Off-road work machines (e.g., forestry machines) and unloading such machines are described. A forestry machine includes a load space for a timber load, a boom structure, and a wood-handling tool attached to the boom structure. The method includes defining and noting down the location of the timber pile, calculating and noting down the location of the edge of the timber pile, picking a timber bundle from the timber load by the wood-handling tool, calculating the distance of the end justified on a load screen of the edge of the timber bundle from the wood-handling tool, calculating an unloading location for the timber bundle in the defined location of the timber pile, and controlling and unloading the timber bundle into the timber pile in the calculated unloading location such that one edge of the timber pile becomes even and straight.

A work machine includes a ground propulsion apparatus, a undercarriage frame supported by the ground propulsion apparatus, a machine body supported by the undercarriage frame, a work implement attached to at least one of the undercarriage frame and the machine body, and a tilt mechanism. The machine body includes a chassis coupled to the undercarriage frame and a cab supported on the chassis. The tilt mechanism is arranged to tilt the cab relative to the chassis between an upright position and a recumbent position. The tilt mechanism includes an actuator arranged to move the cab relative to the chassis, and a lock arranged to selectively lock the cab in the upright position relative to the chassis.

The invention relates to an arrangement in a forestry machine (100), in which arrangement there is a chassis (12), a single-axle set of wheels (13) pivoted to the chassis (12), and at least one auxiliary wheel (18) fitted the outside the set of wheels (13), in order to increase the load-bearing capacity of the rear part (19) of the chassis (12). The arrangement further includes at least one support arm (20) arranged to carry the said auxiliary wheel (18) at its first end (22) and pivoted at its second end (24) to the said chassis (12) with the aid of a transverse shaft (23), a support surface (36) attached to the chassis (12) and a counter surface (38) attached to the said support arm (20), for limiting the transverse movement of the support arm (20). The invention also relates to a corresponding forestry machine.

The invention relates to load-carrying frame for carrying load of an articulated tracked vehicle comprising a front and a rear vehicle unit connected to each other through said load-carrying frame, wherein said front vehicle unit comprises a rolling link. The load-carrying frame is configured for rotatable attachment to the front vehicle unit via said rolling link for enabling rotation of the front vehicle unit relative to the load-carrying frame about an axis of said rolling link running in the axial main direction of extension of said load-carrying frame.

A system and a method for controlling a tool pivotably mounted to an articulated boom connected to a work machine having a control unit. The solution: 1) determining the direction a predetermined point of the boom or the tool is moving to, i.e. the moving direction, and 2) controlling orientation of the tool as a function of one or several predetermined dependencies, the predetermined dependencies defining at least the orientation of the tool in relation to the moving direction. According to an example the work machine is a forest machine.

The present invention relates to an articulated tracked vehicle comprising a front and a rear vehicle unit connected by means of a rigid load-carrying frame. The load-carrying frame is pivotally attached to the front vehicle unit about a substantially vertical front steering link and pivotally attached to the rear vehicle unit about a substantially vertical rear steering link. The vehicle further comprises control means arranged to steer the front vehicle unit relative to the load-carrying frame about the front vertical steering link and to steer the rear vehicle unit relative to the load-carrying frame about the rear vertical steering link, wherein the control means is arranged such that the front and rear vehicle units are individually steerable relative to the load-carrying frame about their respective vertical steering links.

A method of and arrangement for monitoring the collection of plant material includes the following steps and apparatus for executing these steps, respectively: collecting plant location and attribute data with respect to plant material, before and/or during and/or after harvesting the plant material, providing the plant location and attribute data on a collecting vehicle adapted to collect the harvested plant material, moving the collecting vehicle to the harvested plant material based on the plant location data, collecting the harvested plant material, sensing attribute data of the harvested plant material before and/or during and/or after the collecting, and comparing the sensed attribute data with the plant attribute data and generating an output dependent on the result of the comparison.

An energy wood grapple includes a frame, a clamp fitted in the frame, which delimits a jaw together with the frame, as well as a delimbing knife. The delimbing knife is arranged to be loaded against the clamp on the side of the jaw. An accessory for an energy wood grapple includes a fixing detent for fastening the delimbing knife on the pivoting shaft of the clamp included in the energy wood grapple, as well as a hydraulic cylinder to be connected to the energy wood grapple.

A modular crawler-track unit for a forest machine has an engine, a chassis with a pivot bearing and a crawler-track frame. A sleeve axle is attached to the crawler-track frame to support the crawler-track frame on the pivot bearing. A drive wheel is mounted in bearings in the crawler-track frame inside a circulation of a crawler mat. A support is arranged in the crawler-track frame inside the circulation to support a part of the crawler mat against the ground. A drive shaft is mounted in bearings in the crawler-track frame coaxially with the sleeve axle to transmit power to the crawler-track unit. A shaft mounted in bearings on the crawler-track frame pivots the drive wheel to the crawler-track frame at a distance from the drive shaft. A power-transmission is fitted between the shaft and the drive shaft to transmit power from the drive shaft to the drive wheel.

A condition of at least one structural part (11) of a working machine (10) is determined by determining a computational position of the first structural part (11) on the basis of the computational model of the working machine (10) and determining an actual position of the first structural part (11) by detecting means (22). The condition of the at least one structural part (11) is determined on the basis of the difference between the computational position of the first structural part (11) and the actual position of the first structural part (11).