COUPLING DEVICE AND MOBILE WORK MACHINE

Description

[0001] The present disclosure relates to a coupling device for connecting an attachment to a mobile working machine, comprising a mounting interface for mounting on a boom of a mobile working machine, an attachment interface for the detachable reception of an attachment, which has a locking unit for the attachment that can be actuated by at least one fluidic actuator, and a rotary section arranged between the mounting interface and the attachment interface, with a rotary drive for generating a relative rotation between the mounting interface and the attachment interface about an axis of rotation, wherein the locking unit has a housing with at least one pressure medium supply connection, which is slidably arranged on a frame of the attachment interface, and wherein the rotary section has a stator and a rotor that can be rotated relative to the stator about the axis of rotation.and wherein the locking unit is rotatable by the rotor.

[0002] From DE 10 2020 127 313 B3, a quick-change system for changing attachments on a construction machine is known, comprising a quick coupler arranged on a connecting part rotatable about a rotary axis by means of a hydraulic rotary drive and pivotable about a pivot axis orthogonal to the rotary axis by means of a hydraulic swivel drive, the quick coupler containing receptacles and at least one locking element actuated by means of a hydraulic drive for holding an attachment coupled to the quick coupler, and a hydraulic control device comprising a first control circuit for controlling the rotary drive and the swivel drive, at least one further control circuit for supplying the attachment coupled to the quick coupler, and a changeover valve arrangement for supplying the hydraulic drive with the higher of the pressures acting in the first or the at least one further control circuit for actuating the at least one locking element.

[0003] A coupling device of the type mentioned above is known from EP 3 964 650 A1. The known device comprises a hydraulic rotary union for fluids, comprising a stator and a rotor, arranged within a through-opening of a drive housing of a rotary actuator, wherein the stator is radially supported at two ends within the through-opening. In this way, the rotary union sits stably and is well protected against tilting movements within the through-opening.

[0004] A similar coupling device is known from EP 3 954 835 A2. The known coupling device serves as a quick coupler for attachments on excavators and the like. The known coupling device provides one rotational degree of freedom and one pivoting degree of freedom for an attachment. The coupling device comprises a support structure for the attachment's mounting bolts, wherein a first receptacle and a second receptacle are provided, which can securely grip and hold two spaced-apart mounting bolts using a locking device with a cylinder unit movable relative to a frame of the support structure.

[0005] Coupling devices serve, for example, as quick couplers for attachments on mobile machinery. This reduces setup time. Coupling devices can provide additional degrees of freedom, such as rotation and / or swiveling motion, which may not be available when the attachment is directly mounted to an interface on the machine.

[0006] The coupling devices typically include a mounting interface with a fluidically actuated locking unit that secures a mounted attachment to the mounting interface. For this purpose, a pressure medium (e.g., hydraulic oil, compressed air, or the like) must be supplied to the locking unit. However, if the coupling device provides a rotational degree of freedom, it must be ensured that the pressure medium can be supplied to the locking unit regardless of its current rotational position.

[0007] Furthermore, it is conceivable to provide additional fluid channels and, if necessary, other channels for transmitting (electrical) energy and / or signals at the attachment interface. This allows for additional degrees of freedom in the attachment, for example, with a gripper, a clamp, a vibratory plate, a grinding tool, a hammer tool, or the like. Attachments can be supplied with fluidic and / or electrical energy as needed. Furthermore, communication with attachments is possible as required, for example, for control purposes, signal transmission, data acquisition, and the like.

[0008] The mounting interface includes, for example, a frame that supports the locking unit. The locking unit includes, for example, a housing that is slidable relative to the frame. The housing can contain one or more actuators, which are designed, for example, as cylinders. In this way, for example, when using one actuator, both a locking element of a first receptacle and, if necessary, a locking element of a second receptacle can be actuated. If this housing now has a hydraulic supply connection, this hydraulic supply connection would also move relative to the frame of the mounting interface. This movement may occur obliquely (for example, perpendicularly) to the axis of rotation.

[0009] This must be taken into account when providing the hydraulic fluid supply, power supply, and / or signal supply. In exemplary configurations, the housing not only has at least one hydraulic fluid supply connection for actuating the locking unit, but also one or more additional connections that can be used to supply the attachment. This increases the effort required to provide the necessary media.

[0010] Against this background, the present disclosure aims to provide a coupling device for connecting an attachment to a mobile work machine, which, taking into account the structural conditions at the attachment interface, ensures a reliable supply of pressurized fluid and, if necessary, the supply of other media. In particular, the coupling device should reduce hose routing requirements. The coupling device should also make efficient use of the available installation space with regard to media supply. The coupling device should guarantee a robust and reliable media supply, even under heavy operational loads.

[0011] This problem is solved by a coupling device for connecting an attachment to a mobile working machine, comprising a mounting interface for mounting on a boom of a mobile working machine, an attachment interface for the detachable reception of an attachment, which has a locking unit for the attachment that can be actuated by at least one fluidic actuator, and a rotary section arranged between the mounting interface and the attachment interface with a rotary drive for generating a relative rotation between the mounting interface and the attachment interface about an axis of rotation, wherein the locking unit has a housing with at least one pressure medium supply connection, wherein the rotary section has a stator and a rotor that can be rotated relative to the stator about the axis of rotation, and wherein the locking unit can be rotated by the rotor.wherein the housing is slidably arranged on a frame of the mounting interface, wherein a rotary feedthrough is arranged in the rotary section which is coupled to the pressure medium supply port of the housing without hoses for the supply of pressure medium, and wherein at least one fluid-conducting pipe section is arranged between the rotary feedthrough and the housing of the locking unit in order to compensate for movements of the housing relative to the frame of the mounting interface.

[0012] Therefore, precautions were taken to ensure that the rotary feedthrough could be connected to the housing without hoses, even if the locking unit's housing is movable. This ensures reliable media transmission even in the event of relative movement between the housing and the mounting interface frame.

[0013] The rotary union is coupled to the pressure medium supply connection via a fluidic, tubeless connection. The rotary union communicates fluidically with the pressure medium supply connection of the locking unit housing via this fluidic, tubeless connection.

[0014] In particular, the rotary union is a multi-channel rotary union. The rotary union is primarily used for fluid transfer. This typically includes one or more channels for hydraulic oil. However, it is also conceivable to transfer compressed air via one or more channels. In exemplary embodiments, the rotary union has at least one channel for compressed air transfer. In exemplary embodiments, the rotary union has at least one channel for electrical energy transfer. In exemplary embodiments, the rotary union has at least one channel for signal transmission.

[0015] Eliminating hoses at the interface between the rotary union and the locking unit increases operational reliability. Furthermore, deformations / compressibilities along the lines in this area can be reduced by eliminating hoses, which are inherently more flexible than rigid (hoseless) connections. It is understood that even rigid pipes exhibit minimal compliance (elasticity) at high pressures. However, those skilled in the art understand that such rigid pipes are typically not flexible enough to compensate for relative movements between the components through which the lines run.

[0016] The coupling device can be temporarily or permanently connected to a mobile machine via the mounting interface. This is typically done on a movable boom, such as an articulated arm. Accordingly, it is possible that the rotary union is connected on the inlet side (from the direction of the articulated arm) via flexible lines, such as hoses. Similarly, it is possible that pressure fluid or other media are drawn from a connection at the mounting interface via flexible lines (such as hoses). This allows for the supply of corresponding components on the attachment. However, it is desirable that at least the rotational freedom of the coupling device includes a rotary union that is connected without hoses to the housing of the locking unit (which can be moved diagonally or perpendicular to the axis of rotation).

[0017] In one exemplary embodiment, the coupling device comprises a quick-release coupling, in particular a fluidically / hydraulically actuated quick-release coupling. In another exemplary embodiment, the coupling device includes a swivel section in addition to the rotary section, thus providing both a rotational degree of freedom and a swiveling degree of freedom.

[0018] The displacement of the housing relative to the mounting interface frame refers, for example, to a compensating movement of the housing when a corresponding actuator moves to operate the locking unit. The actuator is, for example, a fluidic cylinder, typically a hydraulic cylinder. This compensating movement is, for example, a linear movement relative to the frame of the locking unit, perpendicular, or at least oblique, to the axis of rotation.

[0019] According to another exemplary embodiment, the rotor comprises a slewing ring through which the rotary union extends. The slewing ring serves, for example, as the rotor of the rotary section, which carries the mounting interface. The slewing ring is coupled to an actuator. The slewing ring has, for example, a recess in its center, which provides installation space for the rotary union. The rotary section is typically designed to transmit high forces and torques. In one exemplary embodiment, a worm gear with a worm and worm wheel is used for this purpose, with the worm wheel designed as a ring. Other designs of the rotary drive are conceivable.

[0020] In another exemplary embodiment, the rotary feedthrough is oriented concentrically to the rotating section. In another exemplary embodiment, the rotary feedthrough is oriented concentrically to the rotating ring. In another exemplary embodiment, the rotary feedthrough is constantly oriented concentrically to the rotating section, with a central axis of the rotary feedthrough and the axis of rotation of the rotating section being permanently concentric to each other.

[0021] According to another exemplary embodiment, the housing of the locking unit is floatingly mounted on the frame of the mounting interface. In this example, the housing is slidable relative to the frame via a suitable guide. This design complicates cable routing if the rotary feedthrough does not accommodate this movement. Nevertheless, a hose-free fluidic connection is also advantageous here.

[0022] According to another exemplary embodiment, the actuator has a piston that is movable relative to the housing and is mounted in the housing, in which a cylinder chamber for the piston is formed. The mounting interface has a first receptacle and a second receptacle facing away from each other, and the housing is coupled to a first locking element at the first receptacle and to a second locking element at the second receptacle, particularly for their actuation. In other words, a single actuator can actuate a first locking element and a second locking element arranged on receptacles of the locking unit facing away from each other. This regularly includes a compensating movement of the housing relative to the frame of the mounting interface.

[0023] It is understood that the attachment interface includes, for example, a first pair of first receptacles and a second pair of second receptacles spaced apart from each other transversely to the longitudinal extent of the axis of rotation, with the first pair designed to receive a first coupling rod and the second pair designed to receive a second coupling rod of the attachment. Such a design can include two actuators (two cylinders). A common housing for the two actuators is provided as an example. It is also conceivable to provide a single actuator (cylinder) in one housing to actuate the locking elements of both pairs of receptacles.

[0024] In one exemplary embodiment, the actuator piston is attached to the frame of the mounting interface, specifically at its end furthest from the housing. When the actuator is actuated, this involves movement of the piston within the cylinder in the housing. If the piston is fixed to the frame with respect to this degree of freedom, this results in movement of the housing relative to the frame. For example, the actuator's movement occurs perpendicular to the axis of rotation of the rotary section.

[0025] According to a further exemplary embodiment, the housing and the piston are movable between a retracted and an extended state in order to actuate the first locking element and the second locking element, in particular comprising a respective relative movement of the first locking element and the second locking element relative to the frame of the mounting interface. In this context, reference is made, for example, to the locking device described in EP 3 954 835 A2. By way of example, the first locking element is moved along a longitudinal guide to secure the first coupling rod to the mounting interface. By way of example, the second locking element is moved along a pivot guide to secure the second coupling rod of an attachment to the mounting interface.

[0026] At least one fluid-carrying pipe section is arranged between the rotary union and the housing of the locking unit to compensate for movements of the housing relative to the frame of the mounting interface. Generally speaking, a first pipe section and a second pipe section are provided that can immerse one another, with the immersion movement compensating for the movement of the housing and ensuring the tightness of the fluid connection.

[0027] In particular, the pipe section is a rigid pipe section, or at least a sufficiently rigid pipe section. The pipe section is not a (flexible) hose. The pipe section is made, for example, of metallic materials. A hose typically includes (also) compliant, elastic materials. Flexible hoses with steel braiding are flexible within the meaning of this disclosure. The pipe section is, in particular, fluidically connected to a channel of the rotary feedthrough. The pipe section can also be referred to as a hollow cylinder or hollow piston. The pipe section can also be referred to as a pipe segment.

[0028] According to another exemplary embodiment, the pipe section is coupled to the housing of the locking unit for the fluid line, with the housing and the pipe section being displaceable relative to each other. For example, the compensating movement of the housing relative to the frame of the mounting interface can include a movement in the same direction and of the same magnitude relative to the pipe section, while ensuring the tightness of the fluid connection.

[0029] According to another exemplary embodiment, the housing and the pipe section are slidable relative to each other, with the pipe section being fixed to the housing of the locking unit or to a connecting piece associated with the rotary feedthrough. It is also conceivable, in principle, to arrange the pipe section in a floating manner between the locking unit and the connecting piece associated with the rotary feedthrough. According to this embodiment, the pipe section can engage in a recess in either the locking unit or the connecting piece.

[0030] According to another exemplary embodiment, the pipe section immerses at least partially in a recess of the locking unit housing, the immersion depth of the pipe section in the recess varying depending on the position of the locking unit housing relative to the mounting interface frame. This results in a secure, hose-free fluidic connection between the rotary feedthrough and the housing, even in the event of compensating movement of the housing relative to the axis of rotation (corresponding to the central axis of the rotary feedthrough). The coupling between the pipe section and the recess includes suitable seals.

[0031] According to another exemplary embodiment, the pipe section dips at least partially into a recess of the connecting piece of the rotary feedthrough, wherein the immersion depth of the pipe section in the recess is variable depending on the position of the housing of the locking unit in relation to the frame of the mounting interface.

[0032] According to another exemplary embodiment, the tube section is fixed to the frame of the mounting interface at its end furthest from the housing of the locking unit, with the tube section having a longitudinal extent oriented parallel to the sliding movement of the housing of the locking unit. In this way, the tube section can engage in the recess in the housing. The longitudinal extent of the tube section is at least partially parallel to the sliding movement of the housing of the locking unit. In an exemplary embodiment, the longitudinal extent of the tube section is perpendicular or substantially perpendicular to the axis of rotation of the rotating section. This applies at least to the section that engages in the recess in the housing.

[0033] It is also conceivable that the pipe section is designed as an extension on the housing, which dips into a corresponding recess of a connecting piece arranged on the frame of the mounting interface when relative movements occur between the housing and the frame.

[0034] According to another exemplary embodiment, the pipe section is oriented coaxially to a pressure medium supply connection on the housing of the locking unit, so that the pressure medium supply connection, the pipe section, and a recess associated with the rotary feedthrough for receiving the pipe section are arranged fluid-conducting along a common longitudinal axis. This simplifies the fluid flow, in particular the design of corresponding channels. A coaxial orientation is also advantageous with regard to the required installation height and width. In general, the required installation space can be reduced. Specifically, if the fluid flow between the recess associated with the rotary feedthrough and the pressure medium supply connection of the locking unit is straight, deflections can be avoided. The effort required to create the fluid paths is reduced.

[0035] According to a further exemplary embodiment, a plurality of pipe sections are arranged between the rotary feedthrough and the housing of the locking unit, wherein the pipe sections are each fluidically assigned to a channel of the rotary feedthrough, wherein the housing of the locking unit has at least one pressure medium supply connection fluidically coupled to one of the channels for the fluid supply of the actuator, and wherein the housing of the locking unit has at least one pressure medium supply connection fluidically coupled to one of the channels for external fluid supply.

[0036] In this way, the locking unit can be supplied with the hydraulic fluid. A dual-channel control of the locking unit is also conceivable, for example, in the case of two actuators, where each actuator is supplied separately via its own channel. It is also conceivable to provide hydraulic fluid channels and other media channels for the attachment. For this purpose, the housing can have corresponding connections to which lines can be attached.

[0037] According to a further exemplary embodiment, the rotary feedthrough has a central axis oriented parallel to the axis of rotation, wherein the distance between the axis of rotation and the central axis of the rotary feedthrough is variable depending on an operating state of the locking unit, in particular depending on the position of the housing. According to this embodiment, the rotary feedthrough can move together with the housing when compensating movements occur due to the actuation of the locking unit.

[0038] According to another exemplary embodiment, the rotary feedthrough is designed as a multi-channel rotary feedthrough, wherein at least one channel of the rotary feedthrough serves to supply pressure medium to the locking unit of the attachment interface, and wherein at least one channel serves to supply pressure medium to one degree of freedom of the attachment. It is conceivable to provide at least one channel for supplying electrical power. It is also conceivable to provide one channel for providing signal exchange.

[0039] Typically, the channels of a rotary union are used to transmit fluidic energy, particularly hydraulic energy. Pneumatic energy transmission is also conceivable. In exemplary embodiments, at least one channel of the rotary union is used to transmit electrical energy. In at least one exemplary embodiment, at least one channel of the rotary union is used to transmit signals. These can be sensor signals, control signals, and the like.

[0040] According to a further exemplary embodiment, the coupling device also features a pivoting section arranged between the mounting interface and the attachment interface, in particular between the mounting interface and the rotary section, with a pivoting drive for generating a pivoting movement between the mounting interface and the attachment interface about a pivot axis. In this way, the coupling device can provide both a rotational degree of freedom and an additional pivoting degree of freedom. The rotary section and the pivoting section are functionally arranged between the mounting interface and the attachment interface.

[0041] In one exemplary embodiment, the swivel section is interposed between the mounting interface and the rotary section. In another exemplary embodiment, the rotary section is interposed between the swivel section and the mounting interface. In an alternative embodiment, the rotary section is interposed between the mounting interface and the swivel section, with the swivel section being interposed between the rotary section and the mounting interface. The rotary feedthrough is assigned to the rotary section in each case.

[0042] According to a further exemplary embodiment, the pivot section comprises a pivot axis inclined relative to the axis of rotation, in particular a pivot axis oriented perpendicular to the axis of rotation, wherein the pivot section is coupled to the pivot axis via a pivot arm and is pivotable about the pivot axis, wherein the pivot drive extends between a coupling point at the mounting interface and a coupling point at the pivot arm, wherein both coupling points are offset from the pivot axis and from each other, and wherein the pivot axis is arranged at least in a neutral position of the pivot drive between the mounting interface and the coupling point at the pivot arm.

[0043] This results in a compact yet efficient design for the coupling device. The neutral position of the rotary actuator corresponds, for example, to a position in which the axis of rotation of the rotary actuator is oriented perpendicular to a plane defined by the mounting points of the mounting interface. The mounting interface is defined, for example, by a plane defined by the mounting points of the mounting interface. In one exemplary embodiment, the rotary axis, at least in the neutral position, is oriented between the mounting interface and both coupling points of the rotary actuator.

[0044] The rotary actuator is designed, for example, as a cylinder, with one coupling point at the cylinder housing and another coupling point at the piston rod, which is movable relative to the cylinder housing. The rotary section comprises, for example, two rotary actuators. In one exemplary embodiment, the two rotary actuators of the coupling device are oriented in opposite directions, with the rotary actuators being driven in opposite directions or in opposite directions to pivot the attachment interface relative to the mounting interface.

[0045] According to another aspect, the present disclosure relates to a mobile working machine with a chassis, a superstructure supported by the chassis, and at least one articulated boom which carries a coupling device according to at least one of the embodiments described herein for coupling an attachment.

[0046] The boom is designed, for example, as an articulated arm. In one exemplary embodiment, the boom, together with the superstructure, is movable relative to the chassis (for example, a slewing ring between the chassis and superstructure). In another exemplary embodiment, the boom is movable relative to the superstructure, in particular pivotable. For example, the machine has an onboard hydraulic system with a hydraulic pump, pressure generator, and / or pressure accumulator. In this way, fluidic energy can be supplied to the coupling device and, if applicable, to the attachment via corresponding lines extending along the boom.

[0047] Mobile machinery includes, for example, excavators (crawler excavators, wheeled excavators, and the like). Mobile machinery can encompass construction equipment, agricultural and forestry vehicles. Examples include wheel loaders, excavators, tractors, towing vehicles in general, and trailers. Mobile machinery can be equipped with its own drive system. However, it is also possible to design mobile machinery without its own drive system.

[0048] Many different types of attachments are available, such as buckets, shovels, grapples, shears, magnets, vibratory plates, grinding heads, milling cutters, and the like. Attachments can have their own degrees of freedom, for example, for opening and closing a grapple or demolition shears.

[0049] It is understood that the features of the disclosure mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present disclosure.

[0050] Further features and advantages will become apparent from the following description of several preferred embodiments with reference to the drawings. These show: Fig. 1: a side view of an exemplary embodiment of a mobile work machine in the form of a crawler excavator; Fig. 2: a perspective view of an embodiment of a coupling device; Fig. 3: an enlarged sectional view of the coupling device according to Fig. 2 Fig. 4: a partially cutaway, frontal view of the coupling device according to the Figures 2 and 3 , where the cutting orientation of line IV-IV in Fig. 5follows; Fig. 5: a partially cutaway side view of the coupling device according to Fig. 4 , where the cutting orientation of line VV is in Fig. 4 follows; Fig. 6: another perspective view of the coupling device according to the Figures 2-5 , in a bottom-up orientation; Fig. 7: a perspective view of another embodiment of a coupling device, which differs from the coupling device according to the Figures 2-6 partially modified; Fig. 8: a sectional side view of the coupling device according to Fig. 7 Fig. 9: another perspective view of the coupling device according to the Figure 7 and 8 , in a bottom-up orientation; Fig. 10: a perspective view of another embodiment of a coupling device; and Fig. 11: an enlarged sectional view of the coupling device according to Fig. 10 .

[0051] Fig. 1Figure 10 shows a simplified schematic representation of a mobile work machine. In this example, the work machine 10 is designed as an excavator, for example, a crawler excavator. Other designs are also conceivable.

[0052] The machine 10 comprises a chassis 12 that supports a superstructure 14. In exemplary embodiments, the superstructure 14 is rotatable relative to the chassis 12 about a vertically oriented axis. The superstructure 14 houses, for example, a hydraulic power unit 16, which serves to supply the hydraulic fluid. This is usually hydraulic oil, which is pressurized by the hydraulic power unit 16. It is understood that the hydraulic power unit 16 may also include a pressure accumulator.

[0053] In the exemplary embodiment, a knuckle arm 20 with several degrees of freedom is mounted on the superstructure 14. The knuckle arm 20 can also generally be referred to as a boom 22. The knuckle arm 20 extends between the superstructure 14 and an attachment 26. In the exemplary embodiment, the attachment 26 is designed as a bucket 28. This is not to be understood as a limitation. Other types of attachments 26 are conceivable.

[0054] It is generally conceivable to attach the attachment 26 directly to the boom 22 of the mobile work machine 10. The attachment 26 typically has connecting elements, such as connecting bolts and / or coupling rods. At the end of the boom 22 furthest (kinematically) from the superstructure 14, a suitable interface for directly receiving the attachment 26 is usually provided. However, such direct mounting is not suitable for quick changes of the attachment 26. Furthermore, such direct mounting does not allow any additional degrees of freedom (rotation and / or pivoting) between the attachment 26 and the boom 22.

[0055] So-called quick couplers are known, which are installed as an interface between the boom 22 and the attachment 26. One such quick coupler is known, for example, from EP 3 954 835 A2.

[0056] In the exemplary embodiment according to Fig. 1A coupling device 40 serves as a quick coupler. The coupling device 40 is designed, by way of example, as a so-called tiltrotator 42, without this being to be understood as a limitation. Accordingly, the coupling device 40 can, at least in exemplary embodiments, provide a rotation axis 46 (compare the curved double arrow 48 to illustrate the rotational movement) between the attachment 26 and the boom 22. In exemplary embodiments, a pivot axis 50 (compare the curved double arrow 52 to illustrate the pivoting movement) is also provided between the attachment 26 and the boom 22. In this way, the range of applications of the mobile work machine 10 is broadened when suitable attachments 26 are installed. Overall, the performance potential of the mobile work machine 10 can be increased.

[0057] With reference to the Figures 2-6Various aspects of the design of a coupling device designated as 40 are illustrated. With reference to the Figures 7-9 Various aspects of the design of a coupling device designated overall as 240 are illustrated. The coupling devices 40 and 240 are similar with respect to their basic structure, so that the design according to the Figures 2-6 to explain the based on the Figures 7-9 The illustrated embodiment can be used as a reference. To describe the embodiments shown with reference to Figures 7-9, reference is made in part to the information already provided in connection with the Figures 2-6 The introduced reference figures were used.

[0058] Fig. 2 Figure 1 shows a perspective view of the coupling device 40. To illustrate the state when mounted on the boom 22 of the working machine 10, the figure 2 is shown. Fig. 1 referred to. The Fig. 2The underlying orientation is a view from a slightly oblique angle above, provided that the coupling device 40 is positioned on the ground in this orientation (with the mounting interface 62 described below) or at least facing the ground. It is understood that completely different orientations can be adopted during operation of the machine 10. Therefore, the orientation mentioned should be understood as a reference for the description, without this being a limitation.

[0059] Fig. 3 shows a longitudinal section through the coupling device 40 according to Fig. 2 , where the representation in Fig. 3 something compared to the representation in Fig. 2 is enlarged. Fig. 4 shows a frontal view of the coupling device 40 in a half-section, compare section line IV-IV in Fig. 5. Fig. 5 shows a partial sectional view from the side; compare the section line VV in Fig. 4 . Fig. 6Figure 1 shows a perspective partial view of the coupling device 40 on one side of the attachment interface 62, which, in the mounted state of the coupling device 40, is facing away from the boom 22.

[0060] The in the Figures 2 and 3 The coupling device 40, shown in perspective, provides at least one axis of rotation 46 (arrow 48 for the rotational movement) and, at least in exemplary embodiments, also a pivot axis 50 (arrow 52 for the pivoting movement). In the exemplary embodiment, the axis of rotation 46 and the pivot axis 50 are oriented perpendicular to each other.

[0061] In functional terms, the coupling device has 40 different sections. In the exemplary embodiment, this includes a mounting interface 60 for attachment to the boom 22 ( Fig. 1 ) and an attachment interface 62, to which the attachment 26 ( Fig. 1) can be securely fastened. At least one rotary section 66 is provided between the mounting interface 60 and the attachment interface 62, which provides the axis of rotation 46. At least in exemplary embodiments, a pivot section 64 is also provided, which provides the pivot axis 50. In the exemplary embodiment according to Fig. 2 The rotary section 66 is arranged between the mounting interface 62 and the swivel section 64. Accordingly, the swivel section 64 is arranged between the mounting interface 60 and the rotary section 62.

[0062] The mounting interface 60 comprises a mounting bracket 70 with mounting receptacles 72, 74, via which it is attached to the boom 22. The mounting bracket 72 can comprise two offset sections, each equipped with a mounting receptacle 72, 74. For differentiation purposes, these sections can be referred to as the right side and left side. This arrangement results in favorable force transmission and improves the force / torque transmission capability. In one exemplary embodiment, the two sides of the mounting interface 60 are symmetrical about the pivot axis 50. In another exemplary embodiment, the mounting interface 60 is bolted rigidly to the boom 22. However, it is also conceivable to connect the mounting interface 60 to the boom 22 via a hydraulically actuated coupling or quick-release coupling.

[0063] The mounting interface 62 comprises a locking unit 80 with at least one actuator 82 (in Fig. 2 hidden, compare especially Fig. 5 and Fig. 6 The actuator 82 serves to actuate the mounting interface 62. The actuator 82 is designed, by way of example, as a cylinder that is functionally coupled to a first receptacle 84 and a second receptacle 86. In this way, the first receptacle 84 and the second receptacle 86 can be brought into a locking position and / or a release position by the actuator 82. In this context, reference is again made to the disclosure of EP 3 954 835 A2.

[0064] The mounting interface 62, or its locking unit 80, can comprise two offset sections, each equipped with receptacles 84 and 86. For differentiation purposes, these sections can be designated as the right side and the left side. This results in favorable force transmission and improves the power / torque transmission capability. In one exemplary embodiment, the two sides of the mounting interface 62 are symmetrical or substantially symmetrical with respect to the axis of rotation 46. In another exemplary embodiment, each of the two sides has a corresponding actuator 82. In yet another exemplary embodiment, a common actuator 82 is provided for both sides. The one in Fig. 3 The perspective view shows a half-section illustrating one side (one half) of the assembly interface 60 and the attachment interface 62.

[0065] In the exemplary embodiment, the pivot section 64 comprises a pivot drive 90. The pivot drive 90 is designed to pivot a pivot bridge 92 of the pivot section 64 about the pivot axis 50 relative to the mounting bracket 70 of the mounting interface 60, compare the curved double arrow 52 in the Figures 2 and 3 The rotary drive 90 comprises at least one actuator 96. In the exemplary embodiment, the rotary drive 90 comprises two actuators 96, between which the axis of rotation 46 extends. The at least one actuator 96 is, by way of example, designed as a cylinder. Accordingly, the at least one actuator 96 can be moved between a retracted state and an extended state.

[0066] The swivel bridge 92 comprises at least one swivel boom 100, which carries a coupling point 104. The mounting bracket 70 comprises at least one support arm 102, which carries a coupling point 106. The at least one actuator 96 is coupled to the swivel boom 100 via the coupling point 104 and to the support arm 102 via the coupling point 106. In this way, when the actuator 96 is extended and retracted, a relative movement occurs between the coupling points 104 and 106, and consequently between the swivel boom 100 and the support arm 102. This results in a pivoting movement between the mounting bracket 70 of the mounting interface 60 and the swivel bridge 92 of the pivot section 64. The pivoting movement occurs about the pivot axis 50; compare the figure in Fig. 3 The pivot bearing shown in the cutaway view is 110.

[0067] In an exemplary embodiment, the pivot section 64 also has two sides, each with an actuator 96, between which the axis of rotation 46 extends. This results in favorable force transmission and improves the power / torque transmission capability. Accordingly, the pivot bridge 92 comprises two pivot arms 100, each of which has a coupling point 104 for connecting the actuator 96. In the exemplary embodiment, the mounting bracket 70 also has two support arms 102 facing away from each other, each with a coupling point 106 for connecting the actuator 96. In the exemplary embodiment according to the Figures 2-6 The two actuators 96 of the rotary drive 90 are oriented in opposite directions. A rotary movement about the rotary axis 50 occurs when one of the two actuators 96 is retracted and the other is extended. This is not to be understood as a limitation.

[0068] The rotating section 66 includes a rotary drive 120. The rotary drive 120 allows a rotor 124 to be rotated about the axis of rotation 46 relative to a stator 122 (also referred to as the base of the rotating section), see the curved double arrow 48. In the exemplary embodiment, the stator 122 is connected to the pivot bridge 92, see figure. Fig. 3 The rotor 124 includes a rotating ring 130, which is designed, for example, as a worm gear. The rotating ring 130 surrounds the axis of rotation 46 and is open at its center. The stator 122 includes an actuator 132, which includes, for example, a worm or worm shaft that engages the rotating ring 130. The actuator 132 may also include a suitable drive motor for the worm. The actuator 132 enables the rotor 124 to be rotated relative to the stator 122 about the axis of rotation 46.

[0069] In the exemplary embodiment according to the Figures 2-6The stator 122 serves as the pivot base for the swivel bridge 92 of the swivel section 64. The rotor 124 is rotatably mounted on the swivel bridge 92. Therefore, when the coupling device 40 swivels about the pivot axis 50, the rotary section 66 also swivels. The rotor 124 is rigidly coupled to a frame 140 of the mounting interface 62 (see again below). Fig. 3 Accordingly, the mounting interface 62 rotates with the locking unit 80 when the rotor 124 of the rotary drive 120 rotates relative to the stator 122. The rotor 124 is arranged concentrically to the axis of rotation 46.

[0070] The rotor 124 of the rotary drive 120 is designed as a slewing ring 130. Accordingly, installation space is available in the center of the rotor 124. This installation space is used to supply the mounting interface 62 with hydraulic fluid (hydraulic oil, compressed air) and other media. For this purpose, a rotary union 146 is provided, which in the exemplary embodiment according to the Figures 2-6 with its central axis oriented concentrically to the axis of rotation 46. The rotary feedthrough 146 allows the supply of various media even in the case of relative rotation between the mounting interface 62 and the assembly interface 60 around the axis of rotation 46. It is understood that this can also include control lines for the supply of pressure media, for example for controlling valves.

[0071] In the exemplary embodiment, the rotary feedthrough 146 extends at least partially through the cavity provided by the rotary ring 130. In this way, the rotary feedthrough 146 is well protected against external influences. At one end of the rotary feedthrough 146, facing away from the mounting interface 62, a connecting piece 148 is provided in the exemplary embodiment. This connecting piece serves to couple various (especially flexible) lines to an input side of the rotary feedthrough 146. The connecting piece is, for example, non-rotatably connected to the stator 122 of the rotary drive 120 via a guide plate 152. In this way, the connecting piece 148 is not moved along with the rotor 124 (rotary ring 130) when it rotates relative to the stator 122.

[0072] The rotary union 146 comprises a stationary part 156 and a rotating part 162. The stationary part 156 can also be referred to as the stator. The rotating part 162 can also be referred to as the rotor. In the exemplary embodiment, the stationary part 156 is formed in a center 158 of the rotary union. The rotating part 162 is formed by a shell 164. It is understood that a reverse arrangement (stator at the shell and rotor at the center) is also conceivable. In the exemplary embodiment, the shell 164 rotates together with the mounting interface 62 during rotation about the axis of rotation 46.

[0073] The rotating part 162 (shell 164) of the rotary feedthrough 146 is coupled directly or indirectly to the rotor 124 of the rotary drive 120 of the rotary section 66, in particular non-rotatably connected to the rotor 124. The stationary part 156 (center 158) of the rotary feedthrough 146 is coupled directly or indirectly to the stator 122 of the rotary drive 120 of the rotary section 66, in particular non-rotatably connected to the stator 122. In this way, the desired media can be supplied independently of rotation about the axis of rotation 46.

[0074] In the exemplary embodiment, the connecting piece 148 of the rotary feedthrough 146 has a plurality of channels 166, which continue into the stationary part 156. Circumferential grooves are formed between the stationary part 156 and the rotating part 162 as part of the media guide, which allow the media to be transferred between the stationary part 156 and the rotating part 162 independently of any relative rotation between the parts 156 and 162.

[0075] In the exemplary embodiment, the rotary feedthrough 146 is oriented concentrically to the axis of rotation 46 of the rotary section 66. This is achieved, for example, by appropriately positioning the sleeve 164. The concentric orientation of the rotary feedthrough 146 is independent of the current position of the locking unit 80. It should be noted that, in the illustrated embodiment, the locking unit 80 has a housing 170 that contains at least one actuator 82. The housing 170 is not fixed in position relative to the rotary feedthrough 146. The housing 170 serves as a destination for the media flow through the rotary feedthrough 146.

[0076] The casing 164 is connected, directly or indirectly, to the frame 140 of the mounting interface 62 via a connecting piece 172. The connecting piece 172 accommodates one or more fluid paths 176, and optionally one or more other media paths. The connecting piece 172 establishes a line connection between the rotary feedthrough 146 and the housing 170. By way of example, at least one fluid path 176 of the connecting piece 170 is coupled to a pressure medium supply connection 180 of the housing 170 of the locking unit 80.

[0077] For fluid conveyance, a pipe section 182 is provided, which establishes a fluid connection between the connecting piece 172 and the pressure medium supply port 180 of the housing 170. For this purpose, in the exemplary embodiment, one end of the pipe section 182 is inserted into a recess 184 of the housing 170. The other end of the pipe section 182 is received in a seat 186 on the connecting piece 172. It is understood that a reverse configuration is also conceivable, in which the pipe section 182 is located within the housing 170. Furthermore, it is also conceivable that the pipe section 182 is fitted over a nozzle (instead of being inserted into a recess).

[0078] The pipe section 182 can also be referred to as a hollow cylinder or hollow piston. It is understood that the pipe section 182 can also be integrally formed with the connecting piece 172 or, alternatively, integrally formed with the housing 170. Accordingly, the pipe section 182 can also be a channel section (for example, in the form of a nozzle) that is integrated into another part.

[0079] When the locking unit 80 is actuated to lock or unlock the receptacles 84, 86, the housing 170 is moved relative to the frame 140 of the mounting interface 62 by actuating at least one actuator 82. For example, this results in a sliding movement of the housing 170; compare the double arrow labeled 188 in Figure 188. Fig. 3This sliding movement of the housing 170 is inclined relative to the axis of rotation 46, for example, perpendicular to the axis of rotation 46. The rotary feedthrough 146, however, is oriented concentrically to the axis of rotation 46. Accordingly, the pipe section 182 is designed to compensate for the sliding movement 188 of the housing 170. In the exemplary embodiment, the distance between the housing 170 and the connecting piece 172 changes as a result.

[0080] This gap can be compensated for by a relative movement of the pipe section 182 in the recess 184 in the housing 170. In other words, the immersion depth of the pipe section 182 in the recess 184 changes with a sliding movement 188 of the housing 170. Generally speaking, a first pipe section and a second pipe section are provided that can move into one another, with the immersion movement compensating for the sliding movement 188 of the housing 170. With this design, a hose-free fluid path between the rotary feedthrough 146 and the housing 170 is possible. In other words, flexible hoses to bridge the sliding movement 188 of the housing 170 can be dispensed with. A sufficiently rigid pipe path between the rotary feedthrough 146 and the housing 170 can be achieved.

[0081] The Figures 4 and 5 as already shown by the Figures 2 and 3Illustrated coupling device 40 in at least partially cutaway view with different orientations. In Fig. 4 is in turn the functional subdivision of the design of the coupling device 40 along the extension between the boom 22 and the attachment 26 ( Fig. 1 ) indicated by the curved brackets 60 (mounting interface), 64 (swivel section), 66 (rotation section) and 62 (attachment interface).

[0082] The frontal view in Fig. 4 illustrates the at least partially symmetrical design of the coupling device 40. In the Figures 2-5 The coupling device 40 is shown in a neutral position. There are no significant deflections either along the axis of rotation 46 or along the pivot axis 50. In the neutral position, the axis of rotation 46 is oriented perpendicular to a mounting plane 192, which extends through the centers of the mounting receptacles 72, 74 (see figure). Fig. 4In other words, the axis of rotation 46 has not been pivoted out of the neutral position by a pivoting movement about the pivot axis 50.

[0083] The swivel axis 50 is in Fig. 4 perpendicular to the viewing plane; compare the projected side view in Fig. 5 A plane 194 perpendicular to the axis of rotation 46 through the pivot axis 50 is in the Figures 4 and 5 shown. Furthermore, in Fig. 4 Another plane 196 is shown, which intersects the coupling point 104 of the slewing drive 90 at the slewing boom 100 of the slewing bridge 92 and is oriented perpendicular to the axis of rotation 46. In the neutral position according to Figure 54, the planes 192, 194 and 196 are parallel to each other. In a position at least partially deflected from the neutral position about the pivot axis 50, the planes 194, 196 are inclined relative to the plane 192.

[0084] In the neutral position, the pivot axis 50 in the illustrated embodiment is located between the mounting plane 192 and the coupling point 104 on the swivel arm 100. This is reflected in the fact that the plane 194 is located between the planes 192 and 196. When viewed along the axis of rotation 46, the pivot axis 50 is located between the mounting receptacles 72, 74 of the mounting interface 60 and the coupling point 104, and optionally also the further coupling point 106 (see figure). Fig. 2 ) arranged, at least in the neutral position.

[0085] Fig. 4The figure further shows that, in a design with two actuators 82, the housing 170 of the locking unit 80 can extend between (or connect) the two actuators 82. In other words, both actuators 82 can be supplied with a pressure medium via a pressure medium supply port 180 of the housing 170. In one exemplary embodiment, a separate pressure medium supply port 180 is provided for each of the two actuators 82. In another exemplary embodiment, a common pressure medium supply port 180 is provided for both actuators 82.

[0086] In Fig. 4Furthermore, an external connection 202 is provided in the housing 170. Connection 202 serves, for example, to connect a fluid supply line of an attachment 26. It is understood that several external connections 202 may be provided in the housing 170. The fluid routing / channel routing within the housing 170 or within the rotary feedthrough 146 with connection piece 148 is not shown in detail for illustrative purposes. The same applies to any flexible lines that are connected to the connection piece 148 (inlet of the channels 166) or the housing 170 (connections 202).

[0087] The side view according to Fig. 5 The section shown in cutaway follows line VV in Fig. 4The section plane illustrates an exemplary embodiment of an actuator 82 of the locking unit 80. In this embodiment, the actuator 82 is integrated into the housing 170 of the locking unit 80. The locking unit 80 comprises the first receptacle 84 and the second receptacle 86. A first coupling rod 210 of an attachment 26 can be inserted into the first receptacle 84. Fig. 1 ) can be received and secured. In the second receptacle 86, a second coupling rod 212 of the attachment 26 can be received and secured. A first locking element 214 serves to secure the position in the first receptacle 84. A locking element 216 serves to secure the position in the second receptacle 86. In the exemplary embodiment, the first locking element 214 is a locking slide that is translationally movable. In the exemplary embodiment, the second locking element 216 is a locking lever that is pivotable. This is not to be understood as a limitation.

[0088] The actuator 82 is functionally coupled to both the first locking element 214 and the second locking element 216 in order to actuate both locking elements 214 and 216. In the exemplary embodiment, this includes a sliding movement of the housing 170, see double arrow 188. By way of example, the actuator 82 comprises a piston 220, which is arranged in a cylinder chamber 222. A piston rod 226 is connected to the piston 220 and is supported (directly or indirectly) at a bearing point 228 on the frame 140 of the locking unit 80.

[0089] In the exemplary embodiment, when the piston 220 moves relative to the cylinder chamber 222 (for example, caused by pressurized medium flowing into the cylinder chamber 220), the housing 170 is displaced relative to the frame 140 because the piston 220 is supported indirectly or directly on the frame 140 via its piston rod 226. This movement is caused by the Fig. 3The pipe section 182 shown is balanced, allowing it to immerse in the recess 184 in the housing 170. Accordingly, movement of the housing 170 relative to the frame 140 is possible even with a hoseless fluid flow between the connector 148 and the housing 170.

[0090] Fig. 6 Figure 1 shows, using a perspective view of the underside of the coupling device 40, the design of the locking unit 80 with two actuators 82 arranged in the housing 170. The actuators 82 are in Fig. 6 at least partially obscured by the housing 170 and therefore indicated by dashed lines. Likewise, a plurality (in Fig. 6 five) of pressure medium supply connections 180 in the housing 170 are indicated, each of which is associated with a pipe section 182 arranged in the connecting piece 172. For further explanation, see also the perspective sectional view in Fig. 3 . With the in Fig. 6In the configuration shown, a multiple fluid channels can be provided. These can be used to control the actuators 82, but also for other degrees of freedom, for example in the attachment 26. The arrow 188 in Fig. 6 The resulting sliding movement of the housing 170 during the movement of the actuators 82 between a retracted and an extended state is indicated.

[0091] With reference to the Figures 7-9 as well as with further reference to the already established based on the Figures 2-6 The illustrated embodiment depicts a further embodiment of a coupling device designated overall by 240. In the Figures 7-9For illustrative purposes, the coupling device 240 is shown without a mounting interface and mounting bracket. Therefore, the swivel section is not shown in its entirety. However, both a mounting section and a swivel section can easily be incorporated into the coupling device 240. Compare this to the design according to the Figures 2-6 .

[0092] The coupling device 240 is provided, in the manner already described above, with a mounting interface 62 for coupling an attachment 26 and a rotary section 66. The mounting interface 62 has first receptacles 84 and second receptacles 86. The rotary section 66 is coupled to a swivel bridge 92, which in the exemplary embodiment carries two swivel sections 100 facing away from the mounting interface 62. The rotary section 66 has a rotary drive 120; see also the illustration of the slewing ring 130 and actuator 132 in [reference missing]. Fig. 8 .

[0093] To compensate for rotational movements about the axis of rotation 46, a rotary union 346 is provided, which carries a connecting piece 348 at its end furthest from the mounting interface 62. The rotary union 346 extends through the ring 130 of the rotary drive 120. In the exemplary embodiment, the rotary union 346 has a stationary part 356 and a rotating part 362. As it extends towards the connecting piece 348, the rotary union 346 passes through a recess 354 in a guide plate 352. In the exemplary embodiment, the guide plate 352 is arranged to be rotationally fixed at an end of the rotary section 66 furthest from the mounting interface 62, adjacent to the rotary ring 130. Fig. 7It is further indicated that the connecting piece 348 of the rotary feedthrough 346 is slidably mounted in at least one guide 360 ​​of the guide plate 352. In the exemplary embodiment, two mutually parallel guides 360 are provided, into which the connecting piece 348 projects, for example with at least one guide pin.

[0094] The Figures 8 and 9 To illustrate that the rotary feedthrough 346, in particular its rotating part 362, is rigidly connected to a housing 370 of a locking unit 280 for actuating the mounting interface 62. In this way, pressure medium supply ports 380 of the housing 370 can be supplied with pressure medium and other media. When the locking unit 280 is actuated, the housing 370 is displaced, see in the Figures 8 and 9Double arrows designated 388. Due to the direct coupling of the rotary feedthrough 346 with the housing 370, the rotary feedthrough 346 with the connecting piece 348 is accordingly also moved in the recess 354 or the guides 360 of the guide plate 352, in particular translationally moved (perpendicular to the axis of rotation 46).

[0095] The rotary feedthrough 346 has a central axis 390; an (internal) rotation between the rotating part 362 and the stationary part 354 of the rotary feedthrough 346 is possible. Fig. 8This is indicated by a curved double arrow 398. The central axis 390 is offset from the axis of rotation 46 and, in particular, parallel to it. When the housing 370 (arrow 388) moves, the rotary feedthrough 346 also moves. Consequently, the distance between the central axis 390 and the axis of rotation 46 changes. Nevertheless, direct, hose-free fluid flow to the housing 370 is possible. The fluid can be used to actuate actuators 282 of the locking unit 280. Furthermore, pressure media, other media, and / or signals can also be supplied via external connections 402 in the housing 370, for example, for an attachment 26.

[0096] With reference to the Figures 10 and 11 A further embodiment of a coupling device designated 440 is illustrated. The coupling device 440 is particularly similar to the one shown in the Figures 2-6The coupling device 40 is designed as illustrated, so that the following discussion will primarily focus on its distinguishing features. Regarding the remaining detailed design of the coupling device 440, reference is made to the Figures 2-6 referred.

[0097] The coupling device 440 has, in the manner already described above, a mounting interface 460 for mounting on a mobile working machine 10; furthermore, an attachment interface 462 is provided for receiving an attachment 26, see also Fig. 1 . Between the mounting interface 460 and the attachment interface 462 a swivel section 464 and a rotary section 466 are arranged, compare also the corresponding sections 64 and 66 in the coupling device 40.

[0098] The attachment interface 462 can be rotated relative to the mounting interface 460 about a rotary axis 446; compare also the rotary movement indicated by 448. The attachment interface 462 can be pivoted relative to the mounting interface 460 about a swivel axis 450; compare also the swivel movement indicated by 452. For receiving and securing attachments 26 ( Fig. 1 ) a locking unit 480 serves, which an actuator 482 (in Fig. 10 (covertly) shows, see also Fig. 5 with the sectioned representation of the locking unit 80 and the actuator 82 shown there. The locking unit 480 allows the attachment and securing of attachments 26 on a first receptacle 484 and a second receptacle 486 of the attachment interface 462.

[0099] The pivoting movement 452 is generated by a pivoting drive 490, which is assigned to the pivoting section 464 and pivots a pivoting bridge 492 assigned to the mounting interface 462 relative to a mounting bracket 470 assigned to the mounting interface 460. In the exemplary embodiment, the pivoting drive 490 comprises two actuators 496, which are coupled to the pivoting bridge 492 via a first coupling point 504 and to the mounting bracket 470 via a second coupling point 506. The actuators 496 are typically designed as cylinders so that the distance between the two coupling points 504, 506 can be varied. In this way, the pivoting movement 552 can be generated about the pivot axis 450 running through pivot bearings 510.

[0100] The Figures 10 and 11Figure 520 further illustrates a rotary drive 520, which is assigned to the rotary section 466. The rotary drive 520 has a stator 522 and a rotor 524. The stator 522 is rigidly connected to the pivot bridge 492 with respect to any rotary movements 448 about the axis of rotation 446. The rotor 524, on the other hand, is rotatable relative to the pivot bridge 492 about the pivot axis 446. The rotor 524 includes, for example, a slewing ring 530, which supports a frame 540. The rotary drive 520 is designed similarly to the rotary drive 120 illustrated previously. The frame 540 is part of the mounting interface 462.

[0101] In a manner already described above, the coupling device 440 comprises a rotary feedthrough 546 for hydraulic lines, which in the exemplary embodiment is oriented concentrically to the axis of rotation 446. The rotary feedthrough 546 comprises a center 558 and a shell 564, between which relative rotation is possible. In the exemplary embodiment according to the Figures 10 and 11 The casing 564 is rotatable together with the rotary ring 530 when the frame 540 with the locking unit 480 mounted on it is also rotated about the axis of rotation 446. The center 558 of the rotary union 546 remains stationary during this rotation, so that no rotation of the center 558 about the axis of rotation 446 is possible. In this way, channels 166 for fluid guidance can establish a fluidic connection between an inlet of the rotary union 546 (in the Figures 2 10 and 11 (not explicitly shown) and provide the locking unit 480.

[0102] The locking unit 480 comprises a housing 570, which also serves as a connection block for the hydraulic fluid supply. The housing 570 is fluidically connected to a connecting piece 572, which, together with the sleeve 564 of the rotary union 546, can be rotated about the axis of rotation 446. The channels 566 are connected to the housing 570 via fluid paths 576. In this way, a hydraulic fluid supply can be provided to the actuator 482 of the locking unit 480. Furthermore, a hydraulic fluid supply can be provided for external hydraulic fluid supply connections 602. It is understood that several channels 566 and, accordingly, several hydraulic paths 576 are typically connected to the housing 570 via the rotary union 546. Fig. 11 Furthermore, a cover 604 for the pressure medium supply connection 602 is shown only as an example, which protects and covers it as needed.

[0103] A pipe section 582 is arranged between the connecting piece 572 and the housing 570, providing a fluidic connection between the housing 570 and the connecting piece 572. It should be noted that, analogous to the one already described above, Figures 2-6 The illustrated embodiment also applies to the coupling device 440 according to the Figures 10 and 11 A sliding movement 588 of the housing 570 relative to the frame 540, and thus also relative to the connecting piece 572, occurs when the locking unit 480 is actuated via its actuator 482. For example, the sliding movement 588 is oriented perpendicular to the axis of rotation 446.

[0104] This sliding movement 588 creates a variable distance between the housing 570 and the connecting piece 572. The pipe section 582 bridges this distance and compensates for any fluctuations. In the exemplary embodiment, the pipe section 582 is fixedly arranged in the housing 570 via a seat 590. One end of the pipe section 582 opens into the housing, pointing towards the pressure medium supply connection 602. At an end 592 facing away from the housing 570, the pipe section 582 engages in a recess 578 in the connecting piece 572. In this way, the fluid path 576 can be connected to the pressure medium supply connection 602.

[0105] The immersion depth of the pipe section 582 in the recess 578 in the connecting piece 572 depends on the respective distance between the housing 570 and the connecting piece 572. It is understood that the fixed fit of the pipe section 582 in the housing 570 and the sliding fit of the pipe section 582 in the connecting piece 572 are designed to be as fluid-tight as possible by suitable seals and designs.

[0106] Fig. 11 Figure 582 further illustrates a coaxial arrangement of the pipe section 582 with respect to the pressure medium supply connection 602. In the exemplary embodiment, the coaxial arrangement also includes the recess 578 in the connecting piece 572. A longitudinal axis 594 extends between the recess 578, the pipe section 582, and the pressure medium supply connection 602. In this way, the housing 570 of the locking unit 480 can be designed to be particularly compact. Ideally, deflections in the fluid path 576 can be avoided.

Claims

1. A coupling device (40, 240, 440) for connecting an attachment (26) to a mobile working machine (10), wherein the coupling device (40, 240, 440) comprises the following: - a mounting interface (60, 460) for mounting on a boom (22) of a mobile working machine (10), - an attachment interface (62, 462) for releasably receiving an attachment (26), which has a locking unit (80, 280, 480) for the attachment (26) actuatable by at least one fluidic actuator (82, 282, 482), and - a rotary section (66, 466) arranged between the mounting interface (60, 460) and the attachment interface (62, 462), and comprising a rotary drive (120) for generating a relative rotation between the mounting interface (60, 460) and the attachment interface (62, 462) about an axis of rotation (46, 446), wherein the locking unit (80, 280, 480) has a housing (170, 370, 570) with at least one pressure medium supply connection (180, 380, 202, 402, 602), wherein the rotary section (66, 466) has a stator (122, 522) and a rotor (124, 524) rotatable relative to the stator (122, 522) about the axis of rotation (46, 446), and wherein the locking unit (80, 280, 480) is rotatable by the rotor (124, 524), characterized in that the housing (170, 370, 570) is displaceably arranged on a frame (140, 340, 540) of the attachment interface (62, 462), a rotary feedthrough (146, 346, 546) is arranged in the rotary section (66, 466), which is coupled in a hose-free manner to the pressure medium supply connection (180, 380, 202, 402, 602) of the housing (170, 370, 570) for pressure medium supply, and at least one fluid-conducting tubular piece (182, 582) is arranged between the rotary feedthrough (146, 346, 546) and the housing (170, 370, 570) of the locking unit (80, 280, 480) in order to compensate for movements of the housing (170, 370, 570) relative to the frame (140, 340, 540) of the attachment interface (62, 462).

2. The coupling device (40, 240, 440) according to claim 1, wherein the rotor (124, 524) comprises a slewing ring (130) through which the rotary feedthrough (146, 346, 546) extends.

3. The coupling device (40, 240, 440) according to claim 1 or 2, wherein the rotary feedthrough (146, 346, 546) is oriented concentrically to the rotary section (66, 466).

4. The coupling device (40, 240, 440) according to any one of claims 1-3, wherein the actuator (82, 282, 482) has a piston (220) which is movable relative to the housing (170, 370, 570) and which is supported in the housing (170, 370, 570), in which a cylinder chamber (222) for the piston (220) is formed, wherein the attachment interface (62, 462) has a first receptacle (84, 484) and a second receptacle (86, 486) facing away from each other, and wherein the housing (170, 370, 570) is coupled to a first locking element (214) at the first receptacle (84, 484) and to a second locking element (216) at the second receptacle (86, 486).

5. The coupling device (40, 240, 440) according to claim 4, wherein the housing (170, 370, 570) and the piston (220) are movable between a retracted state and an extended state in order to actuate the first locking element (214) and the second locking element (216).

6. The coupling device (40, 240, 440) according to any one of claims 1-5, wherein the housing (170, 370, 570) and the tubular piece (182, 582) are displaceable relative to one another, and wherein the tubular piece (182, 582) is fixed to the housing (170, 370, 570) of the locking unit (80, 280, 480) or to a connecting piece (172, 572) assigned to the rotary feedthrough (146, 346, 546).

7. The coupling device (40, 240, 440) according to any one of claims 1-6, wherein the tubular piece (182, 582) extends at least partially into a recess of the housing (170, 370, 570) of the locking unit (80, 280, 480) and / or into a recess (572) of the connecting piece (172, 572) of the rotary feedthrough (146, 346, 546), and wherein an insertion depth of the tubular piece (182, 582) in the recess is variable depending on a position of the housing (170, 370, 570) of the locking unit (80, 280, 480) with respect to the frame (140, 340, 540) of the attachment interface (62, 462).

8. The coupling device (40, 240, 440) according to any one of claims 1-7, wherein the tubular piece (182, 582) is fixed at its end facing away from the housing (170, 370, 570) of the locking unit (80, 280, 480) to the frame (140, 340, 540) of the attachment interface (62, 462), and wherein the tubular piece (182, 582) has a longitudinal extension which is oriented parallel to the sliding movement (188) of the housing (170, 370, 570) of the locking unit (80, 280, 480).

9. The coupling device (40, 240, 440) according to any one of claims 1-8, wherein the tubular piece (182, 582) is oriented coaxially to a pressure medium supply connection (180, 380, 202, 402, 602) on the housing (170, 570) of the locking unit (80, 280, 480), such that the pressure medium supply connection (180, 380, 202, 402, 602), the tubular piece (182, 582) and a recess (578) assigned to the rotary feedthrough (146, 346, 546) for receiving the tubular piece (182, 582) are arranged in a fluid-conducting manner along a common longitudinal axis (594).

10. The coupling device (40, 240, 440) according to any one of claims 1-9, wherein a plurality of tubular pieces (182, 582) is arranged between the rotary feedthrough (146, 346, 546) and the housing (170, 370, 570) of the locking unit (80, 280, 480), wherein the tubular pieces (182, 582) are each fluidically assigned to a channel (166, 566) of the rotary feedthrough (146, 346, 546), wherein the housing (170, 370, 570) of the locking unit (80, 280, 480) has at least one pressure medium supply connection (180, 380, 202, 402, 602) fluidically coupled to one of the channels (166, 566) for supplying fluid to the actuator (82, 282, 482), and wherein the housing (170, 370, 570) of the locking unit (80, 280, 480) has at least one pressure medium supply connection (202, 402, 602) fluidically coupled to one of the channels (166, 566) for external fluid supply.

11. The coupling device (40, 240, 440) according to any one of claims 1-10, wherein the rotary feedthrough (146, 346, 546) has a central axis (354) oriented parallel to the axis of rotation (46, 446), and wherein an axle spacing between the axis of rotation (46, 446) and the central axis (354) of the rotary feedthrough (146, 346, 546) is variable depending on an operating state of the locking unit (80, 280, 480), in particular depending on a position of the housing (170, 370, 570).

12. The coupling device (40, 240, 440) according to any one of claims 1-11, wherein the rotary feedthrough (146, 346, 546) is designed as a multi-channel rotary feedthrough, wherein at least one channel (166, 566) of the rotary feedthrough (146, 346, 546) serves for pressure medium supply of the locking unit (80, 280, 480) of the attachment interface (62, 462), and wherein at least one channel (166, 566) serves for pressure medium supply of a degree of freedom of the attachment (26).

13. The coupling device (40, 240, 440) according to any one of claims 1-12, further comprising a pivoting section (64, 464) arranged between the mounting interface (60, 460) and the attachment interface (62, 462), in particular between the mounting interface (60, 460) and the rotary section (66, 466), having a pivoting drive (90, 490) for generating a pivoting movement (52, 452) between the mounting interface (60, 460) and the attachment interface (62, 462) about a pivoting axis (50, 450).

14. The coupling device (40, 240, 440) according to claim 13, wherein the pivoting section (64, 464) comprises a pivoting axis (50, 450) inclined relative to the axis of rotation (46, 446), in particular a pivoting axis (50, 450) oriented perpendicular to the axis of rotation (46, 446), wherein the rotary section (66, 466) is coupled to the pivoting axis (50, 450) via a pivoting arm (100, 500) and is pivotable about the pivoting axis (50, 450), wherein the pivoting drive (90, 490) extends between a coupling point (106, 506) at the mounting interface (60, 460) and a coupling point (104, 504) at the pivoting arm (100, 500), wherein both coupling points (104, 106, 504, 506) are offset from the pivoting axis (50, 450) and from one another, and wherein the pivoting axis (50, 450) is arranged, at least in a neutral position of the pivoting drive (90, 490), between the mounting interface (60, 460) and the coupling point (104, 504) at the pivoting arm (100, 500).

15. A mobile working machine (10) comprising a chassis (12), a superstructure (14) supported by the chassis (12), and at least one articulated boom (22), which carries a coupling device (40, 240, 440) according to any one of claims 1-14 for coupling an attachment (26).