Variable footprint container handling equipment.

Abstract

A first column (555) adapted to be attached to a fifth wheel (530) of a tractor (510), a second column (575) to which a first floating ground support wheel (580) is attached so as to be movable, a third column (600) to which a second floating ground support wheel (605) is attached so as to be movable, a lift device (640, 645, 650, 655, 660, 665, 670, 675, 680, 685) for lifting a container (105), and ... a variable footprint handling device (501, 501', 501") for handling a container (105) comprising: a connecting device (620, 630, 635) configured to connect a column (600) to a first column (555) and to move at least one of the three columns relative to another of the three columns between a first position and a second position, such that a planar footprint of the device in the second position is smaller than a planar footprint of the device in the first position.

Description

[Technical field]

[0001] The present invention relates to a container handling equipment (ISO) with a variable footprint, i.e., an ISO that can be arranged in a working configuration in which it is possible to raise and lower containers to and from the bed of an articulated truck, and in a storage / transport configuration in which it is not possible to raise and lower containers. In particular, the footprint of the equipment in the storage / transport configuration is smaller than the footprint in the working configuration, so that the equipment can be placed on the bed of a standard articulated truck and transported on normal roads open to the public. [Background technology]

[0002] In general, container handling equipment is known that can change its intended footprint as a set of maximum height, width and length of the equipment in order to switch from a working configuration in which one or at most two containers are lifted and transported over land to a storage or transport configuration in which the footprint is reduced compared to the working configuration, for example so that the containers can be transported on the loading platform of a standard articulated truck circulating on city roads.

[0003] Such devices typically comprise a variable footprint frame, for example with extendable vertical side members and / or uprights, which rests on the ground on at least three and preferably four wheels, at least one and preferably two of which are drive wheels to enable movement of the frame and a container attached to the frame by a lifting device.

[0004] The device is therefore provided with a motor that provides the necessary power to the drive wheels to move the device, and a cockpit for an operator to operate the device in. The motor may be a hydraulic motor driven by a fluid pressurized by a motor pump connected to a frame of variable footprint.

[0005] As can be inferred, the motor and cockpit have a significant footprint, which is inconsistent with the need to minimize the footprint of the device in storage / transport form. It can also be inferred that such components complicate and lengthen design / manufacturing times and constitute a significant weight burden.

[0006] The object of the present invention is to solve the aforementioned problems of the prior art devices. This object is achieved by the features of the invention as set forth in the independent claims. The dependent claims outline preferred and / or particularly advantageous aspects of the invention. Summary of the Invention

[0007] The technical features of the proposed invention in all its variants and embodiments make available a variable footprint container handling equipment which has the advantage that in closed configuration the equipment can be placed on a standard articulated truck or truck bed without exceeding the maximum footprint values ​​for transport on publicly open roads, i.e. a maximum height of 4 m and a maximum width of 2.55 m, and can therefore be easily transported along publicly open roads. It should be noted that a standard articulated truck or truck bed means a bed having a flat upper surface adapted to support the load being transported with the bed and having a height of less than 1.6m from the ground.

[0008] In particular, the present invention makes available a variable footprint handling device for handling containers. - a first column adapted to be attached to a fifth wheel of a tractor; - a second column to which the first floating ground support wheel is attached so as to be able to float; a third column to which the second floating ground support wheel is attached so as to be able to float; - A lifting device for lifting the container; - a connecting device configured to connect the second and third columns to the first column and to move at least one of the three columns between a first position and a second position relative to another of the three columns, the footprint of the device in the second position being smaller than the footprint of the handling device in the first position; Equipped with.

[0009] This solution makes available a more compact, light, easily transportable and economical variable footprint container handling device with the same performance compared to the prior art devices. In particular, this advantage is brought about by the fact that the device does not need a drive wheel to handle the container, since it can utilize the drive wheel of the tractor, with a fifth wheel (or any other equivalent connecting member), for example provided in a floating manner, to which the first column is adapted to be connected. As no drive wheel is required at all, it is therefore also not necessary to have a hydraulic / hydrodynamic motor, as is generally used by the prior art devices to rotate the ground support wheels, nor to have means for controlling and directing the drive wheel and for driving the device, since such means are already included in the tractor. As will be explained below, the device may also have a pump driven by an electric or endothermic motor for generating a pressurized fluid capable of operating the connecting device, which can be smaller and therefore less bulky than the prior art devices, since it does not need to provide sufficient power to also operate the drive wheel. Furthermore, the device does not include an on-board pump for operating the connected device, and it is not excluded that it can be connected to a pump external to the device. The device, once in a transport configuration that does not protrude from the bed of the articulated truck, can also be transported on the bed of a standard articulated truck on public open roads.

[0010] According to one aspect of the invention, the connection device may be configured to move at least one of the second column and the third column between a first position in which the distance of the third column from the second column is maximum, and a second position in which the distance is minimum. According to one aspect of the invention, a connection device is provided which is designed to improve the compactness of the system when in a transport configuration while maintaining high functionality in an operational configuration, the connection device comprising: - a first cross member having a first end connected to the first column and a second end connected to the third column; - a second cross member having a first end rigidly fixed to the second column and a second end hinged to one of the first column and the first cross member about a vertical axis of rotation; an actuator configured to rotationally move the second column about a vertical axis of rotation.

[0011] Yet another aspect of the invention provides that the actuator may be a linear actuator having a first end hinged to one of the first column, the first cross member and the third column and an opposing second end hinged to one of the second column and the second cross member.

[0012] In yet another embodiment of the invention, the third column and the second column may be telescoping. In this way, it is possible to reduce the footprint in the transport configuration while maintaining the same footprint in the operation configuration. Another aspect of the invention, in which the first column and the first cross member can be telescopic, can contribute to improving this advantage.

[0013] Additionally, this feature allows the column to be raised to a point where the first and second cross members are above the tractor, thus allowing the implement to be brought forward of the tractor for improved maneuverability while at the same time allowing the implement to be loaded onto the bed.

[0014] According to one aspect of the present invention, the lift device comprises: - a first arm connected to the second column and extending transversely thereto along a longitudinal direction; - a second arm connected to the third column and extending transversely thereto along the longitudinal direction; a first container gripper integrated with a first rope operated by a first actuator and at least partially wrapped around a first wheel hinged near a first end of the first arm remote from the second column; a second container gripper at least partially wrapped around a second wheel hinged near a second end of the first arm, remote from the second column, opposite the first end, and integral with a second rope operated by a second actuator; a third container gripper integrated with a third rope at least partially wrapped around a third wheel hinged near a first end of the second arm remote from the third column and operated by a third actuator; a fourth container gripper at least partially wrapped around a fourth wheel hinged near a second end of the second arm, the fourth rope being remote from the third column and integral with the fourth rope operated by a fourth actuator; At least one of the first and second arms is hinged to each column about a vertical hinge axis.

[0015] In this way, the footprint of the device can be reduced. If the two arms were all rigidly fixed, i.e. rigidly fixed without any residual degrees of freedom with respect to the columns, they would come into contact with each other on the path from the first position to the second position before the proposed solution could be realized. In the proposed solution, at least one of the arms can be aligned with the other, for example kept parallel instead of touching, thus allowing the second and third columns to approach each other.

[0016] According to another aspect of the invention, the apparatus may include a pump driven by a motor and operably connected to a connecting device for moving the first column between a first position and a second position, the pump and motor being connected to one of the three columns or to the connecting device.

[0017] According to another embodiment of the invention, the second end of the first cross member may be hinged to the third column about a first axis of rotation and the first end of the second cross member may be hinged to the second column about a second axis of rotation. In this way, it is possible to rotate the first and second columns relative to the respective cross members of the connecting device, and thus the device allows the ground-supporting wheels to remain parallel to each other even when loads larger or smaller than ISO containers are handled. Without this property, in other positions outside the optimum design distance between the third and second columns, the wheels would roll on cross tracks and would therefore creep if the device were moved on a linear axis, since they are hinged to the columns only about a horizontal axis of rotation.

[0018] According to another aspect of the invention, the first and second idler wheels of the device may be rotatably mounted to the male portion of the second column and the male portion of the third column and may be adjacent to the columns at positions completely outside the columns. According to another aspect of the invention, the female portion of each column may be movable between a first position in which its lower end is located at a vertical height higher than the maximum vertical height of the wheel, and a second position in which the lower end of the female portion is located at a vertical height lower than the maximum vertical height of the wheel. This feature makes it possible to realize a crane that, when the telescopic column is contracted, is lower above the ground than other structures in which wheels are connected to a column. According to another aspect of the invention, each wheel may be rotatably mounted to a male portion of a respective column about a horizontal axis of rotation and at a lower end of said male portion.

[0019] According to a similar aspect of the invention, a wheel may be attached to the male portion of each column such that an upper end of the wheel is located at a vertical height equal to or greater than the vertical height of the lower end of the male portion. This characteristic contributes to reducing the space between the lower end of the male part and the ground on which the wheels rest, thus making the device more compact than a solution in which the wheels are entirely at a lower height than the columns, such as when the wheels are underneath each column.

[0020] Similarly, the wheel may be attached to the male portion such that the axis of rotation is located at a vertical height equal to or greater than the vertical height of the lower end of the male portion. This is particularly advantageous when the device is constructed with large wheels, as this allows the vertical footprint of the device to be small.

[0021] The invention also makes available a container handling system comprising a tractor equipped with a fifth wheel and an apparatus as claimed in claim 1, in which the first column is removably connected to the fifth wheel of the tractor. [Brief description of the drawings]

[0022] Other characteristics and advantages of the invention will become more apparent from reading the following description, given by way of non-limiting example, with reference to the attached drawings, in which: [Figure 1] 1 is a schematic plan view of a container handling system according to the present invention, including a container handling apparatus according to the present invention, shown during the step of handling the container on land; [Diagram 2] FIG. 2 is a schematic side view of the system of FIG. 1. [Diagram 3] FIG. 2 is a schematic side view of the container handling system of the previous figure, shown in the step of lifting or unloading a container onto or from the bed of an articulated truck; [Figure 4] FIG. 2 is a schematic side view of the container handling apparatus of the previous figures, shown in a transport configuration during transport on the bed of an articulated truck; [Diagram 5]FIG. 5 is a schematic plan view of the container handling apparatus shown in FIG. 4. [Figure 6] FIG. 2 is a schematic plan view showing the steps of passage of the device from an operating configuration to a transport configuration. [Figure 7] FIG. 2 is a schematic plan view of the tractor of the system of FIG. 1. [Figure 8] FIG. 13 is a schematic plan view of another embodiment of the device of the previous figure, in which the second cross member is stretchable. [Figure 9] FIG. 2 is a schematic plan view of the system of the previous figure, with the tractor positioned transversely to the implement and container. [Figure 10] 1 is a schematic plan view of a container handling system according to the invention, comprising a container handling device according to the invention, shown in a step of handling the container on land; [Figure 11] FIG. 2 is a schematic side view of the system of FIG. 1. [Figure 12] FIG. 2 is a schematic side view of the container handling system of the previous figure, shown in the step of lifting or lowering a container onto or from the bed of an articulated truck; [Figure 13] FIG. 2 is a schematic plan view of the container handling apparatus of the previous figure, shown in a transport configuration while being transported on the bed of an articulated truck; [Figure 14] FIG. 5 is a schematic side view of what is shown in FIG. 4. [Figure 15] FIG. 1 is a schematic plan view showing the device in a transport configuration. [Figure 16] FIG. 2 is a schematic plan view of the tractor of the system of the previous figure; [Figure 17] FIG. 2 is a schematic plan view of another embodiment of the system according to the present invention, shown during the steps of handling containers on land. [Figure 18] FIG. 18 is a schematic plan view of the apparatus of the system of FIG. 17, shown in a transport configuration. [Figure 19] FIG. 4 is a schematic plan view of another embodiment of an apparatus according to the present invention; [Figure 20]FIG. 2 is a schematic cross-sectional view of an extendable column or cross member showing the characteristic shape of one of the first column, second column, third column, first cross member or second cross member of an embodiment of a crane according to the present invention. [Figure 21] FIG. 21 is a schematic plan view of the male part of the telescoping column or cross-member of FIG. 20; [Figure 22] FIG. 21 is a schematic plan view of the female portion of the telescoping column or cross member of FIG. 20; [Diagram 23] FIG. 2 is a schematic cross-sectional view of an extendable column or cross member showing other characteristic shapes of one of the first column, second column, third column, first cross member or second cross member of an embodiment of a crane according to the present invention. [Figure 24] FIG. 24 is a schematic plan view of the male part of the telescoping column or cross-member of FIG. 23; [Diagram 25] FIG. 24 is a schematic plan view of the female portion of the telescoping column or cross-member of FIG. 23; [Figure 26] 12 is a schematic side view of the embodiment of the system of FIG. 11 with the idler wheel mounted on the exterior of the column and the female portion of the column in its first position. [Figure 27] FIG. 27 is a schematic side view of the system of FIG. 26, with the female portion of the column shown in its second position. [Figure 28] FIG. 27 is a schematic cross-sectional view of the system of FIG. 26 according to the cutting plane AA. [Figure 29] FIG. 29 is a schematic side view of an alternative embodiment of the apparatus to that shown in FIGS. 1-28. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] 1-9, a system for handling containers 205 (ISO containers), particularly of the type capable of autonomously moving along open roads and highways, is generally designated by the numeral 200. In the embodiment shown, system 200 is capable of handling a single container, however, by appropriate sizing of the system within the purview of one skilled in the art, the inventive concept underlying the system can be adapted to the transportation of two containers, one stacked vertically on top of the other.

[0024] The containers 205 that can be handled by the system are preferably ISO containers adapted to be grasped by the system 200, for example by hooks (eg, equipped with connecting members in the form of pins and / or slots).

[0025] The system 200 comprises a tractor 210, i.e. a self-propelled vehicle suitable for land transport, comprising a frame 215 on which are mounted at least one pair of drive and steering wheels 220, or one pair of drive wheels and one pair of steering wheels (possibly and typically also at least one pair of idler wheels 225).

[0026] The tractor shown is a self-propelled vehicle adapted to transport articulated vehicles, i.e. load carriers resting on the ground by means of idler wheels, but it is not excluded that the tractor may also be another self-propelled vehicle, such as a forklift.

[0027] A carrier is defined as a frame with a flat upper surface for supporting an item, e.g., a container, to which are attached a number of ground-bearing wheels, all of which are idlers. In practice, a carrier requires a tractor to move it.

[0028] The tractor 210 includes a motor (not shown) for generating the power required by the drive wheels to move the tractor, and a transmission (if the motor is endothermic) for transferring the motor's energy to the drive wheels.

[0029] The tractor 210 further includes a steering system (not shown) for controlling the steering wheels or the steering and drive wheels, a cockpit adapted to accommodate a tractor operator, and a controller for operating the tractor system.

[0030] The tractor 210 includes a fifth wheel 230 (as known internationally) which is mounted to the frame of the tractor and adapted to allow removable connection of a bed to be towed and which supports a portion of the bed.

[0031] Specifically, the fifth wheel 230 comprises a plate with a substantially flat upper surface 235 (which is typically lubricated to reduce friction with the portion of the carrier that rests thereon) having a recess 240 formed therein that is adapted to allow insertion of a carrier pin.

[0032] The fifth wheel therefore includes a locking mechanism configured to selectively retain and release a pin (of the cargo bed) inserted within the recess. The cockpit is located at the front of the tractor, while the fifth wheel 230 is located at the rear of the tractor.

[0033] The system 200 further comprises a variable footprint handling apparatus 201 (hereafter abbreviated as apparatus 201) for handling a container 205. In particular, the handling performed by the apparatus includes lifting, lowering, and maintaining the container in a lifted state from the ground. By connecting the apparatus to a tractor 210, the apparatus is able to handle the container by moving it horizontally in space while keeping it suspended, as will be described below.

[0034] The apparatus 201 is a variable footprint apparatus because it is capable of changing its footprint between a work (or operational) configuration in which a container (or pair of containers) can be lifted / lowered and left suspended, and a storage or transport configuration in which the maximum overall footprint of the apparatus 201 is reduced compared to the work configuration.

[0035] It is specified that variable footprint means the ability to vary at least one of its dimensions in the space between height, width and length. Height is measured vertically while width and length are perpendicular to each other and on a horizontal plane. Furthermore, in this discussion, width is used with respect to a measurement direction perpendicular to the tractor's linear direction and length is used with reference to a measurement direction parallel to the tractor's linear direction and perpendicular to the length when the device 201 is connected to the tractor and aligned with the tractor (as seen in the figures). The maximum overall footprint can be thought of as the smallest parallelepiped volume that completely contains the device 201 .

[0036] The apparatus 201 comprises a frame of variable footprint, which may also be defined as having a "variable geometry", adapted to be removably coupled to the tractor 210, i.e., to a fifth wheel 230 of the tractor, and moved by the tractor.

[0037] In the illustrated embodiment, the frame is capable of varying its footprint in all three directions shown (height, width and length), however, in less preferred embodiments not shown, the frame may vary its footprint in only its width, or in its width and length, but not in its height.

[0038] The change in the frame footprint allows the device 201 to operate between an operational configuration in which it can handle containers, i.e., lift, suspend and keep containers suspended, and a transport or storage configuration in which the device 201 is adapted to be transported on the bed of an articulated truck, i.e., a bed coupled to a tractor. In the transport configuration, the device 201 is not configured to handle containers.

[0039] In the operational configuration, the footprint of the frame (and device 201) is maximum, while in the transport or storage configuration it is minimum. The variable footprint frame extends longitudinally along a vertical, i.e., primarily vertical, axis and includes a first column 255 adapted to be removably coupled to a tractor. In particular, the implement 201 is coupled to the tractor only via the first column.

[0040] The first column 255 is adapted to be loosely mounted, i.e. attached, to the fifth wheel 230 of the tractor such that the first column can rotate relative to the tractor about a vertical axis of rotation R1. Alternatively, the column may have a lower part that is rigidly fixable to the fifth wheel 230, i.e. rigidly fixable without any residual degree of freedom, the remaining part of the first column being rotatably mounted relative to said lower part about the vertical axis of rotation R1.

[0041] For connection to the fifth wheel, the first column includes a coupling located at the lower end 256 of the first column. Such a coupling device may, for example, be one known to a person skilled in the art for fastening the carrier to the fifth wheel of a tractor and may comprise a pin (not shown) adapted to be inserted into a recess 240 of the fifth wheel 230. As an alternative to a fifth wheel, it is obviously not excluded that the tractor is provided with a system for an in situ connection of the first column. In such a case, the tractor may, for example, be provided with a vertical pin into which the lower part of the first column fits to achieve a funnel-shaped pair with a vertical axis of rotation R1.

[0042] In the embodiment shown, the first column is telescoping and can vary its longitudinal dimension along the vertical direction. The first column therefore comprises a lower portion 260 forming the lower portion of the first column, and an upper portion 265 which is movable relative to the lower portion along the vertical direction, such as by a linear actuator 270 .

[0043] The variable footprint frame then comprises a second column 275 (vertical, i.e. extending longitudinally along a vertical axis) on which is freely mounted a first floating ground support wheel 280. In practice, the second column rests on the ground (only) by means of the first floating wheel connected to the lower end of the second column.

[0044] The first idler wheel 280 is rotatably mounted on the second column 275 at least about a horizontal axis of rotation. It is not excluded that the first idler wheel 280 may also be rotatably mounted on the second column 275 about a vertical axis of rotation, for example coaxial with the longitudinal axis of the column.

[0045] The first idler 280 may be at least partially vertically aligned with the second column. Preferably, the second column completely overlaps the first idler in a plan view. In the illustrated embodiment, to further reduce the footprint, the second column includes a cavity 285 in which the first idler wheel 280 is at least partially housed.

[0046] For example, to allow for further reduction in footprint while at the same time allowing the wheels to overcome obstacles when extending, the second column may also include a drive configured to selectively cause the first idler wheel to protrude from the cavity (so that at least one-third of the wheel protrudes) or retract into the cavity (so that no more than one-quarter of the wheel protrudes from the cavity). It is not excluded that the second column may comprise a plurality of ground-supporting wheels hingedly connected to the second column in a freely movable manner.

[0047] In the illustrated embodiment, the second column is telescoping and can change its longitudinal dimension along a vertical direction. In particular, the second column can include a lower portion 290 to which the first idler 280 is directly attached in the manner described above, and an upper portion 295 movable relative to the lower portion along a vertical axis. For example, actuation of the second portion can be performed by a linear actuator 296 as shown. A second column 275 is spaced a non-zero amount from the first column.

[0048] The variable footprint frame also comprises a third column 300 (vertical, i.e. extending longitudinally along a vertical axis), on which is freely mounted a second floating ground support wheel 305. In practice, the third column rests on the ground (only) by means of the second floating wheel connected to the lower end of the third column.

[0049] The second idler wheel 305 is rotatably connected to the third column 300 at least about a horizontal axis of rotation. It is not excluded that the second idler wheel 305 is also attached to the third column 300 so as to be free-rotatable about a vertical axis of rotation that is coaxial with the longitudinal axis of the column. The second idler wheel 305 may be at least partially vertically aligned with the third column. Preferably, the third column completely overlaps the second idler wheel in a plan view. In the illustrated embodiment, to further reduce the footprint, the third column includes a cavity 310 in which the second idler wheel 305 is at least partially housed.

[0050] For example, to allow for further reduction in footprint while at the same time allowing the wheels to overcome obstacles as they are extended, the third column may also include a drive configured to cause the second idler wheel to protrude from the cavity (so that at least one-third of the wheel protrudes) or retract into the cavity (so that no more than one-quarter of the wheel protrudes from the cavity). It is not excluded that the third column may comprise a plurality of ground supporting wheels hingedly connected to the third column in a freely movable manner.

[0051] In the illustrated embodiment, the third column is telescopic and can vary its longitudinal dimension along the vertical direction. In particular, the third column may comprise a lower portion 300a to which the second idler wheel 305 is directly attached in the manner described above, and an upper portion 300b movable relative to the lower portion along a vertical axis. For example, actuation of the second portion may be performed by a linear actuator 315 as shown. The third column 300 is spaced a non-zero amount from both the first column 255 and the second column 275 .

[0052] Preferably, the variable footprint frame does not include any other support columns other than the first, second and third columns, in other words, the weight of the device 201 and its associated container is discharged towards the ground only through the first, second and third columns.

[0053] Further, in use, the apparatus 201 contacts the ground only via the first idler wheel, the second idler wheel, and the tractor when the apparatus 201 is coupled to the tractor (alternatively, the apparatus 201 may be momentarily supported by a stand and / or variable extension support legs).

[0054] The variable footprint frame comprises connecting devices connecting the second column 275 and the third column 300 to the first column 255 and configured, for example by actuators and links and / or joints, to move at least one of the three columns relative to the other of the three columns between a first position in which the planar footprint of the device 201, i.e. the variable footprint frame, is maximum (in which position the device 201 has a predetermined footprint in a planar view) and a second position in which the planar footprint of the device 201, i.e. the variable footprint frame, is smaller than the planar footprint of the device 201 in the first position.

[0055] Note that the planar footprint is the width and length of the frame in plan view, or it can be understood as the area of ​​a triangle lying on a horizontal plane, whose vertices are located in each column.

[0056] The first position of the connection device is a position that must be assumed in order to realize an operating configuration of the device 201 capable of transporting containers, and the second position is a position that must be assumed in order to realize a transport configuration of the device 201.

[0057] In the first position, the container that is lifted or suspended or maintained in a suspended state by the device 201 is (directly) interposed between the first column, the second column and the third column. The direction in which the width of the device 201 is measured may also be defined as the direction of the horizontal distance between the second column 275 and the third column 300 when the connecting device is in the first position.

[0058] In the illustrated embodiment, the connection device is configured to move the third column 300 (relative to the second column 275 and the first column 255) between a first position where the distance (horizontal and minimum) of the third column 300 from the first column 255 is maximum, and a second position where the distance (horizontal and minimum) between the third column and the first column is minimum, and the third column is at a distance less than the distance of the second column from the first column. For example, in such a second position, the third column is interposed between the first and second columns.

[0059] When moving from one position to another, only the third column is moved relative to the two columns which always remain at a given distance from each other. In practice, the connection device is configured to move the third column and the first column towards or away from each other, for example by rotating at least one of them about a vertical axis of rotation.

[0060] In the first position, the distance of the third column from the first column is approximately equal to the distance of the second column from the first column, i.e., the distance of the third column from the first column is configured to be between ±20% of the distance of the second column from the first column. In the illustrated embodiment, in the first position, the distance of the third column from the first column is equal to the distance of the second column from the first column.

[0061] Furthermore, in the first position, the second and third columns are aligned along a direction perpendicular to a vertical centerline plane of the device 201 passing through the first column (which centerline plane is detectable when the connecting device is in the first position), which also divides the container into two halves as it is handled by the device 201.

[0062] In a preferred embodiment of the connecting device shown, the connecting device comprises, for example, a first cross member 320 having a straight shape, the first cross member having a first end 320a (having no residual degrees of freedom) rigidly fixed to the first column 255, i.e., the (upper) top of the first column 255, and an opposite second end 320b hinged to the second column 275, i.e., the (upper) top of the second column 275, about a vertical axis of rotation R2. For example, the first cross member is disposed horizontally.

[0063] The first cross member 320 is preferably telescopic so that the horizontal distance between its first end 320a and second end 320b can be varied, thereby allowing the horizontal distance between the first column 255 and the second column 275 to be varied, improving the compactness of the variable footprint frame.

[0064] In this manner, the first cross member may comprise a first portion having a first end 320a and a second portion having a second end 320b movable relative to the first portion along a linear axis by the linear actuator 325. The first cross member has only the two ends and is directly connected only to the first column and the second column.

[0065] In the illustrated embodiment, the connection device also comprises a second cross member 330 having a first end 330a rigidly fixed (without residual degrees of freedom) to the second column 275, i.e., to the (upper) top of the second column 275, and an opposite second end 330b rigidly fixed (without residual degrees of freedom) to the third column 300, i.e., to the (upper) top of the third column 300. The second cross member has only the aforementioned ends and is directly connected only to the third column and the second column. For example, the second cross member is disposed horizontally.

[0066] In the embodiment shown in Figures 1 to 7, the second cross member is preferably non-stretchable. Alternatively, in the embodiment of the device illustrated in Figures 8 and 9, the second cross member is telescopic so that the horizontal distance between its first and second ends can be varied. In such a case, as shown in Figure 8, the second cross member also comprises a linear actuator 331 configured to vary the horizontal distance between said first and second ends.

[0067] The first and second cross members are positioned at a vertical height such that they are generally above the containers being handled without interfering with the containers being handled. The connection device further comprises an actuator 335 configured to rotationally move the third column relative to the rotation axis R2 and relative to the first cross-member, i.e. to rotationally move the second cross-member 330 to which the third column is firmly fixed, relative to the rotation axis R2 and relative to the first cross-member.

[0068] Rotation of the third column about the axis of rotation R2 by the actuator 335 enables the connection device to be actuated between its first and second positions. The rotation of the third column about its axis of rotation R2, when combined with the rotation of the first column about its axis of rotation R1, further enables the tractor 210 to be positioned laterally relative to the apparatus 201 and thus alongside the container 205, as shown in FIG. 9.

[0069] The system can thus be used to lift and handle loads longer than an ISO container, for example even longer than the system itself, by positioning the second cross member perpendicular to the longitudinal axis of the load, juxtaposing the tractor planarly with the load, and moving the tractor forward or backward along a track parallel to the longitudinal axis of the load.

[0070] For example, the actuator 335 is a linear actuator having a first end 335a hinged to one of the first column 255 and the first cross member 320 and an opposite second end 335b hinged to one of the third column 300 and the second cross member 330.

[0071] The actuator comprises a first portion provided at a first end and a second portion provided at a second end and movable relative to the first portion along a linear axis, such linear axis being preferably a horizontal axis. Specifically, in the embodiment shown in FIG. 1, a first end 335a is hinged to a first cross member and a second end 335b is hinged to a second cross member. The actuator is preferably of the hydraulic / pneumatic type. For example, the first cross member and the second cross member may be straight.

[0072] In the second position, the first cross-member and the second cross-member have longitudinal axes that intersect with one another, and in the second position, the first cross-member and the second cross-member have longitudinal axes that are substantially parallel to one another.

[0073] In an alternative, less preferred embodiment of the connection device, the third column may be directly connected to the first column by a telescoping cross member and the second column may be connected to the first column by a rigid cross member that is not length-variable.

[0074] The variable footprint frame is rigid, i.e. it does not deform under normal service loads, in other words the columns and cross members of the variable footprint frame are rigid.

[0075] Connected to the variable footprint frame is a lifting device configured for lifting the container (relative to the ground, i.e. relative to the vertical height of the wheels), i.e. so that the container can be lifted, held lifted and lowered.

[0076] The lift device comprises a first part connected (directly) to the second column and a second part connected (directly) to the third column. Each section includes a connecting member or lower support for the container that is actuable at least along a vertical direction to lift, hold the container elevated and lower the container.

[0077] In the illustrated embodiment, both the first and second parts of the lift device each comprise a pair of arms, with a first arm 340 and a second arm 345 hinged, preferably freely movable, to the respective columns about corresponding vertical hinge axes (different for the two arms) and extending horizontally along respective longitudinal directions transverse to the corresponding hinge axes, e.g., away from the respective columns.

[0078] Each part of the lifting device comprises a respective gripper 350, 370, ie a first link, for the container and a respective actuator for the first gripper arranged to move it vertically. In the illustrated embodiment, each actuator comprises a rope 355, 375 at least partially wrapped around a (floating) wheel 360, 380 hinged to each arm 340, 345. The rope attached to each gripper is operated by a respective actuator 365, 385, e.g., a linear actuator. The gripping body may be, for example, a hook.

[0079] It is not excluded that in other embodiments, the actuators may comprise linear actuators with one end attached (e.g., rigidly or hingedly) to the respective arms and an opposite end to which the respective grippers are connected (e.g., rigidly or hingedly). In such embodiments, the grippers may be forks of the type used in forklifts, or hooks.

[0080] In an embodiment not shown, the lifting device may have at least two pairs of forks, one pair rigidly connected to the top of the second column and the other pair rigidly connected to the top of the third column, such that the forks can be inserted under the container by the telescopic columns, and then the container can be lifted while pushing from below.

[0081] The illustrated lift device includes a first spacer bar 390 and a second spacer bar 395 removably attached to opposing arms of the lift device to prevent rotation of the arms about their hinge axes.

[0082] In particular, the first spacer bar has a first end connected to a first arm of a first part of the lifting device and an opposite second end connected to a second arm of a second part of the lifting device and is directly interposed therebetween.

[0083] The spacer bars are rigid, i.e. they do not deform under the normal working loads to which they are subjected. In particular, they only work in traction and compression under the forces exerted by the arms between which they are interposed.

[0084] In addition to the first and second spacer bars, the lifting device may include a third spacer bar 400 and a fourth spacer bar 405 extending from one of the second and third columns toward an arm of the portion of the lifting device attached to the opposite column.

[0085] The apparatus 201 may include a pump (not shown) driven by a motor (not shown) and operably connected to the connecting device for moving the first column between the first and second positions, i.e., for powering an actuator of the connecting device.

[0086] As can be imagined, such a pump can also be used to power other actuators that may be present, for example when a particular member, such as a column, extends or retracts.

[0087] These pumps and motors are smaller in size than prior art devices because they only need to power the drive portion of the variable footprint frame and do not also need to drive wheels to move the frame. The pump and motor are connected to one of three columns or a connecting device.

[0088] The operational configuration of the device 201, ie, the variable footprint frame, occurs when the connection device is in a first position and all telescoping columns are in one of their maximum longitudinal extension positions.

[0089] In the illustrated embodiment, the operating configuration occurs when the connection device is in the first position, all telescopic columns are in their maximum longitudinal extension positions, the idler wheels protrude at least one-third out of the cavities, and the spacer bars are interposed between the arms of the lifting device.

[0090] The operating configuration coincides with when the connection device is in the first position only in a less preferred embodiment in which the column is not telescopic, the wheels are not within a cavity formed in the column but are movable relative to the cavity, and the lifting device has forks instead of hinged arms that are vertically movable along the column.

[0091] The transport configuration of the device 201, ie the variable footprint frame, occurs when the connection device is in the second position and all telescoping columns are in one of their minimum longitudinal extension positions.

[0092] In the illustrated embodiment, the transport configuration occurs when the connection device is in the second position, all telescopic columns are in their minimum longitudinal extension positions, the idler wheels protrude less than one-quarter out of the cavity, the first cross member is in its minimum longitudinal extension position, and no spacer bars are interposed between the arms of the lifting device.

[0093] The transport configuration coincides with when the connecting device is in the second position only in a less preferred embodiment in which the column is not telescopic, the first cross member is not telescopic, the wheels are not within a cavity formed in the column but are movable relative to the cavity, and the lifting device comprises a fork that is vertically movable along the column.

[0094] The illustrated device 201 can be coupled to any tractor having a fifth wheel, i.e. to a tractor of a combination truck. Alternatively, it is also possible to envisage the use of a special tractor with a fifth wheel (or a special tractor with a device for fixing the device with a pin or a circular seat that allows the device 201 to be detachably coupled to the special tractor and form a funnel-like pair with a vertical axis of rotation with the first column of the device 201). For example, such a tractor may be an adapted forklift or other self-propelled industrial vehicle.

[0095] The system may include a stand 311 having a pair of horizontal extendable upper cross members arranged side by side and parallel to one another and configured to extend and retract while the connection device is operated between the first and second positions by supporting the first and second cross members and following them in their movement to a path between the second position and the first position, to facilitate loading and transporting the device on a loading platform when the device is in the transport configuration.

[0096] The operation of the system 200 according to the present invention is as follows. The device 201 is transported in a transport configuration arranged above a platform pulled by a tractor that transports it to the location where it will be used to handle the containers (see Figures 4 and 5).

[0097] Upon arrival at the destination, the device 201 is brought from the transport configuration into an operational configuration that supports it during this transition, for example by placing it on a special stand such as stand 311, or by being lifted by a forklift or by a crane.

[0098] First, in the transition from the transport mode to the operation mode, the drive of the connecting device, which rotates the second cross-member 330 about the vertical rotation axis R2, is operated to bring it from the second position to the first position. After that, the first column 255 can already be connected to the fifth wheel 230 of the tractor. If the column is telescoping as shown, the column and possibly the first cross member are also extended.

[0099] Also, in the illustrated case, the lifting device is constituted by arms 340, 345, which, from the position seen in plan view in Fig. 5, are rotated about their respective hinge axes so that in each pair of arms they project in diametrically opposite directions away from the respective columns to which they are hinged. These directions are substantially parallel to the forward direction of the system when the device 201 is coupled to the tractor, i.e., the mid-plane when the device 201 is in the first position. Moreover, after positioning the arms, they are locked in place by spacer bars 390, 395, 400, 405 fixed to the arms.

[0100] When the device 201 is in the operational configuration and connected to a tractor, the device 201 is moved by the tractor to the container to be lifted and positioned so that the container is between the first column, the second column, and the third column.

[0101] In the illustrated embodiment, the container is also interposed in plan view between the arm of the first part of the lifting device and the arm of the second part of the lifting device. At this point, the container is grasped by the grippers of the lifting device and raised so that it does not come into contact with the ground or the platform on which it rests.

[0102] While the device 201 holds the container up, the tractor moves the device 201 to where the container is to be dropped off or lowered. For example, the telescoping first column allows the first cross member to be positioned at a height higher than the top of the tractor, so that the tractor can be oriented such that the second and third columns, and thus the lifting device, are in front of the cockpit (as shown in FIG. 3).

[0103] Once the device 201 has completed its work, it can be returned to its transport configuration and stored at the work site or transported to another location (work site or storage site). In the case of the illustrated device 201, the first step is to remove the spacer bar, and then, or if the device 201 is not the illustrated device, the drive part of the connection device is activated and moved from the first position to the second position. If the column and first cross member are telescopic, as in the case shown, they are also placed in a position of minimal longitudinal extension.

[0104] The arms must be rotated about their respective hinge axes as shown in Figure 6, i.e., rotated so that they are aligned two by two (and thus within a pair of arms) transverse to the direction from the second column to the first column when the connecting device is in the second position. In this configuration the arms are free to move and are preferably secured to the rest of the variable footprint frame by ropes.

[0105] With particular reference to Figures 10-16, a system for handling containers 205 (ISO containers), particularly of the type capable of autonomously moving along publicly open roads and highways, is indicated generally by the numeral 200. In the embodiment shown, system 200 is capable of handling a single container, however, by appropriate scaling of the system within the purview of one skilled in the art, the inventive concept underlying the system can be adapted to the transport of two containers, one stacked vertically on top of the other.

[0106] The containers 205 that can be handled by the system are preferably ISO containers adapted to be grasped by the system 200, for example by hooks (eg, equipped with connecting members in the form of pins and / or slots).

[0107] The system 500 comprises a tractor 510, i.e. a self-propelled vehicle suitable for land transport, comprising a frame 515 on which are mounted at least one pair of drive and steer wheels 520, or one pair of drive wheels and one pair of steer wheels (possibly and typically also at least one pair of idler wheels 525).

[0108] The tractor shown is a self-propelled vehicle adapted to transport articulated vehicles, i.e. load carriers resting on the ground by means of idler wheels, but it is not excluded that the tractor may also be another self-propelled vehicle, such as a forklift.

[0109] A carrier is defined as a frame having a flat upper surface for supporting an item, e.g., a container, and having a number of ground-supporting wheels attached to it, all of which are idlers. In practice, a carrier requires a tractor to move it.

[0110] The tractor 510 includes a motor (not shown) for generating the power required by the drive wheels to move the tractor, and a transmission (if the motor is endothermic) for transferring the motor's energy to the drive wheels.

[0111] The tractor 510 further includes a steering system (not shown) for controlling the steering wheels or the steering and drive wheels, a cockpit adapted to accommodate a tractor operator, and a control device for operating the tractor system.

[0112] The tractor 510 includes a fifth wheel 530 (as known internationally) which is mounted to the frame of the tractor and adapted to allow removable connection of a bed to be towed and which supports a portion of the bed.

[0113] Specifically, the fifth wheel 530 comprises a plate with a substantially flat upper surface 535 (which is typically lubricated to reduce friction with the portion of the carrier that rests thereon) having a recess 540 formed therein that is adapted to allow insertion of a carrier pin.

[0114] The fifth wheel therefore includes a locking mechanism configured to selectively retain and release a pin (of the cargo bed) inserted within the recess. The cockpit is located at the front of the tractor, while the fifth wheel 530 is located at the rear of the tractor.

[0115] The system 200 further comprises variable footprint handling apparatus 501, 501' (hereafter abbreviated as apparatus 501, 501') for handling the container 205. In particular, the handling performed by the apparatus includes lifting, lowering and maintaining the container in a lifted state from the ground. Also, by connecting the apparatus to a tractor 510, the apparatus can handle the container by moving it horizontally in space while keeping it suspended, as described below.

[0116] The apparatus 501, 501' is a variable footprint apparatus because it is capable of changing its footprint between a work (or operational) configuration in which a container (or pair of containers) can be lifted / lowered and left suspended, and a storage or transport configuration in which the maximum overall footprint of the apparatus 501, 501' is reduced compared to the work configuration.

[0117] It is specified that variable footprint means the possibility to vary at least one of its dimensions, height, width and length, in the space between them. Height is measured vertically, whereas width and length are perpendicular to each other and on a horizontal plane. Furthermore, in this discussion, width is used with respect to a measurement direction perpendicular to the tractor's linear direction, and length is used with reference to a measurement direction parallel to the tractor's linear direction and perpendicular to the length, when the device 501, 501' is connected to the tractor and aligned with the tractor (as seen in the figure). The maximum overall footprint can be thought of as the smallest parallelepiped volume that completely contains the device 501, 501'.

[0118] The apparatus 501, 501' comprises a frame of variable footprint, which can also be defined as "having a variable geometry", adapted to be removably coupled to a tractor 510, i.e. to a fifth wheel 530 of the tractor, and moved by the tractor.

[0119] In the illustrated embodiment, the frame is capable of varying its footprint in all three directions shown (height, width and length), however, in less preferred embodiments not shown, the frame may vary its footprint in only its width, or in its width and length, but not in its height.

[0120] The change in the footprint of the frame allows the device 501, 501' to operate between an operational configuration in which it can handle containers, i.e., lift, suspend and keep containers suspended, and a transport or storage configuration in which the device 501, 501' is adapted to be transported on the bed of an articulated truck, i.e., a bed coupled to a tractor. In the transport configuration, the device 501, 501' is not configured to handle containers.

[0121] In the operational configuration, the footprint of the frame (and devices 501, 501') is maximum, while in the transport or storage configuration it is minimum. The variable footprint frame extends longitudinally along a vertical, i.e., primarily vertical, axis and includes a first column 555 adapted to be removably coupled to a tractor. In particular, the implements 501, 501' are coupled to the tractor only via the first column.

[0122] The first column 555 is adapted to be loosely mounted, i.e. attached, to the fifth wheel 530 of the tractor such that the first column can rotate relative to the tractor about a vertical axis of rotation R1. Alternatively, the column may have a lower part that is rigidly fixable to the fifth wheel 530, i.e. rigidly fixable without any residual degree of freedom, the remaining part of the first column being rotatably mounted relative to said lower part about the vertical axis of rotation R1.

[0123] For connection to the fifth wheel, the first column includes a coupling located at a lower end 556 of the first column. Such a coupling device may, for example, be one known to a person skilled in the art for fastening the carrier to the fifth wheel of a tractor and may comprise a pin (not shown) adapted to be inserted into a recess 540 of the fifth wheel 530. As an alternative to the fifth wheel, it is obviously not excluded that the tractor is provided with a system for an in situ connection of the first column. In such a case, the tractor may, for example, be provided with a vertical pin into which the lower part of the first column fits to achieve a funnel-shaped pair with a vertical axis of rotation R1.

[0124] In the embodiment shown, the first column is telescoping and can vary its longitudinal dimension along the vertical direction. The first column therefore comprises a lower portion 560 constituting the lower portion of the first column, and an upper portion 565 which is movable relative to the lower portion along the vertical direction, such as by a linear actuator 570 .

[0125] The variable footprint frame then comprises a second column 575 (vertical, i.e. extending longitudinally along a vertical axis) on which is freely mounted a first floating ground support wheel 580. In practice, the second column rests on the ground (only) by means of the first floating wheel connected to the lower end of the second column.

[0126] The first idler wheel 580 is rotatably mounted on the second column 575 at least about a horizontal axis of rotation. It is not excluded that the first idler wheel 580 may also be rotatably mounted on the second column 575 about a vertical axis of rotation, for example coaxial with the longitudinal axis of the column.

[0127] The first idler 580 may be at least partially vertically aligned with the second column. Preferably, the second column completely overlaps the first idler in a plan view. In the illustrated embodiment, to further reduce the footprint, the second column includes a cavity 585 in which the first idler wheel 580 is at least partially housed.

[0128] For example, to allow for further reduction in footprint while at the same time allowing the wheels to overcome obstacles when extending, the second column may also include a drive configured to selectively cause the first idler wheel to protrude from the cavity (so that at least one-third of the wheel protrudes) or retract into the cavity (so that no more than one-quarter of the wheel protrudes from the cavity). It is not excluded that the second column may comprise a plurality of ground-supporting wheels hingedly connected to the second column in a freely movable manner.

[0129] In the illustrated embodiment, the second column is telescoping and can vary its longitudinal dimension along a vertical direction. In particular, the second column can include a lower portion 590 to which the first idler wheel 580 is directly attached in the manner described above, and an upper portion 595 movable relative to the lower portion 590 along a vertical axis. For example, actuation of the second portion can be performed by a linear actuator 596 as shown. A second column 575 is spaced a non-zero amount from the first column.

[0130] The variable footprint frame also comprises a third column 600 (vertical, i.e. extending longitudinally along a vertical axis), to which is freely mounted a second floating ground support wheel 605. In practice, the third column rests on the ground (only) by means of the second floating wheel connected to the lower end of the third column.

[0131] The second idler wheel is rotatably connected to the third column 600 at least about a horizontal axis of rotation. It is not excluded that the second idler wheel is also mounted for free rotation with the third column 600, for example about a vertical axis of rotation coaxial with the longitudinal axis of the column. The second idler wheel may be at least partially vertically aligned with the third column. Preferably, the third column completely overlaps the second idler wheel in a plan view. In the illustrated embodiment, to further reduce the footprint, the third column includes a cavity 610 in which the second idler wheel is at least partially housed.

[0132] For example, to allow for further reduction in footprint while at the same time allowing the wheels to overcome obstacles as they are extended, the third column may also include a drive configured to cause the second idler wheel to protrude from the cavity (so that at least one-third of the wheel protrudes) or retract into the cavity (so that no more than one-quarter of the wheel protrudes from the cavity). It is not excluded that the third column may comprise a plurality of ground supporting wheels hingedly connected to the third column in a freely movable manner.

[0133] In the embodiment shown, the third column is telescopic and can vary its longitudinal dimension along the vertical direction. In particular, the third column may comprise a lower portion to which the second idler is directly attached in the manner described above, and an upper portion movable relative to the lower portion along a vertical axis. For example, actuation of the second portion may be performed by a linear actuator y as shown. The third column 600 is spaced a non-zero amount from both the first column 555 and the second column 575 .

[0134] Preferably, the variable footprint frame does not include any other support columns other than the first, second and third columns, in other words the weight of the device 501, 501' and its associated container is discharged towards the ground only through the first, second and third columns.

[0135] Further, in use, the device 501, 501' contacts the ground only via the first idler wheel, the second idler wheel, and the tractor when the device 501, 501' is coupled to the tractor (alternatively, the device 501, 501' may be momentarily supported by a stand and / or variable extension support legs).

[0136] The variable footprint frame comprises connecting devices connecting the second column 575 and the third column 600 to the first column 555 and configured, for example by actuators and links and / or joints, to move at least one of the three columns relative to the other of the three columns between a first position in which the planar footprint of the device 501, 501', i.e. the variable footprint frame, is maximum (in this position the device 501, 501' has a predetermined footprint in a planar view) and a second position in which the planar footprint of the device 501, 501', i.e. the variable footprint frame, is smaller than the planar footprint of the device 501, 501' in the first position.

[0137] Note that the planar footprint is the width and length of the frame in plan view, or it can be understood as the area of ​​a triangle lying on a horizontal plane, whose vertices are located in each column.

[0138] The first position of the connecting device is a position which it must assume in order to realise an operating form of the device 501, 501' capable of transporting containers, and the second position is a position which it must assume in order to realise a transport form of the device 501, 501'.

[0139] In the first position, the container that is lifted or suspended or maintained in a suspended state by the device 501, 501' is (directly) interposed between the first column, the second column and the third column. The direction in which the width of the device 501, 501' is measured may also be defined as the direction of the horizontal distance between the second column 575 and the third column 600 when the connecting device is in the first position.

[0140] In the illustrated embodiment, the connection device is configured to move at least one of the second column and the third column between a first position in which the distance (horizontally and at a minimum) of the third column from the second column is maximum, and a second position in which said distance is minimum. When the connection device is in the first position, the second and third columns are positioned substantially equidistant (horizontally) from a vertical centerline plane of the device 501, 501' that intersects the first column and is positioned between the second and third columns.

[0141] In the path between the first position and the second position, the distance of the second column from the first column and the distance of the third column from the first column remain unchanged. In practice, the connection device is configured to move the third column and the second column towards or away from each other, for example by rotating at least one of them about a vertical axis of rotation.

[0142] In the illustrated embodiment, the connection device comprises a first cross member 620 having a first end 620a connected, for example without any residual degrees of freedom, to the first column 555, i.e. the (upper) top of the first column 555, and an opposite second end 620b connected, for example without any residual degrees of freedom, to the third column 600, i.e. the (upper) top of the fourth column. For example, the first cross member is disposed horizontally.

[0143] The first cross member 620 is preferably telescopic so that the horizontal distance between its first end 620a and second end 620b can be varied. This allows the horizontal distance between the first column 555 and the second column 575 to be varied, improving the compactness of the variable footprint frame. In particular, as will become apparent below, the illustrated embodiment combined with a telescopic first cross member allows the horizontal distance of the third and second columns relative to the first column to be varied.

[0144] In this manner, the first cross member may have a first portion having a first end 620a and a second portion having a second end 620b movable relative to the first portion along a linear axis by the linear actuator 625. The first cross member has only the two ends and is directly connected only to the first column and the third column.

[0145] The first cross member is formed such that the first portion is inclined relative to the second portion in plan view to improve the footprint, for example the longitudinal axes of these portions intersect and form an obtuse angle (composed between 90° and 180°) facing the first cross member, and essentially the second portion extends from the first portion in a direction away from the second column.

[0146] The connection device also comprises a second cross member 630 having a first end 630a rigidly fixed (without residual degrees of freedom) to the second column 575, i.e. to the (upper) top of the second column 575, and an opposite second end 630b hinged about a vertical axis of rotation T2 to the first cross member, i.e. to one of the second part of the first cross member and the first column. In the illustrated embodiment, the second end is hinged to the second portion of the first cross member, thereby allowing the horizontal distance of the third column and the second column relative to the first column to be altered by the telescoping member of the first cross member.

[0147] The second cross member has only both ends and is, for example, directly connected only to the second column and the first cross member. For example, the second cross member is disposed horizontally.

[0148] In the illustrated embodiment, the second cross member is preferably non-stretchable, however, it is not excluded that in other embodiments the second cross member is stretchable so that the horizontal distance between its first and second ends can be changed.

[0149] The first and second cross members are positioned at a vertical height such that they are generally above the containers being handled without interfering with the containers being handled. The connection device further comprises an actuator 635 configured to rotationally move the second column relative to the rotation axis T2 and relative to the first cross member, i.e. to rotationally move the second cross member 630 to which the second column is firmly fixed, relative to the rotation axis T2 and relative to the first cross member.

[0150] Rotation of the third column about the axis of rotation T2 by the actuator 635 enables the connection device to be actuated between its first and second positions. For example, the actuator 635 is a linear actuator having a first end 635a hinged to one of the first column 555 and the first cross member 620 and an opposite second end 635b hinged to one of the second column 575 and the second cross member 630.

[0151] The actuator comprises a first portion provided at a first end and a second portion provided at a second end and movable relative to the first portion along a linear axis, such linear axis being preferably a horizontal axis. Specifically, in the illustrated embodiment, the first end 635a is hinged to a first cross member and the second end is hinged to a second cross member. The actuator is preferably of the hydraulic / pneumatic type.

[0152] In another less preferred embodiment not shown, the connection device may comprise a horizontally arranged telescopic cross member connecting the second column to the first column, the longitudinal extension of which may be varied to move the second column toward or away from the third column, thereby achieving the first and second positions of the connection device. The telescopic cross member extends through the first column and extends perpendicular to a vertical centerline plane disposed between the second and third columns.

[0153] Connected to the variable footprint frame is a lifting device configured for lifting the container (relative to the ground, i.e. relative to the vertical height of the wheels), i.e. so that the container can be lifted, held lifted and lowered.

[0154] The lift device comprises a first part connected (directly) to the second column and a second part connected (directly) to the third column. Each section includes a connecting member or lower support for the container that is actuable at least along a vertical direction to lift, hold the container elevated and lower the container.

[0155] Connected to the variable footprint frame is a lifting device configured for lifting the container (relative to the ground, i.e. relative to the vertical height of the wheels), i.e. so that the container can be lifted, held lifted and lowered.

[0156] The lift device comprises a first part connected (directly) to the second column and a second part connected (directly) to the third column. Each section includes a connecting member or lower support for the container that is actuable at least along a vertical direction to lift, hold the container elevated and lower the container.

[0157] The lifting device comprises a first arm 640 connected to the second column 575 and extending laterally along a longitudinal direction (horizontal direction), and a second arm 645 connected to the third column and extending laterally along a longitudinal direction (horizontal direction). In particular, the arms are connected at their respective central portions to their respective columns, whereby their longitudinal ends are spaced from their respective columns.

[0158] At least one of the arms is freely hinged to the respective column to which it is connected, about a vertical axis of rotation T3. For example, the second arm is hinged to the third column about a vertical hinge axis T3, and the first arm is rigidly fixed to the second column without any residual degrees of freedom. The first arm 640 and the second arm 645 are, for example, straight, and are preferably adapted as straight bars with horizontal longitudinal axes.

[0159] In the illustrated embodiment, the connection device may include an actuator 646 configured to rotate the second arm about a corresponding vertical hinge axis T3. Instead of an actuator there may be a mechanism for locking and unlocking the rotation of the arm relative to the column.

[0160] The connection device further comprises respective gripping bodies 650, 670 for the container, e.g. hooks, which are at least partially wrapped around respective wheels 660, 680, 695, 705 hinged (freely) near respective ends 640a, 640b, 645a, 645b of the arms 640, 645 remote from the respective columns 575, 600 to which the arms are attached, and which are integrated with respective ropes 655, 675, 690, 700 operated by respective actuators 665, 695. The parts connected to the second arm (not shown) are identical to the corresponding parts connected to the first arm.

[0161] It is not excluded that in other embodiments, the actuators may comprise linear actuators with one end attached (e.g., rigidly or hingedly) to the respective arms and an opposite end to which the respective grippers are connected (e.g., rigidly or hingedly). In such embodiments, the grippers may be forks of the type used in forklifts, or hooks.

[0162] In an embodiment not shown, the lifting device may have at least two pairs of forks, one pair rigidly connected to the top of the second column and the other pair rigidly connected to the top of the third column, such that the forks can be inserted under the container by the telescopic columns, and then the container can be lifted while pushing from below.

[0163] The apparatus 501, 501' may include a pump (not shown) driven by a motor (not shown) and operably connected to the connecting device for moving the first column between the first and second positions, i.e., for powering the actuator of the connecting device.

[0164] As can be imagined, such a pump can also be used to power other actuators that may be present, for example when a particular member, such as a column, extends or retracts.

[0165] These pumps and motors are smaller in size than prior art devices because they only need to power the drive portion of the variable footprint frame and do not need to drive wheels to move the frame. The pump and motor are connected to one of three columns or a connecting device.

[0166] The operational configuration of the device 501, 501', ie the variable footprint frame, occurs when the connection device is in its first position and all telescoping columns are in their maximum longitudinal extension positions.

[0167] In the illustrated embodiment, the operating configuration occurs when the connecting device is in its first position, all telescopic columns are in their maximum longitudinal extension positions, the idler wheels protrude at least one-third out of the cavities, and the spacer bars are interposed between the arms of the lifting device.

[0168] The operating configuration coincides with when the connection device is in the first position only in a less preferred embodiment in which the column is not telescopic, the wheels are not within a cavity formed in the column but are movable relative to the cavity, and the lifting device has forks instead of hinged arms that are vertically movable along the column.

[0169] The transport configuration of the device 501, 501', ie the variable footprint frame, occurs when the connection device is in the second position and all telescoping columns are in their minimum longitudinal extension positions.

[0170] In the illustrated embodiment, the transport configuration occurs when the connection device is in the second position, all telescopic columns are in their minimum longitudinal extension positions, the idler wheels protrude less than one-quarter out of the cavity, the first cross member is in its minimum longitudinal extension position, and no spacer bars are interposed between the arms of the lifting device.

[0171] The transport configuration coincides with when the connecting device is in the second position only in a less preferred embodiment in which the column is not telescopic, the first cross member is not telescopic, the wheels are not within a cavity formed in the column but are movable relative to the cavity, and the lifting device comprises a fork that is vertically movable along the column.

[0172] The illustrated device 501, 501' can be coupled to any tractor having a fifth wheel, i.e. to a tractor of a combination truck. Alternatively, it is also possible to envisage the use of a special tractor with a fifth wheel (or a special tractor with a device for fixing the device with a pin or a circular seat that allows the device 501, 501' to be remotely coupled to the special tractor and to form a funnel-like pair with a vertical axis of rotation with the first column of the device 501, 501'). For example, such a tractor may be an adapted forklift or other self-propelled industrial vehicle.

[0173] The system may include a stand 710 having a pair of horizontal extendable upper cross members arranged side by side and parallel to one another and configured to extend and retract while the connection device is operated between the first and second positions by supporting the first and second cross members and following them in their movement to a path between the second position and the first position, to facilitate loading and transporting the device on a carrier when the device is in the transport configuration.

[0174] 17 and 18 show another embodiment of a system 500' according to the invention, device 501' differing from device 501 only in that the second cross-piece is hinged to the first cross-piece by an attachment part which projects from the first cross-piece along a horizontal direction transverse to the longitudinal axis of the first cross-piece, i.e. an attachment part of the first part of the first cross-piece. In particular, said attachment part extends in the direction of projecting from the first cross-piece more than the maximum width of the first cross-piece measured along a direction transverse to its longitudinal axis.

[0175] FIG. 19 shows yet another embodiment of a system designated 500″, which differs from system 500′ in that it comprises a device 501″ in which the second end 620b of the first cross member is hinged to the third column, i.e. to the (upper) top of the third column, about a vertical axis of rotation T4, and the first end 630a of the second cross member is hinged to the second column, i.e. to the (upper) top of the second column, about a vertical axis of rotation T5.

[0176] In such a case, the device may include at least a first locking mechanism (not shown) operable between a first position that permits rotation of the third column relative to the first cross member and a second position that locks relative rotation between the first cross member and the third column. The first locking mechanism may include an actuator (not shown) configured to rotate the third column about the rotation axis T4, i.e., to rotate the third column relative to the first cross member, and selectively lock the relative angular position between the third column and the first cross member.

[0177] The device may also include a second locking mechanism (not shown) operable between at least a first position that permits rotation of the third column relative to the first cross member and a second position that locks relative rotation between the second cross member and the second column. The second locking mechanism may include an actuator (not shown) configured to rotationally move the second column about the rotation axis T5, i.e., relative to the second cross member, and selectively lock the relative angular position between the second column and the second cross member.

[0178] In another embodiment not shown, the columns are connected to the cross members as in the embodiment systems 500, 500', but it is not excluded that the ground supporting wheels are hinged to the respective columns about a vertical axis of rotation.

[0179] The operation of the system 500, 500', 500'' according to the present invention is as follows. The equipment is transported in a transport configuration arranged above a platform that is pulled by a tractor that transports it to the location where it is to be used to handle the containers (see Figures 4 and 5).

[0180] Upon arrival at the destination, the equipment is brought from the transport configuration into an operational configuration that supports it during this transition, for example by placing it on a special stand such as stand 710, or by being lifted by a forklift or by a crane.

[0181] First, in the transition from the transport mode to the operation mode, the drive of the connecting device which rotates the second cross-member 630 about the vertical rotation axis T2 is operated to bring it from the second position to the first position. After that, the first column 555 can already be connected to the fifth wheel 530 of the tractor. If the column is telescoping as shown, the column and possibly the first cross member are also extended.

[0182] Also, as shown, the lifting device comprises arms 640, 645, which from the position seen in plan view in FIG. 6 are rotated, for example by the actuators provided, about their respective vertical hinge axes, so as to reach a first position of the connecting device, in which the arms are positioned parallel to a vertical centerline plane of the device whose longitudinal axes are parallel to each other and equidistant from the third and second columns and intersect with the first column.

[0183] When the apparatus is in the operational configuration and connected to the tractor, the apparatus is moved by the tractor to the container to be lifted and positioned so that the container is between the first column, the second column, and the third column.

[0184] In the illustrated embodiment, the container is also interposed, in plan view, between a first arm and a second arm that laterally sandwich the container. At this point, the container is grasped by the grippers of the lifting device and raised away from contact with the ground or the platform on which the container rests.

[0185] While the equipment holds the container up, the tractor moves the equipment to where the container is to be dropped off or lowered. For example, the telescoping first column allows the first cross member to be positioned at a height higher than the top of the tractor, so that the tractor can be oriented so that the second and third columns, and thus the lift equipment, are in front of the cockpit (as shown in Figure 3).

[0186] Once the equipment has completed its work, it can be returned to its transport configuration and stored at the work site or transported to another location (work site or storage site). In the illustrated system, the telescopic cross members allow the first and second cross members to be placed on a stand 710 that can support the first and second cross members from below while they move from a first position to a second position. If the column and first cross member are telescopic, as in the case shown, they are also placed in a position of minimal longitudinal extension.

[0187] The second arm 645 is rotated so as not to contact the first arm when the connecting device moves from the first position to the second position, and the first arm connected to the second column rotates together with the second arm about a vertical rotation axis T2. For example, if the second arm is not rotated about an axis T3 to keep it parallel to the first arm while the first arm rotates about the vertical rotation axis T2, its first end 645a will soon come into contact with the second arm.

[0188] In all embodiments of the device 201, 501, 501', 501'' described above, the device comprises at least one pair of columns. Within a pair of columns, columns 255, 275, 300, 555, 575, and 600 deploy along respective deployment directions (A). The deployment direction is vertical, i.e. along the vertical axis.

[0189] In the embodiment shown in this patent, the device 201, 501, 501', 501'' always comprises at least (and preferably) three columns: a first column 255, 555, a second column 275, 575 and a third column 300, 600. The three columns extend longitudinally along respective extension directions A.

[0190] As mentioned above, the device 201, 501, 501', 501" also comprises at least one cross member 320, 330, 620, 630. According to the invention, said cross member 320, 330, 620, 630 is configured to connect a number of columns of a (at least one) pair of columns of the crane.

[0191] The (at least one) cross member extends along a (respective) extension direction (B) transverse to the extension direction (A) of the crane column, e.g. horizontally. In all embodiments of the devices 201, 501, 501', 501" described above, at least one of the columns of the (at least one) pair of columns and at least one of the cross members (configured to connect a plurality of columns of the at least one pair of columns) is of the telescopic type.

[0192] Preferably, every telescoping column has at least one male portion 820, 260, 290, 300a, 560, 590 and one female portion 830, 265, 295, 300b, 595. More preferably, all the stretchable cross members also have at least one male portion 820, 320a, 330a, 620a and one female portion 830, 320b, 330b, 620b.

[0193] In this way, a single stage telescopic column is constructed, but it is not excluded that a double stage telescopic column or cross member can be obtained by adding a female section to a female section. In the case of columns, the male and female parts correspond respectively to the lower parts 260, 290, 300a, 560, 590 and upper parts 265, 295, 300b, 595 described above. In the case of cross members, the male parts correspond to the first ends 320a, 330a, 620a and the female parts correspond to the second ends 320b, 330b, 620b.

[0194] With particular reference to Figures 20 to 25, the male parts 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a and the female parts 830, 265, 295, 300b, 320b, 330b, 595, 620b are slidably attached so as to be selectively moved toward / away from each other along the respective deployment directions (A, B) of the columns or cross members.

[0195] The male portions 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a include a protrusion 900, i.e., an outwardly projecting appendage, or a recess 905. The projections 900 or recesses 905 extend longitudinally along the respective deployment directions (A, B) of the columns and / or cross members.

[0196] More precisely, said projection 900 extends longitudinally along the entire sliding stroke between the male part 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a and the female part 830, 265, 295, 300b, 320b, 330b, 595, 620b of the column and / or crosspiece.

[0197] Alternatively, the convex portion 900 or concave portion 905 of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a extends along the entire extension of the column or cross member along the respective deployment direction (A, B). Thus, the protrusions 900 or the recesses 905 extend in a direction perpendicular to the deployment direction (A, B). More precisely, the protrusions 900 or the recesses 905 extend by a non-zero amount along said direction.

[0198] More specifically, the male part 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a has a cross-section following a cutting plane perpendicular to the direction of deployment of the columns and / or cross members along its entire portion connected to the female part 830, 265, 295, 300b, 320b, 330b, 595, 620b and has a base part and a secondary part.

[0199] The base has a convex polygonal shape, for example a parallelogram shape. If the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a had a protrusion 900 rather than a recess 905, the secondary portion would project outward relative to the base. For example, the secondary portion protrudes a non-zero amount relative to the base portion.

[0200] On the other hand, if the male portion 820 comprises a recess 905, the secondary portion is provided as an inwardly facing depression relative to the base. The female portions 830, 265, 295, 300b, 320b, 330b, 595, 620b have portions 901, 906 which connect with the convex portions 900 or concave portions 905 of the male portions 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a, forming a prismatic connection portion defining a sliding axis parallel to the respective deployment directions (A, B) of the columns or cross members.

[0201] When the male part 260, 290, 300a, 320a, 330a, 560, 590, 620a has a convex part 900, the coupling portion 901 of the female part 265, 295, 300b, 320b, 330b, 595, 620b also has a convex part outside the convex part of the male part.

[0202] On the other hand, when the male part 820 has a recess 905 , the coupling portion 906 of the female part 830 also has a recess that fits into the recess 905 . The coupling portions 901, 906 extend longitudinally along the slide axis over the entire slide stroke between the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a and the female portion 830, 265, 295, 300b, 320b, 330b, 595, 620b.

[0203] Alternatively, the connecting portions 901, 906 extend along the entire extension of the male parts 830, 265, 295, 300b, 320b, 330b, 595, 620b of the columns or cross members along the respective deployment directions (A, B). The female portion 830, 265, 295, 300b, 320b, 330b, 595, 620b may also include a pair of reinforcing flanges 908 located on opposite sides of the connecting portions 901, 906 and disposed transversely to the direction of deployment (A, B) of the cross members.

[0204] The female portion 830, 265, 295, 300b, 320b, 330b, 595, 620b has a cross-section (taken along a cutting plane perpendicular to the respective directions of deployment (A, B) of the columns and / or cross members) along a connecting portion 901, 906 connecting to the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a, with an inner circumference surrounding the outer circumference of the (above mentioned) cross section of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a.

[0205] When the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a includes the protruding portion 900, the outer periphery includes a first portion 910 and an opposing second portion 915. The first portion 910 and the second portion 915 of the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a are straight and parallel to each other. They are also of equal length and have respective first longitudinal ends 910a, 915a and second longitudinal ends 910b, 915b.

[0206] The outer periphery of the male portion 260 , 290 , 300 a , 320 a , 330 a , 560 , 590 , 620 a then comprises a third portion 920 . The third portion 920 connects a first longitudinal end 910 a of the first portion 910 and a first longitudinal end 915 a of the second portion 915 . The third portion 920 is straight and thus perpendicular to the first portion 910 and the second portion 915 .

[0207] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises a fourth portion 925. The fourth portion 925 is straight and extends from the second longitudinal end 910b of the first portion 910 perpendicularly thereto (parallel to the third portion 920) in a direction approaching the second portion 915.

[0208] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises a fifth portion 930. The fifth portion 930 is straight and extends from the longitudinal end of the fourth portion 925 opposite the first portion 910, perpendicular to the fourth portion 925 (and parallel to the first portion 910 and the second portion 915), in a direction away from the third portion 920.

[0209] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises a sixth portion 935. The sixth portion 935 is linear and extends from an end of the fifth portion 930 opposite to the fourth portion 925 in the longitudinal direction. Additionally, the sixth portion 935 extends perpendicular to the fifth portion 930 (parallel to the third portion 920 and the fourth portion 935) and in a direction approaching the second portion 915.

[0210] In this embodiment, the sixth portion 935 is located outside the base of the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a. The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a includes a seventh portion 940. The seventh portion 940 extends from an end of the sixth portion 935 opposite to the fifth portion 930 in the longitudinal direction.

[0211] In addition, the seventh portion 940 extends perpendicular to the sixth portion 935 (and therefore parallel to the first portion 910, the second portion 915 and the fifth portion 930) and in a direction approaching the third portion 920 until it intersects with an imaginary line connecting the second longitudinal end 910b of the first portion 910 and the second longitudinal end 915b of the second portion 915.

[0212] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises an eighth portion 945. The eighth portion 945 is linear and extends from an end of the seventh portion 940 opposite to the sixth portion 935 in the longitudinal direction.

[0213] Also, the eighth portion 945 extends perpendicular to the seventh portion 940 (and therefore parallel to the third portion 920, the fourth portion 925 and the sixth portion 935) and connects the seventh portion 940 (its longitudinal end) to the second longitudinal end 915b of the second portion 915. The fifth, sixth and seventh portions form the protruding portion 900 of the male portion.

[0214] On the other hand, when the male portion 820 includes a recess 905 , the outer periphery includes a first portion 910 and an opposing second portion 915 . The first portion 910 and the second portion 915 of the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a are straight and parallel to each other. The first and second portions 910, 915 are also equal in length and have respective first longitudinal ends 910a, 915a and second longitudinal ends 910b, 915b.

[0215] The outer periphery of the male portion 260 , 290 , 300 a , 320 a , 330 a , 560 , 590 , 620 a then comprises a third portion 920 . The third portion 920 connects the first longitudinal ends 910 a , 915 a of the first portion 910 and the second longitudinal end 915 a of the second portion 915 . The third portion 920 is straight and thus perpendicular to the first portion 910 and the second portion 915 .

[0216] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises a fourth portion 925. The fourth portion 925 is linear and extends from the second longitudinal end 910b of the first portion 910 perpendicular to the first portion 910 (parallel to the third portion 920) in a direction approaching the second portion 915.

[0217] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises a fifth portion 931. The fifth portion 931 is straight and extends from the longitudinal end of the fourth portion 925 opposite the first portion 910, perpendicular to the fourth portion 925 (parallel to the first portion 910 and the second portion 915), in a direction approaching the third portion 920.

[0218] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a in turn comprises a sixth portion 936. The sixth portion 936 is linear and extends from an end of the fifth portion 931 opposite to the fourth portion 925 in the longitudinal direction. Additionally, the sixth portion 936 extends perpendicular to the fifth portion 931 (parallel to the third portion 920 and the fourth portion 925) and in a direction approaching the second portion 915.

[0219] In this embodiment, the sixth portion 936 is located internally relative to the base of the male portion 820 . The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a includes a seventh portion 941.

[0220] The seventh portion 941 extends from an end of the sixth portion 936 opposite to the fifth portion 931 in the longitudinal direction. The seventh portion 941 also extends perpendicular to the sixth portion 936 (and therefore parallel to the first portion 910, the second portion 915 and the fifth portion 931) in a direction away from the third portion 920 until it intersects with the imaginary line mentioned above.

[0221] The outer periphery of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a then comprises an eighth portion 945. The eighth portion 945 is linear and extends from an end of the seventh portion 941 opposite to the sixth portion 936 in the longitudinal direction.

[0222] Additionally, the eighth portion 945 extends perpendicular to the seventh portions 940, 941 (and thus parallel to the third portion 920, the fourth portion 925 and the sixth portion 936) and connects the seventh portion 941 (its longitudinal end) to the second longitudinal end 915b of the second portion 915. The fifth, sixth and seventh portions form the male recess 905 .

[0223] The device 201, 501, 501', 501" of the present invention further comprises linear actuators 270, 296, 315, 570, 596 configured to move the male parts 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a and the female parts 830, 265, 295, 300b, 320b, 330b, 595, 620b of the (at least one) column and / or cross member of the device towards / away from each other along the respective deployment directions (A, B).

[0224] The linear actuators 270, 296, 315, 570, 596, ie, extend longitudinally along their respective deployment directions (A, B). For this purpose, the linear actuator 270, 296, 315, 570, 596 comprises a cylinder making available a first axial end of the actuator attached to the male part 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a.

[0225] It also comprises a piston slidably mounted within the cylinder and a rod slidably integrated with the cylinder and having a free end projecting externally from the cylinder and making available a second axial end of an actuator attached to the female portion 830, 265, 295, 300b, 320b, 330b, 595, 620b of the telescopic column or cross member of the device.

[0226] The linear actuator 270, 296, 315, 570, 596 of the device is at least partially received in the protrusion 900 or recess 905 of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a. More precisely, the convex portion 900 or the concave portion 905 of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a extends transversely to the deployment direction (A, B) of the column or cross member by a sufficient amount such that the linear actuator 270, 296, 315, 570, 596 can be at least partially accommodated in the convex portion 900 or the concave portion 905 of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a.

[0227] More precisely, the convex portion 900 of the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a extends along the above-mentioned direction in such a way that a cross-section of the linear actuator 270, 296, 315, 570, 596 taken along a cutting plane perpendicular to each deployment direction (A, B) is at least partially received within a portion of the cross-section of the male portion 260, 290, 300a, 320a, 330a, 560, 590, 620a located between the above-mentioned fifth portion 930, sixth portion 935, seventh portion 940, and an imaginary line connecting the longitudinal end of the fourth portion 925 from which the fifth portion 930 extends and the longitudinal end of the seventh portion 940 from which the eighth portion 945 extends.

[0228] Furthermore, the recess 905 of the male part 820 extends along the above-mentioned directions in such a way that a cross-section of the linear actuator 270, 296, 315, 570, 596 taken along a cutting plane perpendicular to each deployment direction (A, B) is at least partially contained within a portion of the cross-section of the male part 820 provided between the above-mentioned fifth part 931, the sixth part 936, the seventh part 941, and an imaginary line connecting the longitudinal end of the fourth part 925 from which the fifth part 931 extends, and the longitudinal end of the seventh part 941 from which the eighth part 945 extends.

[0229] Preferably, the linear actuator 270, 296, 315, 570, 596 is fully received in the protrusion 900 or recess 905 of the male portion 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a. Therefore, in this case, the cross-section of the actuator 270, 296, 315, 570, 596 relative to the cutting plane is completely contained within the above-mentioned portions of the cross-sections of the male parts 820, 260, 290, 300a, 320a, 330a, 560, 590, 620a located between the fifth part 930, 931, the sixth part 935, 936, the seventh part 940, 941 and the above-mentioned imaginary line.

[0230] In addition to the inside of the column as in the embodiment shown up to Fig. 25, there is another structure for positioning the idler wheel, which is applicable to all the embodiments shown in Figs. 1 to 25. In particular, referring to Figs. 26 to 29, this different structure provides that the first idler wheel 580 and the second idler wheel 605 are rotatably attached to the male parts 560, 590 of the telescopic second column 575 and the third column 600, respectively.

[0231] Preferably, furthermore, each of the idlers is mounted on the male portions 560, 590 such that it is completely external (in plan view) to and adjacent to its respective column. More precisely, as seen in FIG. 28, each idler wheel 580, 605 is mounted so as to be positioned side by side with its respective column in a plan view. More precisely, each idler wheel 580, 605 is arranged alongside its respective column, outside with respect to the (lateral) footprint of the respective column, ie without protruding laterally of the column (and of the device).

[0232] Preferably, each idler wheel 580, 605 is then attached to the male part 560, 590 of the respective column such that the upper end 950 of the idler wheel 580, 605 itself is located at a vertical height equal to or (more preferably) higher than the vertical height of the lower end 955 of the male part 560, 590.

[0233] Preferably, furthermore, the lower end 955 of the male portion 560, 590 of each column is located at a height (strictly speaking) higher than the lower end 960 of the idler wheel 580, 605, the lower end 960 of the idler wheel 580, 605 being adapted to contact the ground. Therefore, the lower end 955 of the male portion 560, 590 of the column is preferably located at a vertical height that is disposed between the vertical height of the upper end 950 of the idler wheel 580, 605 and the vertical height of the lower end 960 of the idler wheel 580, 605 (i.e., the ground).

[0234] More specifically, each idler wheel 580,605 is rotatably mounted to a male portion 560,590 of a respective column about a horizontal axis of rotation C. According to a preferred and advantageous embodiment, the axis of rotation C of the idler 580,605 is located at the lower end of the male part 560,590.

[0235] Preferably, therefore, each idler wheel 580, 605 is adapted to be mounted on the male part 560, 590 of the respective column in such a way that the axis of rotation C of the idler wheel 580, 605 is itself located at the lower end of the male part 560, 590, in accordance with the above-mentioned features. More preferably, the wheels 580,605 are adapted to be mounted on the male part 560,590 of each column such that their rotation axis C is located at a vertical height equal to or greater than the vertical height of the lower end 955 of the male part 560,590.

[0236] In this manner, the lower end 955 of the male portion 560, 590 of the column is preferably located at a vertical height that is disposed between the vertical height of the rotation axis C of the idler wheel 580, 605 and the vertical height of the lower end 960 of the wheel 580, 605 (i.e. the ground). Thus, the devices 501, 501', 501'' are configured to contact the ground exclusively via the wheels 580, 605 (lower ends 960).

[0237] More specifically, the axis of rotation C may, for example, be completely external to the column, i.e., it does not intersect with the column. That is, for example, each axis of rotation C is perpendicular to the plane in which the vertical directions of extension A, B of the column lie.

[0238] Further, the female portion 595 of each column is preferably movable between a first position (as seen in FIG. 26 ) in which its lower end 965 is located at a vertical height greater than the vertical height of the upper ends 950 of the wheels, and a second position in which the lower ends 965 of the female portion 595 are located at a vertical height substantially equal to or less than the vertical height of the upper ends 950 of the wheels 580, 605.

[0239] Preferably, as seen in FIG. 27, in the second position, the lower end 965 of the female portion 595 is located at a vertical height that is located between the vertical height of the upper end 950 of the wheels 580, 605 and the vertical height of the rotation axis C of the wheels 580, 605. More preferably, in the second position, the lower end 965 is located at a vertical height that is located between the vertical height of the rotation axis C of the wheels 580,605 and the vertical height of the lower end 960 of the wheels 580,605 (ie the ground).

[0240] Each wheel 580, 605 is advantageously attached to a respective column by at least one connecting member 970, for example a flange. Each wheel 580,605 is preferably connected to a respective column by a pair of connecting members 970, such as two flanges, which are connected to the respective wheel 580,605 at axially opposite ends of the respective wheel 580,605.

[0241] Each connecting member 970 preferably includes a first end 975 adapted to be fixed, without residual degrees of freedom, to the male portion 560, 590 of the respective column. and preferably includes a second end 980 adapted to rotatably mount a wheel 580, 605 about its axis of rotation C.

[0242] In some particularly advantageous embodiments of the invention, each outer idler 580, 605 may comprise a pair of twin idlers. Instead of the embodiment described above in which the actuator comprises a rope 355, 375, 655, 675 partially wrapped around a respective idler wheel 360, 380, 660, 680 (hinged at one end of an arm distal from the column) and moved by a respective (e.g. linear) actuator 365, 385, 665, 695, a different embodiment of the actuator of the gripper can be provided in which there is no idler wheel, only an actuator 985, a rope (or chain) and the gripper. This embodiment of the actuator is applicable to all described embodiments of the lift device, i.e. the lift device.

[0243] The actuator may comprise a single arm 640, 645 as illustrated in the embodiment of Figures 10-27, or a pair of arms 340, 345 hinged to each column as illustrated in Figures 1-9 and 29. In particular, the actuation device comprises four actuators, each adapted to move a respective gripper, and each actuator is attached to a respective arm 340, 345 of the actuation device.

[0244] Each actuator 985 is, for example, of the linear type and is preferably adapted to be hinged about at least one axis of rotation D (horizontal) at one end of a respective arm distal from the respective column. More precisely, the actuator is adapted to be hinged to the end of the arm opposite the end at which the arm is hinged to the respective column.

[0245] Preferably, the actuator 985 may comprise a first part 990 adapted to be hinged (at least about an axis of rotation) at its first longitudinal end to each arm (at its distal end from the column). Alternatively, the first part may be connected by a ball joint. Preferably, the hinge or ball joint is the only degree of freedom by which the entire actuator is connected to the respective arm.

[0246] The actuator 985 may further comprise a second portion 995 movably and slidably mounted (about a linear slide axis) to the first portion 990 . The second portion 995 is attached to the first portion 990, for example, preferably so as to slide at least partially within the first portion 990. Preferably, it is also at least partially attached to the first portion 990 so as to emerge from its second longitudinal end (hinged to the arm) opposite the first end.

[0247] The actuator may thus be, for example, a double-acting hydraulic cylinder having a rod passing through only one axial end of the cylinder. The first portion 990 of the actuator 985 may be (and preferably is) for example a cylinder of a hydraulic cylinder, and the second portion 995 may be (and preferably is) for example a rod of a hydraulic cylinder.

[0248] Such a rod is therefore preferably adapted to be slidably mounted to a first portion 990 of the actuator 985, i.e. preferably a hydraulic cylinder, so as to slide at least partially therewithin. The second portion 995 is also preferably attached to an inextensible rope at its free longitudinal end distal from the first end of the first portion 990 . The rope is also hingedly attached to a gripping body, such as a hook.

[0249] In another advantageous embodiment of the invention, the second portion of the actuator 985 can be attached to a ring chain rather than an inextensible rope. The longitudinal length of the actuator is greater than the length of the rope or chain when stretched, in particular at least twice as great as the length of the rope or chain when stretched, in this way the flexible member, i.e. the rope or chain, has a small length, thus reducing vibrations of the container during transportation.

[0250] This actuation device, shown in Figure 29, makes it possible to perform the first part of the lifting or lowering of the container to be lifted by moving the second part of each actuator towards the arm to which it is hinged, after which the remaining work (raising or lowering) is performed by the telescoping column.

[0251] The actuator 985 is therefore designed to change the position of the non-stretchable rope and gripper depending on the size of the container 205 being lifted. This change in position is caused by the movement of the second part 995 of the actuator 985 towards / away from its first part 990.

[0252] It should be noted that the actuator 985 is exclusively designed only to move the rope (or chain) and respective grippers (to move the second part 995 towards / away from the first part 990) depending on the size of the container 205, and does not play any role in lifting the container 205 itself off the surface it rests on (this role is entirely left to the movement of the female part of each column relative to its male part along the deployment direction of the column itself).

[0253] The invention thus conceived is susceptible to several modifications and variations, all of which are within the scope of the inventive concept. Moreover, all the details may be replaced with other technically equivalent elements. In fact, the materials used, the incidental shapes and sizes may be any as required without departing from the scope of protection of the following claims.

Claims

1. A variable footprint handling device (501, 501', 501'') for handling a container (105), comprising: a first column (555) adapted to be attached to the fifth wheel (530) of the tractor (510); a second column (575) on which a first floating ground support wheel (580) is floatingly mounted; a third column (600) on which a second floating ground support wheel (605) is freely mounted; a lifting device (640, 645, 650, 655, 660, 665, 670, 675, 680, 6285) for lifting said container (105); a connecting device (620, 630, 635) configured to connect the second column (575) and the third column (600) to the first column (555) and to move at least one of the first column (555), the second column (575) and the third column (600) between a first position and a second position relative to another of the first column (555), the second column (575) and the third column (600), the footprint of the handling device in the second position being smaller in plan than the footprint of the handling device in the first position, The third column (600) and the second column (575) are telescopic, and the first floating ground support wheel (580) and the second floating ground support wheel (605) of the handling device are rotatably attached to the respective male portions (590) of the telescopic second column (575) and the third column (600) and are positioned adjacent to the completely outer positions of the second column (575) and the third column (600), respectively (501, 501', 501'').

2. 2. The apparatus (501, 501', 501") of claim 1, wherein the female portion (595) of each column is movable between a first position in which its lower end (965) is located at a vertical height greater than the vertical height of the upper end (950) of the wheel (580, 605), and a second position in which the lower end (965) of the female portion (595) is located at a vertical height less than the vertical height of the upper end (950) of the wheel (580, 605).

3. 2. The apparatus (501, 501', 501") of claim 1, wherein each of the wheels (580, 605) is attached to the male portion (590) of each of the columns such that an upper end (950) of the wheel (580, 605) is located at a vertical height equal to or greater than the vertical height of a lower end (955) of the male portion (590).

4. 3. An apparatus (501, 501', 501") according to claim 2, wherein each of said wheels (580, 605) is rotatably mounted on said male portion (590) of each of said columns about a horizontal axis of rotation (C) at the lower end of said male portion.

5. 5. The device (501, 501', 501") according to claim 4, wherein each of said wheels (580, 605) is rotatably mounted on said male portion (590) of each of said columns such that said axis of rotation (C) is located at a vertical height equal to or greater than the vertical height of the lower end (955) of said male portion (590).

6. 2. The apparatus (501, 501', 501") of claim 1, wherein the connection device is configured to move one of the second column (575) and the third column (600) between the first position where the distance of the third column (600) from the second column (575) is maximum, and the second position where the distance is minimum.

7. The connection device, a first cross-piece (620) having a first end (620a) connected to said first column (555) and a second end (620b) connected to said third column (675); a second cross-piece (630) with a first end (630a) rigidly fixed to said second column (575) and a second end (630b) hinged about a vertical axis of rotation (T2) at a point between said first column (555) and said first cross-piece (620); An actuator (635) configured to cause a rotational movement of said second column (575) about said vertical axis of rotation (T2).

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