WO2020165446A1 - Système de stationnement automatique pour véhicules - Google Patents

Système de stationnement automatique pour véhicules Download PDF

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Publication number
WO2020165446A1
WO2020165446A1 PCT/EP2020/053984 EP2020053984W WO2020165446A1 WO 2020165446 A1 WO2020165446 A1 WO 2020165446A1 EP 2020053984 W EP2020053984 W EP 2020053984W WO 2020165446 A1 WO2020165446 A1 WO 2020165446A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet
transport
parking
rollers
parking system
Prior art date
Application number
PCT/EP2020/053984
Other languages
German (de)
English (en)
Inventor
Hans Nussbaum
Original Assignee
Hans Nussbaum
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hans Nussbaum filed Critical Hans Nussbaum
Priority to EP20706656.4A priority Critical patent/EP3924576B1/fr
Publication of WO2020165446A1 publication Critical patent/WO2020165446A1/fr

Links

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
    • E04H6/08—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
    • 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
    • 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 one behind the other on at least one parking deck, the vehicles each standing on pallets that can be moved in the longitudinal and / or transverse direction.
  • Raised pallets are used that 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 maneuvering vehicle is controlled robotically and has an omnidirectional or differential drive so that it can drive automatically between the pallets arranged in the alleys with the aid of a control unit and approach the desired parking space or the transfer station.
  • the maneuvering vehicle is equipped with distance sensors with which it can determine its exact position within the parking deck at any time, but also recognize and avoid any obstacles.
  • US 2005/0207876 shows a similar system.
  • the vehicles are parked on autonomously maneuverable parking platforms 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 above so that it is on the one hand by high occupancy density, i.e. by a large number of vehicles to be stored based on the area of the parking deck, on the other hand by high operational reliability such as also characterized by favorable manufacturing costs.
  • the parking deck has a large number of permanently installed transport modules, which are arranged next to and / or behind one another, that these transport modules have several upwardly projecting conveyor elements with a horizontal transport direction, which - at least as far as they are in the desired transport direction one pallet one after the other - can be driven synchronously and are used to move a pallet and transfer it to an adjacent transport module, and the conveyor elements in at least some transport modules can be pivoted about a vertical axis to change their transport direction.
  • a parking deck can be almost completely occupied with parking spaces, namely with transport modules.
  • the free space e.g. alleys
  • This gain in parking space for vehicles to be parked is considerable, as FIGS. 5 and 6 of EP 3 094 796 show.
  • guide strips extending in the longitudinal and / or transverse direction and guide rollers that correspond to them on the pallets are arranged on the transport modules.
  • the guide rails and guide rollers ensure that the pallets are safely guided on the transport modules and thus contribute to reliable and fault-free operation.
  • the guide rails provided on the individual transport modules thus enable the parking system to be constructed in a modular manner.
  • a person skilled in the art has various options for constructing the conveyor elements in the transport modules. So you can work with horizontally rotating endless conveyor belts, with only those conveyor belts that should be pivotable about a vertical axis in terms of their conveying direction should be vertically movable so that the movement of the conveyor belts does not take place under the load of a standing vehicle on the pallet .
  • the conveying elements are designed as rollers, preferably with a horizontal axis of rotation.
  • Such rollers only rest on the pallet with a small contact area and can therefore be pivoted with regard to their transport direction even under load. This can be favored by working with narrow rollers or rollers with a spherical profile.
  • rollers To pivot the rollers about a vertical axis of rotation, they can be driven synchronously by levers or a circulating chain.
  • rollers designed as a conveyor element can be driven hydraulically or mechanically, the drives of the individual rollers being appropriately networked with one another so that all rollers of a module and at least the adjacent module in the transport direction rotate synchronously.
  • the pallets can have a more or less continuous cover plate on their top.
  • each pallet has an individual identifier, preferably running in the longitudinal and transverse directions of the pallet, which can be read externally, in particular on the transport module carrying the pallet, 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 comprises a continuous code extending over the longitudinal and / or transverse direction of the associated pallet, the identifier can be used to determine the individual position of each pallet. 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 that convey the pallet.
  • the central control unit thus expediently comprises a system for determining the position of each individual pallet. This continuously records which vehicle is parked in which parking space, whether and with which vehicle a transport is taking place and in which direction the transport is taking place. Au- In addition, this control unit specifies the modules over which a pallet is to be moved through selective activation of individual transport modules.
  • each transport module can be equipped 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.
  • a corresponding measuring system in particular a path measuring system or a camera
  • a vehicle to be parked is parked on a pallet at a transfer point and then transported to a specific parking space with the aid of several transport modules. It is then recommended that the control unit contains a logistics program that controls the transport modules in such a way that the pallet is transported by the vehicle - preferably by the shortest route - to a free parking space, with the transport route being cleared by activating further transport modules if necessary becomes
  • the invention provides that the mechanical device consists of a large number of permanently installed next to and / or one behind the other arranged transport modules with upwardly projecting conveyor elements that these winningele elements, at least as far as they follow one another in the desired transport direction, are driven synchronously and at least one pallet from the over Transport the dispensing station to the parking space or back.
  • Figure 1 is a plan view of a be laid with transport modules according to the invention parking deck from above;
  • FIG. 2 is a side view of a single transport module;
  • FIG. 3 shows a plan view of the transport module according to FIG. 2;
  • FIG. 4 shows a plan view of a transport module with rollers which can be pivoted by means of a linkage
  • FIG. 5 shows an enlarged detail in a side view in the area of a roller from FIG. 4 with a pallet on top;
  • Figure 6 is a plan view of a component of a transport module
  • rollers pivotable by chains
  • FIG. 7 shows an enlarged detail in side view in the area of a roller from FIG. 6 with a pallet on top;
  • FIG. 8 shows a side view of a transport module with a pallet on top
  • FIG. 8a shows the enlarged detail A from FIG. 8
  • FIG. 8b shows the enlarged detail B from FIG. 8;
  • FIG. 9 shows an oblique view of a transport module with a pallet moved from the parking position
  • FIG. 10 is a plan view from below of a pallet.
  • FIG. 1 almost the entire area of a parking deck with transport modules 1 and 2 is occupied.
  • the transport modules 1 and 2 are fixedly mounted on the floor of the parking deck and arranged one behind the other and next to one another like a chessboard; only between the second and third row of modules, as seen from above, as well as between the fourth and fifth row of modules, is a narrow passage left free for operating personnel.
  • Vehicles can be stored and removed from storage at the edges of the parking deck, but also within the parking deck.
  • I m embodiment is in one
  • An elevator 3 is provided in the corner of the parking deck. This elevator corresponds to the fourth row of modules seen from above.
  • the vehicles on the pallets are stored and removed from storage via the elevator 3.
  • only one pallet with a vehicle is provided for storage and retrieval, namely in or out of the fourth row of modules.
  • the transport modules 1 and 2 are designed so that they can each carry and transport a pallet with a vehicle.
  • the modules are aligned in the longitudinal direction as well as in the transverse direction and are arranged closely adjacent to one another, wherein spacer frames R can be interposed, in particular, as shown in FIG. 1, between adjacent modules in the longitudinal direction.
  • the transport modules 1 and 2 are each equipped with several upwardly protruding rollers 4 (see Fig. 2), which te the transport of a pallet at least in the longitudinal direction, but also partially Allow 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 orien benefits in the transport modules 2 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 exact assembly of the transport modules.
  • Figures 2 and 3 show a transport module 2 in an enlarged view.
  • the essential feature of this transport module is that it has several rere has upwardly projecting rollers 4 with a horizontal axis of rotation, which are used for storage and transport of 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 circumferential frame 5 with cross members 6 mounted on the floor of the parking deck, on which the upwardly protruding rollers 4 and possibly 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 strips 5a.
  • FIG. 4 shows a module 1, the rollers 4 and 4a of which can be pivoted with regard 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, specifically preferably directly on the floor of the parking deck. As a result, the rollers 4 can move 90 degrees in the transverse direction from the longitudinal direction of the module shown in FIG. be pivoted, even if the module is loaded by a pallet loaded with a vehicle.
  • this pivoting takes place via a lever linkage, namely via crank levers 16a, 16b and 16c.
  • crank levers 16a, 16b and 16c are synchronized with one another via further crank levers 17a and 17b (see FIG. 4), so that all rollers 4 and 4a always take 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 effect when the transport direction is changed are selectively controlled by a central control unit.
  • Figure 5 also shows how a pallet is carried by the transport module.
  • the roller 4 carries a pallet 30 shown in sections on its upwardly projecting periphery.
  • the pallet 30 has, on its underside, longitudinal members 31 running through in the longitudinal direction and cross members 32 running through in the transverse direction. If the rollers 4 are set in the longitudinal direction, they correspond to the longitudinal beams 31, otherwise they correspond to the transverse beams 32 perpendicular to them. In this way, the pallets are reliably supported on the at least four rollers 4 and they can be moved in the x or y direction ensured.
  • the top of the pallet 30 can be designed as a continuous plate 33; but at least it must have two continuous lanes in the longitudinal direction of the pallet, the position and width of which is matched to the common track widths of the vehicles to be parked.
  • FIG. 6 shows a plan view of a component of a transport module 1 in which the pivoting of the rollers 4 and 4a is not carried out by a crank linkage, but rather by means of a common chain 20.
  • the flange ring 15 carrying the roller 4 with its drive motor 14 is connected to a ring gear 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 a Verstellwin angle of the ring gears 21 by 90 °.
  • FIG. 7 shows that the rollers 4 can also be used to guide the pallets in a straight line.
  • the pallet 30 has, in the area of its underside where it rolls on a roller 4, a guide rail 34 which engages around the front sides of the roller 4 on both sides.
  • the guide rail 34 thereby ensures that the pallet is transported in an exactly straight line and at the correct angle.
  • the two side walls of the support rail 34 must not run through to the ends of the pallet, but must have recesses where the pallet rests on the rollers 4 and 4a in the parking position so that the rollers 4 when the pallet 30 is in its parking position has reached, have enough space to pivot about their vertical axis.
  • 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 before the pallet's parking position on its module so that there is free space to pivot the rollers 4 and 4a and to transport the pallet further out of the parking position both in the longitudinal direction and in the transverse direction.
  • this is achieved in that the transport modules 1, 2 are made shorter in the longitudinal and transverse directions than the pallets 30 on them, so that the guide rollers 35 in front of the pallet centered in the parking position on the relevant transport module 1, 2 the slightly rounded corners of the run around the frame 5 of the module.
  • the described length dimensioning of the guide strips 5a relative to the guide rollers 35 is illustrated by FIGS. 8 and 9.
  • FIG. 8 shows a pallet 30 on a transport module 1 or 2, but not in its parking position belonging to the module, but to the right in the drawing after it has already been shifted somewhat in the longitudinal direction. It can be seen here in particular in FIG. 8a that its edge-side guide roller 35 is already in contact with the guide strip 5a of its module. In the illustrated displacement path of the pallet, it is no longer freely displaceable in the longitudinal and transverse direction, but only in the direction that the guide strip 5a specifies.
  • FIG. 9 The same relationship can also be seen in FIG. 9.
  • the pallet 30 with its transport module is shown in an oblique view and has also already moved a bit out of its parking position.
  • FIG. 10 shows a pallet 30 seen from below.
  • a continuous cover plate 33 which is suitable on its upper side to accommodate a vehicle and which is reinforced on its underside by three longitudinally extending profiles 31 and five transversely extending profiles 32.
  • 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 over the pallet contour so that they correspond to guide strips 5a of the transport modules below, compare FIGS. 8a and 8b.
  • the guide strips 5a and the guide rollers 35 are positioned so that they can take over the guiding of the pallets both in the longitudinal direction and in the transverse direction.
  • the spacer frame R can also have corresponding guide strips; Instead, it can also be positioned so low that it is run over without a guide function
  • FIG. 10 shows that the pallet 30 has code strips 38 for measuring the path length and for recognizing the pallet. These code strips 38 run through in the longitudinal as well as in the transverse direction of the pallet, so that the position and identity of each pallet can be recognized and fed to a control unit even during the pallet transport. These code strips can be read out directly by reading heads on the transport modules.
  • the control unit controls the transport modules in such a way that a free parking space is assigned to a vehicle to be parked and its pallet is automatically transported from a transfer area to this parking space, or that a vehicle to be relocated is transported back to the transfer area.
  • the transport takes place in the manner of a sliding puzzle. This requires at least one free transport module, via which the stored pallets with vehicles can be maneuvered until the vehicle to be removed has reached the transfer point.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de stationnement automatique pour une pluralité de véhicules destinés à stationner les uns à côté des autres et/ou les uns derrière les autres sur au moins un niveau de parking, les véhicules reposant respectivement sur des palettes (30), qui sont mobiles dans la direction longitudinale et/ou transversale. À cet effet, le niveau de parking présente une pluralité de modules de transport (1, 2) installés fixement, qui sont disposés les uns à côté des autres et/ou les uns derrière les autres, ces modules de transport (1, 2) présentent plusieurs éléments de convoyage (4, 4a) faisant saillie vers le haut et pourvus d'un axe de rotation horizontal, qui – au moins dans la mesure où ils se succèdent dans la direction de transport souhaitée d'une palette – peuvent être entraînés de manière synchrone et servent au support mobile respectivement d'une palette (30) et au transfert de celle-ci sur un module de transport (15) voisin, et les éléments de convoyage (4, 4a), pour au moins certains modules de transport (2), peuvent pivoter autour d'un axe vertical quant à leur direction de convoyage.
PCT/EP2020/053984 2019-02-15 2020-02-14 Système de stationnement automatique pour véhicules WO2020165446A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20706656.4A EP3924576B1 (fr) 2019-02-15 2020-02-14 Système de stationnement automatique pour véhicules

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019103933.9A DE102019103933A1 (de) 2019-02-15 2019-02-15 Automatisiertes Parksystem für Fahrzeuge
DE102019103933.9 2019-02-15

Publications (1)

Publication Number Publication Date
WO2020165446A1 true WO2020165446A1 (fr) 2020-08-20

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ID=69650570

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/053984 WO2020165446A1 (fr) 2019-02-15 2020-02-14 Système de stationnement automatique pour véhicules

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EP (1) EP3924576B1 (fr)
DE (1) DE102019103933A1 (fr)
WO (1) WO2020165446A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021101023A1 (de) 2021-01-19 2022-07-21 Nussbaum Custom Lifts Gmbh Automatisiertes Parksystem für Fahrzeuge

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050207876A1 (en) 2004-03-16 2005-09-22 Springwater Investments Llc Method and system for automatically parking vehicles
WO2006038069A2 (fr) * 2004-09-03 2006-04-13 Frusso Ricardo Daniel Arrangement destine au transfert, au transit et/ou a l'implantation de personnes et d'objets en general
WO2006054124A1 (fr) * 2004-11-19 2006-05-26 Brezovits Laszlo Systeme de stockage
US20070098528A1 (en) 2005-10-27 2007-05-03 Israel Aircraft Industries Ltd. System and method for parking vehicles
WO2010074128A1 (fr) * 2008-12-26 2010-07-01 Ｉｈｉ運搬機械株式会社 Dispositif de stationnement de véhicule
DE102014112269A1 (de) 2014-08-27 2016-03-03 Nussbaum Technologies Gmbh Automatisiertes Parksystem für Fahrzeuge

Family Cites Families (2)

* Cited by examiner, † Cited by third party
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050207876A1 (en) 2004-03-16 2005-09-22 Springwater Investments Llc Method and system for automatically parking vehicles
WO2006038069A2 (fr) * 2004-09-03 2006-04-13 Frusso Ricardo Daniel Arrangement destine au transfert, au transit et/ou a l'implantation de personnes et d'objets en general
WO2006054124A1 (fr) * 2004-11-19 2006-05-26 Brezovits Laszlo Systeme de stockage
US20070098528A1 (en) 2005-10-27 2007-05-03 Israel Aircraft Industries Ltd. System and method for parking vehicles
WO2010074128A1 (fr) * 2008-12-26 2010-07-01 Ｉｈｉ運搬機械株式会社 Dispositif de stationnement de véhicule
DE102014112269A1 (de) 2014-08-27 2016-03-03 Nussbaum Technologies Gmbh Automatisiertes Parksystem für Fahrzeuge
EP3094796A1 (fr) 2014-08-27 2016-11-23 Nussbaum Technologies GmbH Système automatique de stationnement pour véhicules

Also Published As

Publication number Publication date
EP3924576C0 (fr) 2023-08-02
EP3924576B1 (fr) 2023-08-02
DE102019103933A1 (de) 2020-08-20
EP3924576A1 (fr) 2021-12-22

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