• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a conveyor for moving four-wheeled vehicles, comprising a frame (2, 3) provided with retractable extensions (23, 24, 32, 34) movable between a position in which they allow the displacement of said chassis under the vehicle, and a position in which they come into contact with the treads of said wheels, said frame (2, 3) is telescopic and comprises two segments (2, 3) each carrying a pair of arms (25, 35), - at least one of the pairs of arms (25, 35) being articulated to allow movement between a position perpendicular to the longitudinal axis of the chassis with an extension at least equal to the vehicle track, and a folded position to occupy a width less than the distance between the inner flanks of the vehicle wheels, - said segments (2, 3) being movable between a position where the arms are not in contact with the wheels, and a position where each arm (23, 2 4, 32, 34) comes into contact with the tread of one of said wheels, to ensure the recovery or removal of the vehicle.
    公开号:FR3036349A1
    申请号:FR1554528
    申请日:2015-05-20
    公开日:2016-11-25
    发明作者:Clement Boussard；Aurelien Cord
    申请人:Stanley Robotics SAS；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to the field of mobile conveyors intended for the movement of a four-wheeled vehicle, in particular - but not exclusively - for the automatic parking of vehicles or the movement of motor vehicles during manufacture.
    [0002] Such conveyors generally comprise a mobile frame equipped with a pair of forks which are slid under the vehicle and then raised so that the wheels of vehicles do not come into contact with the ground. The conveyor can then move the vehicle to a new location where it is deposited by lowering and removing the forks. State of the art It is known in the state of the art European patent EP2614198 describing a device for storing a motor vehicle, able to move transversely to its longitudinal axis on a storage site. This driverless device includes a motorized chassis that is parallel to the longitudinal axis of the vehicle. A pair of forks are moved horizontally to pass one side of the vehicle wheels.
    [0003] Also known is German Patent DE4216457 describing a mobile conveyor for lifting a vehicle by moving arms horizontally and vertically. Two of these arms form a pair of wheel support brackets. Each pair of arms has rotatable support rollers 3036349 -2 which engage wheels under mutual opposition when the support arms are moved horizontally. European Patent EP0292537 describes a device for transporting vehicles to a parking place without the intervention of a driver and without rolling the vehicle. This prior art transport device comprises eight lift blocks which are intended to be placed in pairs on both sides of a respective vehicle wheel. Lifting blocks are provided for lifting all the wheels of said vehicle. Each of the lifting blocks comprises a roller device or the like which is intended to slide on the ground when the vehicle is in a raised position. The lift blocks may be moved to a position adjacent one of the wheels of a vehicle so that the two lift blocks in each of the respective pairs of blocks are located on both sides of the vehicle wheels. US Patent US7736113 discloses a vehicle transport apparatus for parking systems. It includes a first platform on which a vehicle is placed, a second platform provided in a parking space and a pair of transport devices that move between the first platform and the second platform. Each transport device comprises a main frame and a pair of arms pivotally mounted on each of the opposite sides of the main frame and a hydraulic device rotating the arms. The arms lift the wheels when they are out of the main frame and the transport devices carry the vehicle lifted by the arms from one platform to the other platform. Patent EP0735215 describes another example of a vehicle transfer system. The wheel support members 3036349 -3 consist of a shaft and a tubular member which is rotatably attached to the outside of the shaft via bearings. The wheel support members are brought into contact with the wheels of a vehicle from both sides to keep the wheels in a tight state. The wheel support elements are able to be placed under the wheels since the tubular elements can turn when they come into contact with the wheels, and thus ensure a reliable maintenance. Disadvantages of the prior art The side loading solution such as that described in patent EP2614198 requires a large space on the side of the vehicle to allow the approach of the transport device, its positioning parallel to the vehicle and the actuation of the forks lifting the vehicle.
    [0004] The other solutions, for example that proposed by the patent EP0292537, require the prior lifting of the vehicle, before positioning on the transport device. These prior art solutions are therefore not suitable for driverless travel of a four-wheeled vehicle in a simple, robust and reliable manner. SUMMARY OF THE INVENTION In order to meet these drawbacks, the present invention relates, in its most general sense, to a conveyor for moving four-wheeled vehicles, comprising a frame provided with arms movable between a position in which they allow the moving said chassis under the vehicle, and a position in which they come into contact with the treads of said wheels, characterized in that said frame is telescopic and comprises two segments 30 each carrying a pair of arms, 3036349 -4 - the at least one pair of arms being articulated to allow movement between a position perpendicular to the longitudinal axis of the chassis with an extension at least equal to the vehicle track, and a folded position to occupy a width less than the distance between between the inner flanks of the vehicle wheels, - said segments being movable between a position where the s arms are not in contact with the wheels, and a position where each arm comes into contact with the tread of one of said wheels, to ensure the recovery or removal of the vehicle. The height of the chassis and the elements that it supports, for the part intended to be engaged under the vehicle to be transported, is determined to be less than the ground clearance of the vehicle. According to a first variant, said pair of articulated arms is transversely movable. According to a second variant, said pair of articulated arms is pivotally movable.
    [0005] According to a first embodiment, said raising of the vehicle is ensured by the interaction, on each side of the vehicle, between the rear arm and the rear of the tread area of the rear wheel of a vehicle. part, and between the front arm with the front of the area of the tread 25 of the front wheel on the other hand. The term "rear" means, within the meaning of this patent, according to the direction of normal movement of the conveyor. When the vehicle is loaded "upside down" the front wheels of the vehicle will be referred to as "rear wheels" within the meaning of this patent. According to a second embodiment, said raising of the vehicle is ensured by the interaction, on each side of the vehicle, between the rear arm with the front of the tread area of the rear wheel of the vehicle. on the one hand, and between the front arm with the rear of the tread area of the front wheel on the other hand. According to a third mode of implementation, said raising of the vehicle is ensured by the interaction between one of said arms with one of the tread parts of a wheel and an additional arm coming into contact with a wheel. opposite part of the tread of the same wheel. The invention also relates to an automatic parking system comprising at least one conveyor for moving four-wheeled vehicles, comprising a frame 15 provided with movable arms between a position in which they allow the displacement of said chassis under the vehicle, and a position in which they come into contact with the treads of said wheels, characterized in that said frame is telescopic and comprises two segments 20 each carrying a pair of arms, - at least one pair of arms being articulated to allow movement between a position perpendicular to the longitudinal axis of the chassis with an extension at least equal to the vehicle track, and a folded position to occupy a width less than the distance between the inner flanks of the vehicle wheels, - said segments being movable between a position where the arms are not in contact with the wheels, and a position where each an arm comes into contact with the tread of one of said wheels, for raising or removing the vehicle. Advantageously, said automatic parking system according to the preceding claim characterized in that it comprises a computer for controlling the movement of the conveyor under the chassis of a vehicle, by a displacement of said conveyor 5 along the longitudinal axis of said vehicle, then raising the vehicle by moving said conveyor segments and arms, then moving the conveyor to a destination location, then releasing the vehicle by moving the arms and removing the conveyor by a displacement according to the longitudinal axis of the vehicle. DETAILED DESCRIPTION OF NON-LIMITATIVE EXAMPLES OF THE INVENTION The present invention will be better understood on reading the description which follows, with reference to nonlimiting examples of embodiment illustrated by the attached drawings, in which: FIG. schematic perspective view of a conveyor according to an exemplary embodiment of the invention - Figures 2 to 8 show schematic views of the vehicle and the conveyor at successive stages of loading. - Figure 9 shows a bottom view of a conveyor according to the invention. FIG. 1 represents a perspective view of an exemplary conveyor according to the invention. It comprises a front block (1) 25 enclosing a motor driving a single steering wheel (alternatively, it is possible to provide two steering wheels). This front block (1) also contains the electronic circuits and a computer ensuring the autonomous guidance of the conveyor. This front block (1) is surmounted by a wide-angle laser rangefinder (10) providing real-time information to the calculator. 3036349 -7 This front block (1) is extended towards the rear by a telescopic arm (2). A retractable part (3) of this arm is actuated by a cylinder or a linear actuator, for example auger.
    [0006] The first segment of the arm (2) has a front transverse arm (25) which is fixed and which supports two fixed extensions (21, 22), as well as two retractable extensions (23, 24), movable in rotation with respect to pivots (26, 27). They are driven by jacks, to move between an erase position, when loading the vehicle, and a retracted position of lock, during the transport of the vehicle. In the retracted position, the spacing of the extensions (21, 23) and (22, 24) is determined to come into contact with the front and rear flanks of the tire of the vehicle 15 and by pinching to ensure the elevation thereof. For this purpose, the front extensions (21, 23) have an inclined ramp (28, 29). When the extensions (22, 23) are folded into the locking position, they block the movement of the vehicle relative to the conveyor. The rear part (3) of the arm (2) also comprises a transverse arm (35) extended by two extensions (31, 32) movable relative to pivots (36, 37). When loading the vehicle, these extensions (31, 32), as well as the extensions (21, 22), are oriented substantially longitudinally, parallel to the main axis of the arm (2). The length L of the arms (25, 35) measured between the pivots respectively (26, 27) and (36, 37) is less than V.-Lm., where: - Vrnin denotes the usual and minimum path of a car, typically 1600 millimeters 3036349 -8 - Lmin refers to the usual tire width of a car, typically 220 millimeters. The length L of the arms is therefore typically less than 1400 millimeters, and preferably of the order of 1200 millimeters.
    [0007] The length of the fixed (21, 22) and movable (23, 24), (33, 34) extensions is determined to correspond to half the width 1max corresponding to the width of a large car minus the length of the car. arm (25, 35), typically 500 millimeters for each of the extensions.
    [0008] The conveyor can thus be positioned in the axis of the vehicle to allow the passage of the arm (2) under the vehicle frame with the extensions (23, 24, 33, 34) in the folded position, oriented substantially longitudinally, until the fixed arms (28, 29) (20, 21) abut against the front wheels of the vehicle. The extension (3) of the arm (2) is moved to accommodate the wheelbase of the car to be loaded. The extensions (23, 24, 33, 34) are then moved to come in transverse position, in contact with the rear flanks of the vehicle wheels.
    [0009] The extension (3) is then driven forward to lock the wheels of the vehicle. The front block (1) comprises four ultrasound telemetry sensors (41 to 44) delivering signals according to the distance of the bumper of the vehicle.
    [0010] The front arm (25) has two force sensors (46, 47) for detecting and validating the vehicle socket, and the rear arm (35) has two short range laser sensors (48, 49). Scanning scope for the detection of wheels and obstacles 3036349 -9 The frame formed by the arm (2, 3) and the arms (25, 35) has rollers or rollers to allow rolling on the ground. 2 to 8 show schematic views of the vehicle and the conveyor at successive stages of loading Initially, as shown in FIG. 2, the conveyor is positioned correctly in front of the car which is parked on a storage place. (22, 23, 32, 33) are folded longitudinally, the laser range finder (10) provides information for controlling the positioning of the conveyor, and the short-range laser range finders (46, 47) detect the front wheels of the vehicle. conveyor s'ali on the car.
    [0011] In the next step (FIG. 3), the conveyor positions the arm (2) under the car, with a longitudinal alignment of the axis of the arm (2) and the longitudinal axis of the vehicle. The ultrasonic rangefinders (41 to 43) detect the vehicle bumper to control stopping the relative movement of the conveyor relative to the vehicle. The short range laser rangefinders (48, 49) detect the rear wheels of the vehicle. In the next step (FIG. 4), the movable rear extensions (32, 33) are retracted in a transverse position.
    [0012] The conveyor then advances until the front fixed extensions (22, 23) come into contact with the front wheels (FIG. 5). The arm (2) adjusts its length according to the length of the front overhang estimated by the ultrasonic rangefinders (41 to 44). The force sensors (46, 47) indicate that the wheels are in contact. The conveyor then adjusts (Figure 6) the length of the rear arm (3) so that the rear extensions (32, 33) 5 touch the rear wheels. The force sensors (48, 49) indicate that the wheels are in contact. The movable extensions (23, 24) clamp the front wheels and raise the car on the front and rear rollers (Figure 7), causing the vehicle to rise.
    [0013] The force sensors (48, 49) validate that the car is mounted on the rollers (Fig. 8), and the conveyor is automatically moved to take the vehicle to the target location. The laser range finder (10) detects obstacles. He stops the robot urgently if necessary.
    [0014] Figure 9 shows a bottom view of a conveyor according to the invention. The front block (1) comprises a motorized wheel (50), and two steerable stabilizing casters (51, 52). The extensions (21, 22) have at their lower surfaces rollers (60, 61), for example two parallel metal or rubberized rollers. The extensions (37, 33) have rollers (70, 71), for example two parallel metal or rubberized rollers. 25
    权利要求:
    Claims (8)
    [0001]
    CLAIMS1 - Conveyor for moving four-wheeled vehicles, comprising a frame (2, 3) provided with retractable extensions (23, 24, 32, 34) movable between a position in which they allow the displacement of said frame under the vehicle, and a position in which they come into contact with the treads of said wheels, characterized in that said frame (2, 3) is telescopic and comprises two segments (2, 3) each carrying a pair of arms (25, 35), at least one pair of arms (25, 35) being articulated to allow a displacement between a position perpendicular to the longitudinal axis of the chassis with an extension at least equal to the vehicle track, and a folded position to occupy a width less than the distance between the inner flanks of the vehicle wheels, - said segments (2, 3) being movable between a position where the arms are not in contact with the wheels, and a position where each arm (23, 24, 32, 34) comes into contact with the tread of one of said wheels, to ensure the recovery or removal of the vehicle.
    [0002]
    2 - Conveyor according to claim 1 characterized in that said pair of articulated arm (25, 3 (° is movable 25 transversely.
    [0003]
    3 - Conveyor according to claim 1 characterized in that said pair of articulated arm (25, 35) is movable by pivoting extensions (23, 24, 32, 34).
    [0004]
    4 - Conveyor according to at least one of claims 1 to 3 characterized in that said raising of the vehicle is provided by the interaction on each side of the vehicle between the rear arm 3036349 with the rear of the vehicle. tread area of the rear wheel on the one hand, and between the front arm with the front of the tread area of the front wheel on the other hand. 5
    [0005]
    5 - Conveyor according to at least one of claims 1 to 3 characterized in that said raising of the vehicle is provided by the interaction, on each side of the vehicle, between the rear arm with the front of the zone of the band of bearing the rear wheel on the one hand, and between the front arm with the rear 10 of the tread area of the front wheel on the other hand.
    [0006]
    6 - Conveyor according to at least one of claims 1 to 3 characterized in that said raising of the vehicle is provided by the interaction between one of said arm with one of 15 parts of the tread of a wheel and an additional arm contacting an opposite portion of the tread of the same wheel.
    [0007]
    7 - Automatic parking system comprising at least one conveyor for moving four-wheeled vehicles, comprising a frame provided with movable arms between a position in which they allow the movement of said frame under the vehicle, and a position in which they come in contact with the treads of said wheels, characterized in that said frame is telescopic and comprises two segments each carrying a pair of arms, at least one pair of arms being articulated to allow movement between a position perpendicular to the longitudinal axis of the chassis with an extension at least equal to the vehicle track, and a folded position to occupy a width less than the distance between the inner flanks of the vehicle wheels, said segments being movable between a position where the arms are not in contact with the wheels, and a position where each arm comes into contact with c the tread of one of said wheels, to ensure the recovery or removal of the vehicle.
    [0008]
    8 - Automatic parking system according to the preceding claim characterized in that it comprises a computer for controlling the movement of the conveyor under the chassis of a vehicle, by a displacement of said conveyor along the longitudinal axis of said vehicle, then the bearing of the vehicle by moving said conveyor segments and arms, then moving the conveyor to a destination location, then releasing the vehicle by moving the arms and withdrawing the conveyor by a displacement along the longitudinal axis of the conveyor. vehicle. 20 25
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    同族专利:
    公开号 | 公开日
    EP3297876B1|2021-07-07|
    EP3297876A1|2018-03-28|
    FR3036349B1|2018-03-16|
    US10590669B2|2020-03-17|
    DK3297876T3|2021-10-11|
    CN107921931A|2018-04-17|
    PL3297876T3|2021-12-13|
    WO2016189233A1|2016-12-01|
    PT3297876T|2021-09-30|
    US20180142488A1|2018-05-24|
    SI3297876T1|2021-11-30|
    ES2892959T3|2022-02-07|
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    法律状态:
    2016-05-04| PLFP| Fee payment|Year of fee payment: 2 |
    2016-11-25| PLSC| Publication of the preliminary search report|Effective date: 20161125 |
    2017-05-23| PLFP| Fee payment|Year of fee payment: 3 |
    2018-05-25| PLFP| Fee payment|Year of fee payment: 4 |
    2019-05-23| PLFP| Fee payment|Year of fee payment: 5 |
    2020-05-28| PLFP| Fee payment|Year of fee payment: 6 |
    2021-05-18| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1554528|2015-05-20|
    FR1554528A|FR3036349B1|2015-05-20|2015-05-20|MOBILE CONVEYORS FOR MOVING A 4 WHEELED VEHICLE.|FR1554528A| FR3036349B1|2015-05-20|2015-05-20|MOBILE CONVEYORS FOR MOVING A 4 WHEELED VEHICLE.|
    SI201631350T| SI3297876T1|2015-05-20|2016-05-19|Movable conveyors for moving a four-wheel vehicle|
    PT167312164T| PT3297876T|2015-05-20|2016-05-19|Movable conveyors for moving a four-wheel vehicle|
    US15/575,720| US10590669B2|2015-05-20|2016-05-19|Movable conveyors for moving a four-wheel vehicle|
    PL16731216T| PL3297876T3|2015-05-20|2016-05-19|Movable conveyors for moving a four-wheel vehicle|
    ES16731216T| ES2892959T3|2015-05-20|2016-05-19|Mobile carriers to move a four-wheeler|
    CN201680038880.9A| CN107921931A|2015-05-20|2016-05-19|For moving the portable conveyer of four-wheel car|
    PCT/FR2016/051195| WO2016189233A1|2015-05-20|2016-05-19|Movable conveyors for moving a four-wheel vehicle|
    EP16731216.4A| EP3297876B1|2015-05-20|2016-05-19|Movable conveyors for moving a four-wheel vehicle|
    DK16731216.4T| DK3297876T3|2015-05-20|2016-05-19|MOVABLE CONVEYORS INTENDED TO MOVE A FOUR-WHEEL VEHICLE|
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