Working equipment with a lift frame assembly with alignment capabilities
A working equipment including a movable arm. A lift frame assembly includes a lift frame with an attachment part to be attached to a second end of the movable arm, a pair of upper connectors at opposite sides of an upper part, and a pair of lower connectors at opposite sides of a lower part, adapted to attach the upper and lower parts to upper and lower parts, respectively, of a load carrying object. The lift frame assembly includes a set of pivotable guiding structures at opposite sides thereof. A control unit generates an alignment control signal to move the guiding structures from retracted positions into closed positions where the guiding structures are in contact with side surfaces of the load carrying object During movement of the guiding structures, the lift frame are forced to be pivoted to be aligned to the side surfaces of the load carrying object.
1 . 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 to/from said vehicle, wherein the movable arm has a first end connected to said vehicle and a second end arranged to connect the movable arm to the load carrying object during the loading or unloading;
a lift frame assembly comprising a lift frame with an attachment part arranged to be attached to the second end of the movable arm, a pair of upper connectors mounted at opposite sides of an upper part of the lift frame, and a pair of lower connectors mounted at opposite sides of a lower part of the lift frame, wherein said pairs of upper and lower connectors are adapted to attach said upper and lower parts of the lift frame to a corresponding upper part and lower part, respectively, of the load carrying object;
an actuator system, arranged to operate movements of the working equipment;
a sensor system, arranged to monitor the movements of the working equipment, and
a control unit configured to generate control instructions to control the operation of the actuator system in response to a loading/unloading command for the loading and/or unloading of the load carrying object and sensor signals received from the sensor system,
wherein the lift frame assembly further comprises a set of pivotable guiding structures arranged at opposite sides of the lift frame, wherein said guiding structures are pivotable about pivoting axes P close to the opposite sides of the lift frame, and that the control unit is further configured, during a lift frame alignment procedure, to generate an alignment control signal to move the guiding structures from retracted positions into closed positions where the guiding structures are in contact with vertical side surfaces of the load carrying object, wherein, during movement of the guiding structures from the retracted positions into the closed positions, the lift frame are forced to be pivoted in order to be aligned to the side surfaces of the load carrying object.
2 . The working equipment according to claim 1 , wherein said guiding structures have flat surfaces, and have extensions perpendicular to the axes in the range of 0.3-0.5 meters, and parallel to the axes in the range of 0.3-0.7 meters.
3 . The working equipment according to claim 1 , wherein said guiding structures are arranged at a lower half of said lift frame.
4 . The working equipment according to claim 1 , wherein said guiding structures are arranged at a same level as said attachment part.
5 . The working equipment according to claim 1 , wherein said guiding structures are arranged in the vicinity of said lower connectors.
6 . The working equipment according to claim 5 , wherein said guiding structures are provided with openings through which the lower connectors attach to the load carrying object.
7 . The working equipment according to claim 1 , wherein said control unit is configured to automatically initiate said alignment procedure when said sensor system detects that said lift frame approaches a load carrying object, wherein said lift frame approaches the load carrying object when a measured distance to the load carrying object is less than a predefined activation threshold.
8 . The working equipment according to claim 1 , wherein said alignment procedure is part of a loading sequence.
9 . The working equipment according to claim 1 , wherein said pivoting axes P are parallel to a symmetry axis S of the lift frame, and wherein said symmetry axis S is parallel to the opposite sides of the lift frame and in a plane defined by the upper and lower parts of the lift frame.
10 . The working equipment according to claim 1 , wherein when said alignment procedure has been completed, said control unit is then configured to initiate an attachment procedure, comprising:
attaching the upper connectors to the load carrying object;
changing the positions of the upper connectors along movement axes M until the lower connectors are in positions to be attached to the load carrying object, and
attaching the lower connectors to the load carrying object.