JP2016176241A - Pallet transport device and pallet - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pallet transport device and a pallet capable of suppressing enlargement of the structure.SOLUTION: A pallet transport device comprises: a pair of arms 61, 62, which have bases 61a, 61b and tips 61c, 62c and can move a pallet 50 in a first direction D1 by rotating in an opposite direction to each other around the bases 61a, 62a in a state where the tips 61c, 62c are engaged to the pallet 50; arm driving parts 63, 64, which rotate the pair of arms 61, 62 individually; sensors S1 to S6, which are disposed at least one of first positions P1, P4 and second positions P2, P5 on orbits C1, C2 and detect the tips 61c, 62c; and a control part 40, which controls the arm driving parts 63, 64 so that rotation of the arms 61, 62 are synchronized on the basis of detection results of the sensors S1 to S6.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a pallet transport device and a pallet.

  As an example of the mechanical parking device, there is an elevator type mechanical parking device in which a lift is disposed in the center of a parking tower and storage shelves are disposed on both the left and right sides of the lift. In this mechanical parking device, for example, a pallet transport device is provided in the lift in order to transport the pallet between the lift and the storage shelves on the left and right sides. As such a pallet conveyance device, for example, a configuration having a pair of arms for moving a pallet is known (see, for example, Patent Document 1).

China Utility Model No. 1003121121

  The device described in Patent Document 1 includes a pair of arms and a driving force transmission mechanism provided between the pair of arms. The device described in Patent Document 1 transmits power to a pair of arms by a driving force transmission mechanism to drive the pair of arms synchronously. However, in this configuration, the drive mechanism for the arm becomes large because the drive force transmission mechanism is provided.

  The present invention has been made in view of the above, and an object of the present invention is to provide a pallet transport device and a pallet that can prevent the structure from becoming large.

  The pallet conveying device according to the present invention is a pallet conveying device that conveys the pallet between a lifting device that lifts and lowers the pallet, and a first storage shelf and a second storage shelf that are arranged with the lifting device sandwiched in the first direction. A base portion provided side by side in a second direction orthogonal to the first direction of the lifting device, and an end portion corresponding to the second direction of the pallet connected to the base portion. Each of the first and second pallets can be engaged with each other, and the pallets can be rotated in opposite directions around the base in a state where the respective front ends are engaged with the end portions of the pallet. A pair of arms movable in a direction, an arm drive unit that individually rotates the pair of arms, and the pallet disposed on the first storage shelf among the tracks of the tip portions of the arms. A first position serving as a reference when moving, and a second position serving as a reference when moving the pallet disposed on the second storage shelf to the lifting device, and the tip of the arm And a control unit that controls the arm driving unit so that the rotation of the arm is synchronized based on the detection result of the sensor.

  According to the present invention, it is possible to detect the positions of the tip portions of the pair of arms by providing the sensor at at least one of the first position and the second position. Therefore, the control unit controls the arm driving unit based on the detection result of the sensor, so that the pair of arms can be synchronously controlled without providing a transmission mechanism for transmitting power between the pair of arms. Therefore, since it is not necessary to provide a structure for transmitting power between the pair of arms, it is possible to prevent the structure from becoming large. In addition, since the arm drive unit can be controlled based on detection by the sensor, the movement accuracy of the arm can be improved.

  In the pallet transport device, the first position is a position that is an end point of the movement of the tip when the pallet disposed on the second storage shelf is moved to the lifting device.

  According to the present invention, when the pallet placed on the first storage shelf is moved to the lifting device, the first position serving as a reference is the movement when the pallet placed on the second storage shelf is moved to the lifting device. Since it is also the position of the end point, two types of positions can be detected by one sensor. Thereby, a sensor can be arranged efficiently.

  In the pallet transport device, the second position is a position that is an end point of the movement of the tip when the pallet disposed on the first storage shelf is moved to the lifting device.

  According to the present invention, when the pallet placed on the second storage shelf is moved to the lifting device, the second position serving as a reference is the movement when the pallet placed on the first storage shelf is moved to the lifting device. Since it is also the position of the end point, two types of positions can be detected by one sensor. Thereby, a sensor can be arranged efficiently.

  In the pallet conveying device, the sensor is provided at a third position, which is a standby position of the pair of arms, in each of the tracks of the tip portions.

  According to the present invention, since the sensor is provided at the standby position of the pair of arms, the pair of arms can be synchronously controlled based on the standby position.

  In the pallet conveying device, the third position is a position of an end point of movement when the pallet arranged in the lifting device is moved to the first storage shelf or the second storage shelf.

  According to the present invention, since the standby position of the pair of arms is also the position of the end point of movement when the pallet arranged in the lifting device is moved to the first storage shelf or the second storage shelf, it is 2 with one sensor. The position of the kind can be detected. Thereby, a sensor can be arranged efficiently.

  A pallet according to the present invention is a pallet on which a vehicle is placed and is movable in a first direction, and a pallet main body on which the vehicle is placed, and a second of the pallet main bodies orthogonal to the first direction. A curbstone provided at both ends in the direction and formed along the first direction, with the end in the second direction folded back downward, and attached to both ends in the first direction among the curbstones A pair of arms provided in parallel with each other in the first direction and a tip portion connected to the base portion and rotatable in opposite directions around the base portion and engaged with the tip portion. And a first guide portion formed so that a lower end portion of the engaging portion and a bottom portion of the pallet main body are aligned in the height direction.

  Conventionally, in order to reduce the weight of the pallet, the folded portion provided on the curb is shortened in the vertical direction. However, when the folded portion is shortened in the vertical direction, the rigidity of the pallet is lowered, and the pallet may be bent in the storage shelf. Due to such bending of the pallet, the engagement portion with the tip of the arm may be displaced from the original position. If an attempt is made to transport the pallet with the arm in this state, the tip of the arm will not normally engage with the pallet, which may result in a transport failure.

  On the other hand, according to the present invention, the first guide portion is attached to both end portions in the first direction of the folded portion, and the first guide portion is configured to engage the tip portions of the pair of arms. And the lower end portion of the engaging portion and the bottom portion of the pallet main body are aligned in the height direction, so that the pair of arms are reliably engaged with the engaging portion. Thereby, the pallet which can reduce a conveyance defect can be obtained. Moreover, since the edge part of a pallet main body is reinforced by the 1st guide part, a pallet main body becomes difficult to curve. Thereby, it can suppress that the engaging part with the front-end | tip part of an arm shift | deviates.

  In the pallet, the pallet main body and the first guide part are formed by a plate-like member, and the plate-like member constituting the first guide part is thicker than the plate-like member constituting the pallet main body. .

  According to the present invention, since the plate-like member constituting the first guide portion is thicker than the plate-like member constituting the pallet main body, the pallet main body is strongly reinforced.

  The pallet has a flat portion that is disposed on the bottom surface of the pallet body, is formed flat along the first direction, and further includes a second guide portion that guides movement in the first direction.

  According to the present invention, when the second guide part for guiding the movement in the first direction is arranged on the bottom surface of the main body part and is formed flat along the first direction, the main body part is uneven. Even so, it can move without being affected by unevenness.

  In the pallet, the flat portion is formed to receive a plurality of rollers arranged along the first direction, and the second guide portion has an end in the second direction with respect to the flat portion. There is provided a restricting portion that is disposed on the portion side, is capable of contacting the roller, and restricts movement of the pallet body in the second direction.

  According to the present invention, since the second guide part has the restricting part in addition to the flat part, it is possible to promote the movement of the pallet body in the first direction while suppressing the movement of the pallet body in the second direction. it can.

  According to the pallet carrying device and the pallet according to the present invention, it is possible to suppress the structure from becoming large.

FIG. 1 is a schematic configuration diagram of a mechanical parking apparatus according to the present embodiment. FIG. 2 is a perspective perspective view showing a passenger room of the mechanical parking apparatus. FIG. 3 is a plan view showing the arrangement of lifts in the passenger compartment. FIG. 4 is a perspective view showing an example of the lift in a state where the pallet is arranged. FIG. 5 is a perspective view showing an example of a lift in a state where no pallet is arranged. FIG. 6 is a plan view showing an example of a lift arranged between storage shelves. FIG. 7 is a plan view showing an example of a pallet. FIG. 8 is a diagram showing a configuration when viewed in the direction A in FIG. FIG. 9 is an enlarged view showing the range B in FIG. FIG. 10 is a perspective view showing one corner of the pallet. FIG. 11 is a diagram illustrating a process of operation of the pallet transport device. FIG. 12 is a diagram illustrating a process of operation of the pallet transport device. FIG. 13 is a diagram illustrating a process of operation of the pallet transport device. FIG. 14 is a diagram illustrating a process of operation of the pallet transport device. FIG. 15 is a diagram illustrating a process of operation of the pallet transport device. FIG. 16 is a diagram illustrating a process of operation of the pallet transport device. FIG. 17 is a diagram illustrating a process of operation of the pallet transport device. FIG. 18 is a diagram illustrating a process of operation of the pallet transport device.

  Hereinafter, embodiments of a pallet transport device, a pallet, and a mechanical parking device according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a schematic configuration diagram of a mechanical parking device 100 according to the present embodiment. The mechanical parking device 100 is, for example, an elevator type tower type multi-story parking device, and can accommodate a plurality of vehicles 2. The mechanical parking device 100 includes a parking tower 10 provided with a loading / unloading port 11 and a loading / unloading door 12. The ground floor of the parking tower 10 is a boarding room 13 for entering and leaving the vehicle 2. In the present embodiment, the mechanical parking device 100 is described as a 90 ° turning type mechanical parking device, but the turning angle is not limited to 90 °, and may be, for example, 30 ° or 180 °. Note that the 90 ° turning type is different from the direction in which the vehicle 2 is stored in the loading / unloading room (entrance / exit port) 13 for entering and leaving the vehicle 2 and the direction in which the vehicle 2 is stored in the storage shelf 31 and is stored in the storage shelf 31. In this case, the vehicle 2 in the passenger compartment 13 is turned 90 degrees. Moreover, although the mechanical parking apparatus 100 which concerns on this embodiment, and the boarding room 13 are provided in the 1st floor, the arrangement position of a boarding floor is not specifically limited.

  The entrance / exit 11 is formed to have a size that allows the vehicle 2 to pass therethrough. The entrance / exit door 12 is provided so that the entrance / exit 11 can be opened and closed. The entry / exit room 13 accommodates the vehicle 2 to be loaded and unloaded. Hereinafter, the direction in which the vehicle 2 enters and exits between the entrance / exit 11 and the entrance / exit 13 is referred to as a first direction D1. A direction orthogonal to the first direction D1 in the horizontal plane is denoted as a second direction D2.

  A pit 15 is formed on the floor of the entrance room 13. A turntable 16 is provided in the pit 15. The turntable 16 includes a turning plate 16a and a turning drive unit 16b. The swivel plate 16a is formed, for example, in a rectangular shape in plan view, and is disposed so as to be lifted and lowered by a lift drive unit (not shown). The turning drive unit 16b rotates the turning plate 16a.

  An operation panel 14 is provided outside the entrance / exit 11. The operation panel 14 is for the user of the mechanical parking apparatus 100 to perform various operations such as entering and leaving. The operation panel 14 is disposed outside the parking tower 10. The operation panel 14 has input devices such as a switch, a touch panel, an IC card, and a remote control device, for example. The input device of the operation panel 14 accepts various operations such as a warehousing operation and a warehousing operation by a user of the mechanical parking device 100. The operation panel 14 has an output device that outputs information such as characters, images, and sounds. Examples of such an output device include a display device such as a liquid crystal display device and a display lamp, and an audio output device such as a speaker. A speech synthesizer may be provided as an output device. The operation panel 14 provides various information to the user via the output device.

  The mechanical parking device 100 includes a lift (elevating device) 20, a storage unit 30, and a control unit 40 inside the parking tower 10. In addition, an elevating passage 24 is provided in the center of the parking tower 10. The elevating passage 24 is provided, for example, penetrating from the entrance room 13 to the ceiling portion of the parking tower 10.

  The lift 20 is provided so as to be able to move up and down the lifting passage 24, and conveys the vehicle 2 between the passenger compartment 13 and the storage unit 30. The lift 20 has a base portion 21 and a wire 22. The base portion 21 is formed in a rectangular shape and moves up and down together with the vehicle 2 and a pallet 50 described later. An opening 23 is provided in the base portion 21. The opening 23 is provided to allow the turning plate 16a of the turntable 16 to pass in the up-down direction. The wires 22 are connected to the four corners of the base portion 21 and support the base portion 21 in a suspended manner. Each wire 22 is wound around a winch (not shown) provided on the ceiling of the storage unit 30 or the like. For example, the base portion 21 is raised by winding the wire 22 by the winch, and the base portion 21 is lowered by feeding the wire 22 by the winch.

  The storage unit 30 is disposed in the upper layer of the passenger compartment 13. The storage unit 30 includes a plurality of storage shelves 31 that can accommodate the vehicle 2. The storage shelves 31 are formed on a plurality of floors in the vertical direction of the storage unit 30. On each floor, the storage shelf 31 is disposed at a position sandwiching the lift 20 in the first direction D1. The storage shelves 31 on the same floor are provided at equal height positions. Each storage shelf 31 is provided with a pallet 50.

  The pallet 50 is formed in a plate shape and mounts the vehicle 2. The pallet 50 is formed to have a size on which one vehicle 2 can be placed and can fit in one storage shelf 31. The pallet 50 moves between the plurality of storage shelves 31 in the first direction D1. In the storage unit 30, for example, a pallet (empty pallet) 50 on which the vehicle 2 is not placed and a pallet (on-vehicle pallet) 50 on which the vehicle 2 is placed are arranged.

  FIG. 2 is a perspective perspective view showing the passenger compartment 13. As shown in FIG. 2, an emergency entrance 11 a is provided on the left side of the entrance / exit 11. A warehouse control lamp 11b is provided on the upper side of the entrance / exit 11. In addition, a three-color lamp 11 c that indicates the control state of the mechanical parking device 100 is provided on the upper portion of the operation panel 14.

  The entrance room 13 is provided with a stop position indicator lamp 17, a mirror 18, and a plurality of sensors 19. The stop position indicator lamp 17 is an electric light type, and guides “forward”, “stop”, and “reverse”. The mirror 18 is for the driver of the vehicle 2 to confirm the position of the vehicle 2. The plurality of sensors 19 detect the presence of the vehicle 2 and people in the passenger compartment 13, the size of the vehicle 2, the stop position, and the like.

  FIG. 3 is a plan view showing the arrangement of the lifts 20 in the passenger compartment 13. As shown in FIG. 3, in the passenger compartment 13, the lift 20 is arranged in a direction (second direction D <b> 2) orthogonal to the advancing / retreating direction (first direction D <b> 1) of the vehicle 2. By rotating the pallet 50 by the turntable 16 described above, the longitudinal direction of the pallet 50 and the longitudinal direction of the lift 20 are aligned in the second direction D2.

  The lift 20 is provided with arms 61 and 62 described later. The arms 61 and 62 are used when the pallet 50 is moved between the lift 20 and the storage shelf 31 in the storage unit 30. In the passenger compartment 13, a deck (not shown) for passing the driver of the vehicle 2 and the like is disposed along the floor surface. The arms 61 and 62 are disposed below the deck, for example.

  4 and 5 are perspective views showing an example of the lift 20. FIG. 4 shows a state where the pallet 50 is arranged, and FIG. 5 shows a state where the pallet 50 is not arranged. FIG. 6 is a plan view showing an example of the lift 20 arranged between the storage shelves 31. 4-6, the structure by the side of the storage shelf 31 is shown with the dashed-dotted line. 4 to 6, when the right and left storage shelves 31 of the lift 20 are distinguished, the right storage shelf 31 is referred to as a first storage shelf 31A, and the left storage shelf 31 is referred to as a second storage shelf. Indicated as 31B.

  The storage shelf 31 is provided with a conveyance roller 35. The conveyance roller 35 supports the pallet 50 so that movement is possible. The transport rollers 35 are disposed at both ends of the storage shelf 31 in the second direction D2. A plurality of the transport rollers 35 are arranged side by side along the first direction D1. The transport roller 35 is provided so as to be rotatable around a central axis parallel to the second direction D2.

  The lift 20 is provided with a pallet transport device 60. The pallet conveying device 60 includes a pair of arms 61 and 62, arm driving units 63 and 64, sensors S1 to S6, and a conveying roller 65. The pallet transport device 60 is controlled by the control unit 40.

  The pair of arms 61 and 62 convey the pallet 50 disposed on the storage shelf 31 onto the lift 20. In addition, the pair of arms 61 and 62 convey the pallet 50 disposed on the lift 20 to the storage shelf 31. The pair of arms 61 and 62 are synchronously controlled in the operation of transporting the pallet 50.

  The arm 61 has a base 61a, a turning member 61b, and a tip 61c. The base 61a is formed in a columnar shape, for example. The base 61a is arranged so that the central axis is along the up-down direction. The base 61a is provided so as to be rotatable around the central axis. The base 61a is disposed on the base 21 in the center in the first direction D1.

  The turning member 61b is formed in a rod shape, and is fixed to the outer periphery of the base portion 61a. The turning member 61b is disposed along the horizontal direction. The turning member 61b turns integrally with the rotation of the base 61a. When the turning member 61b is directed from the base portion 61a toward the pallet 50 along the first direction D1, the tip of the turning member 61b is formed to have a dimension that overlaps the end portion of the pallet 50 in the first direction D1. Further, the turning member 61b is formed to have a size that does not interfere with the transport roller 65 when turning integrally with the base 61a.

  The tip portion 61c is disposed at the tip of the turning member 61b. The tip portion 61c is provided so as to protrude upward from the turning member 61b. The distal end portion 61c is formed in a columnar shape, and is arranged so that the central axis is along the vertical direction. The distal end portion 61c may be provided so as to be rotatable in the direction around the central axis. As the base 61a rotates, the tip 61c moves along the track C1. The track C1 is a circle centered on the central axis of the base 61a.

  The arm 62 has the same structure as the arm 61 described above, and has a base portion 62a, a turning member 62b, and a distal end portion 62c. The base 62a is arranged side by side in the second direction D2 with respect to the base 61a. Similarly to the base 61a, the base 62a is formed, for example, in a columnar shape, is arranged so that the central axis is along the vertical direction, and is provided so as to be rotatable around the axis of the central axis. The base portion 62a is disposed on the base portion 21 in the center in the first direction D1.

  The turning member 62b is formed in a rod shape and is fixed to the outer periphery of the base portion 62a. The turning member 62b is disposed along the horizontal direction and turns integrally with the rotation of the base portion 62a. Similarly to the above-described turning member 61b, when the turning member 62b is directed from the base portion 62a toward the pallet 50 along the first direction D1, the tip end is formed to have a dimension that overlaps the end portion of the pallet 50 in the first direction. Further, the turning member 62b is formed to have a size that does not interfere with the transport roller 65 when turning together with the base 62a.

  Similarly to the tip portion 61c, the tip portion 62c is disposed at the tip of the turning member 62b, and is provided to protrude upward from the turning member 62b. Moreover, the front-end | tip part 62c is formed in a column shape, and is arrange | positioned so that a center axis may follow an up-down direction. The tip 62c may be provided so as to be rotatable in the direction around the central axis. As the base 62a rotates, the tip 62c moves along the track C2. The track C2 is a circle centered on the central axis of the base 62a. The track C2 has the same diameter as the track C1.

  The arm drive unit 63 is disposed on the base unit 21. The arm drive unit 63 has a rotation drive device such as a motor (not shown). The arm driving unit 63 rotates the base 61a by this rotation driving device. The arm drive unit 63 is provided with a bearing (not shown) that rotatably supports the base 61a. The rotation operation of the arm drive unit 63 is controlled by the control unit 40.

  When the pallet 50 arranged on the first storage shelf 31A among the two storage shelves 31 sandwiching the lift 20 in the first direction D1 is transported onto the lift 20, the arm driving unit 63 looks at the base 61a from above. Rotate counterclockwise (+ θ direction). Further, when the pallet 50 disposed on the second storage shelf 31B is transported onto the lift 20, the arm driving unit 63 rotates the base 61a clockwise (−θ direction) when viewed from above.

  The arm drive unit 64 is disposed on the base unit 21. The arm drive unit 64 has a rotary drive device such as a motor (not shown). The arm driving unit 64 rotates the base 62a independently of the arm driving unit 63 by the rotation driving device. The arm drive portion 64 is provided with a bearing (not shown) that rotatably supports the base portion 62a.

  When the pallet 50 arranged on the first storage shelf 31 </ b> A is transported onto the lift 20, the arm driving unit 64 rotates the base 62 a clockwise (−θ direction) when viewed from above. Further, when the pallet 50 arranged on the second storage shelf 31B is transported onto the lift 20, the arm driving unit 64 rotates the base 62a counterclockwise (+ θ direction) when viewed from above.

  The conveyance roller 65 supports the pallet 50 to be movable. The transport roller 65 is disposed at both ends of the base portion 21 in the second direction D2. A plurality of transport rollers 65 are arranged side by side along the first direction D1. The transport roller 65 is provided so as to be rotatable around a central axis parallel to the second direction D2. The transport roller 65 is disposed on the first direction D1 with respect to the transport roller 35 of the storage shelf 31. For this reason, the conveyance roller 35 and the conveyance roller 65 are arrange | positioned along with the 1st direction D1.

  The sensors S <b> 1 to S <b> 6 detect the tip portion 61 c provided on the arm 61 and the tip portion 62 c provided on the arm 62. When the sensors S1 to S6 detect the tip portions 61c and 62c, the sensors S1 to S6 generate detection signals and transmit them to the control unit 40. The sensors S1 to S6 may be contact sensors or non-contact sensors.

  The sensors S1 to S3 are used for detecting the tip portion 61c. The sensor S1 detects the first position P1 in the trajectory C1. The first position P1 is a position serving as a reference when the pallet 50 arranged on the first storage shelf 31A is moved onto the lift 20. The sensor S2 detects the second position P2 in the trajectory C1. The second position P2 is a position that serves as a reference when the pallet 50 disposed on the second storage shelf 31B is moved onto the lift 20. The sensor S3 detects the third position P3 in the trajectory C1. The third position P3 is a position of the distal end portion 61c when the arm 61 stands by at a predetermined standby position. Sensors S1-S3 are arrange | positioned in the position which overlaps the track | orbit C1 of the front-end | tip part 61c in an up-down direction. In addition, as long as each position (P1-P3) of the front-end | tip part 61c is detectable, it is not restricted to the position which overlaps with the track | orbit C1 in an up-down direction, You may provide in the position remove | deviated from the track | orbit C1.

  The sensors S4 to S6 are used for detecting the tip portion 62c. The sensor S4 detects the first position P4 in the trajectory C2. The first position P4 is a position that serves as a reference when the pallet 50 arranged on the first storage shelf 31A is moved onto the lift 20. The sensor S5 detects the second position P5 in the trajectory C2. The second position P5 is a position that serves as a reference when the pallet 50 disposed on the second storage shelf 31B is moved onto the lift 20. The sensor S6 detects the third position P6 in the trajectory C2. The third position P6 is a position of the distal end portion 62c when the arm 62 is waiting at a predetermined standby position. The sensors S4 to S6 are arranged at positions that overlap the track C2 of the tip end portion 62c in the vertical direction. Similarly to the sensors S1 to S3, as long as each position (P4 to P6) of the distal end portion 62c can be detected, the position is not limited to the position overlapping the track C2 in the vertical direction, and is not in the position deviated from the track C2. It may be provided.

  In addition to the sensors S1 to S6, or in place of the sensors S1 to S6, sensors that can detect the rotational positions of the bases 61a and 62a may be used. In this case, a reference portion serving as a reference for the rotational position is provided in the base portions 61a and 62a. Further, the rotational position of the reference portion when the tip portions 61c and 62c are arranged at the positions P1 to P6 is measured in advance. And a sensor detects that the reference | standard part was arrange | positioned in the rotation position corresponding to position P1-P6.

  FIG. 7 is a plan view showing an example of the pallet 50. FIG. 8 is a diagram showing an example when the pallet 50 is viewed from the direction of the arrow A in FIG. FIG. 9 is an enlarged view showing the range B in FIG. FIG. 10 is a perspective view showing the configuration of one of the four corners of the pallet 50.

  As shown in FIGS. 7 to 10, the pallet 50 is formed by bending a metal plate such as a steel plate. The pallet 50 has a wheel guide groove 51, a central convex portion 52, a curbstone 53, a first guide portion 54, and a second guide portion 55. Two wheel guide grooves 51 are formed in parallel along the second direction D2. The two wheel guide grooves 51 are arranged at an interval in the first direction D1.

  The central protrusion 52 is disposed in the center of the first direction D1 and is provided between the two wheel guide grooves 51. The curb portions 53 are respectively disposed at both ends of the pallet 50 in the second direction D2. The curbstone 53 is formed along the first direction D1. A folded portion 53b is provided at an end portion of the curb portion 53 in the second direction D2. The folded portion 53b is folded from the upper portion of the curb portion 53 downward.

  As shown in FIG. 9, the dimension h1 in the height direction of the folded portion 53b is smaller than the dimension h2 in the height direction from the bottom surface 50a of the pallet 50 to the top surface 53a of the curb portion 53. By forming the folded portion 53b, a groove portion 53c is formed on the back surface side of the curb portion 53. The groove 53c is formed along the second direction D2. The first guide portion 54 is formed by bending a plurality of portions of the metal plate so as to follow the shape of the curb portion 53. The thickness t2 of the metal plate constituting the first guide portion 54 is thicker than the thickness t1 of the metal plate constituting the pallet 50. Thereby, the pallet 50 is firmly reinforced.

  The first guide portion 54 is provided in the groove portion 53c. The first guide portion 54 includes a first portion 54a, a second portion 54b, a third portion 54c, and a fourth portion 54d. The first portion 54 a is in contact with the bottom surface 50 a of the pallet 50. The second portion 54 b is in contact with the outer wall portion of the wheel guide groove 51 in the pallet 50. The third portion 54 c comes into contact with the inside of the curbstone 53. The fourth portion 54d is in contact with the inner side of the folded portion 53b. The fourth portion 54d is formed so as to protrude downward from the lower end of the folded portion 53b. The lower end portion of the fourth portion 54 d is arranged so that the height position is aligned with the bottom surface 50 a of the pallet 50. The first guide portion 54 is fixed by welding or the like with the first portion 54 a to the fourth portion 54 d in contact with the pallet 50.

  A groove 54e is formed in a region surrounded by the second portion 54b, the third portion 54c, and the fourth portion 54d. End portions 61c and 62c provided on the arms 61 and 62 are inserted into the groove portion 54e. As shown in FIG. 10, the tip portions 61c and 62c are inserted from the center side in the second direction D2 in the groove portion 54e. The upper ends of the tip portions 61c and 62c are disposed below the lower end of the folded portion 53c. For this reason, the front-end | tip parts 61c and 62c are engaged with the 4th part 54d of the 1st guide part 54, without engaging with the folding | returning part 53c. Thus, the 1st guide part 54 is provided so that engagement to the front-end | tip parts 61c and 62c of the arms 61 and 62 is possible.

  The second guide portion 55 is disposed on the bottom surface 50 a of the pallet 50. The 2nd guide part 55 has the flat part 55a and the control part 55b. The flat portion 55a is in contact with the bottom surface 50a, and the bottom portion side is formed flat. The flat portion 55a is formed in a strip shape along the first direction D1. The flat portion 55 a receives the conveyance roller 35 provided on the storage shelf 31 and the conveyance roller 65 provided on the lift 20. That is, the flat portion 55 a is in contact with the transport rollers 35 and 65. As these transport rollers 35 and 65 abut against the bottom of the flat portion 55a and rotate, the pallet 50 can move smoothly in the first direction D1. The flat portion 55 a is provided in a region of the pallet 50 that includes the wheel guide groove 51 and the central convex portion 52. For this reason, even if it is a case where the pallet 50 straddles the area | region bent upwards like the center convex part 52, the conveyance rollers 35 and 65 can be used, for example.

  The restricting portion 55b is disposed on the end portion side in the second direction D2 with respect to the flat portion 55a. The restricting portion 55b protrudes downward. The restricting portion 55b comes into contact with the transport rollers 35 and 65 when the pallet 50 is about to move in the second direction D2. When the restricting portion 55b contacts the transport rollers 35 and 65, the movement of the pallet 50 in the second direction D2 is restricted.

  Next, the conveying operation of the pallet 50 using the pallet conveying device 60 configured as described above will be described. FIGS. 11-15 is a figure which shows operation | movement in the case of conveying the pallet 50 between 31 A of 1st storage shelves and the lift 20 by the pallet conveying apparatus 60. FIG. In FIG. 11 to FIG. 15, the illustration of the control unit 40 is omitted.

  First, the operation of moving the pallet 50 arranged on the first storage shelf 31A onto the lift 20 will be described. The controller 40 places the end portions 61c and 62c of the arms 61 and 62 at the third positions P3 and P6. From this state, the control unit 40 rotates the bases 61a and 62a of the arms 61 and 62 as shown in FIG. The base 61a is rotated in a counterclockwise direction when viewed from above (hereinafter referred to as + θ direction). Further, the base 62a is rotated in a clockwise direction when viewed from above (hereinafter referred to as -θ direction).

  Due to the rotation of the base portions 61a and 62a, the turning members 61b and 62b turn, and the tip portions 61c and 62c move along the circular tracks C1 and C2. As shown in FIG. 11, when the base portions 61 a and 62 a rotate about 90 ° in the + θ direction and the −θ direction, respectively, the first guides 61 c and 62 c are attached to the respective end portions in the second direction D <b> 2 of the pallet 50. Inserted into the groove 54e of the portion 54, respectively. As described above, the control unit 40 is directed outward from the center side to the end side in the second direction D2 with respect to the first guide portions 54 provided at both ends of the pallet 50 in the second direction D2. Rotate the arms 61 and 62 respectively.

  After the tip portions 61c and 62c are inserted into the groove portion 54e, the control unit 40 further rotates the base portions 61a and 62a of the arm 61 in the + θ direction and the −θ direction, respectively. Thereby, the front-end | tip parts 61c and 62c move further along circular track | orbit C1, C2. For example, in the second direction D2, the tip portions 61c and 62c move to the end side in the groove portion 54e. Therefore, the engagement with the first guide portion 54 is maintained without the tip portions 61c and 62c coming off from the fourth portion 54d. Moreover, about the 1st direction D1, the front-end | tip parts 61c and 62c move to the lift 20 side. For this reason, the front-end | tip parts 61c and 62c contact | abut on the 4th part 54d of the 1st guide part 54, and force is acted on the lift 20 side. By this force, the pallet 50 moves to the lift 20 side. In this manner, the pallet 50 is moved to the lift 20 side by the arms 61 and 62 in a state where the fourth portion 54d is engaged with the tip portions 61c and 62c. Since the pallet 50 has the second guide portion 55, the pallet 50 moves smoothly by the transport roller 35.

  The control unit 40 continues to rotate the base portions 61a and 62a in the + θ direction and the −θ direction, respectively, and detects whether or not the tip portions 61c and 62c have reached the first positions P1 and P4 on the tracks C1 and C2. Whether or not the distal end portion 61c has reached the first position P1 is detected by the sensor S1. Further, the sensor S4 is made to detect whether or not the distal end portion 62c has reached the first position P4. When it is detected by the sensors S1 and S4 that the tip portions 61c and 62c have reached the first positions P1 and P4, respectively, the control unit 40 temporarily stops the rotation of the base portions 61a and 62a as shown in FIG. The arm driving units 63 and 64 are controlled. Thereby, the positions of the tip portions 61c and 62c are once aligned at the first positions P1 and P4.

  After stopping the rotation of the bases 61a and 62a, the control unit 40 controls the arm driving units 63 and 64 to rotate the base 61a in the + θ direction and the base 62a in the −θ direction, respectively. The controller 40 causes the bases 61a and 62a to have the same rotation start timing and rotational speed. Thereby, the front-end | tip parts 61c and 62c move again along the track | orbits C1 and C2. By the movement of the tip portions 61c and 62c, the tip portions 61c and 62c move in the groove portion 54e in the second direction D2. For this reason, the engagement state is maintained without the tip portions 61c and 62c coming off from the fourth portion 54d. In the first direction D1, the tip portions 61c and 62c again come into contact with the fourth portion 54d of the first guide portion 54, and force is applied to the lift 20 side. By this force, the pallet 50 moves to the lift 20 side.

  The control unit 40 continues to rotate the base portions 61a and 62a in the + θ direction and the −θ direction, respectively, and detects whether or not the tip portions 61c and 62c have reached the second positions P2 and P5 on the respective tracks C1 and C2. . Whether or not the tip 61c has reached the second position P2 is detected by the sensor S2. Further, the sensor S5 is made to detect whether or not the distal end portion 62c has reached the second position P5.

  When it is detected by the sensors S2 and S5 that the tip portions 61c and 62c have reached the second positions P2 and P5, respectively, as shown in FIG. 13, the control unit 40 stops the rotation of the base portions 61a and 62a. The arm driving units 63 and 64 are controlled. Thereby, the tip portions 61c and 62c are stopped in a state where they are arranged at the second positions P2 and P5. When the tip portions 61c and 62c are stopped, the movement of the pallet 50 is stopped in a state where the pallet 50 is disposed on the base portion 21. Therefore, the movement of the pallet 50 is completed.

  As described above, when the pallet 50 is moved from the first storage shelf 31A onto the lift 20, the control unit 40 temporarily stops the tip portions 61c and 62c at the first positions P1 and P4, and then the second position P2, Move to P5. Thereby, the control unit 40 can synchronize the driving of the arms 61 and 62.

  Next, the case where the pallet 50 arrange | positioned at the lift 20 is stored in the 1st storage shelf 31A is demonstrated. In this case, the control unit 40 rotates the bases 61a and 62a in the opposite direction to the case where the pallet 50 is moved onto the lift 20, for example, from the state shown in FIG. That is, the control unit 40 rotates the base 61a in the -θ direction and the base 62a in the + θ direction.

  By rotation of the base portions 61a and 62a, the distal end portions 61c and 62c move in the groove portion 54e in the second direction D2. For this reason, the engagement state is maintained without the tip portions 61c and 62c coming off from the fourth portion 54d. In addition, with respect to the first direction D1, the tip portions 61c and 62c abut against the second portion 54b of the first guide portion 54, and apply force to the second portion 54b toward the first storage shelf 31A. By this force, the pallet 50 moves to the first storage shelf 31A side.

  The control unit 40 continues to rotate the bases 61a and 62a in the −θ direction and the + θ direction, respectively, so that the pallet 50 moves to the first storage shelf 31A side. When the rotation of the base portions 61a and 62a is continued, the tip portions 61c and 62c are ejected from the groove portion 54e of the first guide portion 54 toward the central portion side in the second direction D2, as shown in FIG. In this case, the engagement state between the tip portions 61c and 62c and the first guide portion 54 is canceled, and no force is applied from the arms 61 and 62 side to the pallet 50 side. Accordingly, the movement of the pallet 50 is stopped.

  After the tip portions 61c and 62c are taken out from the groove portion 54e, the control unit 40 further rotates the base portions 61a and 62a in the −θ direction and the + θ direction, respectively. Further, the control unit 40 detects whether or not the tip portions 61c and 62c have reached the third positions P3 and P6 in the respective tracks C1 and C2. Whether or not the tip 61c has reached the third position P3 is detected by the sensor S3. Further, the sensor S6 detects whether or not the distal end portion 62c has reached the third position P6. As shown in FIG. 15, when it is detected by the sensors S3 and S6 that the tip portions 61c and 62c have reached the third positions P3 and P6, the control unit 40 stops the rotation of the base portions 61a and 62a. Thus, the pallet 50 is stored in the first storage shelf 31A.

  Subsequently, an operation when the pallet 50 is transported between the second storage shelf 31 </ b> B and the lift 20 by the pallet transport device 60 will be described. FIGS. 16-18 is a figure which shows operation | movement in the case of conveying the pallet 50 between the 2nd storage shelf 31B and the lift 20. FIG. 16 to 18, the illustration of the control unit 40 is omitted. The operation of transporting the pallet 50 between the second storage shelf 31B and the lift 20 is symmetric about the first direction D1 with respect to the operation of transporting the pallet 50 between the first storage shelf 31A and the lift 20. To do so.

  First, when moving the pallet 50 arranged on the second storage shelf 31B onto the lift 20, the control unit 40 starts from a state where the tip portions 61c and 62c of the arms 61 and 62 are arranged at the third positions P3 and P6. The base portions 61a and 62a are rotated in the -θ direction and the + θ direction, respectively. By rotating the base portions 61a and 62a, the front end portions 61c and 62c are inserted into the groove portions 54e of the first guide portion 54 attached to the pallet 50, respectively. After the tip portions 61c and 62c are inserted into the groove portion 54e, the control unit 40 further rotates the base portions 61a and 62a of the arms 61 and 62 in the -θ direction and the + θ direction, respectively. Thus, the pallet 50 is moved to the lift 20 side by the arms 61 and 62 in a state where the fourth portion 54d of the first guide portion 54 is engaged with the tip portions 61c and 62c.

  The control unit 40 continues to rotate the base portions 61a and 62a in the -θ direction and the + θ direction, respectively, and detects whether or not the tip portions 61c and 62c have reached the second positions P2 and P5 on the tracks C1 and C2. Whether or not the tip 61c has reached the second position P2 is detected by the sensor S2. Further, the sensor S5 is made to detect whether or not the distal end portion 62c has reached the second position P5. When it is detected by the sensors S2 and S5 that the tip portions 61c and 62c have reached the second positions P2 and P5, respectively, the control unit 40 temporarily stops the rotation of the base portions 61a and 62a as shown in FIG. The arm driving units 63 and 64 are controlled. Thereby, the positions of the tip portions 61c and 62c are once aligned at the first positions P2 and P5.

  The second positions P2 and P5 are positions that become the end points of the movement of the tip portions 61c and 62c when the pallet 50 arranged on the first storage shelf 31A is moved to the lift 20 as described above. In this way, the sensors can be efficiently arranged by detecting two types of positions with one sensor S2, S5.

  After stopping the rotation of the bases 61a and 62a, the control unit 40 controls the arm driving units 63 and 64 to rotate the bases 61a and 62a in the −θ direction and the + θ direction, respectively. The controller 40 causes the bases 61a and 62a to have the same rotation start timing and rotational speed. Thereby, the front-end | tip parts 61c and 62c move again along the track | orbits C1 and C2. Further, the control unit 40 detects whether or not the tip portions 61c and 62c have reached the first positions P1 and P4 on the respective tracks C1 and C2. Whether or not the distal end portion 61c has reached the first position P1 is detected by the sensor S1. Further, the sensor S4 is made to detect whether or not the distal end portion 62c has reached the first position P4.

  When it is detected by the sensors S1 and S4 that the tip portions 61c and 62c have reached the first positions P1 and P4, respectively, as shown in FIG. 17, the control unit 40 stops the rotation of the base portions 61a and 62a. The arm driving units 63 and 64 are controlled. Thereby, the front-end | tip part 61c, 62c stops in the state arrange | positioned in 1st position P1, P4. When the tip portions 61c and 62c are stopped, the movement of the pallet 50 is stopped while the pallet 50 is disposed on the base portion 21. Therefore, the movement of the pallet 50 is completed.

  As described above, when the pallet 50 is moved from the second storage shelf 31B onto the lift 20, the control unit 40 temporarily stops the tip portions 61c and 62c at the second positions P2 and P5, and then the first position P1 and Move to P4. Thereby, the control unit 40 can synchronize the driving of the arms 61 and 62.

  The first positions P1 and P4 are positions where the tip portions 61c and 62c are temporarily stopped when the pallet 50 arranged on the first storage shelf 31A is moved to the lift 20 as described above. In this way, the sensors can be efficiently arranged by detecting two types of positions with one sensor S1, S4.

  Next, the case where the pallet 50 arrange | positioned at the lift 20 is stored in the 2nd storage shelf 31B is demonstrated. In this case, the control unit 40 rotates the bases 61a and 62a in the opposite direction to the case where the pallet 50 is moved onto the lift 20, for example, from the state shown in FIG. That is, the control unit 40 rotates the base 61a in the + θ direction and the base 62a in the −θ direction.

  By rotating the base portions 61a and 62a, the distal end portions 61c and 62c are brought into the second storage shelf 31B side with respect to the second portion 54b of the first guide portion 54 while maintaining the engaged state with the first guide portion 54. Apply force. By this force, the pallet 50 moves to the second storage shelf 31B side.

  The control unit 40 continues to rotate the bases 61a and 62a in the + θ direction and the −θ direction, respectively, so that the pallet 50 moves to the second storage shelf 31B side. When the rotation of the base portions 61a and 62a is further continued, the distal end portions 61c and 62c are ejected from the groove portion 54e of the first guide portion 54 toward the central portion side in the second direction D2. In this case, the engagement state between the tip portions 61c and 62c and the first guide portion 54 is canceled, and no force is applied from the arms 61 and 62 side to the pallet 50 side. Accordingly, the movement of the pallet 50 is stopped.

  After the tip portions 61c and 62c are taken out from the groove portion 54e, the control unit 40 further rotates the base portions 61a and 62a in the + θ direction and the −θ direction, respectively. Further, the control unit 40 detects whether or not the tip portions 61c and 62c have reached the third positions P3 and P6 in the respective tracks C1 and C2. As shown in FIG. 18, when it is detected by the sensors S3 and S6 that the tip portions 61c and 62c have reached the third positions P3 and P6, the control unit 40 stops the rotation of the base portions 61a and 62a. Thus, the pallet 50 is stored in the second storage shelf 31B.

  As described above, according to this embodiment, by providing the first positions P1, P4, the second positions P2, P5, the third positions P3, P6, and the sensors S1 to S6, the tips of the arms 61, 62 are provided. The positions of the parts 61c and 62c can be detected. Therefore, the control unit 40 controls the arm driving units 63 and 64 based on the detection results of the sensors S1 to S6, so that the arms 61 and 62 are not provided without providing a transmission mechanism for transmitting power between the arms 61 and 62. Can be controlled synchronously. Therefore, since it is not necessary to provide a structure for transmitting power between the arms 61 and 62, it is possible to prevent the structure from becoming large. Moreover, since the arm drive parts 63 and 64 can be controlled based on detection by the sensors S1 to S6, the movement accuracy of the arms 61 and 62 can be improved.

  In addition, according to the present embodiment, the first guide portions 54 are attached to both end portions in the first direction D1 of the folded portion 53b of the curb portion 53, and the first guide portions 54 are the tip portions 61c of the arms 61 and 62. , 62c as an engaging portion for engaging with 62c, and the lower end portion of the fourth portion 54d and the bottom surface 50a of the pallet 50 are formed so as to be aligned in the height direction. For this reason, the arms 61 and 62 are reliably engaged with the second portion 54b and the fourth portion 54d. Thereby, the pallet 50 which can reduce a conveyance defect can be obtained. Moreover, since the edge part of the pallet 50 is reinforced by the 1st guide part 54, the pallet 50 becomes difficult to curve. Thereby, it can suppress that the engaging part with the front-end | tip parts 61c and 62c shift | deviates.

  The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the configuration in which both the sensors S1 and S4 that detect the first positions P1 and P4 and the sensors S2 and S5 that detect the second positions P2 and P5 are provided has been described as an example. However, the present invention is not limited to this, and any one of the sensors S1 and S4 and the sensors S2 and S5 may not be provided. Further, the sensors S3 and S6 that detect the third positions P3 and P6 may not be provided.

  Moreover, in the said embodiment, when moving the pallet 50 arrange | positioned on 31 A of 1st storage shelves on the lift 20, the pallet 50 arrange | positioned on the 2nd storage shelf 31B is used as a position which stops the front-end | tip parts 61c and 62c once. Although the case where the position of the end point of the movement when moving the lift 20 on the lift 20 is used as an example has been described, the present invention is not limited to this and may be another position.

  Similarly, when the pallet 50 arranged on the second storage shelf 31B is moved onto the lift 20, the pallet 50 arranged on the first storage shelf 31A is placed on the lift 20 as a position for temporarily stopping the tip portions 61c and 62c. Although the case where the position of the end point of the movement when moving to is used has been described as an example, the position is not limited to this, and may be another position.

  In the above embodiment, the configuration in which the first guide portion 54 and the second guide portion 55 are formed as separate bodies has been described as an example. However, the present invention is not limited to this. The 1st guide part 54 and the 2nd guide part 55 which are arrange | positioned at an edge part may be the structure integrally formed, respectively.

  In the above-described embodiment, the configuration in which the first guide portion 54 is formed thicker than the pallet 50 has been described as an example. However, the present invention is not limited to this. For example, the first guide portion 54 may be approximately the same thickness as the pallet 50, or the pallet 50 may be formed thicker than the first guide portion 54.

  Moreover, in the said embodiment, although the structure provided with the 2nd guide part 55 was demonstrated as an example as a guide part which guides the movement to the 1st direction D1 of the pallet 50, it is not limited to this, Other guides may be provided. Moreover, in the said embodiment, in the 2nd guide part 55 arrange | positioned at at least one edge part among the both ends of the 2nd direction D2 of the pallet 50, the control part 55b does not need to be provided.

2 Vehicle 10 Parking tower 13 Entrance room 15 Pit 16 Turntable 16a Swivel plate 20 Lift 21 Base part 22 Wire 23 Opening part 24 Elevating passage 30 Storage part 31, 31A, 31B Storage rack 35, 65 Transport roller 40 Control part 50 Pallet 50a Bottom surface 51 Wheel guide groove 52 Central convex portion 53 Curb portion 53a Upper surface 53b Folded portion 53c Groove portion 54 First guide portion 54a First portion 54b Second portion 54c Third portion 54d Fourth portion 54e Groove portion 55 Second guide portion 55a Flat portion 55b Restriction part 60 Pallet conveyance device 61, 62 Arm 61a, 62a Base part 61b, 62b Turning member 61c, 62c Tip part 63, 64 Arm drive part 100 Mechanical parking apparatus C1, C2 Track D1 First direction D2 Second direction P1, P4 1st position P2, P5 2nd position P3, P6 3rd position 1~S6 sensor

Claims (9)

A pallet transporting device that transports the pallet between a lifting device that lifts and lowers the pallet, and a first storage shelf and a second storage shelf that are arranged with the lifting device sandwiched in a first direction,
A base portion arranged in a second direction orthogonal to the first direction of the lifting device, and an end portion corresponding to the second direction of the pallet connected to the base portion can be respectively engaged. The pallet can be moved in the first direction by rotating in the opposite directions around the base in a state where each of the tip is engaged with the end of the pallet. A pair of arms;
An arm drive unit that individually rotates the pair of arms;
The first position serving as a reference when moving the pallet arranged on the first storage shelf to the lifting device among the tracks of the respective tip portions, and the pallet arranged on the second storage shelf A sensor that is provided at at least one of the second positions serving as a reference when moving to the lifting device, and that detects the tip of the arm;
And a control unit that controls the arm driving unit so that the rotation of the arm is synchronized based on a detection result of the sensor. The pallet transport apparatus according to claim 1, wherein the first position is a position that is an end point of movement of the tip when moving the pallet disposed on the second storage shelf to the lifting device. 3. The pallet conveyance according to claim 1, wherein the second position is a position that is an end point of movement of the tip when the pallet disposed on the first storage shelf is moved to the lifting device. apparatus. The pallet transport device according to any one of claims 1 to 3, wherein the sensor is provided at a third position, which is a standby position of the pair of arms, of the trajectories of the tip portions. The pallet transport device according to claim 4, wherein the third position is a position of an end point of movement when the pallet disposed in the lifting device is moved to the first storage shelf or the second storage shelf. A pallet on which a vehicle can be placed and moved in the first direction,
A pallet body on which the vehicle is placed;
A curbstone provided at both ends of the pallet body in a second direction orthogonal to the first direction, formed along the first direction, and an end portion of the second direction folded downward.
A pair of curbstones that are attached to both ends in the first direction and have a base provided side by side in the first direction and a tip connected to the base, and are capable of rotating in opposite directions around the base. A first guide portion having an engagement portion that is engaged with the distal end portion of the arm, and formed such that a lower end portion of the engagement portion and a bottom portion of the pallet body are aligned in a height direction. Pallet with and. The pallet body and the first guide part are formed by plate-like members,
The pallet according to claim 6, wherein the plate-like member of the first guide portion is thicker than the plate-like member of the pallet main body. 7. A second guide portion that is disposed on the bottom surface of the pallet main body, has a flat portion that is formed flat on the bottom side along the first direction, and further includes a second guide portion that guides movement in the first direction. The pallet according to claim 7. The flat portion is formed to receive a plurality of rollers arranged along the first direction,
The second guide portion is disposed on the end portion side in the second direction with respect to the flat portion, is capable of contacting the roller, and restricts movement of the pallet body in the second direction. The pallet according to any one of claims 6 to 8, wherein a part is provided.

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