WO2010081208A1 - Automated vehicle storage process - Google Patents

Automated vehicle storage process Download PDF

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Publication number
WO2010081208A1
WO2010081208A1 PCT/BR2009/000426 BR2009000426W WO2010081208A1 WO 2010081208 A1 WO2010081208 A1 WO 2010081208A1 BR 2009000426 W BR2009000426 W BR 2009000426W WO 2010081208 A1 WO2010081208 A1 WO 2010081208A1
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WO
WIPO (PCT)
Prior art keywords
elevator
turntable
rails
vehicle
sliding table
Prior art date
Application number
PCT/BR2009/000426
Other languages
French (fr)
Portuguese (pt)
Inventor
Paulo César Franco GUIMARÃES
Original Assignee
I-Park Estacionamentos Inteligentes S.A.
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 I-Park Estacionamentos Inteligentes S.A. filed Critical I-Park Estacionamentos Inteligentes S.A.
Publication of WO2010081208A1 publication Critical patent/WO2010081208A1/en

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Classifications

    • 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
    • E04H6/22—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 characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
    • E04H6/225—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 characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes without transverse movement of the parking palette after leaving the 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
    • E04H6/18—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
    • E04H6/28—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 characterised by use of turntables or rotary rings for horizontal transport
    • E04H6/282—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 characterised by use of turntables or rotary rings for horizontal transport turntables, rotary elevators or the like on which the cars are not permanently parked

Definitions

  • the present invention relates to a robotic process of insertion, temporary storage and removal of vehicles in a vertical steel structure, which results in the automation of the entire operation and maximization of the parking density of the vehicles.
  • a first solution employed to increase the availability of parking space for vehicles was the construction of garage buildings.
  • these buildings have low storage density because, in addition to being built in masonry and with high ceilings for people to circulate, require access ramps to floors that take up a large percentage of the available space of buildings.
  • Yet another limitation found in these buildings is the need to maneuver the vehicle from the entrance of the building to the floor of the parking box. In addition to the driver's effort and ability to perform the maneuver, there is still time consumption that is proportional to the distance the vehicle has to travel to reach the parking box floor.
  • the service is slow, especially during peak hours, as it employs a single moving element, the tower with the elevator, which characterizes a bottleneck in the movement of vehicles, as it performs operations in a non-competing manner;
  • the tower is a slender structure that moves laterally, therefore potentially unstable, which requires throwing and strutting;
  • the object of the present invention to provide a robotic vehicle storage process in a vertical structure that overcomes the above limitations of the state of the art.
  • the process comprises the insertion, storage and removal of vehicles in the vertical structure, with the necessary movements being performed automatically by means of robotic mechanisms.
  • - employs a vertical steel structure composed of numerous hollow boxes that form a spatial array of storage spaces, which may vary in number of levels (floors) and number of vacancies per level;
  • each movable space has a movable metal tray that corresponds to the "virtual floor" of that storage place;
  • the handling and movement of the trays, with vehicles or empty, is performed by robots of three types: the cars for horizontal displacement in each level, the elevator for vertical displacement between levels and the turntable for angular displacement at the entry point. and exit of vehicles in the structure.
  • a transfer cab Upon entering their vehicle through the ground floor of the structure, the driver is directed to a transfer cab. In this cab the engine of the vehicle is turned off and the vehicle is unoccupied, including being able to lock its doors, remaining the keys of the vehicle with the driver.
  • the transfer cab is the place reserved for the driver to deliver or receive his vehicle. It is a room sized to hold only one vehicle at a time and has retractable automatic doors to provide access / evasion. Inside there is a turntable responsible for the correct orientation of the vehicles, both for the elevators and for the entrance and exit access.
  • the robots From the transfer cab the robots assume all the circular, vertical, longitudinal and transverse displacements required to complete the vehicle insertion maneuver in the available space in the metal frame. These movements occur under the management of a computer system that employs dynamically concurrent event control software. Similarly, a vehicle previously The stored car is returned from your vacancy to the transfer cabin upon a withdrawal request.
  • Robots provide side-by-side positioning of trays with vehicles, as no door opening is required, resulting in high horizontal density;
  • Figure 1A - 1 is the flowchart portion of the vehicle storage process
  • Figure 1B - 2 is the flowchart portion of the vehicle storage process
  • Figure 1C - 3 is the flowchart part of the vehicle storage process
  • Figure 3 front view of the sliding table raising a tray
  • Figure 4 perspective detailing the tray lifting mechanism.
  • Figure 1 illustrates the operation of inserting a vehicle into the storage structure comprising the following events:
  • FIG 2 illustrates the overhead crane (5) on which the sliding table (51) acts.
  • the overhead crane (5) moves independently and longitudinally (in both directions) over the longitudinal beams (41) which define a level of the metal structure.
  • the crane (5) is provided with a chassis (52) with rollers (53) which are driven by the motors (54).
  • the sliding table (51) moves transversely in both directions, which is responsible for placing and removing the tray (1) inside the space (6).
  • the sliding table (51) remains housed on the inner rails (55) of the overhead crane (5) until its transverse displacement is controlled.
  • the sliding table (51) is provided with a chassis (56) with rollers (57), which are driven by the motors (58) through the axles (59).
  • FIG. 1 Integrated to the turntable (2) there is also a sliding table (21) having the same mechanisms and the same functioning of the sliding table (51) of the overhead crane (5).
  • Figure 3 details the tray lifting mechanism (1) on the sliding table (21 and 51) acting on each overhead crane (5) and the turntable (2), which is required for the following operations:
  • an event occurs which is the transfer of the empty tray (1) from the storage bin (6) to the overhead crane (5) during elevator travel (3), so that the overhead crane (5) is already positioned with an empty tray (1) in front of the elevator (3) when it arrives in a vehicle insertion operation.
  • This event has the movements in reverse order for a vehicle pickup operation.
  • Figure 4 details the mechanism, mounted on the sliding table (21 and 51) of the turntable (2) and the overhead cranes (5), whose function is to suspend or lower (in very short strokes) the tray (1) being transported.
  • This mechanism comprises jacks (60) whose pistons (61) move the tray (1) vertically.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to an automated process for introducing and temporarily storing vehicles in a multi-storey metallic structure, the process comprising the following steps: (A) placing the vehicle on an empty platform (1) arranged on a turntable (2) of a transfer cab that is aligned with an access path to the inside of the multi-storey structure; (B) moving the loaded platform (1') through an angle by rotating the turntable (2) over a fraction of the circumference thereof in order to align the platform with the elevators (3); (C) levelling the top rails (31) of the selected elevator (3) with the loaded platform (1') on the turntable (2); (D) transferring the loaded platform (1') from the turntable (2) to the top rails (31) of the elevator (3), through the sliding table (21); (E) raising the elevator (3) over a short distance, so as to level the bottom rails (32) that carry an empty platform (1) with the turntable (2); (F) transferring the empty platform (1) from the bottom rails (32) of the elevator (3) to the turntable (2), through the sliding table (21); (G) raising the elevator (3), together with the loaded platform (1'), to a selected floor level (4) containing a free storage box; (H) levelling the bottom rails (32) of the elevator (3) with the bridge crane (5) that is moved on the longitudinal beams (4) of the selected floor level; (I) transferring the empty platform (1) from the bridge crane (5), through a sliding table (51) mounted thereon, to the bottom rails (32) of the elevator (3); (J) lowering the elevator (3) over a short distance so as to level the top rails (31) carrying the loaded platform (1') with the bridge crane (5); (K) transferring the loaded platform (1') arranged on the top rails (31) of the elevator (3) to the bridge crane (5), through the respective sliding table (51); (L) moving the bridge crane (5), together with the loaded platform (1'), horizontally in a straight line until the platform is located in front of the free vehicle storage box (6); (M) transferring the loaded platform (1') from the bridge crane (5), through the respective sliding table (51), to the rails (61) of the box from which the respective empty platform (1) has already been withdrawn by the bridge crane and placed on the bottom rails (32) of the elevator (3). The operation of removing the vehicle from the storage place and returning it to the driver follows the reverse order of the above-mentioned steps.

Description

"PROCESSO DE ARMAZENAGEM ROBOTIZADA DE "ROBOTIZED STORAGE PROCESS OF
VEÍCULOS" VEHICLES "
A presente invenção refere-se a um processo robotizado de inserção, armazenagem temporária e retirada de veículos em uma estrutura metálica verticalizada, que resulta na automatização de toda a operação e maximização da densidade de estacionamento dos veículos.  The present invention relates to a robotic process of insertion, temporary storage and removal of vehicles in a vertical steel structure, which results in the automation of the entire operation and maximization of the parking density of the vehicles.
Sabe-se que o espaço disponível para estacionamento dos veículos nos centros urbanos vem se tornando cada vez mais escasso, em função do acelerado aumento da frota de veículos, bem como da alta concentração populacional.  It is known that the parking space available for vehicles in urban centers is becoming increasingly scarce, due to the rapid increase in the fleet of vehicles, as well as the high population concentration.
Uma primeira solução empregada para incremento da disponibilização de espaço para estacionamento de veículos foi a construção de edifícios garagens. Entretanto, esses prédios apresentam baixa densidade de armazenamento pois, além de serem construídos em alvenaria e com elevado pé- direito para que as pessoas possam circular, exigem rampas de acesso aos andares que ocupam um grande percentual do espaço disponível dos edifícios. Ainda outra limitação encontrada nesses edifícios é a necessidade de manobra do veículo desde a entrada da edificação até o andar do box de estacionamento. Além do esforço e habilidade do motorista na execução da manobra, ainda há o consumo de tempo que é proporcional a distância que o veículo tem que percorrer até alcançar o andar do box de estacionamento.  A first solution employed to increase the availability of parking space for vehicles was the construction of garage buildings. However, these buildings have low storage density because, in addition to being built in masonry and with high ceilings for people to circulate, require access ramps to floors that take up a large percentage of the available space of buildings. Yet another limitation found in these buildings is the need to maneuver the vehicle from the entrance of the building to the floor of the parking box. In addition to the driver's effort and ability to perform the maneuver, there is still time consumption that is proportional to the distance the vehicle has to travel to reach the parking box floor.
Mais recentemente foram desenvolvidos híbridos de prédios com máquinas, com a finalidade de incrementar o nível de automação e de densidade de estacionamento dos veículos. Um exemplo dessa solução é um edifício garagem, também executado em alvenaria, mas que não necessita de rampa de acesso aos andares, sendo que para isso o prédio é dotado de um vazado central onde se desloca transversalmente uma torre que também é um elevador. Um mecanismo montado no piso do elevador traciona o veículo que deve ser estacionado em locais demarcados em frente ao trajeto da torre com elevador. Esse mecanismo executa uma segunda operação que é retirar o veículo de dentro do elevador empurrando-o até o box de estacionamento. A torre com o elevador desloca-se transversalmente ao prédio e possui portas frontal e traseira, o que faz com que o mecanismo consiga descarregar os carros em uma faixa transversal que alcança toda a largura do prédio, tanto na frente como atrás do vazado central. Assim, o espaço de estacionamento está limitado a área dos dois lados do trajeto da torre com elevador. More recently, machine building hybrids have been developed to increase the level of automation and parking density of vehicles. An example of this solution is a garage building, also made of masonry, but which does not require a ramp to access the floors, for which the building is equipped with a central hollow where a tower that is also an elevator moves transversely. An elevator floor mounted mechanism pulls the vehicle to be parked at demarcated locations in front of the elevator tower path. This mechanism performs a second operation which is to remove the vehicle from inside the elevator by pushing it into the parking box. The elevator tower moves across the building and has front and rear doors, so the engine can unload cars in one lane. that reaches the entire width of the building, both in front and behind the central Thus, parking space is limited to the area on both sides of the elevator tower path.
Além disso, esse tipo de edifício garagem com torre móvel com elevador apresenta os seguintes inconvenientes:  In addition, this type of elevator mobile tower garage building has the following drawbacks:
- demanda um ascensorista que deve comandar o mecanismo para carregar e descarregar os veículos de dentro do elevador, além de comandar o deslocamento lateral da torre e o deslocamento vertical do elevador;  - demands a lift operator who must command the mechanism to load and unload vehicles from inside the elevator, in addition to commanding the lateral displacement of the tower and the vertical displacement of the elevator;
- demanda pelo menos um segundo manobrista para posicionar os veículos nos locais demarcados em frente a torre e na entrada do edifício;  - requires at least a second valet to position vehicles at the demarcated locations in front of the tower and at the entrance to the building;
- o próprio ascensorista deve memorizar os box livres em cada um dos andares, a fim de comandar a torre e o elevador;  - the lift operator himself must memorize the free boxes on each floor in order to control the tower and the elevator;
- o serviço é lento, em especial nos horários de pico, pois emprega um único elemento móvel que é a torre com o elevador, caracterizando um ponto de estrangulamento na movimentação dos veículos, pois realiza as operações de forma seriada e não concorrentes;  - the service is slow, especially during peak hours, as it employs a single moving element, the tower with the elevator, which characterizes a bottleneck in the movement of vehicles, as it performs operations in a non-competing manner;
- a torre é uma estrutura esbelta que se desloca lateralmente, portanto potencialmente instável, que para isso demanda atirantamentos e estaiamentos;  - the tower is a slender structure that moves laterally, therefore potentially unstable, which requires throwing and strutting;
- demanda grande consumo de energia elétrica, pois necessita deslocar lateralmente uma estrutura de grandes dimensões e peso que é a torre com elevador, inclusive portando um veículo. - It demands a large consumption of electricity, since it needs to move laterally a large structure and weight that is the tower with elevator, including carrying a vehicle.
É, portanto, objeto da presente invenção, um processo de armazenagem robotizada de veículos em uma estrutura verticalizada que supera as referidas limitações do estado da técnica. O processo compreende as operações de inserção, armazenagem e retirada de veículos na estrutura verticalizada, com as movimentações necessárias sendo executadas de forma automatizada por meio de mecanismos robotizados.  It is therefore the object of the present invention to provide a robotic vehicle storage process in a vertical structure that overcomes the above limitations of the state of the art. The process comprises the insertion, storage and removal of vehicles in the vertical structure, with the necessary movements being performed automatically by means of robotic mechanisms.
As características gerais do processo robotizado de armazenagem de veículos são:  The general characteristics of the robotic vehicle storage process are:
- emprega uma estrutura metálica verticalizada composta por inúmeros boxes vazados que formam uma matriz espacial de vagas de armazenagem, que pode variar quanto ao número de níveis (andares) e quanto ao número de vagas por nível; - employs a vertical steel structure composed of numerous hollow boxes that form a spatial array of storage spaces, which may vary in number of levels (floors) and number of vacancies per level;
- em cada vaga é disposta uma bandeja metálica móvel que corresponde ao "piso virtual" daquele local de armazenamento;  - each movable space has a movable metal tray that corresponds to the "virtual floor" of that storage place;
- os veículos a serem armazenados nestas vagas somente serão movimentados pelo interior da estrutura sobre bandejas;  - the vehicles to be stored in these spaces will only be moved inside the structure on trays;
- a operacionalização do processo está fundamentada no intercâmbio de bandejas carregadas com veículos por bandejas vazias;  - The operation of the process is based on the exchange of trays loaded with vehicles for empty trays;
- a manipulação e movimentação das bandejas, com veículos ou vazias, é realizada por robôs de três tipos: os carros para deslocamento horizontal em cada um dos níveis, o elevador para deslocamento vertical entre níveis e a mesa giratória para deslocamento angular no ponto de entrada e saída dos veículos na estrutura.  - The handling and movement of the trays, with vehicles or empty, is performed by robots of three types: the cars for horizontal displacement in each level, the elevator for vertical displacement between levels and the turntable for angular displacement at the entry point. and exit of vehicles in the structure.
Em uma operação de inserção de veículo no equipamento a movimentação dos robôs culmina com a retirada da bandeja vazia da vaga selecionada e o subsequente preenchimento pela bandeja carregada com o veículo. Na operação de retirada, entretanto, ocorre o inverso, ou seja, a bandeja carregada com o veículo armazenado na vaga é retirada e uma outra bandeja vazia, trazida pelo carro robô daquele andar, é reinserida na vaga em questão.  In a vehicle insertion operation the moving of the robots culminates with the removal of the empty tray from the selected vacancy and the subsequent filling by the tray loaded with the vehicle. In the withdrawal operation, however, the opposite occurs, that is, the tray loaded with the vehicle stored in the vacancy is removed and another empty tray, brought by the robot car of that floor, is reinserted in the vacancy in question.
Ao ingressar com seu veículo pelo andar térreo da estrutura, o motorista é direcionado para uma cabina de transferência. Nessa cabina o motor do veículo é desligado e o veículo é desocupado, inclusive podendo as suas portas serem travadas, permanecendo as chaves do veículo com o motorista. A cabina de transferência é o local reservado para o motorista entregar ou receber o seu veículo. Trata-se de um recinto dimensionado para abrigar apenas um veículo por vez e que possui portas automáticas retráteis para propiciar acesso/evasão. Em seu interior há uma mesa giratória responsável pela correta orientação dos veículos, tanto para os elevadores quanto para os acessos de entrada e saída.  Upon entering their vehicle through the ground floor of the structure, the driver is directed to a transfer cab. In this cab the engine of the vehicle is turned off and the vehicle is unoccupied, including being able to lock its doors, remaining the keys of the vehicle with the driver. The transfer cab is the place reserved for the driver to deliver or receive his vehicle. It is a room sized to hold only one vehicle at a time and has retractable automatic doors to provide access / evasion. Inside there is a turntable responsible for the correct orientation of the vehicles, both for the elevators and for the entrance and exit access.
A partir da cabina de transferência os robôs assumem todos os deslocamentos circulares, verticais, longitudinais e transversais necessários para a conclusão da manobra de inserção do veículo na vaga disponível na estrutura metálica. Esses movimentos ocorrem sob o gerenciamento de um sistema computadorizado que emprega um software de controle de eventos dinamicamente concorrentes. Da mesma maneira, um veículo anteriormente armazenado é retornado de sua vaga para a cabina de transferência, quando de um pedido de retirada. From the transfer cab the robots assume all the circular, vertical, longitudinal and transverse displacements required to complete the vehicle insertion maneuver in the available space in the metal frame. These movements occur under the management of a computer system that employs dynamically concurrent event control software. Similarly, a vehicle previously The stored car is returned from your vacancy to the transfer cabin upon a withdrawal request.
O processo de armazenagem de veículos em uma estrutura metálica verticalizada, proposto pela presente invenção, resulta nas seguintes vantagens sobre as técnicas convencionais de estacionamento de veículos do estado da técnica:  The process of storing vehicles in a vertical steel structure proposed by the present invention results in the following advantages over conventional state-of-the-art vehicle parking techniques:
- todas as operações são automatizadas e realizadas por robôs, dispensando manobristas;  - All operations are automated and performed by robots, requiring no valets;
- elevada segurança de operação e armazenagem;  - high safety of operation and storage;
- praticidade para os usuários; - practicality for users;
- os robôs proporcionam um posicionamento das bandejas com os veículos, lado a lado, já que não se faz necessária a abertura de portas, resultando em alta densidade horizontal;  - Robots provide side-by-side positioning of trays with vehicles, as no door opening is required, resulting in high horizontal density;
- não há circulação humana nos níveis de armazenamento, que possuem o pé- direito reduzido, sendo o mínimo necessário para a acomodação dos veículos, resultando também em alta densidade vertical;  - There is no human circulation at the storage levels, which have low ceilings, being the minimum necessary for the accommodation of vehicles, also resulting in high vertical density;
- não necessitam de rampas entre os andares, pois os veículos são deslocados verticalmente por meio de robôs elevadores;  - do not require ramps between floors as vehicles are moved vertically by means of elevator robots;
- as operações de inserção e retirada de veículos nos vários andares são realizadas concorrentemente, e não seriadas, resultando em tempos (prazos) de espera muito pequenos para os usuários;  - multi-storey vehicle insertion and removal operations are performed concurrently, not serializing, resulting in very short waiting times for users;
- o consumo de energia elétrica para a movimentação interna dos veículos é consideravelmente baixo, em decorrência do emprego de robôs manobristas servo-assistidos de última geração, em contrapartida ao deslocamento transversal de uma enorme torre com elevador.  - Electricity consumption for the internal movement of vehicles is considerably low, due to the use of state-of-the-art servo-assisted robot robots, as opposed to the transverse displacement of a huge elevator tower.
O processo de armazenagem robotizada de veículos em uma estrutura metálica verticalizada, objeto da presente invenção, pode ser melhor compreendido através da seguinte descrição detalhada, que é baseada nos desenhos em anexo, abaixo listados, que ilustram um modo operacional preferencial, que não deve ser considerado limitativo à invenção:  The process of robotic storage of vehicles in a vertical steel structure, object of the present invention, can be better understood by the following detailed description, which is based on the attached drawings, which illustrate a preferred operating mode, which should not be considered limiting the invention:
Figura 1A - 1a parte do fluxograma do processo de armazenagem de veículos; Figura 1 B - 2a parte do fluxograma do processo de armazenagem de veículos; Figura 1C - 3a parte do fluxograma do processo de armazenagem de veículos; Figura 2 - perspectiva da ponte rolante com a mesa deslizante avançada; Figure 1A - 1 is the flowchart portion of the vehicle storage process; Figure 1B - 2 is the flowchart portion of the vehicle storage process; Figure 1C - 3 is the flowchart part of the vehicle storage process; Figure 2 - perspective of the overhead crane with the advanced sliding table;
Figura 3 - vista frontal da mesa deslizante elevando uma bandeja; Figure 3 - front view of the sliding table raising a tray;
Figura 4 - perspectiva detalhando o mecanismo de elevação da bandeja. Figure 4 - perspective detailing the tray lifting mechanism.
A figura 1 ilustra a operação de inserção de um veículo na estrutura de armazenagem que compreende os seguintes eventos:  Figure 1 illustrates the operation of inserting a vehicle into the storage structure comprising the following events:
A) introdução do veículo sobre uma bandeja vazia (1) disposta em uma mesa giratória (2) de uma cabina de transferência e que está alinhada com a pista de acesso do veículo ao interior da estrutura verticalizada;  A) introducing the vehicle onto an empty tray (1) arranged on a turntable (2) of a transfer cab and which is aligned with the vehicle's access track within the vertical frame;
B) deslocamento angular da bandeja carregada (1'), através da rotação em uma fração de volta executada pela mesa giratória (2), para alinhamento com um dos elevadores (3);  B) angular displacement of the loaded tray (1 ') by rotating in a fraction of the turn performed by the turntable (2) to align with one of the elevators (3);
C) nivelamento dos trilhos superiores (31) do elevador (3) com a bandeja carregada (1') disposta sobre a mesa giratória já alinhada(2);  C) leveling the upper rails (31) of the elevator (3) with the loaded tray (1 ') disposed on the already aligned turntable (2);
D) transferência da bandeja carregada (1') posicionada sobre a mesa giratória (2) para os trilhos superiores (31) do elevador (3) através de uma mesa deslizante D) transfer of the loaded tray (1 ') positioned on the turntable (2) to the upper rails (31) of the elevator (3) via a sliding table
(21) integrada a mesa giratória (2); (21) integrated with the turntable (2);
E) deslocamento vertical ascendente e curto do elevador (3), nivelando os trilhos inferiores (32) que portam uma bandeja vazia (1) com a mesa giratória (2); E) up and short vertical displacement of the elevator (3), leveling the lower rails (32) carrying an empty tray (1) with the turntable (2);
F) transferência, através da mesa deslizante (21), da bandeja vazia (1) disposta nos trilhos inferiores (32) do elevador para a mesa giratória (2), que então torna-se disponível para inserção de um novo veículo ou para a conclusão de uma operação de retirada sendo executada por outro elevador; F) transfer, through the sliding table (21), of the empty tray (1) disposed on the lower rails (32) of the elevator to the turntable (2), which then becomes available for insertion of a new vehicle or for completion of a withdrawal operation being performed by another elevator;
G) deslocamento vertical do elevador (3) com a bandeja carregada (1') até o nível (4) selecionado pelo sistema, onde encontra-se o box livre para armazenagem do veículo;  G) vertical displacement of the elevator (3) with the loaded tray (1 ') to the level (4) selected by the system, where the free storage box of the vehicle is located;
H) nivelamento dos trilhos inferiores (32) do elevador (3) com a ponte rolante (5) daquele andar de vagas, a qual se movimenta sobre trilhos longitudinais (41) daquele nível (4) da estrutura de armazenagem;  H) leveling the lower rails (32) of the elevator (3) with the overhead crane (5) of that vacancy stage, which moves on longitudinal rails (41) of that level (4) of the storage structure;
I) transferência da bandeja vazia (1) disposta sobre a ponte rolante (5) através de uma mesa deslizante (51) nela montada até os trilhos inferiores (32) do elevador (3);  I) transferring the empty tray (1) arranged over the overhead crane (5) through a sliding table (51) mounted thereon to the lower rails (32) of the elevator (3);
J) deslocamento vertical descendente e curto do elevador (3), nivelando os trilhos superiores (31) que portam a bandeja carregada (1') com a ponte rolante (5); J) Downward and short vertical displacement of the elevator (3), leveling the upper rails (31) that carry the loaded tray (1 ') with the bridge. rolling (5);
K) transferência da bandeja carregada (T) disposta nos trilhos superiores (31) do elevador (3) até a ponte rolante (5) através da sua mesa deslizante (51);  K) transferring the loaded tray (T) arranged on the upper rails (31) of the elevator (3) to the overhead crane (5) through its sliding table (51);
L) deslocamento horizontal e retilíneo da ponte rolante (5) com a bandeja carregada (f), disposta transversalmente ao percurso, até a frente do box (6) livre e previamente alocado para armazenagem do veículo, de onde a ponte rolante (5) já havia retirado a respectiva bandeja vazia (1) que foi colocada nos trilhos inferiores (32) do elevador (3); L) horizontal and rectilinear displacement of the crane (5) with the loaded tray (f) arranged transversely to the front of the free box (6) previously allocated for storage of the vehicle, from where the crane (5) had already removed the empty tray (1) that was placed on the lower rails (32) of the elevator (3);
M) transferência da bandeja carregada (1') disposta sobre a ponte rolante (5), através da sua mesa deslizante (51), até as sapatas (62) posicionadas sobre os trilhos transversais (61) que constituem esta vaga de armazenagem na estrutura, ficando a ponte rolante então livre para se deslocar horizontalmente e em linha reta sobre as vigas longitudinais (4) do andar até posicionar-se defronte a um outro box (6) determinado pelo sistema de controle. M) transfer of the loaded tray (1 ') disposed on the overhead crane (5) through its sliding table (51) to the shoes (62) positioned on the transverse rails (61) which constitute this storage space in the structure. The crane is then free to move horizontally and in a straight line over the longitudinal beams (4) of the floor until it is in front of another box (6) determined by the control system.
A operação de retirada do veículo da vaga e entrega ao motorista segue a ordem inversa das sequências anteriormente descritas.  The operation of removing the vehicle from the vacancy and delivering it to the driver follows the reverse order of the sequences previously described.
A figura 2 ilustra a ponte rolante (5) sobre a qual atua a mesa deslizante (51). A ponte rolante (5) se movimenta independente e longitudinalmente (nos dois sentidos) sobre as vigas longitudinais (41) que definem um nível da estrutura metálica. Para permitir o seu deslocamento, a ponte rolante (5) é dotada de um chassi (52) com roletes (53), os quais são acionados pelos motores (54).  Figure 2 illustrates the overhead crane (5) on which the sliding table (51) acts. The overhead crane (5) moves independently and longitudinally (in both directions) over the longitudinal beams (41) which define a level of the metal structure. To allow it to move, the crane (5) is provided with a chassis (52) with rollers (53) which are driven by the motors (54).
Na parte superior da ponte rolante (5) desloca-se transversalmente, também nos dois sentidos, a mesa deslizante (51), responsável por colocar e retirar a bandeja (1) no interior da vaga (6). A mesa deslizante (51) mantêm-se alojada sobre os trilhos internos (55) da ponte rolante (5), até que seu deslocamento transversal seja comandado.  On the upper part of the overhead crane (5), the sliding table (51) moves transversely in both directions, which is responsible for placing and removing the tray (1) inside the space (6). The sliding table (51) remains housed on the inner rails (55) of the overhead crane (5) until its transverse displacement is controlled.
Para permitir o seu deslocamento sobre a ponte rolante (5), a mesa deslizante (51) é dotada de um chassi (56) com roletes (57), os quais são acionados pelos motores (58), através dos eixos (59).  To allow it to move over the crane (5), the sliding table (51) is provided with a chassis (56) with rollers (57), which are driven by the motors (58) through the axles (59).
Integrada a mesa giratória (2) também há uma mesa deslizante (21) dotada dos mesmos mecanismos e com o mesmo funcionamento da mesa deslizante (51) da ponte rolante (5). A figura 3 detalha o mecanismo de elevação da bandeja (1) existente na mesa deslizante (21 e 51) que atua em cada ponte rolante (5) e na mesa giratória (2), o qual é necessário para as seguintes operações: Integrated to the turntable (2) there is also a sliding table (21) having the same mechanisms and the same functioning of the sliding table (51) of the overhead crane (5). Figure 3 details the tray lifting mechanism (1) on the sliding table (21 and 51) acting on each overhead crane (5) and the turntable (2), which is required for the following operations:
D - transferência da bandeja carregada (1') posicionada sobre a mesa giratória (2) até os trilhos superiores (31) do elevador (3) e vice-versa; D - transfer of the loaded tray (1 ') positioned on the turntable (2) to the upper rails (31) of the elevator (3) and vice versa;
F - transferência da bandeja vazia (1) disposta no trilho inferior (32) do elevador F - transfer of empty tray (1) disposed on lower rail (32) of elevator
(3) até a mesa giratória (2) e vice-versa; (3) to the turntable (2) and vice versa;
I - transferência da bandeja vazia (1) disposta sobre a ponte rolante (5) para os trilhos inferiores (32) do elevador (3) e vice-versa; I - transfer of the empty tray (1) arranged on the overhead crane (5) to the lower rails (32) of the elevator (3) and vice versa;
K - transferência da bandeja carregada (1') posicionada nos trilhos superiores (3 ) do elevador (3) até a ponte rolante (5) e vice-versa; K - transfer of the loaded tray (1 ') positioned on the upper rails (3) of the elevator (3) to the overhead crane (5) and vice versa;
M - transferência da bandeja carregada (1') disposta na ponte rolante (5) até os trilhos transversais (6) que definem o box de armazenagem do veículo e vice-versa. M - transfer of the loaded tray (1 ') arranged on the overhead crane (5) to the transverse rails (6) defining the vehicle storage box and vice versa.
Concorrentemente, ocorre um evento que é a transferência da bandeja vazia (1) do box de armazenagem (6) para a ponte rolante (5) durante o deslocamento do elevador (3), de modo que a ponte rolante (5) já esteja posicionada com uma bandeja vazia (1) em frente ao elevador (3) quando este chegar, em uma operação de inserção de veículo. Esse evento possui os movimentos em ordem inversa para uma operação de retirada de veículo.  Concurrently, an event occurs which is the transfer of the empty tray (1) from the storage bin (6) to the overhead crane (5) during elevator travel (3), so that the overhead crane (5) is already positioned with an empty tray (1) in front of the elevator (3) when it arrives in a vehicle insertion operation. This event has the movements in reverse order for a vehicle pickup operation.
A figura 4 detalha o mecanismo, montado na mesa deslizante (21 e 51) da mesa giratória (2) e das pontes rolantes (5), cuja função é suspender ou abaixar (em cursos muito pequenos) a bandeja (1) que está sendo transportada. Esse mecanismo compreende macacos (60) cujos pistões (61) movimentam verticalmente a bandeja (1).  Figure 4 details the mechanism, mounted on the sliding table (21 and 51) of the turntable (2) and the overhead cranes (5), whose function is to suspend or lower (in very short strokes) the tray (1) being transported. This mechanism comprises jacks (60) whose pistons (61) move the tray (1) vertically.

Claims

REIVINDICAÇÕES
1 - "PROCESSO DE ARMAZENAGEM ROBOTIZADA DE VEÍCULOS" caracterizado por compreender as seguintes operações:  1 - "ROBOTIZED VEHICLE STORAGE PROCESS" characterized by the following operations:
A) introdução do veículo sobre uma bandeja vazia (1) disposta em uma mesa giratória (2) de uma cabina de transferência e que está alinhada com a pista de acesso do veículo ao interior da estrutura verticalizada;  A) introducing the vehicle onto an empty tray (1) arranged on a turntable (2) of a transfer cab and which is aligned with the vehicle's access track within the vertical frame;
B) deslocamento angular da bandeja carregada (1'), através da rotação em uma fração de volta executada pela mesa giratória (2), para alinhamento com um dos elevadores (3);  B) angular displacement of the loaded tray (1 ') by rotating in a fraction of the turn performed by the turntable (2) to align with one of the elevators (3);
C) nivelamento dos trilhos superiores (31) do elevador (3) com a bandeja carregada (1') disposta sobre a mesa giratória já alinhada(2); C) leveling the upper rails (31) of the elevator (3) with the loaded tray (1 ') disposed on the already aligned turntable (2);
D) transferência da bandeja carregada (1') posicionada sobre a mesa giratória (2) para os trilhos superiores (31) do elevador (3) através de uma mesa deslizanteD) transfer of the loaded tray (1 ') positioned on the turntable (2) to the upper rails (31) of the elevator (3) via a sliding table
(21) integrada a mesa giratória (2); (21) integrated with the turntable (2);
E) deslocamento vertical ascendente e curto do elevador (3), nivelando os trilhos inferiores (32) que portam uma bandeja vazia (1) com a mesa giratória (2);E) up and short vertical displacement of the elevator (3), leveling the lower rails (32) carrying an empty tray (1) with the turntable (2);
F) transferência, através da mesa deslizante (21), da bandeja vazia (1) disposta nos trilhos inferiores (32) do elevador para a mesa giratória (2), que então torna-se disponível para inserção de um novo veículo ou para a conclusão de uma operação de retirada sendo executada por outro elevador; F) transfer, through the sliding table (21), of the empty tray (1) disposed on the lower rails (32) of the elevator to the turntable (2), which then becomes available for insertion of a new vehicle or for completion of a withdrawal operation being performed by another elevator;
G) deslocamento vertical do elevador (3) com a bandeja carregada (V) até o nível (4) selecionado pelo sistema, onde encontra-se o box livre para armazenagem do veículo;  G) vertical displacement of the elevator (3) with the loaded tray (V) to the level (4) selected by the system, where the free storage box of the vehicle is located;
H) nivelamento dos trilhos inferiores (32) do elevador (3) com a ponte rolante (5) daquele andar de vagas, a qual se movimenta sobre trilhos longitudinais (41) daquele nível (4) da estrutura de armazenagem;  H) leveling the lower rails (32) of the elevator (3) with the overhead crane (5) of that vacancy stage, which moves on longitudinal rails (41) of that level (4) of the storage structure;
I) transferência da bandeja vazia (1) disposta sobre a ponte rolante (5) através de uma mesa deslizante (51) nela montada até os trilhos inferiores (32) do elevador (3);  I) transferring the empty tray (1) arranged over the overhead crane (5) through a sliding table (51) mounted thereon to the lower rails (32) of the elevator (3);
J) deslocamento vertical descendente e curto do elevador (3), nivelando os trilhos superiores (31) que portam a bandeja carregada (1') com a ponte rolante (5); J) downward and short vertical displacement of the elevator (3), leveling the upper rails (31) carrying the loaded tray (1 ') with the overhead crane (5);
K) transferência da bandeja carregada (1') disposta nos trilhos superiores (31) do elevador (3) até a ponte rolante (5) através da sua mesa deslizante (51); K) transfer of the loaded tray (1 ') arranged on the upper rails (31) of the elevator (3) to the overhead crane (5) through its sliding table (51);
L) deslocamento horizontal e retilíneo da ponte rolante (5) com a bandeja carregada (1'), disposta transversalmente ao percurso, até a frente do box (6) livre e previamente alocado para armazenagem do veículo, de onde a ponte rolante (5) já havia retirado a respectiva bandeja vazia (1) que foi colocada nos trilhos inferiores (32) do elevador (3); L) horizontal and rectilinear displacement of the crane (5) with the loaded tray (1 '), arranged transversely to the path, to the front of the free and previously allocated storage box of the vehicle, from where the crane (5) ) had already removed its empty tray (1) which was placed on the lower rails (32) of the elevator (3);
M) transferência da bandeja carregada (1') disposta sobre a ponte rolante (5), através da sua mesa deslizante (51), até as sapatas (62) posicionadas sobre os trilhos transversais (61) que constituem esta vaga de armazenagem na estrutura, ficando a ponte rolante então livre para se deslocar horizontalmente e em linha reta sobre as vigas longitudinais (4) do andar até posicionar-se defronte a um outro box (6) determinado pelo sistema de controle. M) transfer of the loaded tray (1 ') disposed on the overhead crane (5) through its sliding table (51) to the shoes (62) positioned on the transverse rails (61) which constitute this storage space in the structure. The crane is then free to move horizontally and in a straight line over the longitudinal beams (4) of the floor until it is in front of another box (6) determined by the control system.
2 - "PROCESSO DE ARMAZENAGEM ROBOTIZADA DE VEÍCULOS", de acordo com a reivindicação 1 , caracterizado pelo fato de ocorrer, concorrentemente, um evento de transferência da bandeja vazia (1) do box de armazenagem (6) para a ponte rolante (5) e movimentação da ponte rolante (5) até a frente do elevador (3), em uma operação de inserção de veículo e um evento com os movimentos em ordem inversa para uma operação de retirada de veículo.  2. "ROBOTIZED VEHICLE STORAGE PROCESS" according to claim 1, characterized in that a concurrent event of transfer of the empty tray (1) from the storage box (6) to the overhead crane (5) occurs concurrently. and moving the overhead crane (5) to the front of the elevator (3) in a vehicle insertion operation and an event with the motions in reverse order for a vehicle removal operation.
3 - "PROCESSO DE ARMAZENAGEM ROBOTIZADA DE 3 - "ROBOTIZED STORAGE PROCESS OF
VEÍCULOS", de acordo com a reivindicação 1 , caracterizado pelo fato da ponte rolante (5) se movimentar independente e longitudinalmente, nos dois sentidos, sobre as vigas/trilhos longitudinais (4) que definem um nível da estrutura metálica (1), compreendendo um chassi (52) com roletes (53), os quais são acionados por motores (54). VEHICLES "according to claim 1, characterized in that the overhead crane (5) moves independently and longitudinally in both directions on the longitudinal beams / rails (4) defining a level of the metal structure (1), comprising a chassis (52) with rollers (53) which are driven by motors (54).
4 - "PROCESSO DE ARMAZENAGEM ROBOTIZADA DE VEÍCULOS", de acordo com a reivindicação 3, caracterizado pelo fato de que na parte superior das pontes rolantes (5) e da mesa giratória (21) desloca-se transversalmente, também nos dois sentidos, uma mesa deslizante (21 e 51), responsável por fazer a transferência das bandejas (1), sendo que as mesas deslizantes (21 e 51) mantêm-se alojadas sobre os trilhos internos (55) das pontes rolantes (5) e da mesa giratória (2) e compreende um chassi (56) com roletes (57), os quais são acionados pelos motores (58), através dos eixos (59). 5 - "PROCESSO DE ARMAZENAGEM ROBOTIZADA DE VEÍCULOS", de acordo com a reivindicação 4, caracterizado pelo fato da mesa deslizante (21 e 51) possuir um mecanismo de elevação da bandeja (1) que compreende macacos (60) cujos pistões (61) movimentam verticalmente a bandeja (1). 4. "ROBOTIZED VEHICLE STORAGE PROCESS" according to claim 3, characterized in that at the top of the overhead cranes (5) and the turntable (21) it is traversed transversely in both directions. sliding table (21 and 51) responsible for transferring the trays (1), and the sliding tables (21 and 51) remain housed on the inner rails (55) of the overhead cranes (5) and the turntable (2) and comprises a chassis (56) with rollers (57) which are driven by the motors (58) through the axles (59). 5. "ROBOTIZED VEHICLE STORAGE PROCESS" according to claim 4, characterized in that the sliding table (21 and 51) has a tray lifting mechanism (1) comprising jacks (60) whose pistons (61) move the tray vertically (1).
PCT/BR2009/000426 2009-01-16 2009-12-17 Automated vehicle storage process WO2010081208A1 (en)

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CN103276924A (en) * 2013-06-16 2013-09-04 张卫 Rolling and tipping type stereo garage
CN110723605A (en) * 2018-07-17 2020-01-24 东芝电梯株式会社 Autonomous moving body transport system

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CN103276924A (en) * 2013-06-16 2013-09-04 张卫 Rolling and tipping type stereo garage
CN110723605A (en) * 2018-07-17 2020-01-24 东芝电梯株式会社 Autonomous moving body transport system

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