EP2584120A2 - Unités d'entraînement pour plate-formes mobiles pour systèmes de stationnement automatisés - Google Patents

Unités d'entraînement pour plate-formes mobiles pour systèmes de stationnement automatisés Download PDF

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Publication number: EP2584120A2
Authority: EP; European Patent Office
Prior art keywords: parking; movable; same; movable platform; plate
Prior art date: 2011-10-20
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.): Granted

Application number

EP12189115.4A

Other languages

German (de)

English (en)

Other versions

EP2584120B1 (fr

EP2584120A3 (fr

Inventor

Luigi Filippo Von Mehlem

Giulio Capobianco

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.)

Von Mehlem Luigi Filippo

Original Assignee

Viapark Sistemi Parcheggi Automatici Sas Di Von Mehlem Luigi Filippo & C

Viapark Sistemi Parcheggi Automatici S A S Di Von Mehlem Luigi Filippo & C

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.)

2011-10-20

Filing date

2012-10-18

Publication date

2013-04-24

2012-10-18 Application filed by Viapark Sistemi Parcheggi Automatici Sas Di Von Mehlem Luigi Filippo & C, Viapark Sistemi Parcheggi Automatici S A S Di Von Mehlem Luigi Filippo & C filed Critical Viapark Sistemi Parcheggi Automatici Sas Di Von Mehlem Luigi Filippo & C

2013-04-24 Publication of EP2584120A2 publication Critical patent/EP2584120A2/fr

2017-06-28 Publication of EP2584120A3 publication Critical patent/EP2584120A3/fr

2019-01-23 Application granted granted Critical

2019-01-23 Publication of EP2584120B1 publication Critical patent/EP2584120B1/fr

Status Active legal-status Critical Current

2032-10-18 Anticipated expiration legal-status Critical

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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
- E04H6/22—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

Definitions

the invention relates to control devices for a movable platform for supporting and transporting motor-vehicles for automated parking systems with one or more overlapped floors, adapted to actuate and transport such movable platforms toward and from parking positions selected in advance.
the one of the automated parking systems comprises a modular construction structure that is suitable for installation, in the case of several overlapped parking floors, either under the ground level or in positions raising above the ground, which structure is made with the characteristics already described in the patent application for invention n. PN2009A000030, filed on the 27.4.2009 in the name of Dr. Luigi Filippo von Mehlem .
the motor-vehicles are arranged on to movable supporting and transporting platforms, provided with wheels slidable on guide rails, which are secured on to each floor of the parking system and are oriented in the longitudinal and the transversal direction, and the movable platforms may be displaced on to the different parking floors in the same direction along the relative sliding rails, by means of suitable actuators of hydraulic, oil-dynamic, pneumatic etc.. types, which are installed in the same parking floors and driven by powered means controlled by electronic control systems according to pre-established control programs.
the parking system referred to is provided, for each parking place and in correspondence of the four crossing points of the rails, with rotation means shaped like a movable disc with a central cross, which is driven by suitable powered means and which rotation means are housed into a cavity below the parking floor.
the disc or contact roller can be displaced in the alternate vertical direction by the relative gearmotor, from a lowered position thereof in which the disc doesn't contact the platform, to a raised position thereof in which the disc comes into contact with the platform and raises it, and subsequently such disc is rotated in the orthogonal direction, together with the platform, so as to position the same platform in a direction orthogonal with respect to that in which it was situated, afterward such disc is lowered together with the platform, so that this latter arranges itself aligned with the orthogonal rails and may displace itself along these rails.
the displacement of the movable platforms along the guide rails with longitudinal and transversal orientation directions is effected by providing the platforms with wheels swinging in two directions orthogonal to each other, at least one of which or all the wheels are driven in rotation by at least a motor fixed in the same movable platforms.
the so realized parking systems still operating in a satisfactory and reliable manner, involve the presence of a great number of movable parts, of mechanical components and of electro-mechanical and electronic components, for performing and checking the required operations both for determining the displacement of the platforms in the different parking floors and in the elevator provided into such parking systems, and for determining the rotation of the same platforms from the one to the other one of the longitudinal and transversal orientation positions of the guide rails, which in the first case require the raising and the lowering of the same platforms, and in the second case require the presence of swinging wheels which can be driven in rotation by at least a motor, and in both known systems it is required the presence of mechanical components having considerable powers and energetic consumptions, which are complicated and burdensome and require periodical checking and maintenances for being maintained perfectly efficient.
the object of the present invention is to eliminate the above drawbacks and limits of the automated parking systems of this kind, by employing control devices for a movable platform for supporting and transporting motor-vehicles, which are made in a simplified manner, which is different than the mechanisms utilized in the above mentioned parking systems, and such as control the displacement of the movable platform on to the guide rails of each parking floor, and of the elevator, with a smaller number of mechanical, electric and electronic component parts which are utilized with respect to the preceding platforms, and in addition these control devices are adapted to displace in a simple and quick manner such movable platform into different orientation directions, without the need to raise and to lower as previously the same platforms, or to provide for swinging wheels as described above.
These control devices for a movable platform for supporting and transporting motor-vehicles are made with the substantially described constructive characteristics, with particular reference to the attached claims of the present patent.
each parking floor and in each elevator provided for displacing the movable platforms, with or without motor-vehicles arranged on to the same, from a parking floor to another one there are installed guide rails which are oriented in the longitudinal and the transversal directions, so as to allow for the alternate sliding of the movable platforms along the relative guide rails, and in this case each movable platform and the guide rails are shaped in a manner different with respect to the preceding one, as it will be described.
the Figs. 1-3 the one of the two control devices 10 according to the invention is described, which is made and mounted as it will be described into each parking floor of the automated parking system.
This control device 10 is substantially constituted by a flat and metallic base plate 12 with enlarged shape, provided on its longitudinal sides with perforated side projections 13, for inserting corresponding bolts or the like (not indicated) into corresponding holes (also not indicated) provided on the floor of each parking floor and the elevator floor (not indicated), and for screwing the same bolts into such holes so as to secure firmly each plate 12 in the established position.
a lifting and sliding unit 14 is mounted on and secured adequately to the front part of the base plate 12, while a driving unit 15 for such unit 14 is mounted on and secured adequately to the back part of the base plate 12, and both these units are provided with the component parts which will be described and are foreseen for supporting the movable platform 11 and for lifting and lowering as well as for displacing it along the guide rails, from the starting position of the parking floor in which the motor-vehicle is introduced in the parking system and is loaded on to the movable platform, to the selected parking position in which the platform is displaced automatically and stopped and left at this point for the duration of the selected stop time and, when the stop time is terminated, for bringing back automatically the platform together with the motor-vehicle with reverse movements to the starting position, so as to unload the motor-vehicle from the movable platform 11 and to give back it to the relative owner.
the lifting and sliding unit 14 is substantially constituted by a bellows element 16, arranged on and fixed to a flat support plate 17 secured to the upper surface of the base plate 12, by a movable support plate 18 situated above and into contact with respect to the bellows element 16 and shaped and constrained as it will be described, and by a rotating supporting and transporting roller 19 overlying the movable plate 18 and secured to and supported by the same as it will be described.
the bellows element 16 is made of a metallic or elastomeric material or other suitable resistant and elastically expandable material, and is internally hollow and shaped preferably with a flattened oval shape, and its peculiar characteristic consists in that to be able to expand and to shrink itself in the vertical direction, in a manner to change its height within determinate limits, so as to be able to lift or to lower the overlying rotating roller 19 for the function which will be described.
the bellows element 16 is communicating with its inner chamber, through at least a valve member 20 for regulating the gas flow and a conduit (not indicated), with a gas compressor (not indicated too), of which the valve member 20 is housed into and supported by a vertical plate 21, secured laterally the base plate 12 and provided with two lengthened and vertical through slots 22 and 23, in the first of which 22 the valve member 20 is housed, in such a way as to be able to slide vertically along such slot for the same extent in which the bellows element 16 is let to expand or to shrink, and this vertical movement of the bellows element 16 is determined by admitting the gas in a different extent into the inner chamber thereof.
the valve member 20 is of per se known type and is connected to a pneumatic circuit of the parking system, into which also the gas compressor is connected, and the valve member 20 and the gas compressor are controlled by an electronic control system, arranged with a pre-established software, of the parking system, and in this way these two component parts are controlled by the electronic control system based on the selected operative cycle for displacing the platform in the parking system.
the valve member 20 is displaced in the closed position thereof, and the gas compressor is off, the gas isn't admitted into the bellows element 16, so that such bellows element arranges itself on its shrunk rest position, in which the rotating roller 19 is lowered.
valve member 20 when the valve member 20 is displaced in the opened position thereof, and the gas compressor is on, such compressor pumps compressed gas into the inner chamber of the bellows element 16, which therefore expands itself and increases its height and therefore lifts the rotating roller 19.
Such displacement in height of the rotating roller 19 may be regulated at will within the established limit, by changing the quantity of compressed gas admitted into the inner chamber of the bellows element 16, and by closing the valve member 20 when the bellows element 16 has been displaced in the required lifted position thereof, as well as by stopping the gas compressor.
the bellows element 16 may be brought back again into its shrunk position with a reverse operation with respect to the preceding one, namely by stopping the operation of the gas compressor and by opening the valve member 20, under the condition in which the weight of the overlying rotating roller 19 compresses downward the same bellows element, and brings it back to its fully lowered position.
the flat support plate 18 is folded into two positions, in a way to define a first flat portion 24, a second portion inclined upward 25 and a third flat portion 26, which are joined to each other, of which the free end portion of the first flat portion 24 is articulated in two vertical hinges 27, secured to the two sides of the base plate 12, in a manner that such first flat portion 24 is slightly raised and moved away parallel with respect to the upper surface of the base plate 12 and may rotate about the relative hinges 27, thereby displacing itself with a limited vertical lifting and lowering movement.
the third flat portion 26 is raised with respect to the first flat portion 24 and its lower surface is fixed to the upper surface of the bellows element 16, through an intermediate flat plate 28.
the flat base 29 of the rotating roller 19 is supported by and secured to the upper surface of the third flat portion 26, and two vertical walls 30 and 31 are secured to this flat base, which walls are parallel and spaced away from each other in the transversal direction of the same base, and the stud 32 of the rotating roller 19 is supported and pivoted between such walls.
the lifting or lowering movement of the bellows element 16 which is produced as described above, determines a consequent lifting or lowering of the flat support plate 18, articulated in the hinges 27, and a consequent lifting or lowering of the rotating roller 19 too, which is supported as described by the not hinged end portion of the same flat support plate.
the rotation actuation of the rotating roller is produced by a movement transmission mechanism, which in the example is constituted by a gear 33 fixed to the projected end portion of the stud 32, which is opposite to that in which the valve member 20 is positioned, and by a toothed chain 34 meshing at its one end portion with such gear 33 and meshing at its other end portion with a driving gear 35, receiving the actuation rotating movement by the driving unit 15 which will be described hereinafter.
the movement transmission mechanism may be made also with components different than those described by way of example, thus without departing from the protection sphere of the present invention.
the driving unit 15 of the rotating roller 19 is substantially constituted by a gearmotor 36 having lengthened shape, which is supported by and secured laterally to a box-like container 37, fixed at its lower part on to the upper surface of the base plate 12, in the length direction of the same plate, and including the movement transmission members of traditional type, meshing with the relative mechanical transmission members of the gearmotor 36, and secured to and supporting the driving gear 35, so as to actuate in rotation the rotating roller 19, and in turn the gearmotor 36 is provided with its electric and electronic control and regulating circuits (not indicated), which are enclosed into a box 38 fixed to the gearmotor 36, and which are supplied and controlled by the control circuit of the parking system, and provided for determining the rotation of the roller 19 and the expansion or the shrinkage of the bellows element 16, and therefore the lifting or lowering of the same roller, based on the respectively selected operative cycles.
the so realized control device 10 is mounted, together with another control device 10 identical to it, in the central position of each parking position of the parking system, and is able to provide for the displacement of each movable platform 11, with or without a motor-vehicle arranged on to the same platform, by arranging the platform in correspondence of the rotating roller 19 in a manner that the lower surface of the platform arranges itself above and into contact with the same roller, under the condition in which the rotation of the roller in either one rotation direction determines the correspondent frictional entrainment and the displacement in the same direction of the platform along the relative guide rails of the parking floor.
FIGs. 4-9 show now the constructive structure of each movable platform 11 of the present invention
the Fig. 10 shows the different guide rails oriented in the longitudinal and the transversal directions of the one of the parking positions of the present parking system, and two control devices 10 mounted in the central position of each parking position, and foreseen for determining the displacement of the relative movable platforms 11 in the alternate directions along the guide rails from one to another one of the parking positions, with the platform oriented in a determinate (longitudinal or transversal) direction, and with the platform oriented in the other direction, which is orthogonal to the preceding one.
the Fig. 10 shows the different guide rails oriented in the longitudinal and the transversal directions of the one of the parking positions of the present parking system
two control devices 10 mounted in the central position of each parking position, and foreseen for determining the displacement of the relative movable platforms 11 in the alternate directions along the guide rails from one to another one of the parking positions, with the platform oriented in
this movable platform 11 show two cross points of the guide rails, which are realized in the intersection position of each longitudinal guide rail with each transversal guide rail.
Figs. 4-6 in which the present movable platform 11 is shown, and to the Figs. 7-9 in which a component part of the same platform is shown, it is noted that this movable platform 11 is constituted substantially by metallic flat supporting plate 39 having a rectangular shape or another suitable shape, which is dimensioned with a limited thickness and such length and width that to be able to support any kind of motor-vehicle on to its upper flat surface.
such movable platform 11 is shaped for being able to be displaced in any one of the longitudinal or the transversal directions of each parking floor and of the floor of any possible elevator, in the case in which the parking systems having several floors are provided.
the platform 11 is provided in its lower part with a set of supporting and sliding feet, in the example constituted by four metallic feet 40 secured along the two longitudinal sides 41 and 42 of the same platform and shaped as it will be described, so as to be able to slide along all the guide rails of the different parking floors, and the platform 11 is also able to be displaced into different parking positions, in the same orientation direction, and to be oriented from the one to the other one of the longitudinal and the transversal directions, by displacing the same by means of the rotating rollers 19 of the two control devices 10, which displacement is effected as it will be described subsequently, in a manner to be able to be displaced into the desired positions during the steps of arrangement of each motor-vehicle in the respectively selected parking place, and the steps of drawing this motor-vehicle from such parking place.
a set of supporting and sliding feet in the example constituted by four metallic feet 40 secured along the two longitudinal sides 41 and 42 of the same platform and shaped as it will be described, so as to be able to slide
each supporting and sliding foot 40 of the movable platform 11 is formed by a metallic vertical structural piece 43 having squared shape and limited height, delimiting an inner cavity 44 and adapted to be fixed removably by means of bolts or the like (not indicated) to the lower surface of the movable platform 11, and is also formed by a metallic vertical insert 45 acting as a sliding element on to the guide rails, which insert is inserted from below through the inner cavity 44 of the structural piece 43 and fixed and kept into position by means of proper metallic supports 46 secured into the same inner cavity.
the metallic insert 45 is shaped with a restricted upper shank 48, which is secured to the metallic supports 46, and is extended at its lower part with an enlarged part 49, passing and fixed through the correspondent lower opening 50 of the structural piece 43, and such enlarged part terminates with a shaped end portion 51 made of antifriction material, having dimensions slightly smaller than the width of the guide rails 52, in a way that such shaped end portion 51 may be laid on to and slide in the alternate direction along the relative guide rail, thereby acting as a sliding block.
the shaped end portion 51 has a semi-spherical shape, however it may have also different shapes, so as to be able to slide along all the guide rails, namely the rails oriented in the longitudinal direction and the rails oriented in the transversal direction of the relative parking place, and may slide without difficulty even through all the crossing points between the longitudinal rails and the transversal rails.
such shaped end portion may be also coupled to and/or replaced by suitable rotating spheres (not indicated), adequately fixed in the shaped end portion 51 of the insert 45, so as to allow for always the sliding on to the different guide rails 52.
a squared plate 53 is bolted or secured with other suitable means, which plate is dimensioned for adapting itself to slide on to the guide rails 52 and the different cross points 54 between the longitudinal guide rails and the transversal guide rails.
Such squared plate 53 is made with dimensions which are slightly smaller than those of the structural piece 43, and is shaped with projections 55 identical and having the same size, made integral on the angles of the same plate, in positions corresponding to those of the zones of the rails and the cross points on to which the feet 40 slide.
these projections 55 are perforated for inserting the bolts 56 securing the plate below the structural piece 43 and delimit among them a central through opening 57, communicating with the shaped end portion 51 of the insert 45 included in the foot, which in turn terminates in a position re-entering with respect to the lower edge of the projections 55. Thanks to this configuration of the squared plate 53, therefore, it may adapt itself to slide along all the rails, longitudinal and transversal ones, and along all the cross points between the same rails, which are shaped as it will be described later on.
Fig. 10 shows now some longitudinal and transversal guide rails 52 which have been installed in a parking floor of the parking system according to the invention, as well as the two control devices 10 mounted in the central parking positions in which the relative movable platforms 11, with or without motor-vehicles supported thereon, are displaced.
the two control devices 10 are installed into positions which are approached and have orientations orthogonal to each other, namely that while a device 10 is installed with its rotating roller 19 oriented in the longitudinal direction of the guide rails 52, the other device 10 is installed with its rotating roller 19 oriented in the transversal direction of the guide rails.
Such so oriented devices are fixed at the level of the floor with their base plates 12, in a manner that the device 10 with the rotating roller 19 oriented in the transversal direction be positioned in the central zone of the relative parking position of the platform 11, while the device 10 with the rotating roller 19 oriented in the longitudinal direction of this parking position be positioned near the one of the two transversal guide rails 52.
This arrangement of the two control devices 10 is identical for all the parking positions adjacent to that indicated, and the devices with the longitudinal or the transversal orientations of the rotating rollers 19 of each parking position are spaced away from the devices with the same orientation of the adjacent parking positions of such a distance as to allow for each movable platform 11 to be displaced from the one to the other one parking position, in both the longitudinal and the transversal direction, by keeping the platform 11 always supported by at least two devices 10 and by preventing any possible falling and stopping thereof.
a movable platform is arranged, with or without a motor-vehicle supported thereon, and that such platform should be displaced in the longitudinal direction.
the platform is supported by the longitudinal rails 52 and is laid with its lower surface on to both the movable rollers 19, oriented orthogonally to each other.
the displacement is started by inflating the bellows element 16 of the movable roller 19 oriented in the longitudinal direction, of such an extent as to obtain a slight lifting of the movable plate 18 and the movable roller 19, in a manner that the movable platform comes into contact with such movable roller only, and is slightly lifted from the other movable roller 19, which isn't actuated in rotation.
All the control devices 10 are also provided with suitable electric, electronic etc.. sensors 59 of per se known type, connected in the control circuit of the parking system and acting on to the different components of the same units, in order to detect the presence or the absence of the movable platforms 11 in the relative parking positions and therefore to control the just described operative sequences. Thanks to the presence of the control devices 10 in all the parking positions, it is therefore possible to displace automatically the movable platforms with or without motor-vehicles along all the guide rails, both the longitudinal and the transversal ones, toward and from all the parking positions selected in advance, by a series of advancement movements determined by the rotating rollers 19. Reference is still made to the Fig. 10 and the Fig. 11 too, in which there are now described the structural configurations of the guide rails 52 and the crossing points 54, so as to allow for the different feet 40 of the movable platforms 11 to slide.
a rectangular rectilinear piece 60 is applied along each rail 52 for the entire length of the same rail, which piece is inserted through a correspondent groove (not shown) of each rail, in a manner to be slightly raised with respect to the wings 61 and 62 of the rail, so as to permit the shaped end portion 51 of each foot 40 of the movable platform 11 to be laid on and to slide on to its upper surface, and the end portions of each rail are connected with a relative cross point 54, which is fixed on the floor of the relative parking floor, and each one of which is made with a flat plate shaped with a pair of short rectilinear sides 63 and 64, which are parallel and spaced away from each other, and oriented in the transversal direction of the rails, and with another pair of short sides 65 and 66 parallel and spaced away from each other of the same distance of the preceding sides, however oriented in the longitudinal direction of the rails, so that such sides are forming a square 67 having the same dimension of the squared plate 53 of each foot 40, having the same
such sides of the square 67 delimit among them a squared central hole 68, in which an insert 69 slightly smaller and having the same shape of the hole 68, and the same height of the rectangular piece 60, is introduced and secured therein.
each pair of transversal sides 63 and 64 and longitudinal sides 65 and 66 are slightly extended beyond the square 67, so as to form a seat 70 into which the end portion of the relative rectangular piece 60 is inserted, which piece is applied on to its own rail.
the cross point serves to join only two rectangular pieces 60 of two transversal rail portions, and a longitudinal rail portion.
each foot 40 of the movable platform 11 may slide along both the guide rails and the cross points, and in particular the sliding on to the rails occurs thanks to the fact that the shaped end portion 51 of the foot is laid on and into sliding contact with each rectangular piece 60 of the rails, while the sliding on to the cross points occurs thanks to the fact that the projections 55 of the squared plate 53 of the foot are laid on and slide along either the transversal sides 63 and 64 or the longitudinal sides 65 and 66 of the square 67 of each cross point 54.
the parking system is provided with suitable sensors (not shown) detecting when the feet 40 of the platform 11 are positioned in correspondence of the cross points, and signalling this position to the control system of the parking system, which thereby provides to control in rotation the desired movable rollers of each parking position. Therefore, each parking system provided with these control devices and the movable platforms provided with these feet, and not more with sliding wheels as previously, allows for obtaining plants which are considerably simplified in their mechanical, electro-mechanical, electric and electronic parts, with consequent lesser quantities of required harnesses and conduits, and simplified control software, and lesser needs and costs for maintaining and managing the systems referred to.

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Engineering & Computer Science (AREA)
Architecture (AREA)
Mechanical Engineering (AREA)
Civil Engineering (AREA)
Structural Engineering (AREA)
Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Intermediate Stations On Conveyors (AREA)
Forklifts And Lifting Vehicles (AREA)

EP12189115.4A 2011-10-20 2012-10-18 Unités d'entraînement pour plate-formes mobiles pour systèmes de stationnement automatisés Active EP2584120B1 (fr)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
IT000070A ITPN20110070A1 (it)	2011-10-20	2011-10-20	Dispositivi di comando per piattaforma mobile di sostegno e trasporto di autoveicoli per sistemi di parcheggio automatizzati ad uno o piu' piani sovrapposti, atti ad azionare e trasportare tali piattaforme mobili con i relativi autoveicoli verso e da

Publications (3)

Publication Number	Publication Date
EP2584120A2 true EP2584120A2 (fr)	2013-04-24
EP2584120A3 EP2584120A3 (fr)	2017-06-28
EP2584120B1 EP2584120B1 (fr)	2019-01-23

Family

ID=45420816

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP12189115.4A Active EP2584120B1 (fr)	2011-10-20	2012-10-18	Unités d'entraînement pour plate-formes mobiles pour systèmes de stationnement automatisés

Country Status (2)

Country	Link
EP (1)	EP2584120B1 (fr)
IT (1)	ITPN20110070A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN104975738A (zh) *	2015-06-12	2015-10-14	张英华	使用机器人的立体车库和轿厢汽车搬运机的立体车库
CN106285119A (zh) *	2016-08-26	2017-01-04	张英华	使用机器人的立体车库
CN109143869A (zh) *	2018-10-16	2019-01-04	沈阳工业大学	一种h型平台的递归小波神经网络补偿器的同步控制系统
CN115492488A (zh) *	2022-09-13	2022-12-20	安徽菲勒自动门制造有限公司	一种防停电平移自动门

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US5190427A (en) *	1991-10-02	1993-03-02	Necer International Co., Ltd.	Computer-controlled block to block shifting type multi-floor multi-block equipment conveying and storage system
US20090078172A1 (en) *	2007-09-21	2009-03-26	Kaufmann Jean-Claude	System and method for parking vehicles

2011
- 2011-10-20 IT IT000070A patent/ITPN20110070A1/it unknown
2012
- 2012-10-18 EP EP12189115.4A patent/EP2584120B1/fr active Active

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN104975738A (zh) *	2015-06-12	2015-10-14	张英华	使用机器人的立体车库和轿厢汽车搬运机的立体车库
CN106285119A (zh) *	2016-08-26	2017-01-04	张英华	使用机器人的立体车库
CN109143869A (zh) *	2018-10-16	2019-01-04	沈阳工业大学	一种h型平台的递归小波神经网络补偿器的同步控制系统
CN109143869B (zh) *	2018-10-16	2021-07-06	沈阳工业大学	一种h型平台的递归小波神经网络补偿器的同步控制系统
CN115492488A (zh) *	2022-09-13	2022-12-20	安徽菲勒自动门制造有限公司	一种防停电平移自动门
CN115492488B (zh) *	2022-09-13	2024-07-19	南京菲勒自动门制造有限公司	一种防停电平移自动门

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Publication number	Publication date
ITPN20110070A1 (it)	2013-04-21
EP2584120B1 (fr)	2019-01-23
EP2584120A3 (fr)	2017-06-28

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