Patent Application
20230088161
The present invention relates to a mobile apparatus with an operating arm, such as for instance wheel loaders, front loaders on tractors, tracked loaders, skid-steers, excavators, backhoe loaders, cranes, mobile manipulators and mobile robots or combinations thereof. The invention relates more specifically to a mobile apparatus comprising a main frame, a rotating sub-frame an operating arm connected to the sub-frame, drive means configured to drive displacing means of the mobile apparatus, such as one or more wheels and/or one or more caterpillar tracks and energy storage with a specific topology and packaging design for both the main and sub-frame.
Excavators are known which have a main frame or a rotatable sub-frame with motors and energy storage in usually single box type shapes at specific dedicated areas in the rotatable sub-frame. Wheel loaders and skid steer loaders are known with also a box type energy storage compartment in the rear of the vehicle. Robots with high lifting capacity, such as over 500 kg, are working indoors with external power supply and energy storage.
Preferred embodiments of the invention are described in the claims.
The present invention is distinguished from the prior art (also the prior art of the inventor) in that it realizes an energy-efficient, highly manoeuvrable versatile mobile apparatus with high lifting capacity, on-board energy storage and with an inventive topology of both the sub-frame and main frame. This object is achieved, among others, by a mobile apparatus as according to claim 1 wherein the main frame with displacing means has a rotating sub-frame with working arm on the sub-frame of which the first arm segment of the working arm can be moved rearwards onto the sub-frame and over the rotation point between the main frame and the sub frame and with a seating or standing position next to or in between components of the sub-frame. In the most rearward position of the first arm segment the legs and/or feet of the operator can be next to the first arm segment.
The invention also distinguishes from prior art in that the rotating sub-frame can be locked to a lower part of the first arm segment, one of which the first arm segment is part of an arm with at least two arm segments. This enables a fixed rearward position of the first arm segment to allow for a very stable and compact structure through a connection with the sub-frame, possibly through a vertical rotating kingpost between the sub-frame and the first arm segment. The advantage of this locking solution is that the high load forces on the first arm segment can flow directly in the strong mechanical structure of the sub-frame in the area above the slew bearing between the sub-frame and the main frame. The locking means can be engaged manually, mechanically, electrically, electronically in a pneumatic or hydraulic way or a combination. Preferred is a solution without play that can be engaged in a safe position for the operator such as standing next to the mobile apparatus when controlling one or 2 buttons or switches or other means so that the locking takes place when the operator is not in the vicinity of the working arm. This principle can also be used for moving the first arm segment in a new position or the most rearward position, after which in the same sequence the locking takes place. This of course can be vice versa. Additionally this can be coupled to a seat or position sensor such that when the operator is in the mobile apparatus or sitting on a seat, it prevents the movement of the first arm segment to and away from its most rearward position.
It is particularly advantageous for the invention to incorporate a recess in the sub-frame to allow the displacement means such as tires or caterpillar tracks to steer at a very sharp angle, at least more than 45 degrees and preferably more than 60 degrees. Such recess is required on both sides of the tapered or curved shape of the sub-frame of which the sub-frame partly flows over displacement means. Such a tapered or curved shape is also preferred for the optional kingpost between the sub-frame and the first arm segment. This enables a very low positioned sub-frame on top and in between parts of the main frame. In between the two recesses the mounting structure or plate for the main valve is positioned.
The mechanical structure of the sub-frame is new and inventive in that horizontal and vertical plane members have a double function. First these elements carry the structural loads. Secondly they divide the sub-frame in compartments for various different components. Third function is that they divide and guide air flow for cooling and heating of components like valves, electric motors, controllers, electronics, inverters, converters, batteries, capacitors, hydrogen fuel cells, fans, cables, wires, hoses, conduits and other components such as for thermal management.
It is moreover advantageous to have a left and right energy storage area at the rear side of the sub-frame. The energy storage components can be batteries, capacitors, a fluid or a gas such as hydrogen. When a seat is comprised, the seat can be in between these compartments. Under the seat additional energy storage components can be positioned. At the lower front area of the sub-frame a hydraulic valve can be situated in one of the more centralized compartments. It allows air to flow to side compartments and also to the front and rear centralized compartments.
Each of the compartments can have a cooling system or air flowing. One or multiple fans can be used for cooling one or more compartments and components inside. The fans can be coupled to a controller and sensors such that the sensor controls the air speed and volume. At low ambient temperatures the air volume can be low or not at all and at high ambient temperatures the air volume and speed can be high to transfer the heat from the components. It is possible to have the air entering at the bottom of the sub-frame or halfway the sub-frame, optionally through filters, going through different compartments higher up and exiting at the rear of the sub-frame. A reverse direction is also possible. It can have one fan in the centre for all compartments or multiple fans for different compartments. In a preferred embodiment the left, middle and right compartment each have a separate fan with control and sensor system. The location of a fan can be in the front of the sub-frame, in the middle or in the rear of the sub-frame A fan can have air spoilers to guide the air to and from different components and areas in a compartment. Air flaps can also be installed to divide the air between compartments or to shut off air flowing to allow heat to build up inside the compartments when ambient temperatures are low. An air conditioning system, with components such as compressor, condenser, evaporator, valves, and/or chiller can also be installed. This allows for an air-cooling system by which cooled air is used as a cooling medium for the mentioned components. It is also possible that it allows for a liquid thermal system in order to cool or even heat the energy storage and other electric components. The air cooling or liquid cooling can be controlled when the mobile apparatus is working, when energy storage devices are being charged or in advance of charging. It should be noted that both electrically powered heat from components can be used, as well as hydraulically powered heat can be used to increase the temperature of the various mentioned components.
The sub-frame can also comprise one or two areas on the left and right rear outside. These can house additional energy storage units such as batteries, capacitors, gaseous or liquid fuel such as hydrogen. The areas can also incorporate fluid tanks such as a coolant or hydraulic oil. It is advantageous to have one fluid tank positioned at the rear side part of the sub-frame and on the outer side of an energy storage compartment. This way the temperature of the hydraulic oil does not directly influence the temperature of the adjacent compartments. As the tank is on the outside of the sub-frame it can dissipate heat to the ambient world and therefore cool the fluid inside. One of the preferred embodiments is to have two tanks, both on the rear left and right sides of the sub-frame of which the tanks are connected. In between the connecting hose or conduit a radiator and cooling fan can work to cool the fluid. This way one tank and its fluid has a lower temperature that the other. The lowest temperature tank is preferred to be at the side of the sub-frame at which the operator is mostly likely to enter. It can be on the left or right side. The possible materials of the tank can be plastic, steel or aluminium or any other material to transfer heat to ambient. To protect the one or more tanks, a strong structural member such as a profile runs from half way of the sub-frame to the rear and connects with the structural members of the sub-frame and the cabin or tipping over protective structural members. The mentioned cooling fan for the fluid or hydraulic oil can be the same cooling fan for the air cooling or can be the same fan for a liquid cooling system for electric components. Another possible embodiment is a spare tire at the rear of the sub-frame, which spare tire has enough opening in the rim centre to allow the passage of air flow to and from at least one cooling fan.
A further embodiment of the sub-frame can be that one or more operating instruments such as joysticks or one or more buttons or one or more touch screens or one or more steering wheels are connected to a movable structure. The structure itself can be swivelled, rotated, folded or slides away or a combination to allow the entrance for the operator. This inventive solution reduces components and makes sure that the operator always closes the structure to the sub-frame whilst operating the mobile apparatus. The structure can swivel, rotate, fold or slide in various ways such as vertical or diagonal or horizontal or a combination, however, in a preferred embodiment the movable structure with operating instruments connects or locks at both the front and rear parts of the cabin or other protective structure. The movable structure in this way can also serve as a safety means for the operator during a collision or tipping over. It can incorporate an armrest and/or an arm or shoulder pad. A sensor can detect the position of the structure and therefore allow the operating instruments to be active or inactive. The active position is when the structure is locked into the operating position. It is a much more integrated solution compared to the prior art. The structure can comprise a steering wheel out of the middle of the seat or standing position or can have the steering wheel in the centreline of the seat or standing position. Another embodiment is that the sub-frame has a swivelling, rotating or folding structure on the left and also on the right side. This allows entrance of the operator on both sides. The one or more movable structure can hold or be attached to a door or window from a material such as glass, plastic, steel or other material or combination.
The entrance of the operator is solved by a geometrical profile solution of the sub-frame structure, which is low at the front side and high at the rear in a view from the side. The profile connects to a vertical plate structure of the sub-frame, which is also a plate structure for one of the outer compartments of the sub-frame. The profile itself can serve as a tip over and roll over protective structure and/or falling object protective structure. It can have hollow profiles running from the forward part of the sub-frame to the rear part of the sub-frame. Hollow profile cross members can connect a left and right side.
It is advantageous to use the volume of the inside of these structural members for cooling and heating purposes. Hydraulic oil or cooling fluid can run through these profiles to dissipate heat from the fluid to the profiles and connecting plates, such as a sun roof or protective or structural plate. A pump and/or valve can control the speed of the fluid. These can for instance be the hydraulic valves for the operating arm or an attachment, which can be placed in the lower centre of the sub-frame. This inventive solution saves space and energy, as no or limited heat exchange components are required. The profiles are directly adjacent to potential windows and doors. This enables to heat these areas to avoid condensation in the winter and low ambient temperatures and can provide indirect heat to the operator. The sub-frame can have embodiments without a cab structure and without a seating or standing position for an operator. This is intended for autonomous or remote operations.
The sub-frame can have an electrical connection for charging or a connection for fuelling a liquid or a gas such as hydrogen.
According to a one of the further preferred embodiments, the sub-frame rotates on a main frame with displacing means, of which the main frame has a low middle section and a higher front and rear section. One of the higher seconds can house one or more motors and controllers or inverters for the displacing means. Another higher section of the main frame can be the connection to an axle or an oscillating or suspension structure for displacing means. A higher section of the main frame on the left or right sides can be to house energy storage or electronic components such as batteries, capacitors, hydrogen, fuel cells, controllers, inverters and converters. Openings in the main frame and cooling components such as fans, air and liquid cooling loops are possible.
The shape of the main frame in plan (top or bottom) view is such that it has a large recess left and large recess right for the steerable displacement means such as tires or caterpillar tracks. This inventive solution requires a strong, high stressed structural zone against torsion. Therefore it has cross section bulkhead members.
The mechanical load bearing structure of the main frame can be a combination of outer plates or plane members and inner plane structural members plates. The inner structure can be oriented from the slew bearing and towards the higher front, rear and side portions of the main frame. The narrow passage from the centre to the load bearing structure of the steerable displacement means starts low and ends high.
The displacement means can be oscillating or even suspended and dampened. Therefore the structural members in between the steerable wheels or caterpillar tracks are high and can possibly incorporate one or more steering actuators, tie-rods and an oscillation swivel point. The swivelling can be blocked through a mechanical, electric, electronic, pneumatic, hydraulic or combination device as such that it prevents the rotation between the displacement means and the main frame.
Embodiments with hydro-pneumatic suspension are also possible. This can be through the suspension and damping of the complete axles structure or through the suspension and damping of each left and right displacement means.
The steering mechanism can incorporate an Ackermann steering principle, by which the tie-rods are diagonally aligned from a central swivel point with actuator to reach the very steep steering angles.
In both the main frame and the sub-frame volatile components such as energy storage in the form of batteries, capacitors, electronics, liquid fuel, gaseous fuel, hydrogen fuel cells, engines and so on can be suspended and dampened. An embodiment is a structure with the components inside on which each lower corner of the structure a suspension and/or dampening unit is connected. This can be either with a vertical, horizontal, diagonal orientation in 2d or 3d plane. This can work well for low volumetric/box shapes. For high volumetric/box shapes embodiments are possible with both low and high mounted suspension and damping units. The suspension and damping units can for instance be springs, rubber-mounts, plastic-mounts, gas type dampers, hydro-pneumatic dampers or combinations. The low or high volumetric structures can be positioned outside a compartment or inside a compartment.
The main frame can connect to an implement such as a blade or snowblade. This blade can be fixed in vertical and horizontal position to the main frame. On or in the blade one or two actuators can move a stabilizer to realize a left and right wide table platform for lifting and excavation work. It is particularly advantageous to stabilize the mobile apparatus on uneven terrain in such that the left and right actuators can be positioned at different height compared to the main frame. At the same time it is possible to adjust and block the oscillating or suspended displacement means on the opposite side of the blade so that the complete mobile apparatus can be levelled in a 360 degree rotation.
There can be different embodiments of one or more control system for the described solutions. For instance a Can-Bus system of different protocols such as J1939, Flex Ray, Isobus or other types such as be a glass fibre system.
The above stated and other advantageous features and objects of the invention will become more apparent, and the invention better understood, on the basis of the following detailed description when read in combination with the accompanying drawings, in which:
The present invention is not limited to the shown embodiments but also extends to other embodiments falling within the scope of the appended description and claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2024981 | Feb 2020 | NL | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/NL2021/050122 | 2/23/2021 | WO |
