JP5984566B2 - Object transport mechanism and parking device - Google Patents

Description

  The present invention relates to an object transport mechanism and a vehicle parking device. In particular, the present invention relates to an object transport mechanism and a vehicle parking device that are characterized by a structure for transporting an object or a vehicle.

Sometimes you want to transport an object.
For example, I want to transport an object in a logistics system.
For example, a vehicle transport mechanism is used to move a target vehicle in a vehicle parking apparatus to a parking space.
In some cases, it is desirable to selectively move objects in directions perpendicular to each other in a horizontal plane.
For example, I want to move the vehicle in the horizontal direction after moving it in the vertical direction. I also want to move the vehicle in the vertical direction after moving it in the horizontal direction. Here, the horizontal direction and the vertical direction are directions orthogonal to each other in a horizontal plane.

For example, a vehicle transport mechanism is used in a vehicle parking apparatus.
The vehicle transport mechanism moves the pallet on which the vehicle is mounted along a series of a plurality of parking spaces arranged in the vertical direction and the horizontal direction, positions the vehicle in a predetermined parking space, and places the vehicle in the parking space. Parked.
Further, the vehicle transport mechanism moves the pallet on which the vehicle is mounted along a series of a plurality of parking spaces arranged in a grid pattern along the vertical direction and the horizontal direction, and positions the vehicle in a predetermined parking space. The vehicle is parked in the parking space.

Various structures have been proposed and operated as such a vehicle transport mechanism.
A structure that smoothly turns the moving direction of the vehicle when moving the vehicle in the vertical direction after moving the vehicle in the vertical direction and when moving the vehicle in the vertical direction after moving the vehicle in the horizontal direction is desired. It had been.

  The present invention has been devised in view of the above-described problems, and provides an object transport mechanism and a vehicle parking device that are characterized by a structure for transporting an object or a vehicle.

  In order to achieve the above object, the object transport mechanism according to the present invention is configured to selectively move the object along a virtual horizontal direction line and a virtual vertical direction line that are virtual lines intersecting each other in a horizontal plane. A rolling surface that has a pallet main structure that is a structure that has a substantially quadrangular shape when viewed from above and can be mounted with an object, and that faces downward on the lower side of the pallet main structure A fixed side guide mechanism that is a mechanism that selectively guides the pallet along one of a virtual vertical direction line and a virtual horizontal direction line, and is movable. A pallet moving mechanism that selectively moves along one of a line and a virtual lateral line, and the pallet moving mechanism is in contact with the rolling surface from below and is in contact with the rolling surface. Horizontal including contact with rotating roller contact Rotating roller that is an imaginary tangent extending in the direction of rotation A rotating roller that has an outer peripheral surface that rolls along a virtual tangent and that can rotate, and a rotating roller support that supports the rotating roller in a swingable manner around a vertical axis A turning-type rotating roller mechanism having a mechanism and a rotating roller driving mechanism for rotating the rotating roller, and the rotating roller swinging vertical shaft and the rotating roller contact point are separated from each other by a predetermined distance D when viewed from above. It was supposed to be.

With the configuration of the present invention, the object can be selectively moved along a virtual horizontal direction line and a virtual vertical direction line, which are virtual lines intersecting each other in a horizontal plane. The pallet has a pallet main structure that has a substantially quadrangular shape when viewed from above and can mount an object, and is a rolling surface that faces downward below the pallet main structure. A surface is provided. The fixed-side guide mechanism is a mechanism that selectively guides the pallet along one of the virtual vertical direction line and the virtual horizontal direction line so as to be movable. A pallet moving mechanism selectively moves the pallet along one of the virtual vertical direction line and the virtual horizontal direction line. The pallet moving mechanism is in contact with the rolling surface from below and includes a rotating roller contact that is a contact point with the rolling surface, and has an outer peripheral surface that rolls along a rotating roller virtual tangent that is a virtual tangent extending in the horizontal direction. Turning rotation having a rotating roller that can rotate, a rotating roller support mechanism that supports the rotating roller so as to be swingable about a rotating roller swinging vertical axis that is a vertical axis, and a rotating roller driving mechanism that rotationally drives the rotating roller And a roller mechanism. When viewed from above, the rotary roller swinging vertical axis and the rotary roller contact point are separated by a predetermined distance D.
As a result, when the pallet moving mechanism swings the rotating roller around the rotating roller swinging vertical axis, the rotating roller rolls on the rolling surface, and the rotating roller contact can move on the outer peripheral surface. .

  Below, the target object conveyance mechanism which concerns on embodiment of this invention is demonstrated. The present invention includes any of the embodiments described below, or a combination of two or more of them.

The object transport mechanism according to an embodiment of the present invention includes a horizontal feed posture in which the rotary roller support mechanism makes the rotary roller posture parallel to a virtual horizontal direction line and the rotary roller. The rotating roller is swingably supported around the rotating roller swinging vertical axis so that a transition can be made between a vertical feed posture which is a posture in which a virtual tangent is parallel to the virtual vertical line.
With the configuration of the above-described embodiment, the rotating roller support mechanism is configured to virtually convert the rotating roller posture into a horizontal feed posture in which the rotating roller virtual tangent is parallel to the virtual horizontal direction line and the rotating roller virtual tangent. The rotating roller is swingably supported around the rotating roller swinging vertical axis so as to be able to transition between a vertically feeding posture which is a posture parallel to the longitudinal line.
As a result, when the rotating roller is rotated in the lateral feed posture, the pallet can be fed in the horizontal direction, and when the rotating roller is rotated in the vertical feed posture, the pallet can be fed in the vertical direction.

In the object transport mechanism according to the embodiment of the present invention, the rotating roller is swung around the rotating roller swinging vertical axis so that the posture of the rotating roller is between the vertical feeding posture and the lateral feeding posture. A turning mechanism that can be changed is provided, and all the rotating rollers that are swung when the turning mechanism changes the posture of the rotating roller are set in an idle state.
With the configuration of the above embodiment, the turning mechanism swings the rotating roller around the rotating roller swinging vertical axis, and the posture of the rotating roller is changed between the vertical feeding posture and the lateral feeding posture. Can be made. All the rotating rollers that are swung when the turning mechanism changes the posture of the rotating rollers are brought into a state in which they can freely rotate.
As a result, when the rotating roller is swung, it is difficult to generate a force that turns the outer peripheral surface at the contact point of the rotating roller.

In the object transport mechanism according to the embodiment of the present invention, a virtual line connecting the rotary roller swinging vertical axis and the rotary roller contact point is orthogonal to the rotary roller virtual tangent line when viewed from above.
With the configuration of the above-described embodiment, a virtual line connecting the rotary roller swinging vertical axis and the rotary roller contact point is orthogonal to the rotary roller virtual tangent line as viewed from above.
As a result, when the rotary roller is swung, a force that turns the outer peripheral surface at the contact point of the rotary roller is less likely to occur.

An object transport mechanism according to an embodiment of the present invention includes a turning drive mechanism having a turning rotation shaft that is a rotating shaft that the turning mechanism swings and rotates about a vertical axis, and a swinging rotation of the turning rotation shaft. A link mechanism for swinging the rotating roller.
With the configuration of the above-described embodiment, the turning drive mechanism of the turning mechanism has a turning rotation shaft that is a rotating shaft that swings and rotates about a vertical axis. The link mechanism of the turning mechanism swings the rotating roller in accordance with the swinging rotation of the turning rotating shaft.
As a result, the rotating roller can be swung by the turning drive mechanism.

In the object transport mechanism according to the embodiment of the present invention, the turning-type rotating roller mechanism includes at least one pair of the rotating rollers, at least one pair of the rotating roller support mechanisms, and the rotating roller driving mechanism, and the turning mechanism. Oscillates a pair of the rotating rollers around a pair of rotating roller oscillating vertical axes in opposite directions of rotation.
According to the configuration of the above-described embodiment, the turning-type rotating roller mechanism has at least one pair of the rotating rollers, at least one pair of the rotating roller support mechanisms, and the rotating roller driving mechanism.
The turning mechanism causes the pair of rotating rollers to swing in a direction opposite to each other around a pair of rotating roller swinging vertical axes.
As a result, when the pair of rotating rollers are swung, the pair of reaction forces acting on the pair of rotating rollers are canceled out.

In the object transport mechanism according to the embodiment of the present invention, the pallet is provided on the lower side of the pallet main structure so as to extend in parallel to the virtual pallet longitudinal line, and the rail surface corresponding to the turning surface is provided below. A pair of longitudinal rails that are directed toward the rail, and a pair of lateral rails that are provided so as to extend perpendicular to the virtual pallet longitudinal line and direct the rail surface corresponding to the turning surface downward. And the turning-type rotating roller mechanism selectively contacts one of the rail surface of the longitudinal rail or the rail surface of the lateral rail from below to make the rotating roller virtual tangent a virtual longitudinal line. Alternatively, a pair of rotations that respectively support at least one pair of rotating rollers that can be selectively rotated parallel to one of the virtual lateral lines and a pair of the rotating rollers so as to be swingable about a vertical axis. Low Have a support mechanism, the turning mechanism swings in each direction of rotation opposite to each other around said rollers oscillating vertical shaft of the rotating roller a pair of to-1.
According to the configuration of the above-described embodiment, the pallet is a rail that is provided on the lower side of the pallet main structure so as to extend in parallel to the virtual pallet longitudinal direction line and that directs a rail surface corresponding to the turning surface downward. A pair of longitudinal rails, and a pair of lateral rails that are provided so as to extend perpendicular to the virtual pallet longitudinal line and that have rail surfaces corresponding to the turning surfaces facing downward. The turning-type rotating roller mechanism is selectively in contact with one of the rail surface of the vertical rail or the rail surface of the horizontal rail from below and the virtual tangent of the rotating roller is a virtual vertical line or a virtual horizontal line. At least one pair of rotating rollers that can be selectively rotated in parallel with one of the rotating rollers, and a pair of rotating roller support mechanisms that respectively support the pair of rotating rollers so as to be swingable about a vertical axis. Have. The turning mechanism causes the pair of rotating rollers to swing in a direction opposite to each other around the pair of rotating roller swinging vertical axes.
As a result, it is possible to switch the direction in which the pair of rotating rollers swings stably and the pallet moves.

The object transport mechanism according to the embodiment of the present invention can selectively move an object along a virtual vertical line and a pair of virtual horizontal lines that are virtual lines orthogonal to each other in a horizontal plane. A pair of virtual lateral lines are parallel to each other with a predetermined separation distance L, and the fixed-side guide mechanism extends along the virtual longitudinal direction line and has a predetermined dimension at a location where the pair of virtual lateral lines intersect the pair of virtual lateral lines. A longitudinal feed guide member having a longitudinal member provided with a notch cut out by E and a pair of virtual horizontal lines extending along each virtual transverse line and cut out by a predetermined dimension E at a location intersecting the virtual vertical line. 1 is a virtual vertical line passing through a pair of intersections of a pair of transverse feed guide members each having a longitudinal member provided with a notch portion, a virtual vertical direction line, and a pair of virtual horizontal direction lines. Each of which is supported in a freely rotating manner around a pair of virtual vertical lines. A pallet main body having a pair of movable guide members each having a longitudinal member slightly shorter than the method E, and the pallet having a substantially quadrangular shape as viewed from above and capable of mounting an object. Two vertical lines that are located at a predetermined distance L apart from each other on a virtual pallet longitudinal line that is a virtual line that is provided under the pallet main structure and is substantially parallel to one side of the pallet main structure. A pair of pallet side guide mechanisms fixed to each other rotatably around the pallet side guide mechanism, wherein the pair of pallet side guide mechanisms is the longitudinal feed guide member, the pair of lateral feed guide members, or the pair Each of the movable guide members is guided to selectively follow one of a virtual vertical direction line or a pair of virtual horizontal direction lines, and the turning mechanism is a pair. 1 of the movable guide member The possible be swung respectively in the rotational direction opposite to each other around a virtual vertical line.
With the configuration of the above embodiment, the object can be selectively moved along a virtual vertical line and a pair of virtual horizontal lines, which are virtual lines orthogonal to each other in a horizontal plane. A pair of virtual lateral lines are parallel to each other by a predetermined separation distance L. A longitudinal feed guide member having a longitudinal member provided with a notch portion notched by a predetermined dimension E at a location where the fixed side guide mechanism extends along a virtual vertical direction line and intersects a pair of virtual horizontal direction lines; A pair of laterally-feeding guide members each having a longitudinal member that is provided with a notch portion that is notched by a predetermined dimension E at a location that extends along a pair of virtual transverse lines and intersects the virtual longitudinal line; Each of the virtual vertical lines and the pair of virtual horizontal lines is supported by each of them so as to be rotatable around a pair of virtual vertical lines that are virtual vertical lines penetrating through a pair of virtual intersection lines. And a pair of movable guide members each having a short longitudinal member. The pallet has a substantially quadrangular shape when viewed from above and is a structure on which an object can be mounted. The pallet main structure is provided below the pallet main structure and is substantially parallel to one side of the pallet main structure. And a pair of pallet side guide mechanisms fixed to each other so as to be rotatable around two vertical lines that are separated from each other by a predetermined distance L on a virtual pallet longitudinal line that is a virtual line. A pair of the pallet side guide mechanisms may be either a virtual longitudinal line or a pair of virtual lateral lines by any one of the longitudinal feed guide member, the pair of lateral feed guide members, or the pair of movable guide members. Each is guided so as to move selectively following either one of them. The turning mechanism can swing the pair of movable guide members around the pair of virtual vertical lines in opposite directions of rotation.
As a result, the pallet on which the object is mounted can be stably moved in the vertical direction or the horizontal direction.

  In order to achieve the above object, a parking device for moving a plurality of vehicles according to the present invention in a horizontal plane and parking the plurality of vehicles in a plurality of parking spaces, and at least one virtual line orthogonal to each other in the horizontal plane. A vehicle transport mechanism that can be selectively moved along a virtual vertical direction line and at least one virtual horizontal direction line; and a control mechanism that controls the vehicle transport mechanism, the vehicle transport mechanism comprising: The vehicle is one of the above-described object transport mechanisms corresponding to the object, and the control mechanism includes a plurality of the pallets each mounting a plurality of vehicles, the virtual vertical direction line and the virtual horizontal direction line. And the vehicle is parked in the parking space by being placed in a plurality of parking spaces located along the virtual vertical direction line and the virtual horizontal direction line.

With the above-described configuration of the present invention, the vehicle transport mechanism selectively moves the plurality of vehicles along at least one virtual vertical direction line and at least one virtual horizontal direction line, which are virtual lines orthogonal to each other in a horizontal plane. Can be moved. A control mechanism controls the vehicle transport mechanism. The vehicle conveyance mechanism is one of the above-described object conveyance mechanisms in which the vehicle corresponds to the object. The control mechanism moves the plurality of pallets, each carrying a plurality of vehicles, along the virtual vertical direction line and the virtual horizontal direction line, respectively, and the virtual vertical direction line and the virtual horizontal direction line The vehicle is parked in the parking space by being placed in a plurality of parking spaces located along the road.
As a result, the vehicle can be parked in a parking space located selectively along one virtual vertical line and at least one virtual horizontal line.

As described above, the parking apparatus according to the present invention has the following effects due to its configuration.
A pallet that is provided with a rolling surface on the lower surface and is guided by the fixed guide mechanism so as to selectively follow one of the vertical and horizontal directions is selected along either the vertical or horizontal direction. The pallet moving mechanism that moves in a moving manner rotates the rotating roller by bringing the rolling surface into contact with the outer peripheral surface of the rotating roller that can swing around the rotating roller swinging vertical axis. Since the roller swinging vertical shaft and the contact point of the rotating roller are separated by a predetermined distance D, when the pallet moving mechanism swings the rotating roller around the rotating roller swinging vertical shaft, the rotating roller is in contact with the rolling surface. Can be moved to move the outer peripheral surface.
In addition, the rotating roller support mechanism swings the rotating roller around the rotating roller swinging vertical axis so that the posture of the rotating roller can be changed between the lateral feed posture and the vertical feed posture. When the rotary roller is rotated in the horizontal feed posture, the pallet can be fed in the horizontal direction, and when the rotary roller is rotated in the vertical feed posture, the pallet can be fed in the vertical direction.
Further, since the rotating roller is allowed to freely rotate when the rotating roller is swung to change the posture between the vertical feeding posture and the lateral feeding posture, the rotating roller is swung. At this time, it is difficult to generate a force for rolling the outer peripheral surface at the contact point of the rotating roller.
In addition, since the imaginary line connecting the rotating roller swinging vertical axis and the rotating roller contact point as viewed from above is orthogonal to the rotating roller virtual tangent line, when the rotating roller is swung, The force that hits the outer peripheral surface at the contact point is less likely to occur.
Further, since the turning rotation shaft of the turning drive mechanism is rotated and the rotating roller is swung in accordance with the swiveling rotation of the turning rotation shaft, the turning roller can be swung by the turning drive mechanism.
Further, the turning mechanism causes the pair of rotating rollers to swing in the opposite rotational directions around the pair of rotating roller swinging vertical axes, so that the pair of rotating rollers are swung. In this case, a pair of reaction forces acting on each of the pair of rotating rollers are canceled out.
The pallet has a pair of longitudinal rails having a rolling surface on the lower surface and a pair of lateral rails having a rolling surface, and the pair of rotating rollers is paired with a pair of longitudinal rails or a pair. Since the turning mechanism selectively swings along one of the horizontal rails, the pair of rotating rollers swings stably so that the pallet moves. Can be switched.
Also, the longitudinal feed guide member and the pair of lateral feed guide members are arranged so as to be orthogonal to each other, and a pair of movable guide members that can swing at the intersecting positions are arranged, and the longitudinal feed is provided below the pallet. The guide member is selectively moved by following either one of the virtual vertical direction line or the pair of virtual horizontal direction lines by one of the pair of the lateral feed guide members or the pair of the movable guide members. Since a pair of pallet-side guide mechanisms that are guided as described above are arranged, the pallet on which the object is mounted can be stably moved in the vertical direction or the horizontal direction.
Since the vehicle is made to correspond to the object and the vehicle is selectively moved along one virtual vertical line and at least one virtual horizontal line using the above-described object transport mechanism, It is possible to park in a parking space located selectively along the virtual vertical line and at least one virtual horizontal line.
Accordingly, it is possible to provide an object transport mechanism that smoothly transports the object and a parking device that parks the vehicle.

It is a top view of the target object transportation mechanism concerning an embodiment of the present invention. It is a top view of the pallet which concerns on embodiment of this invention. It is a top view of the pallet moving mechanism 1 which concerns on embodiment of this invention. It is a side view of the pallet moving mechanism 1 which concerns on embodiment of this invention. It is a top view of the pallet moving mechanism 2 which concerns on embodiment of this invention. It is a side view of the pallet movement mechanism 2 which concerns on embodiment of this invention. It is a side view of the target object conveyance mechanism which concerns on embodiment of this invention. It is a front view of the target object conveyance mechanism which concerns on embodiment of this invention. It is the partial structure part 1 of the target object conveyance mechanism which concerns on embodiment of this invention. It is the partial structure part 2 of the target object conveyance mechanism which concerns on embodiment of this invention. It is operation | movement explanatory drawing 1 of the target object conveyance mechanism which concerns on embodiment of this invention. It is operation | movement explanatory drawing 2 of the target object conveyance mechanism which concerns on embodiment of this invention. It is a plane conceptual diagram of the parking apparatus concerning a first embodiment of the present invention. It is a plane conceptual diagram of the parking apparatus concerning 2nd embodiment of this invention.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

Initially, the target object conveyance mechanism concerning embodiment of this invention is demonstrated. FIG. 1 is a plan view of an object transport mechanism according to an embodiment of the present invention. FIG. 2 is a plan view of the pallet according to the embodiment of the present invention. FIG. 3 is a plan view of the pallet moving mechanism 1 according to the embodiment of the present invention. FIG. 4 is a side view of the pallet moving mechanism 1 according to the embodiment of the present invention. FIG. 5 is a plan view of the pallet moving mechanism 2 according to the embodiment of the present invention. FIG. 6 is a side view of the pallet moving mechanism 2 according to the embodiment of the present invention. FIG. 7 is a side view of the object carrying mechanism according to the embodiment of the present invention. FIG. 8 is a front view of the object transport mechanism according to the embodiment of the present invention. FIG. 9 is a partial structure part 1 of the object transport mechanism according to the embodiment of the present invention. FIG. 10 is a partial structure part 2 of the object transport mechanism according to the embodiment of the present invention. FIG. 11 is an operation explanatory view 1 of the object transport mechanism according to the embodiment of the present invention. FIG. 12 is a second operation explanatory diagram of the object transport mechanism according to the embodiment of the present invention.
For convenience of explanation, a case where the object transport mechanism of the present application is applied to a parking device that parks a vehicle in a parking space unless otherwise specified will be described as an example.
Here, the vehicle in the parking apparatus corresponds to the object in the object transport apparatus.

The object transport mechanism according to the embodiment of the present invention is a mechanism for transporting an object.
The object transport mechanism according to the embodiment of the present invention can selectively move an object along a virtual horizontal line Dy and a virtual vertical line Dx, which are virtual lines that intersect each other in a horizontal plane.
The object transport mechanism according to the embodiment of the present invention selectively moves an object along a virtual vertical line Dy and a pair of virtual horizontal lines Dx, which are virtual lines orthogonal to each other in a horizontal plane. You may be able to.
Here, the pair of virtual horizontal lines Dx are parallel to each other by a predetermined distance L.
When the object transport mechanism of the present invention is applied to a parking device, the object is a vehicle.
The object transport mechanism according to the embodiment of the present invention includes a stationary guide mechanism 100, a pallet 200, and a pallet moving mechanism 300.
The object transport mechanism according to the embodiment of the present invention may be configured by the fixed guide mechanism 100, the pallet 200, the pallet moving mechanism 300, and the turning mechanism 400.

The fixed-side guide mechanism 100 is a mechanism that selectively guides the pallet 200 along one of the virtual vertical direction line Dy and the virtual horizontal direction line Dx so as to be movable.
The fixed-side guide mechanism 100 is provided on the fixed side such as a foundation and guides a pallet described later.
The fixed-side guide mechanism 100 includes a pair of lateral feed guide members 110.
The fixed-side guide mechanism 100 may include a pair of lateral feed guide members 110, a longitudinal feed guide member 120, and a pair of movable guide members 130.

The lateral feed guide member 110 is a longitudinal member that extends along a pair of virtual lateral lines Dx.
The pair of transverse feed guide members 110 are a pair of longitudinal members extending respectively along a pair of virtual lateral direction lines Dx.
The transverse feed guide member 110 is a member having a longitudinal member that is provided with a notch portion that is notched by a predetermined dimension E at a location that extends along a pair of virtual horizontal direction lines Dx and intersects the virtual vertical direction line Dy. May be.
The transverse feed guide member 110 is distributed along the virtual vertical direction line Dy along the pair of virtual horizontal direction lines Dx, and is divided by a predetermined dimension E / 2 on both sides to be cut out by the entire dimension E. It may be a member having a longitudinal member provided with a notch.
The longitudinal member has a predetermined width.
The longitudinal member is sandwiched between pallet-side guide rollers 221 of a pallet-side guide mechanism 220 (described later) of the pallet 200 with a predetermined width.

The longitudinal feed guide member 120 has longitudinal members each provided with a notch portion that is notched by a predetermined dimension E at a location that extends along the virtual longitudinal direction line Dy and intersects the pair of virtual lateral direction lines Dx. It is a member.
The longitudinal feed guide member 120 has longitudinal members each provided with a notch portion that is notched by a predetermined dimension E at a location that extends along the virtual longitudinal direction line Dy and intersects the pair of virtual lateral direction lines Dx. It may be a member.
The longitudinal feed guide member 120 has a notch portion that extends along the virtual vertical direction line Dy and is divided by a predetermined dimension E / 2 on both sides to a location that intersects the virtual horizontal direction line Dx, and is cut out by a total dimension E. May be a member having a longitudinal member provided in each.
The longitudinal member has a predetermined width.
The longitudinal member has a predetermined width sandwiched between pallet-side guide mechanisms 220 described later of the pallet 200 and guides the pallet-side guide mechanism 220 in the longitudinal direction.

The movable guide member 130 is a member having a longitudinal member that is supported by each of them so as to be rotatable around a virtual vertical line F and is slightly shorter than a predetermined dimension E.
A pair of virtual vertical lines F is a virtual vertical line that passes through a pair of intersections between a virtual vertical line and a pair of virtual horizontal lines.

The pallet 200 has a pallet main structure 210 that is a structure having a substantially quadrangular shape when viewed from above and on which an object can be mounted, and is a surface facing downward below the pallet main structure 210. It is a structure provided with a rolling surface S.
The pallet 200 is loaded with an object, guided by the stationary guide mechanism 100, and moved by the pallet moving mechanism 300.
The pallet 200 includes a pallet main structure 210, a pair of pallet side guide mechanisms 220, and at least one pallet side sub guide mechanism 240.
The pallet 200 may include a pallet main structure 210, a pair of pallet side guide mechanisms 220, and a pair of pallet side sub guide mechanisms 240.
The pallet 200 may include a pallet main structure 210, a pair of pallet side guide mechanisms 220, a rail structure 230, and at least one pallet side sub guide mechanism 240.
The pallet 200 may include a pallet main structure 210, a pair of pallet side guide mechanisms 220, a rail structure 230, and two pallet side sub guide mechanisms 240.
The rail structure 230 is composed of a pair of longitudinal rails 232 and a pair of lateral rails 231.

The pallet main structure 210 has a substantially quadrangular shape when viewed from above and is a structure on which an object can be mounted.
The pallet side guide mechanism 220 is provided on the lower side of the pallet main structure 210 and is rotatable about two vertical lines that are separated from each other by a predetermined separation distance L on the virtual pallet longitudinal line W. It is a fixed mechanism.
The virtual pallet vertical line W is a virtual line substantially parallel to one side of the pallet main structure.
For example, the virtual pallet vertical line W is a virtual line parallel to the long side of the quadrilateral outline of the pallet main structure 210.
The rolling surface S which is a surface which the pallet faced below the pallet main structure may be provided.
FIG. 1 shows a stationary guide mechanism in which the pallet can move between the left side, the center and the right side and the pallet can move between the upper side, the center and the lower side when the drawing is viewed in front.

At least one pallet side sub-guide mechanism 240 is a mechanism that is provided in the pallet main structure 210 and is separated from the virtual pallet longitudinal line W by a predetermined separation distance H in the orthogonal direction.
At least one pallet side sub-guide mechanism 240 is a mechanism that is provided in the pallet main structure 210 and is separated from the position of the pallet side guide mechanism 220 by a predetermined separation distance H in the direction perpendicular to the virtual pallet longitudinal line W. .
The pair of pallet side sub guide mechanisms 240 may be provided on the pallet main structure 210 and located on opposite sides of the virtual pallet longitudinal line W as a boundary.
One of the pair of pallet-side sub guide mechanisms 240 is positioned away from the virtual pallet vertical line W by a predetermined separation distance H1 in the orthogonal direction, and the other of the pair of pallet-side sub guide mechanisms 240 is the virtual pallet. It may be located away from the vertical line W by a predetermined separation distance H2 in the orthogonal direction.
FIG. 2 shows a pallet 200 having a pair of pallet side sub guide mechanisms 240.

The rail structure 230 may be composed of a pair of longitudinal rails 232 and a pair of lateral rails 231.
The pair of vertical rails 232 are rails that are provided on the lower side of the pallet main structure so as to extend in parallel to the virtual pallet vertical direction line, and that have the rail surface S facing downward. The rail is provided so as to extend perpendicular to the pallet longitudinal line, and the rail surface S faces downward.

When the pallet 200 moves along a pair of virtual lateral lines Dx, the pair of pallet-side guide mechanisms 220 moves along the pair of virtual lateral lines Dx by the pair of lateral feed guide members 110. The pallet side auxiliary guide mechanism 240 is restrained from moving in the orthogonal direction of the virtual lateral direction line Dx by the fixed side guide mechanism 100 and is guided to move freely following the virtual lateral direction line Dx. Guided.
When the pallet 200 moves along a pair of virtual lateral lines Dx, the pair of pallet-side guide mechanisms 220 moves along the pair of virtual lateral lines Dx by the pair of lateral feed guide members 110. Each pallet side sub guide mechanism 240 is guided by the fixed side guide mechanism 100 so that the movement in the orthogonal direction of the virtual horizontal direction line Dx is constrained by the fixed side guide mechanism 100 and is guided to move along the virtual horizontal direction line Dx. You may be guided as follows.
When the pallet 200 moves along a pair of virtual lateral lines Dx, the pair of pallet-side guide mechanisms 220 moves along the pair of virtual lateral lines Dx by the pair of lateral feed guide members 110. The pair of pallet-side sub guide mechanisms 240 are guided by the fixed-side guide mechanism 100 so that the movement in the orthogonal direction of the virtual lateral direction line Dx is constrained by the fixed side guide mechanism 100 so as to move along the virtual lateral direction line Dx. You may be guided as follows.

When the pallet 200 moves along a pair of virtual lateral lines Dx, the pair of pallet-side guide mechanisms 220 moves along the pair of virtual lateral lines Dx by the pair of lateral feed guide members 110. The pallet side auxiliary guide mechanism 240 is restrained from moving in the orthogonal direction of the virtual horizontal direction line Dx by the lateral feed guide member 110 and is guided to move freely along the virtual horizontal direction line Dx. You may be guided.
When the pallet 200 moves along a pair of virtual lateral lines Dx, the pair of pallet-side guide mechanisms 220 moves along the pair of virtual lateral lines Dx by the pair of lateral feed guide members 110. Each pallet side sub guide mechanism 240 is constrained to move in the orthogonal direction of the virtual lateral direction line Dx by one lateral feed guide member 110 and can move along the virtual lateral direction line Dx. You may be guided to be guided to.
When the pallet 200 moves along a pair of virtual lateral lines Dx, the pair of pallet-side guide mechanisms 220 moves along the pair of virtual lateral lines Dx by the pair of lateral feed guide members 110. The pair of pallet side sub guide mechanisms 240 are restrained from moving in the orthogonal direction of the virtual lateral direction line Dx by the pair of lateral feed guide members 110, and can move along the virtual lateral direction line Dx. You may be guided to be guided to.

The pair of pallet-side guide mechanisms 220 is operated by either the longitudinal feed guide member 120, the pair of lateral feed guide members 110, or the pair of movable guide members 130. Each of the guide lines may be guided so as to selectively move along one of the lines Dx.
The pair of pallet side guide mechanisms 220 are guided by the longitudinal feed guide member 120 so as to move along the virtual longitudinal direction line Dy.
The pair of pallet side guide mechanisms 220 are guided by the pair of lateral feed guide members 110 so as to move along the pair of virtual lateral direction lines Dx.
Each of the pair of pallet side guide mechanisms 220 is moved by the pair of movable guide members 130 to selectively follow either the virtual vertical direction line Dy or the pair of virtual horizontal direction lines Dx. Guided.

When the pallet 200 moves following the virtual vertical direction line Dy, the pallet side auxiliary guide mechanism 240 may be disengaged from the fixed side guide mechanism 100.
When the pallet 200 moves following the virtual vertical direction line Dy, the pair of pallet side sub guide mechanisms 240 may be disengaged from the fixed side guide mechanism 100.
When the pallet 200 moves following the virtual vertical direction line Dx, the pallet side auxiliary guide mechanism 240 may be detached from the lateral feed guide member 110.
When the pallet 200 moves following the virtual vertical direction line Dx, the pair of pallet side sub guide mechanisms 240 may be disengaged from the pair of lateral feed guide members 110, respectively.
FIG. 8 shows a lateral feed guide member 110 provided with a notch G.
For example, when the pallet 200 moves following the virtual vertical direction line Dx, the pallet side auxiliary guide mechanism 240 passes through the notch G from the lateral feed guide member 110 and comes off.

A pair of pallet-side guide mechanisms are located on any one of a longitudinal feed guide member, a pair of lateral feed guide members, or a pair of movable guide members, Each of the guides may be guided only by two guide points that selectively move along one of the two.
For example, a guide virtual line that is a virtual line connecting two guide locations as viewed from above is parallel to the virtual vertical line Dy.
One of the pair of pallet-side guide mechanisms 220 is guided by a single guide location located on one of the longitudinal feed guide member, the pair of lateral feed guide members, or the pair of movable guide members. The other of the pair of pallet side guide mechanisms 220 is guided by one other guide point located on either the longitudinal feed guide member, the pair of lateral feed guide members, or the pair of movable guide members. .

The pallet side guide mechanism 220 may be composed of a pair of pallet side guide rollers 221 and a pallet side guide roller support member 222.
The pallet side guide mechanism 220 may be composed of two pairs of pallet side guide rollers 221 and a pallet side guide roller support member 222.
The pair of pallet side guide rollers 221 is a pair of rollers that sandwich the longitudinal member of the fixed side guide mechanism 100 from both sides.
The two pairs of pallet-side guide rollers 221 are two pairs of rollers that sandwich the longitudinal member of the fixed-side guide mechanism 100 from both sides with two rollers.
The pallet-side guide roller support member 222 supports a pair of pallet-side guide rollers 221 so as to be rotatable about a vertical axis.
The pallet side guide roller support member 222 is fixed to the pallet main structure 210.
The diameter of the pallet side guide roller 221 may be larger than the width dimension of the notch B of the lateral feed guide member 110.
The height of the pallet side guide roller 221 may be larger than the height dimension of the notch B of the lateral feed guide member 110.

The pallet side sub guide mechanism 240 may be composed of a pair of pallet side sub guide rollers 241 and a pallet side sub guide roller support member 242.
The pair of pallet side auxiliary guide rollers 241 may be a pair of rollers that sandwich the longitudinal member of the fixed side guide mechanism 100 from both sides.
The pair of pallet-side sub guide rollers 241 may be a pair of rollers that sandwich a pair of lateral feed guide members from both sides.
One of the pair of pallet-side sub guide rollers 241 is a roller that rolls while contacting a pair of laterally-feeding guide members from one side, and the other of the pair of pallet-side sub guide rollers 241 is a pair of This is a roller that rolls in contact with the lateral feed guide member from the other side.
The diameter of the pallet side auxiliary guide roller 241 may be smaller than the width dimension of the notch B of the lateral feed guide member 110.
The height of the pallet side auxiliary guide roller 241 may be smaller than the height dimension of the notch B of the lateral feed guide member 110.

The pallet moving mechanism 300 is a mechanism that selectively moves the pallet 200 along one of the virtual vertical direction line Dy and the virtual horizontal direction line Dx.
The pallet moving mechanism 300 moves the pallet 200 along the virtual vertical direction line Dy, and moves the pallet 200 along the virtual horizontal direction line Dx.

The pallet moving mechanism 300 includes a turning type rotating roller mechanism 310.
The pallet moving mechanism 300 may include a turning-type rotating roller mechanism 310 and a fixed-type rotating roller mechanism (not shown).

The turning-type rotating roller mechanism 310 is a mechanism that selectively moves the pallet 200 along one of the virtual vertical direction line Dy and the virtual horizontal direction line Dx.
The turning-type rotating roller mechanism 310 may selectively move the pallet 200 along the virtual horizontal direction line Dx or the virtual vertical direction line Dy using a rotating roller that turns around the rotating roller swinging vertical axis F ′. Good.
The turning-type rotating roller mechanism 310 moves the pallet 200 along the virtual horizontal direction line Dx using the rotating roller 311.
The turning-type rotating roller mechanism 310 has the rotating roller 311 and moves the pallet 200 along the virtual vertical direction line Dy.

The fixed rotation roller mechanism (not shown) is a mechanism that moves the pallet 200 along either the virtual horizontal direction line Dx or the virtual vertical direction line Dy using a rotation roller.
The fixed rotary roller mechanism functions as one of a vertical feed rotary roller mechanism and a lateral feed rotary roller mechanism.
The vertical feed rotation roller mechanism is a mechanism that moves the pallet 200 along the virtual vertical direction line Dy using the rotation roller 311.
The transverse feed rotation roller mechanism is a mechanism that moves the pallet 200 along the virtual horizontal direction line Dx using the rotation roller 311.

The turning type rotary roller mechanism 310 includes a rotary roller 311 and a rotary roller support mechanism 312.
The turning type rotary roller mechanism 310 may be configured by at least one rotary roller 311 and at least one rotary roller support mechanism 312.
The turning-type rotating roller mechanism 310 may be composed of at least a pair of rotating rollers 311 and at least a pair of rotating roller support mechanisms 312.
The turning-type rotating roller mechanism 310 may be composed of at least a pair of rotating rollers 311 and a pair of rotating roller support mechanisms 312.

The turning-type rotating roller mechanism 310 includes a rotating roller 311, a rotating roller support mechanism 312, and a rotating roller driving mechanism 313.
The turning-type rotating roller mechanism 310 may include at least one rotating roller 311, at least one rotating roller support mechanism 312, and a rotating roller driving mechanism 313.
The turning-type rotating roller mechanism 310 may include at least a pair of rotating rollers 311, at least a pair of rotating roller support mechanisms 312, and a rotating roller driving mechanism 313.
The turning-type rotating roller mechanism 310 may include at least a pair of rotating rollers 311, a pair of rotating roller support mechanisms 312 and a rotating roller driving mechanism 313.

The turning-type rotating roller mechanism 310 may include a pair of rotating rollers 311, a pair of rotating roller support mechanisms 312 and a rotating roller driving mechanism 313.
The turning-type rotating roller mechanism 310 may include two pairs of rotating rollers 311, two pairs of rotating roller support mechanisms 312, and a pair of rotating roller driving mechanisms 313.

The rotating roller 311 has an outer peripheral surface that rolls along a rotating roller virtual tangent line J that is a virtual tangent line that includes a rotating roller contact point I that is a contact point with the rolling surface and that contacts the rolling surface from below. It can be done.
The rotating roller 311 has an outer peripheral surface that contacts the rolling surface S from below and rolls along a rotating roller virtual tangent line J that is a virtual tangent line that includes the rotating roller contact point I that is a contact point with the rolling surface S and extends in the horizontal direction. It may be capable of rotating around a rotating shaft extending horizontally.
The rotating roller support mechanism 312 is a mechanism that supports the rotating roller 311 so as to be swingable about a rotating roller swinging vertical axis F ′ that is a vertical axis.

The rotating roller support mechanism 312 is a mechanism that supports the rotating roller 311 so as to be swingable around a rotating roller swinging vertical axis F ′ that is a vertical axis.
The rotating roller support mechanism 312 makes the posture of the rotating roller 311 parallel to the virtual vertical direction line Dx and the horizontal feed position and the rotational roller virtual tangent line J, which is a position in which the virtual direction tangent line J of the rotating roller is parallel to the virtual horizontal direction line Dy. The rotating roller 311 may be supported so as to be swingable around the rotating roller swinging vertical axis F ′ so as to be able to transit between the vertical feeding postures that are the postures to be rotated.

For example, the rotating roller support mechanism 312 includes a rotating support structure that rotates and supports the rotating roller 311 around the horizontal axis, and a swing base structure that can swing the rotating support structure around the rotating roller swing vertical axis F ′. Is done.
A rotation roller turning lever 422 (described later) is fixed to the rotation support structure. When the rotating roller turning lever 422 is pushed and pulled horizontally, the posture of the rotating roller 411 changes between the horizontal feeding posture and the vertical feeding posture.

The rotating roller driving mechanism 313 is a mechanism that rotationally drives the rotating roller 311.
The rotary roller drive mechanism 313 may drive the rotary roller 311 to rotate using an electric motor with a brake.
The rotating roller driving mechanism 313 may rotationally drive at least one rotating roller 311 of the pair.
When viewed from above, the rotary roller swinging vertical axis F ′ and the rotary roller contact I are separated by a predetermined distance D.
In this way, when the rotating roller 311 is swung, the twisting force generated on the outer peripheral surface of the rotating roller is reduced, and the rotating roller can be swung stably.
Moreover, the lifetime of the member which forms an outer peripheral surface can be lengthened.

A turning mechanism 400 described later causes the pair of rotating rollers 311 to swing around the rotating roller swinging vertical axis F ′ to change the posture of the rotating roller 311 between the vertical feeding posture and the lateral feeding posture. it can.
When a turning mechanism 400 described later changes the posture of the rotating roller, all the rotating rollers 311 to be swung are brought into a freely rotatable state.
For example, when the turning mechanism 400 described later changes the posture of the rotating roller, the brakes of the electric motors with brakes of all the rotating roller driving mechanisms 313 to be rocked are opened.
In this manner, when the posture of the rotating roller 311 is changed, the rotating roller contact I of the rotating roller 311 is not twisted excessively, and the rotation roller contact I moves smoothly.

When viewed from above, a virtual line connecting the rotary roller swinging vertical axis F ′ and the rotary roller contact point I may be orthogonal to the rotary roller virtual tangent line J.
In this way, the rotation roller contact I moves smoothly when the rotation roller is swung.

FIG. 1 shows a turning-type rotating roller mechanism 310 including two pairs of rotating rollers 311, two pairs of rotating roller support mechanisms 312, and a pair of rotating roller driving mechanisms 313.
The two pairs of rotating rollers 311 include a pair of driving rotating rollers and a pair of idle rotating rollers.
The driving rotary roller is a rotary roller 311 that is rotationally driven by power.
The idle rotation roller is a rotation roller 311 that is not rotationally driven.
A pair of rotating roller driving mechanisms 313 rotationally drive the pair of driving rotating rollers.
3 and 4 show an example of the structure of a turning type rotary roller mechanism provided with a rotary roller drive mechanism 313. FIG.
5 and 6 show an example of the structure of a turning type rotating roller mechanism that does not include the rotating roller driving mechanism 313. FIG.
For example, the driving rotation roller is in a state where it can freely rotate unless the brake of the motor with brake is released and the motor is energized.
The idle rotation roller always maintains a freely rotatable state.

The rotating roller 311 is in contact with one of the rail surface of the vertical rail or the rail surface of the horizontal rail from below and moves the contact point with the rail surface in parallel to one of the virtual vertical line or the virtual horizontal line. Can be rotated.
The rotating roller support mechanism 312 supports the rotating roller 311 so as to be swingable about the rotating roller swinging vertical axis F ′.
The rotating roller driving mechanism 313 drives the rotating roller 311 to rotate.

The turning mechanism 400 is a mechanism that can swing a pair of movable guide members 130 around a pair of virtual vertical lines F, respectively.
The turning mechanism 400 may be capable of swinging the pair of movable guide members 130 around the pair of virtual vertical lines F in opposite directions of rotation.
In this way, when the turning mechanism 400 swings the pair of movable guide members 130, the pair of reaction forces received by the pallet 200 from the pair of movable guide members 130 cancel each other. The force to move does not work.
The turning mechanism 400 includes a turning drive mechanism 410 and a link mechanism 420.
The turning drive mechanism 410 is a mechanism having a turning rotation shaft that is a rotating shaft that swings and rotates around the rotating roller swinging vertical axis F ′.
The link mechanism 420 may swing a pair of movable guide members and at least a pair of rotating rollers according to the swing of the turning rotary shaft.

The link mechanism 420 may include a drive mechanism turning lever 421, a rotating roller turning lever 422, a guide roller turning lever 423, and a plurality of turning connecting arms 424.
The drive mechanism turning lever 421 is a lever structure that is fixed to the turning rotation shaft of the turning drive mechanism 410.
The rotating roller turning lever 422 has a lever structure that supports the rotating roller 311 so as to be rotatable about a horizontal axis and is rotatable about a rotating roller swinging vertical axis F ′.
The guide roller turning lever 423 has a lever structure that allows the movable guide member 130 to rotate about the virtual vertical axis F.
The turning connecting arm 424 includes a connecting arm that connects the drive mechanism turning lever 421 and the rotating roller turning lever 422, a connecting arm that connects the rotating roller turning lever 422 and the rotating roller turning lever 422, the rotating roller turning lever 422, and a guide. It comprises a connecting arm that connects the roller turning lever 423.
For example, the turning connection arm 424 includes a pair of connecting arms that connect the drive mechanism turning lever 421 and the rotating roller turning lever 422, and a pair of connecting arms that connects the rotating roller turning lever 422 and the rotating roller turning lever 422. And a pair of connecting arms that connect the rotating roller turning lever 422 and the guide roller turning lever 423.

The turning mechanism 400 may be capable of swinging the pair of movable guide members 130 around the pair of virtual vertical lines F in opposite directions of rotation.
In this way, when the pair of movable guide members 130 swings, the directions in which the pair of movable guide members 130 are guided cross each other, and when the pair of movable guide members 130 stops, the pair of movable guide members 130 stops. These movable guide members 130 are guided in the same direction.

The turning mechanism 400 may swing the pair of rotating rollers 311 around the pair of rotating roller swinging vertical axes F ′ in opposite rotation directions.
In this way, when the turning mechanism 400 swings the pair of movable guide members 130, the pair of reaction forces received by the pallet 200 from the pair of rotating rollers 311 cancel each other. The force to move does not work.

  The turning mechanism 400 swings the pair of rotating rollers 311 around the pair of rotating roller swinging vertical axes F ′ in mutually opposite rotational directions, and simultaneously makes the pair of movable guide members 130 a pair of virtual. You may make it rock | fluctuate to the mutually opposite rotation direction around the perpendicular line F, respectively.

Below, the effect | action of the target object conveyance mechanism of this invention is demonstrated.
The operation of the object conveying apparatus of the present invention will be described by taking as an example a case where the operation is performed in the order of a lateral feed process, a turning process, and a vertical feed process.
FIG. 11 shows the relationship between the fixed-side guide mechanism and the pallet in the lateral feed process.
FIG. 12 shows the relationship between the fixed-side guide mechanism and the pallet in the longitudinal feed process.
In FIG. 11 and FIG. 12, the pallet main structure is shown by a two-dot broken line for easy understanding.
The case where the pallet 200 has a pair of pallet side sub guide mechanisms 240 will be described as an example.

(Transverse feed process)
A pair of movable guide members 130 have the longitudinal direction of the longitudinal member aligned with the virtual lateral direction line Dx.
It is confirmed that all the turning rollers 311 have their tangent line along the virtual horizontal direction line Dx.
When the rotating roller driving mechanism 313 is driven, the rotating roller 311 rotates, and the frictional force between the rotating roller and the rail surface S of the pallet 200 moves the pallet 200 along the virtual horizontal direction line Dx.
The pallet 200 is guided by the pair of pallet side guide mechanisms 220 to the pair of lateral feed guide members 110, respectively, and is guided by the pair of pallet side sub guide mechanisms 240 to the pair of lateral feed guide members 110, respectively. And move along the virtual horizontal direction line Dx.
The pallet 200 can be prevented from rattling around the vertical axis.
When the rotation roller driving mechanism 313 controls the rotation speed and the virtual pallet vertical line W of the pallet 200 is confirmed to match the virtual vertical direction line Dy by a sensor (not shown), the rotation is stopped.
The palette 200 stops with the virtual palette vertical line aligned with the virtual vertical line Dy.
The pallet side auxiliary guide mechanism 240 is located at a position where the cutout portion G of the lateral feed guide member 110 is present.

(Turning process)
The turning mechanism is operated to turn the movable guide member 130 and the turning-type rotating roller mechanism 310.
When operating the turning mechanism, the rotating roller 311 of the turning-type rotating roller mechanism 312 is maintained in a freely rotatable state.
A pair of movable guides 130 changes the invitation from a state in which the longitudinal direction of the longitudinal member is along the virtual transverse line to a state in which the longitudinal direction of the longitudinal member is along the virtual longitudinal line Dy.
A state in which all the turning rollers 311 roll along the rolling surface S while the rotating roller tangent line J extends along the virtual horizontal line Dx from the state where the rotating roller tangent line J extends along the virtual vertical line Dy. To change.

(Vertical feed process)
When the rotating roller driving mechanism 313 is driven, the rotating roller 311 rotates, and the frictional force between the rotating roller and the rail surface S of the pallet 200 moves the pallet 200 along the virtual vertical direction line Dy.
The pallet 200 is guided by the pair of pallet side guide mechanisms 220 to the longitudinal feed guide member 120, and the pair of pallet side sub guide mechanisms 240 is removed from the lateral feed guide member 110 through the notch portion G, and the virtual It moves along the vertical line Dy.
When the rotation roller drive mechanism 313 controls the rotation speed and it is confirmed by a sensor (not shown) that the pallet 200 coincides with a predetermined vertical position, the rotation is stopped.
The pallet 200 stops at the predetermined vertical position.
A pair of pallet side sub-guide mechanisms 240 are fitted into the transverse feed guide member 110 through the notch G.

  When carrying out in the order of the longitudinal feed process, the turning process, and the transverse feed process, the procedure described above is performed in the opposite direction, and thus the description is omitted.

Next, the parking apparatus concerning 1st embodiment of this invention is demonstrated based on a figure.
FIG. 13 is a conceptual plan view of the parking apparatus according to the first embodiment of the present invention.
The parking apparatus which concerns on 1st embodiment of this application applies the target object conveyance mechanism concerning embodiment of this invention to a horizontal circulation type parking apparatus.
The horizontal circulation type parking device is a parking device that arranges pallets mounted on a vehicle in a rectangular shape on a horizontal plane and circulates the pallets in a plurality of parking spaces by alternately repeating horizontal movement and vertical movement.

The parking device according to the first embodiment of the present invention is a device that moves a plurality of vehicles in a horizontal plane and parks them in a plurality of parking spaces.
The parking device according to the first embodiment of the present invention includes a vehicle transport mechanism and a control device.
Since the main structure of the vehicle transport mechanism is the same as that of the object transport mechanism according to the embodiment of the present invention, different points will be described.
The parking device can arrange a plurality of rows of parking spaces arranged along a virtual horizontal direction line in a plurality of rows in the vertical direction and move in the vertical direction to the end portion in the horizontal direction.

In a space where parking spaces are arranged in which the pallet is moved only along the virtual vertical direction line Dy, the fixed side guide mechanism is composed of only a vertical feed guide member, and a fixed rotating roller (not shown) of the pallet moving mechanism is provided. The pallet is moved along the virtual vertical line Dy.
In a space where parking spaces are arranged in which the pallet is moved only along the virtual horizontal direction line Dx, the fixed-side guide mechanism is composed only of a lateral feed guide member, and a fixed rotating roller (not shown) of the pallet moving mechanism holds the pallet. It moves along the virtual horizontal direction line Dx.

The control mechanism moves a plurality of pallets each carrying a plurality of vehicles along a virtual vertical direction line and a pair of virtual horizontal direction lines, and a virtual vertical direction line and a pair of virtual horizontal direction lines The vehicle is parked in a parking space by being placed in a plurality of parking spaces located along the road.
As a result, a plurality of pallets are circulated in a space where a plurality of parking spaces are arranged.

Next, the parking apparatus concerning 2nd embodiment of this invention is demonstrated based on a figure.
FIG. 14 is a conceptual plan view of a parking apparatus according to the second embodiment of the present invention.
The parking apparatus which concerns on 2nd embodiment of this application applies the target object conveyance mechanism concerning embodiment of this invention to a plane circulation type parking apparatus.
A plane circulation parking device is a parking device that arranges pallets mounted on a vehicle in a grid pattern on a horizontal surface, and individually moves the pallet to a plurality of parking spaces by repeating horizontal movement and vertical movement individually. .

The parking device according to the second embodiment of the present invention is a device that moves a plurality of vehicles in a horizontal plane and parks them in a plurality of parking spaces.
The parking apparatus according to the second embodiment of the present invention includes a vehicle transport mechanism and a control device.
Since the main structure of the vehicle transport mechanism is the same as that of the object transport mechanism according to the embodiment of the present invention, different points will be described.
The parking apparatus can arrange a plurality of rows of parking spaces arranged along a virtual horizontal direction line in a plurality of rows in the vertical direction and move in the vertical direction to the end portion in the horizontal direction.

In a space where parking spaces are arranged in which the pallet is moved only along the virtual vertical direction line Dy, the fixed side guide mechanism is composed of only a vertical feed guide member, and a fixed rotating roller (not shown) of the pallet moving mechanism is provided. The pallet is moved along the virtual vertical line Dy.
In a space where parking spaces are arranged in which the pallet is moved only along the virtual horizontal direction line Dx, the fixed-side guide mechanism is composed only of a lateral feed guide member, and the fixed rotating roller of the pallet movement mechanism causes the pallet to move to the virtual horizontal direction line Dx. Move along.

The control mechanism moves a plurality of pallets each carrying a plurality of vehicles along a virtual vertical direction line and a pair of virtual horizontal direction lines, and a virtual vertical direction line and a pair of virtual horizontal direction lines The vehicle is parked in a parking space by being placed in a plurality of parking spaces located along the road.
As a result, a plurality of pallets can be moved in a plurality of parking spaces arranged in a grid pattern.

Moreover, the target object conveyance mechanism and parking apparatus which concern on embodiment of this invention have the following effects by the structure.
A pallet 200 that is provided with a rolling surface S on the lower surface and is guided by the fixed guide mechanism 100 so as to selectively follow one of the vertical direction and the horizontal direction along either the vertical direction or the horizontal direction. The pallet moving mechanism 300 that selectively moves the rotating roller 311 is configured to rotate the rotating roller 311 by bringing the rolling surface S into contact with the outer peripheral surfaces of the pair of rotating rollers 311 that can swing around the rotating roller swinging vertical axis F ′. Since the rotary roller swinging vertical axis F ′ and the rotary roller contact point I are separated from each other by a predetermined distance D when viewed from above, the pallet moving mechanism 300 moves the rotary roller 311 to the rotary roller swinging vertical axis F ′. When rocking around, the rotating roller 311 rolls on the rolling surface S, and the rotating roller contact I can move on the outer peripheral surface.
Further, the rotating roller support mechanism 312 swings the rotating roller 311 around the rotating roller swinging vertical axis F ′ so that the posture of the rotating roller 311 can be changed between the lateral feed posture and the vertical feed posture. Therefore, when the rotating roller 311 is rotated in the horizontal feeding posture, the pallet 200 can be fed in the horizontal direction, and when the rotating roller 311 is rotated in the vertical feeding posture, the pallet 200 can be fed in the vertical direction.
Further, since the pair of rotating rollers 311 is swung so that the rotating roller 311 can be freely rotated when the posture is changed between the vertical feeding posture and the lateral feeding posture, the rotating roller is swung. At this time, it is difficult for the rotating roller contact I of the rotating roller 311 to bend the outer peripheral surface.
Further, since the imaginary line connecting the rotating roller swinging vertical axis F ′ and the rotating roller contact point I when viewed from above is orthogonal to the rotating roller virtual tangent line J, when rotating the rotating roller 311, the rotating roller Further, a force that turns the outer peripheral surface of the rotating roller contact I of 311 is less likely to occur.
Further, since the turning rotation shaft of the turning drive mechanism 410 is rotated and the rotating roller 311 is swung in accordance with the turning rotation of the turning rotation shaft, the turning drive mechanism 410 can swing the rotating roller. .
Further, since the turning mechanism 400 swings the pair of rotating rollers 311 in the opposite rotational directions around the pair of rotating roller swinging vertical axes F ′, the pair of rotating rollers 311 is moved. A pair of reaction forces acting on each of the pair of rotating rollers 311 when they are swung are canceled out.
Further, the pallet 200 has a pair of vertical rails 232 having a rolling surface S on the lower surface and a pair of horizontal rails 231 having a rolling surface S, and a pair of rotating rollers 311 is paired with a vertical pair. The rotation mechanism 400 is selectively rotated along one of the directional rails 232 or the pair of lateral rails 231 so that the turning mechanism 400 swings the pair of rotation rollers 311, so that the pair of rotation rollers 311 is stabilized. The direction of movement of the pallet 200 can be switched by swinging.
Further, the longitudinal feed guide member 120 and the pair of lateral feed guide members 110 are arranged so as to be orthogonal to each other, and a pair of movable guide members 130 that can be swung at the intersecting positions are arranged. The vertical feed guide member 120, the pair of lateral feed guide members 110, or the pair of movable guide members 130, to the virtual vertical direction line Dy or the pair of virtual horizontal direction lines Dx. Since the pair of pallet-side guide mechanisms 220 that are guided so as to move selectively follows, the pallet 200 on which the object is mounted can be stably moved in the vertical direction or the horizontal direction. .
Since the vehicle is made to correspond to the object and the vehicle is selectively moved along one virtual vertical line and at least one virtual horizontal line using the above-described object transport mechanism, It is possible to park in a parking space located selectively along the virtual vertical line and at least one virtual horizontal line.

Moreover, the parking apparatus which concerns on embodiment of this invention has the following effects by the structure.
When the pallet on which the vehicle is mounted is guided by the fixed-side guide mechanism and moves following the virtual lateral line, it can be moved while suppressing blurring around the vertical line of the pallet.

  The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.

E Predetermined dimension G Notch L Predetermined separation distance M Predetermined separation distance D Predetermined distance Dx Virtual lateral line Dy Virtual longitudinal line F Virtual vertical line F 'Rotating roller swinging vertical axis H Predetermined separation distance H1 Predetermined separation distance H2 Predetermined separation distance I Rotating roller contact J Rotating roller virtual tangent line W Virtual pallet longitudinal line S Rolling surface, rail surface 100 Fixed side guide mechanism 110 Horizontal feed guide member 120 Vertical feed guide member 130 Movable guide member 140 Lateral feed sub guide member 200 Pallet 210 Pallet main structure 220 Pallet side guide mechanism 221 Pallet side guide roller 222 Pallet side guide roller support member 230 Rail structure 231 Horizontal rail 232 Vertical rail 240 Pallet side secondary guide mechanism 241 Pallet side secondary guide roller 242 Pallet side Sub guide roller support member 3 0 pallet moving mechanism 310 turning rotary roller mechanism 311 rotates the roller 312 rotates the roller supporting mechanism 313 rotates the roller drive mechanism 400 turning mechanism 410 turning drive mechanism 421 drive mechanism turning lever 422 rotates the roller turning lever 423 guide rollers turning lever 424 turning for connecting arm

JP 2009-209579 A JP2007-146543 JP 2006-125082

Claims (6)

An object transport mechanism capable of selectively moving an object along a virtual horizontal direction line and a virtual vertical direction line that are virtual lines intersecting each other in a horizontal plane,
It has a pallet main structure that has a substantially quadrilateral shape when viewed from above and can mount an object, and a rolling surface that is a downward facing surface is provided below the pallet main structure. With pallet,
A fixed-side guide mechanism that is a mechanism that selectively guides the pallet along one of a virtual vertical direction line and a virtual horizontal direction line, and is movable.
A pallet moving mechanism for selectively moving the pallet along one of a virtual vertical line and a virtual horizontal line;
A turning mechanism capable of swinging the rotating roller around the rotating roller swinging vertical axis to change the posture of the rotating roller between the vertical feed posture and the lateral feed posture;
With
The pallet moving mechanism is in contact with the rolling surface from below and includes a rotating roller contact that is a contact point with the rolling surface, and has an outer peripheral surface that rolls along a rotating roller virtual tangent that is a virtual tangent extending in the horizontal direction. Turning rotation having a rotating roller that can rotate, a rotating roller support mechanism that supports the rotating roller so as to be swingable about a rotating roller swinging vertical axis that is a vertical axis, and a rotating roller driving mechanism that rotationally drives the rotating roller A roller mechanism,
When viewed from above, the rotary roller swinging vertical axis and the rotary roller contact point are separated by a predetermined distance D,
The rotating roller support mechanism is configured so that the rotating roller has a posture that makes the rotating roller virtual tangent parallel to the virtual horizontal line and a posture that makes the rotating roller virtual tangent parallel to the virtual vertical line. The rotating roller is supported so as to be swingable about the rotating roller swinging vertical axis so as to be able to transit between a certain vertical feed posture,
All the rotating rollers that are swung when the turning mechanism changes the posture of the rotating rollers can be freely rotated,
A virtual line connecting the rotary roller swinging vertical axis and the rotary roller contact point when viewed from above is orthogonal to the rotary roller virtual tangent line,
The object conveyance mechanism characterized by the above-mentioned. The turning mechanism includes a turning drive mechanism having a turning rotation shaft that is a rotating shaft that swings and rotates around a vertical axis, and a link mechanism that swings the rotating roller according to the swinging rotation of the turning rotation shaft.
The object conveyance mechanism according to claim 1, wherein The turning-type rotating roller mechanism has at least one pair of the rotating rollers, at least one pair of the rotating roller support mechanisms, and the rotating roller driving mechanism;
The turning mechanism causes the pair of rotating rollers to swing in a direction opposite to each other around a pair of rotating roller swinging vertical axes;
The object conveyance mechanism according to claim 2, wherein A pair of longitudinal rails that are rails that are provided on the lower side of the pallet main structure so as to extend in parallel to the virtual pallet longitudinal direction line and that direct rails corresponding to the turning surfaces downward; A pair of lateral rails that are provided so as to extend perpendicular to the virtual pallet longitudinal direction line and that are rails that face downward the rail surface corresponding to the turning surface;
The turning-type rotating roller mechanism is selectively in contact with one of the rail surface of the vertical rail or the rail surface of the horizontal rail from below and the virtual tangent of the rotating roller is a virtual vertical line or a virtual horizontal line. At least one pair of rotating rollers that can be selectively rotated in parallel with one of the rotating rollers, and a pair of rotating roller support mechanisms that respectively support the pair of rotating rollers so as to be swingable about a vertical axis. Have
The turning mechanism causes the pair of rotating rollers to swing in a direction opposite to each other around the pair of rotating roller swinging vertical axes;
The object transport mechanism according to claim 3. An object can be selectively moved along a virtual vertical direction line and a pair of virtual horizontal lines that are virtual lines orthogonal to each other in a horizontal plane, and the pair of virtual horizontal lines are separated from each other by a predetermined distance. L apart and parallel,
A longitudinal feed guide member having a longitudinal member provided with a notch portion notched by a predetermined dimension E at a location where the fixed side guide mechanism extends along a virtual vertical direction line and intersects a pair of virtual horizontal direction lines; A pair of laterally-feeding guide members each having a longitudinal member that is provided with a notch portion that is notched by a predetermined dimension E at a location that extends along a pair of virtual transverse lines and intersects the virtual longitudinal line; Each of the virtual vertical lines and the pair of virtual horizontal lines is supported by each of them so as to be rotatable around a pair of virtual vertical lines that are virtual vertical lines penetrating through a pair of virtual intersection lines. A pair of movable guide members each having a short longitudinal member,
The pallet has a substantially quadrangular shape when viewed from above and is a structure on which an object can be mounted. The pallet main structure is provided below the pallet main structure and is substantially parallel to one side of the pallet main structure. A pair of pallet-side guide mechanisms fixed to each other so as to be rotatable around two vertical lines that are separated from each other by a predetermined separation distance L on a virtual pallet longitudinal line that is a virtual line,
A pair of the pallet side guide mechanisms may be either a virtual longitudinal line or a pair of virtual lateral lines by any one of the longitudinal feed guide member, the pair of lateral feed guide members, or the pair of movable guide members. Each is guided to move selectively following one of the
The turning mechanism can swing the pair of movable guide members in a direction opposite to each other around the pair of virtual vertical lines, respectively.
The object conveyance mechanism according to claim 4, wherein A parking device that moves a plurality of vehicles in a horizontal plane and parks them in a plurality of parking spaces,
A vehicle transport mechanism capable of selectively moving a plurality of vehicles along at least one virtual vertical direction line and at least one virtual horizontal direction line which are virtual lines orthogonal to each other in a horizontal plane;
A control mechanism for controlling the vehicle transport mechanism;
With
The vehicle conveyance mechanism is an object conveyance mechanism according to any one of claims 1 to 5, wherein the vehicle corresponds to an object.
The control mechanism moves the plurality of pallets, each carrying a plurality of vehicles, along the virtual vertical direction line and the virtual horizontal direction line, respectively, and the virtual vertical direction line and the virtual horizontal direction line Parked in the parking space, placed in multiple parking spaces located along the
A parking device characterized by that.

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