FI110419B - Tree cutting and felling machine wheels suspension comprising lower and upper suspension arms - Google Patents

Abstract

The machine adjacent wheels (2a,2b) support the frame (1) and the suspensions (1a,1b) elevate and lower each wheel w.r.t. the frame. Each suspension comprises a lower and an upper suspension arms (6a,6b) and (7a,7b). The lower suspension arms are mounted by means of first joints (10a,10b) on the frame and by means of second joints (8a,8b) on the mounting arms (5a,5b). The upper suspension arms are fixed by means of third joints (11a,11b) on the frame and by means of fourth joints (9a,9b) to the mounting arms. The first and/or third joints are located on the center line, can swivel about axis (R1,R2) and are arranged one after the other in the longitudinal direction of the frame. The wheels are lifted or lowered by cylinder actuator (12a,12b).

Description

110419

Forestry machine chassis structure

The invention relates to a substructure for a forestry machine moving in the field according to the preamble of claim 1.

5

The invention also relates to a base structure for a forestry machine moving in the field according to the preamble of claim 7.

To carry out harvesting, there are known forest machines 10, which are wheeled in the terrain, such as harvesters with a harvester head mounted at the end of the boom, to cut, fell and saw up to the desired length of the growing tree trunk. The sawn timber frames are collected by a loader equipment, a so-called loader truck, and transported away in 15 cargo spaces.

One working machine is disclosed in WO 89/00928, which comprises two articulated body parts. The joint controls the direction of travel of the implement. The implement travels along the Arc-20 horizontal groove by folding the body members, so that the center of rotation and the axis of rotation are always at the intersection where the perpendicular directions intersect, projected to the same horizontal plane.

'· The said direction is simultaneously the axis of rotation common to each pair of wheels; : direction. The wheels are hung on the support arms of the parallelogram mechanism which. \ 25 also consider the tire to be vertical.

: · ·: Forestry machines may be fitted with a swivel base rotating about a vertical axis, with a cab and a boom with a harvester head at its end, mounted on the hull. It is known that the boom can also be attached in front of the cab or separately from the cab to its own swivel base.

.- ·· A two-frame harvester is also disclosed in WO 92/10390 and its direction is controlled by: - 35 clubs. The wheels are suspended by a pendulum arm, whereby each pair of wheels: ...; the axes of rotation of the wheels are parallel, but not always; ··. converge when the height of the terrain varies across the machine.

As a result, the rotation axes intersect at up to four different positions when the 2 110419 frame is folded. As a result, the actual center of rotation is indefinite and also causes some wheels to skid in a curve, causing terrain damage. Also in this case, the center is always perpendicular to each body member.

In the known lorries, the second frame member is provided with a load compartment into which the timber frames are collected from the terrain by means of a boom rotatably attached to the front of this frame member and its loader.

10 The second frame is fitted with a cab and a power source for the machine.

One loading machine is disclosed in WO 99/710221, which comprises three frame parts which are folded during a curved run so that the axes of rotation of all wheelsets have a common intersection. The forces exerted on the frame articulations are quite significant, especially at source-15, whereby the turning radius must be gradually reduced while moving, if the front wheels are not to be skewed. Here, too, the wheels are suspended via swinging arms, which causes the center of rotation to be uncertain and to slip. In order to increase the load capacity, the load space is supported by two pairs of wheels, but then the load space has to be supported by pivots on the frame members, because the straight wood frames do not bend when the frame members fold. The structure is multi- :. bending and when loaded can even prevent the body parts from bending \ or at least add the necessary bending forces to the body joint.

DE 19822809 A1 discloses a lorry vehicle comprising two 2-wheel bogie structures on each frame to increase load capacity. The bogie wheels swing around a common horizontal axis of rotation, which is always perpendicular to the frame member. Particularly in cornering, when the frame is folded, the axes of rotation of the wheels intersect at at least four different points, whereby there is always a slanting of the wheels of a bogie, especially in tight cornering, which causes terrain damage. Because of the bogie, the damage is caused to a wider area, because successive wheels of the bogie have different swiveling radii due to the distance between the wheels.

35

Also known as forestry machines a combination machine combining harvester and truck functions. In this case, for example: the rear frame is provided with a load compartment and the boom is rotatably mounted on the front frame. The boom and cab can be on the same rotating swivel base. The harvester head is attached to the boom, which is also suitable for loading the trunks, where it is equipped with, for example, grabs. The advantage is that the logging and logging can be carried out simultaneously, reducing the need for several different machines, which reduces the risk of tree damage.

For example, in thinning, large trees are left next to the working path of the machine, which limits the available space on the machine. To improve traction and avoid trees, the turning radius should often be as small as possible, but limited by the machine stability requirement. In this case, the machine cannot be folded indefinitely, as the inner wheels approach each other while the outer rings move away from one another, which can cause unfavorable placement of the center of gravity. This will increase the risk of tipping over, especially if the implement is still tilted or loaded.

All in all, the well-known forestry machines have limited ability to navigate highly variable forest terrain and cause damage to the terrain 20. Due to the structure and balance, the turning radii are limited and space-consuming, thus unnecessarily causing damage to the tree. However, the vertical movement of the wheel must be sufficient for v. Varying forest terrain and for crossing obstacles.

25 One particular problem is the crossing of soft and deceptive areas of the terrain. Particularly on 6-wheeled or larger implements and heavy duty loading machines, successive wheels in turn increase the deflection of these points and at the same time the chassis swing is increased. At the same time, the forces that bend the articulated joints increase, and the load distribution of the wheels on the average 30 suddenly fluctuates.

The object of the present invention is to eliminate the above-mentioned problems by means of a new substructure of a forestry machine. Chassis structure li. · Suitable for use in, for example, 4 and 6 wheel harvesters, '·; 35 trucks and combination machines. The invention is particularly applicable to a 3-axle, e.g. 'to improve the mobility of the weather tool. The invention is also particularly suitable for improving the handling of a 4-wheel forestry machine. Inventory 4 110419 removes restrictions on the evasive and turning movements of known forestry machines. With the invention, it is easy to add wheels to improve load-bearing capacity, but at the same time, there is no need to increase the articulation or drive forces. Thus, two or more pairs of wheels can be accommodated in the front and rear frames.

To accomplish this purpose, the substrate structure of the invention is characterized by what is set forth in the characterizing part of claim 1.

10

The substrate structure according to the invention is further characterized by what is stated in the characterizing part of claim 7.

The invention provides significant advantages. By individually controlling the orientation of each wheel 15, the implement can also be driven in a direction deviating from the longitudinal direction of the chassis, thereby allowing for sideways movement. This will lead to different wheel tracks or sideways obstacles. This has a considerable advantage, especially when crossing soft points, whereby successive wheels cross it clearly at different points, thereby reducing compression and avoiding the aforementioned problems.

»Particularly in curves, it is important that the wheels on the same side travel in the same track so that the width of the 6-wheel machine is as wide as possible and terrain damage is limited to a narrow area. It is now possible to have successive wheels guided ./ to follow different grooves also in curved driving, whereby the turning radius of each wheel is set differently. In cornering, it is now also possible to have • exactly the same common center of rotation on all wheels.

30 A particular advantage is achieved in a 6-wheel truck, whereby the load compartment can be fixed directly on the rear frame, since -: ·, · since the rear frame does not have to be folded in cornering. For balance, “1 advantage is also that during cornering, the points of the anchor points where the wheel touches the ground can be held in close proximity to each other and» 35 in size. This allows the center of gravity to be kept as centered as possible and away from the wheels at the corners of the frame. At the same time, bogie structures that have a limited ability to hold the forest machine frame in a horizontal position 110 1109 can be dispensed with. The wheels are more freely positioned so that they can be evenly spaced to balance the loads.

A particular advantage is achieved with folding forestry machines comprising 5 articulated joints controlled, for example, by folding cylinders. With a folding joint, it is now possible for all 6-wheel machines to steer all successive wheels on essentially the same track. Thus, for example, the center of rotation of the two wheel pairs of the rear frame is arranged at the same point. The front frame wheels are directed to the same point, as long as the spare 10 of the same side all the successive wheels are arranged concentric circular arc, for example, by folding the front frame side of the swing. Otherwise, at least one wheel of the same side passes along a different wheel groove.

In the invention, the articulation joint is not used for direction change at all or to a small extent, so that its actuators can also be dimensioned for significantly lower pressures and loads. The size of the articulation joint becomes lighter and smaller and the design of durability and other functions such as folding and / or rotation locking is facilitated. Folding is now possible by turning the rear or front frame aside by turning the wheels. Thanks to the separate steering, it is possible to change the direction of the forest machine even when stationary, with the wheels turning in a new direction.

25 A particular advantage is obtained when, in a 4-wheel harvester, which can also be without a hinged joint, each wheel is equipped with a hub motor: V: for reversing the direction of rotation of the tires. This allows the machine to rotate even when the center of rotation is: positionable in the area defined by the machine's wheels, for example, · ·! 30 in the center. In this case, the turning angle of each wheel must be sufficient, which is easier to accomplish in a short harvester. This is particularly advantageous in rotating tight corners, whereby the machine is first driven straight into an angle, turned, for example, 90 °, and driven away from the corner in a straight line. In this case, the space required is determined only by the size of the forest. * 35 their own dimensions and not a turning radius.

The separate suspension also makes it possible to balance the load between the different wheels, to keep the load distribution desired, and to keep the frame 6 110419 in the desired position in different situations. Hereby, for example, the load pressure of the wheel suspension actuator can be measured with pressure sensor means, the position of the suspension with position sensor means fitted to its joints, and thus also the position of the frame. These pe-5 pads control the relative position of the suspensions to increase or decrease the load on any actuator, even without changing the position of the frame, if necessary. In one case, it is further advantageous to provide a rear frame spacing for adjustment in a 6-wheel forestry machine. By shortening the wheelbase, a steady load can be maintained 10 when crossing steeper obstacles, even if the maximum vertical movement of the wheel suspension is the same compared to the standard wheelbase. A further advantage is that the turning radius is reduced using the same maximum turning angles, or alternatively the maximum hanging angle can be reduced without reducing the turning radius.

15

The chassis structure according to the invention enables extremely versatile steering of the wheels, coordinated by the forest machine control system and according to the driver's choice. The control system, in turn, controls the actuator control means known per se, which in turn control the position and movement of the actuators, for example by controlling their pressure levels and volume flows. The implement is generally equipped with a pressure medium system known per se, in which the hydraulic fluid pressurized by the pump is used for energy transmission and is supplied to the actuators and also to the wheel transmission system. In this case, the steering system can be ordered to position the wheels, for example, in a state where the forest machine rotates, whereby the steering system adjusts the turning angles of the wheels and selects the directions of rotation according to the desired direction of rotation. In the other mode, normal: * ·. · Direct and curved driving, either in the same or different tramlines; ···; 30, whereby the control system also takes care of the folding and / or ···. guiding the wheels along the desired route. For example, the driver only takes care of the direction of travel of the front wheels and the steepness of the turn, whereby the steering system controls the center and rear wheels.

35

The invention will now be described in more detail by way of example, with reference to the accompanying drawings, in which: * Figure 110419 shows a simplified structure of a suspension in a pivotal direction and a mounting of a cylinder in a rotational axis, Fig. 3 is a perspective view of a truck in which the module of Fig. 2 is applied when the truck is tilted sideways, and Fig. 4 shows the behavior of a chassis structure according to a preferred embodiment of the invention, 5 is a plan view of a substrate structure according to a preferred embodiment of the invention, FIG. 6 is a top view of a preferred embodiment of the invention. and Fig. 7 is a perspective view of the articulated joint applied to the truck and chassis structures of Fig. 3.

Figures 1 and 2 illustrate an arrangement of a suspension structure 30 for suspending wheels in accordance with the invention. Figure 1 is a simplified, ···. na parallelogram and its various arms in the middle position. Also shown in Fig. 1 is a cylinder actuator 12a for controlling the position of the support arms 6a and 7a and the position of the mounting arm 5a in the vertical direction. The wheel is attached to the mounting arm 5a as shown in Figure 2. By comparison, prior art 35-barrel cylinder placement is illustrated by a dashed line C. If the pivot arms 6a, 7a are parallel and i i i, the position of the mounting arm 5a and at the same time of the wheel 2a will be minimized. in different positions. Usually, the arms 6a, 7a are at least of different lengths.

The prior art wheel suspension is problematic when it is desired to limit the dimensions of the implement, particularly its width and height, without impairing the ability of the forestry machine to advance in the terrain. Cylinder C is usually mounted at a point where the stroke length is extremely long for moving the wheel from the upper position to the lower position. Because of this, the arms are also long so that the cylinder C, between the short and the long 10, fits between them, which affects in particular the width of the machine, and especially the manufacture of long support arms is difficult. In addition, the torque arm of the cylinder C is shortened when it is desired to reduce the width of the implement, since said support arms must be shortened, whereby also the travel from the upper to the lower position is reduced.

15

By positioning the cylinder 12a in an upright position as shown in Fig. 1 and securing it at one end 13a to the lower support arm 6a and at the other end 14a to the body member 1, the stroke length of the cylinder 12a can be reduced compared to prior art. However, the torque arm of the cylinder-20 blades 12a can be kept substantially the same as in the prior art, but the attachment point 13a on the lower support arm 6a can be moved closer to the frame 1. There is more space for other structures at the outer end 8a of the support arm 6a. Due to the shorter stroke length, the vertical cylinder 12a does not adversely increase the height of the ra 25 while still attached to the lower support arm 6a. In addition, there is space underneath the support arm 6a for the bracket 6c, v .: to lower the joint 13a. Since the attachment point 13a V is located in the support arm 6a and not in the pivot 8a, changing the length of the support arm 6a does not always affect the structure of the cylinder 12a, the applied pressure levels or especially the torque arm. Vertical, ···. with the position, the torque arm formed in the different positions of the support arms 6a, 7a also changes in the less desired operating range as the ring 2a moves up and down, which facilitates the adjustment of the pressure level.

Referring to Fig. 2, the chassis structure comprises a frame body 1 located on the vertical center line CL of the machine, forming part of a frame of a forestry machine, such as a harvester, truck, or combination machine, for mobile off-road use. The working machine, for example, comprises a foldable front and rear frame members which are moved by one or more pairs of wheels. The wheels are attached to the frame by means of a suspension as shown. On top of the body is also a power source for the machine, typically a diesel-5 engine. The implement is usually equipped with a hydrostatic transmission system.

A boom is disposed on the front frame 61 of the folding 4-wheel harvester 60 of Fig. 6. The boom is fitted, for example, in front of the cab and a harvester head can be connected to the end of the boom. The cab and boom may be located on the same or on different swivel platforms that rotate about the vertical axes. They may also be in different frame parts. The cab may also be fixed or at least tiltable in the direction of the hull and sideways. The motor-15 is housed in a rear frame member 62. The frame members 61, 62 are secured to one another by a frame joint 63 which allows the frame members to rotate relative to one another about a vertical axis. If the suspension restricts the rotation of the wheel, the folding center link reduces the turning radius, improving agility. In the absence of a joint 63 20, the body members 61, 62 form a continuous body. If the suspension limits the lift and lowering of the wheel, the center pivot of the swivel will increase the vertical movement of the wheel to overcome obstacles. Each frame member has at least one pair of wheels 64a, 64b and 65a, 65b, the suspensions of which correspond to Figure 2.

25

4 and 5, there is provided a cargo space for transporting timber such as pruned and chopped timber trunks. The engine is located in the front frame section in front of or behind the cab. Half-load ···. the gear is pivotally attached to the front of the rear body 42. In the composite machine, the boom is mounted on the front frame 41, e.g. The cab and boom of the front frame 41 may be located on the same or different pivoting platforms that rotate about the vertical axes ·; · '35. The body members 41, 42 are secured to one another by a body joint 43 which at least allows the body members to rotate with respect to one another about a vertical axis: and preferably also with respect to each other about a longitudinal axis X2 of the working machine.

* * 10 110419

The rear frame 42 has at least two pairs of wheels 45a, 45b and 46a, 46b, and the front frame 41 has at least one pair of wheels 44a, 44b whose suspensions correspond to Fig. 2.

In Fig. 2, the base structure is further provided with two substantially U-shaped beams 15a, 15b mounted on the body member 1, thereby forming part of the rear body member 42 shown in Figures 3 and 4. The corresponding body member 1 with its suspensions and wheels the banks, i.e. the module M, may form 10 parts of the front frame part 41 or frame part 61, 62 of Figure 6. Further referring to Figure 2, the body part 1 is supported by wheels 2a and 2b disposed on both sides thereof. The wheels 2a and 2b are usually inflatable rubber wheels mounted on a removable rim. The wheels of Figures 4, 5 and 6 correspond to these 15 wheels. The hoop is removable! mounted on the wheel hub. The wheel hub, in turn, is pivotally mounted and mounted on a non-pivoting hub body in a manner known per se. The hub frame is attached to the suspension by means of bearing hinges 3a, 3b which also support the hub frame and thus also the rotating wheel. The wheel hub is rotated 20 in a manner known per se by a pressure medium driven hub motor arranged to rotate the rim with its wheels and thereby provide traction for moving the implement. The corresponding hub motor can be fitted to all wheels of the forestry machine. The hub motor is coupled via an axle to the wheel hub and fixed centrally to the hub body 25.

• \ v The wheel hub and hub frame are located almost entirely inside the rim and; · · The hub motor is partially located inside the hub frame. The wheel is rotated; about a substantially horizontal axis Z. The wheel hub is: ": 30 in addition to two overlapping joints 3a and 3b arranged to pivot about a substantially vertical axis Y, whereby the direction of movement of the implement can be controlled by turning the wheel 2a. by means of cylinders 4a, 4b; · '35, which are located on either side of the axis Y. They provide a torque force which turns the wheel 2a around the line Y.

·: ··: The actuators 4a, 4b are fastened by means of a joint 16a, 16b to the mounting arm 5a and to the hub frame by means of a joint. Wheel Swivel

1 I

"Alternatively, one double-acting cylinder or two single-acting cylinders is sufficient to fill the 110419, but operation is non-linear or larger cylinders are required.

With reference to Figure 1, the suspension comprises a substantially vertical mounting arm 5a, to which also the joints 3a and 3b are fitted. The mounting arm 5a engages the body 1 through substantially parallel lower support arms 6a and upper support arms 7a. Each support arm 6a and 7a engages the attachment arm 5a by means of a joint 8a or 9a which allow the support arm 10 to rotate with respect to the attachment arm about a substantially horizontal axis. Each support arm 6a and 7a is secured to the body 1 by means of a joint 10a or 11a which allows the support arm to pivot about the body about a substantially horizontal axis. This axis is parallel to the length-15 direction of the forestry machine. The support arms 6a and 7a and the joints 8a, 9a, 10a and 11a form a parallelepiped structure, whereby, despite the pivoting of the support arms, the mounting arm 5a remains substantially vertical and the ring 2a remains substantially elevated at different heights. Specifically, the wheel moves in a plane which is substantially vertical and perpendicular to the longitudinal direction, since only the support arms rotate about the longitudinal direction. In order to increase the ground clearance, the joints 3a, 3b are fixed to the lower part of the mounting arm 5a or its extension and the supporting arms 6a, 7a are fixed close to the upper part of the mounting arm 5a.

In the arrangement of Fig. 2, the pivoting arm 6a, by means of the joint 10a, and the pivoting arm 6b, by way of the joint 10b, are Λ: arranged to rotate about the same axis R1. Hereby, the joints 10a * 'and 10b are preferably located on said center line CL. The joint 10b of the suspension 1b ·. · · Corresponds to the joint 10a of the suspension 1a, and otherwise the suspension 30 corresponds to one another. The wheels 2a and 2b are preferably at the same distance. from the center line CL and the corresponding arms of the various suspensions are preferably of the same length, whereby the suspension of the wheels work the same. At the same time, the support arms 7a, by means of the hinge 11a, and the support arms 7b, by means of the hinges 11b, are arranged on both sides of the frame 1 and are rotated about the same axis of rotation R2 ·; · * 35. Hereby, the joints 11a and 11b are preferably located: '': on said center line CL and above the joints 10a and 10b. It is clear that:: - * i that the axes of rotation of the support arms 6a and 6b may be disposed adjacent to each other and 12 110419 parallel, whereby the support arms 6a and 6b may also be disposed transversely. The pivot axes of the support arms 7a and 7b may be located respectively.

The particular structure of the hinges may vary, but in the structure 5 of Figure 2, the hinges 10a and 10b and the hinges 11a and 11b are further located successively in the axial direction R1 and R2. Hereby, the support arms on different sides of the frame 1, for example the support arms 6a and 6b, are in a different line so that they can also be arranged transversely. In order to move the support arms 6a and 6b, a pressure medium actuator 10 12a, preferably a hydraulic cylinder, is connected between the frame 1 and the lower support arm 6a by means of joints 13a and 14a. For example, there are two pieces of support arms 6a, 6b in succession for stiffening the suspension, whereby they can also be joined by a flange structure to which the cylinder 12a and the joint 13a can be attached. The cylinder 12a is coupled above the upper support arm 7a and substantially vertical. The cylinder 12a engages between the joint 8a and 10a, whereby the cylinder 12a is positioned in the clearance between the body 1 and the mounting arm 5a. By means of the actuator 12a, the suspension 1a is held in the desired position to support the body 1 at the desired height. By means of the actuators 12a and 20b of the suspensions 1a and 1b, the frame can also be kept horizontal in varying terrain. The body can be kept in balance if there is an elevation under the wheel 2b or if a depression occurs under the wheel 2a. In the lowest position of the wheels 2a and 2b, the ground clearance of the implement can be increased by adjusting the suspension.

25 ·: * The chassis body 1 and the suspensions 1a, 1b are arranged as a v module M, which can be duplicated and applied in the implementation of wheelsets. The body member 1 is formed to the desired length, whereby it can be directly connected to another corresponding module M to produce a multi-wheel body part of the working machine. Modules M can be. ···. also interconnects via a variable body spacer.

Thereby, for example, a telescopic structure can be inserted between the modules M, the length of which is altered by the longitudinal cylinders of the body. Thus, for example, the wheelbase rear axle spacing of *; · '35 can be changed. Alternatively, between the modules M is a conductor structure 'j which is moved by a pressure medium driven motor. At the same time, the load: · *: The mat is connected by means of articulations to the modules M so that their.:. mutual movement is allowed.

> · 13 110419

Figure 3 is a more detailed view of a truck 30 according to a preferred embodiment having a chassis structure similar to that shown in Figure 4. It comprises a 2-wheel front frame 41 formed by one of the modules M of Figure 2 and a 4-wheel rear frame 42 formed by two modules M which are connected to one another by the frame joint of Figure 7, which is also preferably lockable. In this case, the distance M of the modules M of the rear body 42, and at the same time the wheelbase, is fixed. The forestry machine 30 further comprises a load 31 mounted on the rear frame 42, a log guard 32 and a boom 33. The forestry machine 30 also comprises a cab 34 mounted on the front frame 41 mounted on the swivel base 35 and an engine 36.

Fig. 7 shows a pivot joint 17 which is suitable as a trunk joint of a forestry tool 15. The pivot joint 17 is applied as the frame joint 43, 63 of the machine 40, 60 of Figs. 3, 4 and 6. The pivot joint 17 is disposed between the frame members 41 and 42, which rotate relative to each other about an axis X2. The body 42 is shown in section. The axis X2 is usually parallel to the longitudinal direction of the implement 20. The hinge 17 generally has a peripheral bearing between the parts 41, 42. It should be noted that the order of the body members 41, 42 may also change to secure the pivot joint 17. In addition, a hinge 18 is disposed on the implement body member 41, by means of which the hinge 17 and the other body member (not shown) rotate relative to each other about a vertical axis Z1. The body portion 41 of Fig. 7 is itself - in fact, part of the pivot joint 17 or even part of the body part 42, because the part 41 does not bend with respect to the part 42 but folds with respect to the other body part.

V The joint 18 is utilized for folding the machine. For this purpose, the hinge 18 comprises two spaced apart *: lugs 18a and 18b for bearing. The lugs are preferably located on different sides of axis X2. The axis Z1 preferably intersects the axis X2. The joint 18 and the cylinders 20, 21 may also be completely absent, whereby the body members 41, 42 merely rotate relative to one another. This rotational movement is also controllably lockable and released by means of a locking device known per se from the pivotal joint 17.

»; · *: A spacer 19a is disposed symmetrically to each other on the axis Z1, at a distance from one another to which the first end of the first pivoting cylinder 20 14 110419 is fixed by means of a joint and 19b to which the first end of the second pivoting cylinder The other end of the cylinders 20 and 21 is fixed by a joint to the other part of the body part 41 which is fixed to the joint 18 and 5. By controlling the linear movement of the cylinders, the body members are rotated relative to one another about the axis Z1. The cylinders rotate at both ends about a substantially vertical axis. The hinge 18 and the lugs 19a, 19b may engage directly on the body 42, with no rotational movement and the body members 41, 42 merely folding with respect to each other.

In Figure 4, the base structure 40 is shown in a turn, with the same side of the wheels 44a, 45a and 46a have the same turning radius R1, wherein the joint 43 is folded, wherein also the wheel 44a has been obtained to the same arc C1.

When the pivot point P1 is perpendicular to the body portion 42 in the middle of the rings 45a, 46a, at least the rings 45b and 46b are obtained for the same pivoting radius R2. Due to the size of the suspension, ring 44b deviates only slightly from the same groove. When the pivot point P1 is other than the straight line L1, not all wheels may always be on the same track with the body members bent. However, the wheels can be pivoted perpendicular to the pivot point to prevent slipping at an angle. In addition, by folding the chassis structure, it is now possible to continuously minimize the distance between the track tracks of the various wheels and cause them to travel almost exactly along the same path.

25

In one example, the driver selects the driving direction mainly by turning the wheels 44a, 44b while driving, whereby the steering system takes care of guiding the other V wheels along the same track. In addition, it takes care of the wheels' ·.! 44a, 44b so that they have the same pivot center 30 in the curve. This is made possible by the presented chassis structure 40 ·. as shown in Figure 5. When driving directly with the front wheels 44a, 44b, the obstacle T1 is first avoided while driving along the curves C2, C3, whereby they also have the same pivot center P2, which also the central wheels 45a, 45b ::: start to follow when they arrive. The rear wheels 46a, 46b continue; · '35 also passing directly to the arcs C1, C2 which they follow to follow the arcs. If necessary in some control situation, the frame joint: * i 43 may be free and unloaded, whereby the folding cylinders 20, 21 of FIG. 7 are not used, since the pivoting wheels 1511 select the direction and at the same time the frame part automatically folds. For oblique driving, the angles of rotation of all wheels are set equal when the body members are straight and the body joint 43 is locked but the body members are folded, the angles of the wheels 5 vary when they are placed in the same direction. In cornering, the inner wheel of a pair of wheels must have a lower rotational speed than the outer wheel to prevent slipping and damage to the terrain. Preferably, for smooth traction, all wheels have a hub motor, whereby the wheel can also be actively steered in the desired 10 directions.

Fig. 6 shows a particular structure and control space for a 4-wheel harvester chassis structure 60 where it can be pivoted. The pivot center P3 of the pivoting circle C4 is thus located in the area 15 defined by the wheels, for example centrally. In this case, the insides of the wheels 64a, 64b and 65a, 65b are turned perpendicular to and towards the hub P3 so that their rotation direction is also perpendicular. According to Fig. 2, the axis Y is also located inside the ring, whereby it is on the body side, between the ring and the body member. In particular, the crossing of each pair of wheels must be noted, whereby the wheels of the pair of wheels are turned in opposite directions at angles A1, A2, A3 and A4. The direction of rotation of the hub motor is selected such that the wheels of each pair of wheels rotate in opposite directions and the wheels on the same side of the implement, e.g., 64a and 65a, rotate in the same direction. The angles A1, 25 A2, A3 and A4 remain small compared to the situation where one wheel of a pair of wheels would have to be rotated 180 ° in the opposite direction if the wheels of the pair could not have a different direction of rotation. Usually the angles A1, A2 · ': with each other and the angles A3, A4 with each other are equal when the point P3 is on the line X1. In the figure, the body joint 63 is locked, which corresponds to * · ', the operation of the integral body 30. The angles A1, A2 (and A3, A4) differ from each other when the frame linkage 63 is folded into an angle, which the control system takes into account when calculating the wheels. ... When turning center P3 is situated outside the area bounded by the wheels, always "the other side of the outer sides of the wheels, and always the other side of the inner sides of the wheels 35 are directed towards the swivel axis.

The invention is not limited to the above embodiment only, but may be modified within the scope of the appended claims. The same principles can be applied to an 8-wheeled machine, with two sets of middle wheels in succession, supporting different frame parts. Further, it is clear that in the case of a 6-wheel harvester in particular, the second frame member may also be the frame body traveling generally in the forward direction 5 in the driving direction.

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Claims (16)

A chassis structure for an off-road forestry machine, said chassis structure (60) comprising at least: 5. a pair of adjacent front wheels (64a, 64b) arranged to support an intermediate body (61, 62), and - a pair of adjacent rear wheels (65a, 65b) arranged to support a body (61, 62) positioned therebetween, wherein: - the chassis structure (60) further comprises between each wheel (64a, 64b, 65a); 65b) and the body (61, 62) a hanging device (1a) arranged to lift and place a wheel relative to the body in a vertical and transverse pivot relative to the horizontal longitudinal direction (X1) of the working machine, - the hanging device (1a) comprises a mounting arm (5a), a lower support arm (6a) and an upper support arm (7a), the lower support arm (6a) being secured through a first hinge (10a) with the body (61, 62) and through a second hinge ( 8a) with the mounting arm (5a), and which upper support arm (7a) is attached g by a third joint (11a) with the body (61, 62) and by a fourth joint (9a) with the attachment arm (5a), - the hanging device (1a) further comprises first actuating means (12a) arranged to change the position of the hanging device (1a) relative to the body and at the same time to lift; · Up and down the wheel (64a, 64b, 65a, 65b), and - each wheel (64a, 64b, 65a, 65b) is fixed in a rotating manner with said hanging device, 30. . characterized in that:: ·· - each wheel (64a, 64b, 65a, 65b) is also fixed in a reversible manner with said hanging device, each wheel (64a, 64b, 65a, 65b) being secured through a hinge (3a , 3b) with the mounting arm (5a,., · · 5b) and the hanging device (1a) is arranged for turning: the wheel relative to the body about a straight axis (Y) which is vertical and transverse relative to said longitudinal direction, and the suspension device. (1a) further comprises second actuators (4a, 4b) which are arranged for turning the wheel (64a, 64b, 65a, 65b) relative to the suspension device (1a) and at the same time also the body (61, 62), the other actuators 5 ( 4a, 4b) are secured with the mounting arm (5a). Chassis structure (60) according to claim 1, characterized in that the body (61.62) comprises: - a first body part (61), with which the front wheel pair (64a, 64b) is attached, - a second body part (62), with the rear wheel pair (65a, 65b) being attached, - a body joint (63) arranged for folding the body parts (61, 62) relative to each other about at least one axle line (Z1) which is vertical and transverse to relative work - the longitudinal direction of the machine (X1), and - third actuator (20, 21) for controlling the folding. Chassis structure (60) according to claim 1 or 2, characterized in that each wheel (64a, 64b, 65a, 65b) is provided with hub motor means for tensioning. Chassis structure (60) according to any of claims 1-3, characterized in that the first actuating means (12a) are fixed between the lower support arm (6a, 6b) and the body (61, 62). (I · Chassis structure (60) according to any of claims 1-4, characterized in that each frame (61, 62) is assembled by one or more equal module structures (M) comprising a body piece (1) which forms part of Said said body (61, 62), and said two hanging means (1a, 1b) which are substantially symmetrically located on both sides of said body; * ·, Paragraph (1) for hanging a pair of wheels. Chassis structure (60) according to any of claims 1-5, characterized in that the forestry machine further comprises a control system arranged for controlling the actuators (4a, 4b, 12a, 20, 21) »below the drive to a position appropriate for each torque to follow the same or different of the wheels (64a, 64b, 65a, 65b) using the running latch, 110419 and that for turning the woodworking machine into place, said control system is arranged to set the wheels (64a, 64b, 65a, 65b) substantially transversely over the turning center (P3), turning the wheels of each pair of wheels (64a-64b, 65a-65b) in crosswise directions, and rotating directions of the wheels in each pair of wheels (64a-64b, 65a). 65b) opposite and the rotational directions of the wheels (64a-65a, 64b-65b) on the same side of the body (61.62) in the same direction. A chassis structure for an off-road forestry machine, the chassis structure (40) comprising at least: - a pair of adjacent front wheels (44a, 44b) arranged to support a first body portion (41) located therein, and - a pair of adjacent rear wheels (46a, 46b) arranged to support a second body part (42) disposed therebetween, and - a pair of adjacent intermediate wheels (45a, 45b) also arranged to support up the second body part (42), 20. a body joint (43) arranged for folding the body parts (41, 42) relative to each other about at least one straight | axis line (Z1), which is vertical and transverse relative to the longitudinal direction (X2) of the working machine, and first actuators (20, 21) for controlling the fold, wherein: - the chassis structure (40) further comprises a suspension device (1a) between each wheel (44a, 44b, 45a, 45b, 46a, 46b) and the body part (41, 42), which is arranged to lift and place a wheel relative to the body part in a plane which is vertical and transverse relative to the horizontal longitudinal direction of the working machine, the hanging device (1a) comprises a fastening arm (5a), a lower ·; support arm (6a) and an upper support arm (7a), the lower support arm (6a) being secured through a first hinge (10a) with the body portion (41, 42) and through a second hinge (8a) with the mounting arm (5a) , and which Upper Support Arm (7a) is secured by a third; hinge (11a) with the body part (41, 42) and through a fourth hinge (9a) with the attachment arm (5a), the suspension device (1a) further comprises second actuating means (12a) arranged to change the position of the hanging device (1a) relative to the body and at the same time to lift and lower the wheel (44a, 44b, 45a, 45b, 46a, 46b), and 5. each wheel (44a, 44b, 45a, 45b, 46a, 46b) is fixed in a rotating manner with the hanging device, characterized in that: 10. each wheel (44a, 44b, 45a, 45b, 46a, 46b) is also attached in a rotating manner with said hanging device, each wheel (44a, 44b, 45a, 45b) , 46a, 46b) are secured by a hinge (3a, 3b) with the mounting arm (5a, 5b) and the suspension device is arranged to rotate the wheel relative to the body about a straight axis line (Y) which is vertical and transverse to said longitudinal direction, and - the suspension device (1a) further comprises third actuating means (4a, 4b), which are arranged for turning the wheel (44a, 44b, 45a), 45b, 46a, 46b) relative to the hanging device (1a) and at the same time also the body part (61, 62), the third actuators (4a, 4b) being attached to the fastening arm (5a). Chassis structure (40) according to claim 7, characterized in that each wheel (44a, 44b, 45a, 45b, 46a, 46b) is provided with hub motor means for pulling mediation. Chassis structure (40) according to claim 7 or 8, characterized in that the second actuators (12a) are secured between the lower support arm (6a, 6b) and the body part (41, 42). 30 Chassis structure (40) according to any of claims 7-9, characterized in that the body joint (43) is also arranged to allow the free rotation of the body parts (41, 42) about the longitudinal direction (X2) of the working machine relative to each other and to read said rotation. 35 Chassis structure (40) according to any of claims 7-10, characterized in that each body part (41, 42) is assembled by one or more equal module structures (M) comprising a body piece (1) which forms part 110419 of said body part (41, 42), and two said hanging devices (1a, 1b), which are substantially symmetrically located on different sides of said body piece (1) for hanging a pair of wheels. Chassis structure (40) according to any of claims 7-11, characterized in that the body joint (43) comprises for twisting a vertical joint (18) fixed to the first body part (41) by means of a vertical joint (18), hinge member and said body part (41) are coupled first actuators (20, 21) for folding, and a storage between said body part 10 (42) and said hinge part for rotation, and a reading device for reading the rotation. Chassis structure (40) according to any of claims 7-12, characterized in that the woodworking machine further comprises a control system arranged for controlling the actuators (4a, 4b, 12a, 20, 21) during driving to one for each torque the correct position to follow the same or different of the wheels (44a, 44b, 45a, 45b, 46a, 46b) use the running lock. Chassis structure (40) according to claim 13, characterized in that to reduce the space used in the width direction is the control system; arranged to drive the intermediate wheel pair (45a, 45b) and / or the rear wheel pair (46a, 46b) on the same ratchet as the front wheel pair (44a, 44b) is guided to run, while simultaneously folding the body parts (41, 42) 25 is permitted. Chassis structure (40) according to claim 13 or 14, characterized in that, for distribution of loads to different parts of the terrain, the control system is arranged to control the intermediate wheel pair (45a, 45b) and / or the rear wheel pair (46a, 46b) on the same running bar during driving. or on different barriers which differ from the barrel used by the front wheel pair (46a, 46b), at the same time the folding between the body parts (41, 42) is tilted or blocked. > I »... 35 Chassis structure (40) according to any of claims 7-15, characterized in that the distance between the rear wheel pair (46a, 46b) and the middle wheel pair (45a, 45b) in the longitudinal direction (X2) of the working machine is adjustable.