Safe mobile apparatus

Abstract

Mobile apparatus comprising: − a main-frame with displacing means configured to displace the mobile apparatus; − a rotating sub-frame rotatably connected to the main-frame, such that the sub-frame is rotatable relative to the main frame; − an operator station connected to the sub-frame, wherein the operator station defines an eye reference point for an operator − a working arm connected to the sub-frame, wherein the working arm has a folded mode and an unfolded mode, wherein in the folded mode the first, second and third articulations are pivoted relative to each other and the sub-frame such that the first, second and third articulations are positioned below a sight line extending between the eye reference point of the operator station and a perimeter situated in horizontal plane near ground level at a radial distance of the eye reference point.

Description

[0001] Safe Mobile Apparatus

[0002] Field of the invention

[0003] The present invention relates to a mobile apparatus with displacement means having an operating arm, such as for instance excavators, backhoes, cranes, boom mowers, forestry machines and mobile robots or combinations thereof. The invention relates more specifically to a mobile apparatus comprising a main-frame, a rotating sub-frame with an articulated operating arm connected in a low transport position with safe unobstructed operator views to the road and surroundings, drive means configured to drive displacing means of the mobile apparatus, such as one or more wheels and / or one or more caterpillar tracks and energy storage and power train component topology for both the main-frame and the sub-frame for clear operator views.

[0004] Background and related art

[0005] Excavators, boom mowers and forestry machines, according to prior art, have working arm kinematics, component topology architecture and human machine interfaces originating from the 1950s. The working kinematics and their arm segments with actuators have been optimized over the years for performance of the work functions. Wheeled excavators usually have 3 arm segments to reduce the distance from the operator from the steering wheel to the front of the working arm and its implement. These configurations still remain with at least one arm segment obstructing the operator view considerably. Besides that, at least one arm segment, usually made of steel, is a few meters in front of the front wheels with sharp hard edges swinging in front of the machine during cornering. Prior art shows that from the 1980s, it has been tried to swing the working arm relative to the sub-frame over about 180° for driving on the road. The impact to the sub-frame and working arm have a negative effect on the working performance and results in a compromise, not accepted by the market. Wheeled excavators on the road remain to have the working arm for a large part in front of the vehicle obstructing the view of the operator and thus impairing on-road safety. In addition, the high and forward working arm position adds to a large moment of inertia. To avoid too much heave and bouncing, prior art uses a form of suspension by way of damping accumulators connected to the hydraulic actuators of the working arm. The solutions adds complexity and cost and does not prevent the high centre of gravity, nor the visibility obstruction and sharp edges of the working arm close to other motorists, cyclists or pedestrians.

[0006] Boom mower configurations have the same problem when positioning the working arm to the front in the folded mode with substantial masking effects obstructing the visibility to the road. This can be overcome by positioning the arm to the rear while on the road. Then, however, the rotation of the working arm is limited by about 180°. A 360° rotation cannot be reached and thus limiting the working capabilities. The cab also does not rotate together with the working arm. Forestry tractors, with a fixed cab, have the working arm usually attached on the rear of the vehicle and whilst driving on the road, the arm segments are positioned over the cab. Parts of the working arm, implement or support structure for the arm obstruct the visibility for the driver to the road. For such type of prior art work vehicles (wheeled excavators, boom mowers and forestry tractors), the onroad regulations and homologation limit the maximum road speed to 40 km / h or lower.

[0007] Higher on road speeds are possible for agricultural and forestry tractors and trucks with operator visibility free from masking affects besides cab or exhaust structures. Depending on the country, they are allowed to drive up to 80 km / h or 100 km / h on public roads.

[0008] End users of the prior art work vehicles, and undermentioned invention, often are regional contractors and municipalities and hence they are driving in urban environments and between cities and villages. Wheeled excavators, boom mowers and forestry tractors are not as safe as tractors and trucks because of the obstruction of the operator view by the working arm. Moreover, the mechanical non-aerodynamic structures protrude through the air causing considerable drag. It is respective that the prior art wheeled excavators consume most energy when driving and not while using the working arm. For electric or hydrogen powered wheeled excavators, boom mowers and forestry machines, the on-road driving cycle results in the highest negative impact of working hours autonomy and range. Other energy losses for prior art machines are respective to be the hydraulic (heat generating) losses, where flow resistance in hydraulic valves, hoses, tubes and connection interfaces can result in a poor 40% - 70% efficiency. This is mainly due to usually one hydraulic pump being used for several actuators at the same time with a main-valve having to divide the oil flow to different actuators and / or implements with each of them requesting also different pressures. Regeneration of energy from lowering the working arm (with load) is therefore very difficult and not efficient. Undermentioned invention solves above mentioned issues through an inventive combination of working arm, sub-frame main-frame and their embodiments.

[0009] Summary of the invention

[0010] Embodiments of the present invention have as a goal to provide a very energy efficient machine platform with exceptional operator visibility and safety.

[0011] According to a first aspect a mobile apparatus provided comprising: a main-frame with displacing means configured to displace the mobile apparatus; a rotating sub-frame rotatably connected to the main-frame, such that the sub-frame is rotatable relative to the main frame; an operator station connected to the sub-frame, wherein the operator station defines an eye reference point for an operator a working arm,, connected to the sub-frame, wherein the working arm,, comprises at least a first articulation, a second articulation and a third articulation which are connected to each other for mutual pivoting about a transverse horizontal axis, wherein: the first articulation is connected to the sub-frame on one side for pivoting around a first axis and pivotally connected to the second articulation to the other side; the second articulation is connected to the first articulation on one side for pivoting around a second axis and pivotally connected to the third articulation to the other side; the third articulation is connected to the second articulation on one side for pivoting around a third axis and pivotally connected to a connecting structure for an implement or to a following articulation; wherein the working arm has a folded mode and an unfolded mode, wherein in the folded mode the first, second and third articulations, are pivoted relative to each other and the subframe such that the first, second and third articulations are positioned below a sight line extending between the eye reference point of the operator station and a perimeter situated in horizontal plane near ground level at a radial distance of the eye reference point .

[0012] Preferably, the radial distance between the perimeter and the eye reference point is smaller than 19 m, preferably smaller than 15 m, preferably equal or smaller than 12 m, more preferably equal or smaller than 10 m.

[0013] Preferably, the first, second and third articulations are configured such that, in the folded mode, the articulations mask less than 1500 mm of a chord of a sector of the perimeter, more preferably the articulations mask less than 1200 mm of a chord of a sector of the perimeter, most preferably the articulations mask less than 700 mm of a chord of a sector of the perimeter.

[0014] Preferably, the pivot connection between the sub-frame and the first articulation is arranged at a horizontal transverse first distance from a vertical rotation axis between the main-frame and the sub-frame, wherein the first distance is smaller than 1000 mm, preferably smaller than 500 mm, more preferably smaller than 250 mm.

[0015] Preferably, the pivot connection between the sub-frame and the first articulation is arranged adjacent to the operator station.

[0016] Preferably, the pivot connection between the sub-frame and the first articulation is arranged at a horizontal transverse second distance from the operator station, wherein the second distance is smaller than 1000 mm, preferably smaller than 500 mm, more preferably smaller than 250 mm.

[0017] Preferably, the first articulation is pivotable around the first axis over an arc degree equal to or more than 120° measured with respect to a horizontal plane, the arc degree is preferable equal to or more than 130°, more preferably equal to more than 135°.

[0018] Preferably, the masking effect by the attachment point for the actuator for the third articulation on the second articulation, attachment point for actuator for the third articulation on the third articulation, the structural member of the third articulation, the actuator for the third articulation and actuator for the implement including their related components, devices, pipes, hoses and cables is not greater than mm or not greater than mm.

[0019] Preferably, the sight line from the operator eye reference point covers a partial view to the front displacement means tyres.

[0020] Preferably, the sight line from the operator eye reference point covers a partial view to the mud guards / fenders straight over the front displacing means tyres.

[0021] Preferably, the sight line from the operator eye reference point covers a partial view to the mud guards / fenders more forward over the front displacing means tyres.

[0022] Preferably, one or more sensors and a control system prevent one or more articulations to rotate more rearward than the width of the mobile apparatus reaching a zero tail safety configuration when rotating the sub-frame .

[0023] Preferably, one or more sensors and a control system confirm the transport position of the articulations for on-road driving.

[0024] Preferably, the top side of the first articulation, including structures and components, does not reach higher than 4000 mm from ground level in the folded mode.

[0025] Preferably, the attachment point for the second articulation is in between actuators, and wherein, in side view, the centre of the attachment point for the second articulation is closer to the body of the first articulation than the centreline of the actuators for the first articulation. Preferably, in side view, the centreline of the actuator for the second articulation is equal or lower than the centreline between the attachment point of the actuator on the second articulation and the pivot point between the first and the second articulation and wherein actuators for the first articulation and / or actuator for the third articulation create momentum in the working arm to transition from the folded mode into the unfolded mode and assist actuator .

[0026] Preferably, the actuator is a hydraulic actuator and is free moving and with free flowing hydraulic fluid by way of a valve to transition from unfolded mode to folded mode and vice versa.

[0027] Preferably, a side structural member of the second articulation is in line with the body of this articulation and in between attachment points on the first articulation when the operating arm is in the folded mode.

[0028] Preferably, a side structural member of the second articulation is in line with the body of the articulation and over attachment points on the first articulation in folded mode.

[0029] Preferably, a side structural member of the second articulation is in line with the body of this articulation and bend inwards in between attachment points on the first articulation in folded mode.

[0030] Preferably, a side structural member of the second articulation is in line with the body of the articulation and over attachment points on the first articulation, connected with bend / curved structural member in between attachment points in folded mode.

[0031] Preferably, a side structural member of the second articulation is in line with the body of the articulation and partly bend inwards in between attachment points on the first articulation in folded mode through structural plates, casting or a combination.

[0032] Preferably, at least one parallelogram is connected between the sub-frame and the first articulation for at least one actuator for the first articulation.

[0033] Preferably, a parallelogram is connected between the first articulation and the second articulation for actuator for the second articulation.

[0034] Preferably, the mobile apparatus further comprises at least one spacer which is positioned between the first articulation and the second articulation. Preferably, at least one spacer is positioned between the actuator for the second articulation on the first articulation and the second articulation .

[0035] Preferably, at least one spacer is positioned between the attachment point for actuator for the second articulation on the first articulation and the second articulation .

[0036] Preferably, at least one spacer between the first articulation and the second articulation has an elastic portion.

[0037] Preferably, at least one support structure of the main-frame supports the third articulation .

[0038] Preferably, at least one support structure of the main-frame has an elastic portion.

[0039] Preferably, at least one support structure of the main-frame is positioned in the main-frame with the third articulation partly integrated in an open space of the main frame .

[0040] Preferably, the actuators for the first articulation have equal dimensions as the actuator for the implement.

[0041] Preferably, the actuator for the second articulation has equal dimensions as the actuator for the third articulation.

[0042] Preferably, at least one of the actuators for one of the articulations has its respective hydraulic pump, powered by an electric motor / generator, of which both the pump and motor / generator are reversible to generate electricity when the actuator is forced or relieved by gravity.

[0043] Preferably, all actuators for the articulations have their respective hydraulic pump, powered by an electric motor / generator, of which the pumps and motors / generators are reversible to generate electricity when the actuators are forced or relieved by gravity.

[0044] Preferably, at least one or more pumps and electric motors for the actuators are positioned behind the first articulation on the rear of the sub-frame .

[0045] Preferably, the hydraulic hoses or cables for the actuators for the first articulation are routed close alongside the central sub-frame for bending in the area of one attachment point on the central subframe for one of the actuators between the sub-frame and the first articulation .

[0046] Preferably, the hydraulic hoses or cables for the actuator for the second articulation are routed close alongside the central sub-frame for bending in the area of the pivot point on the central subframe for the actuator between the first articulation and the second articulation .

[0047] Preferably, the third or last articulation is connected to a front bumper through the coupler.

[0048] Preferably, the main frame is directly or indirectly coupled to a front bumper, optionally with a stabilizing mechanism.

[0049] Preferably, the front bumper has an aerodynamic shape, with integrated lights.

[0050] Preferably, the main-frame is directly or indirectly coupled to a rear bumper, optionally with a stabilizing / hitch mechanism.

[0051] Preferably, the rear bumper has an implement storage rack for implements and / or a tilt rotator or other coupling devices.

[0052] Preferably, the rear bumper has a towing hook for trailers and / or implements.

[0053] Preferably, the mobile apparatus is coupled or towing a trailer with one or more batteries, wherein the contactor for the battery of the mobile apparatus in the mobile apparatus can be switched off and the contactor for one or more batteries in the trailer can be switched on such that the mobile apparatus is provided with electrical energy solely from the one or more batteries from the trailer.

[0054] Preferably, the trailer has one or more batteries positioned centrally in between the wheels / tyres below the supporting structure of the trailer bed with a safety distance to the rear and the front of the trailer.

[0055] Preferably, the trailer has an aerodynamic shape with rounded bumpers and sideskirts on all sides.

[0056] Preferably, the trailer has solar panels on the top cover and sides to charge the one or more batteries of the trailer. First, the inventive working arm maintains high kinematic performance for the work functions such as for digging, loading, lifting, mowing and slewing over 360°. The crowd, breakout and lifting forces are competitive. This is a.o. achieved by the combination of the geometrical dimensions of the at least three arm segments. The actuators are connected to and between the arm segments to provide high forces in the unfolded mode and a large degree of rotational freedom to create both competitive horizontal and vertical reach.

[0057] Second, the first arm segment differs from prior art in that the first arm segment, rotatable with a horizontal axis on or close to the vertical axis (centre of the slewing ring) between the sub-frame and main-frame, can be rotated to a more rearward position, around 135° versus normally 100° - 120° without a collision with its two actuators by way of an asymmetric shape of the first arm segment in a sideview with pivot points for its actuators outside the line of the main body of this first arm segment. In the folded mode, the rearward position of the first segment brings the top op this segment and the pivot point for the second arm segment much further rearward and lower than in the prior art.

[0058] Third, the second arm segment differs from the prior art in that, in the folded mode and low position, the pivot point for its one or more actuators is between the actuators of the first arm segment and lower than the centreline of those two actuators of the first arm segment in side view. The effective force of the second arm segment in that transport position is very limited and depending on the geometrical location of the pivot point the force can be negligible, just enough to bear the weight of the second arm segment and the third arm segment. The actuator(s) for the second arm segment can also be overstretched in such a way that it does not have any force, as it is in line with the pivot points between the first and second arm segment, or that it needs reverse actuation. In that situation the actuator for the first and / or third arm segment needs to assist.

[0059] Fourth, in the folded mode, the highest points of the first and second arm segments including hydraulic hoses, pipes and / or electrical cables do not exceed 4m from the ground / road.

[0060] Fifth, the mechanical solution of the pivot point between the first and second arm segment and the pivot points of the two actuators for the first arm segment in combination with the pivot point of the actuator(s) of the second arm segment in the same area still remain very narrow, which allows the working arm very close to the cabin.

[0061] Sixth, a spacer (support structure) between the first and the second arm segment assures that, in the folded mode, with low or no holding strength of the actuator for the second arm segment, the second arm segment does not collide with the first arm segment or both of the arms segments’ actuators.

[0062] Seventh, the second and third arm segment have a geometrical shape with pivot point locations on both the arm segments for actuators for the third arm segment and for the implement on the third segment such that the height of these mechanical parts remains low, close to the cabin.

[0063] The eighth innovative character is that the third arm segment is supported by the main-frame in the folded mode. This assures that the actuator for the third arm segment is not overstressed or hydraulically relieved by bumps in the road and thus keeps the structural parts of the third arm segment in the low, unobstructed position for the driver. Combined with the earlier mentioned innovations, the operator visibility from its Eye Reference Point in folded mode will be clear from obstructions of the operating arm for (almost) 180° facing forward and with visibility to the left and right front tyres and / or fenders. This is also enabled by an opening in the main frame in which the third arm segment is lowered.

[0064] A ninth working arm innovation is that, when hydraulic actuators are used, each of the actuator(s) per arm segment and the implement has its respective independent electric motor and hydraulic pump, both of them rotating two directions, such that the hydraulic oil pressure and flow is independent per arm segment and per implement, resulting in lower oil / fluid resistance and thus higher efficiency because the oil / fluid only has to pass through limited (safety) valves, opposed to larger valves and more flow resistance, than in the prior art. Whilst lowering the working arm plus load, the recovery of (kinetic) energy is effective because each of the actuators can be controlled separately, either hydraulically (separate pump) and electrically (separate electric motor) or a combination using the separate pump motors as separate generators. The position of these motors / generators and pump combinations is best at the rear of the sub-frame, close to the first arm segment to reduce the distance between the actuators on one hand and the hydraulic tank on the other, thereby reducing the length of hydraulic hoses and pipes, reducing drag / resistance and with that reduction of hydraulic pressure losses.

[0065] A tenth working arm innovation is that the hydraulic hoses and / or electric cables for the actuators for the first and / or the actuator for the second arm segment can bend alongside the first arm segment in such a way that they stay close to the first arm segment, allowing space for power train components in the sub-frame, assuring those components to be close to the working arm and therefore the cab, enabling a low profile for these components over which the operator can view to the road without obstruction.

[0066] An eleventh working arm innovation is that the front of the last (third) arm segment, through a quick coupler or tilt rotator or other means, can be coupled with a bumper. This provides a cushioning effect for other traffic members, animals, humans or vehicles. In addition it allows for a more aerodynamic shape of the front of the machine platform, reducing drag.

[0067] A twelfth innovation is that the rear of the machine platform also has a bumper with aerodynamic shape, which reserves space to place an implement (bucket, mower, grapple, gripper etc.) for the working arm. The bumper can incorporate a towing point or hook for a trailer and can also be part of a stabilizer for the machine platform.

[0068] The thirteenth innovation is that the arm segments have (linear actuator or rotational) sensors to detect or calculate the position and rotation angle per arm segment. This allows to confirm the low transport position to the driver before starting to drive on public roads. The second advantage is that all segments are prevented from rotating beyond the tail of the sub-frame, which is convenient for working and rotating beside on or beside the road or rails.

[0069] The fourteenth innovation is that the machine platform is connected with an aerodynamically shaped trailer, having the capability to store include batteries, which can be the sole energy source while driving on-road and thereby relieving the machine batteries from providing energy. This way the batteries of the machine itself can spare energy for work whilst the trailer is not coupled. The advantage is that the uncoupled trailer can be charged, either through solar panels onto the trailer or through a grid or other means, accumulating energy for the machine to drive on road.

[0070] The invention is distinguished from prior art resulting in significant advantages: superior and safe visibility to the road for the driver allowing tractor and truck like certification with corresponding on-road speeds, in addition to being able to tow any kind of material in a trailer to reduce transport movements. The invention results in a low centre point of gravity of the working arm, centred between the front and rear displacement means to reduce moments of inertia, without the need for working arm suspension, and a good balance of the weight distribution of the complete machine to the front and rear displacement means. It has a good aerodynamic shape of the working arm, much more integrated (tucked in) into the main- and sub-frames than prior art, reducing drag, especially when using the front and rear safety aero bumpers. The machine consumes less energy per kilometre driven, less per hour per work function of the operating arm and thereby increasing the working autonomy. In combination with the energy and storage trailer, the range and autonomy is further enhanced, whilst having the capability to transport building materials such as sand, gravel, stones, wood a.o. The usability reaches further than prior art on-road certification, where f.i. wheeled excavators are only allowed to transport implements for the working arm in and onto a trailer. Municipalities and regional contractors can deploy the super-purpose machine platform invention to much broader tasks with greater range and autonomy and actually with increased performance and safety over conventional prior-art solutions.

[0071] Description of the drawings

[0072] The accompanying drawings are used to illustrate presently preferred non-limiting exemplary embodiments of devices of the present invention. The above and other advantages of the features and objects of the present invention will become more apparent and the present invention will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which:

[0073] Figure 1 illustrates an isometric view of the safe mobile apparatus with 3 articulations of the working arm with rotational actuators in the folded in position for transportation.

[0074] Figure 2 illustrates an isometric view of the safe mobile apparatus with linear actuators such as hydraulic cylinders. All technical components are visible, especially how the first articulation is at its most rearward angle.

[0075] Figure 3 illustrates an isometric view of the mobile apparatus within the visibility radius (11). Figure 4 illustrates a top view of the mobile apparatus within the visibility radius (perimeter) 11. Figure 5 illustrates an isometric view of the mobile apparatus within the visibility radius (11) permitter wherein a masking effect 11 A on the right side of the radius (11), perpendicular to the driving direction radius, can be seen.

[0076] Figure 6 illustrates an isometric view from the right of the mobile apparatus within the visibility radius (11) permitter. A masking effect 11 A on the right side of the radius (11), perpendicular to the driving direction radius, can be seen.

[0077] Figure 7 illustrates a front view of the mobile apparatus within the visibility radius (11) permitter. Figure 8 illustrates an isometric view from the right front with technical components visible and the Eye Reference Point (10) in the operator station (9)

[0078] Figure 9 illustrates a right view of the sub-frame (4) with technical components.

[0079] Figure 10A illustrates a right view of the mobile apparatus with a cover (400) and a front bumper (17), wherein the Eye Reference Point (10) can be seen in the operator station (9).

[0080] Figure 10B illustrates the view from the operator station from the Eye Reference Point. The front left and right displacement means and mud guards can be seen within the perimeter 11.

[0081] Figure 11 illustrates a view from the operator station from the Eye Reference Point. The right displacement means and mud guards can be seen within the perimeter 11. It is also clear that the operator can see over the working arm components to these front displacement means and mud guards.

[0082] Figure 12 illustrates a view from the operator station from the Eye Reference Point to the right approximately perpendicular to the forward driving direction. The radius / perimeter 11 with 12 m radius is clearly visible. The working arm is so low in the folded in position that the masking effects on the radius / perimeter of 12m (semi-circle) are non-existent.

[0083] Figure 13 illustrates the working arm with all its technical components with hydraulic actuators in the folded in low position.

[0084] Figure 14 illustrates the working arm with all its technical components with hydraulic actuators in the horizontal folded out position.

[0085] Figure 15 illustrates a front view of the mobile apparatus with the sub-frame rotated 90 degrees to the right. It can be seen that the sensor system has controlled the movement of the articulations such that these are not reaching further behind the sub-frame than the sub-frame itself.

[0086] Figures 16-20 illustrates several embodiments of solutions for the structures of the first and second articulation.

[0087] Figure 21 illustrates a side view of the first articulation in the rearward angled position. Visible is that the first articulation has a body that allows space for the movement of actuator 600 (centreline 600A) of the second articulation is the positive, neutral and negative position with respect to centreline 600B.

[0088] Figures 22 and 23 illustrate parallelograms.

[0089] Figure 24 illustrates the position of spacer (63) with elastic part (63 A) between actuator 600 and the second articulation.

[0090] Figure 25 illustrates a side (cut-through) view of the main-frame with a support (103) for the third articulation (70). Elastic part 103A is also visible.

[0091] Figure 26 illustrates the pendulum for the energy conversion device such as a hydrogen fuel cell. Figures 27 - 29 illustrate the various energy modules (13). These storage devices can be of steel, plastic or other materials.

[0092] Figure 30 illustrates an aerodynamic cover (13 A) for en energy module over the operator station (9).

[0093] Figure 31 illustrates the electric motors (49) and pumps (48) for each of the articulations. The inverters (49 A) are also visible.

[0094] Figure 32 illustrates the hydraulic schematic for the independent pumps and motors for the hydraulic actuators.

[0095] Figure 33 - 37 illustrate the safe mobile apparatus (1234) with a trailer (200) in various operating modes.

[0096] Figure 38 illustrates an electric schematic of the contactors that can be engaged and disengaged to allow the mobile apparatus being provided with electrical energy solely from the battery(ies) in the trailer.

[0097] Figure 39 is a schematic top view of the trailer (200) with the position of the battery(ies) and the connection to the mobile apparatus (1234).

[0098] Figure 40 is an illustration with the mobile apparatus (1234) and a trailer (200) with the battery(ies) of the trailer between the front and rear wheels.

[0099] Figure 41 illustrates a front view of the mobile apparatus with the front bumper (17) being used as a left and right stabilizer.

[0100] Figure 42 illustrates the mobile apparatus with a rotating step (102), which allows good access to the operator station (9) and being rotated inside the main-frame (1).

[0101] Figure 43 illustrates the mobile apparatus with articulations with a robotic and more organic shape. Visible are the locations of the various inverters for the electric motors for the propulsion and hydraulics.

[0102] Detailed description of the drawings

[0103] The description and drawings merely illustrate the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described or shown herein, embody the principles of the present invention and are included within its scope. Furthermore, all examples recited herein are principally intended expressly to be only for pedagogical purposes to aid the reader in understanding the principles of the present invention and the concepts contributed by the inventor(s) to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions. Moreover, all statements herein reciting principles, aspects, and embodiments of the present invention, as well as specific examples thereof, are intended to encompass equivalents thereof.

[0104] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative circuitry embodying the principles of the present invention. Similarly, it will be appreciated that any flowcharts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a computer.

[0105] It should be noted that the above-mentioned embodiments illustrate rather than limit the present invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word “comprising” does not exclude the presence of elements or steps not listed in a claim. The word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words “first”, “second”, “third”, etc. does not indicate any ordering or priority. These words are to be interpreted as names used for convenience.

[0106] In the present invention, expressions such as “comprise”, “include”, “have”, “may comprise”, “may include”, or “may have” indicate existence of corresponding features but do not exclude existence of additional features.

[0107] Whilst the principles of the present invention have been set out above in connection with specific embodiments, it is to be understood that this description is merely made by way of example and not as a limitation of the scope of protection which is determined by the appended claims.

[0108] The safe mobile apparatus comprises of comprises of a main-frame (1) with displacing means (2) configured to displace the mobile apparatus, and a rotating sub-frame (4) rotatably connected to the main-frame, such that the sub-frame is rotatable relative to the main frame with an operator station (9). The operator station (9) can be fixed to the sub-frame, movable forward or reverse or sideways on the sub-frame and / or elevated on and from the sub-frame. The operator station is in some form or way, directly or indirectly connected to the sub-frame (4), wherein the operator station defines an eye reference point (10) for an operator, a working arm (50, 60, 70) connected to the sub-frame, wherein the working arm (50, 60, 70) comprises at least a first articulation (50), a second articulation (60) and a third articulation (70) which are connected to each other for mutual pivoting about a transverse horizontal axis. The first articulation (50) is connected to the sub-frame (4) on one side for pivoting around a first axis and pivotally connected to the second articulation (60) to the other side, the second articulation (60) is connected to the first articulation (50) on one side for pivoting around a second axis and pivotally connected to the third articulation (70) to the other side. The third articulation (70) is connected to the second articulation (60) on one side for pivoting around a third axis and pivotally connected to a connecting structure for an implement (80) or to a following articulation. The working arm (50, 60, 70) has a folded mode and an unfolded mode, wherein in the folded mode the first, second and third articulations (50, 60, 70) are pivoted relative to each other and the sub-frame such that the first, second and third articulations are positioned below a sight line (12) extending between the eye reference point (10) of the operator station (9) and a perimeter (11) situated in horizontal plane near ground level at a radial distance of the eye reference point (10).

[0109] A preferred embodiment of the mobile apparatus has the radial distance between the perimeter (11) and the eye reference point smaller than 19m, preferably smaller than 18m, more preferably equal or smaller than 12m.

[0110] Preferred is that the first, second and third articulations are configured such that, in the folded mode, the articulations mask less than 1500 mm of a chord of a sector of the perimeter, more preferably the articulations mask less than 1200 mm of a chord of a sector of the perimeter, most preferably the articulations mask less than 700 mm of a chord of a sector of the perimeter. The mobile apparatus can have an embodiment wherein the pivot connection (4050) between the sub-frame and the first articulation is arranged at a horizontal transverse first distance from a vertical rotation axis (3) between the main-frame and the sub-frame, wherein the first distance is smaller than 1000 mm, preferably smaller than 500 mm, more preferably smaller than 250 mm or even that there is no distance. It is advantageous that the pivot connection (4050) between the subframe and the first articulation is arranged adjacent to the operator station.

[0111] To achieve a good balance between vertical and horizontal reach of the working arm, it is preferred that the pivot connection (4050) between the sub-frame and the first articulation is arranged at a horizontal transverse second distance from the operator station, wherein the second distance is smaller than 1000 mm, preferably smaller than 500 mm, more preferably smaller than 250 mm. To achieve good performance of the working arm and good visibility, the first articulation (50) is pivotable around the first axis over an arc degree equal to or more than 120° measured with respect to a horizontal plane, the arc degree is preferable equal to or more than 130° more preferably equal to more than 135°.

[0112] The masking effect should be as limited as possible. For that the masking (11 A) by the attachment point (71) for the actuator (700) for the third articulation (70) on the second articulation (60), attachment point (72) for actuator (700) for the third articulation (70) on the third articulation (70), the structural member (73) of the third articulation (70), the actuator (700) for the third articulation (70) and actuator (800) for the implement (80) including their related components (801), devices, pipes, hoses and cables is preferred not greater than 700 mm, 1200 mm or not greater than 1500 mm.

[0113] For the driver to see the orientation of travel it is preferred that the sight line (12C) from the operator eye reference point (10) covers at least a partial view to the front displacement means (tyres). If that is not possible, then at least there should be a sight line (12D) from the operator eye reference point (10) to cover a partial view to the mud guards / fenders straight over the front displacing means (tyres) (15A). As lights are preferred to not move when steering, but stay fixed to the main frame, these can be incorporated in a front type mud guard or fender, wherein the sight line (12E) from the operator eye reference point (10) covers a partial view to the mud guards / fenders more forward over the front displacing means (tyres) (15B).

[0114] The large degree of rotation enable the working arm articulations to go beyond the rear parts of the sub-frame. That can cause dangerous situations when traffic passes bye. Therefore one or more sensors and a control system prevent one or more articulations to rotate more rearward than the width of the mobile apparatus reaching a zero tail safety configuration when rotating the sub-frame (4). These sensors can also signal a good folded in transport mode of the working arm. An embodiment is possible wherein one or more sensors and a control system confirm the transport position of the articulations for on-road driving. A display can indicate the safe position and a control system can log the position in time and possible even the geometric (GPS) position. To comply with on-road regulations, the preferred embodiment has the top side of the first and second articulation (50 and 60), including structures and components not to reach higher than 4.000 mm from ground level in the folded mode. This is in normal (neutral) travel configuration of the displacement means and main-frame with potential suspension in the neutral height / position.

[0115] The invention has a specific kinematic solution to achieve the low folded position. The attachment point for the second articulation (62) is in between actuators (500), and, in side view, the centre of the attachment point for the second articulation (62) is closer to the body of the first articulation (50) than the centreline of the actuators (500) for the first articulation. To achieve this the body of the first articulation has an innovative shape.

[0116] A further embodiment has the actuator for the second articulation even deeper. In side view, the centreline (600A) of the actuator for the second articulation is equal or lower than the centreline (600B) between the attachment point of the actuator on the second articulation and the pivot point between the first and the second articulation. Then actuators 500 for the first articulation and / or actuator 700 for the third articulation have to create momentum in the working arm (506070) to transition from the folded mode into the unfolded mode and assist actuator 600. This can be done by pushing the implement connector or an implement towards the front of the main frame or part of the main frame so that actuator 600 is “stretched” over its neutral force position into the unfolded position. In an embodiment of actuator 600, or all actuators being hydraulic cylinders, actuator 600 is free moving with free flowing hydraulic fluid by way of a valve to allow the transition from unfolded mode to folded mode and vice versa.

[0117] A preferred embodiment keeps the working arm close to the operator station for the operator to see over the folded working arm. To realize this a side structural member (65 A) of the second articulation (60) is in line with the body of this articulation and in between attachment points (52) on the first articulation when the operating arm is in the folded mode. All articulations and actuators need to be narrow. It reduces the torsional strength of the articulations and the performance of the working arm. To overcome this, an innovative embodiment has the side structural member (65B) of the second articulation (60) in line with the body of the articulation, however flowing over attachment points (52) on the first articulation in folded mode. An alternative to this is that the side structural member (65C) of the second articulation (60) is in line with the body of this articulation and bend inwards in between attachment points (52) on the first articulation in folded mode. A further embodiment solves the same by bringing the side structural member (65D) of the second articulation (60) in line with the body of the articulation and over attachment points (52) on the first articulation, which is connected with bend / curved structural member 65C in between attachment points (52) in folded mode. Another innovative solution is to bring side structural member (65E) of the second articulation (60) in line with the body of the articulation and partly bend it inwards in between attachment points (52) on the first articulation in folded mode through structural plates, casting or a combination.

[0118] For excavator and / or loader modus, where forces are being applied to all directions on the working arm, play is to be eliminated or reduced between articulations for good accuracy of implement movements. If that is not an issue, parallelograms between the sub-frame and the first articulation or the first articulation and the second articulation are possible, where actuators are connected to those parallelograms.

[0119] The invention is travelling off-road and on-road. When at speeds of over 20 km / h the heave and inertia can cause severe forces on the folded working arm structures and actuators. To counteract these, at least one spacer (63) is positioned between the first articulation (50) and the second articulation (60). It can be between structural members of both of the articulations or a spacer (63) can be positioned between the actuator (600) for the second articulation on the first articulation (50) and the second articulation (60). The spacer (63) can also be positioned between the attachment point for actuator 600 for the second articulation on the first articulation (50) and the second articulation (60). The spacer is preferred to have an elastic portion to avoid damage. The same applies to the third articulation. An embodiment provides a support structure (103) of the main-frame to hold the third articulation in the folded in position. And again here, the support is best to have an elastic portion (103A). The invention has a preferred embodiment with an open space of the main frame (1) for the third articulation and a support for the articulation in the opening.

[0120] To reach a cost effective invention, it is preferred to have an embodiment with the two actuators (500) for the first articulation to have equal dimensions with the actuator (800) for the implement. In addition, the actuator (600) for the second articulation has best equal dimensions as the actuator (700) for the third articulation. In such a way, the supply chain and service part organization for these components can be cost effective.

[0121] To realize a higher efficiency than prior art working arms, at least one of the actuators for one of the articulations has its respective independent hydraulic pump, powered by an electric motor / generator, of which both the pump and motor / generator are reversible to generate electricity when the actuator is forced or relieved by gravity. A further embodiment is even better with all actuators (500, 600, 700) for the articulations to each have their respective hydraulic pump, powered by an electric motor / generator, of which the pumps and motors / generators are reversible to generate electricity when the actuators are forced or relieved by gravity. The preferred embodiment is to have these electric motors and pump combinations positioned behind the first articulation (50) on the sub-frame (4). Inverters for the electric motors can be positioned close by. This enables space for energy modules such as batteries, hydrogen storage tanks, diesel or other fuels and place for a hydrogen fuel cell or other energy conversion device such as a diesel, gas or gasoline generator.

[0122] For the same reason to provide space, a very narrow solution has been created for hoses and cables to the first and second articulation. The hydraulic hoses or cables (45) for the actuators (500) for the first articulation (50) are routed close alongside the central sub-frame (41) for bending in the area of one attachment point (51) on the central sub-frame (41)for one of the actuators (500) between the sub-frame (4) and the first articulation (50). At the same time, the hydraulic hoses or cables (46) for the actuator (600) for the second articulation (60) are routed close alongside the central sub-frame (41) for bending in the area of the pivot point (4050) on the central sub-frame (41) for the actuator (600) between the first articulation (50) and the second articulation (60). These embodiments allow for the large rotation angle of the first articulation and create space for other components in the sub-frame.

[0123] The invention is much more safe, as (steel) structural members of the articulations do not stick out far from the displacement means in the folded-in transport mode. To enhance this safe character even further, the third (70) or last articulation is connected to a front bumper (17) through the coupler (80). A further embodiment is that the main frame (1) is directly or indirectly coupled to the front bumper (17), optionally with a stabilizing mechanism (17A). The bumper can be made from a softer elastic material and can have an aerodynamic shape, with integrated lights. Such an embodiment guides the air better to the sides and over the vehicle and over the folded in working arm. Reduction of aerodynamic drag is achieved with better range and autonomy as a result. On the rear side, a similar embodiment is invented. The main-frame (1) is directly or indirectly coupled to a rear bumper (18), optionally with a stabilizing / hitch mechanism (18A). In an embodiment, the bumper (18) has an implement storage rack (18B) for implements and / or a tilt rotator or other coupling devices. The result is that large (dangerous) implements or tilt rotators or other devices are not carried in front of the vehicle causing severe injuries or death in case of a collision with pedestrians, bicyclists or motorists. They are more safely stowed above the rear bumper. The bumper certainly can have an integrated towing hook for trailers and / or other towable implements.

[0124] As elaborated earlier, the invention realizes a safe and highly effective super purpose mobile apparatus. The safe and open sight lines for the operator enable it to be certified for higher speeds, exceeding 40 km / h and as a towing vehicle, such as a tractor or truck. Examples of regulations are the ISO 5721-1 for agricultural tractors, the ISO 5006 for earth moving machinery and certainly the UNECE Regulation No. 125 about the uniform provisions concerning the approval of motor vehicles with regard to the forward field of vision of the motor vehicle driver. The eye position of the driver for example is referenced to 680 mm above and 20 mm in front of the seat index point of an operator station (cabin), when determined in accordance with ISO 5353. The seat is located in or on the operator station. The invention allows compliance to the above mentioned regulations. This very much helps with safety, but certainly also with sustainability, as transport movements can be reduced. The invention can tow trailers, which can carry not only implements to the working arm, but also building materials or other work vehicles. Separate transports are not necessary because the driver can bring any load onto the trailer. And the driver can bring it back from the work site. Of course this requires additional energy and the invention solves this by the trailer on-board battery. The innovation is that the towed trailer (200) has one or more batteries (207), wherein the contactor for the battery (209) of the mobile apparatus in the mobile apparatus (1234) can be switched off and the contactor (208) for one or more batteries in the trailer (200) can be switched on such that the mobile apparatus is provided with electrical energy solely from the one or more batteries (207) from the trailer. This way, the battery in the mobile apparatus can be saved for work without the trailer connected. It is preferred to have the trailer (200) one or more batteries positioned centrally in between the wheels / tyres below the supporting structure of the trailer bed with a safety distance to the rear and the front of the trailer. With the same philosophy as the mobile apparatus, the trailer (200) has an aerodynamic shape with rounded (soft elastic) bumpers (204 and 205) and sideskirts on all sides. During transport, while being towed, or when positioned idle, or when being charged from a grid, solar panels on the trailer can charge the battery(ies) of the trailer. Certainly the trailer battery(ies) can charge the battery(ies) of the mobile apparatus. The embodiments provides for a safe and sustainable mobile apparatus and trailer combination.

[0125] Components 1. Main-frame

[0126] 2. Displacing means (wheels, caterpillar tracks, combination or other)

[0127] 3. Rotation axis (vertical) between main-frame and sub-frame

[0128] 4. Sub-frame (rotating)

[0129] 1234. Safe mobile apparatus

[0130] 5. Rotation axis (horizontal) of first articulation (50) and sub-frame (4)

[0131] 6. Rotation axis (horizontal) between first articulation (50) and second articulation (60)

[0132] 7. Rotation axis (horizontal) between second articulation (60) and third articulation (70)

[0133] 8. Rotation axis (horizontal and / or vertical) between third articulation (70) and attachment or quick coupler or tilt rotator or fourth articulation (80)

[0134] 9. Cabin or operator station (fixed or suspended to the sub-frame or elevated to the sub-frame (4)) 9A. Streamlined cover of energy storage module (13) on cabin (9)

[0135] 10. Eye Reference Point (ERP) of operator (derived from the Seat Index Point)

[0136] 11. Visibility radius in horizontal plane on ground level from ERP (perimeter)

[0137] 11 A. Masking effect, a chord of the visibility radius (11) to the front which cannot be seen owing to the articulations, their structures and components in the forward field of vision of 180° semicircle (area 90° left and 90° right from the forward longitudinal travel direction)

[0138] 12. Sight lines from ERP to visibility radius (11)

[0139] 12A and 12B. Sight line from ERP perpendicular to the front to the visibility radius (11)

[0140] 12C. Sight line from ERP to the front tyres

[0141] 12D. Sight line from ERP to the front mud guards / fenders straight over the front displacing means (15A)

[0142] 12E. Sight line from ERP to the front mud guards / fenders more forward over the front displacing means (15B)

[0143] 13. Energy storage module, such as battery, capacitor, tanks for solid, fluid or gaseous hydrogen or other fuel, oriented vertical, horizontal, diagonal (2d / 3d)

[0144] 13A. Aerodynamic cover of energy storage module (13)

[0145] 14. Energy conversion module such as a hydrogen fuel cell to convert hydrogen from a gaseous state to electricity or a module for the conversion of hydrogen from solid to fluid or from solid or fluid to a gaseous state into electricity or from a combustible fuel via a generator to electricity 14A. Pendulum 2 / 3 dimensional self-levelling device for energy conversion module (14) such as for a hydrogen fuel cell to convert hydrogen from a gaseous state to electricity or a module for the conversion of hydrogen from solid to fluid or from solid or fluid to a gaseous state into electricity 15A. Mud guards (fenders) of front displacement means

[0146] 15B. Mud guards (fenders) with head lights, dim lights and direction (blinker) lights of front displacement means

[0147] 16A. Mud guards (fenders) of rear displacement means

[0148] 17. Front bumper / stabilizer

[0149] 17A. Front bumper / stabilizer stabilizing mechanism

[0150] 18. Rear bumper / stabilizer, optionally with towing hook for trailers and / or implements

[0151] 18 A. Front bumper / stabilizer / hitch stabilizing mechanism

[0152] 18B. Implement storage rack (for implements and / or tilt rotators) of rear bumper / stabilizer

[0153] 40. Slew ring between main-frame (1) and sub-frame (4)

[0154] 41. Central sub-frame connected to slew ring (40)

[0155] 41A. Bolting / connecting points on central sub-frame for additional frame parts such as for energy modules or energy conversion modules

[0156] 42. Slew motor to rotate the sub-frame (4)

[0157] 43. Hydraulic valve for working arm (506070)

[0158] 44. Hoses and cables to working arm (506070) with double curl

[0159] 45. Hoses / cables to actuator(s) of first articulation (500)

[0160] 46. Hoses / cables to first articulation (50) for the actuator of the second articulation (600)

[0161] 47. Support structure for the hoses and cables (44) and for the first articulation (50)

[0162] 48. Hydraulic pump

[0163] 49. Electric motor for hydraulic pump or propulsion(48)

[0164] 49A. Inverter for electric motor (49)

[0165] 400. Low cover of sub-frame (4)

[0166] 401. High cover of sub-frame (4)

[0167] 4050. Pivot point (horizontal) between sub-frame (4) and first articulation (50)

[0168] 4050A. Parallelogram between sub-frame (4) and first articulation (50)

[0169] 50. First articulation of working arm 506070

[0170] 50A. Angle arc of rotation of first articulation (50) from sub-frame (4) rearward

[0171] 51. Attachment point of a first (set) actuator (500) on sub-frame (4)

[0172] 52. Attachment point of a first (set) actuator (500) on first articulation (50)

[0173] 53. Sensor to detect the angle / orientation of the first articulation (50)

[0174] 5060. Pivot point (horizontal) between first articulation (50) and second articulation (60)

[0175] 5060A. Parallelogram for actuator 600 between first articulation (50) and second articulation (60)

[0176] 500. Actuator(s) for the first articulation (50)

[0177] 60. Second articulation of working arm 506070

[0178] 61. Attachment point of actuator (600) on first articulation (50) 62. Attachment point of actuator (600) on second articulation (60)

[0179] 63. Spacer(s) (support) between the first articulation (50) and the second articulation (60)

[0180] 64. Soft part(s) of spacer(s) (63)

[0181] 65. Structural member of second articulation (60) for attachment point (62) of actuator (600) of second articulation

[0182] 65A. Structural member of second articulation (60)

[0183] 65B. Structural member of second articulation (60)

[0184] 65C. Structural member of second articulation (60)

[0185] 65D. Structural member of second articulation (60)

[0186] 65E. Structural member of second articulation (60)

[0187] 66. Parallelogram between first articulation (50) and second articulation (60) for actuator 600

[0188] 67. Sensor to detect the angle / orientation of the second articulation (60)

[0189] 600. Actuator for the second articulation (60)

[0190] 600A. Centre line of actuator (600) for the second articulation (line between attachment point (61) and attachment point (62))

[0191] 600B. Centre line between attachment point (61) of actuator 600 on the first articulation (50) and the pivot point (5060) Pivot point between first articulation (50) and second articulation (60) 6070. Pivot point (horizontal) between second articulation (60) and third articulation (70)

[0192] 70. Third articulation of working arm 506070

[0193] 71. Attachment point of actuator (700) on second articulation (60)

[0194] 72. Attachment point of actuator (700) on third articulation (70)

[0195] 73. Structural member of third articulation (70) between points 72 and 81

[0196] 700. Actuator for the third articulation (70)

[0197] 506070. Working Arm

[0198] 506070A. Working arm with rotating actuators and consisting of for instance open / organic shaped or closed robot type articulations

[0199] 80. Coupling device for an implement on third articulation (70) through a connection, quick coupler or tilt rotator

[0200] 80A. Implement for coupler (80)

[0201] 81. Attachment point of actuator (800) on third articulation (70)

[0202] 82. Attachment point of actuator (800) on structure (parallelogram) for implement (80)

[0203] 800. Actuator for the implement (80)

[0204] 801. Hydraulic and / or electric and / or mechanical devices on actuator 800

[0205] 90. Radiator / Cooler for energy conversion module such as a hydrogen fuel cell to convert hydrogen from a gaseous state to electricity or a module for the conversion of hydrogen from solid to fluid or from solid or fluid to a gaseous state into electricity or from a combustible fuel via a generator to electricity

[0206] 91. Radiator for power train components such as electric motors, inverters, convertors, air conditioning, heat pump, hydraulic fluid, or combustion engine

[0207] 92. Inverter or converter for electric motor

[0208] 93. Hydraulic valve between pump and actuator

[0209] 94. Hydraulic valve on actuator

[0210] 95. Hydraulic tank

[0211] 96. Hitch, lifting or stabilizing mechanism

[0212] 100. Battery(ies) of safe mobile apparatus (1234)

[0213] 101. Battery(ies) of trailer (200)

[0214] 102. Rotating steps (module) for almost 180° to enter the cabin or operator station (9)

[0215] 103. Support structure on man-frame to support the third articulation (70)

[0216] 103A. Soft part of support structure (103)

[0217] 200. Trailer

[0218] 201. Side skirt(s) of trailer (200)

[0219] 202. Rounded edges of trailer (200)

[0220] 203. Cover of trailer (200)

[0221] 204. Front bumper of trailer (200)

[0222] 205. Rear bumper of trailer (200)

[0223] 206. Solar panels on trailer (200)

[0224] 207. Battery in trailer (200)

[0225] 208. Contactor of battery (207) in trailer (200)

[0226] 209. Contactor of battery (energy module 13) in safe mobile apparatus (1234)

[0227] 209 A. Connector between battery of trailer and mobile apparatus (1234) and battery

[0228] 210. Building materials in trailer (200)

[0229] The present invention is not limited to the respective embodiments but also extends to other embodiments falling within the scope of the appended description and claims.

Claims

Claims1. Mobile apparatus comprising:- a main-frame (1) with displacing means (2) configured to displace the mobile apparatus;- a rotating sub-frame (4) rotatably connected to the main-frame, such that the sub-frame is rotatable relative to the main frame;- an operator station (9) connected to the sub-frame (4), wherein the operator station defines an eye reference point (10) for an operator- a working arm (50, 60, 70) connected to the sub-frame, wherein the working arm (50, 60, 70) comprises at least a first articulation (50), a second articulation (60) and a third articulation (70) which are connected to each other for mutual pivoting about a transverse horizontal axis, wherein:- the first articulation (50) is connected to the sub-frame (4) on one side for pivoting around a first axis and pivotally connected to the second articulation (60) to the other side;- the second articulation (60) is connected to the first articulation (50) on one side for pivoting around a second axis and pivotally connected to the third articulation (70) to the other side;- the third articulation (70) is connected to the second articulation (60) on one side for pivoting around a third axis and pivotally connected to a connecting structure for an implement (80) or to a following articulation; wherein the working arm (50, 60, 70) has a folded mode and an unfolded mode, wherein in the folded mode the first, second and third articulations (50, 60, 70) are pivoted relative to each other and the sub-frame such that the first, second and third articulations are positioned below a sight line (12) extending between the eye reference point (10) of the operator station (9) and a perimeter (11) situated in horizontal plane near ground level at a radial distance of the eye reference point (10).

2. Mobile apparatus according to any one of the previous claims, wherein the radial distance between the perimeter (11) and the eye reference point is smaller than 19m, preferably smaller than 15m, preferably equal or smaller than 12m, more preferably equal or smaller than 10m.

3. Mobile apparatus according to any one of the previous claims, wherein the first, second and third articulations are configured such that, in the folded mode, the articulations maskless than 1500 mm of a chord of a sector of the perimeter, more preferably the articulations mask less than 1200 mm of a chord of a sector of the perimeter, most preferably the articulations mask less than 700 mm of a chord of a sector of the perimeter.

4. Mobile apparatus according to any one of the previous claims, wherein the pivot connection (4050) between the sub-frame and the first articulation is arranged at a horizontal transverse first distance from a vertical rotation axis (3) between the main-frame and the sub-frame, wherein the first distance is smaller than 1000 mm, preferably smaller than 500 mm, more preferably smaller than 250 mm.

5. Mobile apparatus according to the previous claim, wherein the pivot connection (4050) between the sub-frame and the first articulation is arranged adjacent to the operator station.

6. Mobile apparatus according to the previous claim, wherein the pivot connection (4050) between the sub-frame and the first articulation is arranged at a horizontal transverse second distance from the operator station, wherein the second distance is smaller than 1000 mm, preferably smaller than 500 mm, more preferably smaller than 250 mm.

7. Mobile apparatus according to any one of the previous claims, wherein the first articulation (50) is pivotable around the first axis over an arc degree equal to or more than 120° measured with respect to a horizontal plane, the arc degree is preferable equal to or more than 130° more preferably equal to more than 135°.

8. Mobile apparatus according in any of the previous claims, wherein the masking effect(11A) by the attachment point (71) for the actuator (700) for the third articulation (70) on the second articulation (60), attachment point (72) for actuator (700) for the third articulation (70) on the third articulation (70), the structural member (73) of the third articulation (70), the actuator (700) for the third articulation (70) and actuator (800) for the implement (80) including their related components (801), devices, pipes, hoses and cables is not greater than 1200 mm or not greater than 1500 mm.

9. Mobile apparatus according to any one of the previous claims, wherein the sight line (12C) from the operator eye reference point (10) covers a partial view to the front displacement means (tyres).

10. Mobile apparatus according to any one of the previous claims, wherein the sight line (12D) from the operator eye reference point (10) covers a partial view to the mud guards / fenders straight over the front displacing means (tyres) (15 A).

11. Mobile apparatus according to any one of the previous claims, wherein the sight line (12E) from the operator eye reference point (10) covers a partial view to the mud guards / fenders more forward over the front displacing means (tyres) (15B).

12. Mobile apparatus according to any one of the previous claims, wherein one or more sensors and a control system prevent one or more articulations to rotate more rearward than the width of the mobile apparatus reaching a zero tail safety configuration when rotating the sub-frame (4).

13. Mobile apparatus according to any one of the previous claims, wherein one or more sensors and a control system confirm the transport position of the articulations for on-road driving.

14. Mobile apparatus according to any one of the previous claims, wherein the top side of the first articulation (5060), including structures and components, does not reach higher than 4000 mm from ground level in the folded mode.

15. Mobile apparatus according to any one of the previous claims, wherein the attachment point for the second articulation (62) is in between actuators (500), and wherein, in side view, the centre of the attachment point for the second articulation (62) is closer to the body of the first articulation (50) than the centreline of the actuators (500) for the first articulation.

16. Mobile apparatus according to any one of the previous claims, wherein, in side view, the centreline (600 A) of the actuator for the second articulation is equal or lower than the centreline (600B) between the attachment point of the actuator on the second articulation and the pivot point between the first and the second articulation and wherein actuators 500 for the first articulation and / or actuator 700 for the third articulation create momentum in the working arm (506070) to transition from the folded mode into the unfolded mode and assist actuator (600).

17. Mobile apparatus according to claim 16, wherein actuator 600 is a hydraulic actuator and is free moving and with free flowing hydraulic fluid by way of a valve to transition from unfolded mode to folded mode and vice versa.

18. Mobile apparatus according to any one of the previous claims, wherein a side structural member (65 A) of the second articulation (60) is in line with the body of this articulation and in between attachment points (52) on the first articulation when the operating arm is in the folded mode.

19. Mobile apparatus according to any one of the previous claims, wherein side structural member (65B) of the second articulation (60) is in line with the body of the articulation and over attachment points (52) on the first articulation in folded mode.

20. Mobile apparatus according to any one of the previous claims, wherein side structural member (65C) of the second articulation (60) is in line with the body of this articulation and bend inwards in between attachment points (52) on the first articulation in folded mode.

21. Mobile apparatus according to any one of the previous claims, wherein side structural member (65D) of the second articulation (60) is in line with the body of the articulation and over attachment points (52) on the first articulation, connected with bend / curved structural member 65C in between attachment points (52) in folded mode.

22. Mobile apparatus according to any one of the previous claims, wherein side structural member (65E) of the second articulation (60) is in line with the body of the articulation and partly bend inwards in between attachment points (52) on the first articulation in folded mode through structural plates, casting or a combination.

23. Mobile apparatus according to any one of the previous claims, wherein at least one parallelogram (4050A) is connected between the sub-frame (4) and the first articulation (50) for at least one actuator (500) for the first articulation.

24. Mobile apparatus according to any one of the previous claims, wherein a parallelogram (5060A) is connected between the first articulation (50) and the second articulation (60) for actuator (600) for the second articulation.

25. Mobile apparatus according to any one of the previous claims, further comprising at least one spacer (63) which is positioned between the first articulation (50) and the second articulation (60).

26. Mobile apparatus according to any one of the previous claims, wherein at least one spacer (63) is positioned between the actuator (600) for the second articulation on the first articulation (50) and the second articulation (60).

27. Mobile apparatus according to any one of the previous claims, wherein at least one spacer (63) is positioned between the attachment point for actuator 600 for the second articulation on the first articulation (50) and the second articulation (60).

28. Mobile apparatus according to any one of the previous claims, wherein at least one spacer (63) between the first articulation (50) and the second articulation (60) has an elastic portion.

29. Mobile apparatus according to any one of the previous claims, wherein at least one support structure (103) of the main-frame (1) supports the third articulation (70).

30. Mobile apparatus according to any one of the previous claims, wherein at least one support structure (103) of the main-frame has an elastic portion (103A).

31. Mobile apparatus according to any one of the previous claims, wherein at least one support structure (103) of the main-frame (1) is positioned in the main-frame (1) with the third articulation (70) partly integrated in an open space of the main frame (1).

32. Mobile apparatus according to any one of the previous claims, wherein the actuators (500) for the first articulation have equal dimensions as the actuator (800) for the implement.

33. Mobile apparatus according to any one of the previous claims, wherein the actuator (600) for the second articulation has equal dimensions as the actuator (700) for the third articulation.

34. Mobile apparatus according to any one of the previous claims, wherein at least one of theactuators for one of the articulations has its respective hydraulic pump, powered by an electric motor / generator, of which both the pump and motor / generator are reversible to generate electricity when the actuator is forced or relieved by gravity.

35. Mobile apparatus according to any one of the previous claims, wherein all actuators (500, 600, 700) for the articulations have their respective hydraulic pump, powered by an electric motor / generator, of which the pumps and motors / generators are reversible to generate electricity when the actuators are forced or relieved by gravity.

36. Mobile apparatus according to any one of the previous claims, wherein at least one or more pumps and electric motors for the actuators are positioned behind the first articulation (50) on the rear of the sub-frame (4).

37. Mobile apparatus according to any one of the previous claims, wherein the hydraulic hoses or cables (45) for the actuators (500) for the first articulation (50) are routed close alongside the central sub-frame (41) for bending in the area of one attachment point (51) on the central sub-frame (41)for one of the actuators (500) between the sub-frame (4) and the first articulation (50).

38. Mobile apparatus according to any one of the previous claims, wherein the hydraulic hoses or cables (46) for the actuator (600) for the second articulation (60) are routed close alongside the central sub-frame (41) for bending in the area of the pivot point (4050) on the central sub-frame (41) for the actuator (600) between the first articulation (50) and the second articulation (60).

39. Mobile apparatus according to any one of the previous claims, wherein the third (70) or last articulation is connected to a front bumper (17) through the coupler (80).

40. Mobile apparatus according to any one of the previous claims, wherein the main frame (1) is directly or indirectly coupled to a front bumper (17), optionally with a stabilizing mechanism (17A).

41. Mobile apparatus according to any one of the previous claims, wherein the front bumper (17) has an aerodynamic shape, with integrated lights.

42. Mobile apparatus according to any one of the previous claims, wherein the main-frame (1) is directly or indirectly coupled to a rear bumper (18), optionally with a stabilizing / hitch mechanism (18A).

43. Mobile apparatus according to any one of the previous claims, wherein the rear bumper (18) has an implement storage rack (18B) for implements and / or a tilt rotator or other coupling devices.

44. Mobile apparatus according to any one of the previous claims, wherein the rear bumper (18) has a towing hook for trailers and / or implements.

45. Mobile apparatus according to any one of the previous claims, wherein the mobile apparatus (1234) is coupled or towing a trailer (200) with one or more batteries (207), wherein the contactor for the battery (209) of the mobile apparatus in the mobile apparatus (1234) can be switched off and the contactor (208) for one or more batteries in the trailer (200) can be switched on such that the mobile apparatus is provided with electrical energy solely from the one or more batteries (207) from the trailer.

46. Mobile apparatus according to any one of the previous claims, wherein the trailer (200) has one or more batteries positioned centrally in between the wheels / tyres below the supporting structure of the trailer bed with a safety distance to the rear and the front of the trailer.

47. Mobile apparatus according to any one of the previous claims, wherein the trailer (200) has an aerodynamic shape with rounded bumpers (204 and 205) and sideskirts on all sides.

48. Mobile apparatus according to any one of the previous claims, wherein the trailer (200) has solar panels on the top (cover) and sides to charge the one or more batteries of the trailer.

Images