Mobile lifting device

Abstract

Mobile lifting device (110) for lifting a motor vehicle (1), wherein the mobile lifting device (110) comprises means for moving (114a, 114b, 114c, 114d) of the mobile lifting device (110), a control device (120) which causes the lifting device to move automatically under a structure of the motor vehicle (1) in response to information relating to the motor vehicle (1) by means of its means for moving (114a, 114b, 114c, 114d) in order to lift the motor vehicle, characterized by at least two base bodies (112a; 112b), with independent means for moving (114a, 114b, 114c, 114d), and wherein these base bodies are provided with the respective means for moving (114a, 114b, 114c, 114d). (112a; 112b) together carry a lifting mechanism (116).

Description

[0001] The invention relates to a mobile lifting device for lifting an object, in particular a motor vehicle, and a method for lifting a motor vehicle.

[0002] The mobile lifting device has means for moving the mobile lifting device (especially on a surface, the ground).

[0003] A mobile lifting platform is known from EP 0 336 927 A1, and WO 2016 / 086300 A1 also describes a movable device for lifting heavy vehicles.

[0004] DE 10 2017 220 580 A1 relates to a transport system for the automated transport of a vehicle from a starting position to a target position, comprising at least one transport robot with a lifting device for lifting the vehicle and with a drive for moving the vehicle.

[0005] DE 10 2017 108 148 A1 concerns a driverless transport system that can be reconfigured to accommodate loads of different sizes, weights and shapes.

[0006] DE 10 2014 112 269 A1 relates to an automated parking system for vehicles, in particular motor vehicles, in which a vehicle to be parked is placed on a pallet at a transfer point, and the pallet is then picked up by a mechanical device and moved to a parking space. The disclosure also relates to a corresponding mechanical device for an automated parking system and a method for storing vehicles in an automated parking system.

[0007] Today's vehicle models differ from one another to an ever-increasing degree. For operators in workshops and other locations where work on a vehicle needs to be carried out, it is not always easy to precisely position the lifting equipment underneath the vehicle.

[0008] The invention is based on the objective of expanding the possibilities for lifting an object, such as a motor vehicle in particular.

[0009] The problem is solved by a mobile lifting device with the features according to claim 1 and a method with the features according to claim 7.

[0010] Accordingly, the mobile lifting device has a control unit which, depending on information about the object, causes the lifting device to move automatically under a structure of the object using its means of movement in order to lift it. The structure of the object can be, in particular, the underbody of a motor vehicle. The invention is thus related to the concept of mobile robots, such as those known for household use as robotic vacuum cleaners and robotic lawnmowers.

[0011] In a preferred embodiment of the invention, the mobile lifting device has a lifting mechanism with a contact area specifically designed to engage with or interact with a supporting structure of the object. For example, it would be possible to routinely provide specific engagement structures for specific lifting mechanisms in a number of motor vehicles, so that the mobile lifting device and its lifting mechanism are compatible with the supporting structure of the motor vehicle.

[0012] Information about the object can be obtained from a data acquisition device such as a camera, ultrasound probe, laser, inductive measuring device, and the like. Alternatively or additionally, the mobile lifting device can also be equipped with a receiver for receiving information about the object, particularly from the vehicle itself or from an external data acquisition device. For example, the vehicle itself can transmit information about its identity, and the mobile lifting device can access a memory that indicates which support structure of the vehicle is best suited for contact with the lifting mechanism of the mobile lifting device. In a workshop, external data acquisition devices can also provide information about the position and shape of the vehicle.

[0013] In a further preferred embodiment of the invention, a transmitting device is also provided for sending information regarding the object, in particular to another lifting device, especially a mobile lifting device, so that several such lifting devices can coordinate with each other.

[0014] In a particularly preferred embodiment of the invention, means for aligning the mobile lifting device under an object are further provided, so that, for example, the mobile lifting device can orient itself in a rotary motion, or approach the object in a spiral motion, or the like. A very specific mobile lifting device comprises two parts, optionally even three, four, or more parts, each of which has independent means for movement (wheels and optionally associated motors), and these parts jointly support a (preferably single) lifting mechanism. By gaining additional degrees of freedom, the lifting mechanism can thus be positioned under the motor vehicle with particular precision and speed, thereby lifting it.

[0015] When several mobile lifting devices are used, they can be equipped with means to communicate with each other in order to coordinate their movements and thus their placement under the vehicle, so that the positioning under the vehicle floor is optimized.

[0016] Further preferred embodiments of the invention result from the other features mentioned in the dependent claims.

[0017] Unless otherwise stated in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with one another.

[0018] The invention is explained below using exemplary embodiments with reference to the accompanying drawings. These show: Fig. 1A an exemplary mobile lifting device according to a first embodiment of the invention, Fig. 1B, Fig. 1C, Fig. 1D a side view, a front view and a bottom view of the mobile lifting device Fig. 1A when lifting a motor vehicle, Fig. 2A, Fig. 2B, Fig. 2C a side view, a front view and a bottom view of a mobile lifting device according to a second embodiment, Fig. 3A, Fig. 3B, Fig. 3C a side view, a front view and a bottom view of two mobile lifting devices according to the second embodiment of the invention, as shown in Fig. 2A to 2C shown, when lifting a motor vehicle, Fig. 4A, Fig. 4B, Fig. 4C a side view, a front view and a bottom view of four mobile lifting devices according to a third embodiment, Fig. 5A, Fig. 5B, Fig. 5C a side view, a front view and a bottom view of four mobile lifting devices according to a fourth embodiment. Fig. 5D a top view of a single mobile lifting device according to a fourth embodiment.

[0019] Fig. Figure 1A schematically depicts a mobile lifting device 10 for a motor vehicle, comprising a base body 12 that is movable by means of wheels 14a, 14b and associated motors. The wheels are either individually movable, or at least one, and preferably two, wheels can be driven by a suitable electric motor (not shown in the figure) (in which case a battery or accumulator is also present). The wheels 14a can be coupled to each other via shafts, or several shafts can be coupled via a gearbox. The electric motors can drive individual wheels, several wheels in pairs, or a plurality of wheels up to all wheels via a gearbox. However, some wheels can also function as trailing wheels. In particular, a special wheel kinematic system, so-called Mecanum wheels and the like, can be provided to allow the mobile lifting device 10 to position itself freely in space.A lifting mechanism 16 is arranged on the base body 12. This mechanism is shown schematically here as a scissor lift mechanism, as is known per se and as is also used in the prior art, for example according to EP 0 336 927 A1. Other types of lifting mechanisms are conceivable, including those not described below with regard to further embodiments.

[0020] Detection devices 18a, 18b, and 18c are used to detect the properties of a motor vehicle 1 that is to be lifted. A first detection device 18a is, for example, an optical camera, a second detection device 18b is, for example, a laser measuring device, such as those commonly used in portable form by tradespeople for measuring residential buildings. A further detection device 18c operates inductively. The camera 18a can detect a predetermined, for example, already known structure on the underbody of a motor vehicle. The laser measuring device 18b can establish a suitable distance, and the inductively operating detection device 18c can determine whether the supporting structure is stable (i.e., not rusted through, etc.). Other detection devices of an acoustic type (ultrasound, etc.), an optical type, or even with contact elements such as probes, etc., are conceivable.The data acquired by the detection devices 18a, 18b, 18c are fed to a central control unit 20, which also receives data from a receiving unit 22. This receiving unit receives signals from a device 24 located outside the mobile lifting device 10. The external device 24 can be located inside an object to be lifted, such as a motor vehicle, and provide information regarding its identity (model, etc.) so that it is clear which supporting structure is best suited for lifting. The external device 24 can also be part of a stationary detection system in a workshop that interacts with the mobile lifting device 10.Finally, the mobile lifting device may also have means 26 for transmitting information, namely information that was either acquired by means of its own acquisition devices 18a, 18b, 18c, or received by the receiving device 22, or stored in a memory (not shown). The external device 24 may include such a transmitting device of another mobile lifting device.

[0021] The mobile lifting device 10, when its lifting mechanism 16 is retracted, has a height that is less than the distance from the ground on which the wheels of a motor vehicle 1 stand to its underbody. For example, the mobile lifting device is no more than 20 cm high, preferably no more than 15 cm, and optionally even no more than 10 cm or no more than 8 cm. Its width is preferably between one-tenth and one-half the width of a motor vehicle, i.e., for example, between 15 cm and 100 cm, and its length is between one-thirtieth and one-quarter the length of a typical motor vehicle, i.e., for example, between 10 cm, preferably 15 cm, and 80 cm, preferably up to 40 cm.

[0022] Out of Fig. Figure 1B shows how the mobile lifting device 10 can drive under the motor vehicle 1 and lift it.

[0023] Because the mobile lifting device can move itself precisely under the motor vehicle 1 by means of the detection devices 18a, 18b, 18c, it is possible to select precisely the supporting structure of the motor vehicle 1 on which a contact area 16o of the lifting mechanism can engage to create increased stability in the raised state.

[0024] Fig. Figures 2A to 2C show a mobile lifting device 110 according to a second embodiment, comprising two base bodies 112a, 112b with respective wheels 114a, 114b, 114c, 114d, wherein the two base bodies 112a and 112c jointly support the lifting mechanism 116. The control units 120a, 120b coordinate with each other, via the transmitting and receiving units 26 and 22 respectively, in conjunction with the information obtained from the sensing units 18a, 18b, 18c, to achieve optimal positioning under the motor vehicle 1. In this context, one of the control units 120a, 120b can act as a leading control unit. This can go so far that the second control unit 120b can be completely omitted or that only a processor remains which evaluates the signals obtained from the local receiving units 18a, 18b, 18c on the base body 112b.In principle, a wired combination is also possible when laying the wires within the lifting mechanism 116.

[0025] Fig. Figures 3A to 3C show a second embodiment of the invention, in which several of the mobile lifting devices 110 of the second embodiment are driven together under a motor vehicle. Here, not only do the individual base bodies 112a, 112b of the mobile lifting device 110 need to be coordinated with each other, but the entire mobile lifting device 110 must be coordinated with each other. With preferably identical construction, it can be provided that one control unit 120a in one of the lifting devices assumes a leading role by means of a handshake between the control units in order to achieve optimal positioning of the two lifting devices 110 under the motor vehicle 1. Fig. Figures 4A to 4C show four independent robot units, i.e., mobile lifting devices 210, according to a further embodiment, each of which is able to position itself freely in space by means of suitable wheel kinematics. Instead of the scissor lift mechanism, linear actuators 216 are provided here, which take over the lifting of the vehicle. These actuators can be electrical, hydraulic, or pneumatic. The energy and / or media supply can be internal or external, for example via cables or inductive loops in a workshop. The coordination of the four mobile lifting devices 210 from Fig. 4A to 4C can also be centrally controlled by a control unit 220 in one of the mobile lifting devices 210, also by means of synchronization ("handshake").

[0026] Finally, they show Fig. 5A to Fig. 5C a further embodiment as a modification of the mobile lifting device 210 from Fig. 4A to Fig. 4C in the form of a circular mobile lifting device 310. Fig. 5D shows that each mobile lifting device 310 has a circular base body 312. The units have two active drive wheels 314a, enabling free movement of the surface. Two other wheels 314b are passive. Such a robotic system is, for example, from the company Kiva Systems. ® known. A spindle 316 is provided centrally as a lifting mechanism. The lifting mechanism is actuated by rotation around its own axis. The lifting mechanism engages at defined force application points on the underbody of the vehicle, as shown here in Fig. 5D (not shown) detection devices 18a, 18b, 18c and through external information regarding the motor vehicle. Reference symbol list 1 motor vehicle, object 10; 110; 210; 310 mobile lifting device 12; 112a, 112b; 212; 312 Basic body 14a, 14b; 114a, 114b, 114c, 114d; 314a, 314b Wheels 16; 116; 216; 316 lifting mechanisms 16o; 116o; 216o; 316o contact areas 18a Camera 18b Laser 18c inductively operating detection device 20; 120a, 120b; 220; 320 Control devices 22 Receiving equipment 24 external facilities 26 Transmitting device

Claims

[1] Mobile lifting device (110) for lifting a motor vehicle (1), wherein the mobile lifting device (110) comprises means for moving (114a, 114b, 114c, 114d) the mobile lifting device (110), and a control device (120) which causes the lifting device to move automatically under a structure of the motor vehicle (1) in response to information relating to the motor vehicle (1), using its means for moving (114a, 114b, 114c, 114d) in order to lift the motor vehicle, characterized by at least two base bodies (112a; 112b), with independent means for movement (114a, 114b, 114c, 114d), and wherein these base bodies (112a; 112b) equipped with the respective means for movement (114a, 114b, 114c, 114d) jointly carry a lifting mechanism (116). [2] Mobile lifting device (110) according to claim 1, characterized by, that the base bodies (112a, 112b) of the mobile lifting device (110) carry a lifting mechanism (116) with a contact area (116o) and thus bring the contact area (116o) of the lifting mechanism (116) of the mobile lifting device (110) onto or into a support structure of the motor vehicle (1) and control the lifting mechanism (116) in such a way that the motor vehicle (1) is lifted via its contact with the contact area (116o) of the lifting mechanism (116). [3] Mobile lifting device (110) according to one of claims 1 or 2, characterized by at least a recording device (18a, 18b, 18c) for recording information relating to the motor vehicle (1) and / or a receiving device (22) for receiving information relating to the motor vehicle (1) from an external recording device (24) or from the motor vehicle itself. [4] Mobile lifting device (110), according to one of claims 1 to 3, characterized bya transmitting device (26) for transmitting information relating to the motor vehicle (1) to another lifting device, in particular a mobile lifting device. [5] Mobile lifting device (110), according to any one of the preceding claims, characterized by a lifting mechanism (116) in the form of a scissor lift mechanism. [6] Mobile lifting device (110), according to one of the preceding claims, characterized by Means for aligning the mobile lifting device under the motor vehicle (1). [7] Method for lifting a motor vehicle (1), wherein the motor vehicle (1) is brought into the vicinity of a mobile lifting device (110) according to one of the preceding claims, so that the latter moves automatically under the floor of the motor vehicle (1) and the motor vehicle (1) is lifted or a contribution is made to lifting the motor vehicle (1) by means of a lifting mechanism (116) of the mobile lifting device (110) which is automatically controlled by the control unit (120) of the mobile lifting device. [8] Method according to claim 7, characterized by , that a plurality of mobile lifting devices (110) with lifting mechanism (116) each move towards different parts of the motor vehicle (1) and that the motor vehicle (1) is lifted by means of all lifting mechanisms (116) of the mobile lifting devices (110) together. [9] Method according to claim 8, characterized by, that at least some of the mobile lifting devices (110) exchange signals with each other in order to optimize the positioning under the floor of the motor vehicle (1).

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