A WORKING MACHINE

Abstract

The present invention relates to a working machine, including a pair of front wheels having a front rotational axis, a pair of rear wheels having a rear rotational axis, a frame structure including a front frame portion connected to the front rotational axis, a rear frame portion connected to the rear rotational axis, and a pivot joint pivotally connecting the front and rear frame portions to each other around a laterally extending pivot axis, an actuator arrangement connected to the frame structure, the actuator arrangement being arranged to control a mutual motion between the front frame portion and the rear frame portion; and a lift arm including an inner end portion pivotably connected to the front frame portion at a position between the front and rear wheels.

Claims

1. A working machine, comprising pair of front wheels having a front rotational axis, pair of rear wheels having a rear rotational axis, frame structure comprising a front frame portion connected to the front rotational axis, a rear frame portion connected to the rear rotational axis, and a pivot joint pivotally connecting the front and rear frame portions to each other around a laterally extending pivot axis, an actuator arrangement connected to the frame structure between the front frame portion and the rear frame portion, the actuator arrangement being arranged to control a mutual motion between the front frame portion and the rear frame portion; and lift arm comprising an inner end portion pivotally connected to the front frame portion at a position between the front and rear wheels, and an outer end portion connectable to an implement at a position in front of the pair of front wheels as seen in the longitudinal direction of the working machine.

2. The working machine according to claim 1, wherein the actuator arrangement is arranged to control the inner end portion of the lift arm between a first position and a second, vertically higher position when moving the front and the rear frame portions relative to each other.

3. The working machine according to claim 2, wherein the outer end portion of the lift arm is controllable between a vertical upper end position and a vertical lower end position by a pivotal motion of the inner end portion of the lift arm, the vertical lower end position being provided at a lower vertical distance from ground level when the inner end portion assumes the second position compared to when the inner end portion assumes the first position.

4. The working machine according to claim 2, wherein the front rotational axis and rear rotational axis move toward each other by a rotation of the pivot joint when moving the inner end portion of the lift arm between the first and second positions.

5. The working machine according to claim 1, wherein the front frame portion is pivotably connected to the front rotational axis and the rear frame portion is pivotably connected to the rear rotational axis.

6. The working machine according to claim 2, wherein the actuator arrangement is an actuator cylinder arranged move at least portions of the front and rear frame portions away from each other when moving the inner end portion of the lift arm from the first position to the second position.

7. The working machine according to claim 1, wherein at least a portion of the front frame portion is arranged vertically above at least a portion of the rear frame portion.

8. The working machine according to claim 7, wherein the actuator arrangement is connected between the portion of the front frame portion and the portion of the rear frame portion.

9. The working machine according to claim 1, further comprising a counterweight arrangement connected to the front frame portion.

10. The working machine according to claim 9, wherein the front frame portion extends from the front rotational axis and in a direction rearwards of the front rotational axis, the counterweight being movable along at least a portion of the extension of the front frame portion.

11. The working machine according to claim 1, wherein the working machine is an autonomously operated working machine.

12. A method for controlling a working machine, the working machine comprising a frame structure comprising a front frame structure connected to a front rotational axis of the working machine, a rear frame structure connected to a rear rotational axis of the working machine, wherein the front and rear frame structures are connected to each other at pivot joint allowing a mutual rotation around a laterally extending pivot axis, the working machine further comprising a lift arm comprising an inner end portion pivotably connected to the front frame portion at a position between the front and rear rotational axes, and an outer end portion connected to an implement at a position in front of the front rotational axis as seen in the longitudinal direction of the working machine, the method comprising the steps of: determining that the working machine is entering a pile of material for loading of the implement; controlling the implement to be arranged in a vertically lower end position; moving the inner end portion of the lift arm from a first position to a second, vertically higher position by controlling a rotation around the laterally extending pivot axis; determining that the implement has entered the pile of material; moving the inner end portion of the lift arm from the second position towards the first position; and moving the implement from the vertically lower end position towards a vertical upper end position.

13. The method according to claim 12, further comprising the steps of: determining if the working machine is leaving the pile of material; and moving the inner end portion of the lift arm to the first position when the working machine is leaving the pile of material.

14. The method according to claim 12, further comprising the steps of: determining if the working machine is approaching an unloading station; moving the inner end portion of the lift arm to the second position; and releasing the material at the unloading station when the working machine arrives at the unloading station.

15. The method according to claim 12, wherein the working machine comprises a counterweight arrangement connected to the front frame portion, the counterweight arrangement being movable between an inner and an outer portion of the front frame portion, wherein the inner portion is located in front of the outer portion as seen in the longitudinal direction of the working machine.

16. The method according to claim 15, further comprising the step of: positioning the counterweight arrangement at the inner portion when moving the inner end portion of the lift arm to the first position and operating the working machine with an empty implement.

17. The method according to claim 14, further comprising the step of: positioning the counterweight arrangement at the outer portion before releasing the material at the unloading station.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above, as well as additional objects, features and advantages of the present invention, will be better understood through the following illustrative and non-limiting detailed description of exemplary embodiments of the present invention, wherein:

[0045] FIG. 1 is a perspective view schematically illustrating a working machine according to an example embodiment;

[0046] FIG. 2 is a side view of the working machine in FIG. 1 when arranging the front and rear frame portions close to each other; according to an example embodiment

[0047] FIG. 3 is a side view of the working machine FIG. 1 when the front and rear frame portions are displaced from each other; according to an example embodiment, and

[0048] FIG. 4 is a flow chart illustrating a method for controlling the working machine according to an example embodiment.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE INVENTION

[0049] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness. Like reference character refer to like elements throughout the description.

[0050] With particular reference to FIG. 1, which is a perspective view schematically illustrating a working machine 100 according to an example embodiment. The working machine 100 comprises a pair of front wheels 102 and a pair of rear wheels 104. The front wheels 102 are connected to a front rotational axis 103 and the rear wheels 104 are connected to a rear rotational axis 105. The front and rear rotational axes are in FIG. 1 depicted as a respective front and rear wheel axle. However, the working machine may be operated by wheel hub motors, and in such a case no physical wheel axles may be present. The working machine can thus be operated by wheel hub motors or by other types of prime movers, such as an ICE, an electric machine, etc. Steering of the working machine may, for example, be controlled by so-called Ackermann steering, either on both of the front 102 and rear 104 wheels, or solely on the rear wheels 104.

[0051] The working machine 100 further comprises a frame structure 106 supporting various components, etc. In detail, the frame structure 106 comprises a front frame portion 108 and a rear frame portion 110. The front 108 and rear 110 frame portions are pivotally connected to each other at a pivot joint 112. Thus, the pivot joint 112 allows a mutual rotation between the front 108 and rear 110 frame portions. Moreover, the front frame portion 108 is pivotably connected to the front rotational axis 103 and the rear frame portion 110 is pivotably connected to the rear rotational axis 105. As can be seen in FIG. 1, the front frame portion 108 extends from the front rotational axis 103 and in a direction rearward of the working machine 100. In the example depicted in FIG. 1, the front frame portion 108 extends from the front rotational axis 103 to a rear end 109 located rearwards of the pivot joint 112. In the example of FIG. 1, the rear end 109 is located at a longitudinal position rearward of the rear rotational axis 105.

[0052] Moreover, the working machine 100 comprises a lift arm 116 connected to an implement 117 at an outer end portion 120 of the lift arm 116. The lift arm 116 is pivotably connected to the front frame portion 108 of the frame structure at an inner end portion 118 of the lift arm 116. In detail, the lift arm 116 is connected to the front frame portion 108 at a lift arm pivot joint 119. The lift arm pivot joint 119 is preferably arranged at a longitudinal position between the front 103 and rear 105 rotational axes. The lift arm 116 is thus raised and lowered by a pivotal motion at the lift arm pivot joint 119. This motion is preferably achieved by using a lift cylinder (not shown). The lift motion of the lift arm is illustrated in further detail in FIGS. 2 and 3, and also described below. The implement 117, which in FIG. 1 is exemplified in the form of a bucket, can also be tilted in relation to the lift arm, preferably by using a tilt cylinder 202.

[0053] As is further depicted in FIG. 1, the working machine 100 comprises an actuator arrangement 114. The actuator arrangement 114, in FIG. 1 exemplified as a hydraulic cylinder, is arranged to provide a mutual motion between the front frame portion 108 and the rear frame portion 110. The actuator arrangement 114 is, as depicted in FIG. 1, preferably connected between a portion 122 of the rear frame portion 110 and a portion 124 of the front frame 108. The portion 124 of the front frame 108 is thus arranged above the rear frame portion 110. Hereby, when the actuator arrangement 114 is extended, the portion 124 of the front frame 108 is raised in relation to the rear frame structure 110, i.e. the front 108 and rear 110 frame portions move away from each other. When, on the other hand, the actuator arrangement 114 is retracted, the portion 124 of the front frame 108 is lowered in relation to the rear frame structure 110, i.e. the front 108 and rear 110 frame portions move closer to each other. As the lift arm pivot joint 119 is arranged on the front frame portion 108 at a location longitudinally rearward of the pivot joint 112, the inner end portion 118 of the lift arm 116 will be raised when extending the actuator arrangement 114.

[0054] Furthermore, the working machine 100 also comprises a control unit 126 which is connected to various parts of the working machine 100. The control unit 126 is particularly arranged to control the motion of the actuator arrangement 114. The control unit 126 may also be arranged to control lifting and lowering of the lift arm, tilting of the implement, as well as driving operation of the working machine 100. The working machine 100 is thus preferably an autonomously operated working machine 100. The autonomously operated working machine may be controlled by operation of the control unit, or remotely controlled whereby the control unit receives control signals for driving the working machine in various directions.

[0055] Moreover, the working machine 100 comprises a counterweight 130 connected to the front frame portion 108 at a position rearward of the pivot joint 112. The counterweight 130 is movable along a portion of the front frame portion 108 in order to controllably compensate for different load conditions. Different examples of operation of the counterweight will be given below.

[0056] In order to describe the functionality of the working machine in FIG. 1, reference is made to FIGS. 2-4. With initial reference to FIG. 2, which is a side view of the working machine in FIG. 1 when arranging the front 108 and rear 110 frame portions close to each other. In detail, the actuator arrangement 114 is arranged in a fully retracted position. Hereby, the inner end portion 118 of the lift arm 116 is arranged at a first, lower position 204 above ground level. As also depicted in FIG. 2, the outer end portion 120 of the lift arm 116 is controllable between a vertical lower end position 206 and vertical upper end position 208 by means of the pivotal motion at the inner end portion 118. When the outer end portion 120 is arranged at the vertical lower end position 206, the outer end portion 120 is arranged at a vertical distance 210 from ground level 212, and when the outer end portion 120 is arranged at the vertical upper end position 208, the outer end portion 120 is arranged at a higher vertical distance 215 from the ground level 212. Furthermore, when the outer end portion 120 is arranged at the vertical upper end position 208, the outer end portion 120 is arranged at a first longitudinal distance 214 from the front rotational axis 103.

[0057] Reference is now made to FIG. 3 which is a side view of the working machine FIG. 1 when the front and rear frame portions are displaced from each other. As can be seen, the front 108 and rear 110 frame portions are moved in relation to each other in comparison to the relative position depicted in FIG. 2. In detail, the actuator arrangement 114 is extended in relation to the illustration in FIG. 2. Hereby, the front 108 and rear 110 frame portions rotate relative to each other around the pivot joint 112. The front 103 and rear 105 rotational axes are thus moved towards each other. The inner end portion 118 of the lift arm 116 is hereby raised to a second, vertically higher position 304 above ground level. Thus, the second position 304 is higher above ground level compared to the first position 204. Moreover, the outer end portion 120 of the lift arm 116 is maintained in the lower end position 206.

[0058] When rotating the front 108 and rear 110 frame portions relative to each other, the front frame portion 108 also rotates around the front rotational axis 103. As the inner end portion 118 of the lift arm 116 is connected to the front frame portion 108 a distance behind the front rotational axis 103, the lift arm 116 will rotate around the front rotational axis 103 when raising the inner end portion to the second position 304. Hereby, the outer end portion 120 of the lift arm is arranged at a vertical lower end position 206′ which is located closer to ground level in comparison to the position depicted in FIG. 2. In detail, the outer end portion 120 of the lift arm is located at a lower vertical distance 310 from ground level in comparison to the vertical distance 210 from ground level depicted in FIG. 2. When e.g. entering a pile of soil, the implement 117 is able to dig further into the pile.

[0059] When raising the lift arm 116 while keeping the inner end portion 118 of the lift arm 116 in the second, vertically higher position, the outer end portion 120 of the lift arm 116 will be arranged at a vertical upper end position 208′ located at a second longitudinal distance 314 from the front rotational axis 103. The second longitudinal distance 314 is larger than the first longitudinal distance 214.

[0060] Based on the above description, it may thus be beneficial to arrange the inner end portion 118 of the lift arm 116 in the second, vertically higher position 304 when entering a material to be dug from the ground. It may thereafter be beneficial to lower the inner end portion 118 to the first position 204 depicted in FIG. 2, for providing the implement 117 closer to the front rotational axis 103 during lifting of the implement 117. Also, when moving the inner end portion 118 from the second position to the first position, the implement will be raised which is beneficial as the need of raising the implement using e.g. hydraulics is not needed.

[0061] Reference is therefore made to FIG. 4 is a flow chart illustrating a method for controlling the working machine according to an example embodiment. Firstly, after initiating operation, it is determined S1 that the working machine 100 is entering a pile of material for loading the implement. This can be determined in a number of different manners, such as by sensors or cameras, etc. It may also be determined by solely detecting that the working machine is moving with an empty implement 117. It can hereby be assumed that the working machine is on its way to a pile of material for loading. The implement 117 is controlled S2 to be arranged in a vertically lower end position 206. This is achieved by rotation of the inner end portion 118 of the lift arm 116 around the lift arm pivot joint 119. Thereafter, before digging, the inner end portion 118 of the lift arm is moved S3 from the first position 204 depicted in FIG. 2 to the second position 304 depicted in FIG. 3. Hereby, and as described above, the implement will be arranged at lower vertical distance 310 from ground level.

[0062] The digging operation can now be initiated and the control unit 126 can determine S4 that the implement 117 has entered the pile of material. This is preferably made by receiving a signal indicating that an increased torque for driving the working machine forwards is necessary. The inner end portion 118 of the lift arm 116 is thereafter moved S5 to the first position 204 as is depicted in FIG. 2, whereby the implement 117 is moved S6 vertical upper end position 208. The inner end portion 118 is preferably moved to the first position 204 when it is determined that the working machine is leaving the pile of material, i.e. when the digging operation is completed.

[0063] The working machine 100 is thereafter typically driven towards an unloading station for unloading the material in the implement. When arriving at the unloading station, the inner end portion 118 can preferably be arranged at the second position depicted in FIG. 3. Hereby, the implement is arranged at the second longitudinal distance 314 from the front rotational axis 103 when arranged at the upper end position 208′. The implement 117 can hereby reach further away from the front wheels 102.

[0064] Preferably, when operating the working machine 100 with an empty implement, the counterweight is positioned at an inner end portion of the front frame portion 108. When on the other releasing material at the unloading station, the counterweight should preferably be positioned at an outer end position of the front frame portion 108.

[0065] It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.