TECHNICAL FIELD

The invention concerns an industrial truck for transporting a container on a support frame, the industrial truck comprising a vehicle frame with height-adjustable wheel suspensions and engagement means for fixing the support frame which can be picked up by the industrial truck, the engagement means being mounted on the vehicle frame so as to be movable between a passive position and an active position.

BACKGROUND ART

Industrial trucks and support frames for transporting containers are well known in the art. The document DE 2 137 729 A, published in 1973, discloses a vehicle with a swap body which can be lifted off the vehicle frame. The swap body comprises legs via which it can be placed on the ground. The legs are pivotably attached to the swap body like a parallelogram or trapezoid such that a horizontal movement of the swap body induces a lifting or lowering movement of the swap body. The vehicle comprises a locking device by means of which the swap body placed on the vehicle can be connected to the vehicle frame in such a way that it cannot be lifted off or moved while locked. The swap body has engagement elements which engage in holders of the vehicle frame and which have slots. In order to lock a plurality of locking elements together, the swap body is moved horizontally after being placed down on the vehicle and the engagement elements of the locking elements are inserted into the horizontal sections of the slots.

Document DE 20 2010 006 522 U1 discloses a changing device for connecting and disconnecting a swap body and a transport vehicle. In a parking position, the swap body is located on support legs with a distance of the swap body to the ground. To load the swap body onto the vehicle the swap body is lifted out of the support legs by raising the changing device. This is done by raising the level of the vehicle's air suspension. The swap body is then moved in the longitudinal direction onto the vehicle by a shifting device. The locking elements interlock and secure the swap body against vertical movement upwards and in the direction of travel.

Document DE 10 2018 210 348 A1 discloses another changing device for connecting and disconnecting a swap body and a transport vehicle. In a parking position, the swap body is located on support legs with a distance of the swap body to the ground. To load the swap body onto the vehicle, the vehicle drives under the swap body and lifts it via the vehicle’s air suspension. On its underside, the swap body is equipped with two guide rails that are configured to engage with track roller devices installed on the cargo area of the vehicle.

The ends of the guide rails facing the vehicle front are angled outwards facilitating the loading and automatic lateral centering of the swap body onto the vehicle.

To interlock a container on a vehicle or on a support frame, twist locks are most common in the art. Twist locks are locking devices that connect swap bodies or ISO containers to each other or to a carrier vehicle. Twist locks are inserted into the standardized corner castings of the containers. Alternatively, the containers are placed on the twist locks permanently attached to the vehicle. A part of the twist lock is then twisted by 90° to create a positive connection.

Document EP 1 937 511 B1 discloses an alternative locking device for locking an ISO- standardized corner casting of a freight container to a vehicle. The locking device comprises locking means which are adjustable between an opened position in which the locking means can freely pass an opening of the corner casting, and a closed position in which the locking means hook behind the opening of a wall surrounding the opening of the corner casting. The locking device further comprises operating means which, upon placement of a container on the locking device, are adjustable through cooperation with a wall of the corner casting from an unloaded initial position to an end position loaded by the weight of the container, and an adjusting mechanism with a scissor mechanism which couples the locking means and the operating means in a manner such that upon placement of a corner casting of a container on the locking device, the weight load of the container energizes the locking means towards the closed position.

Document DE 44 12 085 A1 discloses a further device for securing swap bodies to a vehicle. The device is mounted in the frame of the vehicle and includes a clamping device and locking hooks that engage the swap body to be picked up and locked.

The amount of freight transported via containers has continuously increased over time and it is still increasing, both in number of containers as well as in their frequency of circulation. Conventional means of transportation struggle with this increase and require new techniques for transportation with a higher degree of automation. It was an object of the invention to provide an industrial truck and a system for loading, transportation and unloading of containers in a simpler and more efficient way than it is known from the prior art. In particular, the industrial truck and the system should be suitable for use in a highly automated environment.

This task is solved according to the invention by an industrial truck according to claim 1, a self-supporting support frame according to claim 8 and a system according to claim 14. Advantageous variants of the industrial truck, the support frame and the system are presented in claims 2 to 7, 9 to 13 and 15 to 16.

BRIEF DESCRIPTION

A first subject of the invention is an industrial truck for transporting a container on a support frame, the industrial truck comprising a vehicle frame with height-adjustable wheel suspensions and engagement means for fixing the support frame which can be picked up by the industrial truck. The engagement means are mounted on the vehicle frame so as to be movable between a passive position and an active position. The industrial truck has at least one sensor for detecting the position of the support frame relative to the industrial truck. The engagement means comprise a first group of engagement means and a second group of engagement means, the movement of the engagement means from the passive position to the active position taking place in a different spatial direction in the case of the first group than in the case of the second group.

The combination of height-adjustable wheel suspensions and the arrangement of two groups of engagement means working in different spatial directions allows to pick up a container as a load by the industrial truck, to position the load and to fasten it on the industrial truck in one process. Furthermore, the industrial truck according to the invention allows an easy and highly efficient automation of the loading and unloading process.

The movement from the passive position into the active position in the first group of engagement means takes place laterally, and the movement from the passive position into the active position in the second group of engagement means takes place laterally in the opposite direction to the first group. The lateral, opposite movement of the engagement means from the passive position to the active position allows an automatic centering of the support frame on the vehicle frame in relation to the wheel suspensions and thus an equal distribution of the load in the lateral direction. Definitions:

"Industrial truck" refers to any vehicle or machine that is designed to transport loads. The industrial truck may be steered by a driver or may be a driverless industrial truck. Industrial trucks are known in the art and are subject to several industrial standards, for example the standard ISO 3691-4:2020(en) by the International Organization for Standardization (ISO).

In a preferred embodiment, the industrial truck is an automated guided vehicle that is automatically controlled and guided in its standard operation mode. Preferably, the automated guided vehicle can be monitored and controlled from a control center.

"Support frame" refers to any self-supporting frame that can be picked up by an industrial truck and that is capable to be loaded with containers, preferably with containers with corner castings.

"Container" refers to any container that can be loaded upon a vehicle or a support frame to be transported by a vehicle. In a preferred embodiment, container refers to an intermodal container or shipping container with corner castings. More preferably the container is a 20- feet or 40-feet standard intermodal container.

In a preferred embodiment the engagement means in their passive position are arranged inside the vehicle frame and can be pivoted into the active position through openings in the upper side of the vehicle frame.

Preferably, the engagement means are arranged in pairs over the length of the industrial truck, wherein each pair comprises an engagement means of the first group and an engagement means of the second group. In one embodiment, at least two pairs of engagement means are present, one pair near the front of the industrial truck and a second pair at the rear of the industrial truck. By arranging the engagement means in pairs over the length of the industrial truck a potential rotational movement of the container relative to the vehicle frame can be avoided.

In a preferred embodiment the engagement means are movable from the passive position to the active position by controllable actuators, the actuators comprising a safety device which ensures the application of force of the actuators on the engagement means in the active position. More preferably, the actuators comprise double-acting cylinders and the safety devices comprise a nonreturn valve in this embodiment. The provision of the safety device has the advantage that a container will stay positioned and fastened on the industrial truck even if there should be an energy loss in the industrial truck. A further advantage of this embodiment is the possibility to apply large forces to fasten and secure the container and thus guarantee a safe transport.

It is further preferred that the engagement means are movable from the passive position to the active position by controllable actuators, the actuators being configured to provide equal forces to the engagement means of the first group and to the engagement means of the second group. The possibility to provide equal forces to the engagement means of both groups supports the automatic centering of the support frame on the vehicle frame in relation to the wheel suspensions and thus an equal distribution of the load in the lateral direction.

In a preferred embodiment at least one distance sensor is provided on the upper side of the vehicle frame for determining the distance between the distance sensor and an object placed on the vehicle frame, in particular a support frame for a container. The signal of the distance sensor can advantageously be processed in a control system to determine if a load is present on the vehicle frame and if this load, in particular a container on a support frame, is positioned correctly on the vehicle frame. The signal of the distance sensor can further be used to check if the engagement means can be activated without damaging the load, which could happen for example if the load is not correctly positioned on the vehicle frame. An automation of the loading and unloading process is thus facilitated.

A second subject of the invention is a self-supporting support frame comprising a top side for receiving a container, an underside for placing the support frame on a transport vehicle, locking means being mounted on the support frame so as to be movable between an open position and a closed position and projecting upwardly from the top side of the support frame so that in their open position they can be inserted into openings on the underside of the container, and a locking mechanism for actuating the locking means. According to the invention, the locking mechanism comprises sliding elements and deflection linkages, wherein the sliding elements are slidably mounted inside the support frame, and the deflection linkages are designed such that a displacement of the sliding elements causes a movement of the locking means from the open position to the closed position, and wherein openings are provided in the underside of the support frame through which engagement means of a transport vehicle can act on the sliding elements.

A support frame according to the invention facilitates an easy automation of the loading and unloading process. The provision of a locking mechanism with sliding elements, deflection linkages and locking means the advantageous effect that a support frame can be loaded and unloaded independently of an industrial truck, and that a container loaded on the support frame can be automatically fastened and secured on the industrial truck during the loading process. A secure connection between industrial truck and support frame is realized by the engagement means acting on the sliding elements, whereas a secure connection between the support frame and the container is realized by the locking means.

A further advantage of the automatic fastening via the locking mechanism according to the invention is that it works without additional power supply, which would be necessary if the locking would be done via electrical motors for example.

In a preferred embodiment of the support frame the sliding elements are laterally displaceable mounted in the interior of the support frame, the displacement path of the sliding elements being limited in each case by a stop firmly connected to the support frame, and the sliding elements resting against the respective stop in the closed position of the locking means. The provision of a stop facilitates the positioning of the support frame at a predetermined position on an industrial truck and thus an efficient automation of the loading and unloading processes.

Preferably, the sliding elements have a shape which, when acted upon by engagement means on the sliding elements through the openings in the underside of the support frame, causes the support frame to move downwards in the direction of the engagement means. In this embodiment, the support frame is forced to move towards the vehicle frame, thereby preventing the support frame from inadvertently moving on the vehicle frame. A further advantage is that the forced connection increases the stiffness of the industrial truck by adding the construction strength of the support frame to the construction strength of the vehicle frame.

Preferably, the sliding elements are displaceable mounted in the interior of the support frame with a reset function whereby the sliding elements are returned to their original position when an external force on the sliding elements is removed. The reset function can be realized by a return spring for example. This embodiment has the advantage that the locking means will automatically unlock the container from the support frame and the support frame from the industrial truck as soon as the engagement means of the industrial truck are moved from the closed position to the open position.

In a preferred embodiment of the support frame the deflection linkage comprises at least three rods, the first rod being connected to one of the sliding elements and pointing outwardly in the direction of a side of the support frame, the second rod extending substantially parallel to the side of the support frame and being connected to the first rod via a connecting element, so that the axial movement of the first rod is translated into a rotational movement of the second rod, and the third rod extending from the side of the support frame inwardly toward the center of the support frame, the third rod being connected to the second rod via a connecting element so that the rotational movement of the second rod is translated into an axial movement of the third rod, and the third rod being connected to the locking means via a further connecting element so that the axial movement of the third rod is translated into a movement of the locking means from the open position to the closed position. A deflection linkage according to this embodiment is easy to maintain and fault tolerant. Rods and connecting elements can be chosen from a variety of standard materials that are suitable to transmit high forces. Thus, also large containers with high loads can be loaded, positioned and fastened without problems.

In a preferred embodiment the support frame comprises at least one movable position indicator which takes different positions depending on the presence of a container on the support frame. Providing a position indicator enables a further automation by detecting if a container is positioned on the support frame and if the container is correctly positioned on the support frame. A further advantage is that the distance sensor can be used to determine if the container is ready to be locked and thus preventing potential damages of the locking means. The signals provided by the distance sensor can favorably be used to communicate with a remote control system, for example to check if the support frame is loaded with a container or that a container is correctly positioned on the support frame.

In a preferred variant of this embodiment, the position indicator comprises a pin which is pressed towards the underside of the support frame by the weight of the placed container. A pin, in particular a massive pin made of steel, is a robust and reliable position indicator for heavy loads such as containers. In an advantageous embodiment, the pin is spring loaded in the sense that the pin is pushed upwards in the direction of a potential load, i.e. a container.

A third subject of the invention is a system comprising an industrial truck and a self- supporting support frame for receiving a container, wherein the industrial truck has height- adjustable wheel suspensions which allow the industrial truck to be lowered and raised relative to the road surface, the support frame comprises four legs, the lateral distance of which is greater than the width of the industrial truck, and the height of which is dimensioned such that the industrial truck can be moved under the support frame in the lowered state, and in the raised state of the industrial truck the legs are at a distance from the road surface. According to the invention the industrial truck has movable engagement means which can engage in openings provided for this purpose in the support frame in order to fix the support frame on the industrial truck, the support frame comprising a locking device which is actuated by the engagement of the engagement means and fixes a container located on the support frame in the locked state.

In a preferred embodiment of the system the support frame comprises movable position indicators that take different positions depending on the presence of a container on the support frame, and in that the transport vehicle comprises sensors that can detect the different positions of the position indicators.

Preferably, the industrial truck has distance sensors at locations corresponding to the position indicators of the support frame, which are set up to determine the distance between the respective position indicator and the associated sensor.

The system according to the invention offers the possibility to fully automate the processes of loading, transportation and unloading of containers. The processes of loading and unloading only require the availability of a support frame, whereas the process of transportation additionally requires the availability of an industrial truck. The separation of these tasks has the advantageous effect that industrial trucks can be efficiently used to transport a multitude of containers with a high degree of automation.

DETAILED DESCRIPTION

The invention is explained in more detail below with reference to the drawings. The drawings are to be interpreted as in-principle presentation. They do not constitute any restriction of the invention, for example with regard to specific dimensions or design variants. In the figures:

Fig. 1 shows a system comprising an industrial truck and a support frame for receiving a container according to a first embodiment of the invention in an unlocked state.

Fig. 2 shows the system according to Fig. 1 in a locked state.

Fig. 3 shows a detailed view of the locking mechanism of the system of Fig. 1 in a front view.

Fig. 4 shows a detailed view of the locking mechanism of the system of Fig. 1 in a top view.

Fig. 5 shows a preferred embodiment of the locking mechanism for the system of Fig. 1 in an unlocked state.

Fig. 6 shows the locking mechanism of Fig. 5 in a locked state.

Fig. 7 shows a preferred embodiment of a position indicator and a distance sensor for the system of Fig. 1.

Fig. 8 shows an example of a loading process for a system of Fig. 1.

List of reference numerals used:

102 industrial truck 104 vehicle frame

106 first group of engagement means

108 second group of engagement means

110 support frame

112 leg

114 container

302 sliding element

304 deflection linkage

306 locking means

308 stop

502 actuator

702 corner casting

704 position indicator

706 distance sensor

802 left distance 804 right distance

Fig. 1 shows a system according to the invention comprising an industrial truck 102 and a self-supporting support frame 110 for receiving a container 114. The industrial truck 102 comprises a vehicle frame 104 with height-adjustable wheel suspensions which allow the industrial truck 102 to be lowered and raised relative to the road surface. The self- supporting support frame 110 includes four legs 112, the lateral distance of which is greater than the width of the industrial truck 102, and the height of which is dimensioned such that the industrial truck 102 can be moved under the support frame 110 in the lowered state, and that the legs 112 are at a distance from the road surface in the raised state of the industrial truck 102. Fig. 1 shows the raised state of the industrial truck. On the left- hand side of Fig. 1 the system is shown in a state shortly before the container 114 is placed on the support frame 110. On the right-hand side of Fig. 1 the system is shown after the container 114 has been placed on the support frame 110.

The industrial truck 102 has at least one sensor for detecting the position of the support frame 110 relative to the industrial truck. The industrial truck 102 has movable engagement means which can engage in openings provided for this purpose in the support frame 110 in order to fix the support frame 110 on the industrial truck 102. The engagement means are mounted on the vehicle frame 104 so as to be movable between a passive position and an active position. The engagement means comprise a first group of engagement means 106 and a second group of engagement means 108. The movement of the engagement means from the passive position to the active position takes place in a different spatial direction in the case of the first group of engagement means 106 than in the case of the second group of engagement means 108. The support frame 110 includes a locking device which is actuated by the engagement of the engagement means and fixes the container 114 located on the support frame 110 in the locked state. Fig. 1 shows the engagement means in the passive position and thus in an unlocked state.

Fig. 2 shows the system according to Fig. 1 in a locked state. In the example shown the engagement means in their passive position are arranged inside the vehicle frame 104 and can be pivoted into the active position through openings in the upper side of the vehicle frame 104. The movement from the passive position into the active position in the first group of engagement means 106 takes place laterally, in the example shown by a counter clockwise movement from the right to the left. The movement from the passive position into the active position in the second group of engagement means 108 takes place laterally in the opposite direction to the first group, in the example shown by a clockwise movement from the left to the right.

The industrial truck 102 in this example is equipped with several pairs of engagement means which are arranged with a distance to each other over the length of the industrial truck. Each pair of engagement means comprises an engagement means of the first group 106 and an engagement means of the second group 108.

Fig. 3 shows a detailed view of the locking mechanism of the system of Fig. 1 in a front view. The self-supporting support frame 110 comprises a top side for receiving a container and an underside for placing the support frame 110 on the industrial truck 102. Locking means 306 are mounted on the support frame 110 so as to be movable between an open position and a closed position and projecting upwardly from the top side of the support frame 110 so that in their open position they can be inserted into openings on the underside of the container. The locking means 306 can be any suitable means known in the art that can interact with the openings in the container. In the example shown the locking means 306 are twist locks.

The support frame 110 further comprises a locking mechanism for actuating the locking means 306, the locking mechanism comprising sliding elements 302 that are slidably mounted inside the support frame 110 and deflection linkages 304. The deflection linkages 304 are designed such that a displacement of the sliding elements 302 causes a movement of the locking means 306 from the open position to the closed position. Openings are provided in the underside of the support frame 110 through which engagement means 106, 108 of the industrial truck 102 can act on the sliding elements 302. The sliding elements 302 are laterally displaceably mounted in the interior of the support frame 110, the displacement path of the sliding elements 302 being limited in each case by a stop 308 firmly connected to the support frame 110, and the sliding elements 302 resting against the respective stop 308 in the closed position of the locking means 306.

Fig. 4 shows a detailed view of the locking mechanism of the system of Fig. 1 in a top view. Each deflection linkage 304 comprises three rods, the first rod being connected to one of the sliding elements 302 and pointing outwardly in the direction of a side of the support frame 110. The second rod extends substantially parallel to the side of the support frame 110 and is connected to the first rod via a connecting element, so that the axial movement of the first rod is translated into a rotational movement of the second rod. The third rod extends from the side of the support frame 110 inwardly toward the center of the support frame 110, the third rod being connected with one end to the second rod via a connecting element so that the rotational movement of the second rod is translated into an axial movement of the third rod. At its other end the third rod is connected to the locking means 306 via a further connecting element so that the axial movement of the third rod is translated into a movement of the locking means 306 from the open position to the closed position.

Fig. 5 shows a preferred embodiment of the locking mechanism for the system of Fig. 1 in an unlocked state. Fig. 6 shows the same locking mechanism of in a locked state.

The engagement means 106, 108 are movable from the passive position to the active position by a controllable actuator 502, the actuator comprising a safety device which ensures the application of force of the actuator on the engagement means in the active position. In the example shown in Fig. 5 the actuator 502 comprises a double-acting cylinder, and the safety device comprises a nonreturn valve.

The sliding element 302 of the support frame 110 has a shape which, when acted upon by the engagement means through the openings in the underside of the support frame 110, causes the support frame to move downwards in the direction of the engagement means 106, 108. When the first group of engagement means 106, 108 press against the sliding elements 302 in the active position, the support frame 110 is forced to move towards the vehicle frame, which prevents the support frame 110 from inadvertently moving on the vehicle frame.

Fig. 7 shows a preferred embodiment of a position indicator 704 and a distance sensor 706 for the system of Fig. 1. The position indicator 704 comprises a pin that is vertically arranged next to the locking means. Its upper end protrudes beyond the surface of the support frame that is that is foreseen for the corner casting 702 of the container 114. The lower end of the pin is connected with a distance sensor 706 in the vehicle frame that registers a change in the vertical position of the pin.

The left-hand side of Fig. 7 shows a situation where the container 114 is being loaded onto the support frame but has not yet reached the final position. The position indicator 704 is not in contact with the corner casting 702 yet, such that the distance sensor 706 registers an unloaded situation. The right-hand side of Fig. 7 shows a situation where the container 114 rests on the surface of the support frame. The pin of the position indicator 704 has been pushed downwards in the direction of the distance sensor 706 by the weight of the container 114. The distance sensor 706 thus registers a loaded situation.

It might happen during the loading process that the container is positioned on the support frame but not in the right position, for example in a tilted or shifted position. In such a case the position indicator may be in contact with the corner casting of the container but not fully pressed down as it is the case when the corner casting fully rests on the surface of the support frame. The distance sensor 706 will then detect that there is a load on the support frame but that it is not ready to be fastened by the locking means. Thus, a potential damage of the locking means can be prevented.

Fig. 8 shows an example of a loading process for a system according to Fig. 1. The uppermost figure of Fig. 8 shows a support frame already lifted by an industrial truck. This figure shows a situation where the industrial truck is positioned slightly more to the left side of the support frame than to the right side. The left distance 802 between the left leg 112 of the support frame and the vehicle frame 104 is smaller than the right distance 804 between the vehicle frame 104 and the right leg 112. The engagement means 106, 108 are still in the passive position.

The figure in the middle of Fig. 8 shows a situation of the loading process where the engagement means 108 on the right-hand side is already in the active position, whereas the engagement means 106 of the left-hand side is still in transition from the passive position to the active position. The sliding element on the left-hand side has already reached its final position at the stop 308 attached to the support frame, whereas there is still a lateral distance between the sliding element 302 and the stop 308 on the right-hand side.

Applying a further force by the engagement means 106 on the respective sliding element 302 on the left-hand side leads to a lateral shift of the support frame towards the left, until the sliding element 302 on the right-hand side has reached its final position at the stop 308 as well. This situation is shown in the lowermost figure of Fig. 8. In this final active position of the engagement means 106, 108 the support frame is centered with respect to the lateral dimension of the industrial truck. Thus, independent of the initial position of the industrial truck relative to the support frame, the support frame is automatically centered on the vehicle frame 104 in relation to the wheel suspension which provides an evenly distributed load on the industrial truck in the lateral direction.

In addition to the automatic centering of the support frame a container (not shown in Fig. 8) loaded on the support frame would be locked and fastened. This is indicated by the locking means 306 on the left-hand side and the right-hand side of the support frame. In the uppermost figure both locking means 306 are in their respective open position. During the transition from the passive to the active position in the middle of Fig. 8 the locking means on the left-hand side is already in its locked position as the respective sliding element 302 has reached its final position at the stop 308. The locking means 306 on the right-hand side is still in its open position. As soon as the sliding element 302 on the right-hand side has reached its final position at the respective stop 308 the locking means 306 on the right- hand side is in its locked position as well. In this final position the container is fastened to the support frame which in turn is fastened to the vehicle frame 104 of the industrial truck. The container will rest in this fastened and secured position until the engagement means 106, 108 are actively released from the sliding elements 302.