阅读说明：本技术 剪叉式升降机载荷感测系统和方法 (Scissor lift load sensing system and method ) 是由 L·巴菲莱 D·伦巴多 郝继红 B·科特朗格 P·阿库里 于 2020-03-06 设计创作，主要内容包括：升降装置(10、310)包括：基部、可伸缩升降机构(20、320)、作业平台(22)以及升降控制器。该可伸缩升降机构可在伸出位置与缩回位置之间移动。该作业平台被配置成支承载荷并且被联接至可伸缩升降机构并由该可伸缩升降机构支承。线性致动器(26、326)被配置成使可伸缩升降机构在伸出位置与缩回位置之间选择性地移动。线性致动器具有电动机(34)和电磁制动器(50)。该升降控制器与线性致动器进行通信。首先,基于电动机转矩确定由线性致动器施加的致动力。然后,基于致动力和平台的高度确定由作业平台支承的载荷。在其它实施方式中,线性致动器包括推管(38)组件,并且由作业平台支承的载荷还基于所监测的内推管的压力来确定。升降机构可以是剪叉式升降机或动臂升降机。还要求保护没有液压系统的全电动剪叉式升降机。(The lifting device (10, 310) comprises: a base, a telescopic lifting mechanism (20, 320), a work platform (22) and a lifting controller. The retractable lift mechanism is movable between an extended position and a retracted position. The work platform is configured to support a load and is coupled to and supported by the telescoping lift mechanism. A linear actuator (26, 326) is configured to selectively move the telescopic lift mechanism between the extended position and the retracted position. The linear actuator has an electric motor (34) and an electromagnetic brake (50). The lift controller is in communication with the linear actuator. First, the actuation force applied by the linear actuator is determined based on the motor torque. The load supported by the work platform is then determined based on the actuation force and the height of the platform. In other embodiments, the linear actuator includes a push tube (38) assembly, and the load supported by the work platform is further determined based on the monitored pressure of the inner push tube. The lifting mechanism may be a scissor lift or a boom lift. An all-electric scissor lift without a hydraulic system is also claimed.)

1. A method for determining a load supported by a work platform of a lift, the method comprising the steps of:

providing the lift device, the lift device including the work platform and a linear actuator configured to support and selectively move the work platform between a raised position and a lowered position, the linear actuator having an electric motor and an electromagnetic brake;

disengaging the electromagnetic brake of the linear actuator;

maintaining a height of the work platform using the motor of the linear actuator;

determining a motor torque applied by the motor;

determining an actuation force applied by the linear actuator to the work platform based on the motor torque applied by the motor;

determining a height of the work platform; and

determining the load supported by the work platform based on an actuation force applied to the work platform and a height of the work platform.

2. The method of claim 1, wherein the motor torque is determined based on at least one of: the measured motor current of the motor, the measured motor slip of the motor, the motor type of the motor, the winding density of the coils of the motor, and the winding material of the coils of the motor.

3. The method of claim 2, wherein the lifting device is a scissor lift having a foldable series of linked support members and the height of the work platform is determined based on a lifting angle of at least one linked support member.

4. The method of claim 3, wherein the load supported by the work platform is determined based at least in part on a height-force curve of the lift.

5. The method of claim 4, wherein the linear actuator includes a push tube assembly having a protective outer tube and an inner push tube, and the load supported by the work platform is further determined based on the monitored compression of the inner push tube.

6. The method of claim 5, further comprising the steps of:

limiting a lifting speed of the linear actuator based on the determined load supported by the work platform.

7. The method of claim 6, wherein the hoist speed is limited to 50% of a normal operating speed when the load supported by the work platform is between 100% and 120% of a rated capacity of the hoist.

8. The method of claim 1, further comprising the steps of:

limiting a drive speed of the lift device based on a height of the work platform.

9. A lifting device, the lifting device comprising:

a base having a plurality of wheels;

a retractable lift mechanism having a first end coupled to the base and movable between an extended position and a retracted position;

a work platform configured to support a load, the work platform coupled to and supported by a second end of the telescopic lift mechanism;

a linear actuator configured to selectively move the retractable lift mechanism between the extended position and the retracted position, the linear actuator having a motor and an electromagnetic brake configured to prevent, when engaged, the linear actuator from moving the retractable lift mechanism between the extended position and the retracted position; and

a lift controller in communication with the linear actuator and comprising processing circuitry having a processor and a memory, the memory having instructions configured to, when executed by the processor, cause the lift controller to:

disengaging the electromagnetic brake;

maintaining a height of the work platform using the motor;

determining a motor torque applied by the motor;

determining an actuation force applied to the work platform based on the motor torque applied by the motor;

determining a height of the work platform; and

determining the load supported by the work platform based on an actuation force applied to the work platform and a height of the work platform.

10. The lift device of claim 9, wherein the linear actuator includes a motor speed sensor and a motor current sensor, and the motor torque is determined based on at least one of: the measured motor current of the motor, the measured motor slip of the motor, the motor type of the motor, the winding density of the coils of the motor, and the winding material of the coils of the motor.

11. The lift device of claim 10, wherein the retractable lift mechanism is a scissor lift mechanism having a foldable series of linked support members, at least one linked support member of the foldable series of linked support members including an angle sensor configured to monitor a lift angle of the at least one linked support member, and the height of the work platform is determined based on the lift angle of the at least one linked support member.

12. The lift device of claim 11, wherein the linear actuator comprises a push tube assembly having a protective outer tube and an inner push tube, the inner push tube including a strain gauge configured to monitor compression of the inner push tube, and the load supported by the work platform is determined further based on the monitored compression of the inner push tube.

13. The lift device of claim 12, wherein the instructions are further configured to, when executed by the processor, cause the lift controller to:

limiting a lifting speed of the linear actuator based on the determined load supported by the work platform.

14. The lift device of claim 9, wherein the electromagnetic brake is further configured to maintain the position of the work platform when the motor of the linear actuator is de-energized or released.

15. The lift device of claim 9, wherein the retractable lift mechanism is a boom lift mechanism.

16. A lifting device as claimed in claim 9, wherein the lifting device is devoid of a hydraulic system.

17. An all-electric scissor lift, comprising:

a base having a plurality of wheels;

a scissor lift mechanism having a first end coupled to the base and movable between an extended position and a retracted position;

a work platform configured to support a load, the work platform coupled to and supported by a second end of the scissor lift mechanism;

a linear actuator configured to selectively move the scissor lift mechanism between the extended position and the retracted position, the linear actuator having a motor, an electromagnetic brake configured to prevent the linear actuator from moving the scissor lift mechanism between the extended position and the retracted position when engaged, and a push tube assembly having a protective outer tube and an inner push tube, the inner push tube including a strain gauge configured to monitor compression of the inner push tube; and

a lift controller in communication with the linear actuator and comprising processing circuitry having a processor and a memory, the memory having instructions configured to, when executed by the processor, cause the lift controller to:

disengaging the electromagnetic brake;

maintaining a height of the work platform using the motor;

determining a motor torque applied by the motor;

determining an actuation force applied to the work platform based on the motor torque applied by the motor;

determining a height of the work platform; and

determining a load supported by the work platform based on the actuation force applied to the work platform, the monitored compression of the push-in tube, and the height of the work platform.

18. An all-electric scissor lift according to claim 17, wherein the scissor lift mechanism comprises a foldable series of linked support members, at least one linked support member of the foldable series of linked support members comprises an angle sensor configured to monitor a lift angle of the at least one linked support member, and the height of the work platform is determined based on the lift angle of the at least one linked support member.

19. An all-electric scissor lift according to claim 18, wherein the instructions are further configured to, when executed by the processor, cause the lift controller to:

limiting a lifting speed of the linear actuator based on the determined load supported by the work platform.

20. An all-electric scissor lift according to claim 19, wherein the motor torque is determined based on at least one of: the measured motor current of the motor, the measured motor slip of the motor, the motor type of the motor, the winding density of the coils of the motor, and the winding material of the coils of the motor.

Background

The lift typically includes a vertically movable platform supported by a foldable series of linked supports. These link supports are arranged in an "X" pattern so as to move across each other. The hydraulic cylinders typically control the vertical movement of the platform by engaging and rotating (i.e., deploying) the lowermost set of linked supports, which in turn deploys the remaining linked supports in the series of linked supports within the system. The platform is raised and lowered based on the degree of actuation of the hydraulic cylinders. The hydraulic cylinder may also control various other vehicle (vehicle) actions, such as steering or platform tilt (tilt) functions, for example. Lifting devices using one or more hydraulic cylinders require an onboard tank to store hydraulic fluid for the lifting process.

Disclosure of Invention

One exemplary embodiment relates to a method for determining a load supported by a work platform of a lifting device. The method comprises the following steps: a lift device is provided that includes a work platform and a linear actuator configured to support and selectively move the work platform between a raised position and a lowered position, the linear actuator having an electric motor and an electromagnetic brake. The method further comprises the steps of: the electromagnetic brake of the linear actuator is disengaged. The method further comprises the steps of: the height of the work platform is maintained using the motor of the linear actuator. The method further comprises the steps of: a motor torque applied by the motor is determined. The method further comprises the steps of: the application of the linear actuator to the work platform is determined based on the motor torque applied by the motor. The method further comprises the steps of: the height of the work platform is determined. The method further comprises the steps of: the load supported by the work platform is determined based on the actuation force applied to the work platform and the height of the work platform.

Another exemplary embodiment relates to a lifting device. This elevating gear includes: a base, a telescopic lift mechanism, a work platform, a linear actuator and a lift controller. The base has a plurality of wheels. The retractable lift mechanism has a first end coupled to the base and is movable between an extended position and a retracted position. The work platform is configured to support a load. The work platform is coupled to and supported by a second end of the telescoping lift mechanism. The linear actuator is configured to selectively move the retractable lift mechanism between the extended position and the retracted position. The linear actuator has an electric motor and an electromagnetic brake. The electromagnetic brake is configured to prevent the linear actuator from moving the retractable lift mechanism between the extended position and the retracted position when engaged. The lift controller is in communication with the linear actuator and includes a processing circuit having a processor and a memory. The memory has instructions configured to, when executed by the processor, cause the lift controller to disengage the electromagnetic brake. The instructions are also configured to, when executed by the processor, cause the lift controller to maintain a height of the work platform using the motor. The instructions are also configured to, when executed by the processor, cause the lift controller to determine a motor torque applied by the motor. The instructions are also configured to, when executed by the processor, cause the lift controller to determine an actuation force to be applied to the work platform based on a motor torque applied by the motor. The instructions are also configured to, when executed by the processor, cause the lift controller to determine a height of the work platform. The instructions are also configured to, when executed by the processor, cause the lift controller to determine a load supported by the work platform based on an actuation force applied to the work platform and a height of the work platform.

Another exemplary embodiment relates to an all-electric scissor lift. This full-electric scissor lift includes: a base, a scissor lift mechanism, a work platform, a linear actuator, and a lift controller. The base has a plurality of wheels. The scissor lift mechanism has a first end coupled to the base and is movable between an extended position and a retracted position. The work platform is configured to support a load. A work platform is coupled to and supported by the second end of the scissor lift mechanism. The linear actuator is configured to selectively move the scissor lift mechanism between an extended position and a retracted position. The linear actuator has a motor, an electromagnetic brake, and a push tube assembly (assembly). The electromagnetic brake is configured to prevent the linear actuator from moving the scissor lift mechanism between the extended position and the retracted position when engaged. The push tube assembly has a protective outer tube and an inner push tube. The push-in tube includes a strain gauge configured to monitor compression of the push-in tube. The lift controller is in communication with the linear actuator and includes a processing circuit having a processor and a memory. The memory has instructions configured to, when executed by the processor, cause the lift controller to disengage the electromagnetic brake. The instructions are also configured to, when executed by the processor, cause the lift controller to maintain a height of the work platform using the motor. The instructions are also configured to, when executed by the processor, cause the lift controller to determine a motor torque applied by the motor. The instructions are also configured to, when executed by the processor, cause the lift controller to determine an actuation force to be applied to the work platform based on a motor torque applied by the motor. The instructions are also configured to, when executed by the processor, cause the lift controller to determine a height of the work platform. The instructions are also configured to, when executed by the processor, cause the lift controller to determine a load supported by the work platform based on the actuation force applied to the work platform, the monitored compression of the push-in tube, and the height of the work platform.

The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Alternative exemplary embodiments relate to other features and combinations of features as may be set forth herein.

Drawings

The present disclosure will become more fully understood from the detailed description given herein below when taken in conjunction with the accompanying drawings, wherein like reference numerals refer to like elements, and wherein:

FIG. 1A is a side perspective view of a lifting device in the form of a scissor lift (scissor lift) according to an exemplary embodiment;

FIG. 1B is another side perspective view of the elevator apparatus of FIG. 1A;

FIG. 2A is a side view of the lift device of FIG. 1A shown in a retracted or stowed position;

FIG. 2B is a side perspective view of the elevator apparatus of FIG. 1A shown in an extended or working position;

fig. 3 is a side view of the lift device of fig. 1A depicting various vehicle controllers;

FIG. 4 is a side view of a linear actuator of the lift device of FIG. 1A;

FIG. 5 is a bottom view of the linear actuator of FIG. 4;

FIG. 6 is a side view of a push tube and nut assembly of the linear actuator of FIG. 4;

FIG. 7 is a flow chart of an exemplary method of determining a load supported by the work platform of the lift of FIG. 3; and

fig. 8 is a side perspective view of another lift device in the form of a boom lift according to another exemplary embodiment.

Detailed Description

Before turning to the figures, which illustrate exemplary embodiments in detail, it should be understood that the present application is not limited to the details or methodology set forth in or illustrated in the accompanying drawings. It is also to be understood that the terminology is for the purpose of description and should not be regarded as limiting.

Referring generally to the drawings, various exemplary embodiments disclosed herein relate to systems, apparatuses, and methods for sensing a load supported by a work platform. In some embodiments, the electromagnetic brake of the lift actuator motor may be disengaged, and the lift actuator motor may be used to maintain the work platform height. The lift controller may then be configured to use the various actuator/motor characteristics and the measured height of the work platform to determine the load supported by the work platform.

According to the exemplary embodiment depicted in fig. 1A and 1B, a vehicle, such as vehicle 10, is illustrated. The vehicle 10 may be, for example, a scissor lift that may be used to perform a variety of different tasks at different heights. Vehicle 10 includes a base 12 supported by wheels 14A, 14B positioned about base 12. The carrier 10 also includes a battery 16 located on the base 12 of the carrier 10 to provide power to the various operating systems present on the carrier 10.

The battery 16 may be, for example, a rechargeable lithium ion battery capable of supplying Direct Current (DC) or Alternating Current (AC) to controls, motors, actuators, etc. of the vehicle 10. The battery 16 may include at least one input 18 capable of receiving current to recharge the battery 16. In some embodiments, the input 18 is a port capable of receiving a plug in electrical communication with an external power source, such as a wall outlet. The battery 16 may be configured to receive and store current from one of a conventional 120V power outlet, a 240V power outlet, a 480V power outlet, a generator, or another suitable power source.

The vehicle 10 also includes a retractable lift mechanism, shown as a scissor lift mechanism 20, coupled to the base 12. Scissor lift 20 supports a work platform 22 (shown in fig. 3). As depicted, a first end 23 of scissor lift mechanism 20 is anchored to base 12, while a second end 24 of scissor lift mechanism 20 supports work platform 22. As illustrated, scissor lift mechanism 20 is formed from a foldable series of linked support members 25. Scissor lift mechanism 20 may be selectively moved between a retracted or stowed position (shown in fig. 2A) and a deployed or working position (shown in fig. 2B) using an actuator (shown as linear actuator 26). The linear actuator 26 is an electric actuator. Linear actuator 26 controls the orientation of scissor lift mechanism 20 by selectively applying a force to scissor lift mechanism 20. When sufficient force is applied to scissor lift mechanism 20 by linear actuator 26, scissor lift mechanism 20 is deployed or otherwise deployed from a stowed or retracted position to a working position. Because work platform 22 is coupled to scissor lift 20, work platform 22 is also raised off of base 12 in response to deployment of scissor lift 20.

As shown in fig. 3, the vehicle 10 further includes a vehicle controller 27 and a lift controller 28. The vehicle controller 27 communicates with the elevation controller 28. Lift controller 28 communicates with linear actuator 26 to control movement of scissor lift mechanism 20. Communication between the lift controller 28 and the linear actuator 26 and/or between the vehicle controller 27 and the lift controller 28 may be provided through a hard wired connection or through a wireless connection (e.g., bluetooth, internet, cloud-based communication system, etc.). It should be understood that each of the vehicle controller 27 and the lift controller 28 includes various processing and memory components configured to perform the various activities and methods described herein. For example, in some cases, each of the vehicle controller 27 and the lift controller 28 includes a processing circuit having a processor and a memory. The memory is configured to store various instructions configured to cause the vehicle 10 to perform the various activities and methods described herein when executed by the processor.

In some embodiments, the vehicle controller 27 may be configured to limit the driving speed of the vehicle 10 according to the height of the work platform 22. That is, the lift controller 28 may be in communication with a scissor angle (scissor angle) sensor 29, the scissor angle sensor 29 being configured to monitor the lift angle of the bottommost support member 25 relative to the base 12. Based on the lift angle, lift controller 28 may determine the current height of work platform 22. Using this height, the vehicle controller 27 may be configured to limit or proportionally reduce the drive speed of the vehicle 10 as the work platform 22 is raised.

As illustrated in the exemplary embodiment provided in fig. 4-6, the linear actuator 26 includes: a push tube assembly 30, a gear box 32, and a lift motor 34. The push tube assembly 30 includes: a protective outer tube 36 (shown in fig. 4 and 5), an inner push tube 38, and a nut assembly 40 (shown in fig. 6). The protective outer tube 36 has an trunnion attachment portion 42 disposed at a proximal end 44 thereof. The trunnion attachment 42 is rigidly coupled to the gear case 32, thereby rigidly coupling the protective outer tube 36 to the gear case 32. The trunnion connection section 42 also includes a trunnion mount 45, the trunnion mount 45 being configured to rotatably couple the protective outer tube 36 to one of the support members 25 (as shown in fig. 2B).

The protective outer tube 36 also includes an opening at its distal end 46. The opening of the protective outer tube 36 is configured to slidably receive the inner push tube 38. The inner push tube 38 includes a connecting end, shown as a trunnion mount 48, that is configured to rotatably couple the inner push tube 38 to another one of the support members 25 (shown in fig. 2B). As will be discussed below, the inner push tube 38 is slidably movable and selectively actuatable between an extended position (as shown in FIG. 2B) and a retracted position (as shown in FIG. 4).

Referring now to fig. 6, the inner push tube 38 is rigidly coupled to the nut assembly 40 such that movement of the nut assembly 40 results in movement of the inner push tube 38. The inner push tube 38 and nut assembly 40 surround the central screw. The central screw is rotatably engaged with the gear housing 32 and is configured to rotate about a central axis of the push tube assembly 30 within the inner push tube 38 and the nut assembly 40. The nut assembly 40 is configured to engage the central screw and convert rotational movement of the central screw into translational movement of the inner push tube 38 and nut assembly 40 relative to the central screw along the central axis of the push tube assembly 30.

Referring again to fig. 4, the hoist motor 34 is configured to selectively provide rotational actuation to the gearbox 32. Rotational actuation from the lift motor 34 is then translated through the gear box 32 to selectively rotate the central screw of the push tube assembly 30. Rotation of the central screw is then translated by the nut assembly 40 into selective translation of the inner push tube 38 and nut assembly 40 along the central axis of the push tube assembly 30. Thus, the lift motor 34 is configured to selectively actuate the inner push tube 38 between the extended position and the retracted position. Accordingly, with the trunnion mount 45 of the protective outer tube 36 and the trunnion mount 48 of the inner push tube 38 both rotatably coupled to their respective support members 25, the lift motor 34 is configured to selectively move the scissor lift mechanism 20 to various heights between (and including) the retracted or stowed position and the deployed or operating position.

In some embodiments, the nut assembly 40 may be a ball screw nut assembly. In some other embodiments, the nut assembly 40 may be a roller screw nut assembly. In still other embodiments, the nut assembly 40 may be any other suitable nut assembly configured to convert the rotational motion of the central screw into axial movement of the push-in tube 38 and nut assembly 40.

When lift motor 34 is de-energized or released (discharged), nut assembly 40 allows scissor lift mechanism 20 to gradually retract due to gravity. As such, lift motor 34 includes an electromagnetic brake 50 configured to maintain the position of work platform 22 when lift motor 34 is de-energized or released. In some cases, electromagnetic brake 50 is also configured to assist lift motor 34 in maintaining the position of work platform 22 during normal operation.

Hoist motor 34 may be an AC motor (e.g., synchronous, asynchronous, etc.) or a DC motor (shunt, permanent magnet, series, etc.). In some cases, hoist motor 34 is in communication with battery 16 and is powered by battery 16. In some other cases, lift motor 34 may receive power from another power source on vehicle 10.

In some embodiments, the linear actuator 26 includes various built-in sensors configured to monitor various actuator/motor characteristics. For example, the linear actuator 26 may include a motor speed sensor, a motor torque sensor (e.g., a motor current sensor), various temperature sensors, various vibration sensors, and the like. Lift controller 28 may then communicate with each of these sensors and may use the real-time information received/measured by the sensors to determine the load held by work platform 22.

In some embodiments, to determine the load held by work platform 22, lift controller 28 may temporarily disengage electromagnetic brake 50 and maintain the height of work platform 22 using lift motor 34. As alluded to above, in some cases, electromagnetic brake 50 is configured to assist the hoist motor in maintaining the position of work platform 22 during normal operation. By disengaging the electromagnetic brake 50, the lift motor 34 must be used to support the entire load on the work platform 22. In the event that the entire load on work platform 22 is being supported by lift motor 34, lift controller 28 may then determine the load on work platform 22 based on various actuator/motor characteristics. In some cases, the electromagnetic brake 50 may be disengaged for less than five seconds. In some cases, the electromagnetic brake 50 may be disengaged for less than one second.

For example, referring now to fig. 7, a flowchart is provided illustrating an exemplary method of determining the load on work platform 22. As depicted, the lift controller 28 may first disengage the electromagnetic brake at step 200. Then, at step 202, lift controller 28 may maintain the height of work platform 22 using lift motor 34.

With the electromagnetic brake 50 disengaged and the hoist motor 34 maintaining the height of the work platform 22, the hoist controller 28 may use a combination of the measured motor current of the hoist motor 34, the measured motor slip of the hoist motor 34, and various other motor characteristics associated with the hoist motor 34 (e.g., motor type, winding density of the coils of the hoist motor 34, winding material of the coils of the hoist motor 34, etc.) to determine the applied motor torque output by the hoist motor 34 at step 204. The lift controller 28 may then determine the actuation force applied by the linear actuator 26 on the scissor lift mechanism 20 using the applied motor torque and a mechanical model of the linear actuator 26 at step 206.

Before, during, or after determining the actuation force applied by linear actuator 26, lift controller 28 may determine the height of work platform 22 using the lift angle sensed by scissor angle sensor 29 and a mechanical model of scissor lift mechanism 20 at step 208. The lift controller 28 may then use the applied actuation force, platform height, and height-force profile of the scissor lift mechanism 20 to determine the load supported by the work platform 22 at step 210.

In some exemplary embodiments, a strain gauge 52 (shown in fig. 6) may be coupled to the push-in tube 38 to monitor compression of the push-in tube 38 (e.g., along the axial length of the push-in tube) during operation. The lift controller 28 may be in communication with the strain gage 52. Accordingly, the lift controller 28 may additionally or alternatively use the monitored compression of the inner push tube 38, various dimensional characteristics of the inner push tube 38 (e.g., length, diameter, thickness, etc.), and inner push tube 38 material properties (e.g., Young's modulus) to determine the load supported by the inner push tube 38, and thus the load supported by the work platform 22.

In some embodiments, lift controller 28 may be configured to limit or scale the lift function of scissor lift mechanism 20 based on the determined load supported by work platform 22. For example, in some cases, lift controller 28 may limit or scale the lift function when the load supported by the work platform is between 100% and 120% of the rated capacity of vehicle 10. For example, the linear actuator 26 may be slowed down (raised or lowered) between 100% and 120% of rated capacity (e.g., 20%, 50%, 75% of normal operating speed).

Referring again to fig. 1A and 1B, the battery 16 may also supply electrical power to the drive motor 54 to propel the vehicle 10. The drive motor 54, which may, for example, resemble an AC motor (e.g., synchronous, asynchronous, etc.) or a DC motor (shunt, permanent, series, etc.), receives power from the battery 16 or another power source on the vehicle 10, and converts the power into rotational energy of the drive shaft. The drive shafts may be used to drive the wheels 14A, 14B of the vehicle 10 using a transmission. The transmission may receive torque from the drive shaft and then transmit the received torque to the rear axle 56 of the vehicle 10. Rotating the rear axle 56 also rotates the rear wheels 14A on the vehicle 10, which causes the vehicle 10 to propel.

The rear wheels 14A of the vehicle 10 may be used to drive the vehicle, while the front wheels 14B may be used to steer the vehicle 10. In some embodiments, the rear wheels 14A are rigidly coupled to the rear axle 56 and are maintained in a constant orientation relative to the base 12 of the vehicle 10 (e.g., generally aligned with the outer periphery 58 of the vehicle 10). In contrast, the front wheels 14B are pivotally coupled to the base 12 of the vehicle 10. The front wheels 14B may rotate relative to the base 12 to adjust the direction of travel of the vehicle 10. Specifically, the front wheels 14B may be oriented using the electric power steering system 60. In some embodiments, the steering system 60 may be completely electric in nature and may not include any form of hydraulic device.

It will be appreciated that while the telescopic lift mechanism included on the vehicle 10 is a scissor lift mechanism, in some cases a vehicle may be provided that alternatively includes a telescopic lift mechanism in the form of a boom lift mechanism. For example, in the exemplary embodiment depicted in fig. 8, a vehicle shown as vehicle 310 is illustrated. The vehicle 310 includes a telescoping lift mechanism, shown as a boom lift mechanism 20. The boom hoist mechanism 320 is similarly formed from a foldable series of linked support members 325. The boom lift mechanism 320 may be selectively moved between a retracted or stowed position and a deployed or work position using a plurality of actuators 326. Each of the plurality of actuators 326 is a linear actuator similar to linear actuator 26.

It should also be appreciated that the linear actuators 26, 326 used in the lift mechanisms 20, 320 and steering system 60 may be incorporated into virtually any type of electric vehicle. For example, the electrical systems described herein may be incorporated into, for example, a scissor lift, an articulated boom, a telescopic boom, or any other type of aerial work platform.

Advantageously, the vehicle 10, 310 may be an all-electric lifting device. All of the electric actuators and motors of the vehicle 10, 310 may be configured to perform their respective operations without the need for any hydraulic systems, hydraulic reservoirs, hydraulic fluids, engine systems, etc. That is, the vehicle 10, 310 may generally be completely devoid of any hydraulic systems and/or hydraulic fluids. In other words, both carriers 10, 310 may be devoid of any moving fluid. Conventional lift vehicles do not use an all-electric system and require periodic maintenance to ensure proper operation of the various hydraulic systems. Also, the vehicle 10, 310 may use electric motors and actuators, which allow for the absence of combustible fuel (e.g., gasoline, diesel) and/or hydraulic fluid. Also, the vehicle 10, 310 may be powered by a battery (such as battery 16) that may be recharged when desired.

Although these descriptions may discuss a specific order of method steps, the order of the steps may differ from that which is summarized. Also, two or more steps may be performed simultaneously or partially simultaneously. Such variations will depend on the software and hardware systems chosen and on the choices of the designer. All such variations are within the scope of the present disclosure. Likewise, a software implementation could be accomplished with standard programming techniques with rule based logic and other logic to accomplish the various connection steps, processing steps, comparison steps and decision steps.

As utilized herein, the terms "approximately," "about," "approximately," and similar terms are intended to have a broad meaning consistent with the usage that is commonly used and accepted by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Those skilled in the art who review this disclosure will appreciate that these terms are intended to allow description of certain features described and claimed without limiting the scope of these features to the precise numerical ranges provided. Accordingly, these terms should be interpreted as indicating insubstantial or inconsequential modifications or alterations to the described and claimed subject matter, which are considered to be within the scope of the invention as recited in the appended claims.

It should be noted that the term "exemplary" as used herein to describe various embodiments is intended to indicate that such embodiments are possible examples, representations, and/or illustrations of possible embodiments (and such term is not intended to imply that such embodiments are necessarily extraordinary or highest-level examples).

As used herein, the terms "coupled," "connected," and the like mean that two members are directly or indirectly joined to each other. Such engagement may be fixed (e.g., permanent, etc.) or movable (e.g., removable, releasable, etc.). Such joining may be achieved with the two members or the two members and any additional intermediate members being integrally formed as a single unitary body with one another or with the two members or the two members and any additional intermediate members being attached to one another.

The positions of elements (e.g., "top," "bottom," "above," "below," "between," etc.) referenced herein are merely used to describe the orientation of various elements in the figures. It should be noted that the orientation of the various elements may differ according to other exemplary embodiments, and such variations are intended to be covered by the present disclosure.

The hardware and data processing components used to implement the various processes, operations, illustrative logic, logical blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with the following: a general purpose single-or multi-chip processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor or any conventional processor or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. The memory (e.g., memory unit, storage device) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage) for storing data and/or computer code for performing or facilitating the various processes, layers, and modules described in the present disclosure. The memory may be or include volatile memory and/or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in this disclosure. According to an exemplary embodiment, the memory is coupled to the processor to form a processing circuit and includes computer code for performing (e.g., by the processor) the one or more processes described herein.

It is important to note that the construction and arrangement of the carriers shown in the exemplary embodiments is illustrative only. Although only a few embodiments of the present disclosure have been described in detail, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (such as variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter. For example, elements shown as integrally formed may be constructed of multiple parts or elements. It should be noted that the assembly of elements and/or components described herein may be constructed of any of a variety of materials that provide sufficient strength or durability, and may be in any of a variety of colors, textures, and combinations. Accordingly, all such modifications are intended to be included within the scope of this invention. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the preferred and other exemplary embodiments without departing from the scope of the present disclosure or from the spirit of the appended claims.