EP0719368A1 - Automatic mechanized system for the storage of objects - Google Patents

Automatic mechanized system for the storage of objects

Info

Publication number
EP0719368A1
EP0719368A1 EP94926964A EP94926964A EP0719368A1 EP 0719368 A1 EP0719368 A1 EP 0719368A1 EP 94926964 A EP94926964 A EP 94926964A EP 94926964 A EP94926964 A EP 94926964A EP 0719368 A1 EP0719368 A1 EP 0719368A1
Authority
EP
European Patent Office
Prior art keywords
carriage
cell
storage
cells
trolley
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP94926964A
Other languages
German (de)
French (fr)
Other versions
EP0719368B1 (en
Inventor
Simon Ebstein
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0719368A1 publication Critical patent/EP0719368A1/en
Application granted granted Critical
Publication of EP0719368B1 publication Critical patent/EP0719368B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D47/00—Loading or unloading devices combined with vehicles, e.g. loading platforms, doors convertible into loading and unloading ramps
    • B61D47/005—Loading or unloading devices combined with road vehicles carrying wagons, e.g. ramps, turntables, lifting means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/307—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using comb-type transfer means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies

Definitions

  • the present invention relates to a mechanized installation with automated management for the storage of objects such as motor vehicles or containers, of the type comprising an autonomous trolley for transporting the object along a circulation track, and cells storage on either side of the circulation track in which the carriage unloads the transported object.
  • a trolley comprising a chassis on wheels is provided with autonomous drive means, guide means and switching means adapted to allow the trolley to be moved along the circulation track and to cause it respectively to enter the storage cells.
  • the carriage is equipped with loading and unloading means capable of gripping and depositing an object when the carriage is placed inside a cell, these means cooperating with two fixed longitudinal racks arranged opposite and formed, each, of horizontal, parallel and spaced fixed bars, these racks being arranged for delimit a free central space between the ends of the fixed bars, all thanks to the central management unit which is capable of managing the operation of each carriage and the actuation of the loading and unloading means.
  • the main object of the invention is to provide a mechanized installation for storing objects whose number of parking spaces relative to the surface is maximum.
  • Another object of the invention is to provide a mechanized installation for storing motor vehicles in which the width of the traffic lane necessary for the vehicle transport trolley is reduced to that of the trolley.
  • the object of the invention is a mechanized installation with automated management for the storage of objects such as motor vehicles or containers, of the type described above with reference to patent 90/15547, but in which the storage cells are arranged so that they are oriented longitudinally at an angle between 30 * and 60 * relative to the circulation track, and the trolley has a pivoting means for pivoting the trolley moving on the runway around the point of intersection between the axis of symmetry of the runway and the axis of symmetry of the cell in which the object is to be loaded or unloaded so as to bring the means for guiding the carriage along the axis of symmetry of the cell to allow the carriage to enter it and to load or unload the object.
  • the pivoting means comprises a vertical element without contact with the ground when the carriage moves and which can be lowered and bear on the ground at the intersection of the circulation track and the axis of symmetry of the cell in which the object is to be loaded or unloaded, and a drive means which pivots the carriage around the pivoting element so as to bring the means for guiding the carriage along the axis of symmetry of the cell to allow the carriage to penetrate into it and to load or unload the object.
  • FIG. 1 schematically represents a parking lot implementing a preferred embodiment of 1
  • FIG. 2 represents a side view of a trolley transporting a motor vehicle in an installation according to the present invention
  • FIG. 3 represents a bottom view of a trolley used in the installation according to the present invention
  • FIG. 4 is a schematic view of the front of a trolley with its movable part in the low position
  • FIG. 5 is a schematic view of the front of a trolley located inside a storage cell, with its movable part in the high position
  • FIG. 6 schematically shows the pivoting movement carried out by a carriage before entering a storage cell
  • FIG. 7 illustrates the advantage provided by the pivoting movement of a carriage used in an installation according to the invention, compared with the movement of the carriage according to the prior art.
  • FIG. 1 represents a parking lot for motor vehicles implementing the invention.
  • two elevators or hoists 10 and 12 were shown. Obviously these elevators are only simple entry-exit airlocks if the park has only one floor.
  • On the first circulation track 14 is a carriage 18 having loaded a motor vehicle mounted (or lowered) by the elevator 10 or having just unloaded a motor vehicle in one of the storage cells arranged at an angle of 45 ° relative to the circulation track, for example the cell 20 shown as containing a vehicle in the figure.
  • the second circulation track materialized by the guide rail 16 also has a vehicle transport carriage.
  • This carriage 22 has been shown in the loading or unloading position in one of the two storage cells 24 or 26.
  • the carriage 20 moves thanks to a guide rail.
  • Arrived at the right of the designated cell 24 or 26, that is to say when the center of the carriage which includes a pivoting element, is at the intersection of the guide rail 16 of the circulation track and the guide rail 28 located at the axis of symmetry of the cell (making an angle of 45 * with respect to the runway 16) the carriage is forced to pivot on itself by means of the pivoting element resting on the ground.
  • the pivoting is complete, the carriage is in the position shown in the figure in which the carriage is guided along the guide rail 28. It is then set in motion to enter the storage cell 24 or 26 so as to load or unload a motor vehicle.
  • each carriage comprises a chassis 30 supported by 4 supporting wheels mounted idly, two of which are , 32 and 34, have been shown in FIG. 2.
  • the chassis 30 is seen in a particular shape with a narrow central part and 4 side members each carrying the 4 wheels crazy climbs 32, 34, 36 and 38
  • the carriage also has two drive wheels 40 and 42 mounted on axles 44 and 46.
  • the drive wheels 40 and 42 are driven in front or rear rotation by means of a motor 48.
  • the carriage also includes a mobile support 50 carried by two jacks 52 and 54 arranged vertically on the chassis 30. As can be seen more clearly in FIG. 4 representing the carriage seen from the front, this support consists of a central structure longitudinal 56 and two series of parallel and spaced horizontal bars 58, extending orthogonally on either side of the central structure 56.
  • the carriage also has, under each of the front and rear parts of the chassis 30, a guide roller Rubber 60 arranged to move in a guide rail 14 or 16 (see Figure 1).
  • the guide roller 60 is controlled by means of a jack 62 or 6. When the carriage moves thanks to its drive wheels 40 and 42 driven by the motor 48, it remains in the center of the circulation track thanks to the guide roller 60 in the low position in the guide rail 14 or 16.
  • the guide rollers are raised above the ground by means of the jacks 62 and 64, so that the carriage can pivot.
  • the guide rollers are lowered into the guide rails, for example the rail 28 in FIG. 1, from the cell in order to be able to move the carriage forwards or backwards inside one of the cells.
  • the loading and unloading system of the invention is identical to that described in French patent 90/15547. In this system, each storage cell represented in FIG.
  • each elevator if there is one except if the park has only one floor
  • the motor vehicle at the entrance is placed on the bars of the racks 70 and 70 '.
  • the movable part of the carriage comprising the structure 56 and the bars 58 is raised in the high position as shown in FIG. 5 so that the bars 58 taking the place of the bars 70 and 70 'raise the motor vehicle using the jack 52.
  • the carriage is then removed from the airlock or the elevator in order to be able to go to the designated cell.
  • the mobile part of the carriage (and its vehicle) is returned to the high position if it was in the low position and the carriage is forced to pivot so that the guide roller is placed in the cell guide rail. It is then moved to the bottom of the cell to its unloading position. The movable part is lowered again so that the vehicle is now supported by the bars 70 and 70 'fixed to the bulkheads of the cell, because the bars 58 of the carriage passing through the bars 70 and 70' are at a level lower than these.
  • the installation includes detection means such as transmitter-receiver cells suitable for 1) stopping the carriage once it has arrived at
  • All the transmitting and receiving cells in the car park are controlled by a programmed central management unit.
  • the function of the management unit which can to be a mini-computer, is to start the trolleys as needed, and to order the transmitter-receiver cells corresponding to the storage cell in which a vehicle is to be loaded or unloaded.
  • Most of the movements of the carriage are controlled directly from the carriage, ie the actuation of the jacks, the pivoting, the front or rear movement. In fact all these movements follow one another as soon as the previous movement is finished.
  • the loading operations are controlled in the same way by the transmitter-receiver cells and are very similar to the above operations, except that the mobile part of the trolley must be in the low position in the storage cell so that the bars 58 are located at a level below bars 70 and 70 ′ of the cell supporting the vehicle to be loaded.
  • the management unit can also manage, thanks to the transmitter-receiver cells, the occupation of the storage cells.
  • the management unit will be able to know the empty cells to be allocated and in particular the one which is closest to the entry-exit so as to minimize the entry or exit time of the vehicle.
  • each carriage has a pivoting element located in its center.
  • This pivoting element 72 represented diagrammatically by a circle in FIG. 6 and also in FIG. 3 is an element of cylindrical shape actuated by a jack (not shown) so as to retract it in the high position or on the contrary bring it down to take ground support.
  • the carriage When the carriage has arrived at a location such that its center is plumb with the intersection between the guide rail 14 of the traffic lane and the cell guide rail 28, this is automatically detected by means of detection such as a cell as mentioned previously, and the carriage is stopped.
  • the cylinder is actuated to lower the pivot element to the ground.
  • the lower part of the element can for example have a diameter greater than the width of the rail and the end of the element can be conical so that the element comes to engage slightly in the intersection of the two rails.
  • the carriage thus fixed to the ground, the carriage motor is then actuated so as to drive the right wheel 40 in rotation towards the front and the left wheel 42 in rotation towards the rear.
  • the cells are arranged at 45 ° relative to the circulation track, it is possible to have a lower angle, for example 35 ′, or an angle 55 * higher, for example.
  • the angle of 45 * is optimal in the sense that it allows a ratio of the number of locations relative to the surface to be maximum.
  • the partitions of the cells can delimit a circulation path of minimum width without interfering with the pivoting of the cart.
  • the width L of the traffic lane need only be around 2.70 m.
  • the area lost at the end of the cells is not very large.
  • an angle of less than 45 * for example 30 *
  • the width of the taxiway remains minimal but the area lost due to the inclination becomes larger and larger.
  • an angle greater than 45 * for example 60 *
  • the area lost is smaller over the length of the cells, but the circulation track must have a width L greater than the width of the carriages so as not to prevent the carriages from pivoting.
  • the need not to have the partitions of the cells too close to the runway is due to the fact that the carriage has a length which is more than twice its width, for example 5.50m if we want to be able to transport any type of motor vehicle.
  • the installation which has just been described comprises two independent circulation tracks served by two trolleys and two elevators or hoists if the installation comprises several floors or two airlocks if the installation comprises only one level.
  • the carriage can pivot around its center, until it makes an angle of 180 * or even turns entirely on itself, there could be only one circulation track of rectangular shape and serving all storage cells. In this case, only one cart could be used although this solution would be ineffective.
  • the entrance airlock (s) or elevators
  • a single entry airlock or elevator could serve the two traffic lanes shown in Figure 1.
  • an optimal installation allowing a great speed of loading and unloading of the vehicles is an installation comprising two airlocks of entry or exit (or two elevators if it is on the floor) and two trolleys. While a first vehicle is picked up at one of the airlocks (called exit), a second vehicle enters the other airlock (said entry), a third vehicle is in loading in a storage cell using the first cart and a fourth vehicle is being unloaded from another cell using the second truck.
  • the arrangement of the parking lot illustrated in FIG. 1 in which pairs of storage cells are in line with one another on each side of the circulation track makes it possible to have a single guide rail for at least two cells (for four cells in the installation illustrated in FIG. 1).
  • this arrangement allows the trolley to be used to unload a vehicle in a storage cell, then to load the vehicle located in the cell opposite, without the need to pivot.
  • the installation which has just been described may contain only around forty vehicles per floor, which would make it possible to rationalize the management system.
  • Such 11 mini-car parks "whose management would be ensured by independent computers, can be juxtaposed with each other, both in the direction of the length and in the direction of the width, thus making it possible in the event of breakdown, to replace a one-story trolley by the one in the next mini-car park or to get vehicles out of it by the next mini-car park. motorists to park near where they want to go.
  • the jack and rack system can be installed directly on trucks.
  • the transport trolley is at the height of trucks or intermediate vehicles, or preferably hoists which are placed at the height of trucks or intermediate vehicles, and which can be used both to bring or collect containers using the trolley, as well as to serve the different storage floors (ground floor included).
  • the jacks are not essential if fixed racks are installed at a certain height (allowing the carriage to pass) on the walls of the intermediate vehicles. However, this arrangement is not advantageous since it reduces the loading volume available on the intermediate vehicle.
  • the above application can be very useful in the storage of goods arriving by road or by rail in warehouses located in the center of major cities.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Electric Motors In General (AREA)
  • Braking Arrangements (AREA)
  • Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
  • Vehicle Step Arrangements And Article Storage (AREA)
  • Automatic Disk Changers (AREA)
  • Refuse Collection And Transfer (AREA)
  • Container Filling Or Packaging Operations (AREA)

Abstract

PCT No. PCT/FR94/01057 Sec. 371 Date Mar. 13, 1996 Sec. 102(e) Date Mar. 13, 1996 PCT Filed Sep. 8, 1994 PCT Pub. No. WO95/08037 PCT Pub. Date Mar. 23, 1995Mechanized and fully automatically managed installation for the storage of objects, in particular motor vehicles or containers, including a central managing unit, at least one runway (14) or (16), storage cells (24), (26) distributed on each side of the runway and longitudinally orientated, at an angle of between 30 DEG and 60 DEG with the runway, at least one trolley (18), (22) comprising a wheeled frame fitted with an independent driving device and with guiding devices to enable the trolley to move along the runway and into the storage cells. The trolley includes a pivoting device, to be pivoted around the intersection point of the symmetry axis (16) of the runway and the symmetry axis (28) of the cell in which the motor vehicle has to be loaded or unloaded, so as to bring the guiding devices along said symmetry axis of the cell so the trolley can enter it and proceed with the loading or unloading of the vehicle.

Description

Installation mécanisée automatique de stockage d'objets Mechanized automatic object storage facility
Domaine techniqueTechnical area
La présente invention concerne une installation mécanisée à gestion automatisée pour le stockage d'objets tels que des véhicules automobiles ou des conteneurs, du type comportant un chariot autonome pour le transport de l'objet le long d'une piste de circulation, et des cellules de rangement de part et d'autre de la piste de circulation dans lesquelles le chariot vient décharger l'objet transporté.The present invention relates to a mechanized installation with automated management for the storage of objects such as motor vehicles or containers, of the type comprising an autonomous trolley for transporting the object along a circulation track, and cells storage on either side of the circulation track in which the carriage unloads the transported object.
Etat de la techniqueState of the art
Il existe actuellement de nombreuses conceptions de parcs de stationnement automatisés dans lesquels les véhicules automobiles sont convoyés sans occupant d'une aire d'entrée vers une cellule de rangement, puis amenés à la demande jusqu'à une aire de sortie où le propriétaire reprend possession de son véhicule- Cette technique est particulièrement décrite dans le brevet français 90/15547 qui a trait à une installation mécanisée pour le stockage de véhicules automobiles comportant une unité centrale de gestion, une piste de circulation formant un circuit fermé doté de deux couloirs longitudinaux de circulation et de cellules de rangement réparties suivant un angle de 45* de part et d'autre de chaque couloir de circulation de façon à ce que les deux rangées disposées entre les couloirs soient juxtaposées.There are currently many designs for automated parking lots in which motor vehicles are conveyed without occupying an entry area to a storage cell, then brought on demand to an exit area where the owner takes possession This technique is particularly described in French patent 90/15547 which relates to a mechanized installation for the storage of motor vehicles comprising a central management unit, a circulation track forming a closed circuit provided with two longitudinal corridors of circulation and storage cells distributed at an angle of 45 * on either side of each circulation corridor so that the two rows arranged between the corridors are juxtaposed.
Un chariot comportant un châssis sur roues est doté de moyens d'entraînement autonomes, de moyens de guidage et de moyens d'aiguillage adaptés pour permettre de déplacer le chariot le long de la piste de circulation et de 1'amener respectivement à pénétrer dans les cellules de rangement. Le chariot est équipé de moyens de chargement et de déchargement aptes à saisir et déposer un objet lorsque le chariot est disposé à l'intérieur d'une cellule, ces moyens coopérant avec deux râteliers fixes longitudinaux disposés en vis-à-vis et constitués, chacun, de barres fixes horizontales, parallèles et espacées, ces râteliers étant agencés pour délimiter un espace central libre entre les extrémités des barres fixes, le tout grâce à l'unité centrale de gestion qui est apte à gérer le fonctionnement de chaque chariot et 1'actionnement des moyens de chargement et de déchargemen . Bien que 1'installation décrite ci-dessus constitue une amélioration importante par rapport aux systèmes antérieurs du fait que l'autonomie des chariots se déplaçant facilement grâce à des moyens de guidage et la disposition des cellules de rangement en épis, permettent un gain de places de stationnement par rapport aux systèmes antérieurs, des cycles de stockage et retrait très courts et une énergie nécessaire réduite, une telle installation ne permet pas un rangement optimal du nombre de véhicules pour une surface donnée du fait qu'il est nécessaire de disposer d'une piste de circulation relativement large permettant au chariot de tourner lorsqu'il est introduit dans une cellule pour y décharger ou charger un véhicule.A trolley comprising a chassis on wheels is provided with autonomous drive means, guide means and switching means adapted to allow the trolley to be moved along the circulation track and to cause it respectively to enter the storage cells. The carriage is equipped with loading and unloading means capable of gripping and depositing an object when the carriage is placed inside a cell, these means cooperating with two fixed longitudinal racks arranged opposite and formed, each, of horizontal, parallel and spaced fixed bars, these racks being arranged for delimit a free central space between the ends of the fixed bars, all thanks to the central management unit which is capable of managing the operation of each carriage and the actuation of the loading and unloading means. Although the installation described above constitutes a significant improvement compared to the previous systems, the fact that the autonomy of the carriages moving easily thanks to guide means and the arrangement of the storage cells in spikes, allow a saving of places parking compared to previous systems, very short storage and removal cycles and reduced energy required, such an installation does not allow optimal storage of the number of vehicles for a given area because it is necessary to have a relatively wide circulation track allowing the trolley to turn when it is introduced into a cell to unload or load a vehicle there.
Exposé de l'invention C'est pourquoi le but principal de l'invention est de réaliser une installation mécanisée de stockage d'objets dont le nombre de places de stationnement par rapport à la surface est maximum.Disclosure of the invention This is why the main object of the invention is to provide a mechanized installation for storing objects whose number of parking spaces relative to the surface is maximum.
Un autre but de 1'invention est de réaliser une installation mécanisée de stockage de véhicules automobiles dans laquelle la largeur de la piste de circulation nécessaire au chariot de transport des véhicules est réduite à celle du chariot.Another object of the invention is to provide a mechanized installation for storing motor vehicles in which the width of the traffic lane necessary for the vehicle transport trolley is reduced to that of the trolley.
Par conséquent, l'objet de l'invention est une installation mécanisée à gestion automatisée pour le stockage d'objets tels que des véhicules automobiles ou des conteneurs, du type décrit ci-dessus en référence au brevet 90/15547, mais dans laquelle les cellules de rangement sont disposées de telle sorte qu'elles sont orientées longitudinalement selon un angle compris entre 30* et 60* par rapport à la piste de circulation, et le chariot dispose d'un moyen de pivotement pour faire pivoter le chariot se déplaçant sur la piste de circulation autour du point d'intersection entre l'axe de symétrie de la piste de circulation et l'axe de symétrie de la cellule dans laquelle doit être chargé ou déchargé l'objet de manière à amener les moyens de guidage du chariot le long de 1'axe de symétrie de la cellule pour faire pénétrer le chariot dans celle-ci et procéder au chargement ou au déchargement de l'objet.Consequently, the object of the invention is a mechanized installation with automated management for the storage of objects such as motor vehicles or containers, of the type described above with reference to patent 90/15547, but in which the storage cells are arranged so that they are oriented longitudinally at an angle between 30 * and 60 * relative to the circulation track, and the trolley has a pivoting means for pivoting the trolley moving on the runway around the point of intersection between the axis of symmetry of the runway and the axis of symmetry of the cell in which the object is to be loaded or unloaded so as to bring the means for guiding the carriage along the axis of symmetry of the cell to allow the carriage to enter it and to load or unload the object.
Selon un autre objet de l'invention, le moyen de pivotement comprend un élément vertical sans contact avec le sol lorsque le chariot se déplace et pouvant être abaissé et prendre appui au sol à l'intersection de la piste de circulation et de 1'axe de symétrie de la cellule dans laquelle doit être chargé ou déchargé l'objet, et un moyen d'entraînement faisant pivoter le chariot autour de 1'élément de pivotement de manière à amener les moyens de guidage du chariot le long de l'axe de symétrie de la cellule pour y faire pénétrer le chariot et procéder au chargement ou au déchargement de 1'objet.According to another object of the invention, the pivoting means comprises a vertical element without contact with the ground when the carriage moves and which can be lowered and bear on the ground at the intersection of the circulation track and the axis of symmetry of the cell in which the object is to be loaded or unloaded, and a drive means which pivots the carriage around the pivoting element so as to bring the means for guiding the carriage along the axis of symmetry of the cell to allow the carriage to penetrate into it and to load or unload the object.
Brève description des dessins Les buts, objets et caractéristiques de l'invention apparaîtront plus clairement à la lecture de la description suivante faite en référence aux dessins dans lesquels la figure 1 représente schématiquement un parc de stationnement mettant en œuvre un mode de réalisation préféré de 1'invention la figure 2 représente une vue de côté d'un chariot transportant un véhicule automobile dans une installation selon la présente invention, la figure 3 représente une vue de dessous d'un chariot utilisé dans 1'installation selon la présente invention, la figure 4 est une vue schématique de 1'avant d'un chariot avec sa partie mobile en position basse, la figure 5 est une vue schématique de 1'avant d'un chariot se trouvant à l'intérieur d'une cellule de rangement, avec sa partie mobile en position haute, la figure 6 montre de façon schématique le mouvement de pivotement effectué par un chariot avant de pénétrer dans une cellule de rangement, et la figure 7 illustre 1'avantage procuré par le mouvement de pivotement d'un chariot utilisé dans une installation selon l'invention, par rapport au mouvement du chariot selon la technique antérieure.Brief description of the drawings The objects, objects and characteristics of the invention will appear more clearly on reading the following description made with reference to the drawings in which FIG. 1 schematically represents a parking lot implementing a preferred embodiment of 1 FIG. 2 represents a side view of a trolley transporting a motor vehicle in an installation according to the present invention, FIG. 3 represents a bottom view of a trolley used in the installation according to the present invention, FIG. 4 is a schematic view of the front of a trolley with its movable part in the low position, FIG. 5 is a schematic view of the front of a trolley located inside a storage cell, with its movable part in the high position, FIG. 6 schematically shows the pivoting movement carried out by a carriage before entering a storage cell, and FIG. 7 illustrates the advantage provided by the pivoting movement of a carriage used in an installation according to the invention, compared with the movement of the carriage according to the prior art.
Description détaillée de l'inventionDetailed description of the invention
La figure 1 représente un parc de stationnement de véhicules automobiles mettant en œuvre l'invention. A l'entrée du parc, deux ascenseurs ou monte-charge 10 et 12 ont été représentés. Bien évidemment ces ascenseurs ne sont que de simples sas d'entrée-sortie si le parc ne dispose que d'un étage. A la sortie de chaque ascenseur (ou de sas) se trouve une piste de circulation matérialisée par le rail de guidage 14 ou 16. Sur la première piste de circulation 14 se trouve un chariot 18 venant de charger un véhicule automobile monté (ou descendu) par 1'ascenseur 10 ou venant de décharger un véhicule automobile dans une des cellules de rangement disposées selon un angle de 45* par rapport à la piste de circulation, par exemple la cellule 20 représentée comme contenant un véhicule sur la figure.FIG. 1 represents a parking lot for motor vehicles implementing the invention. At the entrance to the park, two elevators or hoists 10 and 12 were shown. Obviously these elevators are only simple entry-exit airlocks if the park has only one floor. At the exit of each elevator (or airlock) is a circulation track materialized by the guide rail 14 or 16. On the first circulation track 14 is a carriage 18 having loaded a motor vehicle mounted (or lowered) by the elevator 10 or having just unloaded a motor vehicle in one of the storage cells arranged at an angle of 45 ° relative to the circulation track, for example the cell 20 shown as containing a vehicle in the figure.
La deuxième piste de circulation matérialisée par le rail de guidage 16 dispose également d'un chariot de transport de véhicule. Ce chariot 22 a été représenté en position de chargement ou de déchargement dans une des deux cellules de rangement 24 ou 26. Comme pour le chariot 18, le chariot 20 se déplace grâce à un rail de guidage. Arrivé au droit de la cellule désignée 24 ou 26, c'est à dire lorsque le centre du chariot qui comporte un élément de pivotement, se trouve à l'intersection du rail de guidage 16 de la piste de circulation et du rail de guidage 28 se trouvant à l'axe de symétrie de la cellule (faisant un angle de 45* par rapport à la piste de circulation 16) le chariot est forcé à pivoter sur lui-même au moyen de l'élément de pivotement prenant appui au sol. Lorsque le pivotement est achevé, le chariot se trouve dans la position représentée sur la figure dans laquelle le chariot est guidé le long du rail de guidage 28. Il est ensuite mis en mouvement pour pénétrer dans la cellule de rangement 24 ou 26 de façon à procéder au chargement ou au déchargement d'un véhicule automobile .The second circulation track materialized by the guide rail 16 also has a vehicle transport carriage. This carriage 22 has been shown in the loading or unloading position in one of the two storage cells 24 or 26. As for the carriage 18, the carriage 20 moves thanks to a guide rail. Arrived at the right of the designated cell 24 or 26, that is to say when the center of the carriage which includes a pivoting element, is at the intersection of the guide rail 16 of the circulation track and the guide rail 28 located at the axis of symmetry of the cell (making an angle of 45 * with respect to the runway 16) the carriage is forced to pivot on itself by means of the pivoting element resting on the ground. When the pivoting is complete, the carriage is in the position shown in the figure in which the carriage is guided along the guide rail 28. It is then set in motion to enter the storage cell 24 or 26 so as to load or unload a motor vehicle.
Les chariots de transport des véhicules sont représentés schématiquement sur les figures 2, 3 et 4. Comme illustré sur la figure 2 montrant un chariot vu de côté, chaque chariot comporte un châssis 30 supporté par 4 roues porteuses montées folles dont deux d'entre elles, 32 et 34, ont été montrées sur la figure 2. Si on se reporte à la figure 3 montrant le chariot vu de dessous, on voit le châssis 30 selon une forme particulière avec une partie centrale étroite et 4 longerons portant chacun les 4 roues montées folles 32, 34, 36 et 38The vehicle transport carts are shown diagrammatically in FIGS. 2, 3 and 4. As illustrated in FIG. 2 showing a carriage seen from the side, each carriage comprises a chassis 30 supported by 4 supporting wheels mounted idly, two of which are , 32 and 34, have been shown in FIG. 2. Referring to FIG. 3 showing the carriage seen from below, the chassis 30 is seen in a particular shape with a narrow central part and 4 side members each carrying the 4 wheels crazy climbs 32, 34, 36 and 38
Le chariot dispose également de deux roues motrices 40 et 42 montées sur des essieux 44 et 46. Les roues motrices 40 et 42 sont entraînées en rotation avant ou arrière au moyen d'un moteur 48.The carriage also has two drive wheels 40 and 42 mounted on axles 44 and 46. The drive wheels 40 and 42 are driven in front or rear rotation by means of a motor 48.
Le chariot comporte également un support mobile 50 porté par deux vérins 52 et 54 agencés verticalement sur le châssis 30. Comme on le voit plus nettement sur la figure 4 représentant le chariot vu de l'avant, ce support se compose d'une structure centrale longitudinale 56 et deux séries de barres horizontales parallèles et espacées 58, s'étendant orthogonalement de part et d'autre de la structure centrale 56. Le chariot dispose aussi sous chacune des parties avant et arrière du châssis 30, d'un galet de guidage 60 en caoutchouc agencé pour se déplacer dans un rail de guidage 14 ou 16 (voir figure 1). Le galet de guidage 60 est commandé à 1'aide d'un vérin 62 ou 6 . Lorsque le chariot se déplace grâce à ses roues motrices 40 et 42 entraînées par le moteur 48, il reste au centre de la piste de circulation grâce au galet de guidage 60 en position basse dans le rail de guidage 14 ou 16 . Lorsque le chariot est arrivé au droit de la cellule de rangement et que l'on procède au pivotement, les galets de guidage sont remontés au-dessus du sol à l'aide des vérins 62 et 64, de sorte que le chariot puisse pivoter. Après pivotement, lorsque le chariot se trouve dans l'alignement de l'axe de la cellule, les galets de guidage sont descendus dans les rails de guidage, par exemple le rail 28 sur la figure 1, de la cellule pour pouvoir déplacer le chariot vers l'avant ou vers l'arrière à l'intérieur d'une des cellules. Le système de chargement et de déchargement de l'invention est identique à celui décrit dans le brevet français 90/15547. Dans ce système, chaque cellule de rangement représentée sur la figure 5 par l'espace entre les cloisons 66 et 68, ainsi que chaque ascenseur s'il en existe (sauf si le parc n'a qu'un étage), comporte deux râteliers fixes 70 et 70' fixés intérieurement sur les cloisons, disposés en vis-à-vis, et constitués de barres fixes horizontales, parallèles et espacées. Ces râteliers sont adaptés pour délimiter entre les extrémités des barres, un espace central libre de largeur supérieure à celle de la structure centrale 56 du chariot.The carriage also includes a mobile support 50 carried by two jacks 52 and 54 arranged vertically on the chassis 30. As can be seen more clearly in FIG. 4 representing the carriage seen from the front, this support consists of a central structure longitudinal 56 and two series of parallel and spaced horizontal bars 58, extending orthogonally on either side of the central structure 56. The carriage also has, under each of the front and rear parts of the chassis 30, a guide roller Rubber 60 arranged to move in a guide rail 14 or 16 (see Figure 1). The guide roller 60 is controlled by means of a jack 62 or 6. When the carriage moves thanks to its drive wheels 40 and 42 driven by the motor 48, it remains in the center of the circulation track thanks to the guide roller 60 in the low position in the guide rail 14 or 16. When the carriage has arrived at the right of the storage cell and the pivoting is carried out, the guide rollers are raised above the ground by means of the jacks 62 and 64, so that the carriage can pivot. After pivoting, when the carriage is in alignment with the axis of the cell, the guide rollers are lowered into the guide rails, for example the rail 28 in FIG. 1, from the cell in order to be able to move the carriage forwards or backwards inside one of the cells. The loading and unloading system of the invention is identical to that described in French patent 90/15547. In this system, each storage cell represented in FIG. 5 by the space between the partitions 66 and 68, as well as each elevator if there is one (except if the park has only one floor), has two racks fixed 70 and 70 'fixed internally on the partitions, arranged vis-à-vis, and consisting of horizontal fixed bars, parallel and spaced. These racks are adapted to delimit between the ends of the bars, a free central space of width greater than that of the central structure 56 of the carriage.
Si le parc de stationnement ne comporte qu'un étage, il faut tout de même prévoir un sas d'entrée comportant des barres identiques aux barres 70 et 70' . Que ce soit un ascenseur ou un simple sas d'entrée, il faut prévoir une rampe d'accès à hauteur des barres pour amener le véhicule en position adéquate.If the parking lot has only one floor, it is still necessary to provide an entrance airlock with bars identical to bars 70 and 70 '. Whether it is an elevator or a simple entry airlock, an access ramp must be provided at the height of the bars to bring the vehicle to the correct position.
Le véhicule automobile se présentant à l'entrée, soit du sas d'entrée, soit de l'ascenseur, vient se placer sur les barres des râteliers 70 et 70'. A ce moment là, la partie mobile du chariot comportant la structure 56 et les barres 58 est soulevée en position haute comme représentée sur la figure 5 de façon à ce que les barres 58 prenant la place des barres 70 et 70' soulèvent le véhicule automobile à l'aide du vérin 52. Le chariot est alors sorti du sas ou de l'ascenseur pour pouvoir se rendre vers la cellule désignée. Généralement, il est préférable de redescendre la partie mobile du chariot en position basse, comme l'illustre la figure 2 où le véhicule est représenté en pointillés, pour des raisons de stabilité de l'ensemble. Mais ceci n'est pas une obligation et le chariot pourrait rester en position haute. Lorsque le chariot est arrivé au droit de la cellule désignée, la partie mobile du chariot (et son véhicule) est remise en position haute s'il était en position basse et le chariot est forcé à pivoter de façon à ce que le galet de guidage soit placé dans le rail de guidage de la cellule. Il est alors déplacé vers le fond de la cellule jusqu'à sa position de déchargement. La partie mobile est de nouveau abaissée de sorte que le véhicule est supporté maintenant par les barres 70 et 70' fixées aux cloisons de la cellule, du fait que les barres 58 du chariot passant au travers des barres 70 et 70' sont à un niveau inférieur à ces dernières.The motor vehicle at the entrance, either from the entrance airlock or from the elevator, is placed on the bars of the racks 70 and 70 '. At this time, the movable part of the carriage comprising the structure 56 and the bars 58 is raised in the high position as shown in FIG. 5 so that the bars 58 taking the place of the bars 70 and 70 'raise the motor vehicle using the jack 52. The carriage is then removed from the airlock or the elevator in order to be able to go to the designated cell. Generally, it is preferable to lower the mobile part of the carriage to the low position, as illustrated in FIG. 2 where the vehicle is shown in dotted lines, for reasons of stability of the assembly. But this is not an obligation and the carriage could remain in the high position. When the carriage has arrived at the level of the designated cubicle, the mobile part of the carriage (and its vehicle) is returned to the high position if it was in the low position and the carriage is forced to pivot so that the guide roller is placed in the cell guide rail. It is then moved to the bottom of the cell to its unloading position. The movable part is lowered again so that the vehicle is now supported by the bars 70 and 70 'fixed to the bulkheads of the cell, because the bars 58 of the carriage passing through the bars 70 and 70' are at a level lower than these.
Bien entendu, l'installation comporte des moyens de détection tels que des cellules émettrices-réceptrices adaptées pour 1) stopper le chariot une fois celui-ci arrivé àOf course, the installation includes detection means such as transmitter-receiver cells suitable for 1) stopping the carriage once it has arrived at
1'intersection des rails de guidage de la piste de circulation et de la cellule,The intersection of the guide rails of the taxiway and the cell,
2) commander le pivotement du chariot pour le mettre dans 1'alignement du rail de guidage de la cellule de rangement,2) control the pivoting of the carriage to put it in alignment with the guide rail of the storage cell,
3) commander la mise en position haute de la partie mobile du chariot,3) order the moving part of the carriage to go into high position,
4) stopper le chariot lorsque ce dernier est arrivé à la position voulue dans la cellule, 5) commander la mise en position basse de la partie mobile du chariot.4) stop the carriage when the latter has arrived at the desired position in the cell, 5) order the moving part of the carriage to go down.
6) stopper le chariot lorsqu'il est de nouveau arrivé à 1'intersection des rails de guidage6) stop the carriage when it again arrives at the intersection of the guide rails
7) commander le pivotement du chariot pour le mettre dans l'alignement du rail de guidage de la piste de circulation7) control the pivoting of the trolley to put it in alignment with the guide rail of the taxiway
Toutes les cellules émettrices-réceptrices du parc de stationnement sont commandées par une unité centrale de gestion programmée. Il peut y avoir une unité de gestion pour chaque étage de l'installation, ou une unité de gestion pour un certain nombre de véhicules (par exemple 40 véhicules), ou bien encore une seule unité centrale pour toute l'installation. La fonction de l'unité de gestion qui peut être un mini-ordinateur, est de faire démarrer les chariots suivant les besoins, et de commander les cellules émettrices- réceptrices correspondant à la cellule de rangement dans laquelle un véhicule doit être chargé ou déchargé. L'essentiel des mouvements du chariot est commandé directement à partir du chariot, c'est à dire le déclenchement des vérins, les pivotements, le déplacement avant ou arrière . En fait tous ces mouvements se succèdent dès que le mouvement précédent est terminé. Les opérations de chargement sont contrôlées de la même façon par les cellules émettrices-réceptrices et sont très similaires aux opérations ci-dessus, excepté que la partie mobile du chariot doit se présenter en position basse dans la cellule de rangement de façon à ce que les barres 58 se trouvent à un niveau inférieur aux barres 70 et 70' de la cellule supportant le véhicule à charger.All the transmitting and receiving cells in the car park are controlled by a programmed central management unit. There can be a management unit for each floor of the installation, or a management unit for a certain number of vehicles (for example 40 vehicles), or even a single central unit for the entire installation. The function of the management unit which can to be a mini-computer, is to start the trolleys as needed, and to order the transmitter-receiver cells corresponding to the storage cell in which a vehicle is to be loaded or unloaded. Most of the movements of the carriage are controlled directly from the carriage, ie the actuation of the jacks, the pivoting, the front or rear movement. In fact all these movements follow one another as soon as the previous movement is finished. The loading operations are controlled in the same way by the transmitter-receiver cells and are very similar to the above operations, except that the mobile part of the trolley must be in the low position in the storage cell so that the bars 58 are located at a level below bars 70 and 70 ′ of the cell supporting the vehicle to be loaded.
L'unité de gestion peut également gérer, grâce aux cellules émettrices-réceptrices, l'occupation des cellules de rangement. Ainsi, 1'unité de gestion pourra connaître les cellules vides à attribuer et en particulier celle qui est la plus près de l'entrée-sortie de façon à minimiser le temps d'entrée ou de sortie du véhicule.The management unit can also manage, thanks to the transmitter-receiver cells, the occupation of the storage cells. Thus, the management unit will be able to know the empty cells to be allocated and in particular the one which is closest to the entry-exit so as to minimize the entry or exit time of the vehicle.
Dans un mode particulier de réalisation, on peut prévoir une unité de gestion centrale contrôlant la gestion générale du parking et les entrées et sorties de véhicules, combinée à des ordinateurs sectionnels en charge d'une quarantaine de cellules de rangement, pour le contrôle des opérations de mise en place des véhicules dans les cellules de rangement ou de leur sortie à partir de ces dernières. La caractéristique essentielle de l'invention est maintenant décrite en référence aux figures 6 et 7. Comme il a déjà été mentionné, chaque chariot comporte un élément de pivotement se trouvant en son centre. Cet élément de pivotement 72 représenté schématiquement par un cercle sur la figure 6 et également sur la figure 3 est un élément de forme cylindrique actionné par un vérin (non représenté) de façon à le rétracter en position haute ou au contraire le faire descendre pour prendre appui au sol. Lorsque le chariot est arrivé à un emplacement tel que son centre se trouve à 1'aplomb de 1'intersection entre le rail de guidage 14 de la piste de circulation et le rail de guidage 28 de cellule, ceci est détecté automatiquement par un moyen de détection tel qu'une cellule comme mentionné précédemment, et le chariot est stoppé. Le vérin est mis en action pour faire descendre l'élément de pivotement jusqu'au sol. La partie inférieure de l'élément peut par exemple présenter un diamètre supérieur à la largeur du rail et l'extrémité de l'élément peut être conique de sorte que l'élément vienne s'engager légèrement dans l'intersection des deux rails. Le chariot ainsi fixé au sol, le moteur du chariot est alors actionné de façon à entraîner la roue droite 40 en rotation vers 1'avant et la roue gauche 42 en rotation vers l'arrière. Cet entraînement des deux roues dans une direction opposée a pour effet de faire pivoter le chariot vers la gauche, dans le sens illustré par les flèches sur la figure 6. Ce pivotement se poursuit jusqu'à ce que le chariot soit dans la position représentée en pointillés sur la figure où 1'axe du chariot coïncide avec le rail du guidage 28 de la cellule.In a particular embodiment, it is possible to provide a central management unit controlling the general management of the parking lot and the entrances and exits of vehicles, combined with sectional computers in charge of around forty storage cells, for controlling operations. for placing vehicles in the storage cells or for leaving them. The essential characteristic of the invention is now described with reference to Figures 6 and 7. As already mentioned, each carriage has a pivoting element located in its center. This pivoting element 72 represented diagrammatically by a circle in FIG. 6 and also in FIG. 3 is an element of cylindrical shape actuated by a jack (not shown) so as to retract it in the high position or on the contrary bring it down to take ground support. When the carriage has arrived at a location such that its center is plumb with the intersection between the guide rail 14 of the traffic lane and the cell guide rail 28, this is automatically detected by means of detection such as a cell as mentioned previously, and the carriage is stopped. The cylinder is actuated to lower the pivot element to the ground. The lower part of the element can for example have a diameter greater than the width of the rail and the end of the element can be conical so that the element comes to engage slightly in the intersection of the two rails. The carriage thus fixed to the ground, the carriage motor is then actuated so as to drive the right wheel 40 in rotation towards the front and the left wheel 42 in rotation towards the rear. This drive of the two wheels in an opposite direction has the effect of pivoting the carriage to the left, in the direction illustrated by the arrows in FIG. 6. This pivoting continues until the carriage is in the position shown in dotted in the figure where the axis of the carriage coincides with the guide rail 28 of the cell.
Bien qu'un pivotement utilisant les moyens décrits ci- dessus soit de préférence utilisé pour mettre en œuvre l'invention, il va de soi que d'autres moyens peuvent être utilisés pour réaliser ce pivotement dans la mesure où ils contribuent à réaliser le pivotement du chariot d'une façon similaire.Although a pivoting using the means described above is preferably used to implement the invention, it goes without saying that other means can be used to achieve this pivoting insofar as they contribute to achieving the pivoting of the carriage in a similar manner.
Bien que dans le mode de réalisation préféré de l'invention, les cellules soient disposées à 45* par rapport à la piste de circulation, il est possible de disposer d'un angle inférieur, par exemple de 35', ou d'un angle supérieur par exemple de 55*. Cependant, l'angle de 45* est optimal en ce sens qu'il permet d'avoir un ratio du nombre d'emplacements par rapport à la surface qui soit maximal. En effet, dans le mode de réalisation préféré utilisant l'angle de 45*, on voit nettement sur la figure 6 que les cloisons des cellules peuvent délimiter une piste de circulation de largeur minimale sans gêner le pivotement du chariot. Ainsi avec un chariot d'une largeur 1 de 2,50m permettant de transporter tout véhicule automobile, la largeur L de la piste de circulation n'a besoin que d'être d'environ 2,70m. En outre la surface perdue à l'extrémité des cellules n'est pas très importante.Although in the preferred embodiment of the invention, the cells are arranged at 45 ° relative to the circulation track, it is possible to have a lower angle, for example 35 ′, or an angle 55 * higher, for example. However, the angle of 45 * is optimal in the sense that it allows a ratio of the number of locations relative to the surface to be maximum. In fact, in the preferred embodiment using the angle of 45 *, it can be clearly seen in FIG. 6 that the partitions of the cells can delimit a circulation path of minimum width without interfering with the pivoting of the cart. Thus with a trolley with a width 1 of 2.50 m allowing the transport of any motor vehicle, the width L of the traffic lane need only be around 2.70 m. Furthermore, the area lost at the end of the cells is not very large.
Si un angle inférieur à 45* est utilisé par exemple 30*, la largeur de la piste de circulation reste minimale mais la surface perdue du fait de 1'inclinaison devient de plus en plus grande. Inversement, si un angle supérieur à 45* est utilisé, par exemple 60*, la surface perdue est plus faible sur la longueur des cellules, mais la piste de circulation doit avoir une largeur L supérieure à la largeur des chariots de façon à ne pas empêcher le pivotement des chariots. Dans ce dernier cas, la nécessité de ne pas avoir les cloisons des cellules trop proches de la piste de circulation est due au fait que le chariot a une longueur qui est plus du double de sa largeur, par exemple 5,50m si on veut pouvoir transporter tout type de véhicule automobile.If an angle of less than 45 * is used, for example 30 *, the width of the taxiway remains minimal but the area lost due to the inclination becomes larger and larger. Conversely, if an angle greater than 45 * is used, for example 60 * , the area lost is smaller over the length of the cells, but the circulation track must have a width L greater than the width of the carriages so as not to prevent the carriages from pivoting. In the latter case, the need not to have the partitions of the cells too close to the runway is due to the fact that the carriage has a length which is more than twice its width, for example 5.50m if we want to be able to transport any type of motor vehicle.
La caractéristique essentielle de 1'invention de faire pivoter le chariot pour le faire pénétrer dans la cellule présente une amélioration importante par rapport à la technique décrite dans le brevet français 90/15547 consistant à diriger le chariot en tournant ses roues avant. Ceci est illustré sur la figure 7 dans laquelle un chariot 74 avançant le long de la piste de circulation matérialisée par le rail de guidage doit aller décharger un véhicule automobile dans la cellule 76. Dans l'installation conforme à l'invention, le chariot avance normalement jusqu'à ce que son centre, où se trouve l'élément de pivotement, soit à l'intersection du rail de guidage 14 et du rail de guidage 28 de la cellule 76. En supposant que le chariot soit dirigé par ses roues avant, il serait amené dans une position illustrée en pointillés sur la figure, c'est à dire que son galet de guidage avant 78 est engagé dans le rail de guidage 28 alors que son galet de guidage arrière 80 est encore engagé dans le rail de guidage 14. Comme on le voit sur la figure, une partie du chariot se trouverait alors dans la cellule 82 adjacente à la cellule 76. Ceci est, bien entendu, impossible du fait de la cloison se trouvant entre les cellules 76 et 82 et qui empêcherait toute progression du chariot. Il faudrait donc, pour pouvoir utiliser ce type de chariot, que l'écart entre la piste de circulation et les cellules soit bien plus grande, environ 4m au lieu de moins de 1,5m avec l'invention.The essential characteristic of the invention to rotate the carriage to make it enter the cell presents a significant improvement compared to the technique described in French patent 90/15547 consisting in steering the carriage by turning its front wheels. This is illustrated in FIG. 7 in which a carriage 74 advancing along the circulation track materialized by the guide rail must go and unload a motor vehicle in the cell 76. In the installation according to the invention, the carriage advances normally until its center, where the pivot element is located, is at the intersection of guide rail 14 and guide rail 28 of cell 76. Assuming that the carriage is steered by its front wheels , it would be brought into a position illustrated in dotted lines in the figure, that is to say that its front guide roller 78 is engaged in the guide rail 28 while its rear guide roller 80 is still engaged in the guide rail 14. As seen in the figure, part of the carriage would then be in cell 82 adjacent to cell 76. This is, of course, impossible because of the partition located between cells 76 and 82 and which would prevent any progress of the carriage. In order to be able to use this type of trolley, it would therefore be necessary for the distance between the circulation track and the cells to be much greater, around 4m instead of less than 1.5m with the invention.
Cette possibilité résultant de l'invention de nécessiter une piste de circulation d'une largeur de 2,5m à 2,70m permet également de rapprocher les poteaux de support du bâtiment et de pouvoir ainsi supporter environ 15 à 16 fois plus de poids qu'un parking classique où les poteaux sont distants de 10m.This possibility resulting from the invention of requiring a circulation track with a width of 2.5m to 2.70m also makes it possible to bring the support posts closer to the building and thus to be able to support approximately 15 to 16 times more weight than a classic car park where the posts are 10m apart.
L'installation qui vient d'être décrite comporte deux pistes de circulation indépendantes desservies par deux chariots et deux ascenseurs ou monte-charge si 1'installation comprend plusieurs étages ou deux sas d'entrée si l'installation ne comporte qu'un niveau. En fait, il est possible de réaliser l'installation d'une façon différente. En effet, puisque le chariot peut pivoter autour de son centre, jusqu'à effectuer un angle de 180* ou même de tourner entièrement sur lui-même, il pourrait n'y avoir qu'une seule piste de circulation de forme rectangulaire et desservant toutes les cellules de rangement. Dans ce cas, un seul chariot pourrait être utilisé bien que cette solution serait inefficace. Toujours grâce à la possibilité qu'a le chariot de pivoter, le ou les sas d'entrée (ou ascenseurs) pourraient être disposés perpendiculairement aux pistes de circulation, ce qui nécessiterait évidemment de faire pivoter le chariot après qu'il ait chargé son véhicule. Dans le même ordre d'idée, un seul sas d'entrée ou ascenseur pourrait desservir les deux pistes de circulation représentées sur la figure 1.The installation which has just been described comprises two independent circulation tracks served by two trolleys and two elevators or hoists if the installation comprises several floors or two airlocks if the installation comprises only one level. In fact, it is possible to perform the installation in a different way. In fact, since the carriage can pivot around its center, until it makes an angle of 180 * or even turns entirely on itself, there could be only one circulation track of rectangular shape and serving all storage cells. In this case, only one cart could be used although this solution would be ineffective. Still thanks to the possibility that the trolley can pivot, the entrance airlock (s) (or elevators) could be arranged perpendicular to the circulation tracks, which would obviously require the trolley to pivot after it has loaded its vehicle. . Similarly, a single entry airlock or elevator could serve the two traffic lanes shown in Figure 1.
Toutefois, une installation optimale permettant une grande rapidité de chargement et de déchargement des véhicules est une installation comportant deux sas d'entrée ou de sortie (ou deux ascenseurs si c'est à l'étage) et deux chariots. Pendant qu'un premier véhicule est récupéré à l'un des sas (dit de sortie), un deuxième véhicule entre dans l'autre sas (dit d'entrée), un troisième véhicule est en cours de chargement dans une cellule de rangement au moyen du premier chariot et un quatrième véhicule est en cours de déchargement à partir d'une autre cellule au moyen du second chario . La disposition du parc de stationnement illustrée sur la figure 1 dans laquelle des paires de cellules de rangement sont dans le prolongement l'une de l'autre de chaque coté de la piste de circulation permet d'avoir un seul rail de guidage pour au moins deux cellules (pour quatre cellules dans 1'installation illustrée dans la figure 1). En outre cette disposition permet au chariot d'être utilisé pour décharger un véhicule dans une cellule de rangement, puis d'aller charger le véhicule se trouvant dans la cellule d'en face, sans la nécessité d'effectuer un pivotement. L'installation qui vient d'être décrite peut ne comporter qu'une quarantaine de véhicules par étage, ce qui permettrait de rationaliser le système de gestion. De tels 11mini-parkings" dont la gestion serait assurée par des ordinateurs indépendants, peuvent se juxtaposer les uns aux autres, aussi bien dans le sens de la longueur que dans le sens de la largeur, permettant ainsi en cas de panne, de remplacer un chariot d'un étage par celui du mini-parking suivant ou de faire sortir les véhicules par le mini-parking suivant. Il serait aussi possible de disposer d'entrées- sorties le long d'une route tous les 50 mètres environ, permettant aux automobilistes de se garer à proximité de l'endroit où ils désirent se rendre.However, an optimal installation allowing a great speed of loading and unloading of the vehicles is an installation comprising two airlocks of entry or exit (or two elevators if it is on the floor) and two trolleys. While a first vehicle is picked up at one of the airlocks (called exit), a second vehicle enters the other airlock (said entry), a third vehicle is in loading in a storage cell using the first cart and a fourth vehicle is being unloaded from another cell using the second truck. The arrangement of the parking lot illustrated in FIG. 1 in which pairs of storage cells are in line with one another on each side of the circulation track makes it possible to have a single guide rail for at least two cells (for four cells in the installation illustrated in FIG. 1). In addition, this arrangement allows the trolley to be used to unload a vehicle in a storage cell, then to load the vehicle located in the cell opposite, without the need to pivot. The installation which has just been described may contain only around forty vehicles per floor, which would make it possible to rationalize the management system. Such 11 mini-car parks "whose management would be ensured by independent computers, can be juxtaposed with each other, both in the direction of the length and in the direction of the width, thus making it possible in the event of breakdown, to replace a one-story trolley by the one in the next mini-car park or to get vehicles out of it by the next mini-car park. motorists to park near where they want to go.
Bien que 1'invention ait été décrite ci-dessus dans un mode de réalisation préféré de stockage de véhicules automobiles, elle peut également être utilisée pour l'entreposage d'autres objets tels que des marchandises. Ce pourrait être le cas de marchandises transportées en conteneurs dans des camions, wagons de chemin de fer, bateaux... Dans ce cas, il faut disposer de véhicules intermédiaires comportant les râteliers 70 et 70' (voir figure 5) sur lesquels sont placés les conteneurs à entreposer, ces râteliers pouvant être soulevés grâce à des vérins fixés sur le véhicule intermédiaire. Arrivés à l'entrée de l'installation mécanisée servant d'entrepôt, il suffira alors de mettre les vérins sous pression pour soulever les conteneurs de manière à pouvoir introduire le chariot et ses barres horizontales parallèles et espacées 58 (voir figures 4 et 5) sous les râteliers 70 et 70' du véhicule intermédiaire en position haute. Le reste de la manoeuvre est identique à ce qui a été décrit précédemment dans 1'application de 1'invention au parking de véhicules automobiles. Bien entendu, dans le transport par camions, les véhicules intermédiaires ne sont pas obligatoires, le système de vérins et de râteliers pouvant être installé directement sur les camions. Dans tous les cas, il est nécessaire de prévoir des quais de chargement et de déchargement à 1'entrée de l'installation pour que le chariot de transport soit à la hauteur des camions ou des véhicules intermédiaires, ou de préférence des monte-charge qui se placent à la hauteur des camions ou des véhicules intermédiaires, et qui peuvent servir aussi bien pour apporter ou récupérer les conteneurs à l'aide du chariot, que pour desservir les différents étages de stockage (rez de chaussée compris). On notera également que les vérins ne sont pas indispensables si des râteliers fixes sont installés à une certaine hauteur (laissant passer le chariot) sur les parois des véhicules intermédiaires. Mais cette disposition n'est pas avantageuse puisqu'elle réduit le volume de chargement disponible sur le véhicule intermédiaire.Although the invention has been described above in a preferred embodiment of motor vehicle storage, it can also be used for the storage of other objects such as goods. This could be the case of goods transported in containers in trucks, railway wagons, boats ... In this case, it is necessary to have intermediate vehicles comprising the racks 70 and 70 '(see Figure 5) on which are placed the containers to be stored, these racks can be lifted by means of jacks fixed to the intermediate vehicle. Arrived at the entrance to the mechanized installation serving as a warehouse, it will then be enough to put the jacks under pressure to lift the containers so as to be able to introduce the carriage and its parallel and spaced horizontal bars 58 (see FIGS. 4 and 5) under the racks 70 and 70 'of the intermediate vehicle in the high position. The rest of the maneuver is identical to what has been described previously in the application of the invention to the parking of motor vehicles. Of course, in truck transport, intermediate vehicles are not compulsory, the jack and rack system can be installed directly on trucks. In all cases, it is necessary to provide loading and unloading docks at the entrance to the installation so that the transport trolley is at the height of trucks or intermediate vehicles, or preferably hoists which are placed at the height of trucks or intermediate vehicles, and which can be used both to bring or collect containers using the trolley, as well as to serve the different storage floors (ground floor included). It will also be noted that the jacks are not essential if fixed racks are installed at a certain height (allowing the carriage to pass) on the walls of the intermediate vehicles. However, this arrangement is not advantageous since it reduces the loading volume available on the intermediate vehicle.
L'application ci-dessus peut trouver toute son utilité dans le stockage des marchandises arrivant par route ou par chemin de fer dans des entrepôts situés au centre de villes importantes. The above application can be very useful in the storage of goods arriving by road or by rail in warehouses located in the center of major cities.

Claims

REVENDICATIONS
1. Installation mécanisée à gestion entièrement automatisée pour le stockage d'objets, comprenant une unité centrale de gestion, au moins une piste de circulation (14 ou 16), des cellules de rangement (24, 26) réparties de part et d'autre de la piste de circulation, au moins un chariot (18, 22) comportant un châssis (30) sur roues doté d'un moyen entraînement autonome (48) et de moyens de guidage (60) pour permettre de déplacer ledit chariot le long de la piste de circulation et à l'intérieur desdites cellules de rangement, ledit chariot étant équipé de moyens de chargement et déchargement aptes à saisir et déposer un objet lorsque le chariot est à l'intérieur d'une cellule, lesdits moyens coopérant avec deux râteliers fixes longitudinaux (70, 70') disposés en vis-à-vis dans la cellule et constitués chacun de barres fixes horizontales, parallèles et espacées pour le chargement de l'objet de la cellule au chariot et le déchargement de l'objet du chariot à la cellule; ladite installation étant caractérisée en ce que: lesdites cellules de rangement sont disposées de telle sorte qu'elles sont orientées longitudinalement selon un angle d'au moins 30* par rapport à ladite piste de circulation, et ledit chariot comprend un moyen de pivotement (72) pour faire pivoter ledit chariot se déplaçant sur la piste de circulation autour du point d'intersection entre l'axe de symétrie de ladite piste de circulation et l'axe de symétrie de la cellule dans laquelle doit être chargé ou déchargé l'objet de manière à amener lesdits moyens de guidage le long dudit axe de symétrie de la cellule pour faire pénétrer le chariot dans celle-ci et procéder au chargement ou au déchargement de l'objet.1. Mechanized installation with fully automated management for the storage of objects, comprising a central management unit, at least one circulation track (14 or 16), storage cells (24, 26) distributed on either side of the circulation track, at least one carriage (18, 22) comprising a chassis (30) on wheels provided with an autonomous drive means (48) and guide means (60) to enable said carriage to be moved along the circulation track and inside said storage cells, said trolley being equipped with loading and unloading means capable of grasping and depositing an object when the trolley is inside a cell, said means cooperating with two racks fixed longitudinal (70, 70 ') arranged opposite in the cell and each consisting of horizontal fixed bars, parallel and spaced for loading the object from the cell to the cart and unloading the object from the cart at l cell; said installation being characterized in that: said storage cells are arranged such that they are oriented longitudinally at an angle of at least 30 * with respect to said circulation track, and said carriage comprises pivoting means (72 ) to rotate said carriage moving on the circulation track around the point of intersection between the axis of symmetry of said circulation track and the axis of symmetry of the cell in which the object of transport is to be loaded or unloaded so as to bring said guide means along said axis of symmetry of the cell to cause the carriage to penetrate therein and to load or unload the object.
2. Installation selon la revendication 1, dans laquelle lesdites cellules de rangement sont disposées de telle sorte qu'elles sont orientées longitudinalement selon un angle compris entre 30* et 60* par rapport à ladite piste de circulation. 2. Installation according to claim 1, wherein said storage cells are arranged such that they are oriented longitudinally at an angle between 30 * and 60 * relative to said circulation path.
3. Installation selon la revendication 1 ou 2, dans laquelle ledit chariot (18,22) dispose de quatre roues porteuses (32, 34, 36, 38) montées folles, et deux roues motrices (40, 42) montées sur un essieu (44) se trouvant à environ au milieu dudit chariot et entraînées en rotation par un moteur (48), le pivotement dudit chariot s'effectuant en entraînant une desdites roues motrices dans un sens et 1'autre dans 1'autre sens.3. Installation according to claim 1 or 2, wherein said carriage (18,22) has four load wheels (32, 34, 36, 38) mounted idler, and two drive wheels (40, 42) mounted on an axle ( 44) being approximately in the middle of said carriage and driven in rotation by a motor (48), the pivoting of said carriage being effected by driving one of said driving wheels in one direction and the other in the other direction.
4. Installation selon la revendication 1, 2 ou 3, dans laquelle lesdits moyens de guidage dudit chariot (30) sont constitués de deux galets de guidage (62) à 1'avant et à 1'arrière dudit chariot adaptés pour coulisser dans un rail de guidage (14, 16 ou 28) en forme de rainure dans le sol.4. Installation according to claim 1, 2 or 3, wherein said guide means of said carriage (30) consist of two guide rollers (62) at the front and rear of said carriage adapted to slide in a rail guide (14, 16 or 28) in the form of a groove in the ground.
5. Installation selon la revendication 4, dans laquelle lesdits galets de guidage (60) dudit chariot (18, 22) sont montés sur vérins de manière à les retirer de ladite rainure (14) avant de procéder au pivotement dudit chariot.5. Installation according to claim 4, wherein said guide rollers (60) of said carriage (18, 22) are mounted on jacks so as to remove them from said groove (14) before pivoting said carriage.
6. Installation selon l'une des revendications 4 ou 5, dans laquelle ledit moyen de pivotement est un élément vertical (72) monté sur vérin, sans contact avec le sol lorsque ledit chariot se déplace et étant abaissé au moyen du vérin de façon à prendre appui au sol à 1'intersection des rails de guidage de la piste de circulation et de la cellule de rangement avant de procéder au pivotement dudit chariot, 6. Installation according to one of claims 4 or 5, wherein said pivoting means is a vertical element (72) mounted on a cylinder, without contact with the ground when said carriage moves and being lowered by means of the cylinder so as to bear on the ground at the intersection of the guide rails of the circulation track and the storage cell before pivoting said carriage,
7. Installation selon l'une quelconque des revendications 4 à 6 dans laquelle lesdites cellules de rangement (24, 26) sont disposées par couples de cellules se faisant face de part et d'autre de ladite piste de circulation (14, 16) et ayant un même axe de symétrie et donc un même rail de guidage (28) de manière à ce que ledit chariot puisse décharger un objet dans une des cellules du couple de cellules et ensuite charger un autre objet se trouvant dans l'autre desdites cellules sans avoir à effectuer un pivotement intermédiaire.7. Installation according to any one of claims 4 to 6 wherein said storage cells (24, 26) are arranged in pairs of cells facing each other on either side of said circulation track (14, 16) and having the same axis of symmetry and therefore the same guide rail (28) so that said carriage can unload an object in one of the cells of the pair of cells and then load another object located in the other of said cells without have to perform an intermediate pivot.
8. Installation selon l'une des revendications 3 à 7, dans laquelle lesdites cellules de rangement (24, 26) sont disposées selon un angle d'environ 45* par rapport à ladite piste de circulation (14, 16).8. Installation according to one of claims 3 to 7, wherein said storage cells (24, 26) are arranged at an angle of about 45 * relative to said circulation track (14, 16).
9. Installation selon 1'une quelconque des revendications 1 à 8 utilisée pour le stockage de véhicules automobiles, comprenant en outre un sas d'entrée tel qu'un monte-charge ou un ascenseur comportant deux râteliers fixes identiques auxdits râteliers (70, 70') équipant chacune desdites cellules de chargement, fixés intérieurement sur les cloisons dudit sas d'entrée à hauteur du quai d'entrée des véhicules, de manière à ce qu'un véhicule se présentant à l'entrée dudit sas vienne se placer sur lesdits râteliers pour que ledit chariot puisse utiliser lesdits moyens de chargement pour saisir ledit véhicule après qu'il a pénétré dans ledit sas d'entrée. 9. Installation according to any one of claims 1 to 8 used for the storage of motor vehicles, further comprising an entry airlock such as a freight elevator or an elevator comprising two fixed racks identical to said racks (70, 70 ') equipping each of said loading cells, fixed internally on the partitions of said entry airlock at height from the vehicle entry platform, so that a vehicle appearing at the entrance to said airlock is placed on said racks so that said trolley can use said loading means to grab said vehicle after it has entered in said entrance airlock.
10. Installation selon l'une quelconque des revendications 1 à 8 utilisée pour le stockage de conteneurs, dans laquelle un véhicule intermédiaire destiné à transporter les conteneurs à ladite installation, est équipé de deux râteliers fixes identiques auxdits râteliers (70, 70') équipant chacune desdites cellules de rangement, aptes à supporter lesdits conteneurs et pouvant être soulevés par des vérins, de manière à ce que, lorsque ledit véhicule intermédiaire se présente à l'entrée de ladite installation, ledit chariot puisse utiliser lesdits moyens de chargement pour saisir chacun desdits conteneurs.10. Installation according to any one of claims 1 to 8 used for the storage of containers, in which an intermediate vehicle intended to transport the containers to said installation, is equipped with two fixed racks identical to said racks (70, 70 ') equipping each of said storage cells, capable of supporting said containers and capable of being lifted by jacks, so that, when said intermediate vehicle is present at the entrance to said installation, said trolley can use said loading means to grab each of said containers.
11. Installation selon l'une quelconque des revendications précédentes, dans laquelle lesdits moyens de chargement et de déchargement comprennent:11. Installation according to any one of the preceding claims, in which said loading and unloading means comprise:
- une partie mobile portée par le châssis (30) des chariots (18, 22) et comportant une structure centrale longitudinale (56) de largeur inférieure à celle de l'espace central ménagé entre les deux râteliers fixes (70, 70'), et deux séries de barres horizontales (58), parallèles et espacées, s'étendant orthogonalement de part et d'autre de ladite structure centrale,a mobile part carried by the chassis (30) of the carriages (18, 22) and comprising a longitudinal central structure (56) of width less than that of the central space formed between the two fixed racks (70, 70 '), and two series of horizontal bars (58), parallel and spaced, extending orthogonally on either side of said central structure,
- un moyen (52) de déplacement vertical de la partie mobile, porté par ledit châssis, et apte à déplacer ladite partie mobile lorsque ledit chariot se trouve dans une cellule de rangement, entre une position basse où cette partie mobile se trouve en dessous du plan des râteliers fixes, et une position haute où elle se trouve au-dessus du plan des râteliers fixes. a means (52) for vertical displacement of the mobile part, carried by said chassis, and capable of moving said mobile part when said carriage is in a storage cell, between a low position where this mobile part is located below the plan of fixed racks, and a high position where it is above the plane of fixed racks.
EP94926964A 1993-09-15 1994-09-08 Automatic mechanized system for the storage of objects Expired - Lifetime EP0719368B1 (en)

Applications Claiming Priority (3)

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FR9311189 1993-09-15
FR9311189A FR2710092B1 (en) 1993-09-15 1993-09-15 Mechanized automatic installation for storing objects, especially cars.
PCT/FR1994/001057 WO1995008037A1 (en) 1993-09-15 1994-09-08 Automatic mechanized system for the storage of objects

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FR2710092A1 (en) 1995-03-24
KR960705119A (en) 1996-10-09
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JPH09502493A (en) 1997-03-11
ATE160612T1 (en) 1997-12-15
FR2710092B1 (en) 1995-10-13
DE69407058D1 (en) 1998-01-08
GR3026125T3 (en) 1998-05-29
CA2170385A1 (en) 1995-03-23
ES2112563T3 (en) 1998-04-01
WO1995008037A1 (en) 1995-03-23
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US5718551A (en) 1998-02-17
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EP0719368B1 (en) 1997-11-26
DK0719368T3 (en) 1998-08-10

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