Conveyor for moving four-wheeled vehicle and automatic parking system

Abstract

The invention relates to a conveyor and an automatic parking system for moving a four-wheeled vehicle. The conveyor comprises a chassis (2, 3) having a retractable extension (23, 24, 32, 34) movable between a position in which the extension is able to move the chassis under the vehicle and a position in which the extension is in contact with the tread of the wheel, the chassis (2, 3) being retractable and comprising two sections (2, 3), each section having a pair of arms (25, 35). At least one pair of arms (25, 35) is hinged to enable movement between a position perpendicular to the longitudinal axis of the chassis having an extension distance at least equal to the vehicle tread and a folded position occupying a width less than the distance between the inner sides of the wheels. The sections (2, 3) are movable between a position in which the arms are not in contact with the wheels and a position in which each arm (23, 24, 32, 34) is in contact with the tread of one of the wheels in order to raise or lower the vehicle.

Description

[0001] This application is a divisional application of the application patent application with the filing date of May 19, 2016, the application number 201680038880.9 (PCT / FR2016 / 051195), and the invention title "Movable conveyor for mobile four-wheeled vehicles". TECHNICAL FIELD

[0002] The present invention relates to the field of movable conveyors for towing four-wheeled vehicles, in particular but not exclusively for parking motor vehicles during manufacturing or for towing motor vehicles.

[0003] Such conveyors generally comprise a movable frame equipped with a pair of forks which are introduced under the vehicle and then raised so that the wheels are no longer in contact with the ground. The conveyor can then tow the vehicle to a new location, depositing it at this location by lowering and moving away the forks. BACKGROUND

[0004] European patent EP 2614198 describes a device for storing motor vehicles, enabling them to be moved laterally in a storage position relative to their longitudinal axis, which is known in the prior art. This unmanned device comprises a motorized frame parallel to the longitudinal axis of the vehicle. A pair of forks is moved horizontally to fit on one side of the wheels.

[0005] German patent DE 1228390 describes a device consisting of a platform supporting two laterally movable cross-arms, each extending by means of a movable side-arm to be brought into contact with the tread of each wheel. This platform is mounted on casters for moving the vehicle along a path forming a recess.

[0006] Chinese utility model CN 2399477 describes a parking device consisting of a constant-length cross-arm supporting a first fixed sub-frame and two movable sub-frames each actuated by a pneumatic cylinder.

[0007] Patent application WO 2005 / 059276 is also known, which describes a dolly and a parking system using the dolly to transport passenger cars and the like. The dolly of the invention comprises a movable body and a blocking device having at least a first movable plate and a second movable plate and at least one pair of locking claws. The parking system of the invention comprises a loading table, a differential table movable with respect to the loading table, a dolly movable with respect to the differential table, a longitudinal drive mechanism, a linear power tube transmission mechanism, and an electric valve station combined with an electrical control system. The dolly of the invention has a simple structure and facilitates flexible and automatic positioning, which allows the locking and lifting of passenger cars or vehicle chassis of various wheelbases and enables bidirectional transportation and access to passenger cars.

[0008] Furthermore, patent application US 2010 / 0086385 is also known, which describes another example of a vehicle moving device inside a parking lot.

[0009] The side loading solution as described in patent EP 2614198 requires a large area on the side of the vehicle to be accessible to the transport device, placing the transport device parallel to the vehicle and actuating the forks that lift the vehicle.

[0010] The solution described in German patent DE 1228390 implies that the determined height of the assembly formed by the platform, the longitudinal cross-arms and the casters does not allow it to be introduced under the modern vehicles whose ground clearance does not exceed a few centimetres.

[0011] The solution described in utility model CN 2399477 requires two independent cylinders to move two secondary frames, each of which has casters, making it very difficult to move and guide the device. Also, the operability of the device is essential for applications such as vehicle storage in a parking lot, and it requires the ability to move with very small radii of curvature. The solution proposed by utility model CN 2399477 enables straight movement, or at most with very large turning radii, making it impossible to move in the limited space of a parking lot that seeks to optimize space and increase vehicle density.

[0012] Therefore, these solutions of the prior art are not suitable for implementing the unmanned movement of four-wheeled vehicles in a simple, solid and reliable way. SUMMARY

[0013] To solve these drawbacks, the present invention generally relates to a conveyor for moving a four-wheeled vehicle, comprising a frame provided with arms that can move between a position in which they allow the movement of said frame under the vehicle and a position in which they are in contact with the tread of said wheels, characterized in that said frame is telescopic and comprises two sections, each of which carries a pair of arms,

[0014] - at least one of the pairs of arms is articulated to be able to move between a position perpendicular to the longitudinal axis of the frame, with an extension distance at least equal to the wheelbase of the vehicle, and a folded position that occupies a width smaller than the distance between the inner side walls of the wheels,

[0015] - said sections can move between a position in which the arms are not in contact with the wheels and a position in which each arm is in contact with the tread of one of said wheels, in order to raise or lower the vehicle.

[0016] The height of the frame and of the elements it supports is determined to be less than the ground clearance of the vehicle for the part to be introduced under the vehicle to be transported.

[0017] According to a first variant, said pair of articulated arms is movable transversely.

[0018] According to a second variant, said pair of articulated arms is movable by pivoting.

[0019] According to a first embodiment, on each side of the vehicle, the raising of the vehicle is ensured, on the one hand, by the interaction between the rear arm and the rear part of the tread area of the rear wheel, and on the other hand, by the interaction between the front arm and the front part of the tread area of the front wheel.

[0020] Within the meaning of the present patent, the term "rear" will be determined with respect to the normal direction of travel of the conveyor. When the vehicle is loaded "back to front", the front wheels of the vehicle will be called "rear wheels" within the meaning of the present patent.

[0021] According to a second embodiment, on each side of the vehicle, the raising of the vehicle is ensured, on the one hand, by the interaction between the rear arm and the front part of the tread area of the rear wheel, and on the other hand, by the interaction between the front arm and the rear part of the tread area of the front wheel.

[0022] According to a third embodiment, the raising of the vehicle is ensured by the interaction between one of said arms and a part of the tread of a wheel, and the contact of the additional arm with the opposite part of the tread of the same wheel.

[0023] The present invention also relates to an automatic parking system comprising at least one conveyor for moving a four-wheeled vehicle, the conveyor comprising a frame provided with arms that can move between a position in which they allow the movement of the frame under the vehicle and a position in which they are in contact with the tread of the wheels, characterized in that the frame is telescopic and comprises two sections, each of which carries a pair of arms,

[0024] - at least one pair of arms is articulated so as to be able to move between a position perpendicular to the longitudinal axis of the frame, having an extension distance at least equal to the wheelbase of the vehicle, and a folded position occupying a width less than the distance between the inner lateral walls of the wheels,

[0025] - the sections are able to move between a position in which the arms are not in contact with the wheels and a position in which each of the arms is in contact with the tread of one of the wheels, in order to raise or lower the vehicle.

[0026] Advantageously, the aforementioned automatic parking system is characterized in that it comprises a computer for controlling the traction of the conveyor under the chassis of the vehicle by displacing the conveyor along the longitudinal axis of the vehicle, then raising the vehicle by moving the sections and arms of the conveyor, then traction of the conveyor to the destination, and then, by moving the arms, releasing the vehicle, and by displacing along the longitudinal axis of the vehicle, moving away the conveyor. Attached Figure Description

[0027] The invention will be best understood upon reading the following detailed description of the invention, which relates to non-limiting exemplary embodiments illustrated in the accompanying drawings, in which:

[0028] - Figure 1 A perspective view of a conveyor according to an exemplary embodiment of the present invention is shown;

[0029] - Figures 2 to 8 A schematic diagram of the vehicles and conveyors during the sequential loading stages is shown;

[0030] - Figure 9 A perspective view corresponding to an alternative embodiment of the present invention is shown;

[0031] - Figures 10 to 11 It shows the corresponding Figure 9 A schematic diagram of an alternative embodiment of the present invention is shown. Detailed Implementation

[0032] Figure 1 A perspective view of an exemplary conveyor according to the present invention is shown. The conveyor includes a front block 1 enclosing a motor that drives a single steering wheel (or, two steering wheels may be provided). The front block 1 also contains electronic circuitry and a computer for automatically guiding the conveyor. A wide-angle laser rangefinder 10, which provides real-time information to the computer, is located on top of the front block 1.

[0033] The telescopic arm 2 extends rearward from the front block 1. The telescopic portion 3 of the arm is actuated by a cylinder or linear actuator—for example, a worm gear.

[0034] The first section of arm 2 has a fixed front crossarm 25, which supports two fixed extensions 21, 22 and two retractable extensions 23, 24 rotatable relative to pivots 26, 27. These are cylinder-driven to move between a clearing position when loading a vehicle and a locked retracted position when transporting the vehicle. In the retracted position, the spacing between extensions 21, 23 and extensions 22, 24 is determined to contact the front and rear sidewalls of the vehicle tires and to secure them, ensuring the vehicle is raised. For this purpose, the front extensions 21, 23 have inclined ramps 28, 29.

[0035] When the extensions 22 and 23 are folded into the locked position, they prevent the vehicle from moving relative to the conveyor.

[0036] The rear portion 3 of the arm 2 also comprises a cross-arm 35 which extends by means of two extensions 31, 32 which are mobile with respect to pivots 36, 37. These extensions 31, 32, as well as the extensions 21, 22, are adjusted substantially longitudinally parallel to the main axis of the arm 2 when the vehicle is loaded. The length L of the arms 25, 35 measured between the pivots 26, 27 and 36, 37 respectively is less than V min - L min wherein,

[0037] - V min means the usual minimum car wheel base, generally 1600 mm;

[0038] - L min means the usual width of a car tyre, generally 220 mm.

[0039] The length L of the arm is therefore generally less than 1400 mm, preferably about 1200 mm.

[0040] The lengths of the fixed extensions 21, 22 and of the mobile extensions 23, 24, 33, 34 are determined to correspond to half the width l max of the large vehicle, less the length of the arms 25, 35, each extension being generally 500 mm.

[0041] The conveyor can therefore be placed on the axis of the vehicle to allow the arm 2 to pass freely under the chassis of the vehicle with the extensions 23, 24, 33, 34 in the folded position, adjusted substantially longitudinally until the ramps 28, 29 of the fixed arms 20, 21 rest against the front wheels of the vehicle. The extensions 3 of the arm 2 are adjusted by movement to correspond to the wheel base of the car to be loaded. The extensions 23, 24, 33, 34 are then moved to a transverse position in contact with the rear side walls of the wheels.

[0042] The extensions 3 are then driven forward to ensure that the wheels are locked.

[0043] The front block 1 comprises four ultrasonic remote sensors 41 to 44 which transmit a signal according to the distance from the bumper of the vehicle.

[0044] The front arm 25 comprises two force sensors 46, 47 to detect and confirm that the vehicle has been gripped.

[0045] The rear arm 35 comprises two short-range scanning laser remote sensors 48, 49 to detect the wheels and any obstacles.

[0046] The frame formed by the arms 2, 3 and the arms 25, 35 has castors or rollers which are able to roll on the ground.

[0047] Figures 2 to 8 Schematic views of the vehicle and the conveyor in successive loading phases are shown.

[0048] As Figure 2 shown, the transporter is initially placed correctly in front of the car parked in the storage position. The movable arms 22, 23, 32, 33 are folded into the longitudinal position.

[0049] The laser range finder 10 provides information to control the placement of the transporter. The short-range laser range finders 46, 47 detect the front wheels of the vehicle. The transporter is aligned with the car.

[0050] In the next step Figure 3 ), the transporter places the arms 2 under the car while aligning the axes of the arms 2 with the longitudinal axis of the vehicle. The ultrasonic range finders 41 to 43 detect the bumpers of the vehicle to control the stopping of the relative movement of the transporter with respect to the vehicle.

[0051] The short-range laser range finders 48, 49 detect the rear wheels of the vehicle.

[0052] In the next step Figure 4 ), the movable rear extensions 32, 33 are stowed in the transverse position.

[0053] The transporter then advances until the fixed front extensions 22, 23 come into contact with the front wheels Figure 5 . The arms 2 adjust their length according to the length of the front overhang estimated by the ultrasonic range finders 41 to 44.

[0054] The force sensors 46, 47 indicate contact with the wheels.

[0055] The transporter then adjusts the length of the rear arms 3 so that the rear extensions 32, 33 come into contact with the rear wheels Figure 6 . The force sensors 48, 49 indicate contact with the wheels.

[0056] The movable extensions 23, 24 clamp the front wheels and lift the car onto the front and rear rollers Figure 7 , causing the vehicle to rise.

[0057] The force sensors 48, 49 confirm that the car is mounted on the rollers Figure 8 , and the transporter moves automatically to take the vehicle to the target position. The laser range finder 10 will detect obstacles. If necessary, it will perform an emergency stop of the robot. The transporter then releases the vehicle. Alternative embodiments

[0058] Figure 9 and Figure 11 An alternative embodiment is shown in which a lifting bag 200, 300 is used to lift the vehicle.

[0059] The conveyor consists of a frame formed by two shells 2, 3 of about 50 mm thick, connected by a pair of ROLLON type (trademark) circuit spherical tracks 250, 260. The frame thus forms a stowable platform consisting of a first section 2 integral with the motorized block 1 and a second section 3 that can be moved away using the circuit spherical tracks 250, 260 by the action of an electric or pneumatic cylinder.

[0060] The frame consists of only two stowable sections, making it possible to adapt the frame to the wheelbase of the vehicle to be moved.

[0061] The section 3 is provided with a pivoting plate 300 comprising light sports casters 301, 302. A lifting bag or mechanism is inserted between the structure of the section 3 and the plate 300 in order to achieve a variation in height between a stowed position, in which the section 3 can be introduced under the vehicle, and a lifted position, in which the section 3 is used to lift the vehicle so that its wheels are no longer in contact with the ground.

[0062] The range of movement is typically a few centimeters.

[0063] The lifting bag consists, for example, of an inflatable envelope comprising two rectangular pieces of aromatic polyamide fabric. A pneumatic valve is inserted in the corner of the envelope.

[0064] Alternatively, the plate 300 is connected to the structure of the section 3 by extendable means, for example an electric or hydraulic jack, in which the articulation structure can be deformed, for example by a screw driven by an electric motor.

[0065] In the same way, the assembly formed by the motorized block 1 and the section 2 comprises a plate 200 mounted on the lifting bag or structure. The plate 200 is equipped with drive wheels 201, 202.

[0066] Alternatively, the assembly formed by the motorized block 1 and the section 2 comprises drive wheels 201, 202 consisting of drive units described in European patent EP 1795431. These drive units 201, 202 are provided with a steering motor comprising a steering motor shaft and a rotatable drive mechanism consisting of an electric motor, a gearbox and a brake.

[0067] Alternatively, the section 2 is combined with a pull-push lifting jack by means of a height adjustment mechanism.

[0068] In any case, the lifting mechanism controls the ground clearance of the first section 2 in order to achieve a variation in height between a stowed position, in which the section 2 can be introduced under the vehicle, and a lifted position, in which the section 2 is used to lift the vehicle so that its wheels are no longer in contact with the ground. The range of movement is typically a few centimeters.

[0069] Section 3 forms a hollow casing with a pair of arms 31, 33; 32, 34 on each side, which are hinged about pivots 310, 330, 320, 340 between a position in which the arms are folded to remain in a substantially longitudinal position - having an angle of less than 20° with respect to the longitudinal axis - in order to reduce the width of the conveyor and allow it to be introduced under the wheels of the vehicle. In the stowed position, the arms 31, 33, 32, 34 extend perpendicularly to the longitudinal axis. In this stowed position, the inner edges of each arm rest against the tread of the vehicle tyres. When the lifting system is activated, it causes the tyres to come off the ground.

[0070] The movement of the arms 21, 33; 32, 34 is controlled by hydraulic, pneumatic or electric cylinders 311, 331; 321, 341.

[0071] Section 2 also forms a hollow casing with fixed arms 21, 22 and movable arms 23, 24 on each side, which are hinged about pivots 230, 240 between a position in which the arms are folded to remain in a substantially longitudinal position - having an angle of less than 20° with respect to the longitudinal axis - in order to reduce the width of the conveyor and allow it to be introduced under the wheels of the vehicle. In the stowed position, the arms 21, 23, 22, 24 extend perpendicularly to the longitudinal axis. In this stowed position, the inner edges of each arm rest against the tread of the vehicle tyres. When the lifting system is activated, it causes the tyres to come off the ground.

[0072] The movement of the arms 23, 24 is controlled by hydraulic, pneumatic or electric cylinders 231, 241.

[0073] The movement of section 3 with respect to section 2 allows the conveyor to be adjusted to correspond to the wheelbase of each vehicle.

Claims

1. A conveyor for moving a four-wheeled vehicle, the conveyor comprising a frame (2, 3) provided with laterally retractable extensions (23, 24, 32, 34), the extensions being movable between a position in which the extensions allow the frame to move under the vehicle and a position in which the extensions contact the tire tread of the wheels, characterized in that, The frame (2, 3) is retractable and comprises two sections (2, 3), each of which carries a pair of arms (25, 35). At least one pair of arms (25, 35) is hinged to be movable between a position having an extension distance at least equal to the wheelbase of the vehicle perpendicular to the longitudinal axis of the frame, and a folded position having a width smaller than the distance between the inner sidewalls of the vehicle's wheels. The sections (2, 3) are movable between a position where the arm is not in contact with the wheel and a position where each arm (23, 24, 32, 34) is in contact with the tread of one of the wheels, in order to raise or lower the vehicle.

2. The conveyor according to claim 1, characterized in that, The vehicle is raised or lowered by clamping the tread with the arms (23, 24, 32, 34) to apply pressure on both sides of each wheel in two opposite longitudinal directions, thereby generating a vertical wheel travel component due to the tangent angle at the contact line between the arms and the tread on the tread.

3. The conveyor according to claim 1, characterized in that, The vehicle is raised or lowered by a first lifting device installed between the first section (2) and the first plate carrying the first traction system, and a second lifting device installed between the second section (3) and the second plate carrying the second traction system.

4. The conveyor according to at least one of claims 1 to 3, characterized in that, The hinged pair of arms (25, 35) are capable of lateral movement.

5. The conveyor according to at least one of claims 1 to 3, characterized in that, The hinged pair of arms (25, 35) are movable via pivot extensions (23, 24, 32, 34).

6. The conveyor according to at least one of claims 1 to 3, characterized in that, On each side of the vehicle, the vehicle is raised by the interaction between the rear arm and the rear part of the tread area of ​​the rear wheel, and by the interaction between the forearm and the front part of the tread area of ​​the front wheel.

7. The conveyor according to at least one of claims 1 to 3, characterized in that, On each side of the vehicle, the vehicle is raised by the interaction between the rear arm and the front part of the tread area of ​​the rear wheel, and by the interaction between the forearm and the rear part of the tread area of ​​the front wheel.

8. The conveyor according to at least one of claims 1 to 3, characterized in that, The vehicle's elevation is ensured by the interaction between one arm of the arm and a portion of the wheel's tread, and by the contact between the additional arm and the opposite portion of the same wheel's tread.

9. The conveyor according to at least one of claims 1 to 3, characterized in that, The frame consists of two sections (2, 3), each section having a traction system, one of which is rear-wheel drive and at least one of which is front-wheel drive.

10. An automatic parking system comprising at least one conveyor for moving a four-wheeled vehicle, the conveyor including a frame with an arm movable between a position in which the arm allows the frame to move under the vehicle and a position in which the arm contacts the tread of the wheel, characterized in that, The frame is retractable and includes two sections, each of which carries a pair of arms. At least one pair of arms is hinged to be movable between a position having an extension distance at least equal to the vehicle's track perpendicular to the longitudinal axis of the frame and a folded position having a width less than the distance between the inner walls of the vehicle's wheels. The sections are movable between a position where the arms are not in contact with the wheels and a position where each arm is in contact with the tire tread of the wheels in order to raise or lower the vehicle.

11. The automatic parking system according to the preceding claims, characterized in that, The automatic parking system includes a computer for controlling the traction of the conveyor under the vehicle chassis by displacing the conveyor along the longitudinal axis of the vehicle, then raising the vehicle by moving sections and arms of the conveyor, then traction the conveyor to the destination, and then releasing the vehicle by moving the arms and removing the conveyor by displacing it along the longitudinal axis of the vehicle.

Images