EP3924576B1 - Automated parking system for vehicles - Google Patents
Automated parking system for vehicles Download PDFInfo
- Publication number
- EP3924576B1 EP3924576B1 EP20706656.4A EP20706656A EP3924576B1 EP 3924576 B1 EP3924576 B1 EP 3924576B1 EP 20706656 A EP20706656 A EP 20706656A EP 3924576 B1 EP3924576 B1 EP 3924576B1
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- European Patent Office
- Prior art keywords
- transport
- pallet
- rollers
- parking
- pallets
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- 230000001360 synchronised effect Effects 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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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
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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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
Definitions
- the invention relates to an automated parking system for a large number of vehicles to be parked next to and/or behind one another on at least one parking level, the vehicles each standing on pallets which can be moved in the longitudinal and/or transverse direction.
- Such a parking system is through the WO 2006/054124 A1 known.
- This shows a parking system with modules arranged in a chessboard pattern, on which vehicle pallets can be moved either lengthwise or crosswise.
- the modules have rails arranged lengthwise and crosswise.
- the pallets are equipped with pivoting wheels at their four corners, with which the pallets are supported on the rails and which are guided in the rails of the modules.
- each of the modules has two motor-driven friction rollers that rest against the underside of the pallet on the associated module and can be swiveled by 90° to change the transport direction.
- Direction discs are located at the crossing points of the longitudinal and transverse rails, which must be switched synchronously by 90° in the manner of a switch when the transport direction changes from longitudinal to transverse direction.
- Such a chessboard-like rail system is comparatively complex and prone to failure.
- a similar parking system in which parking pallets are guided in rails that run like a chessboard and are transported further in the longitudinal or transverse direction via a friction drive that is arranged in the middle of each field module and can be rotated by 90°, is in progress WO 2006/038069 A2 shown.
- the pallets are mounted on individual balls that are guided in the rails. A punctiform bearing on a ball leads to increased wear due to the high surface pressure and is therefore prone to failure.
- DE 10 2014 112 269 and EP 3 094 796 shows a parking system that works with elevated pallets, which can be driven under by a low-floor shunting vehicle in order to transport the pallet - empty or with a vehicle standing on the pallet - from a transfer station to a specific parking space or back.
- the shunting vehicle is robotically controlled and has an omnidirectional or differential drive, so that it can automatically drive between the pallets arranged in aisles with the help of a control unit and drive to the desired parking space or the transfer station.
- the shunting vehicle is equipped with distance sensors, which it can use to determine its exact position within the parking deck at any time, but also to identify and avoid any obstacles.
- a similar system shows the US2005/0207876 .
- the vehicles are parked on parking platforms that can be maneuvered autonomously and these platforms are moved to a specific parking position.
- the parking platforms have proximity sensors to avoid a collision with an obstacle.
- the object of the present invention is to improve the automated parking system described at the outset in such a way that, on the one hand, it is characterized by a high occupancy density, ie by a large number vehicles to be stored in relation to the area of the parking deck, on the other hand characterized by high operational reliability as well as by low production costs.
- a parking deck according to the invention has a large number of permanently installed transport modules which are arranged next to and/or one behind the other, these transport modules having a plurality of conveyor elements with a horizontal transport direction which project upwards and which - at least insofar as they are in the desired transport direction of a pallet follow one another - can be driven synchronously and are used to move a pallet and to transfer it to an adjacent transport module.
- the conveying elements can be pivoted about a vertical axis in order to change their transport direction.
- a parking deck can be occupied almost entirely with parking spaces, namely with transport modules.
- the free space (eg lanes) required in the parking system described above for moving at least one shunting vehicle is eliminated.
- This gain in parking space for vehicles to be parked is significant, like that figures 5 and 6 the EP 3 094 796 show.
- each transport module can be used to move the pallets. If a module fails, only this one module has to be bypassed, which may increase the time it takes to store or retrieve a vehicle, but the function itself is retained. This system redundancy is essential in parking garages.
- guide rails running in the longitudinal and/or transverse direction are arranged on the transport modules, as well as corresponding guide rollers on the pallets.
- the guide rails and guide rollers ensure that the pallets are guided securely on the transport modules and thus contribute to reliable and trouble-free operation.
- the guide rails provided on the individual transport modules thus enable the modular design of the parking system.
- the conveying elements are designed as rollers, preferably with a horizontal axis of rotation; which is structurally simple and inexpensive. Such rollers are only with a small contact area on the pallet and can therefore be pivoted with respect to their transport direction even under load. This can be promoted by working with narrow rollers or rollers with a convex profile.
- rollers To swivel the rollers around a vertical axis of rotation, they can be driven synchronously by levers or a revolving chain.
- each transport module there are at least two pairs of rollers in each transport module in the longitudinal direction and in the transverse direction. This results in at least four-point storage of the pallets and when a pallet is transferred to the adjacent transport module it is ensured that it is always stored on at least four rollers.
- rollers can be provided as support rollers, which do not have to have their own drive.
- rollers designed as a conveying element can be driven hydraulically or mechanically, with the drives of the individual rollers being expediently networked with one another so that all rollers of a module and at least the module adjacent in the transport direction rotate synchronously.
- the pallets can have a more or less continuous cover plate on their upper side.
- each pallet has an individual identifier, preferably continuous in the longitudinal and transverse direction of the pallet, which is external, in particular on the transport module carrying the pallet, can be read out and fed to a central control unit of the parking system.
- This identifier can be a QR code, bar code or the like.
- Such a code can be attached to the underside of each pallet in the form of longitudinal and transverse code strips and on the one hand clearly identify the pallet and on the other hand represent a continuous position marking. Since the identifier includes a continuous code extending in the longitudinal and/or transverse direction of the associated pallet, an individual position determination of each pallet can be carried out using the identifier. In particular, a distance measurement can be carried out during the transport of a pallet, which in turn can be used to control the transport rollers conveying the pallet.
- the central control unit thus expediently includes a system for determining the position of each individual pallet. This means that it is continuously recorded which vehicle is parked at which parking space, whether and with which vehicle a transport is currently taking place and in which direction the transport is taking place. In addition, by selectively controlling individual transport modules, this control unit specifies which modules are to be used to move a pallet.
- each transport module can be read out and their current location recorded centrally.
- a corresponding measuring system in particular a path measuring system or a camera, and then to transmit the data to a central control unit.
- a vehicle to be parked is usually parked on a pallet at a transfer point and then transported to a specific parking space with the aid of a number of transport modules. It is then advisable for the control unit to contain a logistics program that controls the transport modules in such a way that the pallet is transported with the vehicle—preferably using the shortest route—to a free parking space, with the transport route being cleared if necessary by activating additional transport modules
- FIG. 1 almost the entire area of a parking deck is occupied by transport modules 1 or 2.
- the transport modules 1 and 2 are permanently mounted on the floor of the parking deck and arranged in a chessboard pattern one behind the other and next to one another; only between the second and third row of modules seen from above and also between the fourth and fifth row of modules is a narrow passage left free for operating personnel.
- the vehicles can be stored and retrieved at the edges of the parking deck, but also within the parking deck.
- an elevator 3 is provided in a corner of the parking deck. This lift corresponds to the fourth row of modules seen from above.
- the vehicles standing on the pallets are stored and retrieved via elevator 3.
- only one pallet with a vehicle for storage and retrieval is provided, namely in or out of the fourth row of modules.
- the transport modules 1 and 2 are designed in such a way that they can each carry and transport a pallet with a vehicle.
- the modules are arranged in alignment and closely adjacent to one another in the longitudinal direction as well as in the transverse direction, whereby spacer frames R can be interposed, in particular as in figure 1 shown between longitudinally adjacent modules.
- the transport modules 1 and 2 are each equipped with a number of rollers 4 (see Fig 2 ) that allow the transport of a pallet at least in the longitudinal direction, but also partially in the transverse direction.
- the transport modules 1 are equipped with rollers 4, which can be pivoted about a vertical axis, so that their transport direction can be set either in the longitudinal direction or in the transverse direction.
- the rollers 4 are firmly oriented in the longitudinal direction.
- the transport modules 1 and 2 are shorter in the longitudinal direction than the pallets and are therefore arranged at a distance from one another.
- the space between the modules is bridged by spacer frames R. They facilitate the alignment and precise assembly of the transport modules.
- FIGS. 2 and 3 show a transport module 2 in an enlarged view.
- the essential feature of this transport module is that it has several upwardly projecting rollers 4 with a horizontal axis of rotation, which serve to store and transport the pallets.
- each module has four rollers near the corner area of a pallet it carries.
- At least the rollers 4 of each transport module can be driven synchronously so that they can transfer an overlying pallet to the adjacent transport module.
- each module has a peripheral frame 5 mounted on the floor of the parking deck with crossbeams 6, on which the upwardly projecting rollers 4 and optionally further support rollers 4a are mounted.
- the frame 5 can also be used to guide the pallets in the longitudinal and transverse directions by means of vertical guide rails 5a.
- rollers 4 and 4a are not pivotable with respect to their running direction.
- FIG. 4 a module 1 shows figure 4 a module 1, the rollers 4 and 4a of which can be pivoted with respect to their transport direction, in that the rollers 4 and 4a are mounted pivotably about a vertical axis.
- FIG 5 shows an enlarged view of the pivot bearing. It can be seen there that the rollers 4 are each connected to a drive motor 14 which in turn is mounted on a flange ring 15 .
- This flange ring 15 is rotatably mounted via a ball bearing on the transport module 1, preferably directly on the floor of the parking deck. This allows the rollers 4 from the in 4 illustrated longitudinal direction of the module can be pivoted by 90 degrees in the transverse direction, even if the module is loaded by a pallet loaded with a vehicle.
- crank levers 16a, 16b and 16c This pivoting takes place in the exemplary embodiment according to FIG figure 4 and 5 via a lever linkage, namely via crank levers 16a, 16b and 16c.
- crank levers 16a, 16b and 16c These crank levers are via further crank levers 17a and 17b (see 4 ) synchronized with each other, so that all rollers 4 and 4a always assume the same angular position, ie have the same transport direction.
- the pivoting of the rollers 4 and 4a is effected electrically or hydraulically, in the exemplary embodiment by a hydraulic cylinder 18.
- the rotary drive of the rollers 4 and 4a and, if necessary, their pivoting when the transport direction changes are selectively controlled by a central control unit.
- FIG 5 also shows how a pallet is carried by the transport module.
- the roller 4 carries a pallet 30, a detail of which is shown, on its upwardly projecting circumference.
- the pallet 30 has on its underside continuous longitudinal supports 31 in the longitudinal direction and transverse supports 32 continuous in the transverse direction. If the rollers 4 are set in the longitudinal direction, they correspond to the longitudinal beams 31, otherwise to the transverse beams 32 perpendicular thereto. This ensures that the pallets are reliably supported on the at least four rollers 4 and can be moved in the x or y direction .
- the top of the pallet 30 can be formed as a continuous plate 33; At the very least, however, it must have two continuous lanes in the longitudinal direction of the pallets, the position and width of which are coordinated with the usual track widths of the vehicles to be parked.
- figure 6 shows a top view of a component of a transport module 1, in which the pivoting of the rollers 4 and 4a is not effected by a crank linkage, but via a common chain 20.
- the flange ring 15 carrying the roller 4 with its drive motor 14 is connected to a sprocket 21 which is in engagement with the chain 20 .
- the chain 20 is in engagement with all flange rings 15 of its transport module in such a way that all rollers 4 and 4a can be pivoted in the same direction and synchronously through 90°.
- the pivoting movement is triggered by an actuator 20a, which moves the chain by a distance that corresponds to an adjustment angle of the sprockets 21 by 90°.
- the rollers 4 can also be used to guide the pallets in a straight line.
- the pallet 30 has a guide rail 34 in the region of its underside where it rolls on a roller 4, which encloses the end faces of the roller 4 on both sides.
- the guide rail 34 thereby ensures that the pallets are transported exactly in a straight line and at the correct angle.
- the two side walls of the support rail 34 must not run to the ends of the pallet, but must have recesses where the pallet rests on the rollers 4 and 4a in the parked position, so that the rollers 4 can then, when the pallet 30 is in its parked position has reached, have enough space to pivot about their vertical axis can.
- the pallet has guide rollers 35 with a vertical axis of rotation at its lower edge. These guide rollers 35 roll on a corresponding vertical guide bar 5a on the upper edge of the frame 5 of their transport module.
- the guide bar 5a must end on its module in front of the parked position of the pallet so that there is free space to pivot the rollers 4 and 4a and to transport the pallet further out of the parked position both in the longitudinal direction and in the transverse direction.
- this is achieved in that the transport modules 1, 2 are shorter in the longitudinal and transverse direction than the pallets 30 located on them, so that the guide rollers 35 are positioned in front of the slightly rounded corners of the surrounding frame 5 of the module.
- the length dimensioning of the guide rails 5a described relative to the guide rollers 35 is determined by the figures 8 and 9 clarified.
- figure 8 shows a pallet 30 on a transport module 1 or 2, but not in its parking position belonging to the module, but after it has already been shifted somewhat in the longitudinal direction, to the right in the drawing. You can see here in particular Figure 8a that their peripheral guide roller 35 is already in contact with the guide bar 5a of their module. With the displacement path of the pallet shown, it is no longer freely displaceable in the longitudinal and transverse directions, but only in the direction specified by the guide bar 5a.
- figure 10 shows a pallet 30 seen from below.
- a continuous cover plate 33 can be seen, which is suitable on its upper side for accommodating a vehicle and which is reinforced on its underside by three profiles 31 running in the longitudinal direction and five profiles 32 running in the transverse direction.
- the pallet below the plate 33 carries the already mentioned guide rollers 35 on both longitudinal sides.
- These guide rollers are arranged with a vertical axis of rotation on the two long sides of the pallet near their ends and protrude downwards beyond the pallet contour, so that they correspond to guide rails 5a of the transport modules below, compare Figure 8a and 8b .
- the guide rails 5a and the guide rollers 35 are positioned in such a way that they can guide the pallets both in the longitudinal direction and in the transverse direction.
- the spacer frame R can also have corresponding guide rails; instead, it can also be positioned so low that it is run over without a guiding function
- the pallet 30 has code strips 38 for path length measurement and to identify the pallet.
- code strips 38 run through the pallet in both the longitudinal and transverse directions, so that the position and identity of each pallet can also be identified during pallet transport and can be supplied to a control unit. These code strips can be read directly by read heads on the transport modules.
- the control unit controls the transport modules in such a way that a vehicle to be parked is assigned a free parking space and its pallet is automatically transported from a transfer location to this parking space, or that a vehicle to be outsourced is transported back to the transfer location.
- the transport takes place here in the manner of a sliding puzzle. At least one free transport module is required for this, via which the stored pallets be shunted with vehicles until the vehicle to be retrieved has reached the handover point.
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Description
Die Erfindung betrifft ein automatisiertes Parksystem für eine Vielzahl neben - und/oder hintereinander auf zumindest einem Parkdeck zu parkender Fahrzeuge nach dem Oberbegriff des Anspruchs 1, wobei die Fahrzeuge jeweils auf Paletten stehen, die in Längs- und/oder Querrichtung verfahrbar sind.The invention relates to an automated parking system for a large number of vehicles to be parked next to and/or behind one another on at least one parking level, the vehicles each standing on pallets which can be moved in the longitudinal and/or transverse direction.
Ein derartiges Parksystem ist durch die
Ein ähnliches Parksystem, bei dem Parkpaletten in schachbrettartig verlaufenden Schienen geführt und über einen mittig in jedem Feldmodul angeordneten und um 90° drehbaren Reibantrieb in Längs- oder Querrichtung weitertransportiert werden, ist in er
Das Rangierfahrzeug ist mit Abstandssensoren ausgerüstet, über die es jederzeit seine genaue Position innerhalb des Parkdecks bestimmen, aber auch eventuelle Hindernisse erkennen und umfahren kann.The shunting vehicle is equipped with distance sensors, which it can use to determine its exact position within the parking deck at any time, but also to identify and avoid any obstacles.
Daneben ist aus der
Ein ähnliches System zeigt die
Hiervon ausgehend liegt die Aufgabe der vorliegenden Erfindung darin, das eingangs beschriebene automatisierte Parksystem dahingehend zu verbessern, dass es sich einerseits durch hohe Belegungsdichte, also durch eine große Anzahl einzulagernder Fahrzeuge bezogen auf die Fläche des Parkdecks, andererseits durch hohe Betriebssicherheit wie auch durch günstige Herstellungskosten auszeichnet.Proceeding from this, the object of the present invention is to improve the automated parking system described at the outset in such a way that, on the one hand, it is characterized by a high occupancy density, ie by a large number vehicles to be stored in relation to the area of the parking deck, on the other hand characterized by high operational reliability as well as by low production costs.
Diese Aufgabe wird gelöst durch die Merkmale Anspruchs 1. Ein erfindungsgemäßes Parkdeck weist eine Vielzahl festinstallierter Transportmodule auf, die neben- und/ oder hintereinander angeordnet sind, wobei diese Transportmodule mehrere nach oben vorstehende Förderelemente mit horizontaler Transportrichtung aufweisen, die - zumindest soweit sie in der gewünschten Transportrichtung einer Palette aufeinanderfolgen - synchron antreibbar sind und zur verfahrbaren Auflage jeweils einer Palette und zu deren Übergabe auf ein benachbartes Transportmodul dienen. Die Förderelemente sind bei zumindest einigen Transportmodulen zur Änderung ihrer Transportrichtung um eine vertikale Achse schwenkbar.This object is achieved by the features of
Durch diese Maßnahmen kann ein Parkdeck nahezu vollflächig mit Stellplätzen, nämlich mit Transportmodulen belegt werden. Der bei dem eingangs beschriebenen Parksystem erforderliche Freiraum (z.B. Gassen) zum Verfahren von zumindest einem Rangierfahrzeug entfällt. Dieser Gewinn an Abstellfläche für zu parkende Fahrzeuge ist erheblich, wie die
Gleichzeitig erhöht sich die Betriebssicherheit des neuen Systems, denn jedes Transportmodul kann zum Verfahren der Paletten herangezogen werden. Bei Ausfall eines Moduls muss nur dieses eine Modul umfahren werden, wodurch sich allenfalls die Zeit zum Ein- oder Auslagern eines Fahrzeuges erhöhen kann, die Funktion an sich aber erhalten bleibt. Diese System-Redundanz ist bei Parkhäusern von wesentlicher Bedeutung.At the same time, the operational reliability of the new system is increased because each transport module can be used to move the pallets. If a module fails, only this one module has to be bypassed, which may increase the time it takes to store or retrieve a vehicle, but the function itself is retained. This system redundancy is essential in parking garages.
Außerdem sind erfindungsgemäß an den Transportmodulen in Längs- und/oder Querrichtung verlaufende Führungsleisten sowie an den Paletten damit korrespondierende Führungsrollen angeordnet. Die Führungsleisten und Führungsrollen gewährleisten eine sichere Führung der Paletten auf den Transportmodulen und tragen so zu einem zuverlässigen und störungsunanfälligen Betrieb bei. Die an den einzelnen Transportmodulen vorgesehenen Führungsleisten ermöglichen somit den modularen Aufbau des Parksystems.In addition, according to the invention, guide rails running in the longitudinal and/or transverse direction are arranged on the transport modules, as well as corresponding guide rollers on the pallets. The guide rails and guide rollers ensure that the pallets are guided securely on the transport modules and thus contribute to reliable and trouble-free operation. The guide rails provided on the individual transport modules thus enable the modular design of the parking system.
Die Förderelemente sind als Rollen, vorzugsweise mit horizontaler Drehachse, ausgebildet; was konstruktiv einfach und kostengünstig ist. Derartige Rollen liegen nur mit einer kleinen Kontaktfläche an der Palette an und können daher auch unter Last hinsichtlich ihrer Transportrichtung verschwenkt werden. Begünstigt werden kann dies dadurch, dass mit schmalen Rollen oder Rollen mit balligem Profil gearbeitet wird.The conveying elements are designed as rollers, preferably with a horizontal axis of rotation; which is structurally simple and inexpensive. Such rollers are only with a small contact area on the pallet and can therefore be pivoted with respect to their transport direction even under load. This can be promoted by working with narrow rollers or rollers with a convex profile.
Zur Verschwenkung der Rollen um eine vertikale Drehachse können sie durch Hebel oder eine umlaufende Kette synchron angetrieben werden.To swivel the rollers around a vertical axis of rotation, they can be driven synchronously by levers or a revolving chain.
Damit die Paletten zuverlässig von den Transportmodulen getragen beziehungsweise verfahren werden können, sind in jedem Transportmodul in Längsrichtung wie auch in Querrichtung zumindest zwei Rollenpaare sind. Daraus resultiert zumindest eine Vierpunktlagerung der Paletten und bei Übergabe einer Palette zum benachbarten Transportmodul ist sichergestellt, dass sie stets auf zumindest vier Rollen gelagert ist.So that the pallets can be carried or moved reliably by the transport modules, there are at least two pairs of rollers in each transport module in the longitudinal direction and in the transverse direction. This results in at least four-point storage of the pallets and when a pallet is transferred to the adjacent transport module it is ensured that it is always stored on at least four rollers.
Zusätzlich zu der beschriebenen Vierpunktlagerung können noch weitere Rollen als Stützrollen vorgesehen werden, die keinen eigenen Antrieb aufweisen müssen.In addition to the four-point bearing described, further rollers can be provided as support rollers, which do not have to have their own drive.
Die als Förderelement ausgebildeten Rollen können hydraulisch oder mechanisch angetrieben werden, wobei die Antriebe der einzelnen Rollen zweckmäßig untereinander vernetzt sind, damit alle Rollen eines Moduls und zumindest des in Transportrichtung benachbarten Moduls synchron rotieren.The rollers designed as a conveying element can be driven hydraulically or mechanically, with the drives of the individual rollers being expediently networked with one another so that all rollers of a module and at least the module adjacent in the transport direction rotate synchronously.
Damit die Fahrzeuge problemlos auf jeweils einer Palette abgestellt werden können, können die Paletten an ihrer Oberseite eine mehr oder weniger durchgehende Abdeckplatte aufweisen. Im Allgemeinen empfiehlt es sich aber aus Kostengründen, für die Aufnahme des Fahrzeuges nur zwei in Längsrichtung der Palette durchlaufende Fahrstreifen vorzusehen, die entsprechend den üblichen Fahrzeug-Spurweiten positioniert und dimensioniert sind.So that the vehicles can each be parked on a pallet without any problems, the pallets can have a more or less continuous cover plate on their upper side. In general, however, it is advisable for cost reasons to provide only two continuous lanes in the longitudinal direction of the pallet to accommodate the vehicle, which are positioned and dimensioned according to the usual vehicle track widths.
In Weiterbildung der Erfindung weist jede Palette eine individuelle, vorzugsweise in Paletten-Längs- und -Querrichtung durchlaufende Kennung auf, die extern, insbesondere an dem die Palette tragenden Transportmodul, auslesbar und einer zentralen Steuereinheit des Parksystems zuführbar ist. Diese Kennung kann ein QR-Code, Bar-Code oder dergleichen sein. Ein solcher Code kann in Form von längs und quer verlaufenden Codestreifen an der Unterseite jeder Palette angebracht sein und einerseits die Palette eindeutig identifizieren, anderseits eine fortlaufende Positionsmarkierung darstellen. Indem die Kennung einen sich über die Längs- und/oder Querrichtung der zugehörigen Palette erstreckenden fortlaufenden Code umfasst, kann anhand der Kennung eine individuelle Positionsbestimmung jeder Palette durchgeführt werden. Insbesondere kann während des Transports einer Palette eine Wegstreckenmessung durchgeführt werden, welche wiederum zur Ansteuerung der die Palette fördernden Transportrollen dienen kann.In a further development of the invention, each pallet has an individual identifier, preferably continuous in the longitudinal and transverse direction of the pallet, which is external, in particular on the transport module carrying the pallet, can be read out and fed to a central control unit of the parking system. This identifier can be a QR code, bar code or the like. Such a code can be attached to the underside of each pallet in the form of longitudinal and transverse code strips and on the one hand clearly identify the pallet and on the other hand represent a continuous position marking. Since the identifier includes a continuous code extending in the longitudinal and/or transverse direction of the associated pallet, an individual position determination of each pallet can be carried out using the identifier. In particular, a distance measurement can be carried out during the transport of a pallet, which in turn can be used to control the transport rollers conveying the pallet.
Die zentrale Steuereinheit umfasst somit zweckmäßig ein System zur Positionsbestimmung jeder einzelnen Palette. Dadurch wird fortlaufend erfasst, welches Fahrzeug an welchem Stellplatz geparkt ist, ob und bei welchem Fahrzeug gerade ein Transport stattfindet und in welcher Richtung der Transport erfolgt. Außerdem gibt diese Steuereinheit durch selektive Ansteuerung einzelner Transportmodule vor, über welche Module eine Palette verfahren werden soll.The central control unit thus expediently includes a system for determining the position of each individual pallet. This means that it is continuously recorded which vehicle is parked at which parking space, whether and with which vehicle a transport is currently taking place and in which direction the transport is taking place. In addition, by selectively controlling individual transport modules, this control unit specifies which modules are to be used to move a pallet.
Das Auslesen der Kennung der einzelnen Paletten und die Erfassung ihres aktuellen Standortes kann zentral erfolgen. Ebenso ist es aber auch möglich, jedes Transportmodul mit einem entsprechenden Messsystem, insbesondere einem Weg-Messsystem oder einer Kamera, zu bestücken und die Daten dann an eine zentrale Steuereinheit zu übermitteln.The identification of the individual pallets can be read out and their current location recorded centrally. However, it is also possible to equip each transport module with a corresponding measuring system, in particular a path measuring system or a camera, and then to transmit the data to a central control unit.
Üblicherweise wird ein zu parkendes Fahrzeug an einem Übergabeplatz auf einer Palette abgestellt und dann mit Hilfe mehrerer Transportmodule zu einem bestimmten Stellplatz transportiert. Dann empfiehlt es sich, dass die Steuereinheit ein Logistik-Programm enthält, das die Transportmodule derart ansteuert, dass die Palette mit dem Fahrzeug - vorzugsweise auf kürzestem Weg - zu einem freien Stellplatz transportiert wird, wobei gegebenenfalls der Transportweg durch Aktivierung weiterer Transportmodule freigeräumt wirdA vehicle to be parked is usually parked on a pallet at a transfer point and then transported to a specific parking space with the aid of a number of transport modules. It is then advisable for the control unit to contain a logistics program that controls the transport modules in such a way that the pallet is transported with the vehicle—preferably using the shortest route—to a free parking space, with the transport route being cleared if necessary by activating additional transport modules
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen und aus der Zeichnung; dabei zeigt
Figur 1- eine Draufsicht auf ein mit erfindungsgemäßen Transportmodulen belegtes Parkdeck von oben;
Figur 2- eine Seitenansicht auf ein einzelnes Transportmodul;
- Figur 3
- eine Draufsicht auf das Transportmodul gemäß
;Figur 2 Figur 4- eine Draufsicht auf ein Transportmodul mit durch Gestänge verschwenkbaren Rollen;
Figur 5- eine Ausschnittvergrößerung in Seitenansicht im Bereich einer
Rolle aus Figur 4 mit aufliegender Palette; Figur 6- eine Draufsicht auf eine Komponente eines Transportmoduls mit durch Ketten verschwenkbaren Rollen;
- Figur 7
- eine Ausschnittsvergrößerung in Seitenansicht im Bereich einer
Rolle aus Figur 6 mit aufliegender Palette; - Figur 8
- eine Seitenansicht auf ein Transportmodul mit aufliegender Palette;
- Figur 8a
- den vergrößerten Ausschnitt A aus
Figur 8 ; - Figur 8b
- den vergrößerten Ausschnitt B aus
Figur 8 ; - Figur 9
- ein Schrägbild eines Transportmoduls mit aus der Parkposition heraus gefahrener Palette und
- Figur 10
- eine Draufsicht von unten auf eine Palette.
- figure 1
- a plan view of a parking deck occupied with transport modules according to the invention from above;
- figure 2
- a side view of a single transport module;
- figure 3
- a plan view of the transport module according to FIG
figure 2 ; - figure 4
- a plan view of a transport module with pivotable by linkage rollers;
- figure 5
- a detail enlargement in side view in the area of a roll
figure 4 with pallet on top; - figure 6
- a plan view of a component of a transport module with pivotable rollers by chains;
- figure 7
- a detail enlargement in side view in the area of a roll
figure 6 with pallet on top; - figure 8
- a side view of a transport module with an overlying pallet;
- Figure 8a
- the enlarged section A
figure 8 ; - Figure 8b
- the enlarged detail B
figure 8 ; - figure 9
- an oblique view of a transport module with a pallet driven out of the parking position and
- figure 10
- a bottom view of a pallet.
Gemäß
Das Ein- und Auslagern der Fahrzeuge kann an den Rändern des Parkdecks, aber auch innerhalb des Parkdecks erfolgen. Im Ausführungsbeispiel ist in einer Ecke des Parkdecks ein Aufzug 3 vorgesehen. Dieser Aufzug korrespondiert mit der von oben gesehen vierten Modulreihe.The vehicles can be stored and retrieved at the edges of the parking deck, but also within the parking deck. In the exemplary embodiment, an elevator 3 is provided in a corner of the parking deck. This lift corresponds to the fourth row of modules seen from above.
Über den Aufzug 3 erfolgt das Ein- und Auslagern der auf den Paletten stehenden Fahrzeuge. Im Ausführungsbeispiel ist nur eine Palette mit einem Fahrzeug zum Ein- und Auslagern vorgesehen, nämlich in bzw. aus der vierten Modulreihe. Es liegt aber durchaus im Rahmen der Erfindung, zwei oder drei Fahrzeuge gleichzeitig ein- und auszulagern, indem der Aufzug 3 kapazitätsmäßig vergrö-ßert wird und zusätzlich die Modulreihen 3 und 5 herangezogen werden.The vehicles standing on the pallets are stored and retrieved via elevator 3. In the exemplary embodiment, only one pallet with a vehicle for storage and retrieval is provided, namely in or out of the fourth row of modules. However, it is entirely within the scope of the invention to store and retrieve two or three vehicles at the same time by increasing the capacity of the elevator 3 and using the rows of
Die Transportmodule 1 und 2 sind so ausgelegt, dass sie jeweils eine Palette mit einem Fahrzeug tragen und transportieren können. Dazu sind die Module in Längsrichtung wie auch in Querrichtung fluchtend und eng benachbart zueinander angeordnet, wobei Distanzrahmen R zwischengeschaltet sein können, insbesondere wie in
Damit jede Palette an einen gewünschten Stellplatz auf dem Parkdeck verfahren werden kann, sind die Transportmodule 1 und 2 jeweils mit mehreren nach oben vorstehenden Rollen 4 (siehe
Im Ausführungsbeispiel sind die Transportmodule 1 mit Rollen 4 ausgerüstet, die um eine Vertikalachse verschwenkbar sind, so dass ihre Transportrichtung wahlweise in Längsrichtung oder in Querrichtung eingestellt werden kann. Hingegen sind bei den Transportmodulen 2 die Rollen 4 fest in Längsrichtung orientiert.In the exemplary embodiment, the
Im Ausführungsbeispiel sind die Transportmodule 1 und 2 in Längsrichtung kürzer als die Paletten und daher zueinander beabstandet angeordnet. Der Zwischenraum zwischen den Modulen wird durch Distanzrahmen R überbrückt. Sie erleichtern die Ausrichtung und exakte Montage der Transportmodule.In the exemplary embodiment, the
Die
Damit die Paletten ohne Kippen von einem Transportmodul zum benachbarten Transportmodul verfahren werden können, weist jedes Modul vier Rollen nahe des Eckbereiches einer von ihm getragenen Palette auf. Zusätzlich befindet sich eine fünfte angetriebene Transportrolle 4 in der Mitte des Transportmoduls 2. Alle Rollen sind hinsichtlich ihrer Laufrichtung gleichsinnig orientiert, bei dem in den
Zumindest die Rollen 4 jedes Transportmoduls können synchron angetrieben werden, damit sie eine aufliegende Palette auf das benachbarte Transportmodul übergeben können.At least the
Bei der konstruktiven Ausgestaltung der Transportmodule besteht weitgehend Freiheit. Im Ausführungsbeispiel weist jedes Modul einen am Boden des Parkdecks montierten, umlaufenden Rahmen 5 mit Quertraversen 6 auf, an welchen die nach oben vorstehenden Rollen 4 und gegebenenfalls weitere Stützrollen 4a gelagert sind.There is a great deal of freedom in the structural design of the transport modules. In the exemplary embodiment, each module has a
Der Rahmen 5 kann außerdem durch vertikale Führungsleisten 5a zur Führung der Paletten in Längs- und Querrichtung dienen.The
In
Demgegenüber zeigt
Diese Verschwenkung erfolgt bei dem Ausführungsbeispiel gemäß
Die Verschwenkung der Rollen 4 und 4a wird elektrisch oder hydraulisch bewirkt, im Ausführungsbeispiel durch einen Hydraulikzylinder 18.The pivoting of the
Der rotative Antrieb der Rollen 4 und 4a und gegebenenfalls ihre Verschwenkung bei Änderung der Transportrichtung erfolgen selektiv gesteuert durch eine zentrale Steuereinheit.The rotary drive of the
Die Oberseite der Palette 30 kann als durchgehende Platte 33 ausgebildet sein; zumindest muss sie aber zwei in Paletten-Längsrichtung durchgehende Fahrstreifen aufweisen, deren Position und Breite auf die gängigen Spurweiten der zu parkenden Fahrzeuge abgestimmt ist.The top of the
Die Kette 20 steht derart mit allen Flanschringen 15 ihres Transportmoduls in Eingriff, dass alle Rollen 4 und 4a gleichsinnig und synchron um 90° verschwenkt werden können. Ausgelöst wird die Schwenkbewegung durch ein Stellglied 20a, das die Kette um eine Wegstrecke verschiebt, die einem Verstellwinkel der Zahnkränze 21 um 90° entspricht.The
Des Weiteren zeigt
Die beiden Seitenwangen der Stützschiene 34 dürfen nicht bis an die Enden der Palette durchlaufen, sondern müssen dort, wo die Palette in der Parkposition auf den Rollen 4 und 4a aufliegt, jeweils Aussparungen aufweisen, damit die Rollen 4 dann, wenn die Palette 30 ihre Parkposition erreicht hat, genügend Freiraum haben, um über ihre Vertikalachse verschwenken zu können.The two side walls of the
Es liegt aber auch im Rahmen der Erfindung, die seitliche Führung der Paletten 30 unabhängig von den Rollen 4 vorzunehmen. Ein solches Ausführungsbeispiel ist in
Auch hier muss die Führungsleiste 5a vor der Parkposition der Palette auf ihrem Modul enden, damit man Freiraum hat, die Rollen 4 und 4a zu verschwenken und die Palette aus der Parkposition heraus sowohl in Längsrichtung wie auch in Querrichtung weiter zu transportieren. Dies wird im Ausführungsbeispiel dadurch erreicht, dass die Transportmodule 1, 2 in Längs- und Querrichtung kürzer als die darauf befindlichen Paletten 30 ausgebildet sind, sodass die Führungsrollen 35 bei der in Parkposition zentriert auf dem betreffenden Transportmodul 1, 2 abgestellte Palette jeweils vor den leicht gerundeten Ecken des umlaufenden Rahmens 5 des Moduls stehen.Here, too, the
Die beschriebene Längenbemessung der Führungsleisten 5a relativ zu den Führungsrollen 35 wird durch die
Stellt man sich hingegen vor, dass die Palette 30 in
Die entsprechenden Verhältnisse ergeben sich in
Der gleiche Zusammenhang erschließt sich auch aus
Außerdem erkennt man in
Die Führungsleisten 5a und die Führungsrollen 35 sind so positioniert, dass sie die Führung der Paletten sowohl in Längsrichtung wie auch in Querrichung übernehmen können. Auch der Distanzrahmen R kann entsprechende Führungsleisten aufweisen; er kann stattdessen aber auch so niedrig positioniert sein, dass er ohne Führungsfunktion überfahren wirdThe guide rails 5a and the
Schließlich zeigt
Die Steuereinheit steuert die Transportmodule derart an, dass einem zu parkenden Fahrzeug ein freier Stellplatz zugewiesen und seine Palette von einem Übergabeplatz automatisch zu diesem Stellplatz transportiert wird, bzw., dass ein auszulagerndes Fahrzeug wieder zu dem Übergabeplatz transportiert wird. Der Transport erfolgt hierbei in der Art eines Schiebepuzzles. Hierbei wird mindestens ein freies Transportmodul benötigt, über welches die eingelagerten Paletten mit Fahrzeugen solange rangiert werden, bis das auszulagernde Fahrzeug den Übergabeplatz erreicht hat.The control unit controls the transport modules in such a way that a vehicle to be parked is assigned a free parking space and its pallet is automatically transported from a transfer location to this parking space, or that a vehicle to be outsourced is transported back to the transfer location. The transport takes place here in the manner of a sliding puzzle. At least one free transport module is required for this, via which the stored pallets be shunted with vehicles until the vehicle to be retrieved has reached the handover point.
Claims (9)
- Automated parking system comprising at least one parking deck for a multiplicity of vehicles to be parked next to and/or behind one another, wherein the vehicles stand in each case on pallets (30) which are displaceable in longitudinal and/or transverse direction, whereinthe parking deck has a multiplicity of permanently installed transport modules (1, 2) which are arranged next to and/or behind one another, that these transport modules bracket 1, 2) have several outwardly protruding conveying elements (4, 4a) having horizontal transport direction, which, at least insofar as they follow one another in the desired transport direction of a pallet (30) can be driven synchronously and serve for the displaceable support of in each case one pallet (30) and for its transfer onto an adjacent transport model (1, 2), and whereinthe conveying elements (4, 4a) are in the case of at least some transport modules (2) pivotable about a vertical axis for changing the transport direction andwherein the guidance of the pallets (30) for the transport modules (1, 2) is carried out by guiding bars (5a, 34) arranged in longitudinal and/or transport direction and by guiding rollers (4, 35) corresponding therewith, wherein the guiding bars (5a) are arranged at the transport modules (1, 2) and whereinthe guiding rollers (35) are arranged at the pallets (30),characterised in that the conveying elements (4, 4a) are in the form of rollers (4, 4a) carrying the pallets (30) having a preferred horizontal rotational axis,that the rollers (4, 4a) in the case of at least some transport modules (2) are pivotable about a vertical axis when loaded with a pallet (30) carrying a vehicle andthat in each case two pairs of rollers are arranged in longitudinal direction and in transverse direction of the transport modules in each transport module (1, 2).
- Parking system according to claim 1, characterised in that each transport module (1, 2) has at least one additional supporting roller (4a) for the support of a pallet (30).
- Parking system according to claim 1 or 2, characterised in that the synchronous drive of the rollers (4) is carried out hydraulically or electrically.
- Parking system according to any of the preceding claims, characterised in that the rollers (4, 4a) mounted pivotably about a vertical axis are synchronised with respect to their direction of transport by a lever linkage (16a, 16b, 16c, 17a, 17b) or a chain (20).
- Parking system according to any of the preceding claims, characterised in that each pallet has an individual identifier (38), in particular a QR code, bar-code or similar, which can be read from the outside, in particular on the transport module carrying the pallet, and which can be supplied to a controller.
- Parking system according to claim 5, characterised in that the identifier (38) comprises a sequential code extending across the longitudinal and/or transverse direction of the assigned pallet and the controller has a system for the individual positional determination of each pallet (30) on the basis of the identifier.
- Parking system according to claim 5 or 6, characterised in that the reading out of the identifier takes place at the transport module (1, 2) respectively carrying the pallet (30) and this transport module forwards the read-out identifier to the central controller, in particular that each transport module (1, 2) has a system for the positional determination of the palette (30) which it carries.
- Parking system according to any of claims 5 to 7, wherein a vehicle to be parked is stopped on a transfer place on a pallet (30) and is transported to a parking space on the parking deck, characterised in that the controller controls the transport modules (1, 2) such that a free parking space is assigned to the vehicle to be parked and its palette (30) is automatically transported to this parking space.
- Parking system according to any of the preceding claims, characterised in that the guiding rollers (35) have a vertical rotational axis and the guiding bars (5a) and guiding rollers (35) are positioned such that they take over the guidance of the pallets in longitudinal direction and in transverse direction.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019103933.9A DE102019103933A1 (en) | 2019-02-15 | 2019-02-15 | Automated parking system for vehicles |
PCT/EP2020/053984 WO2020165446A1 (en) | 2019-02-15 | 2020-02-14 | Automated parking system for vehicles |
Publications (3)
Publication Number | Publication Date |
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EP3924576A1 EP3924576A1 (en) | 2021-12-22 |
EP3924576C0 EP3924576C0 (en) | 2023-08-02 |
EP3924576B1 true EP3924576B1 (en) | 2023-08-02 |
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ID=69650570
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20706656.4A Active EP3924576B1 (en) | 2019-02-15 | 2020-02-14 | Automated parking system for vehicles |
Country Status (3)
Country | Link |
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EP (1) | EP3924576B1 (en) |
DE (1) | DE102019103933A1 (en) |
WO (1) | WO2020165446A1 (en) |
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Publication number | Priority date | Publication date | Assignee | Title |
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DE102020128171B4 (en) | 2020-03-27 | 2024-05-23 | Taiwan Semiconductor Manufacturing Co., Ltd. | Package and process for its manufacture |
DE102021101023A1 (en) | 2021-01-19 | 2022-07-21 | Nussbaum Custom Lifts Gmbh | Automated parking system for vehicles |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3333714A (en) * | 1966-08-01 | 1967-08-01 | Sermet Andre | Garage with movable supports |
CH614991A5 (en) * | 1976-04-21 | 1979-12-28 | Erwin Groeger | Facility for setting down objects |
US20050207876A1 (en) * | 2004-03-16 | 2005-09-22 | Springwater Investments Llc | Method and system for automatically parking vehicles |
AR045584A1 (en) * | 2004-09-03 | 2005-11-02 | Saiegh Marina | PROVISION FOR THE TRANSFER, TRANSIT AND / OR LOCATION OF PERSONS AND OBJECTS IN GENERAL SUCH AS PACKAGES PACKAGES, CONTAINERS, ROOMS AND VEHICLES, IN GALPON DEPOSITS, PARKING BEACHES, PRODUCTION LINES AND OTHER SPACES INTENDED FOR THE EFFECT |
HU225187B1 (en) * | 2004-11-19 | 2006-07-28 | Laszlo Dr Brezovits | Storage system |
US20070098528A1 (en) * | 2005-10-27 | 2007-05-03 | Israel Aircraft Industries Ltd. | System and method for parking vehicles |
JP4703716B2 (en) * | 2008-12-26 | 2011-06-15 | Ihi運搬機械株式会社 | Parking equipment |
DE102014112269A1 (en) * | 2014-08-27 | 2016-03-03 | Nussbaum Technologies Gmbh | Automated parking system for vehicles |
-
2019
- 2019-02-15 DE DE102019103933.9A patent/DE102019103933A1/en not_active Withdrawn
-
2020
- 2020-02-14 WO PCT/EP2020/053984 patent/WO2020165446A1/en unknown
- 2020-02-14 EP EP20706656.4A patent/EP3924576B1/en active Active
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EP3924576A1 (en) | 2021-12-22 |
WO2020165446A1 (en) | 2020-08-20 |
DE102019103933A1 (en) | 2020-08-20 |
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