Interwoven topology of mobile apparatus

Abstract

Mobile apparatus comprising a main-frame with forward and rearward displacing means configured to displace the mobile apparatus, the main frame comprising at least one longitudinal structural member, and a forward structural support and a rearward structural support, being connected to the forward and rearward displacing means, respectively, wherein the at least one longitudinal structural member is configured to connect the forward and rearward structural supports to the main frame; a sub-frame rotatably connected to the main-frame; a working arm connected to the sub-frame; at least one electric energy module arranged in or on the main-frame; at least one electric motor arranged in or on the main-frame and connected to the at least one electric energy module; wherein the at least one electric energy module is positioned between the forward and rearward displacement means; and the at least one electric motor is positioned between the forward and rearward displacement means.

Description

[0001] Interwoven topology of mobile apparatus

[0002] Field of the invention

[0003] The present invention relates to a mobile apparatus with displacement means having an operating arm, such as for instance excavators, backhoes, cranes, material handlers, loaders, boom mowers, forestry machines, mobile robots, forklifts, tractors, implement carriers or combinations thereof. The invention relates more specifically to a mobile apparatus, comprising a main-frame, a rotating sub-frame with an operating arm, in which the frames, technical components, their orientation, position, and the combined topology results in high energy content, high efficiency, optimal weight balance, cooling efficiency, noise reduction, electromagnetic compatibility, servicing access to technical components, operator access and operator space.

[0004] Background and related art

[0005] Excavators, boom mowers, backhoes, material handlers, loaders, tractors, and forestry machines according to prior art, have working arm kinematics and component topology architecture, which originates from the combustion engine era. The inventor has filed two patents with numbers WO 2020 / 145823A1 and WO 2021 / 172984A1 respectively, relating to compact low and zero emission machines. The first one describes a machine with a working arm that can follow a vertical or semi vertical lift path. The second patent describes an electric machine with a sub-optimal configuration with four electric motors for the displacement means. Undermentioned invention distinguishes from the prior art, with inventive and novel steps, in that frame designs, technical components, their orientation and the combined topology results in a very high energy content, powertrain efficiency, low component count, optimal weight balance, cooling efficiency, low noise, good electromagnetic compatibility, servicing access to the technical components, access for the operator and operator space.

[0006] Machines originating from combustion engine designs, converted to electric or hydrogen fuel cell electric designs cannot position the technical components in the most ideal topology, or so-called packaging. Especially compact machines. The given prior art of the inventor is a better direction, however, does not account for optimal centre of gravity, weight balance in diverse working functions, maximum energy content, low number of electric motors and their inverters / controllers with contactors, distances of cables and hoses from one component to the other, powertrain efficiency, thermal efficiency, low noise, electromagnetic compatibility, servicing and operator space. The invention solves these with novel and inventive steps. Summary of the invention

[0007] Having the ability to work an entire day, continuously, is important for users of machines. With the density of fossil fuels this is certainly possible. When batteries, capacitors or hydrogen are used, the required space for the energy content needs to be larger. This is contradictory to the needed small envelope of compact machines, which dimensions are small in width, length, height and preferably with a small tail radius of the rotating sub-frame for compact excavators, cranes, material handlers and boom mowing machine types. Compact machines also need to have a low weight. The invention solves this by placing energy modules, such as battery modules, capacitor modules, a generator (range extender), a fuel cell, fuel and / or hydrogen modules throughout the various frames and spaces in the compact machine. The electric motors, inverters / controllers, contactors, electronics, and thermal components are subsequently positioned in other locations and the component count is kept as low as possible. All these components need to have the necessary cooling and be reachable for servicing and must be able to resist wading through water. A novel interwoven technical topology solves this through the architecture of lightweight frames, the component positions, their orientation, and their interaction.

[0008] Detailed description of the invention

[0009] The interwoven technical topology (packaging) of the compact machine platform (1) starts with the main-frame (2) to which the displacement means (3) such as wheels or caterpillar tracks are connected, which all can be steered. The main-frame comprises longitudinal structural members (200), guiding the forces from the slew bearing (4) that come from the rotating sub-frame (5). The main-frame longitudinal structural member (200) connects structural supports such as suspension or axles (201) for the displacement means between the front and the rear. Connected to or in the main-frame are energy modules (203). Preferably they are positioned in between forward (3A), and rearward (3B) displacement means. Energy modules contain electric energy and can be batteries, capacitors or any other device containing electric energy. Energy modules are temperature sensitive. Therefore, a preferred embodiment is that there is a distance, barrier or structure between the energy modules and other heat radiating technical components, such as electric motors, inverters / controllers, and a hydraulic tank. Placing energy modules low, in between displacement means, connected to the main-frame contributes positively to first a low centre of gravity. Secondly, it separates them from more centre positioned heat radiating components. The third advantage is that the energy modules, with covers or boxes, can function as a step for the operator to enter the cabin / operator (7) station. Between the longitudinal structural members and the centrelines (202) of structural supports or axles, a motor (204) to drive at least one displacement means and / or the working arm and / or a Power Take Off is positioned. Preferably these at least one motors are electric, as electric motors are more efficient than combustion or hydraulic motors. They can also more easily recuperate braking and / or kinetic energy. An electric motor can also be positioned outside the longitudinal structural members, for instance on a side of the main-frame (2). It is preferred that two or more electric motors are placed in between the longitudinal structural members adjacent to each other. The at least one electric motor can be air cooled or liquid cooled. When at least one electric motors are positioned in between the longitudinal structural members of the main-frame and between the centrelines (202 A and 202B) of the forward and rearward displacing means, and the electric energy modules are positioned on the outer left and right sides of the longitudinal structural members, then that helps in electromagnetic compatibility. The reason is that the large mass of for instance batteries or capacitors helps to reduce the radiation from and to the electric motors behind them.

[0010] The electric energy modules (203) are preferred to be suspended connected to a side of the mainframe (2). In such a way, shocks and vibrations going through the main-frame are reduced for the electric energy modules. It increases the lifetime of for instance the battery cells and their connections. It its preferred to have four connection points (203A), such as bolts, per module. An embodiment with four rubber dampers allows a fast and easy connection or disconnection with the main-frame. The four connection points (203A) are preferably on the sides of the longitudinal structural members of the main-frame. The electric energy modules can be placed inside covers or a box and then these serve as steps for the operator (9) to enter the machine. To connect and disconnect the electric energy modules to and from the main-frame, electric connectors (203B) are used, which are well reachable, either at the main-frame or at the outside or inside of the energy modules themselves.

[0011] In between the main-frame (2) and the sub-frame (5), a slip-ring (205) is positioned to transfer electrical energy. The energy can go two directions. The advantage of having at least one electric energy modules in or connected to the lower main-frame and at least one electric motors connected to or in the main-frame is that lower current is drawn from energy sources (energy modules, generator, fuel cell, grid or other source) positioned in the rotating sub-frame (5). This is especially advantageous for acceleration, deceleration and for instance when the Power Take Off function requires a lot of peak power or even high continuous power. This reduces heat build-up in the slipring, which has a positive effect on the overall powertrain and thermal efficiency. To cool the slipring, a central opening (218) between the main-frame and sub-frame allows for air to pass alongside the slip-ring. The slip-ring can also be liquid cooled. A further embodiment is that the slip-ring (205) integrates digital control signals (Can-Bus or other) for communication between electronic components. A swivel joint can be combined with the slip-ring to transfer hydraulic oil and other fluids, such as for the working arm and / or cooling, between the main-frame (2) and the sub-frame (5).

[0012] A preferred embodiment has an engine bay (206) in the main-frame (2) in which at least one electric motor is positioned. The main-frame and engine bay, preferably, has an opening at the underside. One electric motor inside the engine bay can be for traction / propulsion of the displacement means (3) and one electric motor can be to provide power to a working arm, its attachments or to a power-take-off function (8), or a combination of those. At least one electric motors in the engine bay can be fitted with a hydraulic pump (212). The transfer of power to a power-take-off function from an electric motor can be directly with mechanical drive shafts or through a hydraulic pump and hydraulic motor configuration. The power-take-off function is preferably positioned in a guiding structure (8A) at the front or rear of the main-frame (2). This guiding structure provides a possibility to connect the power-take-off function to the main-frame and at different heights from ground level. A hitch system can be included, to which tractor type implements can be connected.

[0013] In a preferred embodiment, at least one electric motor (204) in the engine bay (206) is connected to a transmission and / or differential (213) for the displacement means (3). Various gears or ratios are then possible to balance speed with traction force. A differential centrally in the main-frame (2) and / or the engine bay (206) gives the possibility to have different speeds between the front and rear displacement means while cornering, which is advantageous driving on soft surfaces, such as on grass, golf-course greens or fairways. The same accounts for hard surfaces or inside buildings, tire or track slippage and noise is reduced. A further preferred embodiment is a lockable central differential (213) in combination with lockable differentials for both the front and rear displacement means for traction in uneven off-road conditions. Propel or drive shafts (213 A) can be used for axles and / or support structures of displacement means. Such a configuration makes the power train simple, cost effective and with maximum traction on each of the displacement means through preferably one central electric motor.

[0014] To bring torsional stiffness in the main-frame (2) and to keep the mass low, at least one bottom members (208) are connected to the main-frame. This connection can be executed with for instance bolts or other fastening means to a flange (209) at the underside of the main-frame / engine bay (206). The at least one bottom member creates a more closed box structure, which reduces forces of all structural members of the main-frame. The at least one bottom member also provide protection to the technical components inside the main-frame and / or motor-bay. Another embodiment to reduce weight of the main-frame is to incorporate structural corner members (210) in the main-frame / engine bay. They form a structural more direct bridge from the rectangular shape of the main-frame / engine bay to the circular slew-bearing (4). The forces from the working arm (6) into the sub-frame (5), through the slew-bearing, are efficiently transferred into the mainframe by the structural corner members. This embodiment creates space for at least one electric motors, a transmission / differential, a slip-ring, cables and hoses in the main-frame or motor-bay.

[0015] To enable large steering angles of the displacement means (3) with their support structures (201) and technical components such as braking systems, an embodiment is preferred with holes (211) in the longitudinal structural members (200) of the main-frame (2) so that technical components can be accessed. The same accounts for the technical components inside the motor-bay (206). They can be accessed from the side, when for instance electric energy modules are disconnected. Inspection and servicing are possible from the sides of the main-frame (2). At least one electric motors (204), at least one hydraulic pump, transmission / differential, slip-ring, cables, and hoses are reachable from the side through holes (211) in the sides of the longitudinal structural members (200).

[0016] A preferred embodiment incorporates at least one electric motors (204), which are supported with at least one suspended motor sub-frames (214) and connected to at least one bottom members (208), which can be connected and disconnected separately from the main-frame (2). This has three advantages. First shocks, vibrations, and small torsional displacements of the main-frame (2) are less transferred to the electric motor, hydraulic pump(s), and transmission / differential. It increases the lifetime of these components. Second, small vibrations of the at least one electric motors (204) and connecting technical components themselves are far less transferred into the main-frame (2) and motor-bay (206). This reduces vibrations into all frames and to the operator of the machine. Third, it reduces the sound level for the operator (9). This is enhanced by the large distance from the operators’ upper body (9) to the at least one electric motors (204), positioned low in the mainframe (2) or motor-bay (206). It is especially true for transmissions and hydraulic pumps. A further embodiment is that the at least one bottom members (208) have holes or a perforation (208 A). It allows cooling air to and from the electric motors (204) and the engine bay (206).

[0017] Motor controllers or inverters (215) for the at least one electric motors (204) in the main-frame (2) and in the sub-frame (5) are preferably positioned close to the electric motors (204). Contactors (215 A) between the energy modules (203) such as batteries or capacitors and electric motors (204) also need a good accessible location. Those components must be protected from water intrusion when wading through creeks, canals, or rivers in off-road conditions. The invention prefers an embodiment where the controllers / in verters (215) for the at least one electric motors in, or connected to, the main-frame (2) are positioned in an opening (215B) of the front or rear part of the main-frame. The first advantage is that the controllers / inverters are accessible when removing for instance a cover. Secondly, the components are positioned higher to prevent water intrusion. Third, the distance between the controller / in verter is short. The controllers / in verters (215) can also be suspended with for instance rubber shock absorbers. A further embodiment can be that the electric motor (204) and controller / in verter (215) are integrated. The controllers / in verters can be air cooled or liquid cooled. A preferred embodiment uses hydraulic oil to cool the controllers / in verters. This can be done by using the existing flow of hydraulic oil between the sub-frame (5) and the mainframe (2) and guide it through the cooling parts of a controller / inverter. A flow divider or venturi effect pipe can make sure that the required hydraulic oil flow runs through the cooling structure of the controller / inverter.

[0018] Attachments for compact excavators, loaders and tractors use hydraulic oil. Damping and oscillation structures for displacement means as well. Lifting devices also rely on the functionalities of hydraulic oil amongst other because of a float function. A hydraulic tank (216) builds up heat and is therefore a thermal component. The invention prevents heat radiation from a hydraulic tank to components in either the main-frame (2) and the sub-frame (5) such as the electric energy modules (203), electric motors (204), controllers / inverters (215) and a slipring (205). This is done by positioning a hydraulic tank (216) in the front or rear of the main-frame (2), depending on the driving direction. Hydraulic pipes and / or hoses (217) therefore must run through and along the main-frame (2). A preferred embodiment is that hydraulic pipes and / or hoses run through holes (217A) in the main-frame (2) above a support structure and / or axle of displacement means (3). Hydraulic oil coolers (501) can be positioned at the front, rear or sides of the mainframe. A further embodiment is that a hydraulic tank has an integrated oil cooler. Integration can also be done by submerging an electric motor (204) in a liquid or in hydraulic oil such as a hydraulic tank (216). An advantageous embodiment is that a hydraulic valve (220) is positioned inside the front or rear of the main-frame (2), with access through an opening (220 A) in the mainframe (2).

[0019] To achieve thermal simplicity, a central opening (218) between the main-frame (2) and the subframe (5) can pass cooling air along the slip-ring (205) between the main-frame (2) and the subframe (5). Cool air can enter the engine bay (206), absorb heat from at least one electric motors (204) and pass along the slip-ring (205) upwards into the sub-frame (5). An embodiment has at least one fans in the main-frame (2) and the sub-frame (5) to force air in various directions and through inlets (219 A) and outlets (219B) to cool technical components such as at least one electric motors (204), the slip-ring (205), at least one controllers / inverters (215), contactors, computers and other electronics. A preferred embodiment takes in clean air for radiators. As there usually is dust close to the displacement means lower to the ground, it should be prevented to use that air. Therefore, the interwoven topology of the invention prefers to position radiators (coolers) for liquids such as coolant or hydraulic oil higher in the sub-frame (5) or the cabin / operator station (7). A preferred embodiment is to position at least one liquid or hydraulic oil coolers (501) at the side of the sub-frame (5) or the side of the cabin / operator station (7). This has a number of advantages. First, more dust free and cool air can enter the at least one coolers / radiators (501). Second, air can be drawn in from the central opening (218) in and between the main-frame (2) and sub-frame (5), or from the sub-frame (5). This assists the natural flow of hot air rising higher from the mainframe, through to the sub-frame and into or alongside the cabin / operator station. Air can also be (partly) directly drawn from outside. The third advantage is that hot air exiting the at least one cooler (501) can exit directly outside or can be guided to compartments where electric energy modules (203) are positioned or to the cabin / operator station. The fourth advantage is that the hydraulic valve (504) for the working arm (6), which is preferably positioned and suspended with rubber dampers at the rear of the sub-frame (5), enables short distances from the valve into the at least one hydraulic coolers (501), positioned right next to each other. Especially when the valve has oil exists at both the left and right side, and the hydraulic oil coolers are also positioned at both left and right sides. A further embodiment to enhance energy and cooling efficiency is the positioning of the controller / in verter (502) for the slew motor (503) of the sub-frame (5). The controller / inverter can be positioned and connected against a side of the sub-frame (5). Preferably this is behind the slew motor and below the hydraulic valve (504) at the rear of the sub-frame. This has three advantages. First it allows short cable distances from the controller / inverter to the slew motor. Second, the controller / inverter is cooled by a surface of the sub-frame, directly connected to the outside, alternatively with liquid cooling. Third, all these components together (hydraulic valve, hydraulic oil coolers) plus the slew-motor and the controller / inverter for the slew motor are positioned at the rear of the sub-frame, acting as counterweight for the loads in the working arm (6).

[0020] An embodiment is preferred, wherein a locking structure (505 A) between the sub-frame (5) and the working arm (6), to connect the sub-frame with the at least one articulation (the first) of the working arm, is positioned at the front of the sub-frame and at least for a part inside an articulation of the working arm (6). As such it distinguishes from the mentioned prior art. This contributes favourably to the invention and the interwoven topology because the locking structure does not block airflow or prevent access to the slip-ring (205). This embodiment also makes the sub-frame (5) simple and low weight. The locking structure can for instance be fastened to the sub-frame with bolts. A locking bracket (505B) can be adjustable and connected to an articulation of the working arm (6), lockable by a locking structure (505 A) for instance with a mechanical or hydraulic mechanical coupling pins. Such a locking bracket is adjustable, for instance with fasteners, for the best coupling alignment with the locking structure. A further embodiment incorporates a structure for operating instruments (506), such as a steering wheel, switches or a touch display, which is positioned above the sub-frame (5), above the slip ring (205) area, connected to the cabin / operator station (7) and at least partly covers an articulation of the working arm (6). This has three advantages. First, it protects the operator (9) against a moving articulation or sharp parts of the working arm (6). Second, it holds operating instruments and third, it brings strength to the cabin / operator station (7). An embodiment is that the structure for operating instruments (506) can be quickly disconnected from the cabin / operator station, for instance with fasteners, to grant access to the slip-ring (205), the slew motor (503) and its controller / inverter (502), a contactor, as well as the hydraulic valve (504) for the working arm (6). The cabin / operator station (7) can incorporate demountable covers for openings (700) to have good access to technical components. The structure for operating instruments (506) can have holes to see a locking structure operation.

[0021] The interwoven topology of the invention can incorporate a generator (701). It is positioned at the rear of the sub-frame (5) or at the rear of the cabin / operator station (7), with holes (703) for air cooling and exhaust in a lower support structure (702). All the previous novel topology steps provide the possibility for such a configuration, as the rear part of the sub-frame and / or the rear part of the cabin or operator station have open modular spaces. These can be used for at least one electric energy modules, but also for a generator type, providing electric energy to at least one energy modules and / or at least one electric motors. When the generator is positioned at the rear and / or under the operator seat, then there is still space for at least one electric energy module in the sub-frame (5), adding to the one or two electric energy modules in the main-frame (2). At the rear of the sub-frame (5) or the rear of the cabin / operator station (7), there also remains space for a fuel tank (706). The generator, or range extender, can run on carbon neutral combustion fuels or gas such as methane, propane, natural gas, LPG, biogas, other gases, or a combination. Diesel made from a gaseous fuel (GTL), regular diesel, petrol or any other combustible liquid fuel is also possible. It is preferred to use a fuel that emits the least amount of emissions and is carbon neutral. It further is preferred to have an enclosed compartment for the generator. This ensures low thermal radiation to the operator seat and to other components such as an electric energy module and to a fuel or gas tank. Suspension and / or damping of the generator reduces vibrations in two directions. Within the topology, it is preferred to have the exhaust downwards, rearwards, or a combination. For the cooling air intake and exit it is the same. Therefore holes (703) or a perforation in a lower support structure (702) at the rear of the cabin / operator station or sub-frame is a preferred embodiment. This enables good service access, as a generator (range extender) module can be taken out horizontally, vertically or a combination. These embodiments contribute favourably to the overall invention. An embodiment is preferred wherein a fuel-cell (704) is positioned at the rear of the sub-frame (5) or at the rear of the cabin / operator station (7), with a cooling system (705). Such a fuel-cell converts an energy carrier with hydrogen molecules into electricity. The advantages for the generator or range extender also apply here. The fuel-cell (704) provides electric energy to at least one electric energy modules, either in the sub-frame (5), the main-frame (2) or a combination. The fuel-cell can also provide direct electric power to at least one electric motors (204). The energy carrier or (gaseous, liquid, solid) hydrogen is preferred to be stored in at least one gas tanks, liquid tanks or containers (707), which are positioned at the rear part of the sub-frame (5) or at the rear of the cabin / operator station (7). It is preferred that these tanks or containers can be exchanged. When empty, it can be replaced by a full tank or container. The swapping of energy tanks or containers can be horizontally, vertically, or diagonally at the rear part of the sub-frame (5) or rear part of the cabin / operator station (7). In a further embodiment at least one tanks can be exchanged from the top side of the cabin / operator station. A moveable exchange structure then rotates, swivels, translates, telescopes or a combination from and to the top side of the cabin / operator station such that the operator can exchange the tanks or container from ground level.

[0022] As the generator, range extender and fuel-cell are preferred in the rear part of the sub-frame (5) or rear part of the cabin / operator station (7), it is advantageous to position at least one charger (709) in the same area. This allows electric energy from the grid or any other outside energy source to be connected into at least one charger at the rear part of the sub-frame or rear part of the cabin / operator station. The invention also prefers that the generator or range extender provide electric power through the same at least one charger. This simplifies the machine platform and its topology, as the generator / range extender generates alternative current (AC), which will be converted into direct current (DC) for the at least one electric energy modules by the at least one chargers. A fuel-cell can work the same or can directly provide DC power to the at least one electric energy modules. Another advantage of the charger location is that thermal radiation can be used to pre-heat the at least one electric energy modules and / or the cabin / operator station while charging.

[0023] A further embodiment is that the rear of the sub-frame (5) or the rear of the cabin / operator station (7) can be disconnected or disassembled quicky. It allows for easy access and / or exchange of electric energy modules, a generator or range extender, a fuel-cell, energy containers or tanks etc.

[0024] Clauses:

[0025] 1. Mobile apparatus (1) comprising: - a main-frame (2) with forward and rearward displacing means (3A, 3B) configured to displace the mobile apparatus, the main frame comprising at least one longitudinal structural member (200), and a forward structural support and a rearward structural support (201), such as a displacing means mounting structure, suspension or axle, being connected to the forward and rearward displacing means, respectively, wherein the at least one longitudinal structural member (200) is configured to connect the forward and rearward structural supports (201) to the main frame;

[0026] - a sub-frame (5) rotatably connected to the main-frame such that the sub-frame is rotatable relative to the main frame;

[0027] - a working arm (6) connected to the sub-frame;

[0028] - at least one electric energy module (203) arranged in or on the main-frame;

[0029] - at least one electric motor (204) arranged in or on the main-frame and connected to the at least one electric energy module (203);

[0030] - wherein:

[0031] - the at least one electric energy module (203) is positioned between the forward (3A) and rearward (3B) displacement means; and

[0032] - the at least one electric motor (204) is positioned between the forward and rearward (202B) displacement means. Mobile apparatus according to any one of the previous clauses, wherein the at least one electric motor (204) is air or liquid cooled. Mobile apparatus according to any one of the previous clauses, wherein two or more electric motors (204) arranged in or on the main-frame. Mobile apparatus according to the previous clauses, wherein the two or more electric motors (204) are positioned between the forward structural support and the rearward structural, adjacent to each other. Mobile apparatus according to any one of the previous clauses, wherein two or more electric energy modules (203) are arranged in or on the main-frame (2), wherein the two or more electric energy modules (203) are, preferably evenly, distributed over both sides of the main-frame, seen along a longitudinal axis of the main frame between the forward (3A) and rearward (3B) displacement means. Mobile apparatus according to any one of the previous clauses, wherein the at least one electric energy module (203) is suspendedly connected to a peripheral side of the mainframe (2), wherein the at least one electric energy module (203) is preferably removably connected to the peripheral side of the main-frame.

[0033] 7. Mobile apparatus according to any one of the previous clauses, wherein the at least one electric energy module (203) comprises at least one electric connector (203A) accessibly arranged and configured to be removably connected to the main-frame (2).

[0034] 8. Mobile apparatus according to any one of the previous clauses, wherein a slip-ring (205) between the main-frame (2) and the sub-frame (5) is configured to transfer electrical energy from the sub-frame (5) to the at least one electric energy modules (203) and / or to the at least one electric motor (204).

[0035] 9. Mobile apparatus according to any one of the previous clauses, wherein the at least one electric motor (204) is positioned in an engine bay (206) with an opening (207) arranged at an underside of the main-frame (2).

[0036] 10. Mobile apparatus according to the previous clause, wherein at least one electric motor (204) in the engine bay (206) is configured to provide traction to at least one displacement means (3) and one electric motor (204) in the engine bay (206) is to provide power for a working arm (6) function and / or a power take off function (8).

[0037] 11. Mobile apparatus according to any one of the previous clauses, wherein the power-take-off function (8) is positioned in a guiding structure (8A) at the front or rear of the main-frame (2).

[0038] 12. Mobile apparatus according to any one of the previous clauses, wherein at least one electric motor (204) in the engine bay (206) is connected to a transmission and / or differential (213).

[0039] 13. Mobile apparatus according to any one of the previous clauses, wherein at least one electric motor (204) drives a hydraulic pump (212).

[0040] 14. Mobile apparatus according to any one of the previous clauses, wherein at least one bottom members (208) are connected to a flange (209) of the underside of the main-frame (2).

[0041] 15. Mobile apparatus according to any one of the previous clauses, wherein the main-frame (2) incorporates structural corner members (210) to transfer forces from the sub-frame (5) through the slew bearing (4) into the main-frame (2). 16. Mobile apparatus according to any one of the previous clauses, wherein the at least one longitudinal structural member (200) of the main-frame (2) has openings in the sides (211).

[0042] 17. Mobile apparatus according to any one of the previous clauses, wherein at least one electric motor (204) is supported with a suspended motor sub-frame (214) and connected to a bottom member (208).

[0043] 18. Mobile apparatus according to any one of the previous clauses, wherein two electric motors (204) are positioned, each suspended with separate motor sub-frames (214) and each connected to a separate bottom member (208).

[0044] 19. Mobile apparatus according to any one of the previous clauses, further comprising at least one bottom member (208) having holes and / or perforation (208A) to guide air to and from the engine bay (206).

[0045] 20. Mobile apparatus according to any one of the previous clauses, wherein at least one motor controller / in verter (215) for at least one electric motor (204) in or connected to the main frame (2) is positioned in an opening in the main-frame (2) above the area of a structural support or axle (201) of at least one of the displacement means (3).

[0046] 21. Mobile apparatus according to any one of the previous clauses, wherein at least one motor controller / in verter (215) is liquid cooled.

[0047] 22. Mobile apparatus according to any one of the previous clauses, wherein at least one motor controller / in verter (215) is cooled with hydraulic oil.

[0048] 23. Mobile apparatus according to any one of the previous clauses, wherein a hydraulic tank (216) is positioned at the rear or the front of the main-frame (2) with hydraulic pipes and / or hoses (217) through and / or along the main-frame (2).

[0049] 24. Mobile apparatus according to any one of the previous clauses, wherein at least one liquid or hydraulic oil coolers (501) are connected to the front, the rear or one of the sides of the main frame (2).

[0050] 25. Mobile apparatus according to any one of the previous clauses, wherein at least one electric motor (204) are submersed in a liquid or hydraulic oil.

[0051] 26. Mobile apparatus according to any one of the previous clauses, wherein at least one electric motors (204) are integrated with a controller / inverter (215).

[0052] 27. Mobile apparatus according to any one of the previous clauses, wherein a hydraulic valve (220) is positioned inside the front or the rear of the main-frame (2), with an access opening (220 A) in the main-frame (2).

[0053] 28. Mobile apparatus according to any one of the previous clauses, wherein a central opening (218) between the main-frame (2) and the sub-frame (5) passes cooling air along the slipring (205) between the main-frame (2) and the sub-frame (5).

[0054] 29. Mobile apparatus according to any one of the previous clauses, wherein at least one fan (220) is positioned in the main-frame (2) and / or sub-frame (5) for forced air cooling of technical components with airflow through air inlets (219 A) and outlets (219B).

[0055] 30. Mobile apparatus according to any one of the previous clauses, wherein at least one liquid or hydraulic oil cooler (501) is positioned at the side of the sub-frame (5) or the side of the cabin / operator station (7).

[0056] 31. Mobile apparatus according to any one of the previous clauses, wherein the controller / inverter (502) for a slew motor (503) to rotate the sub-frame (5) is positioned against a side of the sub-frame (5) with air cooling or liquid cooling.

[0057] 32. Mobile apparatus according to any one of the previous clauses, wherein a locking structure (505 A) between the sub-frame (5) and the working arm (6) is positioned at the front of the sub-frame and at least for a part inside an articulation of the working arm (6).

[0058] 33. Mobile apparatus according to any one of the previous clauses, wherein a locking bracket (505B) is adjustable and connected to an articulation of the working arm (6), lockable by locking structure (505 A).

[0059] 34. Mobile apparatus according to any one of the previous clauses, wherein a structure for operating instruments (506) is positioned above the sub-frame (5), above the slip ring (205) area, connected to the cabin / operator station (7) and at least partly covers an articulation of the working arm (6).

[0060] 35. Mobile apparatus according to any one of the previous clauses, wherein a generator (701) is positioned at the rear of the sub-frame (5) or at the rear of the cabin / operator station (7), with holes (703) for air cooling and exhaust in a lower support structure (702). 36. Mobile apparatus according to any one of the previous clauses, wherein a fuel-cell (704) is positioned at the rear of the sub-frame (5) or at the rear of the cabin / operator station (7), with cooling systems (705).

[0061] 37. Mobile apparatus according to any one of the previous clauses, wherein a fuel tank (706) is positioned at the rear part of the sub-frame (5) or at the rear of the cabin / operator station (7).

[0062] 38. Mobile apparatus according to any one of the previous clauses, wherein at least one gas tanks or hydrogen tanks or containers (707) are positioned at the rear part of the sub-frame (5) or at the rear of the cabin / operator station (7) and can be exchanged.

[0063] 39. Mobile apparatus according to any one of the previous clauses, wherein at least one gas tanks or hydrogen tanks or containers (707) are positioned at the top side of the cabin / operator station (7) and can be exchanged using a moveable exchange structure (708).

[0064] 40. Mobile apparatus according to any one of the previous clauses, wherein at least one chargers (709) are positioned in or connected to the sub-frame (5) or cabin / operator station (7).

[0065] The above stated and other advantageous features and objects of the invention will become more apparent, and the invention better understood, on the basis of the following detailed description when read in combination with the accompanying drawings.

[0066] Figure 1 illustrates a mobile apparatus (1) with a working arm (6) in an articulated excavator mode. The main-frame (2), sub-frame (5), cabin / operator station (7) and operator (9) are clearly visible. The adjustable locking bracket (505B) is unlocked so that the first arm segment of the working arm is free to move / rotate. In this figure it is visible that the electric energy module (203) is positioned low, albeit that there is a good ground clearance. The distance from the operator upper (9) body to the main-frame (2) is substantial.

[0067] Figure 2 is an isometric illustration from the left rear corner. It shows a mobile apparatus (1) with a working arm (6) in a fork-lift / loader mode. The three electric energy modules (203) are visible in the rear part of the sub-frame / cabin / operator station (5 / 7). One on the electric energy modules is on the left, one on the right and one in the middle under the operator seat. Figure 3 is an isometric illustration from either a front or rear corner of the main-frame (2) and the sub-frame (5), depending on the driving direction and rotation angle of the sub-frame. Components in both frames are visible. The power-take-off (PTO) structure (8) and its guiding structure (8A) are visible. In this embodiment the PTO shaft is housed inside a gearbox, which can be powered by a hydraulic motor or directly from a motor by way of a drive shaft.

[0068] Figure 4 is an isometric illustration from either the front or rear of the main-frame (2) and the subframe (5), depending on the driving direction and rotation angle of the sub-frame. A hydraulic or fluid tank (216) is visible. A hole (217A) in the main-frame (2) through which hydraulic pipes and / or hoses (217) run can be seen.

[0069] Figure 5 is a side-top view of the main frame (2). Many technical components are visible. Holes in the main frame (215B, 220) can be seen as well.

[0070] Figure 6 is a side -bottom view of the main frame (2). Many technical components are visible in the motor-bay (206). Holes in the longitudinal structural members (200) of the main-frame and the connection of electric energy modules to the main-frame can be seen.

[0071] Figure 7 is a view to the underside of the main frame (2). Many technical components are visible in and connected to the main-frame.

[0072] Figure 8 is also a view to the underside of the main frame (2). The technical components are behind bottom members (208) of the underside of the main-frame and / or of the motor-bay. Holes or perforations (208A) of the bottom member can be seen.

[0073] Figure 9 is a side -bottom view of the main frame (2). Visible are the structural elements providing strength and space for the technical components.

[0074] Figure 10 is a rear or front and bottom view of the main frame (2). Visible also here are the structural elements providing strength and space for the technical components.

[0075] Figure 11 is a side-top view of many technical components inside the main-frame (2), without the main frame itself.

[0076] Figure 12 is a top view of the sub-frame (5) with on the left side the front of the sub-frame. On the front of the sub-frame, the locking structure (505 A) can be seen.

[0077] Figure 13 is a side view of the sub-frame (5) and cabin / operator station (7) with on the left side the front of the sub-frame. On the front of the sub-frame, the locking structure (505 A), the adjustable locking bracket (505B) and a first part of a working arm (6) can be seen.

[0078] Figure 14 is also a side view of the sub-frame (5) and cabin / operator station (7) with on the left side the front of the sub-frame. In this illustration the structure for operating instruments (506) can be seen.

[0079] Figure 15 is a rear view of the sub-frame (5) and cabin / operator station (7). An electric energy module (203) on the left side, generator / range extender (701) centrally under the operator seat and a fuel tank (706) on the right side. Visible are holes (703) in the lower support structure (702) of a sub-frame (5) or a cabin / operator station (7).

[0080] Figure 16 is a rear side view of the sub-frame (5) and cabin / operator station (7). A generator / range extender (701) or hydrogen fuel-cell (704) is positioned centrally under the operator seat. On the left and right side has tanks, hydrogen tanks or energy containers (707) that can be exchanged quickly. Similar exchangeable energy tanks or containers (707) are positioned at the top of the cabin / operator station.

[0081] Figure 17 is a rear view of the sub-frame (5) and cabin / operator station (7). A generator / range extender (701) or hydrogen fuel-cell (704) is positioned centrally under the operator seat. On the left and right side has tanks, hydrogen tanks or energy containers (707) that can be exchanged quickly. Similar exchangeable energy tanks or containers (707) are positioned at the top of the cabin / operator station. They can be exchanged by moving a moveable exchange structure (708). The arrows on the left and right illustrate that the gas tanks or energy containers can be rotated or moved away sideways (708’) and further than in this illustration so that an operator can reach more easily to the tanks or containers.

[0082] 1. Mobile apparatus

[0083] 2. Main-frame

[0084] 3. Displacing means (wheels, caterpillar tracks, combination or other)

[0085] 3A. Forward displacing means (wheels, caterpillar tracks, combination or other)

[0086] 3B. Rearward displacing means (wheels, caterpillar tracks, combination or other) 4. Slew bearing (between main-frame and sub-frame)

[0087] 5. Sub-frame, rotating on main-frame

[0088] 6. Working arm

[0089] 7. Cabin / operator station

[0090] 8. Power Take Off (PTO) structure to drive (tractor type) implements with a hitch system

[0091] 8 A. Guiding structure (8 A) for the Power Take Off (PTO) structure

[0092] 9. Operator of machine

[0093] 200. Longitudinal structural members of the main-frame

[0094] 201. Forward and rearward structures (brackets or suspension) or axles of displacement means

[0095] 202. Centrelines of forward and rearward displacement means

[0096] 202A. Centreline of forward displacement means

[0097] 202B. Centreline of rearward displacement means

[0098] 203. Electric energy module such as a battery or capacitor or other containing electric energy

[0099] 203A. Connection point between electric energy module and main-frame

[0100] 203B. Electric connector of an electric energy module

[0101] 204. Electric motor

[0102] 205. Slip-ring to transfer electrical power between the main-frame and the sub-frame

[0103] 206. Motor-bay, an area in the main frame where technical components are positioned

[0104] 207. Opening at the underside of the main-frame

[0105] 208. Bottom member of the underside of the main-frame and / or of the motor-bay

[0106] 208 A. Holes or perforation of bottom member of the main-frame and / or of the motor-bay

[0107] 209. Flange of the underside of the main-frame and / or of the motor-bay

[0108] 210. Structural corner members of the main-frame and / or in the motor-bay of the main-frame

[0109] 211. Openings in the sides of the structural longitudinal members of the main-frame

[0110] 212. Hydraulic pump

[0111] 213. Transmission and / or differential

[0112] 213 A. Propel / drive shaft

[0113] 214. Motor sub-frame with suspension

[0114] 215. Controller / in verter of an electric motor

[0115] 215A. Contactors to switch on and off controllers / inverters of an electric motor

[0116] 215B. Opening in main frame for controller(s) / inverter(s) of at least one electric motors

[0117] 216. Hydraulic tank

[0118] 217. Hydraulic pipes and / or hoses through holes and / or along the main-frame

[0119] 217A. Holes in main-frame for hydraulic pipes and / or hoses

[0120] 218. Central opening between the main-frame and the sub-frame

[0121] 219. Fans for air cooling 219A. Inlet for cooling air of technical components

[0122] 219B. Outlet for cooling air of technical components

[0123] 220. Valve in main-frame

[0124] 220A. Opening in main-frame for valve

[0125] 501. Liquid cooler, oil cooler and / or hydraulic oil cooler

[0126] 502. Controller / inverter of a slew motor

[0127] 503. Slew motor to rotate the sub-frame

[0128] 504. Hydraulic valve for the working arm

[0129] 505A. Locking structure between the sub-frame and the working arm 505B. Adjustable locking bracket to lock the working arm onto the sub-frame 506. Structure for operating instruments

[0130] 700. Openings in cabin / operator station for access to technical components

[0131] 701. Generator, generating electric energy from a combustion engine or turbine

[0132] 702. Lower support structure of a sub-frame or a cabin / operator station

[0133] 703. Holes in a lower support structure of a sub-frame or a cabin / operator station

[0134] 704. Fuel-cell, generating electric energy from hydrogen or from an energy carrier with hydrogen

[0135] 705. Cooling system of a fuel-cell

[0136] 706. Fuel tank for carbon neutral fuels, gasoline, or diesel

[0137] 707. Gas or hydrogen tank or container

[0138] 708. Moveable exchange structure of gas or hydrogen tank or container

[0139] 709. Charger to power an electric motor or to charge an electric energy module from the grid, from the generator or from the fuel-cell or any power source providing electric energy

[0140] The description and drawings merely illustrate the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described or shown herein, embody the principles of the present invention and are included within its scope. Furthermore, all examples recited herein are principally intended expressly to be only for pedagogical purposes to aid the reader in understanding the principles of the present invention and the concepts contributed by the inventor(s) to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions. Moreover, all statements herein reciting principles, aspects, and embodiments of the present invention, as well as specific examples thereof, are intended to encompass equivalents thereof.

[0141] It should be noted that the above-mentioned embodiments illustrate rather than limit the present invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word “comprising” does not exclude the presence of elements or steps not listed in a claim. The word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words “first”, “second”, “third”, etc. does not indicate any ordering or priority. These words are to be interpreted as names used for convenience.

[0142] In the present invention, expressions such as “comprise”, “include”, “have”, “may comprise”, “may include”, or “may have” indicate existence of corresponding features but do not exclude existence of additional features.

[0143] Whilst the principles of the present invention have been set out above in connection with specific embodiments, it is to be understood that this description is merely made by way of example and not as a limitation of the scope of protection which is determined by the appended claims.

Claims

Claims1. Mobile apparatus (1) comprising:- a main-frame (2) with forward and rearward displacing means (3A, 3B) configured to displace the mobile apparatus, the main frame comprising at least one longitudinal structural member (200), and a forward structural support and a rearward structural support (201), such as a displacing means mounting structure, suspension or axle, being connected to the forward and rearward displacing means, respectively, wherein the at least one longitudinal structural member (200) is configured to connect the forward and rearward structural supports (201) to the main frame;- a sub-frame (5) rotatably connected to the main-frame such that the sub-frame is rotatable relative to the main frame;- a working arm (6) connected to the sub-frame;- at least one electric energy module (203) arranged in or on the main-frame;- at least one electric motor (204) arranged in or on the main-frame and connected to the at least one electric energy module (203);- wherein:- the at least one electric energy module (203) is positioned between the forward (3A) and rearward (3B) displacement means; and- the at least one electric motor (204) is positioned between the forward and rearward (202B) displacement means.

2. Mobile apparatus according to any one of the previous claims, wherein the at least one electric motor (204) is air or liquid cooled.

3. Mobile apparatus according to any one of the previous claims, wherein two or more electric motors (204) arranged in or on the main-frame.

4. Mobile apparatus according to the previous claims, wherein the two or more electric motors (204) are positioned between the forward structural support and the rearward structural, adjacent to each other.

5. Mobile apparatus according to any one of the previous claims, wherein two or more electric energy modules (203) are arranged in or on the main-frame (2), wherein the two or more electric energy modules (203) are, preferably evenly, distributed over both sides of the main-frame, seen along a longitudinal axis of the main frame between the forward (3A)and rearward (3B) displacement means.

6. Mobile apparatus according to any one of the previous claims, wherein the at least one electric energy module (203) is suspendedly connected to a peripheral side of the mainframe (2), wherein the at least one electric energy module (203) is preferably removably connected to the peripheral side of the main-frame.

7. Mobile apparatus according to any one of the previous claims, wherein the at least one electric energy module (203) comprises at least one electric connector (203A) accessibly arranged and configured to be removably connected to the main-frame (2).

8. Mobile apparatus according to any one of the previous claims, wherein a slip-ring (205) between the main-frame (2) and the sub-frame (5) is configured to transfer electrical energy from the sub-frame (5) to the at least one electric energy modules (203) and / or to the at least one electric motor (204).

9. Mobile apparatus according to any one of the previous claims, wherein the at least one electric motor (204) is positioned in an engine bay (206) with an opening (207) arranged at an underside of the main-frame (2).

10. Mobile apparatus according to the previous claim, wherein at least one electric motor (204) in the engine bay (206) is configured to provide traction to at least one displacement means (3) and one electric motor (204) in the engine bay (206) is to provide power for a working arm (6) function and / or a power take off function (8).

11. Mobile apparatus according to any one of the previous claims, wherein the power-take-off function (8) is positioned in a guiding structure (8A) at the front or rear of the main-frame (2).

12. Mobile apparatus according to any one of the previous claims, wherein at least one electric motor (204) in the engine bay (206) is connected to a transmission and / or differential (213).

13. Mobile apparatus according to any one of the previous claims, wherein at least one electric motor (204) drives a hydraulic pump (212).

14. Mobile apparatus according to any one of the previous claims, wherein at least one bottom members (208) are connected to a flange (209) of the underside of the main-frame (2).

15. Mobile apparatus according to any one of the previous claims, wherein the main-frame (2) incorporates structural corner members (210) to transfer forces from the sub-frame (5) through the slew bearing (4) into the main-frame (2).

16. Mobile apparatus according to any one of the previous claims, wherein the at least one longitudinal structural member (200) of the main-frame (2) has openings in the sides (211).

17. Mobile apparatus according to any one of the previous claims, wherein at least one electric motor (204) is supported with a suspended motor sub-frame (214) and connected to a bottom member (208).

18. Mobile apparatus according to any one of the previous claims, wherein two electric motors (204) are positioned, each suspended with separate motor sub-frames (214) and each connected to a separate bottom member (208).

19. Mobile apparatus according to any one of the previous claims, further comprising at least one bottom member (208) having holes and / or perforation (208A) to guide air to and from the engine bay (206).

20. Mobile apparatus according to any one of the previous claims, wherein at least one motor controller / in verter (215) for at least one electric motor (204) in or connected to the main frame (2) is positioned in an opening in the main-frame (2) above the area of a structural support or axle (201) of at least one of the displacement means (3).

21. Mobile apparatus according to any one of the previous claims, wherein at least one motor controller / in verter (215) is liquid cooled.

22. Mobile apparatus according to any one of the previous claims, wherein at least one motor controller / in verter (215) is cooled with hydraulic oil.

23. Mobile apparatus according to any one of the previous claims, wherein a hydraulic tank (216) is positioned at the rear or the front of the main-frame (2) with hydraulic pipes and / or hoses (217) through and / or along the main-frame (2).

24. Mobile apparatus according to any one of the previous claims, wherein at least one liquid or hydraulic oil coolers (501) are connected to the front, the rear or one of the sides of the main frame (2).

25. Mobile apparatus according to any one of the previous claims, wherein at least one electricmotor (204) are submersed in a liquid or hydraulic oil.

26. Mobile apparatus according to any one of the previous claims, wherein at least one electric motors (204) are integrated with a controller / inverter (215).

27. Mobile apparatus according to any one of the previous claims, wherein a hydraulic valve (220) is positioned inside the front or the rear of the main-frame (2), with an access opening (220 A) in the main-frame (2).

28. Mobile apparatus according to any one of the previous claims, wherein a central opening (218) between the main-frame (2) and the sub-frame (5) passes cooling air along the slipring (205) between the main-frame (2) and the sub-frame (5).

29. Mobile apparatus according to any one of the previous claims, wherein at least one fan (220) is positioned in the main-frame (2) and / or sub-frame (5) for forced air cooling of technical components with airflow through air inlets (219 A) and outlets (219B).

30. Mobile apparatus according to any one of the previous claims, wherein at least one liquid or hydraulic oil cooler (501) is positioned at the side of the sub-frame (5) or the side of the cabin / operator station (7).

31. Mobile apparatus according to any one of the previous claims, wherein the controller / inverter (502) for a slew motor (503) to rotate the sub-frame (5) is positioned against a side of the sub-frame (5) with air cooling or liquid cooling.

32. Mobile apparatus according to any one of the previous claims, wherein a locking structure (505 A) between the sub-frame (5) and the working arm (6) is positioned at the front of the sub-frame and at least for a part inside an articulation of the working arm (6).

33. Mobile apparatus according to any one of the previous claims, wherein a locking bracket (505B) is adjustable and connected to an articulation of the working arm (6), lockable by locking structure (505 A).

34. Mobile apparatus according to any one of the previous claims, wherein a structure for operating instruments (506) is positioned above the sub-frame (5), above the slip ring (205) area, connected to the cabin / operator station (7) and at least partly covers an articulation of the working arm (6).

35. Mobile apparatus according to any one of the previous claims, wherein a generator (701) ispositioned at the rear of the sub-frame (5) or at the rear of the cabin / operator station (7), with holes (703) for air cooling and exhaust in a lower support structure (702).

36. Mobile apparatus according to any one of the previous claims, wherein a fuel-cell (704) is positioned at the rear of the sub-frame (5) or at the rear of the cabin / operator station (7), with cooling systems (705).

37. Mobile apparatus according to any one of the previous claims, wherein a fuel tank (706) is positioned at the rear part of the sub-frame (5) or at the rear of the cabin / operator station (7).

38. Mobile apparatus according to any one of the previous claims, wherein at least one gas tanks or hydrogen tanks or containers (707) are positioned at the rear part of the sub-frame (5) or at the rear of the cabin / operator station (7) and can be exchanged.

39. Mobile apparatus according to any one of the previous claims, wherein at least one gas tanks or hydrogen tanks or containers (707) are positioned at the top side of the cabin / operator station (7) and can be exchanged using a moveable exchange structure (708).

40. Mobile apparatus according to any one of the previous claims, wherein at least one chargers (709) are positioned in or connected to the sub-frame (5) or cabin / operator station (7).

Images