Movable working machine i.e. hydraulic excavator, has tool coupling device connected with machine by pivotal axes and swingably arranged at dipper arm and pressure support, where locking units of tool coupling device engage with moldings

摘要

The machine has a tool coupling device (16) comprising a recognition unit for automatic recognition of coupled working tools. A set of sensors (19) e.g. force measuring sensors and moment measuring sensors, is integratedly arranged at pivotal axes (20) of the tool coupling device. The tool coupling device is connected with the machine by the pivotal axes and swingably arranged at a dipper arm (12) and a pressure support (15). The sensors are coupled with a control unit, and locking units (23) of the tool coupling device engage with moldings (25) of an adapter plate (17). An independent claim is also included for a method for controlling a movable working machine.