JP3859499B2 - Pallet delivery device for multistory parking facilities - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pallet delivery device that delivers a vehicle-mounted pallet using a swing arm between a moving body that moves up and down or travels and a parking room.
[0002]
[Prior art]
In a multilevel parking facility in which parking rooms are arranged on a plurality of parking floors and vehicles are loaded and unloaded via pallets, each moving body (lifting platform or traveling cart) that moves up and down or travels has a pallet delivery device. ing. Conventionally, this pallet delivery device is equipped with a large number of driven roller conveyor devices. However, the roller conveyor device requires a plurality of drive rollers and a power transmission mechanism, and the pallet between the parking room and the pallet. Since a device for pushing and pulling is also necessary, there is a problem that the device mounted on the moving body is complicated and increases in weight.
[0003]
For this reason, in recent years, a swivel arm that swivels around a vertical axis is provided on the moving body, and an engagement roller provided at the free end of the swivel arm is engaged with an engagement groove formed on the side of the pallet. Thus, there has been proposed a swing arm type pallet delivery device that delivers a pallet between a parking room and a moving body by driving the turning arm to turn.
[0004]
[Problems to be solved by the invention]
By the way, normally, when engaging the engaging roller of the swivel arm with the engaging groove provided on the pallet of the parking chamber, the engaging roller protrudes into the parking chamber and swivels from the substantially vertical direction in the transfer direction. Can be engaged smoothly. In addition, since it is better to start moving slowly when pallet transfer starts, the pallet delivery posture for delivering the pallet and the pallet mounting posture for stopping on the moving body are separated by 180 degrees and the swivel arm follows the carrying direction. Set to direction.
[0005]
In addition, it is more reasonable that parking rooms are provided on both sides of the moving path of the moving body so that the pallets on both sides can be handled by the same turning arm. And it is necessary to form the clearance gap between the pallet of a parking room and the pallet of a pallet mounting position of a moving stand in order to avoid interference.
[0006]
For this reason, the swing arm type pallet delivery device is provided with an arm turning device for the turning arm and an arm shift device for shifting the turning arm in the transfer direction. The arm turning device and the arm shift device are each driven by a separate driving device (for example, an electric motor), and provided with a synchronizing device that is electrically controlled to synchronize with each other.
[0007]
However, in recent years, in this type of multi-story parking facilities, there has been a demand for cost reduction and a highly accurate and reliable drive structure. For example, the engagement of the engaging roller of the swivel arm due to electrical noise is required. Even when the alignment position is slightly deviated, the engagement roller may not be fitted into the engagement groove, which makes it difficult to transfer the pallet. Further, since the arm turning device and the arm shift device are provided separately, the moving device delivery device is complicated and increased in weight.
[0008]
SUMMARY OF THE INVENTION An object of the present invention is to provide a pallet delivery device for a multi-story parking facility that can solve the above-described problems, can be reduced in cost and weight, and can deliver pallets stably.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, an invention according to claim 1 is provided in a movable body on which a vehicle can be mounted via a pallet, a parking room disposed on both sides of a moving path of the movable body, and the movable body. A swing arm that is rotated about a vertical axis by an arm swing device, and the movable body and the parking chamber are rotated by engaging the free end engaging portion of the swing arm with the pallet and rotating the swing arm. A pallet delivery device for a multi-story parking facility for transferring pallets between the pallet delivery posture, wherein the swing arm is directed to the target parking chamber side, and the swing arm is set at 180 degrees from the pallet delivery position. The position of the turning arm that turns and the free end engaging portion faces the opposite side of the target parking room is defined as the pallet mounting position. As the turning arm is turned between the pallet delivery position and the pallet mounting position, the turning arm moves. The arms shifter provided for shifting the beam in the opposite direction of the pallet transport direction, is provided with a mechanical interlocking mechanism that drives respectively synchronized with said arm pivoting device and the arm shifting device by a single drive.
[0010]
According to the above configuration, since the arm turning device and the arm shift device are configured to be synchronously driven by a single drive device, the drive device can be reduced, and the structure can be simplified and reduced in weight. In addition, the mechanical interlocking mechanism makes it possible to rotate and shift the swivel arm in a surely synchronized manner, so that the swivel arm and the loose engagement portion can be operated accurately and stably, and reliability is improved. Can be improved.
[0011]
According to a second aspect of the present invention, in the configuration according to the first aspect, the posture toward the intermediate direction of the pallet delivery posture corresponding to each of the parking chambers on both sides of the moving body is set as the origin posture of the swivel arm, and the arm shift device is swung. Corresponding to the turning from the origin position of the arm to the pallet delivery posture, the turning arm is shifted to the target parking room side so that the free end engaging portion protrudes to the target parking room side, and the pallet is moved from the pallet delivery position of the turning arm to the pallet. Corresponding to turning to the mounting position, the pallet is moved to the target parking room side by shifting the turning arm to the moving body side, and the pallets of the parking rooms on both sides are respectively placed at the center position of the moving body It is composed.
[0012]
According to the above configuration, the arm shift device causes the free end engaging portion to protrude and engage with the pallet in the pallet delivery posture, and the pallet is transferred from the parking chamber to the moving body by turning from the pallet delivery posture to the pallet mounting posture. The pallet of the parking chambers on both sides arranged via a gap with respect to the pallet mounted at the center position of the moving body by shifting the swivel arm toward the target parking room side, respectively, The pallet can be transferred to a fixed position from a parking room on both sides of the moving body with a single or a set of swivel arms. Thereby, sufficient clearance gap which can prevent interference can be ensured between the pallet mounted in the moving body and the pallets of the parking chambers on both sides.
[0013]
According to a third aspect of the present invention, in the configuration according to the first or second aspect, the moving body is a lifting platform of a lifting device that is moved up and down across a plurality of parking floors.
According to the said structure, a pallet delivery apparatus can be employ | adopted for the raising / lowering type pallet-type three-dimensional parking equipment which delivers a vehicle via a pallet between a raising / lowering base and a parking chamber, and can be operated favorably.
[0014]
According to a fourth aspect of the present invention, in the configuration according to the first or second aspect, the moving body is a transport carriage that is movable along the traveling space of the parking floor, and moves the free end engaging portion of the swivel arm up and down. The pallet is provided with a detachable and engageable device.
[0015]
According to the said structure, a pallet delivery apparatus can be employ | adopted also for the conveyance type pallet type | mold three-dimensional parking equipment which delivers a vehicle via a pallet between a conveyance trolley and a parking chamber, and can be operated favorably. . Further, the arm lift device moves the swing arm up and down to disengage and engage the free end engaging portion from the pallet, and by changing the engaging position from the other side of the pallet to one side, The pallet transferred from the parking lot can be transferred to the parking lot on the other side, and the degree of freedom of the transfer operation can be increased.
According to a fifth aspect of the present invention, in the configuration according to any one of the first to third aspects, the arm shift device is configured by a rack and pinion type linear drive mechanism or a screw shaft type linear drive mechanism.
[0016]
According to the above configuration, the swing arm can be shifted with high accuracy with a simple structure by the rack and pinion type linear drive mechanism or the screw shaft type linear drive moving mechanism.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Here, an embodiment of a pallet delivery device for a multilevel parking facility according to the present invention will be described with reference to FIGS.
[0018]
As shown in FIG. 6, this pallet type multi-story parking facility is a lift type in which parking rooms 3 are provided across a plurality of parking floors on both sides of a lift space 2 provided in a building space 1. A lifting platform (moving body) 5 that is moved up and down along the space 2 is provided. The lifting platform 5 is provided with a pallet delivery device 13 according to the present invention. In addition, the predetermined floor (the first floor in the drawing) is made into the loading / unloading floor 6, and the loading / unloading floor 6 directly puts the car in and out of the lifting platform 5 through the palette P by the loading / unloading device 5. It is configured as follows.
[0019]
As shown in FIGS. 2 and 3, the pallet P is moved in the transfer direction (width direction) to the front part and the rear part of the main body frame 11 of the lifting platform 5 that is suspended and driven by the lifting device 4 through the cable bodies at the four corners. ) Is provided along the pallet guide device 12. The guide device 12 is configured such that a plurality of idle transfer rollers 12b are rotatably arranged on the upper surface of the gantry 12a along the width direction, and these transfer rollers 12b are arranged on the front and rear bottom surfaces of the pallet P. The pallet P is guided in the transfer direction by fitting with the transfer guide rail Pa attached in the width direction. Each parking chamber 3 is provided with a pallet guide roller device 3a that is continuous with the pallet guide device 12, respectively.
[0020]
As shown in FIGS. 1 to 3, the pallet delivery device 13 according to the present invention has a swivel arm having an engagement roller (free end engagement portion) 15 rotatably attached to a free end portion around a vertical axis. 14, an arm turning device 16 that turns the turning arm 14 in the forward and reverse directions around the vertical axis centering on the base end portion, and an arm shift device 17 that shifts the turning arm 14 in the transfer direction in conjunction with the turning of the turning arm 14. It consists of
[0021]
Further, on the pallet P, an engaged rail Pb to which the engaging roller 15 is movably fitted is forward or forward from a center portion corresponding to the turning center O of the base end portion of the turning arm 14 at the bottom of the side surface of the pallet P. It is attached in the rear left-right symmetric direction and is opened at the end of the engaged rail Pb corresponding to the center so that the engaging roller 15 can be inserted and removed.
[0022]
A pair of front and rear shift rails 21 are laid on the horizontal beam 11a provided on the main body frame 11, and a gear box (mechanical interlocking mechanism) 22 for driving an arm moves on these shift rails 21 via a linear bearing 22a. It is supported freely. The gear box 22 is provided with a single drive device (for example, an electric motor) 23 shared by the arm turning device 16 and the arm shift device 17, and a reduction gear (not shown) is provided on the output shaft of the drive device 23. A vertical drive shaft 24 which is rotationally driven through the upper and lower portions protrudes up and down. The base end of the swivel arm 14 is attached to the upper end of the vertical drive shaft 24, and the shift pinion 25 is attached to the lower end of the vertical drive shaft 24. The shift pinion 25 is meshed with a shift rack 26 attached to the transverse beam 11a in the transfer direction.
[0023]
Therefore, the arm turning device 16 is configured by the drive device 23, the speed reducer and the vertical drive shaft 24 of the gear box 22, and the arm shift device 17 is the drive device 23, the speed reducer and the vertical drive shaft of the gear box 22. 24, a shift pinion 25, a shift rack 26 and a shift rail 21, and a drive device 23 common to both devices, and a gear box 22 having a reduction gear and a vertical drive shaft 24, a pallet delivery device 13 It is possible to contribute to the reduction of manufacturing cost and operation cost.
[0024]
Here, the swivel arm 14 and the shift pinion 25 are attached to the common vertical drive shaft 24, and the shift amount with respect to the rotation angle of the swivel arm 14 is set by the number of teeth of the shift pinion 25. Two drive shafts are provided with gears interposed between them, the swing arm 14 and the shift pinion 25 are driven by separate drive shafts, and the shift amount with respect to the rotation angle of the swing arm 14 is determined by the gear ratio in the gear box 22. Can be set arbitrarily.
[0025]
The above-described arm shift device employs a rack and pinion linear drive mechanism. However, as shown in FIG. 7, a screw shaft 51 fixed to the main body frame 11 in the pallet transfer direction, and a screw shaft 51 is screwed. A screw type linear drive mechanism comprising an arm shift device 50 having a female screw member 52 coupled to the gear box 22 and interlocked with the swivel arm 14 may be adopted. The swivel arm 14 can be shifted well.
[0026]
The operation of the pallet delivery device 13 will be described with reference to FIGS.
First, when the swing arm 14 has an origin position P0 where the base end portion is located at the center of the pallet P and an origin posture M0 having an angle perpendicular to the transfer directions A and B, the swing arm 14 is moved from the origin posture M0 to the base end. The vertical drive shaft 24 is rotated about ± 270 degrees and forward and backward (clockwise and counterclockwise) to the pallet mounting posture M3 and moved from the origin position P0 to the mounting positions P3 and P-3. .
[0027]
That is, when the turning arm 14 is turned +90 degrees or -90 degrees from the origin posture M0 by the arm turning device 16 to the pallet delivery postures M1 and M-1 along the transfer directions A and B, the arm shift device is interlocked with this. 17 , the swing arm 14 moves from the origin position P0 to the delivery positions P1, P-1, and the engagement roller 15 protrudes toward the target parking chamber 3 and is inserted into the engaged rail Pb of the pallet P.
[0028]
Next, the swinging arm 14 is rotated by +90 degrees or -90 degrees in the same direction from the pallet delivery postures M1 and M-1 by the arm turning device 16 , and the intermediate posture M2 orthogonal to the transfer directions A and B on the side opposite to the origin posture M0. , M-2, and in conjunction with this, the arm shift device 17 moves the turning arm 14 from the delivery positions P1, P-1 to the intermediate positions P2, P-2, and the engagement roller 15 causes the pallet P to be parked. It is pulled out from the chamber 3 to the lifting platform 5 side.
[0029]
Further, the arm turning device 16 turns the turning arm 14 from the intermediate postures M2 and M-2 in the same direction by +90 degrees or -90 degrees to the pallet mounting postures M3 and M-3 along the transfer directions A and B. In conjunction with this, the arm shift device 17 moves the swing arm 14 from the intermediate positions P2, P-2 to the mounting positions P3, P-3, and the engagement roller 15 causes the pallet P to reach the center line CL on the lift platform 5. It is pulled out and stopped.
[0030]
Thereby, the transfer of the pallet P from the parking chamber 3 to the lifting platform 5 is completed. The transfer from the lift 5 to the parking room 3 is conversely swiveling the swivel arm 14 from M3 → M2 → M1 (→ M0) or M-3 → M-2 → M-1 (→ M0), The swing arm 14 is shifted from P3 → P2 → P1 (→ P0) or P-3 → P-2 → P-1 (→ P0) to complete the transfer, and then returned to the home position M0 and the home position P0. deep.
[0031]
According to the above configuration, the drive device 23 common to the arm turning device 16 and the arm shift device 17 and the gear box 22 having the speed reducer and the vertical drive shaft 24 are provided, thereby reducing the weight of the pallet delivery device 13. Further, the simplification of the structure can be promoted to contribute to the reduction of manufacturing cost and operation cost.
[0032]
Further, the turning movement and the shifting movement of the turning arm 14 are mechanically linked and interlocked by the vertical drive shaft 24 of the gear box 22, so that the synchronization does not shift and is compared with the conventional structure in which the electric control is synchronized. And high reliability.
[0033]
Further, the arm shift device 17 shifts the turning arm 14 to the target parking chamber 3 side during turning from the origin posture M0 to the pallet delivery posture M1, thereby causing the engagement roller 15 to protrude and the engaged rail Pb of the pallet P. And then the pivoting arm 14 is further shifted to the target parking chamber 3 side by the arm shift device 17 during the pivoting transfer to the mounting posture M4, and the pallet P is placed at the center CL position of the lifting platform 5. Thus, the pallets of the parking chamber 3 on both sides of the lifting platform 5 can be transferred to the center CL position of the lifting platform 5 respectively, and between the pallet P mounted on the lifting platform 5 and the pallet P of the parking chamber 3, A sufficient gap D that can prevent interference can be formed.
[0034]
In the said embodiment, although the raising / lowering pallet type | mold three-dimensional parking equipment was demonstrated, as shown to FIG. 8, FIG.
That is, in this multi-story parking facility, a transport carriage (moving body) 33 that travels in the travel space 32 is disposed on each parking floor of the building space 31, and parking chambers 34 are disposed on both sides of the travel space 32. . An elevator space 35 that extends over each parking floor is formed in a part of the parking room 34, and an elevator table 37 that is driven up and down by an elevator device 36 is disposed in the elevator space 35. A predetermined floor is configured as an entry / exit floor 38, and a loading / unloading device 39 for delivering a vehicle to the lifting platform 37 is provided.
[0035]
As shown in FIG. 9, the transporting carriage 33 is provided with traveling wheels 43 guided by traveling rails 42 disposed along the both sides of the traveling space 32 at the four corner positions of the carriage frame 41. A travel drive device 44 is connected to the wheels 43.
[0036]
Further, regarding the transport carriage 33, the structure of the pallet delivery device 13 is the same, but from the parking chamber 34 (elevating space 35) on one side of the traveling space 32 to the parking chamber 34 (elevating space 35) on the other side. Since the pallet is transferred, it is necessary to turn the engaging roller 15 180 degrees between the pallet mounting postures M3 and M-3. At this time, the engaging roller 15 is detached from the engaged rail Pb. Need to insert. For this reason, an arm lift device 45 is provided for raising and lowering the entire pallet delivery device 13 via the lateral beam 11a.
[0037]
Since the other structures in the transport carriage 33 are equipped with the pallet guide device 11 and the pallet delivery device 13 having the same structure provided in the lifting platform 5 of the previous embodiment, the same members are denoted by the same reference numerals. The description is omitted.
[0038]
According to this embodiment, the pallet P can be smoothly transferred between the transport carriage 33 and the parking chamber 34, and between the transport carriage 33 and the lift base 37, and the same effect as the previous embodiment. Can be played.
[0039]
Further, when the pallet P is delivered to the side opposite to the receiving side, the pallet delivery device 13 is lowered by the arm lift device 35 to lower the swing arm 14 in the pallet mounting posture, and the one side portion of the pallet P is engaged. The engaging roller 15 is extracted from the mating rail Pb, and the driving device 23 is driven to rotate the turning arm 14 so that the engaging roller 15 is moved from M3 → M2 → M1 → M0 → M−1 → M−2 → M−3 or On the contrary, the pallet delivery device 13 is lifted by the arm lift device 35 and the engaging roller is fitted to the engaged rail Pb on the other side. Thereby, the pallet can be transferred to the parking chamber 34 or the lifting platform 34 from the right to the left of the transport carriage 33 or from the left to the right.
[0040]
【The invention's effect】
As described above, according to the invention described in claim 1, since the arm turning device and the arm shift device are configured to be driven synchronously by a single drive device, the drive device can be reduced and the structure simplified. The weight can be reduced. In addition, the mechanical interlocking mechanism makes it possible to rotate and shift the swivel arm in a surely synchronized manner, so that the swivel arm and the loose engagement portion can be operated accurately and stably, and reliability is improved. Can be improved.
[0041]
According to the second aspect of the invention, the arm shift device causes the free end engaging portion to protrude and engage with the pallet in the pallet delivery posture, and the pallet is removed from the parking chamber by turning from the pallet delivery posture to the pallet mounting posture. When transferring to the moving body, the pallets in the parking chambers on both sides arranged via a gap are moved relative to the pallet mounted at the center position of the moving body by shifting the swivel arm to the target parking room side. It can be placed at the center position of the body, and the pallet can be transferred to a fixed position from a parking room on both sides of the moving body with a single or a set of swing arms. Thereby, sufficient clearance gap which can prevent interference can be ensured between the pallet mounted in the moving body and the pallets of the parking chambers on both sides.
[0042]
According to invention of Claim 3, a pallet delivery apparatus can be employ | adopted for the raising / lowering type pallet-type three-dimensional parking equipment which delivers a vehicle via a pallet between a raising / lowering stand and a parking chamber, and makes it operate | move favorably. be able to.
[0043]
According to invention of Claim 4, a pallet delivery apparatus can be employ | adopted also for the conveyance type pallet type | mold three-dimensional parking facility which delivers a vehicle via a pallet between a conveyance trolley and a parking room, and it operates favorable. Can be made. Further, the arm lift device moves the swing arm up and down to disengage and engage the free end engaging portion from the pallet, and by changing the engaging position from the other side of the pallet to one side, The pallet transferred from the parking lot can be transferred to the parking lot on the other side, and the degree of freedom of the transfer operation can be increased.
According to the fifth aspect of the present invention, the swing arm can be shifted with high accuracy by a rack and pinion type linear drive mechanism or a screw shaft type linear drive moving mechanism.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of a pallet delivery device for a multilevel parking facility according to the present invention.
FIG. 2 is a side view showing the lifting platform.
FIG. 3 is a plan sectional view showing the lifting platform.
FIG. 4 is a graph showing a relationship between a turning amount and a shift amount of the pallet delivery device.
FIG. 5 is a schematic plan view illustrating a turning shift state of a turning arm of the pallet delivery device.
FIG. 6 is a schematic perspective view showing an elevating type pallet type multi-story parking facility equipped with the pallet delivery device.
FIG. 7 is a perspective view showing a modified example of the pallet delivery device.
FIG. 8 is a schematic perspective view showing a transport type pallet type multi-story parking facility equipped with the pallet delivery device.
FIG. 9 is a side view showing the transport cart.
[Explanation of symbols]
P Pallet Pa Transfer guide rail Pb Engaged rail M0 Origin posture M1, M-1 Pallet delivery posture M3, M-3 Pallet loading posture P0 Origin position P1 Delivery position P3 Mounting position 2 Lifting space 3 Parking chamber 4 Lifting device 5 Elevator 11 Body frame 12 Pallet guide device 12b Guide roller 13 Pallet delivery device 14 Rotating arm 15 Engaging roller 16 Arm slewing device 17 Arm shift device 21 Shift rail 22 Gear box 23 Drive device 24 Vertical drive shaft 25 Shift pinion 26 Shifting rack 32 Traveling space 33 Carriage carriage 34 Parking chamber 42 Traveling rail 43 Traveling wheel 50 Arm shift device 51 Screw shaft 52 Female thread member

Claims (5)

A movable body on which a vehicle can be mounted via a pallet, parking rooms arranged on both sides of the moving path of the movable body, and a swing arm provided on the movable body and rotated around a vertical axis by an arm swing device And a pallet delivery device for a three-dimensional parking facility that transfers the pallet between the moving body and the parking room by engaging the free end engaging portion of the swivel arm with the pallet and rotating the swivel arm. There,
The position of the swing arm in which the free end engaging portion faces the target parking room is set as the pallet delivery posture, and the free end engaging portion turns to the opposite side of the target parking room by turning 180 degrees from the pallet delivery position. The arm posture is the pallet mounting posture,
An arm shift device is provided that shifts the swivel arm in a direction opposite to the pallet transfer direction as the swivel arm is swung between the pallet delivery posture and the pallet mounting posture,
A pallet delivery device for a multi-story parking facility, characterized in that a mechanical interlocking mechanism that synchronously drives the arm turning device and the arm shift device with a single drive device is provided. The orientation facing the intermediate direction of the pallet delivery posture corresponding to the parking chambers on both sides of the moving body is the origin posture of the swivel arm,
In response to the turning of the swing arm from the origin posture to the pallet delivery posture, the arm shift device shifts the swing arm to the target parking chamber side to project the free end engaging portion to the target parking chamber side, and further turns In response to the turning of the arm from the pallet delivery position to the pallet mounting position, the pallet is moved to the target parking room side by shifting the turning arm to the moving body side, and the pallets in the parking rooms on both sides are moved to the center of the moving body. It is comprised so that it may mount in a position. The pallet delivery apparatus of the multilevel parking equipment of Claim 1 characterized by the above-mentioned. The pallet delivery device for multilevel parking equipment according to claim 1 or 2, wherein the moving body is a lifting platform of a lifting device that is moved up and down across a plurality of parking floors. The moving body is a transport cart that can move along the traveling space of the parking floor.
The pallet delivery device for multi-story parking equipment according to claim 1 or 2, further comprising an arm lifting device that lifts and lowers the free end engaging portion of the swing arm so as to be detached from and engageable with the pallet. The pallet delivery device for a multilevel parking facility according to any one of claims 1 to 3, wherein the arm shift device is configured by a rack and pinion type linear drive mechanism or a screw shaft type linear drive mechanism.

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