A wheel loader and a truck

Abstract

The present disclosure relates to a wheel loader (100) comprising a body structure (16) and a load handling unit (20) which comprises a load receiving means (11), a first link-arm (12) and a second link-arm (13) that is connected between a second end of the first link-arm (12) and at least one linkage point (14) of the load receiving means (11). Further, the wheel loader (100) comprises an actuating arrangement (17a, 17b, 17c, 17d). Furthermore, the wheel loader comprises control circuitry (21) operable to control the actuating arrangement to, upon transitioning from a load engaging state to a load transporting state of the wheel loader rotate the at least one linkage point (14) of the load receiving means (11) about the front wheel axle (4a') while moving the linkage point (14) towards the back portion (16b) of the body structure (16). The present disclosure further relates to a truck (200).

Description

[0001] A WHEEL LOADER AND A TRUCK

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a wheel loader and a truck.

[0004] BACKGROUND

[0005] Wheel loaders and trucks (such as a forklift truck) both play crucial roles in construction, item and material handling industries. They are both designed to transport heavy loads. Both vehicles are equipped with powerful engines to handle heavy-duty tasks. They also feature robust hydraulic systems to operate their respective loading and unloading mechanisms efficiently. Additionally, both wheel loaders and trucks require skilled operators to ensure safe and effective operation.

[0006] A common disadvantage with loading vehicles such as wheel loaders and trucks is that the vehicles can become challenging to steer / handle upon carrying heavy loads. This may lead to dangerous situations for the driver of these vehicles as there is a tipping risk which can cause the vehicle to tip forward.

[0007] Also, the general control of the vehicle is affected adversely after loading the vehicle with a heavy load. This puts extensive burden on the driver of the vehicle as the driver has to be aware of the amount of load he loads onto the vehicle and ensure that the load does not exceeds a limit which can cause a dangerous situation for the driver or his surroundings.

[0008] Hence, wheel loaders and trucks in the present art have a common disadvantage in that they lose controllability to an excessive, and in some cases dangerous extent upon carrying great loads.

[0009] Based on the above, there is room for wheel loaders and trucks to explore the domain to provide improved wheel loaders and trucks that can handle large loads without excessively losing controllability of the vehicle.

[0010] Accordingly, it would be desirable to provide a wheel loader and a truck that can handle great loads in a more efficient manner. Preferably, such as a wheel loader should have increased or at least maintain range of motion. SUMMARY

[0011] It is therefore an object of the present disclosure to alleviate at least some of the mentioned drawbacks to provide a wheel loader and a truck that are improved handling capability. This object is achieved by means of the truck and the wheel loader as defined in the appended claims.

[0012] The present disclosure is at least partly based on the insight that by providing a wheel loader and a truck that, upon transitioning from a load engaging state to a load transporting state rotate a linkage point of the load receiving means about the front wheel axle while moving the linkage point towards the back portion of the body structure allows for the corresponding vehicles to be able to subsequently carry the load over a distance more efficiently.

[0013] The present disclosure relates to a wheel loader comprising a body structure with a front portion having a pair of front wheels and a back portion having at least one back wheel. Further, the wheel loader comprises a load handling unit comprising a load receiving means, a first link-arm having a first end connected to a front wheel axle of said wheel loader or at an attachment point associated with said front wheel axle. Further, the wheel loader comprises a second link-arm connected between a second end of the first link-arm and at least one linkage point of the load receiving means. Furthermore the wheel loader comprises an actuating arrangement for individually controlling each one of the load receiving means, the first linkarm and the second link-arm.

[0014] Moreover, the the wheel loader comprises control circuitry operable to control the actuating arrangement to, upon / prior to transitioning from a load engaging state to a load transporting state of the wheel loader rotate the at least one linkage point of the load receiving means about the front wheel axle while moving the linkage point towards the back portion of the body structure of the wheel loader. The linkage point may be moved towards the back portion so to be horizontally offset in said load transporting state compared to said load receiving state.

[0015] Advantageously, by having a load handling unit comprising two link-arms combined with the backward movement of the linkage point (upon transitioning from the load engaging to the load transporting state) allow for the wheel loader to handle heavier loads compared to a conventional wheel loader while maintaining sufficient steering capabilities.

[0016] To specify, the movement of the linkage point allow the load receiving means to be close to the front wheel axle which allow for increased load handling capability. Moreover, the force acting to 'raise' the back wheels will be reduced.

[0017] The control circuitry may control the actuating arrangement autonomously between at least some of the states after receiving a control signal. The control signal may be triggered by a user of the wheel loader. E.g. the user may press a button which transitions the load handling unit to a load transporting state autonomously and / or to a load releasing state.

[0018] Accordingly, the wheel loader, subsequent to rotating the at least one linkage point of the receiving means about the front wheel axle while moving the linkage point backwards, may maintain said load receiving means at a (transporting) position resulting from said movement.

[0019] In said load transporting state, the load handling unit may control the actuating arrangement to maintain said load receiving means in a pre-determined orientation. If said load receiving means is a bucket, the pre-determined orientation may be an orientation in which a load receiving surface of said bucket is facing upwardly. Accordingly, such that the linkage point of the load receiving means is closer to a ground surface than any portion of the bucket.

[0020] The term "wheel loader" may be interchanged with front-end loader. The wheel loader herein may be a heavy-duty wheel-loader, preferably driven by a driver. The load receiving means may be at a front portion of the body structure wheel loader.

[0021] The wheel loader may comprise two front wheels and two back wheels or one front wheel and two back wheels or any other suitable wheel configuration.

[0022] In some aspects, the control circuitry is operable to control the actuating arrangement to, upon transitioning from said load engaging state to said load transporting state of the wheel loader rotate the at least one linkage point of the load receiving means about the front wheel axis while moving the linkage point towards the back portion of the body structure to elevate the linkage point vertically above the front wheel axle. Advantageously, elevating the linkage point vertically above the front wheel axle, enables the link-arms to form a position which gives better steering control of the wheel loader when loaded.

[0023] In some aspects, the control circuitry is operable to control the actuating arrangement to, upon transitioning from said load engaging state to said load transporting state of the wheel loader rotate the at least one linkage point of the load receiving means about the front wheel axle while moving the linkage point towards the back portion of the body structure to elevate the linkage point from a point vertically below the front wheel axle to a point vertically above the front wheel axle and / or minimize a distance between a center of gravity of said load receiving means and said front wheel axle.

[0024] The center of gravity of the load receiving means may refer to the center of gravity of the load receiving means when it is loaded or when it is unloaded.

[0025] Advantageously, the aforementioned aspect allow for further increase in weight handling capability of the wheel loader while maintaining steering capability.

[0026] The load engaging state may be a state in which the load receiving means is engaging with a load, wherein the load transporting state may be a state in which the load receiving means is transporting or intended to transport the load by moving the front-end loader from a first position to a second position which may be distanced from each other.

[0027] In some aspects, at least one of the second and the first link-arm, in said load transporting state, is tilted towards the back portion and a main extension axis thereof is angled with at least 30 degrees relative a vertical axis, preferably for at least 45 degrees relative said vertical axis.

[0028] Advantageously, this allow for increased stability for the link-arms.

[0029] The main extension axis of the link arms may have a substantially equal length or may differ with 1-30% in length such that one of the link arms has a main extension axis 30% longer than the other.

[0030] The load receiving means may be a bucket which is forward facing (its receiving surface protruding towards a front of the wheel loader) at least in some positions. Further, the actuating arrangement may comprise a plurality of hydraulic lift cylinders. Preferably, each lift arm and the load receiving means may each be connected to one end of at least one corresponding hydraulic lift cylinder, wherein the other end of the lift cylinders may be attached to the body structure of the wheel loader.

[0031] The present disclosure further in another aspect, relate to a truck comprising a drivable body structure with a front portion and a back portion, the front portion having at least one front wheels and back portion having at least one back wheel. The truck further comprising a load handling unit comprising a load receiving means and a first link-arm having a first end connected to a front wheel axle of said truck or at an attachment point associated with said front wheels.

[0032] Further, the load handling unit comprises a second link-arm connected between a second end of the first link-arm and at least one linkage point of the load receiving means. Moreover, the load handling unit comprises an actuating arrangement for individually controlling each one of the load receiving means, the first link-arm and the second link-arm. The truck comprises control circuitry operable to control the actuating arrangement to, upon transitioning from a load engaging state to a load transporting state of the truck: rotate the at least one linkage point of the load receiving means about the front wheel axle while moving the linkage point towards the back portion of the body structure.

[0033] Advantageously, by having a load handling unit comprising two link-arms combined with the backward movement of the linkage point (upon transitioning from the load engaging to the load transporting state) allow for the truck to handle heavier loads compared to a conventional truck while maintaining sufficient steering capabilities.

[0034] The truck may be a forklift truck, wherein the load receiving means is a fork structure. The truck herein may be a heavy-duty truck, preferably driven by a driver. The load receiving means may be at a front portion of the body structure of the truck.

[0035] The wheel loader may comprise two front wheels and two back wheels or one front wheel and two back wheels or any other suitable wheel configuration. The control circuitry of the truck herein is operable correspondingly to the control circuitry of the wheel loader. Hence, to avoid undue repetition, reference is made to the aforementioned for features and accompanied advantages of aspects of the control circuitry operation.

[0036] In some aspects herein, the steps of the control circuitry of the wheel loader and the truck may be implemented as a method such that there is provided:

[0037] A method for operating a wheel loader; and

[0038] A method for operating a truck. Each method at least comprising the step of: rotating the at least one linkage point of the load receiving means about the front wheel axle while moving the linkage point towards the back portion of the body structure.

[0039] BRIEF DESCRIPTION OF THE DRAWINGS

[0040] These and other features and advantages of the present disclosure will now be further clarified and described in more detail, with reference to the appended drawings;

[0041] Figure 1A illustrates a side view of a wheel loader in accordance with some aspects of the present disclosure

[0042] Figure IB illustrates a top view of a wheel loader according to some aspects of the present disclosure

[0043] Figure 2A illustrates a side view of a load handling unit of a wheel loader in accordance with some aspects of the present disclosure

[0044] Figure 2B illustrates a side view of a load handling unit of a wheel loader in accordance with some aspects of the present disclosure

[0045] Figure 3 illustrates a flowchart of a wheel loader transitioning between a load engaging state and a load releasing state in accordance with some aspects of the present disclosure

[0046] Figure 4A illustrates a side view of a truck in accordance with some aspects of the present disclosure Figure 4B illustrates a top view of a truck in accordance with some aspects of the present disclosure

[0047] Figure 5 illustrates a side view of a truck in accordance with some aspects of the present disclosure; and

[0048] Figure 6 illustrates a flowchart of a wheel loader transitioning between a load engaging state and a load releasing state in accordance with some aspects of the present disclosure.

[0049] DETAILED DESCRIPTION

[0050] In the following detailed description, some embodiments of the present disclosure will be described. However, it is to be understood that features of the different embodiments are exchangeable between the embodiments and may be combined in different ways, unless anything else is specifically indicated. Even though in the following description, numerous specific details are set forth to provide a more thorough understanding of the present disclosure, it will be apparent to one skilled in the art that the present disclosure may be practiced without these specific details. In other instances, well known constructions or functions are not described in detail, so as not to obscure the present disclosure.

[0051] It is also to be understood that the terminology used herein is for purpose of describing particular aspects only, and is not intended to be limiting. It should be noted that, as used in the specification and the appended claim, the articles "a", "an", "the", and "said" are intended to mean that there are one or more of the elements unless the context clearly dictates otherwise. Thus, for example, reference to "a unit" or "the unit" may refer to more than one unit in some contexts, and the like. Furthermore, the words "comprising", "including", "containing" do not exclude other elements or steps. It should be emphasized that the term "comprises / comprising" when used in this specification is taken to specify the presence of stated features, integers, steps, or components. It does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. The term "and / or" is to be interpreted as meaning "both" as well and each as an alternative. More specifically, the wording "one or more" of a set of elements (as in "one or more of A, B and C" or "at least one of A, B and C") is to be interpreted as either a conjunctive or disjunctive logic. Put differently, it may refer either to all elements, one element or combination of two or more elements of a set of elements. For example, the wording "A, B and C" may be interpreted as A or B or C, A and B and C, A and B, B and C, or A and C.

[0052] It will also be understood that, although the term first, second, etc. may be used herein to describe various elements or features, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the embodiments. The first element and the second element are both elements, but they are not the same element.

[0053] The term "load engaging state" may refer to a state in which the load receiving means is engaging with a load (e.g. any type of box, pallet, item, container, gravel, soil, dirt or other mass).

[0054] The term "load transporting state" may refer to a state in which the load receiving means is intended to transport, or transports a load which was loaded thereto in said load engaging state.

[0055] The term "main extension axis" may refer to a primary axis along which the link-arms extend, preferably a straight line along a longitudinal direction of the arm.

[0056] Figure 1A illustrates a side view of a wheel loader 100 according to some aspects of the present disclosure, the wheel loader 100 comprising a body structure 16 with a front portion 16a having a pair of front wheels 4a and a back portion 16b having at least one back wheel 4b. Further, the wheel loader comprises a load handling unit 20. In Figure 1A the front part of the wheel loader depicted by its cross-section along the length of the wheel loader.

[0057] Figure 1A illustrates that the load handling unit 20 may comprise a load receiving means 11 in the form of a forward facing bucket 11. Further, the wheel loader may comprise a driver's cab 30 for a driver of the wheel loader to sit in and steer the wheel loader and the load handling unit. As appreciated, the wheel loader 100 comprises other conventional components and systems for operating the wheel loader 100 e.g. a vehicle transmission system, an engine (e.g. internal combustion engine or an electric motor), an HVAC system, safety systems and other suitable components for allowing the wheel loader to drive e.g. from one point A, to another point B.

[0058] Figure 1A further illustrates that the wheel loader 100 comprises an actuating arrangement 17a, 17b, 17c, 17d for individually controlling each one of the load receiving means, a first linkarm and a second link-arm 11, 12, 13. Each cylinder 17a-d may connect between a corresponding part (load receiving means 11 and link-arms 12, 13 and the body structure 16 of the wheel loader 100). The actuating arrangement 17a-d in Figure 1A comprising hydraulic cylinders. However, it should be noted that the actuating arrangement 17a-17d may comprise other suitable actuating mechanisms (e.g. electromechanical actuators) and is therefore not limited to hydraulic cylinders. The actuators may be linear. Also, the amount of cylinders may be varied. For example, in some aspects, there is three cylinders and in other aspects there are more than four cylinders.

[0059] Figure IB illustrates a top view of the wheel loader 100 in accordance with some aspects of the present disclosure. In Figure IB the front part of the wheel loader 100 is depicted by its cross-section along the length of the wheel loader to allow emphasizing of the front wheels 4a' and the wheel axle 4a'.

[0060] Figure 2A illustrates a side view of the load handling unit 20 of the wheel loader 100 of Figures 1A-1B (where the actuating arrangement is omitted for convenience) in a load engaging state. Figure 2A illustrates that the load handling unit 20 comprises a load receiving means 11, a first link-arm 12 having a first end (directly or indirectly) connected the front wheel axle 4a'. In some aspects, the first link-arm 12 may have a first end connected to an attachment point (not shown) associated with / in vicinity of said front wheel axle 4a'. The attachment point may be a bracket, element, or the like that is e.g. between the wheels of the wheel loader 100 such that an imaginary cylinder body formed between the front wheels (such that the wheels are imaginary opposite bases of the cylinder) at least partially encloses / circumfuses the attachment point. In some aspects, the attachment point may be connected to the wheel axle 4a' such that the link arm 12 is indirectly connected to the wheel axle 4a'. Figure 2A further illustrates that the load handling unit 20 further comprises a second link-arm 13 connected between a second end of the first link-arm 12 and at least one linkage point 14 of the load receiving means 11. The linkage point 14 may, as illustrated in Figure 2A, be a separate element that connects the link-arm 13 to the load receiving means 11. The linkage point 14 and the load receiving means 11 being rotatable relative the link-arm 13.

[0061] Figure 2A illustrates a side view of the load handling unit 20 of the wheel loader 100 of Figure 1A-1B (where the actuating arrangement is omitted for convenience) in a load transporting state.

[0062] Figures 2A-2B illustrates that the wheel loader 100 comprises control circuitry 21 operable to control the actuating arrangement to, upon transitioning from a load engaging state (as seen in Figure 2A) to a load transporting state (as seen in Figure 2B) of the wheel loader 100 rotate / move the at least one linkage point 14 of the load receiving means 11 about the front wheel axle 4a' while / simultaneously as moving the linkage point 14 towards the back portion 16b of the body structure 16 so to offset the linkage point along a horizontal axis hl. The dashed arrow in Figure 2B illustrates that the linkage point 14 has been moved from a previous position which is shown in Figure 2A. In Figure 2B, the load receiving means 11 is upward facing at said load transporting state such that an axial extension of its opening is substantially parallel (may differ with 0.1-5, 0.1-15 or 0.1-30 degrees) with a vertical axis xl.

[0063] In another aspect, the control circuitry 21 is operable to control the actuating arrangement 17a, 17b, 17c, 17d to, upon transitioning from said load engaging state to said load transporting state of the wheel loader rotate the at least one linkage point 14 of the load receiving means 11 about the front wheel axle 4a' while moving the linkage point 14 towards the back portion 16b of the body structure 16 until the linkage point 14 is elevated from a point vertically below the front wheel axle 4a' to a point vertically above the front wheel axle 4a' and / or minimize a distance between a center of gravity gl of said load receiving means 11 and said front wheel axle 4a'. Vertically above may refer to that the front wheel axle 4a' is closer to a ground surface than the bottommost point of the load receiving means 11.

[0064] The center of gravity gl of the load receiving means 11 may be pre-determined and stored in a memory unit of the control circuitry 21. The center of gravity gl may refer to a center of gravity gl of the load receiving means 11 at a loaded state thereof, or at an unloaded state thereof.

[0065] The minimized distance between the center of gravity gl and the front-wheel axle 4a' may be a pre-determined position of the load receiving means 11 relative the front wheel axle 4a' which is stored in a memory unit of the control circuitry 21 so that the control circuitry 21 is operable to, e.g. upon receiving user commands at a user interface, alert the user in that the minimized distance is achieved upon manual control of the load handling unit 20 by the user, or the minimized distance may be achieved by automatic control of the load handling unit 20 by the control circuitry 21 upon a triggering signal outputted by the user (e.g. by interaction with the user interface). Nonetheless, upon reaching said minimized distance, the wheel loader may output an alert signal (in the form of sound, light or combinations thereof) in the wheel loader.

[0066] At least one of the second and the first link-arm 12, 13, in said load transporting state, may be tilted towards the back portion 16b (as illustrated in Figure 2A-2B) and a main extension axis Ml, M2 thereof is angled with at least 30 degrees relative a vertical axis xl, preferably for at least 45 degrees relative said vertical axis xl. In Figure 2B the link-arms are tilted with more than 30 degrees, thereby allowing the load receiving means 11 to be upward facing so that the rim / mouth of the load receiving means 11 is parallel with the vertical axis xl.

[0067] Figure 3 illustrates a sequence of operation of the wheel loader 100 wherein the load handling unit 20 is illustrated. Figure 3 illustrates that the load handling unit 20 first engages with a load (indicated by dashed line). Further, the wheel loader 100 transitions to a load transporting state. Afterwards, the wheel loader 100 transitions to a load releasing state in which the load is released. In some aspects herein, upon transitioning to the load releasing state, the control circuitry may (e.g. autonomously) elevate the load receiving means 11 for a distance (e.g. at least 20cm, 50 cm, or at least lm, or maximally) while holding / maintaining the load receiving means 11 fixed in a specific position, the specific position preferably being an upward facing position.

[0068] Accordingly, the control circuitry may be operable to adjust the load receiving means 11 (e.g. linearly) along the vertical axis xl for a distance. This may be done autonomously so that when the load receiving means is adjusted for said distance, the user may gain control of the load handing unit 11 again so to steer the load receiving means to a desired position for releasing the load held therein.

[0069] Hence, the user may interact with a user interface to indicate that he desires to transition the wheel loader from a load transporting state to a load releasing state. Subsequently, the control circuitry controls the load receiving means 11 (e.g. linearly) along the vertical axis xl for a distance. Then, the control circuitry may output an output signal to indicate for the user that the load receiving means 11 is in a sufficient / correct position. The user may then control the load receiving means arbitrarily (preferably along the horizontal axis and rotatably) to release the load.

[0070] Figure 4A illustrates another aspect of the disclosure and depicts a side cross-sectional view of a truck 200 comprising a drivable body structure 26 with a front portion 26a and a back portion 26b. The load handling unit 40 comprising a load receiving means 211, a first link-arm 22 having a first end connected to an attachment point 24a” associated with said front wheels 240. However, even though not illustrated It may be connected to the front wheel axle 24a' of said truck alternatively.

[0071] Further, Figure 4A illustrates that the truck 200 comprises a second link-arm 23 connected between a second end of the first link-arm 22 and at least one linkage point 24 of the load receiving means 211. Further, the truck 200 comprises an actuating arrangement 27a-c for individually controlling each one of the load receiving means 211, the first link-arm 22 and the second link-arm 23.

[0072] Further, the truck 200 comprises control circuitry 41 operable to control the actuating arrangement 17a-c to, upon transitioning from a load engaging state to a load transporting state of the truck 200 rotate the at least one linkage point 24 of the load receiving means 211 about the front wheel axle 24a' while moving the linkage point 24a' towards the back portion 26a of the body structure 26 (i.e. along hl axis).

[0073] Further, the truck 200 may comprise a driver's cab (not shown) for a driver of truck to sit in and steer the truck and the load handling unit. As appreciated, the truck 200 comprises other conventional components and systems for operating the truck 200 e.g. a vehicle transmission system, an engine (e.g. internal combustion engine or an electric motor), an HVAC system, safety systems and other suitable components for allowing the truck to drive e.g. from one point A, to another point B.

[0074] As illustrated in Figure 4A the link arm 22 is connected to a base platform 201 of the truck 200 such that an imaginary cylinder body cl (seen in Figure 4B) formed between the front wheels along / coaxial with the axle 24a' (such that the wheels are imaginary opposite bases of the cylinder) at least partially encloses / circumfuses the attachment point 24a". Accordingly, the imaginary cylinder may have a diameter being the same as the diameter of the front wheels 240. However, other configurations are also possible as may be appreciated by a skilled person in the art.

[0075] Figure 4A further illustrates that the truck comprises three actuators in the actuating arrangement 27a-27c (marked with dotted dashes). Each being connected between the body structure 26 and corresponding parts of the receiving means 211, and link-arms 22, 23.

[0076] Figure 4B illustrates a top cross-sectional view of the truck 200. In Figure 4B the truck 200 comprises four wheels. However, the truck may have more or less wheels.

[0077] Figure 5 illustrates a side view of the truck 200 according to some aspect of the present disclosure. In Figure 5 the truck is transitioning from a load engaging state to a load transporting state. Accordingly, the control circuitry 41 is configured to control the actuating arrangement 27a, 27b, 27c to, upon transitioning from said load engaging state to said load transporting state of the truck 200, rotate the at least one linkage point 24 of the load receiving means 211 about the front wheel axle 24a' while moving the linkage point 24 towards the back portion 26b of the body structure 26 to elevate the linkage point 14 vertically above the front wheel axle 24a'.

[0078] The control circuitry 41 may be operable to control the actuating arrangement 17a, 17b, 17c to, upon transitioning from said load engaging state to said load transporting state of the truck (curvingly) rotate the at least one linkage point 24 of the load receiving means 211 about the front wheel axle 4a' while moving the linkage point 14 towards the back portion 26b of the body structure 26b to elevate the linkage point 24 from a point vertically below the front wheel axle 4a' to a point vertically above the front wheel axle 4a' and / or minimize a distance between a center of gravity g2 of said load receiving means 211 and said front wheel axle 4a' (while being vertically above the front wheel axle). Vertically above may refer to that the front wheel axle 24a' is closer to a ground surface than the bottommost point of the load receiving means 211. It should be noted that the control circuitry 41 of the truck 200 may operate, have corresponding configuration as the control circuitry 41 of the truck 200. The center of gravity g2 may refer to a center of gravity g2 of the load receiving means 211 at a loaded state thereof, or at an unloaded state thereof. Upon reaching said minimized distance, the truck 200 may output an alert signal (in the form of sound, light, combinations thereof or other indications) in the truck 200 to alert an operator or a driver that the truck 200 is at a load transporting state.

[0079] Figure 5 illustrates that the first link-arm 22 is tilting towards the back portion 26a and a main extension axis Ml' thereof is angled with at least 30 degrees relative a vertical axis xl, preferably for at least 45 degrees relative said vertical axis xl.

[0080] Figure 6 illustrates a flowchart of an operation of the truck 200 according to some aspects of the present disclosure in which the truck 200 first is in a load engaging state to pick up a load 50. Further, the truck 200 is transitioning to a load transporting state by rotating the attachment point 24 about the front wheel axle 24a' while moving it backwards. Further, after reaching said transporting state, the truck 200 transitions to a load releasing state in which it may first raise the load receiving means 211 linearly along xl axis prior to releasing the load 50 on e.g. a support structure by a horizontal movement along axis hl.

[0081] The control circuitry 21, 41 herein may comprise one or more memory devices (not shown). The memory devices may comprise any form of volatile or non-volatile computer readable memory including, without limitation, persistent storage, solid-state memory, remotely mounted memory, magnetic media, optical media, random access memory (RAM), read-only memory (ROM), mass storage media (for example, a hard disk), removable storage media (for example, a flash drive, a Compact Disk (CD) or a Digital Video Disk (DVD)), and / or any other volatile or non-volatile, non-transitory device readable and / or computer-executable memory devices that store information, data, and / or instructions that may be used by each associated control circuitry 21, 41. Each memory device may store any suitable instructions, data or information, including a computer program, software, an application including one or more of logic, rules, code, tables, etc. and / or other instructions capable of being executed by the control circuitry 21, 41 and, utilized. Memory device may be used to store any calculations made by control circuitry 21, 41 and / or any data received via output and input interfaces thereof (e.g. points of center of gravity, minimized distance positions of the center of gravity)

[0082] The circuitry 21, 41 may include, for example, one or more central processing units (CPUs), graphics processing units (GPUs) dedicated to performing calculations, and / or other processing devices.

[0083] The instructions which may be executed by the control circuitry 21, 41 may comprise instructions for controlling the load handling unit 20, 40 according to any aspects of the present disclosure.

Claims

CLAIMS1. A wheel loader (100) comprising: a body structure (16) with a front portion (16a) having a pair of front wheels (4a) and a back portion (16b) having at least one back wheel (4b); a load handling unit (20) comprising: a load receiving means (11); a first link-arm (12) having a first end connected to a front wheel axle (4a') of said wheel loader or at an attachment point associated with said front wheel axle (4a'); a second link-arm (13) connected between a second end of the first link-arm (12) and at least one linkage point (14) of the load receiving means (11); an actuating arrangement (17a, 17b, 17c, 17d) for individually controlling each one of the load receiving means, the first link-arm and the second link-arm (11, 12, 13); wherein the wheel loader comprises control circuitry (21) operable to control the actuating arrangement to, upon transitioning from a load engaging state to a load transporting state of the wheel loader: rotate the at least one linkage point (14) of the load receiving means (11) about the front wheel axle (4a') while moving the linkage point (14) towards the back portion (16b) of the body structure (16).

2. The wheel loader (100) according to claim 1, wherein the control circuitry (21) operable to control the actuating arrangement (17a, 17b, 17c, 17d) to, upon transitioning from said load engaging state to said load transporting state of the wheel loader (100): rotate the at least one linkage point (14) of the load receiving means (11) about the front wheel axle (4a') while moving the linkage point (14) towards the back portion (16b) of the body structure (16) to elevate the linkage point (14) vertically above the front wheel axle (4a').

3. The wheel loader (100) according to claim 1 or 2, wherein the control circuitry (21) is operable to control the actuating arrangement (17a, 17b, 17c, 17d) to, upon transitioning from said load engaging state to said load transporting state of the wheel loader: rotate the at least one linkage point (14) of the load receiving means (11) about the front wheel axle (4a') while moving the linkage point (14) towards the back portion (16b) of the body structure (16) to elevate the linkage point (14) from a point vertically below the front wheel axle (4a') to a point vertically above the front wheel axle (4a') and / or minimize a distance between a center of gravity (gl) of said load receiving means (11) and said front wheel axle (4a').

4. The wheel loader (100) according to any one of the preceding claims, wherein the load engaging state is a state in which the load receiving means (11) is engaging with a load, wherein the load transporting state is a state in which the load receiving means (11) is transporting the load by moving the front-end loader from a first position to a second position.

5. The wheel loader (100) according to any one of the preceding claims, wherein at least one of the second and the first link-arm (12, 13), in said load transporting state, is tilted towards the back portion (16b) and a main extension axis thereof is angled with at least 30 degrees relative a vertical axis (xl), preferably for at least 45 degrees relative said vertical axis (xl).

6. The wheel loader (100) according to any one of the preceding claims, wherein the first and the second link arms (12, 13) comprises a main extension axis (Ml, M2), the main extension axis thereof having a substantially equal length or differing with 1-30% in length.

7. The wheel loader (100) according to any one of the preceding claims, wherein the actuating arrangement (17a, 17b, 17c, 17d) comprises a plurality of hydraulic lift cylinders.

8. The wheel loader (100) according to any one of the preceding claims, wherein the load receiving means is, at least in said load engaging state, a forward-facing bucket.

9. A truck (200) comprising: a drivable body structure (26) with a front portion and a back portion (26a, 26b); a load handling unit (40) comprising: a load receiving means (211); a first link-arm (22) having a first end connected to a front wheel axle (24a') of said truck or at an attachment point (24a”) associated with front wheels (240) thereof; a second link-arm (23) connected between a second end of the first link-arm (22) and at least one linkage point (24) of the load receiving means (211); an actuating arrangement (27a, 27b, 27c) for individually controlling each one of the load receiving means (211), the first link-arm and the second link-arm (22, 23) wherein the truck comprises control circuitry (41) operable to control the actuating arrangement (27a, 27b, 27c) to, upon transitioning from a load engaging state to a load transporting state of the truck (200): rotate the at least one linkage point (24) of the load receiving means (40) about the front wheel axle (24a') while moving the linkage point (24) towards the back portion (26a) of the body structure (26).

10. The truck (200) according to claim 9, wherein the truck (200) is a forklift truck, wherein the load receiving means (211) is a fork structure.

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