WORK MACHINE

Abstract

A work machine (1.1, 1.2, 1.3) having precisely one main vehicle axle (3), wheel elements (4.1, 4.2) arranged on the main vehicle axle (3) on both sides, and a working unit (2) or a holder (9) for a working unit. The working unit (2) is arranged on a vehicle frame (12) by means of at least one pivot arm (6, 6.1, 6.2) with at least one rotatably mounted working arm (7, 7.1, 7.2). The work machine (1.1, 1.2, 1.3) also includes at least one displaceable weight (5, 5.1, 5,2), which is arranged on the vehicle frame (12) by means of at least one rod system (11, 11.1, 11.2), wherein 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) is assigned to each of the displaceable weight(s) (5, 5.1, 5.2), the rod system(s) (11, 11.1, 11.2) and the pivot arms (6, 6.1, 6.2) with the working arms (7, 7.1, 7.2).

Claims

1. Work machine (1.1, 1.2, 1.3) comprising: precisely one main vehicle axle (3), wheel elements (4.1, 4.2) arranged on both sides of the main vehicle axle (3), a working unit (2) or a holder (9) for a working unit, wherein said working unit is arranged on a vehicle frame (12) by means of a pivot arm (6, 6.1, 6.2) with a rotatably mounted working arm (7, 7.1, 7.2), wherein at least one displaceable weight (5, 5.1, 5.2) is provided, wherein said displaceable weight is arranged on a vehicle frame (12) by means of at least one rod system (11, 11.1, 11.2), wherein 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) is assigned to each of the at least one displaceable weight (5, 5.1, 5.2), the rod system(s) (11, 11.1, 11.2) and the pivot arm (6, 6.1, 6.2) with the rotatably mounted working arm (7, 7.1, 7.2).

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

3. Work machine (1.1, 1.2, 1.3) according to claim 2, wherein at least the second and third movement channels (16.2, 16.3) for at least two of the rod systems (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, wherein at least two pivot arms (6.1, 6.2) and at least two working arms (7.1, 7.2) are arranged in such a way that in each case one of the pivot arms (6.1, 6.2) and in each case one of the working arms (7.1, 7.2) lie in the same level and each take up 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, wherein at least the fourth and the fifth movement channels (16.4, 16.5) for at least the two pivot arms (6.1, 6.2) and the two assigned 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 claim 4, wherein the wheel elements (4.1, 4.2) are located in the direction of the vehicle transverse axis (15) in the same area as the fourth and 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, wherein a sixth movement channel (16.6) for the first pivot arm (6) and the assigned first working arm (7) takes up a central position on a vehicle transverse axis (15).

8. Work machine (1.1, 1.2, 1.3) according to claim 7, wherein at least seventh and eighth movement channels (16.7, 16.8) for at least two rod systems (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, wherein at least 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 rod systems (11.1, 11.2).

10. Work machine (1.1, 1.2, 1.3) according to claim 9, wherein the displaceable weights (5.1; 5.2) are fixedly connected to one another on the rear vehicle side.

11. Work machine (101) comprising: a further working unit (102) or a further holder (110) for a further working unit (102), precisely only one further main vehicle axle (103), further wheels (104) arranged on both sides of the only one further main vehicle axle (103), further drive units (109) assigned to the further wheels (104), at least one further auxiliary wheel (106), wherein the further auxiliary wheel (106) comprises at least one device for detecting the load, wherein a further displaceable weight (105) is provided, wherein a position of the further displaceable weight (105) is controlled in such a way that the load on the further auxiliary wheel (106) is within a lower and an upper limit value wherein at least one controller is provided and the controller comprises a control loop which, when the load falls below the lower limit value, controls the drive units in such a way that the applied drive torque can be varied in such a way as to suitably prevent the vehicle from tipping over.

12. Work machine (101) according to claim 11, wherein the control system controls the further drive units (109) in such a way, when the further auxiliary wheel (106) is lifted off a ground, that the torque of the further drive units (109) is variable, suitable to prevent the work machine from tipping over, and that wherein the further auxiliary wheel (106) can be returned to the ground.

13. Work machine (101) according to claim 11, wherein the control system controls the further drive units (109) when the load falls below the lower limit value in such a way that the torque of the further drive units (109) can be changed in such a way as to prevent the vehicle from tipping over, wherein the change in torque required for this purpose is only applied until the load on the further auxiliary wheel (106) is again above the lower limit value.

14. Work machine (101) according to claim 11, wherein, when the load on the further auxiliary wheel (106) falls below the lower limit value, the control system actuates the further drive units (109) in such a way as to suitably prevent the vehicle from tipping over and the position of the further displaceable weight (105) is changed until the load on the further auxiliary wheel (106) is again at least at the lower limit value.

15. Work machine (101) according to claim 11, wherein the control unit controls the further drive units (109) in such a way when the load falls below the lower limit value, wherein the vehicle changes into a driving mode of a self-balancing, when a signal is present to the control unit which gives an instruction after a change into the driving mode of the self-balancing.

16. Work machine (101) according to claim 11, wherein the control loop is an electronic control loop, and comprises at least inclination sensors and/or load sensors.

17. (canceled)

18. Work machine (101) according to claim 11, wherein the further drive units (109) are electric drives.

19. (canceled)

20. (canceled)

21. Work machine (101) according to claim 15, wherein the further work machine (101) above a speed automatically switches to the driving mode of self-balancing, in which the further work machine (101) balances around the main vehicle axle and no load is applied to the further auxiliary wheel (106).

22. Work machine (101) according to claim 21, wherein the further auxiliary wheel (106) is arranged on the further displaceable weight (105).

23. Work machine (201.1, 201.2, 2011.3) comprising: a third working unit (202.1, 202.2, 202.3) or a third holder (224) for a working unit, one or more third vehicle axles (203), third wheel elements (204) arranged on both sides of the third vehicle axles (203), wherein a third displaceable weight (205) is provided, wherein a third rod system (206.1) is provided for fastening and guiding the displaceable third weight (205), wherein the third rod system (206.1) comprises at least three rods (207.1, 207.2, 207.3), wherein a first rod (207.1) is rotatably mounted on the vehicle/vehicle frame (215) via a first hinge point (208.1) and a second rod (207.2) is rotatably mounted on the vehicle/vehicle frame (215) via a second hinge point (208.2), and a third rod (207.3) is rotatably connected to the first rod (207.1) by a third hinge point (208.3) and is rotatably connected to the second rod (207.2) by a fourth hinge point (208.4), wherein the third displaceable weight (205) is rotatably or fixedly attached to the vehicle/vehicle frame (215) via a hinge point (208.5) and is rotatably or fixedly attached to the third rod (207.3), wherein the first to fourth hinge points (208.1, 208.2, 208.3, 208.4) are arranged in such a way that they form a polygon (219) via their connecting lines (209.1, 209.2, 209.4, 209.5) form a polygon (219) with at least four sides, wherein 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 a first connecting line (209.3) and a second connecting line (209.5) which are at a fixed angle (217.1) of more than 90° to each other, wherein the length of the connecting line (209.4) on the vehicle/vehicle frame (215), the length of the connecting line (209.1) of the first rod (207.1), the length of the connecting line (209.2) of the second rod (207.2), the fixed angle (217.1) of the third rod (207.3) and the length of the connecting line (209.3) and the connecting line (209.5) of the third rod (207.3) are arranged in such a way that the third rod (207.3) guides, via the hinge point (208.5), the third displaceable weight (205) during displacement on a straight line (16) fixedly assigned with respect to the third work machine (201.1, 201.2, 201.3).

24-37. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Further advantages, features and details of the invention result from the following description of preferred embodiment and from the drawing; these show in

[0054] FIG. 1 a work machine in the form of a wheel loader with lifting frame from the prior art;

[0055] FIG. 2 a schematic view of a work machine with displaceable weight, pivot arms and working arms from the prior art;

[0056] FIGS. 3a to 3c a schematic view of an embodiment of a work machine according to the invention;

[0057] FIG. 4 a schematic view of an example of a work machine according to the invention;

[0058] FIG. 5 a schematic view of a further embodiment of a work machine according to the invention;

[0059] FIGS. 6a to 6d a schematic view of an embodiment of a work machine according to the invention;

[0060] FIG. 7 a schematic view of an example of a work machine according to the invention;

[0061] FIG. 8 a work machine in the form of a wheel loader from the prior art;

[0062] FIG. 9 a schematic view of a work machine in the form of a wheel loader with displaceable weight from the prior art;

[0063] FIG. 10 a schematic view of a work machine with displaceable weight from the prior art;

[0064] FIG. 11 a schematic view of a work machine in the form of a tractor from the prior art;

[0065] FIG. 12 a schematic view of an embodiment of a work machine according to the invention with a plow as the working unit;

[0066] FIGS. 13a to 13e a schematic view of an embodiment of the rod system of a work machine according to the invention for displacing the displaceable weight in different positions;

[0067] FIG. 14 a schematic view of a further embodiment of a work machine according to the invention with a displaceable weight;

[0068] FIGS. 15a to 15d a schematic view of a further embodiment of the rod system of a work machine according to the invention for displacing the displaceable weight with a fourth rod;

[0069] FIG. 16 a schematic view of the further work machine embodiment of the invention; and

[0070] FIG. 17 a schematic view of an example of a further work machine according to the invention.

DETAILED DESCRIPTION

[0071] FIG. 1 shows a wheel loader 50.1 corresponding to a prior art work machine/vehicle having two axles, and a working unit 52 in the form of a bucket. Furthermore, the wheel loader 50.1 comprises a lifting frame 53, which is rotatably connected at one end to the vehicle frame 55 by the hinges 54 and at the opposite end of which the working unit 52 is arranged. A counterweight 51 is fixedly arranged at the rear end. A disadvantage of such wheel loaders is that they have a high dead weight compared to their payload. They also require a lot of space for turning, given their length and the restrictions imposed by articulated steering.

[0072] FIG. 2 shows a wheel loader 50.2 corresponding to a prior art work machine/vehicle. The wheel loader 50.2 comprises only one main vehicle axle 56, on both sides of which wheel elements 57 are arranged. Separate drive units are assigned to each of the wheel elements 57, by means of which a self-balancing of the wheel loader 50.2 about the main vehicle axle 56 is effected via a control system. Via the separate drive units, the wheel loader 50.2 is also steered, whereby it can thus turn on the spot. Furthermore, the wheel loader 50.2 comprises a bucket as working unit 52, which is connected to the vehicle frame 55 via the pivot arms 60 and working arms 61. On the vehicle side facing away from the working unit 52, the work machine 50.2 has a displaceable weight 59 with which the vehicle center of gravity can be displaced and which can thus be leveled above the main vehicle axle 56. By displacing the displaceable weight 59, the vehicle can be controlled in its directions of movement in self-balancing mode.

[0073] A self-steering auxiliary wheel 58 is arranged on the displaceable weight 59. This can take a load as long as the vehicle is outside the self-balancing mode. The load on the auxiliary wheel 58 is changed by a displacement of the displaceable weight 59, which is ideally smaller than the load on the main vehicle axle 56. In such a way, it can be ensured that the wheel elements 57 of the main vehicle axle 56 always have a high contact pressure on the ground and can thus generate sufficient traction. The wheel loader 50.2 comprises two levers 62.1 and 62.2, by means of which the displaceable weight 59 is connected to the vehicle frame 55 and by means of which the adjustment of the position of the displaceable weight 59 is effected.

[0074] Two pivot arms 60 and two working arms 61 are respectively arranged on both sides of the vehicle in such a way that the working unit 52 can be pulled backwards, thus ensuring the stability of the vehicle against tipping over to the front. However, this requires the same installation space as the displaceable weight in order to be pulled far towards the main vehicle axle.

[0075] FIG. 3a shows a preferred work machine 1.1 according to the invention, which eliminates or at least minimizes the disadvantages of the prior art work machines. The work machine 1.1 according to the invention comprises a working unit 2, which is connected to the vehicle via the holder 9. Via the holder 9, the working unit 2 can be lifted for transport. The working unit 2 shown is a bucket 10 of the type used on wheel loaders. However, as a working unit 2 arranged on the holder 9, all working units used in the construction industry and/or in agriculture and requiring a carrier vehicle are conceivable. Furthermore, the work machine 1.1 comprises at least one main vehicle axle 3 with wheel elements 4 and/or track elements arranged on both sides.

[0076] The work 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 work machines as they are mostly used today. By using several of such robots to perform the work of a single work machine, and by being faster and more agile, they can be smaller and lighter and still deliver the same performance. Advantageously, they have lower manufacturing costs and lower operating costs, as well as being maneuverable and agile.

[0077] Furthermore, the work machine 1.1 according to the invention comprises a displaceable weight 5 connected to the vehicle frame 12 via a rod system 11. Here, the rod system 11 is arranged in such a way that the displaceable weight 5 can be displaced in such a wide range so that the displaceable weight 5 can be brought very close to the main vehicle axle 3 and that the vehicle is thus very compact. Due to the wide displaceable range, the displaceable weight 5 can be comparatively small and still compensate for the weight of a heavy working unit 2 via the leverage effect when this is lifted without the vehicle losing its stable position. These rods guide the displaceable weight along the vehicle longitudinal axis 14 in a substantially straight line. Little energy is expended during displacement, since the drive essentially only has to apply the acceleration energy for the displaceable weight.

[0078] In a preferred embodiment of the work machine 1.1 according to the invention, the displaceable weight 5 comprises elements such as energy converters, electric batteries or hydraulic systems for supplying the hydraulic cylinders.

[0079] Furthermore, the work machine 1.1 according to the invention has pivot arms 6.1 and 6.2 which are rotatably mounted on the vehicle frame 12. Also rotatably mounted on the pivot arms 6.1 and 6.2 are working arms 7.1 and 7.2, which comprise a holder 9 on which a working unit 2 can be arranged.

[0080] FIG. 3b shows a further view of the work machine 1.1 according to the invention. In order to be able to pull the displaceable weight 5 along the vehicle longitudinal axis 14 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 displaceable weight 5. There are no other elements in the first movement channel 16.1, regardless of their movements or positions. The displaceable weight 5 and thus the first movement channel 16.1 assigned to it takes up a central position on the vehicle transverse axis 15.

[0081] Since in a preferred embodiment the displaceable weight 5 contains in its interior functional elements such as energy accumulators, energy converters, hydraulic pumps, valves and hydraulic oil accumulators, it takes up a comparatively large extension in the direction of the transverse axis 15 of the vehicle. Ideally, only a single displaceable weight 5 is used, but several smaller ones may well be used, in which case they need not be centered.

[0082] In the preferred embodiment, a rod system 11.1 and 11.2 is arranged on each side of the displaceable weight 5, consisting of four rods 18.1, 18.2, 18.3 and 18.4. The rod systems 11.1 and 11.2 are assigned the two second and third movement channels 16.2 and 16.3 to ensure their movements in the direction of the main vehicle axis 3. In the preferred embodiment, the two pivot arms 6.1 and 6.2 and, lying in the same level, the two working arms 7.1 and 7.2 are attached to the vehicle frame 12 further out in the direction of the vehicle transverse axis 15. In this case, the two pivot arms 6.1, 6.2 and the assigned two working arms 7.1, 7.2 move in the same level. 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 thus be kept very small.

[0083] FIG. 3c shows a further view of the work machine 1.1 according to the invention. The first movement channel 16.1 is bounded at the bottom by the main vehicle axle 3. In the retracted state, the displaceable weight 5 is thus located above the main vehicle axle 3. Towards the top, the displaceable weight 5 takes up as much space as is given by the inner elements. Above this, the rod systems 11.1 and 11.2 can be connected to each other by cross rods 17, thereby achieving great 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 transverse axis 15. As a result, the second and third movement channels 16.2 and 16.3 thus take up very little installation space in this direction. The advantage is that the work machine 1.1 can thus be built comparatively narrow.

[0084] FIG. 4 shows the work machine 1.1 according to the invention in its short state. Here, the working unit 2 is in a position that extends far to the main vehicle axle 3. At the same time, the displaceable weight 5 is in a position that reaches far up to the main vehicle axle 3, or is partially above it. Thus, a very compact vehicle is provided.

[0085] FIG. 5 shows a further embodiment of the work machine 1.2 according to the invention. Here, the wheel elements 4.1 and 4.2 are located in the same region in the direction of the vehicle transverse axis 15 as the pivot arms 6.1, 6.2 and working arms 7.1, 7.2. The advantage is that the vehicle width can thus be kept very small. At locations inside buildings, the work machine 1.2 can drive through narrow corridors or through narrow doorways.

[0086] FIG. 6a shows a further work machine 1.3 according to the invention, which eliminates or at least minimizes the disadvantages of the prior art work machines. The work machine 1.3 according to the invention comprises a working unit 2. The working unit 2 shown is a forklift fork as used in the prior art forklifts. However, any working unit used in construction and/or agriculture that requires a carrier vehicle is conceivable as a working unit 2 arranged on the holder 9. The working unit 2 or the holder 9 for a working unit is arranged on a vehicle frame 12 by means of at least one pivot arm 6 with at least one working arm 7 rotatably mounted thereon. In the work machine 1.3 according to the invention, the pivot arm 6 and the working arm 7 take up a central position on a vehicle transverse axis 15. By using only one pivot arm and only one working arm, their movements can be performed by only a few drives/actuators. This results in a low vehicle weight and low manufacturing costs. This makes it possible to use electrical actuators, which are expensive in detail. However, their higher costs do not have an unfavorable effect on the overall costs of the work machine due to the low number.

[0087] Furthermore, the work machine 1.3 according to the invention comprises two displaceable weights 5.1, 5.2. These are connected to the vehicle frame 12 via two rod systems 11.1, 11.2. The rod systems 11.1, 11.2 are arranged in such a way that the displaceable weights 5.1, 5.2 can be displaced over a wide range. This means that they can be moved very close to the main vehicle axle 3, making the vehicle very compact. Due to the wide displaceable range, the displaceable weights 5.1, 5.2 can be comparatively small and still compensate for the weight of a heavy working unit 2 via the leverage effect when this is lifted without the vehicle losing its stable position.

[0088] FIG. 6b shows a further view of the work machine 1.3 according to the invention. In order to be able to pull the working unit 2 along the vehicle longitudinal axis 14 far beyond the main vehicle axis 3 without the pivot 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 pivot arm 6 and the working arm 7. There are no other elements in the sixth movement channel 16.6, regardless of their movements or their position.

[0089] On both sides of the pivot arm 6 and the working arm 7, a rod system 11.1 and 11.2 are arranged in the preferred embodiment. The two rod systems 11.1 and 11.2 are assigned the two 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 displaceable weights 5.1 and 5.2 are arranged further out in the direction of the vehicle transverse axis 15. In this case, the displaceable weights 5.1 and 5.2 move in the two ninth and tenth movement channels 16.9 and 16.10 assigned to them. This has the advantage that the displaceable weights 5.1, 5.2 can be pulled far towards the area of the main vehicle axle 3. Since the sixth movement channel 16.6 is for the first pivot arm 6 and the first working arm 7, the two seventh and eighth movement channels 16.7 and 16.8 are for the rod systems 11.1 and 11.2, and the two ninth and tenth movement channels 16.9 and 16.10 for the displaceable weights 5.1 and 5.2 do not interfere with each other, the working unit 2 and the displaceable weights 5.1 and 5.2 can be pulled toward the center of the vehicle at the same time, resulting in a very compact overall length of the vehicle. Due to the short overall length, very agile and fast movements of the vehicle are achieved.

[0090] In a preferred embodiment of the work machine 1.3 according to the invention, the two displaceable weights 5.1, 5.2 are fixedly connected to each other at their rear end. This allows them to be moved by a single drive element or a single actuating element. Since the connecting elements of the two displaceable 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 rod systems 11.1, 11.2 are not disturbed.

[0091] In FIG. 6c the work machine 1.3 according to the invention is shown in a stretched position.

[0092] In FIG. 6d, the work machine 1.3 according to the invention is shown in a stretched position in a further view.

[0093] FIG. 7 shows a preferred further work machine 101 according to the invention, which eliminates or at least minimizes the disadvantages of the prior art work machines. The further work machine 101 according to the invention comprises a further working unit 102, which is connected to the vehicle via the further holder 110. Via the further holder 110, the further working unit 102 can be lifted for transport. The further working unit 102 shown is a bucket 111, as used in wheel loaders. However, any working unit used in construction and/or agriculture that requires a carrier vehicle is conceivable as a working unit arranged on the further holder 110. Furthermore, the further work machine 101 comprises at least one further main vehicle axle 103 with further wheels 104 arranged on both sides.

[0094] Furthermore, the further work machine 101 according to the invention comprises a further displaceable weight 105, which is connected to the further vehicle frame 113 via a further rod system 112. Thereby, the further rod system 112 is arranged in such a way that the further displaceable weight 105 can be displaced in such a wide range so that this can be brought very close to the further main vehicle axle 103 and that the vehicle is thus very compact. Due to the wide displaceable range, the further displaceable weight 105 can be comparatively small and can nevertheless compensate for the weight of a heavy further working unit 102 via the leverage effect when the said working unit is lifted without the vehicle losing its stable position.

[0095] In a preferred embodiment of the further work machine 101 according to the invention, the further displaceable weight 105 comprises elements, such as energy converters, electric batteries or hydraulic systems for supplying the hydraulic cylinders.

[0096] Furthermore, the further work machine 101 according to the invention has further pivot arms 107, and further working arms 108, with which the further work unit 102 can be moved. An auxiliary wheel 106 is arranged on the further displaceable weight 105, which is rotatably mounted in such a way that it can make passive steering movements. The steering movements of the further work machine 101 according to the invention are made by the different speeds or directions of rotation of the further drive units 109, which drive the further wheels 104 arranged at both outer ends of the further main vehicle axle 103. Thus, the further work machine 101 can be operated in a very maneuverable and agile manner. In this case, the auxiliary wheel 6 can either be in the air. Then the further work machine 101 balances around the further main vehicle axle 103. Or the auxiliary wheel 106 is in contact with the ground, in which case it takes up a significantly lower load than the further wheels 104 of the further main vehicle axle 103. The steering movements predefined by the further drive units 109 then automatically lead to a rotation of the auxiliary wheel 106, whereby the latter is passively steered as well.

[0097] Furthermore, the holder of the auxiliary wheel 106 on the further displaceable weight 105 comprises at least one load sensor, which can measure the load, i.e. the force, acting between the ground and the auxiliary wheel. In a further embodiment, this force can also be measured at any point of the further rod system 112, in which case the weight of the displaceable weight can be taken into account.

[0098] In a further embodiment, the holder of the auxiliary wheel 106 may comprise a device for moving the auxiliary wheel upwardly in relation to the further displaceable weight 105 or in relation to the further vehicle frame 113. This increases the distance between the roadway and the auxiliary wheel 106 when balanced about the further main vehicle axis 103.

[0099] The further work machine 101 according to the invention can be operated by means of at least two driving modes. In the driving mode self-balancing, the auxiliary wheel 106 is load-free and/or is in the air. Thus, it has no contact with the roadway. The control of the further work machine 101 comprises a control loop that comprises inclination sensors, that controls the drive units 109, and that controls the further displaceable weight 105. A further driving mode, the auxiliary wheel driving mode, is that the control comprises a control loop that comprises inclination sensors and that further comprises load sensors on the auxiliary wheel, and that controls the further displaceable weight 105 and the further drive units 109. This control circuit controls the position of the further displaceable weight 105 in such a way that the load on the auxiliary wheel 106 adjusts itself above a lower limit value and below an upper limit value.

[0100] These limit values are set in such a way that the upper limit value, causes a significantly lower load on the auxiliary wheel than on the further wheels 104 of the further main vehicle axle 103. Since only these further wheels 104 have the further drive units 109, the largest proportion of the vehicle weight can thus be used to generate traction. In contrast to prior art work machines comprising four or more driven wheels, the further work machine 101 according to the invention is able to provide the same traction with only two driven wheel elements. In addition, the low load provided by the upper limit causes the further work machine 101 to have good steerability, and the lower limit is set in such a way as to prevent the further work machine 101 from tipping over to the front when driving on difficult terrain or uneven road surfaces. It is taken into account that the displacement of the further displaceable weight 105 has a reaction time, which is predetermined, by the speed of the control loop as well as the acceleration and movement speed of the further displaceable weight 105. If the lower limit value is high, then the further work machine 101 does not yet tip over when the speed falls below the lower limit value. Thus, more time is available to the control loop. In the further work machine 101 according to the invention; however, the lower limit value is selected to be low. In a preferred embodiment, this is essentially close to zero. In this case, the control loop controls the drive units with significantly less reaction time in such a way that tipping over of the further work machine 101 is thereby prevented. This is done, for example, during forward driving by increasing the drive torque of the further work machines 109. Since in a preferred embodiment of the work machine according to the invention electric motors are used as further drive units 109, which have very short reaction times for increasing their torque, the total reaction time of this control loop is also very short. Due to the higher torque, the work machine, when tipping over, can be straightened up quickly until the auxiliary wheel 106 is back on the ground. This control loop uses not only the signals from the load sensors on the auxiliary wheel 106, but also the tilt sensors, which provide usable signals even when the auxiliary wheel is already in the air. The goal of the control loop in this driving mode auxiliary wheel is not driving on two wheels, but on at least three. Therefore, if the auxiliary wheel lifts off the ground, the amount of superimposed torque on the other drive units 109 is selected in such a way that the auxiliary wheel is returned to the ground. Similarly, the time at which the further drive units 109 have an increased torque is limited to such an extent that the auxiliary wheel 106 is loaded again as quickly as possible, but without hitting the ground too hard.

[0101] The setting of the lower and upper limit value can be done either manually by an operator using either a control element or by a remote control. However, this setting can also be done by an automatic function of the control system. For example, the driving speed can be pulled for this purpose. The selection of one of the two modes can likewise be controlled either manually by an operator, for example using an operating element or a radio remote control, or by an automatic function of the control. This can, for example, take into account the driving speed, whereby at higher driving speeds, the self-balancing driving mode is more likely to be selected and at slower driving speeds the auxiliary wheel driving mode is more likely to be selected. However, other variables can also be taken into account for these specifications. For example, GPS data can identify the location of the work machine. If the machine has already been operated at the same location at an earlier time and the unevenness of the ground at this location was very great, the limit values and the switchover to the auxiliary wheel driving mode can be predefined. To detect the unevenness, sensors suitable for this purpose can also be used, such as the inclination sensors or acceleration sensors.

[0102] FIG. 8 shows a wheel loader 250.1, which corresponds to a prior art work machine/vehicle, and which has two axles. Depending on the position of the center of gravity, the load on such work machines is distributed in a certain ratio between the two axles. However, the displacements of the vehicle's center of gravity that occur during work, for example due to a load pickup in a bucket of a wheel loader, and all the dynamic forces that occur, for example caused by a braking process, are very large. In the case of a wheel loader, for example, the loaded bucket generates an additional force that lies far outside a tipping axis of the front axle. In addition, the loader must be able to apply so-called breakaway forces when filling the bucket in order to detach the material to be loaded from the pile or wall. Therefore, wheel loaders require a high dead weight for safe operation and a heavy counterweight 251 on the side of the vehicle facing away from the working unit 252. This results in a very poor load to empty weight ratio and, among other things, a very high consumption of primary energy sources by these work machines.

[0103] FIG. 9 shows a wheel loader 250.2 which corresponds to a prior art work machine/vehicle. The wheel loader 250.2 comprises only one main vehicle axle 253, on both sides of which wheel elements 254 are arranged. Separate drive units are assigned to each of the wheel elements 254, by means of which a self-balancing of the wheel loader 250.2 about the main vehicle axle 253 is effected via a control system. Via the separate drive units, the wheel loader 250.2 is also steered, whereby it can thus turn on the spot.

[0104] Furthermore, the wheel loader 250.2 comprises as working unit 252 a bucket which is connected to the vehicle frame 256 via the working arms 255.1 and 255.2. On the vehicle side facing away from the working unit 252, the work machine 250.2 has a displaceable weight 259 with which the vehicle center of gravity can be displaced and which can thus always be leveled above the main vehicle axle 253. By displacing the displaceable weight 259, the vehicle can be controlled in its directions of movement in self-balancing mode. A self-steering auxiliary wheel 257 is arranged on the displaceable weight 259. This can take up a load as long as the vehicle is outside the self-balancing mode. The load on the auxiliary wheel 257 is changed by a displacement of the displaceable weight 259, which is ideally smaller than the load on the main vehicle axle 253. In such a way, it can be ensured that the wheel elements 254 of the main vehicle axle 253 always have a high contact pressure on the ground and can thus generate sufficient traction.

[0105] The wheel loader 250.2 comprises two levers 258.1 and 258.2, via which the displaceable weight 259 is connected to the vehicle frame and via which the adjustment of the position of the displaceable weight 259 is effected. The two levers 258.1 and 258.9 of the wheel loader 250.2 each require their own drive, such as a hydraulic cylinder or an electric actuator. The drives are not shown in FIG. 9. A first drive pivots lever 258.1 around the hinge 260.1. A second drive pivots lever 258.2 around the hinge 260.2. In order to keep the displaceable weight 259 in a horizontal position while balancing forces acting on the auxiliary wheel 257, a third drive is needed to pivot the displaceable weight 259 around the hinge 260.3. In addition, the displaceable weight 259 may include elements, such as fluid containers, that require a horizontal position for trouble-free operation.

[0106] The levers 258.1 and 258.2 of the wheel loader 250.2 can be arranged centrally on the vehicle. In this case, the lever 258.1 is arranged far forward on the vehicle frame 256. The displaceable weight 259 can thereby be moved forward in such a way until it collides with the lever 258.1. Lever 258.1 thus limits the movement of displaceable weight 259 to the front. Thus, self-balancing can only occur if the working unit 252 is not pulled very far backwards, which means that the vehicle length cannot be reduced significantly. This disadvantage can be overcome by arranging the levers 258.1 and 258.2 laterally on the displaceable weight 259. Then the levers 258.1 and 258.2 are each required on both sides of the displaceable weight 259. A tramline is thus kept free in the center of the vehicle for the displaceable weight 259, allowing it to be displaced further to the front. However, such an embodiment can have the result that these levers 258.1 and 258.2 each require their own drive on both sides of the vehicle, which has a negative effect on the cost and weight for the vehicle.

[0107] In order to keep the displaceable weight 259 freely in the air against gravity, as is necessary for example in self-balancing mode, or to keep the load on the auxiliary wheel 257 low even during dynamic work processes, the levers 258.1 and 258.2 must be able to carry high loads. The same applies to the drives of the same. The drives must also move the displaceable weight 259 quickly and dynamically. At the same time, however, in addition to these dynamic loads, the steady load on the levers 258.1 and 258.2 and the drives is also created by the gravitational force acting on the displaceable weight. If hydraulic cylinders are used as actuators, which are comparatively robust and inexpensive, the pressure applied in the piston chamber will be permanently high, influenced by the load of the displaceable weight, even as long as there is no movement of the displaceable weight. If a movement is now requested by the control unit, additional hydraulic oil is pumped into the piston chamber, which must then be pre-pressurized in advance by a pump or from an accumulator element to at least the same pressure as is present in the piston chamber. This requires considerably more energy than would be needed to accelerate the displaceable weight alone. As a result, these drives are not very energy efficient. Thus, the wheel loader 250.2 comprises at least three drives/actuators, each of which is controlled independently of the others, which means that independent position sensors are also required. This means that a complex control system is required.

[0108] FIG. 10 shows a prior art work machine 250.3 comprising a displaceable weight 259 which is connected to the vehicle frame 256 via two levers 258.1 and 258.2, wherein the displaceable weight 259 is held in a horizontal position via the further levers 258.3, 258.4 and 258.5. Thereby, a longitudinal axis of the displaceable weight 259 is always kept parallel to the vehicle frame 256. Thereby, the vehicle frame 256 together with the levers 258.1, 258.4 and 258.3 form a parallelogram, wherein the lever 258.4 is always parallel to the vehicle frame 256. Furthermore, the levers 258.4, 258.2 and 258.5 together with the connecting line of the hinge points 260.3 and 260.6 form a parallelogram. In this case, the connecting line of the hinge points 260.3 and 260.6 is always parallel to the lever 258.4 and thus to the vehicle frame 256. A disadvantage of this is that at least two drives 261.1 and 261.2 are still required for adjusting the levers 258.1 and 258.2 in order to displace the displaceable weight 259. The working unit of the work machine 250.3 is not shown in FIG. 10.

[0109] FIG. 11 shows a prior art work machine 250.4 comprising a displaceable weight 259 connected to the vehicle frame 256 by a scissor joint 262. The scissor joint 262 guides the displaceable weight 259 along a line 263 while maintaining it in a horizontal position. In addition, displacement can be accomplished with a single actuator/actuator 261. The gravity of the displaceable weight 259 does not have to be carried by the drive/actuating element 261 when the auxiliary wheel 257 is unloaded. However, a disadvantage of this work machine 250.4 is that the scissor joint 262 requires a linear bearing 264.1 and 264.2 at each end, on the vehicle frame 256 and on the displaceable weight 259, which is mounted on a rod/rail 265.1 and 265.2 in such a way that it can be displaced smoothly along them. In doing so, these linear bearings 264.1 and 264.2 must support high loads generated by the gravity of the displaceable weight 259. In the dusty environment of a work machine, such linear bearings are also not very robust and do require maintenance.

[0110] FIG. 12 shows a preferred third work machine 201.1 according to the invention, which eliminates or at least minimizes the disadvantages of the prior art work machines/vehicles. The work machine 201.1 according to the invention comprises a third working unit 202.1, which is connected to the vehicle via the third holder 224. Via the third holder 224, the third working unit 202.1 can be lifted for transport. The illustrated working unit 202.1 is a plow as used in agriculture. However, any working unit used in construction and/or agriculture that requires a carrier vehicle is conceivable as the working unit 202.1 arranged on the holder 224. Furthermore, the work machine 201.1 comprises a third vehicle axle 203 with third wheel elements 204 and/or track elements arranged on both sides.

[0111] The third work machine 201.1 according to the invention can be used as a swarm robot. In this case, the machine operates without a driver, i.e. remotely controlled and/or autonomously. Swarm robots, such as those used in agriculture, are often lighter and smaller than tractors as they are mostly used today. By using several such swarm robots to perform the work of a single tractor, they can be smaller and lighter and still provide the same performance. The advantage here is that the smaller vehicle weights result in much lower soil compaction. The high soil compaction of today's tractors is often disadvantageous for agricultural soils.

[0112] Furthermore, the third work machine 201.1 according to the invention comprises a third displaceable weight 205, which is connected to the vehicle frame 215 via a rod system 206.1. Thereby, the rod system 206.1 is arranged in such a way that the third displaceable weight 205 can be displaced in such a wide range that it is neither substantially raised nor lowered and that the displacement path substantially replicates a straight line 216. Due to the wide displaceable range, the displaceable weight 205 can be comparatively small and still compensate for the weight of a heavy working unit 202.1 via the leverage effect when the said working unit is lifted.

[0113] In the third work machine 201.1 according to the invention, the third displaceable weight 205 exclusively comprises elements, such as an electric accumulator, for which it is not necessary to maintain the horizontal position. It may be fixedly attached to the rod 207.3 so that it rotates with the same angle with respect to the horizontal position as the rod 207.3 itself. The third displaceable weight 205 is shown as a circle by way of example, although it may also be cylindrical in shape. However, it can just as well take any other design.

[0114] With the rod system 206.1 of the work machine 201.1 according to the invention, the third displaceable weight 205 can be displaced with a single drive/actuating element 225.1, which is arranged, for example, in the center of the vehicle. Of course, two or more drives can also be used. The drive/actuating element 225.1 does not absorb any forces needed to hold the displaceable weight up against gravity, but only forces needed to accelerate and decelerate the weight 205, including frictional forces of the hinges that counteract movement of the third displaceable weight 205. The hinge points 208.1, 208.2, 208.3 and 208.4 are simple pin joints which can be designed to be low friction, very robust, low wear, easy to maintain and comparatively inexpensive. By design, such hinges can be well protected from dirt and dust ingress. Thus, the rod system 206.1 provides a cost-effective and energy-efficient solution for fastening and guiding the third displaceable weight 205.

[0115] FIG. 13a shows the rod system 206.1 of the third work machine 201 according to the invention in its fully extended position, in which the third displaceable weight 205 is deflected the furthest, i.e. is in the position furthest away from the vehicle frame. The rod system 206.1 comprises three rods 207.1, 207.2, 207.3, which are coupled to other elements by means of hinge points 208.1, 208.2, 208.3, 208.4, 208.5. Furthermore, connecting lines 209.1, 209.2, 209.3, 209.4, 209.5 are shown between the hinge points. Thus, the length of each connecting line is equal to the distance between the two hinge points connected by that connecting line. A first rod 207.1 and a second rod 207.2 are rotatably connected to the vehicle frame 215, which is not shown here, via hinge points 208.1 and 208.2. At the opposite end of each of the first rod 207.1 and the second rod 207.2 are hinge points 208.3 and 208.4, and a third rod 207.3 is arranged at these hinge points, the third rod being rotatably mounted by means of the hinge points 208.3 and 208.4 in each case. At the opposite end of the third rod 207.3, the third displaceable weight 205 is connected to the third rod 207.3 via the hinge point 208.5, wherein this connection can either be fixed or rotatably mounted. The third rod 207.3 thus comprises the three hinge points 208.3, 208.4 and 208.5, wherein the connecting line 209.5 connecting the hinge points 208.3 and 208.4 and the connecting line 209.3 connecting the hinge points 208.4 and 208.5 are at a fixed angle 217.1 to each other, which is more than 90°. The hinge point 208.5, which connects the third displaceable weight 205 to the third rod 207.3, is located in its vertical orientation on the straight line 216. In order to be able to extend the position of the third displaceable weight 205 very far, the two rods 207.1 and 207.2 must each be located at the smallest possible angle 217.2 and 217.3 to the horizontal. Thus, the two displacement paths 218.1 and 218.2 must each become as large as possible so that each of the two rods 207.2 and 207.3 makes as large a contribution as possible to the total displacement path 218.3 in the horizontal direction. However, the angle 217.5 between the second rod 207.2 and the third rod 207.3 must not become too large, but should remain considerably smaller than 180°, otherwise the forces at the hinge points 208.1, 208.2, 208.3 and 208.4 will become too large. The fixed angle 217.1 of the third rod 207.3 should be selected in such a way that the angle 217.4 between the connecting line 209.5 of the third rod 207.3 and the connecting line 209.1 of the first rod 207.1 is greater than 0°. In order to be able to comply with the specifications of a large displacement path 218.3 and to keep the angle 217.5 well below 180°, the rods 207.1, 207.2 and 207.3 have a necessary minimum length which, however, should be as small as possible so that the third work machine 201 remains limited in its overall height. Therefore, a fixed angle 217.1 greater than 90° is necessary.

[0116] FIG. 13b shows the rod system 206.1 of the third work machine 201.1 according to the invention in a retracted position, in which the third displaceable weight 205 is not far deflected, i.e. is not far away from the third working unit 202, whereby the hinge point 208.5, which connects the third displaceable weight 205 to the rod 207.3, is located in its vertical alignment substantially on the straight line 216.

[0117] FIG. 13c shows the rod system 206.1 of the third work machine 201.1 according to the invention in an intermediate position, the hinge point 208.5 connecting the third displaceable weight 205 to the third rod 207.3 being located in its vertical orientation substantially on the straight line 216. The hinge points 208.1, 208.2, 208.3 and 208.4 form a polygon with four sides, the fixed angle 217.1 of the third rod 207.3 being more than 90°. The first rod 207.1 is rotatably mounted on the vehicle/vehicle frame via a first hinge point 208.1 and the second rod 207.2 is rotatably mounted on the vehicle/vehicle frame via a second hinge point 208.2, and the third rod 207.3 is rotatably connected to the first rod 207.1 by a third hinge point 208.3 and rotatably connected to the second rod 207.1 by a fourth hinge point 208.4. Here, the third displaceable weight 205 is rotatably or fixedly arranged on the third rod 207.3 through a hinge point 208.5, wherein the hinge points 208.1, 208.2, 208.3 and 208.4 are arranged in such a way that they form a polygon with four sides through 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, which are at a fixed angle 217.1 of more than 90° to each other. The position of the hinge point 208.1 and the position of the hinge point 208.2 on the vehicle/vehicle frame, the length of the connecting line 209.1 of the first rod 207.1, the length of the connecting line 209.2 of the second rod 207.2, the fixed angle 217.1 and the length of the connecting lines 209.5 and 209.3 of the third rod 207.3 are arranged in such a way that the third rod 207.3 guides, via the hinge point 208.5, the third displaceable weight 205 during displacement on a substantially straight line 216 fixedly associated with respect to the vehicle.

[0118] FIG. 13d shows the third rod 207.3 of the work machine 201.1 according to the invention with the hinge points 208.3, 208.4 and 208.5, with their connecting lines 209.3 and 209.5 and the fixed angle 217.1. It also shows the position of the polygon 219 in the retracted position of the rod system 206.1. When the third rod 207.3 rotates around the hinge point 208.2, the hinge point 208.4 moves on the circular path 220.1, whose center is the hinge point 208.2 and whose radius 221.1 is equal to the length of the connecting line 209.2 of the rod 207.2. At the same time, the hinge point 208.3 of the third rod 207.3 rotates around the hinge point 208.1, with the hinge point 208.3 moving on the circular path 220.2, whose center is the hinge point 208.1 and whose radius 221.2 is the length of the connecting line 209.1 of the rod 207.1. The third rod 207.3, which is arranged at the hinge points 208.3 and 208.4, moves along the circular paths 220.1 and 220.2 in such a way that it undergoes a rotary motion in the process, which is predetermined by the two circular paths 220.1 and 220.2.

[0119] FIG. 13e shows the third rod 207.3 of the third working machine 201.1 according to the invention with the pivot points 208.3, 208.4 and 208.5, the connecting line 209.5 and the fixed angle 217.1 in different positions 207.3′, which are predetermined by the movement of the pivot points 208.3 and 208.4 on the circular paths 220.1 and 220.2. At each of these positions, the articulation point 208.5 is substantially on the line 216. The rotation of the rod 207.3 is largely determined by the distance between the two articulation points 208.1 and 208.2, which are also the centers of the circles 220.1 and 220.2, and their different radii 221.1 and 221.2, as well as by the length of the connecting line 209.5 of the third rod 207.3. The connecting line 209.5 must be at least long enough to bridge the distance that the circular paths 220.1 and 220.2 have to each other at each point of its intended movement. When the second rod 207.2 rotates about the pivot point 208.2, the pivot point 208.4 of the third rod 207.3 rotates on the circle 220.1. In the process, this pivot point 208.4 shifts both in the horizontal direction 222 and in the vertical direction 223. Since the pivot point 208.5 of the third rod 207.3 is to move substantially along the line 216, this third rod 207.3 must rotate about the pivot point 208.4 to the extent that the pivot point 208.5 compensates for the change in the pivot point 208.4 in the vertical direction 223 due to the rotation of the third rod 207.3. To achieve this movement, the hinge points 208.1, 208.2, 208.3 and 208.4 form the polygon 219 with four sides, wherein the third rod 207.3 has three hinge points 208.3, 208.4 and 208.5, their connecting lines 209.3 and 209.5 being at a fixed angle 217.1 of more than 90° to each other. The positions of the pivot points 208.1 and 208.2, as well as the length of their connecting line 209.4, as well as the lengths of the connecting lines 209.1 and 209.2 of the first rod 207.1 and the second rod 207.2, the fixed angle 217.1 and the length of the connecting line 209.3 of the third rod 207.3 are coordinated in their magnitude so that the pivot point 208.5 is substantially on the straight line 216 in every position, within the distance 218.3 on which it can be displaced.

[0120] For example, these sizes can be selected in such a way that the positions of the hinge points 208.1 and 208.2 are on a line parallel to the vehicle longitudinal axis. Their connecting line 209.4 is 0.4 meters long. The connecting line 209.1 of the first rod 207.1 is 1.60 meters long, and the connecting line 209.2 of the second rod 207.2 is 1.45 meters long. Then, for the third rod 207.3, the connecting line 209.5 is 0.2 meters long, and the connecting line 209.3 is 1.30 meters long, wherein these are at a fixed angle 217.1 of 140° to each other. In this embodiment, the hinge point 208.5 displaces along a substantially straight line 216 for a distance 218.3 of about 2.5 meters, which is substantially parallel to the connecting line 209.4 and thus the third displaceable weight 205 can be displaced parallel to the vehicle longitudinal axis. The determination of these quantities as well as their dependence on each other can be done by graphical methods, as shown in FIGS. 13a to 13e, or by analytical methods.

[0121] FIG. 14 shows a schematic view of a further embodiment of a third work machine 201.2 according to the invention. The third work machine 201.2 according to the embodiment of FIG. 14 comprises a third main vehicle axle 203 with wheel elements 204 arranged on both sides, a working unit 202.2 in the form of a bucket 214 and a third displaceable weight 205.1, which is connected to the vehicle frame 215 by the rod system 206.2. Further, the rod system 206.2 of the third work machine 201.2 includes a fourth rod 207.4 that maintains the third displaceable weight 205.1 in a substantially horizontal position across the displaceable range.

[0122] With the rod system 206.2 of the third work machine 201.2, the third displaceable weight 205.1 can be displaced with a single drive/actuating element 225, which is arranged, for example, in the center of the vehicle wherein the fourth rod 207.4 holds the third displaceable weight 205.1 in its horizontal position. This results in the advantage that the third displaceable weight 205.1 can contain elements, such as motors for energy conversion, hydraulic pumps, fluid reservoirs and/or further storage, drive or control elements, which can operate without malfunction and whose function cannot be impaired by any inclined position. Further, an auxiliary wheel 210 may thus be attached to the displaceable weight 205.1, which may include a load sensing device.

[0123] FIG. 15a shows the rod system 206.2 of the third work machine 201.2 according to the invention in a central position. In addition to the elements of the rod system 206.1, the rod system 206.2 comprises a fourth rod 207.4, which is rotatably connected to the third displaceable weight 205.1 by a further hinge point 208.7. Through a further hinge point 208.6, the fourth rod 207.4 is rotatably connected to the second rod 207.2. Thereby, the second rod 207.2 has a third hinge point 208.6, wherein 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, which are at a fixed angle 217.6 of more than 90° to each other. The positions of the two hinge points 208.5 and 208.7 are arranged on the third displaceable weight 205.1 in such a way that they have a fixed distance 226.1 in the horizontal direction and a fixed distance 226.2 in the vertical direction. Thereby, the positions of the hinge points 208.5 and 208.7 on the third displaceable weight 205.1, the length of the connecting line 209.3 of the third rod 207.3, the length of the connecting line 209.8 of the fourth rod 207.4, the fixed angle 217.6 and the length of the connecting line 209.6 of the second rod 207.2 are arranged in such a way that the fourth rod 207.4 holds the third displaceable weight 205.1 in a substantially horizontal position when displaced.

[0124] FIG. 15b shows the rod system 206.2 of the work machine 201.2 according to the invention in a stretched position. The hinge point 208.5, which connects the displaceable weight 205.1 to the third rod 207.3, is located on the straight line 216.1. The hinge point 208.7, which connects the displaceable weight 205.1 to the fourth rod 207.4, is located on the straight line 216.2, which is parallel to the straight line 216.1 and thus holds the displaceable weight 205.1 in a substantially horizontal position.

[0125] FIG. 15c shows the rod system 206.2 of the third work machine 201.2 according to the invention in a central position. The hinge point 208.5, which connects the third displaceable weight 205.1 to the third rod 207.3, is located on the straight line 216.1. The hinge point 208.7, which connects the third displaceable weight 205.1 to the fourth rod 207.4, is located on the straight line 216.2 and holds the displaceable weight 205.1 in a substantially horizontal position.

[0126] FIG. 15d shows the rod system 206.2 of the third work machine 201.2 according to the invention in a retracted position. The hinge point 208.5, which connects the third displaceable weight 205.1 to the third rod 207.3, is located on the straight line 216.1. The hinge point 208.7, which connects the third displaceable weight 205.1 to the fourth rod 207.4, is located on the straight line 216.2 and holds the displaceable weight 205.1 in a substantially horizontal position.

[0127] Exemplarily, these variables may be selected in such a way that the positions of the hinge points 208.1 and 208.2 are on a line parallel to the vehicle longitudinal axis. Their connecting line 209.4 is 0.4 meters long. The connecting line 209.1 of the first rod 207.1 is 1.60 meters long, and the connecting line 209.2 of the second rod 207.2 is 1.45 meters long. The connecting line 209.6 of the second rod 207.2 is 0.2 meters long and the fixed angle 217.6 of the second rod 207.2 is 150°. Then, for the third rod 207.3, the connecting line 209.5 is 0.2 meters long, and the connecting line 209.3 is 1.30 meters, wherein they are at a fixed angle 217.1 of 140° to each other. The hinge points 208.5 and 208.7 have a horizontal distance 226.1 of 0.34 meters and a vertical distance 226.2 of 0.2 meters. In this embodiment, the hinge point 208.5 displaces along a substantially straight line 216 for a distance 218.3 of about 2.5 meters that is substantially parallel to the connecting line 209.4, allowing the third displaceable weight 205.1 to be displaced parallel to the vehicle longitudinal axis. maintains the third displaceable weight 205.1 in a substantially horizontal position. The determination of these variables as well as their dependence on each other can be done by graphical methods, as shown in FIGS. 13a to 13e, as well as in FIGS. 15a to 15d, or by analytical methods.

[0128] FIG. 16 shows a schematic view of the embodiment of the third work machine 201.2 according to the invention. The third work machine 201.2 comprises two rod systems 206.2 and 206.2′, each of which is arranged laterally on the third displaceable weight 205.1 so that the said weight has space between the two rod systems 206.2 and 206.2′ and can be displaced between them. In a area above the displaceable weight, in an advantageous embodiment, one or more cross rods 211 can be arranged to connect the two rod systems 206.2 and 206.2′. Thus, both rod systems become very robust, wherein the rods 207.1, 207.2, 207.3, 207.4 and 207.1′, 207.2′, 207.3′, 207.4′ can be manufactured in a weight- and cost-efficient manner.

[0129] FIG. 17 shows a schematic view of a further embodiment of a third work machine 201.3 according to the invention. The third work machine 201.3 comprises a third displaceable weight 205.3, which is displaceable with two rod systems 206.3 and 206.3′ (not shown) arranged laterally on the third displaceable weight 205.3. Furthermore, the third work machine 201.3 comprises a third vehicle axle 203 with laterally arranged third wheel elements 204, around which the third work machine 201.3 can be balanced. Additionally, the third work machine 201.3 comprises a holder 224 for a third working unit 202.3, which is exemplarily shown here a trailer 228. In this exemplary holder 224, the work machine 201.3 can rotate relative to the trailer 228 in such a way about the vehicle vertical axis 229 that a steering movement can be made therewith. It is also advantageous if the holder 224 allows the trailer 228 to rotate about the vehicle longitudinal axis 230, as none of the axles will then require a pendulum suspension. However, rotary motions about the transverse axis (not shown here) are not permitted by the holder 224. Such holders are known from the prior art, for example, in self-propelled, articulated dump trucks, hereinafter referred to as dump trucks. This results in the advantage that the load acting on the third vehicle axle 203 can be increased by pivoting out the third displaceable weight 205.3. Thus, the traction capacity of the third wheel elements 204 attached to the vehicle axle 203 can be increased. The resulting higher tip to the front is transferred to the trailer by the holder 224. The wheels of the trailer are accordingly relieved of load. Advantageously, such a vehicle can have similarly good traction as a comparable prior art vehicle in which one or more axles of the trailer are driven. The work machine 201.3 is thus able to make use of the weight of the trailer 228 to generate traction without the need for complex equipment such as is usually required to drive the trailer axle. This results in weight and cost advantages as well as improved energy efficiency.

[0130] Another advantage is that the holder 224 for a working unit 202.3 allows the trailer 228 to be coupled and uncoupled. Then the work machine 201.3 can be provided as a universal working unit, which can use the most diverse working units as used in construction and agriculture. If the different rotational speed or direction of rotation of the wheel elements 204 arranged on the vehicle axle 203 is used for steering, a very maneuverable and easily maneuverable vehicle is thus created, which thus has advantages even if no working unit 202.3 is attached. In order to be able to couple working units 202.3, for example a trailer 228, very easily and quickly, sensors can be used which, together with an electronic control unit, which has driver assistance systems, automatically, quickly and precisely guide the working unit 201.3 to the working unit.

[0131] Further, the third work machine 201.3 can be used with a trailer 228 in earthmoving operations in such a way that the trailer 228 is loaded while uncoupled from the third work unit 201.3. Meanwhile, the third work machine 201.3 with another trailer 228 is traveling along its intended route and does not need to wait for the loading operation. It is often the case that several dump trucks are in use between the loading point and the unloading point. For reasons of efficiency, the loading machine, for example an excavator or a wheel loader, should not have to wait until the next empty dump truck arrives. Therefore, it is often planned in such a way that the number of dump trucks used is higher than absolutely necessary. They may then have to wait at the loading point. For example, if a job site requires a certain number of dump trucks to be operated efficiently, using third work machines 201.3 is sufficient to accomplish the same task with the same number of trailers 228 but with fewer work machines 201.3. By using the displaceable weight 205.2 and the holder 224 to couple the trailers 228, these machines can be used in places where the terrain is very difficult and requires the dump trucks to have a high traction capacity.