Wheeled mini-loader

Abstract

A power machine 200 includes a frame 210, a battery 234 and five electric motors. The frame 210 includes left and right side walls 254. The battery 234 is positioned on the frame 210. The four electric motors are positioned on the frame 210 inside the left and right side walls. The first and second electric motors are positioned adjacent each other in front of the battery 234, and the third and fourth electric motors are positioned adjacent each other behind the battery. The fifth electric motor is positioned higher than the battery 234. The hydraulic pump 272 is operably connected to the fifth electric motor, and the hydraulic pump 272 is positioned above the battery 234.

Description

WHEELED MINI-LOADERCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of United States provisional application no. 63 / 648,844, filed 17 May 2024, which is hereby incorporated by reference as though fully set forth herein.BACKGROUND

[0002] This disclosure is directed toward power machines. Power machines, for the purposes of this disclosure, include any type of machine that generates power to accomplish a particular task or a variety of tasks. One type of power machine is a work vehicle. Work vehicles are generally self-propelled vehicles that have a work device, such as a lift arm (although some work vehicles can have other work devices) that can be manipulated to perform a work function. Work vehicles include excavators, loaders, utility vehicles, tractors, and trenchers, to name a few examples.

[0003] Small power machines, such as mini-loaders, can operate in tight areas, pass through narrow openings, and need less storage space. It is also desirable for such smaller power machines to have the capability of lifting significant loads and maneuvering in work environments with limited space.

[0004] The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.SUMMARY

[0005] In one aspect, a power machine comprises a frame, a battery and five electric motors. The frame comprises left and right side walls, a front and a rear. The battery is positioned on the frame. The first, second, third and fourth electric motors are positioned on the frame inside the left side wall and inside the right side wall. The first and second electric motors are positioned adjacent each other in front of the battery, and the third and fourth electric motors are positioned adjacent each other behind the battery. The fifth electric motor is positioned higher than the battery. The hydraulic pump is operably connected to the fifth electric motor, and the hydraulic pump is positioned above the battery.

[0006] In another aspect, a power machine comprises a frame, an operator station attached to the frame, an electric tractive drivetrain and an electric power source. The electric power source comprises a first plurality of batteries positioned on a left side of the operator station.

[0007] In yet another aspect, a power machine comprises a frame, four planetary gears and four wheel hubs. The frame comprises left and right side walls. The four planetary gears are arranged on the frame, comprising first and second left planetary gears positioned outside the left side wall and first and second right planetary gears positioned outside the right side wall. Each of the four wheel hubs is attached to one of the four planetary gears.

[0008] In another aspect, a power machine comprises a frame, four wheel hubs and an electric power source. The four wheel hubs are arranged on the frame, comprising two front wheel hubs and two rear wheel hubs. The electric power source comprises a first plurality of batteries, wherein each of the first plurality of batteries is positioned rearward of the two rear wheel hubs.

[0009] This summary and the Abstract are provided to introduce concepts in simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features or essential features of the disclosed or claimed subject matter and is not intended to describe each disclosed embodiment or every implementation of the disclosed or claimed subject matter. Specifically, features disclosed herein with respect to one embodiment may be equally applicable to another. Further, this summary is not intended to be used as an aid in determining the scope of the claimed subject matter. Many other novel advantages, features, and relationships will become apparent as this description proceeds. The figures and the description that follow more particularly exemplify illustrative embodiments.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The disclosed subject matter will be further explained with reference to the attached figures, wherein like structure or system elements are referred to by like reference numerals, or reference numbers indexed by 100, throughout the several views. All descriptions are applicable to like and analogous structures throughout the several embodiments, unless otherwise specified.

[0011] FIG. 1 is a block diagram illustrating functional systems of a representative power machine on which embodiments of the present disclosure can be practiced.

[0012] FIG. 2 is a left and rear perspective view of a representative power machine in the form of a wheeled mini-loader of a type on which the disclosed embodiments can be practiced.

[0013] FIG. 3 is a top view of the representative power machine (without the primary batteries).

[0014] FIG. 4 is a left side elevation view of the representative power machine.

[0015] FIG. 5 is a front elevation view of the representative power machine.

[0016] FIG. 6 is a rear elevation view of the representative power machine.

[0017] FIG. 7 is a left perspective view of a representative power machine, with some structures removed.

[0018] FIG. 8 is a left perspective view of a lower central portion of the representative power machine, with some structures removed.

[0019] FIG. 9 is a top right perspective view of a portion of the representative power machine.

[0020] While the above-identified figures set forth one or more embodiments of the disclosed subject matter, other embodiments are also contemplated, as noted in the disclosure. In all cases, this disclosure presents the disclosed subject matter by way of representation and not limitation. It should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that fall within the scope of the principles of this disclosure.

[0021] The figures may not be drawn to scale. In particular, some features may be enlarged relative to other features for clarity. Moreover, where terms such as above, below, over, under, top, bottom, side, right, left, vertical, horizontal, etc., are used, it is to be understood that they are used only for ease of understanding the description. It is contemplated that structures may be oriented otherwise.

[0022] The terminology used herein is for the purpose of describing embodiments, and the terminology is not intended to be limiting. Unless indicated otherwise, ordinal numbers (e.g., first, second, third, etc.) are used to distinguish or identify different elements or steps in a group of elements or steps and do not supply a serial or numerical limitation on the elements or steps of the embodiments thereof. For example, "first," "second," and "third" elements or steps need not necessarily appear in that order, and the embodiments thereof need not necessarily be limited to three elements or steps. Unless indicated otherwise, any labels such as "left," "right," "front," "back," "top," "bottom," "forward," "reverse," "clockwise," "counter clockwise," "up," "down," or other similar terms such as "upper," "lower," "aft," "fore," "vertical," "horizontal," "proximal," "distal," "intermediate" and the like are used for convenience and are not intended to imply, for example, any particular fixed location, orientation, or direction. Instead, such labels are used toreflect, for example, relative location, orientation, or directions. The singular forms of "a," "an," and "the" include plural references unless the context clearly dictates otherwise.DETAILED DESCRIPTION

[0023] The concepts disclosed in this discussion are described and illustrated with reference to exemplary embodiments. These concepts, however, are not limited in their application to the details of construction and the arrangement of components in the illustrative embodiments and are capable of being practiced or being carried out in various other ways. The terminology in this document is used for description and should not be regarded as limiting. Words such as “including,” “comprising,” and “having” and variations thereof as used herein are meant to encompass the items listed thereafter, equivalents thereof, as well as additional items.

[0024] A representative power machine on which the embodiments can be practiced is illustrated in diagram form in FIG. 1, and one example of such a power machine is illustrated in FIGS. 2-9. For the sake of brevity, only one power machine is discussed. However, the disclosed teachings can be practiced on any of a number of power machines, including power machines of different types from the representative, illustrated power machine. Power machines, for the purposes of this discussion, include a frame, at least one work element, and a power source that can provide power to the work element to accomplish a work task. One type of power machine is a self-propelled work vehicle. Self-propelled work vehicles are a class of power machines that include a frame, work element, and a power source that can provide power to the work element. At least one of the work elements is a motive system for moving the power machine under power.

[0025] Referring now to FIG. 1, a block diagram illustrates the basic systems of a power machine 100 upon which the embodiments discussed below can be advantageously incorporated and can be any of several distinct types of power machines. The block diagram of FIG. 1 identifies various systems on power machine 100 and the relationship between various components and systems. As mentioned above, at the most basic level, power machines for the purposes of this discussion include a frame, a power source, and a work element. The power machine 100 has a frame 110, a power source 120, and a work element 130. Because power machine 100 shown in FIG. 1 is a self-propelled work vehicle, it also has tractive elements 140, which are themselves work elements provided to move the power machine over a support surface and an operator station 150 that provides an operating position for controlling the work elements of the power machine.A control system 160 is provided to interact with the other systems to perform various work tasks at least in part in response to control signals provided by an operator.

[0026] Certain work vehicles have work elements that can perform a dedicated task. For example, some work vehicles have a lift arm structure to which an implement 180 such as a bucket is attached. The work element, i.e., the lift arm structure can be manipulated to position the implement 180 for performing the task. The implement 180, in some instances can be positioned relative to the work element, such as by rotating a bucket relative to a lift arm structure, to further position the implement. Under normal operation of such a work vehicle, the bucket is intended to be attached and under use. Such work vehicles may be able to accept other implements by disassembling the implement / work element combination and reassembling another implement in place of the original bucket. Some work vehicles are intended to be used with a wide variety of implements and have an implement interface such as implement interface 170 shown in FIG. 1. At its most basic, implement interface 170 is a connection mechanism between the frame 110 or a work element 130 and an implement 180, which can be as simple as a connection point for attaching an implement directly to the frame 110 or a work element 130.

[0027] On some power machines, implement interface 170 can include an implement carrier, which is a physical structure movably attached to a work element. The implement carrier has engagement features and locking features to accept and secure any of several implements to the work element. One characteristic of such an implement carrier is that once an implement is attached to it, it is fixed to the implement (i.e., not movable with respect to the implement) and when the implement carrier is moved with respect to the work element, the implement moves with the implement carrier. The term “implement carrier” is not merely a pivotal connection point, but rather a dedicated device specifically intended to accept and be secured to various different implements. The implement carrier itself is mountable to a work element 130 such as a lift arm structure or the frame 110. Implement interface 170 can also include one or more power sources for providing power to one or more work elements on an implement. Some power machines can have a plurality of work elements with implement interfaces, each of which may, but need not, have an implement carrier for receiving implements. Some other power machines can have a work element with a plurality of implement interfaces so that a single work element can accept a plurality of implements simultaneously. Each of these implement interfaces can, but need not, have an implement carrier.

[0028] Frame 110 includes a physical structure that can support various other components that are attached thereto or positioned thereon. The frame 110 can include any number of individual components. Some power machines have frames that are rigid. That is, no part of the frame is movable with respect to another part of the frame. Other power machines have at least one portion that can move with respect to another portion of the frame. For example, excavators can have an upper frame portion that rotates about a swivel with respect to a lower frame portion. Other work vehicles have articulated frames such that one portion of the frame pivots with respect to another portion for accomplishing steering functions.

[0029] Frame 110 supports the power source 120, which can provide power to one or more work elements 130 including the one or more tractive elements 140, as well as, in some instances, providing power for use by an attached implement via implement interface 170. Power from the power source 120 can be provided directly to any of the work elements 130, tractive elements 140, and implement interfaces 170. Additionally or alternatively, power from the power source 120 can be provided to a control system 160, which in turn selectively provides power to the elements that are capable of using it to perform a work function. Power sources for power machines frequently include an engine such as an internal combustion engine and a power conversion system such as a mechanical transmission or a hydraulic system that can convert the output from an engine into a form of power that is usable by a work element. Other types of power sources can be incorporated into power machines, including electrical sources such as batteries or a combination of power sources, known generally as hybrid power sources.

[0030] FIG. 1 shows a single work element designated as work element 130, but various power machines can have any number of work elements. Work elements are typically attached to the frame of the power machine and movable with respect to the frame when performing a work task. In addition, tractive elements 140 are a special case of work element in that their work function is generally to move the power machine 100 over a support surface. Tractive elements 140 are shown separate from the work element 130 because many power machines have additional work elements besides tractive elements, although that is not always the case. Power machines can have any number of tractive elements, some or all of which can receive power from the power source 120 to propel the power machine 100. Tractive elements can be, for example, wheels, track assemblies, and the like. Tractive elements can be rigidly mounted to the frame such that movement of thetractive element is limited to rotation about an axle or steerably mounted to the frame to accomplish steering by pivoting the tractive element with respect to the frame.

[0031] Power machine 100 includes an operator station 150, which provides a position from which an operator can control operation of the power machine. In some power machines, the operator station 150 is defined by an enclosed or partially enclosed cab. Some power machines on which the disclosed embodiments may be practiced may not have a cab or an operator compartment of the type described above. For example, a walk behind loader may not have a cab or an operator compartment, but rather an operating position that serves as an operator station from which the power machine is properly operated. More broadly, power machines other than work vehicles may have operator stations that are not necessarily similar to the operating positions and operator compartments referenced above. Further, some power machines such as power machine 100 and others, whether they have operator compartments or operator positions, may be capable of being operated remotely (i.e., from a remotely located operator station) instead of or in addition to an operator station adjacent or on the power machine. This can include applications where at least some of the operator-controlled functions of the power machine can be operated from an operating position associated with an implement that is coupled to the power machine. Alternatively, with some power machines, a remote-control device can be provided (i.e., remote from both of the power machine and any implement to which is it coupled) that can control at least some of the operator-controlled functions on the power machine.

[0032] FIGS. 2-9 illustrate a loader 200, which is one particular example of a power machine of the type illustrated in FIG. 1 in which the embodiments discussed below can be advantageously employed. The loader 200 is a wheeled loader and more particularly, a miniloader. A mini-loader for the purposes of this discussion is a small loader relative to other compact loaders such as traditional skid-steer loaders and compact track loaders; typically, a mini-loader does not have an enclosed operator cab. Some mini-loaders have a platform 252 on which an operator can ride, which serves as operator station 250. Other mini-loaders can be operated by an operator who walks behind the loader. Still other mini-loaders have a platform that is moveable or removable to allow an operator to alternatively ride on the platform or walk behind the loader.

[0033] The loader 200 should not be considered limiting, especially as to features that the loader 200 may have described herein that are not essential to the disclosed embodiments. Such features may or may not be included in power machines other than the loader 200 upon which theembodiments disclosed below may be advantageously practiced. Unless specifically noted otherwise, embodiments disclosed below can be practiced on a variety of power machines, with the loader 200 being only one of those power machines. For example, some or all of the concepts discussed below can be practiced on many other types of stand-on work vehicles such as mowers, aerators, and spreaders, to name but a few examples. Moreover, while the illustrated embodiment shows a platform configured for a standing operator, the platform can also be used for a seating platform, for example. Still other mini-loaders can be remotely controlled or autonomous, thereby not having an on-board operator station or having an operator station that may not be occupied during operation.

[0034] In an exemplary embodiment, loader 200 includes frame 210. The frame 210 supports a power system 220, the power system 220 being configured to generate or otherwise provide power for operating various functions on the power machine. In an exemplary embodiment, power source includes primary batteries 234 and internal battery 236. The frame 210 also supports a work element in the form of a lift arm 230 that is selectively powered by the power system 220 in response to signals from an operator control system 260 and can perform various work tasks. The lift arm 230 in turn supports an implement interface 270, which is configured to receive and secure various implements to the loader 200 for performing various work tasks. The loader 200 can be operated from an operator station 250 from which an operator can manipulate various control devices to cause the power machine to perform various functions. In an exemplary embodiment, the frame 210 also supports a traction system (including wheels 240) that is also selectively powered by the power system 220 in response to signals from the operator control system 260. The wheels 240 are configured to propel the power machine over a support surface. Descriptions of directions or orientations are taken with respect to the support surface (e.g., ground surface) as a substantially horizontal surface. Thus, a vertical, up or down direction is substantially perpendicular to a support surface defined by the bottoms of wheels 240. A front or forward direction is at the left of FIGS. 2 and 3 (the implement interface 270 is at the front of power machine 200 as illustrated). A back or rearward direction is at the right of FIGS. 2 and 3 (the operator station 250 is at the rear of power machine 200 as illustrated). “Left” and “right” may be described from the viewpoint of the operator as illustrated.

[0035] Various power machines that can include and / or interact with the structures and / or functions of embodiments discussed below can have various frame components that supportvarious work elements. The elements of frame 210 discussed herein are provided for illustrative purposes and are not necessarily the only type of frame that a power machine on which the embodiments discussed below can be practiced can be employed, unless otherwise specifically indicated.

[0036] The frame 210 supports the lift arm 230 at pivot bracket 214. The combination of mounting features on the pivot bracket 214 and the lift arm 230 and mounting hardware (including pins and bolts and other fasteners used to attach the lift arm 230 to the pivot bracket 214 and frame 210) are collectively referred to as joint 216. Joint 216 defines a pivot axis 218 (labeled in FIG. 7) about which the lift arm 230 is capable of pivoting with respect to the frame 210. In an exemplary embodiment, the lift arm 230 is a single arm centrally mounted along a longitudinal center line 232 of frame 210, as shown in FIG. 3. The lift arm 230 may be formed as one piece or may have telescoping inner and outer tubes to extend a reach of an implement mounted to implement interface 270. Suitable implements such as loader buckets and angle brooms are available commercially from Doosan Bobcat North America, Inc.

[0037] In an exemplary embodiment, lift actuator 238 is pivotally coupled to both the frame 210 and the lift arm 230. In an exemplary embodiment, power system 220 is electric, and lift actuator 238 can be an electric actuator. In another embodiment, lift actuator 238 can be a hydraulic cylinder powered by a power conversion system and configured to selectively receive pressurized fluid.

[0038] Actuation (i.e., extension and retraction) of the actuator 238 causes the lift arm 230 to pivot about joint 216 and thereby be raised and lowered along a radial path. The illustrated lift arm 230 is representative of one type of lift arm structure that may be coupled to the power machine 200. Other lift arm structures, with different geometries, components, and arrangements can be pivotally coupled to the loader 200 or other power machines upon which the embodiments discussed herein can be practiced without departing from the scope of the present discussion. For example, a lift arm structure can have two or more portions that are pivotally coupled to each other to create a linkage that permits a more vertical travel path.

[0039] An example of an implement interface 270 includes an implement carrier that is configured to accept and secure a variety of different implements to the lift arm 230. Such implements have a machine interface that is configured to be engaged with the implement interface 270. In an exemplary embodiment, the implement interface 270 is pivotally mounted to the liftarm 230, and an implement actuator 237 is operably coupled to rotate the implement interface 270 with respect to the lift arm 230. Other examples of power machines can have a plurality of implement carrier actuators. Still other examples of power machines of the type that can advantageously employ the disclosed embodiments discussed herein may not have an implement carrier as illustrated, but instead may permit implements to be directly attached to its lift arm structure such as by pinning.

[0040] An implement power source is available for connection to an implement on the lift arm 230. In a case in which power system 220 is electrical and an implement and / or lift arm 230 is hydraulically powered, a power conversion system can be used. In an exemplary embodiment, a power conversion system includes a hydraulic pump 272 coupled to a rotating shaft of an electric motor 268, wherein the hydraulic pump 272 is configured to provide pressurized hydraulic fluid to the implement for powering one or more functions or actuators on an implement and / or lift arm 230. An electrical power source 220 can also include electrical conduits that are in communication with a data bus on the loader 200 to allow communication between operator control system 260 and electronic devices on the loader 200, for example.

[0041] In an exemplary embodiment, a lower portion of frame 210 supports a four attached tractive elements, configured as wheels 240. The wheels 240 rotate under power to propel the loader 200 over a support surface on which the weight of the loader 200 is distributed. In an exemplary embodiment, the operator station 250 is positioned at the rear of the frame 210. Platform 252 is supported on frame 210 by platform bracket 253. While an operator stands on the platform 252, the operator has access to a plurality of inputs for operator control system 260 that, when manipulated by the operator, can provide signals to control work functions of the power machine 200, including, for example, the traction system including wheels 240 and work group including the lift arm 230 and any attached implement. Operator control inputs can include joysticks, switches, buttons, knobs, levers, variable sliders, roller-ball inputs and other multi-axis input devices, for example. In the illustrated embodiment, the operator station 250 is open to the back of the power machine 200. Similar other power machines, including other mini-loaders, can include operator stations toward the rear of the respective frames, without necessarily being open to the back of the power machines.

[0042] In an exemplary embodiment, display devices are provided in the operator station to give indications of information relatable to the operation of the power machines in a form thatcan be sensed by an operator, such as, for example audible and / or visual indications. Audible indications can be made in the form of buzzers, bells, and the like or via verbal communication. Visual indications can be made in the form of graphs, lights, icons, gauges, alphanumeric characters, and the like. Displays can be designed to provide dedicated indications, such as warning lights or gauges, or dynamic to provide programmable information, including programmable display devices such as monitors of various sizes and capabilities. Display devices can provide diagnostic information, troubleshooting information, instructional information, and various other types of information that assists an operator with operation of the power machine or an implement coupled to the power machine. Other information that may be useful for an operator can also be provided.

[0043] In an exemplary embodiment, loader 200 is primarily powered by electricity, and power system 220 consists of primary batteries 234 (labeled in FIGS. 2 and 4-6, for example) and internal battery 236 (labeled in FIGS. 7 and 8, for example). In an exemplary embodiment, each of primary batteries 234 is supported on frame 210 in a quick connect manner (e.g., “hot- swappable”) that allows for convenient replacement of depleted primary batteries 234 with fully charged replacements. In an exemplary embodiment, the primary batteries 234 are placed in two banks 242, with one bank on each of the left and right sides of the operator station 250. In an exemplary embodiment, each bank 242 is supported on frame 210 by battery bracket 243. In an exemplary embodiment, the banks 242 are located completely rearward of the rear wheels 240 to counterbalance weight loads experienced at the front end of loader 200, especially during operation of an implement such as a loader bucket attached to the implement interface 270.

[0044] The weight of the primary batteries 234 effectively balances the weight on the front of the loader, including the weight of the lift arm 230 and any substance held in its connected implements. Thus, loader 200 can be semi-autonomous (remotely controlled) or completely autonomous, without the need for the operator’s weight to maintain weight balance of the power machine 200. In an exemplary embodiment, even without an operator, loader 200 is preferably configured with about 60% of its weight toward the rear, so that an implement on the front can accommodate additional weight without an unbalance. Placing the heavy internal battery 236 as low as possible on the undercarriage of frame 210 increases stability of loader 200. The traction motors 256, which are also heavy and placed low on the undercarriage of frame 210, also contribute to a low center of gravity of loader 200.

[0045] FIG. 3 is a top plan view of loader 200, illustrating its very compact frame 210. Of note, the undercarriage is very narrow so that the wheels 240 can turn quite sharply about the planetary gears 244, wherein a planetary gear 244 for a respective wheel 240 essentially serves as its axle and is mounted outside of the undercarriage of frame 210 (the side wall 254 extends upward from the undercarriage; see FIG. 9). This allows the loader 200 to have a very tight turning radius, thereby enhancing its maneuverability. As shown in FIGS. 2 and 3, front covers 246 are located above the front wheels 240 and do not thereby interfere with their turning during steering.

[0046] As shown in FIG. 4, joint 216 for lift arm 230 in an exemplary embodiment is positioned high on main frame 210, rearward of the hubs 248 for front wheels 240 and forward of the hubs 248 for rear wheels 240. Placing the joint 216 high on the frame 210 allows the lift arm 230 to have a relatively long length dimension for a small machine 200. Moreover, positioning joint 216 in front of the operator station 250 enables the use of a single centrally mounted lift arm 230 that is placed on the longitudinal centerline 232 of loader 200 (see FIG. 3). This results in a small, simplified and well-balanced machine with robust work capabilities. FIGS. 5 and 6 further illustrate the narrow width of loader 200, from the front and rear, respectively. In an exemplary embodiment, the entire power machine 200 is about 36 inches wide, allowing it to travel through gates, doorways, and other narrow spaces with ease.

[0047] Some elements are shown in some views and not in others so that parts behind or under those elements can be seen. For example, FIGS. 2 and 4-6 show actuator hoses that are not shown in other views. In FIG. 3, primary batteries 234 have been eliminated. In FIGS. 4 and 5, front covers 246 have been removed. Moreover, in FIGS. 7 and 8, primary batteries 234, actuators 237, 238, front covers 246, left frame side wall 254 and implement interface 270 are not shown. In FIG. 9, primary batteries 234, front covers 246, left frame side wall 254 and left rear wheel 240 are not shown.

[0048] As shown in FIG. 7, internal battery 236 is configured as an internal battery pack that is placed low and centered on the undercarriage of frame 210 between the pairs of front and rear hubs 248 and within the frame side walls 254. In an exemplary embodiment, the internal battery 236 is a 48-volt battery, so that the loader 200 is a 48-volt electric power machine. In an exemplary embodiment, the internal battery 236 serves as a reserve, auxiliary or backup battery in case power has been drained from the primary batteries 234. In normal operation, it is preferable to rely firston the electricity provided by the primary batteries 234 because they are more conveniently located for removal, recharging, and replacement.

[0049] As shown in FIGS. 7 and 8, in an exemplary embodiment, an electric traction motor 256 is provided for each of the wheels 240. While components for only some of the wheels 240 are visible in the drawings, it is to be understood that all four of the wheels 240 are similarly outfitted, and they are independently steerable for enhanced maneuverability of the loader 200 in many forms of motion, including of course forward and backward motion with left and right turns. Moreover, exemplary embodiments have the ability to run some wheels with a forward rotation simultaneously with other wheels in a rearward rotation, to allow the machine 200 to turn in tight circles about itself as well as perform other motions such as crab steer, for example.

[0050] In an exemplary embodiment, one electric motor 256 is provided for each wheel 240. Operation of each of the wheels 240 is independent from that of each of the other wheels. The loader 200 has all wheel steer, and independence of the four electric motors 256 can provide for traction control assistance. For example, when the loader 200 makes a left-handed turn, the left wheels 240 will spin at a slower speed than the right wheels 240, based on the turning radius and the positions of the wheels relative to each other while making a turn. To increase traction, the respective motors 256 can be slowed down or sped up to control wheel slippage.

[0051] In an exemplary embodiment as shown in FIG. 8, the electric motors 256 are positioned on the undercarriage of frame 210 and within the frame side walls 254. The left side wall 254 is removed from FIG. 8 for illustrative purposes. In an exemplary embodiment, each electric motor 256 is a three-kilowatt motor. The two motors 256 for the front left and front right wheels 240 are placed closely adjacent to each other in front of the internal battery 236. The two electric motors 256 for the left and right rear wheels 240 are placed closely adjacent each other and behind the internal battery 236.

[0052] FIG. 9 is a partial top and right respective view of the representative power machine, showing components exterior to frame side wall 254. Because the frame 210 is so narrow, a planetary gear 244 operably connected to each electric motor 256 is positioned outside of the frame 210. Thus, each planetary gear 244 essentially serves as the axle for its respective hub 248 for a respective wheel 240. For each wheel set, the electric motor 256 in an exemplary embodiment spins at about 3,000 rotations per minute (rpm). In an exemplary embodiment, planetary gear 244includes a 15-to-l reduction gear box to reduce the motor speed to a much lower nominal speed of about 200 rpm, which is much more suitable for driving the wheels 240 on hubs 248.

[0053] In an exemplary embodiment, each vertically oriented and extending steering actuator 262 is mounted outside of the frame side wall 254 proximate each wheel 240. Vertical extension and retraction of each steering actuator 262 is translated into pivotal motion of hub 248 about its kingpin axis 264 by bell crank 266. While not shown, in an exemplary embodiment, a controller for each of the steering actuators 262 is positioned on the outside of the frame side wall 254 adjacent its respective actuator 262. In an exemplary embodiment, the steering actuators 262 could be electric actuators or they could be hydraulic actuators.

[0054] As shown in FIGS. 7 and 8, in an exemplary embodiment, electric motor 268 for the hydraulic pump 272 is provided within the frame 210 and at a rear of the internal battery 236, above the two rear traction motors 256. In an exemplary embodiment, electric motor 268 is a ten- kilowatt motor, configured to drive the hydraulic pump 272, which supplies hydraulic oil to the lift cylinder 238 of lift arm 230, implement tilt actuator 237, and any other hydraulic components, such as steering actuators 262 in some cases. In an exemplary embodiment, the hydraulic oil is pumped from reservoir 276, which is located outside of the left frame side wall 254, as shown in FIGS. 2, 3 and 5 for example. As shown in FIG. 7, controller 274 in an exemplary embodiment is located above the electric motor 268 and is configured to provide control signals for driving the hydraulic pump 272.

[0055] Exemplary, non-limiting embodiments of a power machine are described. While these descriptions relate to the illustrative embodiments for ease of understanding, it is to be understood that the subject matter is not limited to these examples. In an exemplary embodiment as best seen in FIGS. 3, 8 and 9, a power machine 200 comprises a frame 210, four planetary gears 244 and four wheel hubs 248. The frame 210 comprises left and right side walls 254. The four planetary gears 244 are arranged on the frame 210, comprising first and second left planetary gears 244 positioned outside the left side wall 254 and first and second right planetary gears 244 positioned outside the right side wall 254. Each of the four wheel hubs 248 is attached to one of the four planetary gears 244.

[0056] In an exemplary embodiment with reference to FIG. 8, four electric traction motors 256 comprise first and second left electric traction motors 256 positioned inside the left side wall 254 (the left side wall is removed from FIG. 8 so that the traction motors 256 are visible) and first andsecond right electric traction motors 256 positioned inside the right side wall 254. Tn an exemplary embodiment with reference to FIGS. 8 and 9, each of the first and second left electric traction motors 256 is attached to a respective one of the first and second left planetary gears 244, and each of the first and second right electric traction motors 256 is attached to a respective one of the first and second right planetary gears 244. In an exemplary embodiment, the four wheel hubs 248 comprise first and second left wheel hubs 248 and first and second right wheel hubs 248. With reference to FIGS. 8 and 9, the first left wheel hub 248, the first left planetary gear 244, the first left electric traction motor 256, the first right electric traction motor 256, the first right planetary gear 244, and the first right wheel hub 348 are arranged in-line.

[0057] In an exemplary embodiment with reference to FIG. 8, the four electric traction motors 256 comprise two front electric traction motors 256 and two rear electric traction motors 256. A battery 236 is positioned on the frame 210 rearward of the two front electric traction motors 256 and forward of the two rear electric traction motors 256. In an exemplary embodiment, an electric motor 268 is positioned above the two rear electric traction motors 256. In an exemplary embodiment as shown in FIGS. 7 and 8, a hydraulic pump 272 is connected to the electric motor 268, wherein the hydraulic pump 272 is positioned above the battery 236. In an exemplary embodiment with reference to FIG. 7, a controller 274 is operably connected to the electric motor 268 and to hydraulic pump 272, the controller 274 being positioned above the electric motor 268. In an exemplary embodiment, a hydraulic oil reservoir 276 is connected to the hydraulic pump 272, wherein the hydraulic oil reservoir 276 is positioned outside one of the left or right side wall 254.

[0058] In an exemplary embodiment with reference to FIG. 3, the frame 210 has a longitudinal center line 232. A lift arm 230 is attached to the frame 210 at a pivot bracket 214 positioned on the longitudinal center line 232, wherein the lift arm 230 is configured to rotate about a pivot joint 216 of the pivot bracket 214. In an exemplary embodiment with reference to FIG. 4, the pivot joint 216 is positioned forward of two rear wheel hubs 248 of the four wheel hubs 248. In an exemplary embodiment with reference to FIG. 9, each of the four wheel hubs 248 has an associated steering actuator 262 positioned outside one of the left or right side wall 254. In an exemplary embodiment, at least one of the steering actuators 262 is vertically oriented to extend and retract in a vertical direction.

[0059] In an exemplary embodiment with reference to FIG. 4, a power machine 200 comprises a frame 210, four wheel hubs 248 and an electric power source 220. The four wheel hubs 248 are arranged on the frame 210, comprising two front wheel hubs 248 and two rear wheel hubs 248. The electric power source 220 comprises a first plurality 242 of batteries 234, wherein each of the first plurality of batteries 234 is positioned rearward of the two rear wheel hubs 248.

[0060] In an exemplary embodiment, each of four wheels 240 is attached to a respective one of the four wheel hubs 248, comprising two front wheels 240 and two rear wheels 240. Each of the first plurality of batteries 234 is positioned rearward of the two rear wheels 240. In an exemplary embodiment with reference to FIG. 2, the first plurality 242 of batteries 234 is positioned on one side of the operator station 250. In an exemplary embodiment, a second plurality 242 of batteries 234 is positioned on another side of the operator station 250. In an exemplary embodiment, the first plurality 242 of batteries 234 is arranged in a vertical column.

[0061] Although the subject of this disclosure has been described with reference to several embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the disclosure. In addition, any feature disclosed with respect to one embodiment may be included in another embodiment, and vice-versa. All references mentioned in this disclosure are hereby incorporated by reference.

Claims

WHAT IS CLAIMED IS:

1. A power machine comprising: a frame comprising left and right side walls, a front and a rear; a battery positioned on the frame; first, second, third and fourth electric motors positioned on the frame inside the left side wall and inside the right side wall, wherein: the first and second electric motors are positioned adjacent each other in front of the battery; and the third and fourth electric motors are positioned adjacent each other behind the battery; a fifth electric motor positioned higher than the battery; and a hydraulic pump operably connected to the fifth electric motor, wherein the hydraulic pump is positioned above the battery.

2. The power machine of claim 1, wherein: the first and third electric motors are left electric traction motors; and the second and fourth electric motors are right electric traction motors.

3. The power machine of claim 2 comprising: four planetary gears arranged on the frame, comprising first and second left planetary gears positioned outside the left side wall and first and second right planetary gears positioned outside the right side wall; and four wheel hubs, each of the four wheel hubs attached to one of the four planetary gears.

4. The power machine of claim 3, wherein: each of the first and third left electric traction motors is attached to a respective one of the first and second left planetary gears; and each of the second and fourth right electric traction motors is attached to a respective one of the first and second right planetary gears.

5. The power machine of claim 3, wherein:the four wheel hubs comprise first and second left wheel hubs and first and second right wheel hubs; and the first left wheel hub, the first left planetary gear, the first electric traction motor, the second electric traction motor, the first right planetary gear, and the first right wheel hub are arranged in-line.

6. The power machine of claim 3, wherein each of the four wheel hubs has an associated steering actuator positioned outside one of the left or right side wall.

7. The power machine of claim 6, wherein at least one of the steering actuators is vertically oriented to extend and retract in a vertical direction.

8. The power machine of claim 1 comprising a controller operably connected to the fifth electric motor and to hydraulic pump, the controller being positioned above the fifth electric motor.

9. The power machine of claim 1 comprising a hydraulic oil reservoir connected to the hydraulic pump, wherein the hydraulic oil reservoir is positioned outside one of the left or right side wall.

10. The power machine of claim 1, wherein the frame has a longitudinal center line, the power machine comprising a lift arm attached to the frame at a pivot bracket positioned on the longitudinal center line, wherein the lift arm is configured to rotate about a pivot joint of the pivot bracket.

11. The power machine of claim 10, wherein the pivot joint is positioned forward of two rear wheel hubs.

12. The power machine of claim 10, wherein the lift arm is operably connected to the hydraulic pump.

13. A power machine comprising:a frame; an operator station attached to the frame; an electric tractive drivetrain; and an electric power source comprising a first plurality of batteries positioned on a left side of the operator station.

14. The power machine of claim 13 comprising a second plurality of batteries positioned on a right side of the operator station.

15. The power machine of claim 13 comprising: four wheel hubs arranged on the frame, comprising two front wheel hubs and two rear wheel hubs; wherein each of the first plurality of batteries is positioned rearward of the two rear wheel hubs.

16. The power machine of claim 15, comprising: four wheels, wherein each of the four wheels is attached to a respective one of the four wheel hubs, the four wheels comprising two front wheels and two rear wheels; wherein each of the first plurality of batteries is positioned rearward of the two rear wheels.

17. The power machine of claim 13, wherein the first plurality of batteries is arranged in a vertical column.

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