Holding device and transport vehicle

Abstract

A holding device according to the invention, in particular for a transport vehicle, for holding a load carrier to be transported comprises a flat support surface on which the load carrier can be positioned, a first rotary latch which can be pivoted about a first pivot axis relative to the support surface, a second rotary latch which can be pivoted about a second pivot axis relative to the support surface, and a drive unit for synchronously pivoting the rotary latches about the pivot axes between an unlocking position and a locking position. The support surface is equipped with stop elements which prevent a load carrier positioned on the support surface from moving in the longitudinal direction, and the rotary latches, in the locking position, prevent a load carrier positioned on the support surface from moving in the transverse direction. A transport vehicle according to the invention, in particular a driverless transport vehicle, comprises a drive device, an electrical energy storage device for supplying the drive device, a control device for controlling the drive device, and a holding device according to the invention.

Description

[0001] Holding device and transport vehicle

[0002] Description:

[0003] The invention relates to a holding device, in particular for a transport vehicle, for holding a load carrier to be transported, which comprises a flat storage surface on which the load carrier can be positioned, a first rotary latch which can be pivoted about a first pivot axis relative to the storage surface, a second rotary latch which can be pivoted about a second pivot axis relative to the storage surface, and a drive unit for synchronously pivoting the rotary latches about the pivot axes between an unlocking position and a locking position.

[0004] Load securing is required on transport vehicles to prevent load carriers from slipping or falling. Holding devices featuring circumferential stop elements are known from use. A load carrier positioned between the stop elements is held in place with a positive fit in every direction and thus secured. This type of load securing requires that the support surface protrudes beyond the load carrier being transported in every direction.

[0005] DE 102014 109 700 A1 discloses a heavy-duty container transport vehicle. The vehicle features a guide system that allows a second container to be guided when placed on a first container standing on a loading platform.

[0006] A holding device for holding a garbage container is known from JP 2007-152966 A. The holding device has pivoting latches for holding the garbage container.

[0007] DE 102017 009 175 A1 discloses a locking device for securing and locking a container. The locking device comprises a locking arm that is movable by means of two displacement devices.

[0008] DE 19 38 000 U discloses a device for securing containers to vehicles. The device comprises pivoting levers with claws for gripping components of a container. DE 102004 031 113 A1 discloses a positioning assembly for positioning a container on a platform. The positioning assembly comprises a plurality of connecting rods.

[0009] The invention is based on the object of developing a holding device for holding a load carrier to be transported, in particular for a transport vehicle, as well as a transport vehicle, in particular a driverless transport vehicle.

[0010] The object is achieved according to the invention by a holding device having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims. The object is also achieved by a transport vehicle having the features specified in claim 12.

[0011] A holding device according to the invention, in particular for a transport vehicle, for holding a load carrier to be transported, comprises a flat storage surface on which the load carrier can be positioned, a first rotary latch which can be pivoted about a first pivot axis relative to the storage surface, a second rotary latch which can be pivoted about a second pivot axis relative to the storage surface, and a drive unit for synchronously pivoting the rotary latches about the pivot axes between an unlocked position and a locked position. Stop elements are arranged on the storage surface to prevent movement of a load carrier positioned on the storage surface in a longitudinal direction, and the rotary latches in the locked position prevent movement of a load carrier positioned on the storage surface in a transverse direction.

[0012] A load carrier positioned on the storage surface is thus held and secured in every direction. The storage surface only needs to extend beyond the load carrier to be transported in the longitudinal direction. In the transverse direction, the storage surface can be smaller than the load carrier.

[0013] According to an advantageous embodiment of the invention, the stop elements have centering bevels that extend at an angle to the longitudinal direction and an angle to a vertical direction. Slight tolerances in the longitudinal positioning of the load carrier are thereby compensated. According to an advantageous embodiment of the invention, the pivot axes of the rotary latches extend parallel to one another in a vertical direction. Preferably, a connection between the pivot axes of the rotary latches extends in the transverse direction.

[0014] According to an advantageous embodiment of the invention, the rotary latches each have a first stop contour for securing a first load carrier, a second stop contour for securing a second load carrier, and a third stop contour for securing a third load carrier. Thus, the holding device is designed to hold three different types of load carriers. Only the longitudinal extension of the load carriers is determined by the support surface and the arrangement of the stop elements.

[0015] According to an advantageous embodiment of the invention, the first rotary latch has a first slot into which a first pin of the drive unit engages, and the second rotary latch has a second slot into which a second pin of the drive unit engages. The slots each extend radially relative to the respective pivot axis. Such slot-and-pin guides enable precise control of the rotary latches.

[0016] According to an advantageous embodiment of the invention, the drive unit has a drive motor and a lever gear, wherein the lever gear transmits a rotation of the drive motor in such a way that, by rotation of the drive motor, the pins are moved in the slots in such a way that the rotary latches are pivoted about the pivot axes.

[0017] According to an advantageous embodiment of the invention, the lever mechanism comprises a first drive lever on which the first pin is arranged, a second drive lever on which the second pin is arranged, a first drive rod which is articulated to the first drive lever, a second drive rod which is articulated to the second drive lever, and a coupling rod which is articulated to the first drive rod and to the second drive rod. The drive motor drives the coupling rod in rotation. The coupling rod drives the drive rods. The drive rods drive the drive levers in rotation.

[0018] According to an advantageous embodiment of the invention, the drive unit is designed such that by rotating the coupling rod by 180° in any direction, the rotary latches are pivoted from the unlocked position to the locked position and from the locked position to the unlocked position. Thus, by rotating the coupling rod, the rotary latches can always be pivoted in the same direction from the unlocked position to the locked position and from the locked position to the unlocked position.

[0019] According to an advantageous embodiment of the invention, the first drive lever is pivotable about a first lever axis relative to the support surface, and the second drive lever is pivotable about a second lever axis relative to the support surface. The lever axes of the drive levers extend parallel to each other, offset from one another, in a vertical direction. Preferably, a connection between the lever axes of the drive levers extends in the transverse direction.

[0020] According to an advantageous embodiment of the invention, the lever mechanism is designed such that, when the rotary latch is in the locked position, the distance between the pin engaging in the slot of the rotary latch and the pivot axis of the rotary latch is equal to the distance between the lever axis of the drive lever, on which the respective pin is arranged, and the pivot axis of the rotary latch. The rotary latch is in a dead center position. A force acting on the rotary latch, for example due to a movement of the held load carrier, generates a moment about the pivot axis. The rotary latch transfers this moment to the pin located in the slot. The pin thereby exerts a force on the drive lever. This force acts radially in the direction of the lever axis of the drive lever. The lever mechanism is therefore not subjected to rotational load.The transmission elements, especially the drive levers, drive rods, and coupling rod, are therefore not subjected to significant loads and can be dimensioned accordingly small. The drive motor is also not stressed by the movement of the held load carrier and therefore does not need to generate any counter-torque.

[0021] According to an advantageous embodiment of the invention, the drive unit is designed such that by rotating the drive motor by 180° in any direction of rotation, the rotary latches are pivoted from the unlocked position to the locked position and from the locked position to the unlocked position. Thus, by rotating the drive motor, the rotary latches can always be pivoted in the same direction of rotation from the unlocked position to the locked position and from the locked position to the unlocked position. A transport vehicle according to the invention, in particular a driverless transport vehicle, comprises a drive device, an electrical energy storage device for supplying the drive device, a control device for controlling the drive device, and a holding device according to the invention.

[0022] The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0023] The invention will now be explained in more detail with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments shown in the drawings. The drawings only represent the subject matter of the invention schematically. They show:

[0024] Figure 1 : a perspective view of a transport vehicle with a holding device,

[0025] Figure 2: a first load carrier on the holding device from Figure 1,

[0026] Figure 3: a sectional view of the arrangement from Figure 2 with the rotary locks in the unlocking position,

[0027] Figure 4: a sectional view of the arrangement of Figure 2 with the rotary locks in the locking position,

[0028] Figure 5: a second load carrier on the holding device from Figure 1,

[0029] Figure 6: a sectional view of the arrangement of Figure 5 with the rotary locks in the locking position,

[0030] Figure 7: a third load carrier on the holding device from Figure 1 and

[0031] Figure 8: a sectional view of the arrangement of Figure 7 with the rotary locks in the locking position.

[0032] Figure 1 shows a perspective view of a transport vehicle with a holding device 10. The holding device 10 serves to hold a load carrier 61, 62, 63, not shown here. The transport vehicle is designed as a driverless transport vehicle and further comprises a drive device, an electrical energy storage device for supplying the drive device and a control device for controlling the drive device.

[0033] The holding device 10 comprises a flat support surface 11 on which the load carrier 61, 62, 63 can be positioned. Stop elements 50 are arranged on the support surface 11 and prevent movement of a load carrier 61, 62, 63 positioned on the support surface 11 in a longitudinal direction X. The stop elements 50 each have centering bevels that extend at an angle to the longitudinal direction X and at an angle to a vertical direction Z.

[0034] The longitudinal direction X runs perpendicular to the vertical direction Z. A transverse direction Y runs perpendicular to the longitudinal direction X and perpendicular to the vertical direction Z. The vertical direction Z runs perpendicular to the parking surface 11. The transport vehicle is located on a flat floor which runs parallel to the parking surface 11 and perpendicular to the vertical direction Z.

[0035] The holding device 10 comprises a first rotary latch 21, which is pivotable relative to the storage surface 11 between an unlocked position and a locked position, and a second rotary latch 22, which is pivotable relative to the storage surface 11 between an unlocked position and a locked position. The rotary latches 21, 22 each have a first stop contour 51 for securing a first load carrier 61, a second stop contour 52 for securing a second load carrier 62, and a third stop contour 53 for securing a third load carrier 63.

[0036] Figure 2 shows a first load carrier 61 positioned on the holding device 10 of the transport vehicle from Figure 1. The first load carrier 61 is a lattice box with a rectangular cross-section. The first load carrier 61 is held in a form-fitting manner between the stop elements 50 in the longitudinal direction X. In this case, the first load carrier 61 has four feet that rest directly on the storage surface 11.

[0037] Figure 3 shows a sectional view of the arrangement from Figure 2 with the rotary locks 21, 22 in the unlocked position. The feet of the first load carrier 61 rest, as already mentioned, on the support surface 11. The stop elements 50 prevent movement of the first load carrier 61 in the longitudinal direction X. Movement of the first load carrier 61 in the transverse direction Y is possible.

[0038] The first rotary latch 21 can be pivoted about a first pivot axis 23 relative to the storage surface 11. The second rotary latch 22 can be pivoted about a second pivot axis 24 relative to the storage surface 11. The pivot axes 23, 24 of the rotary latches 21, 22 run parallel and offset from one another in the vertical direction Z. A connection between the pivot axes 23, 24 of the rotary latches 21, 22 runs in the transverse direction Y. The holding device 10 comprises a drive unit for synchronously pivoting the rotary latches 21, 22 about the pivot axes 23, 24 between the unlocked position and the locked position. The drive unit has an electric drive motor (concealed here) and a lever gear. The lever gear transmits rotation of the drive motor such that rotation of the drive motor causes the rotary latches 21, 22 to pivot about the pivot axes 23, 24.

[0039] The lever mechanism comprises a first drive lever 41, on which a first pin 35 is arranged, and a second drive lever 42, on which a second pin 36 is arranged. The first rotary latch 21 has a first slot 25, into which the first pin 35 of the drive unit engages. The second rotary latch 22 has a second slot 26, into which the second pin 36 of the drive unit engages.

[0040] The first drive lever 41 is pivotable about a first lever axis 43 relative to the storage surface 11. The second drive lever 42 is pivotable about a second lever axis 44 relative to the storage surface 11. The lever axes 43, 44 of the drive levers 41, 42 run parallel and offset from one another in the vertical direction Z. A connection between the lever axes 43, 44 of the drive levers 41, 42 runs in the transverse direction Y.

[0041] By pivoting the first drive lever 41 about the first lever axis 43, the first pin 35 is moved in the first slot 25 such that the first rotary latch 21 is pivoted about the first pivot axis 23. By pivoting the second drive lever 42 about the second lever axis 44, the second pin 36 is moved in the second slot 26 such that the second rotary latch 22 is pivoted about the second pivot axis 24.

[0042] The lever mechanism has a first drive rod 45, which is articulated to the first drive lever 41, and a second drive rod 46, which is articulated to the second drive lever 42. The lever mechanism has a coupling rod 48, which is articulated to the first drive rod 45 and the second drive rod 46. The coupling rod 48 is rotatable about an axis of rotation extending in the vertical direction Z relative to the storage surface 11. The drive motor drives the coupling rod 48 in rotation about the axis of rotation.

[0043] The lever mechanism transmits rotation of the drive motor in such a way that rotation of the drive motor moves the pins 35, 36 in the slots 25, 26 of the rotary latches 21, 22. This movement of the pins 35, 36 in the slots 25, 26 pivots the rotary latches 21, 22 about the pivot axes 23, 24.

[0044] Figure 4 shows a sectional view of the arrangement from Figure 2 with the rotary locks 21, 22 in the locked position. Compared to the position shown in Figure 3, the coupling rod 48 is rotated 180° about the rotation axis. The first stop contours 51 of the rotary locks 21, 22 rest at least approximately against the feet of the first load carrier 61 and thus prevent movement of the feet of the first load carrier 61 in the transverse direction Y. The rotary locks 21, 22 in the locked position thus prevent movement of the first load carrier 61 positioned on the storage surface 11 in the transverse direction Y.

[0045] The drive unit is designed such that by rotating the coupling rod 48 by 180° in any direction, the rotary latches 21, 22 are pivoted from the unlocked position to the locked position and from the locked position to the unlocked position. The locked position and the unlocked position each correspond to a dead center position for the rotary latches 21, 22.

[0046] In this case, an output shaft of the drive motor is directly connected to the coupling rod 48. The rotary latches 21, 22 are thus pivoted by rotating the drive motor by 180° in any direction of rotation from the unlocked position to the locked position and from the locked position to the unlocked position.

[0047] When the rotary latches 21, 22 are in the locked position, as shown here, a distance of the first pin 35 engaging in the first slot 25 from the first pivot axis 23 is equal to a distance of the first lever axis 43 from the first pivot axis 23. Likewise, a distance of the second pin 36 engaging in the second slot 26 from the second pivot axis 24 is equal to a distance of the second lever axis 44 from the second pivot axis 24. The rotary latches 21, 22 are, as already mentioned, in a dead center position.

[0048] When the first load carrier 61 positioned on the storage surface 11 is moved in the transverse direction Y, a foot of the first load carrier 61 exerts a force on one of the rotary latches 21, 22. The force acting on the rotary latch 21, 22 generates a moment about the pivot axis 34, 24 of the respective rotary latch 21, 22. The rotary latch 21, 22 transfers this moment to the pin 35, 36 located in its slot 25, 26. The respective pin 35, 36 thereby exerts a force on the respective drive lever 41, 42. This force acts radially in the direction of the respective lever axis 43, 44 of the drive lever 41, 42. The other components of the lever mechanism, in particular the drive rods 45, 46 and the coupling rod 48, are not loaded.

[0049] Figure 5 shows a second load carrier 62 positioned on the holding device 10 of the transport vehicle from Figure 1. The second load carrier 62 is a steel container with a rectangular cross-section. The second load carrier 62 is held in a form-fitting manner between the stop elements 50 in the longitudinal direction X. In this case, the second load carrier 62 has six feet. The feet are attached at their lower ends to rails that rest directly on the storage surface 11.

[0050] Figure 6 shows a sectional view of the arrangement from Figure 5 with the rotary locks 21, 22 in the locking position. The second stop contours 52 of the rotary locks 21, 22 rest at least approximately on the feet of the second load carrier 62 and thus prevent movement of the feet of the second load carrier 62 in the transverse direction Y. The rotary locks 21, 22 in the locking position thus prevent movement of the second load carrier 62 positioned on the storage surface 11 in the transverse direction Y.

[0051] Figure 7 shows a third load carrier 63 positioned on the holding device 10 of the transport vehicle from Figure 1. The third load carrier 63 is a Euro pallet with a rectangular cross-section. The third load carrier 63 is held in a form-fitting manner between the stop elements 50 in the longitudinal direction X. In this case, the third load carrier 63 has nine feet. The feet are attached at their lower ends to boards that rest directly on the storage surface 11.

[0052] Figure 8 shows a sectional view of the arrangement from Figure 7 with the rotary locks 21, 22 in the locking position. The third stop contours 53 of the rotary locks 21, 22 rest at least approximately against the feet of the third load carrier 63 and thus prevent movement of the feet of the third load carrier 63 in the transverse direction Y. The rotary locks 21, 22 in the locking position thus prevent movement of the third load carrier 63 positioned on the storage surface 11 in the transverse direction Y. List of reference symbols

[0053] 10 Holding device

[0054] 11 storage space

[0055] 21 first turning bolt

[0056] 22 second rotary latch

[0057] 23 first swivel axis

[0058] 24 second swivel axis

[0059] 25 first slot

[0060] 26 second slot

[0061] 35 first cone

[0062] 36 second pin

[0063] 41 first drive lever

[0064] 42 second drive lever

[0065] 43 first lever axis

[0066] 44 second lever axis

[0067] 45 first drive rod

[0068] 46 second drive rod

[0069] 48 coupling rod

[0070] 50 stop element

[0071] 51 first stop contour

[0072] 52 second stop contour

[0073] 53 third stop contour

[0074] 61 first load carrier

[0075] 62 second load carrier

[0076] 63 third load carrier

[0077] X Longitudinal direction

[0078] Y transverse direction

[0079] Z vertical direction

Claims

Patent claims:

1. Holding device (10), in particular for a transport vehicle, for holding a load carrier (61, 62, 63) to be transported, comprising a flat storage surface (11) on which the load carrier (61, 62, 63) can be positioned, a first rotary latch (21) which can be pivoted about a first pivot axis (23) relative to the storage surface (11), a second rotary latch (22) which can be pivoted about a second pivot axis (24) relative to the Storage surface (11) is pivotable, and a drive unit for synchronously pivoting the rotary locks (21, 22) about the pivot axes (23, 24) between an unlocking position and a locking position, characterized in that stop elements (50) are arranged on the storage surface (11), which prevent a movement of a load carrier (61, 62, 63) positioned on the storage surface (11) in a longitudinal direction (X), and that the rotary locks (21, 22) located in the locking position prevent a movement of a load carrier (61, 62, 63) positioned on the storage surface (11) in a transverse direction (Y).

2. Holding device (10) according to claim 1, characterized in that the stop elements (50) have centering bevels which run inclined to the longitudinal direction (X) and inclined to a vertical direction (Z).

3. Holding device (10) according to one of the preceding claims, characterized in that the pivot axes (23, 24) of the rotary latches (21, 22) extend parallel to one another in a vertical direction (Z).

4. Holding device (10) according to one of the preceding claims, characterized in that the rotary locks (21, 22) each have a first stop contour (51) for fixing a first load carrier (61), a second stop contour (52) for fixing a second load carrier (62) and a third stop contour (53) for fixing a third load carrier (63).

5. Holding device (10) according to one of the preceding claims, characterized in that the first rotary latch (21) has a first slot (25) into which a first pin (35) of the drive unit engages, and that the second rotary latch (22) has a second slot (26) into which a second pin (36) of the drive unit engages.

6. Holding device (10) according to claim 5, characterized in that the drive unit has a drive motor and a lever gear, and that the lever gear transmits a rotation of the drive motor in such a way that by a rotation of the drive motor the pins (35, 36) are moved in the slots (25, 26) in such a way that the rotary latches (21, 22) are pivoted about the pivot axes (23, 24).

7. Holding device (10) according to claim 6, characterized in that the lever mechanism has a first drive lever (41) on which the first pin (35) is arranged, a second drive lever (42) on which the second pin (36) is arranged, a first drive rod (45) which is articulated to the first drive lever (41), a second drive rod (46) which is articulated to the second drive lever (42), and a coupling rod (48) which is articulated to the first drive rod (45) and to the second drive rod (46), and in that the drive motor drives the coupling rod (48) in rotation.

8. Holding device (10) according to claim 7, characterized in that the drive unit is designed such that by rotating the coupling rod (48) by 180° in any direction of rotation, the rotary latches (21, 22) are pivoted from the unlocking position to the locking position and from the locking position to the unlocking position.

9. Holding device (10) according to one of claims 7 to 8, characterized in that the first drive lever (41) is pivotable about a first lever axis (43) relative to the storage surface (11), and that the second drive lever (42) is pivotable about a second lever axis (44) relative to the storage surface (11), and that the lever axes (43, 44) of the drive levers (41, 42) run parallel and offset from one another in a vertical direction (Z).

10. Holding device (10) according to claim 9, characterized in that the lever mechanism is designed such that when the rotary latch (21, 22) is in the locking position, a distance of the pin (35, 36) engaging in the slot (25, 26) of the rotary latch (21, 22) from the pivot axis (23, 24) of the rotary latch (21, 22) is equal to a distance of the lever axis (43, 44) of the drive lever (41, 42), on which the respective pin (35, 36) is arranged, from the pivot axis (23, 24) of the rotary latch (21, 22).

11. Holding device (10) according to one of claims 6 to 10, characterized in that the drive unit is designed such that by rotating the drive motor by 180° in any direction of rotation, the rotary latches (21, 22) are pivoted from the unlocking position to the locking position and from the locking position to the unlocking position.

12. Transport vehicle, in particular driverless transport vehicle, comprising a drive device, an electrical energy storage device for supplying the drive device and a control device for controlling the drive device and a holding device (10) according to one of the preceding claims.

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