FI12141U1 - Tracked machine - Google Patents

Abstract

1. A caterpillar belt machine, characterized in that the machine comprises an upper carriage, ie. an upper body (B) and a lower carriage beneath it, i.e. a lower body (A) comprising a caterpillar band (200) on both sides of the lower body (A) comprising a rocking band (200a) which displaces the upper body and the lower body and that at the end of the device there is a the lower body (A) articulated connected load unit (12), which also comprises two caterpillar belts (200) moving the machine and comprising a belt (22a), which caterpillar belts are led to swing relative to the body (A) of the cargo unit (12). , wherein the respective caterpillar belts (200) swing with the support of a support shaft (300) and through the swing the machine moves smoothly in the terrain. In addition, the protection requirements 2-20.

Description

Track-moving machine

Background of the Invention

The invention relates to a machine which can be moved by tracks. Known work machine solutions do not provide an inexpensive overall solution for a combination of, for example, a backhoe loader and conveyor. A separate excavator and a separate material transfer vehicle have been used in the above mentioned work.

BRIEF DESCRIPTION OF THE INVENTION This application provides a novel overall solution according to the invention for a multifunctional machine that alone performs, for example, excavation and loading, palletizing and off-site transfer. Also presented is a solution that can also be used for other work such as changing the street lamps, scattering the material on the substrate, demolishing the soil, cutting the timber or harvesting. The tracked multifunction machine is off-road and can move in difficult terrain conditions. The multi-purpose machine can be used to transport tools, leveling, excavation, snow. It is suitable for transfer of working materials for long distance and short distance transport. Due to its good equipment capability, the machine according to the invention is suitable for municipal, parish, construction companies, contracting companies, machinery rental, agriculture, forestry, line building, repair and clearing work, defense forces, recyclers, industrial and various services. The tracked multifunctional machine excavates, loads, loads, lifts, transports and, thanks to its versatile equipment, can effectively carry out a variety of tasks on the job site. It is suitable for transfer of working materials for long distance and short distance transport. The pallet is equipped with a tipper, which makes the machine suitable for unloading sand, granular material, clayey soil by tipping the pallet. The machine alone can carry out excavation, loading, loading, lifting, moving, and moving to and from the site. The machine is off-road and can move in difficult terrain. The multifunction boom can be modularly and modifically equipped with a personal hoist, bucket, grab, harvester head, so that different operations can be performed on the same machine.

One embodiment of the invention comprises a solution in which the machine is remotely controlled. The machine includes a remote control camera (s) that provide a picture of the machine's connection, similar to that from the cab. There are remote controls for remote control of the engine and tools such as boom and bucket and the like. There is one or more cameras and preferably produces 3D images with a 3 D camera / 3 D cameras. In this case, the controller can be located far away from the machine itself. The cab may be a cab for the operator and the controls on the machine and / or a location for remote controls.

In the invention, it has been realized to use the rollers so that they are swiveled on both sides of the machine. This results in good overcoming of obstacles even in difficult terrain conditions.

The invention is also well suited for landscaping, landscaping of real estate, construction sites.

The workload of a machine entrepreneur rises when many different jobs can be done on the same machine without the need for separate machines. The mini-work machine according to our invention is available year-round. The track-moving machine of the invention is preferably frame-guided. It comprises a front body member and a rear body member and between them a cylinder control module, which may comprise two cylinders which pivot the front body member.

The working machine according to the invention is a modular structure having a frame part and having an axle assembly both front and rear of the frame. The modular structure ensures that the frame, when in the modular structure, is equipped with different provisions for different pallets and implements.

The following pallets are used in the invention: - fixed platform without tipping - fixed platform which can be tipped - demountable demountable truck which can be lowered / raised and left on the ground and taken from the ground; wherein the transfer platform is operated by a hook hook, i.e., a hook lift device or a wire rope device or a wire rope shifting device.

The front frame member comprises a track network on both sides of the longitudinal axis X1. The track comprises a frame and at its ends folding rollers for the track. The track is hinged from its body to rotate about a horizontal axis Z1 in the middle of the track body and preferably at a vertical center axis Y. Rotation is also possible from others towards the track length. Through swinging, the dock just gets a soft and even touch to the ground, even on uneven terrain. The track also achieves a low surface pressure. The track is moved forward and backward.

The tracks can be moved on different sides of the machine at different speeds and / or in different directions, thereby providing the machine with direction control, i.e. direction control, in one embodiment.

Correspondingly, the rear body comprising the load unit comprises a similar arrangement. Crawler chains on both sides of longitudinal axis X2. Each of the tracks comprises a track body and at its ends fold-out blades. The rigid body is pivotally rotated about a horizontal horizontal axis Z, preferably centered on the body when viewed along its length. The pivot axis can also be off-center. This gives the tracks a swing and a smooth contact with the ground even in uneven terrain.

The track-driven multifunctional machine according to the invention comprises a working part which is pivotable at one end of the frame and preferably at least 360 degrees about its vertical axis Y, comprising a cab from which the machine is controlled and controlled and preferably a boom. The control can be remotely controlled. The boom pivots with the cab and preferably at least 360 degrees about the vertical axis Y. The design of the working part is of the excavator type. The boom is preferably a multifunction boom.

According to the invention, the boom can be provided with a wood cutting head, or harvester part, which is replaceable with a bucket part or a basket or a separate grip part, i.e. a grab. The boom is thus a multifunctional boom that enables different work tasks. The various tools can be detachably attached to it, preferably by means of a quick attachment.

The loading and unloading platform in one embodiment comprises a chain conveyor at the bottom of the platform for unloading, for example, stabilization material to a construction site.

The MFP is frame- or wheel-controlled. During operation of the boom part, the multifunctional machine can be supported by a blade plate and a cylinder by ground.

The frame in a preferred embodiment of the invention preferably comprises a plurality of module parts at least two; a front control module and a rear frame module and a frame control module between them, comprising hydraulic cylinders for turning a multifunctional machine. Thus, by replacing the module parts, different combinations can be obtained for different needs. The modules are equipped with different charges for different switching options. It is sufficient to know only the attachment to be attached, such as a pallet, and its installation is ready to be carried out immediately. No separate machining, welding or similar arrangements are required. Saving eg. storage costs.

The control of the machine is preferably a cylinder control by cylinders or an adjustment based on the speed of the adjacent tracks, or the adjacent tracks can be moved in different directions, thereby enabling the direction of the machine to be changed.

The multifunction machine may comprise a blade plate in front of the front body module. The blade can be pressed onto the ground with cylinders, so that the machine can be supported on the ground not only from the blade but also from the support legs.

In one embodiment of the invention, the machine is provided with an auxiliary power source which is located on the body immediately behind the pallet and the working part. The auxiliary power source may be a diesel engine or, generally, an internal combustion engine, and may comprise a pumping device to provide hydraulic pressure to the hub motors in the rear axles. The arrangement may also be fully electric and battery-based or a combination of an internal combustion engine and an electric motor or a combination of a hydraulic system and an electrical system. The auxiliary power supply provides the necessary additional energy for the spare equipment reserve.

The track-moving machine according to the invention is characterized by what is stated in the protection requirements.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be described with reference to the embodiments of the accompanying figures. However, the invention is not intended to be limited thereto.

Figure 1 shows a machine with a spark load unit.

Figure 2 shows a working position of the machine.

Figure 3 shows an interchangeable platform embodiment. Shown is the hook device.

Fig. 4 is a solution for a cable swap platform.

Figure 5a shows a fixed platform.

Fig. 5b shows a tipper embodiment.

Fig. 6 illustrates a modular structure.

Figure 7 shows the hooking device and the frame solution of the log trailer.

Figure 8 illustrates a cable device solution for handling a demountable and module A3.

Fig. 9 shows a central frame control module A100 comprising frame control cylinders n1 and n2.

Figures 10 and 11 illustrate a tracked vehicle under various terrain conditions.

Figure 12 is a side view of the track.

Figure 13 is a section A-A of Figure 12.

Figures 14 to 18 illustrate the axle control module A100 in various operating positions.

Figure 19 is a section B-B of Figure 15.

DETAILED DESCRIPTION OF THE INVENTION

Figures 1 and 2 are axonometric views of a tracked machine with a skewer platform. The machine comprises a top trolley B or upper body A and a bottom trolley A or bottom body. The upper trailer consists of a cab 10 and a multifunction boom 11 which are rotatable 360 degrees about the vertical axis Y. The total weight of the multifunctional machine is 2-40 tons. It is essential in the device according to the invention that the body A preferably comprises a replaceable load unit 12 such as a swap body.

Fig. 2 shows the machine cab 10 of Fig. 1 and thus the entire working part turned so that the bucket of the boom 11 can drop soil or the like onto the pallet 12 or its load unit 12 in general. The working part itself and thus the cab 10 with its boom 11 rotates 360 degrees. The machine has a load capacity of 6-8 tons. The cab 10, in its most common embodiment, is a cabin for the driver and machine controls. In one embodiment of the invention, the cab 10 is a platform for remote control devices, such as cameras, preferably 3D cameras. 3D cameras can be used to create three-dimensional images for remote control of the machine and remote control of work processes. In one embodiment, the remote control devices may be located in the cabin adjacent thereto.

Figures 3 and 7 show an embodiment of the machine, in which the multifunctional machine comprises as a load unit 12 a removable platform which can be lifted onto the frame A3 and lowered and left on the hook by means 15. The hydraulic cylinders 16a and 16b pivot the frame 17 on the hooking device. and further pulls the pallet over module A3.

Figs. 4 and 8 show an embodiment in which the exchangeable pallet 12 as load unit 12 is moved to tiltable rails P by a cable device 14 or a chain device. The rails P are hinged at one end to the cable swap body J and tiltable by hydraulic cylinders 18a and 18b. The hydraulic cylinders are pivotally connected at one end to the cable body J and at the other end to the rails P. The wires V can be wound onto the winding rolls O by a hydraulic or electric motor M. The hook of the other end of the wires V can be coupled to the load unit 12. The pallet 12 can be dropped to the ground by tilting the rails P which act as a tilting frame. The pallet 12 slides gravely off the rails P. Figure 8 shows a larger scale of the cable device.

Fig. 5a shows an embodiment in which the load unit 12 is a pallet integral with the body A3. Fig. 5b shows a loading unit provided with a tilting device 19. Cylinder 19b tilts pallet 12.

Fig. 6 shows an embodiment of a multi-use machine, in which the lower body A of the vehicle, i.e. the undercarriage, is composed of modules to be joined together, preferably four interconnected body modules A1, A100 and A3 and a butting module A4.

Fig. 6 illustrates a module system according to the invention. According to the invention, the lower carriage A, i.e. the lower body, consists of the modular body parts A1, A3 and A100, which are interconnected by screw / flange connections D. The screws R1, R2 ... are inserted through the perforations e1, e2, e3 .. and to the threaded holes t1, t2, t3 of the second module to be connected ... In addition, the butt plate module A4 is connected to the front.

In the figure, module A1 is a module comprising a pivot ring H on a cab 10 of a pivot bearing to rotate the cab 10 360 degrees about the vertical axis Y. At the same time the boom 11 of the multifunctional machine is rotated. The cab 10 and its associated structures are referred to as the upper B, or upper body. Advantageously, the cab 10 in its vicinity is associated with a drive motor and hydraulic systems for the device.

The blade plate module A4 is connected to module AI. The rearmost module A3 comprises a tipping device 13 for a load unit 12 in an embodiment on a pallet. The tipping device 13 comprises a hydraulic cylinder 13a.

In an embodiment, the body A is provided with a pallet in accordance with the embodiment, i.e. module A3 is provided with provisions for pallet 12, such as sledges for bearing brackets, openings for brackets and brackets for attachment. Thus, a single module A3 can be used for different load unit variations, such as a demountable platform, a fixed platform, a jamming platform, a hook swap platform and a cable swap platform that can be detachably and alternatively connected thereto.

Equipment for module A3 is made according to the customer's order and need.

Likewise, the other modules Al, A100, A4 to be connected are selected and attached to each other depending on the type of multifunction machine to be formed.

Figure 7 illustrates a hook device 15 mounted on module AI. The hook device 15 comprises a frame 15a. At one end thereof, the hydraulic cylinders 16a and 16b are hinged, and at the other end, the hinge device pivoting body 17. At one end, the hydraulic cylinders are connected to the hook device pivoting body 17. The hook on top of module AI.

Figure 8 shows another alternative equipment. In this embodiment, the module 3 is provided with a cable device 14. The operation is as described with reference to Figure 4.

Figure 9 shows the main modules of the crawler device; load module A3, trunk control module A100 and cab module AI.

The motor M moves the tracks 200a of the tracks 200 forward and / or backward. Each of the chains comprises its own hydraulic drive motor M within the chain ring. The track assemblies 200 are similar but mirror images. The chain frame 400 is in the center and supports the tracks 200a and its guide wheels 500. The tracks 200 are hinged to swing. Each roll is preferably pivoted from the centerline Z to rotate about the horizontal axis Z and on the axis 300. Thus, each of the chains 400, with their tracks and their bodies, is rocking. The corresponding arrangement is on both sides of the body A1, A3. This ensures smooth off-road use even in difficult off-road conditions.

Figures 10 and 11 illustrate the progress of the chain device in various terrain forms.

Figure 12 is a side view of the track. The track 200 comprises a track 200a within the track body 400 of the track 400 and its length along the transverse centerline Z is a pivot axis 300 on which the entire track 200 swings. The shaft 300 does not rotate itself, but acts as a support shaft, and the outer surfaces of the end serve as bearing surfaces, either as sliding bearing surfaces or as bearing surfaces for the bearing element road peripheries as the body 400 itself swings. In this case, the track 200,201 becomes swinging and swinging occurs about the transverse horizontal axis Z. The shape of the chain is advantageous for off-roading. The track comprises a downstream horizontal run, an upwardly sloping run associated therewith, a curved run at a pivoting wheel, a subsequent horizontal run running thereafter, followed by a curved run at a pivoting wheel associated with a downward sloping run associated with a downward swing. The sloping roller tracks allow the machine to easily pass over obstacles in the terrain. There are at least one oblique roller run in front of the device, preferably two runs in front and behind the roller body.

Figure 13 is a sectional view A-A of Figure 12. Shaft 300 comprises hydraulic oil channels Ö for both spill oil, back pressure oil and forward oil, brake oil.

From the shaft end and from the side, the oils are led through piping / tubing to the hydraulic motor M, which is connected to the drive shaft of the end drive wheel at the end of the chain. The trunking inserts at the end of the shaft 300 are denoted by Ö. One of the end wheels for the track is spring-loaded to remove play in the chain due to wear, for example.

Figures 14 to 18 are axonometric views of the frame control module A100.

Figures 14 to 18 show the so-called frame control module A100. It comprises, in the module half 101, a joint 102 for a cylinder n1 associated with a movable body portion RIO and a hinge 103 at one end of a cylinder n1 relating to a circular body plate RIO for the body half 101. The body portion RIO is pivoted to pivot at the joint 107 relative to the body R20. The body portion RIO of the hemisphere 101 comprises plate-shaped body portions RIOa and RIOb connected to the connection flange D10. Between the sheet portions R10a and R10b, the placement of the cylinders n1 and n2 and the space of movement are left.

Correspondingly, cylinder n2 comprises a hinge 105 in the module half 101 in its pivoting body portion R 10 and a hinge 106 at one end of the cylinder relative to the hemispherical body plate R20 on the other side of the centerline X. The cylinders n1 and n2 are preferably hydraulic cylinders. They thus rotate the pivoting body portion RIO of the half 101. The PTO shafts pass through the holes in the brackets K1, K2, K3.

The body portion RIO with its associated structures is adapted to pivot on the joint 108 with respect to the body portion R20.

The body R20 of the hemisphere 101 is a circular plate which acts as a base body and is associated with its associated devices to rotate by means of a rotary bearing 107 with respect to the second body half 104. The rotary bearing 107 is thus between the halves 101 and 104.

Half 104 is substantially longer in length L1 than half 101 in length L2. Preferably, the half 104 is about twice as long as the half 101. This allows rotation of the module parts of the vehicle relative to one another.

Half 101 is preferably associated with a module comprising a cabin and module 104 is preferably associated with a module comprising a pallet or the like. The cylinders are used to rotate the module comprising the cabin and thus the movable machine.

The halves 101 and 104 are connected to each other in a pivot joint 107, which may comprise rollers or tapered roller bearing parts or bearing balls at the periphery. The pivot joint 107 allows the halves 101 and 104 to rotate (arrow S) relative to each other. The half plate 101 body plate RIO with its associated parts is adapted to rotate (arrow S) with the body half 104 in the pivot ring bearing 107. The half portions 101 and 104 are lockable relative to one another by a hydraulic cylinder or brake plate for stiffening the joint during loading / working.

One module half 101 comprises fastening means D10 and the other module half 104 comprises fastening means D20. By means of fastening means D10 and D20, module A100 can be detachably connected to different modules of the multifunction machine, preferably by connecting half 101 to the cabin and control module and tapering half 104 to the load unit module A3 from flange D20.

The fastening means D10 and D20 in the embodiment of the figure consist of torn flanges and screws and nuts or only screws and flanges and screw flanges of the flanges. The track-moving machine according to the invention is the most advantageous track-moving multifunctional machine.

Fig. 18 is a section B-B of Fig. 18. The body R20 rotates (arrow S) with its associated body members R10 and cylinders n1 and n2 with respect to the second body half 104 provided by the rotary bearing circumference 107. The load part thus towed can pivot in the terrain relative to the towing part. The machine can also be driven in difficult terrain conditions. The machine is well suited as a tracked multipurpose machine.

Fig. 19 is a sectional view B-B of Fig. 15. The circular base body portion R20 of the hemisphere 101 is rotated with its associated structural members R10, n1, n2 in the circumferential bearings 107 with respect to the body half 104.

The body half 104 widens conically toward its end comprising the connecting flange D20.

It will be obvious to a person skilled in the art that as technology advances, the basic idea of the invention can be implemented in many different ways. The invention and its embodiments are thus not limited to the examples described above, but may vary within the scope of the protection claims.

Claims (20)

protection Requirements 1. En larvbandgående maskin, anking omnidirectional mask (omnidirectional), dvs. en övre stomme (B) och att under den omnenre, dvs. en undre stomme (A), som omfattar ett larvband (200) på båda sidor av den undre stommen (A) som omfattar et gungande band (200a) som förflyttar den øre stommen och den undre stommen och att iänden på anordningen finns en till den undre stommen (A) ice nursing children (12), som omfattar också två larvband (200) som förflyttar mask och som omfattar ett band (22a), larvbanden liedband gunga i förhållande till child-friendly (12) stomme (A), colors respektive larvband (200) gungar med stöd av en stödaxel (300) ) och genom gungningen rör sig maskin smidigt i terrängen. A track-moving machine, characterized in that the machine comprises an upper trolley or upper frame (B), and below it a lower trolley or lower frame (A), comprising a lower frame (200) of a track system (200a) comprising a swinging track (200a) A) on both sides and having a load unit (12) pivotally connected to the lower body (A), which also comprises two machine-moving track assemblies (200) which are hinged to swing the body (A) of the load unit (12). with each of the track chains (200) swinging on the support shaft (300) and through this swinging to achieve smooth running of the machine in the terrain. 2. The bandgående maskin enligt skyddskrav 1, the turn-off mask, (dv) den övre stommen (B) omfattar en styrhytt (10). Track-moving machine according to Claim 1, characterized in that the upper carriage (B) comprises a cab (10). 3. Maskin enligt skyddskrav 2, rotary encoder (B) omfattar en styrhytten (10) som roterar minst 360 grader runt en vertical Axel och att tildammans med styrhytten (10) roterar en multifunktionsbom (11), och att maskinen omfattar som undre vagn stommoduler (A3, A100, Al) som strainer med varandra och att stommodulen (A3) som omfattar styrhytten (10) strain roterande med cylindrar (nl, n2) i syfte att styra mask stomstyrt. Machine according to Claim 2, characterized in that the upper trailer (B) comprises a cab (10) which rotates at least 360 degrees about its vertical axis and that the multifunction boom (11) is rotated with the cab (10), and that the machine comprises lower body (A3) , ΑΙΟΟ, ΑΙ) which are connected end-to-end and that the frame module (A3) comprising the cab (10) is connected by means of syntaxes (n1, n2) for pivoting to control the machine. 4. Maskin enligt skyddskrav 1, 2 eller 3, tilt decknad av att stommodulerna (A3, A100, Al ...) and anslutna med flänsanslutningar (D1, D2, D3 ..) med varandra och att det finns en mittersta stommodul, en så kallad cylinder-stommodul, som omfattar vändcylindrar (nl, n2) med vilka multifunktionsar-betsmaskinen styrs stomstyrt. Machine according to Claim 1, 2 or 3, characterized in that the frame modules (A3, A100, A1 ..) are connected by flange connections (D1, D2, D3 ..) and that the central frame module is a so-called cylinder body module comprising swivel cylinders. (nl, n2), which control the multifunction machine in a frame-controlled manner. 5. Maskin enligt skyddskrav 1, 2, 3 eller 4, kännetecknad av att i flänsanslutningarna har använts bultar och / eller skruvar (R). Machine according to claim 1, 2, 3 or 4, characterized in that bolts and / or screws (R) are used in the flange connections. 6. Maskin enligt något av de föregående skyddskraven, kännetecknad av att moden (Al) omfattar i sitt mittområde en lagerperiferi (H) för hytten (10) och i båda änderna anslutningsflänsar (D). Machine according to one of the preceding claims, characterized in that the module (AI) comprises, in its central area, a bearing ring (H) for the cabin (10) and at both ends the connection flanges (D). 7. Maskin enligt något av de föregående skyddskraven, kännetecknad av att multifunktionsbommen (11) and bom som omfattar en skopa (Ha). Machine according to one of the preceding claims, characterized in that the multifunction boom (11) is a boom comprising a bucket (11a). 8. Maskin enligt något av de föregående skyddskraven 1-5, kännetecknad av att multifunktionsbommen (11) omfattar en grip eller motsvarande för hantering av Stockar och motsvarande. Machine according to one of the preceding claims 1 to 5, characterized in that the multifunction boom (11) comprises a grapple grapple or the like for handling logs and the like. 9. Maskin enigt något av de föregående paneldskraven, kännetecknad av att stommodulen (A100) omfattar hydraulcylindrar (nl, n2) för copling av module (Al) till den andra moduleen (A3) syfte att genomföra stom-styrning för multifunctions and the stomstyrningsmodul (A100), som kan anslutas vid änderna till stommodulerna (Al) och (A3) som ansluter sig till den och att ansningningarna mellan modulerna and flänsanslutningar som haromomörstör med med screws eller motsvarande. Machine according to one of the preceding claims, characterized in that the body module (A100) comprises hydraulic cylinders (n1, n2) for connecting the module (A1) to another module (A3) for providing the body control to a multi-action machine. said frame control module (A100) which can be connected end to end with the associated frame modules (A1) and (A3) and that the connections between the modules are flange connections implemented by screws or the like. 10. Maskin enligt något av de föregående skyddskraven, kännetecknad av att multifunctionsarbetsmaskinen omfattar i den undre stommen (A) reservation, exempelvis motfästdon, hål, gängor, förstärkningsmen, styrdelar, stöddelar för valle stock exchange alternatives med ett fast flak, flak stocked med en tippan-ordning, flottflak, stommen till en stocktrailer och medel förflyttning av flaket, exempelvis med en crokanordning eller en vajeranordning och att Flaken alternativ can anslooden stol. Machine according to one of the preceding claims, characterized in that the multifunctional machine comprises provisions in the lower body (A), such as counter-fastening means, holes, threads, reinforcing blocks, guide parts, support parts for optionally securing various load units to the lower body. , a pallet, a log trailer body and pallet moving means such as a hook device or a wire rope device, and that the pallets are alternatively removably connected to the frame module (A3). 11. Maskin enligt något av de föregående skyddskraven, kännetecknad av att children weeks and fast flak eller bytesflak som kan förflyttas med en vajerbytesflakanordning eller krokanordning och att bytesflaket är försett med en tip. Machine according to one of the preceding claims, characterized in that the load unit is a fixed platform or swap body which is movable by means of a wire swap platform or a hook device and that the platform is equipped with a tipping body. 12. Maskin enligt något av de föregående skyddskraven, kännetecknad av att den främsta module (A4) i den undre vagnen (A) and module som omfattar et schaktblad. Machine according to one of the preceding claims, characterized in that the front module (A4) of the undercarriage (A) is a module comprising a blade disc. 13. Maskin enligt skyddskrav 1, kännetecknad av att stommen (400) till larvbandet (200) om långsträckt och styv och omfattar i båda änderna brythjul för ett band (200a) og att larvbandet (200), omfattar en stödaxel (300), (200) vänder med stöd av den runt en vågrät geometrisk Axel Z och att bandet (200a) drivs framåt och bakåt med en drivmotor (M). Machine according to Claim 1, characterized in that the body (400) of the track assembly (200) is elongated and rigid and comprises at its both ends folding wheels on the track (200a) and that the track assembly (200) comprises a support shaft (300) it rests around the horizontal geometric axis Z and that the track (200a) is driven forward and backward by the drive motor (M). 14. Maskin enligt skyddskrav 1 eller 9, rotary encoder (A100), som omfattar kopplingsmedel (D10, D20) i nderna för anslutning av modulen (A100) lostagbart till multifunktionsmaski-nens stomdelarå (st100) Halvor (101,104), somewhere in the middle of the rotation (107), colors in the rotation (101, 104), can rotate in the cylindern (nl) or in the frosting of the rotor (nl). till den ena halvan (101) i dess vändande stomdel (R10) och att cylindern i sin andra åde ja ledat ansluten till stomdelen (R20) och på motvarvarande provision den andra cylindern (n2) ledat ans den till hala (101) och dess vändande stomdel (R10) och från sin andra ände ledat till stomdelen (R20) och att de första kopplingsdonen (D10) og att de andra kopplingsdonen (D20) and belägna i modulens (A100) andra poor (104). Machine according to protection claim 1 or 9, characterized in that there is a frame control module (A100), comprising switching means (D10, D20) at both ends of the module for detachably attaching the module (A100) to the multifunctional machine body parts and consisting of two halves (101,104) articulated to one another, the halves comprising a pivotal joint (107), the halves (101,104) being pivotable with respect to each other, and the second cylinder (n1) being pivotally connected to the other half (101) by its pivoting body and the second cylinder (n2) is pivotally connected to the second half (101) of its pivoting body (RIO) and its other end to the articulated body (R20). ) and that the first coupling means (D10) is located in the second half (101) and the second coupling means The inputs (D20) are located on the other side (104) of the module (A100). 15. Maskin enligt skyddskrav 13 eller 14, k nnetecknad av att kopplingsdonen (D10, D20) består av en perforerad fläns och att stomdelen (101) omfattar en basstomdel (R20) och en till den vändbart kopplad förskjutbar stomdel (R10) omfattar en anslutningsfläns (D10) och mellan stomdelarna (R10 och R20) finns en vändled (108) och att delens (R10) vridvändning utförs med cylindrarna (nl, n2) och att delen (r20) med tillhörande constructioner kan vrid (104) stödd av lagret (107) och att cheap (104) can be used by the last module (A3) med en flänsanslutning och att cheap (101) is provided (10). Machine according to Claim 13 or 14, characterized in that the coupling means (D10, D20) consist of a torn flange and that the body part (101) comprises a base body part (R20) and a movable body part (RIO) pivotally connected thereto. between the connecting flange (D10) and the body parts (RIO and R20), the pivot joint (108) is provided and the rotation of the part (RIO) is performed by the cylinders (n1, n2) and the part (R20) with its associated structures is pivotable (107) and that the half (104) is connectable to the load module (A3) by flange connection and that the half (101) is connected to a module comprising the cab (10). 16. Maskin enligt skyddskrav 13 eller 14, k e n c e n d a d av att vridleden (107) består av lagerrullar eller lagerkulor eller konrullelager som är belägna på peripheriferin. Machine according to Claim 13 or 14, characterized in that the pivot joint (107) consists of circumferential rollers or bearings or tapered roller bearings. 17. Maskin enligt skyddskrav 13, K e n e t e c k n a d av att axeln (300) omfattar oil channel (Ö) f led ledning av hydraulolja till motorn (M), som är en hydraulmotor. Machine according to Claim 13, characterized in that the shaft (300) comprises oil channels (Ö) for supplying hydraulic oil to an engine (M) which is a hydraulic motor. 18. Maskin enligt skyddskrav 1, tiltneck av att maskinen är fjärrstyrd och omfattar fjärrstyrningsmedel för fjärrstyrning, exempelvis en camera ellerameraor, och camera / kameraorna företrädesvis är 3D-cameraor syfte att picturef förstöfsf förrstyrning fjärrstyrt och att fjärrstyrningsmedlen är åtminstone delvis belägna i maskinens styrhytt (10). Machine according to Claim 1, characterized in that the machine is remotely controlled and comprises remote control means such as a camera or cameras, and that the camera (s) are preferably 3D cameras for producing a three-dimensional image for controlling the machine and for remote operation and operation. the remote control means being at least partially located in the machine cab (10). 19. Maskin enligt skyddskrav 1, kännetecknad av att banden (200a) i samma stomme kan styras med olika hastigheter i förhållande till varandra och / eller samtidigt i olika riktning i syfte att ändra maskinens färdriktning. Machine according to Claim 1, characterized in that the tracks (200a) in the same frame can be guided at different speeds and / or simultaneously in different directions in order to change the direction of travel of the machine. Machine according to Claim 1, characterized in that the track (200a) comprises at least one preferably two track runs running obliquely with respect to the horizontal runs at the ends of the track body (400). Skyddskrav 20. Maskin enligt skyddskrav 1, kännetecknad av att bandet (200a) omfattar minst en, företrädesvis två bandlöp i bandsystemstommens (400) änder som löper snett i förhållande till de vågräta löpen.