Tipping over of a work machine is prevented. The work machine includes: a vehicular body; a rear axle attached to the vehicular body to be capable of undergoing a roll motion with respect to an axis extending in a front-rear direction of the vehicular body; and a controller. The controller acquires stability of the center of gravity of the vehicular body, and controls the roll motion of the rear axle with respect to the vehicular body based on the stability.

A carrier comprising a hydraulic cylinder having a piston, a controller and a piston position sensor, wherein the carrier is arranged to carry an accessory through the use of the hydraulic cylinder and wherein the controller is configured to: receive piston position information; determine a direction of movement of the piston; and if the piston position equals a stop distance from an end wall of the hydraulic cylinder in the direction of movement, abort the movement.

A work machine includes a boom, a work tool configured to drive with respect to the boom, an actuator configured to drive the work tool, a sub-link attached to the boom, and a control section. The sub-link is configured to transmit driving force of the actuator to the work tool. The control section is configured to control the actuator based on a posture of the sub-link with respect to the boom. A method of controlling a work machine includes controlling an actuator based on a posture of a sub-link with respect to a boom, the sub-link being configured to transmit driving force of the actuator to a work tool configured to drive with respect to the boom.

A work machine includes a main body, a boom to drive with respect to the main body, a work tool connecting to the boom, the work tool to drive with respect to the boom, an actuator connecting to the main body and the work tool, the actuator to drive the work tool, and a sub-link to transmit drive of the actuator to the work tool. A method for calibrating the work machine includes outputting a detection value to detect an angle of the sub-link with respect to the boom in a predetermined posture of the boom and a work tool posture, converting the detection value as a measurement angle of the sub-link with respect to the boom based on a conversion value, and calibrating the conversion value based on a relationship between the measurement angle and an actual angle in the work tool posture which is specified.

A cross-support assembly extends between and connects two generally parallel lifting arms of a working machine. A front end of the lifting arms is connectable with an implement. A back end of the lifting arms is pivotably connectable with a front unit of the working machine. The cross-support assembly provides an axis of vision through the cross-support assembly for at least two different lifting positions of the lifting arms by having an opening in the cross-support assembly.

The invention relates to a method (19) of operating a hydraulic arrangement (1) including a mounting base (5), a boom (3) that is pivotably arranged on the mounting base (5), and a Z-kinematics (2) that is arranged on the boom (3). The Z-kinematics (2) tilts a tool attachment device (10), that is pivotably arranged on the boom (3). The boom (3) is moved by a lifting hydraulic piston (7) that is connected to the boom (3) and to the mounting base (5). The Z-kinematics (2) is moved by at least a tilting hydraulic piston (11) that is connected to a lever of the Z-kinematics (2) and to the mounting base (5). On application of an input control command for changing the position of the lifting hydraulic piston (7), a compensation command is automatically generated and applied to the tilting hydraulic piston (11), to essentially maintain the attitude of the tool attachment device (10). The compensation command is generated based on the input control command for the lifting hydraulic piston (7), using a mathematical model of the hydraulic arrangement (1).

Various embodiments of a mining vehicle are disclosed. The embodiments provide mining vehicles that are battery powered rather than diesel powered. The embodiments also provide vehicles that have relatively high hauling capacity relative to their length and footprint (area). The embodiments also provide vehicles with improved forward and rearward ground visibility. In addition, the mining vehicles have a higher density compared to traditional vehicles, which helps to improve traction, as well as better vehicle handing and power density because of increased power relative to diesel powered vehicles.

A work machine with a bell crank for coupling an attachment to a work machine includes a frame extending in a fore-aft direction, and a pair of lift arms pivotally coupled to the frame. The bell crank comprises a support member interposedly positioned between the pair of lift arms; and a first and second elongated, laterally spaced tilt levers coupled to the support member. Each tilt member may have a first pivoting link, a second pivoting link, and an aperture positioned between the first pivoting link and the second pivoting link. The aperture may comprise a first wall, a second wall, and a through-hole for coupling the tilt lever to the support member with a pin.

A work machine with a bell crank for coupling an attachment to a work machine includes a frame extending in a fore-aft direction, and a pair of lift arms pivotally coupled to the frame. The bell crank comprises a support member interposedly positioned between the pair of lift arms; and a first and second elongated, laterally spaced tilt levers coupled to the support member. Each tilt member may have a first pivoting link, a second pivoting link, and an aperture positioned between the first pivoting link and the second pivoting link. The aperture may comprise a first wall, a second wall, and a through-hole for coupling the tilt lever to the support member with a pin.

A lifting arrangement for a construction machine includes a frame arrangement with a front frame portion and a rear frame portion. The lifting arrangement is mountable to the front frame portion and comprises a main arm including a pivot connector and an equipment connector and a main arm support means for pivotably supporting the pivot connector. The main arm support means is movable in a front-rear direction with respect to the frame arrangement. The equipment connector, upon pivoting the main arm between a lowered position and a lifted position, follows a substantially vertical path. The lifting arrangement comprises a tilting arrangement for tilting an equipment mounted to the equipment connector. The tilting arrangement comprises a kinematic chain for attachment to a tilting connector of the equipment mounted to the equipment connector. The kinematic chain comprises a tilting link and a connecting link pivotably connected to each other.