ES2378951A1 - Parking robotizado. (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Specially designed to allow storing vehicles in an automated way, although it is applicable in other facilities, all thanks to a structure that allows a very fast movement of vehicles both horizontally and vertically, it is constituted from a metal structure (1) in which a plurality of housing for vehicles (3) is defined, on which it is vertically movable, through a system of pulleys (9) and cables (10), or by any other conventional means, a bridge crane (7), of width according to the width of the metal structure (1), along which a transporting robot (8) of the trays (4) in which the vehicles are installed, trays that are horizontally movable. They are axially displaceable in the housings (2) of the metal structure. The installation is assisted by automatic control means regulated through a computer program. (Machine-translation by Google Translate, not legally binding)

Description

Robotic parking.

The present invention relates to a device that has been specially designed to constitute a robotic parking, in which the different vehicles are left stored automatically in different "cells" of a matrix where you can access a specific point between X, Y and Z axes.

The object of the invention is to provide a device with high travel speed both in vertical sense as horizontal, that is not limited by the parking height, structurally simple, highly durable and reduced maintenance

While the invention has been mainly Designed for installation in parking lots, it is equally applicable to other sectors such as hospitals, as a service elevator between rooms, operating rooms, kitchen, cleaning, consultation, etc., without having to move through the aisles, use elevators public or other common areas, but going directly to the Destination point.

The invention is equally applicable in hotels, office buildings and even private homes, to deposit the vehicle at the same height as the house.

Background of the invention

In the preferred scope of practical application of the invention, robotic parkings are known in which a kind of "shelving" participates, materialized in a structure, usually metallic, in which a series of cells for storage of vehicles, which are accessed through an elevator set in a tower that is movable horizontally through a series of guides or established rails on the ground, so that the displacement of said tower results extremely slow when the parking lot has a high number of plants, parking that equally, and due to the structuring described, its capacity in height will be limited by the weight of tower.

Similar systems are also known in those that the elevator tower does not move horizontally, but which remains fixed so that the shelf adopts a cylindrical arrangement, established on a rotating platform electromechanically operated that allows access to the different certain cells in it.

This solution is not satisfactory, either since the displacement of the platform is very slowly and its capacity is also limited by means of displacement of said platform.

Description of the invention

The robotic parking proposed by the invention solves the problem fully satisfactorily previously exposed, since it has a high speed of vehicle processing, without limitations on the capacity of the parking, and all this thanks to a simple structure but extremely effective.

To do this, the device that is recommended part of a metal structure formed by horizontal platforms in shelving form in which a series of accommodation or compartments as cells for vehicles, which, depending on the geometry of the terrain or the shape of the buildings to which the parking is associated, may be used where appropriate as entry or exit doors.

More specifically, and in accordance with the essence of the invention, to said metal structure is associated a bridge crane of width according to the width of the structure, movable vertically on it by means of a suitably sized cable and pulley system, to which the corresponding counterweights and automatisms will be associated, although any other conventional means may be used for vertical displacement, such as a system of chains or zippers; crane bridge along which it is horizontally movable a tray or pallet transport robot, on which they are located the vehicles to park, which are in turn axially movable into the storage rooms thanks to a lateral displacement mechanism located at the base of the conveyor, formed by a metal frame with tracks for the location of the trays and a guide rail to enable the Zipper movement, in conjunction with a mechanism elevation, constituted by endless screw system and wedges counterpoints conveniently distributed below the rail Conveyor guide, until trays remain with vehicles stabilized on the shelves by means of a fixing mechanism based on a tray anchoring part in a housing of the shelving provided for that purpose.

The bridge crane incorporates bearings for its sliding along the vertical guides set on the structure. It also has support guides and electric tracks to facilitate the movement of the conveyor.

Each tray has a tray or axially movable pallet inside it by means of the conveyor robot Each tray or pallet materializes in a metal chassis in which a non-slip sheet is established on which the car is arranged, incorporating said chassis rollers for movement, hooking means by the conveyor robot, as well as means for anchoring in the bookshelf, which below are specified.

The transport robot incorporates superiorly fastening and sliding means along the bridge by means of rollers, with an electric motor associated with the media horizontal displacement, such as a pinion set zipper or similar.

The feeding of the transporter robot is carried carried out through electric tracks established along the crane bridge, on which collectors come into contact established on the conveyor, so that the device significantly simplifies the electrical circuits associated with same, said conveyor counting with electronic plates of motor control, receiver and signal emitter for management and the control of the computer program through which it is carried out automatically leaving or entering a vehicle in a default housing, also having fireproof plates of protection and unrollable curtains, also fireproof, for emergency in case of burning vehicles.

The mechanism of lateral displacement of the trays or pallets of the conveyor, is formed by a frame metallic with bearings and tracks for the location of the trays, and a guide rail that allows lateral movement by zipper.

Tray hitch system at Conveyor lateral displacement mechanism is formed by a guide chassis, configuration practically in the form of "V", with flat base, fixed at the bottom of the mechanism lifting, incorporating electric tracks and an endless usillo, and at one of its ends a mechanism for its turn associated with an electric motor for its drive, which allows you to turn right or left the endless usillo, and consequently the coupling means associated therewith by middle of respective sprockets.

The lifting mechanism of the trays or pallets from the base of the conveyor, is located below the guide rail, comprising a series of fixed wedges, distributed in proportional parts under the guide rail, half in one direction and the other half in the opposite, so that in your area ascending / descending complementary wedges set to a bearing table with a linear guide, having been provided that the lower wedges are drilled and tapped to the right the half, and the other half to the left, where a usillo turns without end, that in its half of the axis changes the direction of the thread to cause the lifting or lowering movement of the guide chassis, usillo that is powered by an electric motor.

The fixing mechanism of the trays or pallets to the shelves or platforms of the metal structure it consists of an anchor piece, provided at each end of the trays, vertically movable against the tension of a spring, by action of the end of the coupling means, of so that in an inoperative situation said piece is embedded in a accommodation practiced for this purpose at each complementary end of the shelves, preventing the sliding of the tray.

The operation of the device as a whole results simple and intuitive at the user level, thanks to a programming extremely effective, versatile and complete, taking into account all types of security measures, both in its structure and in its mechanisms, electric motors and installations, electronics and programming, which guarantees perfect operation.

Finally, it should be mentioned that access to parking will be as versatile as deemed appropriate, depending on the needs of each case, being able to have so many tickets and exits as vertical rows of compartments exist in the project, regardless of whether they are in flush, semi-flush or even inclined.

In this way a device is achieved that it allows a high capacity of accommodation of vehicles, with a high speed of movement of them, and all this thanks to a simple structuring, high durability and reduced maintenance

Description of the drawings

To complement the description that is being performing and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical realization of it, is accompanied as an integral part of said description a set of drawings where, with character Illustrative and not limiting, the following has been represented:

Figure 1 shows an elevation view of a robotic parking done in accordance with the purpose of this invention.

Figure 2 shows a side view of the installation of the previous figure.

Figure 3 shows a front elevation detail of the lifting bridge, in which the bearings with which account the crane bridge to perform the slide along Vertical guides

Figure 4 shows a side view of the Conveyor associated to the lifting bridge.

Figure 5 shows a front view of the conveyor.

Figure 6 shows a detail of the system of hooking of the trays to the mechanism of lateral displacement of the conveyor.

Figures 7 and 8 show various aspects of the means of raising and lowering the trays or pallets from the conveyor base. Specifically, figure 7 shows a view side of said lifting means, in ascending arrangement. The Figure 8 shows a view similar to that of Figure 7, but in this case in the down position of the guide chassis that performs the movement.

Figure 9 shows a side view of the anchoring means between several pallets or trays established for The same accommodation.

Figure 10 shows a detail of the means of pallet stabilization to the structure shelf, in decoupling position.

Figure 11 shows, finally, a view similar to that of figure 10, but with the aforementioned means of stabilization in coupling position to the shelf of the structure.

Preferred Embodiment of the Invention

In view of the figures outlined you can observe how the robotic parking that is recommended consists of a uniform metal structure in the form of a shelf (1), in which a series of housings, compartments or cells are defined (2) for vehicle parking (3), although, as has been noted above, the device may have other applications, being able to structure said housings (2) to park the mentioned vehicles (3) both in battery and in parallel, being able to store one, two or more vehicles in each compartment

The aforementioned accommodations, cells or compartments (2) may be used as an entrance door or exit, with the particularity that at least it will be necessary have an accommodation at street level for the evacuation of emergency of vehicles, such as in case of fire of the same.

These entrances and exits may be arranged in any position of the metal structure of the street line, being able to be single or multiple, and being able to have so many exits as vertical rows of accommodation (2) arrange the structure (1), which may also be available to any height, such as in those cases in which the construction is established on a slope. If i were necessary, at the exit you will have a platform swivel

With regard to security means, specifically to the emergency exit in case of vehicles set on fire, said exit, located at street level, will have of a mechanism for extracting vehicles from the parking lot, where through a protected exit tunnel and in which they are established pressurized water diffusers, dust or the like, the vehicle on fire outside the parking lot for quick extinction.

In each accommodation (2) it can be moved axially a pallet or tray (4), constituted from a chassis metallic on which a non-slip sheet is established and molded on top of which the vehicle (3) is arranged, incorporating said roller structure (5) for the extraction of the vehicle and its placement in the housing or cell (2), as well as means of coupling and stabilization thereof, which will be detailed more ahead.

As can be seen in Figure 1, a bridge can be moved vertically on the metal structure crane (7), along which a robot moves horizontally conveyor (8) of trays or pallets (4).

It should be noted that the way of construction of the crane bridge is not limited to a straight way, since, depending on of the geometry of the container structure of vehicles, could adopt a curved, cross, H, F, E, etc., so that, in these cases, at its crossing point you can have a rotating platform for changing the guide or direction.

The parking lot may have more than one bridge crane (7) with its corresponding tray conveyor (8) (4), depending on its geometry and structuring, as well as on function of the number of shelves arranged in parallel that provide, so that, as you can see in figure 2, between each pair of shelves (1 and 1 ') a bridge will be arranged crane (7) with its corresponding tray conveyor (8) (4).

Said bridge (7) will move vertically through a system of pulleys (9) and cables (10), which will be associated the corresponding counterweights and automatisms, counting the shelves (1 and 1 ') with vertical guides (11) for which they are Sliding bearings (12) associated with the bridge (7).

The lifting and lowering mechanism may be multiple, depending on the expected dimensions, and may be equally movable by chains, by established rack in the metal chassis of the shelves (1 and 1 ') or by any Other conventional means.

The crane bridge (7) will have guides clamp (13) and electric tracks (14) to facilitate the displacement of the conveyor (8) of trays (4), as shown in figures 3 and 4.

As can be seen in Figure 4, the conveyor (8) superiorly incorporates fastening means and sliding along the bridge crane (7) by means of rollers (15), with an electric motor (16) associated with the means of horizontal scrolling (17) that allow you to load and unload the vehicle (3), such as a rack - pinion or rack assembly Similary.

Said conveyor (8) will also incorporate electronic control plates of motors, receiver and emitter of signal for the management and control of the computer program, board flame retardant protection and roller blinds and also flame retardant, for emergency in case of a burning vehicle.

In the lower part of the conveyor (8), such and as can be seen in the detail of figure 6, it is established a mechanism (18) for lateral displacement of the trays or pallets (4), formed by a metal frame with bearings (19) and clues to the location of the trays, so that your lateral movement is produced by rack under the frame and pinion of attack and its mechanisms and a guide rail (36) that enables this movement.

This model is applicable to all modalities of shelving; for example, in the case that the shelf only had capacity inside for a single tray, the Conveyor will have space for two trays; yes on the shelf two trays fit, then the transporter will have room for three, and so on.

Tray hitch system or pallets used by the conveyor (8) is the same as that applied to the entrance, exit and emergency doors to move the Trays (4) to your destination point.

For this, that hook system is formed by a guide chassis (20), of configuration practically in the form of "V", with flat base fixed in its lower part to a mechanism lifting, incorporating electric tracks on top (21) for the coupling mechanism (22) of the trays.

On the sides they are set, as has been previously commented, support guides (19) with table of bearing for clamping and shifting the mechanism of hooking the trays, and the edges of the chassis have a curved inward configuration to give more stability to said engagement mechanism.

Thus, the engagement mechanism (22) of the trays or pallets (4) consists of a chassis (20) that incorporates a endless usillo (23) and, at one of its ends, a mechanism for its turn (24) (by pinion, gear ring, etc.) associated with a motor electric for its drive, which allows to turn right or left to the endless usillo and, therefore, the media spin of coupling (26) associated to the coupling mechanism (22) by pine nuts medium (27).

When the coupling means (26) are fixed at its base point to the pinion axis (27) on the right and left of the usillo (23), when said usillo is set in motion makes, for example, if said means (26) are in position north, these make a 180º turn in the opposite direction and are placed in the south position, so if you change the rotation of the usillo, they will return to the north position, which allows the system to be able to hook trays on both sides.

More specifically, and as you can observe in figures 10 and 11, the coupling means (26) of the Tray hitch mechanism allow positioning on a hitch zone (28) established on pallets or trays (4), in which stabilization means (29) are established with the shelving, consisting of a fixing piece, which corresponds to the reference itself (29) and which is scrollable vertically against the tension of a spring (30), per action of the end of said coupling means (26), so that in an inoperative situation said fixing piece (29) is interlocked in an accommodation (31) arranged for this purpose, as can be seen in figure 11, thereby preventing the sliding of the tray (4).

In figure 9 the means of anchor (32) with which the trays or pallets (4) have, intended to allow the sliding of two or more trays (4) by part of the extractor mechanism, both in one direction and another.

Finally, and as for the means of lifting of the tray or pallet (4), those shown in figures 7 and 8 are located under the guide chassis (36), so that raise said mechanism to engage the tray (4) and allow the vertical or horizontal displacement of it.

Said lifting means consists of a series of wedges (34) fixed, distributed in proportional parts under the guide chassis (36), half in one direction and the other half in the contrary, so that in its ascending - descending zone establish complementary wedges (35) fixed to a table of bearings using a linear guide. The lower wedges will be drilled and threaded to the right half, and to the left the other half, where an endless usillo turns (37), which in the middle of the axis the direction of the thread changes to cause the lifting or lowering movement of the guide chassis (36). Saying Usillo is powered by an electric motor (37).

Claims (10)

1. Robotized parking, which being of the type constituted from a metal structure of shelves or horizontal platforms (1) and vertical guides (11) that define a plurality of cells or interiors (2) preferably oriented to the automated storage of vehicles (3), although the structure is applicable to other types of installations, it is characterized in that it is movable vertically, through a system of pulleys (9) and cables (10), to which the corresponding counterweights will be associated and automatisms, either by chains, by rack or by any other conventional means, a crane bridge (7), of width according to the width of the metal structure of the parking lot, along which a transport robot (8) is horizontally movable ) of trays or pallets (4) on which the vehicles to be parked are located, which are in turn axially movable into the interior of the large storage rooms cias to a lateral displacement mechanism (18) located at the base of the conveyor, formed by a metal frame with tracks for the location of the trays and a guide rail to enable the movement by rack, in conjunction with a lifting mechanism, constituted by worm system and opposing wedges conveniently distributed below the guide rail of the conveyor, until the trays are stabilized with the vehicles on the shelves by means of a fixing mechanism based on an anchoring piece of the tray in a shelving housing provided for this purpose, the installation being assisted by automatic control means regulated through a computer program. 2. Robot parking, according to the first claim, characterized in that the crane bridge (7) incorporates bearings (12) for sliding along the vertical guides (11) established on the structure. 3. Robot parking according to claims 1 and 2, characterized in that the crane bridge (7) has clamping guides (13) and electric tracks (14) to facilitate the movement of the conveyor (8). 4. Robotized parking, according to the first claim, characterized in that the trays or pallets (4) are constituted from a metal chassis in which a non-slip and molded sheet is established on which the vehicle (3) is arranged, incorporating said structure rollers (5) for extraction thereof. 5. Robotic parking, according to the first claim, characterized in that the conveyor (8) incorporates superiorly fastening and sliding means along the bridge (7) by means of rollers (15), with an electric motor (16) associated with the horizontal displacement means (17), such as a rack and pinion or similar assembly. 6. Robotic parking, according to claims 1 and 5, characterized in that the conveyor will incorporate fire-fighting measures such as fire-retardant protection plates and rolling and fire-retardant curtains and the like. 7. Robotized parking, according to the first claim, characterized in that the lateral displacement mechanism (18) of the trays or pallets (4) of the conveyor, is formed by a metal frame with bearings (19) and tracks for the location of the trays, and a guide rail (36) that enables lateral movement by rack. 8. robotized parking, according to claim 7, wherein the coupling system of the trays (4) to the side shift mechanism (18) of the conveyor is formed by a guide (20) chassis configuration virtually "V" , with flat base, fixed in its lower part to the lifting mechanism, incorporating in its upper part electric tracks (21) and an endless usillo (23), and in one of its ends a mechanism for its rotation (24) associated with an electric motor (25) for its drive, which allows the endless screw to turn right or left, and consequently the coupling means (26) associated therewith by means of respective pinions (27). 9. Robot parking, according to the first claim, characterized in that the lifting mechanism of the trays or pallets (4) from the base of the conveyor is located under the guide rail (36), comprising a series of fixed, distributed wedges (34) in proportional parts under the guide rail, half in one direction and the other half in the opposite, so that in its ascending / descending zone complementary wedges (35) are fixed to a bearing table with a linear guide, having provided that the lower wedges are drilled and threaded half to the right, and the other half to the left, where an endless screw turns (37), which in its half of the axis changes the direction of the thread to cause the movement of elevation or descent of the guide chassis (36), spindle that is driven by an electric motor (37). 10. Robotized parking, according to the first claim, characterized in that the mechanism for fixing the trays or pallets (4) to the shelves or platforms (1) of the metal structure consists of an anchoring piece, (29) provided at each end of the trays, movable vertically against the tension of a spring (30), by action of the end of the coupling means (26), so that in an inoperative situation said part is locked in a housing (31) practiced for this purpose in each complementary end of the shelves, preventing the sliding of the tray (4).