WORK MACHINE

Description

Technical field

[0001] The invention relates to a working machine according to the preamble of claim 1. State of the art

[0002] Various construction machines, such as wheel loaders, backhoe loaders, and compact loaders, are known from the prior art, in which a working attachment is mounted at the front of the vehicle. This working attachment can be a bucket, a forklift, or other implements commonly used in agriculture and construction. The working attachment, for example, the bucket, can be raised or lowered. For this purpose, the wheel loader (see Figures 1a and 1b) uses a lifting frame that is rotatably mounted to the front of the wheel loader by means of joints. The joints used only allow rotational movement in a longitudinal plane of the vehicle, meaning the lifting frame can only rotate upwards or downwards. The working attachment, very often a bucket in the case of the wheel loader, moves along a circular path, the center of which is formed by the joints connecting the lifting frame to the vehicle frame.A fixed counterweight is located at the rear. The stability of this wheel loader against tipping forward around the front axle is primarily influenced by the weight in the bucket, its distance from the front axle, and the weight of the counterweight and its distance from the front axle. The rotation of the lifting frame on its circular path has a detrimental effect, as the horizontal distance increases when the bucket is lifted from the ground. A disadvantage of this wheel loader is the fixed, non-adjustable position of the counterweight, as well as the fixed horizontal distance of the bucket to the front axle outside the predetermined circular path.

[0003] In this context, reference is made to DE 10 2017 100 963 A1, which discloses a working machine comprising the following: a working device or a mounting for a working device, exactly one main vehicle axle, wheel elements arranged on both sides of the main vehicle axle, drive units assigned to the wheel elements, at least one control system, wherein the control system comprises at least one control loop and causes the working machine to self-balance around the main vehicle axle, and a counterweight, wherein the position of the counterweight relative to the main vehicle axle can be controlled via the control system, so that the working machine can be balanced around the main vehicle axle and its directions of movement can be controlled by shifting the position of the counterweight. Object of the invention

[0004] The object of the present invention is to overcome the disadvantages of the prior art. In particular, the invention aims to provide a work machine or vehicle suitable for performing the tasks typically performed by work machines today, while exhibiting high maneuverability and flexibility. Furthermore, the invention aims to provide a work machine or vehicle that is lighter while maintaining the same performance, offering greater agility and a lower component density. Finally, the invention aims to provide a work machine or vehicle that can be flexibly used as a base vehicle for various work attachments.Furthermore, the invention is intended to provide a working machine or vehicle that enables an increase in productivity and also meets modern ecological requirements. Solution to the task

[0005] The features according to claim 1 lead to the solution of the problem. Advantageous embodiments are described in the dependent claims.

[0006] For this purpose, vehicles with a movable weight and a movable implement are to be used. Both should be able to be moved within a sufficiently wide range to allow for a very compact vehicle and to maintain the vehicle's center of gravity in an ideal position. The movable weight is to be moved by a linkage that guides it very close to, or even above, the main vehicle axis. The implement is to be moved by a swivel arm and a working arm that guides it very close to the main vehicle axis. A vehicle body design is to be developed that accommodates the position and range of motion of the swivel arm, the working arm for mounting and moving the implement, and the position and range of motion of the movable weight.

[0007] A working machine according to the invention comprises exactly one main vehicle axle, wheel elements arranged on both sides of the main vehicle axle, a working device or a receptacle for a working device, wherein the latter is arranged on a vehicle frame by at least one pivot arm with at least one rotatably arranged working arm. Furthermore, the working machine according to the invention comprises at least one movable weight, wherein the weight is arranged on the vehicle frame by at least one linkage. Each movable weight, linkage, and pivot arms with working arms is exclusively assigned a movement channel along the longitudinal direction of the vehicle.

[0008] In contrast to a prior art machine, a machine according to the invention has a design that allows both the work tool with its large mass and the heavy movable weight to be shifted to the central area of ​​the machine, which is located near the main vehicle axle. This ensures that the vehicle's center of gravity is always kept in this area, thus achieving a stable position for the vehicle. Furthermore, the machine according to the invention can therefore assume a very compact position compared to a prior art machine. This offers the advantage that a machine according to the invention can be used in confined spaces, such as those often found on inner-city construction sites, and can be operated very nimbly there.Furthermore, this offers the advantage of providing a significantly lighter work machine that can nevertheless lift and transport the same usable load as comparable prior art work machines. This is made possible by the fact that, in the work machine according to the invention, the load is positioned very close to the main vehicle axle during lifting, similar to prior art counterbalance forklifts. Once the load is lifted to the point where the work attachment and / or the load is above the wheel elements, it can be moved even closer to the main vehicle axle. This is made possible by allowing the working arms and swivel arms to move freely and independently of the movements of the movable weight within their respective movement channels. For lifting the load from the ground, the movable weight is extended far to the rear.Thus, due to the leverage effect of its position, it can be lightweight yet still support heavy loads on the implement without compromising the vehicle's stability. The comparatively low movable weight has a positive impact on the vehicle's overall weight. As the implement, with its load, is retracted further over the main vehicle axle, the movable weight is retracted conversely. This is achieved by having separate movement channels for both the movable weight and its associated linkages, ensuring that the movements of the implement and the movable weight do not significantly interfere with each other.

[0009] Thus, the machine according to the invention, in contrast to a machine from the prior art, exhibits a significantly better payload-to-weight ratio. Particularly with smaller machines, a further advantage lies in the fact that the machine according to the invention can be transported on simple vehicle trailers without exceeding their maximum permissible total weight. Another advantage of the machine according to the invention is that, due to its lower weight, it can be used inside buildings on upper floors without exceeding their maximum permissible floor load. Furthermore, it can be transported to different floors using the elevators already present in the buildings without exceeding the elevators' permissible payload.

[0010] In a preferred embodiment, the movable weight and its associated motion channel occupy a central position on the vehicle's transverse axis. This offers the advantage that a significant portion of the vehicle's width can be allocated to the movable weight and its associated motion channel. Since the movable weight also serves as a container that can hold various functional elements, such as energy converters, oil tanks, and / or hydraulic pumps, it ideally occupies the central position in the transverse direction. Thus, only one such container is required, and consequently, only one centrally located motion channel. A linkage for moving the movable weight is arranged laterally on each side, with at least two linkages required in a particularly preferred embodiment. This allows the working arms and pivot arms to be positioned at the outermost points on the sides.In the preferred embodiment, the movement channel for the movable weight is arranged such that its lower boundary lies above the main vehicle axis and its upper boundary lies below the crossbars necessary for the lateral stability of the linkages. This has the advantage that the linkages can be made very narrow, since their lateral stability is ensured by the use of one or more crossbars. This, in turn, allows the movement channels for the linkages to be made very narrow, thus enabling a comparatively narrow vehicle width.

[0011] In a typical embodiment, the swivel arms and the working arms arranged on them each lie in the same plane. This has the advantage that the forces acting due to the load of the working device, as well as those caused by the adjusting elements, for example, hydraulic cylinders, do not generate excessively high bending moments. Furthermore, this allows the movement channels necessary for free movement to be designed with narrow profiles. As a result, the working machines according to the invention can have an overall narrow design.

[0012] In another embodiment, swivel arms and working arms are arranged laterally, i.e., on the outside in the direction of the vehicle's transverse axis, adjacent to the linkage's movement channels. This offers the advantage that the swivel arms and working arms can absorb the unevenly acting forces on the implement.

[0013] In another typical embodiment, the wheel elements are arranged in the same plane as the swivel arms and the working arms. This offers the advantage that the machine according to the invention can be built very narrow. As a result, it is not only very compact in its length but also in its width. When used inside buildings, such machines have the advantage that they can, for example, pass through doorways with common opening widths.

[0014] In a further embodiment, a machine according to the invention comprises only one swivel arm and a working arm arranged thereon. These assume a central position, thus also assigning a movement channel for the swivel arm and the working arm to a position centered on the vehicle's transverse axis. The advantage of this embodiment is that fewer drive elements are required to move the swivel arm and the working arm compared to machines with multiple swivel arms and working arms. If electric actuators are used, the often-used hydraulic system consisting of an oil reservoir, hydraulic pump, filter, valves, and hoses can be omitted. The electric actuators, as often used in the prior art for driving robot arms, can be supplied with energy directly from an electrical storage device via electrical cables.This allows for a smaller number of components to be required. However, the electrical actuators themselves are more complex and expensive than hydraulic cylinders. Therefore, a design of the machine according to the invention using electrical actuators is advantageous when the number of required drives or actuators is small.

[0015] On both sides of the movement channel for the swivel arm and the working arm, and adjacent to it, two movement channels are arranged that enable the movement of at least two linkages for attaching and moving movable weights. Adjacent to the linkage movement channels, i.e., at the outermost points along the vehicle's transverse axis, at least one movement channel is arranged on each side, enabling the movement of at least one movable weight. In this embodiment, two movable weights are used. If all drives of the machine are electric, no additional installation space is required besides the electrical energy storage, such as for oil tanks, pumps, and valves. Electrical energy storage can be easily distributed between two separate spaces without incurring significant structural costs.The costs are largely limited to the use of electrical cable connections.

[0016] In a preferred embodiment, the two movable weights are rigidly connected to each other at their rear ends. This allows them to be moved by a single drive element or actuator. Therefore, a single control signal is sufficient. Because the connection of the two movable weights is located at the rear of the vehicle, the movements of the elements of the other motion channels, such as the swivel arm, the working arm, and the linkages, are not adversely affected.

[0017] A further working machine according to the invention comprises a further working device or a further mounting for a further working device. The further working machine according to the invention further comprises exactly one further main vehicle axle, wherein further wheels are arranged on both sides of the further main vehicle axle. Each of the further wheels arranged on both sides of the further main vehicle axle is assigned a separate further drive unit. The further working machine according to the invention further comprises at least one further auxiliary wheel, wherein the further auxiliary wheel includes at least one load detection device.

[0018] Furthermore, the additional working machine according to the invention comprises a further movable weight, the position of which can be controlled by a control system such that the load on the additional auxiliary wheel remains within a lower and upper limit. The further working machine according to the invention also comprises at least one control system, the control system comprising at least one control loop which, when the lower limit is undershot, controls the additional drive units in such a way that the applied drive torque is modified to prevent the vehicle from tipping over. For this purpose, vehicles with an additional movable weight and an additional movable working device are to be used.

[0019] A preferred embodiment of the further working machine according to the invention thus has two driving modes. In self-balancing driving mode, the additional auxiliary wheel is not on the ground. The vehicle balances around the main vehicle axis using tilt sensors and is controlled by the magnitude of the torques and rotational speeds of the additional wheels on the main vehicle axis, as well as by the positional displacement of the additional movable weight. In the driving mode of the additional auxiliary wheel, however, the additional auxiliary wheel is on the ground and bears a load that is determined by load sensors and can be regulated by a positional displacement of the additional movable weight within upper and lower limits.

[0020] The additional work machine according to the invention thus has the capability of always placing the main load on the main vehicle axle and keeping the load on the auxiliary wheel within a range defined by the limit values. Due to the low load on the auxiliary wheel, the maneuverability of the additional work machine in this driving mode remains almost as good as in self-balancing mode. However, the demands on the control and regulating capabilities are higher, especially in difficult terrain, when self-balancing. In such cases, the control speed available to the vehicle for driving on two wheels may be too slow.The rapidly changing forces that can act on the other working machine through the additional implement, or forces that can act abruptly on the other wheels due to a very uneven road surface, are easier to control if the additional auxiliary wheel takes over a portion of the load, even if this portion is significantly smaller than that of the other wheels of the other main vehicle axle.

[0021] Furthermore, when balancing on difficult terrain or standing on two additional wheels, the vehicle requires more energy for its other drive units. Optimal energy utilization is a crucial requirement for a modern, environmentally friendly auxiliary machine. Therefore, the self-balancing driving mode is suitable for driving on level surfaces and at higher speeds. The advantage is that in self-balancing mode, the vehicle experiences no pitching acceleration or rolling motions due to uneven road surfaces. The additional energy consumption of the other drive units required for balancing is low at higher speeds. The auxiliary wheel driving mode, on the other hand, is suitable for driving on uneven surfaces, in situations with rapidly changing forces (such as those exerted on the machine by an attachment), at low speeds, and when stationary.

[0022] To keep the load on the auxiliary wheel low and thus maintain the maneuverability and agility of the auxiliary machine as high as when driving in self-balancing mode, a control loop in the control system of the auxiliary machine according to the invention detects the load on the auxiliary wheel. This can be done by load sensors arranged on the auxiliary wheel or on a further mounting for the auxiliary wheel. This load changes as the additional movable weight is moved. Moving the additional movable weight further away from the main vehicle axle increases the load on the auxiliary wheel. Conversely, moving it closer to the main vehicle axle decreases the load. The control loop is thus able to adjust the load on the auxiliary wheel so that it remains within a range defined by a lower and an upper limit.

[0023] The speed of this control loop is primarily limited by the fact that the additional movable weight requires time to move. Frictional forces must be overcome, as well as the inertial force of the additional movable weight, which opposes the moving force. If, for example, the additional machine is traveling on an uneven road surface and sudden forces act on the wheels of the other main axle, the load on the auxiliary wheel can decrease just as abruptly. If this load reaches zero, the vehicle risks tipping over before this load can be increased by moving the additional movable weight. This can be counteracted by setting a high lower limit for the load. Thus, the height of the lower limit also provides a safety margin against the vehicle tipping over.

[0024] In contrast to prior art machines, the lower limit value of the additional working machine according to the invention can be chosen to be very low, since the additional drive units of the additional wheels of the additional main vehicle axle are used to assist in preventing the vehicle from tipping over if the lower limit value is rapidly undershot. By selecting additional drive units that can change their torque very quickly, as is the case, for example, with electric motors, an additional, fast-acting control loop can be created.Similar to the control loop that uses the displacement of the additional movable weight to regulate the load on the auxiliary wheel, the second control loop uses changes in the torque of the additional drive units to either prevent tipping when the auxiliary wheel is already in the air or when the load on the auxiliary wheel suddenly drops so quickly that the slow movement of the additional movable weight cannot prevent the lower limit from being exceeded. The second control loop thus compensates for the slow control speed of the first control loop, creating a vehicle that can be operated in auxiliary wheel mode and is therefore still very agile and maneuverable on uneven surfaces.If the additional work machine according to the invention is traveling, for example, on an uneven road surface in a forward direction, i.e., in the direction opposite the side of the vehicle to the additional auxiliary wheel, and has a substantially constant drive torque applied to the additional drive units of the additional wheels of the additional main vehicle axle, then the additional movable weight remains in a constant position, which is adjusted such that the load on the additional auxiliary wheel is slightly above the lower limit. If this additional work machine travels, for example, through a pothole or a dip in the road surface, the load on the auxiliary wheel decreases abruptly. The load reduction is detected by the load sensors on the additional auxiliary wheel and reported to the control system. The additional movable weight is immediately accelerated and moves backward.

[0025] Terms like front, back, top and bottom refer to the other machine used in accordance with regulations, which stands on the ground below and, for example, lifts the other machine from the ground and moves forward and backward.

[0026] However, the auxiliary wheel can still lift off the ground. The second control loop then superimposes an additional drive torque onto the existing drive torques of the other drive units, the magnitude of which depends on the preceding driving resistances. This higher drive torque causes the other machine to accelerate forward. This generates a reaction torque at the other drive units, which acts on the machine in the direction in which it would otherwise tip backward, or in which the auxiliary wheel is pressed downward. Thus, the machine is prevented from tipping forward.

[0027] For this second control loop, in addition to the load sensors for the load on the auxiliary wheel, the tilt sensors intended for the self-balancing control loop can also be used. These detect the vehicle's tilting movement when the auxiliary wheel has already lifted off the ground. They also detect whether the vehicle rights itself due to the increased drive torque, or whether the superimposed torque needs to be increased further. Thus, tilt sensors, together with the other drive units, are part of the control loop in auxiliary wheel driving mode.

[0028] If the vehicle according to the invention is traveling in reverse, i.e., in the direction of the auxiliary wheel, and a torque is present in this direction of travel which depends on the driving resistances, then this drive torque must also be changed when driving over a pothole in order to prevent tipping over. In this case, however, the existing drive torque is reduced to achieve the same effect as when driving forward.

[0029] In a preferred embodiment of the further working machine according to the invention, this superimposed torque, which prevents the vehicle from tipping over, is applied only until the load on the additional auxiliary wheel is again above the lower limit. Since the additional movable weight also shifts rearward simultaneously when this limit is detected, the duration of the superimposed torque can be kept short. This prevents excessive acceleration of the vehicle speed. Similarly, the position sensors can also be used to determine the point in time at which the superimposed torque is reversed. These sensors can indicate that the vehicle has righted itself sufficiently for the additional auxiliary wheel to be back on the ground. Thus, if the additional auxiliary wheel lifts off the ground, the superimposed torque is released.When the wheel lifts, the superimposed torque returns it to the ground. The vehicle therefore only briefly travels on two additional wheels and is immediately returned to the auxiliary wheel driving mode, in which the auxiliary wheel rests on the ground with a light load. This repeated return of the auxiliary wheel to the ground continues as long as the control system receives a signal to keep the vehicle in the auxiliary wheel mode with a light load, i.e., as long as the vehicle has selected the auxiliary wheel driving mode.

[0030] If the corresponding signal is different, namely that a switch to self-balancing driving mode should occur, the load on the additional support wheel is reduced by shifting the additional movable weight until it reaches zero. Simultaneously, the control loop required for self-balancing using the tilt sensors is activated.

[0031] In a further preferred embodiment of the additional work machine according to the invention, the lower and upper limit values ​​are adjustable. These can be selected differently, for example, depending on the road surface or the application. The limit values ​​can be set either by an operator, either via a control element on the vehicle or via a remote control. Alternatively, the limit values ​​can also be changed by automatic functions designed to optimize the respective driving situation. In a further preferred embodiment, the driving speed is used for the automatic optimization of the limit values. In another embodiment, the additional auxiliary wheel is arranged on the additional movable weight.This has the advantage that the load on the additional auxiliary wheel does not increase significantly when the further movable weight is extended far to the rear. However, it can just as easily be positioned at the rear of the vehicle frame.

[0032] In a further embodiment, vehicles with movable weights are to be used. These weights should be able to be moved over a sufficiently wide range, thus keeping the vehicle's center of gravity in an ideal position. The movement should be possible without significant energy loss. Furthermore, the movement should be easily controllable and should be approximately parallel to the vehicle's longitudinal axis. The movement mechanism should be simple, cost-effective, and robust, and should not cause excessive wear on the components used during movement.

[0033] A third working machine according to the invention comprises a third working device or a third mounting for a working device. Furthermore, the third working machine according to the invention comprises one or more third vehicle axles, wherein third wheel elements and / or track elements are arranged on both sides of the third vehicle axles. The third working machine according to the invention further comprises at least one third movable weight, wherein the position of the third movable weight is movable such that the vehicle's center of gravity can be shifted.Furthermore, the third working machine according to the invention comprises at least one linkage for attaching and guiding the third movable weight, which includes at least three rods, wherein a first rod is rotatably arranged on the vehicle / vehicle frame via a first pivot point and a second rod is rotatably arranged on the vehicle / vehicle frame via a second pivot point, and a third rod is rotatably connected to the first rod via a third pivot point and rotatably connected to the second rod via a fourth pivot point. The movable weight is rotatably or rigidly arranged on the third rod via a fifth pivot point.

[0034] The first four pivot points are arranged such that their connecting lines form a polygon with at least four sides. The three pivot points of the third rod are connected by a first connecting line and a second connecting line, which are at a fixed angle of more than 90° to each other. The positions of the pivot points of the first and second rods on the vehicle / vehicle frame, the length of the connecting line of the first rod, the length of the connecting line of the second rod, the fixed angle, and the lengths of the connecting lines of the three pivot points on the third rod are arranged such that the third rod guides the third movable weight along a substantially straight line, fixed relative to the vehicle, when moved.

[0035] A third machine according to the invention thus has, in contrast to a machine from the prior art, a third movable weight which is movable over a very wide range, with the movement occurring in a straight line. In a preferred embodiment, the third movable weight is driven by only a single drive / actuator, which essentially only needs to overcome the forces required to accelerate and decelerate the third movable weight. The horizontal displacement is generated by two rods which are rotatably mounted by joints, so that the two horizontal displacements are added together. This displacement thus reaches a considerable length.In this way, the vehicle's center of gravity can be kept in a range favorable to its stability, even when highly dynamic forces act on the vehicle via the implement. Due to its large displacement range, the third movable weight, with its longer lever arm, can counteract these forces and thus produce the same effect as the fixed, and in some cases significantly heavier, counterweights of conventional implements.

[0036] The forces acting on the third movable weight due to gravity, which can be further increased by dynamic driving conditions, must be transmitted to the vehicle via the pivot points. In the third working machine according to the invention, these forces are transmitted exclusively by simple joints that, through simple rotation, for example by using bolts, allow the necessary movements to move the weight. Such joints can be designed to be very robust. They are well protected against dust and dirt ingress, require little maintenance, and can ensure a long service life. Furthermore, they cause only comparatively low friction losses, even when transmitting high loads. These losses can be reduced even further by using sliding bushings or roller bearings.

[0037] In a preferred embodiment, the linkage is arranged such that it guides the third movable weight along a line that is substantially parallel to the vehicle's longitudinal axis. This offers the advantage that the weight can be moved a considerable distance without approaching the ground, which would impair ground clearance, or without having to be raised excessively, which would consume unnecessary energy and shift the vehicle's center of gravity to a higher, less favorable position. In a further embodiment, this line can also be arranged such that, in addition to moving the third movable weight parallel to the vehicle's longitudinal axis, thereby shifting the vehicle's center of gravity parallel to the longitudinal axis, a vertical movement component is simultaneously included.

[0038] In a preferred embodiment, the position and length of the displacement path of the third movable weight make it possible to always precisely align the vehicle's center of gravity over a single third axle, allowing the machine to self-balance. This makes it possible to steer the vehicle using the third wheels of this axle by driving them at different speeds or even in different directions. Such machines are therefore very maneuverable and agile.

[0039] In a further embodiment, the linkage comprises a fourth rod, which is rotatably connected at one end to the movable weight by a further pivot point and at the other end to the second rod by a further pivot point. The second rod has a third pivot point, wherein the three pivot points of the second rod are connected by a first connecting line and a second connecting line, which are at a fixed angle of more than 90° to each other. The positions of the two pivot points on the movable weight, the length of the third rod (including the connecting lines of the pivot points), the length of the fourth rod, the fixed angle, and the length of the connecting line of the second rod are arranged such that the fourth rod holds the third movable weight in a substantially horizontal position when it is moved.This offers the advantage that the horizontal position of the third movable weight remains unchanged when moved along the vehicle's longitudinal axis. Therefore, the movable weight can include components such as energy conversion motors, hydraulic pumps, fluid reservoirs, and / or other storage, drive, or control elements that can operate without interference and whose function cannot be impaired by any tilting.

[0040] In a preferred embodiment, the third movable weight is connected to the vehicle by two linkages, which are arranged on two sides of the weight such that the third movable weight has space between them and can be moved between them. This has the advantage that a kind of track remains free between the two linkages, in which the third movable weight can move back and forth. The third movable weight can move along the longitudinal axis of the vehicle within the area where the linkages are connected to the vehicle. The advantage is that this allows for the construction of very short and compact vehicles.

[0041] In a particularly preferred embodiment, the linkage joints comprise sliding bushings or rolling bearings that reduce the frictional forces that arise in the joint bearings when the third movable weight is moved. This allows the movement to occur quickly and without excessive energy consumption, even under high dynamic conditions.

[0042] In another embodiment, the third working machine comprises a control unit, wherein the control unit includes at least one electronic control loop and thus controls the position of the third movable weight. This control unit can, for example, also include tilt sensors.

[0043] In another embodiment, the third working machine includes sensors that detect the position of the third movable weight. This information can be evaluated, for example, in an electronic control unit and used to control or regulate the ideal position of the weight and thus the ideal position of the vehicle's center of gravity. Such sensors can be linear sensors or angle sensors, which, for example, detect an angle between two rods at a pivot point.

[0044] In another embodiment, the third machine includes sensors that detect the weight of the third movable weight. This allows load data to be provided to an electronic control unit, which can change, for example, due to changes in the weight of elements located within the third movable weight. These elements could be, for example, fuel tanks or hydraulic fluid tanks.

[0045] In another embodiment, the displacement is effected by a drive / actuating element, which can be, for example, a hydraulic cylinder or an electric linear drive, or an electric actuating element which is arranged at a pivot point, such as an electric motor with a reduction gear.

[0046] In a typical embodiment, the third movable weight of the third working machine according to the invention comprises an energy storage device and / or a motor for energy conversion. The motor for energy conversion can, for example, be an internal combustion engine as known from the prior art. Furthermore, this also includes other known devices for energy conversion, such as hydraulic pumps. The energy storage device can, for example, 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 the drive system but also for hydraulic motors and / or pumps to control the displacement of the weight or for the movements of the third working device.This offers the advantage that, for example, the weight of an energy storage device, when the movable weight is shifted, simultaneously shifts the center of gravity. This allows for the creation of comparatively lightweight vehicles.

[0047] In a preferred embodiment of the third working machine according to the invention, an auxiliary wheel can be arranged on the third movable weight. The advantage of such an auxiliary wheel is that it can, for example, absorb load peaks. Such load peaks can occur, for example, when the third working machine is used as a work tool with a bucket for breaking off material, for example in a quarry face, or when the bucket is being unloaded and the load on the bucket suddenly decreases due to the falling material. For this purpose, the auxiliary wheel can be used in one embodiment as an additional support element by allowing the control system to also bear a small load on the auxiliary wheel, so that the center of gravity may be temporarily shifted (especially during a loading operation) outside the third vehicle axis towards the third movable weight.Furthermore, the auxiliary wheel prevents the third movable weight from striking the ground due to a sudden shift in the center of gravity (for example, when unloading the bucket) of the third work machine, or from dragging on the ground during such a sudden repositioning. Thus, an advantage of the auxiliary wheel is that it can be used as an additional support point for the third work machine, particularly during loading and unloading, when sudden load peaks and resulting shifts in the center of gravity can occur. However, it is important to note that the main load should always be borne by the third vehicle axle, so the auxiliary wheel and its bearings / suspension in and / or on the counterweight only need to be dimensioned for light loads.Furthermore, the auxiliary wheel can, for example, prevent the movable weight from hitting the ground during an emergency stop of the third work machine, where the third movable weight of the third work machine must be moved abruptly in the opposite direction of travel. In another embodiment, the work implement is coupled to the third work machine via a mount that can be rotated about the vehicle's vertical axis, thus allowing the vehicle to steer. Vehicles capable of accommodating attachable and detachable work implements are known in the art. When detachable, the third work machine drives and steers by means of suitable devices, for example, by having steerable wheels on one axle. Alternatively, it can be self-balancing and steered by varying the rotational speeds of the wheels on the main axle.If track drives are arranged on both sides of a main axle, the vehicle also steers via different drive speeds and stands stably on the tracks, thus requiring no balancing devices. If a work implement is coupled to such a vehicle via a rotating mount, and the work implement has tracking devices such as wheels, then steering is achieved via this pivot joint. Such steering devices are known from the prior art, for example, in articulated dump trucks or articulated wheel loaders. Tracking devices can also be work implements that, while in operation, are laterally guided by plowshares or tillage tines.If such vehicles incorporate a third movable weight, the center of gravity of this third implement can be adjusted so that only one driven axle is used, while the vehicle still possesses the same traction capability as prior art vehicles with two or more driven axles. The movable weight allows the center of gravity to be positioned close to the driven axle, which then bears the entire weight available for generating traction. If this mounting is designed to permit movement around the vehicle's vertical axis but not around its transverse axis, then a downward force acting on the implement, for example, caused by tillage equipment such as plowshares, can also be directed to the driven axle by shifting the movable weight to the side opposite the implement.

[0048] Prior art has revealed plows that have a driven wheel on the side facing away from the tractor. This wheel receives its energy from the tractor via hydraulic pressure oil or electricity. The downward force acting on the plowshares can thus be used by this driven wheel to generate a tractive force, which assists the tractor in pulling the plow. If a tractor has a movable counterweight, the same tractive force can be generated using the single driven main axle, eliminating the need for a separate drive mechanism on the plow.

[0049] In a further embodiment, trailers can also be coupled to the third working machine according to the invention via this mounting, so that the steering function of this vehicle is achieved via the pivot joint. Such vehicles can also utilize the trailer's load to generate tractive force on the main axle of the third working machine via the third movable weight. Trailers are known in the art that have a driven axle and thus use the trailer load to generate tractive force. The tractor pulling the trailer can therefore be built lighter while maintaining the same driving performance. Due to the movable weight, such a driven trailer axle can be dispensed with in the third working machines according to the invention. Character description

[0050] Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings; these show in: Figure 1 shows a work machine in the form of a wheel loader with a lifting frame from the prior art; Figure 2 shows a schematic representation of a work machine with a movable weight, swivel arms and working arms from the prior art; Figures 3a to 3c show a schematic representation of an embodiment of a work machine according to the invention; Figure 4 shows a schematic representation of an embodiment of a work machine according to the invention; Figure 5 shows a schematic representation of a further embodiment of a work machine according to the invention; and Figures 6a to 6c show a schematic representation of an embodiment of a work machine according to the invention. Example of implementation

[0051] In Figure 1Figure 50.1 depicts a wheel loader, corresponding to a prior art work machine / vehicle, which has two axles and a working implement 52 in the form of a bucket. The wheel loader 50.1 further comprises a lifting frame 53, which is rotatably connected at one end to the vehicle frame 55 by means of joints 54, and at the opposite end of which the working implement 52 is arranged. A counterweight 51 is fixed at the rear end. A disadvantage of such wheel loaders is their high unladen weight compared to their payload. They also require considerable maneuvering space, due to their length and the limitations imposed by the articulated steering.

[0052] In Figure 2Figure 50.2 depicts a wheel loader, which corresponds to a prior art construction machine / vehicle. The wheel loader 50.2 comprises only one main vehicle axle 56, on which wheel elements 57 are arranged on both sides. Each wheel element 57 is assigned a separate drive unit, which, via a control system, enables the wheel loader 50.2 to self-balance around the main vehicle axle 56. The separate drive units also steer the wheel loader 50.2, allowing it to turn on the spot. Furthermore, the wheel loader 50.2 includes a bucket as a working attachment 52, which is connected to the vehicle frame 55 via the pivot arms 60 and working arms 61. On the side of the vehicle opposite the working attachment 52, the construction machine 50.2 has a movable counterweight 59, which allows the vehicle's center of gravity to be shifted and thus pivoted over the main vehicle axle 56.By shifting the movable weight 59, the vehicle can be steered in its directions of movement while in self-balancing mode. A self-steering auxiliary wheel 58 is mounted on the movable weight 59. This auxiliary wheel can bear a load as long as the vehicle is outside of self-balancing mode. The load on the auxiliary wheel 58 is changed by shifting the movable weight 59, ideally being smaller than the load on the main vehicle axle 56. This ensures that the wheel elements 57 of the main vehicle axle 56 always maintain high contact pressure with the ground and thus generate sufficient traction. The wheel loader 50.2 includes two levers 62.1 and 62.2, which connect the movable weight 59 to the vehicle frame 55 and allow for adjustment of the position of the movable weight 59.

[0053] Two swivel arms 60 and two working arms 61 are arranged on both sides of the vehicle in such a way that the work device 52 can be pulled backwards to ensure the vehicle's stability against tipping forwards. However, this requires the same installation space as the movable weight, which is needed to be pulled close to the main vehicle axle.

[0054] In Figure 3aA preferred working machine 1.1 according to the invention is shown, which eliminates or at least minimizes the disadvantages of prior art working machines. The working machine 1.1 according to the invention comprises a working device 2, which is connected to the vehicle via the receptacle 9. The working device 2 can be raised for transport via the receptacle 9. The working device 2 shown is a bucket 10, such as those used on wheel loaders. However, any working device used in construction and / or agriculture that requires a carrier vehicle is conceivable as the working device 2 arranged on the receptacle 9. Furthermore, the working machine 1.1 comprises at least one main vehicle axle 3 with wheel elements 4 and / or track elements arranged on both sides.

[0055] The machine 1.1 according to the invention can be used as a robot. In this case, the machine operates without a driver, i.e., remotely controlled and / or autonomously. Robots, such as those used in agriculture, are often lighter and smaller than the machines most commonly used today. Because several such robots can be used to perform the tasks of a single machine, and because they are faster and more agile, they can be smaller and lighter while still delivering the same performance. Their lower manufacturing and operating costs, as well as their maneuverable and agile driving characteristics, are advantageous.

[0056] Furthermore, the work machine 1.1 according to the invention comprises a movable weight 5, which is connected to the vehicle frame 12 via a linkage 11. The linkage 11 is arranged such that the movable weight 5 can be displaced over a wide range, allowing it to be positioned very close to the main vehicle axle 3 and thus making the vehicle very compact. Due to the wide range of movement, the movable weight 5 can be comparatively small and yet, through leverage, counterbalance the weight of a heavy work implement 2 when it is lifted, without the vehicle losing its stable position. The linkage 11 consists of rods 18.1, 18.2, 18.3, and 18.4. These rods guide the movable weight along the longitudinal axis 14 of the vehicle in a substantially straight line.Little energy is expended during the moving process, as the drive essentially only needs to provide the acceleration energy for the movable weight.

[0057] In a preferred embodiment of the machine 1.1 according to the invention, the movable weight comprises 5 elements, such as energy converters, electric batteries or hydraulic systems for supplying the hydraulic cylinders.

[0058] Furthermore, the machine according to the invention 1.1 has pivot arms 6.1 and 6.2 which are rotatably arranged on the vehicle frame 12. Working arms 7.1 and 7.2 are also rotatably arranged on the pivot arms 6.1 and 6.2, which include a receptacle 9 to which a working device 2 can be attached.

[0059] In Figure 3bThe machine 1.1 according to the invention is shown in a further view. In order to be able to move the movable weight 5 along the longitudinal axis 14 of the vehicle far towards the area of ​​the main vehicle axis 3 without being obstructed by other elements in the vehicle, a first movement channel 16.1 is assigned to the movable weight 5. No other elements are located in the first movement channel 16.1, regardless of their movements or positions. The movable weight 5, and thus the first movement channel 16.1 assigned to it, assumes a central position on the transverse axis 15 of the vehicle.

[0060] Since the movable weight 5 in a preferred embodiment contains functional elements such as energy storage devices, energy converters, hydraulic pumps, valves, and hydraulic oil reservoirs, it has a comparatively large extent in the direction of the vehicle's transverse axis 15. Ideally, only a single movable weight 5 is used, but several smaller ones can also be used, which then no longer need to be located centrally.

[0061] In the preferred embodiment, a linkage 11.1 and 11.2, each consisting of four rods 18.1, 18.2, 18.3, and 18.4, is arranged on each side of the movable weight 5. The second and third movement channels 16.2 and 16.3 are assigned to the linkages 11.1 and 11.2 to ensure their movement in the direction of the main vehicle axis 3. In the preferred embodiment, the two pivot arms 6.1 and 6.2, as well as the two working arms 7.1 and 7.2, lying in the same plane, are mounted further outwards on the vehicle frame 12 in the direction of the vehicle's transverse axis 15. The two pivot arms 6.1, 6.2 and the associated two working arms 7.1, 7.2 move in the same plane. The two fourth and fifth movement channels 16.4 and 16.5 are assigned to them. The width of these fourth and fifth movement channels 16.4, 16.5 can therefore be kept very small.

[0062] In Figure 3cThe machine 1.1 according to the invention is shown in a further view. The first movement channel 16.1 is bounded downwards by the main vehicle axle 3. The movable weight 5 is located above the main vehicle axle 3 when retracted. The movable weight 5 occupies as much space upwards as is determined by the internal elements. Above this, the linkages 11.1 and 11.2 can be connected to each other by crossbars 17 to achieve high stability. Thus, the rods 18.1, 18.2, 18.3, and 18.4 can be dimensioned very small and space-saving in the direction of the vehicle's transverse axis 15. As a result, the second and third movement channels 16.2 and 16.3 occupy very little installation space in this direction. The advantage is that the machine 1.1 can therefore be built comparatively narrow.

[0063] In Figure 4The inventive working machine 1.1 is shown in its compact state. In this state, the working device 2 is positioned close to the main vehicle axle 3. Simultaneously, the movable weight 5 is positioned close to, or even partially above, the main vehicle axle 3. This results in a very compact vehicle.

[0064] In Figure 5 Figure 1 shows a further embodiment of the machine 1.2 according to the invention. In this embodiment, the wheel elements 4.1 and 4.2 are located in the same area as the pivot arms 6.1, 6.2 and working arms 7.1, 7.2, in the direction of the vehicle's transverse axis 15. The advantage is that the vehicle width can thus be kept very small. When used inside buildings, the machine 1.2 can move through narrow corridors or doorways.

[0065] In Figure 6aA further machine 1.3 according to the invention is shown, which eliminates or at least minimizes the disadvantages of prior art machines. The machine 1.3 according to the invention comprises a working device 2. The working device 2 shown is a forklift fork, as used in prior art forklifts. However, any working device used in construction and / or agriculture that requires a carrier vehicle is conceivable as the working device 2, which is arranged on the mounting 9. The working device 2 or the mounting 9 for a working device is arranged on a vehicle frame 12 by means of at least one pivot arm 6 with at least one working arm 7 rotatably arranged thereon. In the machine 1.3 according to the invention, the pivot arm 6 and the working arm 7 assume a central position on a transverse axis 15 of the vehicle.By using only one swivel arm and one working arm, their movements can be controlled by fewer drives / actuators. This results in a low vehicle weight and lower manufacturing costs. This also makes it possible to use electric actuators, which are expensive individually. However, due to their small number, their higher cost does not negatively impact the overall cost of the machine.

[0066] Furthermore, the work machine 1.3 according to the invention comprises two movable weights 5.1, 5.2. These are connected to the vehicle frame 12 via two linkages 11.1, 11.2. The linkages 11.1, 11.2 are arranged such that the movable weights 5.1, 5.2 can be moved over a wide range. This allows them to be positioned very close to the main vehicle axle 3, resulting in a very compact vehicle. Due to the wide range of movement, the movable weights 5.1, 5.2 can be comparatively small and yet, through leverage, counteract the weight of a heavy work implement 2 when it is lifted, without the vehicle losing its stable position.

[0067] In Figure 6bThe machine 1.3 according to the invention is shown in a further view. In order to be able to pull the working device 2 along the longitudinal axis 14 of the vehicle far beyond the main vehicle axis 3, without the swivel arm 6 and the working arm 7 being obstructed by other elements in the vehicle, a sixth movement channel 16.6 is assigned to the swivel arm 6 and the working arm 7. No other elements are located in the sixth movement channel 16.6, regardless of their movements or their position.

[0068] In the preferred embodiment, a linkage 11.1 and 11.2 are arranged on each side of the pivot arm 6 and the working arm 7. The two linkages 11.1 and 11.2 are assigned the seventh and eighth movement channels 16.7 and 16.8 to ensure their mobility in the direction of the main vehicle axis. In the preferred embodiment, the movable weights 5.1 and 5.2 are arranged further outwards in the direction of the vehicle's transverse axis 15. The movable weights 5.1 and 5.2 move in their assigned ninth and tenth movement channels 16.9 and 16.10. This has the advantage that the movable weights 5.1 and 5.2 can be moved much closer to the area of ​​the main vehicle axis 3. Since the sixth movement channel 16.6 is for the first swivel arm 6 and the first working arm 7, the two seventh and eighth movement channels 16.7 and 16.8 are for the linkages 11.1 and 11.Since the ninth and tenth movement channels 16.9 and 16.10 for the movable weights 5.1 and 5.2 do not obstruct each other, the working device 2 and the movable weights 5.1 and 5.2 can be pulled simultaneously towards the center of the vehicle, resulting in a very compact vehicle length. This short length enables very agile and rapid vehicle movements.

[0069] In a preferred embodiment of the machine 1.3 according to the invention, the two movable weights 5.1, 5.2 are rigidly connected to each other at their rear ends. This allows them to be moved by a single drive element or a single actuating element. Because the connecting elements of the two movable weights 5.1, 5.2 are arranged at the rear end of the vehicle, or at the rear end of the weights 5.1, 5.2, the movements of the pivot arm 6 and the working arm 7, as well as the linkages 11.1, 11.2, are not adversely affected.

[0070] In Figure 6c The machine according to the invention 1.3 is shown in a stretched position.

[0071] In Figure 6d The machine according to the invention 1.3 is shown in a further view in an extended position. Reference symbol list 1 work machine 56 Main vehicle axle 2 work equipment 57 Wheel elements 3 Main vehicle axle 58 auxiliary wheel 4 Wheel element 59 Adjustable weight 5 Adjustable weight 60 Swivel arm 6 Swivel arm 61 Working arm 7 Working arm 62 lever 8 auxiliary wheel 9 Recording 10 shovel 11 rods 12 Vehicle frame 13 Vehicle vertical axis 14 Vehicle longitudinal axis 15 Vehicle transverse axis 16 Movement channel 17 Crossbar 18 rod 19 forklift fork 50 work machine 51 counterweight 52 work equipment 53 Lifting frame 54 joint 55 Vehicle frame

Claims

1. Work machine (1.1, 1.2, 1.3) comprising: - exactly one main vehicle axle (3), - wheel elements (4.1, 4.2) arranged on both sides of the main vehicle axle (3), - a working tool (2) or a receptacle (9) for a working tool, wherein the working tool or the receptacle is arranged on a vehicle frame (12) by means of a pivot arm (6, 6.1, 6.2) with a rotatably arranged working arm (7, 7.1, 7.2), characterized in that at least one displaceable weight (5, 5.1, 5.2) is arranged on the vehicle frame (12) by means of at least one linkage (11, 11.1, 11.2), wherein the displaceable weight (5, 5.1, 5.2), the linkage or linkages (11, 11.1, 11.2), and the pivot arm (6, 6.1, 6.2) with the working arm (7, 7.1, 7.2) are each assigned an exclusive movement channel (16.1, 16.2, 16.3, 16.4, 16.5, 16.6, 16.7, 16.8, 16.9, 16.10) along the vehicle longitudinal axis (14).

2. Work machine (1.1, 1.2, 1.3) according to claim 1, characterized in that the first movement channel (16.1) for the displaceable weight (5) occupies a central position on a vehicle transverse axis (15).

3. Work machine (1.1, 1.2, 1.3) according to claim 2, characterized in that at least the second and third movement channels (16.2, 16.3) for at least two of the linkages (11.1, 11.2) are arranged laterally in the direction of the vehicle transverse axis (15) adjacent to the first movement channel (16.1).

4. Work machine (1.1, 1.2, 1.3) according to claim 2, characterized in that at least two pivot arms (6.1, 6.2) and at least two working arms (7.1, 7.2) are arranged such that one of the pivot arms (6.1, 6.2) and one of the working arms (7.1, 7.2) lie in the same plane and each occupy only a fourth and / or fifth movement channel (16.4, 16.5).

5. Work machine (1.1, 1.2, 1.3) according to claim 4, characterized in that at least the fourth and the fifth movement channel (16.4, 16.5) for at least the two pivot arms (6.1, 6.2) and the two associated working arms (7.1, 7.2) are arranged laterally in the direction of the vehicle transverse axis (15) adjacent to the second and third movement channels (16.2, 16.3).

6. Work machine (1.1, 1.2, 1.3) according to at least one of claims 2 to 5, characterized in that the wheel elements (4.1, 4.2) are arranged, in the direction of the vehicle transverse axis (15), in the same region as the fourth and the fifth movement channels (16.4, 16.5) for the two pivot arms (6.1, 6.2) and the two working arms (7.1, 7.2).

7. Work machine (1.1, 1.2, 1.3) according to claim 1, characterized in that the sixth movement channel (16.6) for the first pivot arm (6) and the associated first working arm (7) occupies a central position on a vehicle transverse axis (15).

8. Work machine (1.1, 1.2, 1.3) according to claim 7, characterized in that at least both the seventh and eighth movement channels (16.7, 16.8) for at least two linkages (11.1, 11.2) are arranged laterally in the direction of the vehicle transverse axis (15) adjacent to the sixth movement channel (16.6) of the first pivot arm (6) and the first working arm (7).

9. Work machine (1.1, 1.2, 1.3) according to claim 7 or 8, characterized in that at least both the ninth and tenth movement channels (16.9, 16.10) for at least two displaceable weights (5.1, 5.2) are arranged laterally in the direction of the vehicle transverse axis (15) adjacent to the seventh and eighth movement channels (16.7, 16.8) of the linkages (11.1, 11.2).

10. Work machine (1.1, 1.2, 1.3) according to at least one of claims 7 to 9, characterized in that the displaceable weights (5.1, 5.2) are fixedly connected to one another on the rear side of the vehicle.