CN108149989B - Omnidirectional mobile motor vehicle transport platform, auxiliary motor vehicle replenishment station and parking system - Google Patents
Omnidirectional mobile motor vehicle transport platform, auxiliary motor vehicle replenishment station and parking system Download PDFInfo
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- CN108149989B CN108149989B CN201711269958.0A CN201711269958A CN108149989B CN 108149989 B CN108149989 B CN 108149989B CN 201711269958 A CN201711269958 A CN 201711269958A CN 108149989 B CN108149989 B CN 108149989B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
- E04H6/225—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes without transverse movement of the parking palette after leaving the transfer means
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
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Abstract
The invention relates to an omnidirectional mobile motor vehicle transport platform (1) having at least three Mecanum wheels (5) which each have a roller carrier (5.1) which is mounted on a running carriage (4) so as to be rotationally driven about a wheel rotational axis (A1) and which each have a plurality of rollers (5.2) which are arranged so as to be distributed evenly over the circumference and are mounted so as to be rotationally fixed about their roller rotational axes (A2) on the roller carriers (5.1) so as not to be driven. The invention also relates to a corresponding vehicle supply station having such an omnidirectional mobile vehicle transport platform (1) and to a corresponding parking system having such an omnidirectional mobile vehicle transport platform (1).
Description
Technical Field
The invention relates to an omnidirectional mobile motor vehicle transportation platform, an auxiliary motor vehicle supply station and an auxiliary parking system.
Background
DE102015203506a1 discloses a motor vehicle transport unit, in particular an automatic transport device, for a positioning fleet (positionierflow) of a parking system of a parking garage, for positioning parked vehicles, wherein the transport unit is designed such that, by means of the transport unit, the associated parked vehicle can be positioned on a parking surface of the parking garage, either alone or in cooperation with a single additional transport unit or in cooperation with a plurality of additional transport units, and/or the associated parked vehicle can be positioned on a transfer surface for the parking system. Furthermore, this document describes a method for automatically positioning a parked vehicle for a parking system, in particular for automatic parking and/or parking exit, wherein the relevant parked vehicle is positioned on a parking surface of a parking lot and/or a transfer surface for the parking system by means of at least one motor transport unit, in particular an automatic transport device.
Disclosure of Invention
The object of the invention is to provide an omnidirectional mobile vehicle transport platform, an associated vehicle replenishment station and an associated parking system, by means of which vehicles can be automatically replenished, in particular flexibly, efficiently and in a time-saving manner.
The object of the invention is achieved by an omnidirectional mobile motor vehicle transport platform, comprising:
-a travelling gantry;
at least three Mecanum wheels
Each of the three mecanum wheels has a roller bearing which is mounted on the running carriage so as to be rotationally driven about a wheel rotational axis and each of the three mecanum wheels has a plurality of rollers which are arranged evenly distributed over the circumference and are mounted on the roller bearing so as to be rotationally driven about the roller rotational axis of the roller bearing;
at least one carriage device mounted on the running carriage, which carriage device is designed to carry the motor vehicle in a lifted state at least in the manner of a vehicle axle or completely by means of the carriage device; and
at least one lifting device fixed to the running carriage, which lifting device is designed to raise and/or lower the motor vehicle relative to the running carriage, so that the motor vehicle carried by the carrying device is lifted off the road and/or placed onto the road at least in the manner of an axle or completely.
By means of the motor vehicle transport platform according to the invention, motor vehicles which are driven by an internal combustion engine and/or an electric motor as intended and which have drive wheels for this purpose, as well as motor vehicles which are driven by persons as intended in road traffic, in particular outside road traffic, can be transported automatically without the need for a person, i.e. a driver, to control the motor vehicle, in particular without the need for a person, i.e. a driver, to have to be in the motor vehicle.
According to the invention, the running carriage of such a motor vehicle transport platform has at least three mecanum wheels, in particular four mecanum wheels or more than three pairs of mecanum wheels. By means of the mecanum wheels, the motor vehicle transport platform can be driven in any direction, and can therefore also be displaced transversely with respect to the longitudinal direction, i.e. in the direction of the mecanum wheel axle, for example, and can be rotated about any vertical axis of rotation, in particular about a vertical axis of rotation located within the outer contour of the motor vehicle transport platform.
The mecanum wheels are preferably rigidly positioned on the chassis and the height of the support means is adjusted by means of a lifting device, which raises and/or lowers the vehicle to be transported relative to the chassis. In a first variant, the lifting device is positioned between the chassis and the carrier device, so that the carrier device can be height-adjusted relative to the chassis by means of the lifting device. In an alternative variant, the carrier device is connected to the chassis in a highly fixed manner and the lifting device is formed by linearly or pivotably adjustable fork tines which can be adjusted to raise and/or lower the wheels of the vehicle, although the carrier device itself maintains its height position constant. The vehicle is then raised or lowered by housing one wheel each of the vehicle between the two tines and seating the associated wheel of the vehicle deeper or shallower between the two tines depending on the spacing or angular orientation of the two tines.
The omnidirectional mobile motor vehicle transport platform can have a first travel platform having at least three mecanum wheels, each of which has a roller bearing, which is mounted on the travel platform in a rotationally driven manner about a wheel rotational axis and each of which has a plurality of rollers, which are arranged in a uniformly distributed manner over the circumference and are mounted on the roller bearings in a rotationally drivable manner about the roller rotational axes of the roller bearings, wherein the first travel platform has at least one carrier device mounted on the first travel platform and which is designed to carry the motor vehicle in a lifted-off state from the roadway by means of the carrier device in the manner of a vehicle axle, and wherein the first travel platform has at least one first lifting device fixed on the travel platform and designed to lift the motor vehicle, the vehicle is raised and/or lowered relative to the first running carriage in such a way that the vehicle supported by the support device is lifted off the road and/or placed onto the road in an axle-like manner, and the omnidirectional mobile vehicle transport platform can have a second running carriage which is independent of the first running carriage and has at least three mecanum wheels which each have a roller support mounted thereon in a rotationally driven manner about a wheel rotational axis and which each have a plurality of rollers which are mounted on the roller supports in a rotationally fixed manner about the roller rotational axes of the roller supports in a circumferentially distributed manner and in a rotationally fixed manner about the roller rotational axes of the roller supports, wherein the second running carriage has at least one support device mounted on the second running carriage, the support device is designed to support the motor vehicle in a state lifted off the road by means of the support device in an axle manner, and the second traveling gantry has at least one second lifting device which is fixed on the second traveling gantry and is designed to lift and/or lower the motor vehicle relative to the second traveling gantry, so that the motor vehicle supported by the support device is lifted off the road and/or placed on the road in an axle manner, wherein the first traveling gantry and the second traveling gantry are mechanically or controllably coupled, so that the vehicle can be transported omnidirectionally simultaneously on its front axle by means of the first traveling gantry and on its rear axle by means of the second traveling gantry by driving the mecanum wheels of the first traveling gantry and the second traveling gantry.
The first travelling gantry and the second travelling gantry may be mechanically coupled, for example, in the following manner: the two travel carriages are rigidly connected to each other by a form-fitting coupling device.
The coupling of the first and second travel carriage by means of the control technology can be carried out, for example, in the following manner: the two carriages are positioned spatially separated from one another and are accordingly not mechanically connected, but both the mecanum wheels of the first carriage and the mecanum wheels of the second carriage perform a movement coordinated with one another, in particular synchronized, so that the two carriages are always positioned at a constant distance from one another and are always steered in alignment with one another in the respective orientation. Such a coordinated synchronous actuation can be carried out by means of a common drive control for the first and second travelling carriages. Alternatively, the first travel carriage can have its own first drive control device and the second travel carriage can have its own second drive control device, wherein the first drive control device is connected in a controlled manner to the second drive control device by a synchronous communication connection.
The two bogies can each lift a vehicle axle of the vehicle, i.e. a front axle or a rear axle of the vehicle, for example by means of a roller mechanism. The two carriages are geometrically connected and synchronized with each other mechanically and/or electrically (control technology). Each of these "platforms" can be moved by means of a rotatable drive axle, i.e. they can be turned and driven in any direction at once. Each platform may be equipped with a roller mechanism that may form a wheel receptacle, a vehicle axle receptacle, or a bottom receptacle. Thereby enabling the vehicle to be unambiguously fixed and positioned on the platform. The two platforms in particular lift the vehicle off synchronously. The two platforms may cooperate so that the vehicle may also move laterally. These platforms automatically park or exit the vehicle and may then park or exit another vehicle, or may charge or fill another vehicle.
The carrying device can have a first wheel receptacle which is designed to hold a first wheel of a vehicle axle of the motor vehicle in a lifted-off-road state when the lifting device has lifted the motor vehicle off the road at least in an axle-wise manner or completely, and the carrying device can have a second wheel receptacle which is designed to hold a second wheel of the same vehicle axle of the motor vehicle in a lifted-off-road state when the lifting device has lifted the motor vehicle off the road at least in an axle-wise manner or completely, in particular synchronously with the first wheel.
The corresponding wheel receptacles can be designed to detect in each case one of the wheels of the motor vehicle to be lifted off on the tire of the vehicle, in particular on the rolling surface of the tire. For this purpose, the respective wheel receiver can have a support surface or at least two support slats, on which the wheel, in particular the tire, stands by gravity.
The carrying device can have a first arm with a first proximal end, which is fastened to the running carriage and has an opposite first distal end with a first wheel receptacle, and can have a second arm with a second proximal end, which is fastened to the running carriage and has an opposite second distal end with a second wheel receptacle, wherein the first arm and the second arm are arranged at a distance from one another such that, during the positioning of the running carriage in front of the motor vehicle or in front of the rear of the motor vehicle, the first wheel receptacle is positioned by means of the first arm and the second wheel receptacle is positioned by means of the second arm at the respectively associated first wheel and second wheel, so that the respective front or rear axle of the motor vehicle is lifted off.
The support device is designed to maintain a defined arrangement of the wheel receptacles relative to the chassis. The first and second arms are each designed such that the associated wheel receptacles are positioned close to the respective associated wheels of the vehicle, although the running carriage of the omni-directionally movable motor vehicle transport platform is positioned significantly away from the wheels of the vehicle, namely either in front of the motor vehicle or in front of the rear of the motor vehicle, depending on which wheel or which axle (front axle or rear axle) of the vehicle is associated with the respective omni-directionally movable motor vehicle transport platform.
The running carriage can be designed for moving into an intermediate space between the underbody of the motor vehicle and the roadway, and the first wheel receptacle can be arranged here on a first lateral side of the running carriage such that the first wheel is received by being discharged from the inside thereof, and the second wheel receptacle can be arranged here on a second lateral side of the running carriage opposite the first lateral side such that the second wheel is received by being discharged from the inside thereof.
In this embodiment, the omnidirectional mobile motor vehicle transport platform can approach the respectively associated wheel or the associated axle (front axle or rear axle) of the vehicle in such a way that the aforementioned arms can be dispensed with. However, the omnidirectional mobile motor vehicle transport platform must then be of a flat design so that it can be moved between the vehicle floor and the road. In the embodiment with an arm in which the running carriage is positioned in front of the motor vehicle or in front of the rear of the motor vehicle, the omnidirectional mobile motor vehicle transport platform, on the contrary, does not have to be designed flat in this way.
The first wheel receptacle and/or the second wheel receptacle may each have a receiving fork, which comprises two prongs oriented parallel to one another and designed to receive the corresponding first wheel and/or second wheel on their running surface, wherein at least one of the two prongs is designed such that its spacing relative to the other prong can be adjusted linearly.
The linear adjustability of the at least one tine may be achieved as follows: the respective fork tines are mounted so as to be movable on the base body of the receiving fork and can be moved relative to the base body of the receiving fork, for example, automatically by means of a hydraulic piston or a spindle drive, in particular, by actuating a drive control of an omnidirectional movement of the motor vehicle transport platform.
The first wheel housing and/or the second wheel housing may each have a housing fork comprising two prongs, wherein at least one prong is mounted so as to be pivotable to and fro between a housing pivot position in which the two prongs are oriented parallel to one another in order to be able to house the respective first wheel and/or second wheel on its rolling surface and a storage pivot position (Verwahrungsschwenkstellung) pivoted at least substantially by 90 °.
The pivotable adjustability of the at least one tine may be achieved as follows: the corresponding fork tines are mounted on the base body of the receiving fork in a rotatable manner and can be moved in a rotatable manner relative to the base body of the receiving fork, for example automatically, in particular by actuating a drive control of an omni-directional mobile motor vehicle transport platform, for example by means of an electric or hydraulic motor or a lever drive.
At least one of the two fork tines can be designed as a rigid rod which is fastened to the base body of the fork, or as a roller which is mounted on the base body of the fork so as to be freely rotatable about a rotational axis which is oriented in the longitudinal extension direction of the fork tines.
The support device can have a chassis receiving portion, the height of which can be adjusted by means of the lifting device, which is designed to hold the bottom section, the rigid axle section or the suspension arm of the motor vehicle in the lifted-off state of the lifting device, in such a way that the wheels of the motor vehicle are lifted off the road at least in the manner of an axle or completely.
At least three mecanum wheels can each be mounted in a rotationally drivable manner on an axle body rigidly fixed to the chassis or in each case on an axle body which can be mounted in a height-adjustable manner by means of a rocker of the chassis.
The lifting device can be fixed to the chassis and be designed to raise and lower a carrier device mounted on the lifting device relative to the chassis.
The support device can be rigidly fixed to the chassis, and the lifting device can be arranged on the support device.
The chassis can have a coupling device which is designed to releasably couple the carrier device and/or the lifting device to the chassis.
The coupling device can be designed to optionally couple another machine unit different from the carrier device and/or lifting device when the carrier device and/or lifting device is disengaged from the running gear. The omnidirectional mobile motor vehicle transport platform can therefore be connected, for example, instead of a support device and/or a lifting device, to a street cleaning device, for example a sweeping machine, so that the road, in particular a parking system, can be cleaned automatically, i.e. drivelessly, in particular during times when no motor vehicle transport is required.
The object of the invention is also achieved by a vehicle charging station, in particular a charging station for charging an electric energy accumulator with electric energy or a filling station for filling a vehicle with liquid or gaseous fuel, such as gasoline, diesel oil or natural gas, having:
a parking space, which is designed to allow a driver to move a vehicle into, out of and into the parking space;
a charging or filling station, different from the transit station, designed to automatically replenish the motor vehicle with electric energy, liquid fuel or gaseous fuel; and
the omnidirectional mobile motor vehicle transport platform according to the invention is designed to transport a motor vehicle parked in a delivery slot to a charging or filling position in an unmanned manner and/or to transport a motor vehicle already present in the charging or filling position back to the delivery slot in an unmanned manner.
The object of the invention is also achieved by a parking system having:
-a building with a plurality of parking spaces, designed for parking a motor vehicle;
a charging or filling station, different from the parking station, designed for automatically supplying the motor vehicle with electrical energy, liquid fuel or gaseous fuel; and
the omnidirectional mobile motor vehicle transport platform according to the invention is designed to transport a motor vehicle parked at a corresponding parking space to a charging or filling space in an unmanned manner and/or to transport a motor vehicle already present at a charging or filling space back to the corresponding parking space in an unmanned manner.
The parking system may further have:
-a building with a plurality of parking spaces, designed for parking a motor vehicle;
a parking space, which is designed to allow a driver to move a vehicle into, out of and into the parking space; and
the omnidirectional mobile motor vehicle transport platform according to the invention is designed to transport a motor vehicle parked in a parking space to an empty parking space of a building and/or from a parking space of a building back to a delivery space in an unmanned manner.
The parking system may further have:
-a building with a plurality of parking spaces, designed for parking a motor vehicle;
a parking space, which is designed to allow a driver to move a vehicle into, out of and into the parking space; and
a charging or filling station, different from the parking station, designed to automatically supply the motor vehicle with electrical energy, liquid fuel or gaseous fuel; and
the omnidirectional mobile motor vehicle transport platform according to the invention is designed to transport a motor vehicle parked in a parking space to and/or from an empty parking space of a building in an unmanned manner automatically to and/or from the parking space of the building, and
the design is that the motor vehicle parked on the corresponding parking position is automatically transported to the charging position or the filling position in an unmanned manner, and/or the existing motor vehicle on the charging position or the filling position is automatically transported back to the corresponding parking position or the delivery position in an unmanned manner.
Drawings
Various embodiments of the invention are illustrated in the schematic drawings. The specific features of these embodiments may be mentioned independently of the specific context in which they are mentioned, or may be considered to represent general features of the invention, alone or in different combinations than those described, as required.
Wherein:
fig. 1 shows in a first embodiment a schematic top view of an omnidirectional mobile motor vehicle transport platform according to the invention, which can be positioned in front of a motor vehicle, the carrying device comprising an arm with linearly adjustable tines,
fig. 2 shows in a second embodiment a schematic top view of an omnidirectional mobile motor vehicle transport platform according to the invention, which can be positioned in front of a motor vehicle, the carrying means comprising an arm, which has pivotable tines,
figure 3 shows a perspective view of the mecanum wheel alone,
fig. 4 shows a schematic top view of two mutually cooperating omnidirectional mobile motor vehicle transport platforms according to the invention, which are designed for the underneath travel of a motor vehicle in the region of a front axle and a rear axle, respectively, and which have pivotable tines for example,
fig. 5 shows a schematic top view of two omnidirectional mobile motor vehicle transport platforms according to the invention, as shown in fig. 4, with pivotable tines,
fig. 6 shows a schematic side view of an omnidirectional mobile motor vehicle transport platform according to the invention, designed for underneath travel of a motor vehicle and having a lifting device,
figure 7 shows a schematic view of a vehicle replenishment station according to the invention,
figure 8 shows a schematic view of a parking system with a vehicle replenishment station according to the invention,
FIG. 9 shows a schematic view of a parking system with a traffic space according to the invention, an
Fig. 10 shows a schematic representation of a parking system with a transit space and a vehicle replenishment station according to the invention.
Detailed Description
Fig. 1 shows a first exemplary embodiment of an omnidirectional mobile motor vehicle transport platform 1 with an exemplary motor vehicle 2 having four wheels 3.1 to 3.4.
The omnidirectional mobile motor vehicle transportation platform 1 comprises: a traveling gantry 4; in the case of the present exemplary embodiment, four mecanum wheels 5 each have a roller carrier 5.1, which is mounted on the travel carriage 4 in a rotationally driven manner about a wheel rotational axis a 1. Each mecanum wheel 5 has a plurality of rollers 5.2 arranged evenly distributed over the circumference, which are mounted on a roller carrier 5.1 in a rotationally fixed manner about a roller rotational axis a2, which is also shown in detail in fig. 3.
The omnidirectional mobile motor vehicle transport platform 1 further comprises: a carrier device 7 mounted on the travelling carriage 4 and designed to carry the motor vehicle 2 in a lifted state off the road at least in the manner of an axle or completely by means of the carrier device 7; and at least one lifting device 8 (see, for example, fig. 6) which is fastened to the running carriage 4 and is designed to raise and/or lower the motor vehicle 2 relative to the running carriage 4, so that the motor vehicle 2 carried by the carrying device 7 is lifted off the road and/or placed onto the road at least in the manner of an axle or completely.
In this case, the carrier device 7 has a first wheel receptacle 9 which is designed to hold the first wheel 3.1 of the vehicle axle of the motor vehicle 2 in the lifted-off-road state when the lifting device 8 has lifted the motor vehicle 2 off the road at least in the manner of an axle or completely. The carrier device 7 also has a second wheel receptacle 10 which is designed to hold a second wheel 3.2 of the same vehicle axle of the motor vehicle 2 in a lifted-off-road state when the lifting device 8 has lifted the motor vehicle 2 off the road at least in an axle-wise manner or completely, in particular synchronously with the first wheel 3.1.
In this case, the carrier 7 has a first arm 7.1 comprising: a first proximal end fixed to the traveling gantry 4; and an opposite first distal end having a first wheel receiving portion 9. Furthermore, the carrier device 7 has a second arm 7.2, which comprises: a second proximal end fixed to the traveling gantry 4; and an opposite second distal end having a second wheel receptacle 10, wherein the first arm 7.1 and the second arm 7.2 are arranged at a distance from one another such that, when the running carriage 4 is positioned in front of the motor vehicle 2 (as shown in fig. 1 and 2) or in front of the rear of the motor vehicle 2, the first wheel receptacle 9 is positioned by means of the first arm 7.1 and the second wheel receptacle 10 by means of the second arm 7.2 on the respectively associated first wheel 3.1 and second wheel 3.2 of the motor vehicle 2 in order to lift off the respective front axle or rear axle of the motor vehicle 2.
In the embodiment shown in fig. 1, the first wheel receiver 9 and the second wheel receiver 10 each have a receiver fork 11, which comprises two fork tines 11.1 and 11.2 oriented parallel to one another and which are designed such that the respective first wheel 3.1 or second wheel 3.2 is received on its respective running surface, wherein of the two fork tines 11.1 and 11.2, at least one fork tine 11.1 is designed to be linearly adjustable with respect to its distance from the other fork tine 11.2, as indicated by the arrow. The receiving fork 11 and the linearly adjustable fork tines 11.1 and 11.2 designed in this way can also be provided in all other embodiments of the invention.
In the case of the embodiment according to fig. 2, the first wheel receiver 9 and the second wheel receiver 10 each have a receiver fork 11 which comprises two fork tines 11.1 and 11.2, wherein at least one fork tine 11.1 is mounted so as to be pivotable to and fro between a receiver pivot position and a storage pivot position pivoted at least substantially through 90 °, wherein in the receiver pivot position the two fork tines 11.1 and 11.2 are oriented parallel to one another in order to receive the respective first wheel 3.1 or second wheel 3.2 on its running surface. The receiving fork 11 and the pivotably mounted tines 11.1 and 11.2 designed in this way can also be provided in all other embodiments of the invention, in particular instead of the linearly adjustable tines 11.1 and 11.2.
In all embodiments, at least one of the two fork tines 11.1 and 11.2 can be designed as a rigid rod which is fixed to the base body of the fork 11, or as a roller which is mounted on the base body of the fork 11 so as to be freely rotatable about an axis of rotation oriented in the longitudinal extension direction of the fork tines 11.1 and 11.2.
In the exemplary embodiment of the omnidirectional mobile motor vehicle transport platform 1 shown in fig. 4 to 10, the traveling gantry 4 is designed for moving into the intermediate space between the underbody of the motor vehicle 2 and the roadway. The first wheel receiving portion 9 is arranged on a first lateral side of the running carriage 4, specifically in such a way that the first wheel 3.1 of the front axle is received and emitted from the inside thereof, and the second wheel receiving portion 10 is arranged on a second lateral side of the running carriage 4 opposite the first lateral side, such that the second wheel 3.2 of the front axle is received and emitted from the inside thereof. A second identical omni-directional mobile motor vehicle transport platform 1 is similarly designed. In this case, its first wheel receiver 9 is arranged on a first lateral side of the running carriage 4, specifically in such a way that the first wheel 3.3 of the rear axle is received by being pulled out from its inside, and the second wheel receiver 10 is arranged on a second lateral side of the running carriage 4 opposite the first lateral side, so that the second wheel 3.4 of the rear axle is received by being pulled out from its inside.
In the exemplary embodiment shown in fig. 4 to 10, the omnidirectional mobile motor vehicle transport platform 1 is designed such that the first wheel housing 9 and the second wheel housing 10 each have a housing fork 11, which comprises two fork tines 11.1 and 11.2, which are each mounted so as to be pivotable to and fro between a housing pivot position, in which the two fork tines 11.1 and 11.2 are oriented parallel to one another, in order to release the respective wheel 3.1-3.4, and a storage pivot position pivoted at least substantially through 90 ° in order to house the respective wheel 3.1-3.4 on its rolling surface. It may also be provided in the exemplary embodiment shown in fig. 4 to 10 to replace the pivotally mounted tines 11.1 and 11.2 with linearly adjustable tines 11.1 and 11.2 as shown in fig. 1 and 2.
In the embodiment of fig. 4 to 10, at least one of the two fork tines 11.1 and 11.2 can also be designed as a rigid rod which is fastened to the base body of the fork 11, or as a roller which is mounted on the base body of the fork 11 so as to be freely rotatable about an axis of rotation oriented in the longitudinal extension of the fork tines 11.1 and 11.2.
As is shown in particular in the lower part of fig. 6, the lifting device 8 can be fastened to the chassis 4 and is designed to lift and lower the support device 7, which is mounted on the lifting device 8 in a height-adjustable manner relative to the chassis 4.
Fig. 7 schematically shows a vehicle replenishment station 12, in particular a charging station for replenishing the vehicle 2 with electrical energy to charge an electrical energy accumulator 13a of the vehicle 2 or a filling station for replenishing the vehicle 2 with liquid or gaseous fuel, for example gasoline, diesel fuel or natural gas, into a tank 13b of the vehicle 2. For this purpose, the vehicle supply station 12 can have a filling station with a filling interface 15, which is designed to transfer electrical energy or fuel into the electrical energy accumulator 13a or the tank 13b of the vehicle 2.
The vehicle replenishment station 12 has a vehicle space 16, which is designed to allow a driver to move the vehicle 2 into, out of or into a vehicle space 16. A charging station 17a or a filling station 17b is provided, which is different from the transfer station 16 and is designed to automatically supply the motor vehicle 2 with electrical energy, liquid fuel or gaseous fuel.
According to the invention, the vehicle replenishment station 12 comprises an omnidirectional mobile vehicle transport platform 1, as in one or more of the embodiments already described, which is designed to transport a vehicle 2 parked on a vehicle space 16 to a charging station 17a or a filling station 17b in an unmanned manner. Furthermore, the omnidirectional mobile motor vehicle transport platform 1 can be designed to transport the existing motor vehicle 2 at the charging station 17a or the filling station 17b to the transfer station 16 in an unmanned, automated manner.
Fig. 8 schematically shows a parking system 18 with a building 19 with a plurality of parking spaces 20.1 to 20.7 designed for parking a motor vehicle 2.
In the case of the exemplary embodiment shown in fig. 8, parking system 18 comprises a charging station 17a or a filling station 17b, which is different from parking stations 20.1 to 20.7 and is designed to automatically replenish motor vehicle 2 with electrical energy, liquid fuel or gaseous fuel.
According to the invention, the parking system 18 also comprises an omnidirectional mobile motor vehicle transport platform 1, as described in one or more of the embodiments already described, which is designed to transport the motor vehicle 2 parked in the corresponding parking spaces 20.1 to 20.7 to the charging space 17a or the filling space 17b in an unmanned manner. Furthermore, the omnidirectional mobile motor vehicle transport platform 1 can be designed to transport the existing motor vehicle 2 at the charging station 17a or the filling station 17b to the corresponding parking station 20.1 to 20.7 or to another parking station 20.1 to 20.7 of the parking stations in an unmanned, automated manner.
Fig. 9 schematically shows an alternative embodiment of a parking system 18, which also has a building 19 with a plurality of parking spaces 20.1 to 20.7, which are designed for parking a motor vehicle 2.
In the case of the embodiment shown in fig. 9, the parking system 18 further comprises: a parking space 16, which is designed to be approached, parked and moved away from the parking space 16 by the driver; and an omnidirectional mobile motor vehicle transport platform 1 as described in one or more of the embodiments already described, which is designed to transport a motor vehicle 2 parked in a parking space 16 to an empty parking space 20.1 to 20.7 of a building 19 in an unmanned manner. Furthermore, the omnidirectional mobile motor vehicle transport platform 1 can be designed to transport the existing motor vehicle 2 in the corresponding parking spaces 20.1 to 20.7 to the transfer space 16 in an unmanned, automated manner.
Fig. 10 schematically shows a further embodiment of a parking system 18, which also comprises a building 19 with a plurality of parking spaces 20.1 to 20.7, which are designed for parking a motor vehicle 2.
The parking system 18 also has a parking space 16, which is designed to allow the driver to move the vehicle 2 into, park and move it away from the parking space 16.
In the embodiment shown in fig. 10, parking system 18 also comprises a charging station 17a or a filling station 17b, which is different from parking stations 20.1 to 20.7 and is designed to automatically replenish motor vehicle 2 with electrical energy, liquid fuel or gaseous fuel.
The omnidirectional mobile motor vehicle transport platform 1 used here is designed to transport the motor vehicle 2 parked in the parking space 16 to the empty parking spaces 20.1 to 20.7 of the building 19 in an unmanned manner. Furthermore, the omnidirectional mobile motor vehicle transport platform 1 can also be designed to transport the motor vehicle 2 from the parking spaces 20.1 to 20.7 of the building 19 back to the transfer space 16. Furthermore, the omnidirectional mobile motor vehicle transport platform 1 is also designed to transport the motor vehicle 2 parked in the respective parking space 20.1 to 20.7 to the charging station 17a or the filling station 17b, and/or to transport the motor vehicle 2 already present in the charging station 17a or the filling station 17b back again to the respective parking space 20.1 to 20.7, or from there directly to the transfer space 16, in an unmanned manner, if necessary.
Claims (19)
1. An omni-directional mobile motor vehicle transport platform (1) having:
-a travelling carriage (4);
at least three Mecanum wheels (5) each having a roller carrier (5.1) which is mounted on the running carriage (4) so as to be rotationally driven about a wheel rotational axis (A1) and each having a plurality of rollers (5.2) which are arranged so as to be distributed evenly over the circumference and are mounted on the roller carriers (5.1) so as to be rotationally fixed about their roller rotational axes (A2) in a rotationally fixed manner,
-at least one carrying device (7) mounted on the travelling carriage (4), which is designed to carry a motor vehicle (2) in a state lifted off the road at least in the manner of an axle or completely by means of the carrying device (7); and
-at least one lifting device (8) fixed on the travelling gantry (4), which is designed to raise or lower the motor vehicle (2) relative to the travelling gantry (4) such that the motor vehicle (2) carried by the carrying device (7) is lifted off or placed onto the road at least in the manner of an axle or completely, wherein the omnidirectional mobile motor vehicle transport platform has: a first travel platform (4.1) having at least three Mecanum wheels (5) which each have a roller carrier (5.1) which is mounted on the first travel platform (4.1) so as to be rotationally driven about a wheel rotational axis (A1) and which each have a plurality of rollers (5.2) which are arranged so as to be distributed evenly over the circumference and which are mounted on the roller carrier (5.1) so as to be rotationally drivable about a roller rotational axis (A2) thereof, wherein the first travel platform (4.1) has at least one carrier device (7) which is mounted on the first travel platform (4.1) and which is designed to carry a motor vehicle (2) in an axle-like manner in a state in which it is lifted off the road by means of the carrier device (7), and wherein the first travelling gantry (4.1) has at least one first lifting device (8.1) which is fastened to the travelling gantry (4) and which is designed to raise or lower the motor vehicle (2) relative to the first travelling gantry (4.1) in such a way that the motor vehicle (2) carried by the carrying device (7) is lifted off or placed on the road in the manner of a bridge,
and the omni-directional mobile motor vehicle transport platform having:
a second travel carriage (4.2) which is separate from the first travel carriage (4.1) and which has at least three Mecanum wheels (5) which each have a roller carrier (5.1) which is mounted on the travel carriage (4) so as to be rotationally driven about a wheel rotational axis (A1) and which each have a plurality of rollers (5.2) which are arranged distributed evenly over the circumference and which are mounted on the roller carriers (5.1) so as to be rotationally drivable about their roller rotational axes (A2), wherein the second travel carriage (4.2) has at least one carrier device (7) which is mounted on the second travel carriage (4.2) and which is designed to carry a motor vehicle (2) in an axle-like manner in a lifted-off state on the road by means of the carrier device (7), and wherein the second running carriage (4.2) has at least one second lifting device (8.2) which is fastened to the second running carriage (4.2) and is designed to raise or lower the motor vehicle (2) relative to the second running carriage (4.2) in such a way that the motor vehicle (2) carried by the carrying device (7) is lifted off the road or placed onto the road in the manner of an axle,
wherein the first running carriage (4.1) and the second running carriage (4.2) are coupled mechanically or in a controlled manner such that a motor vehicle (2) can be transported omnidirectionally on its front axle simultaneously by means of the first running carriage (4.1) and on its rear axle by means of the second running carriage (4.2) by driving the mecanum wheels (5) of both the first running carriage (4.1) and the second running carriage (4.2), wherein the carrier device (7) has: a first wheel receptacle (9) which is designed to hold a first wheel (3.1) of a vehicle axle of the motor vehicle (2) in a lifted-off-road state when the lifting device (8) has lifted the motor vehicle (2) off the road at least in an axle-wise manner or completely; and a second wheel receptacle (10) which is designed to be moved away from the road at least in the manner of an axle or completely when the lifting device (8) has lifted the motor vehicle (2), keeping a second wheel (3.2) of the same vehicle axle of the vehicle (2) in a lifted-off-road condition, wherein the travelling carriage (4) is designed to be moved into an intermediate space between the underbody of the motor vehicle (2) and the roadway, and the first wheel receiving section (9) is arranged on a first lateral side of the travelling gantry (4) such that the first wheel (3.1) is received from inside, and the second wheel receiving part (10) is provided on a second lateral side of the traveling gantry (4) opposite to the first lateral side so that the second wheel (3.2) is received and emitted from the inside thereof.
2. Omni-directional mobile motor vehicle transport platform according to claim 1, characterized in that the carrying device (7) has a first arm (7.1) which comprises a first proximal end which is fixed on the travelling gantry (4) and which comprises a first opposing distal end with the first wheel receptacle (9) and the carrying device (7) has a second arm (7.2) which comprises a second proximal end which is fixed on the travelling gantry (4) and which comprises a second opposing distal end with the second wheel receptacle (10), wherein the first arm (7.1) and the second arm (7.2) are arranged spaced apart from one another, when the running carriage (4) is positioned in front of the motor vehicle (2) or in front of the rear of the motor vehicle (2), the first wheel receptacle (9) is positioned by means of the first arm (7.1) and the second wheel receptacle (10) is positioned by means of the second arm (7.2) on the respectively associated first wheel (3.1) and second wheel (3.2) in order to lift off the respective front axle or rear axle of the motor vehicle (2).
3. An omnidirectional mobile motor vehicle transport platform according to claim 1, characterized in that the first wheel housing (9) and the second wheel housing (10) have a housing fork (11) comprising two fork tines (11.1, 11.2) oriented parallel to each other, which are designed such that the corresponding first wheel (3.1) and second wheel (3.2) are housed on their rolling surface, wherein of the two fork tines (11.1, 11.2) at least one fork tine (11.1) is designed such that its spacing relative to the other fork tine (11.2) can be linearly adjusted.
4. An omnidirectional mobile motor vehicle transport platform according to claim 1, characterized in that the first wheel housing (9) and the second wheel housing (10) have a housing fork (11) comprising two fork tines (11.1, 11.2), of which at least one fork tine (11.1, 11.2) is mounted to be pivotable to and fro between a housing pivot position in which the two fork tines (11.1, 11.2) are oriented parallel to one another in order to house the respective first wheel (3.1) and second wheel (3.2) on their rolling surfaces and a storage pivot position pivoted at least substantially by 90 °.
5. The omnidirectional mobile motor vehicle transport platform according to claim 3 or 4, characterized in that at least one of the two fork tines (11.1, 11.2) is configured as a rigid bar fixed to the base of the stowing fork (11) or as a roller mounted on the base of the stowing fork (11) so as to be freely rotatable about an axis of rotation oriented in the longitudinal extension direction of the fork tines (11.1, 11.2).
6. The omnidirectional mobile motor vehicle transport platform according to any one of claims 1 to 4, characterized in that the carrier device (7) has a running carriage receptacle which can be height-adjusted by means of the lifting device (8), which is designed to hold a base section, a rigid axle section or a suspension arm of the motor vehicle (2) in the lifted-off state of the lifting device (8) in such a way that the wheels (3.1, 3.2, 3.3, 3.4) of the motor vehicle (2) are lifted off the road at least in an axle manner or completely.
7. Omni-directional mobile motor vehicle transport platform according to one of claims 1 to 4, characterized in that the at least three Mecanum wheels (5) are each mounted in a rotationally driven manner on an axle body which is rigidly fixed to a running carriage (4) or on an axle body which is mounted in a rotationally driven manner in each case in a height-adjustable manner by means of a rocker of the running carriage (4).
8. The omnidirectional mobile motor vehicle transport platform according to claim 7, wherein the lifting device (8) is fixed to the traveling gantry (4) and is designed to raise and lower a carrying device (7) mounted on the lifting device (8) relative to the traveling gantry (4).
9. The omnidirectional mobile motor vehicle transport platform according to claim 7, wherein the carrier device (7) is rigidly fixed to the traveling gantry (4) and the lifting device (8) is provided on the carrier device (7).
10. The omnidirectional mobile motor vehicle transport platform according to claim 7, characterized in that the traveling gantry (4) has a coupling device designed for releasably coupling the carrying device (7) and/or the lifting device (8) to the traveling gantry (4).
11. Omnidirectional mobile motor vehicle transport platform according to claim 10, characterized in that the coupling means are designed to optionally couple another machine unit different from the carrying means (7) and/or the lifting means (8) when the carrying means (7) and/or the lifting means (8) are disengaged from the travelling gantry (4).
12. The omnidirectional mobile motor vehicle transport platform according to any one of claims 1 to 4, wherein the second wheel receptacle is designed to keep a second wheel (3.2) of the same motor vehicle axle of the motor vehicle (2) in a lifted-off-road state when the lifting device (8) has lifted the motor vehicle (2) off the road synchronously with the first wheel (3.1).
13. A vehicle replenishment station, the vehicle replenishment station having:
-a vehicle space (16) designed to be approached, parked and removed by a driver from the vehicle (2) to the vehicle space (16);
-a charging or filling site (17a, 17b) different from the transit site (16), designed to automatically replenish the motor vehicle (2) with electric energy, liquid fuel or gaseous fuel; and
-an omnidirectional mobile motor vehicle transport platform (1) according to any one of claims 1 to 12, designed to transport a motor vehicle (2) parked on the parking space (16) to the charging point (17a) or charging point (17b) autonomously, or to transport an existing motor vehicle (2) on the charging point (17a) or charging point (17b) autonomously back to the parking space (16) autonomously.
14. The vehicle station according to claim 13, characterized in that it is a charging station for recharging a vehicle (2) with electric energy for charging an electric accumulator (13a) of the vehicle (2).
15. Vehicle station according to claim 13, characterized in that it is a filling station for filling a vehicle (2) with liquid or gaseous fuel.
16. The vehicle replenishment station of claim 15, wherein the liquid or gaseous fuel is gasoline, diesel or natural gas.
17. A parking system, having:
-a building (19) with a plurality of parking spaces (20.1-20.7) designed for parking motor vehicles (2);
-a charging or filling level (17a, 17b) different from the parking level (20.1-20.7), designed for automatically replenishing the motor vehicle (2) with electric energy, liquid fuel or gaseous fuel; and
-an omnidirectional mobile motor vehicle transport platform (1) according to any one of claims 1 to 12, designed to transport a motor vehicle (2) parked at a corresponding parking space (20.1-20.7) to the charging site (17a) or the charging site (17b) autonomously and drivelessly, or to transport an existing motor vehicle (2) at the charging site (17a) or the charging site (17b) autonomously and drivelessly back to a corresponding parking space (20.1-20.7).
18. A parking system, having:
-a building (19) with a plurality of parking spaces (20.1-20.7) designed for parking motor vehicles (2);
-a vehicle space (16) designed to be approached, parked and removed by a driver from the vehicle (2) to the vehicle space (16); and
-an omnidirectional mobile motor vehicle transport platform (1) according to any one of claims 1 to 12, designed to transport a motor vehicle (2) parked on the parking space (16) unmanned automatically onto an empty parking space (20.1-20.7) of the building (19) or from a parking space (20.1-20.7) of the building (19) back onto the parking space (16).
19. A parking system, having:
-a building (19) with a plurality of parking spaces (20.1-20.7) designed for parking motor vehicles (2);
-a vehicle space (16) designed to be approached, parked and removed by a driver from the vehicle (2) to the vehicle space (16);
-a charging or filling level (17a, 17b) different from the parking level (20.1-20.7), designed for automatically replenishing the motor vehicle (2) with electric energy, liquid fuel or gaseous fuel; and
-an omnidirectional mobile motor vehicle transport platform (1) according to any one of claims 1 to 12, designed to transport a motor vehicle (2) parked on the parking space (16) unmanned automatically onto an empty parking space (20.1-20.7) of the building (19) or from a parking space (20.1-20.7) of the building (19) back onto the parking space (16), and
the omnidirectional mobile motor vehicle transport platform is designed to transport a motor vehicle (2) parked at a corresponding parking position (20.1-20.7) to the charging position (17a) or the charging position (17b) in an unmanned manner, or to transport an existing motor vehicle (2) at the charging position (17a) or the charging position (17b) to the corresponding parking position (20.1-20.7) or the transfer position (16) in an unmanned manner.
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| DE102016224098.6A DE102016224098B4 (en) | 2016-12-05 | 2016-12-05 | Omnidirectional mobile vehicle transport platform, associated vehicle supply station and parking system |
| DE102016224098.6 | 2016-12-05 |
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| CN108149989A CN108149989A (en) | 2018-06-12 |
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| DE102018221172B4 (en) | 2018-12-06 | 2022-12-01 | Volkswagen Aktiengesellschaft | Parking robot for a motor vehicle and method for operating such a parking robot |
| DE102018221174A1 (en) | 2018-12-06 | 2020-06-10 | Volkswagen Aktiengesellschaft | Parking robots for a motor vehicle and method for operating such a parking robot |
| DE102018221169B4 (en) | 2018-12-06 | 2022-02-24 | Volkswagen Aktiengesellschaft | Parking robot for a motor vehicle with at least two wheel axles and method for operating such a parking robot |
| DE102018221170B4 (en) | 2018-12-06 | 2021-01-28 | Volkswagen Aktiengesellschaft | Parking robot for a motor vehicle and a method for operating such a parking robot |
| DE102018221173A1 (en) | 2018-12-06 | 2020-06-10 | Volkswagen Aktiengesellschaft | Parking robots for a motor vehicle |
| HUE060547T2 (en) * | 2019-01-11 | 2023-03-28 | Duerr Systems Ag | Conveying device, processing installation, method for conveying and/or processing objects |
| JP2020139299A (en) * | 2019-02-27 | 2020-09-03 | 本田技研工業株式会社 | Vehicle transportation device |
| JP2020139298A (en) * | 2019-02-27 | 2020-09-03 | 本田技研工業株式会社 | Vehicle transportation system |
| DE102019208788A1 (en) * | 2019-06-17 | 2020-12-17 | Volkswagen Aktiengesellschaft | Motor vehicle |
| EP3865355A1 (en) * | 2020-02-14 | 2021-08-18 | Wheel.me AS | Transportation arrangement for transportation of an object on a surface |
| DE102020214004A1 (en) * | 2020-11-08 | 2022-05-12 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Decentralized traction control |
| CN114197928A (en) * | 2021-12-30 | 2022-03-18 | 浙江派科停车系统有限公司 | All-wheel direct steering type horizontal circulation automatic parking garage |
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| DE102016224098A1 (en) | 2018-06-07 |
| DE102016224098B4 (en) | 2021-12-16 |
| CN108149989A (en) | 2018-06-12 |
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