Work machine

1 . A 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 or holder is arranged on a vehicle frame ( 12 ) by means of at least two pivot arms ( 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 at least two pivot arms ( 6 , 6 . 1 , 6 . 2 ) with the rotatably mounted working arm ( 7 , 7 . 1 , 7 . 2 ), wherein the first movement channel ( 16 . 1 ) for the displaceable weight ( 5 ) takes up a central position on a vehicle transverse axis ( 15 ), wherein the 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 at least two 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 ), and 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 at least two pivot arms ( 6 . 1 , 6 . 2 ) and the two working arms ( 7 . 1 , 7 . 2 ).

2 . Work machine ( 1 . 1 , 1 . 2 , 1 . 3 ) according to claim 1 , 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 ).

3 . Work machine ( 1 . 1 , 1 . 2 , 1 . 3 ) according to claim 1 , 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 ).

4 . Work machine ( 1 . 1 , 1 . 2 , 1 . 3 ) according to claim 1 , wherein a sixth movement channel ( 16 . 6 ) for a first pivot arm of the at least two pivot arms ( 6 ) and the assigned first working arm ( 7 ) takes up a central position on a vehicle transverse axis ( 15 ).

5 . Work machine ( 1 . 1 , 1 . 2 , 1 . 3 ) according to claim 4 , 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 ).

6 . Work machine ( 1 . 1 , 1 . 2 , 1 . 3 ) according to claim 5 , 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 ).

7 . Work machine ( 1 . 1 , 1 . 2 , 1 . 3 ) according to claim 6 , wherein the displaceable weights ( 5 . 1 ; 5 . 2 ) are fixedly connected to one another on the rear vehicle side.

8 . A work machine ( 101 ) comprising:

a vehicle;

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 a 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 at least one 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, wherein the upper and lower limit values are variable and adjust automatically depending on a speed of the vehicle, and wherein, at a certain speed, the further working unit automatically transitions into a self-balancing driving mode, in which the further working unit balances about the main axis and no load is applied to the further auxiliary wheel.

9 . Work machine ( 101 ) according to claim 8 , 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 wherein the further auxiliary wheel ( 106 ) can be returned to the ground.

10 . Work machine ( 101 ) according to claim 8 , 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.

11 . Work machine ( 101 ) according to claim 8 , 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.

12 . Work machine ( 101 ) according to claim 8 , 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.

13 . Work machine ( 101 ) according to claim 12 , 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 ).

14 . Work machine ( 101 ) according to claim 13 , wherein the further auxiliary wheel ( 106 ) is arranged on the further displaceable weight ( 105 ).

15 . Work machine ( 101 ) according to claim 8 , wherein the control loop is an electronic control loop, and comprises at least inclination sensors and/or load sensors.

16 . Work machine ( 101 ) according to claim 8 , wherein the further drive units ( 109 ) are electric drives.

17 . A work machine ( 201 . 1 , 201 . 2 , 2011 . 3 ) comprising:

a vehicle/vehicle frame

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 fifth 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 ) 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 fifth 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 ).