Method for establishing towing vehicles, combinations, and media connections

Abstract

The present invention provides a towing vehicle, a combination, and a method for establishing media connection. [Solution] The towing vehicle is equipped with multiple plug connectors and handling devices for transmitting the medium, and the plug connectors are connectable to sockets in the towed vehicle.

Description

Technical Field

[0001] The present invention relates to a combination of a towing vehicle, a plurality of plugs and a handling device, and a method for establishing a media connection between a towing vehicle and a towed vehicle.

Background Art

[0002] A towing vehicle is used in a combination for moving a towed vehicle. Examples of towed vehicles include semi-trailers, trailers and swap bodies.

[0003] A tractor and a semi-trailer constitute a combination consisting of a tractor and a trailer. In this combination, the mechanical coupling system includes a fifth-wheel coupling device arranged on the tractor and a kingpin arranged on the bottom side of the semi-trailer. The kingpin can engage with and be locked to the fifth wheel. The fifth-wheel plate is usually designed to have a wedge-shaped entry opening facing in the traveling direction for connecting the semi-trailer. The entry opening has a free installation space. The free installation space has at least one installation space depth that allows the kingpin to be inserted into and removed from the fifth wheel. During connection, the semi-trailer slides on the surface of the fifth-wheel plate with respect to vertical alignment. Lateral guidance is ensured by the kingpin. The kingpin is guided within the entry opening until it reaches the locked position during connection. A method for connecting a tractor unit and a semi-trailer is known from Korean Patent Application Publication No. 2020-00060650.

[0004] Similarly, an automobile and a trailer constitute a coupled vehicle. In a coupled vehicle, the mechanical coupling system includes a trailer coupling or a pin coupling having a coupling jaw assigned to the automobile and a drawbar having a towing ring assigned to the trailer.

[0005] Such combinations are extremely important for the transport of goods. The towing vehicle and the towed vehicle do not form a fixed combination; rather, the towing vehicle is typically connected to different towed vehicles of the same type as needed. After the journey is complete, the towing vehicle usually parks the towed vehicles. While the towed vehicles are being loaded or unloaded, the towing vehicle is used to move other towed vehicles. Therefore, the towing vehicle and towed vehicles are connected and disconnected periodically. As a result, the number of towed vehicles is generally greater than the number of towing vehicles. To enable parking of semi-trailers, semi-trailers are usually equipped with landing gear that provides support when the tractor is not coupled to the semi-trailer.

[0006] The system is used in controlled environments such as container terminals and in public environments such as roads. Conditions in controlled environments are easier to control. This means there are fewer disruptive factors such as road users not part of the goods transport system, rough terrain, and unexpected road closures. However, reliability requirements in controlled environments are significantly higher.

[0007] Manually coupling a towing vehicle to a semi-trailer involves multiple manual connections and is a time-consuming, multi-step process. First, the towing vehicle reverses towards the trailer until the fifth wheel coupling engages with the trailer's kingpin. An audible click indicates that the mechanical connection has been established. Next, a visual inspection confirms that the fifth wheel lock is properly engaged.

[0008] In addition to mechanical connections, towing vehicles and towed vehicles are connected to each other, particularly for the transmission of various media such as compressed air and electrical energy. In recent years, data connections between towing and towed vehicles have also become increasingly common. For the transmission of media, vehicles are often equipped with plugs and sockets that are connected to their respective media lines and to each other.

[0009] Manual media connection processes are time-consuming and prone to errors. In the case of pneumatic connections, for example, it is necessary to ensure that the connection points are sealed to avoid loss of compressed air. Electrical connections between the towing vehicle and trailer are typically made via individual 7-pin or 15-pin plugs for lighting, and, if necessary, via additional plug connections for control units such as ABS or EBS. It is necessary to verify that each plug is connected and properly seated. This work requires a person to enter between the vehicles and manually handle the cables. Entering between vehicles carries the risk of injury in addition to the area being dirty. If the trailer has additional systems such as hydraulic systems or cameras, the corresponding data cables must also be connected manually.

[0010] After all connections are made, a functional test is conducted. This functional test examines the trailer's lighting, brakes, and any additional systems such as hydraulics or telematics. However, this process has several drawbacks. It is highly labor-intensive because it requires individual connections that must be verified, which is particularly problematic in adverse weather conditions or when time is limited. The numerous individual connections increase the risk of errors such as forgetting to connect or incorrect connections. Such errors can cause malfunctions in the lighting or brakes, for example, resulting in a risk to road safety.

[0011] Therefore, connecting and disconnecting transmission cables is often done manually and is a time-consuming task. Various approaches have been taken to mitigate or avoid the above problem.

[0012] One approach was to integrate different connections into a single plug. This reduces the number of plug-in operations. Using integrated plug connections between towing vehicles and semi-trailers offers advantages in terms of both functionality and efficiency. By integrating different types of connections into a single plug, space and materials can be saved, and the effort required for manufacturing and maintenance can be reduced. Integrated plug systems greatly simplify handling, especially in the logistics sector where quick and reliable connection is crucial. Since only a single plug is used for all necessary connections, the risk of misconnection or forgetting to connect is significantly reduced. Furthermore, integrating into a single housing ensures better protection against external influences such as dirt, moisture, and mechanical stress. Overall, integrating different connections into a single plug ensures greater reliability, simplified handling, and ultimately, operational economic benefits.

[0013] Furthermore, attempts have been made to automate vehicle connections for the transmission of media such as compressed air, electrical energy, and data. Automated systems using multiple media connections and integrated plugs are known from European Patent Application Publication 2013040, International Publication 2022 / 150720, and U.S. Patent No. 11,560,188. However, the above-mentioned prior art systems are susceptible to environmental influences such as rain or dirt. Moreover, it is questionable whether the connection shown in Figure 3c of U.S. Patent No. 11,560,188 is flexible enough to allow relative movement of the trailer to the towing vehicle, on the one hand, and rigid enough to automatically establish the plug connection, on the other hand. [Overview of the project] [Problems that the invention aims to solve]

[0014] The demand for media transmission between towing and towed vehicles is expected to continue increasing. With the growing number of autonomous vehicle combinations and the increased use of regenerative systems and electric drives, data and electrical energy must always be transmitted quickly, reliably, and securely. Existing systems are reaching their limits in this regard.

[0015] Therefore, the present invention aims to ensure reliable transmission of a medium between a towing vehicle and a towed vehicle, even when transmission performance requirements are high. [Means for solving the problem]

[0016] The object of this application is solved by the towing vehicle described in claim 1.

[0017] The towing vehicle comprises a chassis and a superstructure. The towing vehicle is equipped with multiple plug connectors for transmitting one medium between the towing vehicle and the towed vehicle, and in particular for precisely transmitting one or more mediums simultaneously between the towing vehicle and the towed vehicle. The multiple plug connectors are combined with multiple independent plugs that can be connected to sockets in the towed vehicle. The number of plugs is less than the number of plug connectors. The towing vehicle is equipped with a handling device configured to handle the plugs individually.

[0018] In other words, there are at least two plugs and at least three plug connectors. Therefore, at least one plug has at least two plug connectors.

[0019] Each plug connector is connected to a conductor for the medium. The sockets are also provided with plug connectors. Thus, the plug connectors on each socket are configured complementary to the plug connectors of at least one plug.

[0020] The inventors recognized that it is not always possible or appropriate to integrate all connection types into a single plug. Each additional connection increases the volume and weight of the plug, thus increasing the demands on handling equipment. Furthermore, the various media being transmitted can negatively impact each other. This is particularly evident when high-voltage lines and data lines are combined. High-voltage lines can interfere with data lines, causing data loss and permanently disrupting data transmission. When these media are transmitted through a common plug, strong shielding is required, further increasing the volume and size of the plug.

[0021] Unlike conventional systems, the present invention provides at least two plugs. Each plug is plugged in independently of the other, and at least one plug is used to transmit multiple media. Plug connectors for media that would negatively affect each other may be provided on different plugs. The maximum weight that the handling device must transport is reduced. Consequently, the handling device can be designed more delicately, saving space and cost.

[0022] The chassis includes, in particular, the vehicle frame, wheels, and drive system. The superstructure includes, in particular, the fifth wheel coupling. The superstructure may include a driver's cab. However, in the case of an autonomous towing vehicle, the driver's cab may be omitted.

[0023] The towing vehicle preferably includes a control unit for controlling the handling device. The control is preferably semi-automatic or fully automatic.

[0024] A single plug connector may contain both poles of an electrical connection.

[0025] Handling means, in particular, at least one of the following actions of the plug: lifting, moving, rotating, positioning, inserting, and pulling out.

[0026] As described above, the handling device is configured to handle plugs individually. For this purpose, the handling device and the plug preferably comprise complementary gripping means. More specifically, the handling device and the plug each comprise gripping means. The gripping means of the plug are configured to be individually complementary to the gripping means of the handling device. By means of the gripping means, the handling device can be temporarily connected to one plug at a time. Complementary means that the gripping means of the handling device and the gripping means of the plug can be temporarily connected to each other so that the handling device can handle the plug. The gripping means are separable from each other, i.e., they can be separated from each other during normal use, particularly without human intervention.

[0027] The gripping means are defined by the contour or partial contour of the plug, particularly the housing of the plug. This simplifies the structure of the plug. If all plugs have the same contour or partial contour, these plugs can be handled by the same complementary handling device.

[0028] The plug preferably comprises the same holding means. In this case, the handling device only needs to comprise a single holding means that is complementary to the holding means having the same configuration in the plug. This simplifies the design of the handling device.

[0029] The gripping means are, for example, mechanical and / or magnetic gripping means. The gripping means enable a temporary connection, i.e., the connection and release of the handling device and the plug. The mechanical gripping means form a temporary connection between the handling device and the plug by shape engagement and / or force engagement. The holding means may include a latch element and / or an actuator. The magnetic holding means may include a permanent magnet and / or an electromagnet. The holding means includes, for example, a holder and a gripper. The gripper may grip the holder. The gripper may be configured as a vacuum gripper or a magnetic gripper.

[0030] The plugs preferably have an identification code, particularly a unique identification code. The identification code is preferably different for each plug (a unique identification code). This makes it easy to determine which plug it is and which plug connector it has. A sensor may be provided for this purpose. The sensor may be provided in particular as a component of a handling device. The sensor detects the identification code. The control unit then determines, for example, based on a database, which plug connector the plug containing the detected identification code has. The control unit is preferably part of a towing vehicle. The identification code is preferably provided as part of a gripping means. However, for example, the identification code may be disposed on or inside the housing of the plug. The identification code is formed, for example, by an RFID chip, a QR code (registered trademark), a mechanical identification structure and / or a magnetic identification structure. The mechanical identification structure may be formed, for example, by protrusions of different shapes. Protrusions of different shapes can be detected optically or mechanically by a sensor. If each plug has the same partial contour as a retaining means, other parts of the plug contour, particularly the housing of the plug connector, may function as an identification code.

[0031] The media transmitted by the plug connector are, in particular, compressed air, hydraulic fluid, data, and / or electrical energy. The electrical energy is, in particular, energy from the vehicle power supply (12VDC and / or 24VDC and / or 48VDC) and / or high-voltage energy (>230VAC or 230VDC, particularly 300V or 500VDC). Even if a small amount of electrical energy is transmitted during data transmission, data transmission is not understood as the transmission of electrical energy. As mentioned above, the transmission of high-voltage energy and data transmission are preferably performed by two different plugs.

[0032] Each plug connector is configured to transmit either one medium between the towing vehicle and the towed vehicle, or multiple mediums between the towing vehicle and the towed vehicle. In the latter case, data transmission is carried out in combination with compressed air or electrical energy, in particular. Therefore, the data is superimposed during the transmission of compressed air or electrical energy. By transmitting one medium per plug connector, the mediums are clearly separated. Transmitting multiple mediums through a single plug connector reduces the number of plug connectors and, consequently, the size of the associated plugs. This allows for a more refined design of the handling equipment.

[0033] It is advantageous that the plug connectors of the plugs are insulated from each other.

[0034] The configuration of plug connectors for each plug can be implemented in various ways depending on the application. Preferably, at least one plug has only a plug connector for transmitting high voltage. Advantageously, plugs are designed to differ from each other with respect to plug connectors and / or the medium being transmitted. For example, to prevent high-voltage lines and data lines from interfering with each other, a first plug may be connected to a high-voltage line and have a corresponding plug connector, and a second plug may be connected to a data line and have a corresponding plug connector. If compressed air transmission is also possible, the first or second plug may further have a plug connector for compressed air and be connected to a compressed air line. Because high-voltage lines are relatively heavy, it is advantageous for at least one plug to have only a plug connector for transmitting high voltage and be connected to a high-voltage line. It is advantageous to design at least one plug to transmit multiple different media without losing the benefit of integrating multiple plug connectors into fewer plugs.

[0035] A plug connector is, in particular, an element that can be connected to another plug connector by a plug operation, and more specifically, an element that can be connected by mechanical and / or magnetic connection. It is not necessarily required that there be direct contact between the components directly involved in the transmission of each medium. For example, the transmitter and receiver of a contactless communication system may be arranged in a plug connector for data connection. An example of this is disclosed in International Publication No. 2020 / 016420. Even in this case, there are two plug connectors.

[0036] Within the scope of the present invention, it is possible to provide multiple plugs for transmitting at least a portion of the same medium in different combinations. In this way, the system according to the present invention can be adapted to or configured for different towed vehicles. For example, it is possible to provide three plugs. Of the three plugs, the first plug is configured for high voltage transmission, the second plug is configured for compressed air and low voltage (onboard power supply) transmission, and the third plug is configured for compressed air, low voltage, and data transmission. Depending on the type of towed vehicle connected to the towing vehicle, only the second plug is used (for trailers without high voltage and data connections), only the third plug is used (for trailers without high voltage but with data connections), and the first and third plugs or another combination is used (for trailers with high voltage and data connections).

[0037] The handling device preferably operates automatically, and especially autonomously. The handling device preferably comprises an articulated robotic arm. This greatly simplifies the handling of plugs, particularly the holding of different plugs. The gripping means of the handling device is preferably located at one end of the handling device, particularly at the end of the articulated robotic arm. This maximizes the range of motion of the handling device for handling plugs.

[0038] The towing vehicle may, advantageously, be provided with a support that can temporarily house a plug. The plug may be housed in the support when not in use, i.e., when not connected to the towed vehicle or handled by the handling device. In this way, the plug is stored in place and the handling device can easily locate it. The support may be located above the driver's seat.

[0039] The problems of the present invention can also be solved by a combination including the aforementioned towing vehicle and towed vehicle. The towed vehicle is equipped with a socket to which a plug is connected. The socket is equipped with a plug connector that is connected to the media line of the towed vehicle.

[0040] When a medium is transferred from a towing vehicle to a towed vehicle, the medium is transferred from the medium line of the towing vehicle, via the corresponding plug connector of the towing vehicle, and then via the corresponding plug connector of the towed vehicle to the medium line of the towed vehicle. When a medium is transferred from a towed vehicle to a towing vehicle, the medium is transferred from the medium line of the towed vehicle, via the corresponding plug connector of the towed vehicle, and then via the corresponding plug connector of the towing vehicle to the medium line of the towing vehicle. This allows, for example, electrical energy to be transferred to an energy storage device in the towing vehicle during energy regeneration by the electric drive shaft of the towed vehicle. In the case of signal transmission, bidirectional transmission is possible.

[0041] The towed vehicle is preferably a semi-trailer, trailer, or swap body.

[0042] The problems of the present invention can also be solved by the combination of the aforementioned plugs and handling devices. This combination can be installed on the towing vehicle and / or the towed vehicle. Installation on the towing vehicle is preferred because a vehicle fleet typically consists of fewer towing vehicles than towed vehicles, and therefore the cost is lower.

[0043] The problem of the present invention can also be solved by the method of establishing a medium connection between the towing vehicle and the towed vehicle as described above. In this method, multiple plugs are sequentially connected to the sockets of the towed vehicle by a handling device. Since the plugs are handled individually by the handling device, the plugs are sequentially connected to the towed vehicle.

[0044] The plug connection process begins with the handling device lifting the plug. During this process, the gripping means of the handling device and the gripping means of the plug are temporarily connected. The connection process ends when the plug is connected to the socket of the towed vehicle and the handling device is separated from the plug. At this point, the holding means are separated from each other.

[0045] The handling device is also configured to perform the reverse process. Disconnecting the connection between the towing vehicle and the towed vehicle begins with temporarily connecting the plug's retaining means to the handling device's retaining means. The plug is then withdrawn from the socket and positioned in a predetermined location, for example, on a support. Once the plug is positioned on the support, the plug and the handling device or their retaining means are separated from each other, thereby completing the process.

[0046] The connection and disconnection processes for media transmission may be performed before, during, or after the respective mechanical processes.

[0047] To meet the requirements of an autonomous driving combination, data exchange between the towing vehicle and the towed vehicle is crucial. In an advanced and advantageous configuration, the plug initially connected to the towed vehicle is a plug that enables data transmission between the towing vehicle and the towed vehicle. This plug may be a pure data plug or an integrated plug with a data connector in addition to other media. In this way, data exchange between the towing vehicle and the towed vehicle can occur at an early stage. This allows, for example, an autonomously driving towing vehicle to receive information from the towed vehicle, particularly regarding its superstructure and condition. Advantageously, after data transmission becomes possible, the plug to be connected to the towed vehicle and the order in which the plugs are connected are determined according to the data transmitted from the towed vehicle to the towing vehicle. Once the data connection is established, the towing vehicle then determines what additional connections are needed and whether there is a preferred order for connecting them. Since not all information needs to be available in advance, the above procedure facilitates the connection process between the towing vehicle and the towed vehicle.

[0048] After data transmission is enabled, it is advantageous to disable individual or all electrical energy consuming devices through data transmission, and then connect a plug to the towed vehicle, particularly with respect to the electrical energy consuming devices, to enable the transmission of electrical energy between the towing and towed vehicles. When connecting electrical plug connectors, if the consuming devices are already operating, voltage spikes, or in some cases voltage arcs and sparks, may occur. Voltage spikes should be avoided as they can damage the electrical system. If multiple consuming devices are operating, multiple voltage spikes may be added together. Avoiding voltage arcs and sparks is even more important, especially when transporting hazardous materials, as they can damage the vehicle or cargo and pose a serious risk. Disabling the consuming devices before connection can avoid voltage spikes, voltage arcs, and sparks. The above procedure is particularly advantageous when connecting high-voltage cables.

[0049] In some embodiments, the system according to the present invention also makes it possible not to establish all the connections originally intended for a towing vehicle-to-towed vehicle combination between the towing vehicle and a specific towed vehicle. For example, for a shunting operation, only some of the possible connections may be established. This shortens the connection process and saves time. For example, high-voltage transmission may be omitted because, for instance, the transmission of electrical energy by regeneration is not necessarily required during a shunting operation. As another example, data lines may be omitted because data exchange between the towing vehicle and the towed vehicle is not required for a shunting operation.

[0050] The present invention will be described illustratively with reference to the drawings. The following figures are shown in the drawings. [Brief explanation of the drawing]

[0051] [Figure 1] Figure 1 is a schematic diagram of the association. [Figure 2] Figure 2 shows a detail A of Figure 1. [Figure 3] Figure 3 shows a detail of B in Figure 1. [Figure 4] Figure 4 shows a detail of C in Figure 1. [Modes for carrying out the invention]

[0052] The assembly 10 shown in Figure 1 comprises a tractor as the towing vehicle 20 and a semi-trailer as the towed vehicle 30. Figure 1 shows the assembly 10 during the mechanical coupling process between the towing vehicle 20 and the semi-trailer.

[0053] The towing vehicle 20 comprises a chassis and a superstructure. The chassis includes wheels 22 and a drive system (not shown). A driver's cab 24 is located at the front of the towing vehicle 20. A fifth wheel 26 is located at the rear of the towing vehicle 20.

[0054] The towed vehicle 30 comprises a chassis 32 on which wheels 34 are mounted. A box 36 for containing the goods to be transported is mounted on the chassis 32. The semi-trailer is equipped with a kingpin 38 in the front region. To support the semi-trailer when it is not connected to the towing vehicle 20, the semi-trailer is equipped with retractable and retractable landing gear 39.

[0055] In the state shown in Figure 1, the towing vehicle 20 has already partially entered under the semi-trailer. During the mechanical coupling process, the towing vehicle 20 moves further backward until the kingpin 38 can be inserted into the fifth wheel 26. The landing gear 39 is extended because the towing vehicle 20 does not fully support the semi-trailer.

[0056] A retaining panel 28 is provided behind the driver's seat 24. The towing vehicle 20 is equipped with multiple plugs 42 that can be connected to a socket 46 in the trailer.

[0057] The towing vehicle 20 further includes a handling device 60 configured as a multi-jointed arm robot. In this embodiment, the handling device 60 is positioned between the driver's seat 24 and the fifth wheel 26. The handling device 60 comprises a robot arm 62 and a gripper 64. The gripper 64 is positioned at the front end of the robot arm 62 (see Figure 3).

[0058] Each plug 42 is provided with a base body. The same holder 48 is attached to the base body. The holder 48 and the gripper 64 are configured to be complementary to each other. The gripper 64 can grip at most one holder 48 at any given time, and therefore handles at most one plug 42.

[0059] One plug 42 has three conductors connected to it. The three conductors are a data conductor 52, an air conductor 56, and a low-voltage conductor 58. The plug 42 has four plug connectors 44. Each plug connector 44 is connected to one of the conductors, enabling the transmission of the corresponding medium. Another plug 42 has only a high-voltage conductor 54 and one corresponding plug connector 44. Each conductor is configured as a helical conductor.

[0060] Each plug 42 is equipped with an RFID chip 82 having an identification code. The RFID chip 82 makes it possible to identify each plug 42 from one another.

[0061] The retaining panel 28 is merely an example of a device for temporarily storing the plug 42. The retaining panel 28 does not have a connection for media transmission.

[0062] The gripper 64 comprises two halves (see Figure 3). The two halves are rotatably configured and capable of gripping the holder 48. When the gripper 64 grips the holder 48, the gripper 64 and the holder 48 are temporarily connected to each other as a gripping means. In this embodiment, the connection is formed by a shape engagement. The handling device 60 then handles the corresponding plug 42, i.e., removes the plug 42 from the holding panel 28 and moves it to the semi-trailer.

[0063] The semi-trailer is equipped with two sockets 46 (see Figure 4). One socket 46 has three plug connectors 44. The three plug connectors 44 are connected to three conductors: a data conductor 52, an air conductor 56, and a low-voltage conductor 58. When the appropriate plug 42 is inserted into the socket 46, the data conductor 52, air conductor 56, and low-voltage conductor 58 are connected to each other between the towing vehicle 20 and the semi-trailer. This enables the transmission of electrical energy via data, compressed air, and low voltage. The second socket 46 of the semi-trailer has a plug connector 44 connected to a high-voltage conductor 54. When the corresponding plug 42 is inserted into the socket 46, the high-voltage conductors 54 are connected to each other between the towing vehicle 20 and the semi-trailer. This enables the transmission of electrical energy via high voltage.

[0064] The socket 46 does not necessarily have to have a recess. In other embodiments, the plug may have a recess, and a projection representing the socket 46 may be configured to protrude from the recess. In any case, the crucial point is that the plug 42 and the socket 46 can be temporarily connected to each other by plugging.

[0065] The plug 42 is moved to the socket 46 by the handling device 60 and inserted into the socket 46. The gripper 64 is then released, and the temporary connection between the gripper 64 and the holder 48 of the corresponding plug 42 is released. The gripper 64 can then lift another plug.

[0066] The gripper 64 includes a sensor 84. In this embodiment, the sensor 84 detects a code configured as an RFID chip 82. Subsequently, a control unit (not shown) can determine, for example, using a database, which plug connector the plug containing the detected code has. [Explanation of Symbols]

[0067] 10 union 20 Towing vehicles 22 wheels 24 Driver's seat 26 Fifth wheel 28 Retaining panel 30. Towed vehicle 32 Chassis 34 wheels 36 boxes 38 Kingpin 39 Landing Gear 42 plugs 44 Plug Connectors 46 sockets 48 holder 52 data conductors 54 High-voltage conductors 56 Air Conductors 58 Low-voltage conductors 60 Handling devices / articulated arm robots 62 Robot Arms 64 Grippa 82 RFID chips 84 sensors

Claims

1. It is a towing vehicle, The towing vehicle comprises a chassis, a superstructure, and a plurality of plug connectors for transmitting a medium between the towing vehicle and the towed vehicle, The plurality of plug connectors are combined to form a plurality of independent plugs that can be connected to the socket of the towed vehicle. The number of plugs is less than the number of plug connectors. The towing vehicle is characterized by being equipped with a handling device configured to handle the plugs individually.

2. The handling device and the plug connector are equipped with complementary gripping means, and by these gripping means, the handling device is temporarily connected to a single connector in each case. The towing vehicle according to claim 1, characterized in that the gripping means is preferably a mechanical and / or magnetic gripping means.

3. The towing vehicle according to claim 2, wherein the plug is provided with the same retaining means, which is configured in a form that conforms to the contour or partial contour.

4. The towing vehicle according to claim 2 or 3, characterized in that the plug, in particular the retaining means, has an identification code, in particular an RFID chip, a QR code, a mechanical identification code and / or a magnetic identification code.

5. The towing vehicle according to any one of claims 1 to 4, characterized in that the medium is compressed air, hydraulic fluid, data and / or electrical energy, and in particular energy from an onboard power supply (12VDC and / or 24VDC) and / or high voltage energy (>230VAC / DC).

6. At least one plug is configured to transmit multiple different media, The towing vehicle according to any one of claims 1 to 5, wherein at least one plug preferably comprises a plug connector dedicated to high-voltage transmission.

7. The towing vehicle according to any one of claims 1 to 6, characterized in that the plugs are configured differently from each other with respect to the medium being transmitted and / or the plug connector.

8. The towing vehicle according to any one of claims 1 to 7, characterized in that the transmission of high-voltage energy and data are performed by two different plugs.

9. The towing vehicle according to any one of claims 1 to 8, characterized in that the handling device includes a multi-jointed arm robot equipped with a gripper.

10. A combination of a handling device and a plurality of plugs according to any one of claims 1 to 9.

11. A method for establishing a media connection between a towing vehicle and a towed vehicle according to any one of claims 1 to 9, A method characterized by sequentially connecting the plugs to the sockets of the towed vehicle using the handling device.

12. The method according to 11, characterized in that a plug is first connected to the towed vehicle in order to enable data transmission between the towing vehicle and the towed vehicle.

13. The method according to 12, characterized in that, after the data transmission becomes possible, the plug to be connected to the towed vehicle and the connection order of the plug are determined according to the data transmitted from the towed vehicle to the towing vehicle.

14. The method according to 12 or 13, characterized in that, after the data transmission becomes possible, some or all of the electrical energy consuming equipment is disabled by the data transmission, and then a plug is connected to the towed vehicle to enable the transmission of electrical energy.

15. The method according to any one of claims 11 to 14, characterized in that only a portion of the possible connections are established for the swapping operation.

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