JP5518016B2 - Control device, method, program, and pallet stacker for mechanical parking device - Google Patents

Description

  The present invention relates to a control device, a method, a program, and a pallet stacker for a mechanical parking device.

  A hangar having a storage shelf for storing vehicles is arranged in a grid of N rows and M columns, and a plurality of pallets for placing and transporting the vehicles on the storage shelves are arranged, and the pallets are arranged between the storage shelves. A mechanical parking device has been developed that transports a vehicle in a hangar by moving the vehicle in a vertical direction and a horizontal direction in a horizontal plane. More specifically, the mechanical parking apparatus includes a storage shelf in which a pallet is arranged as a storage shelf and a storage shelf in which a pallet is not arranged and becomes an empty area, and sends the pallet to the storage shelf in the empty area. To move the pallet. The mechanical parking apparatus moves the target pallet to the storage shelf at the designated position by repeatedly performing such a movement operation of the pallet.

  When the vehicle enters the vehicle, the vehicle to be stored is stopped at the storage / exit section on the entrance floor of the mechanical parking device, and the passenger gets out of the vehicle. The mechanical parking device places a vehicle on a pallet on a lifting device (hereinafter referred to as “lift”), conveys the pallet to a hangar, and moves the pallet on which the vehicle is placed from the lift to the hangar. And store the vehicle. On the other hand, at the time of delivery, the mechanical parking device moves the pallet in the hangar, moves the pallet on which the vehicle to be delivered is placed to the lift, and conveys the pallet to the entry / exit section on the entry floor by the lift. In this way, the vehicle is issued.

  In such a mechanical parking device, since the pallet is moved to the empty storage area by being sent to the empty area, the larger the number of empty areas, the more the space between the shelves can be moved, and the time required for loading and unloading can be shortened. On the other hand, increasing the vacant area reduces the number of vehicles that can be stored in the mechanical parking device and reduces the accommodation efficiency as equipment, so it can be stored as the number of vacant areas in the mechanical parking device. The number of vehicles needed to be determined by a trade-off between accommodation efficiency and convenience.

  For example, in Patent Document 1, a stacking buffer shelf that can store pallets in a stack is provided at a position adjacent to the lift, and empty pallets on which no vehicle is placed are stored in the stacking buffer shelf. Describes a technology that reduces the waiting time for loading and unloading without reducing the total capacity by removing the pallet from the stacking buffer and storing it when the number of warehousing increases. Has been.

Japanese Patent No. 4046169

  However, in the method described in Patent Document 1, since the stacking buffer shelf is provided at a position adjacent to the lift, at least one movement path of the pallet to be taken in and out of the lift is blocked. In other words, if there is a stacking buffer between the storage shelf where the pallet to be moved is placed and the lift, the mechanical parking device must move the pallet to be moved by bypassing the stacking buffer. There is. For this reason, the area that is frequently used by the loading / unloading operation is occupied by the stacking buffer shelves, which restricts the route for the pallet to reach the lift and increases the time required for loading / unloading. There was a problem that decreased.

  The present invention has been made in view of such circumstances, and does not interfere with the pallet transport process to the lift and reduces the waiting time of the user, a control device for a mechanical parking device, a method, a program, And to provide a pallet stacker.

In order to solve the above problems, the present invention employs the following means.
The reference example of the present invention includes a storage unit for storing and receiving vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are disposed, and one or more storage shelves that are empty areas in which the pallets are not disposed. And a lifting device that moves up and down between the storage unit and the storage to convey the pallet, the pallet vertically and horizontally between the storage shelves in a horizontal plane. It is a control device applied to a mechanical parking device that transports a vehicle in the hangar by moving in the direction, and is disposed on a storage shelf that is not adjacent to the lifting device, and the vehicle is not mounted There is provided a control device comprising a storage control means for storing the empty pallet in a pallet stacker for storing the empty pallet as the pallet.

  According to such a configuration, a loading / unloading unit for loading / unloading the vehicle, a plurality of storage shelves on which pallets for placing and transporting the vehicle are arranged, and one or more storage shelves that are empty areas where no pallets are arranged In a mechanical parking device comprising: a hangar arranged in a grid pattern; and an elevating device that moves up and down between the loading and unloading unit and the hangar to convey the pallet, the pallet is vertically and horizontally in the horizontal plane between the storage shelves. By moving in the direction, the vehicle is transported in the hangar. In addition, an empty pallet, which is a pallet on which the vehicle is not placed, is stored in a pallet stacker disposed on a storage shelf that is not adjacent to the lifting device.

  In this way, by storing the empty pallet on which the vehicle is not placed in the pallet stacker, the empty space where the pallet is not arranged increases in the hangar, so the pallet on which the vehicle is placed moves in the hangar. The movement efficiency can be improved. In addition, since the pallet stacker is arranged on a storage shelf that is not adjacent to the lifting device, the pallet stacker does not interfere with the delivery of pallets (pallet transport processing) between the lifting device and the hangar, and the convenience of the mechanical parking lot. Can be improved. A storage shelf that is not adjacent to the lifting device is a storage shelf other than the storage shelf that contacts the lifting device when the pallet moves in the vertical and horizontal directions within the horizontal plane.

  The control device includes an acquisition unit that acquires a setting value of a parameter related to parking capacity, and the storage control unit stores the empty pallet to be stored in the pallet stacker based on the setting value acquired by the acquisition unit. The number of sheets may be adjusted.

  Since the number of empty pallets to be stored in the pallet stacker can be adjusted based on the parameter setting value for the acquired parking capacity, even if the daily fluctuation pattern of storage and retrieval is greatly different and cannot be predicted, there will be an excess or shortage of pallets. On the other hand, it can respond promptly. Here, the parameters relating to the parking capacity are, for example, the number of storable units, the number of pallets accommodated in the pallet stacker, the number of pallets empty in the hangar, the current number of vehicles accommodated, and the like.

  The storage control means stores at least one empty pallet in the storage shelf in the pallet stacker when the state where the number of empty pallets is greater than a first threshold continues for a first predetermined period. Also good.

  When the state in which the number of empty pallets is greater than the first threshold value continues for the first predetermined period, empty pallets that are not used and are stored in the storage shelf are stored in the pallet stacker. The area can be increased, and the pallet can be easily moved in the hangar, leading to convenience.

  The storage control means may take out at least one empty pallet of the pallet stacker to the storage shelf when the state where the number of empty pallets is smaller than a second threshold continues for a second predetermined period. Good.

  When the state where the number of empty pallets is smaller than the second threshold continues for the second predetermined period, the empty pallet is taken out from the pallet stacker, so that an empty pallet on which the vehicle can be placed can be secured on the storage shelf, Pallet shortage can be prevented.

  When the hangars are arranged in layers, the pallet stacker is provided for each layer, and the control device may include layer management means for managing the number of empty pallets for each layer and for all layers. Good.

  If the hangars are arranged in layers and there are variations in the number of empty pallets from layer to layer, the time required to move the pallets varies from layer to layer, and the processing speed of the mechanical parking device as a whole becomes unstable. In the present invention, by managing the number of pallets for each layer, it is possible to make the time required for the movement of the pallet substantially uniform for each layer, stabilize the processing speed as the entire mechanical parking device, and improve the convenience for the user. Can be improved.

  The pallet stacker is provided with a plurality of storage slots for storing the empty pallets, and the empty pallet is allowed to pass through the lowermost storage slot. It is preferable to store the empty pallet in order from the upper storage slot.

  In this way, empty pallets are stored in order from the uppermost storage slot of the pallet stacker, and empty pallets can be passed through the lowermost storage slot, so the pallet stacker is provided not on the outer periphery of the hangar but on the inside. Even if it is, the pallet conveying process is not hindered because it does not interfere with the passage of the empty pallet.

This invention provides the mechanical parking apparatus provided with the control apparatus in any one of the above.
As described above, the mechanical parking device includes a control device that stores an empty pallet, which is a pallet on which a vehicle is not placed, in a pallet stacker that is disposed on a storage shelf that is not adjacent to the lifting device. The empty space of the storage shelf of the apparatus is increased, and the movement efficiency when the pallet on which the vehicle is placed moves in the storage can be improved.

The present invention has a grid structure in which a loading / unloading unit for loading / unloading a vehicle, a plurality of storage shelves on which pallets for placing and transporting the vehicle are disposed, and one or more storage shelves that are empty areas where the pallets are not disposed And a lifting device that moves up and down between the loading / unloading section and the storage and transports the pallet, and the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane. A pallet stacker that is applied to a mechanical parking device that transports a vehicle in the hangar, and lifts and lifts the pallet vertically by gripping two opposing sides of the pallet; A support column having a holding hook that supports the pallet at a predetermined interval in the height direction, and the support column supports the two opposite sides of the pallet gripped by the elevating mechanism. The storage shelves facing position provided et al are of the retaining hook, by the support post is rotated, a supporting position for supporting the pallet, movably section between non-support position that does not support the pallet The holding hook and the support column are connected by a clutch mechanism, and when a load is applied to the holding hook, the clutch mechanism slips, and the holding hook is rotated by the support column. When the load on the holding hook is removed without following the movement, the pallet stacker is connected to the clutch mechanism to make the holding hook follow the rotational movement of the support column .

According to such a configuration, the pallet is gripped at two opposing sides, is conveyed in the vertical direction by the lifting mechanism, and is provided at the opposing position of the storage shelf so as to support the two opposing sides gripped by the lifting mechanism. The supporting pillar is supported in the height direction by holding hooks provided at predetermined intervals.
Thus, by providing the support columns so as to support the two opposite sides, the pallet can be stored and taken out from the direction of the other two sides adjacent to the two opposite sides where the support columns are not provided.

  Since the holding hook is loaded with a pallet or the like and a load is applied, the holding hook does not follow the rotational motion even if the support column rotates, so that the pallet can be easily supported.

Preferably, the pallet stacker includes a plurality of storage slots for storing the empty pallets, and the empty pallets are allowed to pass through the lowermost storage slot.
Since the empty storage pallet can pass through the lowermost storage slot, even if the pallet stacker is provided not on the outer periphery but on the inner side, the pallet transport process is not hindered.

This invention provides the mechanical parking apparatus provided with the pallet stacker in any one of the above.
As described above, since the mechanical parking apparatus includes the pallet stacker, the pallet can be taken in and out from two directions other than the two sides where the support pillars are provided. Not only can it be used for purposes, it can also be used as a pallet passage route. In addition, when there is no pallet stored in the pallet stacker, the position of the pallet stacker is made a part of the storage shelf, so that the space of the hangar can be used without reducing the number of accommodations, and there is no waste.

The reference example of the present invention includes a storage unit for storing and receiving vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are disposed, and one or more storage shelves that are empty areas in which the pallets are not disposed. And a lifting device that moves up and down between the storage unit and the storage to convey the pallet, the pallet vertically and horizontally between the storage shelves in a horizontal plane. It is a control method of a mechanical parking device that transports a vehicle in the hangar by moving in a direction, and is arranged on a storage shelf that is not adjacent to the lifting device, and the pallet on which the vehicle is not placed Provided is a method for controlling a mechanical parking apparatus in which a pallet stacker for storing a certain empty pallet stores the empty pallet.

The reference example of the present invention includes a storage unit for storing and receiving vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are disposed, and one or more storage shelves that are empty areas in which the pallets are not disposed. And a lifting device that moves up and down between the storage unit and the storage to convey the pallet, the pallet vertically and horizontally between the storage shelves in a horizontal plane. It is a control program for a mechanical parking device that transports a vehicle in the hangar by moving in a direction, and is arranged on a storage shelf that is not adjacent to the lifting device, and the pallet on which the vehicle is not mounted. There is provided a control program for a mechanical parking device for causing a pallet stacker for storing a certain empty pallet to cause a computer to execute a process for storing the empty pallet.

  The present invention has the effect of not hindering the pallet transport process to the lift and reducing the waiting time of the user.

It is a lineblock diagram of a mechanical parking device concerning a 1st embodiment of the present invention. It is a block diagram which shows the electric constitution of the control apparatus of the mechanical parking apparatus which concerns on the 1st Embodiment of this invention. It is the figure which showed schematic structure of the pallet stacker. It is a figure for demonstrating operation | movement of the hook for holding | maintenance of a pallet stacker. It is a functional block diagram of a control device concerning a 1st embodiment of the present invention. It is an operation | movement flow which shows the flow of a process in case a control apparatus adjusts the number of pallets based on automatic setting. It is an operation | movement flow which shows the flow of a process in case the control apparatus of the mechanical parking apparatus which concerns on the 2nd Embodiment of this invention adjusts the number of sheets of a pallet based on manual setting.

  DESCRIPTION OF EMBODIMENTS Embodiments of a mechanical parking device and a control method for a mechanical parking device according to the present invention will be described below with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic configuration diagram of a mechanical parking apparatus 10 according to the first embodiment.
The mechanical parking apparatus 10 includes a loading / unloading unit 14 for loading and unloading the vehicle 12, a plurality of storage shelves 18 on which pallets (plate-shaped platforms) 16 for placing and transporting the vehicle 12 are disposed, and a pallet 16. One or more storage shelves 18 that are not vacant areas are arranged in a grid (for example, N rows × M columns), and the pallet 16 is transported by moving up and down between the storage unit 14 and the storage 20. And a lift (elevating device) 22. The mechanical parking device 10 includes a control device 24 that controls movement of the pallet 16 and the lift 22.

Each pallet 16 is assigned a different number in advance, and the mechanical parking device 10 identifies each pallet 16 by the added number.
The entrance / exit section 14 is provided with a door 26 and an operation panel 28.
The operation panel 28 is provided outside the loading / unloading unit 14 so that a user of the mechanical parking apparatus 10 can operate, and for example, inputs various operations (such as instructions for loading or unloading) via a switch or the like. While accepting, various information is displayed for the user by an image display device such as a liquid crystal display device.

  And the mechanical parking apparatus 10 conveys the vehicle 12 within the storage 20 by moving (circulating) the pallet 16 between the storage shelves 18 in the vertical and horizontal directions in the horizontal plane. That is, the mechanical parking apparatus 10 according to the present embodiment is a puzzle-type mechanical parking apparatus that horizontally circulates a pallet.

The mechanical parking apparatus 10 is arranged on a storage shelf 18 that is not adjacent to the lift 22 and stores a pallet 16 on which the vehicle 12 is not placed (referred to as “empty pallet 16 ′” in the text). The pallet stacker 30 stores the empty pallet 16 ′ by the control device 24. In the present embodiment, as shown in FIG. 1, one pallet stacker 30 is provided at the upper right of the uppermost stage of the hangar 20 located on the opposite side of the lift 22, but the position and number of the pallet stackers 30 are as follows. It is not limited to this, and any number of storage shelves 18 that are not adjacent to the lift 22 may be provided at any position.
In this embodiment, unless otherwise specified, the pallet is described as a pallet 16, but when indicating a pallet that is placed on the storage shelf 18 and is not placed on the vehicle 12, it is referred to as an empty pallet 16 ′. Describe.

  The pallet stacker 30 has a plurality of storage slots for storing empty pallets 16 'of the storage shelf 18, and stores the pallets 16 in order from the uppermost storage slot. The lowermost storage slot of the pallet stacker 30 can also store the pallet 16, but when the pallet 16 is not stored and is in an empty state, the empty pallet 16 'can be passed. That is, even when the pallet stacker 30 is provided near the center of the hangar 20, it is possible to prevent the passage of the empty pallet 16 'if the lowermost storage slot is in an empty state. it can.

  Further, the pallet stacker 30 can be used as a storage shelf 18 in which the vehicle 12 can be stored when the pallets 16 are taken out from all the storage slots. Thus, the storage shelf 18 used as the pallet stacker 30 can be used as the pallet stacker 30 when there are few parked vehicles and collects the empty pallets 16 ′, and there are many parked vehicles to secure the storage space for the vehicle 12. Can be used as part of the storage shelf 18. Thus, the pallet stacker 30 of this embodiment is efficient without reducing the number of vehicles 12 accommodated.

  In the mechanical parking apparatus 10 shown in FIG. 1, the storage shelf 18 of the hangar 20 is shown as three layers, but this is an example and the number of layers is not particularly limited, and one layer, two layers, Or it shall be four or more layers. Moreover, although the storage 20 is arrange | positioned in the lower layer rather than the entering / exiting part 14, it is not restricted to this, The storage 20 may be arrange | positioned in the upper layer rather than the entering / exiting part 14, and from the entering / exiting part 14 May be arranged in both the upper layer and the lower layer. Furthermore, the storage shelves 18 of each layer are connected by a lift 22, and the layout of each layer (number of storage shelves and aspect ratio, and the number and position of the pallet stacker 30) may be the same or different. . That is, the pallet stacker 30 should just be provided in at least any one layer with respect to the mechanical parking apparatus 10, for example, may be provided in each layer of the mechanical parking apparatus 10, respectively.

Next, the operation of the mechanical parking apparatus 10 according to the present embodiment will be described.
When entering the vehicle 12, the mechanical parking device 10 takes out the empty pallet 16 ′ on which the vehicle 12 is not placed from the storage shelf 18 and moves the extracted empty pallet 16 ′ to the entry / exit unit 14. Then, the vehicle 12 is placed on the empty pallet 16 ′ in the loading / unloading unit 14, and the mechanical parking apparatus 10 completes warehousing by storing the pallet 16 on which the vehicle 12 is placed in the storage shelf 18. On the other hand, when the vehicle 12 is unloaded, the mechanical parking device 10 takes out the pallet 16 on which the vehicle 12 to be unloaded is loaded from the storage shelf 18, and moves the removed pallet 16 to the loading / unloading unit 14. Then, the vehicle 12 is unloaded from the pallet 16 by the user in the loading / unloading unit 14, and the mechanical parking device 10 stores the empty pallet 16 ′ in the storage shelf 18 to complete the loading.

FIG. 2 is a block diagram showing an electrical configuration of the control device 24 of the mechanical parking device 10.
The control device 24 includes a CPU (Central Processing Unit) 40, a ROM (Read Only Memory) 42 in which various programs and various parameters are stored in advance, a RAM (Random Access) used as a work area when the CPU 40 executes various programs, and the like. (Memory) 44 and HDD (Hard Disk Drive) 46 as a storage means for storing various programs and various information.

  The HDD 46 stores encryption number information indicating the password of the user of the mechanical parking apparatus 10. When the vehicle 12 is stored, the user's personal identification number and the number of the pallet 16 on which the user's vehicle 12 is placed are related and stored in the HDD 46 as stored information. Thereby, a user and a user's vehicle 12 can be linked | related.

Instead of the HDD 46, a storage element such as an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, a battery-backed SRAM (Static Random Access Memory), or the like may be used. Depending on the type of data such as a value, a storage element may be used and stored.
Further, the control device 24 includes a motor control unit 48 that controls a motor (not shown) for driving the pallet 16 and the lift 22 and the like, and a sensor (not shown) that detects the operation state of the pallet 16 and the lift 22 and the like. The sensor signal receiving part 50 which receives this signal is provided.

  The CPU 40, ROM 42, RAM 44, HDD 46, motor controller 48, sensor signal receiver 50, and operation panel 28 are electrically connected to each other via a system bus 52. Therefore, the CPU 40 accesses the ROM 42, RAM 44, and HDD 46, grasps the operation state of the operation panel 28 and displays an image, drives the motor through the motor control unit 48, and the pallet 16 through the sensor signal receiving unit 50. And the operation state of the lift 22 and the like can be grasped.

FIG. 3 is a diagram illustrating an example of a schematic configuration of the pallet stacker 30.
The pallet stacker 30 is a support column 37 having a lifting mechanism 31 that holds two opposite sides of the pallet 16 and conveys the pallet 16 in the vertical direction, and a holding hook 35 that supports the pallet 16 at a predetermined interval in the height direction. A support mechanism. Specifically, when the lift motor 32 of the lifting mechanism 31 is driven, the lifting hook 36 that holds the pallet 16 moves in the vertical direction, and the pallet 16 is conveyed. The support pillar 37 is provided at the opposing position of the storage shelf 18 so as to support two opposing sides of the pallet 16 gripped by the lifting mechanism 31.

  Further, the elevating mechanism 31 and the support mechanism are installed on two opposite sides of either the longitudinal direction or the short direction of the storage shelf 18. Thereby, the pallet 16 can be taken in and out from the other two sides where the mechanism is not arranged. The elevating mechanism 31 and the support mechanism are provided so as to fit within the width of the side beam to be installed, and do not protrude spatially into the adjacent storage shelf 18 and are not affected by damage to the containing vehicle. Absent.

  The pallet stacker 30 is provided with support pillars 37 in the longitudinal direction, and four holding hooks 35 are provided at predetermined intervals in the height direction of the support pillars 37, and the pallet 16 is stored in the lowermost stage. Including the state, a maximum of five pallets 16 can be stored, so a pallet stacker having five storage slots is shown.

FIG. 4 shows an enlarged schematic view of the holding hook 35.
The rotation of the support column 37 is controlled by the rotation motor 34 shown in FIG. As shown in FIG. 4, the holding hook 35 is driven by the rotation motor 34 and rotates the support column 37, thereby supporting the support position (B direction) for supporting the pallet 16 and not supporting the pallet 16. The section between the position (direction A) is movable. In FIG. 4, the movement angle between the support position and the non-support position of the pallet 16 is 90 °, but the position is not particularly limited as long as it is a position that does not hinder the support and non-support of the pallet 16.

  The holding hook 35 and the support column 37 are connected by a clutch mechanism C. When a load is applied to the holding hook 35, the clutch mechanism C slides and the holding hook 35 is rotated by the rotational motion of the support column 37. Do not follow. On the other hand, when the load on the holding hook 35 is removed, the clutch mechanism C is connected to cause the holding hook 35 to follow the rotational movement of the support column 37.

Here, with reference to FIG. 3 and FIG. 4, the operation (A procedure) in the case of storing the empty pallet 16 'in the pallet stacker 30 and the operation (B procedure) in the case of taking out will be described in detail.
When storing the empty pallet 16 ', (A-1) the holding hook 35 is placed in the non-supporting position, (A-2) the lift motor 32 is driven, and the lifting mechanism 31 is used to lift the lifting hook. The pallet 16 gripped by 36 is placed at a predetermined stop position from the bottom of the storage slot (for example, if it is the first empty pallet, it is the uppermost storage slot, and if it is the second empty pallet, it is the lowest). The second storage slot is counted up from the top. (A-3) The rotation motor 34 is driven, the support column 37 is turned 90 °, and the holding hook 35 arranged at the non-support position is moved to the support position.

  (A-4) When the lift motor 32 is driven, the lifting mechanism 31 is controlled, and the lifting hook 36 holding the pallet 16 is lowered, the pallet 16 is deposited in the holding hook 35. (A-5) By the rotation motor 34, the support pillar 37 is rotated by 90 ° so that the holding hook 35 is directed to the non-supporting position (that is, it is rotated by −90 ° and returned to the original position) and held. The hook 35 is moved to the non-supporting position. Then, the holding hook 35 to which the load of the pallet 16 is not applied is connected to the clutch mechanism C, and moves to the non-supporting position following the rotational movement of the support column 37.

  Further, the holding hook 35 on which the load of the pallet 16 is applied, the clutch mechanism C slips, does not follow the rotational movement of the support column 37, and continues to support the pallet 16 at the support position. When the number of pallets to be stored increases, the pallet 16 is sequentially stored by changing the stop position of the procedure (A-2) one step at a time. In the above procedure, it is described that (A-4) the holding hook 35 is turned after (A-4) the lowering hook 36 is lowered. However, the present invention is not limited to this. The holding hook 35 may be turned after a lapse of a predetermined period after the start of lowering, and the lowering operation and the turning operation may be performed in parallel.

Subsequently, in the case of taking out an empty pallet, the operation is as follows.
(B-1) If the pallet 16 is in the lowermost storage slot of the pallet stacker 30, the pallet 16 is discharged to the storage shelf 18. (B-2) If the pallet 16 is not in the lowermost storage slot, the elevating hook 36 moves up to the position of the lowermost storage slot storing the pallet 16 and scoops up the pallet 16. (B-3) The rotation motor 34 is driven, and the holding hook 35 is moved from the non-supporting position to the supporting position, and subsequently moved to the non-supporting position. (B-4) The lift motor 32 is driven, and the lifting hook 36 holding the pallet 16 is lowered to the lower limit position. When there is a pallet to be extracted next, the pallet 16 is sequentially discharged to the storage shelf 18 by changing the stop position of the procedure (B-2) one step at a time and repeating.

FIG. 5 is a functional block diagram showing the configuration of the control device 24.
As shown in FIG. 5, the control device 24 includes a storage control unit (storage control unit) 60 and a layer management unit (layer management unit) 61.
The storage controller 60 stores the empty pallet 16 ′ in the pallet stacker 30. Specifically, the storage control unit 60 sets at least one empty pallet 16 'in the storage shelf 18 to the pallet when the state where the number of empty pallets 16' is larger than the first threshold continues for the first predetermined period. Store in the stacker 30. Further, the storage control unit 60 takes out at least one pallet 16 of the pallet stacker 30 to the storage shelf 18 when the state where the number of empty pallets 16 ′ becomes smaller than the second threshold continues for the second predetermined period. Further, the storage control unit 60 sequentially stores empty pallets 16 ′ from the empty storage slot at the top of the pallet stacker 30.

  More specifically, the storage control unit 60 counts the number of empty pallets 16 ′ in the storage shelf 18, the number of pallets 16 in the pallet stacker 30, and the number of empty areas in the storage shelf 18 (not shown). And a timer unit (not shown) for timing, the threshold value provided for each of the count unit and the timer unit is compared with the current value, and the pallet stacker of the empty pallet 16 ' 30 and the removal of the pallet 16 from the pallet stacker 30 is controlled.

  Hereinafter, the storage and removal control of the empty pallet 16 'in the pallet stacker 30 will be described using specific numerical values as an example with reference to FIGS. 1 to 6, but these numbers and numbers are only examples. There is no particular limitation. For example, in the present embodiment, the maximum number of vehicles 12 that can be parked in the mechanical parking device 10 is 40, the number of empty areas where the pallets 16 are not arranged is 3, and the storage slots of the pallet stacker 30 are 5 (that is, A maximum of five pallets 16 are accommodated), and one pallet stacker 30 is provided in the mechanical parking device 10, and the first threshold value is 10 and the second threshold value is 20. The first predetermined period and the second predetermined period are described using the same value, but may be different.

  Assuming that the mechanical parking apparatus 10 is operated along with the start of business and there are no accommodated vehicles at that time, the current value of the empty pallet 16 'at the start of business is 40. In the control device 24, information on the number of empty pallets 16 'in the storage shelf 18 is acquired (step SA1), and whether or not the number of empty pallets 16 has changed is determined (step SA2). If there is a change (Yes in step SA2), the timer of the timer unit provided in the control device 24 is reset (step SA3), and a new timer is started (step SA4). When the timer is newly started or when the number of pallets is not changed (No in step SA2), the timer is activated (step SA5), and the timer value is set to a predetermined period (= first predetermined period = first). It is determined whether or not (2 predetermined period) has been exceeded (step SA6).

  If the timer value does not exceed the predetermined period (No in step SA6), the process returns to step SA1 and the processes from step SA1 are repeated. If the timer value exceeds the predetermined period (Yes in step SA6), it is determined whether or not the number of empty pallets currently on the storage shelf 18 is below the first threshold (= 10 sheets). (Step SA7). When the current value (= 40 sheets) of the empty pallet 16 ′ is not below the first threshold value (No in step SA7), the current value (= 40 sheets) of the empty pallet 16 is the second threshold value (= 20 sheets). It is determined whether or not it exceeds (step SA9).

  If the current value (= 40 sheets) of the empty pallet 16 exceeds the second threshold (Yes in step SA9), it is determined that there is a sufficient parking space, and the empty pallet 16 'in the storage shelf 18 is palletized. One sheet is stored in the stacker 30 (step SA10), the number information of the current value is updated by minus 1 (= 39 sheets), the process returns to step SA1, and this process is repeated.

  If the current value of the empty pallet 16 is below the first threshold (Yes in step SA7), it is determined that a parking space needs to be secured, and the pallet 16 is taken out from the pallet stacker 30 (step SA8). ) The number information of the current value of the empty pallet 16 is incremented by 1, and the process returns to step SA1. If the current value of the empty pallet 16 does not fall below the first threshold and does not exceed the second threshold (No in step SA9), it is determined that the parking space is within the appropriate range, and the pallet 16 The process returns to step SA1 without performing any of the storage process and the retrieval process.

  In this way, every time the timer passes a predetermined period, information on the current value of the empty pallet 16 'is compared with the first threshold value and the second threshold value, and stored or retrieved as necessary. That is, when the number of empty pallets 16 'exceeds the second threshold at the start of business, the pallets 16 are stored sequentially every time the timer elapses. If no processing occurs, five empty pallets, which are the number of sheets that can be accommodated in the pallet stacker, are stored. As a result, the empty area of the storage shelf 18 is 8 (= original empty area 3 + 5 stored). can do.

In this way, when there is no parked vehicle and an empty pallet 16 ′ is on the storage shelf 18, it is easier to move the pallet 16 if the empty pallet 16 ′ is stored in the pallet stacker 30 to increase the empty area. Since the processing speed is increased, it is convenient for the user.
Further, when the number of parked vehicles increases and the current value of the empty pallet 16 'falls below the first threshold, the pallet 16 is taken out from the pallet stacker 30, so the number of pallets 16 that can be parked is secured based on the threshold. Can not reduce the parking capacity.

  In the above operation flow, one timer value (set value for a predetermined period) has been described. However, the present invention is not limited to this, and the magnitude of the difference between the current value of the empty pallet 16 'and the threshold value is not limited thereto. The timer value may be varied depending on the situation. For example, when there are a large number of pallets 16 stored in the pallet stacker 30, the number of vehicles accommodated in the storage rack 18 is small. Therefore, in such a case, it is estimated that there is room in parking the vehicle and the timer value is increased. The period until the pallet 16 is taken out from the pallet stacker 30 is set longer. Alternatively, when the number of pallets to be stored in the pallet stacker 30 is small, the number of vehicles accommodated in the storage shelves 18 is increasing. In such a case, in order to cope with a shortage of pallets in the storage shelves 18. An operation method such as setting the timer value short so that the removal process can be performed quickly from the pallet stacker 30 is conceivable.

  Further, the vehicle is loaded and unloaded at intervals shorter than the predetermined period set by the timer value, and the number of pallets frequently changes before the timer value exceeds the predetermined period (that is, No in step SA6 and step SA1 in FIG. 6). Are repeated until step SA7, which is a comparison between the current value and the first threshold value, and step SA9, which is a comparison between the current value and the second threshold value, occur regardless of the timer value. It is also possible to switch to a separately set process such as taking out and storing the pallet 16 (for example, taking out the pallet 16 regardless of the timer value when the number of empty pallets becomes one).

  As described above, according to the control device 24, the method, the program, and the pallet stacker 30 according to the present embodiment, the loading / unloading unit 14 for loading / unloading the vehicle 12 and the vehicle 12 for carrying the vehicle 12 are carried. A plurality of storage shelves 18 in which pallets 16 are arranged and one or more storage shelves 18 that are vacant areas in which pallets 16 are not arranged are moved up and down between the storage 20 and the storage / removal unit 14 and the storage 20. The pallet 16 moves between the storage shelves 18 in the vertical direction and the horizontal direction in the horizontal plane so that the vehicle 12 is transferred in the hangar 20. Further, an empty pallet 16 ′, which is a pallet 16 on which the vehicle 12 is not placed, is stored in a pallet stacker 30 disposed on the storage shelf 18 that is not adjacent to the lift 22.

  Thus, by storing the empty pallet 16 ′ on which the vehicle 12 is not placed in the pallet stacker 30, the empty space in which the pallet 16 is not disposed increases in the storage 20, and thus the pallet 16 on which the vehicle 12 is placed. Can improve the movement efficiency when moving in the hangar 20. Further, since the pallet stacker 30 is disposed on the storage shelf 18 not adjacent to the lift 22, the pallet stacker 30 does not hinder the delivery of the pallet 16 (pallet transport processing) between the lift 22 and the storage 20, and the machine The convenience of the type parking apparatus 10 can be improved. The storage shelf 18 not adjacent to the lift 22 is a storage shelf 18 other than the storage shelf 18 that contacts the lift 22 when the pallet 16 moves in the vertical and horizontal directions within the horizontal plane with the lift 22.

  In addition, when there is an empty pallet 16 'that has not been used for a predetermined period, the storage shelf 18 on which the empty pallet 16' is arranged can be made an empty area by storing it in the pallet stacker 30. This makes it easier to move the pallet 16 within 20 and leads to convenience. Further, when the number of empty pallets is insufficient for a predetermined period, the pallet 16 is taken out from the pallet stacker 30 to store an empty pallet 16 'on which the vehicle 12 can be placed as necessary. Since it can be secured on the shelf 20, it is possible to prevent a shortage of empty pallets 16 ′ in the storage shelf 20.

  Further, in the present embodiment, the storage and removal of the empty pallet 16 'is controlled while comparing with the first threshold value and the second threshold value that are provided in advance, so that the daily loading / unloading pattern is performed substantially uniformly. It is suitable to be used when

  In the present embodiment, the support column 37 is provided at the opposing position of the storage shelf 18 so as to support two opposing sides of the pallet 16 gripped by the lifting mechanism 31, and facing the longitudinal direction of the storage shelf. Although two sides are selected as the installation positions, the present invention is not limited to this, and two sides facing each other in the short direction may be selected as the installation positions.

[Modification]
In this embodiment, the case where one pallet stacker 30 is provided in the mechanical parking device 10 has been described as an example, but the present invention is not limited to this, and the pallet stacker is provided for each layer. Also good. For example, the control device 24 is provided with a layer management unit 61 that allows the layer management unit 61 to manage the number of empty pallets 16 'for each layer of the pallet stacker 30 and all layers. Even in such a case, as shown in the above embodiment, it can be operated by the same operation flow. Thus, by managing the number of empty pallets 16 'for each layer, the time required for the movement of the pallet 16 for each layer can be made substantially uniform, the processing speed of the mechanical parking device as a whole is stabilized, and the user It leads to improvement of convenience.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG.
The control device according to the present embodiment is different from the first embodiment in that processing for storing an empty pallet in a pallet stacker and processing for taking out an empty pallet from the pallet stacker are performed by externally designated values (manual setting). It is a point to control. Hereinafter, the control device of the present embodiment will not be described with respect to the points common to the first embodiment, and different points will be mainly described.

The control device of the mechanical parking device in the present embodiment is suitable for use in a case where the trend of a visitor vehicle changes depending on the content of an event at an event venue or a baseball field.
The control device includes an acquisition unit in addition to the units described in the first embodiment.
An acquisition part acquires the setting value of the parameter regarding parking capacity. The parameters related to the parking capacity are, for example, the number of storable units, the number of pallets accommodated in the pallet stacker, the number of empty pallets in the hangar, and the current number of vehicles accommodated. Specifically, the setting value of the parameter relating to the parking capacity is a value input from the outside by a staff member who operates the operation panel.
The storage control unit adjusts the number of empty pallets to be stored in the pallet stacker based on the setting value acquired by the acquisition unit.
The operation panel presents information such as the number of storable units, the number of pallets accommodated in the pallet stacker, the number of empty pallets in the hangar, the current number of vehicles accommodated on the image display device, and updates the display contents at predetermined intervals, Value information is presented to the user.

Here, a method of adjusting the pallet by the control device when the parameter “capacity that can be accommodated” relating to the parking capacity is set by a staff member operating the operation panel will be described with reference to FIG.
When the mechanical parking device is started, the current situation is presented on the operation panel (step SB1 in FIG. 7). A manually set value of a parameter value (for example, the number that can be accommodated) relating to parking capacity is input by an operator operating the operation panel, and the control device acquires the input manually set value (step SB2). The acquired manual setting value is compared with the current value (step SB3). If they match, the process returns to step SB1, and if they do not match, the current value is greater than the manual setting value. Is determined (step SB4).

  If the current value is larger, that is, if the current capacity is larger than the set capacity, there are many empty pallets reserved on the storage shelf. The palette is stored (step SB5), and the process returns to step SB1. If the current value is smaller, it is estimated that there is a shortage of empty pallets reserved on the storage shelf, so an empty pallet is taken out from the pallet stacker (step SB6), and the process returns to step SB1 to repeat this process. .

  Further, the accommodable number is the sum of the accommodated number already parked in the mechanical control device and the number of empty pallets arranged on the storage shelf 18. For example, even if the current value of the number of accommodations is equal to the setting value (for example, current value = setting value = 35), (the number of accommodations already parked is 0) + (35 empty pallets) In some cases, there are cases (30 already parked units) + (5 empty pallets).

  In the control device of the second embodiment, since the removal and storage of the pallet are determined based on the set value, the pallet stacker may not be taken out even if there is an empty pallet. However, this makes it possible to secure a certain number of empty areas, and it is possible to secure the transfer processing performance at a certain level or more.

  In the first embodiment, the number of palettes is adjusted by comparing storage and retrieval with a predetermined value (automatic control). In the second embodiment, the set value acquired from the acquisition unit Although the number of pallets is adjusted in comparison (manual control), these may be combined. For example, pallet removal may be automatically controlled and storage may be manually controlled, or pallet removal may be manually controlled and pallet storage may be automatically controlled.

  As described above, according to the present embodiment, the number of empty pallets stored in the pallet stacker can be adjusted based on the set value of the parameter relating to the acquired parking capacity. However, it is possible to respond quickly to excess or deficiency of pallets.

  As mentioned above, although this invention was demonstrated using said each embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various changes or improvements can be added to the above-described embodiments without departing from the gist of the invention, and embodiments to which the changes or improvements are added are also included in the technical scope of the present invention.

  For example, in each of the above-described embodiments, the mechanical parking device 10 has been described with respect to a form including one lift 22 common to entry and exit. However, the present invention is not limited to this, and the mechanical parking device 10 is A plurality of lifts 22 may be provided separately for entry and exit.

DESCRIPTION OF SYMBOLS 10 Mechanical parking apparatus 12 Vehicle 14 Entry / exit part 16 Pallet 18 Storage shelf 20 Hangar 22 Lift (elevating device)
24 Control device 28 Operation panel 30 Pallet stacker 36 Holding hook 37 Support pillar 60 Storage control unit (storage control means)
61 layer management part C clutch mechanism

Claims (3)

A loading / unloading section for loading and unloading vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, and one or more storage shelves that are empty areas in which the pallets are not arranged are arranged in a grid pattern A hangar, and an elevating device that moves up and down between the storage unit and the hangar to convey the pallet, and the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane, A pallet stacker applied to a mechanical parking device that transports a vehicle in the hangar,
An elevating mechanism that grips two opposing sides of the pallet and conveys the pallet in a vertical direction;
A support column having a holding hook for supporting the pallet at a predetermined interval in the height direction,
The support column, the lifting mechanism in a position facing the storage shelf to support the two opposing sides of the pallet to be gripped provided et al is in,
The holding hook is configured to be movable in a section between a support position that supports the pallet and a non-support position that does not support the pallet, as the support pillar rotates.
The holding hook and the support column are connected by a clutch mechanism,
When a load is applied to the holding hook, the clutch mechanism slips, and the holding hook is not allowed to follow the rotational movement of the support column, and when the load to the holding hook is removed, A pallet stacker to which a clutch mechanism is connected and makes the holding hook follow the rotational movement of the support column . 2. The pallet stacker according to claim 1, further comprising a plurality of storage slots for storing the empty pallets, wherein the empty pallet is allowed to pass through the lowermost storage slot. The mechanical parking apparatus provided with the pallet stacker of Claim 1 or Claim 2 .

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