EP0933493A1 - Système de transfer - Google Patents

Système de transfer Download PDF

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Publication number
EP0933493A1
EP0933493A1 EP98124264A EP98124264A EP0933493A1 EP 0933493 A1 EP0933493 A1 EP 0933493A1 EP 98124264 A EP98124264 A EP 98124264A EP 98124264 A EP98124264 A EP 98124264A EP 0933493 A1 EP0933493 A1 EP 0933493A1
Authority
EP
European Patent Office
Prior art keywords
transport
correction
arrangement
determined
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP98124264A
Other languages
German (de)
English (en)
Inventor
Hubert Kugelmann
Andreas Delp
Dieter Dr. Werner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0933493A1 publication Critical patent/EP0933493A1/fr
Withdrawn legal-status Critical Current

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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
    • E04H6/182—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 using car-gripping transfer means
    • E04H6/183—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 using car-gripping transfer means without transverse movement of the car after leaving the transfer means
    • 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
    • E04H6/28—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 turntables or rotary rings for horizontal transport
    • E04H6/282—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 turntables or rotary rings for horizontal transport turntables, rotary elevators or the like on which the cars are not permanently parked
    • E04H6/285—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 turntables or rotary rings for horizontal transport turntables, rotary elevators or the like on which the cars are not permanently parked using car-gripping transfer means

Definitions

  • the present invention relates to a transport system for transport an object, especially when automatically parking vehicles in a parking garage or the like.
  • the transport and Relocation operations are performed automatically, so it is necessary to Specify the location of an object to be transported in a defined manner to be able to, so that the to be transported during the entire handling process Object or the objects to be transported always in a desired one defined position are moved.
  • This is for example with a System for automatic parking of motor vehicles the case as in the EP-A 0 604 818 and to which reference is made below.
  • This requirement can also exist in general in warehouse technology, for example when relocating containers or comparable objects, for example when it is hanging on a hoist or with a forklift on the Turning platform can be parked.
  • a vehicle to be parked directed by the driver to the rotating platform to make it the automatic conveyor to hand over to the plant.
  • optical markings provided, which the driver should orientate himself on, and in particular also mechanical guides acting on the vehicle tires in the area of Known rotary platform to park the vehicle as accurately as possible force.
  • mechanical limitations can be undesirable Some have and are harmful effects on the wheels Drivers also perceived as an unpleasant "chicane"; moreover, the benefit such means in view of different track gauges of the vehicles doubtful.
  • this object is achieved by a transport system for Transporting an object, especially during automatic parking or Storage of vehicles in a parking garage or the like, comprising at least a recording area for receiving an object to be transported assigned to the transport system and the at least one receiving area at least one transport arrangement for transporting the object away from the recording area and / or towards the recording area.
  • the receiving area comprises or / and the transport arrangement a position determining device for determining the position of the object in or with respect to the recording area or the transport arrangement and a position correction device for correcting the location of the object and / or the transport arrangement in response to the position of the object determined by the position determination device.
  • the object can therefore be placed in any position Positioning can be arranged in the recording area and still subsequent through the intended bearing correction in a defined and intended Positioning in the system. It is particularly with the Positioning the object in the recording area gives great freedom i.e. For example, a driver of a vehicle can use the vehicle in any way Position it in the receiving area and does not have to, as is the case with the stand the technology is required, take great care to ensure that the vehicle at least within a certain permissible positioning range is turned off. This simplifies the entire execution of the transport process considerably.
  • the position determination device comprises preferably a sensor arrangement for detecting the position of the object and a deviation determination device for determining a deviation the detected position of the object from a reference position.
  • the sensor arrangement can include, for example: a plurality of sensor fields that can be acted upon by the object, each with at least one Pressure sensor, preferably pressure cell, pressure hose, piezo element, bending beam, a contact strip sensor, an ultrasonic sensor or a light grid or the like, or / and a laser scanner for optical detection the position of the object, preferably the load support areas of the object, or / and a mechanical scanning device for mechanical detection of the Location of the object, preferably the load support areas of the object.
  • a plurality of sensor fields that can be acted upon by the object, each with at least one Pressure sensor, preferably pressure cell, pressure hose, piezo element, bending beam, a contact strip sensor, an ultrasonic sensor or a light grid or the like, or / and a laser scanner for optical detection the position of the object, preferably the load support areas of the object, or / and a mechanical scanning device for mechanical detection of the Location of the object, preferably the load support areas of the object.
  • the transport system according to the invention can be designed such that the Position correction device comprises a correction determination device for Determining a correction of the position of the object depending on from the determined deviation.
  • the Position correction device comprises a first movement device for moving of the object depending on the particular correction to be made or / and comprises a second movement device for moving the transport arrangement depending on the particular correction to be made.
  • the Position correction device is designed to correct the position of the Object only to be carried out if the determined deviation of the detected Position of the object from the reference position outside a permissible deviation range lies.
  • the first movement device can, for example, in the recording area be arranged.
  • the first movement device can be designed to Object with respect to an essentially fixed surface in the recording area to move. This movement can preferably be done by turning or / and essentially linear displacement of the object with respect to the subsurface be made.
  • the first movement device comprises a turntable.
  • the first movement device a displacement device acting on at least a section of the object includes.
  • the second movement device be designed for this purpose is to pivot the transport arrangement and / or essentially to move linearly. This also includes the case that the second Movement device the pivotable and / or linearly displaceable transport arrangement includes.
  • the transport arrangement comprises a transfer device for transfer of the object from the receiving area to the transport arrangement and vice versa or / and for relocating the object from the transport arrangement a storage location and vice versa.
  • the object can be a vehicle, for example, and the transport arrangement can be configured to the vehicle between the receiving area and a plurality of preferably one above the other and / or next to one another arranged storage locations to transport.
  • a preferred area of application of the transport system according to the invention is a parking garage.
  • Transport system exists. For example, this can be done in one Container train station used to pick up containers for automatic with a driverless transport device, such as a crane Place car or the like in a correct position.
  • Transport system according to the invention during vehicle loading on a Station are used.
  • the use of the system according to the invention is also possible in any logistics area, for example pallets or Lattice boxes or the like in a transport route between different Automated and precise implementation of areas.
  • the method according to the invention preferably comprises before step d) a step e) for determining a position of the transport arrangement, a Step f) for determining a position correction for the transport arrangement according to the determined position of the transport arrangement and a step g) for correction the position of the transport arrangement according to the determined position correction.
  • the position correction for the transport arrangement can also be determined and preferably using the determined position of the object, preferably the load bearing areas of the object.
  • a Position correction is only made if the determined position of the object is outside a permissible position deviation range around a reference position. This makes it possible to carry out the transport operations faster perform.
  • a reference diameter and the lateral offset to the axis of rotation of the rotating platform determines that one can measure from the measured angular misalignment and lateral misalignment a correction rotary movement of the rotating platform and / or a correction lateral movement or rotation (in the case of a centrally arranged Lifting rotary lifts in a round parking system) of the conveyor are calculated to to align the object and the transfer device in alignment, and that both correction movements are carried out and with the object aligned transfer device transfers the object to the conveyor.
  • the invention also relates in particular to performing the method designed measuring device that is automatic, quick and easy Quantification of the respective inaccuracy of the object allowed.
  • the advantages achieved with the invention are seen in particular in that the introduction of the objects in a transfer area, for example on the Rotating platform, in that it is considerably facilitated in that deviations from be admitted to a debit position; so a motorist can drive his car Park the vehicle unhindered on the platform without great accuracy to pay attention to or determine undesirable side forces on the wheels. Similar advantages result when loads are parked using hoists or similar.
  • the position of the objects can also be corrected subsequent storage by means of the conveyor device can have an advantageous effect by better utilization of the storage area is possible under certain circumstances.
  • FIG. 1 it is e.g. - but not necessarily - parts of one System for parking motor vehicles, as described in EP-A 0 604 818.
  • a ground-level rotating platform 1 (turntable), which in one Recording area 1 'for an object lies or at least part of the recording area 1 'forms, is flat in an in / out plane 20 of the system recessed so that vehicles can be parked and parked on it can be.
  • the rotary drive (not shown) the platform 1 is controlled by the system based on rotary encoders or the like is, i.e. that the rotational position is known at any time or can be set.
  • the axis of rotation (center) of the platform 1 is 2 and a certain reference diameter designated 3.
  • a conveyor 5 the objects (vehicles) from the rotating platform to Further transport or for storage (parking) should take place in essentially from a swiveling (as well as lifting and lowering) boom 6 and a transfer device 7 that can be moved linearly thereon in the radial direction.
  • the pivot axis 8 of the device 5 is at a distance A from Center 2 of platform 1.
  • the rotating platform 1 and the conveyor 5 are in one Home position, i.e. the displacement axis 9 of the transfer device 7 has the center 2 of the rotating platform, and the rotating position of the latter is such that the reference diameter 3 is aligned with the displacement axis 9.
  • An object 10 is placed on the rotating platform 1. If the object were on the Platform '' correctly '' positioned, i.e. if its longitudinal or symmetry axis 11 would coincide with the reference diameter 3, the object could be from the transferred to the platform extending transfer device 7 and be implemented on the conveyor. In general, however Position of the object with larger or smaller deviations from the mentioned Ideal situation afflicted, as here (rather exaggerated for clarification) is shown. As can easily be seen, neither can you turn the Platform 1 by swiveling the conveyor 5 alone the axes 11th and 9 are aligned with each other.
  • the positional deviation of the object 10 is independent of one another due to two Sizes determined, namely on the one hand by the so-called angular offset ⁇ between the object axis 11 and the reference diameter 3, and on the other hand by the lateral offset a (also called “centric offset”), i.e. the distance the object axis 11 to the axis of rotation 2 of the platform 1.
  • the position of the object 10 on the Rotating platform 1 determined by the respective angular misalignment ⁇ and lateral misalignment a can be measured (the way of measurement is shown below received). Corrective movements of the rotating platform are based on the measured values and the conveyor is calculated and executed such that then the object and the transfer device face each other in alignment and thus the object is freely transferred to the conveyor can be.
  • Fig. 2 shows the situation after making the coordinated correction movements ⁇ and ⁇ .
  • the axis of displacement of the transfer device 7 is moved sideways from the reference position 9 to 9 'and aligned exactly with the object axis 11, whose direction is corrected with the rotating platform has been.
  • the implementation is now unhindered by linear movement of the Device 7.
  • the reference diameter 3 of course needs when the object 10 is applied not to assume the reference position according to FIG. 1; as in said EP-A 0 604 818, the platform is preferably in another Rotation position, so that the driver can easily drive up when parking to allow the platform with a small wheel lock.
  • the correction rotation of the platform differs from the reference position Starting rotational position are taken into account.
  • FIG. 4 illustrates a preferred measuring device on the rotating platform, with which the required position determination of the lying object quickly and can be done easily.
  • An object 10 with four is assumed Support points I-IV, e.g. the four tire contact surfaces of a vehicle or four Feet at the corners of a container or the like.
  • the measuring device has three pressure sensor fields 15, 16, 17 on the surface platform 1. For the measurement it is assumed that all three fields from Object to be charged; otherwise the object's positional deviation would be too big and the object would have to be better positioned on the platform measured, corrected and the object can be implemented.
  • each field consists of one Group of linear pressure sensors that are parallel and regular Distances are laid out next to each other (e.g. "mats" made of contact or Pressure sensor strips; only partially indicated at 16 and 17).
  • the pressure sensors extend in the fields 15 and 16 parallel to the reference diameter 3 and in field 17 perpendicular to it.
  • the distance between adjacent pressure sensors is preferably about 10 to 30 mm, it essentially determines the accuracy (Increment) of the measurement.
  • the dimensions and the arrangement of the sensor fields are chosen so that the Location of vehicles with different track widths S and wheelbases R can be detected.
  • the relatively small linear expansion of the sensors in the field 15 determines a basic position of the object (support point II) in the direction of Reference diameter.
  • the measurement is carried out by automatic "query” and Count the pressure sensors in each field 15-17. How easy can be seen, the angular offset by counting in fields 15 and 16 ⁇ (in connection with the wheelbase R) and by counting in field 15 of the Lateral offset a (in connection with the track width S) can be determined.
  • the dimensions R and S of the object 10 are known.
  • different (Unknown) types can measure these dimensions when approaching Rotating platform can be determined, for example also with the help of sensor fields, which are inserted in the lane.
  • the respective position of the object on the rotating platform can also be measured in other ways, for example with the aid of light barrier arrangements, Laser or ultrasonic distance measurement etc. or also by means of a scanning device arranged on the transfer device is extendable towards the object placed on the platform.
  • the rotating platform 1 Since the rotating platform 1 is essentially rotationally symmetrical, it can it may also be sufficient for the location of the one located on the rotating platform 1 To detect or determine object 10 with respect to the background 20, wherein a correction quantity can be determined on the basis of this then determined position which may be necessary to enable the object to be moved Position correction of object 10, i.e. Rotation of the rotating platform 1, specifies. Also the movement of the conveyor 5, i.e. the pivoting of the same can then be carried out on the basis of the position of the object 10 determined in this way.
  • FIG. 5 shows an alternative embodiment of a rotary platform 1.
  • the rotating platform 1 has four sensor fields in the embodiment shown in FIG. 5 22, 24, 26, 28.
  • each sensor field comprises a steel plate 32, which at their four corners via respective load sensors 32, 34, 36, 38 are carried on the rotating platform 1.
  • each plate 30 must be provided. There can also be three or more than four Sensors. It is also not necessary to use four sensor fields; it Three sensor fields are sufficient for the correct position, but the Use of four sensor fields due to the more precise position detection are preferred.
  • the sensor signals S S are input into a control device 40.
  • This control device 40 can be a computer, for example, which monitors the entire transport system.
  • a signal S D is input into the control device 40, which reproduces the position of the rotating platform 1 with respect to the base 20.
  • the control / regulating device 40 also receives, as indicated by an arrow S F , a signal which represents the position of the conveying device 5. Since the conveyor device 5 is generally used to operate a plurality of rotating platforms successively arranged in the circumferential direction around the pivot axis A, it cannot generally be assumed that the conveyor device 5 is in a correct position for taking over a vehicle with regard to any of these rotating platforms 1 . Therefore, a feedback must first be created by detecting the position of the conveyor device 5, so that the appropriate position correction for the conveyor device 5 can also be carried out in the following.
  • the control device 40 then, as shown by arrows L F and L D , outputs drive signals to the respective actuators which rotate the rotary platform 1 until it is in the desired position predetermined by the signal L D and on the other hand the Swivel the conveyor 5 until it is in the desired position specified by the signal L F.
  • Such target positions for the rotating platform 1 and the conveyor 5 are shown, for example, in FIGS. 2 and 3.
  • FIGS. 6 and 7 show a modification of the transport system according to the invention, as it is for example in a parking garage or the like can be used.
  • the transport system of Figures 6 and 7 has one A plurality of receiving areas arranged side by side in a row 42, into which vehicles can enter.
  • the conveyor 5 is between the two rows of receiving areas 42 in the direction of Series of the individual receiving areas 42 can be moved. It can thus the conveyor 5 is aligned with each of the receiving areas 42 to take over a vehicle or a vehicle from each in the different recording areas.
  • Each of the areas points as described above, a sensor arrangement for detecting the position of a vehicle parked in a respective receiving area 42.
  • the current one Location of the conveyor 5 detected. Based on these two position surveys then, on the one hand, the position correction of a vehicle in a recording area 42 and a position correction of the conveyor 5 is determined to enable that by the transfer device 7, the vehicle from the corresponding Recording area are implemented in the conveyor 5 can.
  • a displacement arrangement 44 may be provided.
  • the Displacement arrangement 44 comprises two displacement devices 46, 48 which a vehicle e.g. is parked with its front tires.
  • the position correction to be carried out becomes surface areas of the displacement devices 46, 48, on which the vehicle tires stand, in the direction of Arrows moved laterally. This leads to the vehicle, for example, in is shifted in its front area, but essentially in its rear area remains stationary and is thus rotated until it finally essentially is parallel to the longitudinal direction of the individual receiving areas 42.
  • the sliding devices can for example include conveyor belts or by a common conveyor belt be provided.
  • a corresponding arrangement is provided in each of the receiving areas 42.
  • a sensor arrangement can be used as they were before has been described. Any other type of sensor arrangement or Detection arrangement can be used by which the position of the vehicle with respect to a reference position, for example a longitudinal center line of a respective recording area, can be determined.
  • the areas 42 shown in FIG. 6 some of them can be used as receiving areas be formed, another part can then be used to park vehicles serve by means of the conveyor. Furthermore, in the areas 42 vehicles each with their longitudinal axis essentially parallel or orthogonal for the direction of displacement of the conveyor 5 in the areas 42 arranged and taken over by the conveyor 5. The illustrated Orientation of the areas 42 is therefore only to be regarded as an example.
  • a Provide laser scanning device through which the vehicle is optically scanned and the location of the same based on the data obtained is detected.
  • mechanical ones can also be used in the area of the substrate Keys are provided, the position of the at a low height above the ground Vehicle wheels or the like can detect.
  • the entire objects for example vehicles, sampled, but only the or part of the load bearing areas, with which the objects rest on the ground, in order to ultimately create the to determine necessary corrections.
  • the use of the transport system according to the invention is particularly useful for Car parks advantageous where the vehicle as an object of the different Receiving areas is picked up by the conveyor and then is conveyed up or down by the conveyor, where it is in Parking spaces located on different floors can be parked. It is however, such a transport system is possible in any other technical Use area by picking up objects from a specific location have to be and have to be delivered to another location.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Conveyors (AREA)
EP98124264A 1998-01-28 1998-12-23 Système de transfer Withdrawn EP0933493A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1998103207 DE19803207A1 (de) 1998-01-28 1998-01-28 Transportiersystem zum Transportieren eines Objekts
DE19803207 1998-01-28

Publications (1)

Publication Number Publication Date
EP0933493A1 true EP0933493A1 (fr) 1999-08-04

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Application Number Title Priority Date Filing Date
EP98124264A Withdrawn EP0933493A1 (fr) 1998-01-28 1998-12-23 Système de transfer

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EP (1) EP0933493A1 (fr)
DE (1) DE19803207A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002075084A1 (fr) 2001-03-15 2002-09-26 Sotefin S.A. Chariot pour le transfert horizontal de vehicules motorises dans des parkings automatiques
EP2584119A1 (fr) 2011-10-18 2013-04-24 Lödige Systems GmbH Dispositif et procédé destinés à l'orientation d'un véhicule

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013037410A1 (fr) * 2011-09-14 2013-03-21 WAP Wöhr Automatikparksysteme GmbH & Co KG Installation de stationnement automatique

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04115067A (ja) * 1990-09-03 1992-04-15 Hitachi Zosen Corp 立体駐車場の入出庫装置
US5148752A (en) * 1990-02-27 1992-09-22 Koyo Jidoki Company Limited Parking garage vehicle turn-table
DE4223646A1 (de) * 1991-07-19 1993-02-04 Nippon Kokan Kk Vorrichtung zum transportieren eines kraftfahrzeugs und mehrstoeckiges parkhaus
EP0604818A2 (fr) 1992-12-29 1994-07-06 Round Palis Technology AG Dispositif pour le stationnement de véhicules
JPH08303036A (ja) * 1995-05-10 1996-11-19 Murata Mach Ltd 立体駐車場

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0768797B2 (ja) * 1989-03-08 1995-07-26 光洋自動機株式会社 回転テーブル装置
DE4024639A1 (de) * 1990-08-03 1992-02-06 Spiess Gmbh G Transportvorrichtung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5148752A (en) * 1990-02-27 1992-09-22 Koyo Jidoki Company Limited Parking garage vehicle turn-table
JPH04115067A (ja) * 1990-09-03 1992-04-15 Hitachi Zosen Corp 立体駐車場の入出庫装置
DE4223646A1 (de) * 1991-07-19 1993-02-04 Nippon Kokan Kk Vorrichtung zum transportieren eines kraftfahrzeugs und mehrstoeckiges parkhaus
EP0604818A2 (fr) 1992-12-29 1994-07-06 Round Palis Technology AG Dispositif pour le stationnement de véhicules
JPH08303036A (ja) * 1995-05-10 1996-11-19 Murata Mach Ltd 立体駐車場

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 016, no. 366 (M - 1291) 7 August 1992 (1992-08-07) *
PATENT ABSTRACTS OF JAPAN vol. 097, no. 003 31 March 1997 (1997-03-31) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002075084A1 (fr) 2001-03-15 2002-09-26 Sotefin S.A. Chariot pour le transfert horizontal de vehicules motorises dans des parkings automatiques
EP2584119A1 (fr) 2011-10-18 2013-04-24 Lödige Systems GmbH Dispositif et procédé destinés à l'orientation d'un véhicule

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Publication number Publication date
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