Abstract: The invention relates to a chassis structure for a working machine moving on a terrain, the chassis structure comprising a pair of front wheels and a pair of rear wheels supporting the frame, and a controlled frame joint between the frame parts, when the frame is composed of two frame parts. The chassis structure further comprises a suspension controlled by actuators and arranged to move each wheel in a level transverse in relation to the frame. Each wheel is mounted rotatably and to turn by the actuators to the suspension, and each wheel is usually provided with a hub motor for drive transmission. The chassis structure can further comprise a pair of middle wheels for a second frame part. In a method related to the chassis structure the forest machine can also be turned in place.

Abstract: An arrangement of the suspension of wheels of a working machine moving on a terrain. The arrangement comprises a pair of wheels arranged next to each other to support a frame part placed on a center line between the wheels suspensions between each wheel and the frame part, wherein each suspension comprises a lower suspension arm and an upper suspension arm which lower suspension arms are mounted by means of first joints to the frame part using first joints and to mounting arms using second joints in which the wheels are mounted in a rotatable manner, and which upper suspension arms are fixed by means of third joints to the frame part and by means of fourth joints to the mounting arms. The wheels are arranged to be turnable around a substantially vertical axis, and the wheel is arranged to be turned by means of a cylinder actuator coupled between the mounting arm the wheel.

Abstract: A cabin structure for a working machine includes a substantially transparent cabin element equipped with a bottom part having a seat for the operator of the working machine, a display and a controller for controlling the operations of the working machine. The cabin structure also includes a control mechanism for tilting the cabin element in relation to the frame of the working machine in both XZ and YZ directions. The cabin element is arranged to be substantially stationary in relation to the frame of the working machine, and the seat and controller are placed on a working base placed above the bottom part of the cabin element. The control mechanism is pieced positioned between the working base and the bottom part of the cabin element. The control mechanism can also rotate the working base around the Z axis.

Abstract: The present invention relates to a locking system for a rotating joint. In the device, the locking system (L) comprises a rigid locking means (12) movable in the axial direction (X1), provided with a first cogging (13) which can be moved for locking with the locking means (12) in a contact with a second cogging (14), to transmit the rotational movement, wherein said coggings (13, 14) are, for releasing the cogging, designed in such a way that a force effect releasing the locking is formed between them, and a third cogging (16) which is, during the locking, in a contact with a fourth cogging, to transmit the rotational motion, as well as a sealing element (21) for forming at least one closed hydraulic space (24) with a varying volume between the locking means (12) and the sealing element (21), wherein the locking means (12) is arranged to be moved for the locking and to be kept in the locking by the effect of a pressurized medium.

Abstract: The invention relates to a chassis structure for a working machine moving on a terrain, the chassis structure (40, 60) comprising a pair of front wheels and a pair of rear wheels supporting the frame (41 to 42, 61 to 62), and a controlled frame joint (63) between the frame parts (41, 42, 61, 62), when the frame is composed of two frame parts. The chassis structure (40, 60) further comprises a suspension (1a) controlled by actuators and arranged to move each wheel in a level transverse in relation to the frame. Each wheel is mounted rotatably and to turn by means of the actuators to the suspension, and each wheel is usually provided with hub motor means for drive transmission. The chassis structure (40, 60) can further comprise a pair of middle wheels for a second frame part (42, 62). In a method related to the chassis structure (40, 60) the forest machine can also be turned in place.

Abstract: A method in a working machine, comprising a frame movable by means of a wheelwork, the frame provided with a boom assembly movable around a first pivot point in a first angle sector. The free end of the boom assembly is provided with equipment for work performances to be carried out with the working machine, and the frame is provided with a cabin for the operator of the working machine, movable around a second pivot point in a second angle sector. To synchronize the movements of the boom assembly and the cabin, for the purpose of optimizing the number of movements of the cabin during successive work performances performed by the equipment, a monitoring angle sector is selected for the cabin. The cabin is kept stationary, if the equipment is in the monitoring angle sector. After this, the cabin is moved to a new location of a new monitoring angle sector, if the equipment moves out of the location of the preceding monitoring angle sector.

Abstract: The invention relates to a method for guiding the boom (3) of a working machine in connection with the handling of a load, in which method the movements of the load are controlled by means of a control signal formed by at least one control means (9), one or several measurement signals are generated to determine information related to at least the load mass and/or the boom movement, and said at least one control signal is filtered.

Abstract: The invention relates to a method in a delimbing device (1), which delimbing device (1) comprises a frame structure (2), at least one supporting means (3a, 3b, 3c) attached in the frame structure (2) in a movable (5a, 5b, 5c) manner to support the tree-truck (S) and to exert a first force effect (F0) on the tree-trunk (S), actuator means (9) to control the position of the supporting means (3a, 3b, 3c) to maintain the first force effect (F0) exerted by the supporting means (3a, 3b, 3c) on the tree-trunk (S). In the method the second force effect (F) exerted by the tree-trunk (S) to the frame structure (2) is measured with sensor means (12) arranged in connection with the frame structure (2) and to change the second force effect (F), the first force effect (F0) is adjusted by utilizing the information obtained from the measurement.