EP3999699A1 - Dispositif transporteur pour le déplacement de véhicules, et système robotisé comprenant un tel dispositif - Google Patents
Dispositif transporteur pour le déplacement de véhicules, et système robotisé comprenant un tel dispositifInfo
- Publication number
- EP3999699A1 EP3999699A1 EP20753788.7A EP20753788A EP3999699A1 EP 3999699 A1 EP3999699 A1 EP 3999699A1 EP 20753788 A EP20753788 A EP 20753788A EP 3999699 A1 EP3999699 A1 EP 3999699A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- conveyor device
- parking
- gripping means
- upright
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 18
- 238000007689 inspection Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000284 resting effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- E04H6/424—Positioning devices
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0658—Multiple scissor linkages horizontally arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
-
- 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
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
-
- 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
-
- 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
- E04H6/185—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 comb-type transfer means
- E04H6/186—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 comb-type 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
- E04H6/42—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F2700/00—Lifting apparatus
- B66F2700/03—Lifting jacks with pinion and rack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F2700/00—Lifting apparatus
- B66F2700/04—Jacks with screw and nut
-
- 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
- E04H6/24—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 dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
Definitions
- Conveyor device for moving vehicles and robotic system comprising such a device
- the invention relates to the field of managing the parking of vehicles, in particular of motor vehicles such as cars.
- the invention relates more particularly to a conveyor device for moving and parking vehicles, allowing an increase in the number of parked vehicles per unit area, as well as an increase in the speed of parking operations.
- the present invention is intended for the automatic or semi-automatic parking of motor vehicles.
- This classic solution does not give full satisfaction because it consumes time and generates fatigue for the driver.
- it requires access routes at ground level, defined in advance or created transiently during operations of parking or retrieving a vehicle in a compact car park.
- This need for access roads implies a reduction in the effective speed of parking operations because several movements or intermediate maneuvers of vehicles are generally necessary to place or search for a specific vehicle in a compact parking lot.
- this device allows vehicles to step over only in the longitudinal direction and its movement requires wheels which are specific to the grooves on the ground.
- a first objective of the invention is to provide a more easily manageable device for moving vehicles in a parking area while limiting the adaptations of the parking area.
- a second objective is to provide a better traction system and optimize the movement of the conveyor device compared to the prior art.
- a third objective is to provide better vehicle pick-up means compared to the prior art.
- the invention provides a conveyor device for moving and parking a vehicle, the conveyor device being mobile and comprising at least one vehicle gripping means configured to be movable between a gripping position in which said gripping means extends at least partially below the vehicle, and a release position in which said engagement means does not extend below the vehicle, said engagement means being configured to support the weight of the vehicle, characterized in that it comprises at least one computer associated with sensors, configured to control the movement of the conveyor device as well as said gripping means.
- this arrangement makes it possible to produce a robotic device controlled by the computer.
- the conveyor device comprises at least one column, and at least one longitudinal upright connected to said column, said longitudinal upright being equipped with said gripping means, said computer being further configured to control said longitudinal upright.
- said longitudinal upright is movable between a low position in which said longitudinal upright makes it possible to dispose said gripping means below the vehicle, and a high position in which said longitudinal upright is disposed above the height of the vehicle.
- the transporter device does not require a fixed upright in the low position, which makes it possible to have room laterally at the bottom and to be able to step over vehicles on the side of the longitudinal upright.
- the transporter device is easy to handle because it allows you to step over vehicles sideways to pick up another vehicle.
- the device does not require significant modifications to the parking area to be functional.
- the transporter device comprises a traction system associated with multidirectional wheels, controlled by said computer; and or
- the conveyor device further comprises at least one fixed upright carrying one or more of said movable uprights; and or
- - Said gripping means comprises independent articulated arms; and or
- - Said gripping means can vary its position along said longitudinal upright;
- - Said gripping means is configured to achieve a vehicle grip by the chassis, by the running bands or by a carrying platform; and or -
- the transporter device comprises a lifting system and the lifting system comprises pivoting structures fixed to at least one upright; and or
- the transporter device comprises a lifting system and the lifting system comprises telescopic structures; and or
- the conveyor device comprises a lifting system and the lifting system comprises lifting chains, jacks, ball screws and / or rack and pinion, and is associated with movable upright guides preferably arranged in the columns; and or
- the lifting system is integrated into the upright and the guides are integrated into the columns;
- the conveyor device comprises a preferably robotic handling / inspection arm; and or
- the conveyor device is characterized by a centrally symmetrical structure, in particular for one or more of said gripping means, said upright, said column, said traction system, and / or said lifting system; and or
- the conveyor device comprises reception and / or transmission antennas arranged in diagonal extremes of the conveyor device.
- the invention further relates to a system for moving and parking a vehicle, comprising at least two transport devices according to the invention, controlled in tandem.
- Another object of the invention relates to a method of moving and parking a vehicle, comprising steps of picking up, moving and parking the vehicle by means of at least one transporter device according to the invention, or a movement system. and parking according to the invention.
- the method is carried out by means of a movement and parking system according to the invention, for at least one stuck vehicle whose access is blocked by at least one cornering vehicle, and the method comprises steps for taking into account loads said stuck vehicle, take charge of said stuck vehicle, move said stuck vehicle, move said stuck vehicle, relocate said stuck vehicle, and put down said stuck vehicle.
- the method is implemented with at least two conveyor devices, and is characterized by steps of controlling said devices in tandem.
- the invention further relates to a computer program comprising program code instructions for executing the steps of a method according to the invention or the steps for implementing a conveyor device according to the invention, when said program runs on a computer.
- FIG.1 schematically illustrates a front view of a conveyor device according to a first preferred embodiment of the invention
- FIG.2 schematically illustrates a side view of the conveyor device according to the first embodiment
- FIG.3 schematically illustrates a top view of the conveyor device according to the first embodiment
- FIG.4 schematically illustrates means for gripping a longitudinal upright of the conveyor device according to the first embodiment
- FIG.5 schematically illustrates another variant of gripping means
- FIG.6 schematically illustrates another variant of gripping means
- FIG.7 schematically illustrates a lifting system of the conveyor device according to the first embodiment
- FIG.8 schematically illustrates another variant of the lifting system
- FIG.9 schematically illustrates the conveyor device according to the first
- FIG.10 schematically illustrates the possibilities of pivoting of the conveyor device according to the first embodiment
- FIG.11 schematically illustrates the operation of multidirectional wheels in a variant of the conveyor device according to the invention
- FIG.13 schematically illustrates a conveyor device according to a second embodiment having a side frame different from that of the first embodiment as well as additional wheels
- FIG.14 schematically illustrates a conveyor device according to a third embodiment having a side frame similar to that of the second embodiment and different from that of the first embodiment, and allowing lifting of the gripping means
- FIG.15 schematically illustrates a conveyor device according to a fourth embodiment having a side frame different from those of the first three embodiments;
- FIG.16 schematically illustrates a variant of the conveyor device according to the fourth embodiment
- FIG. 17 schematically illustrates part of another variant of the conveyor device according to the fourth embodiment
- FIG.18 schematically illustrates a conveyor device according to a fifth embodiment having a side frame different from those of the first four embodiments;
- FIG.19 schematically illustrates a conveyor device according to a sixth embodiment associated with detection means
- FIG.20 schematically illustrates side views of a conveyor device according to a seventh embodiment having longitudinal uprights adjustable in size
- FIG.21 schematically illustrates front views of a conveyor device according to an eighth embodiment having transverse uprights adjustable in size
- FIG.22 schematically illustrates a top view of an alternative variant of the eighth embodiment
- FIG.23 schematically illustrates a conveyor device according to a ninth embodiment having height adjustable columns
- FIG.24 schematically illustrates a conveyor device according to a tenth embodiment having two handling / inspection arms
- FIG. 25 schematically illustrates longitudinal and transverse spans of a conveyor device according to the first embodiment
- FIG.26 schematically illustrates a method implementing at least two transport devices according to the invention for a stuck vehicle whose access is blocked by a cornering vehicle.
- the invention relates to the management of a parking area 1 (or car park) for vehicles 2, in particular motor vehicles such as cars.
- the invention relates to a transporter device 3 for moving and parking vehicles.
- the conveyor device is in certain cases a straddle device.
- the transporter device 3 is mobile on the parking area 1. It is in particular a robotic type device equipped with sensors and / or other environmental sensing devices allowing its movement and for detecting its environment and more. particularly the objects, their relative positions and the edges of the vehicle 2 to be moved. Optical sensors and / or a radar system can be envisaged.
- the transporter device 3 comprises at least one computer and distance sensors, in particular at least one passive optical sensor (camera (s)), at least one active optical type sensor (LIDAR), one radar type sensor and / or acoustic type.
- at least one passive optical sensor camera (s)
- at least one active optical type sensor LIDAR
- radar type sensor radar type sensor
- acoustic type a radar type sensor
- this aspect makes it possible to carry out faster and more secure operations, also allowing automated applications.
- the transporter device 3 comprises at least one computer and a radio frequency positioning device, in particular of the GNSS type (or else an indoor RF positioning device such as for example of the UWB type) allowing the measurement of positions and heading.
- a radio frequency positioning device in particular of the GNSS type (or else an indoor RF positioning device such as for example of the UWB type) allowing the measurement of positions and heading.
- this allows use in a context of low visibility for the operator and / or perception of the sensors. This can be practical in an outdoor environment.
- the conveyor device 3e comprises reception and / or transmission antennas 4 for positioning by radio frequency, in particular of the GNSS or UWB type placed in the diagonal extremes of the device.
- This variant can be illustrated by FIG. 19.
- this positioning of antennas allows a maximization of the reception and / or transmission field of the antennas 4, in particular when the vehicle 2 is in a high position. This increases the availability, reliability and accuracy of position measurements. This positioning also maximizes the distance between the two antennas, an aspect which improves heading measurement.
- the transporter device also comprises encoders allowing navigation by odometry.
- IMU inertial measurement unit
- the carrier device in addition to the computer, also includes a wireless communication device (in particular in RF) allowing the command and the bidirectional exchange of remote data.
- a wireless communication device in particular in RF
- this allows remote manual or automatic piloting or monitoring, the reception of positioning corrections by RF (in particular differential GNSS or RTK).
- the carrier device may include at least one communication device allowing in particular the wireless sending of data and commands.
- the conveyor device 3 can be fully automatic and controlled by a robot. Alternatively or in combination, the conveyor device can be semi-automatic, that is to say allow a check carried out partially by a human operator. Alternatively or in combination, one can consider fully manual control even if this variant is not preferred.
- the conveyor device 3 preferably has a central symmetry, which makes it possible to facilitate manufacture by producing the same part several times.
- the lateral sides consist of two generally identical frames.
- the conveyor device 3 comprises columns 5. These are in particular pillars supporting the general structure of the conveyor device 3. More particularly, there are four columns 5 distributed along prism heights, preferably parallelepiped. The columns 5 are configured to extend around the four corners of the vehicle 2 to be moved. The columns 5 are preferably generally identical. In particular, the longitudinal and transverse distances between the columns 5 are greater than those of the vehicle 2 to be transported. This makes it possible to step over
- the conveyor device 3 comprises at least one longitudinal upright 6 fixed to the columns 5. These are in particular two longitudinal uprights 6 in the lateral position. In the preferred variant, the conveyor device 3 further comprises at least one transverse upright 7, for example two transverse uprights 7. The transverse upright 7 makes it possible to transfer torque as well as a possibility of making actuations. In the preferred embodiments, the longitudinal uprights 6 and the transverse uprights 7 form a rectangular frame in top view.
- the longitudinal upright 6 is equipped with at least one vehicle socket 8.
- the structure comprises pivotable gripping arms 8a.
- the gripping means 8 is configured to carry out a gripping of the vehicle 2 either by the frame 2a, or by the treads 2b of the wheels of the vehicle 2, or by a carrying platform (not shown) on which the vehicle 2 is arranged.
- the gripping means 8 is configured to at least partially support the weight of the vehicle 2 to be carried.
- the transporter device 3 comprises several gripping means 8 which together are configured to support the entire weight of the vehicle 2 to be carried.
- the corresponding longitudinal upright 6 is also configured to at least partially support the weight of the vehicle 2.
- the two longitudinal uprights 6 are configured to together support the entire weight of the vehicle 2 to be carried.
- the gripping means 8 is configured to be movable between a gripping position, that is to say deployed, and a release position, that is to say folded up.
- the engagement position the engagement means 8 extends at least partially below the vehicle 2.
- the engagement arms 8a are pivoted to be disposed below the vehicle.
- the gripping position can be illustrated by FIG. 10.
- the release position the gripping means 8 does not extend below the vehicle 2.
- the gripping arms 8a are pivoted to be disposed at a certain distance from vehicle 2.
- the release position can be illustrated by Figures 3 to 6.
- each gripping means 8 is independent of the others in their changes of position and / or configuration.
- each gripping arm 8a can position itself and / or change its configuration (e.g. deployed, folded) independently of the other arms.
- this allows a faster and more robust grip of the wheels 2a compared to simultaneous actuation of a pair of arms.
- it allows a more effective grip vis-à-vis the contact angles of wheels 2a of different diameters.
- independent gripping means 8 allow the gripping of wheels 2a of cars 2 with different distances between axles.
- it allows overall centering of the car within the robot rectangle, as well as a reduction in the length of the uprights (and therefore the robot) required for all car sizes and associated axle positions.
- means for moving the gripping means 8 are arranged in the corresponding longitudinal upright 6.
- This is for example an engine, preferably individual engines, each associated with a transmission element such as a worm, chains, a rack and pinion system, ball screws.
- a transmission element such as a worm, chains, a rack and pinion system, ball screws.
- FIG. 4 shows an exemplary embodiment of the gripping means 8 and its means for moving in the longitudinal upright 6.
- the arms 8a can be separated by a fixed distance.
- the longitudinal upright 6 comprises a horizontal linear positioning system 6a for positioning the gripping means 8.
- the gripping means 8 comprises an articulated mobile device 8b such as a trolley with at least one articulated arm 8a by mobile device 8b.
- the gripping means 8 further comprises a channel or strand of cables 8c with one end for horizontal displacement.
- the gripping means 8 further comprises a proximity detection device 8d.
- Figure 5 shows another embodiment of the gripping means 8 and its displacement system in the longitudinal upright 6.
- the arms 8a can be separated by a variable distance.
- the variable distance between gripping arm 8a can be achieved by an actuator 8e connecting the two carrying carriages 8b of an arm 8a each for example as illustrated in FIG. 5, or by independent actuations between each carriage 8b and the upright 6.
- the 8e actuator type can be a worm / ball screw motor, jacks, 8f rack and pinion, chain or a combination of at least two of these.
- the actuators 8e ensure the change of position and the securing of the carriages 8b along the upright 6.
- Additional wheels 8g can be provided for guiding and transferring mechanical loads.
- FIG. 6 illustrates a rack variant 8f with a guide preferably integral with the upright 6.
- the longitudinal upright 6 is movable between a low position in which the longitudinal upright 6 makes it possible to dispose the corresponding gripping means 8 below the vehicle 2, and a high position in which the longitudinal upright 6 is arranged at the- above the height of the vehicle 2.
- the gripping means 8 is also arranged above the height of the vehicle 2.
- the conveyor device 3 makes it possible to have room laterally at the bottom when the longitudinal upright 6 is in the high position. It is therefore possible to step over vehicles 2 laterally unlike the solutions of the prior art.
- the transporter device 3 is easily manoeuvrable because it allows vehicles 2 to be stepped over laterally to pick up another vehicle.
- the transporter device 3 does not require significant modifications to the parking area 1.
- this enables a transfer of the mechanical torque from the weight of the vehicle 2 to the main structure of the conveyor device 3 more efficiently.
- the longitudinal upright 6 is further movable in one or more intermediate positions between the low position and the high position.
- This makes it possible to use the conveyor device 3 in parking areas 1 with a low ceiling height.
- the lifting system of the transporter device 3 may include pinions and racks associated with a lifting actuator. It may include one or more lifting cylinders with telescopic arms detailed below. Chains or lifting cables, preferably loop type, or vertical ball screws are also possible variants.
- the lifting system comprises pivoting structures 9, for example levers in scissor structures, fixed to the longitudinal uprights in another embodiment such as that of figure 15.
- at least one column 5 comprises at least one movement guide 10 for the movements of the movable uprights 6. This is for example at least one female structure 10a cooperating with at least one male structure 10b, preferably with bearings 11 (or rollers).
- column 5 comprises a concave primary female structure 10a, for example in the shape of a "C” or "U”; and the post 6 comprises the primary male structure 10b housed in the primary female structure 10a.
- the primary male structure 10b comprises a secondary female structure 10c in the form of side panels forming a bearing support associated with bearings 11; and the primary female structure 10a comprises a secondary male structure 10d with transverse protuberances 12, for example in the shape of a “T”, cooperating with the bearings 11.
- these guides 10 make it possible to constrain the vertical movement of the uprights 6 and thus the effective transfer of mechanical loads directly between the upright 6 and the columns 5. It is in particular advantageous for transferring loads of the type longitudinal forces, lateral forces and the torque along the longitudinal axis.
- the guides 10 positioned near the columns 5 make it possible to free up the space between columns 5 and give the ability to span between them when the upright 6 is in the upper position.
- lifting chains 10e with corresponding upper and lower pulleys 10f.
- a pulley 10f for example the upper one, can be associated with a motor.
- the mobile upright 6 then comprises a mounting support 10g which can be equipped with rolling or sliding means such as at least one roller (s) 10h to be guided by a guide structure 10a of the column 5.
- the support 10g can be equipped a fixing structure 10i to be fixed to the lifting chain 10e.
- the mobile upright 6 of the transporter device 3b comprises its own lifting device for lifting the gripping means 8.
- This lifting device makes it possible to lift the vehicles even when the mobile upright is in the low position.
- This aspect can be illustrated by figure 14.
- This own lifting device can include a system of jacks.
- this aspect allows a simplification of the lifting system, in particular for applications with movements with low separation from the ground, such as, for example, car parks with low ceilings.
- the lifting system comprises a locking mechanism allowing the positioning of the movable longitudinal uprights 6 at different heights and thus allowing the transport of the vehicles 2 at different distances from the ground.
- the transporter device 3 comprises a traction system 13 associated with main wheels 14, preferably multidirectional. These are in particular at least four wheels 14 arranged to the right of or near the columns 5.
- At least one steering motor is provided per column 5 which does not participate in traction.
- this motor causes the orientation of the main traction wheel to change, but does not inject energy directly into the traction action.
- This can be implemented, for example, by pinions associated with a ring gear and a rack, or by jacks.
- at least two wheels 14a are provided per column, each wheel being provided with an individual motor allowing it to participate in the traction.
- it is an integrated “hub motor” type motor. directly around the axis of the wheel.
- Figure 11 illustrates the overall movement of the wheels of a column (top arrow) according to the direction of rotation of the side wheel motors 14a (bottom arrows).
- this makes it possible to reduce the footprint of the wheels in order to gain in parking density.
- the proposed traction systems also allow for rapid rotations and changes of direction of travel and to minimize the radius of curvature.
- At least one of said main wheels 14 provided per column is of the “Mecanum” type.
- These are motorized wheels equipped at the periphery with casters.
- Figure 12 illustrates the overall movement of the wheels of the conveyor device 3, for wheels 14 of this type.
- the advantages explained above are amplified by the use of “Mecanum” type wheels because there is no need to pivot the wheel 14: the direction, translation and / or rotation are defined by the combination of the movements of all of them. the wheels 14a of the transporter device 3.
- the use of the “Mecanum” wheels 14 also makes it possible to reduce the number of motors participating in the traction and steering control function.
- the traction system can also be placed next to column 5 as can be seen in Figure 2.
- the longitudinal 6 and / or transverse 7 uprights of the transporter device 3a comprise secondary wheels 15.
- This embodiment can be illustrated in FIG. 13.
- the secondary wheels 15 of the uprights 6 participating in the taking of the vehicle 2 make it possible to transmit and reduce the mechanical loads to be supported by the main structure and the lifting system. This has the benefit of reducing the size of the column sections 5, uprights 6 and of the lifting system, an aspect which allows a reduction in the footprint of the conveyor device 3 and an increase in the stocking density.
- the longitudinal upright 6 is adjustable in size.
- the longitudinal distance between the main columns 5 can be varied by the longitudinal uprights 6 provided for example with a telescopic device. 16.
- the longitudinal uprights 6 can be fixed and / or movable, that is to say that the adjustment is fixed or adjustable during piloting. This is also the case for the fixed longitudinal uprights 19 where appropriate.
- this makes it possible to optimize the space assigned to each parked car, not to be limited by the wide dispersion of lengths between the car models, and to optimize the size of the transporter device 3f for its transport. This aspect can be illustrated by figure 20.
- the transverse post 7 is adjustable in size.
- the lateral distance between the main columns 5 is variable by transverse uprights, provided for example with a linear telescopic device 16 or a foldable device 17.
- the transverse uprights 7 can be fixed and / or mobile, that is to say. say that the setting is fixed or adjustable during piloting.
- this makes it possible to optimize the space assigned to each parked car in order to increase the overall density (cars per m2) of the car park, and not to be limited by the wide dispersion of widths between the car models.
- This also allows the size of the 3g conveyor device to be optimized for its transport. This aspect can be illustrated by figure 21, for the linear telescopic device 16, or by figure 22 for the foldable device 17.
- the column 5 is adjustable in size.
- the height of the columns 5 is variable by telescopic devices 16.
- this makes it possible to optimize the size of the transporter device 3h for its transport, to optimize the size for accessing spaces at reduced height and to level the load.
- vehicle 2 moving in relation to a sloping ground. This aspect can be illustrated by figure 23.
- the conveyor device 3c or 3d further comprises at least one fixed upright 19 carrying one or more of said movable uprights 6.
- FIGS. 17 and 18 FIG. 17 only illustrates the relevant part of the conveyor device for simplicity of illustration.
- the conveyor device 3c or 3d comprises, in each side frame, at least one fixed longitudinal upright 19 and at least one movable longitudinal upright 6 connected to each other for example by a telescopic system 16 and / or a system of levers in chisel 9.
- a telescopic system 16 associated with the fixed upright 19 makes it possible to serve as a "passive" mechanical guide as can be illustrated in FIG. 17.
- the guides 10 are then not necessary in the columns 5.
- FIG. 17 only illustrates the relevant part of the conveyor device for simplicity of illustration.
- the conveyor device 3c or 3d comprises, in each side frame, at least one fixed longitudinal upright 19 and at least one movable longitudinal upright 6 connected to each other for example by a telescopic system 16 and / or a system of levers in chise
- the lifting actuation can be integrated into this telescopic structure (eg a vertical cylinder parallel to the telescopic segments, or a cylinder between two rotating segments of the scissors, or angular actuators between two rotating segments of the scissors, etc.) .
- a telescopic system between the two types of uprights 6, 19 allows for example a simplification of the columns, see their withdrawal as can be seen in figure 18.
- a scissor-like structure in its folded configuration is one of the most compact.
- This feature is particularly useful for applications with low ceiling height and / or heavy lifting needs. '' step over with lateral movements. In addition, this makes it possible to facilitate the transport of the conveyor device 3 (smaller size).
- the scissor structure also makes it possible to multiply the stroke of a cylinder participating as a lifting actuator. This aspect is particularly useful in the case of electric cylinders with low stroke speed.
- the movable uprights 6 can each have a base 20 in the fixed upright 19, and each base 20 is movable independently of the other in the fixed upright 19.
- all the vehicle plugs can vary their position along the length of the frame. fixed upright 19.
- This advantageously makes it possible to have a grip centered along the conveyor device 3 for the various wheelbases and lengths of vehicles, which makes it possible to reduce the size of the device. This reduces its footprint, and allows to increase the density of storage, reduce the cost of manufacture, the size of structural sections and facilitate its transport.
- the transporter device 3i further comprises at least one manipulation arm 21 articulated and / or robotized on its frame.
- the handling arm 21 is preferably disposed on a transverse post 7, more preferably in the middle thereof. It is also possible to consider placing said arm 21 on at least one column 5 and / or at least one longitudinal upright 6, 19. It can have a fixed or variable position.
- the handling arm 21 is configured to allow handling and carrying of various objects 22 such as cables and electric charging sockets for cars, cameras or other type of inspection device, and fire extinguishers. We can speak of inspection arm 21 when the arm includes a camera or other type of inspection device. Thus, the invention further relates to a parking device comprising said handling / inspection arm 21.
- the handling arm 21 allows the disconnection, porting and / or connection of the recharging cables of electric cars between two parking places. This can be done on the car side and / or on the charging station side to manage different formats and locations of charging sockets.
- the inspection arm 21 allows a more efficient inspection of the interior (people or forgotten objects) and exterior (damage, fire) of vehicles and of the parking lot as a whole.
- the handling arm 21 can allow the removal of objects or obstacles in the path of the conveyor device 3i such as branches, residues, and snow.
- manipulation arm 21 can allow the effective action of a fire extinguisher without endangering the intervention of a human in the event of a fire in a parking lot.
- the manipulation arm 21 can allow intervention on devices and vehicles, i.e. unlocking a mechanism, towing the vehicle.
- the invention also relates to a system for moving and parking vehicles, comprising at least two transport devices 3 as described above, controlled in tandem. For example, the same robotic control is performed on the conveyor devices 3, to carry out additional grips and movements.
- Another object of the invention relates to a method of moving and parking vehicles, comprising steps of picking up, moving and vehicle parking 2 by means of at least one transporter device 3 as described above, or a movement and parking system as described above.
- This is in particular a control method comprising steps of particularly lateral spanning and / or comprising steps of piloting robots in tandem.
- the conveyor device 3 can easily span in the front / rear direction, and also in a lateral direction. This can be illustrated in Figure 25.
- this allows access to a parking space from the lateral sides without the need for access.
- the transporting devices 3 position themselves for the pick-up and movement of several neighboring vehicles 2, taking advantage of the closest free lane in a platoon of vehicles 2.
- the method is carried out by means of a movement and parking system as described above, but it can be adapted for other types of vehicle parking devices.
- the method allows the movement and parking of at least one stuck vehicle 23 to which access is blocked by at least one stuck vehicle 24.
- the method comprises steps for taking charge, in particular stepping over the wedging vehicle 24, taking over, in particular stepping over the stuck vehicle 23, moving the stuck vehicle 24, moving the stuck vehicle 23, repositioning the vehicle wedging 24, and resting the wedged vehicle 23.
- steps for taking charge in particular stepping over the wedging vehicle 24, taking over, in particular stepping over the stuck vehicle 23, moving the stuck vehicle 24, moving the stuck vehicle 23, repositioning the vehicle wedging 24, and resting the wedged vehicle 23.
- the sufficient number of tandem-driven conveyor devices is provided.
- the invention further relates to a computer program comprising program code instructions for executing the steps of a method as described above, when said program is running on a computer.
- the invention further relates to a computer program comprising program code instructions for executing the steps of implementing a conveyor device as described above, in particular steps of controlling the elements of a device. transporter as described above, when said program is running on a computer.
- Each movement or action of the conveyor device or part of it can be considered as a step in a computer-implemented process.
- Another object of the invention relates to a controlled system for moving and parking vehicles, such as an automatic or semi-automatic robotic system.
- the controlled system comprises a control unit in which is loaded a program as described above, as well as at least one conveyor device as described above.
- the control unit can be remote from the conveyor device, for example in a control area in the parking area.
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Handcart (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1908098A FR3098836A1 (fr) | 2019-07-18 | 2019-07-18 | Dispositif transporteur de véhicules à quatre roues |
FR2004554A FR3098835B1 (fr) | 2019-07-18 | 2020-05-07 | Dispositif transporteur pour le déplacement de véhicules, et système robotisé comprenant un tel dispositif |
PCT/FR2020/000207 WO2021009420A1 (fr) | 2019-07-18 | 2020-07-20 | Dispositif transporteur pour le déplacement de véhicules, et système robotisé comprenant un tel dispositif |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3999699A1 true EP3999699A1 (fr) | 2022-05-25 |
Family
ID=71784253
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20753788.7A Pending EP3999699A1 (fr) | 2019-07-18 | 2020-07-20 | Dispositif transporteur pour le déplacement de véhicules, et système robotisé comprenant un tel dispositif |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230258016A1 (fr) |
EP (1) | EP3999699A1 (fr) |
CN (1) | CN114174615A (fr) |
FR (2) | FR3098836A1 (fr) |
WO (1) | WO2021009420A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11447376B2 (en) * | 2020-02-06 | 2022-09-20 | Shenzhen Yee Fung Automation Technology Co., Ltd. | Combined transporter and master transporter thereof |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2904200A (en) | 1958-08-29 | 1959-09-15 | Rota Parking Inc | Shuttle-lift device for use in parking automobiles |
FR2882770A1 (fr) * | 2005-03-04 | 2006-09-08 | Jefco Dev Sarl | Installation de parcage pour vehicules |
DE102010032329B4 (de) * | 2010-07-19 | 2015-07-09 | Frank Mayer | Parksystem |
DE102010052850B3 (de) * | 2010-11-29 | 2012-06-06 | Serva Transport Systems Gmbh | Vorrichtung und Verfahren zum automatischen Quereinlagern eines Kraftfahrzeuges in einer Lagereinrichtung |
US9181722B2 (en) * | 2011-03-31 | 2015-11-10 | Criterion Manufacturing Solutions, Inc. | Automatic storage system for vehicles |
CN102758549B (zh) * | 2012-07-04 | 2014-12-24 | 苏州大方特种车股份有限公司 | 轮胎式流动智能泊车机器人的搬运机构 |
MX2017013947A (es) * | 2015-05-06 | 2018-01-18 | Crown Equip Corp | Disposicion de etiquetas para la operacion de vehiculos industriales. |
CN109563716B (zh) * | 2016-08-01 | 2021-04-06 | 福特全球技术公司 | 成角度停车 |
CN106245966B (zh) * | 2016-08-09 | 2018-12-07 | 刘智勇 | 一种智能机械停车设备及专用停车场 |
DE102017220584A1 (de) * | 2017-11-17 | 2019-05-23 | Robert Bosch Gmbh | Transportsystem und Verfahren zum Transportieren eines Fahrzeugs |
JP2019127802A (ja) * | 2018-01-26 | 2019-08-01 | 株式会社技研製作所 | 地下駐車場、及びその施工方法 |
CN109930883A (zh) * | 2019-04-02 | 2019-06-25 | 中南大学 | 一种半自动式辅助型停车机械 |
-
2019
- 2019-07-18 FR FR1908098A patent/FR3098836A1/fr active Pending
-
2020
- 2020-05-07 FR FR2004554A patent/FR3098835B1/fr active Active
- 2020-07-20 EP EP20753788.7A patent/EP3999699A1/fr active Pending
- 2020-07-20 CN CN202080052206.2A patent/CN114174615A/zh active Pending
- 2020-07-20 US US17/627,766 patent/US20230258016A1/en active Pending
- 2020-07-20 WO PCT/FR2020/000207 patent/WO2021009420A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
WO2021009420A1 (fr) | 2021-01-21 |
FR3098835A1 (fr) | 2021-01-22 |
FR3098836A1 (fr) | 2021-01-22 |
US20230258016A1 (en) | 2023-08-17 |
FR3098835B1 (fr) | 2023-02-24 |
CN114174615A (zh) | 2022-03-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3297876B1 (fr) | Convoyeurs mobiles destinés au déplacement d'un véhicule à 4 roues | |
EP0719368B1 (fr) | Installation mecanisee automatique de stockage d'objets | |
WO2010063932A1 (fr) | Systeme pour parquer automatiquement des charges | |
FR2683488A1 (fr) | Dispositif de suspension pour vehicule surmontant les obstacles. | |
EP3999699A1 (fr) | Dispositif transporteur pour le déplacement de véhicules, et système robotisé comprenant un tel dispositif | |
EP2766219A1 (fr) | Appareil de remorquage de vehicule automobile | |
FR3063274A1 (fr) | Vehicule autonome a roues jumelles, destine au transport de colis ou de materiels, permettant de franchir de petits obstacles | |
WO1994013908A1 (fr) | Parking automatique pour vehicules | |
EP3380998A1 (fr) | Procede d'exploitation et systeme de gestion et d'utilisation d'une flotte de vehicules bi-modes | |
FR3046772B1 (fr) | Dispositif de maintenance pour la maintenance de vehicules ferroviaires | |
EP3421717A1 (fr) | Train suiveur d'un tunnelier comprenant des moyens de convoyage d'un voussoir | |
WO2017153895A1 (fr) | Robot motorisé autonome pour le transport de charges | |
FR3118732A1 (fr) | Dispositif transporteur modulaire | |
WO2022152991A1 (fr) | Dispositif transporteur modulaire | |
EP4281636A1 (fr) | Système de parking automatique et procédé de stationnement de véhicules automobiles associé | |
FR2685377A1 (fr) | Garage pour vehicules automobiles en forme de silo d'axe vertical. | |
US20230158847A1 (en) | Trailer jack and transport systems employing a spherical load-bearing transport ball, and sport, recreational and utility trailer systems and methods employng the same | |
FR3063273B1 (fr) | Vehicule autonome a roues jumelles, destine au transport de colis ou de materiels, permettant de franchir de petits obstacles | |
FR2938812A1 (fr) | Dispositif automatise de positionnement et de retrait d'un outillage de sellette | |
FR2667100A1 (fr) | Garage collectif pour vehicules automobiles en forme de silo d'axe vertical. | |
FR3128215A1 (fr) | Procédé de déplacement d’au moins un objet dans une installation et installation associée | |
FR2961469A1 (fr) | Vehicule porte-outil automoteur a 4 roues dissymetriques. | |
BE554434A (fr) | ||
BE518092A (fr) | ||
FR2725436A1 (fr) | Installation de chargement/dechargement pour engin automoteur a deplacement guide |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20220217 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20231019 |