EP4353910A1 - Working machine with coupling device for fluid-conducting lines and method for establishing an operating state of a working machine - Google Patents

Abstract

The invention relates to a work machine which comprises a first boom part, a second boom part which can be detachably connected to the first boom part, a first and a second fluid-conducting line and a coupling device for reversibly coupling the first and second lines. The first line is arranged on the first boom part and the second line on the second boom part. The coupling device comprises a first coupling part which is connected to the first line in a fluid-conducting manner, a second coupling part which is connected to the second line in a fluid-conducting manner and is connected to the second boom part and a pivoting part which is connected to the first boom part and which can be pivoted about a pivot axis. By pivoting the pivoting part about the pivot axis, the two coupling parts can be coupled in a fluid-conducting manner. According to the invention, the work machine comprises a locking mechanism by means of which the first coupling part can be mechanically connected to the pivoting part for coupling and separating the coupling parts and can be released from the pivoting part in a state coupled to the second coupling part. The invention further relates to a coupling device for a work machine according to the invention and a method for establishing an operating state of a work machine according to the invention.

Description

The present invention relates to a work machine according to the preamble of claim 1, a coupling device therefor and a method for establishing an operating state of such a work machine.

The state of the art includes a large number of work machines with attachable or interchangeable tools. Such attachments are often attached to the booms of the work machines using quick couplings. Modern quick coupling systems are not only used for the mechanical connection of the attachment and boom, but in the case of attachments with hydraulic actuators they are often also used for the automatic coupling of the hydraulic lines. Such hydraulic quick couplings, such as those used in EP 1 239 087 A1 are mainly used in hydraulic excavators, but now also in other work machines such as wheel loaders (see e.g. EN 10 2019 126 439 A1 or EN 10 2020 110 523 A1 ) for use.

The characteristics of such hydraulic quick coupling systems are two coupling parts that are brought together when connecting the attachment and boom and remain mechanically and fluidly connected during operation. Since the relative position of the fastening points for the coupling parts on the attachment and the boom typically does not change, the hydraulic continuity of the coupling is ensured.

However, there are a number of work tools that can assume several discrete positions or working positions. An example of this can be found in demolition excavators, which usually have demolition equipment and a backhoe equipment that can be mounted on a boom section or linkage of the basic device (usually a carrier device of a hydraulic excavator with a rotating upper carriage) via mechanical quick couplers. The backhoe equipment comprises a boom section that is connected to a boom section on the machine side and has a hydraulically movable backhoe at the opposite end. The backhoe equipment often has several possible working positions, with one of the boom sections comprising several bolt holders, which, depending on the choice of bolt holder, lead to a different inclination of the backhoe equipment relative to the boom section on the machine side.

The different working positions or boom inclinations at the separation point between the boom parts result in the problem that classic hydraulic couplings with two coupling halves firmly connected to the respective boom parts can no longer be used. For this reason, the hydraulic couplings are typically coupled and locked manually after the backhoe equipment has been locked in a certain working position. The couplings on the equipment side are usually not attached to the structure or boom part, but have loose ends with hydraulic connections that are connected to corresponding hydraulic hoses on the machine-side boom after the boom parts have been mechanically locked. The couplings on the machine side can be attached to the steel structure of the machine or to the machine-side boom part. In order to enable a continuous hydraulic connection in different working positions, the hydraulic hoses on the equipment side usually have a longer hose length in order to compensate for the different positions and bend angles of the backhoe equipment without separating the hydraulic connections.

Other solutions, such as the one in the EP 3 434 828 A1 The system shown uses a pivoting attachment of one of the hydraulic coupling parts on the side of the boom so that the mechanically and hydraulically coupled coupling parts can follow a change in the working position.

Against this background, the object of the present invention is to enable a flexible, stable and easy-to-manufacture or detach coupling of the fluid-conducting supply lines in an attachment tool with several working positions.

According to the invention, this object is achieved by a work machine with the features of claim 1, a coupling device with the features of claim 14 and a method with the features of claim 15. Advantageous embodiments of the invention emerge from the subclaims and the following description.

Accordingly, on the one hand, a work machine is proposed which comprises a first boom part, a second boom part which can be detachably connected to the first boom part, a first fluid-carrying line, at least one second fluid-carrying line and a coupling device for reversibly coupling the first and second lines. The at least one first line is arranged on the first boom part and the at least one second line on the second boom part. The first boom part can be an articulation piece which is pivotably connected, in particular pivotably about a horizontal axis, to an upper carriage of the work machine. The second boom part can be part of an attachment tool such as a backhoe tool of a demolition excavator or any other attachment tool. The coupling device is in particular a quick coupling. The fluid-carrying lines can be hydraulic lines.

The coupling device comprises a first coupling part which is fluidically connected to the at least one first line and a second coupling part which is fluidically connected to the at least one second line and connected to the second boom part. The coupling device further comprises a pivoting part which is connected to the first boom part and which can be pivoted about a pivot axis. The pivoting part and the coupling parts are arranged and designed in such a way that the first coupling part can be fluidically coupled to the second coupling part by pivoting the pivoting part about the pivot axis.

According to the invention, the work machine comprises a locking mechanism by means of which the first coupling part can be mechanically connected to the pivoting part for coupling and separating the coupling parts, for example by means of at least one bolt connection. This allows the first coupling part to be pivoted together with the pivoting part about the pivot axis in order to bring the coupling parts together for coupling or to separate them for uncoupling. If the two coupling parts have been brought together, i.e. the first coupling part is in a state in which it is connected or coupled to the second coupling part, it can be released from the pivoting part by means of the locking mechanism, i.e. can be mechanically separated from it. The pivoting part can then be pivoted about the pivot axis independently of the first coupling part, since these two parts are no longer mechanically connected to one another.

By separating the connection between the first coupling part and the swivel part, the first coupling part coupled to the second coupling part no longer has a fixed mechanical connection with the first boom part. The coupling, on the other hand, is connected to the second boom part and can be moved together with it, for example to change the working position of an attachment tool that includes the second boom part, whereby the orientation of the second boom part changes relative to the first boom part. This is the case with classic quick coupling systems, in which each coupling part is permanently or is firmly connected (although possibly movable or pivotable) to its boom part, is not possible, since a change in the relative orientation of the boom parts would also change the orientation of the coupling parts to one another.

In the present invention, the first coupling part can therefore be mechanically decoupled from the swivel part for working operation after it has been coupled to the second coupling part. The at least one first fluid-carrying line, which is still connected to the first coupling part, is particularly flexible and long enough that the second boom part can move relative to the first boom part, with the coupled coupling parts also moving. During working operation, the first coupling part is therefore connected in particular only to the machine-side first boom part or to the carrier device via the at least one first line.

During the coupling and uncoupling of the two coupling parts, the first coupling part is connected to the swivel part, so that the fluid-conducting coupling can be produced and separated precisely, defined and, in particular, automatically. This is the main advantage over the known solution with manually connectable fluid lines in terms of time and effort.

The coupling parts can have a series of identical and/or differently designed connectors that are coupled or connected to one another when the coupling parts are coupled, thereby creating fluid-conducting connections. The coupling parts can form a quick coupling.

In one possible embodiment, it is provided that the second coupling part is permanently connected to the second boom part, ie that it is not detached from the latter either during operation or to separate the second boom part from the first boom part. This includes both a rigid or fixed attachment of the second coupling part to the second boom part and a movable Bearing, for example a pivot bearing. Preferably, however, the second coupling part is fixed, ie immovably attached to the second boom part. This includes that the second coupling part is mounted on or in a holding frame, for example spring-mounted, which in turn is rigidly connected to the second boom part. In this case, the holding frame can be regarded in particular as part of the second coupling part.

Alternatively or additionally, the swivel part can be permanently connected to the first boom part, i.e. it is also not detached from the first boom part.

In a further possible embodiment, it is provided that the swivel part can be swiveled about the swivel axis by means of an actuator, in particular a hydraulic cylinder. This makes it possible to achieve a fully automatic coupling (and separation) of the first and second fluid-carrying lines, which can be controlled, for example, from a driver's cab of the work machine. Manually connecting or separating the couplings or fluid-carrying lines is not necessary, which speeds up and simplifies the process. The swivel axis can be aligned horizontally, or the swivel part can be pivotally mounted on an upper side of the first boom part.

In a further possible embodiment, it is provided that after the first coupling part has been released from the swivel part, there is no direct rigid connection between the first coupling part and the first boom part, i.e. the first coupling part is no longer directly rigidly connected to the first boom part (e.g. via the swivel part), but only via the connection between the first and second boom parts, which can be movable in particular during the change of the working position. This includes the case that the first coupling part is connected to the at least one first line after being released from the swivel part, which in turn can be fixedly arranged on the first boom part. Since the at least one first line is designed to be flexible in particular, the first coupling part can be moved relative to the first boom part (and thus relative to the swivel part) after being separated from the swivel part. The fluid-conducting The connection between the two coupling parts remains intact. In particular, after the mechanical connection between the swivel part and the first coupling part has been released, the former can be swiveled relative to the latter about the swivel axis.

The term "direct rigid connection" therefore means in particular that the first coupling part is no longer firmly connected to the first boom part via the swivel part or any other element attached to the first boom part (apart from the at least one first fluid-carrying line), but is now connected to the second boom part. The connection between the first and second boom parts does not represent a "direct rigid connection" in this sense. In this respect, after the first coupling part has been released from the swivel part, there is no direct rigid connection between the first coupling part and the first boom part in any direction.

In a further possible embodiment, it is provided that the second boom part can be connected to the first boom part in at least two different positions and can be moved between a first working position and a second working position. These can be discrete working positions or a continuous adjustment. In particular, the boom parts can be coupled to one another via bolt connections, which preferably form two parallel locking axes. One of the locking axes/bolt connections can remain connected or plugged in when changing between the working positions and serve as a swivel axis, while the other bolt connection is released and other bolt receptacles are used to form this locking axis, resulting in a different orientation or inclination of the second boom part relative to the first boom part. Of course, other locking mechanisms and movement sequences for connecting the boom parts and changing between different working positions are also conceivable.

After the connection between the first coupling part and the swivel part has been released, the first coupling part is connected, in particular firmly connected, to the second boom part. In contrast, there is no firm connection with the first boom part more. When changing the working position, the first coupling part can be moved together with the second boom part relative to the first boom part, so that the fluid-conducting connections established by the coupling device are not released. The two coupling parts can remain securely connected to one another, in particular locked, while the second boom part is moved.

In a further possible embodiment, the locking mechanism is arranged on or in the first coupling part. This means that the same locking mechanism can be used both for locking the first coupling part to the pivoting part and for locking the two coupling parts.

In a further possible embodiment, it is provided that the locking mechanism comprises at least one actuator, by means of which the first coupling part can be locked to the pivoting part in a coupling position of the pivoting part and can be unlocked by the pivoting part. The actuator is preferably supplied via a flexible hydraulic line arranged on the first boom part, which can either be connected directly to the actuator or can supply it via the first coupling part (in this case, the hydraulic line is in particular one of the first fluid-conducting lines). Preferably, two actuators are provided in order to lock the coupling parts and the first coupling part and pivoting part to one another via two locking axes.

Preferably, the at least one actuator for locking and unlocking the first coupling part can be operated from a driver's cab and/or via a control device arranged on the work machine or mobile. This eliminates the need for manual locking/unlocking, which simplifies and speeds up the process.

In a further possible embodiment, it is provided that the first coupling part can be locked to the second coupling part by means of the locking mechanism in the coupling position of the pivoting part. As a result, the two Coupling parts are firmly connected to each other so that the fluid-conducting connections cannot separate from each other.

Preferably, the locking mechanism is designed in such a way that the locking of the coupling parts takes place simultaneously with the unlocking of the first coupling part and the pivoting part and vice versa, in particular via the same at least one actuator. Thus, while the first coupling part is released or unlocked from the pivoting part, the two coupling parts are locked simultaneously and in particular via the same actuator or actuators on the other side (and vice versa). This halves the number of actuators required for operation.

In a further possible embodiment, it is provided that the locking mechanism comprises at least one double-acting hydraulic cylinder as an actuator, which is connected or provided with bolts that can be inserted into corresponding bolt receptacles on the second coupling part or on the swivel part by actuating the hydraulic cylinder. This means that the same actuator can be used for simultaneously unlocking the first coupling part and swivel part and locking the two coupling parts. For example, while a first bolt that can be moved on or in the first coupling part and is hydraulically actuated is pulled out of a bolt receptacle on the swivel part (unlocking), a second bolt on the opposite side moves into a corresponding bolt receptacle in or on the second coupling part (locking). The reverse process (locking of the swivel part and first coupling part, unlocking of the coupling parts) takes place in an analogous manner in reverse. Because the actuator is designed as a double-acting cylinder, the piston rods of which are connected to the bolts or designed as bolts, multiple actuators do not have to be used for the different locking and unlocking processes.

Preferably, at least two double-acting hydraulic cylinders are provided, in particular four, with two hydraulic cylinders each being arranged laterally and forming a common locking axis.

Preferably, each hydraulic cylinder is connected or provided with an outer bolt for insertion into a bolt receptacle on the pivoting part and with an inner bolt for insertion into a bolt receptacle on the second coupling part. By extending the at least one hydraulic cylinder outwards, the first coupling part locks with the pivoting part via the outer bolt. By extending the at least one hydraulic cylinder inwards, the first coupling part locks with the second coupling part via the inner bolt.

During the locking/unlocking phase, manufacturing tolerances can lead to an offset between the bolts and the associated bolt receptacles or locking holes. In another possible embodiment, it is therefore provided that bevels are provided on the bolts and/or the bolt receptacles to make it easier to insert the bolts into the bolt receptacles. The bevels are designed in particular as circumferential bevels.

Preferably, each hydraulic cylinder has an inner and an outer bolt (or is connected to them) as described above, with the bevels arranged on the bolts. The bevels are preferably designed as chamfers running around the ends of the bolts. The bevels or chamfers on the outer bolt and the bevels or chamfers on the inner bolt are preferably designed differently. The bevels or chamfers in particular have different angles of inclination in relation to the respective bolt longitudinal axis and/or a different length along the respective bolt longitudinal axis. This makes it possible to compensate for concentricity errors due to manufacturing tolerances without overloading the cylinders, sheets, hydraulic connections and bolts.

In a further possible embodiment, the coupling device comprises a sensor device by means of which the coupling position of the swivel part can be detected. This enables fully automatic locking/ The coupling device can be unlocked, e.g. from the driver's cab. To do this, the driver must know when the coupling parts or the swivel part are in the correct position so that they can be locked together and the lock can be operated. Since the coupling device is usually not visible or only insufficiently visible from the driver's cab, this information is provided via the sensor system, which includes at least one sensor for detecting the position or coupling position of the swivel part.

Preferably, the work machine has a control unit for controlling the at least one actuator of the locking mechanism, which is connected to the sensor system or the at least one sensor and is set up to only enable the at least one actuator to be actuated when the pivoting part is in the coupling position. This prevents incorrect operation.

In another possible embodiment, the coupling position of the swivel part is derived directly from the position of the swivel part and not from the position of an actuator. The coupling position (which can also be referred to as the locking position, since in this position the two coupling parts can be locked together) is defined by a mechanical stop which, when the coupling position is reached, hits a corresponding counter-stop and thus positions the swivel part exactly in the coupling position. The stop is preferably arranged on the swivel part and interacts with a counter-stop on the second coupling part or on the second boom part. Compared to a solution in which the position of an associated actuator is detected rather than the position of the part to be locked directly, the direct solution is closer to the locking function.

The above-described at least one sensor of the sensor system is preferably an inductive sensor which detects when the swivel part has reached the coupling position by detecting the stop or counter-stop and in particular transmits a corresponding signal to the control unit.

In a further possible embodiment, it is provided that the coupling parts are designed in such a way that they move towards one another on a circular path around the pivot axis when the pivot part is pivoted into the coupling position and thereby automatically couple with one another in a fluid-conducting manner. At least one of the two coupling parts, in particular the second coupling part, is pivotally mounted about an axis parallel to the pivot axis of the pivot part and is also mounted so as to be movable or displaceable perpendicular to it, in particular via a spring device. The coupling device preferably comprises a linear guide which, in cooperation with the movable mounting of the movable coupling part, is designed to compensate for the relative movement of the two coupling parts along a circular path when pivoting together and to guide the two coupling parts linearly, i.e. along a straight line, towards one another when coupling. For this purpose, the linear guide on the coupling parts can have guide elements that interact during coupling, which can be designed, for example, as guide bolts and holes, which engage with one another before the connection connectors of the coupling parts are brought together and cause an exactly linear relative movement. In particular, the coupling parts can be designed as quick coupling parts according to the EP 1 239 087 A1 and may also have a centering device according to the EN 10 2020 110 523 A1 Here, the (first) coupling part, which is not movable, ie not mounted via a spring device, is connected to the pivoting part or can be connected and detached from it. Explicit reference is hereby made to both of the above-mentioned disclosures.

The present invention further relates to a coupling device for a work machine according to the invention. The coupling device comprises the first coupling part, the second coupling part and the pivoting part. This obviously results in the same advantages, properties and possible embodiments as for the work machine according to the invention, which is why a repeated description is omitted at this point.

• Verschwenken des Schwenkteils um die Schwenkachse in die Kupplungsstellung, wobei das erste Kupplungsteil mit dem Schwenkteil über den Verriegelungsmechanismus verriegelt, d.h. mechanisch verbunden ist,
• Verriegeln des ersten Kupplungsteils mit dem zweiten Kupplungsteil mittels des Verriegelungsmechanismus,
• Lösen der Verriegelung zwischen erstem Kupplungsteil und Schwenkteil mittels des Verriegelungsmechanismus, sodass diese nicht mehr fest miteinander verbunden sind (in diesem Zustand ist das erste Kupplungsteil nicht mehr direkt starr mit dem ersten Auslegerteil verbunden), wobei das Entriegeln vorzugsweise gleichzeitig mit dem Verriegeln der beiden Kupplungsteile erfolgt, und
• vorzugsweise Zurückschwenken des Schwenkteils um die Schwenkachse aus der Kupplungsstellung heraus (d.h. vom ersten Kupplungsteil weg), sodass insbesondere kein Kontakt zwischen Schwenkteil und erstem Kupplungsteil mehr besteht.

The present invention further relates to a method for establishing an operating state of the work machine according to the invention, ie in particular a state in which the position of the second boom part can be changed relative to the first boom part, during which the fluid-carrying coupling of the first and second lines via the two coupling parts remains in place and fully functional. The method comprises the following steps:

• Pivoting the pivoting part about the pivot axis into the coupling position, wherein the first coupling part is locked to the pivoting part via the locking mechanism, i.e. is mechanically connected,
• Locking the first coupling part with the second coupling part by means of the locking mechanism,
• Releasing the locking between the first coupling part and the swivel part by means of the locking mechanism so that they are no longer firmly connected to one another (in this state, the first coupling part is no longer directly rigidly connected to the first boom part), wherein the unlocking preferably takes place simultaneously with the locking of the two coupling parts, and
• Preferably, pivoting the pivoting part back about the pivot axis out of the coupling position (i.e. away from the first coupling part) so that in particular there is no longer any contact between the pivoting part and the first coupling part.

The reverse process takes place in reverse order, i.e. the swivel part is swiveled into the coupling position and locked to the first coupling part. Then or (which is preferred) at the same time, the locking of the two coupling parts is released (in particular using the same locking mechanism), so that the first coupling part is now firmly connected to the swivel part and no longer firmly connected to the second coupling part. Now, if necessary, the first coupling part can be removed from the second coupling part by swiveling the swivel part back, so that, for example, the second boom part can be removed from the first boom part.

Fig. 1a-b:

ein erstes Beispiel einer aus dem Stand der Technik bekannten Arbeitsmaschine in einer seitlichen Ansicht, wobei unterschiedliche Arbeitsstellungen des Anbauwerkzeugs gezeigt sind;

Fig. 2:

ein zweites Beispiel einer aus dem Stand der Technik bekannten Arbeitsmaschine in einer seitlichen Ansicht;

Fig. 3:

eine perspektivische Ansicht der geöffneten Kupplungsvorrichtung einer erfindungsgemäßen Arbeitsmaschine gemäß einem bevorzugten Ausführungsbeispiel;

Fig. 4:

die geöffnete Kupplungsvorrichtung in einer anderen Ansicht;

Fig. 5:

die Kupplungsvorrichtung gemäß Fig. 4 in gekuppeltem Zustand;

Fig. 6:

die Kupplungsvorrichtung gemäß Fig. 4 und 5, wobei das vom ersten Kupplungsteil getrennte Schwenkteil zurückgeschwenkt ist; und

Fig. 7:

eine Schnittansicht durch die gekuppelte Kupplungsvorrichtung.

Further features, details and advantages of the invention emerge from the embodiment explained below with reference to the figures. They show:

Fig. 1a-b:

a first example of a work machine known from the prior art in a side view, showing different working positions of the attachment tool;

Fig. 2:

a second example of a work machine known from the prior art in a side view;

Fig. 3:

a perspective view of the opened coupling device of a work machine according to the invention according to a preferred embodiment;

Fig.4:

the opened coupling device in another view;

Fig.5:

the coupling device according to Fig.4 in coupled state;

Fig.6:

the coupling device according to Fig.4 and 5 , wherein the pivoting part separated from the first coupling part is pivoted back; and

Fig.7:

a sectional view through the coupled coupling device.

In the Figures 1a and 1b an example of a work machine known from the prior art is shown in a side view. This example is a hydraulic excavator which has an undercarriage 3 with a crawler chassis and an upper carriage 4 with a driver's cabin which is mounted on the undercarriage 3 and can rotate about a vertical axis of rotation. A first boom part 1 in the form of a pivot piece which can be pivoted about a horizontal axis via one or more hydraulic cylinders is articulated to the upper carriage 4.

An attachment tool 5 is mounted on the end of the first boom part 1 opposite the upper carriage 4, whereby the attachment tool 5 in the example shown here is a backhoe equipment for demolition work. The work machine shown is therefore used as a demolition excavator. The attachment tool 5 comprises a second boom part 2 and a hydraulically movable backhoe or excavator bucket, whereby the second boom part 2 is connected to the free end of the first boom part 1 at its end opposite the backhoe. For this purpose, the ends of the first and second boom parts 1, 2 have corresponding connecting elements, in the form of two bolt connections that form two locking axes 8, 9 (see Figure 1b ).

The attachment tool 5 shown here has two discrete working positions, which can be Figures 1a and 1b are shown. For this purpose, a first locking axis 8 is formed by a bolt connection which remains inserted in every working position and serves as a pivot axis for the attachment tool 5. The second locking axis 9 running parallel to it is repositioned to change the working position so that the attachment tool 5 and thus the second boom part 2 is inclined relative to the first boom part 1 about the first locking axis 8. For this purpose, the second boom part 2 (alternatively the first boom part 1) has two bolt receptacles so that one of the two working positions can be reached by inserting the bolts into the corresponding bolt receptacle. Of course, more than two working positions (ie more than two bolt receptacles) and/or continuous adjustment of the attachment tool 5 are also possible.

In order to be able to move the bucket of the attachment 5, its actuator (in the form of one or more hydraulic cylinders) must be connected to the hydraulic system of the base unit 3, 4. For this purpose, the hydraulic cylinders of the attachment 5 are connected to flexible hydraulic lines (= second fluid-carrying lines 7) which are attached to the second boom part 2 and whose hydraulic connections are located in the area of the end of the second boom part 2. The corresponding machine-side hydraulic lines (= first fluid-carrying lines 6) are attached to the first boom part 1 and have suitable hydraulic connections or connectors. After the first and second boom parts 1, 2 have been mechanically connected to one another (this is done in particular via a mechanical quick coupler of a known type), the hydraulic lines 6, 7 in such known devices are manually connected to one another in order to establish the hydraulic supply to the attachment tool 5.

For this purpose, the tool-side hydraulic lines 7 are increased in length so that they can bridge the bend or the inclinations resulting from the different working positions of the attachment tool 5 and the hydraulic connections do not separate. A hydraulic quick coupling, such as that used in the EP 1 239 087 A1 known, cannot be used for this purpose, since the orientation of the second boom part 2 relative to the first boom part 1 changes depending on the working position of the attachment tool 5.

The Figure 2 shows another example of a state-of-the-art working machine. This is the hydraulic excavator basic unit of the Figures 1a-b , whereby another attachment tool 5 in the form of a demolition device was attached. This also has a second boom part 2, which, however, in the example shown here can only assume a single working position.

In the Figures 3-7 the coupling device according to the invention for the fully automatic connection and disconnection of fluid-carrying lines at a boom separation point, for example the hydraulic supply lines for attachment tools, is shown in different views. The Figures 3-6 show the coupling device 10 in different positions in perspective views.

The coupling device 10 can be used in the Figures 1a-b and 2 shown working machines for connecting the first and second lines 6, 7 (the corresponding features of the working machine according to the invention can be those of the Figures 1a-b and 2 and are therefore not repeated hereafter), but is not limited to this Work machines and attachments. In principle, the coupling device 10 according to the invention can be used for the automatic coupling and separation of fluid-carrying lines at any separation point where different geometric configurations occur at the separation point, for example in demolition excavators, earthmoving excavators, piling and drilling excavators, drilling machines, conveyor machines, loaders, bulldozers, cranes and mining excavators, to name just a few examples.

The coupling device 10 according to the invention comprises an energy circuit coupling in the form of a hydraulic quick coupling with two coupling halves or coupling parts 11, 12, which can be brought together and moved apart by an actuator. A first coupling part 11 is connected to the machine-side first lines 6 (in the Figures 3-7 not shown), while a second coupling part 12 is connected to the tool-side second lines 7 (also not shown). By pivoting together and coupling the two coupling parts 11, 12, which have corresponding connectors or hydraulic connections that fit into one another, the first and second lines 6, 7 are connected to one another in a fluid-conducting manner.

The coupling device 10 further comprises a pivoting part 20, which is pivotably connected to the upper side of the first boom part 1 about a pivot axis 24 (in the embodiment shown, aligned horizontally or parallel to the pivot axis of the first boom part 1). The pivoting part can be moved between a release position (cf. Fig. 3-4 ) and a clutch position (cf. Fig. 5-6 ). The second coupling part 12 is firmly attached to the top of the second boom part 2.

The pivoting part 20 is designed in such a way that it can receive the first coupling part 11 or be detachably connected to it via a locking mechanism explained later. This state is shown in the Figures 3-4 shown. By pivoting the pivoting part 20 about the pivot axis 24 from the release position along a circular path to the second coupling part 12, the two Coupling parts 11, 12 are pivoted together or coupled. The respective connectors move into each other. The coupling position of the pivot part 20, in which the two coupling parts 11, 12 are pivoted together and connected to each other (but not necessarily locked), is in the Figure 5 shown.

The coupling parts 11, 12 can be a quick coupling according to the teaching of EP 1 239 087 A1 and in particular have a corresponding linear guide. Furthermore, the coupling parts can have a centering device according to EN 10 2020 110 523 A1 In particular, the second coupling part 12 is designed as a movable coupling part in the sense of these two teachings and is movably (but permanently) mounted on the second boom part 2 via a spring device 13 (cf. Fig.7 ).

In order to enable a change in the orientation of the second boom part 2 relative to the first boom part 1 after coupling the two coupling parts 11, 12 (for example to change a working position of an attachment tool 5 comprising the second boom part 2), according to the invention the first coupling part 11 can be separated from the pivoting part 20 after the coupling parts 11, 12 have been brought together. For this purpose, the first coupling part comprises a locking mechanism with a plurality of actuators 31, which lock the first coupling part 11 either with the pivoting part 20 or with the second coupling part 12.

A section parallel to the pivot axis 24 through the coupled coupling device 10 along one of the actuators 31 is shown in the Figure 7 shown, with the pivoting part 20 in its coupling position. The pivoting part 20 comprises two lateral hook-shaped side parts 27, which in the coupling position have receptacles that are open downwards. The first coupling part 11 is located in the coupling position between the side parts 27 and can be locked with them. For this purpose, the side parts 27 have bolt receptacles 32 (cf. Fig.6 ; in the present embodiment there are two bolt receptacles 32 per side part 27). The first coupling part 11 comprises actuators 31 in the form of double-acting hydraulic cylinders, the piston rods of which are designed as locking bolts 33, 35 on both sides. On the outer sides, which correspond to the side parts 27 of the swivel part 20 facing each other, the outer bolts 33 in the coupling position of the swivel part are coaxial with the bolt receptacles 32 of the side parts 27.

If the outer bolts 33 are extended laterally or outwards and retracted into the bolt receptacles 32 of the side parts 27, the first coupling part 11 is locked to the pivot part 20 and can be pivoted together with it. In this state, the first coupling part 11 has a direct rigid connection to the first boom part 1.

To unlock the first coupling part 11 and the swivel part 20, the bolts 33 are retracted inwards or pulled out of the bolt receptacles 32 of the side parts 27. Since the actuators 31 are designed as double-acting hydraulic cylinders, corresponding inner bolts 35, which are parallel and in particular coaxial to the outer bolts 33, retract inwards. There are corresponding bolt receptacles 34 of the second coupling part 12 (or of a holding frame rigidly connected to the second boom part 2, in which the second coupling part 12 is movably mounted via several springs 13 of a spring device in the present exemplary embodiment), into which the inner bolts 35 retract and thereby lock the two coupling parts 11, 12 together. In this state, the first coupling part 11 is no longer connected to the pivoting part 20 and therefore no longer has a direct rigid connection to the first boom part 1 (except for the first lines 6, which are, however, flexible and enable movement of the first coupling part 11 relative to the first boom part 1).

Thus, the locking of the two coupling parts 11, 12 takes place synchronously or simultaneously with the unlocking of the first coupling part 11 and the swivel part 20. As a result, only half as many actuators 31 have to be used as with a separate, sequential locking/unlocking.

Like in the Figure 7 As can be seen, the outer bolts 33 and the inner bolts 35 each have circumferential bevels or chamfers at their ends, which facilitate insertion into the respective bolt receptacles 32, 34 and also compensate for concentricity errors due to manufacturing tolerances. For this purpose, the chamfers on the inner and outer bolts 33, 35 are preferably designed differently. In the embodiment shown here, the outer bolts 33 have flatter chamfers that have a greater range (ie extension or length along the bolt's longitudinal axis). The inner bolts 35 have steeper chamfers with a shorter range / length. This design makes it possible to compensate for manufacturing tolerances without overloading the cylinders 31, the sheets, hydraulic connections and bolts 33, 35.

In the present embodiment, four actuators 31 are provided, which are arranged coaxially in pairs on the sides of the first coupling part 11 and therefore form two parallel locking axes. Of course, fewer (e.g. only two) or more than four actuators 31 could be used.

Because after the connection between the first coupling part 11 and the swivel part 20 is released, the first no longer has a direct rigid connection to the first boom part 1, the second boom part 2 can be moved or swiveled together with the coupled coupling parts 11, 12 without the hydraulic connections being impaired or even released. The hydraulic continuity is therefore maintained. To do this, after locking the two coupling parts 11, 12, the swivel part 20 is in particular swiveled back into the release position (see. Fig.6 ) so that no collision can occur.

The sequence of movements required to achieve this operating state is shown in the Figures 3-6 . In the Figure 3 the first coupling part 11 is locked with the swivel part 20 and the swivel part 20 is in the release position. The lines 6, 7 are not connected or coupled to each other. By swiveling the swivel part 20 around the swivel axis 24 to the second coupling part 12 in the coupling position ( Fig.5 ), the coupling parts 11, 12 are coupled together and thereby fluid-conducting connections of the lines 6, 7 are established. The first Coupling part 11 is still locked with the swivel part 20. Then, at the same time, the first coupling part 11 is separated from the swivel part 20 and locked with the second coupling part 12. The now free swivel part 20 can then be swivelled back into the release position (see. Fig.5 ).

The reaching of the coupling position of the swivel part 20 can be detected, for example, by inductive sensors 40, which can be arranged on the second coupling part 12 or on the swivel part 20. The side parts 27 of the swivel part 20 comprise mechanical stops 26, which are formed by the "bottoms" of the recesses that are open at the bottom. The second coupling part 12 or a holding frame that supports it and is connected to the second boom part 2 comprises two side parts 25, the ends of which facing the swivel part 20 form mechanical counter stops 28 (see Fig.6 ), which are contacted by the stops 26 of the side parts 27 in the coupling position (cf. Fig.5 ). The inductive sensors 40 detect these stops 26, 28 or the swivel part 20 or the second coupling part 12 (depending on where the sensors 40 are arranged) directly and send corresponding signals to a control unit of the working machine. This signals that the swivel part 20 is in the coupling position and therefore the unlocking/locking process can be carried out. Preferably, the process is only released in the coupling position and is otherwise blocked.

The coupling process including locking/unlocking can thus be carried out automatically or remotely from the driver's cab without visual contact with the coupling device 10 or manual control being required. The driver knows when he can start unlocking/locking because this is detected and communicated by the sensors 40. In one embodiment, locking/unlocking does not have to be started separately by a driver, but all movements are fully automatic.

Alternatively, the swivel part and the coupling parts 11, 12 could also be arranged laterally or on the undersides of the boom parts 1, 2.

List of reference symbols:

1

First boom part

2

Second boom section

3

Undercarriage

4

Uppercarriage

5

Attachment tool

6

First fluid-carrying lines

7

Second fluid-carrying lines

8th

First locking axis

9

Second locking axis

10

Coupling device

11

First coupling part

12

Second coupling part

13

Spring device

20

Swivel part

22

Actuator

24

Swivel axis

25

Side panel

26

attack

27

Side panel

28

Counter stop

31

Actuator

32

Bolt holder

33

Outer bolt

34

Bolt holder

35

Inner bolt

40

sensor

Claims (15)

Work machine with a first boom part (1), a second boom part (2) that can be detachably connected to the first boom part (1), at least one first fluid-conducting line (6) arranged on the first boom part (1), at least one second fluid-conducting line (7) arranged on the second boom part (2) and a coupling device (10) for reversibly coupling the first and second lines (6, 7), wherein the coupling device (10) comprises a first coupling part (11) connected to the at least one first line (6), a second coupling part (12) connected to the at least one second line (7) and connected to the second boom part (2) and a pivoting part (20) connected to the first boom part (11) and pivotable about a pivot axis (24), wherein the first coupling part (11) can be coupled to the second coupling part (12) in a fluid-conducting manner by pivoting the pivoting part (20),
marked by
a locking mechanism by means of which the first coupling part (11) can be mechanically connected to the pivoting part (20) for coupling and separating the coupling parts (11, 12) and can be released from the pivoting part (20) in a state coupled to the second coupling part (12). Work machine according to claim 1, wherein the second coupling part (12) is permanently connected to the second boom part (2) and/or the pivoting part (20) is permanently connected to the first boom part (1). Work machine according to claim 1 or 2, wherein the pivoting part (20) can be pivoted about the pivot axis (24) by means of an actuator (22), in particular a hydraulic cylinder. Work machine according to one of the preceding claims, wherein after the first coupling part (11) has been released from the pivoting part (20), there is no direct rigid connection between the first coupling part (11) and the first boom part (1). Work machine according to one of the preceding claims, wherein the second boom part (2) can be connected to the first boom part (1) in at least two positions and can be moved between a first working position and a second working position, wherein after the first coupling part (11) has been released from the pivoting part (20), the first coupling part (11) is connected, in particular firmly connected, to the second boom part (2), and wherein when the working position is changed, the first coupling part (11) can be moved together with the second boom part (2) relative to the first boom part (1). Work machine according to one of the preceding claims, wherein the locking mechanism is arranged on the first coupling part (11). Work machine according to one of the preceding claims, wherein the locking mechanism comprises at least one actuator (31) by means of which the first coupling part (11) can be locked to and unlocked from the pivoting part (20) in a coupling position of the pivoting part (20), wherein the actuator (31) for locking and unlocking the first coupling part (11) can preferably be actuated from a driver's cab and/or via a control device arranged on the work machine or mobile. Work machine according to the preceding claim, wherein the first coupling part (11) can be locked to the second coupling part (12) in the coupling position of the pivoting part (20) by means of the locking mechanism, wherein the locking of the coupling parts (11, 12) preferably takes place simultaneously with the unlocking of the first coupling part (11) and pivoting part (20) and vice versa, in particular via the same at least one actuator (31). Work machine according to the preceding claim, wherein the locking mechanism comprises at least one, preferably at least two, particularly preferably four double-acting hydraulic cylinders (31) which are connected to or provided with bolts (33, 35) which can be inserted into bolt receptacles (32, 34) on the second coupling part (12) or on the pivoting part (20) by actuating the hydraulic cylinders (31). Work machine according to the preceding claim, wherein bevels are provided on the bolts (33, 35) and/or on the bolt receptacles (32, 34) to facilitate insertion of the bolts (33, 35) into the bolt receptacles (32, 34), wherein preferably each hydraulic cylinder (31) is connected or provided with an outer bolt (33) for insertion into a bolt receptacle (32) on the pivot part (20) and with an inner bolt (35) for insertion into a bolt receptacle (34) on the second coupling part (12), and the inner and outer bolts (33, 35) have differently designed bevels. Work machine according to one of claims 7 to 10, wherein the coupling device (10) comprises a sensor device with at least one sensor (40), by means of which the coupling position of the pivoting part (20) can be detected, wherein the work machine preferably comprises a control unit for controlling the at least one actuator (31) of the locking mechanism, which control unit is connected to the at least one sensor (40) and is set up to enable actuation of the at least one actuator (31) only when the pivoting part (20) is in the coupling position. Work machine according to the preceding claim, wherein the coupling position of the pivoting part (20) is derived directly from its position and is defined by a mechanical stop (26) which is preferably arranged on the pivoting part (20) and cooperates with a counter stop (28) on the second coupling part (12) or on the second boom part (2), wherein the at least one sensor (40) is designed in particular as an inductive sensor. Work machine according to one of the preceding claims, wherein the coupling parts (11, 12) are designed such that they move towards one another on a circular path around the pivot axis (24) when the pivoting part (20) is pivoted into a coupling position and thereby automatically couple with one another in a fluid-conducting manner, wherein at least one of the coupling parts (11, 12), in particular the second coupling part (12), is mounted so as to be pivotable about an axis parallel to the pivot axis (24) of the pivot part (20) and movable perpendicularly thereto, in particular via a spring device (13), wherein the coupling device (10) preferably comprises a linear guide which is designed, in cooperation with the movable mounting of the movable coupling part (12), to compensate for the relative movement of the two coupling parts (11, 12) along a circular path when pivoting together and to guide the two coupling parts (11, 12) linearly towards one another when coupling. Coupling device (10) for a work machine according to one of the preceding claims. Method for establishing an operating state of a working machine according to one of claims 1 to 13, comprising the following steps: - pivoting the pivoting part (20) about the pivot axis (24) into the coupling position, wherein the first coupling part (11) is locked to the pivoting part (20) via the locking mechanism, - locking the first coupling part (11) with the second coupling part (12) by means of the locking mechanism, - releasing the locking between the first coupling part (11) and the pivoting part (20) by means of the locking mechanism so that they are no longer firmly connected to one another, wherein the unlocking preferably takes place simultaneously with the locking of the first and second coupling parts (11, 12), and - preferably pivoting the pivoting part (20) back about the pivot axis (24) out of the coupling position, so that in particular there is no contact between the pivoting part (20) and the first coupling part (11).

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