ES2403362B1 - AUTOMATIC INSTALLATION OF VEHICLE PARKING WITH AUTOMATIC PARKING DEVICE AND ITS PARKING PROCEDURE - Google Patents

Abstract

Automatic installation of vehicle parking with automatic parking device and its procedure consisting of: #a. one or several transfer zones (3) with entry and exit of vehicles and people and a lift shaft, # b. a maneuvering zone with: # - vertical transport consisting of one or several elevators (5) open up to four sides that includes a motorized pair of treadmill or roller bed and a turning mechanism between the cabin (51) (5 ) and its platform (52), # - horizontal transport consisting of a robot (7, 37) movable on rails (10) supported on concrete and metal structure (48), including the robot (7, 37) two treadmills ( 32) or independent motorized roller beds (25), four sets of independent motorized wheels (20) accompanied by crazy wheels (21, 24), # c. parking spaces (9) based on pairs of motorized roller beds (11).

Description

Automatic installation of vehicle parking with device

Automatic parking and parking procedure

Technical sector

The present invention relates to an automatic vehicle parking installation carried out with the help of an automatic vehicle or robot parking device. Therefore, this invention falls within the field of automated parking technology.

State of the art.

At present, the big cities suffer a great lack of space for parking of vehicles due to two fundamental causes. The first of these is the increase in the car park. It has gone from a number of vehicles per family unit of O or 1 vehicle to 2 or 3 vehicles per family. This makes it necessary to have more parking spaces to park the vehicles. The second reason is the lack of foresight regarding the construction of the buildings, since the increase in the number of vehicles was not contemplated several decades ago and therefore, the buildings constructed in the twentieth century did not generally include the space needed to house a minimum number of vehicles.

Current robotic parking systems are characterized by moving vehicles on top of elements, similar to robotic warehouses for pallets, as described in Spanish patent documents 2,135,683. 2,065,046 T3 and 2,064,115 T3. As a general rule, they have a machine for vertical displacement and another for horizontal displacement, although in many cases, both movements are carried out using a single machine and simultaneously. In the latter case, the civil work is increased its difficulty by having to split any slab or horizontal slab to allow the passage of this machinery. When, for reasons of number of places, the excavation begins to be important, problems in the support of adjacent buildings begin to appear, requiring a much finer calculation and the realization of much larger structures, capable of absorbing all loads and efforts derived from rabatized parking.

In the case of installations carried out at height, such as that described in the Spanish patent document 2,119,621 as well as document W02006 / 041252, the problem arises due to the lack of support between the possible structures that would be located on both sides of the lane. Where that machinery circulates. This entails problems similar to those caused by excavations, with a higher level of detail in the calculations and a significant increase in material terms.

The aspect that we have mentioned is the transfer of vehicles on structures as pallets. The problem that arises with this type of transfers is the need to have a place to store these pallets, as well as to have a certain number to be able to service all the places that are designed. Another drawback comes from the point of operation, since a greater number of maneuvers are needed to perform certain movements, such as collecting or leaving empty pallets that allow the entry or exit of vehicles.

Explanation of the invention.

The automatic installation of vehicle parking based on the automatic parking device aims to solve the following two problems with traditional systems:

a) Facilitate that the construction of civil works be relatively simple, by

be able to have slabs that join the walls in the excavations or

well reinforcements that join structures when parking is done

above ground.

b) Do not use pallets to deposit vehicles. To do this, a

electromechanical system that moves the vehicle directly, without

need for additional space to store pallets and reducing

maneuvers since it is not necessary to leave or pick up empty pallets.

The automatic parking facility consists mainly of four differentiated conceptual zones. Each zone refers to a space used for a specific purpose, so that if a given space changes its purpose, it changes its name:

• Waiting area.

It is the space for vehicles that are waiting to be able to access the transfer area.

• Transfer zone.

It is the zone of the automatic parking of the parking lot to which the vehicles are transferred or from which they are recovered in order to reach the maneuvering zone. For this, the car park has an industrial electronic system that manages these maneuvers. This system is composed of programmable automatons (PLCs) that collect the signals of the sensorization that is distributed throughout the car park and sends the corresponding orders to the devices and devices that make up the car park.

Therefore, so that the system can carry out all the processes aimed at depositing the vehicle in a specific place, the user must deposit his vehicle in a controlled area so that the system can check all the dimensions of the vehicle and verify its correct placement , using scanners, laser width detection and vehicle length and photocell for height. On the other hand, the transfer zone will have the necessary means to help the user to the correct positioning of the vehicle, such as luminous panels or alphanumeric data display screens, where the appropriate messages will be displayed, as well as with all the sensorization used by the system for the verification of the dimensions of the vehicle.

In the transfer zone the system deposits the vehicle so that it can be accessible to the user. In this way the driver is allowed to leave or get into the vehicle so that he can recover his vehicle, either to leave the parking lot or to pick up any object from the inside of his vehicle.

In order for the user to access the transfer zone, all necessary maneuvers must be completed to place the vehicle in the requested manner, which will depend on the requested maneuver. In the event that the user wishes to collect some type of object from inside the vehicle, the system will position the vehicle in such a way that the trunk is as accessible to the user, that is, as the vehicle was deposited in the maneuver input When the user selects the maneuver to remove the vehicle, the system leaves it oriented towards the exit, so that the maneuver is facilitated.

Access to the installation can be made directly from the street. For this, the transfer zone is located at the sidewalk level in such a way that it can be done as a building site or once inside the building by means of cabins equipped for this purpose. In both cases, an area must be enabled for the waiting of the vehicles that must remain within the limits of the building.

Maneuvering zone

In this area, the system performs the necessary maneuvers to insert or remove the vehicle from the silo. In this area, there is the vertical transport system consisting of elevators and horizontal vehicles consisting of one or more robots,

• Vehicle deposit area.

Garage area not accessible to the user in which the vehicles are deposited until delivery to the owner. It is also called storage.

The different operations that a user can perform in this rabatized car park are summarized in: Vehicle entry maneuver.

•

Maneuver to collect vehicle objects.

•

Vehicle redial maneuver.

All the maneuvers are controlled by means of electronics based on programmable automatons (PLC) that collect the signals of the sensorization that is distributed throughout the car park. Within this mentioned sensor, the following types of sensors can be distinguished:

Photoelectric cells for the control of the position of the vehicles in the squares and in the treadmills. They may be of the sender-receiver type

or by reflection. Ultrasonic sensors, to detect vehicle presence on the robot or elevator Travel limits, both for squares and routes the robots. Laser scanners for the control of vehicle dimensions. Volumetric detectors for the control of people within the zones accessible. Magnetic detectors, to control the passage of people to Different parking areas. They will connect to the circuit security those that give way to areas where there cannot be people when the system is running. Magnetic card readers, for user identification. Load cells to control the weight of the vehicle. Barcode reader for robot positioning.

Communications between the PLCs and the different sensors can be done point to point between the sensor and the signal input terminals or via field buses and using Profibus as the communications protocol.

Vehicle entry maneuver. The user accesses the parking lot in his vehicle and identifies himself by passing his user card through the keys that will be found at the entrance of the parking lot. Once the system identifies the user, it goes to the transfer zone. In the event that there are several transfer zones, the system through a data display screen or through light signals such as traffic lights or lights, will indicate to the user in which transfer zone the vehicle should be deposited and guide him towards it. Once the user begins to enter the transfer zone, the system begins measuring the vehicle using the laser scanners, indicating to the user the action to be performed at that time. That is, if the user deviates to one of the sides, in such a way that he cuts the laser beam of the scanners, the system will instruct him to turn to the opposite side. If it is still in the correct position, the system will prompt you to advance until the vehicle is correctly positioned. At this time, the dimensions of the vehicle will be checked, to make sure that it is suitable to be parked in this installation. All these interactions between the system and the user are carried out through a data display screen where the different messages are displayed. Once the verification of the dimensions is completed and the weight is below the maximum set, the system instructs the user to perform a series of maneuvers and checks to ensure that the vehicle is deposited correctly. These maneuvers are to set the parking brake, remove the antenna, pick up the mirrors and stop the engine and you must also check that you have not forgotten any object or user card inside the vehicle. At this point you are instructed to go through the validator to complete the entry sequence.

The validator consists of an HMI touch screen, communication between person and machine, and a user card reader. On the screen the user will be asked if he has performed the maneuvers correctly and if any element has been forgotten inside the vehicle. You must answer correctly because if not, the system does not allow the completion of the maneuver.

These questions and the obligation of the correct answer by the user are necessary to ensure that there are no negligent uses of the system, which could jeopardize the integrity of the vehicles. If the answers have been correct, the system verifies the non-presence of people within the transfer zone, using volumetric detectors and begins the sequence of vehicle entry into the silo.

The entry of vehicles into the silo begins with the closing of the access door to the transfer zone. In the event that we have a transfer zone and a maneuver zone separately, the transfer of the vehicle from the transfer zone to the maneuver zone will occur. Once the vehicle is deposited on the elevator, it will go to the plant assigned by the system. On the floor the robot distributor will be waiting to take you to the square. In the event that the robot is mounted on the elevator, it will leave it once it has reached the plant and the interlocks have been activated. Located the robot with the vehicle on it, in front of the assigned square, the transfer of the vehicle to the roller beds of the square will take place.

The order of allocation and filling of the places will be defined by the time of departure of the vehicles, depositing the vehicle in the free place that less late in the exit maneuver.

Maneuver to collect objects from the vehicle. The user on foot accesses the parking lot and goes to the validator. Pass the card through the card reader, the system recognizes it and shows you on the screen the two options available to you: object collection or vehicle removal. In this case, you will choose the first option. The system will begin the necessary maneuvers to pick up the vehicle and take it to the transfer area so that the user can access it. The distributor robot will go in front of the vehicle's square and transfer it from it to it. Once the vehicle is on the robot, it will move to the elevator to deposit it on it. The elevator will go up to the access floor of the transfer zone. For this object removal maneuver, the vehicle will not turn and the vehicle access door to the transfer area will be kept closed, which will allow the user better access to the boot area and will ensure that the vehicle does not leave the vehicle. transfer zone which could cause the system to block due to negligent use. For security reasons, user access to the transfer zone is only allowed when the system has verified that all movements have concluded and that there is no possibility of accidentally activating them.

Once the collection of objects is finished, the user leaves the transfer area and will go to the validator, where he must pass his card again to ensure that the maneuver has been completed. The system at this point begins the checks to verify that there are no people inside the transfer zone and that the vehicle is correctly positioned to make the new entry. The sequence of maneuver performed by the system is the same as those performed for an entry, from the position of the vehicle turned. The elevator will go down to the assigned level, transfer the vehicle to the robot and it will take it to the square, to transfer it and leave it already parked.

Maneuver of withdrawal of the vehicle and exit of the parking: This maneuver is, basically like the previous one, with the particularity that the second option that the system gives when passing the card through the reader of the validator has been chosen. In this case, before the user is allowed access to the transfer area, the vehicle will have turned, leaving it facing the exit door, which in this case will be open. The user will ride in his vehicle and leave the transfer zone, which will be closed once the system verifies by means of volumetric detectors, that there are personnel inside it.

Apart from these maneuvers, in the maintenance mode, which is only accessible by authorized personnel, other maneuvers for manual operations and emergency maneuvers can be performed. Within these manual maneuvers are the individual movements of each and every one of the parking elements, such as:

Door opening.

Drive of the tread bands. Turn of the turning platform. Vertical travel of the elevator. Drive roller beds, both seats. as of the robots or elevator. Robot displacement.

In addition to these individual movements, combined movements of several elements, necessary for the realization of different sequences, can be performed. As an example you can cite the transfer of a vehicle from the square to a robot. In this case, the beds of the square and of the robot must be operated at the same time so that the movement of the vehicle is uniform.

Apart from the sensors described above, the main elements that make up this installation and allow the previous maneuvers are:

a) Horizontal transport robot.

b) Garage space.

e) Elevator.

A) Horizontal transport robot. The distribution robot is a horizontal transport device or mechanism that is responsible for moving vehicles from the position where the elevator leaves them to the place assigned by the system and transfers them to or from the square.

This automatic parking device or robot consists of:

one.

A frame made with screwed structural tube with the capacity to withstand static and dynamic stresses. produced by different cough movements and serves as support for the rest of the elements that must be transported, and that are exposed in the following points.

2.

Four sets of driving wheels located at the ends of the long sides of the frame, which are responsible for supplying the power necessary for the longitudinal displacement of the robot. The set of driving wheels is in turn composed of three wheels with metallic and Vulkollan-coated tires arranged equidistant, the central wheel, called the driving wheel, which transmits the power. Located on each side of the driving wheel, there are two other wheels that provide additional support for the wheel set and quP. They are called crazy wheels. The arrangement of the wheels is such that rolling occurs in the longitudinal direction of the robot, that is, on the long side. For power transmission, an asynchronous gearmotor of the power appropriate to the speed and load capacity required by the system controlled by speed vector drives is coupled by means of a flexible type coupling.

3.

In the central part of the frame and located in each of the stringers that compose it, a set of crazy wheels are placed that avoid excessive bending of the stringers and distribute the weight of the distribution robot and its load more adequately. In this case, the set of crazy wheels is composed of three crazy wheels arranged in the same manner as in the set of driving wheels. For both types of wheel assembly, the union to the robot frame is made by means of steel pins, which allows a quick disassembly in case you need to change any of the assemblies.

Four.

Electrical panels, both force and control, as well as all the necessary sensorization for the correct operation of the system. Within this sensorization, the positioning system that guarantees the correct stopping of the robot in front of the seats or in front of the elevator must be highlighted, which will ensure a correct alignment of the beds and / or treadmills for an adequate transfer of the vehicles . o bisa pisa bands for proper transfer of vehicles. This positioning is done by reading a barcode that is arranged in the way of

rolling and that a reader is reading. The precision obtained with this system is +/- 1 mm and has the advantage that in the event of a power failure, the system knows where it is in the path since it reads the barcode and is located. So you don't have to do any relocation maneuver or reset the position, such as searching for a ~ or ~ or a known point.

5. Elements to move vehicles transversely. The distributor robot has two different configurations that will be presented in the presentation of the variants.

The main characteristic of the robot distributor is its versatility when moving, since it only needs suitable metal profiles, as rails to move. This characteristic makes the rolling is independent of the support of the profile, so that the rails can be arranged both on concrete slabs, as on metal structures, in the case of having parking levels on structure.

The robot can be powered in a variety of ways, such as through a self-winding cable that unfolds as the robot moves along the tracks. Another option is to use a continuous lane with the contacts open and an electrical outlet that will travel along the lane. This lane is designed to avoid any accidental contact by maintenance personnel.

B) Vehicle parking space. Once the distributor robot has arrived in front of the square indicated by the system, the transfer maneuver of the vehicles from the robot to the square begins. To deposit the vehicles and to be able to move them, each place has motorized roller beds. These roller beds are composed of a metal support structure, as a frame, that supports a series of metal rollers that have a pinion at one end. By driving a chain, it is possible to move all the rollers at the same time, so that any element resting on these rollers moves in one direction or another.

The transmission of power to the rollers is carried out by means of a geared motor located between the two roller beds and connected by means of spacer couplings or transmission shafts that can transmit the entire motor torque to the rollers. To ensure the correct tension of the chain, tensioners are available that can be easily adjusted and accessible by the maintenance staff.

The advantages of this system compared to other existing today, are given by the special characteristics of the distributor robot. This item Due to its intrinsic construction, it makes it possible to adapt all civil works to the client's needs, thus facilitating the work of architects and site managers.

C) Elevator. The vehicle storage silo will have one or more levels where the vehicles are deposited, by means of the corresponding horizontal transport. In order to be able to service all these levels, the parking facility has a vertical means of transport, which in most cases is an industrial elevator or car lift, on which the different equipment for the movement of vehicles are mounted. This lift consists of a platform on which vehicle displacement mechanisms are mounted, which will be shown later in the variants of this invention. The displacements of the vehicles on the elements of the system are transverse displacements with respect to the longitudinal axis of the vehicle

Depending on the geometry of the space occupied by the silo and the accesses to the transfer area, the lift will have a turning mechanism, which will be in charge of orienting the vehicle according to the needs of the system. This mechanism will consist of a fixed part, which will usually be part of the elevator car and a mobile part that will be the platform on which the rest of the element is supported. The union of both parts can be done by rotating crowns or by support on rolling elements. To make the turn, a pinion and a rack will be available, which may be part of the turning crown. Another option to make the turn is through a rubber-coated wheel that drag the rotation platform by friction. In this case, the motor and the rubber wheel may be part of the elevator or be placed in the maneuvering area, thus being an element outside the elevator.

For any of the two cases mentioned above, several options can be given, which will depend on the parking configuration that will be shown in the embodiments.

Another element present in all elevators is the interlocking system that is responsible for ensuring the correct stop of the elevator in the corresponding plant and ensuring that there are no uncontrolled movements by the elevator. These interlocking systems can act by blocking, by actuating and fixing a pinion against a rack or by inserting a pin in a housing, or by pressure, by means of hydraulic brakes of ferodo pads against some fixed part of the elevator, which Usually they will be the cabin guides.

Variants in the embodiment of the present invention.

On the other hand, according to the configuration of the transfer areas and maneuvers, it can be arranged in two different ways:

The transfer zone is independent of the maneuvering zone

being in an annexed area. In this case, only the transfer zone

It is accessible to the user, preventing access to the maneuvering zone.

It may be the case of having two or more transfer zones

for a single maneuvering zone.

• The transfer zone coincides with the maneuver zone. Users only enter the parking transfer area when they arrive or pick up their vehicle. Once you leave this assigned parking space, the sensors located in it detect that there is no

people and begins the vehicle transport maneuvers,

happening to denominate this parking space zone of

maneuver. Therefore, the transfer zone is transformed into a zone of

maneuver once the occupants leave the vehicle. In this

5

case, the elevator or vertical transport will be in this area.

Based on the elements described above you can set the

following variants for this invention in which the elements described

previously they are part of all the variants.

the

Variant 1. The elevator is accessible to users and there is a robot for each

elevator.

In this case each robot embarks on the elevator and the transfer zone

It coincides with the maneuvering zone.

fifteen

Since the robot is accessible to users, bisa bands will be mounted to

allow people to pass over it. The robot will include a structure of

support or grid on the robot frame to support a

set of steel sheets, so that, on the one hand, it is allowed to run

twenty

to vehicles on this structure and on the other hand allow the passage of

people on the robot with security for its integrity. They differ two

zones within the assembly of the sheet metal enclosure of the robot. The first of

They are the area of vehicles, which should be

sufficiently reinforced to support the weight of the tires.

25

This is achieved by decreasing the distance between the supports of the sheet over

the grid, so that the arrow of the sheet is reduced. To help

the user will be provided with guidance means for the entry maneuver to

the tire, facilitating driving to the right place. The second of

The zones of the enclosure is the one destined to the passage of people on the robot.

30

It does not require an excessive support structure but it must have very

take into account any type of opening that could cause the imprisonment

of any of the user's members.

All this enclosure will have the necessary openings to be able to access the different electrical and control panels that are arranged in the hollows of the frame. Likewise, the cables will be allowed to pass through appropriate holes, and the openings will be made to accommodate the sensors that the system requires.

In this variant, the elevator must ensure the safety of the people who are on top of this elevator platform. For this reason, you must have an interlocking system that avoids involuntary movements of the elevator. In the same way, the transverse displacement of the vehicles will be carried out by means of pisa bias bands, composed of a modular plastic band, which has openings of less than three centimeters, required by the safety regulations, to avoid that parts of the body can be introduced through of them. The connection between the fixed part and the mobile part of the elevator can be carried out by means of rotating crowns.

Variant 2. The elevator is accessible to users and there is a robot for each parking level In this case, the robots do not embark on the elevator and the area of Transfer matches the maneuver zone.

In this variant, the elevator is accessible to the user, so as before, the elevator must guarantee the safety of the people who are on top of this elevator platform, so it has an interlocking system. In addition, the transverse displacement of the vehicles will be carried out by means of treadmills, as explained above.

On the other hand, the user never has access to the robot, so the protection mentioned in variant 1 is not necessary. Roller beds will be mounted on the robot frame, given its greater simplicity both in manufacturing and assembly. The difference compared to the roller beds that are mounted for the seats is that in the robot, the performance is independent for each of the beds, so that each of the beds has a coupling and a gearmotor, which allows differentiated movements for each bed. This type of movement requires flexibility to move each axis of the vehicle in the opposite direction, which leads the car to rotate on its vertical axis, allowing the alignment of the wheels on one side of the vehicle and therefore the alignment of the vehicles.

Variant 3. The elevator is not accessible by users. In this case there is a robot for each level of the parking facility, each robot embarks on the elevator and the transfer zone is independent of the maneuvering zone.

The user never has access to the robot, so the solution used in variant 2 will be used, that is, to mount roller beds on the robot frame.

In relation to the elevator, the above-mentioned treadmills are replaced by a simpler system, identical to that used for vehicle accommodation and based on mounting roller beds. In this way it will not be necessary to clear the existing gaps, since the user does not have access.

Variants 4, 5 and 6. Depending on the layout of the seats and the structure and construction of the installation.

The profiles through which the robots generally move are based on a structural tube although if the design conditions it, they can be any other type of structural profile, either closed, square or rectangular tube, or open, U-profiles (UPN) or double T (IPE, IPN, HEA, HES, ...). The rolling of the distributor robot can be carried out both on profiles supported on slabs and profiles welded to a structure, finding the following possibilities depending on the squares and construction method:

• Variant 4. Only slabs: All squares go on slabs. In this case, both the beds and the running track of the robots are supported on foundations. Ace; there is an advantage in that the rolling of the floor is independent, so that the floor can present irregularities that can be corrected later by level placement of the track. In addition, this aspect means that the slab can be completely closed, that is to say without openings, which contributes to give consistency and resistance to the perimeter walls of silo. This fact makes it possible to reach a greater depth of excavation, so that a better use of the soil is achieved.

•

Variant 5. Slabs and metal structure: Mixed arrangement where part of the squares are placed on slabs and the rest on metal support structures. In general, no more than one level of seats is usually placed on a metal structure above each level of slabs. This configuration, together with that of all slabs, is what is used when the installation is carried out below ground level in a silo.

•

Variant 6. Metal structure only: All seats and raceways rest on a metal structure. In this case the rolling of the distributor robot is carried out based on profiles welded to the structure itself. This configuration is the most common when installing above ground.

On the roller beds of the seats, which will be responsible for supporting the vehicles, the alternatives are based on whether the beds are placed on wrought or metal structures. In the first case, the beds supported on forged, the support structure will be a basic structure that places the beds at the height set for the proper functioning of the system. For the second case, the structure will be more complex since it will have to support the beds and the load it carries, that is, the vehicle deposited on it. In addition, this structure should support the robot's raceway.

Variants related to the elevator. The configuration of the civil works means that the elevator has to adapt to it, in relation to the number of shipments and their distribution. It is called boarding each side of the elevator car that is free to

.

the passage of the robot and / or the vehicle above it. How I know

They can present multiple options when designing a parking lot, the

elevator must be adapted to all of them, so all are considered

the options, from a single shipment, to the four shipments, which

It makes the elevator accessible on all four sides. By way of

Specifically, the elevator may include: A shipment: There are two possibilities for this case. When we have a robot on board and that has to move on a track, the shipment is located on the short side of the platform. If the displacement of the vehicle is only done transversely, the shipment will be in long ally of the cabin. Two shipments: In this case there are three possibilities. The first is that the two shipments are short sides, so they are 180 °. This case occurs when you have a robot that leaves the elevator but there are no places adjacent to the elevator. The next case is that

shipments are on long sides, also at 180 °. This situation is

presents when the elevator only transfers vehicles to the seats and / or

robots located next to the cabin. The last case is with a shipment

on the short side and another on the long side, that is, at 90 °. In this case,

we have a robot that can leave the elevator cabin in a single

address and it has a square to the side.

Three shipments: There are two possibilities. The first is that we have

the two shipments of the long side and a shipment on a short side. In

In this case, we have a robot on board that can leave both

addresses and you can also deposit vehicles in a single place

attached. The other possibility consists of two shipments on the sides

Shorts and a boarding on a long side. The provision in this case is

with a robot on board that can leave on one side of the

elevator and can transfer vehicles to both sides of the elevator.

Four shipments: In this situation the robot, which is embarked on the

elevator, can exit both ways and can also transfer

Vehicles to places located on both sides of the elevator car.

This is the case of greater technical difficulty since there is no available

none of the four sides for the placement of the different elements of the elevator.

On the other hand, in relation to the elevator drive distinguish: 5 a) Equipment that provides the necessary force for the movement of the

cabin. For this case, two possibilities are presented: The first is an electric drive by means of a gearmotor, which acts on pulleys, drums or pinions, either chain or rack. For the power requirements that the elevator needs,

l An electrical panel will be available with the frequency inverters appropriate to the motor power. The second drive is by means of hydraulic pistons, which can act directly on the cabin, which is called direct draft or they will act on pulleys, drums or pinions so that

15 will produce a series of forwardings that will allow parameters such as cabin speed, total travel or shooting force to be adjusted. That configuration is called indirect shooting.

b) Lifting system. In this case, the different possibilities are the

Next 20: Steel cable: In this case pulleys with the appropriate throat to the diameter of the cable will be used. Roller chain: This type of chain is the conventional one and requires sprockets to make the necessary resends.

25 Lifting chain: It is a special type of chain designed for lifting elements due to its quiet operation. It does not need sprockets but drums for forwarding. Strap: Depending on the arrangement, it may be smooth or serrated. It has the advantage of being a very silent element

Any of the possibilities of lift systems can be operated by an electric motor or by hydraulic cylinders. Everything will depend on the needs of space, draft, resistance, loudness and power that the installation needs.

Brief explanation of the drawings.

Figure 1 shows a perspective view of the general plan of a parking facility.

Figure 2 shows a perspective view of a parking level floor.

Figure 3 shows a perspective view of a vehicle admission plant.

Figure 4 shows a perspective view of a general plan of the car park with structure on forged and with metal structure.

Figure 5 shows a perspective view of the distributor robot with mechanical rollers and Figure 6 shows a detail of said robot.

Figure 7 shows a perspective view of the distributor robot with a treadmill.

Figure 8 shows a perspective view of the elevator and Figure 9 shows a detail of its turning system.

Figure 10 shows a detail of the rail with barcode.

Detailed statement of an embodiment of the invention.

Of all the possible ways of developing the invention, in this detailed presentation of the embodiment the most complex options of the elevator are presented, with shipments on the 4 sides of the elevator (5) as well as the case in which the transfer zone (3) and maneuvering are coincident with a robot distributor (7) per level and a configuration of the seats (9) with beds of

Rollers (47), on concrete slab and mixed on concrete slab

metal structure (48).

Figure 1 shows a parking facility in which the transfer zone (3) is located on the access floor level (2), which is described in more detail in Figure 3. Below the access level There is an intermediate level to the parking lot, which in this case has no implication for the system and under this intermediate level is the four parking levels (4) that constitute the parking silo (1). Each of the levels (4) is built based on a floor. Figure 2 shows the moment when the elevator (5) has reached a floor level (4). In this installation, the rotation of the elevator (5), due to space, is performed below

of the access level (2) of the vehicles, that is to say in each level (4). The shape of

Elevator (5) is rectangular and adapted to transport vehicles. The

opening (6) made in each level (4) to allow the elevator to pass (5)

It has the form of MT "so that the elevator (5) is level with

the distribution robot (7) when the platform (52) of the elevator (5) rotates and

transfer a vehicle between both devices (5 and 7). Depending on the layout of the pillars (8) of the structure, a provision will be established

determined of the parking spaces (9) on each floor (4), being able to

You adapt to multiple configurations. Similarly, both the robot

distributor (7) as the squares (9) rely on the floor of each level (4).

Each seat includes two sets of roller beds (47), indicated in Figure 4, which allow the transfer and positioning of the vehicle within

each seat (9), the roller beds being driven by an engine (11). In the central hall of the plant (4) the rails (10) are installed on which

move the robot (7). The rails must reach the height of the opening (6) to allow the transfer of vehicles between the robot (7) and the elevator (5). The figures do not show the way in which the robot connects to the power source.

The transfer zone (3), figure 3, in the case that users do not access the robot (7), consists of a room with an exterior opening (12) through which the parking is accessed with the vehicle, and another door (13) that allows

access the interior of the access floor as well as a gap that allows the arrival and departure of the elevator (5). This gap is not seen in figure (3) since the elevator (S) occupies its place. When entering a vehicle in the transfer zone (3), it will be positioned on the elevator (5), its wheels on the treadmill (14). In this case, the elevator is open on all four lateral sides, which allows the access and exit of the car of its occupants. Figure 3 also shows that on the walls (15) of the transfer zone two sensors (16) are installed to measure the width of the vehicle and two other sensors (16) to measure its length as well as a screen (17) which serves to send messages to the driver.

Figure 4 shows the case of a parking facility installed in a building whereby the available space is limited by the existing construction. In this case, the entrance (12) to the transfer zone (3) allows the user to leave his vehicle on the distributor robot (37) that is deposited on the elevator (5) that is moved by a driving assembly (49) located In a continuous room. The silo (1) consists of a set of levels (4) and in this case part of these levels (4) rest on the slabs of the building itself and other levels (4) on metal structures (48) built in the silo (1) to increase the volume destined to house vehicles. Therefore, when the elevator (5) descends, the robot (37) will move along the rails (10) of each of the levels (4) regardless of whether they rest on a forged or metal structure (48) and will be placed in front of the square (9). Each parking space (9) consists of a pair of parallel roller beds (47) that allow picking up or transferring a robot vehicle

(37) transversely. The transmission of power to the rollers is carried out by means of a drive assembly (11) composed of a motor and a reducer located between the two roller beds (47) and joined by flexible couplings with spacer or transmission shafts that can transmit the entire torque from the motor to the rollers.

The distributor robot (7), figure 5, bases its structure on a frame (18) made with a screwed structural tube with the capacity to withstand the static and dynamic stresses produced by the different movements. He

frame (18) supports both the weight of the vehicle it carries and all

elements that must be transported by the system. The robot (7) moves

on a raceway or rails (10) with the help of four sets of driving wheels (20) one in each of the corners, which are responsible for supplying the power necessary for the longitudinal displacement of the robot (7). In more detail it can be seen in figure 6 that each set of wheels

motor (20) is installed on a support (33) in "T" fonma which at its

It also includes two crazy wheels (21) that accompany the driving wheel (20) and serve as support. These three wheels (21, 20, 21) have a metal rim and are covered with Vulkollan arranged in an equidistant manner. The arrangement of the wheels (21, 20, 21) is such that the rolling occurs in the

longitudinal direction of the robot (7). A drive assembly (19) composed of a

The motor and an asynchronous reducer are coupled to the drive wheel (20) by means of a flexible coupling (22) and supplies the adequate power and speed as well as the load capacity required by the system to transmit the corresponding power.

In the central part of the frame (18) and located in each of the stringers

(26) that compose it, a support (33) in the form of wT "that includes three crazy wheels (24) is screwed. This avoids excessive bending of the

stringers (26) and distributes the weight of the distribution robot (7) and its load more homogeneously. In the center of the frame (18) two bars (30) support

a box (31) that includes different electrical and mechanical elements of the robot (7). In addition, four other crazy wheels (23) are installed transversely in

each the ends of the two stringers (26) of the frame (18) to stabilize the movement of the robot (7) as it travels along the rails (10).

The "T" support (33) is attached to the frame (18) by means of buIones

(29) made of steel which allows rapid disassembly and replacement of the MT brackets "

(33) of the wheel assemblies (20, 21 and 24) if they need to be changed.

In the case of this embodiment, one robot (7) is available per level

(4), the distributor robot (7) mounts two roller beds (25) that move,

each of them, with a driving set (34). The existence of a set

drive (34) for each roller bed (25) allows fine adjustments to the

time to transfer the vehicles between the robot (7) and the elevator (5) as well as the

robot (7) and the roller beds (47) of the seats (9) since with each motor you can give or less power to each of the roller beds (25). The barcode leclor (27) is installed on the frame (26) of the frame (18) and near the support T (33) of idler wheels (24).

When the elevator (5) descends a vehicle to a plant (4) of the

parking, its two bands (14) move transversely to the transporting vehicle to deposit it on the motorized rollers (25) of the robot

(7) which, in turn, will incorporate the vehicle in a certain position

on the frame (18) of the robot (7). Subsequently, when the distributor robot

(7) arrive at the square (9) determined by the system for the vehicle, the set of motorized rollers (25) will move the vehicle transversely to leave the wheels of the vehicle resting on the set of motorized rollers (47) of the square (9) which place the vehicle in the position determined by the system.

In the event that the maneuver and transfer zone coincide, the distributor robot (37) will have a configuration set out in Figure 7. This type of

robot (37) includes the same type of driving wheels (20) accompanied by

crazy wheels (21) and motorized assembly (19) as well as wheel assembly

crazy (24) located with the help of "T" shaped supports (33) in the central part of the stringers (26) of the frame (18) and the four crazy wheels (23)

transversely installed on each of the ends of the two stringers

(26) of the frame (18). The motorized roller beds (25) have been replaced by two pisa bias bands (32) which move each of them with the help of a drive assembly (35) of greater power and are protected by profiles (39) of side steel. The reason for having two motor assemblies (35) is the same as for roller beds

(25). A grid (46) is included on the frame (18) of the robot (37) which

It houses a set of plates (36, 38) shaped and constructed in a single piece of steel that standardize the exterior of the robot (37) and makes it

practicable by users and their vehicles. Each of the existing gaps

in the robot (37) between each band (32) and the end of the robot (37) is covered

by two steel plates (36) shaped and symmetrical. In each of these plates (36) built in one piece, there are three zones:

Central zone (40). You must bear the weight of people who can

transit over it.

• Recess area (41) or lane. This recess serves to direct and channel the movement of the vehicle along the robot and therefore has to support the weight of the weight of the vehicle that transmits the wheels of the same when they roll on this lane (41). In this area of the robot, the grid of the grid (46) is denser.

• Outdoor area (42). This part of the plate (36) will serve to camouflage and protect the stringers (26) of the frame (18) as well as the sets of driving wheels (20, 21) and set of crazy wheels (24).

The gaps between the tread bands (32) are covered by another

set of plates (38) in one piece that also differs

three large zones: central zone (43), recess zone (44) to allow and direct the bearing of the vehicle's wheels and outer zone (45) for protection of the

frame (18) and support "T" (33) which includes the drive wheel (20) and crazy wheels (21). The plates (38) also cover the entire grid (46) that extends between the two tread bands (32) leaving out of sight of the

users the elements exposed above as well as the electrical panel

(31) that locates the different electromechanical elements.

Depending on the geometry of the space occupied by the silo and the access to

The transfer zone. The lift (5) will have a turning mechanism (54), which will be in charge of orienting the vehicle. As can be seen in figure 8 and more specifically in figure 9, this mechanism (54) will consist of a fixed part, which in the case of figure 8 is the elevator car (51) and a part mobile that will be the platform (52) on which the devices such as the elevator roller beds (5) not shown in figures 8 and 9 are supported. The rotation is carried out with the help of a pinion (56) and a crown from

serrated turn (57) to be able to drag the turn platform (52). In this case,

the motor (55) and the gear ring (57) may be part of the lift

(5) or be placed in the maneuvering zone (3), being therefore an element outside the

elevator (5). Finally, in figure 8 one of the pulleys (53) that will serve to move the elevator with the motor assembly (49) shown in Figure 4 has been indicated.

Figure 10 shows how a bar code strip (50) is attached to one side of a rail (10). The robot (7, 37) establishes the position in which it is located along the rail (10) based on the reading made by the bar code reader 10 (27) located at the bottom of the frame (18) of the robot (7, 37), on at least three consecutive but different bar codes (3). The reading of at least three consecutive codes (3) allows to know the position of the robot with an error of less than 1 millimeter. In addition, in case of failure in

the electrical supply, when said supply is recovered the system knows

15 the position of the robot (7, 37) instantly, without having to make maneuvers of

return to know its location.

Industrial application.

20 This invention is applicable in buildings, homes and warehouses in addition to other types of constructions in which warehouses or mechanized car parks are installed.

Claims (13)

 Claims 1. Installation of automatic parking consisting of a silo (1) of 5 storage of vehicles of one or several levels (4) in which  difference between three different zones, to. one or more transfer areas (3) of vehicles, b. a vehicle maneuvering zone with one or more elevators industrial (5) and a robot distributor (7, 37) of vehicles lO movable on rails (10), from the transfer area to the deposit area or squares (9) C. and storage area or parking spaces (9) based on pairs of roller beds (47), 15 And an industrial electronic system of programmable automatons (PLC) for the transport of vehicles between the transfer zone (3) and the seats (9),  characterized in that in each vehicle maneuvering zone: • the elevator (5) includes a turning mechanism (54) between the elevator car (51) 20 (5) and the platform (52), • the rails (10) of metal profile on which the robot moves (7, 37) they include a continuous plastic band in which differentiated groups of code are inserted consecutively and without discontinuity consecutive bars (50), 25 • the robot (7, 37) carrier of distribution vehicles comprises: • four sets of three wheels (21, 20, 21) installed in brackets (33) "T" in each of the ends of the crossbar (26) of the frame (18) and arranged longitudinally, including the three wheels (21, 20, 21) of metal rim and covered with Vulkollan 30 arranged in an equidistant manner, the central driving wheel being (20) coupled through a fiexible coupling (22) to a drive assembly (19) composed of an asynchronous motor and reducer and the other two wheels being the crazy type (21) and 2. realizing the union of the support "T" (33) to the frame (18) by means of steel bolts (29),

•

two set of three crazy wheels (24) installed on supports (33) in the form of "T" located in the central part of each of the stringers (26) of the frame (1B), making the union of the support "T"

(33) to the frame (26) of the robot (7) by means of steel pins (29),

•

two motorized assemblies (33 or 34) for loading and unloading independent vehicles each mounted on the frame (18) and located between the set of idler wheels (24) and the drive assembly (20, 21), each motorized assembly being coupled to through a flexible coupling (22) to the drive assembly (34, 35) consisting of a motor and a reducer,

•

a positioning system based on a barcode reader (27) located at the bottom of a stringer (26) of the frame (18),

•

four crazy wheels (23) installed transversely on each of the ends of the two stringers (26) of the frame (18),

•

an infrared type data transmitter device (28) located next to one of the idler wheels (23) at one of the ends of the crossbar (26) of the frame the frame (18),

• electrical panels, both force and control, as well as sensors, and because each storage area or parking spaces (9) that the robot arrives at (7, 37) comprises a pair of roller beds (47) that rest each of them on a metal structure with each roller bed ( 47) at its end of a pinion that is coupled by a flexible type coupling to a single drive assembly (11)  composed of a motor and a reducer, and because the industrial electronic system of programmable automatons (PLC) for the transport of vehicles between the transfer zone (3) and the seats (9) that control the movement of vehicles and robots (7, 37) in the  Installation includes: • photoelectric cell type sensors that are located in the squares 5 of the car park and in the treadmills and are of the radio receiver or refiexion type, • ultrasonic sensors located in the frame (18) of the robot (7, 37) and the elevator (5), • travel limiters that are located in the squares, on the rails and On them robots, • volumetric detectors that are located in the transfer areas, and because the communications between the automatons and the different sensors are performed point to point between the sensor and the terminals of signal input or via field buses and using a 15 Profibus type communications protocol, the robot's infrared data transmission system (7, 37) consisting of a transmitter (28) installed in the robot's frame (18) and a fixed signal receiver located at one end of the rail (10). 20 2. Automatic parking installation according to claim 1 characterized in that the elevator (5) is accessible to the user and there is a robot (37) for each elevator and because the elevator (5) includes two treadmills (14) located transversely, of modular plastic, with lower openings of three centimeters, and because the distribution robot (37) includes: 25 • a frame (18) of screwed structural tube that includes a grid (46) that houses a set of plates (36, 38) formed and constructed in a single piece of steel in which two symmetrical plate (36) are installed on the grid (46) between each band (32) and the end of the robot (37) differentiating a central zone 30 (40) and a recess zone (41) or rail and an exterior zone ( 42) and because a set of one-piece plates (38) are installed on the grid (46) between the two tread bands (32) in which differences a central area (43) a recess area (44) of bearing of vehicle wheels and outer area (45) of protection, • two motorized assemblies (35) for loading and unloading of vehicles comprising two independent tread bands (32). 3. Automatic parking installation according to claim 1 characterized in that the elevator (5) is accessible to the user and there is a robot (37) for each level (4) and that the elevator (5) includes two treadmills (14) located transversely , of modular plastic, with openings of less than three centimeters and because the distribution robot (7) is characterized by including two motorized assemblies (34) for loading and unloading vehicles comprising two independent roller beds (25). 4. Automatic parking installation according to claim 1 characterized in that the elevator (5) is not accessible to the public and includes two motorized roller beds located transversely and because there is a robot (7) at each level, movable on rails (10) being The distributor robot (7) was constructed by two motorized assemblies (34) for loading and unloading vehicles, each comprising a separate roller bed (25). 5. Automatic parking installation according to claim 1 to 4, characterized in that each floor of the car park is constructed in concrete slab and that the rails (10) are supported on concrete slabs. 6. Automatic parking installation according to claim 1 to 4, characterized in that the car park is constructed with metal structure (48) and the rolling of the robot (7, 37) distributor is carried out based on profiles (10) welded to the structure itself (48 ). 7. Automatic parking installation according to claim 1 to 4 characterized in that the parking installation is constructed by a combination of concrete slab and metal structures (48) and by that the rails (10) are welded to the structure itself (48) as well as to the concrete slabs. 8. Automatic parking installation according to claim 1 to 4, characterized in that the elevator (5) has two longitudinal displacement shipments of the robot (7, 37) and two transverse shipments of vehicles consisting of a pair of treadmills (14) motorized or motorized roller beds. 9. Automatic parking installation according to claim 1 to 4, characterized in that the transmission of energy to the robot (7, 37) is carried out through a continuous rail with the contacts open and a sliding jack outlet movable along the rail. 10.Automatic device for the transport of vehicles or robot (7, 37) in automated multi-level car parks (4) with one or more zones (3) collection and delivery of vehicles, industrial elevator, rails (10) on each floor (4) and seats (9) based on roller beds (47), characterized by being constituted by: i. a frame (18) of screwed structural tube, ii. four sets of three wheels (21, 20, 21) installed in supports (33) in the form of "T" in each of the ends of the frame (26) of the frame and arranged in a longitudinal manner, including the three wheels (21, 20, 21) Metal rim and Vulkollan coated equidistant, the central drive wheel (20) being coupled through a flexible type coupling (22) to a drive assembly (1 9) composed of an asynchronous motor and reducer and the other two wheels of the crazy type (21) and the support of the support "T" (33) being made to the frame (18) by bolts (29) of  steel, iii. two set of three crazy wheels (22) installed in brackets (33) in the form of "T" located in the central part of each of the stringers (26) of the frame (18), and arranged longitudinally to the frame (18) with the support being joined "T" (33) to the frame (18) of the robot (7, 37) by bolts (29) of steel, IV. two motorized assemblies of loading and unloading of vehicles each mounted on the frame (18) and located between the set of idler wheels (24) and the drive assembly (20, 21), each motorized assembly being coupled through a flexible coupling ( 22) to the drive assembly (34, 35) composed of a motor and a reducer, v. a barcode reader (27) located at the bottom of a stringer (26) of the frame (18), saw. four crazy wheels (23) installed transversely on each of the ends of the two stringers (26) of the frame (18), vii. an infrared data transmission device (28) located next to one of the idler wheels (23) at one of the ends of the frame (26) of the frame the frame (18), viii ultrasonic sensors located in the frame (18), IX. electrical panels (31), both force and control, as well as sensors. eleven . Automatic device for transporting vehicles or robots (7) in automated multi-level car parks (4) according to claim 10, characterized in that each of the two independent motorized assemblies for loading and unloading vehicles is constituted by a set of roller beds ( 25). 12. Automatic device for transporting vehicles or robots (37) in automated multi-storey car parks (4) according to claim 10 characterized in that each of the two motorized assemblies Independent of loading and unloading of vehicles are constituted by a pair of treadmills (32) of modular plastic, with modular openings of 3 centimeters as well as because on the frame (4) a grid (46) is included that supports a set of plates (36, 38) formed and constructed in a single piece of steel in which two symmetrical plates (36) are installed on the grid (46) between each band (32) and the end of the robot (37) differentiating a central area ( 40) and a recess zone (41) or rail and an exterior zone (42) and because a set of one-piece plates (38) are installed on the 5 grid (46) between the two treadmills (32) in which a central zone (43) a recess zone (44) of the rail and outer zone (45) of protection are differentiated. 13. Parking procedure in an automated parking facility 10 according to the devices and elements set forth in the preceding claims in which once the user enters with his / her The following stages are carried out in the car park: • vehicle entry stage, • stage of transfer of the vehicle to a place (9) of the silo, 15 • stage of withdrawal of the vehicle and exit of the car park • vehicle object collection stage  characterized in that the entry stage of the vehicle includes the Next steps: 20 • user identification with a card, • deposit of the vehicle in the transfer zone (3) with the help of  system indications, • measurement and checking dimensions and weight of the vehicle as well as of correct positioning in the transfer zone (3) of the vehicle, • verification of maneuvers performed and abandonment of the user's transfer zone, where the check of input maneuvers is performed using a validator consisting of a screen HMI touch, communication, and a tare reader, concluding the 30 validation and entry sequence with the introduction of the user card and because for the system to complete the entry procedure the user must answer all questions correctly,  and because in the transfer maneuver of the vehicle from the transfer zone (3) to a place (9) includes the following stages:

•

closing the access doors (12, 13) to the transfer zone (3),

•

deposit of the vehicle on the elevator (5) and transfer of the elevator (59) to the level (4) assigned by the system, the vehicle positioning rotation being carried out in the elevator (5) with the help of a turning mechanism (54) located between the booth (51) of the elevator (5) and the platform (52) making the turn in the transfer zone (3) or at each level (4),

•

transfer of the vehicle between the elevator (5) and the robot (7, 37) through a pair of tread bands (14) or roller beds moved each by a single drive assembly and a pair of roller beds ( 25) or footsteps (32) of the robot (7, 37) moved each of the beds (25) or bands (32) by a drive assembly (34, 35),

•

transfer of the robot (7, 37) with the vehicle to the square (9) assigned on rails (10), with a metal profile that includes a continuous plastic band in which differentiated groups of code 90 are inserted consecutively and without discontinuity bars (50), establishing the position of the robot on the track (10) by reading at least 3 consecutive bar codes (50) being the communication between the robot and the infrared receiver emitting system with the fixed receiver at one end of a rail (10) and the mobile transmitter (28) installed in the robot frame (7, 37),

•

And the transfer of the vehicle between the robot (7, 37) and the square (9) is done through a pair of roller beds (47) of the square (9) each coupled with flexible type coupling to a single drive assembly (11) and a pair of roller beds (25) or treadmills (32) of the robot (7, 37) moved each of the beds (25) or bands (32) by a drive assembly (34, 35),

and because the stage of removal of the vehicle and exit of the parking once The user's access to the car park includes the following stages:

•

identification of the user in the validator through a fee by the card reader,

•

User pick-up of the vehicle at the validator,

•

transfer of the vehicle from the square (9) to the transfer area

(3), through the following steps: automatic transfer of the vehicle from the square (9) to the robot (7, 37), transfer of the robot (7, 37,) along the rails (10) to position in front of the elevator (5), transfer of the robot vehicle (7, 37) to the elevator (5), transfer of the elevator from level (4) to the transfer area (3) and positioning of the vehicle facing the exit (12) of the transfer zone (3), And because the vehicle object collection stage includes the following stages: • identification of the user in the validator through a card by the card reader,

•

user choice of object collection in the validator,

•

transfer of the vehicle from the square (9) to the transfer area (3), through the following steps: automatic transfer of the vehicle from the square (9) to the robot (7, 37), transfer of the robot (7 , 37,) along the rails (10) to position itself in front of the elevator (5), transfer of the robot vehicle (7, 37) to the elevator (5), transfer of the elevator from level (4) to the area of transfer (3) And positioning of the vehicle facing in the opposite direction to the exit (12) of the transfer zone (3)

And because all the maneuvers are controlled by means of electronics based on programmable automatons (PLC) that collect the signals of the sensorization that is distributed by the car park, being the photoelectric cell type sensors located in the parking spaces and in the bands " , cables, ultrasonic sensors located in the frame (18) of the robot (7, 37) AND  of the elevator (5) of the transmitter-receiver or reflection type, travel limiters located in the squares (9), in the rails (10) and in the robots (7, 37), the volumetric detectors are located in the transfer zones (3) and because  5 the communications between the automatons and the different sensors are carried out point-to-point between the sensor and the signal input terminals or via field buses and using a Profibus communication protocol with the robot's infrared data transmission system (7, 37) consisting of a transmitter installed in the frame (18) of the robot and a receiver 10 fixed signal located at one end of the rail (10),