Operating machinery

Abstract

Each of the aforementioned working machines (1.1, 1.2, 1.3) has only one main vehicle axle (3), with wheel elements (4.1, 4.2) arranged on both sides of the main vehicle axle (3), and a working device (2) or a receiving mechanism (9) for the working device. The working device (2) is mounted on the vehicle frame (12) via at least one rotary arm (6, 6.1, 6.2) and at least one working arm (7, 7.1, 7.2) rotatably mounted thereon. In addition, the working machinery (1.1, 1.2, 1.3) also includes at least one movable counterweight (5, 5.1, 5.2), which is mounted on the vehicle frame (12) via at least one linkage mechanism (11, 11.1, 11.2), wherein a dedicated moving channel (16.1, 16.2, 16.3, 16.4, 16.5, 16.6, 16.7, 16.8, 16.9, 16.10) is allocated to the movable counterweight (5, 5.1, 5.2), the linkage mechanism (11, 11.1, 11.2), and the swing arm (6, 6.1, 6.2) with the working arm (7, 7.1, 7.2) along the vehicle longitudinal axis (14).

Description

Technical Field

[0001] This invention relates to a work machine with a general conceptual design. Background Technology

[0002] Various types of work machines with their working devices mounted on the front of a vehicle are known in the prior art, such as wheel loaders, backhoe loaders, or skid steer loaders. These working devices can be buckets, stacker forks, or other working devices commonly used in agriculture and construction. The working device, such as the bucket, can be raised or lowered. For this purpose, wheel loaders use (see Figure 1) a rotatable lifting frame attached to the front body of the wheel loader via an articulated mechanism. The articulated mechanism used only allows rotational movement in the longitudinal plane of the vehicle; that is, the lifting frame can only rotate upwards or downwards. In wheel loaders, this working device is typically a bucket that moves along a circular trajectory, and the illustrated articulated mechanism is connected to the lifting frame on the vehicle frame via its center point. A fixed counterweight is located at the rear. The stability of such wheel loaders against forward tipping around the front axle is primarily affected by the weight of the bucket, the distance from the bucket to the front axle, and the weight of the counterweight and its distance to the front axle. The rotation of the lifting frame along the circular track has an adverse effect because the horizontal distance only increases as the bucket rises from the ground. A disadvantage of this type of wheel loader is that the position of the load is fixed and cannot be moved, and the horizontal distance from the bucket to the front axle is unchangeable when the load extends beyond the prescribed fixed circular track. Summary of the Invention

[0003] The objective of this invention is to overcome the shortcomings of the prior art. A key objective is to provide a work machine or vehicle suitable for handling common tasks of modern construction machinery, possessing high mobility and flexibility. Another objective is to provide a work machine or vehicle that, while maintaining the same performance level, has a lighter weight, greater flexibility, and lower component density. A further objective is to provide a work machine or vehicle that can flexibly utilize various work attachments as a basic carrier vehicle. A final objective is to provide a work machine or vehicle that improves productivity and also meets modern ecological requirements.

[0004] Therefore, a vehicle with a movable counterweight and a movable working device should be used. Both should be able to move within a sufficient width range to achieve a very compact vehicle and keep the vehicle's center of gravity within an ideal range. The movement of the movable counterweight should be achieved via a linkage mechanism that guides the movable counterweight to or beyond the area very close to the main vehicle axle. Furthermore, the movement of the working device should be accomplished via a swing arm and a working boom that guides the working device to the area of ​​the main vehicle axle. Therefore, a vehicle structure needs to be found whose position and movement space of the swing arm and working boom meet the requirements for receiving and moving the working device, and is adaptable to the position and movement space of the movable counterweight.

[0005] The working machinery designed according to the present invention should include exactly one main vehicle axle, wheel elements distributed on both sides of the main vehicle axle, a working device, or a working device receiving mechanism that connects the working device to the vehicle frame via at least one swing arm and at least one rotatably distributed working boom. Furthermore, the working machinery designed according to the present invention should include at least one movable counterweight mounted on the vehicle frame via at least one linkage mechanism. In this case, a dedicated movement channel is allocated along the longitudinal direction of the vehicle for the movable counterweight, the linkage mechanism, and the swing arm with the working boom.

[0006] Compared to existing work machinery, the work machinery structure designed according to the present invention should be able to move a large-mass working device and a heavy movable counterweight to the central area of ​​the work machinery near the main vehicle axle. This ensures the vehicle's center of gravity remains within this area, thus achieving vehicle stability. Furthermore, compared to existing machinery, the work machinery designed according to the present invention should occupy a very compact installation space. The advantage of this design is that the work machinery designed according to the present invention can be used in confined spaces and can operate very flexibly in narrow locations such as construction sites in cities. Another advantage is that it provides significantly lighter work machinery and is capable of lifting and transporting the same loads as existing work machinery. This is achievable because, in the work machinery designed according to the present invention, the load is very close to the main vehicle axle during lifting, similar to the case of existing counterweight lifting loading and unloading vehicles. After being lifted until the working device and / or load are above the wheel elements, it can even be moved further towards the main vehicle axle. This is achieved by the free movement of the working arm and swing arm within their respective movement channels, unaffected by the movement of the movable counterweight. To lift a load off the ground, a movable counterweight must extend a considerable distance backward. Therefore, utilizing the leverage effect of its position, the working device can still bear high loads even with a light load, and the vehicle will not lose its balance. The total weight of the vehicle is also reduced due to the relatively lighter counterweight. If the working device carrying the load is pulled further back above the main vehicle axle, the movable counterweight will also be pulled further back. This is achieved because the movable counterweight and the linkage mechanism connected to it each have their own corresponding movement channels, so the movement of the working device and the movement of the movable counterweight are essentially independent of each other.

[0007] Therefore, the operating machinery designed according to the present invention has a significantly better payload / weight ratio compared to existing operating machinery. The smaller size of the operating machinery also has another particular advantage: it can be easily transported using a vehicle trailer without exceeding the maximum permissible gross weight of the trailer. Another advantage of the operating machinery designed according to the present invention is its light weight, allowing it to be used in high-rise buildings without exceeding the building's maximum permissible floor load. Furthermore, it can be transported to different floors using existing elevators within the building without exceeding the elevator's permissible payload.

[0008] In a preferred embodiment, the movable counterweight and its corresponding movement channel occupy the center position on the vehicle's transverse axis. This has the advantage of allocating a significant portion of the vehicle's width to the movable counterweight and its corresponding movement channel. Since the movable counterweight also serves as a container for various functional components (e.g., energy converters, oil tanks, and / or hydraulic pumps), it ideally occupies the transverse center position. Therefore, only one such container and one centrally located movement channel are required. The linkage mechanism for moving the movable counterweight is positioned further out laterally on the corresponding side; in a preferred embodiment, at least two mechanisms are required. Thus, the boom and swing arm are located on the outermost transverse side. In this preferred embodiment, the movable counterweight movement channel is strategically positioned so that its lower limit is above the main vehicle axle and its upper limit is below the lateral stabilizer bar necessary for the lateral stability of the linkage mechanism. This arrangement allows for a narrow linkage mechanism, as its lateral stability is ensured by using one or more lateral stabilizer bars. This also allows for a narrow movement channel in the linkage mechanism, resulting in a relatively narrower vehicle width.

[0009] In a typical embodiment, the swing arm and the working arm mounted thereon are always in the same plane. This has the advantage that the forces generated by the load on the working device, as well as the forces generated by the adjusting elements (e.g., hydraulic cylinders), do not produce excessive bending moments. Furthermore, this also provides another advantage: the movement channel necessary for free movement can be designed to be narrower. In summary, the working machinery designed according to the present invention can generally adopt a narrow design.

[0010] In another embodiment, the swing arm and the working arm are located on the side, i.e., distributed on the outer side in the lateral direction of the corresponding vehicle axis, close to the movement channel of the linkage mechanism. The advantage of this arrangement is that the swing arm and the working arm can absorb uneven forces on the working device.

[0011] In another typical embodiment, the wheel elements are arranged in the same plane as the swing arm and the working arm. The advantage of this design is that the working machinery designed according to the invention can be manufactured to be very narrow. Thus, it is very compact not only in vehicle length but also in width. When used inside buildings, such working machinery has the advantage of maneuverability, for example, it can pass through doorways of ordinary width.

[0012] In another embodiment, the work machinery designed according to the present invention has only one swivel arm and a work arm mounted thereon. These occupy a central position, meaning that the movement channels for the swivel arm and work arm are also located at the center of the vehicle's transverse axis. The advantage of this embodiment compared to multi-swivel arm and work arm machinery is that fewer drive components are required to move the swivel arm and work arm. If electric actuators are used, the hydraulic equipment consisting of a tank, hydraulic pump, filter, valves, and hoses can be eliminated. In the prior art, electric actuators are typically used to drive robotic arms, supplying energy directly from an electrical storage device via a cable. Therefore, the number of required components can be reduced. However, electric actuators themselves are more complex and expensive than hydraulic cylinders. Therefore, when the required number of drive units or actuators is small, the work machinery designed according to the present invention has an advantage in using electric actuators.

[0013] On either side of the boom and arm's movement channels, near their locations, are two movement channels through which at least two linkage mechanisms for fixing and moving movable counterweights can be moved. At least one movement channel is arranged on each side to allow movement of at least one movable weight; this channel is laterally adjacent to the linkage mechanism's movement channel, i.e., on the outermost side in the corresponding vehicle's transverse axis direction. In this embodiment, two movable counterweights are used. If all drives of the working machinery are electrically driven, no other structural space is required besides the energy storage device, such as space for fuel tanks, pumps, and valves. The energy storage device can be easily allocated to two spaces far apart from each other without incurring significant structural costs. Its main cost is limited to the use of cable connectors.

[0014] In a preferred embodiment, the rear ends of the two movable counterweights are fixedly connected to each other. They can then be moved by a single drive element or a single actuator. Therefore, only a single control signal is required. Positioning the two movable counterweights, connected in this manner, at the rear end of the vehicle avoids affecting the movement of other components in the movement channels (e.g., booms, work arms, and linkage mechanisms).

[0015] The second type of working machinery designed according to the present invention includes a second type of working device or a second type of receiving mechanism for the second type of working device. Furthermore, the second type of working machinery designed according to the present invention includes exactly one second type of main vehicle axle, wherein second type wheels are arranged on both sides of the second type of main vehicle axle. Each of the second type wheels arranged on both sides of the second type of main vehicle axle is equipped with an independent second type of drive unit. In addition, the second type of working machinery designed according to the present invention includes at least one second type of auxiliary wheel, wherein the second type of auxiliary wheel includes at least one load detection device.

[0016] Furthermore, the second type of working machinery designed according to the present invention also includes a second type of movable counterweight, the position of which can be adjusted by a controller to maintain the load on the second type of auxiliary wheels between a lower limit and an upper limit. In addition, the second type of working machinery designed according to the present invention includes at least one controller containing at least one adjustment circuit that can control the second type of drive unit when the load is below the lower limit, thereby changing the applied drive torque to prevent the vehicle from tipping over. Therefore, a vehicle equipped with a second type of movable counterweight and a second type of movable working device should be used.

[0017] Therefore, in a preferred embodiment of the second type of working machinery designed according to the present invention, two driving modes are employed. In the self-balancing driving mode, the second type of auxiliary wheels do not touch the ground. The vehicle maintains balance around the second type of main vehicle axle using tilt sensors, and control is achieved by adjusting the torque and speed of the second type of wheels on the second type of main vehicle axle, as well as by moving the position of the second type of movable counterweight. Conversely, in the second type of auxiliary wheel driving mode, the second type of auxiliary wheels contact the ground and bear the load. The load is determined by a load sensor and can be adjusted within upper and lower limits by moving the position of the second type of movable counterweight.

[0018] Therefore, the second type of work machinery designed according to the present invention can always place the main load on the second type of main vehicle axle and keep the load on the second type of auxiliary wheels within a preset limit range. Because the load on the second type of auxiliary wheels is lower, the maneuverability of the second type of work machinery in this driving mode is as excellent as in the self-balancing driving mode. However, the requirements for controller and adjustability are higher, especially during self-balancing in difficult terrain. In this case, the adjustment speed of the vehicle for two-wheel drive may be too slow. Even when the second type of auxiliary wheels bear a certain proportion of the load, even if this proportion is significantly lower than the load proportion on the second type of wheels of the second type of main vehicle axle, it is still possible to better control the rapidly changing forces that the second type of work device may exert on the second type of work machinery or the impact forces that may be caused to the second type of wheels due to very uneven road surfaces.

[0019] Furthermore, the Type II drive unit requires more energy when maintaining balance on difficult terrain or when stationary on two wheels. Optimizing energy use is a fundamental requirement for modern, eco-friendly Type II work machinery. Therefore, the self-balancing driving mode is suitable for driving on flat roads and at higher speeds. Its advantage is that in self-balancing driving mode, the vehicle does not experience any pitch acceleration or pitch motion due to uneven road surfaces. The additional energy consumption required for the Type II drive unit to maintain balance is lower at high speeds. In contrast, the auxiliary wheel driving mode is suitable for driving scenarios such as on uneven roads, rapid force changes (e.g., forces that a Type II work device may exert on the Type II machinery), slow driving, and stopping.

[0020] To maintain a relatively small load on the second type of auxiliary wheel, thereby preserving the high maneuverability and flexibility of the second type of work machinery similar to that in self-balancing mode, an adjustment loop for detecting the load on the second type of auxiliary wheel is designed in the controller of the second type of work machinery according to the present invention. This can be achieved by arranging load sensors on the second type of auxiliary wheel or on the second type of receiving mechanism for the second type of auxiliary wheel. The load changes as the second type of movable counterweight moves. The load on the second type of auxiliary wheel is increased by moving the second type of movable counterweight away from the second type of main vehicle axle. Conversely, the load is decreased if it is closer to the second type of main vehicle axle. Therefore, the adjustment loop can change the load on the second type of auxiliary wheel to a range between a lower limit and an upper limit.

[0021] The adjustment speed of this regulating circuit is primarily limited by the time required for the second type of movable counterweight to move. Therefore, friction and the inertial force of the second type of movable counterweight acting on the propulsive force must be overcome. For example, if the second type of work machinery is traveling on an uneven road and a sudden impact is applied to the second type of wheels on the second type of main axle, the load on the second type of auxiliary wheels will also suddenly decrease. If this load reaches zero, the vehicle is at risk of overturning before the load can be increased by moving the second type of movable counterweight. This problem can be avoided by raising the lower limit of the load. Therefore, the height of the lower limit also represents the vehicle's anti-rollover safety.

[0022] Compared to existing work machinery, the second type of work machinery designed according to the present invention can select a very low lower limit value because the second type of drive unit of the second type of main vehicle axle and second type of wheels provides assistance in preventing the vehicle from overturning when the load rapidly decreases below the lower limit value. Because a drive unit whose torque can be changed very quickly has been specifically selected for this purpose, for example, in the case of an electric motor, an additional fast-acting adjustment loop can be established. Similar to the adjustment loop that uses the movement of the second type of movable counterweight to adjust the load on the second type of auxiliary wheel, the aforementioned second adjustment loop utilizes the torque change of the second type of drive unit to prevent overturning when the second type of auxiliary wheel is already in the air, or when the load on the second type of auxiliary wheel suddenly decreases too quickly, causing the second type of movable counterweight to move too slowly to prevent the load from falling below the lower limit value.

[0023] Therefore, the low adjustment speed of the first adjustment circuit can be compensated by the second adjustment circuit, allowing the vehicle to operate in auxiliary wheel driving mode and remain highly flexible and maneuverable on uneven roads. For example, if the second type of work machinery designed according to the present invention travels forward on an uneven road (i.e., in the vehicle side direction opposite to the second type of auxiliary wheel) and has a substantially constant driving torque applied to the second type of drive unit on the second type of main vehicle axle and second type of wheel, the second type of movable counterweight will be reasonably adjusted to a stable position so that the load on the second type of auxiliary wheel is slightly higher than the lower limit. For example, if the aforementioned second type of work machinery travels through potholes or depressions in the road, the load on the auxiliary wheel will suddenly decrease. The load decrease is detected by the load sensor on the second type of auxiliary wheel and reported to the controller. The second type of movable counterweight will immediately accelerate and move backward.

[0024] Positional information such as forward, backward, up, and down depends on the actual use and adjustment of the second type of work machinery. For example, if the second type of work machinery is located below the ground level, it can be raised to lift it off the ground and move forward and backward.

[0025] However, the second type of auxiliary wheels may lift off the ground. In this case, an additional driving torque is added to the already applied driving torque of the second drive unit via a second adjustment circuit (the magnitude of which depends on the previous travel resistance). This increased driving torque gives the second type of work machinery a forward acceleration. During acceleration, a reaction torque is generated on the second type of drive unit, which acts in the direction of the second type of work machinery's backward tilting, or in other words, in the downward pressing direction of the second type of auxiliary wheels. This method prevents the second type of work machinery from tilting forward.

[0026] In addition to the load sensors used for the load on the second type of auxiliary wheels, the tilt sensors provided for the self-balancing adjustment loop can also be used in the aforementioned second adjustment loop. These sensors detect the vehicle's tilt movement when the second type of auxiliary wheels are lifted off the ground. They also determine whether the vehicle has regained balance by increasing drive torque or requires further addition of superimposed torque. Therefore, both the tilt sensors and the second type of drive unit are part of the adjustment loop in the auxiliary wheel driving mode.

[0027] For example, if the vehicle designed according to the present invention is traveling backward (i.e., in the direction of the second type of auxiliary wheel) and there is torque affected by driving resistance in this direction of travel, then the driving torque must also be changed during the process of driving over potholes to avoid overturning. In this case, the existing driving torque will be reduced to maintain the same effect as when traveling forward.

[0028] In a preferred embodiment of the second type of work implement designed according to the present invention, the superimposed torque for preventing vehicle rollover is applied only before the load on the second type of auxiliary wheels exceeds the lower limit again. Because the second type of movable counterweight also moves backward simultaneously when the load is detected to be below the lower limit, a shorter duration of the superimposed torque can be maintained, thus avoiding excessive acceleration of the vehicle. Similarly, the timing of canceling the superimposed torque can be determined by a position sensor, which indicates that the vehicle has returned to center until the second type of auxiliary wheels contact the ground again. That is, if the second type of auxiliary wheels lift off the ground or rise, they will be guided back to the ground by the superimposed torque. Therefore, the vehicle will only travel briefly in both second type wheel states and immediately return to the auxiliary wheel driving mode, in which the second type of auxiliary wheels are supported on the ground with a low load. As long as there is a signal in the controller that the vehicle should be kept in the low-load auxiliary wheel mode (i.e., the auxiliary wheel driving mode has been selected), the second type of auxiliary wheels are always guided back to the ground.

[0029] If the corresponding signal changes, indicating a switch to self-balancing driving mode, the load on the second type of auxiliary wheel is reduced by moving the second type of movable counterweight until the load is zero. Simultaneously, the adjustment circuit required for self-balancing using the tilt sensor is activated.

[0030] In another preferred embodiment of the second type of working machinery designed according to the present invention, the lower and upper limits can be changed. Different limit values ​​can be selected, the specific values ​​of which are determined by factors such as road surface and usage conditions. The limit values ​​can be specified by the operator through control elements on the vehicle or a remote operating device. Alternatively, the limit values ​​can be changed by an automatic optimization function according to the corresponding driving conditions.

[0031] In another preferred embodiment of the second type of working machinery designed according to the present invention, the travel speed is incorporated into the automatic optimization of the limit value. In another embodiment, the second type of auxiliary wheels are distributed on the second type of movable counterweight. The advantage of this arrangement is that the load on the second type of auxiliary wheels does not increase significantly when the second type of movable counterweight is moved backward. It can also be arranged at the rear of the second type of vehicle frame.

[0032] In another embodiment, vehicles with movable counterweights should be used for this purpose. They should all be able to move within a sufficient width to keep the vehicle's center of gravity within an ideal range. Movement should be possible without significant energy loss. Furthermore, displacement should be easily controlled. The displacement path should be approximately parallel to the vehicle's longitudinal axis. The displacement device should be simple, low-cost, and robust, and should not cause excessive wear on the components used during movement.

[0033] The third type of working machinery designed according to the present invention includes a third type of working device or a third type of receiving mechanism for a third type of working device. Furthermore, the third type of working machinery designed according to the present invention also includes one or more third type axles, wherein third type wheel elements and / or track elements are arranged on both sides of the third type axle. Additionally, the third type of working machinery designed according to the present invention also includes at least one third type of movable counterweight, the vehicle's center of gravity being moved by moving the position of the third type of movable counterweight. Furthermore, the third type of working machinery designed according to the present invention also includes at least one linkage mechanism for fixing and guiding the third type of movable counterweight, comprising at least three rods. The first rod is rotatably mounted on the vehicle / vehicle frame via a first hinge point, and the second rod is rotatably connected to the first rod via a third hinge point and rotatably connected to the second rod via a fourth hinge point. In this structure, the movable counterweight is rotatably or fixedly mounted on the third rod via a fifth hinge point.

[0034] The distribution of the first four hinge points forms a polygon with at least four sides through their connecting lines. The three hinge points of the third rod are connected by the first and second connecting lines, with a fixed angle greater than 90° between the two connecting lines. The positions of the hinge points of the first and second rods on the vehicle and vehicle frame, the lengths of the connecting lines of the first and second rods, the fixed angles, and the length of the connecting line of the third hinge point on the third rod are rationally arranged so that the third rod guides the movement of the movable counterweight essentially along a straight line fixed relative to the vehicle through its hinge points.

[0035] Therefore, compared to existing work machinery, the third type of work machinery designed according to the present invention has a third type of movable counterweight that can move linearly over a wide range. In a preferred embodiment, the third type of movable counterweight is driven by only a single drive / actuator, which essentially only needs to overcome the thrust required for acceleration and deceleration of the third type of movable counterweight. The horizontal displacement stroke is generated by two rods connected by rotatable bearings via a hinged mechanism, so that the two horizontal displacement strokes are added together. Therefore, the displacement stroke can reach a very large length. In this way, the vehicle's center of gravity can be kept within a range conducive to vehicle stability, even when very dynamic forces are applied to the vehicle through the work device. Due to the large displacement stroke, the third type of movable counterweight can utilize a large lever arm to counteract these forces, thus producing the same effect as a fixed installation, as is the case with the significantly heavier counterweights in some existing work machinery.

[0036] The force exerted on the third type of movable counterweight due to gravity may increase due to dynamic driving conditions and must be transmitted to the vehicle through an articulation point. In the third type of working machinery designed according to the present invention, such forces are transmitted only through a simple articulation mechanism, which can accomplish the necessary movement to move the counterweight through a simple rotating structure (e.g., by using a pin). Such articulation mechanisms can be designed to be very robust. They are very effective at preventing the accumulation of dust and dirt, require almost no maintenance, and guarantee a long service life. Furthermore, they cause relatively low frictional losses even when transmitting high loads. Using sliding sleeves or rolling bearings can further reduce frictional losses.

[0037] In a preferred embodiment, the linkage mechanism is arranged such that it can guide the third type of movable counterweight along a straight line substantially parallel to the vehicle's longitudinal axis. The advantage of this design is that the counterweight can be moved further away without approaching the ground (without affecting ground clearance) or without needing to be lifted too high (avoiding excessive energy consumption and preventing an excessive shift in the vehicle's center of gravity that could adversely affect its position). In another embodiment, the straight line can be arranged such that, in addition to the third type of movable counterweight moving parallel to the vehicle's longitudinal axis (which causes the vehicle's center of gravity to shift parallel to the vehicle's longitudinal axis), it also includes a vertical movement component.

[0038] In a preferred embodiment, the vehicle's center of gravity can always be precisely adjusted above a single third-type axle by controlling the position and length of the displacement stroke of the third type of movable counterweight, enabling the machine to self-balance in this way. This allows the vehicle to be steered using the third-type wheels on that axle, driven at different speeds or even in different directions of rotation. Therefore, such a machine can operate with great maneuverability and flexibility.

[0039] In another embodiment, the linkage mechanism includes a fourth rod, one end of which is rotatably connected to the movable counterweight via another hinge point, and the other end of which is rotatably connected to the second rod via yet another hinge point. The second rod has a third hinge point, and the three hinge points of the second rod are connected by a first connecting line and a second connecting line, with a fixed angle greater than 90° between the two connecting lines. By rationally arranging the positions of the two hinge points on the movable counterweight, the length of the third rod (i.e., the connecting lines of the hinge points), the length of the fourth rod, the fixed angle, and the length of the connecting line of the second rod, the fourth rod maintains the third type of movable counterweight in a substantially horizontal position during movement. The advantage of this arrangement is that the horizontal position of the third type of movable counterweight remains substantially unchanged as it moves along the longitudinal axis of the vehicle. Therefore, the third type of movable counterweight can include components that can operate without interference and whose function is not affected by tilting, such as energy conversion motors, hydraulic pumps, liquid containers and / or other storage devices, drive or control elements.

[0040] In a preferred embodiment, the third type of movable counterweight is connected to the vehicle via two sets of linkages arranged on both sides of the counterweight, such that the third type of movable counterweight is located between these two linkages and can move between them. The advantage of this arrangement is that it maintains a free passage between the two linkages, allowing the third type of movable counterweight to move back and forth. This allows the third type of movable counterweight to move along the longitudinal axis of the vehicle within the area where the linkages are connected to the vehicle. The advantage is that it allows for the manufacture of very short and compact vehicles.

[0041] In a particularly preferred embodiment, the hinge mechanism of the linkage includes a sliding sleeve or a rolling bearing, which can reduce the frictional force generated at the bearing position of the hinge mechanism when the third type of movable counterweight moves. This allows for rapid movement under high dynamic conditions without consuming excessive energy.

[0042] In another embodiment, the third type of working machinery includes a control device comprising at least one electronic adjustment circuit that controls the position of the third type of movable counterweight. For example, this controller may also include a tilt sensor.

[0043] In another embodiment, the third type of work machinery includes sensors for detecting the position of a third type of movable counterweight. For example, the condition of the sensors can be evaluated in an electronic control unit and used to control or adjust the ideal position of the counterweight to achieve an ideal position for the vehicle's center of gravity. These sensors can be linear sensors or angular sensors, for example, by detecting the angle between two rods at a hinge point.

[0044] In another embodiment, the third type of working machinery includes sensors for detecting the weight of a third type of movable counterweight. This allows load data to be provided to electronic controls, for example, load data that changes with changes in the weight of components within the third type of movable counterweight. These components could be, for example, fuel tanks or hydraulic fluid tanks.

[0045] In another embodiment, displacement is achieved by a drive / actuator, such as a hydraulic cylinder or an electric linear drive, or by an electric actuator located at the hinge point, such as an electric motor with a speed reducer.

[0046] In a typical embodiment, the third type of movable counterweight of the third type of working apparatus designed according to the present invention includes an energy storage device and / or a motor for energy conversion. The motor for energy conversion can be an internal combustion engine known in the prior art. In addition, other known energy conversion devices are also included, such as a hydraulic pump. The energy storage device can be a battery for storing electrical energy. The energy provided by the energy storage device and / or the motor for energy conversion can be used not only for driving but also for the hydraulic motor and / or pump to control the displacement of the counterweight, or for the movement of the third type of working apparatus. An advantage of this approach is that, for example, the weight of the energy storage device, when displaced as a movable counterweight, can simultaneously contribute to the displacement of the center of gravity. This means that relatively lighter vehicles can be manufactured.

[0047] In a preferred embodiment of the third type of working machinery designed according to the present invention, an auxiliary wheel can be arranged on the third type of movable counterweight. For example, the advantage of such an auxiliary wheel is that it can support load peaks. Such load peaks may occur, for example, when the third type of working machinery uses a bucket as a material breaking (breaking quarry walls) device, or when the load on the bucket suddenly decreases due to the falling load during bucket unloading. For this purpose, in one embodiment, an auxiliary wheel can be used as an auxiliary support element, and a controller can be used to allow low loads to be applied to the auxiliary wheel as well. In this case, the center of gravity (especially during loading) is allowed to be outside the axle of the third type of vehicle for a short time, so as to facilitate the rearward displacement of the third type of movable counterweight. In addition, the auxiliary wheel can also prevent the third type of movable counterweight from hitting the ground due to a sudden shift in the center of gravity of the third type of working machinery (e.g., during bucket unloading), or from rubbing against the ground in cases where a sudden positional movement is required. As mentioned above, an advantage of the auxiliary wheel is that it can be used as an auxiliary support point for the third type of working machinery, especially during loading and unloading, when sudden load peaks occur and thus cause a shift in the center of gravity. However, it is important to note that the primary load should always be borne by the Class III vehicle bearings. Therefore, the dimensions of the auxiliary wheels and their bearings / suspension structures on the counterweight only need to meet low load requirements. Furthermore, the auxiliary wheels can prevent the movable counterweight from contacting the ground during emergency braking of the Class III work machinery. In this situation, the Class III movable counterweight of the Class III work machinery must suddenly move against the direction of travel of the Class III work machinery.

[0048] In another embodiment, the working device is connected to the working machinery via a receiving mechanism, which can be optionally mounted around the vehicle's vertical axis and thereby enables the vehicle's steering movement. Vehicles known in the prior art can support detachable working devices. In the detached state, the third type of working machinery travels and steers via a suitable means, such as an axle with steerable wheels. Alternatively, it can self-balance and steer by varying the rotational speeds of the wheels on the main axle. If tracked drives are mounted on both sides of the main axle, the vehicle can also be steered by varying drive speeds and can stand stably on the tracked drives, thus eliminating the need for any balancing device. If the working device is connected to such a vehicle via a rotatable receiving mechanism, and the working device has lane-keeping devices, such as wheels, steering is accomplished through this rotatable articulation mechanism. Such steering mechanisms are known in the prior art, for example, in articulated dump trucks or articulated wheel loaders. However, lane-keeping devices can also be working devices, as long as they are used during operation and can guide the working device in a laterally stable manner via plowshares or soil tillage teeth.

[0049] For example, if such a vehicle includes a third type of movable counterweight, the center of gravity of this third type of movable counterweight can be adjusted so that, using only one driven axle, the vehicle has the same traction capacity compared to prior art vehicles with two or more driven axles. The movable counterweight allows the center of gravity to be adjusted closer to the driven axle, where it bears all the weight that generates traction. If the receiving mechanism is designed to allow movement about the vehicle's vertical axis but not about its lateral axis, forces acting downwards on the working device (e.g., forces generated by soil working devices such as plowshares) can also be redirected to the driven axle by pushing the movable counterweight to one side of the working device.

[0050] In existing plows, a driven wheel is located on the side furthest from the tractor. This wheel obtains energy through hydraulic pressure or electric current from the tractor. This means that propulsion can be generated by utilizing the downward force acting on the plowshare through this driven wheel, thereby helping the tractor pull the plow. If the tractor has a movable counterweight, the same traction force can be generated by using a displaced driven shaft, eliminating the need for a drive mechanism on the plow.

[0051] In another embodiment, the trailer can also be attached to a third type of work machinery designed according to the invention via such a receiving mechanism to achieve steering functionality of the vehicle via a rotary articulation mechanism. The vehicle can also utilize the trailer load to generate traction on the third type of work machinery via a third type of movable counterweight. Trailers known in the prior art have a driven axle, thus allowing traction to be generated using the trailer load. Therefore, pre-tensioned tractors can be manufactured lighter while maintaining the same driving performance. Due to the presence of the movable counterweight, such a driven trailer axle can be omitted in the third type of work machinery designed according to the invention. Attached Figure Description

[0052] Further advantages, features, and details of the present invention will become apparent from the following description of preferred embodiments and from the drawings; the above is illustrated in detail in the following figures:

[0053] Figure 1. Existing Technology Operating machinery with a lifting frame, in the form of a wheeled loader;

[0054] Figure 2. Existing Technology A schematic diagram of a work machine with a movable counterweight, a rotating arm, and a working arm;

[0055] Figures 3a to 3c A schematic diagram of the operating machinery designed according to the present invention;

[0056] Figure 4 A schematic diagram of an embodiment of the operating machinery designed according to the present invention;

[0057] Figure 5 A schematic diagram of another embodiment of the operating machinery designed according to the present invention; and

[0058] Figures 6a to 6c Schematic diagram of the operating machinery designed according to the present invention.

[0059] Figure 7 A schematic diagram of one embodiment of the operating machinery designed according to the present invention.

[0060] Figure 8 Existing Technology The operation machinery used in China is in the form of wheeled loaders;

[0061] Figure 9 Existing Technology A schematic diagram of a wheeled loader-type work machine with a movable counterweight.

[0062] Figure 10 Existing Technology A schematic diagram of a machine with a movable counterweight.

[0063] Figure 11 Prior Art A schematic diagram of a tractor-type work machine;

[0064] Figure 12 A schematic diagram of an embodiment of a working machine designed according to the present invention using a plow as a working device;

[0065] Figures 13a to 13e A schematic diagram of an embodiment of the linkage mechanism for working machinery designed according to the present invention shows that a movable counterweight can be moved to different positions.

[0066] Figure 14 A schematic diagram of another embodiment of the work machinery equipped with a movable counterweight designed according to the present invention;

[0067] Figures 15a to 15d A schematic diagram of another embodiment of the linkage mechanism for the working machine according to the present invention shows that a movable counterweight can be moved by four rods;

[0068] Figure 16 A schematic diagram of another embodiment of the operating machinery designed according to the present invention; and

[0069] Figure 17 A schematic diagram of an embodiment of a second type of operating machinery designed according to the present invention. Detailed Implementation

[0070] Figure 1 shows a wheel loader 50.1, which is equivalent to a work machine / vehicle in the prior art. It has two axles and a work device 52 in the form of a bucket. Furthermore, the wheel loader 50.1 includes a lifting frame 53, one end of which is rotatably connected to the vehicle frame 55 via a hinge mechanism 54, with the work device 52 positioned at the opposite end. A counterweight 51 is fixed at the rear end. A disadvantage of this type of loader is its excessive weight relative to its payload. Additionally, due to its length and articulated steering mechanism, it requires a large amount of steering space.

[0071] Figure 2 shows a wheel loader 50.2, which is equivalent to a work machine / vehicle in the prior art. The wheel loader 50.2 includes only one main vehicle axle 56, with wheel elements 57 arranged on both sides. Each wheel element 57 is equipped with an independent drive unit, so that the wheel loader 50.2 can be self-balancing around the main vehicle axle 56 via a controller. In addition, the wheel loader 50.2 can also be steered via independent drive units, meaning it can turn on the spot. Furthermore, the wheel loader 50.2 includes a bucket as a working device 52, which is connected to the vehicle frame 55 via a boom 60 and a boom 61. On the side of the vehicle away from the working device 52, the work machine 50.2 has a movable counterweight 59, which can be used to shift the vehicle's center of gravity, thereby returning the center of gravity to a stable state on the main vehicle axle 56. By moving the movable counterweight 59, the vehicle can be controlled in the self-balancing mode along the direction of vehicle movement.

[0072] A self-steering auxiliary wheel 58 is located on the movable counterweight 59. It can bear a load once the vehicle exits self-balancing mode. The load on the auxiliary wheel 58 is changed by moving the movable counterweight 59; ideally, this load is less than the load on the main vehicle axle 56. This ensures that the wheel element 57 of the main vehicle axle 56 always has high ground contact pressure, thereby generating sufficient traction. The wheeled transfer machine 50.2 includes two levers 62.1 and 62.2 through which the movable counterweight 59 is connected to the vehicle frame 55 and through which its position is adjusted.

[0073] Two rotary arms 60 and two working arms 61 are respectively arranged on both sides of the vehicle so that the working device 52 can be pulled backward, thereby ensuring the stability of the vehicle to prevent it from tipping forward. However, the structural space required in this process is the same as the space required to pull the movable counterweight a long distance toward the main vehicle axle.

[0074] exist Figure 3aThe image shows a preferred work machine 1.1 designed according to the present invention, which eliminates or at least minimizes the disadvantages of prior art work machines. The work machine 1.1 according to the present invention includes a work device 2, which is connected to a vehicle via a receiving mechanism 9. The receiving mechanism 9 can lift the work device 2 for transport. The work device 2 shown is a bucket 10 used in a wheel loader. All work requiring vehicle support used in the construction industry and / or agriculture can be conceived as a work device 2 mounted on the receiving mechanism 9. Furthermore, the work machine 1.1 also includes at least one main vehicle axle 3 with wheel elements 4 and / or track elements arranged on both sides.

[0075] The work machinery 1.1 designed according to the present invention can be used as a robot. In this case, the machine can operate in an unmanned state, i.e., remotely controlled and / or autonomously operated. Robots (e.g., for agriculture) are generally lighter and smaller than work machinery commonly used today. By using multiple such robots to perform the work of a single work machinery, and because they are faster and more flexible, they can provide the same performance in a smaller and lighter form factor. The advantages are lower manufacturing and operating costs, as well as a more mobile and flexible mode of operation.

[0076] Furthermore, the work machine 1.1 designed according to the present invention includes a movable counterweight 5, which is connected to the vehicle frame 12 via a linkage mechanism 11. The arrangement of the linkage mechanism 11 allows the movable counterweight 5 to move over a wide range, enabling it to be very close to the main vehicle axle 3 and thus making the vehicle structure very compact. Due to its large displacement range, the movable counterweight 5 can be relatively small, and when the work device 2 is raised, the heavy weight of the work device can still be compensated by leverage, preventing the vehicle from losing its stable position. The linkage mechanism 11 consists of links 18.1, 18.2, 18.3, and 18.4. These links guide the movable counterweight in a substantially straight line along the vehicle's longitudinal axis 14. Only a small amount of energy is used during movement, as the drive unit essentially only needs to provide acceleration energy to the movable counterweight.

[0077] In a preferred embodiment of the work machinery 1.1 designed according to the present invention, the movable counterweight 5 includes components such as an energy converter, a battery, or a hydraulic device powered by a hydraulic cylinder.

[0078] Furthermore, the work machinery 1.1 designed according to the present invention also includes rotatable booms 6.1 and 6.2 arranged on the vehicle frame 12. Work arms 7.1 and 7.2 are similarly rotatably mounted on booms 6.1 and 6.2 and include a receiving mechanism 9 on which the work device 2 can be mounted.

[0079] Figure 3bThe image shows a different perspective of the work machine 1.1 designed according to the present invention. In order to enable the movable counterweight 5 to be pulled a long distance along the longitudinal axis 14 of the vehicle towards the area of ​​the main vehicle axle 3 without being obstructed by other components in the vehicle, a first movement channel 16.1 is provided for the movable counterweight 5. There are no other components in the first movement channel 16.1, and it is unaffected by their movement or position. The movable counterweight 5 and the first movement channel 16.1 for which it is located occupy the center position of the transverse axis 15 of the vehicle.

[0080] Therefore, in a preferred embodiment, the movable counterweight 5 internally includes functional components such as an energy storage device, an energy converter, a hydraulic pump, valves, and a hydraulic oil storage device, thus occupying a relatively large area in the direction of the vehicle's transverse axis 15. Ideally, only a single movable counterweight 5 is used, but multiple smaller counterweights can also be used, although they do not necessarily need to be located in the center.

[0081] In this preferred embodiment, linkage mechanisms 11.1 and 11.2, consisting of four rods 18.1, 18.2, 18.3, and 18.4, are arranged on both sides of the movable counterweight 5. Second and third movement channels 16.2 and 16.3 are configured for linkage mechanisms 11.1 and 11.2 to ensure their movement in the direction of the main vehicle axle 3. In this preferred embodiment, two rotary arms 6.1 and 6.2 and two working arms 7.1 and 7.2 located in the same plane are attached outwardly to the vehicle frame 12 along the vehicle transverse axis 15. The two rotary arms 6.1 and 6.2 and the corresponding two working arms 7.1 and 7.2 move in the same plane. Fourth and fifth movement channels 16.4 and 16.5 are configured for them. Therefore, the fourth and fifth movement channels 16.4 and 16.5 can maintain a very small width.

[0082] Figure 3c The image shows a working machine 1.1 designed according to the present invention from another perspective. The first moving channel 16.1 is restricted downward by the main vehicle axle 3. Therefore, in the retracted state, the movable counterweight 5 is above the main vehicle axle 3. The space occupied upward by the movable counterweight 5 is the same as the space required by the internal components. Furthermore, the linkage mechanisms 11.1 and 11.2 can be interconnected by the crossbar 17 to achieve high stability. Therefore, the dimensions of the links 18.1, 18.2, 18.3, and 18.4 in the direction of the vehicle's transverse axis 15 can be designed to be very small and space-saving. Thus, the second and third moving channels 16.2 and 16.3 also occupy only a small amount of structural space in this direction. The advantage of this design is that the working machine 1.1 can be built in a relatively narrow space.

[0083] Figure 4The image shows the work machine 1.1 designed according to the present invention in its short position. In this position, the work device 2 is positioned close to the main vehicle axle 3. Simultaneously, the movable counterweight 5 is positioned close to, or partially above, the main vehicle axle 3. Therefore, a very compact vehicle is provided.

[0084] Figure 5 The image shows another embodiment of the work machinery 1.2 designed according to the present invention. In this example, wheel elements 4.1 and 4.2 are located in the same area as the swing arms 6.1, 6.2 and the working arms 7.1, 7.2 in the direction of the vehicle's transverse axis 15. The advantage of this design is that the vehicle width can be kept very small. When used inside buildings, the work machinery 1.2 can pass through narrow passageways and narrow doorways.

[0085] exist Figure 6a The image shows another preferred work machine 1.3 designed according to the present invention, which eliminates or at least minimizes the disadvantages of prior art work machines. The preferred work machine 1.3 designed according to the present invention includes a work device 2. The work device 2 shown is a lifting fork used in prior art lifting loading and unloading vehicles. All work requiring vehicle support used in the construction industry and / or agriculture can be conceived as work devices 2 mounted on a receiving mechanism 9. The work device 2 or the receiving mechanism 9 for the work device is mounted on the vehicle frame 12 by at least one swing arm 6 and at least one work arm 7 rotatably mounted thereon. In the work machine 1.3 designed according to the present invention, the swing arm 6 and swing arm 7 occupy the central position of the vehicle's transverse axis 15. Since only one swing arm and one work arm are used, movement can be accomplished using fewer drive devices / actuators. This results in lower vehicle weight and manufacturing costs. Therefore, a single, expensive electric actuator can be used. Although its individual cost is higher, its small number does not adversely affect the total cost of the work machine.

[0086] Furthermore, the working machine 1.3 designed according to the present invention also includes two movable counterweights 5.1 and 5.2. They are connected to the vehicle frame 12 via two linkage mechanisms 11.1 and 11.2. The arrangement of the linkage mechanisms 11.1 and 11.2 allows the movable counterweights 5.1 and 5.2 to move within a wide range. Therefore, they can be very close to the main vehicle axle 3, thus keeping the vehicle in a very compact position. Due to their large displacement range, the movable counterweights 5.1 and 5.2 can be relatively small, and when the working device 2 is raised, they can still compensate for the heavy weight of the working device through leverage, preventing the vehicle from losing its stable position.

[0087] Figure 6bThe image shows a different perspective of the work machine 1.3 designed according to the present invention. In order to pull the work device 2 along the longitudinal axis 14 of the vehicle to or even beyond the main vehicle axis 3, and in this process, without other components in the vehicle obstructing the swing arm 6 and the work boom 7, a sixth movement channel 16.6 is provided for the swing arm 6 and the work boom 7. There are no other components in the sixth movement channel 16.6, and they are unaffected by its movement or position.

[0088] In this preferred embodiment, linkages 11.1 and 11.2 are distributed on both sides of the rotary arm 6 and the working arm 7. Seventh and eighth movement channels 16.7 and 16.8 are provided for linkages 11.1 and 11.2 to ensure their mobility in the direction of the main vehicle axle. In this preferred embodiment, movable counterweights 5.1 and 5.2 are positioned further outward in the direction of the vehicle's transverse axis 15. The movable counterweights 5.1 and 5.2 move in the ninth and eleventh movement channels 16.9 and 16.10 for which they are provided. The advantage of this design is that the movable counterweights 5.1 and 5.2 can be pulled towards the main vehicle axle 3 over long distances. Because the sixth moving channel 16.6 for the first rotating arm 6 and the first working arm 7, the seventh and eighth moving channels 16.7 and 16.8 for the two connecting mechanisms 11.1 and 11.2, and the ninth and tenth moving channels 16.9 and 16.10 for the movable counterweights 5.1 and 5.2 do not obstruct each other, the working device 2 and the movable counterweights 5.1 and 5.2 can be pulled towards the center of the vehicle simultaneously, thus making the vehicle's structural length very compact. Due to the short structural length, the vehicle can move very flexibly and quickly.

[0089] In a preferred embodiment of the work machinery 1.3 designed according to the present invention, the rear ends of the two movable counterweights 5.1, 5.2 are fixedly connected to each other. Thus, they can be moved by a single drive element or a single actuator. Since the connecting element of the two movable counterweights 5.1, 5.2 is arranged at the rear end of the vehicle or at the rear end of the counterweights 5.1, 5.2, it will not interfere with the movement of the swing arm 6, the working arm 7, and the linkage mechanisms 11.1, 11.2.

[0090] Figure 6c The image shows the working machine 1.3 designed according to the present invention in the extended position.

[0091] Figure 6d The image shows the working machine 1.3 designed according to the present invention in an extended position from another perspective.

[0092] exist Figure 7The image shows a preferred type of work machine 101 designed according to the present invention, which eliminates or at least minimizes the disadvantages of prior art work machines. The second type of work machine 101 according to the present invention includes a second type of work device 102, which is connected to a vehicle via a second type of receiving mechanism 110. The second type of work device 102 can be lifted via the second type of receiving mechanism 110 for transport. The second type of work device 102 shown is a bucket 111 used in a wheel loader. All work requiring vehicle support in the construction industry and / or agriculture can be conceived as a work device mounted on the second type of receiving mechanism 110. Furthermore, the second type of work machine 101 also includes at least one second type of main vehicle axle 103 with second type of wheel elements 104 arranged on both sides.

[0093] Furthermore, the second type of working machinery 101 designed according to the present invention includes a second type of movable counterweight 105, which is connected to the second type of vehicle frame 113 via a second type of linkage mechanism 112. The arrangement of the second type of linkage mechanism 112 allows the second type of movable counterweight 105 to move within a wide range, enabling it to be very close to the second type of main vehicle axle 103 and thus making the vehicle structure very compact. Due to its large displacement range, the second type of movable counterweight 105 can be relatively small, and when the second type of working device 102 is raised, the heavy weight of the working device can still be compensated by leverage, preventing the vehicle from losing its stable position.

[0094] In a preferred embodiment of the second type of work machinery 101 designed according to the present invention, the second type of movable counterweight 105 includes components such as energy converters, batteries, or hydraulic devices powered by hydraulic cylinders.

[0095] Furthermore, the second type of work machinery 101 designed according to the present invention has a second type of rotary arm 107 and a second type of work arm 108, through which the second type of work device 102 can be moved. An auxiliary wheel 106, which is rotatably fixed by a bearing and can be passively steered, is arranged on the second type of movable counterweight 105. The steering movement of the second type of work machinery 101 designed according to the present invention is achieved by different rotational speeds or rotational directions of the second type of drive unit 109 for driving the second type of wheels 104, which are arranged at the two outer ends of the second type of main vehicle axle 103. Therefore, the second type of work machinery 101 can operate very maneuverably and flexibly. During operation, the auxiliary wheel 106 is either suspended in the air, and the second type of work machinery 101 maintains balance around the second main vehicle axle 103. Or the auxiliary wheel 106 is in contact with the ground, in which state it bears a load much lower than that of the second type of wheels 104 on the second type of main vehicle axle 103. The steering movement is predetermined by the second type of drive unit 109, which then automatically guides the rotation of the auxiliary wheel 106, so it will passively follow the steering.

[0096] Furthermore, the auxiliary wheel 106 receiving structure mounted on the second type of movable counterweight 105 also includes at least one load sensor capable of measuring the load (i.e., the force acting between the ground and the auxiliary wheel). In another embodiment, this force can also be measured at any location on the second type of linkage 112, in which case the weight of the movable counterweight may need to be considered.

[0097] In another embodiment, the receiving mechanism of the auxiliary wheel 106 may be equipped with a device that allows the auxiliary wheel to move upward relative to the second type of movable counterweight 105 or relative to the second type of vehicle frame 113. This increases the distance between the lane and the auxiliary wheel 106 while maintaining balance around the main vehicle axle 103.

[0098] The second type of work machinery 101 designed according to the present invention can operate in at least two driving modes. In the self-balancing driving mode, the auxiliary wheel 106 is unloaded and / or suspended. It is not in contact with the roadway at this time. The controller of the second type of auxiliary machinery 101 includes an adjustment loop with a tilt sensor, which controls the drive unit 109 and the second type of movable counterweight 105. In another driving mode, namely the auxiliary wheel driving mode, the controller includes an adjustment loop containing a tilt sensor and a load sensor, and can control the second type of movable counterweight 105 and the second type of drive unit 109. This adjustment loop controls the position of the second type of movable counterweight 105 by adjusting the load on the auxiliary wheel 106 to above a lower limit and below an upper limit.

[0099] Of the two defined limits, the upper limit should be specified such that the load acting on the auxiliary wheels is significantly lower than the load acting on the second type of wheels 104 on the second type of main vehicle axle 103. Because the second type of drive unit 109 is only located on the second type of wheels 104, the majority of the vehicle weight can be used for traction. Compared to prior art work machinery comprising four or more driven wheels, the second type of work machinery 101 designed according to the present invention can provide the same traction force using only two driven wheel elements. Furthermore, the low load ensured by the upper limit provides good maneuverability for the second type of work machinery 101. The lower limit should be specified such that the second type of work machinery 101 will not tip forward when traveling on difficult terrain or uneven roads. The movement response time of the second type of movable counterweight 105 should be taken into account, based on the speed of the regulating loop and the pre-selected acceleration and movement speed of the second type of movable counterweight 105. If the lower limit is high, the second type of work machinery 101 will not tip over temporarily below the lower limit. This means more time is available for the regulating loop. However, a lower limit value is selected in the second type of work machinery 101 designed according to the present invention. In a preferred embodiment, this value is essentially close to zero. The regulating loop controls the drive unit with a significantly shorter response time, thereby preventing the second type of work machinery 101 from tipping over. This is achieved, for example, by increasing the drive torque of the second type of drive unit 109 during forward travel. Therefore, in a preferred embodiment of the work machinery designed according to the present invention, an electric motor with a very short torque increase response time is used as the second type of drive unit 109, thus the overall response time of the regulating loop is also very short. A larger torque can quickly restore the work machinery to its correct position if it tipps over, until the second type of auxiliary wheel 106 contacts the ground again. The regulating loop uses not only the signal from the load sensor on the auxiliary wheel 106, but also a tilt sensor that provides a usable signal even when the auxiliary wheel is suspended. The purpose of the regulating loop in this auxiliary wheel operating mode is not two-wheel travel, but at least three-wheel travel. When the auxiliary wheel leaves the ground, a suitable superimposed torque is selected on the second type of drive unit 109 to bring the auxiliary wheel back to the ground. Similarly, the time for the torque of the second type of drive unit 109 to increase should be reasonably limited so that the auxiliary wheel 106 can bear the load as soon as possible, but without hitting the ground too violently.

[0100] The lower and upper limits can be specified by the operator using an operating element or via remote control. Alternatively, this specification process can be completed automatically by the controller's functions. For example, travel speed may need to be considered. The selection of the two modes can be manually controlled by the operator, for example, via an operating element or radio remote control, or automatically by the controller's functions. For example, travel speed can be considered during the selection process, prioritizing the self-balancing mode at higher speeds and the auxiliary wheel mode at slower speeds. Other variables can also be considered during this specification process. For example, GPS data can identify the location of the work machinery. If the work machinery has been operated in the same location before and the ground is very uneven, the limits can be preset and the auxiliary wheel mode switched to. Appropriate sensors can also be used to identify the degree of unevenness, such as tilt sensors or acceleration sensors.

[0101] Figure 8 shows a wheel loader 250.1 with two axles, equivalent to a work machine / vehicle in the prior art. Depending on the location of the center of gravity, the load on such work machines is distributed proportionally across the two axles. However, the shift in the vehicle's center of gravity during operation (e.g., due to the load in the wheel loader's bucket) and all the dynamic forces generated (e.g., due to braking) are very large. For example, in a wheel loader, additional forces are generated away from the tilting axle of the front axle due to the heavy load in the bucket. Furthermore, when the bucket is full, the loader must be able to generate so-called separation forces to separate the material to be loaded from the stockpile or wall. Therefore, for safe operation, wheel loaders require a high tare weight and a heavy counterweight 251 on the side of the vehicle away from the work assembly 252. This results in a very poor load / tare weight ratio and also leads to very high primary energy consumption for such work machines.

[0102] Figure 9 shows a wheel loader 250.2, which is equivalent to a work machine / vehicle in the prior art. The wheel loader 250.2 includes only one main vehicle axle 253, with wheel elements 254 arranged on both sides of it. Each wheel element 254 is equipped with an independent drive unit, so that the wheel loader 250.2 can achieve self-balancing around the main vehicle axle 253 via a controller. In addition, the wheel loader 250.2 can also be steered via an independent drive unit, meaning that it can turn on the spot.

[0103] In addition, the wheeled transfer machine 250.2 includes a bucket as a working device 252, which is connected to the vehicle frame 256 via working arms 255.1 and 255.2. On the side of the vehicle away from the working device 252, the machine 250.2 has a movable counterweight 259, through which the vehicle's center of gravity can be shifted, thus ensuring that the center of gravity remains above the main vehicle axle 253 and returns to a stable state. By moving the movable counterweight 259, the vehicle can be controlled in the direction of movement in self-balancing mode. A self-steering auxiliary wheel 257 is located on the movable counterweight 259. Once the vehicle exits self-balancing mode, it can carry a load. The load on the auxiliary wheel 257 is changed by moving the movable counterweight 259, ideally less than the load on the main vehicle axle 253. This ensures that the wheel element 254 of the main vehicle axle 253 always has high ground contact pressure, thereby generating sufficient traction.

[0104] The wheeled loader 250.2 includes two levers 258.1 and 258.2, through which a movable counterweight 259 is connected to the vehicle frame and its position is adjusted. Each of the two levers 258.1 and 258.9 of the wheeled loader 250.2 requires its own drive mechanism, such as a hydraulic cylinder or an electric actuator. The drive mechanisms are not shown in Figure 9. A first drive mechanism drives lever 258.1 to rotate about hinge mechanism 260.1. A second drive mechanism drives lever 258.2 to rotate about hinge mechanism 260.2. To keep the movable counterweight 259 in a horizontal position and, in doing so, balance the forces acting on the auxiliary wheel 257, a third drive mechanism is required to drive the movable counterweight 259 to rotate about hinge mechanism 260.3. Furthermore, the movable counterweight 259 may also include components that must be in a horizontal position to ensure its trouble-free operation, such as a liquid container.

[0105] Levers 258.1 and 258.2 of the wheel loader 250.2 can be arranged in the center of the vehicle. Lever 258.1 is located at the front of the vehicle frame 256. The movable counterweight 259 can move forward until it collides with lever 258.1. That is, lever 258.1 restricts the forward movement of the movable counterweight 259. Therefore, self-balancing can only be achieved if the working device 252 is not pulled back very far, thus preventing a significant reduction in vehicle length. This disadvantage can be eliminated by arranging levers 258.1 and 258.2 on the sides of the movable counterweight 259. Then, levers 258.1 and 258.2 are needed on both sides of the movable counterweight 259. Therefore, a channel is reserved in the center of the vehicle for the movable counterweight 259 to allow it to continue moving forward. However, such a design would require each of these levers 258.1 and 258.2 to have its own drive mechanism on each side of the vehicle, which would adversely affect the vehicle's cost and weight.

[0106] Whether to keep the movable counterweight 259 suspended and prevent it from falling (e.g., necessary in self-balancing mode) or to maintain a low load on the auxiliary wheel 257 during dynamic operation, levers 258.1 and 258.2 must be able to withstand high loads. The same applies to the drive mechanism. Furthermore, the drive mechanism must be able to move the movable counterweight 259 quickly and dynamically. In addition to these dynamic loads, a fixed load, generated by gravity acting on the movable counterweight, also acts on levers 258.1 and 258.2 and the drive mechanism. If a relatively stable and offset hydraulic cylinder is used as the actuating element, the piston chamber will continuously experience high pressure due to the load of the movable counterweight, even when the counterweight is not moving. If the control now requires movement, additional hydraulic oil is pumped into the piston chamber, and the hydraulic oil must first be pre-pressurized by the pump or from the storage element to make its pressure at least the same as the pressure in the piston chamber. Clearly, significantly more energy is required at this point compared to the energy necessary to move only the movable counterweight. Therefore, the energy efficiency of this type of drive unit is not very high. Thus, the wheel loader 250.2 contains at least three drive units / actuators, each independently controlled, meaning it also requires independent position sensors. This necessitates a complex controller.

[0107] Figure 10 illustrates a prior art work machine 250.3, which includes a movable counterweight 259 connected to a vehicle frame 256 via two levers 258.1 and 258.2. The movable counterweight 259 is held horizontally by levers 258.3, 258.4, and 258.5. Therefore, the movable counterweight 259 remains parallel to the vehicle frame 256. Furthermore, the vehicle frame 256, together with levers 258.1, 258.4, and 258.3, forms a parallelogram, with lever 258.4 always parallel to the vehicle frame 256. Additionally, the lines connecting levers 258.4, 258.2, and 258.5 with hinge points 260.3 and 260.6 form a parallelogram. The line connecting hinge points 260.3 and 260.6 is always parallel to lever 258.4 and therefore parallel to the vehicle frame 256. The drawback of this machine is that adjusting levers 258.1 and 258.2 still requires two drive units 261.1 and 261.2 to move the movable counterweight 259. The working device of the working machine 250.3 is not shown in Figure 10.

[0108] Figure 11 illustrates a prior art work machine 250.4, which includes a movable counterweight 259 connected to a vehicle frame 256 via a scissor-hinged mechanism 262. The scissor-hinged mechanism 262 guides the movable counterweight 259 along a straight line 263 while holding it in a horizontal position. Furthermore, movement can also be accomplished by a single drive / actuator 261. When the load on the auxiliary wheels 257 is reduced, the weight of the movable counterweight 259 does not need to be borne by the drive / actuator 261. However, a disadvantage of this type of work machine 250.4 is that the scissor-hinged mechanism 262, located at both ends on the vehicle frame 256 and the movable counterweight 259, requires a linear bearing 264.1 and 264.2, respectively, which are connected to links / rails 265.1 and 265.2 and can move smoothly along the links / rails. In this case, the linear bearings 264.1 and 264.2 must withstand the high load generated by the movable counterweight 259. Furthermore, these linear bearings are not very stable and have high maintenance costs when the machinery is in a dusty environment.

[0109] exist Figure 12The image shows a preferred third-class work machine 201.1 designed according to the present invention, which eliminates or at least minimizes the disadvantages of prior art work machines / vehicles. The work machine 201.1 according to the present invention includes a third-class work device 202.1, which is connected to the vehicle via a third-class receiving mechanism 224. The third-class work device 202.1 can be lifted via the third-class receiving mechanism 224 for easy transport. The work device 202.1 shown is an agricultural bucket. All work requiring vehicle support used in the construction industry and / or agriculture can be conceived as a work device 202.1 mounted on the receiving mechanism 224. Furthermore, the work machine 201.1 also includes at least one third-class main vehicle axle 203, with third-class wheel elements 204 and / or track elements arranged on both sides.

[0110] The third type of operational machinery 201.1 designed according to the present invention can be used as a swarm robot. In this case, the machine can operate in an unmanned state, i.e., remotely controlled and / or autonomously operated. Swarm robots (e.g., for agriculture) are generally lighter and smaller than the tractors commonly used today. By using multiple such swarm robots to perform the work of a single tractor, they can provide the same performance in a smaller and lighter form. The advantage lies in their smaller vehicle weight, thus significantly reducing soil compaction. The high soil compaction of current tractors often has an adverse effect on agricultural soils.

[0111] Furthermore, the third type of working machinery 201.1 designed according to the present invention includes a third type of movable counterweight 205, which is connected to the vehicle frame 215 via a linkage mechanism 206.1. The arrangement of the linkage mechanism 206.1 allows the third type of movable counterweight 205 to move over a wide range without significant raising or lowering during movement, and its displacement path is essentially a straight line 216. Due to its large displacement range, the movable counterweight 205 can be relatively small, and when the working device 202.1 is raised, the heavy weight of the working device can still be compensated by lever action.

[0112] In the third type of work machinery 201.1 designed according to the present invention, the third type of movable counterweight 205 includes only elements that do not need to be kept in a horizontal position, such as a power storage device. It can be connected to the rod 207.3 so that it can rotate to a horizontal position at the same angle as the body of the rod 207.3. The third type of movable counterweight 205 shown in the example is circular, but it can also be cylindrical. Of course, it can also take any other reasonable structural shape.

[0113] By using the linkage mechanism 206.1 of the work machine 201.1 designed according to the present invention, a single drive / actuator 225.1 (e.g., positioned at the center of the vehicle) is required to move the third type of movable counterweight 205. Of course, two or more drive units can also be used. The drive / actuator 225.1 does not bear any force required to hold the movable counterweight upward against gravity, but does bear the forces required for the acceleration and braking of the counterweight 205, including the frictional forces on the linkage mechanism against the movement of the third type of movable counterweight 205. The hinge points 208.1, 208.2, 208.3, and 208.4 are all simple pin hinge mechanisms, which can be designed with low friction, and are very robust, have low wear, and are simple and relatively inexpensive to maintain. If designed properly, dust intrusion into such hinge mechanisms can be well prevented. Therefore, the linkage mechanism 206.1 is an inexpensive and energy-efficient solution for securing and guiding the third type of movable counterweight 205.

[0114] Figure 13aThe diagram shows the linkage 206.1 of a third type of work machinery 201 designed according to the present invention in its fully extended position, wherein the third type of movable counterweight 205 has been offset to its furthest position, i.e., it is located at its furthest point from the vehicle frame. The linkage 206.1 includes three links 207.1, 207.2, and 207.3, which are connected to other elements via central hinge points 208.1, 208.2, 208.3, 208.4, and 208.5. Furthermore, lines 209.1, 209.2, 209.3, 209.4, and 209.5 connecting the hinge points are also shown. Therefore, the length of each line is equal to the distance between the two hinge points connected by that line. The first link 207.1 and the second link 207.2 are rotatably connected to the vehicle frame 215 (not shown in this figure) via hinge points 208.1 and 208.2. Hinge points 208.3 and 208.4 are located at the opposite ends of the first rod 207.1 and the second rod 207.2, respectively. The third rod 207.3 is rotatably mounted on the first two rods via hinge points 208.3 and 208.4. At the opposite end of the third rod 207.3, a third type of movable counterweight 205 is connected to the third rod 207.3 via hinge point 208.5; this connection can be fixed or rotatable. Therefore, the third rod 207.3 comprises three hinge points 208.3, 208.4, and 208.5, wherein the line 209.5 connecting hinge points 208.3 and 208.4 forms a fixed angle 217.1 greater than 90° with the line 209.3 connecting hinge points 209.3 and 209.4. The hinge point 208.5 connecting the third movable counterweight 205 to the third rod 207.3 lies on a straight line 216 in its vertical direction. To allow the third movable counterweight 205 to extend to a considerable distance, rods 207.1 and 207.2 must form the smallest possible angles 217.2 and 217.3 with the horizontal plane, respectively. Furthermore, the two displacement strokes 218.1 and 218.2 must be as large as possible so that rods 207.2 and 207.3 contribute as much as possible to the overall horizontal displacement stroke 218.3. However, the angle 217.5 between the second rod 207.2 and the third rod 207.3 must not be too large and should be significantly less than 180°; otherwise, the force within hinge points 208.1, 208.2, 208.3, and 208.4 will become excessive. Choose a fixed angle 217.1 for the third rod 207.3 so that the angle 217.4 between the line 209.5 connecting the third rod 207.3 and the line 209.1 connecting the first rod 207.1 is greater than 0°.In order to meet the preset value of the large displacement stroke 218.3 and keep the angle 217.5 significantly less than 180°, the rods 207.1, 207.2, and 207.3 must have a certain minimum length, but should be as small as possible to limit the structural height of the third type of machine 201. Therefore, the fixed angle 217.1 must be greater than 90°.

[0115] Figure 13b The diagram shows the linkage 206.1 of the third type of working machinery 201.1 designed according to the present invention in the retracted position, wherein the third type of movable counterweight 205 is not offset too much, that is, it is not far from the third type of working device 202, wherein the hinge point 208.5 for connecting the third type of movable counterweight 205 and the rod 207.3 is substantially located on a straight line 216 in its vertical direction.

[0116] Figure 13c The diagram shows the linkage mechanism 206.1 of the third type of work machinery 201.1 designed according to the present invention in an intermediate position, wherein the hinge point 208.5 for connecting the third type of movable counterweight 205 and the third rod 207.3 is substantially located on a straight line 216 in its vertical direction. Hinge points 208.1, 208.2, 208.3, and 208.4 form a quadrilateral, wherein the angle 217.1 of the third rod 207.3 is greater than 90°. The first rod 207.1 is rotatably mounted on the vehicle / vehicle frame via the first hinge point 208.1 and the second rod 207.2 via the second hinge point 208.2. The third rod 207.3 is rotatably connected to the first rod 207.1 via the third hinge point 208.3 and rotatably connected to the second rod 207.1 via the fourth hinge point 208.4. The third type of movable counterweight 205 is rotatably or fixedly mounted on the third rod 207.3 via hinge point 208.5, wherein the arrangement of hinge points 208.1, 208.2, 208.3, and 208.4 forms a polygon with their connecting lines 209.1, 209.2, 209.4, and 209.5. The three hinge points 208.3, 208.4, and 208.5 of the third rod 207.3 are connected by a first connecting line 209.5 and a second connecting line 209.3, and the fixed angle 217.1 between the two connecting lines is greater than 90°. The positions of hinge points 208.1 and 208.2 on the vehicle / vehicle frame, the length of line 209.1 connecting the first rod 207.1, the length of line 209.2 connecting the second rod 207.2, the fixed angle 217.1, and the lengths of lines 209.5 and 209.3 connecting the third rod 207.3 are arranged so that the third rod 207.3 guides the movable counterweight 205 to move on a straight line 216 that is relatively fixed to the vehicle through hinge point 208.5.

[0117] Figure 13d The image shows the third rod 207.3 of the work machine 201.1 designed according to the present invention, which has hinge points 208.3, 208.4, and 208.5, as well as connecting lines 209.3 and 209.5 and a fixed angle 217.1. The polygon 219 is also shown in its retracted position when the link structure 206.1 is in the retracted position. When the third rod 207.3 rotates about hinge point 208.2, hinge point 208.4 moves on a circular trajectory 220.1, the center of which is hinge point 208.2 and its radius 221.1 is equal to the length of the line 209.2 connecting rod 207.2. Simultaneously, the hinge point 208.3 of the third rod 207.3 also rotates around the hinge point 208.1, where the hinge point 208.3 moves on a circular trajectory 220.2, the center of which is the hinge point 208.1 and its radius 221.2 is equal to the length of the line 209.1 connecting rods 207.1. The third rod 207.3, positioned on hinge points 208.3 and 208.4, moves along circular trajectories 220.1 and 220.2, such that it undergoes a predetermined rotational movement through the two circular paths 220.1 and 220.2 in the process.

[0118] Figure 13eThe diagram shows the third rod 207.3 of a third type of machine 201.1 designed according to the present invention, which has hinge points 208.3, 208.4, and 208.5, a connecting line 209.5, and a fixed angle 217.1 at different positions 207.3, each position predetermined by moving hinge points 208.3 and 208.4 on circular trajectories 220.1 and 220.2. At each of the above positions, hinge point 208.5 is substantially located on a straight line 216. The rotation of rod 207.3 depends primarily on the distance between the two hinge points 208.1 and 208.2 (which are also the centers of circles 220.1 and 220.2, and their different radii 221.1 and 221.2 are predetermined) and the length of the connecting line 209.5 of the third rod 207.3. The length of the connecting line 209.5 must at least allow it to cross the distance between circular lines 220.1 and 220.2 at each point of its intended movement. As the second rod 207.2 rotates around hinge point 208.2, hinge point 208.4 of the third rod 207.3 rotates on circle 220.1. During this process, hinge point 208.4 has displacement in both the horizontal direction 222 and the vertical direction 223. Because hinge point 208.5 of the third rod 207.3 should move approximately along straight line 216, the third rod 207.3 must rotate around hinge point 208.4 to a certain extent so that the rotation of the third rod 207.3 can compensate for the change in hinge point 208.4 in the vertical direction 223. To achieve this movement, hinge points 208.1, 208.2, 208.3, and 208.4 form a quadrilateral 219, where the third rod 207.3 has three hinge points 208.3, 208.4, and 208.5. The included angle between the lines connecting these three points, 209.3 and 209.5, is a fixed angle 217.1 greater than 90°. By properly coordinating the positions of hinge points 208.1 and 208.2 and the length of their connecting line 209.4, as well as the lengths of the lines connecting the first rod 207.1 and the second rod 207.2 (209.1 and 209.2), the fixed angle 217.1, and the length of the line connecting the third rod 207.3, hinge point 208.5 is positioned approximately on a straight line 216 at any point within its movable distance segment 218.3.

[0119] For example, suitable dimensions can be selected so that the positions of hinge points 208.1 and 208.2 are on a straight line parallel to the vehicle's longitudinal axis. The length of the line connecting them, 209.4, is 0.4 meters. The length of the line connecting the first rod 207.1, 209.1, is 1.60 meters, and the length of the line connecting the second rod 207.2, 209.2, is 1.45 meters. For the third rod 207.3, the length of the line connecting 209.5 is 0.2 meters, and the length of the line connecting 209.3 is 1.30 meters, forming a fixed angle 217.1 of 140° with each other. In this embodiment, hinge point 208.5 moves substantially along a straight line 216 within a distance 218.3 of approximately 2.5 meters, substantially parallel to the connecting line 209.4, thus allowing the third type of movable high counterweight 205 to move parallel to the vehicle's longitudinal axis. Figures 13a to 13e As shown, graphical methods or analytical methods can be used to determine these variables and their correlations with each other.

[0120] Figure 14 The diagram shown is a schematic representation of another embodiment of the third type of operating machinery 201.2 designed according to the present invention. Figure 14 In one embodiment, the third type of work machinery 201.2 includes a third type of main vehicle axle 203 with wheel elements 204 on both sides, a work device 202.2 in the form of a bucket 214, and a third type of movable counterweight 205.1 connected to the vehicle frame 215 via a linkage mechanism 206.2. Furthermore, the linkage mechanism 206.2 of the third type of work machinery 201.2 also includes a fourth link 207.4, which functions to keep the third type of movable counterweight 205.1 in a substantially horizontal position within its movable stroke range.

[0121] The third type of movable counterweight 205.1 can be moved using only a single drive / actuator 225 (e.g., positioned at the center of the vehicle) via the linkage mechanism 206.2 of the third type of work machinery 201.2, while a fourth link 207.4 holds the movable counterweight 205.1 in its horizontal position. This has the advantage that the third type of movable counterweight 205.1 can contain components capable of operating without interference and whose function is not affected by any tilt, such as energy conversion motors, hydraulic pumps, liquid containers and / or other storage devices, drive or control elements. Furthermore, an auxiliary wheel 210 can be attached to the movable counterweight 205.1, which may include a device for load detection.

[0122] Figure 15aThe diagram shows the linkage mechanism 206.2 of the third type of working machinery 201.2 designed according to the present invention in its intermediate position. In addition to the elements of the linkage mechanism 206.1, the linkage mechanism 206.2 also includes a fourth rod 207.4 rotatably connected to a third type of movable counterweight 205.1 via another hinge point 208.7. The fourth rod 207.4 is rotatably connected to the second rod 207.2 via another hinge point 208.6. The second rod 207.2 has a third hinge point 208.6, and the three hinge points 208.2, 208.4, and 208.6 of the second rod 207.2 are connected by a first connecting line 209.2 and a second connecting line 209.6, with a fixed angle 217.6 formed between the two connecting lines greater than 90°. The two hinge points 208.5 and 208.7 are positioned on the movable counterweight 205.1, with a fixed distance of 226.1 in the horizontal direction and a fixed distance of 226.2 in the vertical direction. The positions of hinge points 208.5 and 208.7 on the third type of movable counterweight 205.1, the length of the line 209.3 connecting the third rod 207.3, the length of the line 209.8 connecting the fourth rod 207.4, the fixed angle 217.6, and the length of the line 209.6 connecting the second rod 207.2 are rationally arranged so that the fourth rod 207.4 keeps the third type of movable counterweight 205.1 basically horizontal during movement.

[0123] Figure 15b The diagram shows the linkage mechanism 206.2 of the work machine 201.2 designed according to the present invention in its extended position. The hinge point 208.5 for connecting the movable counterweight 205.1 to the third rod 207.3 is located on line 216.1. The hinge point 208.7 for connecting the movable counterweight 205.1 to the fourth rod 207.4 is located on line 216.2, parallel to line 216.1, thus allowing the movable counterweight 205.1 to be held in a substantially horizontal position.

[0124] Figure 15c The linkage mechanism 206.2 of the third type of working machinery 201.2 designed according to the present invention is shown in the middle position. The hinge point 208.5 for connecting the third type of movable counterweight 205.1 and the third rod 207.3 is located on the straight line 216.1. The hinge point 208.7 for connecting the third type of movable counterweight 205.1 and the fourth rod 207.4 is located on the straight line 216.2, so that it can hold the movable counterweight 205.1 in a basically horizontal position.

[0125] Figure 15dThe diagram shows the linkage 206.2 of the third type of working machinery 201.2 designed according to the present invention in the retracted position. The hinge point 208.5 for connecting the third type of movable counterweight 205.1 and the third rod 207.3 is located on a straight line 216.1. The hinge point 208.7 for connecting the third type of movable counterweight 205.1 and the fourth rod 207.4 is located on a straight line 216.2, thus it can hold the movable counterweight 205.1 in a basically horizontal position.

[0126] For example, suitable dimensions can be selected such that hinge points 208.1 and 208.2 are located on a straight line parallel to the vehicle's longitudinal axis. The length of the line connecting them, 209.4, is 0.4 meters. The length of the line connecting the first rod 207.1, 209.1, is 1.60 meters, and the length of the line connecting the second rod 207.2, 209.2, is 1.45 meters. The length of the line connecting the second rod 207.2, 209.6, is 0.2 meters, and the fixed angle 217.6 of the second rod 207.2 is 150°. For the third rod 207.3, the length of the line connecting 209.5 is 0.2 meters, and the length of the line connecting 209.3 is 1.30 meters, forming a fixed angle 217.1 of 140° with each other. Hinge points 208.5 and 208.7 have a horizontal distance of 0.34 meters, 226.1 meters, and a vertical distance of 0.2 meters, 226.2 meters. In this embodiment, the hinge point 208.5 moves substantially along a straight line 216 within a distance of approximately 2.5 meters 218.3, substantially parallel to the connecting line 209.4, thus allowing the third type of movable high counterweight 205.1 to move parallel to the vehicle's longitudinal axis. The third type of movable counterweight 205.1 is kept in a substantially horizontal position. Figures 13a to 13e As shown and Figures 15a to 15d These variables and their correlations can be determined using graphical or analytical methods.

[0127] Figure 16 The diagram shown is a schematic representation of another embodiment of the third type of work machinery 201.2 designed according to the present invention. The third type of work machinery 201.2 includes two linkage mechanisms 206.2 and 206.2', respectively arranged on the sides of a third type of movable counterweight 205.1, such that there is space between the two linkage mechanisms 206.2 and 206.2' for the counterweight to move. In an advantageous embodiment, one or more crossbeams 211 can be arranged in the area above the movable counterweight, connecting the two linkage mechanisms 206.2 and 206.2' to each other. Therefore, the two linkage mechanisms become very robust, allowing the rods 207.1, 207.2, 207.3, 207.4 and 207.1', 207.2', 207.3', 207.4' to be manufactured with low weight and low cost.

[0128] Figure 17 The diagram shown is a schematic representation of another embodiment of a third type of work machinery 201.3 designed according to the present invention. The third type of work machinery 201.3 includes a third type of movable counterweight 205.3, which can be moved via two linkage mechanisms 206.3 and 206.3' (not shown) arranged on the sides of the third type of counterweight 205.3. Furthermore, the third type of work machinery 201.3 also includes a third type of vehicle axle 203 with third type of wheel elements 204 on its sides, about which the third type of work machinery 201.3 can maintain balance. Additionally, the third type of work machinery 201.3 includes a receiving mechanism 224 for a third type of work machinery 202.3, which in this example is a trailer 228. In this example of the receiving mechanism 224, the work machinery 201.3 can rotate relative to the trailer 228 about a vehicle vertical axis 229, enabling it to make directional movements. Another advantage is that if the receiving mechanism 224 allows the trailer 228 to twist about the vehicle's longitudinal axis 230, then no balanced suspension is required on any axle. However, the receiving mechanism 224 does not allow rotational movement of the lateral axis (not shown here). Such receiving mechanisms are known in the prior art, for example, in self-propelled turning articulated dump trucks, hereinafter referred to as dump trucks. The benefit of this is that the load acting on the third type of vehicle axle 203 can be increased by the outward tilting of the third type of movable counterweight 205.3. Therefore, the traction capacity of the third type of wheel element 204 attached to the vehicle axle 203 can be increased. The resulting higher pitching moment is transmitted to the trailer via the receiving mechanism 224. The load on the trailer wheels is correspondingly reduced. The advantage is that such vehicles can have good traction comparable to prior art vehicles that require driving one or more trailer axles. Thus, the work machinery 201.3 can generate traction using the trailer 228 without the complex mechanisms typically required to drive trailer axles. This results in better weight and cost advantages, as well as better energy efficiency.

[0129] Another advantage is that the trailer 228 can be attached or detached via the receiving mechanism 224 of the working device 202.3. This allows the working machinery 201.3 to be provided as a general-purpose machine capable of using various working devices, for example, in the construction and agriculture industries. Furthermore, by utilizing the different rotational speeds or steering directions of the wheel elements 204 mounted on the vehicle axle 203 for steering, a highly maneuverable vehicle can be created, thus offering advantages even when the working device 202.3 is attached. To enable simple and quick attachment of the working device 202.3, such as the trailer 228, sensors can be used, which, together with electronic controls featuring vehicle assistance systems, automatically, quickly, and accurately guide the working machinery 201.3 onto the working device.

[0130] Furthermore, a third-class work machine 201.3 with a trailer 228 can be used during excavation operations to load the trailer 228 while it is detached from the work device 201.3. Simultaneously, the third-class work machine 201.3 with another trailer 228 is already traveling on its predetermined route without waiting for the loading process. Multiple dump trucks are typically used between loading and unloading points. For efficiency reasons, loaders, such as excavators or wheel loaders, should not wait for the next empty dump truck to arrive. Therefore, the planned number of dump trucks is usually greater than the absolute necessity. In this case, the dump trucks must wait at the loading point. For example, if a certain number of dump trucks are required at the construction site to ensure efficient operation, the same task can be accomplished using the same number of trailers 228 but with fewer work machines 201.3 when using the third-class work machine 201.3. By using a movable counterweight 205.2 and a receiving mechanism 224 for attaching the trailer 228, this type of machinery can be used even on very difficult terrain and when the dump truck requires high traction.

[0131] List of reference numerals

[0132] 1. Operating machinery 56 main vehicle axles

[0133] 2. Working device 57. Wheel components

[0134] 3 Main vehicle axle 58 auxiliary wheels

[0135] 4. Wheel component 59. Movable counterweight

[0136] 5. Movable counterweight 60° swivel arm

[0137] 6-swing boom 61-section boom

[0138] 7 working arms, 62 levers

[0139] 8. Auxiliary wheels 101. Class II working machinery

[0140] 9. Contracting organization 102 Class II working device

[0141] 10 Bucket 103 Category II Main Vehicle Axle

[0142] 11 Linkage Mechanism 104 Second Type of Wheel

[0143] 12 Wheel Frame 105 Class II Movable Counterweight

[0144] 13 Vehicle vertical axle 106 Type II auxiliary wheel

[0145] 14 Vehicle longitudinal axis 107 second type swing arm

[0146] 15 Vehicle horizontal axis 108 Class II boom

[0147] 16. Movement Channel 109, Type II Drive Unit

[0148] 17. Crossbar 110, Class II Receiving Mechanism

[0149] 18-barrel 111 Class II bucket

[0150] 19 Lifting Fork 112 Type II Linkage Mechanism

[0151] 50. Operating machinery 113. Class II vehicle frame

[0152] 51. Counterweight

[0153] 52 Working Device

[0154] 53 Lifting Frame

[0155] 54. Hinged Mechanism

[0156] 55 Vehicle frame

[0157] 201 Operating Machinery

[0158] 202 Working Device

[0159] 203 vehicle axles

[0160] 204 Wheel Components

[0161] 205 Portable counterweights

[0162] 206 Linkage Mechanism

[0163] 207 strokes

[0164] 208 hinge points

[0165] 209 Connection

[0166] 210 Auxiliary wheel

[0167] 211 Crossbeam

[0168] 212 Working Arm

[0169] 213 Rotary Arm

[0170] 214 Bucket

[0171] 215 Vehicles / Vehicle Frames

[0172] 216 straight line

[0173] 217 angle

[0174] 218 Displacement stroke

[0175] 219 polygons

[0176] 220 Circular Trajectory

[0177] 221 radius

[0178] 222 Horizontal direction

[0179] 223 Vertical direction

[0180] 224 Contracting Organization

[0181] 225 Drive unit / actuator

[0182] 226 Distance

[0183] 227 Driver's Cab

[0184] 228 trailers

[0185] 229 Vehicle vertical axis

[0186] 230 Vehicle longitudinal axis

[0187] 250 wheel loader

[0188] 251 Counterweight

[0189] 252 Working Device

[0190] 253 Main vehicle axles

[0191] 254 Wheel Components

[0192] 255 boom

[0193] 256 Vehicle Frame

[0194] 257 Auxiliary Wheel

[0195] 258 Leverage

[0196] 259 Portable counterweights

[0197] 260 articulated mechanism

[0198] 261 Drive unit

[0199] 262 Scissor-type hinge mechanism

[0200] 263 straight line

[0201] 264 Linear Bearing

[0202] 265 poles / track

Claims

1. Operating machinery (1.1, 1.2, 1.3) includes: - Exactly one main vehicle axle (3), - Wheel elements (4.1, 4.2) are arranged on both sides of the main vehicle axle (3). - The working device (2) or the receiving mechanism (9) for the working device is mounted on the vehicle frame (12) via a rotary arm (6, 6.1, 6.2) and a working arm (7, 7.1, 7.2) rotatably mounted thereon. Its characteristics are At least one movable counterweight (5, 5.1, 5.2) is mounted on a vehicle frame (12) via at least one linkage (11, 11.1, 11.2), wherein a dedicated movement channel (16.1, 16.2, 16.3, 16.4, 16.5, 16.6, 16.7, 16.8, 16.9, 16.10) is allocated along the vehicle longitudinal axis (14) for the movable counterweight (5, 5.1, 5.2), the linkage (11, 11.1, 11.2), and the swing arm (6, 6.1, 6.2) with the working arm (7, 7.1, 7.2).

2. The design of the working machinery (1.1, 1.2, 1.3) according to claim 1 is characterized in that the first moving channel (16.1) for the movable counterweight (5) occupies the center of the vehicle's transverse axis (15).

3. The design of the working machinery (1.1, 1.2, 1.3) according to claim 2 is characterized in that at least the second and third moving channels (16.2, 16.3) for at least two linkage mechanisms (11.1, 11.2) are laterally distributed in the direction of the vehicle's transverse axis (15) and adjacent to the first moving channel (16.1).

4. The feature of the design of the working machine (1.1, 1.2, 1.3) according to claim 2 is that at least two rotary arms (6.1, 6.2) and at least two working arms (7.1, 7.2) are arranged such that one of the rotary arms (6.1, 6.2) and one of the working arms (7.1, 7.2) are located in the same plane and respectively occupy only the fourth and / or fifth movement channels (16.4, 16.5).

5. The design of the working machine (1.1, 1.2, 1.3) according to claim 4 is characterized in that at least the fourth and fifth movement channels (16.4, 16.5) for at least two swing arms (6.1, 6.2) are laterally distributed in the direction of the vehicle's transverse axis (15) and the two working arms (7.1, 7.2) are adjacent to the second and third movement channels (16.2, 16.3).

6. The working machine (1.1, 1.2, 1.3) designed according to any one of claims 2 to 5 is characterized in that the wheel elements (4.1, 4.2) are in the same area as the fourth and fifth movement channels (16.4, 16.5) for the two rotary arms (6.1, 6.2) and the two working arms (7.1, 7.2) in the direction of the vehicle's transverse axis (15).

7. The design of the working machine (1.1, 1.2, 1.3) according to claim 1 is characterized in that the sixth moving channel (16.6) for the first rotating arm (6) and the first working arm (7) mounted thereon occupies the central position of the vehicle's transverse axis (15).

8. The design of the working machine (1.1, 1.2, 1.3) according to claim 7 is characterized in that at least the seventh and eighth movement channels (16.7, 16.8) for at least two linkage mechanisms (11.1, 11.2) are laterally distributed in the direction of the vehicle transverse axis (15) and adjacent to the sixth movement channel (16.6) for the first swing arm (6) and the first working arm (7).

9. The machine tool (1.1, 1.2, 1.3) designed according to claim 7 or 8 is characterized in that at least the ninth and tenth movement channels (16.9, 16.10) for at least two movable counterweights (5.1, 5.2) are laterally distributed in the direction of the vehicle's transverse axis (15) and adjacent to the seventh and eighth movement channels (16.7, 16.8) for the linkage mechanism (11.1, 11.2).

10. The design of the working machinery (1.1, 1.2, 1.3) according to any one of claims 7 to 9 is characterized in that the movable counterweight (5.1; 5.2) is firmly connected to the rear side of the vehicle.

11. Operating machinery (101) includes: - A second-class working device (102) or a second-class receiving mechanism (110) for the second-class working device (102), - Only one Class II main vehicle axle (103), - Two Class II wheels (104) are arranged on either side of the single Class II main vehicle axle (103). - The second type of wheel (104) is equipped with a corresponding second type of drive unit (109), - At least one second-type auxiliary wheel (106), the second-type auxiliary wheel (106) including at least one load detection device, Its characteristics are A second type of movable counterweight (105), the position of which can be adjusted by a controller, such that the load on the second type of auxiliary wheel (106) is between a lower limit and an upper limit. One of them has at least one controller and the controller includes an adjustment loop that controls the drive unit when the value is below a lower limit so that the applied drive torque can be appropriately changed to prevent the vehicle from overturning. The lower and upper limits can be changed; The lower and upper limits change automatically based on the driving speed. The second type of working device automatically switches to a self-balancing driving mode at a certain speed. In this mode, the second type of working device maintains balance around the axle of the second type of main vehicle and the second type of auxiliary wheel does not bear any load.

12. The working machine (101) designed according to claim 11 is characterized in that the controller controls the second type of drive unit (109) when the second type of auxiliary wheel (106) is lifted off the ground, so that the torque of the second type of drive unit (109) can be appropriately changed to prevent the working machine from tipping over and to guide the second type of auxiliary wheel (106) back to the ground.

13. The working machine (101) designed according to claim 11 or 12 is characterized in that the controller of the second type of drive unit (109) controls the load when it is below the lower limit, so that the torque of the second type of drive unit (109) can be appropriately changed to prevent the vehicle from overturning, and the torque change required for this purpose exists only before the load on the second type of auxiliary wheel (106) is above the lower limit again.

14. The working machine (101) designed according to claim 11 is characterized in that the controller appropriately controls the second type of drive unit (109) when the load is below the lower limit value to prevent the vehicle from overturning and the position of the second type of movable counterweight (105) will change until the load on the auxiliary wheel (106) reaches the limit value again.

15. The working machine (101) designed according to claim 11 is characterized in that the controller controls the second type of drive unit (109) when the value is below the lower limit, so that the vehicle switches its driving mode to the self-balancing mode. When the control device receives the signal, it issues a command to switch to the self-balancing mode.

16. The operating machine (101) designed according to claim 11 is characterized in that the adjustment circuit is an electronic adjustment circuit and includes at least a tilt sensor and / or a load sensor.

17. The working machine (101) designed according to claim 11 is characterized by having a tilt sensor.

18. The working machine (101) designed according to claim 11 is characterized in that the second type of drive unit (109) is an electric drive device.

19. The operating machinery (101) designed according to claim 11 is characterized in that the lower limit value and the upper limit value can be changed.

20. The operating machinery (101) designed according to claim 19 is characterized in that the upper and lower limits will automatically change according to the travel speed.

21. The working machine (101) designed according to any one of claims 15 to 20 is characterized in that the second type of working machine (101) automatically switches to a self-balancing driving mode when it exceeds a certain speed, in which the second type of working machine (101) maintains balance around the main vehicle axle and the auxiliary wheel (106) does not bear any load.

22. The working machine (101) designed according to claim 11 is characterized in that the second type of auxiliary wheel (106) is arranged on the movable counterweight (105).

23. Operating machinery (201.1, 201.2, 201.3) includes: - A Class 3 working device (202.1, 202.2, 202.3) or a Class 3 receiving mechanism (224) for a working device, one or more Class 3 vehicle axles (203), and wheel elements (204) distributed on both sides of the Class 3 vehicle axle (203). Its characteristics are There is a third type of movable counterweight (205) and a third type of linkage mechanism (206.1) for fixing and guiding the third type of movable counterweight (205). The third type of linkage mechanism (206.1) includes at least three links (207.1, 207.2, 207.3), wherein the first link (207.1) is rotatably mounted on the vehicle / vehicle frame (215) via a first hinge point (208.1) and the second link (207.2) via a second hinge point (208.2), the third link (207.3) is rotatably connected to the first link (207.1) via a third hinge point (208.3) and rotatably connected to the second link (207.2) via a fourth hinge point (208.4), wherein the third type of movable counterweight (205) is connected via a fifth hinge point (208.5). The first to fourth hinge points (208.1, 208.2, 208.3, 208.4) are rotatably or fixedly connected to the third rod (207.3), and their connecting lines (209.1, 209.2, 209.4, 209.5) are arranged so that they form a polygon (219) with at least four sides. The third hinge point (208.3), the fourth hinge point (208.4), and the fifth hinge point (208.5) of the third rod (207.3) are connected by two connecting lines (209.3, 209.5) of the third rod (207.3). These two connecting lines (209.3, 209.5) form a fixed angle (217.1) greater than 90° with each other. The connecting lines (209.4) on the vehicle / vehicle frame (215) are arranged in a reasonable manner. The length of the first rod (207.1), the length of the line connecting the second rod (207.2), the length of the fixed angle (217.1) of the third rod (207.3), and the length of the two lines connecting the third rod (207.3) (209.3, 209.5) are used to guide the movable counterweight (205) to move on a straight line (216) that is fixedly distributed relative to the working device (201.1, 201.2, 201.3) through the fifth hinge point (208.5).

24. The operating machinery (201.1, 201.2, 201.3) designed according to claim 23 is characterized by the reasonable arrangement of straight lines (216) so that the third type of movable counterweight (205) moves along the straight lines (216) so that the center of gravity of the vehicle moves parallel to the longitudinal axis of the vehicle.

25. The working machinery (201.1, 201.2, 201.3) designed according to claim 24 is characterized in that, by adjusting the position of the third type of movable counterweight (205), the center of gravity of the vehicle is always located above the third type of vehicle axle (203), so that the working machinery (201.1, 201.2, 201.3) can maintain balance around the center of gravity.

26. The working machine (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that the second linkage mechanism (206.2) includes a fourth rod (207.4), which is rotatably connected to a movable counterweight (205.1, 205.2) via a seventh hinge point (208.7), and rotatably connected to the second rod (207.2) via a sixth hinge point (208.6), wherein the second hinge point, the fourth hinge point, and the sixth hinge point (208.2, 208.4, 208.6) on the second rod (207.2) are connected by two connecting lines (209.2, 209.6) of the second rod (207.2), and the two connecting lines (209.2, 209.6) are connected by two connecting lines (209.2, 209.6) of the second rod (207.2). 209.6) are at a fixed angle greater than 90° (217.6) to each other. By reasonably arranging the position of the hinge points (208.5, 208.7) on the third type of movable counterweight (205.1, 205.2), the length of the line connecting the third rod (207.3) (209.3), the length of the line connecting the fourth rod (207.4) (209.8), the fixed angle (217.6) of the second rod (207.2), and the length of the line connecting the second rod (207.2) (209.6), the fourth rod (207.4) keeps the third type of movable counterweight (205.1, 205.2) basically in a horizontal position when it moves.

27. The working machine (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that the third type of movable counterweight (205, 205.1, 205.2) is connected to the working machine through at least two linkage mechanisms (206.1, 206.1', 206.2, 206.2'), and the third type of movable counterweight (205, 205.1, 205.2) is arranged on both sides of the working machine, such that the movable counterweight (205, 205.1, 205.2) has free space in the two linkage mechanisms (206.2, 206.2') to allow the counterweight to move.

28. The design of the working machine (201.1, 201.2, 201.3) according to any one of claims 23 to 25 is characterized in that the hinge point (208.1, 208.2, 208.3, 208.4, 208.5, 208.6, 208.7) includes a sliding sleeve and / or a rolling bearing.

29. The working machine (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that it has at least one controller, and the controller includes at least one adjustment circuit for controlling the position of the counterweight (205, 205.1, 205.2).

30. The operating machinery (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that the above-mentioned adjustment circuit is an electronic adjustment circuit and / or includes a tilt sensor and / or a stroke sensor.

31. The working machine (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that at least one sensor is arranged on the linkage mechanism (206.1, 206.2) so that the position of the third type of counterweight (205, 205.1, 205.2) can be determined by it.

32. The working machine (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that at least one sensor is arranged on the linkage mechanism (206.1, 206.2) so that the weight of the third type of movable counterweight (205, 205.1, 205.2) can be determined by it.

33. The working machine (201.1, 201.2, 201.3) designed according to any one of claims 23 to 25 is characterized in that the movable counterweight is driven by at least one drive device / actuator (225), which is a hydraulic cylinder or an electric actuator.

34. The design of the working machine (201.1, 201.2, 201.3) according to any one of claims 23 to 25 is characterized in that the third type of movable counterweight (205, 205.1, 205.2) includes an energy storage device and / or a motor for energy conversion.

35. The design of the working machine (201.1, 201.2, 201.3) according to any one of claims 23 to 25 is characterized in that at least one third type of auxiliary wheel (210) is arranged on the third type of movable counterweight (205, 205.1, 205.2).

36. The design of the working machine (201.1, 201.2, 201.3) according to any one of claims 23 to 25 is characterized in that the third type of working device (202.1, 202.2, 202.3) is connected to the working machine via a third type of receiving mechanism (224), which can rotate about the vertical axis (229) of the vehicle, thereby enabling the vehicle to turn.

37. The design of the working machinery (201.1, 201.2, 201.3) according to any one of claims 23 to 25 is characterized in that the working device (202.1, 202.2, 202.3) is a trailer or a bucket (214) or an agricultural soil tillage implement.

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