EP1036898B1 - Automatic carrying and storing method of objects with selfpropelled pallets and pallet for automatic storage purposes - Google Patents

Automatic carrying and storing method of objects with selfpropelled pallets and pallet for automatic storage purposes Download PDF

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Publication number
EP1036898B1
EP1036898B1 EP00105821A EP00105821A EP1036898B1 EP 1036898 B1 EP1036898 B1 EP 1036898B1 EP 00105821 A EP00105821 A EP 00105821A EP 00105821 A EP00105821 A EP 00105821A EP 1036898 B1 EP1036898 B1 EP 1036898B1
Authority
EP
European Patent Office
Prior art keywords
pallets
pallet
area
objects
entrance
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.)
Expired - Lifetime
Application number
EP00105821A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1036898A3 (en
EP1036898A2 (en
Inventor
Claudio Musetti
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1036898A2 publication Critical patent/EP1036898A2/en
Publication of EP1036898A3 publication Critical patent/EP1036898A3/en
Application granted granted Critical
Publication of EP1036898B1 publication Critical patent/EP1036898B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • E04H6/24—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

  • the present invention relates to an automatic carrying and storing method for bulky objects such as for example cars, machines, stacks of objects, by means of self-propelled pallets.
  • the object of the invention is a pallet for automatic storage purposes, in particular but not exclusively for parking cars.
  • FR1336232 describes a self propelled pallet that can be used in a garage for conveying cars, in particular cars available for rent.
  • the pallet has lateral orientable wheels and a central propelling unit which can be selectively raised or lowered, in the latter case to entrain the ground and to propel the pallet.
  • the propelling unit can be controlled remotely.
  • this document is aimed to have the tourism cars available automaticall in one supply place, like in a depository warehouse.
  • the movement of the pallet according to two orthogonal directions is carried out on steering wheels can be oriented in two directions.
  • the pallets are driven electrically and are equipped with batteries for driving the wheels for executing the step movements and for steering the wheels according to two orthogonal directions.
  • the pallets that cover the spaces of the area do contact one another on sliding means with minimum friction.
  • sliding brushes are provided running against fixed conductive paths arranged at the periphery of the area.
  • a pallet that can be used for carrying and storing objects on areas comprises:
  • the wheeled means comprise free rotating wheels and driven wheels steering in two orthogonal directions.
  • the sliding means with minimum friction against the adjacent pallets can comprise rollers sliding on the four peripheral sides of the frame, the sliding rollers of two opposite sides being on a plane different with respect to the sliding rollers of the other two peripheral sides, whereby two adjacent pallets do not have rollers that contact each other.
  • each pallet comprises also means for detecting the position with respect to a predetermined area and for communicating them the position on the area to a send-receive computing fixed unit. Furthermore, each pallet comprises means for operating and steering the steering drive wheels on the basis of signals coming from the send-receive computing fixed unit.
  • Area 1 is defined by a side stiff border 2 arranged at the same height of the frames of pallet 3 in order to contain and guide them. On each pallet 3 (figure 4-7) a car 4 can be loaded.
  • Pallets 3 are alike, independent from one another and self-propelled, and arranged on area 1 according to a plurality of rows and of columns.
  • Pallets 3 have substantially rectangular shape and are capable of moving according to two orthogonal directions, i.e. the rows and the columns. For their manoeuvre spaces 5 are left free, each of area corresponding to that covered by each pallet 3.
  • Cars 4 are loaded or unloaded onto or from pallets 3 in a zone 6 of area 1 that are used as entrance or exit. Near zone 6 are provided pedestrian platforms 7 for getting on or off the car 4. The driver has only to bring the car in entrance or exit zone 6 and leave it receiving for example an receipt ticket. The car can be closed and turned off, whereby there is an energy saving and good air quality in the parking, since all the car present in the parking are turned off.
  • each pallet 3 is equipped with motor wheels 10 and with steering means 11 on at least two of them. Step movements on the two orthogonal directions are operated by a send-receive computing unit 12, whereas on board of each pallet 3 send-receive means 13 are provided for communicating with computing unit 12.
  • infrared sensors 14 communicate to computing unit 12 the position of each pallet 3 within area 1. Adjacent pallets can also communicate among one another by means of proximity sensors.
  • the electrical supply is given by batteries 15 that have sufficient autonomy for many hours for a continuous motion. The autonomy is then of many days since that for almost all the time the motors for driving the pallets are still.
  • the batteries 15 can be charged by contacting a path under voltage provided on perimeter 2.
  • the computing unit 12 can having an interface 16 for payment of tickets, for collecting parked cars and for issuing tickets or magnetic cards at the entrance.
  • the area 1 is covered by a plurality of pallets 3 that are moved either for allowing the entrance or exit of other pallets or for entering or exiting themselves the parking, on demand from the users.
  • pallets 3a In the example of figure 3 with a different pattern two pallet 3a at entrance and two pallet 3b at exit are indicated. In the entrance movement pallets 3a travel on free spaces of area 1 by translating according to two orthogonal directions.
  • Entrance and exit movements occur as step movements that cover in turn a space corresponding to the surface covered by each pallet.
  • a pallet 3 has a base frame 30, a platform 31 that covers frame 30 and supports the object, that in the case of figure 7 is a car 4, and a side frame 32 of contact and relative sliding with the adjacent pallets.
  • Frame 31 is sized for bearing loads according to the weights, the resistance of the pallets body and of the objects to transport.
  • the side frame 32 (fig. 4) is equipped with rollers 33 and 34 for a sliding with minimum friction.
  • rollers 33,34 of two opposite sides are always on different planes. This way, it is sufficient to orient the pallets always with upper rollers 34 for example in front and on the right and lower rollers 33 as a consequence behind and on the left, so that it is assure that all the rollers are always in rolling contact with only side frames 32 of the adjacent pallets.
  • the means for moving pallets 3 comprise free pivoting wheels 35 and steering driven wheels 36, rotating in two orthogonal directions by means of a hydraulic system 37 and arms 38. It is sufficient the rotation of 90° of the steering wheels for having all the four possible orthogonal movements in the two directions, since the electric wheels 36 can rotate both clockwise and counter-clockwise.
  • wheels 36 can be equipped with auto-steering motor reducers. Such wheels are not are described in detail being available on the market.
  • the means for detecting the position with respect to a predetermined area can be infrared sensors 14, and for communicating the position within the area to a fixed send-receive computing unit infrared send-receive means can be used as well.
  • each pallet can communicate with an adjacent pallet with proximity sensors known in automatic pallet production lines.
  • a parking for cars on an area 1 (fig. 1) for example 25m x 22m corresponding to 550mq, is equipped with car supporting pallets 3, with the size 5m x 2m (10mq) and has three entrance/exit areas.
  • the parking area can be divided into 55 spaces of 10mq each. Using 42 of such spaces for self-propelled pallets according to the invention 13 free spaces are free.
  • Pallets 3 move, alone or in group, according to the coordinates broadcast by the processing unit 12.
  • the parking can be arranged on more levels. For example, on three levels of which one underground, one at ground level and one elevated, appropriate slopes can be provided as well as hoists, ramps etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP00105821A 1999-03-18 2000-03-20 Automatic carrying and storing method of objects with selfpropelled pallets and pallet for automatic storage purposes Expired - Lifetime EP1036898B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT1999SP000003A IT1313493B1 (it) 1999-03-18 1999-03-18 Posteggi automatizzati modulari di grande capienza realizzata a mezzodi carrelli autonomi a gestione elettronica per stoccaggio e prelievo
ITSP990003 1999-03-18

Publications (3)

Publication Number Publication Date
EP1036898A2 EP1036898A2 (en) 2000-09-20
EP1036898A3 EP1036898A3 (en) 2001-09-19
EP1036898B1 true EP1036898B1 (en) 2006-05-31

Family

ID=11407911

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00105821A Expired - Lifetime EP1036898B1 (en) 1999-03-18 2000-03-20 Automatic carrying and storing method of objects with selfpropelled pallets and pallet for automatic storage purposes

Country Status (4)

Country Link
EP (1) EP1036898B1 (it)
AT (1) ATE328172T1 (it)
DE (1) DE60028273D1 (it)
IT (1) IT1313493B1 (it)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPN20050062A1 (it) * 2005-09-09 2007-03-10 Viapark Europa S R L Sistema di parcheggio automatizzato ad uno o piu' piani sovrapposti, con piattaforme mobili di sostegno e trasporto di autoveicoli in posizioni di parcheggio scelte preventivamente.
WO2009098600A2 (ru) * 2008-02-04 2009-08-13 Sergei Borisovich Lvov Устройство для передвижения платформы-поддона автоматизированной системы парковки автомобиля
JP6964233B2 (ja) * 2017-06-06 2021-11-10 パナソニックＩｐマネジメント株式会社 台車ロボット
CN109854030B (zh) * 2019-01-04 2020-06-26 尤好 一种智能停车库的存取系统
JP7198185B2 (ja) * 2019-09-24 2022-12-28 本田技研工業株式会社 車両管理システム、車両管理方法、及びプログラム
JP2023144286A (ja) * 2022-03-28 2023-10-11 住友重機械搬送システム株式会社 機械式駐車場

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1336232A (fr) * 1962-07-16 1963-08-30 Chariot auto-propulsé pour le déplacement des véhicules dans les garages
DE4241158C1 (de) * 1992-12-07 1994-01-27 Bayerische Park Und Lagersyste Parkpalette

Also Published As

Publication number Publication date
EP1036898A3 (en) 2001-09-19
EP1036898A2 (en) 2000-09-20
DE60028273D1 (de) 2006-07-06
IT1313493B1 (it) 2002-07-24
ITSP990003A1 (it) 2000-09-18
ATE328172T1 (de) 2006-06-15

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