Innovation in lift devices

Abstract

The lift device includes a lift apparatus, a base assembly, and a controller. The lift apparatus is configured to raise and lower a removable robotic equipment assembly. The base assembly is configured to support the lift apparatus and a prime mover. The prime mover is configured to provide rotational movement to one or more wheels supported by the base to move the lift apparatus. The controller is in communication with the equipment assembly and the lift apparatus. The controller is configured to adjust the position of the robotic equipment assembly and the lift apparatus in response to receiving instructions to perform a task.

Description

[Technical Field]

[0001] [Cross-reference to related patent applications] This application claims the benefit of and priority to U.S. Provisional Application No. 62 / 985,955, filed March 6, 2020, U.S. Provisional Application No. 62 / 986,465, filed March 6, 2020, U.S. Provisional Application No. 62 / 985,956, filed March 6, 2020, and U.S. Provisional Application No. 62 / 986,357, filed March 6, 2020, the disclosures of which are incorporated herein by reference in their entireties.

[0002] This application relates generally to lift devices, and more particularly to mobile aerial work platforms. Summary of the Invention [Means for solving the problem]

[0003] One embodiment of the present disclosure is a lift device. The lift device includes a lift apparatus, a base assembly, and a controller. The lift apparatus is configured to raise and lower a detachable robotic equipment assembly. The base assembly is configured to support the lift apparatus and a prime mover. The prime mover is configured to rotate one or more wheels supported on the base to move the lift device. The controller is in communication with the equipment assembly and the lift apparatus. The controller is configured to adjust the position of the robotic equipment assembly and the lift apparatus in response to receiving instructions to perform a task.

[0004] Another embodiment of the present disclosure is a lift device. The lift device includes a lift device, a base assembly, and a controller. The lift device is configured to raise and lower an equipment assembly. The base assembly is configured to support the lift device and a prime mover, and the prime mover is configured to rotate one or more wheels supported by the base to operate the lift device. The controller is configured to communicate with the equipment assembly and the lift device and adjust the position of the equipment assembly and the lift device toward a defined target area in response to receiving instructions to perform a task in the target area. The target area is generated by a mobile device communicating with the controller.

[0005] Another embodiment of the present disclosure is a lift device. The lift device includes a lift apparatus, a base assembly, and a controller. The lift apparatus is configured to raise and lower a detachable robotic equipment assembly. The base assembly is configured to support the lift apparatus and a prime mover. The prime mover is configured to rotate one or more wheels supported by the base to operate the lift apparatus. The controller is in communication with the equipment assembly and the lift apparatus. The controller is configured to adjust the position of the robotic equipment assembly and the lift apparatus in response to receiving instructions to perform a task. The robotic equipment assembly is configured to operate independently of and relative to the lift apparatus in at least two axes.

[0006] The invention is capable of other embodiments and of being practiced or carried out in various ways. Other exemplary embodiments relate to other features and combinations of features as may be described herein.

[0007] The present disclosure will be more fully understood from the accompanying drawings, in which like reference numerals refer to like elements, and the following detailed description. [Brief explanation of the drawings]

[0008] [Figure 1]FIG. 1 is a perspective view of a lift device according to an exemplary embodiment. [Figure 2] 2 is a perspective view of the lift device of FIG. 1 showing the deployable operator station in a deployed position in an exemplary embodiment. [Figure 3] 3 is a perspective view of the lift device of FIG. 1 showing the deployable operator station in a retracted or stowed position in an exemplary embodiment. [Figure 4] FIG. 4 is a block diagram of a control system for the turntable assembly of the lift device of FIG. 1 in an exemplary embodiment. [Figure 5] 5 is a perspective view of the lift device of FIG. 1 showing portions of the base assembly and turntable assembly of the lift device in greater detail and illustrating a split battery configuration in an exemplary embodiment. [Figure 6] 6 is a perspective view of the base assembly of the lift device of FIG. 1 showing a split battery configuration in an exemplary embodiment. [Figure 7] 7 is a perspective view of an electrical slip ring of the turntable assembly of the lift device of FIG. 1 in an exemplary embodiment. [Figure 8] 8 is a perspective view of a battery compartment of the base assembly of the lift device of FIG. 1 in an exemplary embodiment. [Figure 9] 9 is a perspective view of a battery compartment of the base assembly of the lift device of FIG. 1 in an exemplary embodiment. [Figure 10] FIG. 10 is a block diagram of a control system for the lift device of FIG. 1 in an exemplary embodiment. [Figure 11] FIG. 11 is a perspective view of the lift device of FIG. 1 showing the deployable operator station in a retracted or stowed position in an exemplary embodiment. [Figure 12] 12 is a perspective view of a deployable operator station of the lift device of FIG. 1 having a first frame assembly and a second frame assembly in an exemplary embodiment. [Figure 13] FIG. 13 is a plan view of a deployable operator station of the lift device of FIG. 1 in an exemplary embodiment. [Figure 14] FIG. 14 is a side view of the deployable operator station of the lift device of FIG. 1 in a stowed or pushed-in position in an exemplary embodiment. [Figure 15] FIG. 15 is a perspective view of a portion of the deployable operator station of the lift device of FIG. 1 in a partially deployed position in an exemplary embodiment. [Figure 16] FIG. 16 is a perspective view of a portion of the deployable operator station of the lift device of FIG. 1 in a deployed position in an exemplary embodiment. [Figure 17] FIG. 17 is a perspective view of a portion of a deployable operator station of the lift device of FIG. 1 having an engagement mechanism in an exemplary embodiment. [Figure 18] FIG. 18 is a partial perspective view of the engagement mechanism of FIG. 10 in an exemplary embodiment. [Figure 19] 19 is a perspective view of an armrest of the deployable operator station of the lift device of FIG. 1 in an exemplary embodiment. [Figure 20] FIG. 20 is a front view of a deployable operator station of the lift device of FIG. 1 in an exemplary embodiment. [Figure 21] 21 is a perspective view of an armrest of a deployable operator station of the lift device of FIG. 1 in an exemplary embodiment. [Figure 22] 22 is a partial perspective view of a deployable operator station of the lift device of FIG. 1 having a linear electric actuator for pivoting the hood member in an exemplary embodiment. [Figure 23] 23 is a partial perspective view of a deployable operator station of the lift device of FIG. 1 having a hood member in an exemplary embodiment. [Figure 24]FIG. 24 is a perspective view of various display screens that may be located on the deployable operator station of the lift device of FIG. 1 in an exemplary embodiment. [Figure 25] FIG. 25 is a block diagram of a control system for the lift device of FIG. 1 in an exemplary embodiment. [Figure 26] FIG. 26 is a perspective view of the lift device of FIG. 1 configured for use with a work platform in an exemplary embodiment. [Figure 27] FIG. 27 is a perspective view of the lift device of FIG. 1 configured for use with a fork assembly in an exemplary embodiment. [Figure 28] FIG. 28 is a block diagram of a control system for the lift device of FIG. 1 according to an exemplary embodiment. [Figure 29] FIG. 29 is a partial plan view of a steering system of the lift device of FIG. 1 according to an exemplary embodiment. [Figure 30] FIG. 30 is a partial front view of a steering system for the lift device of FIG. 1 according to an exemplary embodiment. [Figure 31] FIG. 31 is a partial perspective view of a steering system for the lift device of FIG. 1 according to an exemplary embodiment. [Figure 32] FIG. 32 is a partial perspective view of a steering system for the lift device of FIG. 1 according to an exemplary embodiment. [Figure 33] FIG. 33 is a partial perspective view of a steering system for the lift device of FIG. 1 according to an exemplary embodiment. [Figure 34] FIG. 34 is a perspective view of another exemplary embodiment of a lift device having a deployable operator station shown in a stowed position. [Figure 35] 35 is another perspective view of the lift device of FIG. 34 having a deployable operator station shown in a deployed position in an exemplary embodiment. [Figure 36]36 is a rear perspective view of the lift device of FIG. 34 having a deployable operator station shown in a deployed position in an exemplary embodiment. [Figure 37] 37 is another perspective view of the lift device of FIG. 34 having a deployable storage compartment in an exemplary embodiment, shown in a deployed position. [Figure 38] FIG. 38 is a top perspective view of the lift device of FIG. 34 showing the interior of the deployable operator station in an exemplary embodiment. [Figure 39] FIG. 39 is a front perspective view of the lift device of FIG. 34 showing an operator residing within a deployable operator station in an exemplary embodiment. [Figure 40] 40 is another front perspective view of the lift device of FIG. 34 in an exemplary embodiment. [Figure 41] FIG. 41 is a perspective view of the inside of the deployable operator station shown in FIG. 38 detailing the control mechanisms that can be used to operate the lift device in an exemplary embodiment. [Figure 42] FIG. 42 is a side view of the lift device of FIG. 34 showing the interior of the deployable operator station in an exemplary embodiment. [Figure 43] 43 is an upper rear perspective view of the lift device of FIG. 34 detailing the deployable operator station shown in FIG. 38. FIG. [Figure 44] 44 is an upper rear perspective view of the lift device of FIG. 34 with an operator seated in the deployable operator station shown in FIG. 43 in an exemplary embodiment. [Figure 45] FIG. 45 is a side view of the lift device of FIG. 44 according to an exemplary embodiment. [Figure 46] FIG. 46 is a pictorial diagram of a drone monitoring a work site in an exemplary embodiment. [Figure 47] FIG. 47 is a pictorial diagram of a remote controller used to operate a lift device, such as the lift device of FIG. 1 or FIG. 34, in an exemplary embodiment. [Figure 48] FIG. 48 is a pictorial illustration of an operator remotely operating an optional autonomous or semi-autonomous lift device, such as the lift device of FIG. 1 or FIG. 34, in an exemplary embodiment. [Figure 49] FIG. 49 is another pictorial illustration of an operator remotely operating an optional autonomous or semi-autonomous lift device, such as the lift device of FIG. 1 or FIG. 34, in an exemplary embodiment. [Figure 50] FIG. 50 is a pictorial diagram of a lift device traveling to a solar recharging station in an exemplary embodiment. [Figure 51] FIG. 51 is a pictorial illustration of an operator performing a target projection to deliver material for a lift device in an exemplary embodiment. [Figure 52] FIG. 52 is a pictorial diagram illustrating how, in an exemplary embodiment, a lift device, such as the lift device of FIG. 1 or FIG. 34, delivers a load to the projection target shown in FIG. 51. [Figure 53] FIG. 53 is a pictorial illustration of an operator engaging a lift device, such as the lift device of FIG. 1 or FIG. 34, requesting a tool through a drone delivery human-machine interface in an exemplary embodiment. [Figure 54] FIG. 54 is a pictorial perspective view illustrating the operator of FIG. 53 selecting a tool from the drone delivery interface and delivering the selected tool by drone in an exemplary embodiment. [Figure 55] FIG. 55 is a pictorial illustration of a drone providing target projection for a lift device to deliver materials in an exemplary embodiment. [Figure 56] FIG. 56 is another pictorial illustration of a drone providing target projection for a lift device in an exemplary embodiment. [Figure 57]FIG. 57 is a pictorial diagram illustrating a lift device, such as the lift device of FIG. 1 or FIG. 34, delivering material to a target projection provided by the drone of FIG. 56, with the drone actively monitoring the material as it moves toward the target projection. [Figure 58] FIG. 58 is a pictorial illustration of an operator monitoring and remotely controlling the operation of a placement boom or welding boom in an exemplary embodiment. [Figure 59] FIG. 59 is a pictorial diagram of a placement boom and a welding boom that cooperate to form a welded connection to a structure in an exemplary embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Before turning to the figures showing exemplary embodiments in detail, it is to be understood that the present application is not limited to the details or methods described in the specification or shown in the figures, and that the terminology used is for purposes of description only and should not be regarded as limiting.

[0010] overview Referring generally to the drawings, a lift device includes a deployable operator station. The deployable operator station can include two frame assemblies pivotally coupled to one another, the first of which is pivotally coupled to a base of the lift device. The frame assembly pivotally coupled to the base can be driven by a linear electric actuator for automatic deployment. The second frame assembly can be selectively rotatably coupled to the first frame assembly via an engagement mechanism, allowing a user to selectively disengage and then manually deploy the second frame assembly. The deployable operator station can include various hood or shell members configured to couple together to enclose the deployable operator station and prevent unauthorized access to various input devices of the lift device disposed on the deployable operator station. The lift device can include multiple user interfaces. For example, the lift device can have a first user interface on a platform or equipment assembly and a second user interface where an operator sits or stands to operate the lift device. The lift device can be a fully electric lift device, with the lift device using a linear electric actuator and / or an electric motor to raise or lower an equipment assembly disposed at the end of the lift device.

[0011] The lift device may be an all-electric lift device and may include a first set of batteries in the base assembly and a second set of batteries in the turntable assembly of the lift device. The turntable assembly may have a slip ring transmission (e.g., an electromechanical slip ring transmission) rotatably coupling the turntable member to the base assembly or frame. The lift apparatus may be disposed on the turntable member such that operation of the slip ring transmission drives the turntable member and lift apparatus to rotate or pivot relative to the base assembly or frame. The first set of batteries disposed on the base assembly may be configured to provide power to electrical components of the base assembly (e.g., for driving, steering, or axle lockout operation). The second set of batteries disposed on the turntable assembly may be configured to provide power to electrical components of the lift apparatus (e.g., for raising or lowering operations).

[0012] The first set of batteries can be configured to connect to a facility power source to charge the first set of batteries and the second set of batteries. A charger can be connected to the facility power source and transfer charging power or energy to the first set of batteries. The first set of batteries can power any of the electrical components of the base assembly via an inverter. The first set of batteries can function as a primary power source and can be used to replenish or recharge the second set of batteries as needed. For example, a controller can monitor the battery level of the second set of batteries and recharge the second set of batteries using electrical energy provided by the first set of batteries. The second set of batteries can be recharged by the first set of batteries via a slip ring conduction. Specifically, the first set of batteries can transfer electrical energy to a charger of the turntable assembly via an inverter and a slip ring conduction. The charger of the turntable assembly can charge the second set of batteries using power provided via the slip ring conduction. In this manner, the slip ring transmission can function or act as a prime mover to drive relative rotation between the turntable member and the frame of the base assembly, and can also function or act as a facilitator of the transfer of electrical energy from the first set of batteries to the second set of batteries.

[0013] In some embodiments, the controller may also be configured to prevent or limit operation of the lifting device based on the battery level of the second set of batteries. For example, if the battery level of the second set of batteries falls below a first threshold level, the controller may prevent operation of the lifting device to raise the equipment assembly. The controller may also determine whether the first set of batteries has sufficient battery capacity to charge the second set of batteries and use the first set of batteries to charge the second set of batteries. If the first set of batteries does not have sufficient battery capacity to charge the second set of batteries, the controller may determine that the first set of batteries should be connected to a power source for recharging and notify an operator of the lifting device (e.g., by operating a display screen, providing a visual alarm, providing an audible alarm, etc.). If the battery level of the second set of batteries falls below a second threshold level and the first set of batteries still does not have sufficient capacity to recharge the second set of batteries, the controller may completely limit operation of the lifting device until the first set of batteries is connected to a power source for recharging.

[0014] In some examples, lift devices can be used as part of an autonomous or semi-autonomous field fleet. The lift devices can have a controller configured to communicate via one or more wireless communication protocols, enabling remote monitoring and control of the lift devices. The lift devices can have a communication gateway that monitors the status of the lift devices (e.g., battery charge level, health status, location, etc.) and transmits the status of the lift devices to one or more network devices (e.g., computers, smartphones, tablets, etc.). The same network devices can be used to transmit remote commands, which can include driving, lifting, or other instructions that can then be executed by the lift devices without the need for an operator to be present. In some examples, remote commands can be sent to a human-machine interface on the lift device, providing instructions related to a specific task that can then be read or presented to an operator located within the lift device. In yet other examples, the lift devices are configured to operate with auxiliary equipment (e.g., drones, mobile devices, etc.) that can provide the lift devices with tasks and specific target locations to perform autonomous tasks. The lift devices can have one or more cameras that can be used to provide a network device's perspective, enabling precise manual remote control of the lift devices.

[0015] Lift Device With particular reference to FIG. 1 , a lift device, boom, articulated boom, lift, MEWP, telehandler, etc., shown as lift device 10, includes a base assembly 12 (e.g., base, body, vehicle, etc.), a lifting apparatus 14 (e.g., telescoping arm, articulated arm, boom arm, boom, etc.), and an equipment assembly 16 (e.g., platform, platform assembly, work platform, fork assembly, apparatus, etc.). As shown in FIG. 1 , lift device 10 is provided as a mobile aerial work platform (MEWP) in which equipment assembly 16 is the work platform. The equipment assembly 16 may be interchangeable with a different equipment assembly (e.g., a fork assembly) to transition lift device 10 from being a MEWP to being a material handler (MH). When lift device 10 is an MH, equipment assembly 16 may be a fork carriage that can function as a versatile mounting interface to which a work platform configured with forklift pockets can be attached, as well as a pair of forks for a material handler, etc. Furthermore, the fork carriage can be used for other tool attachments, such that equipment assembly 16 is interchangeable.

[0016] The base assembly 12 includes a frame 20 (e.g., a carriage, structural member, support member, chassis, frame member, etc.) and a plurality of traction elements 22 (e.g., wheels, treads, rotatable members, rollers, etc.). The base assembly 12 also includes a prime mover (e.g., an electric motor, an internal combustion engine, a hydraulic motor, a pneumatic motor, etc.), shown as an electric motor 24. The electric motor 24 can be configured to provide mechanical power (e.g., rotational kinetic energy) to the traction elements 22 (e.g., via a transmission, a power transfer system, one or more gearboxes, etc.) for transporting the lift device 10. The electric motor 24 can also provide mechanical power for operations such as the lift apparatus 14, the steering system of the lift device 10, deployment of a deployable operator station of the lift device 10, or any other function or feature of the lift device 10 that requires mechanical power to operate. The electric motor 24 may be a single electric motor or a collection of electric motors configured to ingest or receive electrical energy from one or more batteries, power cells, capacitors, power storage devices, power storage systems, etc., shown as electrical energy storage devices 40, to generate mechanical power. The traction elements 22 receive mechanical power from the electric motors 24 and can rotate relative to the frame 20. The traction elements 22 may each be pivotally or rotatably coupled to the frame 20 such that the traction elements 22 rotate relative to the frame 20 to facilitate driving or transport operations of the lift device 10 (e.g., transporting the lift device 10 from one site to another).

[0017] The traction elements 22 may include a first or front pair of traction elements and a second or rear pair of traction elements. Each pair of traction elements 22 may be rotatably or pivotally coupled to a corresponding axle (e.g., the front and rear axles, respectively) that is fixedly coupled, integrally formed, welded, fastened, etc. to the frame 20. One or both of the axles may include one or more steering members (e.g., tie rods, elongated members, etc.) configured to pivot or rotate the traction elements about a steering axis to indicate the pivotal direction of the lift device 10. In this manner, the electric motor 24 and the traction elements 22 may facilitate transportation of the lift device 10 from one location to another.

[0018] Continuing with reference to FIG. 1 , the base assembly 12 includes an operator station (e.g., cab, housing, enclosure, space, zone, station, stand-type station, platform, etc.), shown as a deployable operator station 100. The deployable operator station 100 may be fixedly coupled to the frame 20 or the body of the lift device 10 such that an operator sits or stands on the deployable operator station 100 and is carried along with the lift device 10 as it is driven and steered. The deployable operator station 100 may have a body, frame, side walls, a roof, doors, windows, etc., or may otherwise form an enclosure for the operator. The deployable operator station 100 may be located on the left or right side of the lift device 10, or may be centrally located above the frame 20. In some embodiments, the deployable operator station 100 is deployable or transitionable between an undeployed state, position, mode, etc. and a deployed state, position, mode, etc. The deployable operator station 100 may be a complete or partial enclosure that provides protection or shielding for the operator from the surrounding elements.

[0019] 1 , the lift device 14 is or includes a pair of coupled telescopic members, shown as a first telescopic member 58 and a second telescopic member 60, pivotally or hingeably connected at an intermediate member 44. The second telescopic member 60 includes an outer member 26 (e.g., a first member) and an inner member 28. The inner member 28 is receivable within an interior volume of the outer member 26 and can be configured to slide, translate, etc. relative to the outer member 26. In one embodiment, the inner member 28 and the outer member 26 are slidably coupled such that the overall length of the second telescopic member 60 can be increased or decreased to facilitate raising and lowering the equipment assembly 16. The inner member 28 and the outer member 26 may be configured to extend or contract through the operation of a prime mover, such as a linear electric actuator, shown as a linear electric actuator 38, an electric motor, a hydraulic cylinder, a pneumatic cylinder, or the like. The linear electric actuator 38 may draw power or electrical energy from one or more batteries, power sources, energy storage devices, etc. of the lift device 10 (e.g., from the electrical energy storage device 40) and use the electrical energy to perform an extending and retracting motion, thereby driving the inner member 28 to translate relative to the outer member 26 (and thereby raise and lower the equipment assembly 16 to reach higher heights).

[0020] The outer member 26 receives the inner member 28 through a first or proximal end and may be rotatably or hingedly connected to the intermediate member 44 at a second or opposite end. Specifically, the outer member 26 may be hingedly or rotatably connected to a top or corner of the intermediate member 44. The outer member 26 may be rotationally or pivotally driven relative to the intermediate member 44 by a linear actuator, electric motor, linear electric actuator, pneumatic actuator, hydraulic cylinder, or the like, shown as a linear electric actuator 30, to raise or lower the equipment assembly 16. The linear electric actuator 30 may be pivotally connected to the outer member 26 at a first end and to a portion of the intermediate member 44 at a second end.

[0021] The lift device 14 may include an intermediate member, elongated member, etc., shown as a central member 36. The central member 36 may be pivotally coupled to the inner member 28 via a hinge, pin, hinged connection, etc., shown as a pin 32. The inner member 28 may extend into the interior volume of the outer member 26 at a first end and be pivotally coupled to the central member 36 at an opposite or second end. The central member 36 may be configured to be driven to rotate about the pin 32 via a linear electric actuator 42 to pivot or rotate the equipment assembly 16. The linear electric actuator 42 may be pivotally coupled to the central member 36 at a first end and to the inner member 28 at a second end such that extension and contraction of the linear electric actuator 42 rotationally drives the central member 36 and the equipment assembly 16 relative to the inner member 28 about the pin 32.

[0022] 1 , the first telescoping member 58 of the lift device 14 can include an outer member 48 and an inner member 46. The outer member 48 can receive the inner member 46 through an interior volume, and the inner member 46 can be slidably coupled to the outer member 48. The inner member 46 can be rotatably coupled or hinged to the intermediate member 44 (e.g., at a bottom of the intermediate member 44). In some embodiments, a first or proximal end of the inner member 46 extends into the outer member 48, and a second or distal end of the inner member 46 is rotatably coupled or hinged to the intermediate member 44. The outer member 26 can also be hinged or rotatably coupled to the intermediate member 44 (e.g., at a top end of the intermediate member 44). Thus, intermediate member 44 may be a linkage or intermediate member that is hinged, rotatably, or pivotally connected at a first end (e.g., upper end) to outer member 26 and hinged, rotatably, or pivotally connected at a second end (e.g., lower end) to inner member 46. Intermediate member 44 may be a vertical structural member that forms a linkage between a second telescoping member 60 formed by outer member 26 and inner member 28 and a first telescoping member 58 or device formed by inner member 46 and outer member 48. Inner member 46 and outer member 48 may form a telescoping member that is the same as or similar to second telescoping member 60 formed by inner member 28 and outer member 26. The first telescopic member 58 (formed by the outer member 48 and the inner member 46) may extend rearward from the front or forward portion of the lift device 10 (e.g., from the base assembly 12 or frame 20), and the first telescopic member (formed by the outer member 26 and the inner member 28) may extend forward from the rearward portion or rearward region of the lift device 10 (e.g., from the intermediate member 44).

[0023] 1 , the outer member 48 can be rotatably coupled, pivotally coupled, or hinged to the base assembly 12 via a support member 50. The support member 50 can be fixedly coupled to the base assembly 12 or frame 20 and can have a portion configured to receive one end of the outer member 48 and pivotally couple to the end of the outer member 48. The lift device 14 also has a linear electric actuator 52 configured to be pivotally coupled or hinged to the base assembly 12 at a first end (e.g., to the support member 50) and to the outer member 48 at a second or opposite end. The linear electric actuator 52 can be configured to extend and retract to pivot the outer member 48 relative to the support member 50.

[0024] 1 , the lift device 14 can include a linear electric actuator 54 configured to extend and retract to drive the inner member 46 in translation relative to the outer member 48. In some embodiments, the linear electric actuator 54 is disposed within the outer member 48 such that extension of the linear electric actuator 54 drives the inner member 46 in translation, increasing the overall length of the inner and outer members 46, 48, while contraction of the linear electric actuator 54 drives the inner member 46 in translation, decreasing the overall length of the inner and outer members 46, 48. It should be understood that the linear electric actuators 52 and 54 can be the same as or similar to any of the other linear electric actuators described herein (e.g., the linear electric actuator 42) and can be configured to receive or derive electrical energy or power from the electrical energy storage device 40. In some embodiments, the linear electric actuators 52 and 54 can also be configured to receive control signals from the controller 200 and use the control signals to operate to perform the functions required of the lift device 14.

[0025] As shown in FIG. 45 , the lift device 10 is configured to move between an extended working configuration and a more compact transport position. In the working configuration, the lift apparatus 14 and equipment assembly 16 generally extend forward and outward from the frame 20 and the lift device 10. In the compact transport position, the equipment assembly 16 retracts inward near the frame 20. The center member 36 can be rotated rearward, causing the equipment assembly to rotate upward and onto a portion of the frame 20. Similarly, the middle member 44 can be rotated rearward, causing the outer members 26 and the entire lift apparatus 14 and equipment assembly 16 to be driven rearward above and toward the frame 20. Conventional lift devices have very long booms, which typically result in the equipment assemblies being located far forward of the lift chassis. This conventional configuration makes transportation difficult because the distance between the chassis and the equipment significantly limits over-the-road transportation on a trailer. Using the multi-telescopic boom lift apparatus 14 of the lift device 10 provides significant space savings. The equipment assembly 16 is retracted and rotated so that it is almost entirely (e.g., at least 50%) positioned above the frame 20. The footprint of the lift device 10 can therefore be significantly limited, providing a significant improvement over conventional lifts for trailer or other types of transportation.

[0026] 2, the lift device 10 is shown in a material handler mode in which the equipment assembly 16 has a pair of elongated members shown as forks 18. The equipment assembly 16 can be fixedly coupled to a central member 36 of the lift device 14 such that the equipment assembly 16 can be raised and lowered through operation of the lift device 14. The equipment assembly 16 may include a bucket, a platform (e.g., an aerial work platform as shown in FIG. 1), a drill, an auger, or any other device.

[0027] Referring again to FIG. 1 , the lift device 10 can have a controller 200 configured to operate the lift device 10 to perform various functions described herein. For example, the controller 200 can monitor the status of the electrical energy storage device 40, such as battery life, health, state of charge, capacity, etc., and can operate a human-machine interface (HMI) (e.g., HMI 500 as shown in FIG. 3 ), user interface, display screen, etc., to provide an operator of the lift device 10 with indications or notifications regarding the status or performance characteristics of the electrical energy storage device 40. The controller 200 can also generate control signals to the electric motor 24 and the steering system (e.g., including a linear electric actuator for pivoting the traction element 22 to indicate a turning direction). The controller 200 can also generate control signals to any of the linear electric actuators 52, 54, 30, 38, or 42 to operate the lift apparatus 14 (e.g., to raise or lower the equipment assembly 16). The controller 200 may generate control signals for operating the lift device 10 in response to receiving user input for operating the lift device 10 through an HMI or user input device (e.g., HMI 500). The HMI or user input device may be located at the operator station 34 or on the exterior of the lift device 10 (as represented by HMI 500 in FIG. 3). The HMI or user input device may include any number of buttons, levers, touch screens, joysticks, user input devices, display screens, steering wheels, etc. configured to receive user input and provide signals representative of the user input to the controller 200.Additionally, the controller 200 can use the signals to determine which operation of the lift device 10 is requested to perform and generate control signals to the various controllable elements of the lift device 10 (e.g., electric motor 24, linear electric actuator 30, linear electric actuator 38, linear electric actuator 42, etc.) to perform the requested function or operation.

[0028] Deployable Operator Station 2-3, 11-23, and 34-45, the deployable operator station 100 is operable or transitionable between a first position or state (e.g., stowed state, retracted state, stowed position, retracted position, etc.) shown in FIG. 3 and a second position or state (e.g., deployed state, deployed position, etc.) shown in FIG. 2. Advantageously, the deployable operator station 100, when transitioned to the stowed position, can easily prohibit or limit access to the various control panels, HMIs, operator panels, control devices, etc. of the lift device 10 that may be located within or on the deployable operator station 100. This can prevent unauthorized individuals from accessing and operating the lift device 10 (e.g., reducing the possibility of theft, protecting the various control panels, HMIs, operator panels, control devices, etc., reducing the possibility of damage to various components of the deployable operator station 100, etc.).

[0029] 2-3 and 11, the deployable operator station 100 can be moved between a deployed position, shown in FIG. 2, and a retracted or stowed position, shown in FIG. 3 and 11. The deployable operator station 100 can include a first shell member 106 (e.g., first planar member, first housing member, hood member, hood, etc.), a second shell member 108 (e.g., planar member, housing member, hood, etc.), and a third shell member 109 (e.g., planar member, housing member, hood, etc.). The first shell member 106, the second shell member 108, and the third shell member 109 can be configured to couple, abut, engage, contact, etc., with one another when the deployable operator station 100 is moved to the retracted or stowed position (shown in FIGS. 3 and 11). In one embodiment, first shell member 106 is configured to rotate or pivot about axis 126 when deployable operator station 100 transitions from a tucked or stowed position (shown in FIGS. 3 and 11 ) to a deployed position (shown in FIG. 2 ). Specifically, first shell member 106 can rotate about axis 126 in direction 129 when deployable operator station 100 is deployed. First shell member 106 can be hingedly or pivotally coupled to base assembly 12 such that first shell member 106 can be actuated to rotate or pivot about axis 126 when deployable operator station 100 is deployed. Alternatively, first shell member 106 can be pivotally coupled to base assembly 12 at a rear of first shell member 106, as shown in FIGS. 34-45 .

[0030] The second shell member 108 may be fixedly coupled to the base assembly 12 or frame 20 and may remain stationary when the deployable operator station 100 is deployed or stowed / retracted. For example, the second shell member 108 may be a vertically extending sidewall that mates with, abuts, engages, mates, etc. with the first shell member 106 when the deployable operator station is stowed or stowed (as shown in FIGS. 3 and 4 ). The third shell member 109 may be fixedly coupled to the first frame assembly 102 (e.g., a rollover protection structure, ROPS) of the deployable operator station 100 to rotate about an axis 122. Thus, the third shell member 109 may rotate or pivot about the axis 122 as the deployable operator station 100 transitions between the deployed and stowed positions. When the deployable operator station 100 is pushed in (e.g., transitioned to the position shown in FIGS. 3-4 ), the third shell member 109 may couple, abut, contact, engage, mate, etc. with the first shell member 106 and the second shell member 108 to form a shell, structure, housing, receptacle, etc. that encases the various components of the deployable operator station 100. Alternatively, as shown in FIGS. 34-35 , the third shell member 109 may be omitted and the first shell member 106 may rotate rearward relative to the second shell member 108 to transition to the deployed position. In some examples, the first shell member 106 is biased toward the open position by a spring or other biasing element. Thus, unlocking or unlatching the first shell member 106 from the second shell member 108 allows the first shell member 106 to naturally and passively rise away from the second shell member 108 to the deployed position. Alternatively, a motor and / or actuator may be used to lift the first shell member 106 away from the second shell member 108. One or more buttons may be located along the exterior of the second shell member 108 that a user can press or otherwise operate to both unlock and transition the first shell member 106 to the open position. In one example, the button or buttons are located under a locked, shielded cabinet that prevents unauthorized access to the buttons, and to the deployable operator station 100 more generally.In yet another example, one or more locks and / or actuators can be remotely controlled and transitioned from the locked position to the unlocked position using wireless communication. A variety of different types of locking mechanisms can be used to open and transition the first shell member 106 to the deployed position, including mechanical keyed locks as well as automatic or electronic locks having RFID readers, Bluetooth readers, near field communication (NFC) tag readers, etc.

[0031] In addition to the deployable operator station 100, the lift device 10 can include a deployable or selectively accessible storage compartment 113. As depicted in FIGS. 37 and 39 , the storage compartment 113 is configured generally similar to the operator station 100 and includes a first shell member 117 rotatably coupled and / or hinged to a second shell member 119. The first shell member 117 and the second shell member 119 together define the storage compartment 113, which can be used to hold tools, fuel, food, and / or other necessary materials for performing tasks at the work site. The storage compartment 113 can be incorporated into engine-less versions of the lift device 10 (e.g., fully battery-powered versions, etc.).

[0032] In some examples, as shown in FIGS. 34-35 and 37-40 , the lift device 10 includes one or more sets of steps 121 to assist a user in boarding the operator station 100 or accessing the storage compartment 113. The steps 121 can be located on one or both sides of the lift device 10 and can be directly attached to or otherwise formed on the base assembly 12. The steps 121 extend downwardly toward the ground below the lift device 10. Alternatively, the steps 121 can be selectively deployable. For example, the steps 121 can be part of a retractable assembly that extends downwardly only when the first shell member 106 is in the open or deployed position. When the first shell member 106 transitions back to the retracted or stowed position, the steps 121 automatically retract inward, reducing the perimeter of the lift device 10 and further limiting unauthorized access to or tampering with the deployable operator station 100 or storage compartment 113 because these components are elevated above the ground. In one example, a button or switch can be located within the deployable operator station 100 to retract step 121 when a user within operator station 100 is properly positioned within operator station 100. In one embodiment, seat 124 within operator station 100 includes a sensor (e.g., a pressure sensor, a switch, a load sensor, etc.) that detects a load on seat 124. When a load on seat 124 (a load corresponding to a user seated within operator station 100) is detected, step 121 is retracted. When no load is detected, step 121 deploys (or remains deployed) to allow a user to enter and exit operator station 100.

[0033] 2 , the deployable operator station 100 may include a first frame assembly 102 and a second frame assembly 104 (e.g., a fall object protective structure, FOPS, overhead protective structure, etc.). The first frame assembly 102 may be rotatably or pivotally coupled to the base assembly 12 (e.g., to the frame 20) at a first end and may be pivotally or pivotally coupled to the second frame assembly 104 at a second end or tip. The second frame assembly 104 may be configured to rotate or pivot about an axis 120 relative to the first frame assembly 102. In this manner, the first frame assembly 102 and the second frame assembly 104 may rotate or pivot about an axis 122 relative to the base assembly 12, while the second frame assembly 104 may be configured to rotate or pivot about the axis 120 relative to the first frame assembly 102 as the deployable operator station 100 transitions between the deployed position and the tucked / stowed position. The deployable operator station 100 may include a seat 124.

[0034] 3 , the lift device 10 can include a rotator assembly, platform rotator assembly, turntable, etc., shown as turntable assembly 800. The turntable assembly 800 can include a turntable member 803 configured to pivot or rotate about a central axis 62. The lift apparatus 14 can be coupled to the base assembly 12 via the turntable assembly 800 such that the lift apparatus 14 can easily rotate about the central axis 62 relative to the base assembly 12. In particular, the support member 50 can be fixedly coupled to the turntable member 803 such that the lift apparatus 14 can rotate or pivot about the central axis 62 relative to the frame 20. The deployable operator station 100 can be positioned on the turntable member 803 such that rotation of the turntable member 803 relative to the base assembly 12 or relative to the frame 20 rotates the deployable operator station 100 relative to the frame 20.

[0035] 3 , the turntable assembly 800 can include a platform rotor, motor, electric motor, etc., shown as the turntable motor 64. The turntable motor 64 is shown as an electric motor that can consume electrical energy from the energy storage device 40 to generate rotational kinetic energy to rotate the turntable member 803 relative to the frame 20. The turntable motor 64 can also be an internal combustion engine, a hydraulic motor, a pneumatic motor, etc., or any other prime mover. In some embodiments, the turntable motor 64 receives a control signal from the controller 200 such that the controller 200 operates the turntable motor 64 (e.g., to rotate the turntable assembly 800 at a predetermined or desired angle based on user input or request). The turntable motor 64 can be configured to drive the turntable member 803 via a gearbox, transmission, spur gear, ring gear, worm gear, etc., or any other gear or power transmission structure or combination thereof. Rotation of the turntable assembly 800 relative to the frame 20 can facilitate access to elevated areas that are angularly offset relative to the lift device 10.

[0036] 5-9, a portion of the deployable operator station 100 is shown in greater detail in accordance with an exemplary embodiment. The deployable operator station 100 has a frame, base, support structure, etc., shown as a support structure 110. The support structure 110 is fixedly coupled to the base assembly 12 or to the frame 20 and provides structural support to the deployable operator station 100. The support structure 110 may extend vertically a distance from the planar member 111. The support structure 110 may be formed from multiple structural members that are stacked and have various widths. The support structure 110 is configured to support the first frame assembly 102 and the second frame assembly 104.

[0037] The first frame assembly 102 is hingedly or pivotally coupled to the support structure 110 such that the first frame assembly 102 can rotate or pivot about an axis 122 relative to the support structure 110. As shown in FIGS. 12-16 , the first frame assembly 102 can have a first frame member, elongated member, etc., designated as first member 112a, and a second frame member, elongated member, etc., designated as second member 112b. The first member 112a and the second member 112b are laterally offset from each other by a distance 130. The first frame member 112a and the second frame member 112b are each pivotally or rotatably coupled to the support structure 110 at a first end and pivotally or rotatably coupled to the second frame assembly 104 at an opposite end or tip. The first frame member 112a and the second frame member 112b can each be pivotally coupled to the support structure 110 via a pin 134. The first frame assembly 102 may include one or more laterally extending frame members 132 extending between the first frame member 112a and the second frame member 112b. The laterally extending frame members 132 may provide additional structural support to the first frame assembly 102.

[0038] The first frame member 112a and the second frame member 112b are each fixedly coupled to or integrally formed with a corresponding connecting member 118. Specifically, the first frame member 112a is fixedly coupled to or integrally formed with a first connecting member 118a, and the second frame member 112b is fixedly coupled to or integrally formed with a second connecting member 118b. The first frame assembly 102 is pivotally coupled or hingedly coupled to the second frame assembly 104 via the first connecting member 118a and the second connecting member 118b. The first frame assembly 102 is pivotally coupled or hingedly coupled to the support structure 110 via pins 134 at first ends of the frame members 112a-112b, and pivotally coupled or hingedly coupled to the second frame assembly 104 via connecting members 118a-118b at second ends or tip portions of the frame members 112a-112b.

[0039] 14-18 , the connecting members 118 each include a corresponding pin, cylindrical member, rotatable member, coupling member, etc., shown as pin 136. The pin 136 defines an axis 120 about which the second frame assembly 104 rotates or pivots relative to the first frame assembly 102. The connecting members 118 each include parallel or laterally offset members between which a corresponding portion of the second frame assembly 104 can extend. The corresponding portion of the second frame assembly 104 can be rotatably coupled to the first frame assembly 102 via the connecting members 118. The deployable operator station 100 also includes an engagement mechanism 180 configured to selectively lock or limit relative rotation between the first frame assembly 102 and the second frame assembly 104. The engagement mechanism 180 can be changed between a locked position or state and an unlocked position or disengaged state via a user input. The engagement mechanism 180 facilitates locking the angular orientation of the second frame assembly 104 relative to the first frame assembly 102 in various predetermined positions (e.g., a retracted or pushed-in angular position of the second frame assembly 104 relative to the first frame assembly 102 as shown in Figures 12, 14, and 15, and an extended angular position of the second frame assembly 104 relative to the first frame assembly 102 as shown in Figures 16-17).

[0040] With particular reference to FIGS. 15-17 , the second frame assembly 104 includes one or more frame members 114 and one or more laterally extending frame members 116. The laterally extending frame members 116 may have a square or circular cross-sectional shape and may provide additional structural support to the frame members 114. In some embodiments, each frame member 114 has a corresponding opening through which the laterally extending frame member 116 extends. As shown in FIG. 15 , a pair of outermost members 115 of the frame members 114 are received within connecting members 118 and are rotatably or pivotally coupled to the connecting members 118 via pins 136. Each member 114 between the outermost members 115 may have a slot 158 ​​through which a bar, beam, elongated member, etc., of an engagement mechanism 180, shown as bar 154, may extend and translate. The frame members 114 may be evenly spaced laterally between the outermost members 115. The outermost members 115 may also each have a gap, opening, hole, bore, etc., shown as an opening 156 through which a bar 154 may be inserted and stored (eg, by a user, operator, technician, etc.).

[0041] 17-18 , an exemplary embodiment of the engagement mechanism 180 is shown in more detail. The engagement mechanism 180 is configured to easily couple the first frame assembly 102 and the second frame assembly 104 at a predetermined relative angular position. The engagement mechanism 180 can be transitioned between an engaged or locked state and an unlocked state via a user input at the bar 154. For example, to transition the engagement mechanism 180 to the unlocked state, a user can translate the bar 154 along the slot 158 ​​by applying a force to the bar 154 in the direction 160. Once the engagement mechanism 180 is transitioned to the unlocked state, a user can apply a rotational force or torque to the second frame assembly 104 to rotate the second frame assembly 104 to various predetermined angular positions relative to the first frame assembly 102 (e.g., a deployed angular position and a retracted or stowed angular position). Once the user has rotated the second frame assembly 104 to one of the predetermined angular positions, the user can release the bar 154 to lock the second frame assembly 104 in its current angular position relative to the first frame assembly 102.

[0042] 17-18 , the engagement mechanism 180 includes a coupling member 118. The coupling member 118 includes a first notch, first slot, etc., each of which is designated as a deployment slot 148, and a second notch, second slot, etc., each of which is designated as a storage slot 151. The second frame assembly 104 includes a housing member, guide member, etc., designated as a guide member 138. The guide member 138 is fixedly coupled to an interior or inward-facing surface of the outermost member 115 such that the guide member 138 is configured to rotate or pivot with the outermost member 115 when the second frame assembly 104 rotates or pivots relative to the first frame assembly 102 about axis 120. The guide member 138 includes an internal volume, track, groove, opening, hollow, etc., configured to receive a plunger, engagement member, coupling member, etc., designated as plunger 140. The plunger 140 can be configured to be translatably or slidably coupled to an interior or inner peripheral surface of the guide member 138. Plunger 140 can have a circular cross-sectional shape, and guide member 138 can have an interior volume with a corresponding cross-sectional shape such that plunger 140 can translate relative to guide member 138. In one embodiment, plunger 140 is configured to translate relative to guide member 138 to engage, couple with, be disposed within, abut, contact, be received within, etc., deployment slot 148 and storage slot 151. When plunger 140 transitions into engagement with coupling member 118 in deployment slot 148 or storage slot 151, the angular position of second frame assembly 104 relative to first frame assembly 102 is locked or fixed.

[0043] In one embodiment, a first end 146 of plunger 140 is configured to mate with, engage with, couple to, be received within, etc., slot 148 and / or slot 151. An opposite end 142 of plunger 140 extends outward from the opposite side of guide member 138 and can be fixedly coupled, attached, fastened, etc. to a cable, rope, etc., shown as tension member 144. Tension member 144 extends in the same direction as frame members 114 or outermost members 115 of second frame assembly 104. Tension member 144 can extend through aligned or corresponding openings in each laterally extending frame member 116 and can be fixedly coupled to bar 154. A first end of tension member 144 is fixedly coupled or attached to plunger 140 at opposite end 142, while a second end, or tip, or opposite end of tension member 144 is fixedly coupled, attached, fastened, etc. to bar 154. In this manner, translation of the bar 154 in direction 160 (e.g., by a user inputting a force in direction 160) is transmitted through the tension member 144, translating the plunger 140 relative to the guide member 138 such that the first end 146 of the plunger 140 disengages from the deployment slot 148 or the storage slot 151. This allows the user to selectively translate the plunger 140 to disengage from the coupling member 118, thereby transitioning the engagement mechanism from a locked state to an unlocked state. The user can then maintain the bar 154 in the translated position and rotate the second frame assembly 104 until the plunger 140 is proximate the desired one of the deployment slots 148 or the storage slots 151. Once the second frame assembly 104 has been rotated by the operator to the angular position of the desired deployment slot 148 or the storage slot 151, the operator can release the bar 154 so that the plunger 140 engages the desired one of the deployment slots 148 or the storage slots 151.

[0044] 18 , the engagement mechanism 180 can include a spring or resilient member, shown as spring 161. The spring 161 can bias the plunger 140 to translate relative to the guide member 138 so that the plunger 140 engages the deployment slot 148 or the storage slot 151. In this manner, the engagement mechanism 180 can be spring biased (depending on the current angular position of the second frame assembly 104 relative to the first frame assembly 102) such that release of the bar 154 automatically transitions the engagement mechanism 180 to the locked state. In one example, the second frame assembly 104 can be vertically adjustable relative to the first and second members 112 a, 112 b. The second frame assembly 104 can include a proximity sensor to detect the position of the operator within the operator station 100, and the position of the second frame assembly 104 can automatically adjust to reduce the space between the operator's head and the second frame assembly 104, further enhancing safety.

[0045] 14 , the deployable operator station 100 can include a linear electric actuator 164 configured to deploy, rotate, drive, pivot, etc., the first and second frame assemblies 102, 104 relative to the support structure 110 for deployment. In particular, the linear electric actuator 164 can be configured to rotationally drive the first frame assembly 102 about axis 122 for partially deploying the deployable operator station 100. The linear electric actuator 164 can draw power from the electrical energy storage device 40 and use the electrical energy to generate linear motion. The linear motion can be transmitted to the first frame assembly 102 to drive it to rotate about axis 122 (e.g., in direction 123) for deployment of the deployable operator station 100. For example, the linear electric actuator 164 can be fixedly coupled for translational movement and movably coupled for pivotal movement to the support structure 110 (or planar member 111) and the first frame assembly 102 (e.g., first member 112a or second member 112) at opposite ends. In this manner, extension and retraction of the linear electric actuator 164 rotationally drives the first frame assembly 102 and the second frame assembly 104 about axis 122 for deployment or retraction / storage. In one embodiment, the controller 200 is configured to generate a control signal for the linear electric actuator 164 to deploy the deployable operator station 100 in response to receiving user input from the HMI 500. In one embodiment, the controller 200 generates a control signal to deploy the deployable operator station 100 when an operator or user provides credentials (e.g., via the HMI 500) indicating that the user has access rights. In other embodiments, the HMI is physically secured (e.g., in a locked box) so that only users with a key to access the HMI can deploy the deployable operator station 100.

[0046] 14 , the second frame assembly 104 can be manually rotated about axis 120 to fully deploy the deployable operator station 100. For example, the deployable operator station 100 can be partially deployed automatically (e.g., by operation of linear electric actuator 164) and then fully deployed by manual actuation or translation of bar 154 and rotation of the second frame assembly 104 relative to the first frame assembly 102.

[0047] 16 , the deployable operator station 100 can include a seat back 166, a first armrest 128a, a second armrest 128b, and a seating surface 168. The seat back 166 can be fixedly coupled to a laterally extending frame member 133. In some embodiments, the seat back 166 and the laterally extending frame member 133 are both rotatably coupled to a laterally extending member 170 between the first member 112a and the second member 112b. In this manner, the seat back 166 and the laterally extending frame member 133 can be pivoted or rotated (e.g., automatically by operation of an electric motor, a linear electric actuator, or the like) between the deployed and retracted positions. In other embodiments, the laterally extending frame member 133 can be fixedly coupled to the first member 112a and the second member 112b or can be integrally formed therewith.

[0048] 16, first armrest 128a and second armrest 128b may be hingedly, pivotally, or rotatably coupled to first frame member 112a and second frame member 112b, respectively. First armrest 128a and second armrest 128b may be rotatable or pivotable between an extended position (shown in FIG. 9) and a retracted or stowed position (shown in FIG. 8). In some embodiments, first armrest 128a and second armrest 128b are configured to be transitionable between the extended and retracted or stowed positions manually (e.g., by a user) or automatically (e.g., by operation of electric motors of corresponding linear electric actuators, which may receive control signals generated by controller 200 in response to receiving user input via HMI 500).

[0049] 16, seating surface 168 may be rotatably or pivotally coupled to laterally extending member 170 and may be displaceable between a deployed position (shown in FIG. 16) and a retracted or stowed position (shown in FIG. 15). Seat surface 168 may be manually displaceable between the deployed and retracted or stowed positions, or may be automatically displaced between the retracted or stowed position and the deployed position (e.g., by operation of a linear electric actuator).

[0050] 15 , the deployable operator station 100 can include a plurality of rubber members, rubber stoppers, absorbent members, etc., shown as rubber stoppers 172. The rubber stoppers 172 can be positioned (e.g., at intervals) along (e.g., at) spaced intervals along frame members 174 extending laterally between the first and second frame members 112 a, 112 b near the ends of the first and second frame members 112 a, 112 b that have the pins 134 (e.g., the ends of the first and second frame members 112 a, 112 b that are pivotally coupled to the support structure 110). The rubber stoppers 172 can be configured to engage, abut, contact, etc., a corresponding portion of the surface of the seating surface 168 when the seating surface 168 transitions to the deployed position.

[0051] With particular reference to FIG. 20, a portion of the deployable operator station 100 is shown in greater detail. FIG. 20 specifically illustrates the seating arrangement of the deployable operator station 100. The seating surface 168 may be covered with a cushion or pad 192 to promote user comfort when seated. The first armrest 128a includes a cover, rest member, etc., shown as rest member 178. The rest member 178 may be a rigid or flexible material that provides an area for the operator to rest their arms.

[0052] 20 and 21 , the first armrest 128a can have a joystick or pivotable user input device, shown as a joystick 190. The joystick 190 is a user input device configured to pivot relative to the first armrest 128a to operate the lift device 14. In one embodiment, the first armrest 128a is an armrest for a user's right hand, allowing the user to operate the lift device 14 with their right hand. The joystick 190 can be pivoted or rotated by the user and generate input signals for the controller 200. The controller 200 receives input signals from the joystick 190 and operates the lift device 14 (e.g., various controllable elements or linear electric actuators configured to raise and lower the lift device 14) in response to the input signals obtained from the joystick 190.

[0053] 20 and 21, the first armrest 128a can include a lever twist input device 194. In some embodiments, the lever twist input device 194 is configured to receive user input (e.g., rotate between various predetermined selections or positions) to select different functions of the lift device 14 or to select different functions of the joystick 190. For example, when the lever twist input device 194 is in a first position, the joystick 190 may operate the lift device 14 or a first function of the lift device 14, while in a second position, the joystick 190 may be used to operate a different subsystem or system of the lift device 10 or a second function of the lift device 14. As shown in FIG. 20, the joystick 190 can be located on the outer end 182 of the first armrest 128a.

[0054] 20 and 19 , the second armrest 128 b includes a drive and steering joystick 188, a drive and steering enable switch 186, and a button 184. The drive and steering joystick 188 may be a thumb joystick configured to be operated or rotated by a user's thumb. In some embodiments, the drive and steering joystick 188 is the same as or similar to a joystick 190. For example, the drive and steering joystick 188 may be actuated or rotated by a user's thumb and generate an input signal for the controller 200. The controller 200 may use the input signal to generate control signals for the electric motor 24 or drive system and / or steering system of the lift device 10, which drives the traction elements 22 for drive and / or steering operation. A user may activate the drive and steering enable switch 186 to generate an input signal for the controller 200 to enable or disable drive and steering operation of the lift device 10.

[0055] 22 and 23 , the deployable operator station 100 can include a linear electric actuator 164 configured to pivotally or rotationally drive the first shell member 106 relative to the base assembly 12 about the axis 126. The first shell member 106 can be supported by and hingedly connected to the base assembly 12 via a support structure 127 that is fixedly connected to the planar member 111 and includes corresponding engaging portions that are fixedly connected to the first shell member 106. The support structure 127 can have a hinged connection therebetween to facilitate rotation of the first shell member 106 about the axis 126. As shown in FIG. 23 , the first shell member 106 can be driven by a linear electric actuator 302 to rotate between various angular positions (e.g., a deployed position and a retracted or stowed position), as represented by reference characters 106a and 106b. The linear electric actuator 302 extends to rotate or pivot the first shell member 106 in a first direction about the axis 126 for deployment of the deployable operator station 100, while the linear electric actuator 302 contracts to rotate the first shell member 106 in a second direction about the axis 126 for storage of the deployable operator station 100.

[0056] 23 and 24 , the deployable operator station 100 may have one or more display screens 304 (e.g., HMI). In some embodiments, the display screens 304 are configured to display various operational data of the lift device 10 (e.g., elevation, position, battery status, mode, travel speed, travel direction, warnings, etc.). The display screens 304 may be located on the first shell member 106 or may be otherwise positioned such that the operator can view and access the display screens 304 when the deployable operator station 100 is deployed. In some embodiments, the display screens 304 (e.g., display screen 304a and display screen 304b) are touch screens and may be configured to generate input signals for the controller 200 to control or operate various functions of the lift device 10.

[0057] Split battery structure 4 , the lift device 10 can employ a split battery system 400. The split battery system 400 can be a subsystem of the base assembly 12 or the turntable assembly 800. The split battery system 400 includes a base component 450 (e.g., electrical components such as actuators, batteries, chargers, and controllers of the base assembly 12) and a turntable component 460 (e.g., electrical components such as actuators, batteries, chargers, and controllers of the turntable assembly 800). The base component 450 can be disposed (e.g., fixed, attached, stored, fixedly coupled, etc.) on the frame 20. The turntable component 460 can be disposed (e.g., fixed, attached, stored, fixedly coupled, etc.) with the turntable member 803. In some embodiments, the base component 450 is stationary and fixedly coupled (e.g., directly or indirectly) to the frame 20. The turntable component 460 may be fixedly coupled to the turntable member 803 such that the turntable component 460 rotates or pivots with the turntable member 803 relative to the frame 20 .

[0058] The base component 450 includes a receptacle (outlet) 402, a first charger 404, a second charger 406, a first battery pack 408, an inverter 410, a base control module 412, at least one traction controller 414, and at least one steering controller 416. The base control module 412 may be the same as or similar to the controller 200 and may include processing circuitry, a processor, and memory. In one embodiment, the base control module 412 is an MC43 control module. The base control module 412 may be configured to generate control signals for the first charger 404, the second charger 406, the traction controller 414, the steering controller 416, and the electrical slip ring 418. The base control module 412 may be communicatively coupled to the first charger 404, the second charger 406, the traction controller 414, the steering controller 416, and the electrical slip ring 418 via a control area network bus (CAN bus). In one embodiment, the base control module 412 is communicatively coupled to the first charger 404, the second charger 406, the traction controller 414, and the steering controller 416 via a first CAN bus, and to the electrical slip ring 418 via a second CAN bus.

[0059] The first charger 404 can be removably coupled to the receptacle 402 and configured to output 50 volts DC power to the first battery pack 408, the inverter 410, the traction controller 414, and the steering controller 416. The first charger 404 can also be configured to exchange 240 volts AC power with the receptacle 402. The second charger 406 can be configured to exchange 240 volts AC power with the receptacle 402 and the first charger 404. The second charger 406 can also be configured to output 50 volts DC to the first battery pack 408, the inverter 410, the traction controller 414, and the steering controller 416.

[0060] In one embodiment, the first battery pack 408 is the first, main, or large battery pack used by the lift device 10. The first battery pack 408 can be located on the frame 20 or otherwise on the base assembly 12 and carried with the lift device 10 when the lift device 10 performs a transport task. The first battery pack 408 can be the same as or similar to the energy storage device 40. The first battery pack 408 can be configured to provide 50 volts DC electrical energy / power to the inverter 410, the traction controller 414, and / or the steering controller 416 to perform their respective functions. The first battery pack 408 can be a 22.1 KWh battery pack and can have 12 modules (e.g., 12 battery cells).

[0061] The inverter 410 is configured to receive 50 volts of DC power / electrical energy from the first battery pack 408, the first charger 404, or the second charger 406 and convert the DC power / electrical energy into 3 KW of AC power / electrical energy. The inverter 410 may be a 240V AC inverter configured to receive the 50 volts of DC power and output 240 volts of AC power. The electrical slip ring 418 may receive the 240 volts of AC power and use the 240 volts of AC power to operate the turntable assembly 800 (e.g., to rotate the turntable relative to the base assembly 12 or frame 20). The electrical slip ring 418 may be communicatively coupled to the first battery pack 408 and configured to exchange discrete digital control signals with the first battery pack 408. Advantageously, electrical slip rings 418 may be high current slip rings sized for traction or battery current (e.g., greater than 500 amps) to facilitate continuous rotation of turntable assembly 800. Other telehandlers rotate their turntable assemblies continuously.

[0062] Continuing with reference to FIG. 4 , the turntable components 460 may include a third charger 420, a load 422, a second battery pack 424, a starter or ignition module 426, a turntable control module 428, and at least one actuator 430. The third charger 420 is electrically coupled to the second battery pack 424 and the actuator 430. The actuator 430 may draw 50 volts DC power or electrical energy from the second battery pack 424 and / or the third charger 420 to perform its respective functions. The actuator 430 may be any of the linear electric actuators described herein (e.g., linear electric actuator 52, linear electric actuator 54, linear electric actuator 42, linear electric actuator 30, linear electric actuator 38, etc.). The third charger 420 is configured to generate power or electrical energy for the second battery pack 424 and may provide power or electrical energy to charge the second battery pack 424. Third charger 420 can be configured to supply 240 volts AC power or electrical energy to electrical slip ring 418. Load 422 can be a sky or a welder electrical load. Third charger 420 can also be configured to provide power or electrical energy to load 422. Load 422 can be or have a plug (e.g., a receptacle) on equipment assembly 16 for powering one or more electrical devices in equipment assembly 16 (e.g., a welder).

[0063] The turntable control module 428 is configured to generate control signals to either the electrical slip ring 418, the actuator 430, the third charger 420, or the ignition module 426. The turntable control module 428 can be the same as or similar to the base control module 412. The turntable control module 428 may be configured to provide control signals to either the electrical slip ring 418, the actuator 430, the charger 420, or the ignition module 426 via the CAN bus of the lift device 10.

[0064] The second battery pack 424 may be a supplemental or smaller battery pack compared to the first battery pack 408. For example, the second battery pack 424 may be a 7.4 KWh battery pack having four modules. Advantageously, the split battery system 400 uses the first battery pack 408 disposed on the base assembly 12 (or frame 20) and the second battery pack 424 disposed on the turntable assembly 800 to drive the electrical slip rings 418 to perform the turntable function of the lift device 10.

[0065] 5 , the lift device 10 includes a turntable assembly 800 and a base assembly 12. The base assembly 12 includes a base assembly battery 806, while the turntable assembly 800 includes a turntable battery 802. The turntable battery 802 can be the same as or similar to the second battery pack 424. The base assembly battery 806 can be the same as or similar to the first battery pack 408. In this manner, electrical energy for the lift device 10 can be stored primarily in the base assembly battery 806 (e.g., to operate the electric motor 24 for driving / steering the lift device 10, for the actuator 430, to operate the turntable assembly 800, etc.) and can also be stored in the turntable battery 802. The base assembly battery 806 can function as the primary energy storage device or system, and the turntable assembly battery 802 can function as a secondary energy storage device or system.

[0066] 5, the base assembly 12 may include a charger 808 configured to operate to charge the base assembly battery 806 to maintain a minimum charge level in the base assembly battery 806. The charger 808 may be a smart charging device that monitors the charge level of the base assembly battery 806. The turntable assembly 800 also includes a charger 804 configured to charge the turntable battery 802. The charger 804 may be the same as or similar to the charger 808. The charger 804 may be the third charger 420. The charger 808 may be the first charger 404 and / or the second charger 406.

[0067] With particular reference to Figure 6, a portion of the lift device 10 is shown in greater detail. Specifically, Figure 6 illustrates the frame 20 and various components of its base assembly 12. The base assembly 12 can have a left energy storage chamber 822a disposed on the left side 152 of the lift device 10 and a right energy storage chamber 822b disposed on the right side 150 of the lift device 10. The left energy storage chamber 822a can contain one or more base assembly batteries 806. Similarly, the right energy storage chamber 822b can contain one or more base assembly batteries 806. The left energy storage chamber 822a and the right energy storage chamber 822b can be fixedly coupled to the frame 20 on either side of the frame 20 (e.g., on both longitudinal sides of the frame 20).

[0068] 6, the steering system 700 can have a steering actuator 722 configured to pivot or rotate the traction elements 22 to indicate the turning direction of the lift device 10. The steering actuator 722 can be a linear electric steering actuator configured to extend and retract to pivot the traction elements 22 to steer the lift device 10.

[0069] 6, the lift device 10 includes a base assembly controller 820 disposed on the frame 20 and configured to operate various controllable elements of the base assembly 12 or the lift device 10. The base assembly controller 820 may be the base control module 412. The base assembly controller 820 may be configured to operate the traction control system or the steering system 700. The lift device 10 also includes a base battery management system 834 disposed on the frame 20 and configured to monitor any of the base assembly batteries 806 (e.g., state of charge, state of health, etc.).

[0070] 6 , the lift device 10 includes a slip ring transmission 812 (e.g., a rotary electrical interface, a rotary electrical connector, a collector, a swivel joint, an electrical rotary joint, etc.) fixedly coupled to the frame 20. The slip ring transmission 812 may be an electrical slip ring 418. The slip ring transmission 812 may be configured to receive power or electrical energy from the base assembly battery 806 and / or the turntable battery 802 to rotationally drive the turntable member 803 relative to the frame 20. The slip ring transmission 812 may define the central axis 62 about which the turntable assembly 800 rotates. The slip ring transmission 812 may be configured to transfer energy and / or data between the base assembly 12 and the turntable assembly 800.

[0071] 6 , the lift device 10 includes a power inverter 810. The power inverter 810 is configured to receive power (e.g., DC power) from the base assembly battery 806, convert the power (e.g., to AC power), and output the converted power to slip ring conduction 812 to operate the turntable assembly 800.

[0072] 7 , the illustrated slip ring conduction member 812 includes a first portion 814 and a second portion 816. The first portion 814 and the second portion 816 may be coaxial with one another and configured to rotate relative to one another about the central axis 62. The first portion 814 may be rotatably coupled to the second portion 816 via the central axis 818. In some embodiments, the central axis 818 and the second portion 816 are integrally formed with one another. The first portion 814 may be fixedly coupled to the turntable member 803, while the second portion 816 may be fixedly coupled to the frame 20. The slip ring conduction member 812 may be configured to receive electrical energy and generate rotational kinetic energy that rotates the first portion 814 relative to the second portion 816.

[0073] 8, one of the energy storage chambers 822 is shown in more detail, according to an exemplary embodiment. It should be understood that both the left energy storage chamber 822a and the right energy storage chamber 822b can be similarly configured such that everything that can be said about the left energy storage chamber 822a can also be said about the right energy storage chamber 822b, and vice versa.

[0074] 8, energy storage chamber 822 includes first frame member 828 and second frame member 826. First frame member 838 and second frame member 826 may be fixedly coupled to frame 20 and may extend from lateral sides of frame 20. In some embodiments, second frame member 826 is fixedly coupled (e.g., via fasteners) to first frame member 828. First frame member 828 may be fixedly coupled to frame 20.

[0075] The first frame member 828 and the second frame member 826 can be configured to support a plurality of base assembly batteries 806. The first frame member 828 and the second frame member 826 can also be configured to support a charger 808. The lift device 10 also includes a manual on / off switch 824 configured to receive a user input. The manual on / off switch 824 can be operated between a first position and a second position to provide a signal to the controller 200, the base battery management system 834, the base assembly controller 820, the traction controller 414, the steering controller 416, the base control module 412, or the turntable control module 428 to activate or deactivate one or more functions of the lift device 10 or start the lift device 10.

[0076] 8, the energy storage chamber 822 may have one or more electrically controlled switches 836. The electrically controlled switches 836 may be fixedly coupled to or disposed on one of the first frame member 828 or the second frame member 826. The electrically controlled switches 836 may also provide feedback to detect switch failure.

[0077] In some embodiments, energy storage compartment 822 also includes a base battery management system 834. For example, base battery management system 834 can be located in energy storage compartment 822 and supported by first frame member 828 and second frame member 826.

[0078] 7-8 , the base assembly battery 806 can be configured to serve as the primary power source for any electric motors, actuators, systems, functions, etc. of the base assembly 12 and / or turntable assembly 800. For example, the base assembly battery 806 can provide power to the slip ring conduction 812 for rotating the turntable member 803 relative to the frame 20. The base assembly battery 806 can also be configured to replenish or recharge the turntable battery 802. Similarly, the turntable battery 802 can be configured to provide electrical energy or power for the various electric actuators or motors of the lift device 14 (e.g., linear electric actuator 54, linear electric actuator 52, linear electric actuator 42, and / or linear electric actuator 30).

[0079] 9, a portion of a turntable assembly 800 is shown in detail, according to an exemplary embodiment. A turntable battery 802 may be fixedly coupled, attached, secured, positioned, etc. to a turntable member 803. The turntable battery 802 may serve as the primary power source for the various controllable elements of the lifting device 14 and may be recharged by a base assembly battery 806.

[0080] 9 , the turntable assembly 800 can have a manual on / off switch 832 and one or more turntable electrical control switches 830. The manual on / off switch 832 can be the same as or similar to the manual on / off switch 824 of the base assembly 12. The turntable electrical control switch 830 can be the same as or similar to the electrical control switch 836 of the base assembly 12.

[0081] 9, the turntable assembly 800 has a turntable battery management system 840 configured to monitor the status or control the discharge of the turntable battery 802 (e.g., based on sensor data). The turntable battery management system 840 can be the same as or similar to the base battery management system 834. The turntable assembly 800 also includes a turntable master controller 842 that is responsible for operating the various controllable elements (e.g., the linear electric actuators of the lift device 14) that draw power from the turntable battery 802.

[0082] The turntable member 803 may support a turntable battery 802, a charger 804, a manual on / off switch 832, an electrically controlled switch 830, a turntable battery management system 840, or a turntable master controller 842. In this manner, the turntable battery 802, the charger 804, the manual on / off switch 832, the electrically controlled switch 830, the turntable battery management system 840, and the turntable master controller 842 can rotate or pivot together with the turntable member 803 about the central axis 62 relative to the frame 20.

[0083] 4-9 , the turntable battery 802 can be replenished or recharged by the base assembly battery 806 via a power inverter 810 (e.g., inverter 410), a slip ring conduction 812, and a charger 808 (e.g., the charger 808 of the base assembly 12 or the charger 804 of the turntable assembly 800). The power inverter 810 can be configured to convert DC power from the base assembly battery 806 to AC power and provide the AC power to the slip ring conduction 812. The slip ring conduction 812 can transfer the AC power or electrical energy from the power inverter 810 to the charger 804. The charger 804 can receive the AC power or electrical energy from the slip ring conduction 812 to recharge or replenish the turntable battery 802 so that various linear electric actuators of the lifting apparatus 14 or lifting device can draw power from the turntable battery 802. The controller 200, the turntable battery management system 840, the turntable master controller 842, the base assembly controller 820, the base battery management system 834, the base control module 412, or the turntable control module 428 can coordinate or individually adjust the energy balance between the turntable battery 802 and the base assembly battery 806.

[0084] 8, the energy storage compartments 822 may be modular base energy storage compartments. Each energy storage compartment 822 may have six base assembly batteries 806, a charger 808, a manual on / off switch 824, and two electrical control switches 836. The lift device 10 may include two energy storage compartments 822 located on opposite sides of the frame 20. The manual on / off switch 824 may be a manual disconnect switch for disconnecting the base assembly batteries 806.

[0085] 5 and 9 , the lift device 14 can be configured to draw power from the turntable battery 802 when operating to perform various lift device functions, such as raising or lowering the equipment assembly 16, extending or retracting the outer member 26 relative to the inner member 28, and pivoting the turntable assembly 800. The various linear electric actuators or electric motors that perform these functions may draw power from the turntable battery 802 as long as the energy or charge level of the turntable battery 802 is maintained above a predetermined level. The turntable battery 802 may be supplemented by the base assembly battery 806 to maintain the turntable battery 802 above that level. If the turntable battery 802 cannot provide sufficient electrical energy to the lift device 14 or the various controllable elements necessary to perform the functions described herein and charge from the base assembly battery 806 is unavailable, the controller 200 may maintain reserve energy to operate the lift device 14 according to a slow-speed or limited mode (e.g., only permitting the lift device 14 to lower the equipment assembly 16). If the energy level of the turntable battery 802 decreases further and it is still unable to recharge from the base assembly battery 806, the functionality of the lifting device 14 can be disabled or limited by the controller 200 until energy replenishment is possible. The controller 200 can also inhibit power to the various linear electric actuators of the base assembly 12 (e.g., drive actuators, steering actuators such as steering actuator 722, axle lockout actuators) if the battery level (e.g., state of charge) of the base assembly battery 806 falls below a threshold.

[0086] The energy required to power the various controllable elements of the base assembly 12 (e.g., linear electric actuators, electric motors 24, etc.) while the base assembly 12 performs its normal functions, such as driving and steering, may be supplied by the base assembly battery 806. If the energy stores of the base assembly battery 806 are low or fall below a predetermined level and the energy cannot be replenished, the controller 200 may disable operation of the base assembly 12 until the energy can be replenished.

[0087] When the lift device 10 is connected to a facility's energy source (e.g., an electrical outlet or charging station via receptacle 402), the charger 808 can charge the base assembly battery 806 using energy supplied by the facility's energy storage. Simultaneously, the power inverter 810 may convert the DC voltage or DC power of the base assembly battery 806 into AC power of low enough current to be consumed by the slip ring conduction 812. This AC power can then be transferred via the slip ring conduction 812 to the turntable battery 802 or the charger 804 for replenishment of the turntable battery 802. The charger 804 can then charge the turntable battery 802 until both the turntable battery 802 and the base assembly battery 806 reach a 100% state of charge.

[0088] When the lift device 10 is not connected to the facility's energy source, the turntable battery 802 can still be replenished or recharged by the base assembly battery 806 as described herein. In one embodiment, the controller 200 or control system of the lift device 10 operates the split battery system 400 to maintain the turntable battery 802 at a 75% to 80% state of charge, provided that the charge level of the base assembly battery 806 is at or above 10%. Energy transfer from the base assembly battery 806 to the turntable battery 802 can be stopped when the base assembly battery 806 falls below a 10% state of charge.

[0089] Telehandler Mode 1-3, the equipment assembly 16 can interchangeably receive or be replaced with different equipment or implements. For example, in FIGS. 2-3, the equipment assembly 16 is shown configured with forks 18, and the lift device 10 is configured for material handling (e.g., configured as a material handler). However, the equipment assembly 16 can be removed and a different equipment assembly (e.g., platform equipment as shown in FIG. 1) can be installed to configure the lift device 10 for a different application (e.g., a mobile aerial work platform, MEWP).

[0090] With particular reference to FIG. 26 , the lift device 10 is shown configured as a MEWP. Specifically, the equipment assembly 16 disposed at the end of the lift apparatus 14 is a platform assembly 90 having a base or platform 92 and rails 94. The platform assembly 90 can be raised and lowered to easily access an elevated location 504. The platform assembly 90 can be configured to support a worker 502. In one embodiment, when the equipment assembly 16 is the platform assembly 90, the deployable operator station 100 can be placed in a tucked or stowed mode, position, or state. When the equipment assembly 16 is the platform assembly 90, the worker 502 can operate the lift device 10 from the platform assembly 90 by operating an HMI disposed on the platform assembly 90 or by using a mobile device (e.g., a smartphone) wirelessly communicatively coupled to the controller 200. The lift device 10 can also be operated from a ground-level control panel when the equipment assembly 16 is the platform assembly 90 and the deployable operator station 100 is tucked or stowed. The platform assembly 90 can have fork pockets configured to receive the forks 18 therethrough, which removably couple the platform assembly 90 to the forks 18 to convert the lift device 10 into a MEWP telehandler.

[0091] 27, the lift device 10 is shown configured as a material handler when the equipment assembly 16 has forks 18 or when the platform assembly 90 is detached from the forks 18. The forks 18 can be configured to allow for easy removal of pallets, support materials, etc. so that materials can be placed or removed from the elevated location 504. When the lift device 10 is configured as a material handler with forks 18, the lift device 10 can be operated from a deployable work station 100. In particular, when the lift device 10 is configured as a material handler, the deployable work station 100 can be placed in a deployed state, position, or mode so that an operator 502 can control or operate the lift device 10 via various user input devices located on the deployable operator station 100.

[0092] 2 and 3, the deployable operator station 100 is shown positioned on the right side 150 of the lift device 10. The deployable operator station 100 may be positioned on the right side 150 of the lift device 10 or on the left side 152 of the lift device 10. In a preferred embodiment, the deployable operator station 100 is positioned on the right side 150 of the lift device 10 as shown.

[0093] 1-3 , lift device 10 is shown configured as an all-electric telehandler that uses linear electric actuator 52, linear electric actuator 54, linear electric actuator 30, and linear electric actuator 38 to raise and lower equipment assembly 16. However, lift device 10 may also be configured as a hydraulic telehandler, in which linear electric actuator 52, linear electric actuator 54, linear electric actuator 30, and linear electric actuator 38 are replaced with hydraulic cylinders. In other embodiments, where lift device 10 is a hybrid telehandler, one or more of linear electric actuator 52, linear electric actuator 54, linear electric actuator 30, or linear electric actuator 38 are replaced with hydraulic linear actuators. In still other embodiments, lift device 10 is configured as an electro-hydraulic or hybrid telehandler. In some embodiments, lift device 10 is configured as a MEWP having a linear lift assembly. When the lift device 10 is in the MEWP mode (shown in FIG. 4 ) or the MH mode (shown in FIG. 5 ), the lift device 10 may be configured as a two-wheel steer telehandler, with two of the traction elements 22 (e.g., the front pair or the rear pair) configured to receive steering inputs to indicate the turning direction of the lift device 10. In some embodiments, the lift device 10 is configured as a four-wheel steer telehandler, with both pairs of traction elements 22 (e.g., both the front pair and the rear pair) configured to receive steering inputs to indicate the turning direction of the lift device 10. In some embodiments, the lift device 10 is configured as a two-wheel drive telehandler, with only two of the traction elements 22 (e.g., from the electric motors 24 or from corresponding electric motors 24) receiving rotational kinetic energy to transport the lift device 10. In one embodiment, the lift device 10 is configured as a four-wheel drive telehandler such that all four of the traction elements 22 receive rotational kinetic energy for transporting the lift device 10 (e.g., from the electric motor 24 or from each corresponding electric motor 24).In one embodiment, an electric motor 24 is positioned proximate each traction element 22 so that each traction element 22 can be independently driven by a corresponding electric motor 24. The electric motors 24 can be high-speed, high-efficiency electric motors (e.g., electric motors having maximum efficiency at a desired drive or conveying speed).

[0094] Steering system 29-33, a steering system 700 according to an exemplary embodiment is shown in detail. The steering system 700 is configured to pivot and rotate the traction element 22. The steering system 700 includes one or more frame members, control arm assemblies, hub assemblies, knuckles, etc., shown as a steering knuckle 706. Any of the frame members (e.g., the laterally extending frame members 702 / 704) may be components or portions of the frame 20. The traction element 22 is rotatably coupled to the steering knuckle 706. The traction element 22 is configured to rotate about an axis 790 relative to the steering knuckle 706. When the traction element 22 is rotationally driven by the electric motor 24, friction occurs between the traction element 22 and the ground, thereby driving the lift device 10.

[0095] The steering knuckle 706 is configured to rotate / pivot about an axis 720 relative to the laterally extending frame members 702 / 704 to facilitate steering of the lift device 10. The steering knuckle 706 may be rotatably coupled to the laterally extending frame members 702 / 704 with bearings. The electric motor 24 may be configured to pivot with the steering knuckle 706 as the steering knuckle 706 rotates about the axis 720. The steering knuckle 706 is driven to pivot about the axis 720 by a tie rod, control arm, rigid member, etc., shown as a steering member 792. The steering member 792 has a first arcuate member 708a and a second arcuate member 708b (e.g., a curved member, a bow-shaped member, an arch-shaped member, etc.). Arcuate member 708 can have a generally arcuate shape, a curved shape, a constant radius curved shape, a non-constant radius curved shape, an angled shape (e.g., two straight or curved segments with a difference in angle), etc. Steering member 792 is configured to be pivotally coupled to a connecting portion 712 of steering knuckle 706 about axis 711. Steering member 792 can be coupled to an elongated member, cylinder, pin, rod, etc., shown as pin 714 extending through corresponding openings in connecting portion 712 between first arcuate member 708a and second arcuate member 708b. In some embodiments, pin 714 is fixedly coupled to arcuate member 708 and rotatably coupled to an opening / bore in steering knuckle 706. In other embodiments, pin 714 is fixedly coupled to steering knuckle 706 and rotatably coupled to an opening / bore in arcuate member 708. The first arcuate member 708a and the second arcuate member 708b each have a connecting end 796. The connecting end 796 can have an opening, bore, hole, etc. configured to couple with the pin 714. In one embodiment, a bearing (e.g., a sleeve bearing, a ball bearing, etc.) is disposed within the opening in the connecting portion 712 and configured to couple with the pin 714 extending between the first arcuate member 708a and the second arcuate member 708b.The pivotable / rotatable joint between the steering knuckle 706 and the first and second arcuate members 708 a and 708 b facilitates relative rotation between the steering knuckle 706 and the steering member 792 about the axis 711 .

[0096] The electric motor 24 is configured to drive the traction element 22. The electric motor 24 can be mounted between a laterally extending frame member 702 and a laterally extending frame member 704. The laterally extending frame member 702 / 704 is the end of one (e.g., front, rear) of the lateral frame members 710. The lateral frame member 710 can extend along substantially the entire lateral width of the lift device 10. The lateral frame member 710 provides structural support between the traction element 22 and the base assembly 12. The lateral frame member 710 extends along a lateral axis 780 of the lift device 10.

[0097] The steering member 792 has a generally arcuate shape and extends between the electric actuator 722 (e.g., a linear electric actuator, a linear electric steering actuator, etc.) and the steering knuckle 706. The steering member 792 is configured to couple to a rod, cylinder, extension member, push rod, etc., of the electric actuator 722, shown as rod 726. The steering member 792 can be fixedly coupled to an end, connection, clevis, mounting, etc., of the rod 726, shown as end 730. The rod 726 is configured to telescope relative to a body, housing, frame, main member, outer member, etc., of the electric actuator 722, shown as body 724. The rod 726 is received within the body 724 of the electric actuator 722 and can be driven to telescope by an electric motor 732. The electric motor 732 can be configured to interact with a gear that drives a drive nut (not shown). The drive nut can drive the rod 726 to telescope.

[0098] An end 730 of the rod 726 is configured to be received between the first and second arcuate members 708a, 708b. The first and second arcuate members 708a, 708b can be substantially parallel to one another and extend outward between the electric actuator 722 and the traction element 22. The end 730 can be fixedly coupled to the first and second arcuate members 708a, 708b. In some embodiments, the end 730 is fixedly coupled to the first and second arcuate members 708a, 708b using fasteners 728 (e.g., bolts, rivets, screws, etc.) extending through the end 730. In some embodiments, two or more fasteners 728 are used to fixedly couple the end 730 of the rod 726 to the steering member 792 (i.e., to the first and second arcuate members 708a, 708b). In other embodiments, the end 730 of the rod 726 and the steering member 792 are integrally formed, welded, or otherwise fixedly attached.

[0099] The fixed connection between the end 730 of the rod 726 and the steering member 792 prevents rotation between the rod 726 and the steering member 792. This advantageously facilitates reducing the side loads applied to the electric actuator 722. This reduces the likelihood of any of the internal components of the electric actuator 722 failing due to excessive side loads / forces.

[0100] The electric actuator 722 is configured to be pivotally coupled to a longitudinally extending frame member 742. The longitudinally extending frame member 742 extends longitudinally outward from the lateral frame member 710. The longitudinally extending frame member 742 may extend from a center point of the lateral frame member 710. The longitudinally extending frame member 742 may extend outward (e.g., in a forward direction 750) from the lateral frame member 710. The longitudinally extending frame member 742 may be removably coupled to the lateral frame member 710 (e.g., with fasteners), may be integrally formed with the lateral frame member 710, or may be otherwise connected / coupled to the lateral frame member 710. The electric actuator 722 is disposed between the longitudinally extending frame member 742a and the longitudinally extending frame member 742b. The body 724 of the electric actuator 722 can be positioned between a longitudinally extending frame member 742a and a longitudinally extending frame member 742b.

[0101] The pin 798 can extend at least partially (or entirely) through an opening in the electric actuator 722 and a corresponding opening in the longitudinally extending frame member 742. The electric actuator 722 is configured to pivot, rotate, or the like about an axis 776 relative to the longitudinally extending frame member 742. As the electric actuator 722 extends or contracts, the electric actuator 722 can pivot in either direction about the axis 776. The axis 776 can be defined to extend through the pin 798. The pin 798 can be configured to be fixedly coupled to the electric actuator 722 and can also be configured to be rotatably coupled to a bearing, mounting member, rotatable coupling member, or the like, shown as coupling member 740. The coupling member 740 can be disposed on an outer surface of the longitudinally extending frame member 742. For example, coupling member 740a can be disposed on an upper or outer surface of longitudinally extending frame member 742a, and coupling member 740b can be disposed on a lower or outer surface of longitudinally extending frame member 742b. Pin 798 can be slidably coupled to an opening, bore, hole, or the like in body 724 of electric actuator 722. In other embodiments, pin 798 is fixedly coupled to a bore in body 724. In yet other embodiments, pin 798 has a sliding fit with an inner surface of a bore in body 724. Pin 798 can be rotatably coupled to coupling members 740. Coupling members 740 can each include a bearing (e.g., a ball bearing, a roller bearing, a sleeve bearing, etc.) configured to couple with pin 798. Coupling members 740 can be coupled to longitudinally extending frame members 742.

[0102] The longitudinally extending frame member 742a and the longitudinally extending frame member 742b can be substantially parallel to one another and define a receiving area therebetween that is configured to receive the body 724 of the electric actuator 722 therebetween. The pin 798 can extend through at least a portion of or substantially all of the receiving area defined between the longitudinally extending frame member 742a and the longitudinally extending frame member 742b.

[0103] When the electric actuator 722 extends (e.g., the rod 726 extends relative to the body 724), the electric actuator 722 can rotate about the axis 776. Similarly, the steering knuckle 706 and the steering member 792 rotate relative to each other about the axis 711. Similarly, when the electric actuator 722 retracts (e.g., the rod 726 retracts relative to the body 724), the electric actuator 722 can rotate about the axis 776, and the steering knuckle 706 and the steering member 792 rotate relative to each other about the central axis 711. In this manner, extension and contraction of the electric actuator 722 can drive the steering knuckle 706 to rotate / pivot about the axis 720, thereby pivoting the traction element 22. The electric actuator 722 can receive power for extension and contraction from the electrical storage device 40. The electric actuator 722 can receive a control signal from the controller 200 indicative of the degree of extension and contraction (and thereby the degree of pivoting of the traction element 22). The controller 200 can provide a control signal to the electric actuator 722 indicating the degree of extension or retraction in response to receiving user input from the HMI 500 or any other user input device of the lift device 10. The controller 200 causes the electric actuator 722 to extend or retract to indicate the direction of rotation of the lift device 10.

[0104] The electric motor 24 may also receive power from the energy storage device 40 to drive the traction elements 22. The electric motor 24 may receive control signals from the controller 200 to operate (e.g., at a desired speed).

[0105] The arcuate members 708 are curved so that when the traction elements 22 are pivoted to their angular limits (e.g., the maximum pivot when the electric actuator 722 is fully extended), the steering member 792 does not contact the electric motor 24. This facilitates greater pivoting of the lift device 10 without the steering member 792 contacting the electric motor 24.

[0106] With particular reference to FIG. 30 , the lift device 10 may include a shield, guard, planar member, etc., shown as a guard member 731. The guard member 731 may protrude outward from the lift device 10 in the direction of movement of the lift device 10. The guard member 731 provides a barrier to objects in front of the lift device 10 to prevent the electric actuator 722 from contacting the object when the lift device 10 is actuated. The lift device 10 may include a front guard member 731 and a rear guard member 731 disposed at opposite ends of the lift device 10. The guard members 731 may protrude outward in either the forward direction 750 or the rearward direction along the longitudinal axis 778. For example, the front guard member 731 may protrude outward from the front of the base assembly 12 in the forward direction 750. Similarly, the rear guard member 731 may protrude in the rearward direction from the rear of the base assembly 12.

[0107] It should be noted that while only one traction element 22 is shown pivoted / rotated by the steering system 700, any or all of the traction elements 82 of the lift device 10 can be similarly configured. For example, the steering system 700 can have a similar and symmetrical electric actuator 722 on the opposite side (e.g., right / left side) of the base assembly 12 that steers the traction element 22 on the opposite side. In some embodiments, the steering system 700 is disposed on the outboard side of the cross member 710 (e.g., the forward-facing face of the front lateral frame member 710, the rear-facing face of the rear lateral frame member 710). In other embodiments, the steering system 700 is disposed on the inboard face of the cross member 710 (e.g., the inboard face of the front lateral frame member 710, the forward-facing face of the rear lateral frame member 710).

[0108] Control System 10 , a control system 1000 for a lift device 10 includes a controller 200, a turntable battery 802, a charger 804, a battery sensor 1004, a slip ring conduction 812, a power inverter 810, a base assembly battery 806, a battery sensor 1002, a charger 808, a base assembly 12, and a lift apparatus 14. The controller 200 may represent any one or combination of the base control module 412, the turntable control module 428, the traction controller 414, the steering controller 416, the base assembly controller 820, the base battery management system 834, the turntable battery management system 840, or the turntable master controller 842. Any of the functions of the base control module 412, the turntable control module 428, the traction controller 414, the steering controller 416, the base assembly controller 820, the base battery management system 834, the turntable battery management system 840, or the turntable master controller 842 may be performed by the controller 200. In an embodiment, any of the functions of controller 200 described herein are distributed across or performed by a combination of base control module 412, turntable control module 428, traction controller 414, steering controller 416, base assembly controller 820, base battery management system 834, turntable battery management system 840, or turntable master controller 842.

[0109] The controller 200 includes a processing circuit 202, a processor 204, and a memory 206. The processing circuit 202 may be communicatively coupled to a communication interface such that the processing circuit 202 and its various components can send and receive data via the communication interface. The processor 204 may be implemented as a general-purpose processor, an application-specific integrated circuit (ASIC), one or more field-programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components.

[0110] Memory 206 (e.g., memory, memory unit, storage device, etc.) may comprise one or more devices (e.g., random access memory, read-only memory, flash memory, hard disk storage, etc.) for storing data and / or computer code for completing or facilitating the various processes, layers, and modules described herein. Memory 206 may be or include volatile or non-volatile memory. Memory 206 may also include database components, object code components, script components, or any other type of information structure and / or program that supports various activities. The memory 206 may include information structures as described herein. According to an embodiment, the memory 206 is communicatively coupled to the processor 204 via the processing circuitry 202 and includes computer code for performing (e.g., by the processing circuitry 202 and / or the processor 204) one or more operations described herein.

[0111] The controller 200 is configured to generate control signals for the base assembly 12 and / or the lifting apparatus 14 to perform the requested function input by the user input device 1006. For example, the user input device 1006 can be any button, lever, human-machine interface, touch screen, steering wheel, etc. that a user or operator of the lifting device 10 can provide through the user input device. The controller 200 can receive the user input and generate control signals to the base assembly 12, the lifting apparatus 14, or various controllable elements (e.g., electric actuators, linear electric actuators, electric motors, etc.) to perform the requested function of the base assembly 12 or the lifting apparatus 14 (e.g., steering operation, driving operation, lifting operation, turntable operation, etc.).

[0112] Controller 200 may receive sensor feedback from any of the systems, subsystems, electrical devices, etc. described herein through one or more sensors. Controller 200 receives the battery level of turntable battery 802 from battery sensor 1004 and the battery level of base assembly battery 806 from battery sensor 1002. Controller 200 may also generate and provide control signals to charger 808, power inverter 810, slip ring conduction 812, or charger 804 to perform recharging operations, as described in more detail above.

[0113] The charger 808 can be connected to a facility power source and can provide charged power to the base assembly battery 806. The controller 200 can monitor the battery level of the base assembly battery 806 and operate the charger 808 to charge the base assembly battery 806 to a desired charge level. The base assembly battery 806 can provide power to the base assembly 12 or various electrical components of the base assembly 12 so that the electrical components of the base assembly 12 can operate to perform their respective functions (e.g., drive and steering functions). In one embodiment, the base assembly battery 806 provides power (e.g., AC power) to the base assembly 12 or its various electrical components via a power inverter 810.

[0114] The base assembly battery 806 can provide DC power to the power inverter 810. The power inverter 810 can provide AC power to the slip ring conduction 812, which can then provide AC power (e.g., as provided by the charger 808 or from a facility power source) to the turntable battery 802 to recharge the turntable battery 802 (e.g., via the charger 804). The controller 200 can generate control signals for the charger 804 and / or the slip ring conduction 812 to convey power from the power inverter 810 to the turntable battery 802 to recharge it. In one embodiment, the controller 200 receives the battery level of the turntable battery 802 from the battery sensor 1004 and operates the charger 804, the slip ring conduction 812, and the power inverter 810 to charge the turntable battery 802 until it reaches at least a minimum charge level. The controller 200 can also generate control signals for the slip ring conduction portion 812 to rotate the turntable assembly 800 relative to the base assembly 12 as requested by user input (e.g., to perform a turntable operation).

[0115] It will be appreciated that the controller 200 can be configured to operate the charger 808, the power inverter 810, the slip ring conduction 812, and the charger 804 to replenish or recharge the turntable battery 802 when the charger 808 is connected to utility power or when the charger 808 is not connected to utility power. For example, when the controller 200 detects that the battery level obtained by the battery sensor 1004 is below a threshold level, the controller 200 can operate the charger 808, the power inverter 810, the slip ring conduction 812, and the charger 804 to replenish the turntable battery 802 with energy provided by the base assembly battery 806.

[0116] The controller 200 may also limit operation of the base assembly 12 and / or the lifting device 14 based on the connection status of the charger 808 to facility power, the battery level of the turntable battery 802, and the battery level of the base assembly battery 806. For example, if the controller 200 detects that the turntable battery 802 has a battery level below a first threshold, the controller 200 may limit operation of the lifting device 14 to raise the equipment assembly 16 until the turntable battery 802 is charged. The controller 200 may replenish the turntable battery 802 using the charging or replenishing techniques described herein if the battery level of the base assembly battery 806 is sufficient to charge or replenish the turntable battery 802 and / or if the charger 808 is connected to facility power. If the battery level of the turntable battery 802 falls below a second threshold and the controller 200 determines that the charger 808 is not yet connected to facility power and the base assembly battery 806 does not have a sufficient battery level to replenish the turntable battery 802, the controller 200 may limit operation of the base assembly 12 until the charger is connected to facility power or may operate a display device or notification system of the lift device 10 to prompt an operator to connect to facility power to charge the charger 808. The controller 200 may similarly use the battery level of the base assembly battery 806 to limit operation of the base assembly 12. The controller 200 may cut off power to the lift device 10 (e.g., to the base assembly 12, and / or to the lift apparatus 14, and / or to the turntable assembly 800) in response to detecting a period of user inactivity in order to maintain or preserve the charge state of the base assembly battery 806 and / or the turntable battery 802.

[0117] 25 , a control system 1800 for a lift device 10 includes a controller 200, input devices 1802, and controllable elements 1804. In one embodiment, the input devices 1802 include, but are not limited to, switches 186, buttons 184, joysticks 188, HMIs 500, joysticks 190, and lever twist input devices 194. Similarly, the controllable elements 1804 can include, but are not limited to, linear electric actuators 38, 52, 30, 54, 42, 164, 302, and electric motors 24. The controller 200 is configured to receive various input signals from the input devices 1802 and generate control signals for any of the controllable elements 1804 of the lift device 10.

[0118] In one embodiment, the controller 200 is wirelessly communicatively coupled to a remote user device 208. The controller 200 can receive user input or a request from the remote user device 208 to deploy the deployable operator station 100. In response to receiving the user input, the controller 200 can generate control signals for the various controllable elements 1804 to deploy the deployable operator station 100. Advantageously, the remote user device 208 and the controller 200 can easily initiate deployment of the deployable operator station 100 before a user or operator is present at the lift device 10 (e.g., present at a distance from the lift device 10).

[0119] The controller 200 may be configured to limit, prevent, or inhibit one or more functions of the lift device 10 in response to receiving an indication from an operator sensor 210 that an operator is not present at the deployable operator station 100. The operator sensor 210 may be a camera, distance or proximity sensor, motion detector, temperature sensor, weight sensor, accelerometer, etc., or any other sensor capable of detecting the presence of an operator at the deployable operator station 100. In one example, the controller 200 may function as a key that can be used to operate one or more electric motors in the lift device 10. In one embodiment, as shown in FIG. 41 , a docking station 125 is located within the operator station 100. To operate the lift device 10, a user may first dock a remote, portable controller 200 into the docking station 125. By coupling the portable controller 200 to the docking station 125, a wired or other reliable connection may be established with the controller 200 to execute commands and communicate with various systems throughout the lift device 10. When the operator is finished operating the equipment, the operator can remove the handheld controller 200. The handheld controller 200 can then be charged separately off-site, for example, to limit current draw from the electrical energy storage device 40 installed on-board the lift device 10. By removing the handheld controller 200 from the operator station 100, the operator can effectively remove the entire operating system of the lift device 10, which can also inhibit unauthorized use of the lift device 10. Additional display elements can be provided to capture feedback from a camera located on the base assembly 12 of the lift device 10. The display elements can provide diagnostic or operational information that can assist the operator in the operator station 10 in performing desired tasks with the lift device 10.

[0120] 28 , another control system 600 for a lift device 10 includes a controller 200, an input device 602, and a controllable element 604. The control system 600 may be the same as or similar to the control system 1000. For example, the control system 600 may include any of the input devices 1802 shown in FIG. 25 . In one embodiment, the input device 602 includes, but is not limited to, an operator station input device 602 a and a platform input device 602 b. Similarly, the controllable element 604 may include, but is not limited to, a linear electric actuator 38, a linear electric actuator 52, a linear electric actuator 30, a linear electric actuator 54, a linear electric actuator 42, an electric motor 24, an electric actuator 722, a turntable motor 64, and / or a station actuator 606 configured to operate to at least partially deploy a deployable operator station 100. The controller 200 is configured to receive various input signals from the input devices 602 and generate control signals to any of the controllable elements 604 of the lift device 10 .

[0121] In one embodiment, the controller 200 is wirelessly coupled to a remote user device 208. The controller 200 can receive user input or a request to deploy the deployable operator station 100 from the remote user device 208. In response to receiving the user input, the controller 200 can generate control signals to the various controllable elements 604 (e.g., station actuators 606) to deploy the deployable operator station 100. Advantageously, the remote user device 208 and the controller 200 can facilitate initiating deployment of the deployable operator station 100 before a user or operator is present at (e.g., present a distance from) the lift device 10. In one embodiment, the controller 200 is configured to receive input signals from the remote user device 208 to operate (e.g., drive or steer) the lift device 10. For example, when the lift device 10 is configured as a MEWP, an operator can use the remote user device 208 to operate the lift device 10 (e.g., operate the lift apparatus 14, the steering system 700, drive and steer the turntable assembly 800) from the platform assembly 90. The operator can also control the lift device 10 through the remote user device 208 when the operator is off of and on the platform assembly 90. When the lift device 10 is in MEWP mode, the operator can control or operate the lift device 10 through the ground controls and / or the work platform controls.

[0122] 28, controllable element 604 is shown to harvest or receive electrical energy from energy storage device 40. Energy storage device 40 may use split battery technology or techniques to ensure continuous rotation of turntable assembly 800 and facilitate extended battery life or improved energy consumption efficiency of controllable element 604.

[0123] The controller 200 can operate the controllable element 604 according to various modes. For example, the controller 200 can operate the lift device 10 in MEWP mode and MH mode. When the lift device 10 is configured as a MEWP, the controller 200 can operate the electric motor 24 to maintain functional performance and load capacity equivalent to or greater than that of a conventional MEWP that is not convertible to a MH. In MEWP mode, the controller 200 may allow lift speeds standard for a conventional MEWP. However, the controller 200 may operate the electric motor 24 to move or transport the lift device 10 at twice the speed of a conventional MEWP. In one embodiment, the controller 200 maintains the deployable operator station in a deployed state or position when the lift device 10 is in MEWP mode.

[0124] The controller 200 can also transition the lift device 10 to the MH mode after the platform assembly 90 is replaced with the forks 18, a material handling assembly, a glass holder, a platform configured to support materials or additional loads, or any other equipment. The controller 200 can operate the controllable element 604 to deploy the deployable operator station 100 for the MH mode. In this manner, an operator can sit at the deployable operator station 100 and operate the lift device 10. In one embodiment, the drive speed that the lift device 10 can achieve in the MH mode is two to three times the maximum speed that the lift device 10 can achieve in the MEWP mode. When the controller 200 operates the lift device 10 according to the MH mode, the lift speed of the lift apparatus 14 can be the same as or similar to that of a conventional material handler. Advantageously, the lift device 10 has a greater load-bearing capacity when in the MH mode than a conventional MH. Advantageously, the deployable operator station 100 can be deployed or tucked / stowed for easy visibility. Additionally, the deployable operator station 100 may provide increased or improved visibility compared to other telehandlers that use conventional cabs.

[0125] The controller 200 may also be configured to limit, prevent, or inhibit one or more functions of the lift device 10 in response to receiving an indication from an operator sensor 210 that an operator is not present at the deployable operator station 100. As shown in FIG. 2 , the operator sensor 210 may be located at the deployable operator station 100 (e.g., at the seat 124). The operator sensor 210 may be a camera, a distance or proximity sensor, a motion detector, a temperature sensor, a weight sensor, an accelerometer, etc., or any other sensor capable of detecting the presence of an operator at the deployable operator station 100.

[0126] 10, 25, and 28, any of the control systems 1000, 1800, or 600 that may be implemented in the lift device 10 may include a movable control box 1008. The movable control box 1008 may be a component of the lift device 10. The movable control box 1008 may be configured to be communicatively coupled to the controller 200 wirelessly or by wire. For example, the movable control box 1008 may be communicatively coupled to the controller 200 via a wire or plug to either the deployable operator station 800 (e.g., HMI 500), a fixed operator station of the lift device 10, the platform assembly 90, the equipment assembly 16, or the like. The movable control box 1008 may be detached and wired disconnected from its plug, moved to another location on the lift device 10, and communicatively coupled to a different plug there. For example, the movable control box 1008 may be hardwired or quick disconnected with a plug at the deployable operator station 800 or at the equipment assembly 16 (eg, when the equipment assembly 16 is provided as a platform assembly 90).

[0127] The movable control box 1008 can have various switches, buttons, levers, joysticks, etc. to facilitate providing user input to the controller 200. The movable control box 1008 can provide user input to the controller 200 to operate the lift device 10 (e.g., to drive or steer the lift device 10 or to operate the lift apparatus 14). The platform assembly 90 or the operator station 800 can have a receptacle for storing the movable control box 1008. For example, the deployable operator station 800 can have a receptacle for storing (or otherwise storing) the movable control box 1008 to protect and secure the movable control box 1008 when the deployable operator station 800 is moved to a retracted or stowed position.

[0128] Advanced Worksite Control 46-58, the lift device 10 can be used to perform a variety of different types of tasks at a job site 2000, including autonomous, semi-autonomous, and manual tasks that can be performed by an operator while the operator is physically present in the lift device 10 or while remotely located. The job site 2000 can have a variety of different equipment, including the lift device 10 and other MEWPs and material handling vehicles 2002, that can be remotely monitored and controlled using a series of cameras and controllers located throughout the job site 2000. Cameras can be located on the lift device 10, MEWPs, material handling vehicles 2002, and one or more drones 2004 that can monitor the job site 2000 from the air. The various vehicles and devices at the job site 2000 can be centrally controlled or monitored by a mobile device (e.g., phone, tablet, computer, etc.). In some examples, multiple mobile devices can simultaneously monitor and / or control different equipment at the job site 2000 using camera footage from different cameras on the job site and operational information received from the equipment or drones 2004. In some examples, various cameras placed throughout the work site may record activity at the work site 2000. In some examples, drones 2004 and / or other equipment may monitor environmental characteristics such as noise and pollution present at the work site 2000.

[0129] 47-49, an operator is depicted remotely controlling a material handling vehicle 2002 using a controller 2006. Various pieces of equipment throughout the worksite 2000 can be monitored and / or controlled using the controller 2006, which can be part of or incorporated into a handheld mobile device 2008 (e.g., phone, tablet, laptop, etc.). In one example, as depicted in FIGS. 48-49, the mobile device 2008 has a graphical user interface (GUI) 2010 that can display various different data sets related to the worksite 2000. The data sets can include, for example, machine performance or health, and can also include real-time data feeds (performance parameters, camera views, etc.) from one or more lift devices 10, MEWPs 2002, or drones 2004 located throughout the worksite 2000.

[0130] In some examples, the controller 2006 can be used to adjust the status of one or more lift devices 10, MEWPs 2002, or drones 2004 at the work site 2000. For example, and as shown in FIG. 48 , the controller 2006 can be used to switch between different modes of operation of equipment at the work site 2000. In some embodiments, the different modes of operation can include levels of autonomy. A user can use the controller 2006 to transition a piece of equipment at the work site 2000 between a manual operating mode (e.g., someone is physically present in the equipment while providing drive and lift instructions), a remote manual operating mode (e.g., an operator provides drive and lift instructions remotely via the controller 2006 or other system), a semi-autonomous operating mode (where the user controls the vehicle's movement but the equipment assembly operates autonomously), and a fully autonomous operating mode. In some examples, instructions to the equipment when the equipment is in the remote manual and / or semi-autonomous operating modes can be provided wirelessly using the controller 2006. Thus, an operator can use the controller 2006 to control the position and operation of the equipment without having to be physically present in the lift device 10, MEWP 2002, or drone 2004. In yet another embodiment, the controller 2006 acts as a key that can unlock the equipment for movement in a manual operating mode when the equipment detects the controller's physical presence in the deployable operator station 100.

[0131] The different operational modes selectable by a user may also be defined by the desired task for the lift device 10, MEWP 2002, or drone 2004, or other type of equipment, to perform. For example, an operator may select a lift device 10, which results in a number of available tasks and / or modes that can be accomplished by the lift device 10. In one example, the different modes may include a material handling mode and an aerial work platform (AWP) mode. Depending on the mode selection made by the user (e.g., using the controller 2006 and / or GUI 2010), the lift device 10 may first determine whether its equipment assembly 16 needs to be reconfigured. When the material handling mode is selected, the lift device 10 or controller 2006 (e.g., using the controller 200) may first determine whether the appropriate equipment is currently coupled to the lift apparatus 14. If the lift device 10 or controller 2006 detects that a platform assembly 90 (as opposed to, e.g., forks 18) is coupled to the lift apparatus 14, the lift device 10 may first navigate to a nearby location to perform the equipment replacement operation. The platform assembly 90 can be disconnected from the lifting device 14 and the forks 18 can be coupled to the lifting device 14. The forks 18 can be attached to the lifting device 10 to achieve the material handling mode. Conversely, when the AWP mode is selected, the lifting device 10 and / or the controller 2006 determines whether the appropriate platform assembly 90 is coupled to the lifting device 14 and automatically performs the changeover operation, if necessary, to transition from the material handling mode back to the AWP mode.

[0132] As shown in FIGS. 48-49 , the GUI 2010 on the mobile device 2008 can be split to provide real-time media (e.g., images, video, etc.) captured from one or more cameras located on the equipment, as well as controls that can be used to direct and / or drive the lift device 10 or other equipment. In one example, the GUI 2010 is configured to have a forward-looking screen 2012 from a camera located on the lift device 10, and one or more virtual joysticks 2014 or pads that allow an operator to perform different operations such as driving, steering, lifting, or tilting. Thus, the operator can control both the prime mover and the lift apparatus 14 using the mobile device 2008 and the GUI 2010. In one example, the GUI 2010 also has a mode selection actuator 2016. Tapping the mode selection actuator 2016 can activate the lift device 10 (or other selected equipment) into various operational modes, as described above.

[0133] Referring to FIG. 50 , various pieces of equipment at a work site 2000, including lift devices 10 and MEWPs 2002, are powered. Thus, over time, the energy storage devices 40 of the various pieces of equipment consume energy and require recharging. The work site 2000 can include a charging station 2018, which can enable rapid and autonomous recharging of the various pieces of equipment. The charging station 2018 has multiple solar panels 2020 that can be configured to capture and store energy from sunlight. The captured energy can be transferred to the lift device(s) 10 or MEWPs 2002 located below or near the charging station 2018 via a wired or wireless connection. In some examples, the charging station 2018 has one or more charging cords 2022 that can be plugged into a piece of equipment to begin a charging operation. An operator can be assigned to the charging station to perform the physical plugging process to couple the equipment to the charging station 2018 using the cord 2022.

[0134] 51-52 and 55-57, the lift device 10 and / or MEWP 2002 can be configured to perform tasks using target-type projections to direct the lift device 10 and / or MEWP 2002 to the worksite 2000. In one example, a mobile device (e.g., mobile device 2008 or other mobile device) can be used to form a target projection 2024 on an area, such as an elevated surface. The mobile device projects the target 2024 onto the surface, which can then be recognized by the controller 200 of the lift device 10 and used to adjust the position of the equipment assembly 16 until it reaches the projected target 2024. In one example, the drone 2004 can provide the target projection 2024. Thus, an operator can select a target area using the controller 2006. Once the target is selected, the drone 2004 can fly toward the target area and then project the target 2024 onto the selected area below. The controller 200 can then position the lift device 10 so that the equipment assembly 16 is within the projected target 2024. Once the equipment assembly 16 reaches the target area 2024 (which may be done using sensor feedback, optical sensors, etc.), the equipment assembly 16 can then either drop off the material or have the operator remain at the target location until the task is complete, as shown in FIG. 52. In one example, as depicted in FIG. 57, the drone 2004 further has a camera to monitor the lift device 10 as the load of the equipment assembly 16 moves towards the target 2024.

[0135] 53-54, the controller 2006 and / or drone 2004 can be used to perform tool or equipment delivery operations. An operator at the lift device 10 or MEWP 2002 can use a phone or other mobile device (e.g., mobile device 2008) to select from an inventory of different tools that may be needed to perform a task while elevated on the work platform assembly 90. The operator can scroll through a library of different tools available and then select on the mobile device. Once the drone 2004 receives communication that one or more of the tools have been selected by the operator, it is instructed (e.g., by the primary controller 2006) to retrieve the selected tools and deliver them to the operator at the location where the tools are required.

[0136] 58-59, a lifting device 10 is shown with different robotic equipment assemblies 2030, 2032 that can be used to perform a variety of different tasks at height. The robotic equipment assemblies 2030, 2032 can have one or more articulated fingers 2034 that can be manipulated to perform a variety of tasks, including, among other things, material placement. The robotic equipment assemblies 2030, 2032 have multi-axis positioning that can be manipulated to position material at a desired location, making them particularly useful in construction operations. For example, a first lifting device 10a can be used as a positioning device, and a second lifting device 10b can be used as a welding device. The positioning device can have a three-finger assembly 2036. The three-finger assembly 2036 can have one or more material interfaces 2038 located at the tip of each finger 2034. In one example, the material interfaces 2038 are vacuum chambers that can create a low-pressure suction force sufficient to selectively couple material to the robotic equipment assembly 2030. The suction force created may allow the robotic equipment assembly 2030 to lift and suspend heavy materials off the ground so that different tasks can be performed (e.g., welding, fastening, etc.). Once the material is properly placed and / or connected in a desired location, the vacuum may be released and the robotic equipment assembly 2030 may be separated from the material. Various other types of material interface 2038 may also be used, including movable jaws that can grasp and hold an item. In one example, the fingers 2034 of the three-finger assembly 2036 are configured to extend and retract, thereby allowing the three-finger assembly 2036 to accommodate objects of different sizes.

[0137] The robotic equipment assembly 2032 is configured as a welder and has a welding rod 2040 disposed at its tip. The equipment assembly 2032 also has articulating fingers 2034 configured to move about multiple axes to perform welding. In one example, the equipment assembly 2032 has a built-in welding wire feeder that is fed via a feed tube 2042 within the equipment assembly 2032. The position of the welding rod 2040 can be adjusted by both the robotic equipment assembly 2032 and the lifting apparatus 14 simultaneously. In one example, the controller 200 is configured to perform the welding operation. The robotic equipment assemblies 2030, 2032 can be interchangeable such that the first lifting device 10a can also be a welder when a different robotic equipment assembly 2032 is attached.

[0138] As shown in FIG. 58 , the lift devices 10a, 10b and equipment assemblies 2030, 2032 can also be remotely controlled to perform various tasks. For example, an operator can use a mobile device 2008 (which may include a controller 2006) to provide instructions to one or more of the lift devices 10a, 10b without having to be physically present at either of the lift devices 10a, 10b. Cameras can be attached to one or both of the equipment assemblies 2030, 2032 to monitor the process being performed by the equipment assemblies 2030, 2032 and provide real-time feedback. When the lift devices 10a, 10b are in fully autonomous mode, the mobile device 2008 can be used as a mechanism to monitor the progress of the operation. The mobile device 2008 can be used to input different parameters that can be executed by the robotic equipment assemblies 2030, 2032. For example, an operator can input specific weld size instructions to be automatically executed by the robotic equipment assembly 2032. In one example, the mobile device 2008 and controller 2006 can generally be used to control the robotic equipment assemblies 2030, 2032 from the ground below. Using the GUI 2010 and virtual joystick 2014, an operator can direct the robotic articulated fingers 2034 of each of the equipment assemblies 2030, 2032 to perform different tasks (e.g., alignment, welding, etc.) at height. Using camera feeds and semi-autonomous or fully autonomous control, a worker can perform tasks that would otherwise be difficult to accomplish without leaving the ground below. In one example, additional cameras mounted on the drone 2004 or elsewhere on the worksite 2000 can be accessed by the mobile device 2008 to provide additional angles and views that can assist the equipment assemblies 2030, 2032 in performing desired tasks. The GUI 2010 and / or mobile device 2008 can communicate with and control some or all of these remote and autonomous, semi-autonomous, or automatic robotic equipment assemblies 2030, 2032 to complete tasks.While a mobile device 2008 is described, various tasks can be assigned or directed to a central computer system present at the work site 2000, or can be communicated and directed to various devices at the work site 2000 via the internet or other communication protocols. The robotic equipment assemblies 2030, 2032 are configured to communicate with the controller 2006 wirelessly or via a wired connection established through the lifting apparatus 14. In one example, the robotic equipment assemblies 2030, 2032 have radios configured to receive commands from the controller 2006 via the controller 2006, thereby allowing for two-way data flow. While alignment and welding are shown, various types of robotic equipment assemblies 2030, 2032 can be used. For example, jackhammer attachments, nail gun attachments, etc. can be used. In one example, the robotic equipment assemblies can be provided with or in communication with a pressurized water source and used to perform window cleaning tasks. In yet another example, the robotic equipment assemblies can be configured as paint spray nozzles. In each example, the equipment assemblies can be configured to operate automatically or autonomously, or can be configured to operate according to control instructions received from a remote controller 2006 (e.g., via a mobile device 2008), thereby eliminating, at least to some extent, the need for a worker to be positioned at an elevated position to perform a task. In some examples, the robotic equipment assemblies are configured with their own internal control systems such that control commands issued by controller 2006 are provided directly to the robotic equipment assemblies rather than via controller 2006.

[0139] The present disclosure contemplates methods, systems, and program products on any machine-readable medium for accomplishing various operations. Embodiments of the present disclosure may be implemented using existing computer processors, by special-purpose computer processors for suitable systems incorporated for this or other purposes, or by hardwired systems. Embodiments within the scope of the present disclosure include program products having machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media may be any available medium that can be accessed by a general-purpose or special-purpose computer or other machine with a processor. By way of example, such machine-readable media may include RAM (random access memory), ROM (read-only memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), CD (compact disc)-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium accessible by a general-purpose computer or special-purpose computer or other device with a processor that can be used to carry or store desired program code in the form of machine-executable instructions or data structures. When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or a combination of hardwired or wireless) to a device, the device properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data that cause a general-purpose computer, special-purpose computer, or special-purpose processing device to perform a certain function or group of functions.

[0140] As used herein, the terms "approximately," "about," "substantially," and similar terms are intended to have a broad meaning consistent with common and widely accepted usage by those skilled in the art to which the subject matter of this disclosure pertains. It should be understood by those skilled in the art who review this disclosure that these terms are intended to avoid limiting the features described in the specification and claims to the precise numerical ranges set forth. Accordingly, these terms should be interpreted to indicate that insubstantial or insignificant modifications or variations of the claimed subject matter are considered to be within the scope of the invention as set forth in the appended claims.

[0141] It should be noted that the terms "exemplary" and "example" as used herein to describe various embodiments are intended to indicate that the embodiment is a possible example, representative, and / or exemplary (and such terms are not intended to imply that the embodiment is necessarily a particular or best example).

[0142] As used herein, the terms "coupled," "connected," and the like refer to the direct or indirect joining of two members to one another. Such joining may be static (e.g., permanent, etc.) or dynamic (e.g., removable, releasable, etc.). Such joining may be achieved by the two members or the two members and an optional intermediate member being integrally formed with one another as a single unit, or by the two members or the two members and an optional intermediate member being attached to one another.

[0143] The terms "top," "bottom," "upper," "lower," "between," etc., used herein to describe the orientation of various elements in the figures are used solely to describe the orientation of various elements. It should be noted that the orientation of various elements may vary according to other exemplary embodiments, and such variations are intended to be encompassed by the present disclosure.

[0144] Additionally, the term "or" is used in its inclusive (not exclusive) sense, for example, when used to connect a list of elements, so that the term "or" refers to one, some, or all of the elements in the list. Connecting words such as "at least one of X, Y, and Z" are used to convey that the item, term, etc. can be X, Y, Z, X and Y, X and Z, Y and Z, or X, Y and Z (i.e., any combination of X, Y, and Z), depending on the context, unless otherwise indicated. Thus, such connecting words generally are not intended to suggest that at least one of X, at least one of Y, and at least one of Z must each be present in a particular embodiment, unless otherwise indicated.

[0145] It is important to note that the configuration and arrangement of the system as shown in the exemplary embodiments are illustrative only. While only a few embodiments of the present disclosure have been described in detail, those skilled in the art who review this disclosure will readily appreciate that many modifications (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, parameter values, mounting arrangements, use of materials, color, orientation, etc.) are possible without substantially departing from the novel teachings and advantages of the described subject matter. For example, elements shown to be integrally formed may be comprised of multiple parts or elements. The components and / or assemblies described herein may be constructed in a wide variety of colors, textures, and combinations from any of a wide variety of materials that provide sufficient strength or durability. Accordingly, all such modifications are intended to be within the scope of the present invention. Substitutions, modifications, changes, and omissions are possible in the configuration, operating conditions, and arrangement of the preferred and other exemplary embodiments without departing from the scope of this disclosure or the appended claims.

Claims

1. a lift device configured to raise and lower the removable robotic equipment assembly; a base assembly configured to support the lift device and a prime mover, the prime mover configured to rotate one or more wheels supported by the base assembly to operate the lift device; a controller in communication with the equipment assembly and the lifting device, the controller configured to adjust the position of the robotic equipment assembly and the lifting device in response to receiving instructions to perform a task; Equipped with the controller is configured to communicate with a mobile device and receive instructions from the mobile device to cause at least one of the lift apparatus and the robotic equipment assembly to adjust a position relative to the base assembly; A lift device having a camera disposed on the lift apparatus and configured for media communication with the mobile device.

2. 2. The lift device of claim 1, A lift device wherein the robotic instrument assembly includes a plurality of articulated fingers formed at a distal end of the robotic instrument assembly, the plurality of articulated fingers configured to move about at least one axis.

3. 3. The lift device of claim 2, A lift device, wherein the plurality of articulating fingers comprises at least three articulating fingers, the at least three fingers configured to extend and retract to adjust a distance between the at least three fingers.

4. 3. The lift device according to claim 2, At least one of the plurality of articulating fingers includes a material interface, the material interface being disposed at a tip of the at least one articulating finger and configured to hold an object.

5. 5. The lift device according to claim 4, The lift device, wherein the material interface is a vacuum chamber configured to generate a suction force to couple the at least one articulating finger to an object.

6. 5. The lift device of claim 4, A lifting device, wherein the material interface is a jaw configured to surround a portion of the object.

7. 2. The lift device of claim 1, A lift device, wherein the robotic equipment assembly is configured to move about at least two axes independently relative to the lift apparatus.

8. 2. The lift device of claim 1, The lifting device wherein the robotic equipment assembly has a welding rod.

9. 9. The lift device of claim 8, A lifting device in which the welding rod is disposed on articulating fingers configured to adjust the position of the welding rod relative to the lifting apparatus.

10. 10. The lift device of claim 9, The articulating finger is configured to move the welding rod relative to a lifting assembly about at least two perpendicular axes.

11. 9. The lift device of claim 8, A lifting device in which the robotic equipment assembly houses a welding wire.

12. 2. The lift device of claim 1, The lift device, wherein the controller is configured to monitor the positions of the robotic equipment assembly and the lifting device and simultaneously adjust the positions of both the lifting device and the robotic equipment assembly.

13. a lift device configured to raise and lower the equipment assembly; a base assembly configured to support the lift device and a prime mover, the prime mover configured to provide rotational movement to one or more wheels supported by the base assembly to move the lift device; a controller in communication with the equipment assembly and the lift device, the controller configured to adjust a position of the equipment assembly and the lift device toward the defined target area in response to receiving instructions to perform a task at the target area; A lift device comprising: A lift device in which a visual representation of the target area is projected onto a surface of the target area by a flying drone in communication with the controller.

14. 14. The lift device of claim 13, The controller and the drone are capable of communicating with a handheld mobile device, the handheld mobile device being configured to acquire image data from a first camera provided on the lift apparatus and a second camera provided on the drone, display image data from at least the first camera or the second camera on a display screen, receive user input to define a target area, and provide the defined target area to a local controller on the drone.

15. 2. The lift device of claim 1, a controller configured to decouple a lift assembly from the robotic equipment assembly and couple the lift assembly to a second equipment assembly in response to receiving an instruction from the mobile device to adjust an operational mode of the lift device;

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