JP2001115676A - Mechanical parking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent two adjacent carrying trucks sharing a truck traveling passage from running away and colliding. SOLUTION: When two carrying trucks 10 sharing the same truck traveling passage get close to each other to a prescribed distance, this is detected by the reflection of the projected beam of a reflection type photoelectric switch 38 by a reflection tape 40. At this time, a truck control device compares the traveling speed of each carrying truck 10 with the initial speed of deceleration stop mode of the carrying truck 10 when the adjacent carrying trucks 10 are decelerated and stopped so as not to collide each other. When the traveling speed does not exceed the initial speed of the deceleration stop mode, a normal speed is judged to output a deceleration stop mode execution signal to each carrying truck 10, and when the traveling speed exceeds the initial speed of the deceleration stop mode, a runaway state is judged to output an emergency stop command to the carrying truck 10 laid in the runaway state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a mechanical parking device in which a plurality of transporters carrying a vehicle mounted thereon are provided on the same transport path, and more particularly, to a measure for preventing runaway of the transporters.

[0002]

2. Description of the Related Art As a mechanical parking device, for example, Japanese Patent Publication No.
As disclosed in Japanese Patent Application Publication No. 39762, there is a type in which one transport trolley carries a loading / unloading vehicle on a trolley travel path in which a plurality of storage shelves are arranged on both sides.

In this publication, if traveling control of the transport vehicle becomes impossible due to a failure in the control system, the transport vehicle may run away and collide with the wall surface at the end of the travel route of the vehicle.
The speed of the transport vehicle is detected at a fixed position before the end stop position of the truck travel path, and if the detected speed exceeds the set speed, the transport vehicle is regarded as running out of control and the transport vehicle is emergency stopped. A signal is output, and the transport vehicle is suddenly decelerated to an emergency stop.

On the other hand, as another mechanical parking device, as disclosed in JP-A-9-209602 and JP-A-9-209605, a plurality of transport vehicles share one truck traveling path. There are also some types. In the mechanical parking devices of these publications, naturally, adjacent transport vehicles are speed-controlled so as to keep a predetermined distance between them so that they do not collide with each other. However, as in the former mechanical parking device described above, No runaway prevention measures have been taken.

[0005]

However, in the latter type of mechanical parking device, it is desirable from the viewpoint of safety to take measures against runaway like the former type of mechanical parking device.

However, in the latter type of mechanical parking device, it is possible to prevent the carriage from colliding with the wall surface at the end of the carriage traveling path by taking measures against runaway,
Since a plurality of transport vehicles share one truck travel path, there is a new problem that adjacent transport vehicles may collide due to runaway. In addition, since each of the transport vehicles is traveling, it is not determined where the runaway occurs on the vehicle travel route, and the speed of the transport vehicle as described above is set at a fixed position before the terminal stop position of the vehicle travel route. It cannot be dealt with by the way of detection.

[0007] The present invention has been made in view of the above point, and an object of the present invention is to prevent adjacent transporters (for example, a transport vehicle) sharing a transport path (for example, a truck travel route) from running away from each other. That is.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, according to the present invention, when the distance between adjacent carriers becomes a certain distance, the self-speed of each of the carriers is checked and the carriers are required. It is characterized in that an emergency stop is performed accordingly.

More specifically, the present invention is directed to a mechanical parking apparatus in which a plurality of transporters carrying a vehicle are provided on the same transport path, and the following solution is taken.

That is, according to the first aspect of the present invention, a distance detection means provided in each of the above-mentioned carriages for detecting that an adjacent carriage has approached a predetermined distance and a detection signal of the distance detection means are inputted. The deceleration stop mode of the transporter when decelerating and stopping so that the adjacent transporters do not collide with each other is programmed in advance, and the transport speed of each transporter when the detection signal is input is compared with the initial speed of the deceleration stop mode. If the transport speed does not exceed the initial speed in the deceleration stop mode, the speed is regarded as normal, and a deceleration stop mode execution signal is output to each carrier, while the transport speed exceeds the initial speed in the deceleration stop mode. And a control means for outputting an emergency stop command to a transporter in a runaway state regarded as a runaway state.

According to the first aspect of the present invention, when an adjacent carrier approaches and a distance between them becomes a predetermined distance, this is detected by the distance detecting means, and this detection signal is sent to the control means. Is entered. The control means compares the transport speed of each of the transporters at the time of the detection signal input with the initial speed in the deceleration stop mode.If the transport speed does not exceed the initial speed in the deceleration stop mode, the controller regards each of the transport speeds as a normal speed. A deceleration stop mode execution signal is output to the transporters, and adjacent transporters are decelerated and stopped so as not to collide with each other. On the other hand, if the transport speed exceeds the initial speed of the deceleration stop mode, the control unit regards the runaway state and outputs an emergency stop command to the runaway state, and the runaway state of the runaway vehicle The speed will be reduced to an emergency stop, so it will not collide with the adjacent transport.

According to a second aspect of the present invention, in the first aspect of the present invention, the distance detecting means includes a rod-shaped member protruding toward the other carrier so as not to interfere with an adjacent carrier, and one of the carriers. A detection sensor provided on the rod-shaped member of
When the adjacent carriages approach each other to a predetermined distance, the two rod-like members rub against each other and the detection sensor detects the detection target material. It is characterized by having.

According to the second aspect of the present invention, an embodiment of the distance detecting means is embodied.

According to a third aspect of the present invention, in the second aspect of the present invention, the detection sensor and the material to be detected are both provided on the bar-shaped member so as to operate with a time difference of two each. .

According to the above configuration, in the third aspect of the invention, the distance detecting means is embodied in two stages.

According to a fourth aspect of the present invention, in the first aspect of the invention, the distance detecting means is provided on a reflection type photoelectric switch provided on one of the adjacent carriers and on the other carrier. The reflection type photoelectric switch is configured such that the optical axis of the reflection type photoelectric switch is inclined at a predetermined angle with respect to the other carrier, and when an adjacent carrier approaches a predetermined distance, the light is projected from the light emitting unit. The projected light beam is reflected by a reflector and received by a light receiving section.

According to the above configuration, another embodiment of the distance detecting means is embodied in the fourth aspect of the present invention.

According to a fifth aspect of the present invention, in the first aspect of the invention, at least one of the transporters is provided with a buffer means for absorbing and mitigating an impact at the time of a collision.

With the above arrangement, according to the fifth aspect of the present invention, even if an adjacent transport unit collides, the impact at the time of the collision is absorbed and reduced by the shock absorbing means, so that the transport trolley and the vehicle can be used. No harm.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 6A and 6B show an elevator sliding parking device as a mechanical parking device according to one embodiment of the present invention. In this elevator sliding parking device, a vehicle C is mounted on a pallet P. This is the type of entering and leaving.

6 (a) and 6 (b), reference numeral 1 denotes an entry / exit floor provided on the ground, 2 denotes a skeleton constructed underground, and the interior of the skeleton 2 includes a storage floor 3 therein. Although not shown, a direction change device for turning the direction of the entering vehicle C by 180 ° is installed on the entrance / exit floor 1 so that the exiting vehicle C can exit by forward driving. C
There is provided an entry / exit port 4 which also serves as an entry / exit port, which also serves as an entry / exit port for entering / exiting.

The storage floor 3 is communicated below the entrance / exit port 4 by a lift hoistway 5 extending vertically, and the lift hoistway 5 has a loading / unloading lift 6 for loading and unloading the vehicle C on the pallet P. Is installed so as to be able to move up and down by a well-known chain sprocket drive mechanism (not shown). At one center of the storage floor 3, one carriage traveling path 7 is provided as a transport path, and the lift elevating path 5 is juxtaposed to the carriage traveling path 7.

A plurality of storage shelves 8 for storing the vehicles C together with the pallets P are arranged in two rows on the both sides of the truck traveling path 7 along the truck traveling path 7 over the entire length. The front and rear two rows of storage shelves (so-called double shelves) 8 are provided in three upper and lower stages, and the carry-in / out lift 6 moves up and down between the entrance / exit port 4 and the upper storage shelf level.

Two traveling rails 9 are laid on the floor surface of the carriage traveling path 7, and the two traveling rails 9 are provided with two transport carriages 10 as transporters for mounting and transporting the vehicle C.
Are arranged corresponding to the lowermost storage shelf level, and these transport vehicles 10 enter the same vehicle travel path 7 and share the same vehicle travel path 7, travel together, and transport the vehicle C together with the pallet P. It is supposed to. In other words, at the time of loading and unloading, each of the transport vehicles 10 is caused to travel along the upper and lower three rows of storage shelves on the truck traveling path 7 and the vehicle C is palletized between each transport vehicle 10 and the two front and rear storage shelves 8. Each P is transferred by the double crank arm 31 of the transfer device 32 described later, and
Similarly, the vehicle C is transferred along with the pallet P between the carry-in / out lift 6 and the transport vehicle 10.

As shown in FIG. 3, the carriage 10 has a carriage body 11 composed of a rectangular frame.
Wheels 12 are rotatably mounted on the four corners of the bogie main body 11 one by one.
Is mounted so as to be able to roll when the traveling motor 13 is started.

A pair of front and rear struts 14 each composed of a gate-shaped frame are fixed to a tower-shaped support frame 15 on the bogie body 11, and a rectangular frame is interposed between the two struts 14. A trolley elevator 16 is disposed, and the trolley elevator 16 is supported horizontally by the two columns 14 by an elevator drive device 17 and moves up and down.

The elevating drive device 17 is provided with an elevating motor 18 installed near the upper end of one of the support frames 15 (right side in FIG. 3).
A drive sprocket 19 is fixed to an output shaft of the lift motor 18, and a driven sprocket 20 is disposed below the driven sprocket 20 and is driven and connected to the drive sprocket 19 by an endless drive chain 21.

A hoisting sprocket 22 is coaxially connected to the driven sprocket 20, and a first sprocket 23 is disposed below one side (left side in FIG. 3) of the hoisting sprocket 22. Furthermore, a second sprocket 23 is provided on the upper end of the support post 14 closer to the inside of the bogie main body 11 than the first sprocket 23.
And third sprockets 24 and 25 are arranged.

The second and third sprockets 2 described above
The arrangement of 4 and 25 is the same at the four corners of the trolley 16 and corresponds to the four corners of the trolley 16, and the trolley 16 is liftably suspended by four suspension chains 26 connected to the four corners. Has been lowered. One end of each of these four suspension chains 26 is supported by the support frame 15 on the side of the elevating motor 18.
, And is wound around the hoisting sprocket 22, but thereafter, one end (the right end in FIG. 3) of the bogie elevator 16 is suspended closer to the elevating motor 18. The two suspension chains 26 are suspended on the first to third sprockets 23, 24, 25 at the upper end of one of the columns 14 (right side in FIG. 3), while the bogie elevator 16 is located farther from the elevator motor 18. The other two suspension chains 26 suspending the other end (the left end in FIG. 3) of
Instead of passing through the first sprocket 23,
4 via another fourth and fifth sprockets 27 and 28 arranged before and after the carriage body 11 which is below the other (see FIG. 3).
2nd and 3rd sprockets 2 at the upper end of the column 14
4,25.

Below the driven sprocket 20, two movable sprockets 29 are vertically movably arranged, and each of the hanging chains 26 is connected to the two movable sprockets 2.
The weight 30 is attached to these two movable sprockets 29.

Then, the four suspension chains 26 are wound up / rewinded synchronously by the forward / reverse rotation of the lift motor 18 so that the carriage lift 16 is raised and lowered.
When the carriage lift 16 is raised, the suspension chain 2
6 is loosened on the upstream side of the hoisting sprocket 22, but during this time, the weight 30 descends and its descending stroke becomes one half of the ascending stroke of the bogie elevator 16 to prevent a winding accident due to excessive hanging of the suspension chain 26. I am trying to do it.

At the approximate center of the carriage lift 16, there is provided a transfer device 32 (in particular, a double crank arm 31 comprising two arms 31 a and 31 b, previously filed by the present applicant and known). The transfer device 32 is provided between the carriage lift 16 and the upper and lower storage shelves 8, and between the carriage lift 16 and the loading / unloading lift 6. The pallet P is transferred onto and out of the pallet P. In addition, the carriage lift 16
A plurality of guide rollers 33 are supported by a support frame 34 and arranged in the width direction at both front and rear ends (left and right ends in FIG. 3) so that the vehicle C (pallet P) can be smoothly transferred. I have.

As shown in FIGS. 1 (a) and 1 (b), a feature of the present invention is that each of the transport vehicles 10 includes a distance detecting means for detecting that an adjacent transport vehicle 10 has approached a predetermined distance. Is installed. The distance detecting device 35 is installed on the side of the adjacent transport vehicles 10 facing each other. In the transport vehicle 10 on the left side in FIGS. 1 and 3, the distance detection device 35 horizontally projects outward from one side of the support frame 15 on the side of the elevation motor 18. 1 and FIG. 3, the two right and left transfer carts 10 horizontally project outward from one side of the support frame 15 on the side opposite to the support frame 15 on the side of the elevating motor 18. It is attached to the frame 36.

The distance detecting device 35 is provided with a rod-shaped member 37 which projects horizontally toward the other carrier 10 so as not to interfere with the adjacent carrier 10 and is shown in FIGS.
The rod-shaped members 37 of the left transport cart 10 are disposed slightly below the rod-shaped members 37 of the right transport cart 10 and closer to the outside. Has become.

A reflection type photoelectric switch 38 as a detection sensor is supported by a bracket 39 at the tip of the upper surface of the rod-shaped member 37 of the left transporting carriage 10 in FIGS. 1 and 3 among the two adjacent transporting carriages 10. It is attached and the beam projection direction is directed to the inside of the bogie traveling path 7 (see FIG. 2).
1 and 3, a reflection type photoelectric switch 38 as a detection sensor is also provided at the lower end of the rod-shaped member 37 of the transport carriage 10 on the right side.
Is supported and attached to the bracket 39, and the beam projection direction is directed to the outside of the carriage traveling path 7 (see FIG. 2).

In FIG. 1 and FIG. 3, on the inner surface of the rod-shaped member 37 of the transport carriage 10 on the left side, a reflective tape 40 as a material to be detected is provided.
The reflection tape 40 as a material to be detected is also attached to the outer surface of the rod-shaped member 37 of the transport carriage 10 on the right side in FIGS.
Is affixed. Then, as shown in FIG.
When the adjacent transport carts 10 approach a predetermined distance, the tips of the rod-shaped members 37 are rubbed against each other, and one of the transport carts 1
The light beam projected from the light projecting portion of the reflection type photoelectric switch 38 on the 0 side is reflected by the reflection tape 40 on the other transport vehicle 10 side and received by the light receiving portion to detect the reflection tape 40 and be adjacent to each other. It is configured to detect that the carriage 10 has approached a predetermined distance.

In FIG. 1 and FIG. 3, the reflection type photoelectric switch 3 is provided near the base end of the upper surface of the rod-shaped member 37 of the transport carriage 10 on the left side.
A limit switch 41 as another detection sensor different from 8 is supported and attached to a bracket 42, and an L-shaped operating lever 41a branched into two branches is directed upward. 1 and 3, the rod-shaped member 37 of the carriage 10 on the right side.
In the middle of the upper surface, a limit switch 41 as another detection sensor different from the reflection type photoelectric switch 38 is supported and attached to the bracket 42, and is branched into two branches.
The mold operating lever 41a faces downward.

In the middle of the upper surface of the rod-shaped member 37 of the transporting carriage 10 on the left side in FIGS. 1 and 3, a mountain-shaped striker 43 as a material to be detected, which is different from the reflective tape 40, has its tip apex facing upward. Supported by the bracket 44. 1 and 3, a mountain-shaped striker 43 as a material to be detected, which is different from the reflective tape 40, is also provided near the top end of the rod-shaped member 37 of the right transport carriage 10 with the top end of the bracket 44 facing downward. It is supported and attached to. Then, after the reflection type photoelectric switch 38 detects the reflection tape 40, as shown in FIG.
When the adjacent transport vehicles 10 are further approached, the operation lever 41a of the limit switch 41 on one of the transport vehicles 10 is kicked by the striker 43 on the other transport vehicle 10 and the limit switch 41 is operated, so that the adjacent transport vehicles 10 are moved. Is detected as approaching further. As a result, the number of detection sensors and the number of materials to be detected are each two, that is, the reflection type photoelectric switch 38 and the limit switch 41,
The reflection tape 40 and the striker 43 are attached to the rod-shaped member 37 so as to operate with a time difference, and detect that the adjacent transport vehicles 10 have approached in two stages.

1 and 3, shock absorbers 45 as shock absorbing means are provided on the bogie main body 11 of the transporting vehicle 10 on the left side of FIG. 1 and FIG. In this shock absorber 45, a rod 48 which is urged by a coil spring 46 and protrudes from a cylinder 47 is attached to the rod-shaped member 37.
It is projected in the same direction as. At the lower end of each shock absorber 45, a plate-like stopper 49 is provided.
7 and the rod 48 project in the same direction, and the amount of projection is set smaller than the amount of projection of the rod 48.

1 and 3, one abutment plate 50 is erected on the bogie main body 11 of the right-hand carrier 10 on each side of the rod-shaped member 37 end (one side in FIGS. 1 and 3). Only appears), even after the limit switch 41 is actuated, when the adjacent transport vehicles 10 come further closer, one of the transport vehicles 10
The tip of the rod 48 and the tip of the stopper 49 of the shock absorber 45 abut against the butting plate 50 of the other carrier 10, and at this time, the rod 48
6 and contracts against the spring force to absorb and mitigate the impact at the time of collision (see FIGS. 4C and 4D).

As shown in FIG. 5, the operation control of the parking device in general is performed by the general control device 51 on the ground side when the vehicle enters and leaves the vehicle. Separately, a trolley control device 52 dedicated to a trolley for controlling the traveling operation and the elevating operation of the transport trolley 10 is mounted. The overall control device 51 and the trolley control device 52 are connected by a signal transmission device (not shown). I have.

The general control device 51 controls the overall operation of the parking device in accordance with the entry / exit of the vehicle, for example, an opening / closing command for an entrance / exit door (not shown) of the entrance / exit port 4 and a turning command for a turning device (not shown). , Loading and unloading commands such as a lifting command for the loading / unloading lift 6 and a traveling command for the transport vehicle 10. Further, in this example, since the two carriages 10 share the carriage traveling path 7, the position information of the two carriages 10 is detected by a signal transmission device (not shown), and the respective positions are determined. The information is input to the integrated control device 51, and based on the information, a speed correction command is output to the carriage control devices 52 of the two carriages 10, so that the two carriages 10 maintain a predetermined distance so as not to collide with each other. Has become. The signal transmission device is, for example, a transmission device on the traveling rail 9,
, And receiving information on the position of each transport vehicle 10 to the integrated control device 51 by optical communication.

On the other hand, the carriage control device 52 includes a traveling motor 13 for traveling the carriage 10 and a lifting drive 17.
And the transfer motor (not shown) of the transfer device 32 are connected, and various information such as position information and speed information necessary for the entry and exit are programmed in advance as entry and exit information. . Then, the carriage control device 52
Receives the entry / exit command from the general control device 51, starts / stops the traveling motor 13 or the like based on the entry / exit information to control the traveling, elevating and stopping operations of the transport trolley 10, etc. The vehicle C is delivered between the storage shelf 8 and the carry-in / lift 6 together with the pallet P. At this time, the current position and traveling speed of the transport vehicle 10 are detected by detecting the number of revolutions of an output shaft of the traveling motor 13 by a rotary encoder (not shown), and inputting the detection signal to the vehicle control device 52 to store and retrieve the vehicle. It is determined by comparing it with information.

Further, the bogie control device 52 is connected to the reflection type photoelectric switch 38 and the limit switch 41 of the distance detection device 35, and is programmed with emergency stop information in addition to the above-mentioned entry / exit information. The emergency stop information is a deceleration stop mode of the transport vehicle 10 when the adjacent transport vehicles 10 are decelerated and stopped so that the adjacent transport vehicles 10 do not collide with each other after the detection signal of the reflection type photoelectric switch 38 is input. The deceleration stop mode is set on the assumption that adjacent transport vehicles 10 approach each other at the maximum speed during normal traveling. If the general controller 51 fails for some reason and issues an instruction to reduce the distance between the adjacent transport vehicles 10 to a predetermined distance or less, a detection signal of the reflective photoelectric switch 38 is input to the vehicle controller 52. Then, the trolley control device 52 compares the transport speed of each transport trolley 10 at the time of this detection signal input with the initial speed in the deceleration stop mode, and when the transport speed does not exceed the initial speed in the deceleration stop mode, A deceleration stop mode execution signal is output to each carrier 10 assuming normal speed,
The adjacent transport vehicles 10 are decelerated and stopped so as not to collide with each other. On the other hand, when the transport speed exceeds the initial speed in the deceleration stop mode, the bogie control device 52 regards the runaway state as being out of control and outputs an emergency stop command to the transport vehicle 10 in the runaway state. A certain transport vehicle 10 is configured to reduce the speed rapidly and to make an emergency stop. Accordingly, even if the adjacent transport vehicles 10 run away due to the failure of the integrated control device 51, it is possible to prevent a situation in which the transport vehicles 10 collide with each other.

As described above, the transport trolley 10 should be stopped urgently by the emergency stop command from the trolley control unit 52 so as not to collide, however, the stoppage is delayed and the transport trolley 10 is stopped.
When the vehicles further approach each other, the limit switch 41 is turned off this time to forcibly cut off the power line of the traveling motor 13, so that a double safety measure is taken. At this time, after the shock absorber 45 on the one carrier 10 abuts against the abutment plate 50 on the other carrier 10, the stopper 49 abuts against the abutment plate 50.
, So that the transport vehicle 10 and the vehicle C are not harmed.

In the above-described embodiment, the reflection type photoelectric switch 38 and the reflection tape 40 are attached to the rod-shaped members 37 projecting from the adjacent carriage 10 so as to face each other. And the reflection tape 40 of the other rod-shaped member 37, the distance detection device 35 is configured to detect the approach of each other. As shown in FIG. 7, the reflection type photoelectric switch 38 is connected to one of the adjacent transport vehicles 10 as shown in FIG. It is mounted directly on the transport vehicle 10 without the intermediary of the rod-shaped member 37, and the optical axis is inclined at a predetermined angle with respect to the other transport vehicle 10, while the reflective tape 40 is mounted on the other transport vehicle 10 and the distance is set. The detection device 35 may be configured. When the adjacent transport vehicles 10 are not approaching a predetermined distance, the light beam projected from the light projecting portion of the reflective photoelectric switch 38 does not reach the reflective tape 40 and is not received by the light receiving portion (FIG. 7). (A)). On the other hand, when the adjacent transport vehicles 10 approach a predetermined distance, the reflection type photoelectric switch 38
The light beam projected from the light projecting section of the
The light is reflected to 0 and received by the light receiving unit (see FIG. 7B).

Therefore, in this example, similarly to the above-described embodiment, the detection signal of the reflection type photoelectric switch 38 is input to the bogie control device 52, and the bogie control device 52 transmits each detection signal at the time of inputting the detection signal. Comparing the transport speed of No. 10 with the initial speed of the deceleration stop mode, if the transport speed does not exceed the initial speed of the deceleration stop mode, it is regarded as a normal speed and a deceleration stop mode execution signal is output to each transport vehicle 10. Then, the adjacent transport vehicles 10 are decelerated and stopped so as not to collide with each other. On the other hand, when the transport speed exceeds the initial speed in the deceleration stop mode, the bogie control device 52 regards the runaway state as being out of control and outputs an emergency stop command to the transport vehicle 10 in the runaway state. A certain transport vehicle 10 is configured to reduce the speed rapidly and to make an emergency stop. Accordingly, even if the adjacent transport vehicles 10 run away due to the failure of the integrated control device 51, it is possible to prevent a situation in which the transport vehicles 10 collide with each other.

In the above-described embodiment, two types of detection sensors, the reflection type photoelectric switch 38 and the limit switch 41, are used, but the same type of detection sensor may be used. Further, a proximity sensor, which is a detection sensor of a type different from the above two examples, may be used. In this case, the detection target material is a sensitive plate.

In the above-described embodiment, two shock absorbers 45 are provided on one of the adjacent transport vehicles 10, but one shock absorber 45 may be provided on each of the adjacent transport vehicles 10.

Further, in the above-described embodiment, the deceleration stop mode in which the adjacent transport vehicles 10 do not collide with each other is a mode set on the assumption that the adjacent transport vehicles 10 approach each other at the maximum speed during normal running. However, a deceleration stop mode in which the relative speeds are calculated based on the traveling speeds of the adjacent transport vehicles 10 and the distance required for stopping is calculated from the relative speeds, and the set speed is changed each time. Is also good.

Further, in the above-described embodiment, the case where the transporter is the transport vehicle 10 of the elevator slide type parking device is described. However, in the elevator type parking device, a plurality of elevator lifts are provided in one elevator hoistway. When it is arranged, the elevator elevator serves as a carrier. In addition, the number of transporters such as the transport trolley 10 is not limited to two, and may be larger depending on the scale of the parking device.

[0053]

As described above, according to the present invention, the distance detecting means detects that adjacent transporters have approached a predetermined distance, and at this time the transport speed of each transporter and the initial speed of the deceleration stop mode. When the transport speed exceeds the initial speed of the deceleration stop mode, the controller is regarded as a runaway state and an emergency stop command is output to the transporter in the runaway state. Can be stopped urgently so as not to collide with the adjacent carriage.

[Brief description of the drawings]

FIG. 1 shows a distance detection device according to one embodiment;
(A) is a view of the distance detection device as viewed from the side of the carriage,
(B) is a plan view.

FIG. 2 is a side view showing a positional relationship of a distance detection device between adjacent transport vehicles in one embodiment.

FIG. 3 is a configuration diagram of a transport vehicle provided with a distance detection device in one embodiment.

FIG. 4 is a process chart showing a distance detection procedure in one embodiment.

FIG. 5 is a control block diagram of an elevator sliding parking device as a mechanical parking device according to one embodiment.

FIG. 6 schematically shows an elevator sliding parking device as a mechanical parking device according to one embodiment, (a) is a plan view of a storage floor, and (b) is a longitudinal sectional view of the elevator sliding parking device. is there.

FIGS. 7A and 7B show another example of the distance detection device, wherein FIG. 7A shows a state before distance detection and FIG. 7B shows a distance detection state.

[Explanation of symbols]

 7 Dolly travel path (transport path) 10 Transport trolley (carriage) 35 Distance detecting device (distance detecting means) 37 Rod member 38 Reflective photoelectric switch (detection sensor) 40 Reflective tape (detected material, reflective material) 41 Limit switch ( Detection sensor) 43 striker (detected material) 45 shock absorber (buffer means) 52 bogie controller (control means) C vehicle

Claims (5)

[Claims] 1. A mechanical parking device in which a plurality of transporters carrying a vehicle mounted thereon are provided on the same transport path, provided in each of the transporters, and detecting that an adjacent transporter has approached a predetermined distance. The deceleration stop mode of the transporter when the adjacent transporters are decelerated and stopped so that the adjacent transporters do not collide with each other after the detection signal of the distance detector is input, and the detection signal is input when the detection signal is input. The transport speed of each transporter is compared with the initial speed in the deceleration stop mode.If the transport speed does not exceed the initial speed in the deceleration stop mode, it is regarded as a normal speed and a deceleration stop mode execution signal is output to each transporter. On the other hand, if the transport speed exceeds the initial speed in the deceleration stop mode, a control means for outputting an emergency stop command to a transporter in a runaway state is regarded as a runaway state. Mechanical parking device according to claim. 2. The mechanical parking device according to claim 1, wherein the distance detecting means is provided on a rod-like member protruding toward the other carrier so as not to interfere with an adjacent transporter, and on a rod-like member of one of the transporters. And the detected material provided on the rod-shaped member of the other transporter. When adjacent transporters approach each other to a predetermined distance, the rod-shaped members rub against each other, and the above-described detection sensor causes the detected material to be detected. A mechanical parking device characterized by detecting 3. The mechanical parking device according to claim 2, wherein two detection sensors and two detection members are provided on the bar-shaped member so as to operate with a time difference. 4. The mechanical parking device according to claim 1, wherein the distance detecting means includes a reflection type photoelectric switch provided on one of the adjacent carriages, and a reflection member provided on the other carriage. The optical axis of the reflection-type photoelectric switch is inclined at a predetermined angle with respect to the other carrier, and when an adjacent carrier approaches a predetermined distance, a light beam projected from the light emitting unit is A mechanical parking device characterized in that the light is reflected by a reflector and received by a light receiving portion. 5. The mechanical parking device according to claim 1, wherein at least one of the transporters is provided with buffer means for absorbing and mitigating an impact at the time of a collision.