifting arm structure having an electric lifting actuator fixed at a first end to a rear portion of a frame and at a second end to the bottom side of the lifting arm. The electric lifting actuator can be configured to controllably extend and retract to raise and lower the lifting arm.

[0037] Some embodiments of this disclosure provide a lifting arm structure having an electric lifting actuator, which is a ball screw.

[0038] Some embodiments of this disclosure provide a lifting arm structure including an electric lifting actuator pinned to a lifting actuator recess at the rear portion of a frame, wherein the motor of the electric lifting actuator is fully disposed within the lifting actuator recess behind the extendable portion of the electric lifting actuator.

[0039] Some embodiments of this disclosure provide a lifting boom structure including a tool carrier, the tool carrier including at least one engaging member movable between a locking configuration and an unlocking configuration to secure or release a tool relative to the tool carrier. The lifting boom structure may include an electrically attached actuator configured to move the engaging member between the locking and unlocking configurations.

[0040] Some embodiments of this disclosure provide a lifting boom structure having one or more sensors configured to detect an indicator of a force applied by an electrically attached actuator to move an engagement member between a locked configuration and an unlocked configuration, and to transmit the indicator to a control system to determine the operating state of one or more of the engagement member or implement.

[0041] Some embodiments of this disclosure provide a power machine comprising: a frame; a cab supported by the frame; a lifting arm movably fixed to the frame to extend laterally along the frame; an electric tilt actuator; an electric lifting actuator; and a battery assembly. The electric tilt actuator may be fixed to the lifting arm and a implement carrier, and the electric tilt actuator is configured to controllably extend and retract to change the orientation of the implement carrier. The electric lifting actuator may be fixed to the frame at a first end and to the lifting arm at a second end, and the electric lifting actuator is configured to controllably extend and retract to raise and lower the lifting arm. The battery assembly may be configured to power the electric tilt actuator and the electric lifting actuator, and the battery assembly is disposed entirely behind the cab.

[0042] Some embodiments of this disclosure provide a power machine having an electric lifting actuator rotatably mounted in a mounting recess on the lateral side of the rear portion of a frame.

[0043] Some embodiments of this disclosure provide a power machine having a tilt actuator disposed in a tilt actuator recess near the front portion of a frame, defined by a lifting arm.

[0044] Some embodiments of this disclosure provide a power mechanism including a tilt actuator recess that is a tapered channel that opens in a forward direction relative to a frame when the lifting arm is fully lowered. The channel may taper such that the distal end of the channel has a smaller cross-sectional area than the proximal end of the channel.

[0045] Some embodiments of this disclosure provide a power mechanism for movably operating a implement. The power mechanism may include: a main frame and a lifting arm structure, the main frame supporting an operator's station and the lifting arm structure. The lifting arm structure may include: a lifting arm extending laterally along the frame, wherein a proximal end of the lifting arm is movably fixed to the frame at a rear portion of the frame; an implement carrier movably fixed to a distal end of the lifting arm; an electric tilt actuator; and an electric lifting actuator. The electric tilt actuator may be fixed to the lifting arm and is configured to controllably extend and retract to change the orientation of the implement carrier. The electric lifting actuator may be fixed at a first end to the rear portion of the frame and at a second end to the lifting arm, and is configured to controllably extend and retract to raise and lower the lifting arm.

[0046] Some embodiments of this disclosure provide a power mechanism for movably operating a implement. The power mechanism may include: a main frame and a lifting arm structure, the main frame supporting an operator's station and the lifting arm structure. The lifting arm structure may include: a lifting arm extending laterally along the frame, wherein a proximal end of the lifting arm is movably fixed to the frame at a rear portion of the frame; an implement carrier movably fixed to a distal end of the lifting arm; an electric tilt actuator; and an electric lifting actuator. The electric tilt actuator may be fixed to the lifting arm and is configured to controllably extend and retract to change the orientation of the implement carrier. The electric lifting actuator may be fixed at a first end to the rear portion of the frame and at a second end to the lifting arm, and is configured to controllably extend and retract to raise and lower the lifting arm. The power assembly may include a battery assembly fixed to the main frame at a location rear of the operator's station. The support plate can be fixed to the main frame to extend above the battery assembly and behind the operator station. The power assembly may also include a power control module supported by the support plate relative to the main frame.

[0047] Some embodiments of this disclosure provide a power mechanism for movably operating a implement. The power mechanism may include a main frame and a lifting arm structure, the main frame supporting an operator's station and the lifting arm structure. The lifting arm structure may include a lifting arm extending laterally along the frame, wherein a proximal end of the lifting arm is movably secured to the frame at a rear portion of the frame. The lifting arm structure may further include an implement carrier and an electrically tilting actuator, the implement carrier being movably secured to a distal end of the lifting arm. The electrically tilting actuator may be secured to the lifting arm and is configured to controllably extend and retract to change the orientation of the implement carrier. The implement carrier may include at least one engaging member movable between a locked configuration and an unlocked configuration to secure or release the implement relative to the implement carrier. The lifting arm structure may further include an electrically attached actuator and one or more sensors, the electrically attached actuator being configured to move the engaging member between the locking configuration and the unlocking configuration; the one or more sensors being configured to detect an indicator of the force applied by the electrically attached actuator to move the at least one engaging member between the locking configuration and the unlocking configuration, and to transmit the indicator to a control system to determine the operating state of the engaging member or one or more of the implements.

[0048] This invention summary and abstract are provided to introduce some concepts in a simplified form, which will be further described below in the detailed description. This invention summary and abstract are not intended to identify key or essential features of the claimed subject matter, nor are they intended to help determine the scope of the claimed subject matter. Attached Figure Description

[0049] Figure 1 This is a block diagram illustrating a representative power machinery system on which embodiments of the present disclosure can be advantageously implemented.

[0050] Figure 2 This is a perspective view showing the front of a power machine on which embodiments disclosed in this specification can be advantageously implemented.

[0051] Figure 3 It is shown in general Figure 2 A perspective view of the rear of the power machinery shown.

[0052] Figure 4 It is an illustration such as Figure 2 and Figure 3 A block diagram of the power system components of a loader, such as a loader.

[0053] Figure 5 This is a top plan view showing certain components of a power machine in the form of an electric compact tracked loader according to an embodiment of the present disclosure.

[0054] Figure 6 yes Figure 5 A partial cross-sectional perspective view of the power machinery.

[0055] Figure 7 It is shown in general Figure 5 A partial perspective view of the rear of the power machinery.

[0056] Figure 8 It is shown Figure 5 A partial perspective view of a component of the track assembly of a power machine.

[0057] Figure 8A This is an elevation side view showing the track assembly and frame of another powered machine according to this disclosure.

[0058] Figure 9 yes Figure 5 A perspective view of the lifting actuator of the power machinery.

[0059] Figure 10 yes Figure 9 A perspective view of the trunnion of the lifting actuator.

[0060] Figure 11 yes Figure 5A partial front perspective view of the power machinery, showing Figure 9 The support structure for the lifting actuator.

[0061] Figure 12 It is shown in general Figure 5 A partial perspective view of the front of a power machinery, including the tilting actuator for the lifting arm structure of the power machinery.

[0062] Figure 13A This is a perspective view showing the front of a power machine on which embodiments disclosed in this specification can be advantageously implemented.

[0063] Figure 13B It is shown in general Figure 13A A perspective view of the rear of the power machinery shown.

[0064] Figure 13C It is shown in general Figure 13A Another perspective view of the rear of the power machinery, without control sub-components.

[0065] Figure 14 It is shown in general Figure 13A A partial perspective view of the front of the lifting arm structure, without tilt actuators.

[0066] Figure 15 It is shown in general Figure 13A Another partial perspective view of the front part of the lifting arm structure.

[0067] Figure 16A yes Figure 13A A perspective view of the lifting arm structure of the power machinery.

[0068] Figure 16B yes Figure 16A Another perspective view of the lifting arm structure.

[0069] Figure 17 It is shown in general Figure 13A A partial perspective view of the top of a power machinery, including the lifting actuator for the lifting arm structure of the power machinery.

[0070] Figure 18 It is shown in general Figure 17 A partial perspective view of one side of the power machinery, including the lifting actuator for the lifting arm structure.

[0071] Figure 19 It is shown in general Figure 13A A perspective view of the rear of the power machinery, including control sub-assemblies and battery assembly.

[0072] Figure 20 It is used in Figure 19 A perspective view of the battery assembly used in the power machinery.

[0073] Figure 21 yes Figure 20 Elevation side view of the battery assembly.

[0074] Figure 22 yes Figure 13B A cross-sectional view of the power machinery.

[0075] Figure 23 yes Figure 13B A cross-sectional view of the power machinery.

[0076] Figure 24 It is shown in general Figure 13C A partial perspective view of the rear of the power machinery.

[0077] Figure 25A yes Figure 13B A top-down plan view of the power machinery, including control sub-components and without a driver's cab.

[0078] Figure 25B yes Figure 25A The perspective of the control's child components.

[0079] Figure 26 This is a method for installing a battery assembly and control sub-assemblies into a power machine according to an embodiment of the present invention.

[0080] Figure 27 It is shown in general Figure 13A A partial perspective view of the front of the power machinery, including the connector and lifting arm structure.

[0081] Figure 28 It is shown in general Figure 13A A partial perspective view of the front of the power machinery, including the implement carrier.

[0082] Figure 29 yes Figure 13A A perspective view of selected components of the power machinery, including the track assembly and frame of the power machinery.

[0083] Figure 30 yes Figure 13A Elevation top view of the power machinery. Detailed Implementation

[0084] The concepts disclosed in this discussion are described and illustrated with reference to exemplary embodiments. However, these concepts are not limited in their application to the construction details and arrangement of components in the illustrative embodiments, and can be implemented or practiced in a variety of other ways. The terminology used herein is for descriptive purposes and should not be construed as limiting. Words such as “comprising,” “including,” and “having,” as used herein, and variations thereof, are intended to cover items listed after these words, equivalents of the listed items, and additional items.

[0085] As used herein in the context of power machinery, unless otherwise defined or limited, the term "lateral" means a direction that extends at least partially to the left or right of a reference line defined by the fore-and-aft direction of the power machinery. Accordingly, for example, a lateral sidewall of the cab of the power machinery may be the left or right sidewall of the cab relative to the operator's reference frame, in which the operator is oriented or otherwise to engage controls at the operator's station in the cab in an operable manner. Similarly, the "centerline" of the power machinery refers to a reference line extending in the fore-and-aft direction of the power machinery, approximately halfway between the opposing lateral sides of the external space enveloping the power machinery.

[0086] While the power machinery disclosed herein can be embodied in many different forms, several specific embodiments are discussed herein. It should be understood that the embodiments described herein are merely examples of the principles described herein, and the invention is not intended to be limited to the illustrated embodiments. Throughout this disclosure, unless otherwise specified, the terms “about” and “approximately” mean plus or minus 5% of the number following each term.

[0087] The following discussion describes components and configurations for improvements to power machinery, including those that use electricity (e.g., as opposed to hydraulic power) to operate certain power machinery components or otherwise implement certain power machinery functions. In some embodiments, electric components may be mounted to the frame of the power machinery to selectively move the working elements of the power machinery, including booms or implement carriers. In some embodiments, electric components may provide motor power to the power machinery, including providing motor power to tracked power machinery (e.g., compact tracked loaders).

[0088] Accordingly, some embodiments can provide improvements to conventional power machinery, including power machinery using hydraulic components for certain operations. For example, using electrical components (e.g., motors and actuators) instead of conventional hydraulic components to perform specific functions can improve the overall accuracy, control, and speed of certain power machinery operations. Furthermore, using electrical components can reduce overall component size, the likelihood of failure, and general maintenance requirements compared to conventional hydraulic systems. However, some aspects of the techniques disclosed below can be advantageously used in power machinery where some (or all) of the relevant components are hydraulically operated.

[0089] Continuing, some embodiments can provide structural advantages for supporting, maintaining, and operating actuators and other components. For example, some embodiments may include a lifting arm with a recess that at least partially accommodates the associated actuator. In some such configurations, the recess can provide stable and robust support for pin connections (or other connections), thus supporting particularly stable operation of the tilting (or other) actuator. Furthermore, in some cases, the recess can at least partially protect the actuator from debris or undesirable contact.

[0090] Furthermore, some embodiments may include power components that provide improved accessibility, power routing, or weight distribution compared to conventional designs. For example, some embodiments may include a battery assembly supported in a substantially rearward position within the associated power machinery, thus contributing to a beneficial rearward position of the power machinery's center of gravity. Similarly, some embodiments may include an electrical system with control or power wiring efficiently routed through structural features of the power machinery (including the sidewalls of actuator recesses) and within the lifting arm or other structure. In some cases, this arrangement can provide efficient mounting and signal routing and may also help protect signal lines (e.g., power or control lines) from pinching or adverse contact.

[0091] As another example, some embodiments may include a control module configured for particularly efficient installation and operation. For instance, some embodiments may include a power control module having control electronics (and in some cases, a cooling system) supported by a single structural component, which can be easily installed into or removed from the power machinery as a unit. In some cases, the power control module may be configured for installation (e.g., supported by a single structural component) above and laterally aligned with the battery assembly by the main frame of the power machinery (i.e., within a common lateral position range relative to the power machinery). In some cases, such a configuration may allow for particularly efficient installation and access for maintenance, as well as for particularly efficient routing of control, power, and other (e.g., cooling) conduits to other components of the power machinery.

[0092] Other benefits will also be apparent from the discussion below, including benefits related to the orientation of the traction motor, benefits related to the control of actuators and attachment mechanisms (e.g., for implements), and benefits related to space considerations (e.g., regarding the clearance of the operator's station).

[0093] These concepts can be implemented on various types of powered machinery, as will be described below. Figure 1 The diagram illustrates a representative power machine in the form of a block diagram, and... Figures 2 to 3 An example of such a powered machine is illustrated and described below prior to the disclosure of any embodiments. For the sake of brevity, only one powered machine is discussed. However, as mentioned above, it is possible to include [various types of powered machines]. Figures 2 to 3 The following embodiments are implemented on any number of representative power machines of different types. For the purposes of this discussion, the power machine includes a frame, at least one working element, and a power source capable of providing power to the working element to complete the work task. One type of power machine is a self-propelled work vehicle. A self-propelled work vehicle is a type of power machine that includes a frame, a working element, and a power source capable of providing power to the working element. At least one of the working elements is a motor system for moving the power machine under power.

[0094] Embodiments of this disclosure are presented below in the context of a compact tracked loader, wherein electrical components and other related components are arranged on and fixed to a frame. In some embodiments, the electrical components and related systems according to this disclosure can be used with other types of power machinery, including articulated power machinery and non-articulated power machinery having traction elements other than tracks (i.e., wheels). Furthermore, some embodiments of this disclosure are presented in the context of electrical subassemblies for controlling operational functions, such as manipulating one or more implements by controlling actuators. In some embodiments, the electrical subassemblies according to this disclosure can also be configured for other uses, such as for controlling other features, actuation, or movement of the power machinery.

[0095] Figure 1 The diagram illustrates a basic system block diagram of a power machine 100, on which the embodiments discussed below can be advantageously combined, and the power machine 100 can be any of a variety of different types of power machines. Figure 1 The block diagram illustrates the various systems on the power machinery 100 and the relationships between these various components and systems. As described above, at its most basic level, the power machinery used for the purposes of this discussion includes a frame, a power source, and working elements. The power machinery 100 has a frame 110, a power source 120, and working elements 130. Because Figure 1 The power machinery 100 shown is a self-propelled work vehicle, and therefore also includes a traction element 140 and an operator station 150. The traction element 140 itself is a work element configured to move the power machinery on a support surface, and the operator station 150 provides an operating position for controlling the work element of the power machinery. The control system 160 is configured to interact with other systems to perform various work tasks, at least in part, in response to control signals provided by the operator.

[0096] Some work vehicles have working elements capable of performing specialized tasks. For example, some work vehicles have a boom to which implements, such as a bucket, are attached, for example, via a pin-connection. The working element (i.e., the boom) can be manipulated to position the implement for the purpose of performing the task. In some cases, the implement can be further positioned relative to the working element, for example, by rotating the bucket relative to the boom. Under normal operation of such a work vehicle, the bucket is used for attachment and is in use. Such work vehicles can accept other implements by disassembling the implement / working element combination and reassembling another implement to replace the original bucket. However, other work vehicles will be used with a wide variety of implements and have features such as Figure 1The tool interface 170 shown is a tool interface. In its most basic form, the tool interface 170 is a connection mechanism between the frame 110 or the working element 130 and the tool. This connection mechanism can be simply a connection point for directly attaching the tool to the frame 110 or the working element 130, or it can be more complex, as discussed below.

[0097] In some power machinery, the implement interface 170 may include an implement carrier, which is a physical structure capable of being movably attached to a working element. The implement carrier has engagement and locking features to accept any one of a plurality of implements and to secure any one of the plurality of implements to the working element. A characteristic of such an implement carrier is that once an implement is attached to it, the implement carrier is fixed 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. As used herein, the term "implement carrier" is not merely a pivoting connection point, but a specialized device specifically designed to accept and be secured to a variety of different implements. The implement carrier itself can be mounted to a working element 130, such as a boom, or a frame 110. The implement interface 170 may also include one or more power sources for powering one or more working elements on the implement. Some power machinery may have multiple working elements with tool interfaces, each of which may, but does not necessarily, have a tool carrier for receiving tools. Other power machinery may have working elements with multiple tool interfaces, allowing a single working element to receive multiple tools simultaneously. Each of these tool interfaces may, but does not necessarily, have a tool carrier.

[0098] Frame 110 includes a physical structure that can support various other components attached to or positioned on frame 110. Frame 110 may include any number of individual components. Some power machinery has a rigid frame, meaning that no part of the frame can move relative to another part of the frame. Other power machinery has at least one part that can move relative to another part of the frame. For example, an excavator may have an upper frame portion that rotates relative to a lower frame portion. Other work vehicles have an articulated frame, such that one part of the frame pivots relative to another part to achieve a steering function.

[0099] Frame 110 supports power source 120, which is capable of providing power to one or more working elements 130, including one or more traction elements 140, and in some cases, power source 120 can provide power for use by attached implements via implement interface 170. Power from power source 120 can be provided directly to any of the working element 130, traction element 140, and implement interface 170. Alternatively, power from power source 120 can be provided to control system 160, which in turn selectively provides power to elements capable of using the power to perform working functions. Power sources for power machinery typically include engines such as internal combustion engines and power conversion systems such as mechanical transmissions or hydraulic systems that convert the output from the engine into a form of power usable by the working elements. Other types of power sources can be incorporated into power machinery, including power sources or combinations of power sources commonly referred to as hybrid power sources.

[0100] Figure 1 A single working element designated as working element 130 is shown, but various different power machines can have any number of working elements. Typically, the working element is attached to the frame of the power machine and is movable relative to the frame when performing a work task. Additionally, traction element 140 is a special case of a working element because the working function of the traction element is typically to move the power machine 100 on a supporting surface. Traction element 140 is shown separate from working element 130 because many power machines have additional working elements besides traction elements, but this is not always the case. The power machine can have any number of traction elements, some or all of which can receive power from power source 120 to propel the power machine 100. Traction elements can be, for example, wheels, track assemblies, and similar elements attached to an axle. Traction elements can be mounted to the frame such that movement of the traction element is restricted to rotation about the axle (so that steering is achieved by sliding action), or alternatively, the traction element is pivotally mounted to the frame to achieve steering by pivoting the traction element relative to the frame.

[0101] Power machinery 100 includes an operator station 150, which includes an operating position from which an operator can control the operation of the power machinery. In some power machinery, the operator station 150 is defined by an enclosed or partially enclosed cab. Some power machinery that can implement the disclosed embodiments may not have a cab or operator's cab of the type described above. For example, a walk-behind loader may not have a cab or operator's cab, but instead has an operating position serving as an operator station from which the power machinery can be properly operated. More broadly, power machinery, other than work vehicles, may have an operator station that does not necessarily have an operating position and operator's cab similar to those mentioned above. Furthermore, power machinery such as 100 and some other power machinery, regardless of whether they have an operator's cab or operator's position, can be remotely operated (i.e., operated from an operator station located at a distance), which may serve as a replacement or addition to an operator station located on or adjacent to the power machinery. This can include applications where at least some of the operator-controlled functions of the power machinery can be operated from an operating position associated with the implements connected to the power machinery. Alternatively, for some power machinery, a remote control device (i.e., remote from both the power machinery and any implements connected to it) can be installed, which is capable of controlling at least some of the operator-controlled functions on the power machinery.

[0102] Figures 2 to 3 A loader 200 is shown, which is Figure 1 The illustrated example is a specific example of a power machine of the type shown, in which the embodiments discussed below can be advantageously employed. Loader 200 is a tracked loader, and more specifically a compact tracked loader. A tracked loader is a loader having annular tracks (opposite to wheels) as traction elements. Loader 200 is... Figure 1 This is a specific example of the power machinery 100 broadly illustrated and discussed above. Therefore, the features of the loader 200 described below include those related to... Figure 1The reference numerals used herein are generally similar. For example, loader 200 is described as having a frame 210, just as power machinery 100 has a frame 110. Tracked loader 200 is described herein as a reference for understanding the environment in which embodiments relating to the track assembly and mounting elements for mounting the track assembly to the power machinery, as described below, can be implemented. Loader 200 should not be considered, in particular, as a limitation on the description of the features of loader 200 already described herein, which are not essential to the disclosed embodiments and may therefore be included or excluded from power machinery other than loader 200, which may advantageously implement the embodiments disclosed below. Unless otherwise specifically stated, the embodiments disclosed below can be implemented on a variety of different power machinery, and loader 200 is only one of these power machinery. 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, and bulldozers.

[0103] The loader 200 includes a frame 210 supporting a power system 220 capable of generating or otherwise providing power for operating various functions of the machine. The frame 210 also supports a working element in the form of a boom structure 230, powered by the power system 220 and capable of performing various work tasks. Since the loader 200 is a work vehicle, the frame 210 also supports a traction system 240, also powered by the power system 220, which can propel the machine across a support surface. The boom structure 230 further supports a implement carrier 272 capable of receiving and securing various implements to the loader 200 for performing various work tasks. The loader 200 can be operated from an operator's station 255, from which the operator can manipulate various control devices to cause the machine to perform various functions. A control system 260 is provided for controlling the various functions of the loader 200.

[0104] Various different power machines, including and / or interacting with the embodiments discussed below, may have various different frame components supporting various different working elements. The elements of frame 210 discussed herein are provided for illustrative purposes and should not be considered as the only frame type that power machines on which embodiments can be implemented may adopt. The frame 210 of loader 200 includes a base frame or lower portion 211 of the frame and a main frame or upper portion 212 of the frame supported by the base frame. The main frame 212 of loader 200 is attached to the base frame 211, for example by means of fasteners or by welding the base frame to the main frame. The main frame 212 includes a pair of upright portions 214 located on both sides of the main frame and facing the rear of the main frame (in Figure 2 (Only one is shown in the diagram). The pair of upright portions 214 support the lifting arm structure 230, and the lifting arm structure 230 is pivotally attached to the pair of upright portions 214. The lifting arm structure 230 is exemplary pin-connected to each of the upright portions 214. The combination of mounting features on the upright portions 214 and the lifting arm structure 230, as well as mounting hardware (including pins for pinning the lifting arm structure to the main frame 212), is collectively referred to as joints 216 (one joint is positioned on each upright portion 214) for the purposes of discussion. The joints 216 are aligned along axis 218 such that the lifting arm structure can pivot relative to the frame 210 about axis 218, as discussed below. Other power machinery may not include upright portions on both sides of the frame, or may not have lifting arm structures that can be mounted to upright portions located on both sides of the frame and facing the rear of the frame. For example, some power machinery may have a single arm that is mounted to one side of the power machinery or to the front or rear end of the power machinery. Other machinery may have multiple working elements including multiple booms, each of which is mounted to the machinery in its own configuration. Frame 210 also supports a pair of traction elements 242 located on either side of the loader 200. Figure 2 (Only one is shown in the image), the traction element on the loader 200 is the track assembly.

[0105] Figure 1 The illustrated boom structure 230 is an example of many different types of boom structures that can be attached to power machinery such as a loader 200 or other power machinery on which embodiments discussed herein can be implemented. The boom structure 230 has a pair of booms 232 disposed on opposite sides of a frame 210. The first end 232A of each of the booms 232 is pivotally connected to the power machinery at a joint 216, and the second end 232B of each of the booms, when in a position such as… Figure 2The lowered position shown is positioned in front of frame 210. The lifting boom structure 230 is movable relative to frame 210 under the control of loader 200 (i.e., the lifting boom structure can be raised and lowered). This movement (i.e., the raising and lowering of the lifting boom structure 230) is described by the travel path generally indicated by arrow 233. For the purposes of this discussion, the travel path 233 of the lifting boom structure 230 is defined by the movement path of the second end 232B of the lifting boom structure.

[0106] like Figure 2 Each of the lifting arms 232 in the illustrated lifting arm structure 230 includes a first portion 234A and a second portion 234B pivotally connected to the first portion 234A. The first portion 234A of each lifting arm 234 is pivotally connected to the frame 210 at one of the joints 216, and the second portion 234B extends from its connection with the first portion 234A to a second end 232B of the lifting arm structure 230. Each lifting arm 232 is connected to a transverse member 236, which is attached to the first portion 234A. The transverse member 236 provides increased structural stability to the lifting arm structure 230. A pair of actuators 238 (in Figure 1 Only one is shown in the diagram. The actuator (a hydraulic cylinder configured to receive pressurized fluid from the power system 220) is pivotally connected to both the frame 210 and the lifting arm 234 at pivotable joints 238A and 238B on both sides of the loader 200. The actuator 238 is sometimes referred to collectively as the lifting cylinder. Actuation of the actuator 238 (i.e., extension and retraction) causes the lifting arm structure 230 to pivot about joint 216, thereby being raised and lowered along a fixed path indicated by arrow 237. Each of a pair of control links 217 (only one control link is shown) is pivotally mounted on both sides of the frame 210 to one of the lifting arms of the frame 210 and the lifting arm 234. The control links 217 help to define a fixed travel path for the lifting arm structure 230. Figure 2The boom structure 230 shown is representative of one type of boom structure that can be coupled to power machinery 100. Other boom structures with different geometries, components, and arrangements can be pivotally coupled to loader 200 or other power machinery on which the embodiments discussed herein can be implemented, without departing from the scope of this discussion. For example, other machinery may have boom structures with booms, each boom having a section pivotally coupled at one end to a frame and positioned at the front of the frame at the other end (opposite to the two sections 234A and 234B of boom 234). Other boom structures may have extendable or telescopic booms. There are also other boom structures that may have multiple (i.e., more than two) segments or sections. Some booms (most obviously booms on excavators, but also booms on loaders) may have booms that pivot in a controllable manner relative to another segment rather than like Figure 2 The portion of the boom structure 230 shown moves uniformly (i.e., along a predetermined path). Some power machinery has boom structures with a single boom, as is known in excavators or even some loaders and other power machinery. Other power machinery may have multiple boom structures, each of which is independent of each other.

[0107] An exemplary tool interface 270 is provided at the second end 232B of the lifting arm assembly 234. The tool interface 270 includes a tool carrier 272 capable of receiving and securing various tools to the lifting arm structure 230. Such tools have a mechanical interface configured to engage with the tool carrier 272. The tool carrier 272 is pivotally mounted at the second end 232B of the lifting arm 234. A tool carrier actuator operably connects the lifting arm structure 230 and the tool carrier 272, and is operable to rotate the tool carrier relative to the lifting arm structure.

[0108] The implement interface 270 also includes an implement power source 235, which can be used to connect to an implement on the boom structure 230. The implement power source 235 includes a pressurized hydraulic fluid port to which the implement can be connected. This pressurized hydraulic fluid port is capable of selectively providing pressurized hydraulic fluid to power one or more functions or actuators on the implement. The implement power source may also include a power supply for powering electric actuators and / or electronic controllers on the implement. The power supply 235 also exemplarily includes an electrical conduit that communicates with a data bus on the excavator 200 to allow communication between controllers on the implement and electronics on the loader 200. It should be noted that a specific implement power source on the loader 200 does not include a power supply.

[0109] The lower frame 211 supports and attaches a pair of traction elements 242 thereon, the pair of traction elements 242 in Figures 2 to 3 The left track assembly 240A and the right track assembly 240B are identified in the middle. Each of the traction elements 242 has a track frame 243 connected to the lower frame 211. The track frame 243 supports and is surrounded by an annular track 244, which rotates under power to propel the loader 200 across a support surface. Various different elements are connected to or otherwise supported by the track frame 243 for engaging and supporting the annular track 244 and causing the annular track 244 to rotate around the track frame. For example, a sprocket 246 is supported by the track frame 243 and engages the annular track 244, thereby causing the annular track to rotate around the track frame. An idler 245 is held against the track 244 by a tensioner (not shown) to maintain proper tension on the track. The track frame 243 also supports a plurality of rollers 248, which engage the track and, through the track, engage a support surface to support and distribute the weight of the loader 200.

[0110] The upper frame 212 supports the cab 250, which at least partially defines the operator's cab or station 255. A seat 254 is disposed within the cab 250, in which the operator can sit while operating the excavator. While seated in the seat 254, the operator has access to multiple operator input devices 256, which can be manipulated to control various operational functions, such as operating the boom structure 230, the traction system 240, etc.

[0111] Display devices are installed in the cab to provide instructions related to the operation of the powered machinery in a form that the operator can perceive, such as audible and / or visual instructions. Audible instructions may take the form of beeps, bells, or be given verbally. Visual instructions may take the form of graphics, lights, icons, instruments, alphanumeric symbols, etc. Displays may be dedicated to providing specific instructions, such as warning lights or instruments; or they may dynamically provide programmable information, including programmable display devices such as monitors of various sizes and functions. Display devices can provide diagnostic information, troubleshooting information, guidance information, and various other types of information to assist the operator in operating the powered machinery or implements connected to it.

[0112] Figure 4The power system 220 is illustrated in more detail. Broadly speaking, the power system 220 includes one or more power sources 222 capable of generating and / or storing power for operating various mechanical functions. In the loader 200, the power system 220 includes an internal combustion engine. Other power machinery may include generators, rechargeable batteries, various other power sources, or any combination of power sources that can power a given component of the power machinery. The power system 220 also includes a power conversion system 224 operably coupled to the power source 222. The power conversion system 224 is then coupled to one or more actuators 226 capable of performing functions on the power machinery. The power conversion system in various different types of power machinery may include various different components, including mechanical transmissions, hydraulic systems, etc. The power conversion system 224 of the power machinery 200 includes a hydrostatic drive pump 224A that provides power signals to drive motors 226A, 226B, 226C, and 226D. Four drive motors 226A, 226B, 226C, and 226D are each operably connected to four axles 228A, 228B, 228C, and 228D, respectively. Although not shown, the four axles are connected to wheels 242A, 242B, 244A, and 244B, respectively. A hydrostatic drive pump 224A can be mechanically, hydraulically, and / or electrically connected to an operator input device to receive actuation signals for controlling the drive pump. The power conversion system also includes a tool pump 224B, which is also driven by a power source 222. The tool pump 224B is configured to provide pressurized hydraulic fluid to a working actuator circuit 237. The working actuator circuit 237 is in communication with a working actuator 239. The working actuator 239 represents multiple actuators, including lifting cylinders, tilting cylinders or swing cylinders, telescopic cylinders, etc. The operating actuator circuit 237 may include valves and other devices to selectively supply pressurized hydraulic fluid to the actuator. Figure 4 The various work actuators are represented by box 239. Furthermore, the work actuator circuit 237 can be configured to supply pressurized hydraulic fluid to the work actuator on the attached implement.

[0113] For illustrative purposes, the description of the power machinery 100 and the loader 200 has been provided above to provide an illustrative environment in which the embodiments discussed below can be implemented. Although it is possible, for example, by Figure 1 The embodiments discussed are implemented on the power machinery 100 generally described in the block diagram, and more specifically on loaders such as tracked loader 200, but unless otherwise stated or indicated, the concepts discussed below are not intended to limit their application to the specific context described above.

[0114] In a conventional arrangement, the lifting actuator 238 and traction system 340 may use hydraulic components (i.e., hydraulic actuators or motors), which may lead to some inefficiencies. For example, the use of hydraulic actuators may result in some inaccuracies in the execution of certain operations, may require frequent maintenance and related activities (e.g., troubleshooting hydraulic fluid leaks, seal wear, etc.), may impose undesirable dimensional requirements, and may exhibit limited performance capabilities (e.g., regarding actuation speed, responsiveness to operator commands or external factors, etc.). The complex control of hydraulic actuators may also be difficult, including the synchronized operation of the actuator and associated power machinery operating elements. Therefore, while conventional power machinery using hydraulic actuators can provide substantial power and functionality, including for motor power and operation of lifting booms and implements, it may be difficult to achieve optimal performance with respect to several design constraints.

[0115] Embodiments of this disclosure can solve one or more of the problems described above, or other problems. For example, some embodiments may use the electrical system for motor power or for other operations of working elements including lifting boom structures and implements. In some embodiments, such an electrical system can readily replace the hydraulic system on a pre-existing power machinery structure, for example by replacing hydraulic cylinders and motors with electric actuators and motors, thereby potentially improving multiple aspects of mechanical performance with little or no adjustment to the existing power machinery frame or other support structure.

[0116] As mentioned above, in some embodiments, the use of electrical components (e.g., instead of hydraulic components) can help improve overall system functionality, including the precision and complexity of control over the working elements. For example, compared to hydraulic actuators, electrical actuators typically provide enhanced motion control capabilities, including precise positioning of components (e.g., precise extension of lifting or tilting actuators) and complex simultaneous control of multiple electrical components (e.g., simultaneous control of multiple drive motors or working actuators). Using electrical components can also help reduce maintenance frequency and the likelihood of component failures, including by eliminating hydraulic leaks and removing components prone to significant wear (e.g., seals). Therefore, using an electrical system instead of a hydraulic system can reduce the overall cost and time required to maintain the power machinery. Furthermore, in some cases, hydraulic systems require more components and space than equivalent electrical systems. Therefore, using an electrical system instead of a hydraulic system can reduce the space required for these systems on the power machinery, bringing corresponding benefits to the overall system design. For example, power machinery that generally uses electrical systems instead of hydraulic systems can be more compact or more convenient for the user, or can be more easily equipped with additional components for enhanced functionality.

[0117] Figure 5The illustration shows an example arrangement of components for an electric motor 300, which is... Figure 1 The present invention provides a specific example of a power machine 100, broadly illustrated and discussed above, and relating to embodiments that may be advantageously employed herein. The power machine 300 is similar in some respects to the loader 200 described above, and like numbers denote similar parts unless otherwise stated below. For example, like the loader 200, the power machine 300 includes a frame 310, a lifting boom structure 330 (see [link to documentation]). Figure 12 ) and traction system 340.

[0118] like Figure 5 and Figure 6 As shown, frame 310 is substantially similar to frame 210 of power machinery 200; however, the specific elements of frame 310 discussed herein are provided for illustrative purposes and are not intended to represent the only type of frame on which power machinery of the embodiments of this disclosure can be used. Generally, frame 310 includes a rear frame end 310A and a front frame end 310B, and also includes a lower frame portion 311 and an upper main frame 312. The main frame 312 includes a pair of upright lateral walls 314 disposed on opposite sides of the lower frame portion 311. The frame is substantially symmetrical about a longitudinal axis 313 (e.g., the centerline of power machinery 300), and the upright lateral walls 314 extend substantially parallel to the longitudinal axis 313.

[0119] refer to Figure 5 Specifically, the frame 310 is configured to support a cab 250 similar to that of the power machinery 200, and may correspondingly include an operator's station ( Figure 5 Not shown in the diagram, but an example of operator station 255 can be found in [the diagram]. Figure 2 As seen in the image, the operator can manipulate various control devices (i.e., the operator control system) from the operator station to cause the powered machinery to perform various operational functions. Similar to the operator station 250 of powered machinery 200, the operator station of powered machinery 300 may include an operator's seat (…). Figure 5 (not shown in the image) and various different operation input devices ( Figure 5 (Not shown in the image) includes control levers that the operator can manipulate to control various mechanical functions.

[0120] Frame 310 is also configured to support a variety of other components. For example, similar to frame 210 of power machinery 200, frame 310 supports power source 316, which is configured to provide power for performing functions on power machinery 300, including using traction system 340 and lifting boom structure 330 (see example...). Figure 12The operation of the traction system 340, the boom structure 330, and other subsystems of the power machinery 300 is described. In the illustrated embodiment, power source 316 is a power source that provides electricity for the operation of the traction system 340, the boom structure 330, and other subsystems of the power machinery 300. Specifically, power source 316 includes a battery assembly 322 having multiple battery cells housed in a battery casing supported on a battery mount 364 extending laterally across frame 310 near the rear frame end 310A. Battery assembly 322 is configured (e.g., via an intermediate conductor (not shown)) to provide power to control module 360, which is supported on a support plate 352 above battery assembly 322. Control module 360 ​​can then control the routing of power from battery assembly 322 to other electrical devices of the power machinery 300, including motors and linear actuators of various working elements, as discussed further below. Furthermore, in some embodiments, the control module 360 ​​may be configured to receive signals from other electrical devices, for example, allowing feedback-based or other control of various different devices or of the power machinery 300 in general.

[0121] In some cases, the control module 360 ​​can be configured as a sub-assembly that can be fully assembled outside the power machinery and then lifted as a unit into the power machinery 200 (e.g., via a suitable lifting point) and fixed as a unit to the frame 310, including via mounting plates, support rails, suitable isolation mounts, or other support structures. This arrangement can sometimes allow for easier access to the battery assembly 322, including for replacing or otherwise maintaining the specific batteries contained within the battery housing, without requiring removal of the battery assembly 322 from the power machinery 300. Furthermore, wiring for power and control signals can be efficiently routed from the control module 360 ​​to a wide variety of other components from the illustrated location above the battery assembly 322 to the rear of the operator station (also discussed below).

[0122] In some embodiments, other power sources may be used, including other electrical storage devices (e.g., devices including capacitors). In some embodiments, a combination of different types of power sources may be used, often referred to as a hybrid power source. For example, although power machinery 300 is not illustrated as including an internal combustion engine, some embodiments may include such an engine combined with an electric system, wherein the engine is configured to charge a battery pack or other electrical storage device for electric operation.

[0123] Typically, the control module 360 ​​is configured as an electronic device capable of appropriately controlling the power delivery to other devices, including electric motors and linear actuators distributed around the power machinery 300. In some embodiments, the control module 360 ​​may selectively power these components in response to operator input from an operator station (not shown) or as part of a predetermined (e.g., automation) control strategy based on one or more locally or remotely stored control algorithms.

[0124] In some embodiments, in addition to controlling the operation of the electric motor and actuator, the control module may also control the operation of the battery assembly. For example, the control module 360 ​​may be configured to automatically optimize the power availability, battery life, or other aspects of the operation of the battery assembly 322. In some embodiments, the control module 360 ​​may optimize battery performance in different ways depending on the specific type of operation currently being performed or based on a variety of other factors.

[0125] In different embodiments, the components of the power source can be positioned and supported relative to the frame in different ways. In the power machinery 300, as described above, the battery assembly 322 is supported on a mounting member 364, and the control module 360 ​​is supported on a support plate 352 above the battery assembly 322. Specifically, the mounting member 364 extends substantially perpendicular to the longitudinal axis 313 and supports the battery assembly 322 near its front and rear ends. Two battery mounting members 364 are provided in the illustrated embodiment; however, alternative embodiments may include more or fewer battery mounting members 364. Similarly, although a single horizontal support plate 352 is shown, other embodiments may have other configurations.

[0126] like Figure 5 and Figure 6 Ideally, the support plate 352, control module 360, mounting bracket 364, and battery assembly 322 are positioned near the rear frame end 310A of the power unit 300, behind the operator's station (not shown). This arrangement typically allows for efficient use of the space within the power unit 300 usually reserved for the power source 316, while also allowing easy access to the battery assembly 322 and control module 360 ​​for tasks such as configuring the control module 360, changing the battery assembly 322, or other tasks. However, other configurations are possible in other embodiments. For example, in alternative embodiments, the power source or control module may be positioned near the front frame end 310B, in front of, above, or below the operator's station (not shown). Additionally or alternatively, in some embodiments, the control module may be positioned below or flush with the power source.

[0127] Go to Figure 7The control module 360 ​​includes a control interface 366 on its rear end 368, such that the control interface 366 protrudes toward the rear frame end 310A. The control interface 366 can provide connections for battery management, for power distribution, and for controlling various components of the power machinery 300, such as electric motors and other actuators. Because the control module 360 ​​is aligned toward the rear frame end 310A in the illustrated configuration, the control interface 366, generally like the power source 316, is easily accessible through the rear hatch of the power machinery 300. However, in other embodiments, other configurations are possible, including configurations where the control interface faces toward the operator's station of the power machinery or is otherwise accessible from the operator's station of the power machinery. Furthermore, although in Figure 7 Not shown, but some embodiments may include a protective plate at the rear of the control interface 366, thus protecting the control module 360 ​​during operation and maintenance of the power machinery 300.

[0128] Return to Figure 5 The frame 310 also supports a traction system 340, which is generally similar to the traction system 240 of the power machinery 200. Therefore, as discussed further below, the traction system 340 can be powered by electricity from the power source 316 to propel the power machinery onto the support surface.

[0129] Different embodiments may include different types of traction systems, including wheeled traction systems or tracked traction systems, all of which may be electric, as appropriate. In the illustrated embodiment, traction system 340 is a tracked system comprising a pair of traction elements 342 disposed on opposite sides of frame 310. More specifically, traction elements 342 are configured as a left track assembly 340A and a right track assembly 340B, disposed on opposite sides of frame 310 in a substantially symmetrical manner about longitudinal axis 313. Typically, traction elements 342 are substantially similar to traction elements 242 of power machinery 200. For example, each of track assemblies 340A, 340B has a track frame 343 coupled to a lower frame portion 311. Each of the track frames 343 is configured to support an annular track (not shown) that rotates under power around the corresponding track frame 343 to propel the power machinery 300 onto a support surface.

[0130] Especially Figure 8 As shown, the traction system 340 includes a drive motor 326, which is fixed to a corresponding track frame 343 and extends laterally inward from the corresponding track frame 343 toward the main frame 312. As described above, the drive motor 326 is an electric motor, which can be powered by the battery assembly 322 and controlled by the control module 360 ​​(see [link]). Figure 5The drive motor 326 is controlled to drive the tracks and thereby propel the power machinery 300. Therefore, the drive motor 326 can be easily controlled in a variety of ways, including in response to signals from the operator's control system or according to a predetermined electronic control algorithm.

[0131] Still referencing Figure 8 Each of the drive motors 326 is mounted to a corresponding track frame 343 via a support member 359, which is configured as a support plate extending vertically upward from the track frame 343. To allow the track frame 343 and associated components to be properly spaced from the main frame 312, the housing of the drive motor 326 extends laterally inward from the support member 359 to laterally overlap with the main frame 312. However, other configurations are possible in other embodiments.

[0132] An interface board 361 is also provided to secure each of the drive motors 326 to its corresponding support member 359. Although in Figure 18 The specific configuration of interface plate 361 is shown, but other interface plates can have any kind of configuration, including configurations with different hole patterns than those shown. A hub or other associated structure may also allow a sprocket or other similar component to be mounted to drive motor 326, so that drive motor 326 can rotate to power the movement of the associated track (not shown).

[0133] In some embodiments, the track frame can move relative to the main frame of the powered machinery. For example, still referring to... Figure 8 The multi-link torsion suspension linkage (including torsion bars 337, 339) for the power machinery 300 allows each of the track frames 343 to move relative to the frame 310 during operation of the power machinery 300 (e.g., in response to changes in terrain). Correspondingly, since the drive motor 326 is mounted to the track frame 343, the drive motor 326 is also configured to move relative to the frame 310.

[0134] To allow movement of the track frame 343 and the attached drive motors 326 relative to the main frame 312, each of the drive motors 326 extends from the track frame 343 through an opening 362 defined in the main frame 312. The opening 362 is generally circular and enlarged relative to the outer periphery of the drive motor 326 to allow the track frame 343 and drive motors 326 to move together relative to the frame 310 without interference between the main frame 312 and the drive motors 326. As a result, during operation, including travel over uneven terrain or other obstacles, the track frame 343 can move appropriately relative to the frame 310. Relatedly, when the power machinery 300 travels or operates on uneven surfaces, the frame 310 of the power machinery 300 can remain relatively stable, which can provide enhanced comfort and operability for the operator. Furthermore, the lateral inward extension of the drive motors 326 through the opening 362 can help protect the drive motors 326 from impacts and debris during operation of the power machinery 300.

[0135] Although the opening 362 is shown in a roughly circular outline, other shapes are also possible, including... Figure 8A The hole 362' is teardrop-shaped. Hole 362' is formed in a power mechanical frame 310', which is generally similar to frame 310 and can support components similar to (or other than) frame 310. Specifically, hole 362' is based on two radial features 363A' and 363B' connected tangentially, wherein the forward radial feature 363B' exhibits a larger radius than the backward radial feature 363A'. This configuration of hole 362' can provide clearance for components associated with or attached to the drive motor, including connections for cooling lines. Other similar hole shapes can be combined, which can be advantageous.

[0136] While movable track frames can offer certain advantages, some embodiments may include track frames that are immovable relative to the main frame of the power machinery. In such embodiments, the electric drive motor may be mounted to the track frame in a similar manner to drive motor 326, or it may otherwise be mounted directly to the main frame of the power machinery instead of to the track frame.

[0137] As discussed above, electric actuators can also be effectively used for non-traction operation of machinery. For example, returning to... Figure 5The tilt actuator 333 and the lifting actuator 338 (all of which are electrically powered) can be used together with the lifting arm structure 330 to perform a variety of different functions. In the illustrated embodiment, the tilt actuator 333 and the lifting actuator 338 are supported on opposite lateral sides of the frame 310 so as to be substantially symmetrical about the longitudinal axis 313. In particular, the lifting actuator 338 is fixed to the frame 310 within a lifting actuator recess 335, which is positioned close to the rear end 310A of the frame 310 and laterally aligned with the associated lifting arm 334 of the lifting arm structure 330 (i.e., vertically positioned below, as shown) (see Figure). Figure 12 Conversely, the tilt actuator 333 is disposed near the front end 310B of the frame 310, and laterally disposed inside the lifting arm 334 associated with the lifting arm structure 330 (see [link]). Figure 12 However, in other embodiments, other configurations are also possible, including configurations with asymmetrically arranged electric lifting actuators or electric tilting actuators.

[0138] Figure 9 A detailed illustration shows an example configuration of the lifting actuator 338. In the illustrated example, the lifting actuator 338 is an electric ball screw actuator and includes a first mounting feature 376, an extendable portion of the screw 378 configured to controllably extend and retract relative to the first mounting feature 376, and an electric motor 379. In other embodiments, the lifting actuator may be configured as other types of electric actuators, including lead screw actuators, driven actuators, or other gear actuators. Furthermore, although the lifting actuator 338 is illustrated with the motor 379 in a fold-back configuration, other electric lifting actuators may be arranged differently, including having motors in an in-line or vertical configuration.

[0139] In order to rotatably secure the lifting actuator 338 to the frame 310, a first mounting feature 376 is provided at the motor end 380 of the lifting actuator 338 and includes a corresponding mounting opening 382 (in Figure 9 (Only one is shown in the image), the mounting opening 382 is configured to accommodate the lifting actuator 338 in the corresponding lifting actuator recess 335 (see example). Figure 11 The second mounting feature 388 is provided at the extension end 390 of the lifting actuator 338 and is configured to rotatably fix the lifting actuator 338 to the corresponding lifting arm 334 of the lifting arm structure 330. Figure 9(Not shown in the image). The lead screw 378 is configured to linearly extend and / or retract the second mounting feature 388 when driven by an electric motor 379, which is powered by a battery assembly 322 and controlled by commands from a control module 360 ​​(see, for example...). Figure 5 Therefore, when in the corresponding recess 335 (see also...) Figure 11 When the lifting actuator 338 is fixed to the frame 310, it can be selectively operated based on operator input (or other means) to raise or lower the lifting arm structure 330 relative to the frame 310.

[0140] Furthermore, the lifting actuator recess 335 can provide lateral and rear protection for the electric motor 379, especially when the electric motor 379 is located behind the lead screw 378 (e.g., as shown in the image). Figure 5 As shown), a suitably positioned opening through the lateral sidewall of the lifting actuator recess 335 allows for particularly efficient routing of electrical and control signals, as well as cooling lines (not shown for power machinery 300). Furthermore, the illustrated arrangement and other arrangements (e.g., discussed below) can advantageously position the electric motor behind the pin connection between the extendable end of the lifting actuator (e.g., lead screw 378) and the lifting arm (e.g., lifting arm 334) in all operating directions of the lifting arm, and at least partially behind the pin connection between the lifting actuator and the lifting actuator recess.

[0141] In some embodiments, the mounting arrangement for the lifting actuator may include a combination of fixed and detachable components. Go to Figure 10 For example, a first mounting pin 386 for securing the lifting actuator 338 forms part of a trunnion 392, which also includes a mounting flange 394 configured to be secured to or bolted to a frame 310, as... Figure 11 The best view. Continue to refer to... Figure 11 When the trunnion 392 is fixed to the frame 310, the first mounting pin 386 of the trunnion 392 extends through the frame 310 into the lifting actuator recess 335, where the first mounting pin 386 can engage one of the mounting openings 382 of the first mounting feature 376 (see [link]). Figure 9 ( ), so as to pivotally fix the lifting actuator 338 in the recess 335.

[0142] A fixed second mounting pin 396 is also attached to the frame on the side of the recess 335 opposite to the trunnion 392 to extend into the lifting actuator recess 335. Specifically, the first mounting pin 386 of the trunnion 392 and the fixed second mounting pin 396 are positioned such that they are substantially axially aligned. Therefore, the mounting pins 386, 396 are configured to extend into the opposing mounting openings 382 of the lifting actuator 338, such that the lifting actuator 338 is pivotally fixed to the corresponding lifting arm (e.g., Figure 12 Inside the recess 335 below the lifting arm 334 (see diagram) Figure 5 ).

[0143] In some embodiments, the illustrated pin connection arrangement allows for easy installation of an electric actuator, including a ball screw actuator 338, in place of a hydraulic actuator, for use in operations involving the conversion or reuse of the power machinery or its frame for electric operation. However, in other embodiments, the electric lifting actuator may be otherwise attached to the power machinery frame.

[0144] In some cases, using mounting components that can be detachably fixed to the main frame of the power machinery can more generally facilitate the easy installation of the lifting actuator. For example, for power machinery 300, the lifting actuator 338 can first be placed in a recess 335 and rotatably engaged with a fixed second mounting pin 396 (further facilitated, for example, by the rearward orientation of the motor 379). Then, a first mounting pin 386 of the trunnion 392 can be extended through the frame 310 into the recess 335 to rotatably engage the lifting actuator 338 relative to the fixed second mounting pin 396. Finally, a mounting flange 394 can be fixed to the frame 310 to rotatably secure the lifting actuator 338 within the recess 335. Furthermore, the lifting actuator 338 can then be easily removed from the frame 310 as needed using the reverse sequence of operations discussed above. However, in other embodiments, other configurations including other pin connection arrangements can be used to rotatably secure the lifting actuator to the power machinery frame in other ways.

[0145] Now go to Figure 12 As discussed above, the lifting arm structure 330 has a set of lifting arms 334 disposed on opposite sides of the frame 310. The lifting arm structure 330 including the lifting arms 334 is an example of a lifting arm structure that can be attached to a power machine such as the power machine 300 or other power machines on which the embodiments discussed herein can be implemented. However, alternative configurations are also possible.

[0146] As also described above, the lifting arm structure 330 is typically configured to rise and fall relative to the frame 310, as by an electric lifting actuator 338 (see below). Figure 9The power source is provided. Specifically, in the illustrated embodiment, the first end (not shown) of each of the lifting arms 334 is pivotally coupled to the power machinery 300 (e.g., similar to...). Figure 3 (See the lifting arm 234 shown). For example, the proximal first end (not shown) can be pivotally coupled to the power mechanism 300 near the rear end 310A of the frame 310. Thus, actuation of the lifting actuator 338 can move the distal second end 332 of each of the lifting arms 334 generally upward and downward relative to the frame 310, including moving to a position such as... Figure 12 The position shown is where it has fully descended.

[0147] In addition, the machine interface 370 is located at the second end 332 of the lifting arm 334, such as Figure 12 As shown. The tool interface 370 includes a tool carrier 372, which is pivotally mounted to the second end 332 of each of the lifting arms 334 and is configured to receive various different tools and secure the tools to the lifting arm structure 330. Therefore, the lifting actuator 338 (see...) Figure 5 It can be used to move (i.e., raise and / or lower) implements (not shown) together with the lifting arm 334 to perform a variety of different operations.

[0148] For example Figure 12 As shown, specifically, the tilt actuator 333 is rotatably coupled to the lifting arm 334 and the tool carrier 372, and is thus configured to controllably rotate the tool carrier 372 relative to the lifting arm structure 330. Therefore, for example, the control module 360 ​​can electronically control the operation of the tilt actuator 333, as controlled by the battery assembly 322 (see...). Figure 5 It provides power to selectively change the posture of the implement fixed to the implement carrier 372 relative to the lifting arm 334.

[0149] In the illustrated embodiment, each of the lifting arms 334 includes an inward bend 398 disposed between a first end (not shown) and a second end 332. More specifically, the inward bend 398 is configured such that the second end 332 of the lifting arm 334 is positioned closer to the longitudinal axis 313 (i.e., more laterally inward) than the first end (not shown) of the lifting arm 334. However, in other embodiments, other configurations are also possible, including configurations in which the lifting arm structure includes different or no inward bends or only a single lifting arm.

[0150] In addition to providing other advantageous lifting arm geometry, the inward bend 398 of the lifting arm 334 also provides useful mounting features for the tilt actuator 333. Specifically, as Figure 12As shown, the first end 374 of each of the tilt actuators 333 is rotatably connected (e.g., pin-connected) to the lifting arm 334 at a laterally extending boss 331 at a corresponding inward bend 398, and the second end 375 of each of the tilt actuators 333 is rotatably connected (e.g., pin-connected) to the tool carrier 372. Thus, supported by the boss 331, the tilt actuator 333 is positioned in a relatively protected position laterally and inwardly relative to the lifting arm 334 for electronic control of the attitude of the tool carrier 372. Furthermore, through appropriate configuration, including as... Figure 12 The configuration shown, with laterally spaced tilt actuators (e.g., actuator 333), can be used for the operator station (in...) Figure 12 Not shown in the image, but can be found in... Figure 13A The foot box (as seen in the example of operator station 455) provides sufficient clearance, which generally increases operator comfort and ease of access to the operator station.

[0151] In the illustrated embodiment, similar to the lifting actuator 338, each of the tilt actuators 333 is an electric ball screw actuator with a folding motor configuration and includes a motor 333a and an extendable portion configured as a ball screw 333b. The tilt actuators 333 are arranged such that the motor 333a is positioned outside the frame 310 relative to the ball screw 333b, i.e., the ball screw 333b is positioned between the motor 333a and the frame 310. Additionally, the first end 374 of each tilt actuator 333 connected to the frame 310 is a base end, while the second end 375 connected to the tool interface 370 is a rod end. However, in other embodiments, other configurations are possible. For example, the tilt actuator can be other types of electric actuators, including lead screw actuators, driven actuators, or other gear actuators, or may include motors having a straight or vertical configuration. Furthermore, the tilt actuators can be arranged on the power machinery in a manner different from that illustrated.

[0152] In some embodiments, the implement may be directly attached to the lifting arm structure, rather than via an implement carrier (e.g., as shown for lifting arm 334 and implement carrier 372). In some such cases, an electric actuator, such as tilt actuator 333, may still be installed and used to directly adjust the attitude of the implement, rather than adjusting the attitude of the implement carrier.

[0153] Figures 13A to 25B , Figure 27 and Figure 28 The illustration shows another example arrangement of components for an electric motor 400, which is... Figure 1The diagram broadly illustrates a specific example of the power machinery 100 discussed above, and the embodiments discussed herein can be advantageously employed with respect to this electric power machinery 400. References Figure 13A and Figure 13B The power machinery 400 is similar in some respects to the loader 200 and power machinery 300 described above, and unless otherwise stated below, the same numbers denote similar parts. For example, similar to power machinery 300, power machinery 400 includes a frame 410, a boom structure 430, and a traction system 440. The traction system 440 is similar in design and function to... Figure 8 The traction system 440 includes a traction element 442 configured as an annular track powered by an electric drive motor 442A. Similar to the frame 310 of the power machinery 300, the frame 410 supports a power source that provides electricity for the operation of the traction system 440, the lifting boom structure 430, and other subsystems of the power machinery 400. Specifically, the power source includes a battery assembly 418 and a control subassembly 420.

[0154] Go to Figure 13B Specifically, frame 410 supports a cab 450 structurally similar to the cab 250 of the power machinery 200, and correspondingly includes an operator station 455 from which the operator can manipulate various control devices (i.e., an operator control system) to cause the power machinery to perform various operational functions. Similar to the operator station 255 of the power machinery 200, see again... Figure 13A The operator station 455 may include an operator seat 456 and an operator input device 457 configured as a joystick; however, other operator input devices may include other joysticks or other devices with known configurations that the operator can manipulate to control various mechanical functions.

[0155] In addition, still refer to Figure 13A and Figure 13B The power mechanism 400 includes a tilting actuator 433 and a lifting actuator 438, which are supported on opposite lateral sides of a frame 410 so as to be substantially symmetrical about a central longitudinal axis 413 (e.g., the centerline of the power mechanism 400). Specifically, the lifting actuator 438 is fixed to the frame 310 within a lifting actuator recess 435, which is arranged near the rear end 410A of the frame 410 and laterally aligned (i.e., vertically positioned below) with the associated lifting arm 434 of the lifting arm structure 430, its arrangement substantially similar to that of... Figure 6The illustrated power machinery 300. While the illustrated embodiment includes multiple lifting actuators and tilting actuators disposed on opposite lateral sides of the frame, other configurations are possible. For example, in some embodiments, the power machinery may include a single lifting arm structure movable by one or more lifting actuators (e.g., only on one lateral side of the frame), or may include a machine carrier movable by one or more tilting actuators (e.g., at a central location or only on one lateral side of the frame). Furthermore, although Figure 13A and Figure 13B The embodiments illustrated include a vertically path lifting arm structure (i.e., a lifting arm structure having a lifting arm connected to a frame via one or more links of a linkage mechanism), but other configurations are also possible. For example, according to some embodiments, the power machinery may include a radially path lifting arm structure (i.e., a lifting arm structure having a lifting arm pivotally attached to the frame of the power machinery at a single joint or at multiple joints along a single pivot axis) and actuators mounted to both the frame and the lifting arm.

[0156] The lifting boom structure 430 of the power machinery 400 is functionally basically similar to Figure 12 The lifting arm structure 330. However, returning to Figure 13A ,and Figure 12 In contrast to the power machinery 300, the tilt actuator 433 of this embodiment is disposed within the tilt actuator recess 422, which is formed in the lifting arm structure 430 and is located near the front end 410B of the frame 310 when the lifting arm structure 430 is in the fully lowered configuration (see also...). Figure 16A However, in other embodiments, configurations other than those disclosed herein are also possible, including configurations with asymmetrically arranged electric lifting or tilting actuators, configurations with a single lifting or tilting actuator, configurations with additional lifting or tilting actuators, and configurations with lifting arm structures without tilting or lifting actuator recesses.

[0157] Tilt actuator recesses can offer a variety of benefits for actuator mounting, including potentially improved structural strength, facilitating the preparation and implementation of the double-pin connection for the actuator, protecting the actuator from damage by debris or certain impacts, and (also as regarding...) Figure 12 The discussed approach provides a beneficial distance between the lifting actuator and the operator's station. (Reference) Figure 14 and Figure 15In the illustrated embodiment, each of the tilt actuator recesses 422 is formed as an elongated channel defined by a laterally inner wall 424, a laterally outer wall 425, and a base wall 426, wherein the inner wall 424 is disposed laterally inward from the outer wall 425. In the illustrated embodiment, the inner wall 424 is substantially planar, while the outer wall 425 includes an inward bend 427. Correspondingly, the recesses 422 are tapered such that the width (and cross-sectional area) at the distal end 428 is smaller than the width (and cross-sectional area) at the proximal end 429. However, in other embodiments, other arrangements are possible, including recesses tapered in other ways. In this embodiment, the lifting arm 434 is tapered such that the width of the end of the lifting arm has a suitable width for receiving and securing the tool carrier 472 to the lifting arm. Therefore, in some embodiments, the lifting arm may have different tapering, or no tapering at all, depending on the width of the machine and / or the width of the tool carrier.

[0158] In some embodiments, the recess may completely enclose the actuator for at least a portion of its length. For example, as... Figure 14 As shown, in some cases, recess 422 may include cover 431, which is configured to be in the tilt actuator 433 ( Figure 14 Extending from the distal end of the actuator (not shown), the cover is at least partially enclosed by the recess and thus substantially protected from the front, rear, and two lateral sides. In some embodiments, the cover may be an integrally formed structure of the recess on the lifting arm. In some embodiments, the cover may be formed separately and attached to extend the recess on the lifting arm. In some embodiments, the cover may extend only partially around a specific portion of the actuator.

[0159] In addition to the other benefits described above and below, the recess 422 may help reduce the weight of the lifting arm structure 430 while maintaining the proper structural integrity of the lifting arm structure 430. In this regard, for example, some recesses in the lifting arm may be formed to partially include protective elements made of a separate material that is lighter than the material of the lifting arm.

[0160] refer to Figure 16A Each recess 422 is configured to partially receive a corresponding tilt actuator 433, wherein the width and length dimensions of the recess 422 are correspondingly set to receive at least a portion of the tilt actuator 433. Specifically, in the illustrated embodiment, the proximal end 429 of each recess 422 is wider than the corresponding width of the motor end of the corresponding tilt actuator 433. Therefore, as further discussed below, at least a portion of the tilt actuator 433 can be received within and protected laterally (and rearward) by the recess 422 during operation.

[0161] Continuing, the first end 474 of each of the tilt actuators 433 is rotatably coupled (e.g., pin-connected) to the lifting arm 434. Specifically, referring again... Figure 14 and Figure 15 A pair of laterally extending bosses 444 are provided at corresponding points on the inner wall 424 and outer wall 425 near the proximal ends 429 of the recess 422, thereby defining a first attachment point 445 for the tilting actuator 433. In particular, as facilitated by the general configuration of the recess 422, the first attachment point 445 provides a double-pin connection that can provide sufficient strength and durability during the extended service life of the power machinery 300.

[0162] Return to Figure 16A Each of the tilting actuators 433 has a second end 475 that is rotatably coupled (e.g., pin-connected) to the tool carrier 472 at a second attachment point 446. (Turn to...) Figure 16B In some installations, the actuation line 447 (i.e., the extension axis) of the tilt actuator 433 may be substantially parallel to the base wall 426 and / or inner wall 424 of the corresponding recess 422 (see example). Figure 14 In some installations, the actuation line of the tilt actuator can be connected to a pin between the implement carrier and the lifting arm structure (e.g., Figure 16B The pivot point 448 of the tool carrier 472 is laterally aligned or substantially laterally aligned (i.e., laterally separated from the pin connection by less than the maximum width of the recess 422). This arrangement, facilitated by the position and geometry of the corresponding recess(s), can help reduce adverse moments or torsional stresses on the relevant components; however, other configurations are also possible.

[0163] Return to Figure 16A Although each of the tilt actuators 433 is shown with its first base end 474 located at the proximal end 429 of the recess 422 and its second rod end 475 located at (and beyond) the distal end 428 of the recess 422, the tilt actuators 433 can be mounted in different arrangements. For example, a tilt actuator can be mounted with its rod end and its base end located at the proximal and distal ends of the tilt actuator recess, respectively. Similarly, although the tilt actuators 433 are shown with their motors 433A located outside the recess 422 and in a forward position relative to the corresponding lead screw 433B of the tilt actuator 433, the motors 433A can be arranged in different positions relative to the recess 422 and the lead screw 433B.

[0164] In some cases, the lateral spacing arrangement of the tilt actuator illustrated in the figure (including by using a lifting actuator recess) can provide significant spatial benefits. For example, the illustrated positions of recess 422, lead screw 433B, and motor 433A can generally increase the available lateral space near the front end 410B of the tool carrier 472 and frame 410 compared to a conventional arrangement. For example, this arrangement can position the tilt actuator 433 at least partially (e.g., completely) laterally outside the operator station 455 and can correspondingly enhance access to the operator station 455 (see, for example...). Figure 13A This could provide increased clearance for the footwell of the 450 cab, or offer other similar benefits.

[0165] In addition to providing useful mounting features and a beneficial boom geometry, the tilt actuator recess 422 of the boom structure 430 also provides useful protection for the tilt actuator 433. Specifically, as Figure 16A As shown, the tilt actuator 433 is essentially protected and enclosed by a recess 422, providing complete lateral protection for the pin connection within the recess 422 and partial protection for other portions of the tilt actuator 433 (particularly the portion facing the motor end of the tilt actuator 433), which can accommodate more sensitive components and entry points (e.g., for electrical connections). In some embodiments, the tilt actuator recess may surround a portion of the tilt actuator (e.g., the motor end of the tilt actuator) around the actuation line of the tilt actuator by at least 90 degrees, at least 120 degrees, or at least 180 degrees; however, other configurations are also possible. Furthermore, as previously discussed, the recess may completely enclose the tilt actuator for at least a portion of its length.

[0166] Typically, the tilt actuator 433 of the power machinery 400 and Figures 5 to 12 The tilt actuator 333 of the illustrated power machinery 300 operates substantially similarly. Likewise, each of the lifting arm structures 430 includes an electric lifting actuator 438 and can be moved by the electric lifting actuator 438, which is functionally similar to... Figure 5 The lifting actuator 338. Turn to... Figure 17 The lifting actuator 438 is fixed to the frame 410 within a lifting actuator recess 435, which is positioned near the rear end 410A of the frame 410 and laterally aligned (i.e., vertically positioned below) with the associated lifting arm 434 of the lifting arm structure 430, as shown. Each of the lifting actuators 438 includes a lead screw 478 and an electric motor 479 for selectively extending and retracting the lead screw 478. However, alternative configurations are also possible.

[0167] refer to Figure 18In the illustrated embodiment, each of the lifting actuators 438 is arranged such that its first base end 480 is fixed to the frame 410 and disposed near the lower portion 411 of the frame 410, and the second rod end 490 of the lifting actuator 438 extends out of the lifting actuator recess 435 to be fixed to the lifting arm structure 430. As described above, this provides beneficial protection and, in some cases, ease of installation and maintenance. However, the lifting actuators 438 may be arranged differently in alternative embodiments. For example, in some embodiments, the base end of the lifting actuator may be connected to the lifting arm structure, and the rod end of the lifting actuator may be connected to the frame.

[0168] Continuing, the pin connection 476 between the lifting actuator 438 and the main frame of the power machinery 400 is disposed within the lifting actuator recess 435, such that in all operating orientations of the lifting arm structure 430, the corresponding electric motor 479 is disposed behind the pin connection 476 and the pin connection between the lead screw 478 and the lifting arm structure 430 (i.e., away from the implement carrier 472 and the operator station 455 (see...)). Figure 13B (Setting). As generally discussed above, this can provide beneficial actuation characteristics (e.g., lifting force curve) for the operation of the power machinery 400, as well as providing useful protection and facilitating simpler installation and maintenance. However, in other embodiments, the lifting actuator can be arranged differently, including relative to the lifting actuator recess. For example, the lifting actuator can be mounted such that its motor is positioned closer to the machine carrier than its lead screw.

[0169] Furthermore, in some embodiments, additional structures may be used to protect and / or separate the lifting actuator 438. For example, in some embodiments, additional panels and / or brackets may be installed to substantially cover the motor of the lifting actuator. Additionally or alternatively, panels may be used to separate the motor from the lead screw of the lifting actuator. Furthermore, while the invention is generally configured for use in electromechanical machinery, the lifting actuator may also be a hydraulic actuator.

[0170] As discussed above, the power machinery according to embodiments of the present invention can use electricity to operate certain components or otherwise perform certain power machinery functions. For example, referring again... Figure 13A The power machinery 400 according to this embodiment includes a lifting actuator 438, and a tilting actuator 433 is electrically powered to selectively move the lifting arm 434 and the implement carrier 472. Furthermore, a traction element 442 is electrically powered via a drive motor 442A to move the power machinery 400. Accordingly, instead of the conventional diesel engine and hydraulic interface used in existing power machinery, the power machinery according to embodiments of the present invention may require a battery and central control. For example, see reference... Figure 19The battery assembly 418 and the control subassembly 420 are disposed in the frame 410 of the power machinery 400 and are configured to send power and control signals to components of the power machinery 400 such as the lifting actuator 438, the tilting actuator 433, and the drive motor 442A.

[0171] Go to Figure 20 The battery assembly 418 includes a battery housing 502 for holding and encapsulating a plurality of battery cells and a battery management system 519. The battery management system 519 may include a variety of components configured in a known manner for measuring voltage or current, balancing battery cell loads, controlling charging and discharging, and control communication between electrical components. For example, the battery housing 502 defines a battery cell cavity 514 and a control cavity 518 configured to respectively house the plurality of battery cells and the battery management system. In the illustrated embodiment, the control cavity 518 is laterally positioned relative to the battery cell cavity 514. Specifically, the control cavity 518 is positioned adjacent to the battery cell cavity 514 such that the control cavity 518 and the battery cell cavity 514 are aligned along the same horizontal plane. In practice, in the illustrated example, the control cavity 518—including the battery management system 519—is substantially (i.e., 90% or more by volume or height) positioned below the top of the battery cell cavity 514, below the top of the battery housing 502, and below the top of the battery assembly 418 as a whole.

[0172] return Figure 19 By positioning the battery assembly 418 so that the control cavity 518 is adjacent to the battery cell cavity 514, some controls can be accessed from one side of the power machinery 400 (in some cases) or from one side of the battery assembly 418 when the battery assembly is removed from the power machinery 400. Therefore, this positioning generally enhances the overall accessibility of the controls. Furthermore, this configuration allows access to the battery cells from above without requiring the user to disassemble or bypass the battery management system or other control components. Thus, for example, the battery cells can be maintained and otherwise managed from the top of the power machinery 400, including allowing the replacement or other maintenance of specific battery cells without extensive disassembly of other components from the battery assembly 418 or the power machinery 400.

[0173] While the illustrated configuration may be particularly advantageous, including for the reasons discussed above, other embodiments of the invention can provide power machinery with battery assemblies of different configurations. For example, the battery assembly may include a battery cell cavity disposed below the control cavity. In this way, the battery cell can be accessed from the side of the power machinery, and the battery management system can be accessed from the top of the power machinery. Furthermore, in some embodiments, the power machinery may include a battery assembly accessible from the driver's cab of the power machinery.

[0174] In some embodiments, certain mounting configurations for the battery can provide benefits in terms of weight distribution, stability, and the management of power and control signals. Figure 20 For example, battery assembly 418 is secured to a first mounting structure 522 and a second mounting structure 526 for securing battery assembly 418 to frame 410. Typically, the mounting structures for the battery assembly can be constructed as rigid bodies (e.g., integrally formed bodies) that are fixed to and extend laterally from the main frame of the power machinery. In this respect, for example, the first mounting structure 522 is an L-shaped elongated strut that can be secured by fasteners to a fixing member 528 extending from a first end 530 of battery housing 502. Similarly, the second mounting structure 526 is an L-shaped elongated strut that supports battery assembly 418 at an opposite second end 534 of battery housing 502. In the illustrated embodiment, an intermediate mounting structure 538 is disposed between the second mounting structure 526 and the battery housing 502. Thus, as Figure 21 Ideally, the first mounting structure 522 and the second mounting structure 526 can be positioned in different horizontal planes, thus facilitating a useful and stable mounting orientation within the power machinery 400. In the illustrated embodiment, the first mounting structure 522 is elevated relative to the second mounting structure 526, but other configurations are also possible.

[0175] In the illustrated embodiment, the intermediate mounting structure 538 is an elongated U-shaped member defining an elongated channel; however, a variety of other configurations are possible. The intermediate mounting structure 538 can be secured to the second mounting structure 526 by a series of fasteners, and the intermediate mounting structure 538 also engages the battery housing. For example, in some embodiments, the battery housing 502 can simply rest on top of the intermediate mounting structure 538, for example, with the elongated channel open toward the battery housing 502. In some embodiments, the intermediate mounting structure can be permanently secured to the battery housing, for example, by welding. Additionally or alternatively, one or more fastening devices such as bolts, magnets, pins, latches, clamps, adhesives, etc., can be used to connect the intermediate mounting structure and the battery housing. Although the illustrated embodiment includes an intermediate mounting structure 538 disposed between the second mounting structure 526 and the battery housing 502, alternative embodiments may omit the intermediate mounting structure.

[0176] Also Figure 20 and 21As illustrated, the isolation mounts 546, configured as discrete isolators (e.g., rubber isolators), can be arranged along the first mounting structure 522 and the second mounting structure 526 to dampen vibrations from the powered machinery 400 and reduce the resulting noise. However, in alternative embodiments, more or fewer isolators than those illustrated can be used. Furthermore, other configurations for damping vibrations and reducing noise are possible, including any kind of known isolation mount structure.

[0177] Go to Figure 22 The battery assembly 418 is mounted to the frame 410 via a first mounting structure 522 and a second mounting structure 526. In the illustrated embodiment, the battery assembly 418 is positioned near the rear frame end 410A. For example, the volume center 550 of the battery assembly 418 may be positioned between 10% and 50%, 15% and 40%, or 20% and 30% of the total length L of the frame 410, spaced apart from the rear wall 590 of the frame 410. Additionally, the battery assembly 418 is positioned near the lower portion 411 of the power machinery 400. For example, the volume center 550 of the battery assembly 418 may be positioned between 15% and 50%, 20% and 35%, or 28% and 40% of the total height H of the frame 410, measured from the base 554 to the highest point of the frame 410, spaced apart from the base 554 of the frame 410. The illustrated height of the battery assembly 418 relative to the frame 410 can provide a beneficial weight distribution for the power machinery 400 as a whole (e.g., providing improved stability when operating on sloping terrain), with a proper balance to the convenience of maintaining and replacing part or all of the battery assembly 418. However, in other embodiments, the battery assembly may alternatively be placed at a relatively low position within the power machinery.

[0178] Still referencing Figure 22 The battery housing 502 includes a top wall 558, a front wall 562, a base wall 566, and a rear wall 570. Each of the top wall 558, front wall 562, base wall 566, and rear wall 570 is a substantially planar component in the illustrated embodiment, but other configurations are possible. The top wall 558 is disposed in a plane defined by the substantially horizontally extending top wall 558. In the illustrated embodiment, to provide a particularly advantageous weight distribution, the top wall 558 is located within the seat 456 (in... Figure 22 (Schematably shown) Below the upper (seating) surface 456A but above the lower side 456B of the seat 456, at which the seat 456 is fixed to the frame 410. Furthermore, a top wall 558 is positioned substantially above the tilt actuator 433. For example, in the illustrated embodiment, when the lifting arm structure 430 is in a fully lowered configuration, the top wall 558 is above the first attachment point 445 for the tilt actuator 433.

[0179] In some embodiments, the specific positioning of the battery assembly relative to other components can provide improved overall stability of the power machinery, including through the spatial considerations discussed above. As another example, in the illustrated embodiment, the top wall 558 is positioned between approximately 40% and 60% of the total height H of the frame 410 from the base 554, but other configurations are possible. Also as described above, when the lifting arm structure 430 is in a lowered configuration, for example at the lifting actuator 438 (see example...) Figure 18 When fully retracted, the top wall 558 can be aligned with or below the first end 474 of the tilt actuator 433 and the corresponding attachment point 445 of the tilt actuator 433. Thus, for example, the volume center 550 and center of gravity 614 of the battery assembly 418 are generally supported above the frame 410, but also positioned below the attachment point 445. Similarly, the volume center 550 and center of gravity 614 are also positioned below the lower side 456B of the seat 456, at which the seat 456 is secured to the cab 450. (Although the volume center 550 and center of gravity 614 are vertically coincident in the illustrated embodiment, this may not be the case in other configurations.) Furthermore, as... Figure 19 Ideally, the top wall 558 (as well as the volume center 550 and the center of gravity 614) is also positioned below the second end 490 of the lifting actuator 438 and the corresponding attachment point 445. See again... Figure 22 In the illustrated embodiment, the top wall 558 is also above the traction element 442 (and the drive motor 442A) and above the lower end of the cab 450; however, other configurations are also possible.

[0180] Similar to the top wall 558, the base wall 566 is disposed in a substantially horizontal plane defined by the base wall 566. In the illustrated embodiment, the base wall 566 is positioned between 10% and 40%, 15% and 25%, or less than 25% of the total height H of the frame 410 from the base 554, but other configurations are also possible. When the lifting arm structure 430 is in the lowered configuration, the base wall 566 is above the second end 475 and the corresponding pivot point of the tilt actuator 433, and below the first end 474 and the corresponding pivot point of the tilt actuator 433. Furthermore, as Figure 19 Ideally, the base wall 566 is positioned below the second end 490 of the lifting actuator 438 and the corresponding pivot point. See again... Figure 22In the illustrated embodiment, the base wall 566 is positioned entirely below the cab 450; however, in alternative embodiments, the base wall may be above the cab or substantially in line with it. Furthermore, when the lifting boom structure 430 is in a lowered configuration, the base wall 566 may be closer to the second end 475 of the tilt actuator 433 than the first end 474. In some embodiments, in the lowered configuration, the base wall 566 may be substantially in line with or below the second end 475 of the tilt actuator 433.

[0181] The front wall 562 is the portion of the battery housing 502 closest to the front frame end 410B, and is disposed in a substantially vertical plane defined by the front wall 562. In the illustrated embodiment, the front wall 562 is disposed behind the cab 450, but in front of the lift actuator 438 (see example...). Figure 23 This arrangement allows the battery assembly 418 to be positioned as a single unit entirely behind the cab 450 and operator station 455. As generally described above, this arrangement provides an optimal balance between weight distribution and accessibility. However, in some embodiments, the front wall 562 may be below or aligned with the edge of the cab 450. Furthermore, the front wall 562 may be spaced from the rear wall 590 of the frame 410 by between 30% and 70%, 35% and 50%, or 40% and 48% of the total length L of the frame 410. Accordingly, the front wall 562 may be positioned with respect to a portion of the traction element 442 (and the drive motor 442A). Figure 22 (Not shown in the image) are aligned such that the vertical plane defined by the front wall 562 intersects the traction element 442 (and the drive motor 442A). For example, the vertical plane defined by the front wall 562 may intersect the traction element 442 closer to the rear end 582 of the traction element 442 than the front end 586 of the traction element 442. However, in some cases, the front wall 562 may be behind the drive motor 442A.

[0182] The rear wall 570 is a portion of the battery housing 502 located behind the cab 450, closest to the rear frame end 410A, and similarly positioned in a substantially vertical plane defined by the rear wall 570. The rear wall 570 may be spaced from the rear wall 590 of the frame 410 by less than 30% of the total length L of the frame 410. In some embodiments, the rear wall 570 may be spaced from the rear wall 590 by less than 20%, less than 15%, or less than 8% of the total length L of the frame 410. Accordingly, the rear wall 570 may be positioned behind the traction element 442 and the cab 450. Figure 23Ideally, the plane defined by the rear wall 570 may intersect with the lifting actuator 438. In some embodiments, the plane defined by the rear wall 570 intersects only with the motor 479 of the lifting actuator 438. In some embodiments, the plane defined by the rear wall 570 may be located behind the lifting actuator 438.

[0183] refer to Figure 23 Specifically, the lateral walls of the battery housing 502 (e.g., right lateral wall 594 and left lateral wall 598) are similarly configured such that they are substantially planar and positioned within substantially vertical planes defined by the lateral walls 594 and 598, respectively. The lateral walls 594 and 598 are laterally spaced substantially equally from the central axis 413 of the power mechanism 400, thus ensuring optimal (e.g., maximized) use of the space available for the power supply. However, in some embodiments, the lateral walls 594 and 598 may be off-center, for example, closer to the left side 606 or the right side 610 of the frame 410. Furthermore, in some embodiments, the lateral walls 594 and 598 may be spaced between approximately 30% and 50% or between 35% and 45% of the total width W2 of the frame 410. In some embodiments, the lateral walls 594 and 598 may be spaced less than 50% of the total width W2 of the frame 410. In some embodiments, the side walls 594, 598 may be spaced apart by more than 38% of the total width W2 of the frame 410.

[0184] The positions of each of the top wall 558, front wall 562, base wall 566, rear wall 570, and side walls 594, 598 in the illustrated embodiment are merely one configuration of the battery assembly according to the invention. Other configurations are also possible, including configurations of battery housings with different shapes, sizes, positions, and orientations.

[0185] Still referencing Figure 23 The control cavity 518 of the battery management system 519 is positioned near the right side 610 of the power mechanism 400 and defines the right side wall 594 of the battery housing 502. The control cavity 518 may occupy about 10% of the total volume of the battery housing 502. In some embodiments, the control cavity may occupy less than 20%, less than 15%, less than 12%, or less than 10% of the total volume of the battery housing 502. Correspondingly, the battery cell cavity 514 is disposed near the left side 606 of the frame, defines the left side wall 598, and may occupy at least 60%, at least 70%, at least 80%, or at least 88% of the total volume of the battery housing 502. As described above, placing the control cavity on the side of the battery assembly can provide improved access to the battery cell and other benefits. However, other configurations are also possible.

[0186] In some embodiments, the weight and volume distribution of the battery assembly can be selected to optimize the overall use of space and weight distribution within the power machinery. In this regard, for example, Figure 23 The illustration shows the center of gravity 614 of the battery assembly 418, the center of gravity 618 of the power machinery 400 having the battery assembly 418, and the center of gravity 618A of the power machinery without the battery assembly 418. In some embodiments, one or more of the centers of gravity 618, 618A may be located under the seat (e.g., Figure 22 Below the seat 456 (lower side 456B), the top attachment point of the tilt cylinder or swing cylinder (e.g., Figure 22 Below the attachment point 445 in the middle, or it can be advantageously arranged in other ways.

[0187] As discussed herein, in configurations where power machinery includes battery modules, the general reference to the center of gravity of the power machinery is intended to refer to the center of gravity of the power machinery calculated to include the contribution (and weight distribution) to the weight of the battery modules. In this regard, for example, in configurations where power machinery includes battery modules, the center of gravity of the power machinery, disregarding the weight of the battery modules, will be explicitly specified as such (e.g., for center of gravity 618A, as discussed above).

[0188] In the illustrated embodiment, the center of gravity 618 of the power machinery 400 is located in the cab 450 ( Figure 23 (Not shown in the image) and the operator's station 455 are located approximately behind. More specifically, one or more of the centers of gravity 618, 618A of the batteryless powered machinery 400 may be spaced apart from the rear wall 590 of the frame 410 by approximately 40%, approximately 45%, between 40% and 50%, between 35% and 55%, or between 38% and 45% of the total length L of the frame 410. Similarly, in some embodiments, one or more of the centers of gravity 618, 618A may be located behind the drive motor 442A. Accordingly, since the battery assembly 418 is placed relatively close to the rear frame end 410A, the center of gravity 614 of the battery assembly 418 is behind the center of gravity 618A of the batteryless powered machinery 400, and contributes to a position behind the overall center of gravity 618 relative to the center of gravity 618A of the batteryless powered machinery 400. As generally stated above, this rearward repositioning of the overall center of gravity 618 of the power machinery 400 can help improve the overall stability and performance of the power machinery 400, while also corresponding to the proximity of the battery assembly 418 for maintenance or other purposes.

[0189] As another example, the center of gravity of a battery assembly can sometimes be off-center relative to the power machinery 400. For example, as Figure 23As shown, the center of gravity 614 is closer to the left wall 598 than the right wall 594. Therefore, when the battery assembly 418 is mounted in the frame 410 with its center aligned with the central axis 413, the battery's center of gravity 614 can be off-center relative to the central axis 413, yet in the illustrated embodiment it remains close to the central axis 413 (e.g., less than 15%, less than 10%, less than 5%, or less than 3% of the total width W2 of the frame 410 from the central axis 413). Among other benefits, this off-center alignment of the battery assembly's center of gravity can, in some cases, help balance other aspects of the weight distribution of the power machinery. For example, in the illustrated embodiment, the center of gravity 618A of the power machinery 400 without the battery assembly 418 is slightly off-center relative to the central axis 413. However, due to the relatively off-center orientation of the battery assembly 418's center of gravity 614, the overall center of gravity 618 of the power machinery 400 is substantially laterally centered, i.e., within 10% of the total width W2 from the central axis 413.

[0190] In some embodiments, a mounting system for securing a battery assembly to a power machine may include structural features that also provide balance relative to a particular center of gravity location, or otherwise optimize the structural features. For example, common references Figure 20 , Figure 21 and Figure 23 The two front isolation members of the isolation members 546 are disposed towards the front of the battery assembly 418, wherein the first isolation member of the isolation members 546 is located on the first lateral side of each of the centers of gravity 614, 618, 618A, and the second isolation member of the isolation members 546 is located on the second lateral side of each of the centers of gravity 614, 618, 618A. Similarly, the two rear isolation members of the isolation members 546 are disposed towards the rear of the battery assembly 418, wherein the third isolation member of the isolation members 546 is located on the first lateral side of each of the centers of gravity 614, 618, 618A, and the fourth isolation member of the isolation members 546 is located on the second lateral side of each of the centers of gravity 614, 618, 618A. Furthermore, the front isolation member 546 is disposed in front of each of the centers of gravity 614, 618, 618A, and the rear isolation member 546 is disposed behind each of the centers of gravity 614, 618, 618A. Together and individually (e.g., relative to each set of separators 546 or relative to any one of the centers of gravity 614, 618, 618A), this arrangement can also help improve the stability and accessibility of the power machinery 400.

[0191] As generally described above, power machinery typically includes electronic components for providing power and control to electric actuators and other components. In some embodiments, some or all of these electronic components may be located in particularly advantageous locations on the power machinery, or may be included in subassemblies that can be easily assembled separately from the power machinery and then efficiently mounted onto the power machinery as a single unit. Figure 22 For example, similar to battery assembly 418, it can be advantageous to position control subassembly 420 toward the rear frame end 410A, including placing control subassembly 420 close to battery assembly 418 to provide convenient access for maintenance or other operator operations and to allow efficient routing of electrical wiring for power and control signals. As shown, for example, control subassembly 420 is positioned within the rear half of frame 410 behind cab 450. Additionally, control subassembly 420 is positioned above battery assembly 418. In some embodiments, control subassembly 420 may be substantially laterally aligned with battery assembly 418, such that control subassembly 420 is similarly laterally positioned relative to frame 410 as battery assembly 418 (e.g., directly above or below battery assembly 418). This configuration can provide significant space efficiency and improved proximity to battery assembly 418 and control subassembly 420; however, other configurations are also possible.

[0192] In some embodiments, the control subassembly may be supported by a separate component that is directly fixed to the frame of the power machinery, thus allowing the control subassembly to be easily installed or removed as a unit rather than as multiple components. In the illustrated embodiment, for example, the control subassembly 420 is supported by a frame plate 622 that can be fixed to the frame 410. Specifically, in the illustrated embodiment, the frame plate 622 is bolted to the frame 410, which allows the frame plate 622 to be quickly and easily removed for enhanced access to the battery assembly 418. However, other known attachment mechanisms are also possible.

[0193] In some embodiments, the frame plate or other support member for the control subassembly may be configured to provide a particularly stable platform for the control subassembly at a particularly advantageous location within the power machinery. For example, the frame plate 622 provides a generally flat upper support surface directly above the volume center 550 and center of gravity 614 of the battery assembly 418 and behind the centers of gravity 618, 618A of the power machinery 400. In some embodiments, the frame plate 622 may be spaced from the base 554 of the frame 410 between 40% and 70%, 45% and 60%, or 50% and 65% of the total height H of the frame 410. In some embodiments, when the lifting arm structure 430 is in a lowered configuration, the frame plate 622 may be above the tilt actuator 433 but below the pin connection between the lifting actuator 438 and the lifting arm structure 430. For example, as Figure 19 Ideally, the plane defined by the frame plate 622 intersects with the lifting actuator 438 below the lifting arm structure 430.

[0194] In different embodiments, the frame board can be configured in a wide variety of ways. Figure 24 The frame plate 622 is illustrated in detail. Specifically, the frame plate 622 includes a generally planar base portion 626 having a flanged lateral edge 630. In the illustrated embodiment, the flanged lateral edge 630 is bolted to the opposing inner wall 634 of the frame 410; however, in alternative embodiments, the flanged lateral edge 630 may be secured to the frame 410 in a different manner. The flanged lateral edge 630 is generally tapered to correspond to an angle with the frame 410, but in alternative embodiments, the flanged lateral edge 630 is formed into a different shape. The long edge 638 of the frame plate 622 further includes a flange extending substantially along the length of the frame plate 622. Accordingly, when secured to the frame 410, this flange extends substantially entirely between the opposing inner walls 634. Furthermore, the frame plate 622 in the illustrated embodiment includes a plurality of openings 646 that may reduce the weight of the frame plate 622 or, in some cases, allow routing of wiring or other conduits. While the illustrated embodiment includes three openings 646, embodiments of the invention may include a frame plate with any configuration having more or fewer holes. Furthermore, in some embodiments, the frame plate may be formed from multiple assembled individual components, including components corresponding respectively to the flanged lateral edges 630 and the base portion 626.

[0195] Also as described above and referenced Figure 25AA frame plate 622 is generally provided to support the control sub-assembly 420, which is generally located behind the operator station 455 and above the battery assembly 418. Depending on the specific power machinery requirements, the control sub-assembly 420 may include multiple modules, which are generally supported by the control support structure 650 and therefore also by the frame plate 622. In some cases, the modules supported by the control support structure 650, which is configured to support multiple control modules and components, are generally identified as control modules 660 in the illustrated embodiment.

[0196] In some embodiments, such as Figure 25A As illustrated, the control module 660 may include multiple motor controllers, such as a first motor controller 662 for controlling one of the drive motors 442A, a second motor controller 666 for controlling another drive motor in the drive motors 442A, a third motor controller 670 and a fourth motor controller 672 for individually controlling each tilt actuator in the tilt actuators 433, and a fifth motor controller 674 and a sixth motor controller 676 for individually controlling each lifting actuator in the lifting actuators 438.

[0197] The power machinery 400 further includes an electric vehicle central module (“EVCM”) 678, which in the illustrated embodiment is disposed separately from the control module 660 on the frame 410, but other arrangements are possible. For example, in some embodiments, the EVCM may be disposed on a support plate having one or more control modules. The EVCM 678 is configured to electronically communicate with each of the motor controllers 662, 666, 670, 672, 674, 676, including for controlling or monitoring associated actuators (e.g., lift actuator 438, tilt actuator 433) or other motors (e.g., drive motor 442A). Furthermore, the EVCM 678 is configured to receive signals from an operator control 680 (e.g., ...). Figure 13A The joystick 457 receives command signals for controlling and powering various components, for example, via motor controllers 662, 666, 670, 672, 674, and 676.

[0198] Each of the motor controllers 662, 666, 670, 672, 674, and 676 can be electrically connected to a component of the power machinery 400, for example, for transmitting power signals and / or control signals. For instance, each of the third motor controller 670 and the fourth motor controller 672 is electrically connected to a corresponding tilt actuator in the tilt actuator 433, and each of the fifth motor controller 674 and the sixth motor controller 676 is electrically connected to a corresponding lifting actuator in the lifting actuator 438. Similarly, the first motor controller 662 and the second motor controller 666 are electrically connected to the drive motor 442A, respectively. Arrow 682 is used herein to illustrate the electrical connections between the control module 660 and various components of the power machinery 400. Arrow 682 can represent one or more lines used to transmit both control signals and power to one or more components.

[0199] In some embodiments, multiple wires can be routed along similar paths to provide power and control signals to different components. For example, one or more wire harnesses can be routed from control module 660 to different parts of power machinery 400. In some cases, multiple wires can be routed together away from control module before being separately routed to different areas and / or parts of power machinery. For example, as discussed further below, a set of wires including wires for control and power signals of each of the drive motor 442A, lifting actuator 438, and tilting actuator 433 corresponding to the left side 606 of frame 410 of power machinery 400 can be routed together from control subassembly 420 to lifting actuator recess 435 on the left side 606 of the frame, and then split / separated into a first subset of one or more wires for providing power and control to lifting actuator 438, and a second subset of one or more wires for providing power and control to a tool (not shown) or tilting actuator 433 attached to the distal end of lifting arm structure 430.

[0200] In some embodiments, the control sub-component may include a cooling system. For example, in some embodiments, cooling system 698 may be mounted to base plate 654 (and thus supported relative to frame 410) along with one or more other control modules. Typically, the cooling system can be any type of system configured to cool components of machinery (e.g., one or more controllers or one or more actuators, as needed). For example, cooling system 698 may include a heat exchanger, a reservoir for coolant, and a pump configured to pump coolant through one or more hoses routed to various different components of power machinery 400. Accordingly, referring to this embodiment, coolant hoses may extend from cooling system 698 to... Figure 25AOne or more of the motor controllers 662, 666, 670, 672, 674, 676 shown, or one or more actuators extending to actuators 433, 438, 442A.

[0201] In some embodiments, the coolant hose may be specifically configured to route coolant from the cooling system to the traction actuator, for example... Figure 25A The drive motor 442A, as identified in the diagram, is used for direct cooling of the traction actuator; however, other routes (e.g., routes different from those used for electrical signals) are also possible. In some embodiments, coolant hoses may be routed to additional or alternative components of the power machinery. Furthermore, embodiments of the invention may include cooling systems disposed at various locations throughout the frame of the power machinery. For example, the cooling system may be mounted to a base plate, a frame plate, directly to the frame, or a different structure.

[0202] Figure 25B Detailed illustrations depict additional aspects of the control support structure 650. In this regard, it should be noted that the accompanying drawings (e.g., Figure 22 The schematic representation of control module 660 shown in the figures is provided by way of example only. That is, although the figures illustrate a single cube representing control module 660, the control module according to embodiments of the invention may include one or more components, structures or modules that may completely fill or extend beyond or partially fill or extend beyond the spatial region represented by the representation of control module 660 in the figures.

[0203] Typically, control support structures can be configured to include rigid support members that can support the weight of the associated control module, including during transport of the control module and control support structure, which are installed as a single unit in the power machinery. In this regard, in the illustrated embodiment, the control support structure 650 includes a base plate 654 and a rear plate 658, which can be integrally formed or otherwise made integral. For example, in some embodiments, each of the base plate 654 and the rear plate 658 can be a substantially planar (or otherwise constructed) component with suitable attachment features (e.g., flanges, bosses, etc.), and the rear plate 658 can be secured to the base plate 654, for example, using fasteners, adhesives, welding, etc. In the illustrated embodiment, the rear plate 658 is a plate-like structure with an inclined portion, but other configurations are also possible.

[0204] Also refer to Figure 19The rear panel 658 includes an opening 708 configured for routing wires, coolant hoses, or other conduits. For example, wires and coolant hoses, visually indicated by arrow 682, can extend from the control subassembly 420 through opening 708 and then be routed to various other components (e.g., actuators or traction motors). Furthermore, a side opening 710 is also defined in this respect by the inner wall 634 of the frame 410, and this side opening 710 is configured to receive wires and hoses, for example, as indicated by arrow 682. The side opening 710 generally leads to the lift actuator recess 435, such that one or more wires can electrically connect the lift actuator 438 to the control subassembly 420 (or, in some cases, provide a flow of coolant into and out of the lift actuator 438). In contrast, wires, hoses, or other conduits can alternatively be routed to the traction motor (e.g., similar to...) without having to travel through the lift actuator recess 435. Figure 8 Motor 326).

[0205] In some cases, wires or hoses can be routed from opening 708 (or others) through the lifting arm structure 430 to provide electronic communication or coolant flow to equipment facing the front end 410B of the main frame 410. For example, starting from the lifting actuator recess 435, one or more wires can be routed into the lifting arm 434 through one or more lifting arm openings 714 located at corresponding rear ends 718 of the lifting arm 434. Thus, for example, wires can reach the tilt actuator and implement by extending along one or more lifting arms 434 within the enclosed internal volume of the respective lifting arm 434. Accordingly, partially, individually, and collectively due to the orientation of the control support structure 650, the configuration of the lifting actuator recess 435, and the lifting arm 434, wires can be effectively routed and substantially protected along the entire routing path from the control subassembly to the tilt actuator and implement.

[0206] Refer again Figure 25A and Figure 25B The control sub-component 420 can be pre-assembled, allowing it to be easily installed in the power machinery 400. More specifically, the control module 660 (which may include each of motor controllers 662, 666, 670, 672, 674, 676) and, where appropriate, [further details about the control module 660 and its components]. Figure 25AThe cooling system 698 shown can be secured to the rear plate 658 before the control subassembly 420 is installed in the power machinery 400. In some cases, the rear plate 658 or an additional housing structure may also be secured to the base plate 654 before the control subassembly is installed. Furthermore, the control subassembly 520 may include one or more lifting points (e.g., multiple lifting points 722, as shown) formed in the control support structure 650 to allow the subassembly 420 to be raised and lowered as a single unit for insertion into or removal from the power machinery.

[0207] When the subassembly 420 is inserted into the power machinery, the use of a lifting mechanism, such as that of a cantilever crane having chains attached to lifting points 722, can facilitate alignment and fixation with the power machinery 400. For example, in some embodiments, lifting points 722 may be attachment points for chain attachment used to lift the subassembly, which are distributed to provide a stable and favorable lifting orientation for the control subassembly 420 as a whole.

[0208] like Figure 25B The illustrated lift point 722 is provided as an advantageous example. In this respect, while the illustrated embodiment includes three lift points 722 with specific relative positions, other configurations are possible. For example, some lift points may be formed as structures added to the frame of the control support structure (e.g., added as components projecting from its base or backplate). In some cases, the lift points may be located at a single shared height relative to the base plate of the control support structure (e.g., at...). Figure 25B At a single shared height above the base plate 654.

[0209] Continue, refer again Figure 25A The control sub-assembly 420 can be lifted into the power machinery 400, whereby it is supported by the frame plate 622. Therefore, again, the orientation of the frame plate 622 relative to the battery assembly 418 and the power machinery 400 as a whole, along with the integrated configuration of the control sub-assembly 420, facilitates easy installation and maintenance of the control sub-assembly 420 and easy access to the battery assembly 418 as needed.

[0210] In this regard, for example, Figure 26 The illustration depicts a method 750 for mounting a battery assembly and a control subassembly into a power machine according to an embodiment of the present invention. In some embodiments, method 750 may be implemented with respect to a power machine 400, a battery assembly 418, and a control subassembly 420. In other embodiments, method 750 may be implemented with respect to other components in other contexts.

[0211] Specifically, in operation 754, the battery assembly can be installed. More specifically, in some embodiments, the battery assembly can be lifted, for example, by a lifting point into the frame of the power machinery, and rigidly secured to the frame, for example using mounting structures, spacers, and fasteners. In some cases, also as discussed above, the battery assembly can be installed in a particularly advantageous (e.g., rearward, low) orientation using specific spacers (or other mounting elements). In operation 758, the frame plate can be installed in the power machinery by rigidly securing it to the frame of the power machinery. Typically, the frame plate can be secured to the frame above the battery assembly, but other configurations are possible. Furthermore, the frame plate can typically be installed after the associated battery assembly to facilitate easier installation of the battery assembly; however, other approaches are also possible.

[0212] In operation 762, the control sub-assembly can be lifted into the power machinery. For example, the control sub-assembly can be lifted into the machinery via a lifting point so that it is substantially aligned with the frame plate before being lowered onto it. In some embodiments, the control sub-assembly can be assembled into a single unit before being lifted to alignment with the frame plate. For example, multiple control modules (e.g., control modules for electronic power and control or control modules for cooling) can be secured to a single support structure outside the power machinery, allowing the modules to be lifted collectively via this support structure for installation, with subsequent operations requiring only the securing of the support structure and connection of associated wiring or other conduits.

[0213] In operation 766, the control subassembly can be secured to the frame plate, for example, using fasteners and spacers. As mentioned above, in some cases, using a separate frame plate to support the control subassembly relative to the main frame of the power machinery can provide certain advantages over conventional approaches, including facilitating easy installation of pre-assembled, monolithic control subassemblies. Finally, in operation 770, the control subassembly can be electrically connected to components of the power machinery. For example, wires can be routed from the control subassembly to components distributed throughout the power machinery. Furthermore, in some embodiments, the control subassembly may include a cooling system. Thus, coolant hoses can be routed throughout the power machinery for cooling components. In some embodiments, after the control subassembly is secured to the power machinery, it can be electrically connected (or otherwise connected) for controlling components of the power machinery.

[0214] In some embodiments, as described above, electrical or control signals can be routed through the internal volume of the lifting boom. This can be useful, for example, for protecting the wires used to control the implements, lifting actuators, or other components from crushing, abrasion, or unintended contact. In this regard, reference is now made to... Figure 27The lifting arm structure 430 according to the illustrated embodiment also includes a connector opening 776, which may be equipped with a connector 780 for transmitting power and control signals to electrically powered or electrically controlled implements or other electrical components located at the front of the power machinery 400. For example, returning to... Figure 16B The wire indicated by arrow 784 can be routed from a power source (e.g., control subassembly 420) to connector 780. Specifically, connector 780 can be used to supply power and control signals from control subassembly 420 to high-power electronic components and accessories, such as electronic actuators or motors of machines configured to perform operational tasks. As previously discussed... Figure 9 The control sub-component 420 and battery component 418 are positioned near the rear end 410A of the frame 410. Accordingly, refer to... Figure 16B For example, the wire indicated by arrow 784 can be routed through the lifting arm structure 430 toward the front end 410B of the frame 410 to the connector opening 776. In this respect, because the connector opening 776 is located at the second end 788 of the lifting arm structure 430, particularly at the front end 789 of the lifting arm structure 430, the connector 780 can be positioned close to the tilt actuator 433, the implement carrier 472, and the implement 792 connected to the implement carrier, thereby simplifying and shortening (and generally protecting) the electrical connection between the implement 792 and the control subassembly 420. Furthermore, by providing the connector opening 776 at the front end 789 of the lifting arm structure 430, the wire can generally be routed from the front frame end 410B of the power machinery 400 (see, for example...) Figure 22 Proximity connector 780. Although the lifting arm structure 430 is illustrated as having Figure 27 The connector 780 is configured in a specific way, but the power machinery according to embodiments of this disclosure can use any type of connector known and used in the art. Accordingly, in alternative embodiments, the size and shape of the connector opening can be set differently to accommodate different connectors.

[0215] In some embodiments, electronic (or other) actuators and controls may also be used to improve the performance of the power machinery relative to attachments or implements of the lifting arm. Go to Figure 28 For example, the tool interface 796, including the tool carrier 472, is configured to resemble Figure 12 The tool interface 370 differs in some respects. For example, the tool carrier 472 includes a pair of engaging levers 802 for securing the tool to the tool carrier 472. The levers 802 are configured in a locking configuration ( Figure 20The lever 802 is rotated between the locked (shown) and unlocked (not shown) configurations to operably extend and retract the corresponding pin 804. In the locked configuration, the lever 802 typically extends inward, i.e., toward the central axis 413, and the corresponding pin 804 is in the extended position. To move the pin to the retracted position, the lever is configured to pivot outward, for example, lever 802A is configured to rotate clockwise and lever 802B is configured to rotate counterclockwise, as shown. Figure 28 As shown, this continues until pin 804 is substantially retracted. When pin 804 is retracted, a tool such as a bucket or pallet can be secured to the tool carrier 472 by engaging the tool with the support edge 808 and support surface 812 of the tool carrier 472. Once the tool is supported by the support edge 808 and engaged with the support surface 812, the engagement lever 800 can pivot toward the locking configuration, i.e., pivot inward, causing pin 804 to extend and engage the corresponding opening on the tool, thereby locking the tool to the tool carrier.

[0216] While the illustrated embodiment includes two levers used to selectively control two pins, alternative embodiments may include more or fewer pins and levers. Furthermore, other attachment arrangements are possible, including those using engagement members other than levers and pins (e.g., cams, gears, sliders, etc.), and those using direct movement of engagement members to secure the implement (e.g., levers that pivot in or out for direct engagement with the implement).

[0217] In some embodiments, the actuator may be configured to move an engaging member for a machine. For example, such as Figure 28 As shown, the linear electric actuator 814 is configured to move the lever 802 to engage or disengage the pin 804 relative to the machine, including based on operator commands or by the control sub-assembly 420 (see [link]). Figure 25A Other signals relayed. Although actuator 814 is configured to move pin 804 via lever 802, other configurations may include actuators configured to move similar pins directly, actuators that otherwise engage or disengage engagement-related engagement members (e.g., engagement members of the types listed above), or actuators that include engagement members that can be directly engaged or disengaged from a machine (e.g., as an attachment as an extension of the actuator).

[0218] In some embodiments, one or more sensors may be configured to detect indicators of the force applied by the actuator to the engagement member in order to provide information about the engagement of the implement. For example, current sensor 816 (or other sensors) may be configured to monitor the current (or other indicator) of the force (e.g., torque) applied by the actuator 814 electrically attached to the actuator to move lever 802 between a locked configuration and an unlocked configuration. Analysis of these indicators (or the forces they indicate) (including by comparison with baseline values ​​or a desired range, or by detecting changes over time) may be used to assess the operational status of the associated engagement member(s) or implement(s). For example, an unexpected peak in the required actuation force may indicate misalignment of the engagement member of the implement or other similar malfunctions (e.g., a stuck pin or lever), while an increase in the required actuation force over time may indicate the need to inject grease into certain areas of the associated mechanism to reduce overall friction. In some cases, appropriate remedial measures may be taken upon detection of a particular operational condition. For example, actuator 814 can automatically disengage when appropriate, or it can provide an alarm to the operator (e.g., via control sub-component 420) to prompt appropriate manual intervention.

[0219] Although sensor 816 is Figure 28 The diagram shows different components, but other configurations are possible. For example, some current (or other) sensors can be formed as integrated software or hardware modules within the controller or other components, configured to determine the current (or other relevant parameters) for a particular actuator or other component. For example, relative to... Figure 28 The example shown is a linear actuator 814 (or, for example, a linear actuator 814). Figure 25A The EVCM 678 shown can sometimes be configured as an integrated hardware or software module that can detect the current flowing through the linear actuator 814 during a particular operation.

[0220] In some embodiments, as discussed above, drive motors or other traction actuators may advantageously be mounted on the track frame and / or extend in a relationship of lateral overlap with the main frame of the power machinery. For example, as Figure 29 and Figure 30 As illustrated, each of the drive motors 442A is mounted to the corresponding track frame 443 via a support member 459 extending vertically upward from the track frame 443. To allow proper spacing between the track frame 443 and associated components and the frame 410, the housing of the drive motor 442A extends laterally inward from the support member 459 to laterally overlap with the main frame 410.

[0221] Specifically, the drive motor 442A is illustrated as extending through an opening 462 in the main frame 410 (e.g., a teardrop-shaped opening, as shown in the figure). Figure 8A (As discussed). Opening 462 provides sufficient clearance to allow the drive motor 442A to properly overlap laterally with the main frame 410, and also allows the track frame 443 (and the drive motor 442A rigidly mounted to the track frame) to move appropriately relative to the main frame 410 (e.g., by movement at torsion bars 437, 439), without interference between the motor 442A and the main frame 410. Relatedly, when the power machinery 400 travels or operates on uneven surfaces, the frame 410 of the power machinery 400 can remain relatively stable, which can provide enhanced comfort and operability for the operator. Furthermore, the lateral inward extension of the drive motor 442A through opening 462 can help protect the drive motor 442A from impacts and debris during operation of the power machinery 400.

[0222] As also mentioned above, while a movable track frame can provide certain benefits, some embodiments may include a track frame that is immovable relative to the main frame of the power machinery. In such embodiments, the electric drive motor may be mounted to the track frame in a manner similar to drive motor 442A (e.g., to laterally overlap with the main frame), or it may be mounted directly to the main frame of the power machinery instead of the track frame.

[0223] Therefore, the disclosed embodiments of the power machinery and its components can provide improvements over conventional designs. For example, the structural arrangements discussed herein allow for relatively easy conversion from hydraulic to electric power for a particular power machinery platform. Furthermore, the rapid response and precise control provided by the electric actuators allow for the rapid and accurate adjustment of working elements, including traction elements, lifting booms, and implement carriers, including complex and adaptive control strategies implemented via electronic control modules. In addition, in some cases, electric actuation and control can simplify the automation of repetitive or iterative movements of working elements, while also reducing maintenance requirements and eliminating problems associated with hydraulic fluid leakage and other related issues. Power machinery according to embodiments of the invention also provides improved installation capabilities. For example, the structural arrangements discussed herein allow for relatively easy installation of battery assemblies and control subassemblies for electrically controlling and powering components of the power machinery. The location and arrangement of the battery assemblies and control subassemblies according to embodiments of the invention can be improved compared to conventional designs. For example, positioning the battery assemblies close to the base and rear end of the power machinery can contribute to the weight balance, coasting steering, and lateral (or other) slope stability of the power machinery. In addition, placing the control sub-component near the top of the power machinery can improve the accessibility of the component and protect it.

[0224] Although the invention has been described with reference to preferred embodiments, those skilled in the art will recognize that changes in form and detail may be made to the disclosed embodiments without departing from the spirit and scope of the concepts discussed herein.

Claims

1. A loader, comprising: The main frame includes a first rear recess located on a first lateral side of the main frame and a second rear recess located on the opposite second lateral side of the main frame; An operator station, which is supported by the front portion of the main frame and is located in front of the first and second rear recesses; A battery assembly, which is supported by the rear portion of the main frame and is located at least partially behind and below the operator station; A traction assembly supported by the main frame, wherein the traction assembly is aligned in front of the first rear recess and the second rear recess along the fore-and-aft direction of the loader, and the traction assembly is configured to be powered by the battery assembly. A lifting arm structure, wherein the lifting arm structure is supported by the main frame, and the lifting arm structure includes: A first lifting arm and a second lifting arm, the first lifting arm extending along a first side of the main frame and the second lifting arm extending along a second side of the main frame, wherein the proximal ends of the first lifting arm and the second lifting arm are pivotally fixed to the main frame at the rear portion of the main frame. One or more tilt actuators, the one or more tilt actuators being supported by the first lifting arm and the second lifting arm and operable to tilt the machine at the distal ends of the first lifting arm and the second lifting arm; A first electric lifting actuator is fixed to the main frame at a first pin connection located within the first rear recess and behind the traction assembly, and extends from the first rear recess to the first pin connection with the first lifting arm. The second electric lifting actuator is secured to the main frame by means of a second pin connection located in the second rear recess and behind the traction assembly, and extends from the second rear recess to the second pin connection with the second lifting arm. Each of the first and second electric lifting actuators includes an electric motor powered by the battery assembly and a screw extender powered by the electric motor. Each of the first and second electric lifting actuators is pinned at its proximal end into a corresponding first or second rear recess, and Wherein, for each of the first electric lifting actuator and the second electric lifting actuator: The screw extender is pinned to a corresponding first or second lifting arm at its distal end and, under power from the battery assembly, extends and retracts in a controllable manner along a first axis between the distal and proximal ends of the corresponding first or second lifting actuator. The electric motor extends from the proximal end of the corresponding first or second lifting actuator along a second axis that is offset relative to the first axis and parallel to the first axis.

2. The loader according to claim 1, wherein the traction assembly comprises: A first track frame and a second track frame, wherein the first track frame is movably fixed to a first lateral side of the main frame, and the second track frame is movably fixed to a second lateral side of the main frame; The first electric drive motor and the second electric drive motor are respectively mounted to the first track frame and the second track frame to provide power for the loader to move on the terrain. In this embodiment, at least a portion of each of the first electric drive motor and the second electric drive motor extends inwardly from the corresponding first track frame or second track frame toward the main frame to overlap with the first rear recess or the second rear recess in the lateral direction, and extends through the first lateral side or the second lateral side of the main frame, respectively.

3. The loader according to claim 1, wherein, The center of gravity of the battery assembly is located behind the operator station, and is situated in one or more of the following locations: It is positioned behind the drive motor supported by the main frame to provide power for the operation of the traction assembly; or It is positioned at a point less than 50% of the total front-to-back length of the main frame, starting from the rear end of the main frame.

4. The loader according to claim 1, wherein, For each of the first and second electric lifting actuators, when the lifting arm structure is in a fully lowered orientation, the axial direction of the electric motor is tilted forward from the proximal end of the corresponding first or second electric lifting actuator.

5. The loader according to claim 1, wherein, At all operating orientations of the lifting arm structure, for each of the first and second electric lifting actuators, the electric motor is located behind one or more of the following components: The corresponding first pin connection or second pin connection of the first electric lifting actuator or the second electric lifting actuator located in the first or second rear recess; or The first pin connection or the second pin connection is located between the corresponding first electric lifting actuator or the corresponding second electric lifting actuator and the corresponding first lifting arm or the corresponding second lifting arm.

6. The loader according to claim 1, wherein, For each of the first lifting arm and the second lifting arm, when the lifting arm structure is in a fully lowered configuration, the proximal end of the first lifting arm or the second lifting arm is aligned above the corresponding first or second rear recess.

7. The loader according to claim 6, wherein, The first portion of the first lifting arm and the first portion of the second lifting arm are pivotally fixed to the main frame in such a manner that they are vertically aligned with the first and second rear recesses, respectively. Wherein, when the lifting arm structure is in the fully lowered orientation, the proximal ends of the second portion of the first lifting arm and the second portion of the second lifting arm are respectively pivotally supported by the first portion of the first lifting arm and the first portion of the second lifting arm behind the first pin connection and the second pin connection of the first electric lifting actuator and the second electric lifting actuator.

8. The loader according to claim 7, wherein, The first lifting arm and the second lifting arm are also supported by a first control link and a second control link, which are pivotally fixed to the main frame in front of the first pin connection and the second pin connection of the first electric lifting actuator and the second electric lifting actuator, respectively.

9. The loader according to claim 1, wherein, The first lifting arm and the second lifting arm are supported relative to the main frame by a first control link and a second control link, the first control link and the second control link extending inside the first electric lifting actuator and the second electric lifting actuator, respectively.

10. The loader according to claim 9, wherein, When the lifting arm structure is in a fully lowered orientation, the first control link and the second control link extend laterally across the screw extension of the first electric lifting actuator and the screw extension of the second electric lifting actuator, respectively, and extend to the pin connection points of the first lifting arm and the second lifting arm that are vertically aligned with the first rear recess and the second rear recess, respectively.

11. The loader according to claim 1, wherein, The main frame also includes a crossbar that extends laterally across the main frame to connect the inner wall of the first rear recess and the inner wall of the second rear recess; and The crossbar is located above the battery assembly and behind the operator's station.

12. The loader according to claim 1, wherein, The top wall of the battery assembly is positioned between approximately 40% and approximately 60% of the total height of the main frame.

13. The loader according to claim 12, further comprising: A support frame extending between the first and second rear recesses, located above the top wall of the battery assembly and behind the operator's station, and supporting the electronic control systems for the first and second electric lifting actuators.

14. A power machine, comprising: The main frame includes a rear portion defining a power compartment and a tower structure along the lateral side of the power compartment, the tower structure including an inner wall and an outer wall defining a recess in the rear frame. The power supply within the power compartment is supported by the main frame; A means for transmitting power from the power source to the interior of the rear frame recess; A lifting actuator assembly, the lifting actuator assembly comprising: A device for converting the transmitted electrical power into rotational power, located within the recess of the rear frame and aligned to rotate along the axis of rotation; and A device for converting rotational power into extension and retraction along an extending axis, operably connected within the rear frame recess to a device for converting the transmitted electrical power, the rotational axis being located beside and behind the extending axis; and A lifting arm structure includes a lifting arm fixed to a device for converting the rotational power, such that the device for converting the rotational power extends toward the lifting arm and retracts away from the lifting arm, thereby raising and lowering relative to the main frame using the transmitted power from the power source.

15. The power machinery according to claim 14, wherein, Within the recess of the rear frame, the device for converting the transmitted power is located behind the device for converting the rotational power.

16. The power machinery according to claim 15, wherein, The device for converting the transmitted power and the device for converting the rotational power are fixed at a common pin connection within the recess of the rear frame, wherein the device for converting the transmitted power is completely surrounded by the recess of the rear frame. and The device for converting the rotational power is partially surrounded by the rear frame recess and extends upward beyond the rear frame recess to engage the lifting arm at all operating positions of the lifting arm.

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