WO2021119703A1 - Robot pour le transport d'un véhicule - Google Patents

Robot pour le transport d'un véhicule Download PDF

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Publication number
WO2021119703A1
WO2021119703A1 PCT/AT2020/060470 AT2020060470W WO2021119703A1 WO 2021119703 A1 WO2021119703 A1 WO 2021119703A1 AT 2020060470 W AT2020060470 W AT 2020060470W WO 2021119703 A1 WO2021119703 A1 WO 2021119703A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
vehicle
wheels
frame
area
Prior art date
Application number
PCT/AT2020/060470
Other languages
German (de)
English (en)
Inventor
Takis Tolis
Oliver BATRUEL
Johannes Rieger
Johannes Mayr
Gernot Fuckar
Peter PÖTSCHER
Philipp CLEMENT
Original Assignee
Avl List Gmbh
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 Avl List Gmbh filed Critical Avl List Gmbh
Priority to DE112020006120.5T priority Critical patent/DE112020006120A5/de
Publication of WO2021119703A1 publication Critical patent/WO2021119703A1/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
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means

Definitions

  • the invention relates to a robot for transporting a vehicle, which we have at least two axles, in particular a passenger car.
  • the robot has at least one frame, a lifting device and four wheels.
  • This robot can be used as a parking robot or to move a vehicle from one position to another.
  • Parking robots are automatic parking systems in which a driver returns his vehicle to a transfer station, for example. A parking robot takes over the rest of the parking process.
  • the document US 2018/0142488 A1 relates to a conveyor for moving vehicles.
  • the conveyor includes a chassis with adjustable extensions which are movable between a position in which the extensions enable the chassis to be moved under the vehicle and a position in which the extensions come into contact with the treads of the vehicle wheels.
  • the chassis is telescopic and contains two segments, each with a pair of arms. At least one of the pairs of arms is articulated in such a way that a movement between a position perpendicular to the longitudinal axis of the chassis with an extension that is at least equal to the track width of the vehicle and a folded-up position is possible, the folded-up position being less than the width of the down stood between the inner flanks of the vehicle wheels.
  • the segments are movable between a position in which the arms do not come into contact with the vehicle wheels and a position in which each arm comes into contact with the tread of one of the vehicle wheels in order to raise or lower the vehicle.
  • This object is achieved by a robot for transporting a vehicle and a method for transporting a vehicle according to the independent claims.
  • a first aspect of the invention relates to a robot for transporting a vehicle with at least two axles, in particular a passenger car, wherein the robot has a frame, a lifting device and four wheels, with a lowered area of the frame is set up to at least partially under the Vehicle to be moved, in particular with a ground clearance of at least 60 mm and more preferably of at least 110 mm, with a pair of wheels in the area of both end faces of the frame, outside the lowered area, so that the robot is independently can stand stable; and wherein the robot is set up to lift vehicle wheels in each case on the same axle of the vehicle, but in particular only the vehicle wheels on one axle of the two-axle vehicle.
  • a second aspect of the invention relates to a method for transporting a vehicle by means of a robot or robot system, a pair of wheels being arranged in the area of both end faces of the frame, outside the lowered area, in such a way that the robot can stand independently in a stable manner , wherein in each case one of the wheels of the wheel pairs, in particular a freely pivotable wheel, is arranged on a boom of the lifting device, which is pivotable, the booms being brought into a first position for moving the at least one robot without a vehicle in which the two Wheels of a pair of wheels each have a smaller wheelbase or a smaller track width, and are brought into a second position for transporting a vehicle, in which the two wheels of a pair of wheels each have a larger wheelbase or a larger track width.
  • a third aspect of the invention relates to a robot system with two robots, the two robots being set up to communicate with one another, a first robot preferably controlling a second robot. By communicating with the robots, they can be used in a coordinated manner to transport a vehicle, with one robot picking up the vehicle wheels on one axle and another robot picking up the vehicle wheels on a second axle.
  • a fourth aspect of the invention relates to a robot system with a central control center and at least one robot for transporting a vehicle, the control center being set up to control at least one robot, both robots or exclusively the first robot.
  • the invention is based on the approach that the vehicle wheels of one axle, in particular only one axle of a two-axle vehicle, are lifted by means of a single robot, with a large part of the robot being arranged under the vehicle when the vehicle is being transported, so that the entirety of Robot and vehicle are not significantly larger than the spatial extent of the vehicle itself.
  • the lowered area of the frame has a maximum geodetic height that is less than the geodetic ground clearance of the vehicle to be transported, so that the lowered area of the frame can be moved under the vehicle.
  • the lowered area of the frame With a ground clearance of the vehicle of 60 mm or 110 mm, the lowered area of the frame thus has a maximum height that is less than 60 mm or 110 mm.
  • the lifting unit preferably forms a protrusion only on the flanks of the vehicle, but more preferably only where the axle or axles whose vehicle wheels are to be raised are arranged.
  • the robot is set up in such a way that it can stand independently in a stable manner. Since the robot only has to protrude over the vehicle with the area of its end faces to the side of the vehicle, the robot can be designed to be relatively narrow.
  • the wheels of the pairs of wheels of the robot are each outside the lowered area and thus that area which is set up to be moved under a vehicle, the wheels of the pairs of wheels can be designed with a relatively large diameter.
  • At least one of the wheels of the wheel pairs preferably has a larger diameter than the geodetic height of the lowered area of the frame.
  • This enlarged wheel size also makes the robot suitable for transporting vehicles at a relatively high speed compared to parking robots of the prior art.
  • the wheels can also be made so large that they can also drive on relatively impassable terrain, for example unpaved roads, and can preferably also transport vehicles there.
  • one of the wheels of the pairs of wheels is freely pivotable about an at least substantially vertical axis with respect to its axis of rotation.
  • the axis of rotation is the axis around which a wheel rotates when the robot moves.
  • Freely pivotable means within the meaning of the invention that the wheel is pivotably mounted in such a way that its alignment is adapted to the respective direction of movement.
  • one of the wheels of the pairs of wheels which is preferably freely pivotable about an at least substantially vertical axis with respect to its axis of rotation, is arranged on a boom which is pivotable.
  • a wider track width or a larger wheelbase depending on the alignment of the wheels, can therefore be achieved between the wheels of a pair of wheels.
  • the robot is set up in such a way and the pairs of wheels on the front sides of the frame are each arranged in such a way that an imaginary extension of the axis of the raised vehicle wheels of the vehicle is always between the two wheels of a pair of wheels, in particular independently from a pivot position of the boom. This results in a particularly great stability of the robot when transporting the vehicle. In particular, overturning of the robot is made more difficult.
  • the robot has a lifting structure attached to the boom, which cooperates with a stop on the frame in such a way that a vehicle wheel of the vehicle can be lifted when the boom is pivoted.
  • the boom is pivoted, in particular into a position for transporting the vehicle, and, on the other hand, the vehicle is raised at the same time.
  • the wheel on the boom is advantageously used both to stabilize the robot and to support the lifting structure from loads that occur during the lifting process.
  • the robot has at least one first actuator, in particular in the area of the two end faces of the frame, which is directed to pivot the boom.
  • the robot has at least one second actuator, in particular in the area of the two end faces of the frame, which is designed to pivot one of the wheels of at least one of the wheel pairs, in particular in a pivoting range of 360 °.
  • the direction of the robot can be controlled through the targeted swiveling of one of the wheels at each end.
  • the robot has first sensors in order to record a rotational position of the wheels that can be pivoted by the second actuators. In this way, a closed control loop for controlling the pivotable wheels can be formed.
  • the robot has second sensors in order to record a rotational speed of the wheels that can be pivoted by the second actuator.
  • the robot has at least one third actuator, in particular a wheel hub drive, in particular in the area of the two end faces of the frame, the third actuator being set up to drive at least one of the wheels, in particular the pivotable wheels, of the respective pair of wheels ben. Due to the split provision of two actuators on both front sides, no mechanical connection is necessary between the two front sides of the robot.
  • the robot has a braking device, the braking device braking at least one wheel of each pair of wheels of the frame, and the braking device preferably braking the wheels when no control voltage is provided. In this way, an unintentional movement of the robot or even an assembly of the robot and vehicle is reliably prevented, even if the robot is out of order or is defective.
  • the recessed area has a clear width of at least 1.6 m, preferably at least about 1.8 m, even more preferably we at least about 2 m, and / or most preferably at most about 2.5 m. Due to these dimensions, all common vehicles of a vehicle class fit the robot and can therefore be transported by it.
  • the frame has, preferably at least substantially rectangular, recesses in the lowered area, which are directed to accommodate the vehicle wheels in each case on the same axis of the vehicle.
  • the provision of the recesses results in a particularly secure reception of the vehicle wheels, so that they are placed in the right place when the vehicle wheels or the vehicle are lifted in order to be lifted by the lifting device.
  • the recess is limited on one side - in a direction perpendicular to the axis of the vehicle - by a stop on the frame and can be closed on the other side by a lifting structure.
  • the vehicle wheels can be raised in the recess and also stored there during transport. The lifting structure and the stop ensure that the respective vehicle wheel arranged in the recess is lifted.
  • the distance between the two pairs of wheels can be changed by means of a fourth actuator.
  • This actuator acts preferably in the lowered area of the linkage and can extend or shorten the linkage there, in particular special telescopic. In this way, the robot can be adapted to different vehicle widths.
  • the end faces of the frame are connected exclusively by the lowered area.
  • the entire ge area which lies between the two end faces can be arranged under the vehicle when the vehicle is being transported. This results in a minimal space requirement for the entirety of the vehicle and robot.
  • the robot is designed in such a way that when the vehicle is raised, the lowered area is arranged essentially below the vehicle and the two end faces are arranged outside the base area of the vehicle. This also results in a small space requirement for the totality of the vehicle and robot, especially when the front sides of the frame are connected exclusively by the lowered area.
  • the robot has a controller, one designed to carry out a method for transporting a vehicle.
  • FIG. 1 shows a side view of an assembly comprising a robot and a vehicle to be transported
  • FIG. 3 is a perspective view of a robot
  • FIG. 4 shows a plan view from above of the robot according to FIG. 3;
  • FIG. 5 shows a front view of the robot in direction I from FIG. 4;
  • FIG. 6 shows a side view of the robot in direction II from FIG. 4;
  • FIG. 7a to c show a perspective view of three different positions of a lifting device or a boom of a robot according to the first embodiment
  • FIG. 8 shows an illustration of a first exemplary embodiment of a robot system with two robots which are controlled centrally;
  • FIG. 9 shows an illustration of a second exemplary embodiment of a robot system with two interacting robots which control one another; 10 shows a view of a steering actuator and control for the separate steering movement of the two drive wheels;
  • Fig. 1 shows an embodiment of a robot 1 for transporting a vehicle 2.
  • this is angeord net on the vehicle 2 and has raised the vehicle wheels of the front axle of the vehicle 2, as indicated by the arrow at the front of the Vehicle is indicated.
  • Fig. 2 shows a side view of a robot system 4 with a first robot 1 and a second robot T.
  • the first robot 1 lifts the vehicle wheels of the front axle of the vehicle 2
  • the second robot T lifts the vehicle wheels of the rear axle of the Vehicle 2. This is indicated in each case by arrows on the front and rear of the vehicle 2 in FIG. 2.
  • the robot system 4 according to FIG. 2 is particularly suitable for parking a large number of vehicles in a parking lot or a vehicle dump.
  • a single robot 1 according to FIG. 1 can in principle also be used to park a vehicle 2.
  • such an arrangement of robot 1 and vehicle 2 is particularly suitable for transporting or towing a vehicle 2 over long distances.
  • 3 to 6 show different views of an exemplary embodiment of the vehicle robot 1. Using these views, the individual components of the vehicle robot 1 are explained below.
  • the illustrated embodiment of the robot 1 has a frame 5 on which essentially all other components of the robot 1 are supported.
  • the robot 1, in particular its frame 5 has a lowered area 8 which, in relation to the areas of the front sides Si, S2 of the robot, in particular in relation to those frame parts which are arranged in the areas of the front sides Si, S2, is lowered.
  • the lowered area 8 of the frame is the only mechanical connection between the areas of the end faces Si, S2 of the robot 1.
  • the robot 1 preferably has four wheels 7a, 7b, 7c, 7d, which are indirectly or are attached directly to the frame 5.
  • Two wheels which are each arranged in the area of one of the end faces Si, S2, bil the pairs of wheels 7a, 7b; 7c, 7d.
  • One of the wheels 7b, 7d, the smaller wheel in each case in the exemplary embodiment shown, is each attached to a pivotable arm 9a, 9b.
  • the smaller wheels 7b, 7d are preferably designed to be freely pivotable, that is, they can preferably rotate about an axis which is at least substantially vertically aligned. Both the pivoting of the boom 9a, 9b and the pivoting of the smaller wheels 7b, 7d therefore take place at least essentially in a plane which is parallel to the ground on which the robot 1 is standing.
  • first actuators are preferably seen in order to pivot the arms 9a, 9b. These first actuators are also preferably arranged in the area of the two end faces Si, S2 of the frame 5.
  • the booms 9a, 9b are shown in an “extended” state. In this state of the boom 9a, 9b, each pair of wheels 7a, 7b; 7c, 7d depending on the orientation of the individual wheels on an enlarged wheelbase or an enlarged track width. This increases the stability of the robot 1.
  • he structures 10a, 10b together with stops 11a, 11b form recesses 15a, 15b in which the vehicle wheels 3a, 3b of the vehicle 2 can be raised and held.
  • the lifting structures 10a, 10b are preferably attached to the respective arms 9a, 9b and lift the respective vehicle wheel 3a, 3b of the vehicle 2 when the arms 9a, 9b are pivoted into the state shown in FIGS.
  • the vehicle wheels 3a, 3b of the vehicle 2 are pressed upwards, as a result of which the vehicle wheels 3a, 3b are lifted.
  • the larger wheels 7a, 7c shown in the exemplary embodiment can be pivoted by means of a second actuator 13a, 13b.
  • the second actuators 13a, 13b are also each arranged in the area of the two end faces Si, S2.
  • the larger wheels 7a, 7c have a radius which is greater than the geodetic height of the lowered area of the frame.
  • the radius of the smaller wheels 7b, 7d is slightly smaller than the geodetic height of the lowered area of the frame.
  • the diameter of both the smaller wheels 7b, 7d and the larger wheels 7a, 7c is greater than the geodetic height of the lowered area of the frame, the diameter of the larger wheels 7a, 7c being larger than that of the smaller wheels 7b, 7d .
  • the geodetic height in the non-raised state of the robot is basically meant.
  • the front sides S1, S2 of the frame 5 have a geodetic height that is greater than that of the lowered area 8 of the frame 5.
  • the front sides S1, S2 allow sufficient space in height to arrange, for example, actuators for pivoting the wheels.
  • the end faces S1, S2 of the frame 5 can thus - in In contrast to the lowered area 8 - cannot be moved under the vehicle due to its height.
  • the smaller wheels 7b, 7d can preferably pivot through 360 ° about the respective axis Ai.
  • the larger wheels 7a, 7c can preferably be wasted by 360 °. In this way, the robot 1 and thus also the vehicle 2 can be moved in all possible directions.
  • third actuators 14a, 14b are preferably provided, which, as shown in the exemplary embodiment, are preferably designed as wheel hub drives.
  • FIG. 7a to c show in detail the process of lifting a vehicle wheel 3a of a vehicle (not shown) by means of the lifting device 6, which in the illustrated embodiment has a lifting structure 10a, 10b, a stop (not illustrated) and a first actuator 12a, in particular an electromechanical or hydraulic energy converter.
  • the lifting device 6 can also have further elements such as gears, shafts, bearings, etc.
  • the shown area of the end face Si is supported by the larger wheel 7a with the wheel hub motor 14a and the smaller wheel 7b.
  • the boom 9a with the smaller wheel 7b is still arranged in an initial state.
  • This initial state is suitable, on the one hand, for moving a robot 1 in the unloaded state, that is to say without a vehicle (not shown) on a parking lot.
  • the robot 1 has a particularly narrow design.
  • the robot 1 can load in this state are by a vehicle with the vehicle wheels 3a of an axle into the Aussparun conditions in the frame 5 is retracted.
  • the robot 1 is moved in such a way that the frame 5 encloses the vehicle wheels of the axle 3a of the vehicle.
  • the boom 9a is pivoted by means of the first actuator 12a shown, so that the lifting structure 10a comes into contact with the vehicle wheel 3a of the vehicle and presses it against a stop (not shown), wherein the vehicle wheel 3a gives way upwards and is therefore raised, as indicated by the arrow in Fig. 7b.
  • Fig. 7c the boom 9a is finally shown in the completely pivoted state ge.
  • the vehicle wheel 3a of the vehicle is now in the raised posi on in the recess 15a, which is limited by a stop 11a of the lowered section 8 of the frame 5, the frame 5 and the lifting structure 10a.
  • the vehicle 2 can now be moved by means of the robot 1 and thus transported benefits.
  • FIG. 8 shows a first exemplary embodiment of a robot system 4.
  • this has a first robot 1 for transporting a vehicle (not shown) and a second robot T for transporting a vehicle.
  • the robots 1, T are preferably essentially identical. Both robots 1, T communicate with a central control center 17 which controls both robots. Both robots 1, T are therefore moved to the front and rear of a vehicle, then moved towards the vehicle until the vehicle wheels are in the recesses (not shown) described above, and then the lifting process is initiated by means of the lifting device 6 . Finally, the vehicle is transported by means of the two robots 1, T.
  • Both robots 1, T each have control devices 16, 16 ′ which are at least set up to communicate with a central control center 17.
  • the control center 17 synchronizes the movement of the two robots 1, T.
  • the two robots 1, T are set up to also communicate with one another so that they can synchronize or coordinate their respective movements for transporting a vehicle .
  • the two robots 1, T or their control device 16, 16 ' are set up to communicate with one another.
  • the first robot 1 controls the second robot T in a kind of master-slave configuration.
  • the synchronization of the movement of the two robots 1, T is also carried out in this way.
  • FIG. 10 shows a detail of the robot 1, namely a preferred control of the pivoting angle of the larger wheels 7a, 7c of the robot 1.
  • the robot preferably has first sensors 18a, 18b which are set up to measure the pivoting angle of the wheels 7a, 7c.
  • This pivoting angle is transmitted to the controller 16.
  • the controller 16 specifies a target swivel angle for the larger wheels 7a, 7c, which is set by second actuators 13a, 13b.
  • the first sensors 18a, 18b can then in turn be used to determine deviations between the setpoint pivoting angle and the pivoting angle actually set by means of the second actuators 13a, 13b.
  • the robot preferably has second sensors (not shown) in order to record a rotational speed of the wheels which can be pivoted by the second actuator.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot (1) pour le transport d'un véhicule (2) comprenant au moins deux essieux, notamment d'une voiture particulière, le robot (1) présentant un bâti (5), un dispositif de levage (6) et quatre roues (7a, 7b), une zone surbaissée du bâti (5) étant conçue pour être mise en mouvement au moins en partie au-dessous du véhicule (2), notamment avec une garde au sol d'au moins 60 mm, une paire de roues (7a, 7b) étant agencée, dans la zone des deux côtés frontaux du bâti (5), à l'extérieur de la zone surbaissée, respectivement de telle sorte que le robot (1) peut se tenir debout de manière stable et autonome, et le robot (1) étant conçu pour lever des roues de véhicule (3a, 3c) respectivement du même essieu du véhicule (2).
PCT/AT2020/060470 2019-12-16 2020-12-16 Robot pour le transport d'un véhicule WO2021119703A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112020006120.5T DE112020006120A5 (de) 2019-12-16 2020-12-16 Roboter zum transportieren eines fahrzeugs

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
AT511012019 2019-12-16
ATA51101/2019 2019-12-16
DE102020121875 2020-08-20
DEDE102020121875.3 2020-08-20

Publications (1)

Publication Number Publication Date
WO2021119703A1 true WO2021119703A1 (fr) 2021-06-24

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PCT/AT2020/060470 WO2021119703A1 (fr) 2019-12-16 2020-12-16 Robot pour le transport d'un véhicule

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DE (1) DE112020006120A5 (fr)
WO (1) WO2021119703A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012188104A (ja) * 2011-03-11 2012-10-04 Ihi Transport Machinery Co Ltd 車両移動装置の運転方法
JP2013231322A (ja) * 2012-05-01 2013-11-14 Ihi Transport Machinery Co Ltd 車両搬送装置
WO2016189233A1 (fr) * 2015-05-20 2016-12-01 Stanley Robotics Convoyeurs mobiles destines au déplacement d'un véhicule a 4 roues
CN109025439A (zh) * 2018-09-11 2018-12-18 杭州极木科技有限公司 一种搬运汽车的智能机器人
CN109930888A (zh) * 2019-04-04 2019-06-25 北京理工大学 一种协同式自主泊车机器人及控制方法
CN110219497A (zh) * 2019-06-21 2019-09-10 珠海丽亭智能科技有限公司 一种可伸缩停车机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012188104A (ja) * 2011-03-11 2012-10-04 Ihi Transport Machinery Co Ltd 車両移動装置の運転方法
JP2013231322A (ja) * 2012-05-01 2013-11-14 Ihi Transport Machinery Co Ltd 車両搬送装置
WO2016189233A1 (fr) * 2015-05-20 2016-12-01 Stanley Robotics Convoyeurs mobiles destines au déplacement d'un véhicule a 4 roues
US20180142488A1 (en) 2015-05-20 2018-05-24 Stanley Robotics Movable conveyors for moving a four-wheel vehicle
CN109025439A (zh) * 2018-09-11 2018-12-18 杭州极木科技有限公司 一种搬运汽车的智能机器人
CN109930888A (zh) * 2019-04-04 2019-06-25 北京理工大学 一种协同式自主泊车机器人及控制方法
CN110219497A (zh) * 2019-06-21 2019-09-10 珠海丽亭智能科技有限公司 一种可伸缩停车机器人

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