Hiab Patente

The disclosure relates to a linear electro-mechanical actuator assembly (100) for a working equipment (200), comprising: a translation assembly (10) including a rotatable part (12) and a linearly movable part (14) connected to each other to translate a rotating movement of the rotatable part (12) to a linear movement of the linearly movable part (14); and a drive assembly (20) arranged to provide the rotating movement of the rotatable part (12) of the translation assembly (10); wherein the drive assembly (20) comprises a first electric motor (21), a second electric motor (22) and a planetary gear assembly (40) connected to the rotatable part (12) of the translation assembly (10), wherein the actuator assembly (100) further comprises a control unit (110) configured to control the drive assembly (20) based on a determined load on the translation assembly (10) and a desired speed of the linear movement of the translation assembly (10) so as to optimize the efficiency of the first and second electric motor (21;22).

The disclosure relates to a crane arm (100) comprising: a first boom (10) configured to be movably connected to a crane assembly (1) for supporting the crane arm (100); a second boom (20) movably connected to the first boom (10), a set of electrically powered actuators (50) powered by AC power signals, the set of actuators (50) comprising at least a first actuator (52) with a first electric motor (62) and a second actuator (54) with a second electric motor (64), wherein the first actuator (52) is arranged to move the first boom (10) in relation to the crane assembly (1) and the second actuator (54) is arranged to move the second boom (20) in relation to the first boom (10), wherein the crane arm (100) further comprises a power distribution assembly (70) including an interface (72) for receiving a DC power signal; and a set of spatially distributed power converting units (80) arranged to convert the DC power signal to an AC power signal for a respective electric motor (62, 64) of the set of actuators (50), wherein each power converting unit of the set of power converting units (80) is arranged adjacent to the respective electric motor (62, 64).

Disclosed is a load handling controller, an arrangement, a method and a computer program product. The controller is arranged for controlling movement of a mobile load handling arrangement comprising a boom and a load attachment tool for handling a load for a cargo vehicle. An estimated contact force for a contact between the load attachment tool and an object is determined, a value for a responsiveness parameter indicating the responsiveness of the load attachment tool to the contact is obtained, and an actuation of one or more actuators of the mobile load handling arrangement for actuating movement of the boom is adapted based on the estimated contact force and the value for the responsiveness parameter.

Crane arrangement (2) arranged to be mounted on a vehicle (4), the crane arrangement (2) comprising a movable arm (6) comprising a plurality of crane booms; a crane manoeuvring unit (10) arranged to generate crane operation commands (12), such as commands for movements of the movable arm (6), based on received inputs (14) by an operator of the crane arrangement (2); a positioning arrangement (16) configured to determine the position of the crane manoeuvring unit (10), and to generate positioning signals (18) in dependence thereto, and a crane controller (24) arranged to monitor and control the movements of the movable arm (6) in response to operation commands (12) received from the crane manoeuvring unit (10) and received positioning signals (18) from the positioning arrangement (16). The crane controller (24) is arranged to define at least one predefined two- or three-dimensional working space (20) on said vehicle (4) and/or on a trailer of said vehicle (2), wherein said working space(s) (20) encloses a loading space of the vehicle (4) and/or a loading space of a trailer attached to the vehicle (4). The crane controller is further configured to determine the position of the crane manoeuvring unit (10) in relation to said working space(s) (20), based upon the received positioning signals (18), wherein, if it is determined that the position of the crane manoeuvring unit (10) is within said working space(s) (20), the crane controller (24) is configured to enter a safety operating mode resulting in that movements of the movable arm (6) is halted or restricted, according to a set of movement limitation rules.

Crane arrangement (2) for a vehicle (4), comprising a crane base (5) arranged to be mounted to the vehicle (4); a movable arm (6) connected to the crane base, the movable arm comprising a plurality of crane booms; a set of stabiliser legs (7) connected to the crane base (5); a crane manoeuvring unit (10) arranged to generate crane operation commands (12), based on received input (14) by an operator of the crane arrangement (2), and a crane controller (24) arranged to operate in a crane operation mode wherein it is configured to monitor and control movements of the movable arm (6) in response to operation commands (12) and based on a configuration of the set of stabiliser legs (7). The crane controller (24) is arranged to operate in a pre-operation mode, and that said crane arrangement (2) also comprises a pre-operation planning module (16), wherein the crane controller (24) is configured to communicate with said pre-operation planning module (16). The pre-operation planning module (16) is configured to determine a set of planning parameter values (18) related to a crane operation planned to be performed, and to determine a straight-line working distance (22), between said crane base (5) and a planned load position (26), and to communicate said determined set of planning parameter values (18), including said distance signal (28), to said crane controller (24). The crane controller (24) is configured to calculate a working condition (30), such as a maximum load or a reach for a defined load, of the movable arm (6) based upon said set of planning parameter values (18), and further to communicate said calculated working condition (30) to the pre-operation planning module (16) for review by the operator.

Crane arrangement (2) arranged in relation to a vehicle (4), the crane arrangement (2) comprising a movable arm (6) comprising a plurality of crane booms including a final crane boom with a crane boom tip (8); a crane manoeuvring unit (10) arranged to generate crane operation commands (12), such as commands for movements of the movable arm (6), based on received crane operation inputs (14) by an operator of the crane arrangement (2); a distance measurement arrangement (16) configured to measure and determine a straight line working distance (18) between said crane manoeuvring unit (10) and a predetermined location (20) at said movable arm (6), and to generate a distance signal (22) in dependence thereto, and a crane controller (24) arranged to monitor and control the movements of the movable arm (6) in response to crane operation commands (12) received from the crane manoeuvring unit (10) and of said distance signal (22) from the distance measurement arrangement (16). The crane controller (24) is configured to compare the working distance (18) to a first predetermined safety distance (34), and if said working distance (18) is shorter than said first predetermined safety distance (34), the crane controller (24) is arranged to stop crane movements. The manoeuvring unit (10) is configured to receive, from the operator, a crane operation input for continued operation, and if it is determined that said working distance (18) is shorter than said first predetermined safety distance (34) and if a crane operation input for continued operation is received by said manoeuvring unit (10), the crane controller (24) is arranged to activate a cautious operation mode that enables restricted movements of the movable arm (6) defined by a set of movement limitation rules.

A lift frame assembly (14) for a working equipment arranged to load and unload a load carrying object to/from a vehicle, the lift frame assembly (14) comprises a lift frame (16) arranged to connect the working equipment to the load carrying object during loading and unloading to/from the vehicle, a set of connectors mounted to the lift frame (16) that is further arranged to lock the lift frame (16) to corresponding connecting portions of the load carrying object during loading and unloading to/from the vehicle (4). Each of at least two of the set of connectors (20, 24) comprises a connecting structure (51) arranged to pivot around a pivot axis (57) between a closed position wherein the lift frame (16) is arranged to be locked to the load carrying object (8) and a retracted position range wherein the lift frame (16) is not locked to the load carrying object (8). The connecting structure (51) is arranged to be pivoted into a fully retracted position range, being a position range where no part of the connecting structure (51) extends beyond a planar virtual contact plane V defined by load carrying object contacting surfaces of the front side (56) of the lift frame (16) in the direction of the load carrying object (8).

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A working equipment (2) comprising a base (4) arranged to be mounted to a vehicle (6); a movable arm (8) connected to the base (4); a hydraulic system (10) comprising an elongate hydraulic cylinder (12) having a longitudinal axis A and provided with a cylinder cavity (14), and a piston (16) arranged to move forth and back within the cylinder cavity (14) along said longitudinal axis, and a piston rod (18) attached to the piston (16), the piston (16) dividing the cylinder cavity (14) in a first chamber (20) and a second chamber (22), the second chamber (22) being on the rod side of the piston (16), and a load holding valve unit (26) arranged on the hydraulic line (24) for the supply and return of hydraulic fluid to and from the second chamber (22) of the hydraulic cylinder (12).A pressure measurement member (28) is arranged to measure the pressure of the hydraulic fluid in the second chamber (22) of the hydraulic cylinder (12) during an outward movement procedure of the piston rod (18). A working equipment control system (30) is arranged configured to receive measured pressure values (34) obtained in the second chamber (22) during an outward movement procedure, and to evaluate said measured pressure values by applying at least one evaluation criterion related to risk of hydraulic cylinder buckling of said hydraulic cylinder (12). The working equipment control system (30) is further configured to perform at least one predetermined activity to reduce the risk of hydraulic cylinder buckling in dependence of the result of said evaluation.

A load handling system (2) arranged to be mounted to a vehicle (4) and further arranged for supporting loading and unloading of load carrying objects (6), such as containers and flat rack containers, onto and from, the vehicle (4) from rear of the vehicle. The load handling system (2) comprises a frame arrangement comprising a mounting assembly (8) arranged to be fastened to a vehicle (4) frame at a rear end of the vehicle, and a first support member (10) and a second support member (12), wherein the first and second support members are arranged for supporting the underside of a first type of load carrying objects during loading and unloading. The load handling system further comprises a first folding structure (14) and a second folding structure (16) respectively connecting the mounting assembly (8) with the first support member (10) and the second support member (12). The first and second folding structures (14, 16) are configured to be moved between an unfolded position, and a folded position, and that the first and second support members (10, 12) are configured to be folded towards a longitudinal symmetry axis A1 of the vehicle (4). In the unfolded position, the first and second support members (10, 12) are in their active position, and arranged to support the underside of the first type of a load carrying object (6) during a loading/unloading procedure, and in the folded position, the first and second support members (10, 12) are in their passive position, being a stowed position, thereby enabling use of third support members (18) arranged at the mounting assembly (8) for supporting the underside of a second type of load carrying objects (6) during loading and unloading of the second type of load carrying object (6).

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A working equipment (2) comprising a hydraulically movable arm arrangement (4) comprising two or more movable arm members (6) having an arm member configuration, and which are articulately connected to each other via arm member connections (8), and having associated connection functions, and an arm member tip (10); a plurality of actuators (12), arranged to be operated by hydraulic fluid discharged from at least one hydraulic pump (14); a sensor system (16), and an equipment controller (18) configured to receive arm member tip commands (20), comprising characteristics of wanted movements of the arm member tip (10), receive signals (22) from the sensor system (16), to e.g. determine and monitor current position of the arm member tip (10), and to control movements of the two or more arm members (6) in accordance with the received arm member tip commands (20), by generating and applying operating signals (24) controlling the flow and/or pressure of hydraulic fluid to the plurality of actuators (12).The equipment controller (18) is further arranged to monitor the required flow of hydraulic fluid from the at least one pump (14) for the movements of the movements of the two or more arm members (6) and to apply an adaption rule to maintain the required flow below a predetermined maximum flow limit and to comply with the received arm member tip command (20) when generating the operating signals (24)..

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A working equipment arranged to be mounted to a vehicle, the working equipment comprising a movable arm for loading and unloading a load carrying object, such as a container, to/from said vehicle. A lift frame assembly is provided (14) comprising a lift frame (16) with an attachment part (18) arranged to be attached to the second end of the movable arm, a pair of upper connectors (20) mounted at opposite sides of an upper part (22) of the lift frame (16), and a pair of lower connectors (24) mounted at opposite sides of a lower part (26) of the lift frame (16), adapted to attach said upper and lower parts (22, 26) of the lift frame (16) to a corresponding upper part (28) and lower part (30), respectively, of the load carrying object. The lift frame assembly (14) further comprises a set of pivotable guiding structures (54) arranged at opposite sides of the lift frame (16). A control unit is configured, during a lift frame alignment procedure, to generate an alignment control signal to move the guiding structures (54) from retracted positions into closed positions where the guiding structures (54) are in contact with side surfaces of the load carrying object (8), wherein, during movement of the guiding structures (54) from the retracted positions into the closed positions, the lift frame (16) are forced to be pivoted in order to be aligned to the side surfaces of the load carrying object (8).

A method for localizing a load handling vehicle and a load target whereby :- a spatial map describing a surrounding of the load handling vehicle is obtained.- First sensor signals are received from a first sensor system for generating point clouds of the surrounding of the load handling vehicle and second sensor signals are received from a second sensor system for generating images of the surrounding of the load handling vehicle.The second sensor signals are synchronized in time with the first sensor signals.The load handling vehicle and the load target are localized in the spatial map based on the first sensor signals and the second sensor signals.

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A crane control system (2) for a crane (4) arranged to be mounted to a vehicle (6) for transporting a load (8), wherein the crane comprises a working tool (10) arranged at the tip of the crane for attaching the load during loading and unloading to or from the vehicle (6), the crane control system comprises a control unit (12), and a user interface unit (14) arranged to receive operator input of wanted movements of the crane for performing a working assignment with the tool. The user interface unit (14) includes:-at least three target indicators (16) configured to receive operator activation (18) and to indicate activation, each target indicator represents a target zone surrounding the vehicle, and a target zone point Ao - Fo being a 3D point within the 3D space, and-at least two load indicators (20) configured to receive operator activation (22) and to indicate activation, each load indicator represents a load zone on the vehicle, and a load zone point LI, L2, L3 being a 3D point within the 3D space. The user interface unit (14) is configured to determine at least one activation signal (24) as a result of at least two received operator activations (18, 22) from said target/load indicator(s) (16, 20), the control unit is configured to:-receive said activation signal(s) (24) including said at least two zones to be combined;-determine a sequence of movements of the crane tip between said 3D points connected to said zones along a movement path in either direction,-assign functionalities related to said movement to at least one user input member (26) of said user interface unit (14), and-execute the movement of the crane tip by generating control signals when said control system (2) is in an automatic operating mode.

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