JP2019078099A - Lift conveyance truck of vehicle, parallel and unmanned traveling truck, parallel parking system of vehicle and parallel parking method of vehicle - Google Patents

Abstract

To provide a lift conveyance truck, a parallel and unmanned traveling truck, a parallel parking system of a vehicle and a parallel parking method of a vehicle which make a device configuration simple, and which can support, lift and transport a vehicle using an actuator with a small capacity.SOLUTION: A lift conveyance truck comprises: a pair of arm portions 10 which comprise a rod body having a length of an order of a tire 3A width and which can support the tire 3A by being in contact with both of a front side and a rear side of a grounding portion of the tire 3A respectively; an arm support portion 11 supporting the arm portions 10 in a switchable manner between a supported state and a released state; a truck frame 12 supporting each arm support portion 11 in an inserted state under a vehicle so as to dispose the pair of arm portions 10; an arm driving portion 13 switching the supported state with the released state; a truck body 16 including a plurality of driving wheel units 14 connected to the truck frame 12 and capable of transporting in an arbitrary direction and a transportation control portion 15 controlling a steering direction and a revolving speed; a base end lifting portion 17 of the truck frame 12; and a tip lifting portion 19.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a lift transport carriage of a vehicle, a parallel unmanned traveling carriage, a vehicle parallel parking system, and a vehicle parallel parking method.

  Conventionally, in a vehicle assembly plant, in the final process of the assembly line, each worker gets into the finished vehicle and transports it to the waiting area by driving the finished vehicle. Therefore, it was necessary to use a worker who would be a valuable labor to transport the finished vehicle.

  Therefore, in recent years, after a worker drives a mounted vehicle on a dedicated carriage at a vehicle manufacturer, a dedicated pulling vehicle for pulling a dedicated carriage carrying the vehicle may be used. By this, compared with the case where a worker drives and conveys to a vehicle standby place, the required labor can be reduced.

  In addition, in the automatic storage device for automatically storing the vehicle shown in Patent Document 1 in the lateral direction, when the vehicle is parked in an airport or a parking lot indoors in a hotel, the unmanned traveling carriage transports the vehicle to the parking space You can move this. Here, when the vehicle is transported to the vehicle standby area by the unmanned traveling truck, in order to lower the transported vehicle from the truck and move it to the vehicle standby area, a lift structure for lowering the transported vehicle to the floor surface is necessary. It was.

  In the configuration of Patent Document 1, forks of two pairs of front and rear pairs of forks are arranged to collectively support two tires in the lateral direction, and the forks are moved in the horizontal direction to ground the vehicle tire. By bringing the vehicle into contact with the front and rear parts of the vehicle and lifting the vehicle, the vehicle is transported in a state of being floated from the floor surface, and the vehicle is moved by being lowered at the vehicle standby area.

Japanese Patent Application Publication No. 2014-500922

  However, the conventional automatic storage apparatus of the above configuration supports the vehicle by lifting the entire fork embedded under the vehicle and lifts it from the floor surface and also lowers it to the floor surface. A fork of the above length is required, and the weight of the fork itself is added to such a degree, and it is inevitable that a large rotational load is applied to the proximal end of the fork.

  In order to support two tires placed at laterally separated positions by a pair of forks, it is necessary to have structural strength to withstand the load applied to the forks themselves in the direction to open them. The rigidity of the fork is required, so the weight of the fork increases, and the drive needs more power.

  In addition, the weight of the vehicle on the fork tip affects the overall balance of the transport carriage, so that the conventional automatic storage device can support the weight on the fork tip A support portion extended to the transport means is provided, and the length of the support portion is about the same as that of the fork, but this leads to an increase in the size of the device, and this increases the size of the drive portion. It was the cause.

  The present invention has been made in consideration of the above-mentioned matters, and it is possible to form a device configuration as simple as possible, and to support, lift and transport a vehicle using a small-capacity actuator. It is an object of the present invention to provide a lift transport carriage, a parallel unmanned traveling carriage, a vehicle parallel parking system, and a vehicle parallel parking method.

  In order to solve the above problems, according to the first aspect of the present invention, a pair of arms made of a rod having a length about the width of the tire are supported in contact with both front and rear sides of the ground portion of the tire to support the tire. And an arm support portion which switchably supports the arm portion in the supported state and the released state separated from the tire, and a position corresponding to the inner side near portion of each tire in a state of being inserted into the lower portion of the vehicle A bogie frame for supporting each arm support portion so as to arrange the pair of arm portions, and an arm drive portion for supplying power for switching the supported state and the released state by interlocking the state switching of each arm portion A plurality of drive wheel units connected to the carriage frame and capable of transporting the vehicle supported by the arm portion in any direction; A carriage main body provided with a transport control unit for controlling the steering direction and rotational speed of the steering wheel; a proximal end elevator for enabling the base end of the carriage frame to move up and down relative to the And a tip elevating part capable of raising and lowering the tip part with respect to a roller wheel provided on the floor surface so as to provide a lift transport carriage of a vehicle (claim 1).

  The lift transport carriage inserts the carriage frame between the vehicle and the floor from the front or the rear of the vehicle with the arms released, and positions the arms near the inner side of the tire, and the arm drive unit After switching the arm portion to the supporting state, the carriage frame can be lifted at the proximal end and the distal end using the proximal end elevator and the distal end elevator. Most of the lift device of the vehicle consisting of the arm portion, the arm support portion and the carriage frame gets into the space between the vehicle and the floor surface, so the miniaturization of the lift transport carriage can be achieved and it is easy in a narrow area And can lift and transport the vehicle.

  When lifting the tire of the vehicle by the arm unit, the arm unit is disposed near the inner side of the tire, so that only the weight of the vehicle distributed to each tire is applied to the arm unit, The load applied to each arm can be reduced. Further, since the arm portion is formed of a rod having a length about the width of the tire, the rotational torque applied to the base end portion of the arm portion can be minimized. Furthermore, the load applied to the left and right tires is equally applied to the left and right arms, and the rotational torques acting on the left and right arms cancel each other because they work in opposite directions, and the rigidity necessary for the arm support and the bogie frame Since the load is evenly applied to the bogie frame by making it have, the stability of the frame transport bogie improves.

  The roller wheel that constitutes the tip elevating unit can receive the load at the tip end of the bogie frame by the roller wheel by coming into contact with the floor surface, and the base end of the bogie frame receives a large rotational torque due to the weight of the vehicle. I have not. Therefore, the carriage frame can obtain necessary and sufficient rigidity and can be designed to be simpler and lighter.

  The carriage frame pulled up by the distal end elevation unit and the proximal end elevation unit, and the vehicle lifted by the arm unit supported by the carriage frame are adjusted to the movement of the lift conveyance carriage by separating the tire from the floor surface. The position can be easily changed. That is, it is possible to change the position of the vehicle following the movement of the bogie main body without changing the direction of the tire or rotating it. Further, the conveyance control unit can control the rotational speed and the conveyance direction of each drive wheel unit to convey the vehicle in any direction.

  On the other hand, in a state in which the bogie frame is lowered by the distal end elevation unit and the proximal end elevation unit, the tire is in contact with the floor surface, and the vehicle can be placed on the floor surface. Next, after the vehicle is placed on the floor surface, the lift transport carriage can be separated from the vehicle and the next vehicle can be transported by switching the arm portion to the release state.

  The arm portion can use a pipe made of a metal having high rigidity such as stainless steel in order to reduce its own weight. The arm support may have any form, but it is preferable that the arm support supports, for example, the arm rotatably. Alternatively, the arm support portion is a linear motion guide which is articulated to each arm portion and supported so as to be linearly movable in the forward and backward directions, and the arm drive portion is coupled to both linear motion guides articulated to both arm portions. The state switching may be performed by simultaneously advancing and retracting the arm unit.

  The arm supporting portion is a pivoting supporting portion for pivotally supporting each arm at its proximal end centering on the longitudinal axis, and the arm driving portion supports the pivoting supporting portion by advancing and retracting the rod. And a first support link, one end of which is connected to the rod of the rotation cylinder and horizontally rotatably supported, and a symmetrical position with respect to the rotation center of the first support link And the pair of second support links respectively connected to the rotation support portion (claim 2), when driving the rod of one rotation cylinder back and forth, the first support link is rotated And the connecting portions with the pair of second support links can be moved point-symmetrically, so that the rotational support portions of both arm portions are opposite to each other by 90 degrees (in the case of approximately 90 degrees in this specification) Can be rotated) That.

  In other words, it is possible to displace one of the arm portions from the supported state in which the arm portion is in contact with the side surface of the ground contact portion of the tire to the released state completely separated from the tire Therefore, the arms can also be displaced from the support state to the release state. The second support link is connected to the rotation support at a position separated from the vertical axis in the horizontal plane, so that the rotation support can be rotated by the rotation of the second support link. .

  According to the above configuration, in a state where the arm portion is separated from the tire, the arm portion can be accommodated linearly in the longitudinal direction of the bogie frame, so that the bogie frame is inserted under the vehicle according to the position of the tire of the vehicle. can do. Next, the arm portion is positioned close to the inner side of the tire, and by driving the rotation cylinder, it is possible to hold the tire with the necessary minimum force to support the vehicle and raise and lower the vehicle.

  The rotating cylinder is a hydraulic cylinder that can easily supply a large amount of power, so that the strength of the force in the advancing and retracting direction of the rotating cylinder can support the vehicle by sandwiching the tire by the pair of front and rear arms. It is preferable because it can easily supply the above force. However, it is needless to say that the pivoting cylinder may be formed by an electrically controllable and robust electric cylinder.

  In addition, it changes to the interlocking mechanism of both arms by the said 1st support link to the 3rd support link, and the rotation of one rotation support part is converted into reverse rotation, and rotation which transmits to many rotation support parts Variations using transmission gears are also easily conceivable.

  The base end elevating unit is a sliding connection portion that connects and supports the bogie frame so as to slide in the vertical direction only with respect to the bogie main body, and the base end that is connected to the bogie frame and the bogie body and lifts and drives the bogie frame The tip lifting unit is provided with a tip lifting cylinder for supplying power for lifting and lowering the tip of the carriage frame from the floor surface by advancing and retracting the rod, and one end of the tip lifting cylinder is connected to the rod A second lifting link connected to the other end side of the first lifting link and transmitting a substantially horizontal advancing and pulling motion, and an intermediate portion of the second lifting link And a third lifting link connected at one end to the front end of the carriage frame and at the other end to the roller wheel. The connecting portion is slidably supported only in the vertical direction to the truck body at its proximal end to the truck frame, the connecting portion of the carriage body and the bogie frame can be stabilized.

  The proximal end of the carriage frame can be moved up and down freely by advancing and retracting the rod of the proximal end lifting cylinder, and the advancing and retracting drive of the rod of the distal end lifting cylinder is performed by the first lifting link, the second lifting link, and the third lifting The height of the bogie frame can be adjusted relative to the roller wheels provided at the tip of the bogie frame, transmitted by a series of link mechanisms by links. Thus, the power supplied by the tip lifting cylinder is transmitted to the tip of the carriage frame by the link mechanism to move the carriage frame up and down with respect to the roller wheels, so the tip lifting cylinder is attached to the base end side of the carriage frame It may be done. That is, since both the proximal end elevating cylinder and the distal end elevating cylinder can be disposed on the proximal end side of the carriage frame positioned in the vicinity of the carriage main body, generation of power for driving these can be facilitated. it can.

  The distal end elevating cylinder and the proximal end elevating cylinder can easily obtain larger power by using, for example, hydraulic cylinders. The distal end elevating cylinder and the proximal end elevating cylinder may be used as electric cylinders, and piping of the hydraulic hose may be eliminated to simplify the structure and improve robustness to dust and the like.

  In the case where the bogie frame has, for example, two fork-like shapes, the tip elevating cylinder, the first elevating link, the second elevating link, the third elevating link, and the roller wheels are adjusted to the number of forks. It is preferable to provide more than one.

  The roller wheel includes a wheel arm rotatably supported at the other end of the third lifting link, and front and rear rollers rotatably mounted at both front and rear ends of the wheel arm (claim) In 4), the load applied to each roller can be dispersed, and a vehicle having a heavy weight can be transported. In addition, the front and rear rollers can be made to abut the floor surface reliably by the wheel arm being inclined corresponding to the unevenness of the floor surface flexibly, and the conveyance direction at the front end of the bogie frame can be stabilized. it can.

  When a plurality of rollers are arranged side by side with respect to the traveling direction (claim 5), the load applied to each roller can be reduced by the number of the arranged rollers, and the vehicle with that much weight Can be transported. In addition, the lateral width of the roller can be increased, so the lateral stability is improved accordingly.

According to a second aspect of the present invention, there is provided a pair of arm portions, each of which comprises a rod body having a length about the width of the tire and which abuts against the front and rear sides of the tread portion of the tire to support the tire in a supported state; At the end position, the arm portion is moved 90 degrees from the supported state by a pair of pivoting support portions pivotably supported at the center of the longitudinal axis and a rod whose distal end portion is connected to one pivoting support portion. In this specification, the rotation cylinder is rotated to a released state separated from the tire by including the case of approximately 90 degrees, and the rotation of one rotation support portion is converted to reverse rotation and the other is converted The lift conveyance device according to any one of claims 1 to 5, comprising: a rotation transmission unit transmitting the rotation support unit; and a lift cylinder configured to vertically move the arm unit in the vertical direction. It is transported by the truck and lowered onto the floor Tandem bogie frame is arranged on the inner circle of the outside of each tire of the vehicle has and,
According to a sixth aspect of the present invention, there is provided a tandem unmanned traveling truck, comprising: a drive wheel unit capable of moving the truck frame at least in the front-rear direction of the vehicle.

  According to the number and arrangement of the tires of the vehicle, the outer frame can be arranged with a plurality of lift devices at the side near portions of each tire, and is configured to be movable at least in the longitudinal direction of the vehicle by the drive wheel unit From the front or back of the vehicle, the vehicle can be aligned closer to the vehicle so as to enter a slight gap at the side of the vehicle when the arm of the lift device is in the released state.

  In addition, when the vehicle is transported into the outer frame by the lift transport carriage, the lift devices can be arranged at corresponding positions of the side near portions of the tires of the vehicle. After the vehicle is lowered into the outer frame by the lift transport carriage, the arm portion of the parallel unmanned traveling carriage can be displaced from the released state to the supported state, and the vehicle can be lifted by the lift cylinder. Then, in a state where the vehicle is lifted by the parallel unmanned traveling carriage, the lift transport carriage can be separated from the outer frame and moved to the standby position of the vehicle to be transported.

  Then, the vehicle can be moved using the parallel unmanned traveling carriage by moving the frame using the drive wheel unit while lifting the vehicle. After moving the vehicle, the vehicle can be removed from the parallel unmanned traveling carriage by lowering the vehicle by the lift cylinder of the lift device and displacing the arm from the support state to the release state, and the vehicle is already aligned. It can be arranged side by side on the vehicle. On the other hand, the parallel unmanned traveling truck can be moved to the standby position of the next transport target vehicle.

  The drive wheel unit has a Mecanum wheel formed by arranging a plurality of rollers, the rotation axis of which is disposed in an oblique direction with respect to the advancing direction of the drive wheel unit, on the outer periphery, and the rotational speed of each drive wheel unit In the case of including a direction control unit that makes it possible to adjust the moving direction by changing the angle (Claim 7), the moving direction by the drive wheel unit can be arbitrarily controlled, and the vehicle can be moved in all directions, increasing the freedom. It will be.

  According to a third aspect of the present invention, there is provided a transporting step of transporting a vehicle waiting in the vehicle loading unit using the lift transporting carriage into the parallel unmanned traveling carriage which is made to stand by in the vicinity of the vehicle standby portion; A return step of lowering the vehicle in a stopped state inside the vehicle to move the lift transport carriage to the vehicle loading portion, and an arranging step of lowering the vehicle while the parallel unmanned traveling carriage lifting the vehicle is arranged in the vehicle standby portion A system control unit that executes a standby position changing step of moving an in-line unmanned traveling truck with a vehicle lowered to the vicinity of the next vehicle standby unit to open an introduction space which can be introduced by the lift transport truck. The vehicle parallel parking system is provided.

  It is possible to transport the vehicle waiting in the vehicle loading unit using the lift transport carriage to the inside of the parallel unmanned traveling carriage kept in the vicinity of the vehicle standby portion (transportation step). Further, it is possible to prepare for the transport of the next vehicle by lowering the vehicle in a state where the lift transport carriage is stopped in the parallel unmanned traveling carriage and moving the lift transport carriage to the vehicle loading unit (return step). On the other hand, by raising the vehicle by the arm of the parallel unmanned traveling carriage, the vehicle is moved in any direction by the movement of the parallel unmanned traveling carriage, and the vehicle is arranged in alignment with other vehicles in the vehicle standby unit. It can be lowered (placement process).

  Thereafter, by moving the unmanned traveling carriage with the vehicle lowered to the vicinity of the next vehicle standby unit, the lift transport carriage can be moved to the next by leaving an introduction space which can be introduced by the lift transport carriage (standby position changing step). The vehicle can be transported into the parallel unmanned traveling carriage.

  Since these steps are controlled by the system control unit, the vehicle can be moved from the vehicle loading unit to the vehicle standby unit by properly controlling the lift transport carriage and the tandem unmanned traveling carriage. The vehicle parallel parking system preferably includes a plurality of lift transport carriages in order to transport the vehicle more efficiently.

  The parallel unmanned traveling carriage is provided with an arm unit for supporting the vehicle by abutting on both front and rear ends of the ground contact unit of the tire, and a lift device for moving up and down the vehicle supported by the arm unit by a lifting cylinder. The vehicle moved into the vehicle can be lifted by the arm and can be placed on the floor. The parallel unmanned traveling truck separates the arm part from the tire when mounting of the vehicle is completed, stores it in the frame of the parallel unmanned traveling truck, and moves the parallel unmanned truck near the next vehicle standby unit. Since only waiting for the vehicle, it is possible to minimize the power consumption by a slight movement of about one vehicle, and to simplify the configuration of the parallel unmanned traveling carriage. Since the tandem unmanned cart as simplified as possible can enter into a slight gap near the vehicle side, a large work space is not required, and the area of the vehicle standby portion can be effectively used. Preferably, the vehicle parallel parking system is provided with a plurality of parallel unmanned traveling vehicles for more efficient transportation of the vehicle.

  Since the system control unit controls all lift transport carriages and tandem unmanned travel carriages constituting the vehicle parallel parking system, it has a communication unit capable of communicating with the lift transport carriages and parallel unmanned travel carriages. Preferably, the system control unit constituting the vehicle parallel parking system may be formed by the processing unit of the central monitoring device.

  According to a sixth aspect of the present invention, the lift carriage is transported to the interior of the tandem unmanned traveling truck which is caused to stand by in the vicinity of the vehicle standby portion using the lift transport carriage, and the lift carriage is stopped in the tandem unmanned traveling carriage In this state, the vehicle is lowered and the lift transport carriage is moved to the vehicle loading unit, and the parallel unmanned traveling carriage lifting the vehicle is arranged side by side in the vehicle standby unit, the vehicle is lowered and the vehicle unmounted traveling carriage The present invention provides a vehicle parallel parking method characterized in that the vehicle is moved to the vicinity of the next vehicle stand-by portion to open an introduction space which can be introduced by the lift transport carriage (claim 9).

  According to the vehicle parallel parking method, the vehicles transported to the vehicle loading unit can be transported sequentially to a predetermined vehicle standby unit. At this time, since the lift transport carriage is formed as simple and compact as possible in carrying out the transport of the vehicle from the vehicle loading unit to the vehicle standby unit, the configuration of the lift transport carriage is simplified accordingly. Can be formed.

  Similarly, the parallel unmanned traveling carriage unloads the vehicle transported to the vehicle standby unit using the lift device from the transport carriage and lowered onto the floor, and moves to the next vehicle standby unit. Therefore, it is not necessary to travel long distances, and it is possible to simplify the configuration of the tandem unmanned traveling carriages, so that the vehicles can be transported in tandem in a slight gap in the vicinity of the vehicles.

It is a figure showing the composition of the vehicles parallel parking system concerning the embodiment of the present invention. It is a perspective view which shows the structure of the lift conveyance trolley of the vehicle integrated in the said vehicle parallel parking system. It is the perspective view which looked at the said lift conveyance trolley from another angle. It is a top view which shows the release state of the arm part of the said lift conveyance trolley. It is a top view which shows the support state of the arm part of the said lift conveyance trolley. It is a front view of the said lift conveyance trolley. It is a side view which shows the state which does not mount a vehicle in the said lift conveyance trolley. It is a side view which shows the structure of the said lift conveyance trolley in the state which lifted the vehicle. It is a perspective view which shows the structure of the parallel unmanned traveling truck integrated in the vehicle parallel parking system of FIG. It is a figure explaining the whole operation | movement of the vehicle parallel parking system of FIG. It is a top view which shows the release state of the arm part of the modification of the said lift conveyance trolley. It is a top view which shows the support state of the arm part of the lift conveyance trolley shown in FIG.

  Hereinafter, a vehicle parallel parking system 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to explain an embodiment of the present invention. A lift conveying carriage 5 provided, and an unmanned traveling carriage 7 provided with a lift device 8 for contacting the tire 3A of the vehicle 3 located in the vicinity of the vehicle standby unit 6 and conveyed by the lift conveying carriage 5 to lift the vehicle 3; The system includes a system control unit 9 communicably connected to and controlling the lift transport carriage 5 and the tandem unmanned travel carriage 7.

  The system control unit 9 conveys the vehicle waiting in the vehicle loading unit 2 using the lift conveyance carriage 5 to the inside of an unmanned traveling platform 7 in which the vicinity of the vehicle standby unit 6 is kept waiting; Returning the vehicle 3 to the vehicle loading unit 2 in a state where the vehicle is stopped in the parallel unmanned traveling carriage 7 and moving the lift transport carriage 5 to the vehicle loading unit 2; An arrangement step of lowering the vehicles 3 in a side-by-side arrangement, and a standby for moving the unmanned traveling vehicle 7 with the vehicles 3 lowered to the vicinity of the next vehicle standby unit 6 and opening the introduction space where the lift transport vehicle 5 can introduce. And a position change process.

  The system control unit 9 may, for example, occasionally execute an arithmetic processing unit 9A, a recording unit 9B in which a program executable by the arithmetic processing unit 9A is recorded, position information of each transport carriage 4 and status information of the vehicle standby unit 6 A storage unit 9C for recording ever-changing information and a communication unit 9D for communicating with the lift transport carriage 5 and the tandem unmanned travel carriage 7 are provided.

  In the vehicle parallel parking system 1 configured as described above, the lift device 8 of the vehicle 3 provided on the parallel unmanned traveling vehicle 7 is in contact with the tire 3A of the vehicle 3 to support the vehicle 3. It is moved vertically.

Hereinafter, the structure of the said lift conveyance trolley 5 is demonstrated using FIGS. 2-8.
As shown in FIG. 2 and FIG. 3, the lift transport carriage 5 of the present invention is made of a rod having a length about the width of the tire 3A and in contact with the front and rear sides of the contact portion of the tire 3A. A pair of arm sections 10 capable of supporting the tire 3A, an arm support section 11 switchably supporting the arm sections 10 in the supported state and the released state separated from the tire 3A, and the lower part of the vehicle 3 The bogie frame 12 supporting each arm support portion 11 so as to arrange the pair of arm portions 10 at a position corresponding to the inner side near portion of each tire 3A in the closed state, and the state switching of each arm portion 10 An arm drive unit 13 that supplies power to switch between the supported state and the released state of the tire 3A in an interlocked manner, and the bogie frame 12 are connected to and supported by the arm unit 10 Truck body 16 having a plurality of drive wheel units 14 capable of transporting the selected vehicle 3 in any direction, and a transport control unit 15 for controlling the steering direction and rotational speed of the drive wheel units 13; A base end lifter 17 which allows the base end 12A of the frame 12 to move up and down with respect to the bogie main body 16, and a tip part of the roller wheel 18 which is provided at the tip 12B of the bogie frame 12 and contacts the floor surface F And a tip lifting / lowering unit 19 which can move 12 B vertically.

  The transport control unit 15 of the carriage main body 16 transmits position information, traveling speed, steering direction, etc. of the transport carriage 16 to the communication unit 9D of the system control unit 9, and transports from the communication unit 9D. The carriage main body 16 has a battery 16B for supplying power used by the lift transport carriage 5 and a hydraulic pressure for circulating oil serving as a power source to a hydraulic cylinder to be described later. A pump 16P (shown in FIGS. 7 and 8) and a cushioning member 16A attached to a portion in front of the carriage main body 16 in case of collision with an obstacle.

  Further, in the present embodiment, the bogie frame 12 is made of aggregate arranged in parallel to the left and right, and the tip lifter 19 is arranged on each of the left and right aggregates.

  As shown in FIGS. 4 and 5, the arm support portion 11 is a pivoting support portion 20 for pivotally supporting each arm portion 10 at its proximal end centering on the longitudinal axis, and the arm drive portion 13 is A rotary cylinder 21 for driving the rotary support portion 20 from the support state to the release state by forward and backward movement of the rod, and one end of which is connected to the rod of the rotary cylinder 21 and horizontally rotatably supported It is preferable to provide one support link 22 and a pair of second support links 23 respectively connected to the rotational support portion 20 at a symmetrical position with respect to the rotation center of the first support link 21.

  That is, by driving the rod of one rotation cylinder 21 forward and backward, the first support link 22 can be rotated, and the position of the first support link 22 is point-symmetrically with respect to the rotation center of the first support link 22 accordingly. Since the connecting portion with the second support link 23 rotates while maintaining the point-symmetrical position, the rotation support portions 20 connected by the second support link 23 rotate in opposite directions. That is, the pair of arm portions 10 can be displaced from the supported state (see FIG. 5) to the released state (FIG. 4) rotated approximately 90 degrees by one rotation cylinder 21.

  As shown in FIG. 4, in the state where the arm unit 10 of the above configuration is positioned in the released state, the arm unit 10 is disposed along the longitudinal direction of the lift conveyance carriage 5. The arm portion 10 does not get in the way when inserted inside the tire 3A.

  As shown in FIG. 5, in the state where the arm portion 10 is positioned in the support state, the arm portions 10 are disposed in parallel to the rotation axis of the tire 3A on both sides of the contact surface of the tire 3A. That is, by lifting the whole bogie frame 12 in a state in which the arm unit 10 is in the support state, the arm unit 10 can be in contact with the tire 3A to support the vehicle 3. At this time, since the length of the arm portion 10 is substantially the same as the width of the tire 3A, the rotational torque applied to the base end portion (rotation support portion 20) can be minimized. In addition, the rotational torque applied to the left and right arm portions 10 by the left and right tires 3A in opposite directions is opposite to each other, so that the stability when transporting the vehicle 3 is improved by mutually canceling each other.

  As shown in FIG. 6, the base end lifter 17 of the present embodiment can slide the upright frame 12C provided at the base end 12A of the carriage frame 12 only in the vertical direction with respect to the carriage main body 16 And a proximal end raising and lowering cylinder 26 connected between the upper portion of the carriage frame 12 and the lower portion of the carriage body 16 to drive the carriage frame 12 up and down. One end of the tip lifter 19 is connected to the upper portion of the erected frame 12C in a tiltable manner, and the tip lift cylinder 27 supplies power for moving the tip 12B of the carriage frame 12 up and down from the floor F by driving the rod back and forth. Equipped with

  As shown in FIGS. 7 and 8, the tip lifting and lowering unit 19 is further connected to the rod of the tip lifting and lowering cylinder 27 at one end to convert the advancing and retracting movement of the rod into rotational movement. A lifting link 28, a second lifting link 29 connected at the other end of the first lifting link 28 to transmit a substantially horizontal advancing / retracting movement, and an intermediate portion connected to the second lifting link 29 And a third lifting link 30 connected to the front end 12 B of the carriage frame 12 and the other end connected to the roller wheel 18.

  The sliding connection 25 of the above configuration has the sliding connection 25 that limits the movement of the bogie main body at the base end 12A of the bogie frame 12 in the vertical direction. The carriage frame 12 can be raised and lowered using the forward and backward drive force applied by the cylinder 26 efficiently. In the present embodiment, since the carriage frame 12 is formed of two fork-shaped frames, two sets of the tip end elevation cylinder 27 and the elevation links 28 to 30 are provided.

  Further, by providing a plurality of lifting links 28 to 30 between the tip lifting cylinder 27 and the roller wheel 18, the lifting operation at the tip 12B of the carriage frame 12 is disposed on the base end 12A side. The tip end raising and lowering cylinder 27 and the base end raising and lowering cylinder 26 can be collectively provided on the base end 12 A side of the carriage frame 12. That is, by forming each raising and lowering cylinder 26, 27 with a hydraulic cylinder, it is possible to easily move the carriage frame 12 up and down with a large force, but form a short hydraulic hose as a power source of the hydraulic cylinder. The configuration can be simplified.

  The roller wheel 18 includes a wheel arm 31 rotatably supported at the other end of the third lifting link 30, and front and rear rollers 18A and 18B rotatably mounted at both front and rear ends of the wheel arm 31. And The roller wheel 18 is a pair of front and rear rollers 18A and 18B connected by a wheel arm 31, and two rollers 18A and 18B are disposed side by side in the lateral direction with respect to the traveling direction is there.

  As shown in FIG. 7, by retracting the rod of the base end lift cylinder 26, the base end 12A of the carriage frame 12 can be lowered. At the same time, the rod of the tip lifting cylinder 27 is extended to rotate the first lifting link counterclockwise in the figure, and the third link 30 is shown in the drawing by pressing the second link 29 in the right direction. The height of the tip 12B of the carriage frame 12 with respect to the roller wheel 18 can be lowered to such an extent that it does not contact the floor F by turning it counterclockwise.

  On the other hand, as shown in FIG. 8, the base end 12A of the carriage frame 12 can be lifted by extending the rod of the base end lift cylinder 26. At the same time, in a state in which the rod of the tip end lifting cylinder 27 is retracted, the first lifting link 28 is turned clockwise in the figure, and the second link 29 is pulled in the left direction in the figure The distal end 12 B of the carriage frame 12 can be lifted with respect to the roller wheel 18 by rotating it around.

  That is, in the lift transport carriage 5 of the present invention, by driving the carriage frame 12 to lift at both the proximal end 12A and the distal end 12B of the carriage frame 12, it is possible to withstand unreasonable stress as in the prior art. It is not necessary to have the strength of the above, and it is possible to miniaturize the configuration of each part, achieve weight reduction by that much, and prevent waste of energy. Further, as the energy consumption of the lift transport carriage 5 becomes smaller, the power supply capacity mounted on the lift transport carriage 5 can be made smaller, which is preferable.

  Since the roller wheel 18 is a pair of front and rear rollers 18A and 18B connected by the wheel arm 31, the load is applied to both the rollers 18A and 18B by tilting the wheel arm 31 according to the uneven surface of the floor surface F. Can be distributed. In addition, since two rollers 18A and 18B are arranged side by side in the lateral direction, loads can be applied to the respective rollers 18A and 18B in a distributed manner.

  Therefore, by supporting the tire 3A by the arm unit 10, the carriage frame 12 is lifted from the floor at both the base end 12A and the tip end 12B using the base end lift 17 and the tip lift 19 Since the vehicle 3 can be lifted and floated from the floor surface F, the lift conveyance carriage 5 can be moved in accordance with the movement direction of the carriage main body 16. That is, the vehicle 3 can be moved without driving.

  Drive wheel units 14 constituting the bogie main body 16 are provided in the vicinity of four corners of the bogie main body 16, and a tire capable of freely changing the steering direction and a motor capable of freely controlling the transport speed are connected to the tire There is. A roller wheel 18 is formed at the front end 12B of the carriage frame 12 so that only movement in the front-rear direction with respect to the floor surface F is possible. Accordingly, the carriage frame 12 and the vehicle 3 mounted on the carriage frame 12 can be moved so as to be freely steered and moved by the movable carriage body 16 as the carriage body 16 moves.

  Therefore, the front end 12B of the bogie frame 12 is inserted between the vehicle 3 standing by at the vehicle loading unit 2 and the floor F so as to be inserted and introduced, and the arm unit 10 serving as the lift device 4 at the inner side near each tire 3A. The arm portion 10 is turned so as to be positioned on the front and rear sides of the contact portion of the tire 3A in a state where each is positioned, and the tire 3A can be supported by each pair of arm portions 10 to lift the vehicle 3 The vehicle 3 can be lifted from the floor surface F, transported by the lift transport carriage 5, and moved to the vicinity of the vehicle standby unit 6.

  In order to support the vehicle 3 by inserting the carriage frame 12 from the front or back of the vehicle 3 and supporting the vehicle 3, the working area of the vehicle 3 is about the full length or larger than this. It is necessary to provide (introduction space). Therefore, when the direction of the vehicle 3 in the vehicle loading unit 2 and the vehicle standby unit 6 may be reversed, it is possible to directly transport the vehicle to the vehicle standby unit 6 using the lift transport carriage 5 However, when making the direction of the vehicle 3 the same, the vehicle 3 is transferred to the unmanned traveling truck 7 in the vicinity of the vehicle standby unit 6, and the parallel parking to the vehicle standby unit 6 is unmanned It is necessary to carry out by using the traveling carriage 7.

FIG. 9 is a view showing the configuration of this tandem unmanned traveling carriage 7.
As shown in FIG. 9, the parallel unmanned traveling vehicle 7 of this embodiment is made of a rod body having a length about the width of the tire 3A, and in the supported state, each abuts on the front and rear sides of the contact portion of the tire 3A. A pair of arm portions 40 for supporting the pair, a pair of rotation support portions 41 for rotatably supporting the arm portions 40 in the center of the longitudinal axis at the base end portion, and a tip portion connected to one rotation support portion 41 The rotating cylinder that rotates the arm to 90 degrees from the above support state (including the case of approximately 90 degrees in this specification) by the forward and backward driving of the rod to the open state separated from the tire. And a rotation transmission unit 43 that converts the rotation of one rotation support unit into a reverse rotation and transmits the rotation to the other rotation support unit, and an elevating cylinder 44 that moves the arm unit 40 up and down. Lift device 8 of the vehicle equipped with It is possible to move the carriage frame 45 arranged at the side near portion of the outer side of each tire 3A of the vehicle 3 transported by the lift transport carriage 5 and lowered onto the floor F, and to move this frame 45 at least in the front-rear direction of the vehicle 3. And drive wheel units 46a to 46d.

  Further, the drive wheel units 46a to 46d have a mechanum wheel 47 formed by arranging a plurality of rollers, the rotation axes of which are arranged diagonally to the rotation direction of the drive wheel units 46a to 46d, on the outer periphery The direction control unit 48 is configured to adjust the moving direction of the tandem unmanned traveling vehicle 7 by changing the rotational speeds of the drive wheel units 46a to 46d. Reference numeral 49 denotes a battery which is disposed at each part of the carriage frame 45 and supplies power serving as a power source to the drive wheel units 46a to 46d. In addition, it is conceivable that the rotation transmission unit 43 is an even number of rotation transmission gears which are respectively fitted to the gears provided in the respective rotation support portions 41 which support the pair of arm portions 40. However, it goes without saying that a link mechanism similar to the lift device 4 of the lift transport carriage 5 may be used as the rotation transmission unit 43.

  The drive wheel units 46a to 46d are attached to the lower surface along the longitudinal direction of the carriage frame 45, and the drive wheel units 46a and 46d at the front and rear ends are cascaded by arranging the motors serving as the drive sources upward. The entire length of the unmanned traveling carriage 7 is shortened. On the other hand, the drive wheel units 46b and 46c disposed in the middle part of the unmanned traveling vehicle 7 are configured to be accommodated in the lower space of the carriage frame 45 by forming the motor in the horizontal direction.

  The Mecanum wheel 47 has drive barrel units 46a and 46c, for example, by making the barrel-shaped roller angles of the drive wheel units 46a and 46c different from those of the barrel-shaped rollers of the drive wheel units 46b and 46d. The unmanned traveling truck 7 can be moved in an oblique direction by slightly changing the rotational speed of the drive wheel units 46b and 46d. Similarly, by reversing the direction of rotation of the left and right Mecanum wheels 47, the direction change of the tandem unmanned traveling vehicle 7 can also be performed. That is, by using the mechanum wheel 47, it is possible to easily adjust the conveyance direction and the movement direction of the tandem unmanned traveling carriage 7.

  Preferably, the cross carriage control unit 48 includes, for example, a communication unit configured to be communicable with the system control unit 9 and a sensor that detects the position of the parallel unmanned traveling carriage 7, the storage condition of the transport carriage 4, etc. By this, after the lift conveyance carriage 5 is accommodated in the parallel unmanned traveling carriage 7, the lift device 8 is used to lift the vehicle 3 in which the lift conveyance carriage 5 is lowered to a predetermined position in the parallel unmanned traveling carriage 7 The arm unit 40 is supported by the rotation cylinder 42, and the arm unit 11 is raised by the elevating cylinder 44 to execute a vehicle lift process for lifting the vehicle 3 and a return process for returning the lift transport carriage 5 After that, the vehicle 3 is moved to parallel parking at predetermined intervals on the vehicle 3 already arranged in line with the vehicle standby unit 6, and the vehicle 3 is moved up and down. Then, the arm unit 40 is moved to the released state by the rotation cylinder 42 of the tandem unmanned traveling carriage 7 which has lowered the vehicle 3, and in the vicinity of the next vehicle standby unit 6. It is possible to execute a standby position changing process of moving the transfer carriage 5 so as to make it possible to introduce the introduction space such as the introduction of the lift conveyance carriage 5.

  FIG. 10 is a view for explaining the overall operation of the vehicle parallel parking system 1. As shown in FIG. 10, the lift transport carriage 5 is used to transport the vehicle 3 waiting in the vehicle loading unit 2 into the unmanned traveling carriage 7 which is kept in the vicinity of the vehicle standby unit 6. (Transporting process Ph1)

  Thereafter, in a state where the lift transport carriage 5 is stopped in the parallel unmanned traveling carriage 7, the vehicle 3 is lowered and the lift transport carriage 5 is moved (returned) to the vehicle loading unit 2. (Return process Ph2)

  On the other hand, the parallel unmanned traveling carriage 7 which lifts the vehicle 3 using the lift device 8 is lowered in a state of being arranged side by side with the existing vehicle 3 already arranged side by side in the vehicle standby unit 6. (Placement process Ph3)

  After that, in order to introduce the vehicle 3 to be transported next, the parallel unmanned traveling carriage 7 with the vehicle 3 lowered is moved to the vicinity of the vehicle standby unit 6 to open an introduction space into which the lift transport carriage 5 can be introduced. (Standby Position Changing Step Ph4) The vehicles 3 to be produced one after another by returning to the transfer step Ph1 after the standby position changing step Ph4 can be arranged in the vehicle loading unit 6.

  The four steps Ph1 to Ph4 described above are collectively managed by the system control unit 9 shown in FIG. 1 and sequentially executed to sequentially complete the complete vehicles 3 transported to the vehicle loading unit 2 to the vehicle standby unit 6. It can be transported to align. By being centrally managed by the system control unit 9, the lift conveyance carriage 5 in execution of the conveyance step Ph1 and the lift conveyance carriage 5 in execution of the return step Ph2 are separately provided using a plurality of lift conveyance carriages 5 It is also possible to transport the vehicle 3 without interruption.

  Vehicle parallel parking system 1 of the above-mentioned composition explained using Drawing 1-Drawing 10 is only one of the embodiments of the present invention, and various modification can be considered.

  11 and 12 are views showing modifications of the arm support 11, the carriage frame 12, the arm drive 13 and the like described with reference to FIGS. The configuration of this modification will be described below. It is to be noted that members given the same reference numerals as in FIG. 1 to FIG. 10 are the same or equivalent members, so the detailed description thereof will be omitted to avoid repeated description.

  In the lift transport carriage 50 shown in the present example, the carriage frame 51 is a box-shaped base material having a plate-like surface, and linear movement is performed in a state in which the pair of arm portions 10 is integrally connected by the connector 52 inside. Each arm support 11 has a pair of linear motion guides 53 that can be supported. That is, each arm unit 10 supports the tire 3A and constitutes an essential part of the lift mechanism 4 capable of moving the vehicle 3 up and down by being supported so as to be able to linearly project in the horizontal direction.

  Further, as the arm drive unit 13, a slide drive cylinder 54 configured to be able to drive the four pairs of arm units 10 back and forth by driving the rods back and forth, and connected to the rod of the slide drive cylinder 54 By being connected by 55, a pair of first sliding drive links 56 that tilt at the same angle at positions corresponding to the front and rear tires 3A, and the first sliding drive links 56 are integrally attached to the same A pair of second sliding drive links 57 that tilt in this manner, and one end of each of the second sliding drive links 57 is connected to one end and the other end is connected to the connecting body 52 so as to be able to tilt. And three sliding links 58. Further, the front end portion 51B of the carriage frame 51 is formed with a roller wheel 18 on which the rollers 18A and 18B are disposed at both end portions in the width direction.

  As shown in FIG. 11, in the lift conveyance carriage 50 configured as in the present embodiment, the first slide drive link 56 and the second slide drive link 57 are formed by retracting the rod of the slide drive cylinder 54. Since it can be turned counterclockwise, the connecting member 52 can be pulled toward the center of the carriage frame 51 by the third sliding drive link 58, and the arm portion 10 is retracted so as to be accommodated in the carriage frame 51. It can be done.

  On the other hand, as shown in FIG. 12, the rod of the slide drive cylinder 54 is placed in a state in which the lift transport carriage 50 is inserted under the vehicle 3 and the lift mechanism 4 is disposed near the inner side of each tire 3A. Since the first sliding drive link 56 and the second sliding drive link 57 can be rotated clockwise by extension, the third sliding drive link 58 allows the connector 52 to be moved to the left and right sides of the carriage frame 51. The arm portion 10 can be made to project from the carriage frame 51 so that the tire 3A can be supported on both the front and rear sides of the contact surface of each tire 3A.

  Since the forward / backward drive of the arm unit 10 is a horizontal movement, no force is applied in the direction to retract the arm unit 10 even if the load of the vehicle 3 is applied to the arm unit 10, the aforementioned slide drive cylinder 54 does not need to provide much power, and it is possible to achieve simplification of the configuration.

  Further, by providing the rollers 18A and 18B also at both widthwise end portions of the carriage frame 51, it is possible to improve the stability of the tip portion 51B in a state where the vehicle 3 is mounted.

  As described above, various modifications can be considered in the present invention. For example, the hydraulic cylinder may be replaced by a modification such as using an electric cylinder which does not require hydraulic piping and is excellent in robustness, or in place of a link mechanism. It is needless to say that a modified example in which the supported state and the released state of each arm 10 can be switched by interlocking with a gear or a belt can be easily considered.

  Moreover, according to the position (wheel base, tread) of the tire 3A of the vehicle 3 in each of the above-mentioned embodiments, the positions of the lift devices 4 and 8 may be adjustable. That is, it is conceivable to provide a structure that supports the lift devices 4 and 8 so as to be movable in the front-rear direction according to the length of the foil base. Furthermore, according to the tread width of the wheel 3, it may have a structure for supporting the arm portion so as to be able to extend and contract in the width direction, or may support the length of the arm portion 10 in an adjustable manner.

  As described above, by making it possible to change the position of the lift mechanisms 4 and 8 in accordance with the wheel base and / or tread of the tire 3A, the versatility of the lift transport carriages 5 and 50 can be enhanced, and various vehicles 3 are transported. It is possible to

DESCRIPTION OF SYMBOLS 1 Vehicle parallel parking system 2 Vehicle loading unit 3 Vehicle 3A tire 4, 8 Lift device 5, 50 Lift conveyance carriage 6 Vehicle standby unit 7 Parallel unmanned traveling carriage 9 System control unit 10 Arm unit 11 Arm support unit 12, 51 Bogie frame 13 Arm drive portion 14 Drive wheel unit 15 Transport control portion 16 Carriage body 17 Base end elevation portion 18 Roller wheels 18A, 18B Roller 19 Tip elevation portion 20 Rotation support portion 21 Rotation cylinder 22 First support link 23 Second support link 25 Sliding connection 26 Base end lift cylinder 27 Tip lift cylinder 28 First lift link 29 Second lift link 30 Third lift link 31 Wheel arm 40 Arm 41 Rotary support 42 Rotary cylinder 43 Rotary transmission unit 44 Lifting cylinder 45 Carriage frame 46a to 46d Drive wheel unit 47 Mecanum wheel

Claims (9)

A pair of arm portions made of a rod having a length about the width of the tire and supported in a supported state by being abutted against the front and rear sides of the contact portion of the tire to support the tire;
An arm support portion switchably supporting the arm portions in the supported state and a released state separated from the tire;
A bogie frame for supporting the arm support portions such that the pair of arm portions are disposed at positions corresponding to the inner side near portions of the tires in a state of being inserted into the lower portion of the vehicle;
An arm drive unit that supplies power for switching between the support state and the release state of the tire by interlocking state switching of the respective arm portions;
A plurality of drive wheel units coupled to the carriage frame and capable of transporting the vehicle supported by the arm portion in any direction, and a transport control unit performing control of the steering direction and rotational speed of these drive wheel units The dolly body,
A proximal end elevating unit that allows the proximal end portion of the carriage frame to move up and down relative to the carriage main body;
A roller wheel provided at the front end of the carriage frame and in contact with a floor surface;
A lift transport carriage for a vehicle, comprising: a tip elevating part that raises and lowers a tip end relative to the roller wheel.   The arm supporting portion is a pivoting supporting portion for pivotally supporting each arm at its proximal end centering on the longitudinal axis, and the arm driving portion supports the pivoting supporting portion by advancing and retracting the rod. And a first support link, one end of which is connected to the rod of the rotation cylinder and horizontally rotatably supported, and a symmetrical position with respect to the rotation center of the first support link The vehicle according to claim 1, further comprising: a pair of second support links respectively connected to the pivot support. The base end elevating unit is a sliding connection portion that connects and supports the bogie frame so as to slide in the vertical direction only with respect to the bogie main body, and the base end that is connected to the bogie frame and the bogie body and lifts and drives the bogie frame Equipped with a lift cylinder,
The tip lifting and lowering unit has a tip lifting and lowering cylinder for supplying power for lifting and lowering the tip of the carriage frame from the floor surface by advancing and retracting the rod, and one end side of the tip lifting and lowering cylinder is connected to the rod to move the rod back and forth A first lifting link converting into rotational movement, a second lifting link connecting the other end side of the first lifting link and transmitting an advancing and retracting movement in a substantially horizontal direction, and an intermediate portion are connected to the second lifting link The vehicle according to claim 1 or 2, further comprising a third lifting link connected at one end to the front end of the carriage frame and at the other end to the roller wheel.   The roller wheel comprises a wheel arm rotatably supported at the other end of the third lifting link, and front and rear rollers rotatably mounted at both front and rear ends of the wheel arm. The lift transport carriage of the described vehicle.   5. The vehicle according to claim 4, wherein a plurality of said rollers are arranged side by side in the lateral direction with respect to the traveling direction. In the supported state, a pair of arm portions for supporting the tire in contact with the front and rear sides of the tire contact portion in the supported state, and a longitudinal axis of the arm portions at the proximal end portion The arm part is rotated 90 degrees from the supported state by the drive of advancing and retracting a pair of pivotally supporting parts rotatably supported at the center and a rod whose tip part is connected to one of the pivotally supporting parts, and is separated from the tire A rotating cylinder that rotates to the released state, a rotation transmitting unit that converts the rotation of one rotation support unit into a reverse rotation and transmits the rotation to the other rotation support unit, and the arm unit in the vertical direction A lift device of a vehicle comprising a lift cylinder for moving up and down to a side, the outer side near portion of each tire of the vehicle being transported by the lift transport carriage according to any one of claims 1 to 5 and lowered to a floor surface Column to place each Car frame, and,
A tandem unmanned traveling truck comprising: a drive wheel unit capable of moving the truck frame at least in the front-rear direction of the vehicle. The drive wheel unit is provided with a Mecanum wheel on the outer periphery of which is disposed a plurality of rollers whose rotation axis is disposed in an oblique direction with respect to the traveling direction of the drive wheel unit,
7. The tandem unmanned traveling vehicle according to claim 6, further comprising a direction control section capable of adjusting the moving direction by changing the rotational speed of each drive wheel unit.   The tandem unmanned traveling platform according to claim 6 or 7, wherein a vehicle waiting in the vehicle loading unit using the lift transport carriage according to any one of claims 1 to 5 is caused to stand by in the vicinity of the vehicle standby unit. Transfer step of transferring into the car, Returning step of lowering the vehicle with the lift transfer carriage stopped in the parallel unmanned traveling carriage and moving the lift conveying carriage to the vehicle loading unit, Parallel unmanned traveling carriage lifting the vehicle An arrangement step of lowering the vehicle in a state of being arranged side by side in the vehicle standby portion, and a standby position where the tandem unmanned traveling truck with the vehicle lowered is moved to the vicinity of the next vehicle standby portion to open the introduction space where the lift transport carriage can introduce. And a system control unit that executes the changing step.   The tandem unmanned traveling platform according to claim 6 or 7, wherein a vehicle waiting in the vehicle loading unit using the lift transport carriage according to any one of claims 1 to 5 is caused to stand by in the vicinity of the vehicle standby unit. The carriage is transported into the vehicle, and the lift carriage is stopped in the parallel unmanned traveling carriage, the vehicle is lowered to move the lift conveying carriage to the vehicle loading unit, and the parallel unmanned traveling carriage lifting the vehicle is arranged in the vehicle standby unit A vehicle parallel parking method characterized by lowering the vehicle in the above state and moving the parallel unmanned traveling vehicle with the vehicle lowered to the vicinity of the next vehicle standby portion to open an introduction space into which the lift transport vehicle can introduce.