PEN ASSEMBLY WITH PORTABLE COUNTERBALANCE MASS.

Abstract

A boom assembly, according to the disclosure, may include a lower boom structure and an upper boom structure connected to the lower boom structure. Additionally, the boom assembly may include a counterweight movably mounted on one of the boom structures and movable along the boom structure when at least a portion of the lower boom structure moves relative to the upper boom structure, or when at least a portion of the upper boom structure moves relative to the lower boom structure.

Description

This application claims priority over the United States application serial number 16 / 837,572, filed on April 1, 2020, the disclosure of which is hereby incorporated in its entirety by reference in this document. TECHNICAL FIELD The disclosure refers to a boom assembly with a movable counterweight or balance mass and to a vehicle that includes such a boom assembly. BACKGROUND A vehicle, such as an aerial work platform or a crane, may be equipped with a boom assembly. Some examples of such vehicles are disclosed in U.S. Patents Nos. 5,669,517, 5,899,347, 6,109,463 and 6,341,665. SUMMARY A boom assembly, according to the disclosure, may include a lower boom structure and an upper boom structure connected to the lower boom structure. Additionally, the boom assembly may include a counterweight movably mounted on one of the boom structures and movable along the length of the boom structure when at least a portion of the lower boom structure is involved. - 2 moves with respect to the upper feather structure or when at least a portion of the upper feather structure moves with respect to the lower feather structure. A vehicle, according to the digression, may include a chassis, a lower boom structure mounted on the chassis, and an upper boom structure attached to the lower boom structure. Additionally, the vehicle may include a counterweight movably mounted on one of the boom structures and transposable along the boom structure when at least a portion of the lower boom structure moves relative to the upper boom structure, or when at least a portion of the upper boom structure moves relative to the lower boom structure. Later in the disclosure, a c-pen assembly may include a pen structure having at least one portion that is movable between a first and a second position. Additionally, the assembly may include a counterweight mounted on the pen structure and movable along the pen structure when a portion of the pen structure moves between the first and second positions. Although some achievements are illustrated and publicized as examples, such publicity should not be interpreted as a limitation of the claims. It is anticipated that - 3 can make various modifications and alternative designs without departing from the scope of disclosure. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a side view of a vehicle that includes a 5-piece boom assembly in accordance with this disclosure; Figure 2 is a side view of the vehicle in Figure 1 with the boom assembly moved to an intermediate position; Figure 3 is a side view of the vehicle in Figure 1C 1 with the boom assembly moved to a raised position; Figure 4 is a fragmentary perspective view of the boom assembly showing a movable counterbalance mass or counterweight to adjust the position of a center of mass of the boom assembly as the boom assembly moves 15 between the lowered and raised positions; Figure 5 is a perspective view of a section of a portion of the boom assembly showing the counterweight slidably mounted on two elongated guide members; Figure 6 is an end-section view of the portion of the boom assembly shown in Figure 5, wherein the boom assembly includes multiple guide elements that are coupled with the elongated guide members; Figure 7 is an end-section view of a lower end of the portion of the feather assembly shown - 4 in Figure 5 and showing additional guide members that are coupled with the elongated guide members; Figure 8A is a fragmentary perspective view of a vehicle and a portion of a boom assembly according to a second embodiment; Figure 8B is a side view of the vehicle shown in Figure 8A, showing an upper boom structure of the boom assembly in a retracted position; Figure 8C is a side view of the vehicle in Figure 8B, showing the upper boom structure in an extended position; Figure 9 is a fragmentary perspective view of a portion of the pen assembly according to a third embodiment; and Figure 1O is a fragmentary side view of a portion of a pen assembly according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION As required, detailed embodiments are disclosed herein; however, it should be understood that the disclosed embodiments are merely illustrative and that various alternative forms may be employed. The drawings are not necessarily to scale. Some features may be exaggerated or minimized to show the details of specific components. Therefore, the - The 5 specific structural and functional details disclosed in this document shall not be interpreted as limiting, but simply as a representative basis for teaching a subject matter expert. Figure 1 shows a vehicle 10 according to this disclosure, which may be an aerial work platform or any other vehicle that includes a lifting device. The vehicle 10 includes a base, such as a frame or chassis 12; one or more movement-facilitating members, such as wheels or tracks, movably attached to the chassis 12; a drive system (not shown), such as an engine or one or more electric motors, for driving the movement-facilitating members; and a boom assembly 14, according to this disclosure, mounted on the chassis 12. The boom assembly 14 is movable from a lowered position, shown in Figure 1, to an intermediate position, shown in Figure 2, and then to an extended position, shown in Figure 3. Additionally, or alternatively, one or more portions of the boom assembly 14 may be movable between the retracted and extended positions.Likewise, the boom assembly 14 includes a movable counterbalance mass or counterweight to adjust a center of gravity or center of mass of the boom assembly 14 in order to maintain a center of mass of the vehicle 10 in a desired location or area (e.g., within a bend line or). - 6 vehicle inflection line 10) as the boom assembly 14 moves between the lowered and raised positions and / or when the boom assembly 14 moves between the retracted and extended positions, as explained below in more detail. The boom assembly 14 can include any configuration suitable for moving between the lowered and raised positions. In the embodiment shown in Figures 1-3, for example, the boom assembly 14 includes a lower boom structure 16 pivotally attached to the chassis 12 such that the lower boom structure 16 is pivotable with respect to the chassis 12 between a lowered position, shown in Figure 1, and a raised position, shown in Figure 3, and an upper boom structure 18 that is pivotally attached to the lower boom structure 16 such that the upper boom structure 18 is pivotable with respect to the lower boom structure 16 between a lowered position, shown in Figure 1, and a raised position, shown in Figure 3. The illustrated embodiment 20 further includes a work platform 19 pivotally attached to the upper boom structure 18.The work platform 19 can be configured to receive one or more workers and other cargo, such as one or more toolboxes. The work platform 19 can also include controls suitable for operating the boom assembly 14 and / or other aspects of the vehicle 10, such as the drive system for moving the vehicle 10. In another embodiment, the boom assembly 14 can include a forklift or any other suitable support or lifting component attached to the upper boom structure 18. Referring to Figure 2, the boom assembly 14 also includes a pivot arrangement 20 for pivotally connecting the lower boom structure 16 to the upper boom structure 18. For example, the pivot arrangement 20 may include a pivot member, such as a mid-pivot 22, that is pivotally connected to a boom member, such as a lower hoist boom 24, of the lower boom structure 16 and a boom member, such as a primary boom 26, of the upper boom structure 18. The pivot arrangement 20 may further include a link 28 having one end that is pivotally connected to a second boom member, such as an upper hoist boom 30, of the lower boom structure 16 and an opposite end that is pivotally connected to the primary boom 26 of the upper boom structure 18.Additionally, the pivot arrangement 20 may include a drive member or actuator, such as a cylinder 32 (e.g., a piston connected to a piston rod and a corresponding chamber or cylinder barrel that receives the. - 8 piston), connected to the middle pivot 22 and the primary boom 26. As the cylinder 32 extends (e.g., when the piston rod moves outward relative to the cylinder barrel), the primary boom 26 rises and pulls the link 28, which pulls the upper lifting boom 30 from the lower boom structure 16, thereby moving the boom assembly 14 from the lowered position, shown in Figure 1, to the raised position, shown in Figure 3. When the cylinder 32 retracts (e.g., when the piston rod moves inward relative to the cylinder barrel), the boom assembly 14 can be moved from the raised position, shown in Figure 3, to the lowered position, shown in Figure 1. The lower lifting boom 24 can also act as a timing member as the boom assembly 14 moves between the lowered and raised positions. Additionally, the boom assembly 14 may include one or more additional drive members for adjusting the position of the working platform 19, or another suitable component attached to the upper boom structure 18, to maintain the working platform 19 or another component in a desired orientation, such as level. In the illustrated embodiment, the boom assembly 14 includes a master cylinder 34 connected to the primary boom 26 and the mid-pivot 22 and a slave cylinder 35 associated with the master cylinder 34 and connected to the primary boom 26 and the working platform 18. Cylinders 34 and 35 are operable to each other to adjust the position of the working platform 19, or another component attached to the upper boom structure 18, when the boom assembly 14 moves between the lowered and raised positions. The counterweight mentioned above can be mounted in a movable manner on one of the boom structures 16, 18 so that the counterweight is movable along the boom structure 16, 18 when the boom assembly 14 moves between the lowered and raised positions (e.g., when the upper boom structure 18 moves between its lowered and raised positions) and / or when the boom assembly 14 moves between the retracted and extended positions. Referring to Figure 4, for example, the boom assembly 14 may include: a movably mounted (e.g., sliding) counterweight 36 and the lower boom structure 16. The boom assembly 14 further includes a drive mechanism or drive member 38 for moving (e.g., translating or actually sliding) the counterweight 36 along the lower boom structure 16. For example, the drive member 38 may comprise a link 40 (e.g., metal link (rido) having a first end, connected in a powerful manner to the counterweight 36, and a second opposite end, connected pivotally directly to the chassis 12 or to a support member, such as a rotating turret or plate. - 10 rotary 42, rotatably mounted on the chassis 12. With such a configuration, the counterweight 36 can be automatically moved downwards along the lower boom structure 16 (e.g., towards the end of the lower boom structure 16 that is pivotally connected directly or indirectly to the chassis 12) when the boom assembly 14 moves from the lowered to the raised position (e.g., when the upper boom structure 18 moves from the lowered to the raised position). Similarly, the counterweight 36 can be automatically moved upwards along the lower boom structure 16 (e.g., towards the end of the lower boom structure 16 that is pivotally connected to the middle pivot 22 or another portion of the pivot arrangement 20) when the boom assembly 14 moves from the raised to the lowered position (e.g.(when the upper boom structure 18 moves from the raised position to the lowered position). Likewise, the counterweight 36 and the boom assembly 14 can be configured so that the counterweight 36 is movable with respect to the lower boom structure 16 over a distance in any suitable range, such as a range of 100 to 300 cm or a range of 175 to 250 cm. As a more specific example, and referring to Figure 1, which shows the feather assembly 14 in position - With the counterweight 36 lowered, it can be positioned as far to the left as possible (i.e., towards the end of the lower boom structure 16 that is pivotally connected to the middle pivot 22 or another portion of the pivot arrangement 20). With such a configuration, the center of gravity (CG) of the counterweight 36 can be positioned as far (e.g., to the left in Figure 1) as possible from the center of the chassis 12 so that the distance X between the center of gravity (CG) of the counterweight 36 and the center of the chassis 12 is at a maximum. As a result, a possible inflection situation (e.g., a forward-directed inflection situation) around an inflection line (e.g., a forward-directed or previous FTL inflection line) can be inhibited or avoided when a downward-directed force DF (caused by workers, tools, cargo, etc. and / or contact with a structure) is applied to the work platform 19.When the boom assembly 14 moves from the lowered position to the intermediate position shown in Figure 2, the counterweight 36 can be moved to the right (i.e., toward the end of the lower boom structure 16 that is pivotally connected directly or indirectly to the chassis 12). With such a configuration, the center of gravity (CG) of the counterweight 36 can be positioned closer to the center of the chassis 12 so that a distance Y between the center of gravity (CG) of the counterweight 36 and the chassis 12 is reduced. - 12 the center of chassis 12 is less than a distance Z, which is the distance between the center of gravity CG (shown in dashed lines) and the center of chassis 12 if the counterweight 36 had not moved. As a result, a bending situation (e.g., a backward bending situation) around a bending line (e.g., a backward or rearward bending line RTL) can be inhibited or avoided when a horizontal force HF (caused by wind and / or contact with a structure, for example) is applied to the working platform 19.Similarly, when the boom assembly 14 moves from the intermediate position to the raised position shown in Figure 3, the counterweight 36 can be moved further to the right (i.e., further towards the end of the lower boom structure 16 that is pivotally connected directly or indirectly to the chassis 12 compared to the position shown in Figure 2) to inhibit or prevent a back-pointing tilting situation when the boom assembly 14 is in the raised position. The link 40 described above can be connected to the counterweight 36 and the chassis 12 or the rotary plate 42 in any suitable manner. Referring to Figures 4-6, for example, the first end of the link 40 can be connected to the counterweight 36 with a connecting element, such as a rod or pin 44, extending through a - 13 hole 46 formed in the counterweight 36. Similarly, the second end of the link 40 can be connected to a strut of the rotary plate 42 with a connecting element, such as a rod or pin 48. Referring to Figures 4-7, the lower boom structure 16 may include one or more elongated guide members for guiding the movement of the counterweight 36, and the boom assembly 14 may further include one or more bearing elements or guide elements associated with the counterweight 36 and coupleable to the one or more guide members. In the illustrated embodiment, the lower lifting boom 24 of the lower boom structure 16 defines two separate, elongated guide members 50 that are connected to each other (e.g., by laterally extending struts or other support members) and arranged on opposite sides of the counterweight 36, and the counterweight 36 includes multiple bearing elements or guide elements 52, each of which is coupleable (e.g., slidably coupled) to a first side of a respective elongated guide member 50.The lower boom structure 16 further includes two additional elongated guide members, such as protective members 54, each of which is attached to a respective elongated guide member 50, and the boom assembly 14 includes two supporting elements 56 located at opposite ends of the pin 44 and each of which is attachable (e.g., . - 14 slidably attachable) with a respective protective member 54 (the right-side protective member 54 has been removed from Figure 4 to show the location of the pin 44 connecting the counterweight 36 to the link 40). The supporting elements 56 are also each located adjacent to a second side of a respective elongated guide member 50 that is opposite the first side of the elongated guide member 50, so that each supporting element 56 is attachable to the second side of a respective elongated guide member 50. Referring to Figures 4 and 7, the counterweight 36 further includes two lateral guide or supporting elements 58, each of which is attachable (e.g., slidably attachable) to a side surface of a respective protective member 54. With the above configuration, the position of the counterweight 36 can be automatically adjusted during the raising and lowering of the boom assembly 14. For example, the counterweight 36 can slide or move, automatically, linearly along the lower boom structure 16 during the movement of the boom assembly 14, so that the center of mass of the vehicle 10 can remain within a desired location or area of ​​the vehicle 10 (e.g., within a bending triangle of the vehicle 10, which can be defined by the front bending line FTL, the rear bending line RTL and a point along the centerline of the chassis 12 located above the bending lines) to inhibit bending of the vehicle 10.The counterweight 36 can create a counterforce on one side of a bending fulcrum of the vehicle 10 that is opposite to a bending force created by the mass or load applied to the work platform 19 or another component attached to the upper boom structure 18. As a result, the load (e.g., workers, tools, cargo, etc.) placed on the work platform 19 can actually increase compared to previous vehicles. In one embodiment, for example, the load can increase from 500 pounds to at least 650 pounds (e.g., 660 pounds). Likewise, the overall mass of the vehicle 10 can be reduced compared to previous vehicles. For example, smaller components (e.g., wheels and / or tires) can be used, thereby reducing the cost of the vehicle 10. The counterweight 36 can be made of any suitable material, such as cast iron, steel, and / or lead. Likewise, the counterweight 36 can be of any suitable size and mass depending on the size of the vehicle. For example, the counterweight 36 can have a mass of at least 1,000 pounds (e.g., 1,200 pounds or more). As another example, the counterweight 36 can have a mass of at least 2,000 pounds or at least 2,500 pounds. As yet another example, the counterweight 36 can have a mass ranging from 5 to 15% - 16 (e.g., 10 i) of the total mass of vehicle 10, or at least 5% or at least 10% of the total mass of vehicle 10. Figures 8A-8C show a second embodiment 14' of a boom assembly and associated vehicle 10' according to this disclosure. The boom assembly 14' includes features similar to boom assembly 14, and those similar features are identified by similar part numbers, except that the similar part numbers in Figures 8A-8C each include a prime mark. The boom assembly 14' is not only movable between the lowered and raised positions, but also between retracted and extended positions. For example, the lower boom structure 16' and the upper boom structure 18' of the boom assembly 14' can pivot, as described above, with respect to the boom assembly 14, and one or both of the boom structures 16' and 18' can be moved between the retracted and extended positions. As a more detailed example, the upper boom structure 18' can include a first portion 59a that is slidable or translatable with respect to a second portion 59b between a retracted position, shown in Figure 8B, and an extended position, shown in Figure 8C. Similarly, the lower boom structure 16' can include a first portion that is slidable or translatable with respect to a second portion between a - 17 retracted position and an extended position. One or both of the feather structures 16', 18' may also include one or more intermediate portions that are also slidable or translatable with respect to the second associated portion. In the illustrated embodiment, for example, the upper feather structure 18' includes an intermediate portion 59c that is translatable with respect to the second portion 59b, and the first portion 59a is translatable with respect to the intermediate portion 59c. The boom assembly 14' further includes a counterweight 36' that is movable to adjust the center of gravity or center of mass of the boom assembly 14' in order to maintain the center of mass of the associated vehicle 10' in a desired location or area (e.g., within a bend line or inflection line of the vehicle 10') as the boom assembly 14' moves between the lowered and raised positions and / or when the boom assembly 14' moves between the retracted and extended positions. Generally, the counterweight 36' is movable along one of the boom structures 16', 18' when at least a portion of the lower boom structure 16' moves relative to the upper boom structure 18' or when at least a portion of the upper boom structure 18' moves relative to the lower boom structure 16'. Referring to Figure 8C, for example, the counterweight 36' is movable along - 18 of the lower boom structure 16' so that the center of gravity CG' of the counterweight 36' can be positioned as far (e.g., to the left in Figure 80) as possible with respect to a chassis center 12' when the upper boom structure 18' is moved to the extended position (i.e., when the first portion 59a is moved with respect to the second portion 59b and the lower boom structure 16' to the extended position). As a result, a distance X' between the center of gravity CG' of the counterweight 36' and the chassis center 12' can be found at a maximum when the upper boom structure 18' is in its extended position. With such a configuration, a possible inflection point (e.g., a forward-directed inflection point) around an inflection line (e.g.A forward-directed or forward-directed inflection line (FTL') can be inhibited or avoided when a downward-directed force DF' (caused by workers, tools, cargo, etc. and / or contact with a structure) is applied to the working platform 19'. When the upper boom structure 18' moves from the extended to the retracted position, shown in Figure 8B, the counterweight 36' can move to the right along the lower boom structure 16' (i.e., towards the end of the lower boom structure 16' that is pivotally connected directly or indirectly to the chassis 12'). As a result, the center of - The center of gravity CG' of the counterweight 36' can be placed closer to the center of the chassis 12' so that a distance Y' between the center of gravity CG' of the counterweight 36' and the center of the chassis 12' is less than the distance X'. Referring to Figure 8A, the boom assembly 14' includes a drive mechanism or member 38' for moving (e.g., transferring) the counterweight 36' along the lower boom structure 16' independently of the angular or pivoted position of the lower boom structure 16' and / or the upper boom structure 18'. In the embodiment shown in Figure 8A, the drive member 38' comprises a cylinder 60, such as a hydraulic cylinder or a pneumatic cylinder (e.g., a piston connected to a piston rod and a corresponding chamber or cylinder barrel receiving the piston), connected to the counterweight 36' for moving the counterweight 36'. The cylinder 60 has a first end pivotally connected to the counterweight 36', and a second opposite end pivotally connected directly to the chassis 12' or to a support member, such as a rotating turret or rotary plate 42', mounted on the chassis 12'.The boom assembly 14' also includes a control unit 66 (shown schematically in Figure 8A) associated with the cylinder 60 (e.g., electrically or wirelessly connected to the cylinder 60) to control the operation of the cylinder 60 when the boom assembly 14' is in use. - 20 moves between the lowered and raised positions and / or when the boom assembly 14' moves between the retracted and extended positions. For example, the control unit 66 can control the movement of the cylinder 60 based on any one or more of the following: chassis orientation 12', position of the lower boom structure 16' (e.g., angular position of the lower boom structure 16' and / or position of the first portion relative to the second portion), position of the upper boom structure 18' (e.g., angular position of the upper boom structure 18' and / or position of the first portion 59a relative to the second portion 59b), position of a work platform (not shown) or other suitable component attached to the upper boom structure, or load on such a work platform or other component attached to the upper boom structure 18'.As a more detailed example, control unit 66 can control cylinder 60 so that cylinder 60 retracts automatically when the upper boom structure 18' moves from the lowered position to the raised position (mentioned above with respect to boom assembly 14) so ​​that counterweight 36' moves towards chassis 12', and control unit 66 can control cylinder 60 so that cylinder 60 extends automatically when the upper boom structure 18' moves from the raised position to the lowered position. 21 As another example, control unit 66 can control cylinder 60 so that it automatically retracts when the upper boom structure 18' moves from the extended position (shown in Figure 8C) to the retracted position (shown in Figure 8B) so that the counterweight 36' moves toward the chassis 12', and control unit 66 can also control cylinder 60 so that it automatically extends when the upper boom structure 18' moves from the retracted position to the extended position. Control unit 66 can also be attached at any suitable location on the boom assembly 14' or at any suitable location on the associated vehicle. Figure 9 shows a third embodiment 14'' of a boom assembly according to this disclosure. Boom assembly 14'' includes features similar to boom assembly 14', and those similar features are identified by similar reference numbers, except that the similar reference numbers in Figure 9 each include a double prime mark. Boom assembly 14'' includes a drive mechanism or member 38'' that also comprises a cylinder 60'', such as a hydraulic or pneumatic cylinder, connected to the counterweight 36'' for moving (e.g., linearly translating) the counterweight 36''. In this embodiment, the cylinder 60'' has - 22 a first end connected to the counterweight 36'' and a second opposite end connected to a mount 68, such as a welded lifting arm piece, of the lower boom structure 16''. The cylinder 60'' is also received in a channel formed in the counterweight 36''. The boom assembly 14'' further includes a control unit 66'' (shown schematically in Figure 9) associated with the cylinder 60'' (e.g., electrically or wirelessly connected to the cylinder 60'') to control the operation of the cylinder 60'' as the boom assembly 14'' moves between the lowered and raised positions and / or when the boom assembly 14'' moves between the retracted and extended positions. For example, the control unit 66'' can control the movement of the cylinder 60'' in a manner similar to that described above with respect to the control unit 66' and the cylinder 60' of the boom assembly 14'.With the previous configuration of the 60'' cylinder, however, the 60'' cylinder and the 36'' counterweight can be moved (e.g., translated linearly) in the same direction. Likewise, the 66'' control unit can also be attached at any suitable location on the 14'' boom assembly or at any suitable location on the associated vehicle. Figure 10 shows a fourth embodiment, 14''', of a feather assembly according to this disclosure. The 14''' feather assembly includes similar features - 23 to the boom assembly 14'' and such similar features are identified by similar reference numbers, except that the similar reference numbers in Figure 10 each include a triple prime mark. The boom assembly 14''' includes a drive mechanism 38''' comprising at least one gear or pulley and a drive member, such as a chain or belt, associated with the at least one pulley and the counterweight 36''' for moving (e.g., linearly translating) the counterweight 36'''. In the illustrated embodiment, the drive mechanism 38''' includes a first and a second pulley 70 and 72, respectively, arranged at opposite ends of the lower boom structure 16''', and a chain 74 extending around each pulley 70, 72. The chain 74 further has opposite ends connected to the counterweight 36'''.The drive mechanism 38''' also includes an actuator 76, such as a motor or motor / gearbox, connected to the chain 74 to move the chain 74 and the counterweight 36''', and a control unit 66''' (shown schematically in Figure 10) associated with the actuator 76 (e.g., electrically or wirelessly connected to the actuator 76) to control the operation of the actuator 76 and the rest of the drive mechanism 38''' as the boom assembly 14''' moves between the lowered and raised positions and / or when the boom assembly 14''' moves between the retracted and extended positions.For example, the control unit 66' ' ' can cause the actuator 76 to move in a first direction to slide or move the counterweight 36''' along the lower boom structure 16' ' ' and towards the chassis 12' ' ' when the upper boom structure 18''' moves from the lowered position to the raised position, and the control unit 66''' can cause the actuator 76 to move in a second direction opposite to the first direction to slide or move the counterweight 36''' along the lower boom structure 16''' and towards the upper boom structure 18' ' ' when the upper boom structure 18''' moves from the raised position to the lowered position.As another example, the control unit 66' ' ' can cause the actuator 76 to move in the first direction to slide or move the counterweight 36' ' ' along the lower boom structure 16' ' ' and towards the chassis 12' ' ' when the upper boom structure 18''' moves from the extended position to the retracted position, and the control unit 66''' can cause the actuator 76 to move in the second direction opposite to the first direction to slide or move the counterweight 36''' along the lower boom structure 16''' and towards the upper boom structure 18' ' ' when the upper boom structure 18''' moves from the retracted position to the extended position. Likewise, the control unit 66''' can also be attached to. - 2 5 any suitable location on the 14''' boom assembly or any suitable location on the associated vehicle. In each of the second, third, and fourth embodiments, the respective control unit can precisely control the movement of the respective counterweight based on one or more of the following: orientation of the associated vehicle chassis, position of at least a portion of the lower boom structure (e.g., angular position of the lower boom structure and / or position of the first portion relative to the second portion), position of at least a portion of the upper boom structure (e.g., angular position of the upper boom structure and / or position of the first portion relative to the second portion), position of the work platform or other component attached to the upper boom structure, load on the work platform or other component attached to the upper boom structure, etc. Furthermore, the aforementioned orientation, positions, and load can be determined by means of suitable sensors (e.g.(position sensors, weight sensors, etc.). Additionally, each control unit may comprise appropriate circuitry, such as one or more appropriately programmed processors (e.g., one or more microprocessors, microcontrollers and / or programmable digital signal processors) and associated memory, which may include operating system software and / or software. - 2.6 stored application (e.g., code or instructions) executable by the processor(s) to control its operation, so that the control unit can perform specific algorithms represented by the functions and / or operations described herein. One or more such processors, as well as other circuitry and / or hardware, may be included in a single ASIC (Application-Specific Integrated Circuit), or several processors and various circuitry and / or hardware may be distributed among several separate components, either individually packaged or assembled in a SoC (System-on-a-Chip). While the previously described realizations are provided as examples, they are not intended to encompass all possible forms in accordance with the disclosure. In this sense, the words used in the descriptive memorandum are descriptive rather than limiting, and it is understood that various changes can be made without departing from the spirit and scope of the disclosure. Furthermore, features from various implementation realizations can be combined to form additional realizations of the disclosure. It is hereby stated that, as of this date, the best method known to the applicant for putting the aforementioned invention into practice is the one that is clear from the present description of the invention.

Claims

1. A boom assembly comprising: a lower boom structure; an upper boom structure connected to the lower boom structure; and a counterweight movably mounted on one of the boom structures and movable along the boom structure when at least a portion of the lower boom structure moves with respect to the upper boom structure or when at least a portion of the upper boom structure moves with respect to the lower boom structure.

2. The boom assembly of claim 1, wherein the counterweight is movably mounted on the lower boom structure.

3. The boom assembly of claim 2, wherein the counterweight is slidably mounted on the lower boom structure.

4. The boom assembly of claim 2, further comprising a base connected to the lower boom structure, such that the lower boom structure is pivotable with respect to the base, and a link having a first end pivotally connected to the counterweight and a second end pivotally connected to the base, wherein the link is configured to move the counterweight downwards along the lower boom structure when the upper boom structure is moved from a lowered position to a raised position.

5. The boom assembly of claim 2, further comprising a cylinder connected to the counterweight for moving the counterweight along the lower boom structure.

6. The boom assembly of claim 2, further comprising a drive mechanism for moving the counterweight along the lower boom structure, wherein the drive mechanism includes at least one pulley connected to the lower boom structure and a drive member associated with the at least one pulley and connected to the counterweight.

7. The boom assembly of claim 2, wherein the lower boom structure includes an elongated guide member and the counterweight includes one or more guide elements that are attachable to the elongated guide member.

8. The boom assembly of claim 1, further comprising a drive member connected to the counterweight for moving the counterweight along a boom structure.

9. The pen assembly of claim 8, wherein the drive member comprises a link.

10. The boom assembly of claim 8, wherein the drive member comprises a cylinder.

11. The boom assembly of claim 8, wherein the drive member comprises a chain or belt.

12. The boom assembly of claim 8, further comprising a control unit associated with the drive member and configured to control the movement of the drive member, based on the position of at least a portion of one or both of the boom structures, in order to control the position of the counterweight with respect to a boom structure.

13. The boom assembly of claim 8, further comprising a connecting element for connecting the drive member to the counterweight, and first and second supporting elements located at opposite ends of the connecting element for sliding coupling to a boom structure.

14. The boom assembly of claim 13, wherein the boom structure comprises two elongated guide members arranged on opposite sides of the counterweight, and the counterweight includes a first and a second bearing element, each of which is attachable to a first side of a respective elongated guide member, wherein the first and second bearing elements located at opposite ends of the connecting element are each located adjacent to a second side of a respective elongated guide member that is opposite the first side of the elongated guide member.

15. The feather assembly of claim 1, wherein the counterweight is movable along a feather structure when the upper feather structure pivots with respect to the lower feather structure or when the lower feather structure pivots with respect to the upper feather structure.

16. The feather assembly of claim 1, wherein the counterweight is movable along a feather structure when a portion of the upper feather structure moves between a retracted position and an extended position or when a portion of the lower feather structure moves between a retracted position and an extended position.

17. A vehicle comprising: a chassis; a lower boom structure mounted on the chassis; and an upper boom structure attached to the lower boom structure; and a counterweight movably mounted on one of the boom structures and transposable along the boom structure when at least a portion of the lower boom structure moves with respect to the upper boom structure or when at least a portion of the upper boom structure moves with respect to the lower boom structure.

18. The vehicle of claim 17, further comprising a link connected to the counterweight for moving the counterweight along a boom structure when the upper boom structure pivots between the lowered and raised positions.

19. The vehicle of claim 17, further comprising a drive member connected to the counterweight for moving the counterweight along a boom structure.

20. The vehicle of claim 19, wherein the drive member comprises a cylinder.

21. The vehicle of claim 19, wherein the drive member comprises a chain or belt.

22. The vehicle of claim 19, further comprising a control unit associated with the drive member and configured to control the operation of the drive member, based on the position of one or both of the boom structures, in order to control the position of the counterweight with respect to a boom structure.

23. The vehicle of claim 17, wherein the counterweight is movable along a boom structure when the upper boom structure pivots with respect to the lower boom structure or when the lower boom structure pivots with respect to the upper boom structure.

24. The vehicle of claim 17, wherein the counterweight is movable along a boom structure when a portion of the upper boom structure moves between a retracted position and an extended position or when a portion of the lower boom structure moves between a retracted position and an extended position.

25. A boom assembly comprising: a boom structure having at least one portion that is movable between a first and a second position; and a counterweight mounted on the boom structure and movable along the boom structure when the at least one portion of the boom structure moves between the first and second positions.

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