JP2009263924A - Mechanical parking system and its control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance reliability of a conveyor interlocking mechanism which supplies a driving force to a parking stall, associated with the loading and unloading of a vehicle, from a power source installed on the side of a travel cart. <P>SOLUTION: A movable frame 50 is moved from a neutral position on the travel cart 26 in the direction of the parking stall 32 associated with the loading and unloading of the vehicle. When a pressure sensor 56 is in an on-state and a position sensor 58 is in an off-state, it is determined that a tooth tip of a driving gear 52 and that of a driven gear 48 are in the state of colliding with each other. When the pressure sensor 56 is in the on-state and the position sensor 58 is also in an on-state, it is determined that the driving gear 52 and the driven gear 48 are in the state of correctly meshing with each other. The condition of the engagement of the driving gear 52 and driven gear 48 of the conveyor interlocking mechanism 42 is accurately grasped on the basis of the detection states of the pressure sensor 56 and the position sensor 58, so as to reduce the possibility of a breakage in both the gears 52 and 48, caused by forcedly meshing both the gears 52 and 48 with each other, in the state in which the tooth tip 52a of the driving gear 52 and that 48a of the driven gear 48 collide with each other. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

 In the present invention, a plurality of parking spaces are arranged along a traveling path of the traveling vehicle, and a conveyor for transferring the vehicle and a conveyor interlocking mechanism are provided on each of the traveling vehicle and the plurality of parking spaces. The present invention relates to a mechanical parking apparatus and a control method thereof.

  The mechanical parking device 10 shown in FIGS. 7 and 8 is suitable for installing a large-scale parking device in a relatively small site where it is difficult to secure a so-called flat parking space. This mechanical parking device 10 has a configuration in which a storage berth 14, a delivery berth 16 and a storage / exit operation panel 18 are provided on the ground portion, and a parking space 12 is provided in the underground portion. In addition, a warehousing lift 20 and a warehousing lift 22 that connect the ground portion and the parking space 12 are disposed on the warehousing berth 14 and the berthing berth 16. In the parking space 12, a traveling carriage 26 for transporting the vehicle 24, a traveling path 28 on which the traveling carriage 26 moves, a traveling rail 29 of the traveling carriage laid on the traveling path 28, and the left and right sides of the traveling path are provided. A plurality of parking lots 30 and 32 arranged in tandem along both sides are provided in multiple stages (three stages in the illustrated example) as necessary. In addition, in the example shown in the figure, the parking lot 30 on one side of the road 28 is capable of receiving two vehicles 24 at the same time, so that double row parking is performed, thereby increasing the number of warehouses per stage. Yes. In addition, the conveyor 36 of the double row parking lot 30 has a vehicle width direction dimension capable of receiving two vehicles 24 in parallel, and the two rows of vehicles 24 received in the double row parking lot 30 are arranged. At the time of loading / unloading, the conveyor 36 is operated to move two units in the vehicle width direction simultaneously.

  Further, each of the traveling carriage 26 and the parking lots 30 and 32 is connected to the conveyors 34, 36, and 38 for transferring the vehicles between them and the conveyors that interlock the conveyors 34, 36, and 38 during the transfer operation. Mechanism. This conveyor interlocking mechanism is such that each conveyor is interlocked when a driving force is supplied from a power source provided on the traveling carriage 26 side to a parking lot 30 or 32 related to the loading / unloading of the vehicle. The details have already been disclosed by the applicant (see, for example, Patent Document 1).

Japanese Patent No. 2990422

As described above, the conventional mechanical parking device disclosed by the present applicant relays the traveling carriage 26 and parks the plurality of parking lots 30 and 32. It is intended to improve the smoothness of delivery of the vehicle 24 to and from the parking rods 30 and 32 and the certainty of the management of the vehicle 24. In a large-scale parking apparatus having a plurality of parking lots, the vehicle 24 can be quickly and accurately received and Outgoing work is possible.
The present invention improves the reliability of a conveyor interlocking mechanism that supplies a driving force to a parking lot related to the loading and unloading of a vehicle from a power source provided on the traveling carriage side without impairing the function of the mechanical parking device. It is for the purpose.

(Aspect of the Invention)
The following aspects of the present invention exemplify the configuration of the present invention, and will be described separately for easy understanding of various configurations of the present invention. Each section does not limit the technical scope of the present invention, and some of the components of each section are replaced, deleted, or further while referring to the best mode for carrying out the invention. Those to which the above components are added can also be included in the technical scope of the present invention.

  (1) A traveling carriage that transports vehicles related to loading and unloading, and a plurality of parking lots arranged along a running path of the traveling carriage, a space between each of the running carriage and the plurality of parking lots. This is a mechanical parking device that includes a conveyor for transferring a vehicle, a conveyor interlocking mechanism for the traveling carriage and the parking system, and a control means for the conveyor interlocking mechanism. A driven gear that is linked to the conveyor of the parking lot provided every time, a movable frame that is provided in the traveling carriage and moves in a direction perpendicular to the traveling path, and is pivotally supported on an end of the movable frame, Control of the conveyor interlocking mechanism is provided with a drive gear that transmits power from a power source provided in the traveling carriage to a conveyor for parking by interlocking with the conveyor of the traveling carriage and meshing with the driven gear. The stage includes a pressure sensor that detects contact between the drive gear and the driven gear, a position sensor that detects that the movable frame has moved to a correct meshing position of the drive gear and the driven gear, and the movable frame. From the neutral position on the traveling carriage to the direction of parking for entry / exit, when the pressure sensor is ON and the position sensor is OFF, the drive gear and the driven gear A processing device including a control logic that determines that the tooth tips collide with each other, and determines that the drive gear and the driven gear are correctly meshed when the pressure sensor is ON and the position sensor is also ON. A mechanical parking apparatus comprising: (Claim 1).

  In the mechanical parking device described in this section, the processing device of the control means moves the movable frame from the neutral position on the traveling carriage in the direction of parking for the loading / unloading when the vehicle is loaded / unloaded. When the pressure sensor is ON (detection state) and the position sensor is OFF (non-detection state), it is determined that the tooth tips of the driving gear and the driven gear have collided with each other. On the other hand, when the pressure sensor is ON and the position sensor is also ON, it is determined that the drive gear and the driven gear are properly meshed with each other. Thus, based on the detection state of the pressure sensor and the position sensor, accurately grasp the engagement status of the drive gear and the driven gear of the conveyor interlocking mechanism, the state where the drive gear and the driven gear are not properly meshed, It is possible to reduce the possibility of damage to both gears by forcibly engaging the two gears in a state where the tooth tips of the driving gear and the driven gear collide with each other.

(2) In the above item (1), when it is determined that the tooth tips of the driving gear and the driven gear have collided with each other, the processing device returns the movable frame by a predetermined amount, and the driving device A mechanical parking apparatus including a control logic for re-engaging the drive gear and the driven gear after rotating the gear by a certain amount (Claim 2).
In the mechanical parking device described in this section, the processing device moves the movable frame from the neutral position on the traveling carriage in the direction of the parking car related to the loading and unloading when the vehicle is loaded and unloaded. When it is determined that the tooth tips of the gear and the driven gear collide with each other, the movable frame is returned by a predetermined amount, the drive gear is rotated by a certain amount, and the meshing of the drive gear and the driven gear is reexecuted. Thus, the state where the tooth tips of the drive gear and the driven gear collide with each other is eliminated by changing the rotational phase of the drive gear. And the possibility of the damage of both gears by forcibly engaging both gears is reduced.

(3) In the above item (2), when the meshing between the drive gear and the driven gear is re-executed a predetermined number of times, the processing device has the pressure sensor ON and the position sensor OFF. A mechanical parking device including a control logic for rotating the drive gear by a certain amount and moving the movable frame in the direction of parking for the loading / unloading until the position sensor is turned on. 3).
In the mechanical parking device described in this section, the processing device moves the movable frame from the neutral position on the traveling carriage in the direction of the parking car related to the loading and unloading when the vehicle is loaded and unloaded. When the engagement between the gear and the driven gear is re-executed a predetermined number of times, when the pressure sensor is ON and the position sensor is OFF, the drive gear is rotated by a certain amount, and the position sensor is ON. The movable frame is moved in the direction of parking for the entry / exit until it becomes. Then, by forcibly executing the engagement between the drive gear and the driven gear, the non-contact state between the drive gear and the driven gear is forcibly eliminated, and the both gears are engaged.

(4) In the above item (3), the traveling carriage is provided with a feed amount sensor of the conveyor, and the processing device is interlocked with the rotation of the driving gear when the driving gear is rotated by a certain amount. The conveyor feed amount is measured by the feed amount sensor, and when the vehicle is received from the traveling carriage to the parking lot, the feed amount of the vehicle related to the warehousing is determined in consideration of the measured conveyor feed amount. A mechanical parking device including control logic for determination (claim 4).
In the mechanical parking device described in this section, the processing device feeds the conveyor generated by changing the rotational phase of the drive gear in order to eliminate the state where the tooth tips of the drive gear and the driven gear collide with each other, that is, In consideration of the displacement of the vehicle position, the total amount of vehicle feed related to warehousing is made appropriate.
In addition, when the operation of rotating the drive gear by a certain amount is performed a plurality of times, the final feed amount of the vehicle related to warehousing can be made appropriate by integrating the feed amount of the conveyor linked to the rotation of the drive gear. can do.

(5) In the above item (4), in the processing device, the control logic that always keeps the total feed amount of the vehicle constant when the vehicle involved in warehousing is transferred from the traveling carriage to the parking lot. Includes mechanical parking equipment.
In the mechanical parking device described in this section, when the vehicle related to the correction of the vehicle position is transferred from the traveling vehicle to the parking vehicle, the total feed amount of the vehicle is always constant so that the control logic is configured. Is to be simplified.

  (6) A traveling carriage that transports vehicles related to loading and unloading, and a plurality of parking lots arranged along a running path of the traveling carriage, and a space between each of the running carriage and the plurality of parking lots. A conveyor for moving the vehicle, a conveyor interlocking mechanism for the traveling carriage and the parking system, and a control means for the conveyor interlocking mechanism, wherein the conveyor interlocking mechanism is provided for each parking lot. A driven gear that is linked to the conveyor, a movable frame that is provided on the traveling carriage and moves in a direction orthogonal to the traveling path, and is pivotally supported at the end of the movable frame and interlocked with the conveyor of the traveling carriage. And a driving gear for transmitting power from a power source provided on the traveling carriage to the parking conveyor by meshing with the driven gear, and a pressure sensor for detecting contact between the driving gear and the driven gear In the mechanical parking device provided with a position sensor that detects that the movable frame has moved to a correct meshing position of the drive gear and the driven gear, and a feed amount sensor of the conveyor, When the vehicle is transferred between the two, the movable frame is moved from the neutral position of the traveling carriage in the direction of parking for the entry / exit. At this time, the pressure sensor is ON and the position sensor is OFF. When it is determined that the tooth tips of the driving gear and the driven gear collide with each other, and the pressure sensor is ON and the position sensor is ON, the driving gear and the driven gear are correctly meshed with each other. The control method of the mechanical parking apparatus which judges that and carries out the transfer operation | work of a vehicle between each other by interlocking | cooperating a traveling trolley and the said conveyor of a parking lot.

In the control method of the mechanical parking device described in this section, the moving frame is moved from the neutral position on the traveling carriage in the direction of the parking car related to the loading and unloading when the vehicle is loaded and unloaded. Is ON (detection state) and the position sensor is OFF, it is determined that the tooth tips of the driving gear and the driven gear have collided with each other. On the other hand, when the pressure sensor is ON and the position sensor is also ON, it is determined that the drive gear and the driven gear are correctly meshed.
Thus, based on the detection state of a pressure sensor and a position sensor, the engagement condition of the drive gear of a conveyor interlocking mechanism and a driven gear is grasped | ascertained correctly. And when it is judged that the drive gear and the driven gear are correctly meshed, the vehicle is transferred and moved by interlocking the traveling carriage and the conveyor of the parking lot, and moving the vehicle between them. Complete. On the other hand, in a state where the drive gear and the driven gear are not properly meshed, particularly in a state where the tooth tips of the drive gear and the driven gear collide with each other, the both gears are damaged due to the forced meshing of both gears. It reduces the possibility.

(7) In the above item (6), when it is determined that the tooth tips of the driving gear and the driven gear collide with each other, the movable frame is returned by a predetermined amount, and the driving gear is rotated by a certain amount. After that, the control method of the mechanical parking device that re-executes the meshing of the drive gear and the driven gear (Claim 5).
In the control method of the mechanical parking apparatus described in this section, when it is determined that the tooth tips of the driving gear and the driven gear collide with each other, the movable frame is returned by a predetermined amount, and the driving gear is rotated by a certain amount. Then, the state where the tooth tips of the drive gear and the driven gear collide with each other is canceled by changing the rotational phase of the drive gear. And the possibility of the damage of both gears by forcibly engaging both gears is reduced.

(8) In the above items (6) and (7), when the engagement of the drive gear and the driven gear is re-executed a predetermined number of times, the pressure sensor is ON and the position sensor is OFF The drive gear is rotated by a certain amount, and the movable frame is moved in the direction of parking for the loading / unloading until the position sensor is turned on, and the drive gear and the driven gear are engaged with each other. A mechanical parking device control method forcibly executed (claim 6).
In the control method of the mechanical parking apparatus described in this section, the moving frame is moved from the neutral position on the traveling carriage in the direction of the parking car related to the loading and unloading when the vehicle is loaded and unloaded. And the driven gear are re-executed a predetermined number of times, when the pressure sensor is ON and the position sensor is OFF, the drive gear is rotated by a certain amount, and the position sensor is ON. The movable frame is moved in the direction of parking for the entry / exit until it becomes. Then, by forcibly executing the engagement between the drive gear and the driven gear, the non-contact state between the drive gear and the driven gear is forcibly eliminated, and the both gears are engaged.

(9) In the above items (6) to (8), when the drive gear is rotated by a certain amount, the feed amount of the conveyor interlocked with the rotation of the drive gear is measured by the feed amount sensor of the conveyor, and the running A control method for a mechanical parking device that determines a feed amount of a vehicle related to warehousing in consideration of the measured feed amount of the conveyor when the vehicle is warehousing from a cart to the parking lot (Claim 7).
In the control method of the mechanical parking device described in this section, in order to eliminate the state where the tooth tips of the drive gear and the driven gear collide with each other, feeding of the conveyor caused by changing the rotational phase of the drive gear, that is, In consideration of the displacement of the vehicle position, the total feed amount of the vehicle related to warehousing is made appropriate.
In addition, when the operation of rotating the drive gear by a certain amount is performed a plurality of times, the final feed amount of the vehicle related to warehousing can be made appropriate by integrating the feed amount of the conveyor linked to the rotation of the drive gear. can do.

(10) The method of controlling a mechanical parking device according to (9) above, wherein when the vehicle involved in warehousing is transferred from the traveling carriage to the parking lot, the total feed amount of the vehicle is always constant.
The control method of the mechanical parking device described in this section is based on the fact that the total feed amount of the vehicle is always constant when the vehicle related to the correction of the vehicle position is transferred from the traveling carriage to the parking place. The logic configuration is simplified.

  Since this invention was comprised in this way, it becomes possible to improve the reliability of the conveyor interlocking mechanism which supplies a driving force with respect to the parking lot which concerns on entering / exiting of a vehicle from the power source provided in the traveling trolley | bogie side.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. Here, parts that are the same as or correspond to those in the prior art are denoted by the same reference numerals, and detailed description thereof is omitted.
The mechanical parking device 40 according to the embodiment of the present invention includes a conveyor interlocking mechanism 42 shown in FIGS. 1 (a) and 2 and a control means 44 of the conveyor interlocking mechanism 42 as characteristic parts thereof. Yes. Further, the vehicle detection sensor 46 is provided only at the end of the traveling carriage 26 in the vehicle width direction. In the embodiment of the present invention, the vehicle detection sensor 46 is, for example, a light shielding sensor using a photoelectric tube or the like, and its installation position is possible within a range that does not hinder the traveling of the traveling carriage 26. It is desirable that the traveling carriage 26 is provided as close as possible to the vehicle width direction end. Moreover, the vehicle detection sensor 46 should just be provided only in the driving | running | working trolley | bogie 26, and installation to each parking lot 32 is unnecessary.

  Further, the mechanical parking device 40 is provided with the feed amount sensor 64 of the conveyor 34 only in the traveling carriage 26. The conveyor feed amount sensor 64 is constituted by a rotary encoder that detects the number of rotations of a motor 66 that drives the conveyor 34. However, other types of feed amount sensors may be used. For convenience of explanation, the control means 44 of the conveyor interlocking mechanism 42 is shown only in FIG. 1 (a) and FIG. The basic configuration of the mechanical parking device 40 is the same as that of the conventional mechanical parking device 10 shown in FIGS.

  The conveyor interlocking mechanism 42 is provided for each parking trough 32 in a direction orthogonal to the driven road 48 (FIG. 1) interlocking with the conveyor 32 of the parking trough 32 and the traveling path 28 provided in the traveling carriage 26. A movable frame 50 (FIG. 2) that moves and a drive gear 52 that is pivotally supported at the end of the movable frame 50 are provided. Here, the drive gear 52 is interlocked with the conveyor 34 of the traveling carriage 26 and meshed with the driven gear 48 so that the drive gear 52 is parked from the power source (electric motor) 54 (FIG. 2) provided in the traveling carriage 26. Power is transmitted to 38.

The control means 44 of the conveyor interlocking mechanism 42 includes a pressure sensor 56 that detects contact of the drive gear 52 and the driven gear 48, a position sensor 58 of the movable frame 50, and a processing device 60.
In the illustrated example, the movable frame 50 is driven by a hydraulic cylinder, and the pressure sensor 56 is a hydraulic sensor that detects the hydraulic pressure of the hydraulic cylinder. The position sensor 58 detects that the movable frame 50 has moved to the correct meshing position of the drive gear 52 and the driven gear 48.

In the illustrated example, a proximity sensor is used as the position sensor 58, and as shown in FIG. 3, the neutral position (59C), left home position (59L), right home position (59R), left overshoot detection (59L _ov ). A plurality of dogs 59 for right overshoot detection (59R _ov ) are provided at appropriate positions.
The processing device 60 is composed of an electronic computer, and may be constituted by a central control device of the mechanical parking device 40 or a control device of the traveling carriage 26 as required. Further, the processing device 60 includes a control logic 62. The control logic 62 is as shown in FIGS. 4 and 5, and will be described below in order.

(100) The processing device 60 starts the meshing operation of the drive gear 52 and the driven gear 48 by moving the movable frame 50 from the neutral position on the traveling carriage 26 to the direction of the parking lock 32 related to loading / unloading. .
(110) The processing device 60 continues to move the movable frame 50 until the pressure sensor 56 is turned on.
(120) When the pressure sensor 56 is ON, the processing device 60 grasps whether the position sensor 58 is also ON.
(130) When the position sensor 58 is also ON in step 120, the processing device 60 determines that the drive gear 52 and the driven gear 48 are correctly meshed (see FIG. 6D), and the traveling carriage 26 and the parking More than 32 conveyors 34 and 38 are interlocked to perform the transfer operation of the vehicle 24 between them.
(140) The vehicle 24 is sent from the traveling carriage 26 to the parking lot 32 at a constant feed amount, and the transfer is completed.

(150) When the position sensor 58 is OFF in step 120, the processing device 60 is in a state in which the tooth tips 52a and 48a of the drive gear 52 and the driven gear 48 collide with each other as shown in FIG. And the movable frame 50 is returned by a predetermined amount. In the present embodiment, by returning the movable frame 50 to the neutral position on the traveling carriage 26, the drive gear 52 is once separated from the driven gear 48, as shown in FIG.
(160) The processing device 60 corrects the rotational phase of the drive gear 52 with respect to the driven gear 48 by rotating the drive gear 52 by a certain amount. In conjunction with the rotation of the drive gear 52, the conveyor 34 of the traveling carriage 26 operates, and the vehicle 24 on the traveling carriage 26 is sent to the parking 32 side. 1 (see (b)) is measured by the feed amount sensor 64 of the conveyor 34.
The feeding amount of the conveyor 34 is measured only when the vehicle 24 is moved from the traveling carriage 26 to the parking lot 32. The reason for this is that when the vehicle 24 is delivered from the parking trolley 32 to the traveling carriage 26, the vehicle involved in the delivery is determined from the detection results of the vehicle detection sensor 46 and the conveyor feed amount sensor 64 provided on the traveling carriage 26. This is because the vehicle width of 24 can be accurately grasped, and the feed amount of the conveyors 34 and 38 required at the time of delivery can be accurately determined.

(200) After executing the correction of the drive gear 52 in step 160, the processing device 60 moves the movable frame 50 again from the neutral position on the traveling carriage 26 to the direction of the parking rod 32 related to loading / unloading. The meshing between 52 and the driven gear 48 is executed again.
(210) The processing device 60 continues to move the movable frame 50 until the pressure sensor 56 is turned on.
(220) When the pressure sensor 56 is ON, the processing device 60 grasps whether the position sensor 58 is also ON.
(230) When the position sensor 58 is also ON in step 220, the processing device 60 determines that the drive gear 52 and the driven gear 48 are correctly meshed (see FIG. 6D), and the traveling carriage 26 and the parking More than 32 conveyors 34 and 38 are interlocked to perform the transfer operation of the vehicle 24 between them.
(240) The processing device 60 determines the feed amount of the vehicle related to warehousing in consideration of the feed amount of the conveyor 34 of the traveling carriage 26 measured in step 160. Specifically, the feed of the conveyor 34 generated by changing the rotational phase of the drive gear 52 in order to eliminate the state where the tooth tips of the drive gear 52 and the driven gear 48 collide performed in step 160, That is, taking into account the displacement a of the position of the vehicle 24 (see FIG. 1B), an amount obtained by subtracting the displacement a from the total feed amount L of the vehicle 24 related to warehousing (see FIG. 1C) “L -A "is the feed amount of the vehicle 24 related to the warehousing.
(250) The vehicle 24 is sent from the traveling carriage 26 to the parking lot 32 at the feed amount determined in step 240, and the transfer is completed.

(260) When the position sensor 58 is OFF in step 220, the processing device 60 checks the number of corrections of the rotational phase of the drive gear 52 with respect to the driven gear 48 that has already been performed. If the number of corrections is less than the threshold value, the steps after step 150 are repeated. For example, when both the pressure sensor 56 and the position sensor 58 are turned on by re-execution after the second correction, the feed amount a of the conveyor linked to the rotation of the drive gear is set to two times. In step 240, “L− (a + a)” is set as the feed amount of the vehicle 24 related to warehousing so that the final feed amount of the vehicle related to warehousing is made appropriate.
On the other hand, if the number of corrections of the rotational phase of the drive gear 52 with respect to the driven gear 48 that has already been performed is equal to or greater than the threshold value, the step of forcibly executing the meshing of the drive gear 52 and the driven gear 48 (step) 300-).
Note that the threshold is determined in consideration of time loss due to repeated correction, and in this embodiment, the number of corrections is set to 3 times.

(300) When it is determined in step 260 that the number of corrections of the rotational phase of the drive gear 52 with respect to the driven gear 48 that has already been performed is greater than or equal to the threshold value, the processing device 60 sets the drive gear 52 to a certain amount. Rotate. Further, the feed amount of the conveyor 34 at this time is measured by the feed amount sensor 64 of the conveyor 34.
(310) The processing device 60 continues the movement of the movable frame 50 in the direction of the parking rod 32 related to loading / unloading without returning the movable frame 50 until the pressure sensor 56 is turned on. Then, the drive gear 52 and the driven gear 48 are forcibly engaged (see FIG. 6D).
(320) The processing device 60 performs the transfer operation of the vehicle 24 between the traveling carriage 26 and the conveyors 34 and 38 of the parking lot 32 in conjunction with each other.
(330) The processing device 60 determines the feed amount of the vehicle related to warehousing in consideration of the feed amount a of the conveyor 34 of the traveling carriage 26 measured in Step 160 and Step 300. Specifically, when the meshing between the drive gear 52 and the driven gear 48 is forcibly executed after the second correction, “L − {(a + a) + a}” is set in the vehicle 24 related to warehousing. By setting the feed amount, the final feed amount of the vehicle related to warehousing is made appropriate.
(340) The vehicle 24 is sent from the traveling carriage 26 to the parking lot 32 at the feed amount determined in step 330, and the transfer is completed.

According to the embodiment of the present invention having the above-described configuration, the following operational effects can be obtained. That is, the processing device 60 moves the movable frame 50 from the neutral position on the traveling carriage 26 to the direction of the parking trolley 32 related to loading / unloading (steps 100 and 200). At this time, the pressure sensor 56 is ON and the position is When the sensor 58 is OFF, it is determined that the tooth tips of the drive gear 52 and the driven gear 48 collide with each other (FIG. 6B) (step 150), the pressure sensor 56 is ON, and the position sensor 58 is also ON. (Steps 120 and 220), it is determined that the drive gear 52 and the driven gear 48 are correctly meshed (FIG. 6D).
Thus, based on the detection state of the pressure sensor 56 and the position sensor 58, the engagement state of the drive gear 52 and the driven gear 48 of the conveyor interlocking mechanism 42 is accurately grasped, and the drive gear 52 and the driven gear 48 are correctly By engaging the gears 52 and 48 in a state where the gears 52a and 48a collide with each other, particularly in a state where the tooth tips 52a and 48a of the driving gear 52 and the driven gear 48 collide with each other (FIG. 6B). The possibility of breakage of both gears 52 and 48 can be reduced.

  Further, the processing device 60 moves the movable frame 50 from the neutral position on the traveling carriage 26 in the direction of the parking parking 32 related to loading / unloading when the vehicle 24 is loaded / unloaded, When it is determined that the tooth tips 52a and 48a collide with the gear 48 (steps 120 and 220), the movable frame 50 is returned by a predetermined amount (step 150), and the drive gear 52 is rotated by a certain amount (step). 160) After that, by re-engaging the drive gear 52 and the driven gear 48 (step 200), the state where the tooth tips 52a and 48a of the drive gear 52 and the driven gear 48 collide with each other is determined. This can be solved by changing the rotational phase of 52. Therefore, it is possible to reduce the possibility of damage to both gears 52 and 48 by forcibly engaging both gears 52 and 48.

  Further, the processing device 60 moves the movable frame 50 from the neutral position on the traveling carriage 26 in the direction of the parking parking 32 related to loading / unloading when the vehicle 24 is loaded / unloaded, When the meshing with the gear 48 is re-executed a predetermined number of times (step 220), when the pressure sensor 56 is ON and the position sensor 58 is OFF, the drive gear is rotated by a certain amount (step 300), and The movable frame 50 is moved in the direction of the parking trolley 32 related to entry / exit until the position sensor 58 is turned on (step 310). Thus, by forcibly executing the engagement of the drive gear 52 and the driven gear 50, the non-contact state between the drive gear 52 and the driven gear 48 is forcibly eliminated, Engagement is performed reliably.

  Further, the processing device 60 is generated by changing the rotational phase of the drive gear 52 in order to eliminate the state in which the tooth tips 52a and 48a of the drive gear 52 and the driven gear 48 collide with each other (FIG. 6B). In consideration of the feed of the conveyor 34, that is, the deviation a of the vehicle position, the total feed amount of the vehicle related to warehousing can be made appropriate (steps 240, 330). Moreover, even when the operation of rotating the drive gear 52 by a certain amount is performed a plurality of times, the final feed amount of the vehicle involved in the warehousing can be obtained by integrating the feed amounts of the conveyor linked to the rotation of the drive gear 52. Can be appropriate.

As described above, in the embodiment of the present invention, the case where the vehicle 24 is moved from the traveling carriage 26 to the parking lot 32 is described as an example. However, the vehicle 24 is discharged from the parking carriage 32 to the traveling carriage 26. The same can be applied to the case where it is performed. When the vehicle 24 is released from the parking trolley 32 to the traveling carriage 26, the detection result of the vehicle detection sensor 46 and the conveyor feed amount sensor 64 provided on the traveling carriage 26 indicates that the vehicle 24 involved in the delivery The vehicle width can be accurately grasped, and the feed amounts of the conveyors 34 and 38 required at the time of delivery can be accurately determined. Therefore, in consideration of the feed of the conveyor 34 caused by changing the rotational phase of the drive gear 52, the work (steps 240 and 330) for correcting the total feed amount of the vehicle related to warehousing to an appropriate one may be omitted. it can.
Further, the embodiment of the present invention can be similarly applied to the case where the vehicle 24 is loaded into and unloaded from the double row parking lot 30 capable of loading two vehicles 24 at the same time.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic diagram which shows the principal part of the mechanical parking apparatus which concerns on embodiment of this invention, and its control method, (a) started the receipt of the vehicle from a traveling vehicle to a parking lot. (B) shows a state in which the rotational phase of the drive gear is corrected so as to eliminate a state in which the tooth tips of the drive gear and the driven gear collide with each other, and (c) shows a state in which the drive gear and the driven gear are corrected. Shows a state in which the vehicle is properly engaged and the carriage of the traveling carriage and the conveyor for parking are interlocked to complete the warehousing of the vehicle. It is a principal part top view of the traveling trolley | bogie of the mechanical parking apparatus shown by FIG. FIG. 3 is an AA view of FIG. 2. It is a flowchart of the control method of the mechanical parking apparatus which concerns on embodiment of this invention. FIG. 5 is a flowchart of the mechanical parking device control method according to the embodiment of the present invention, following FIG. 4. It is a diagram showing the meshing state of the drive gear and the driven gear, (a) is a non-meshing state of the drive gear and the driven gear, (b) is a state where the tooth tips of the drive gear and the driven gear collide. (C) is a state in which the rotational phase of the drive gear is corrected in order to eliminate the state in which the tooth tips of the drive gear and the driven gear collide with each other, and (d) is a state in which the drive gear and the driven gear are properly meshed with each other. Is shown. It is a perspective view which shows the whole structure of the conventional mechanical parking apparatus. FIG. 7 is a perspective view showing a traveling carriage provided with a parking space, a traveling path of the traveling carriage, and a plurality of double-row parking vehicles arranged in a row along the left and right sides of the traveling path of the mechanical parking device shown in FIG. 7. It is.

Explanation of symbols

  24: vehicle, 26: traveling carriage, 32: parking, 34, 38: conveyor, 40: mechanical parking device, 42: conveyor interlocking mechanism, 44: control means, 48: driven gear, 50: movable frame, 52: Drive gear, 56: position sensor, 58: pressure sensor, 60: processing device, 62: control logic, 64: conveyor feed amount sensor

Claims (7)

When a traveling carriage that transports vehicles related to loading and unloading and a plurality of parking lots arranged along the traveling path of the traveling carriage, vehicle movement between each of the traveling carriage and the plurality of parking lots is provided. A mechanical parking device including a loading conveyor, a conveyor interlocking mechanism of the traveling carriage and the parking lot, and a control means of the conveyor interlocking mechanism,
The conveyor interlocking mechanism includes a driven gear that is provided for each of the parking lots and that is interlocked with a conveyor of the parking lot, a movable frame that is provided on the traveling carriage and moves in a direction perpendicular to the traveling path, A driving gear that is pivotally supported at the end of the movable frame, interlocks with the conveyor of the traveling carriage and meshes with the driven gear to transmit power from the power source provided in the traveling carriage to the conveyor of the parking lot,
The control means of the conveyor interlocking mechanism includes a pressure sensor that detects contact between the drive gear and the driven gear, and a position that detects that the movable frame has moved to a correct meshing position of the drive gear and the driven gear. A sensor,
The movable frame is moved from a neutral position on the traveling carriage in the direction of parking for entry / exit. When the pressure sensor is ON and the position sensor is OFF, the drive gear and the driven gear are moved. A processing device including control logic that determines that the tooth tips of the gears collide with each other, and determines that the drive gear and the driven gear are correctly engaged when the pressure sensor is ON and the position sensor is also ON. And a mechanical parking device. When it is determined that the tooth tips of the driving gear and the driven gear collide with each other, the processing device returns the movable frame by a predetermined amount, rotates the driving gear by a predetermined amount, 2. The mechanical parking apparatus according to claim 1, further comprising control logic for re-executing meshing between the drive gear and the driven gear. The processing device rotates the drive gear by a certain amount when the pressure sensor is ON and the position sensor is OFF when the engagement between the drive gear and the driven gear is re-executed a predetermined number of times. The mechanical parking apparatus according to claim 1, further comprising: control logic that moves the movable frame in a direction of parking for the entry / exit until the position sensor is turned on. The traveling carriage is provided with a feed amount sensor of the conveyor, and the processing device is configured to detect a feed amount of the conveyor interlocked with the rotation of the drive gear when the drive gear is rotated by a certain amount. Measured by
The control logic for determining the feed amount of the vehicle related to the warehousing in consideration of the measured feed amount of the conveyor when the vehicle enters the parking lot from the traveling carriage. 3. The mechanical parking device according to 3. When a traveling carriage that transports vehicles related to loading and unloading and a plurality of parking lots arranged along the traveling path of the traveling carriage, vehicle movement between each of the traveling carriage and the plurality of parking lots is provided. Including a conveyor for loading, a conveyor interlocking mechanism for the traveling carriage and the parking lot, and a control means for the conveyor interlocking mechanism, the conveyor interlocking mechanism being provided for each parking lot. A driven gear that is linked to the traveling carriage, a movable frame that is provided in the traveling carriage and moves in a direction orthogonal to the traveling path, and is pivotally supported by an end of the movable frame, and is linked to a conveyor of the traveling carriage and the driven A driving gear that transmits power from a power source provided on the traveling carriage to the conveyor for parking by meshing with the gear; a pressure sensor that detects contact between the driving gear and the driven gear; In mechanical parking device including a position sensor for detecting that the movable frame is moved to the correct engagement position of the drive gear and the driven gear, and a feed amount sensor of the conveyor,
At the time of vehicle transfer between the traveling carriage and the parking lot, the movable frame is moved from the neutral position of the running carriage to the direction of the parking lot relating to loading and unloading.
When the pressure sensor is ON and the position sensor is OFF, it is determined that the tooth tips of the driving gear and the driven gear have collided with each other, the movable frame is returned by a predetermined amount, and the driving gear is fixed by a certain amount. After rotating, re-engagement of the drive gear and the driven gear,
When the pressure sensor is ON and the position sensor is also ON, it is determined that the driving gear and the driven gear are correctly meshed with each other, and the traveling carriage and the parking conveyor are interlocked to each other. A control method for a mechanical parking apparatus, wherein a transfer operation is performed. When the engagement between the drive gear and the driven gear is re-executed a predetermined number of times, when the pressure sensor is ON and the position sensor is OFF, the drive gear is rotated by a certain amount, and the position 6. The method of controlling a mechanical parking device according to claim 5, wherein the movable frame is moved in the direction of parking for the entry / exit until the sensor is turned on. When the drive gear is rotated by a certain amount, the feed amount of the conveyor interlocking with the rotation of the drive gear is measured by the feed amount sensor of the conveyor, and when the vehicle is received from the traveling carriage to the parking lot, The method for controlling a mechanical parking device according to claim 5 or 6, wherein the feed amount of the vehicle related to warehousing is determined in consideration of the measured feed amount of the conveyor.

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