Work machine

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.

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).