Transport device for a parking system for positioning a motor vehicle and method for operating a parking system

Abstract

Transport device (1) for a parking system (20) for positioning a motor vehicle (50), comprising: Drive means (3) for the driven movement of the transport device (1), at least one carrying device (4) for receiving and lifting a wheel (51) of the motor vehicle (50), wherein the at least one carrying device (4) has a pair of forks (6) consisting of two forks (8) which can each be pivoted about axes (7), which are arranged and are designed so that they can be arranged by a pivoting movement below the wheel (51) of the motor vehicle (50), so that the at least one support device (4) can grasp the wheel (51), wherein the at least one carrying device (4) has a lifting device (13) with which the pair of forks (6) can be lifted, wherein the at least one support device (4) has at least one support element (14) with which the at least one support device (4) can be supported on an upper part of the wheel (51) of the motor vehicle (50).

Description

The invention relates to a transport device for a parking system for positioning a motor vehicle, to a parking system and to a method for operating a parking system.From DE 10 2015 203 506 A1, an automobile transport unit is known, in particular an automatic transport system, for positioning parking vehicles, for a positioning fleet of a parking system for a parking space, wherein the transport unit is designed such that by means of the transport unit, alone or in coordination with a single additional transport unit or in cooperation with a plurality of additional transport units, a respective parking vehicle can be positioned on a parking area of the parking space and / or a respective parking vehicle can be positioned on a transfer area for the parking system. Furthermore, a method for automatically positioning, in particular for automatically parking and / or unparking, actuating vehicles for a parking system is known therefrom, wherein a respective actuating vehicle is positioned by at least one automobile transport unit, in particular an automatic transport system, on a parking area of a parking space and / or on a transfer area for the parking system.DE 10 2017 206 292 A1 discloses a transport system and a method for operating a transport system which has a multiplicity of transport means.DE 10 2006 053 528 A1 discloses a maneuvering or transport device having a vehicle lifting device which can be moved over the parking area and which, for receiving the vehicle, has receiving arms which, in a basic position, are arranged at a distance from receiving locations of the vehicle and can be transferred from the basic position into a receiving position in which the receiving arms can be brought into operative connection with the receiving locations of the vehicle, wherein the vehicle standing on the parking area can be received by the receiving arms, lifted from the parking area, can be moved with its wheels in a contactless manner over the parking area and can be removed again on the parking area.From DE 10 2017 217 827 A1 a parking vehicle for transporting and parking a vehicle is known. The parking vehicle comprises a base body, a drive device which comprises a drive wheel and which is arranged in the base body, a wheel receiving device which comprises two arms and is connected to the base body, wherein one wheel is connected to each arm, and a control device which is connected to the drive device and the wheel receiving device. Each arm of the wheel receiving device is movably connected to the base body by means of a sliding element. A distance between the two arms is changeable along an axis. Each arm has a lifting element. By means of the wheel receiving device, a wheel of the vehicle can be received, which wheel can be lifted by means of the lifting elements.From the post-published DE 10 2018 221 170 A1, a parking robot for a motor vehicle and a method for operating such a parking robot are known. The parking robot has a pair of wheel support arms and a wheel holding arm and is designed to autonomously approach a wheel of the motor vehicle from the outside with the wheel support arms folded in and the wheel holding arm folded in, to lift the wheel by folding out the pair of wheel support arms and to fix it on the parking robot by folding out the wheel holding arm.The invention is based on the object of improving a transport device for a parking system for positioning a motor vehicle, a parking system and a method for operating a parking system.The object is achieved according to the invention by a transport device having the features of claim 1, a parking system having the features of claim 7 and a method having the features of claim 8. Advantageous embodiments of the invention are evident from the dependent claims.In particular, a transport device for a parking system for positioning a motor vehicle is provided, comprising drive means for the driven movement of the transport device, at least one support device for receiving and raising a wheel of the motor vehicle, wherein the at least one support device has a fork pair of two forks which are pivotable in each case, in particular horizontally, about axes and which are arranged and designed in such a way that they can be arranged below the wheel of the motor vehicle by a pivoting movement, such that the at least one support device can engage under the wheel.Furthermore, in particular a parking system is provided, comprising a plurality of transport devices according to the invention.Furthermore, in particular a method for operating a parking system is provided, wherein the parking system comprises a plurality of transport devices according to the invention, wherein at least a subset of the plurality of transport devices of the parking system is controlled in such a way that the transport devices of the subset in a loading position undercase wheels of a motor vehicle in a coordinated manner by forks of fork pairs of carrying devices of the transport devices being pivoted in each case in pairs, in particular horizontally, under one wheel in each case, wherein the wheels are raised in a coordinated manner by means of the carrying devices, and wherein the raised motor vehicle is driven by the transport devices by means of a coordinated movement of the drive means to a unloading position and is unloaded there.The invention enables in particular a simplified under-gripping of a wheel of a motor vehicle. For this purpose, the transport device according to the invention has at least one support device for receiving and lifting a wheel of the motor vehicle. The support device is arranged, for example, on a support frame of the transport device and is mechanically fixedly connected to the latter. The at least one support device has a fork pair of two forks which are pivotable about axes in each case, in particular horizontally. The axes are in particular vertical axes, so that the forks of the fork pair can each be pivoted in a largely horizontally running plane. The fork pairs are arranged on the transport device or the support device in such a way that the forks can be arranged below the wheel of the motor vehicle by a pivoting movement. The forks of the fork pair are arranged in particular in a rest position or stowage position when not in use. At a loading position, the transport device is arranged in particular on an outer side in front of a wheel of a motor vehicle to be moved. There, the support device pivots the forks from outside under the wheel. As a result, the at least one support device can undercase the wheel. This process takes place for all wheels of the motor vehicle. In particular, it can be provided that each wheel is gripped by a single transport device. Alternatively, it can also be provided that a transport device comprises a plurality of wheels of the motor vehicle, wherein the transport device then has a carrying device in particular for each wheel. After the underrunning, the motor vehicle is lifted by a coordinated, in particular simultaneous, movement of the supporting devices. The lifted motor vehicle is then moved from the loading position to an unloading position by means of a coordinated movement of the drive means of the transport devices. There, the motor vehicle is unloaded again by a coordinated, in particular simultaneous, lowering or lowering of the wheels of the motor vehicle. The forks of the fork pairs are subsequently pivoted back into the stowage position and the transport devices are removed from the motor vehicle by means of the drive means. The transport devices are then available for further transport tasks.According to the invention, it is provided that the at least one support device has at least one support element, with which the at least one support device can be supported on an upper part of the wheel of the motor vehicle. The support device engages in particular laterally or predominantly laterally on the wheel, in particular on a tire or a carcass of the wheel. In particular, if support wheels on the forks are no longer arranged on a subgrade after the wheel has been lifted, a tilting moment can be absorbed or absorbed as a result, which is exerted on the transport device by the weight force of the motor vehicle.According to the invention, it is further provided that the at least one support device has a lifting device with which the pair of forks can be lifted. As a result, the wheel of the motor vehicle can be raised in the vertical direction. The lifting device is arranged, for example, via the at least one support device on a frame of the transport device. The lifting device comprises, for example, a linear drive, for example in the form of a spindle drive driven by means of an electric motor. The lifting device is controlled in particular by a control device of the transport device.The transport device moves in particular fully automatically or autonomously. For this purpose, the transport device comprises in particular a control device which controls, for example, the drive means and the carrying device. The control device can be designed as a combination of hardware and software, for example as program code which is executed on a microcontroller or microprocessor.Furthermore, the transport device comprises in particular a sensor system for detecting the surroundings of the transport device. The sensor data acquired by the sensor system are supplied to the control device, which actuates the drive means and, if appropriate, further actuators of the transport device on the basis of the acquired sensor data. In particular, it can be provided that the control device comprises a navigation function and a memory with a map of at least one parking space stored therein, which map is managed by the parking system. The transport device is thereby able to move automatically within the parking space.Furthermore, the transport device has, in particular, an energy source, for example a battery for providing electrical energy for the drive means and other components of the transport device.It can be provided that the parking system has a central coordination device with which all transport devices of the parking system can be coordinated. The coordination device assigns transport tasks to the individual transport devices, for example, which the transport devices then carry out in particular in a coordinated manner with one another. Such a transport task comprises in particular the movement of a motor vehicle from a loading position to a unloading position.In one embodiment, it is provided that the forks each have at least one support wheel. As a result, the forks can be supported on a base and moved along on the base both in a stowage position and after a pivoting movement has been carried out. In particular, a weight force exerted by the motor vehicle to be moved can thereby be absorbed and transmitted to the underlying surface. The at least one support wheel can be designed, for example, as a roller rotatable about a vertical axis. The at least one support wheel moves in particular passively in a direction in which the drive means of the transport device move.In one embodiment, it is provided that the at least one support device has a fork actuator system, with which a distance between the forks of the fork pair can be varied, so that the wheel of the motor vehicle can thereby be gripped under and raised by reducing the distance. In particular, the forks can thereby securely engage under the wheel of the motor vehicle by forming a contact between the forks and an outer side of the wheel. Further, by further reducing the distance between the forks, an upward movement of the wheel and therefore of the motor vehicle can be effected, since the forks moving towards each other push the wheel upward. For this purpose, it can be provided that the forks comprise freely movable revolving rollers or freely revolving cylinders, so that friction between an outer side of the wheel and a surface of the forks can be avoided. The upward movement of the wheel is then accompanied by a revolving movement of a revolving roller or a revolving cylinder. The fork actuator system can comprise, for example, a linear drive, for example in the form of a spindle drive driven by means of an electric motor. The fork actuator system is controlled in particular by a control device of the transport device.In one embodiment, it is provided that the drive means comprise at least two individually steerable driven wheels. As a result, a transport device of particularly simple construction can be formed. It can be provided in particular that support wheels of the forks of the support device serve, at least when arranged in a stowage position, to ensure stability of the transport device.In a further embodiment, it is provided that the at least one support element is height-adjustable, so that a position of the at least one support element can be adapted to a wheel diameter of the wheel. This makes it possible to adapt the transport device flexibly to wheels of different sizes or to different motor vehicles.In one embodiment, it is provided that the transport device comprises at least one adjusting device which is arranged on the at least one support device in such a way that an angle of the at least one support device and the forks can be changed with respect to a vertical (i.e. with respect to a direction of brazing). In particular, if support wheels on the forks are no longer arranged on a subgrade after the wheel has been lifted, a tilting moment can thereby be actively absorbed or actively compensated, which is exerted on the transport device by the weight force of the motor vehicle. This improves in particular a stability of the transport device after the lifting of the motor vehicle and in particular during the movement of the motor vehicle. An angle between wheels of the drive means and a ground can serve as a measure for an angle to be compensated or set, for example. In particular, the angle can be controlled or regulated by means of the at least one actuating device in such a way that an axis of rotation of the wheels of the drive means is aligned horizontally.Further features for the configuration of the method emerge from the description of configurations of the transport device. The advantages of the method are in each case the same as in the embodiments of the transport device.The invention is explained in more detail below with reference to preferred exemplary embodiments with reference to the figures. The following are shown here: FIG. 1 shows a schematic illustration of an embodiment of the transport device for a parking system for positioning a motor vehicle (view from below); FIG. 2 ashows a schematic representation of the embodiment of the transport device shown in FIG. 1 in a side view with the forks lowered and folded in a storage position; FIG. 2 bshows a schematic representation of the embodiment of the transport device shown in FIG. 1 in a side view with the forks pivoted out and the wheel raised; FIG. 3 shows a schematic illustration of a further embodiment of the transport device for a parking system for positioning a motor vehicle (view from below); FIG. 4 ashows a schematic representation of the further embodiment of the transport device shown in FIG. 3 in a side view with lowered forks; FIG. 4 bshows a schematic representation of the further embodiment of the transport device shown in FIG. 3 in a side view with pivoted out and raised forks and raised wheel; FIG. 5 shows a schematic illustration of an embodiment of the parking system in a view from below.FIG. 1 shows a schematic illustration of an embodiment of the transport device 1 for a parking system for positioning a motor vehicle in a view from below. The transport device 1 comprises a frame 2, drive means 3 and a support device 4.The drive means 3 comprise two individually steerable driven wheels 5, with which the transport device 1 can be moved in an automated manner. The wheels 5 are driven, for example, by an electric motor (not shown) and steered by a steering actuator system (not shown).The support device 4 has a pair of forks 6 consisting of two forks 8 which can be pivoted in each case horizontally about axes 7 running in this illustration into the illustration plane. The pivotable forks 8 are mechanically connected to the frame 2, for example via swivel joints (not shown). The forks 8 can be arranged under a wheel 51 of a motor vehicle by a pivoting movement, so that the support device 4 can engage under the wheel 51.The pivoting movement of the forks 8 is carried out, for example, by means of a pivoting actuator system (not shown) designed accordingly for this purpose.The forks 8 each have a support wheel 9 at outer ends of the forks 8. The support wheels 9 ensure that the transport device 1 is arranged stably on a base both when the forks 16 are pivoted in and also pivoted out. Furthermore, the support wheels 9 transmit a weight force exerted by the wheel 51 of the motor vehicle to the underlying surface. The support wheels 9 run along the ground at any time.The transport device 1 can move fully automatically or autonomously. For this purpose, the transport device 1 comprises in particular a control device (not shown) which controls, for example, the drive means 3 and the carrying device 4. The control device can be designed as a combination of hardware and software, for example as program code which is executed on a microcontroller or microprocessor.The transport device 1 further comprises in particular a sensor system (not shown) for detecting the surroundings of the transport device 1. the sensor data detected by the sensor system are fed to the control device, which actuates the drive means 3 and, if appropriate, further actuators of the transport device 1 on the basis of the detected sensor data. In particular, it can be provided that the control device comprises a navigation function and a memory with a map stored therein of at least one parking space to be managed by the parking system. The transport device 1 is thereby able to move in an automated manner.Furthermore, the transport device 1 has an energy source (not shown), for example a battery for providing electrical energy for the drive means 3 and the actuators.It is provided that the at least one support device 4 further comprises a fork actuator system 10, with which a distance 11 between the forks 8 of the fork pair 6 can be changed, so that the wheel 51 of the motor vehicle can thereby be gripped under and raised by reducing the distance 11.FIGS. 2 aand 2 b show schematic representations of the embodiment of the transport device 1 shown in FIG. 1 in a side view (without support element and lifting device), respectively, identical reference numerals denote identical features and terms. In particular, FIGS. 2 aand 2 b show the gripping and lifting of the wheel 51 of the motor vehicle.FIG. 2 ashows the transport device 1 arranged on an outer side of the wheel 51 of the motor vehicle, wherein the forks 8 have not yet been pivoted under the wheel 51. In this illustration, the wheel 51 still rests on a base 12.In FIG. 2b, the forks 8 have already been pivoted under the wheel 51. Furthermore, a distance 11 (FIG. 1 ) between the forks 8 has already been reduced in such a way that the wheel 51 has been lifted as a result and no longer rests on the underlying surface 12, but rather on the forks 8.If all wheels 51 of the motor vehicle have been lifted, the motor vehicle can be conveyed from a loading location to a unloading location as a destination by a coordinated movement of the transport device 1 and further transport devices. For this purpose, the transport device 1 and the further transport devices travel in a coordinated and automated manner from the loading location to the unloading location and take along the loaded motor vehicle.If no wheel 51 or no motor vehicle is loaded, the transport device 1 can be driven with forks 8 pivoted in (cf. FIG. 2 a) automatically to a parking position or another motor vehicle to be transported.FIG. 3 shows a schematic illustration of a further embodiment of the transport device 1. The transport device 1 is in principle constructed like the embodiment shown in FIG. 1, the same reference numerals designate the same features and terms.According to the invention, the transport device 1 has a lifting device 13. The pair of forks 6 of the support device 4 can be lifted by the lifting device 13. In particular, the lifting device 13 can raise or lower a wheel 51 of a motor vehicle arranged on the forks 8 of the fork pair 6.If the pair of forks 8 or the wheel 51 of the motor vehicle have been lifted by means of the lifting device 13, the support wheels 9 of the forks 8 also no longer make contact with the underlying surface 12, and a weight force of the motor vehicle is then supported completely on the wheels 5 of the drive means 3.It is provided according to the invention that the at least one support device 4 has a support element 14, with which the support device 4 can be supported on an upper part of the wheel 51 of the motor vehicle. This is shown schematically in FIGS. 4 aand 4 b, which each show the embodiment shown in FIG. 3 in a side view. The support element 14 engages laterally or predominantly laterally on the wheel 51, in particular on a tire 52 or a carcass 53 of the wheel. As a result, a tilting moment caused by a weight force of the motor vehicle after the lifting is absorbed.It is provided in particular that the support element 14 is height-adjustable, so that a position of the support element 14 can be adapted to a wheel diameter of the wheel 51.It can furthermore be provided that the transport device 1 comprises at least one adjusting device 15 which is arranged on the support device 4 in such a way that an angle of the at least one support device 4 and the forks 8 with respect to a vertical can be changed. In particular, if after the lifting of the wheel 51 the support wheels 9 on the forks 8 are no longer arranged on the underlying surface 12, the resulting tilting moment can thereby be actively absorbed or actively compensated. The lifting device 13 and the forks 8 arranged thereon can be rotated around a pivot joint 16 by the adjusting device 15 to compensate for the tilting moment.As a result, a transport device 1, in particular the wheels 5 of the drive means 3, tilted by the weight force of the motor vehicle can be set straight again, that is to say in particular at a right angle to the underlying surface 12. This is effected in particular by applying a force in the direction of the wheel 51 This improves a stability of the transport device 1 after the lifting of the motor vehicle and in particular during the movement of the motor vehicle by means of the transport device 1.FIG. 5 shows a schematic illustration of an embodiment of the parking system 20. The parking system 20 comprises a plurality of transport devices 1. four transport devices 1 are shown in the illustration. In each case, an underside of the transport devices 1 and of a motor vehicle 50 arranged thereon is shown. Each of the four transport devices 1 travels to a respective wheel 51 of the motor vehicle 50 and arranges its forks 8 under the respective wheel 51 by a pivoting movement. Subsequently, the transport devices 1 lift the wheels 51 and the motor vehicle 50 in a coordinated manner, i.e. in particular simultaneously.Once the motor vehicle 50 has been lifted, it can be conveyed by means of the drive means 3 of the transport devices 1 to a unloading position as the target position. This is effected in particular by a coordinated movement of the transport devices 1, in particular automatically.At the unloading position, the transport devices 1 lower the wheels 51 and the motor vehicle 50 again. Subsequently, the transport devices 1 are driven away from the motor vehicle 50 in an automated manner and are available for further transport tasks.By means of the parking system 20, a motor vehicle 50 can be transported automatically from a loading position to an unloading position. For example, motor vehicles in a parking garage can hereby be automatically arranged in parking spaces and subsequently made available again for collection.List of reference characters1 Transport device 2 Frame 3 Drive means 4 Support device 5 Wheel 6 Fork pair 7 Axle 8 Pivotable fork 9 Support wheel 10 Fork actuator system 11 Distance 12 Base 13 Lifting device 14 Support element 15 Adjusting device 16 Rotary joint 20 Parking system 50 Motor vehicle 51 Wheel 52 Tire 53 Carcass

Claims

Transport device (1) for a parking system (20) for positioning a motor vehicle (50), comprising: drive means (3) for driven movement of the transport device (1), at least one support device (4) for receiving and raising a wheel (51) of the motor vehicle (50), wherein the at least one support device (4) has a pair of forks (6) made of two forks (8) which are pivotable in each case about axles (7) and which are arranged and designed such that they can be arranged below the wheel (51) of the motor vehicle (50) by a pivoting movement such that the at least one support device (4) can undercase the wheel (51), wherein the at least one support device (4) has a lifting device (13) with which the pair of forks (6) can be raised, wherein the at least one support device (4) has at least one support element (14), by means of which the at least one support device (4) can be supported on an upper part of the wheel (51) of the motor vehicle (50).Transport device (1) according to claim 1, characterised in that the forks (8) each have at least one support wheel (9).Transport device (1) according to claim 1 or 2, characterised in that the at least one support device (4) has a fork actuator (10), with which a distance (11) between the forks (8) of the fork pair (6) can be changed, so that the wheel (51) of the motor vehicle (50) can thereby be gripped under and raised by reducing the distance (11).Transport device (1) according to one of the preceding claims, characterized in that the drive means (3) comprise at least two individually steerable driven wheels (5).Transport device (1) according to one of the preceding claims, characterized in that the at least one support element (14) is height-adjustable, such that a position of the at least one support element (14) can be adapted to a wheel diameter of the wheel (51).Transport device (1) according to one of the preceding claims, characterized in that the transport device (1) comprises at least one adjusting device (15) which is arranged on the at least one support device (4) in such a way that an angle of the at least one support device (4) and of the forks (8) can be changed with respect to a vertical.A parking system (20) comprising: a plurality of transport devices (1) according to any one of claims 1 to 6.Method for operating a parking system (20), wherein the parking system (20) comprises a plurality of transport devices (1) according to one of Claims 1 to 6, wherein at least a subset of the plurality of transport devices (1) of the parking system (20) is controlled in such a way that the transport devices (1) of the subset in a loading position undercase wheels (51) of a motor vehicle (50) in a coordinated manner by forks (8) of fork pairs (6) of carrying devices (4) of the transport devices (1) being pivoted in each case in pairs under in each case one wheel (51), wherein the wheels (51) are raised in a coordinated manner by means of the carrying devices (4), and wherein the raised motor vehicle (50) is driven by the transport devices (1) by means of a coordinated movement of the drive means (3) to a unloading position and is unloaded there.

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