Swappable power source assembly and support for power machines

Abstract

A power machine (400) can be provided with a power machine frame (410), a power source support assembly (490) that includes a lift assembly (500) and an electronic interface (550), and a swappable power source assembly (420) that includes a power source housing (472), an electric power source, a power source support structure (482, 484), and a power source connector (474). The lift assembly (500) can include a lifting link (502) supported by the power machine frame (410) and a power source lift actuator (520) arranged to move the lifting link (502) relative to the power machine frame. The power source lift actuator (520) can be operable to move the lifting link (502), to move the swappable power source assembly from an undocked position to a docked position via intermediate positions.

Description

SWAPPABLE POWER SOURCE ASSEMBLY AND SUPPORT FOR POWER MACHINES CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 63 / 739,199, filed December 27, 2024, the entirety of which is incorporated herein by reference.BACKGROUND

[0002] This disclosure is directed toward power machines. More particularly, this disclosure is directed towards systems of a power machine for power delivery, including for tractive, auxiliary, and external operations. 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 loaders (including mini loaders), excavators, utility vehicles, mowers, tractors (including compact tractors), and trenchers, to name a few examples.

[0003] Conventional power machines can include various systems and related components that are configured to use output from a power source (e.g., an electric motor) to perform different work functions. More specifically, the power source can transmit power to a power conversion system (e.g., a drive motor) to power a movement of a power machine or an implement or execute other operations.

[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] Power machines and related systems and methods as disclosed herein, including compact tractors in particular, can include different systems to improve functionality and structure of the machine. For example, among other improvements, different implementations can provide power machines with an improved power source that is exchangeable.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

[0006] Some examples provide a power machine with a power machine frame that supports one or more work elements, a power source support assembly, and a swappable power source assembly. The power source support assembly can include a lift assembly that includes a lifting link supported by the power machine frame and a power source lift actuator arranged to move the lifting link relative to the power machine frame. The power source support assembly can further include an electronic interface supported by the power machine frame. The swappable power source assembly can include a power source housing, an electric power source supported in the power source housing, a power source support structure supported on the power source housing forward of a center of gravity of the swappable power source assembly, and a power source connector supported on the power source housing to deliver electric power from the electric power source. The power source lift actuator can be operable to move the lifting link, to move the swappable power source assembly from an undocked position to a docked position via intermediate positions. In the undocked position, the lifting link can be aligned to engage the power source support structure, with the swappable power source assembly unsupported by the power machine frame. In the docked position, the lifting link can support the swappable power source assembly relative to the power machine frame, with the electronic interface engaging the power source connector to power the one or more work elements. In the intermediate positions, the lifting link can support the swappable power source assembly relative to the power machine frame, with the power source housing offset in a common direction from the power source housing in the docked and undocked positions.

[0007] In some examples, the power source housing can include a tapered entry structure to align the lifting link with the power source support structure at the intermediate positions.

[0008] In some examples, the lifting link can include a hook that engages with the power source support structure to support the swappable power source assembly relative to the power machine frame.

[0009] In some examples, the swappable power source assembly can further include a protruding hook, spaced apart from the power source support structure, that engages with the power source support assembly at the docked position.

[0010] In some examples, the electronic interface can include a carriage movably supported relative to the power source housing and a port connector movably supported on the carriage. The port connector can engage with a corresponding electrical connector of the power sourcePCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2connector at the docked position to transmit power to or from the swappable power source assembly.

[0011] In some examples, the electronic interface can further include rails that engage with side channels of the power source connector to provide a vertical alignment between the electronic interface and the power source connector.

[0012] In some examples, the electronic interface can further include blocks arranged to laterally bias the power source connector for engagement with the electronic interface.

[0013] In some examples, the power source support assembly and the swappable power source assembly can include engagement surfaces that are tapered to laterally align the power source connector with the electronic interface as the swappable power source assembly is moved to the docked position.

[0014] In some examples, the lifting link can be connected to the power source lift actuator at a first joint. The lifting link can further include a pivot support movable within a slot of the power source support assembly, by actuation of the actuator to move the first joint, to move the lifting link between engagement with the swappable power source assembly at the undocked position and the docked position.

[0015] In some examples, the lifting link can further include a rotation guide, spaced apart from the pivot support and movable within the slot simultaneously with the pivot support to move the lifting link between engagement with the swappable power source assembly at the undocked position and the docked position.

[0016] In some examples, the slot can include a first end portion, and first and second branches extending from the first end portion. The rotation guide can be located in the first branch and the pivot support can be located in the second branch to align the lifting link to engage the power source support structure with the swappable power source assembly in the undocked position.

[0017] In some examples, the rotation guide can be located within the first end portion to align the lifting link to secure the swappable power source assembly in the docked position.

[0018] Some examples provide a lift assembly for swapping a power source of a power machine. The lift assembly can include a lift assembly frame structure, a lifting link, and a lift actuator pivotably secured at a first end to the lift assembly frame structure and at a second end to the lifting link. The lift assembly frame structure can define a multi-branch slot. The liftingPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2link can include a rotation guide spaced apart from the second end of the lifting link and a pivot support spaced apart from the rotation guide and the second end of the lifting link. The rotation guide and the pivot support can be received within the multi-branch slot and be collectively movable within the multi-branch slot by extension and retraction of the lift actuator to move a power source between an undocked orientation and a docked orientation.

[0019] In some examples, the multi-branch slot can include a first end portion and first and second branches extending from the first end portion. The rotation guide can be located within the first branch and the pivot support can be located in the second branch to align the lifting link to engage the power source in the undocked orientation. The rotation guide can be located within the first end portion and the pivot support can be located within the first end portion or the second branch to align the lifting link to secure the power source in the docked orientation.

[0020] In some examples, the multi-branch slot can be a y-shaped slot.

[0021] Some examples provide a method of swapping a power source for a power machine. The power machine can be aligned with the power source so that a pick point of the power source is aligned with a lift assembly of a power source support assembly supported by a frame of the power machine. A linear lift actuator of the lift assembly can be operated to move a lifting link of the lift assembly. The power source can be lifted at the pick point, to move the power source from an undocked orientation into contact with the support assembly. After lifting the power source to move the power source into contact with the support assembly, the power source can be translated to a docked position for operation of the power machine under power from the power source.

[0022] In some examples, lifting the power source at the pick point can lift the power source in an angled orientation from the undocked orientation. After lifting the power source in the angled orientation, the power source can be rotated toward the docked position.

[0023] In some examples, rotating the power source toward the docked position can include leveling the power source relative to the frame of the power machine.

[0024] In some examples, operating the linear lift actuator to move the power source to the docked position can include translating the power source to connect an electrical connector of the power source and an electrical connector of the power machine.

[0025] In some examples, the lifting link can include a pivot support and a rotation guide spaced apart from the pivot support along the lifting link. The lift assembly can include a multi-PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2branch slot. The lifting and translating of the power source can include collectively moving the pivot support and the rotation guide along the multi-branch slot.

[0026] This Summary and the Abstract are provided to introduce a selection of concepts in a simplified form that can be further described below in the Detailed Description. This Summary and the Abstract are not intended to identify key features or essential features of the claimed subject matter, nor are they intended to be used as an aid in determining the scope of the claimed subject matter.DRAWINGS

[0027] The following drawings are provided to help illustrate various features of nonlimiting examples of the disclosure and are not intended to limit the scope of the disclosure or exclude alternative implementations.

[0028] FIG. 1 is a block diagram illustrating functional systems of a representative power machine on which examples of the present disclosure can be advantageously practiced.

[0029] FIG. 2 is a block diagram illustrating components of a power source of a compact tractor or other configuration of the power machine of FIG. 1.

[0030] FIG. 3 is a block diagram illustrating an arrangement of a power source of a power machine.

[0031] FIG. 4 illustrates a side elevation, partly transparent view of a representative power machine in the form of a compact tractor.

[0032] FIG. 5 illustrates a side elevation, partly transparent view of the compact tractor of FIG. 4, showing details of a swappable power source and corresponding support assembly.

[0033] FIG. 6 illustrates a top, front axonometric view of the power source and support assembly of FIG. 5, with the power source configured as a battery assembly.

[0034] FIG. 7 illustrates a top, front axonometric view of the power source of FIG. 6.

[0035] FIG. 8 illustrates a top elevation view of the power source of FIG. 6.

[0036] FIG. 9 illustrates a side elevation view of the power source and the battery support assembly of FIG. 5 with the power source in an undocked position, and FIG. 9A illustrates a simplified view of the battery support assembly as arranged in FIG. 9.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

[0037] FIG. 10 illustrates a side elevation view of the power source and the battery support assembly of FIG. 5 showing the power source in a partially raised, undocked position, and FIG.10A illustrates a simplified view of the battery support assembly as arranged in FIG. 10.

[0038] FIG. 11 illustrates a side elevation view of the power source and the battery support assembly of FIG. 5 showing the power source in a fully raised, undocked position, and FIG.11A illustrates a simplified view of the battery support assembly as arranged in FIG. 11.

[0039] FIG. 12 illustrates a side elevation view of the power source and the battery support assembly of FIG. 5 showing the power source in a fully raised, docked position, and FIG. 12A illustrates a simplified view of the battery support assembly as arranged in FIG. 12.

[0040] FIG. 13 illustrates a top, front axonometric view of the power source and the battery support assembly of FIG. 5, with the power source in the fully raised, docked position of FIG.12, showing details of an arm of the power source and a support pin of the battery support assembly in an engaged configuration.

[0041] FIG. 14 illustrates a side elevation view of a power source connector of the power source and a connection interface of the battery support assembly of FIG. 5, as arranged with the power source in the undocked position of FIG. 9.

[0042] FIG. 15 illustrates a top, front axonometric view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 14.

[0043] FIG. 16 illustrates a side elevation view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 5, as arranged with the power source in the partially raised, undocked position of FIG. 10.

[0044] FIG. 17 illustrates a top, front axonometric view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 16.

[0045] FIG. 18 illustrates a side elevation view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 5, as arranged with the power source in the fully raised, undocked position of FIG. 11.

[0046] FIG. 19 illustrates a top, front axonometric view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 18.

[0047] FIG. 20 illustrates a side elevation view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 5, as arranged with the power source in the fully raised, docked position of FIG. 12.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

[0048] FIG. 21 illustrates a top, front axonometric view of the power source connector of the power source and the connection interface of the battery support assembly of FIG. 20.

[0049] FIG. 22 illustrates an axonometric partial cross-sectional view of the connection interface of the battery support assembly of FIG. 5, taken along a first horizontal plane through the connection interface.

[0050] FIG. 23 illustrates an axonometric partial cross-sectional view of the connection interface of the battery support assembly of FIG. 5, taken along a second horizontal plane through the connection interface.DETAILED DESCRIPTION

[0051] The concepts disclosed in this discussion are described and illustrated by referring to exemplary configurations. These concepts, however, are not limited in their application to the details of construction and the arrangement of components in the illustrative examples and are capable of being practiced or being carried out in various other ways. The terminology in this document is used for the purpose of 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.

[0052] Conventional power machines can include a power source that delivers power to various parts of the power machine to perform different work functions. Typically, a nonswappable power source is used (e.g., an internal combustion engine not designed to be swapped for another internal combustion engine as part of ordinary work cycles).

[0053] In various contexts, however, it may be useful to exchange one swappable power source for another, to allow for more continuous operation. For example, a power source can be an electric battery pack or other electric power source (e.g., capacitor assembly) that is rechargeable at a charging station. Under conventional approaches, when stored energy of such a power source is low, an operator may need to transport (e.g., drive) the power machine to the charging station and then wait for the power source to be sufficiently recharged before returning the power machine to work. In this case and others, it may be desirable to instead swap out a depleted battery pack (or other power source) for a more fully charged replacement.

[0054] Examples of the disclosed technology can provide improvements in this regard, and various others as further detailed below. In particular, some embodiments of the disclosed technology can provide configurations of electric power sources and associated support PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2structures that allow the electric power source to be easily exchanged with another electric power source (e.g., at a designated station). Thus, the electric power sources may be considered swappable power sources, with the selective exchange of a first source for a second allowing power machine operations to continue during charging of the first (and vice versa).

[0055] In some embodiments, particular support structures and corresponding power source features can be provided to allow a swappable power source to be both lifted into operational position and translated into electrical engagement to provide power (or otherwise exchange electric signals). For example, an actuator can be arranged to selectively extend or retract to both translate and pivot a lifting link within a corresponding guide slot, and thereby lift a swappable power source to operational height and then (or concurrently) translate the swappable power source into operational electrical engagement. Thus, for example, some implementations can initially move a power source upward and in a first direction (e.g., forward) from an undocked orientation (e.g., on the ground), then move the power source opposite the first direction (e.g., rearward) to ensure controlled and repeatable alignment of electric connectors and other interfaces. In some cases, such a movement can be accomplished with a single, linear actuator movement (e.g., a continuous retraction).

[0056] In some examples, a battery support assembly can include a lifting link with a plurality of connections (e.g., pins) that can guide movement of the lifting link. Thus, for example, the lifting link can be configured rotate or translate relative to the power machine frame, depending on a present lift height, to move the power source into alignment for - and then establish - an electrical connection. For example, a lifting link may include a guide pin and a pivot pin that are collectively received into a multi-branch slot of a power source support structure. Movement of the pins (or other similar structures) within the branches of the slot can cause the lifting link to move through an initial lifting and subsequent translation of a power source to reliably provide a required electrical connection. In some examples, a lifting link can include a hook that lifts the power source from a support surface and moves the power source into a docked configuration (e.g., via engagement with one or more laterally aligned pins, or otherwise along a single transverse axis on the power source).

[0057] In some cases, a battery support assembly can be configured to receive and support a power source along a bottom side of a frame of the power machine, or otherwise from below the frame of the power machine (e.g., through the bottom side of the frame into a power source bay). As well as improved kinematics as compared to some approaches, this arrangement can also help achieve a more desirable center of gravity of the power machine by orienting the PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2typically massive power source to be low and centered relative to other components. Correspondingly, in some cases, a power machine can flexibly drive over and pick up a replacement power source from the ground (e.g., under auxiliary power after undocking a depleted power source), although other arrangements are possible.

[0058] Some embodiments of the disclosed technology can provide improved electronic interfaces to operatively connect a power machine with a swappable power source. For example, as detailed below, various structural guide elements (e.g., tapered surfaces) can assist in appropriately orienting a power source connector of a power source in alignment with an electronic interface of a power machine. Or various biasing elements can assist in local alignment of electrical interfaces (e.g., quick-connect devices for electric power or data transfer). In some cases, structural elements can be designed to provide clearance between particular components. Such an approach, for example, can allow fine-tuning of the alignment of an electronic interface and a power source connector (e.g., via spring forces along multiple axes). Thus, for example, a power machine and a power source can be operatively (electronically) connected despite the potential for significant tolerance stack-up or other variability during manufacturing (e.g., variations in power source housing structures, etc.).

[0059] These concepts can be practiced on various power machines, as will be described below. Representative configurations of power machines on which the examples of the disclosed technology can be practiced are illustrated in diagram form in FIGS. 1-3, and generally illustrated in FIGS. 4 and 5. For the sake of brevity, only one power machine is illustrated and discussed as being a representative power machine. However, as mentioned above, the examples below can be practiced on any of a number of power machines, including power machines of different types from the representative power machine shown in FIGS. 4-5. 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.

[0060] FIG. 1 is a block diagram that illustrates the basic systems of a power machine 100, which can be any of a number of different types of power machines upon which the examples discussed below can be advantageously incorporated. The block diagram of FIG. 1 both identifies various systems on power machine 100 and shows relationships between various PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2components and systems. 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 selectively move the power machine over a support surface. The power machine also includes an operator station 150 that provides an operating position where an operator can manipulate operator inputs for controlling the work elements of the power machine (e.g., a cab, an open station with an operator seat or standing pad, etc.).

[0061] 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. For example, the control system 160 can be an integrated or distributed architecture of one or more processor devices and one or more memories that are collectively configured to receive operator input or other input signals (e.g., sensor data) and to output commands accordingly for power machine operations. For example, the control system 160 can include one or more general or specialpurpose electronic computers of various generally known designs. According to some examples, the control system 160 can include a hydraulic circuit provided to interact with other systems to perform various work tasks at least in part in response to signals given by an operator by way of movement of input devices arranged on the power machine 100 (e.g., within the operator station 150). Generally, the control system 160 can include or be in communication with various input devices, including operator input devices (e.g., joysticks, pedals, touchscreens, etc.), sensors distributed on or around the power machine 100, or output ports for various other components (e.g., electronic output ports of electric motors or other equipment).

[0062] Certain work vehicles have work elements 130 that can perform a dedicated task. For example, some work vehicles have a lift arm to which various implements can be attached by a pinning or other arrangement (e.g., buckets, grapples, mower decks, etc.). A lift arm, as a form of a work element, can be manipulated by various actuators to position an implement to perform a task.

[0063] Some power machines may include removable work elements, including as can be in the form of a wide variety of implements that can be attached to the power machine frame 110 via an implement interface 170. At its most basic, the implement interface 170 is a connection mechanism between the frame 110 or a work element 130 and an implement, which can be as simple as a pivoting or other connection point for attaching an implement directly to the frame PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2110 (or another work element 130) or can include more complex arrangements, including implement carriers.

[0064] On some power machines, the implement interface 170 can include, as an implement carrier, a physical structure movably attached to a work element (e.g., lift arm) and removably attachable to one or more implements. In this regard, the implement carrier can have engagement features and locking features to accept and secure any of a number of different implements to the work element. In some implementations, once an implement is attached to an implement carrier, the implement is fixed relative to the implement carrier so that when the implement carrier is moved with respect to the frame 110, the implement moves with the implement carrier. (The term implement carrier as used herein is not merely a pivotal connection point, but rather a dedicated device specifically intended to accept and be secured to various different implements.) An implement carrier can be mountable to a work element 130 such as a lift arm, or to the frame 110. The implement interface 170 can also include one or more power sources for providing power to one or more work elements on an implement.

[0065] Some power machines can have a plurality of work element 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.

[0066] 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 with respect to a lower frame portion. Other work vehicles, including some compact tractors, have articulated frames such that one portion of the frame pivots with respect to another portion for accomplishing at least a portion of the machine movement related to steering functions.

[0067] Frame 110 supports the power source 120, which is configured to 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 operably coupled implement via implementPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2interface 170 (e.g., via one or more hydraulic connections on or near the 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. 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 typically include an engine such as an internal combustion engine and a power conversion system such as a mechanical transmission or a hydraulic system that is configured to 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 electric sources or a combination of different types of power sources (e.g., electric power sources and engines), known generally as hybrid power sources.

[0068] 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 some examples, as also discussed above, work elements can include lift arm assemblies. In some examples, work elements can include mower decks or other similar equipment. 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, track assemblies, wheels attached to an axle, and the like. Tractive elements can be mounted to the frame such that movement of the tractive element is limited to rotation about an axle (so that steering is accomplished by a skidding action) or, alternatively, pivotally mounted to the frame to accomplish steering by pivoting the tractive element with respect to the frame. In contrast, workgroup work elements are configured to implement non-drive operations (e.g., moving or otherwise operating various implements).

[0069] Power machine 100 includes an operator station 150 that includes an operating 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 technology may be practiced may not have a cab or an operator compartment of the type described above. For example, a walk behind loader may notPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2have 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. As another example, many compact tractors do not have a cab to enclose its operator station. 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 or not 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 is capable of controlling at least some of the operator-controlled functions on the power machine.

[0070] FIG. 2 illustrates an example of an electrically powered compact tractor 200, which is one particular example of the power machine 100 illustrated in FIG. 1. To that end, features of the tractor 200 described below include reference numbers that are generally similar to those used in FIG. 1. For example, the tractor 200 has a frame 210, just as power machine 100 has a frame 110. The tractor 200 is described herein to provide a reference for understanding one environment on which the examples described below related to hydraulic drive and auxiliary hydraulic control systems and methods may be practiced. The tractor 200 should not be considered limiting especially as to the description of features that tractor 200 may have described herein that are not essential to the disclosed examples and thus may or may not be included in power machines other than the tractor 200 upon which the examples disclosed below may be advantageously practiced. Unless specifically noted otherwise, examples disclosed below can be practiced on a variety of power machines, with the tractor 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 work vehicles such as various other loaders, excavators, trenchers, and dozers, to name but a few examples.

[0071] The frame 210 of the tractor 200 supports a power source 222 that can generate or otherwise providing power for operating various functions on the power machine. In particular, the power source 222 can include an electric power source 220 configured to supply electric power for power machine operations (e.g., a battery assembly, a generator, a capacitor system,PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2etc.), as well as a power conversion system 224 arranged to utilize the power from the power source 220 for useful power machine operations.

[0072] In particular, the power conversion system 224 of the tractor 200 can include various components, including mechanical transmissions, hydraulic systems, various motors or other actuators, and the like. In some examples, the power conversion system 224 of the tractor 200 includes one or more electric drive motors 226A, 226B, which can be powered by the power source 220 and can be selectively controllable (e.g., via the control system 260) to provide a power to drive axles 228A-228D or other tractive assemblies of a tractive system 240. In some examples, as further discussed below, a first drive motor 226A can power a first set of axles (e.g., axles 228 A, 228B) and a second drive motor 226B can power a second set of axles (e.g., axles 228C, 228D) that are connected to corresponding tractive elements (e.g., wheels or tracks, not shown in FIG. 2). However, other configurations are possible, including with a respective dedicated motor for each axle, with only front or only rear axles being powered, and so on.

[0073] The power conversion system 224 of tractor 200 also includes an auxiliary motor 226C that can be powered by the power source 220 and controlled by the control system 260 to provide rotational power to one or more corresponding auxiliary pumps 238 A. The auxiliary pumps 238 A can thus be operated, using electric power from the power source 220, to provide hydraulic flow for various power machine functions. In particular, for example, the auxiliary pump(s) 238 A may provide hydraulic flow to a work actuator circuit 238 that can be configured to operate a lift arm, implement, or other work element 230 (e.g., using various known hydraulic valves, actuators, controllers, and so on).

[0074] In some cases, the actuators 226 of the power conversion system 224 can include one or more power take-off (PTO) motors 226D. For example, the PTO motor(s) 226D can be operated using power from the power source 220, as controlled by the control system 260, to provide rotational power to an output shaft or other form of PTO interface 234. For example, a belt-driven or other power transfer system (e.g., a chain drive system, a rope drive system, a gear drive system, a slew drive system, etc.) can be provided to transmit rotational power from the PTO motor 226D to the PTO interface 234.

[0075] FIG. 3 illustrates an example power machine 300, which is one particular example of a power machine 100 of FIG. 1 or the tractor 200 of FIG. 2, where the examples discussed below can be advantageously employed. To that end, features of the power machine 300 described below include reference numbers that are generally similar to those used in FIGS. 1PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2and 2 and discussion of above applies to similar numbers below unless otherwise noted or required. The power machine 300 as illustrated should not be considered limiting, and examples disclosed below can also be practiced on a variety of power machines such as tractors, loaders, excavators, trenchers, and dozers, to name but a few examples.

[0076] In particular, the power source 320 can be capable of generating or otherwise providing power for operating various functions on the power machine 300, and may be selectively attachable to the frame 310 for operation by a power source support assembly 390, as further discussed below. In some cases, the power source 320 can include an electric power source (e.g., a battery assembly, a capacitor assembly, a fuel cell of various types, etc.). During operation, the power source 320 can be located by the power source support assembly 390 to be within a frame of the power machine 300 (e.g., within a power source bay) or outside of the frame of the power machine 300 (e.g., below the frame). In some cases, the power source 320 can be mounted to a bottom of the frame, although other configurations can include the power source 320 mounted at a front of the power machine 300, or a back of the power machine 300. In some cases, locating the power source 320 below the frame, or otherwise available to be swapped from below the frame, can provide particular benefits for distribution of center of gravity as well as ease of operations to swap the power source 320 with a replacement power source (e.g., a more fully charged electric power source of the same design).

[0077] As generally noted above, the power machine 300 can include the power source support assembly 390, which can be controlled to establish or remove an operational (e.g., electrical) connection between the power machine 300 and the power source 320. In some cases, the power source support assembly 390 can include linkages or other structures that structurally couple or decouple the power source 320 to or from the power machine 300 in response to movement of one or more associated actuators (e.g., a linear actuator). In some cases, a linkage assembly can be actuated to move the power source 320 along multiple axes (as shown schematically with block arrows in FIG. 3). For example, as further detailed below, a linkage operated by a linear actuator can lift and translate a power source (e.g., in sequence or simultaneously) to both raise the power source from an undocked (e.g., ground-supported) position, and move the power source into operational engagement with electrical connectors of a power machine.

[0078] To establish operational connections between the power machine 300 and the power source 320, in some cases, the power source support assembly 390 can include electrical connectors that correspond to electrical connectors of the power source 320. Correspondingly, PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2in some examples, a linkage assembly of the power source support assembly 390 can move the power source align the electrical connectors of the power machine 300 and the electrical connectors of the power source 320 (e.g., by lifting the power source in an arc to an installation height and translating the power source along the installation height to engage various electrical connectors of the power machine 300 and the power source 320). In other examples, however, other installation paths for a power source can be implemented, with corresponding linkage arrangements (e.g., as generally known to provide particular linkage mechanics).

[0079] FIGS. 4-8 illustrate an example compact tractor 400, which is one particular example of the power machine 100 of FIG. 1, the tractor 200 of FIG. 2, or the power machine 300 of FIG. 3, where the examples discussed below can be advantageously employed. To that end, features of the tractor 400 described below include reference numbers that are generally similar to those used in FIGS. 1-3 and discussion of above applies to similar numbers below unless otherwise noted or required. For example, the tractor 400 is described as having a frame 410, just as power machine 100 has a frame 110. However, the tractor 400 as illustrated should not be considered limiting, and examples disclosed below can also be practiced on a variety of other power machines including loaders.

[0080] The frame 410 of the tractor 400 supports a power source assembly 420 that is capable of generating or otherwise providing power for operating various functions on the power machine. In particular, the power source assembly 420 can include an electric power source in some examples, configured in particular as a battery assembly in the illustrated example. As shown, the power source assembly 420 can be located at least partly external to the frame 410 and can be a support for powered movement to and from an installed orientation (e.g., to swap the power source assembly 420 for another, as further detailed below). In the illustrated example, in particular, the power source assembly 420 extends below a bottom of the frame 410. In other examples, however, the power source assembly 420 can be differently located, including at locations partly or fully internal to the frame 410 (e.g., within a battery bay accessed from the bottom of the frame 410).

[0081] In some configurations, one or more other power sources can be provided on the tractor 400. For example, the tractor 400 can include a secondary power source 422 that is an on-board battery. In some cases, the secondary power source 422 can supply power to the tractor 400 during swapping of the power source assembly 420 with a replacement power source. For example, the secondary power source 422 can be sized to allow limited-range or limited-speed travel of the tractor 400 and operation of a support assembly 490 to dock or PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2undock the power source 420 from the power machine 400. While the illustrated example includes the secondary power source 422 at a front end 402, the secondary power source 422 can be provided at a rear end 404 in other examples, or at other locations.

[0082] In particular, the frame 410 is shown supported by front wheels 419A, 419B (wheel 419A hidden from view in FIGS. 4 and 5) and rear wheels 419C, 419D (wheel 419C hidden from view in FIGS. 4 and 5). In other examples, articulated frames can be used, such that a front frame portion can be moved along one or more degrees of freedom (e.g., pivoted about a vertical or a horizontal axis) relative to a rear frame portion. Further, other ground-engaging elements can be used in other examples. Generally, a traction system 440 that includes the wheels or other ground-engaging elements can be powered by the power source, as can a lift arm assembly 430 or other work elements. In some examples, an implement interface 470 (or other sub-system) can include power couplers, that can transmit power from the power source assembly 420 to an attached implement (not shown) or vice versa. In some examples, a PTO interface can be provided (e.g., a pully-operated output shaft).

[0083] The tractor 400 includes an operator station 455 from which an operator can manipulate various control devices 460 to cause the power machine to perform various work functions. In the illustrated example, the control devices 460 can be configured in particular to control operation of the support assembly 490 (e.g., to extend or retract an actuator thereof, as further detailed below).

[0084] With specific reference to FIG. 6, the support assembly 490 can include a lift assembly 500 and an electronic interface 550 that are secured to the frame 410 (e.g., as an integral sub-assembly, or as separate sub-assemblies that can be separately attached). In some cases, the lift assembly 500 can include a linkage arrangement of one or more linkages that provide a structural connection between the tractor 400 and the power source assembly 420. Further, in some cases, various alignment elements can be included, including tapered plates or various biasing elements, to guide an alignment between the power source assembly 420 and the lift assembly 500 when establishing a structural or electrical connection.

[0085] The electronic interface 550 can generally include electrical connectors configured to mate with corresponding electrical connectors of a power source connector 474 of the power source assembly 420. The electronic interface 550 can thus establish an electrical connection between the tractor 400 and the power source assembly 420, when the lift assembly 500 moves the power source assembly 420 to a docked configuration, so that the power source assemblyPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2420 (e.g., via various battery cells, thereof) can provide power to the tractor 400 via the electronic interface 550. In some cases, the electronic interface 550 and the power source connector 474 can allow flow of electrical signals in either direction. Accordingly, the power source assembly 420 may in some cases receive power from the tractor 400 (e.g., from the secondary power source 422 or other power sources such as an engine) or may receive various data transmissions from the tractor 400 (e.g., for power management or other control).

[0086] With specific reference to FIGS. 7 and 8, a housing 472 of the power source assembly 420 can enclose an electric power source (e.g., an array of battery cells, etc.). In some examples, the housing 472 can include skid plates of other structures to protect the power source assembly 420 from surroundings. The housing 472 can be sized to fit underneath the tractor 400, e.g., partly or fully protruding below the bottom of the frame 410. Thus, for example, a height of the power source assembly 420 can be determined to provide a sufficient ground clearance when the power source assembly 420 is mounted to the tractor 400. In some cases, various dimensions (e.g., height, length, width) of the power source assembly 420 can be adjusted for particular contexts.

[0087] Continuing, the power source assembly 420 can include various structures to provide pick points for the lift assembly 500 to dock the power source assembly 420 onto the tractor 400. For example, power source support pins 482, 484 or various other support structures (e.g., tubes of various shapes, weldments, etc.) can be provided across longitudinal plates on corresponding sides of the housing 472. In particular, the power source support pins 482, 484 are positioned toward the front end 402 of the assembly 420 and are aligned along a common transverse axis, although other configurations are possible. Correspondingly, the power source support pins 482, 484 are provided with a forward offset relative to the center of gravity 488 of the power source assembly 420. This arrangement can contribute to favorable kinematics during docking operations, as detailed below. However, in other examples, other configurations are possible, e.g., with the power source support pins 482, 484 provided rearward of the center of gravity 488.

[0088] Further, arms 478, 480 can be provided along longitudinal plates positioned on opposing lateral sides of the housing 472. For example, as shown the arms 478, 480 can be located toward the rear end 404 of the power source assembly 420, on an opposite side of the center of gravity 488 from the support pins 482, 484. The arms 478, 480 can thus generally provide additional, complementary support for the power source assembly 420 relative to the frame 410.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

[0089] In particular, in the illustrated example, the arms 478, 480 define hooks (e.g., protruding hooks) that can engage with a corresponding recess of other structures (e.g., the support assembly 490 or the frame 410). In the illustrated example, the arms 478, 480 can be rigidly mounted to the longitudinal plates or the housing 472. In some examples, the arms 478, 480 can be fastened or welded to the housing 472 or integrally formed with the housing 472.

[0090] As shown in FIG. 8 in particular, tapered plate structures can extend rearward of the pins 482, 484, to define an entrance structure that narrows in a (forward) direction toward the pins 482, 484. As further discussed below, the tapered plates (or other tapered structure) can help to guide lifting links into engagement with the pins 482, 484 during a docking operation.

[0091] FIGS. 9-12A illustrate operational views of the support assembly 490 at different positions. In the illustrated example, the support assembly 490 and the power source assembly 420 are laterally symmetric. Accordingly, while below discussion corresponds to features on a right side of the tractor 400 for brevity, the descriptions below can similarly apply to features on a left side of the tractor 400 in a mirrored configuration. However, some examples may not be similarly laterally symmetric (e.g., may include only a single lifting link or different linkage arrangements).

[0092] In particular, the lift assembly 500 can include a lifting link 502 that is pivotably connected to the support assembly 490 at one end. An opposite end of the link 502 can include a hook 504 or other engagement structure (e.g., movable clasp, etc.). The hook 504 can generally open toward the front end 402, and rotating the link 502 in a counterclockwise direction can thus allow the hook 504 to engage with a structure along a rotational path.

[0093] In some cases, the link 502 can be connected to other parts of the lift assembly 500 at multiple joints or other support points. In the illustrated example, the link 502 is connected to a rotation guide (e.g., pin) 510 and a pivot support (e.g., pin) 506 that extend movably within a slot 512 of the support assembly 490. The lift assembly 500 can include a lift assembly frame structure 514 that defines the slot 512. The link 502 can be further connected to an extendable actuator 520 at a first joint configured as a pivoting actuator support (e.g., pin or piston support) 508. The actuator 520 is shown as a linear hydraulic actuator, but other actuators can be used in other examples (e.g., electric actuators, etc.).

[0094] Generally, the slot 512 can be contoured to cooperatively engage the rotation guide 510 and the pivot support 506 to prescribe a combination of lifting and translational movement of the lifting link 502. In some cases, for example, the slot 512 can be a multi-branch slot, withPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2the rotation guide 510 and the pivot support 506 selectively movable along different branches, together or separately. In the illustrated example, as shown in FIG. 9A in particular, the slot 512 is Y-shaped, with a rearward first end portion 512C, and two branches 512A, 512B extending forward from the first end portion 512C via a common junction. In other examples, however, differently shaped (e.g., T-shaped, L-shaped, X-shaped, curved, etc.) slots can be possible to achieve similar or different kinematics, as desired. However, in some cases, it may be useful to include a multi-branch slot in particular (e.g., like the Y-shaped slot 512, as shown), so that cooperative alignment and movement of different supports in different branches of the slot can provide a desired lifting and seating (e.g., translational retraction) movement for a swappable power source.

[0095] The actuator 520 can generally extend in a horizontal direction relative to the support assembly 490 or the tractor 400, and can be can be fixed at a first end to the support assembly 490 (e.g., rearward of the lifting link 502) and fixed at a second end to the actuator support 508. In some cases, the actuator support 508 may be positioned laterally inward of the slot 512, to be connected through the slot 512 to the lifting link 502.

[0096] As the actuator 520 extends (or retracts) the link 502 can move along a corresponding path of translation and rotation defined by cooperation of the guide 510 and the pivot support 506 with the slot 512. Examples below present a configuration with particular operations for extension and retraction of the actuator 520. However, those of skill in the art will recognize that a reversed operation may be possible (e.g., with a reversed orientation of the actuator 520).

[0097] At a lowered, undocked position shown in FIGS. 9 and 9 A, the support assembly 490 can be aligned with the power source assembly 420 to align the lift assembly 500 with the power source support pin 482 (e.g., aligned via manual or automated maneuvering of the tractor 400). For example, the power source assembly 420 can be provided on a ground support or a docking station. In some cases, the tractor 400 can drive toward and over the power source assembly 420 to position the belly of the tractor 400 (directly) above the power source assembly 420. In some cases, a sensor (e.g., a motion sensor) or a camera can be provided on the power source assembly 420 to help facilitate aligning the power source assembly 420 with the support assembly 490.

[0098] At the lowered, undocked position of the power source assembly 420, the hook 504 can be aligned with the power source pin 482, so that the power source pin 482 is initially engaged by the hook 504. In some cases, as also noted above, the housing 472 of the powerPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2source assembly 420 can include tapered surfaces to guide the hook 504 to enter toward the power source pin 482 (see, e.g., FIG. 8). In the illustrated example, the actuator 520 can be fully extended toward the front end 402, and the actuator support 508 can be at the forwardmost position. The rotation guide 510 can be aligned along the branch 512A (e.g., contacting an upper, forward end of the slot 512), and the pivot support 506 can be aligned along the branch 512B (e.g., contact a lower right end of the slot 512). Correspondingly, the link 502 can extend downwardly relative to the support assembly 490 or the tractor 400, and can be supported relative to the tractor 400 mainly by one or both of the actuator support 508 and rotation guide 510.

[0099] At a partially raised, undocked position shown in FIGS. 10 and 10A, the actuator 520 can be in a mid-stroke, between the contracted position and the extended position. The contraction of the actuator 520 can pivot the link 502 about the pivot support 506, and the rotation guide 510 can move along the branch 512A toward (e.g., to) the junction between the branches 512A, 512B, toward a middle portion of the slot 512. The pivot support 506 can remain along the branch 512B (e.g., in the lower right end of the slot 512), so that the link 502 effectively pivots about the pivot support 506 to raise the power source assembly 420.

[0100] In particular, as the link 502 rotates in a counterclockwise direction, the hook 504 can engage with the power source pin 482 and lift the power source assembly 420 at the front end 402 to move the power source assembly 420 upward and forward (although a rearward or lateral lifting may be possible in some cases). The link 502 can thus in some cases support an entire weight of the power source assembly 420 - at least over some of the intermediate positions between undocked and docked positions. In particular, engagement of the lifting link 502 with the assembly 420 forward of the center of gravity 488 (see FIG. 8) can result in a tilting lift of the assembly 420 (e.g., as shown in FIG. 10). In some examples, tilting the power source assembly 420 upward at the front end 402 can allow for improved alignment of the power source assembly 420 for electrical connection, as further discussed below. Further, in some cases, undesired particles (e.g., debris or liquid) can be drained along an inclined surface of the power source assembly 420, which can correspondingly help to keep the electronic interface 550 free of fouling.

[0101] FIGS. 11 and 11 A illustrate a fully raised, not yet docked position of the power source assembly 420. Upon further contraction of the actuator 520, engagement of the pivot support 506 with the top wall of the branch 512B can raise the lifting link 502 to a desired (e.g., maximum height). Correspondingly, the link 502 can continue to rotate in the counterclockwise PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2direction, and the hook 504 can continue to provide an upward movement of the power source pin 482 to move from the configuration of FIG. 10 to the configuration of FIG. 11. Further, the rotation guide 510 can rotate downward to contact a lower portion of the slot 512. Thus, for example, the link 502 can extend generally horizontally, and the hook 504 can open in an upward direction, and the power source assembly 420 can be levered against the frame 410 by the lifting link 502 to pivot the assembly 420 into a horizontal (or other) attitude for final installation. In some cases, the arm 478 of the power source assembly 420 can be correspondingly aligned with a corresponding support structure 530 (e.g., with a pin, as shown in FIG. 13) to further secure the assembly 420, as needed.

[0102] With further retraction of the actuator 520, the pivot support 506 and rotation guide 510 can collectively translate along the slot 512, in alignment with the branch 512B, to correspondingly translate the lifting link 502 and the power source assembly 420 (e.g., horizontally). Thus, through operation of the linkage arrangement of the lift assembly 500, the power source assembly 420 can be collectively (e.g., sequentially) raised into appropriate vertical alignment, pivoted into a final installation attitude, and then translated into electrical engagement (e.g., as further discussed below). In particular, for example, at a fully raised, docked position shown in FIGS. 12 and 12 A, the actuator 520 can be fully contracted, the link 502 can be in a final rearward position, and the rotation guide 510 can contact a lower left end of the slot 512 (e.g., with the pivot support 506 also extending at least partly out of the branch 512B).

[0103] As illustrated in FIG. 13, the arm 478 can slide into an engagement with the support structure 530, guided by a tapered guide plate 532 of the support assembly 490, or other similar guide structure. In some cases, the arm 478 can provide additional points of alignment that can enhance operational connection between the tractor 400 and the power source assembly 420. In some cases, one or more pick points such as the arms 478, 480 or the power source pins 482, 484 can alleviate pressure from a weight of the power source assembly 420 exerted on the actuator 520.

[0104] Thus, for example, a swappable power source (e.g., battery) can be lifted from undocked to docked positions generally along an arc that extends in a common direction relative to the docked and undocked positions, as well as upward and downward (e.g., extends forward of both positions, in the illustrated example). The particular path may vary in some cases, depending on the selected configuration of a lifting link assembly. However, a generally common-direction arc as discussed above can allow for relatively smooth swapping operations, PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2including as may require only the use of a single lifting link and a single power source lift actuator (or parallel iterations thereof) to both lift a swappable power source to an operational height and slide the power source, with the required precision of alignment, into engagement to deliver operational power.

[0105] As needed, the operations discussed above can be generally reversed in order. For example, when the power source assembly 420 is ready to be exchanged for another (e.g., more fully charged) power source, the actuator 520 can extend toward the front end 402. The arm 478 can be disengaged from the support structure 530. The pivot support 506 can contact the lower right end of the slot 512, and as the actuator 520 continues to extend, the rotation guide 510 can pivot upward to the upper end of the slot 512. Accordingly, the link 502 can rotate in a clockwise direction, and the hook 504 can be disengaged from the power source pin 482. Thus, the power source assembly 420 can be decoupled from the support assembly 490. In some cases, the tractor 400 can drive away from the decoupled power source and move toward a replacement power source to be swapped.

[0106] FIGS. 14-21 illustrate operational views of the support assembly 490 at different positions. As generally described above, the electronic interface 550 can include structural elements to guide the power source connector 474 into alignment with the electronic interface 550 and establish electrical connection for powered operation of the tractor 400.

[0107] In particular, the electronic interface 550 can include a carriage 552. A port connector 554 and an interlock connector 560 (e.g., for a high-voltage interlock loop) can be provided on the carriage 552. The carriage 552 can be connected to a back panel 568 (e.g., via primary springs 580, 582), and the back panel 568 can be connected to side blocks 562, 564 at opposite ends of the back panel 568. The electronic interface 550 can further include a front panel 566 on an opposite side of the back panel 568 and secured to the frame 410. The front panel 566 can bridge the side blocks 562, 564.

[0108] In some cases, the side blocks 562, 564 can include tapered inner surfaces that generally correspond to lateral surfaces of the power source connector 474. In some cases, as further detailed below, the tapered inner surfaces can help centering the power source connector 474. In some cases, rails 570, 572 can be provided on the side blocks 562, 564. The rails 570, 572 can extend longitudinally along interior surfaces of the side blocks 562, 564 and guide an alignment between the electronic interface 550 and the power source connector 474. For example, the rails 570, 572 can slide into corresponding side channels 476 of the powerPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2source connector 474. Thus, the rails 570, 572 can provide a relatively fine alignment between the electronic interface 550 and the power source connector 474. In some cases, the rails 570, 572 can include tapered distal ends that can bias the rails 570, 572 into the side channels 476.

[0109] FIGS. 14 and 15 illustrate the electronic interface 550 and the power source connector 474 when the power source assembly 420 is at a lowered, undocked position with the support assembly 490 (e.g., such as in FIG. 9). In some cases, the power source connector 474 can be positioned below the electronic interface 550.

[0110] Referring to FIGS. 16 and 17, at a partially raised, undocked position of the power source assembly 420 (e.g., such as in FIG. 10), the power source connector 474 can be positioned at a similar horizon as the electronic interface 550, although the assembly 420 may not yet be at a final attitude. Correspondingly, the power source connector 474 can be tilted upwardly toward the front panel 566. In some cases, the lateral surfaces of the power source connector 474 can at this point at least partially contact the tapered inner surfaces of the side blocks 562, 564. In some cases, the lateral surfaces of the power source connector 474 can contact the front panel 566, and the front panel can limit further upward movement of the power source connector 474.

[0111] With respect to FIGS. 18 and 19, the power source connector 474 can be leveled relative to the electronic interface 550 at the fully raised, undocked position of the power source assembly 420 (e.g., such as in FIG. 11). In some cases, the power source connector 474 can be aligned with the electronic interface 550 to align the electrical connectors of the power source connector 474 with the corresponding one of the port connector 554 and the interlock connector 560. In some cases, the inner surfaces of the side blocks 562, 564 can guide the power source connector 474 to be laterally centered within the electronic interface 550.

[0112] As shown in FIGS. 20 and 21, the electronic interface 550 can be coupled with the power source connector 474 at the fully raised, docked position of the power source assembly 420 (e.g., such as in FIG. 12). In particular, the power source connector 474 can contact the carriage 552, and the electrical connectors of the power source connector 474 can be coupled with the corresponding port connector 554 or interlock connector 560. In some cases, one or more of the port connector 554 and the interlock connector 560 can included tapered entries that guide the electrical connectors of the power source connector 474 into an alignment.

[0113] Further, the rails 570, 572 can be inserted into the respective side channels 476 and contact an innermost end of the respective side channels 476. In some cases, the rails 570, 572PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2inserted within the respective side channels 476 can limit vertical movements of the electronic interface 550 relative to the power source connector 474.

[0114] In some cases, the carriage 552 can be pushed toward the back panel 568 due to the linear force by the lift assembly 500 to bring the power source assembly 420 to a fully engaged position. In some cases, correspondingly, the primary springs 580, 582 can be compressed to provide a greater flexibility in alignment between the carriage 552 and the power source connector 474. Thus, for example, the primary springs 580, 582 can compensate for potential excess force applied by the lift assembly 500 as compared to a rated force capacity of particular connectors.

[0115] FIGS. 22 and 23 illustrate additional features that can help to enhance alignment between the electronic interface 550 and the power source connector 474. For example, a secondary spring 584 can be provided for the port connector 554 (e.g., within a sleeve 556). The port connector 554 (and the sleeve 556) can thus translate relative to the carriage 552 to provide flexibility during coupling of the electronic interface 550 and the power source connector 474. For example, the force required to couple the port connector 554 with a corresponding electrical connector can be different (e.g., smaller) than the force required to couple the interlock connector 560 with a corresponding electrical connector. In some cases, the interlock connector 560 can be more rigidly mounted to the carriage 552, to allow application of a greater amount of linear force than is applied to the port connector 554. This arrangement can also be helpful in cases in which debris or undesirable particles can be present in the port connector 554 and accordingly limit the port connector 554 from being fully coupled with the corresponding electrical connector. In such a scenario, the secondary spring 584 can advantageously adjust the position of the port connector 554 relative to the interlock connector 560 or the carriage 552.

[0116] In some cases, the port connector 554 or the electronic interface 550 can include a logic circuitry to provide signals such as wake signals on the power source assembly 420 or cooling of the power source assembly 420. In some cases, the logic circuitry can signal when the electronic interface 550 and the power source connector 474 are fully seated for an electrical connection, or when the electrical connection between the power source assembly 420 and the tractor 400 is established. In some cases, the logic circuitry can inform when undesired particles (e.g., debris or water) are present in the port connector 554 or other parts of the electronic interface 550 or the power source connector 474.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

[0117] In some cases, lateral biasing elements can be provided, to help laterally align connectors. With specific reference to FIG. 23, in the illustrated example, biasing blocks 586, 588 can be provided on opposite sides of the carriage 552 to adjust the lateral position of the carriage 552 relative to other parts of the electronic interface 550. For example, the biasing blocks 586, 588 can be seated within side blocks 562, 564, respectively. Springs 590, 592, 594 or other biasing elements can be provided to bias the biasing blocks 586, 588 toward the carriage 552 (e.g., secured within lateral bores by set screw inserts or other components). Thus, within the clearance between the side blocks 562, 564 and the carriage 552, the carriage 552 can move side-to-side depending on the adjustment provided by the biasing blocks 586, 588.

[0118] In some cases, the side blocks 562, 564, the front panel 566, and the back panel 568 can form a rigid body, and the carriage 552 can move (e.g., due to spring bias) relative to the side blocks 562, 564, the front panel 566, and the back panel 568. In some cases, the carriage 552 can move relative to the rails 570, 572. In some cases, the port connector 554 can move relative to the carriage 552. In some cases, the port connector 554 can move relative to one or more of the carriage 552, the rails 570, 572, the side blocks 562, 564, the front panel 566, the back panel 568, or the interlock connector 560. Different combinations of features and structures can move relative to one another in other examples.

[0119] Although the presently disclosed technology has been described by referring preferred examples, workers skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the discussion. In this regard, details presented relative to any of the examples discussed herein can be implemented independently or in various combinations (e.g., with aspects of any one of linkages of the lift assembly implemented independently or in combination with aspects of any one or more other of the linkages).

[0120] As used herein in the context of a power machine, unless otherwise defined or limited, the term “lateral” refers to a direction that extends at least partly to a left or a right side of a front-to-back reference line defined by the power machine. Accordingly, for example, a lateral side wall of a cab of a power machine can be a left side wall or a right-side wall of the cab, relative to a frame of reference of an operator who is within the cab and is oriented to operatively engage with controls of an operator station of the cab.

[0121] Also as used herein, unless otherwise defined or limited, directional terms are used for convenience of reference for discussion of particular figures or examples or to indicatePCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2spatial relationships relative to particular other components or context, but are not intended to indicate absolute orientation. For example, references to downward, forward, or other directions, or to top, rear, or other positions (or features) may be used to discuss aspects of a particular example or figure, but do not necessarily require similar orientation or geometry in all installations or configurations.

[0122] As used herein, unless otherwise defined or limited, two components that are described herein as “substantially aligned” are aligned along a particular reference direction (e.g., a front-to-back direction) across more than half of a dimension of at least one the components in a direction orthogonal to the reference direction. Two components that are described herein as “vertically aligned” are aligned at a common vertical distance from a common reference (e.g., a plane defined by support surfaces of tractive elements of a power machine). Two components that are described herein as “laterally aligned” are aligned at a common lateral distance from a common reference (e.g., a centerline of a power machine) on the same lateral side of the power machine. Thus, for example, for an actuator that is substantially laterally aligned with a portion of a lift arm, at least half of a lateral width of the actuator may be aligned at a common lateral distance from a centerline of a power machine as the portion of the lift arm.

[0123] As used herein, unless otherwise defined or limited, the terms “inboard” and “outboard” refer to a relative relationship (e.g., a lateral distance) between one or more objects or structures and a centerline of the power machine. For example, a first structure that is inboard of a second structure is positioned laterally offset from the second structure so that a distance between the first structure and the centerline of the power machine is less than a distance between the second structure and the centerline of the power machine. Conversely, a first structure that is outboard of a second structure is positioned laterally offset from the second structure so that a distance between the first structure and the centerline of the power machine is greater than a distance between the second structure and the centerline of the power machine.

[0124] Similarly, as used herein, unless otherwise defined or limited, the terms “interior” and “exterior” refers to a relative relationship (e.g., a lateral distance) between one or more structures (e.g., a sub-structure) and a centerline of a reference structure (e.g., a main structure) that extends in a front-to-back direction or between first and second ends of the reference structure. For example, an interior structure is disposed closer to a centerline of a reference structure than an exterior structure. In this regard, an outboard structure of a subassembly of a power machine may also be an exterior structure. In contrast, an exterior structure of a PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2subassembly, relative to a centerline of the subassembly, may not necessarily be outboard of other components of the subassembly.

[0125] As used herein, unless otherwise limited or specified, “substantially identical” refers to two or more components or systems that are manufactured according to the same process and specification, with variation between the components or systems that are within the limitations of acceptable tolerances for the relevant process or specification. For example, two components can be considered to be substantially identical if the components are manufactured according to the same standardized manufacturing steps, with the same materials, and within the same acceptable dimensional tolerances (e.g., as specified for a particular process or product).

[0126] Also as used herein, unless otherwise specified or limited, “substantially parallel” indicates a direction that is within ± 12 degrees of a reference direction (e.g., within ± 6 degrees or ± 3 degrees), inclusive. Similarly, unless otherwise specified or limited, “substantially perpendicular” similarly indicates a direction that is within ± 12 degrees of perpendicular a reference direction (e.g., within ± 6 degrees or ± 3 degrees), inclusive. Correspondingly, “substantially vertical” indicates a direction that is substantially parallel to the vertical direction, as defined relative to the reference system (e.g., a local direction of gravity, by default), with a similarly derived meaning for “substantially horizontal” (relative to the horizontal direction). Discussion of directions “transverse” to a reference direction indicate directions that are not substantially parallel to the reference direction. Correspondingly, some transverse directions may be perpendicular or substantially perpendicular to the relevant reference direction.

[0127] Also as used herein, unless otherwise limited or defined, “or” indicates a nonexclusive list of components or operations that can be present in any variety of combinations, rather than an exclusive list of components that can be present only as alternatives to each other. For example, a list of “A, B, or C” indicates options of: A; B; C; A and B; A and C; B and C; and A, B, and C. Correspondingly, the term “or” as used herein is intended to indicate exclusive alternatives only when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.” For example, a list of “one of A, B, or C” indicates options of: A, but not B and C; B, but not A and C; and C, but not A and B. A list preceded by “one or more” (and variations thereon) and including “or” to separate listed elements indicates options of one or more of any or all of the listed elements. For example, the phrases “one or more of A, B, or C” and “at least one of A, B, or C” indicate options of: one or more A; one PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2or more B; one or more C; one or more A and one or more B; one or more B and one or more C; one or more A and one or more C; and one or more of A, one or more of B, and one or more of C. Similarly, a list preceded by “a plurality of’ (and variations thereon) and including “or” to separate listed elements indicates options of multiple instances of any or all of the listed elements. For example, the phrases “a plurality of A, B, or C” and “two or more of A, B, or C” indicate options of: A and B; B and C; A and C; and A, B, and C.

[0128] Also as used herein, unless otherwise specified or limited, “integral” and derivatives thereof (e.g., “integrally”) describe elements that are manufactured as a single piece without fasteners, adhesive, or the like to secure separate components together. For example, an element that is stamped, cast, or otherwise molded as a single-piece component from a single piece of sheet metal or other continuous single piece of material, without rivets, screws, other fasteners, or adhesive to hold separately formed pieces together, is an integral (and integrally formed) element. In contrast, an element formed from multiple pieces that are separately formed initially then later fastened together, is not an integral (or integrally formed) element.

[0129] In some implementations, devices or systems disclosed herein can be utilized, manufactured, installed, etc. using methods embodying aspects of the disclosed technology. Correspondingly, any description herein of particular features, capabilities, or intended purposes of a device or system is generally intended to include disclosure of a method of using such devices for the intended purposes, of a method of otherwise implementing such capabilities, of a method of manufacturing relevant components of such a device or system (or the device or system as a whole), and of a method of installing disclosed (or otherwise known) components to support such purposes or capabilities. Similarly, unless otherwise indicated or limited, discussion herein of any method of manufacturing or using for a particular device or system, including installing the device or system, is intended to inherently include disclosure, as examples of the disclosed technology, of the utilized features and implemented capabilities of such device or system.

[0130] Some methods of the disclosed technology may be presented above or below with operations listed in a particular order. Unless otherwise required or specified, the operations of such methods can be implemented in different orders, in parallel, or as selected sub-sets of one or more individual operations (e.g., with a particular listed operation being implemented alone, rather than in combination with others).PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

[0131] In some embodiments, aspects of the invention, including computerized implementations of methods according to the invention, can be implemented as a system, method, apparatus, or article of manufacture using standard programming or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a processor device (e.g., a serial or parallel general purpose or specialized processor chip, a single- or multi-core chip, a microprocessor, a field programmable gate array, any variety of combinations of a control unit, arithmetic logic unit, and processor register, and so on), a computer (e.g., a processor device operatively coupled to a memory), or another electronically or operated controller to implement aspects detailed herein. Accordingly, for example, embodiments of the invention can be implemented as a set of instructions, tangibly embodied on a non-transitory computer-readable media, such that a processor device can implement the instructions based upon reading the instructions from the computer-readable media. Some embodiments of the invention can include or utilize a control device (or controller) such as an automation device, a special purpose or general purpose computer including various computer hardware, software, firmware, and so on, consistent with the discussion below. As specific examples, a control device can include a processor, a microcontroller, a field-programmable gate array, a programmable logic controller, logic gates etc., and other typical components that are known in the art for implementation of appropriate functionality (e.g., memory, communication systems, power sources, user interfaces and other inputs, etc.). In some embodiments, a control device can include a centralized hub controller that receives, processes and (re)transmits control signals and other data to and from other distributed control devices (e.g., an engine controller, an implement controller, a drive controller, etc.), including as part of a hub-and-spoke architecture or otherwise.

[0132] The term “article of manufacture” as used herein is intended to encompass a computer program accessible from any computer-readable device, carrier (e.g., non-transitory signals), or media (e.g., non-transitory media). For example, computer-readable media can include but are not limited to magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips, and so on), optical disks (e.g., compact disk (CD), digital versatile disk (DVD), and so on), smart cards, and flash memory devices (e.g., card, stick, and so on). Additionally, it should be appreciated that a carrier wave can be employed to carry computer-readable electronic data such as those used in transmitting and receiving electronic mail or in accessing a network such as the Internet or a local area network (LAN). Those skilled in the art will recognize that manyPCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2modifications may be made to these configurations without departing from the scope or spirit of the claimed subject matter.

[0133] Certain operations of methods according to the disclosed technology, or of systems executing those methods, may be represented schematically in the FIGS, or otherwise discussed herein. Unless otherwise specified or limited, representation in the FIGS, of particular operations in particular spatial order may not necessarily require those operations to be executed in a particular sequence corresponding to the particular spatial order. Correspondingly, certain operations represented in the FIGS., or otherwise disclosed herein, can be executed in different orders than are expressly illustrated or described, as appropriate for particular examples of the disclosed technology. Further, in some examples, certain operations can be executed in parallel, including by dedicated parallel processing devices, or separate computing devices configured to interoperate as part of a large system.

[0134] As used herein in the context of computer implementation, unless otherwise specified or limited, the terms “component,” “system,” “module,” “block,” “device,” and the like are intended to encompass part or all of computer-related systems that include hardware, software, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a processor device, a process being executed (or executable) by a processor device, an object, an executable, a thread of execution, a computer program, or a computer. By way of illustration, both an application running on a computer and the computer can be a component. One or more components (or system, module, and so on) may reside within a process or thread of execution, may be localized on one computer, may be distributed between two or more computers or other processor devices, or may be included within another component (or system, module, and so on).PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

Claims

CLAIMS1. A power machine (400) comprising:a power machine frame ( 10) that supports one or more work elements;a power source support assembly (490) that includes:a lift assembly (500) that includes a lifting link (502) supported by the power machine frame (410) and a power source lift actuator (520) arranged to move the lifting link (502) relative to the power machine frame (410); andan electronic interface (550) supported by the power machine frame (410); and a swappable power source assembly (420) that includes:a power source housing (472);an electric power source supported in the power source housing (472);a power source support structure (482, 484) supported on the power source housing (472) forward of a center of gravity (488) of the swappable power source assembly (420); anda power source connector (474) supported on the power source housing (472) to deliver electric power from the electric power source;the power source lift actuator (520) being operable to move the lifting link (502), to move the swappable power source assembly (420) from an undocked position to a docked position, via intermediate positions:in the undocked position, the lifting link (502) being aligned to engage the power source support structure (482, 484), with the swappable power source assembly (420) unsupported by the power machine frame (410);in the docked position, the lifting link (502) supporting the swappable power source assembly (420) relative to the power machine frame (410), with the electronic interface (550) engaging the power source connector (474) to power the one or more work elements; andin the intermediate positions, the lifting link (502) supporting the swappable power source assembly (420) relative to the power machine frame (410), with the power source housing (472) offset in a common direction from the power source housing (472) in the docked and undocked positions.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.

22. The power machine (400) of claim 1, wherein the power source housing (472) includes a tapered entry structure to align the lifting link (502) with the power source support structure (482, 484) at the intermediate positions, andoptionally or preferably, wherein the swappable power source assembly (420) further includes a protruding hook (478, 480), spaced apart from the power source support structure (482, 484), that engages with the power source support assembly (490) at the docked position.

3. The power machine (400) of any of claims 1 or 2, wherein the lifting link (502) includes a hook (504) that engages with the power source support structure (482, 484) to support the swappable power source assembly (420) relative to the power machine frame (410).

4. The power machine (400) of any of the preceding claims, wherein the electronic interface (550) includes:a carriage (552) movably supported relative to the power source housing (472); and a port connector (554) movably supported on the carriage (552), the port connector engaging with a corresponding electrical connector of the power source connector (474) at the docked position to transmit power to or from the swappable power source assembly (420).

5. The power machine (400) of claim 4, wherein the electronic interface (550) further includes one or more of:rails (570, 572) that engage with side channels (476) of the power source connector (474) to provide a vertical alignment between the electronic interface (550) and the power source connector (474); orblocks arranged to laterally bias the power source connector (474) for engagement with the electronic interface (550).PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.

26. The power machine (400) of any of the preceding claims, wherein the power source support assembly (490) and the swappable power source assembly (420) include engagement surfaces that are tapered to laterally align the power source connector (474) with the electronic interface (550) as the swappable power source assembly (420) is moved to the docked position.

7. The power machine (400) of any of the preceding claims, wherein the lifting link (502) is connected to the power source lift actuator (520) at a first joint (508); and wherein the lifting link (502) further includes a pivot support (506) movable within a slot (512) of the power source support assembly (490), by actuation of the power source lift actuator (520) to move the first joint (508), to move the lifting link (502) between engagement with the swappable power source assembly (420) at the undocked position and the docked position.

8. The power machine (400) of claim 7, wherein the lifting link (502) further includes a rotation guide (510), spaced apart from the pivot support (506) and movable within the slot (512) simultaneously with the pivot support (506) to move the lifting link (502) between engagement with the swappable power source assembly (420) at the undocked position and the docked position, andoptionally or preferably:wherein the slot (512) includes a first end portion (512C), and first and second branches (512A, 512B) extending from the first end portion (512C); orwherein the rotation guide (510) is located in the first branch (512A) and the pivot support (506) is located in the second branch (512B) to align the lifting link (502) to engage the power source support structure (482, 484) with the swappable power source assembly (420) in the undocked position.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.

29. The lift assembly (500) of any of claims 1-6, the lift assembly (500) comprising:a lift assembly frame structure (514); andthe power source lift actuator (520) pivotably secured at a first end to the lift assembly frame structure (514) and at a second end to the lifting link (502);the lift assembly frame structure (514) defining a multi-branch slot (512);the lifting link (502) including a rotation guide (510) spaced apart from the second end of the lifting link (502), and a pivot support (506) spaced apart from the rotation guide (510) and the second end of the lifting link (502); andthe rotation guide (510) and the pivot support (506) being received within the multibranch slot (512), and collectively movable within the multi-branch slot (512) by extension and retraction of the power source lift actuator (520) to move the power source between an undocked orientation and a docked orientation.

10. The lift assembly (500) of claim 9, wherein the multi-branch slot (512) includes a first end portion (512C) and first and second branches (512A, 512B) extending from the first end portion (512C);wherein the rotation guide (510) is located within the first branch (512A) and the pivot support (506) is located in the second branch (512B) to align the lifting link (502) to engage the power source in the undocked orientation;wherein the rotation guide (510) is located within the first end portion (512C) and the pivot support (506) is located within the first end portion (512C) or the second branch (512B) to align the lifting link (502) to secure the power source in the docked orientation, and optionally or preferably, wherein the multi-branch slot (512) is a y-shaped slot.PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.

211. A method of swapping a power source for a power machine (400), the method comprising:aligning the power machine (400) with the power source so that a pick point (482, 484) of the power source is aligned with a lift assembly (500) of a power source support assembly (490) supported by a frame (410) of the power machine (400);operating a linear lift actuator (520) of the lift assembly (500) to move a lifting link (502) of the lift assembly (500) to:lift the power source at the pick point (482, 484), to move the power source from an undocked orientation into contact with the power source support assembly (490); andafter lifting the power source to move the power source into contact with the power source support assembly (490), translate the power source to a docked position for operation of the power machine (400) under power from the power source.

12. The method of claim 11, wherein lifting the power source at the pick point (482, 484):lifts the power source in an angled orientation from the undocked orientation; and after lifting the power source in the angled orientation, rotates the power source toward the docked position.

13. The method of claim 12, wherein rotating the power source toward the docked position includes leveling the power source relative to the frame (410) of the power machine (400).

14. The method of any of claims 11-13, wherein operating the linear lift actuator (520) to move the power source to the docked position includes translating the power source to connect an electrical connector of the power source and an electrical connector (474) of the power machine (400).PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.

215. The method of any of claims 11-14, wherein the lifting link (502) includes a pivot support (506) and a rotation guide (510) spaced apart from the pivot support (506) along the lifting link (502);wherein the lift assembly (500) includes a multi-branch slot (512); andwherein the lifting and translating of the power source include collectively moving the pivot support (506) and the rotation guide (510) along the multi-branch slot (512).PCT APPLICATION I2024-0039-PC1 | 169402.00446 QB\ 100014209.2

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