JP6095939B2 - Pallet feeding device, mechanical parking equipment provided with the same, control method for pallet feeding device, and repair method for mechanical parking equipment - Google Patents

Description

  The present invention relates to a pallet feeding device configured to mount a parked vehicle on a pallet and move the pallet vertically and horizontally on a storage shelf to switch positions, a mechanical parking facility provided with the pallet feeding device, and a pallet feeding device. The present invention relates to a control method and a method for repairing a mechanical parking facility.

  In a mechanical parking facility, a so-called plane circulation type in which a parked vehicle is mounted on a pallet (plate-shaped table) and moved vertically and horizontally on a vehicle storage shelf, and the parked vehicle is loaded and unloaded and replaced. A so-called puzzle circulation type is widely used. This is because a motor-driven lateral feed drive roller and vertical feed drive roller are arranged below the pallet, and when the pallet is laterally fed, only the lateral feed drive roller is in contact with the lower surface of the pallet and the pallet is laterally fed. When the pallet is vertically fed, only the longitudinal feed driving roller is in contact with the lower surface of the pallet to vertically feed the pallet. The pallet is guided by a plurality of guide rollers so as not to deviate from a predetermined track.

  The lateral feed drive roller and the longitudinal feed drive roller are made of a material with a high friction coefficient such as rubber or resin, preventing slipping when the pallet is driven, and moving the pallet in the horizontal direction with sufficient static friction when the pallet is stopped. It is supposed not to. However, when the building of the parking facility is greatly shaken due to an earthquake or a strong wind, an excessive external force acts on the vehicle storage shelf or the pallet, and there is a concern that the pallet is displaced from a predetermined stop position.

  If such pallet misalignment occurs, it will be impossible to feed all pallets vertically and horizontally, and restoration work will be required by specialist maintenance personnel. Operation will stop. In addition, there is a method of setting up a dedicated control device so that the position shift of the pallet can be recovered. However, the system is complicated and expensive, and the maintenance becomes complicated.

  Therefore, as disclosed in Patent Document 1, there is a mechanical parking facility provided with a stopper device that prevents the displacement of the pallet. In addition, renovation work for adding a stopper device to a mechanical parking facility that does not include such a stopper device has been performed everywhere.

JP 2003-27762 A

  However, there is a problem that the system becomes complicated due to the installation of such a stopper device, its drive control, and the like, and the cost of the mechanical parking facility increases. In addition, refurbishment work that adds a stopper device to a mechanical parking facility that does not have a stopper device is difficult, which requires high construction costs and a long construction period. And there was a problem that the mechanical parking facility could not be used during the construction period.

  The present invention has been made in view of the above-described problems, and a pallet capable of preventing a pallet position shift during an earthquake or the like with a simple configuration using an existing mechanism without adding a new device. It is an object of the present invention to provide a feeding device, a mechanical parking facility provided with the same, a control method for the pallet feeding device, and a repair method for the mechanical parking facility.

In order to solve the above problems, the present invention employs the following means.
That is, the pallet feeding device according to the present invention is a mechanical parking facility that feeds a pallet on which a parked vehicle is mounted in the vertical and horizontal directions. A lateral feed mechanism combined with a lateral feed guide roller for regulating the movement of the pallet in the vertical direction, a vertical feed drive roller for feeding the pallet in the vertical direction, and regulating the movement of the pallet in the horizontal direction during the vertical feed A longitudinal feed mechanism combined with a longitudinal feed guide roller, a feed mechanism switching means for selectively operating the transverse feed mechanism and the longitudinal feed mechanism to laterally feed and feed the pallet, and the feed mechanism switching Control means for controlling the means, the control means comprising: a transverse feed mode in which the pallet is laterally fed by the lateral feed mechanism; and the pallet by the longitudinal feed mechanism. The pallet is restricted from moving in the vertical and horizontal directions by both the vertical feed mode in which the vertical feed is performed and the horizontal feed guide roller of the horizontal feed mechanism and the vertical feed guide roller of the vertical feed mechanism. The feed mechanism switching means is controlled to selectively execute the fixed mode.

According to the pallet feeding device having the above-described configuration, the control device controls the feed mechanism switching means, and includes a lateral feed mode in which the pallet is laterally fed, a vertical feed mode in which the pallet is vertically fed, and a fixed mode in which the pallet is fixed Switch to one mode.
In the lateral feed mode, the pallet is laterally fed by the lateral feed mechanism, and in the longitudinal feed mode, the pallet is longitudinally fed by the vertical feed mechanism.
In the fixed mode, the movement of the pallet in the horizontal direction is restricted by the transverse feed guide roller of the transverse feed mechanism, and the movement of the pallet in the longitudinal direction is restricted by the longitudinal feed guide roller of the vertical feed mechanism. For this reason, the position shift of the pallet at the time of an earthquake etc. can be prevented reliably.

  A pallet feeding device of a general plane circulation type mechanical parking facility is provided with devices corresponding to a transverse feeding mechanism, a longitudinal feeding mechanism, a feeding mechanism switching means, and a control means. Therefore, in order to realize the fixed mode, it is only necessary to change the program of the control device and simultaneously add simple position sensors to detect the position of the feed mechanism in the fixed mode. Therefore, the position shift of the pallet can be prevented with a simple configuration using an existing mechanism without adding a new device.

  In the pallet feeding device according to the present invention, in the above configuration, one of the transverse feeding mechanism and the longitudinal feeding mechanism is a fixed-side feeding mechanism having a fixed height, and the other feeding mechanism. The height is changed by the feed mechanism switching means to a raised position higher than the fixed-side feed mechanism, a lowered position lower than the fixed-side feed mechanism, and an intermediate position having the same height as the fixed-side feed mechanism. When the elevating side feed mechanism is in the raised position, the pallet is fed by the elevating side feed mechanism to enter the transverse feed mode, and the elevating side feed mechanism is moved to the lowering side. When in the position, the pallet is fed by the fixed-side feed mechanism to enter the longitudinal feed mode, and when the lift-side feed mechanism is in the intermediate position, the lift-side feed mechanism and the Jogawa movement by both the guide rollers of the feed mechanism to the longitudinal direction and the transverse direction of the pallet, characterized in that the said fixed mode is restricted.

  According to the above configuration, only one of the horizontal feed mechanism and the vertical feed mechanism is a lift side feed mechanism that can be moved up and down, and three modes of the pallet horizontal feed mode, vertical feed mode, and fixed mode are set. Can be realized. Therefore, the other feed mechanism may be a fixed-side feed mechanism that remains fixed, thereby simplifying the configuration of the pallet feeder and facilitating its control.

  In the following embodiments, the lateral feed mechanism is described as a lift-side feed mechanism and the vertical feed mechanism is described as a fixed-side feed mechanism. However, in the present invention, the opposite configuration may be used.

  In the pallet feeding device according to the present invention, in the configuration described above, a lateral feed sensor that is turned on when the pallet is positioned at a predetermined position of the lateral feed mechanism, and the pallet at a predetermined position of the vertical feed mechanism. A vertical feed sensor that is turned ON when positioned, and the control means raises the horizontal feed mechanism to a height at which the horizontal feed sensor is ON and the vertical feed sensor is OFF when the horizontal feed mode is set. When the vertical feed mode is set, the horizontal feed sensor is turned OFF, the vertical feed sensor is lowered to the ON level, and when the fixed mode is set, the horizontal feed sensor, the vertical feed sensor, Both stop the lateral feed mechanism at the height of ON.

  According to the above configuration, by using the existing horizontal feed sensor and vertical feed sensor, switching between the horizontal feed mode, the vertical feed mode, and the fixed mode is performed without the need to provide new sensors. It is possible to keep the configuration of the pallet feeder simple and to facilitate the control thereof.

  A mechanical parking facility according to the present invention includes any one of the pallet feeding devices described above.

  According to this mechanical parking facility, the position of the pallet can be prevented from being displaced during an earthquake or the like by a simple configuration using an existing mechanism without adding a new device, and the control thereof is easy. It becomes.

Moreover, the control method of the pallet feeding device according to the present invention is a control method of a pallet feeding device that feeds a pallet on which a parked vehicle is mounted vertically and horizontally in a mechanical parking facility. Along with the lateral feed, the lateral feed mode in which the movement in the vertical direction is regulated by the lateral feed guide roller, and the pallet is fed in the vertical direction by the vertical feed drive roller, and the movement in the horizontal direction is regulated by the vertical feed guide roller. A longitudinal feed mode and a fixed mode in which movement of the pallet in the lateral direction and the longitudinal direction is regulated by both the lateral feed guide roller and the longitudinal feed guide roller are provided.

  According to the above control method, a fixed mode is simply provided between the transverse feed mode and the longitudinal feed mode using the existing transverse feed drive roller, transverse feed guide roller, longitudinal feed drive roller, and longitudinal feed guide roller. The movement of the pallet in the vertical and horizontal directions can be restricted. For this reason, control can be simplified and the reliability of a pallet feeder can be improved.

  Further, the control method of the pallet feeder according to the present invention is the above control method, wherein the switching time from the transverse feed mode to the fixed mode and the switching time from the vertical feed mode to the fixed mode are respectively It is set by a timer means, and the two switching times are set with reference to half of the switching time from the horizontal feed mode to the vertical feed mode.

  According to the above control method, it is not necessary to provide the sensor means for detecting the position of the fixed mode, so that the configuration and control of the pallet feeder can be simplified.

  In addition, the mechanical parking equipment repair method according to the present invention includes a lateral feed drive roller that laterally feeds a pallet on which a parked vehicle is mounted, and a lateral feed guide roller that regulates movement of the pallet in the vertical direction during the lateral feed. A vertical feed mechanism in which a vertical feed drive roller that feeds the pallet vertically and a vertical feed guide roller that regulates movement of the pallet in the horizontal direction during the vertical feed, By selectively changing the relative height of the transverse feed mechanism and the longitudinal feed mechanism, a feed mechanism switching means for switching between the transverse feed and the longitudinal feed of the pallet, and either the transverse feed mechanism or the longitudinal feed mechanism are selectively selected. And a control means for controlling the feed mechanism switching means so as to abut on the pallet and feed the pallet laterally or longitudinally. Positions in which the heights of the lateral feed mechanism and the longitudinal feed mechanism coincide and the lateral movement and the longitudinal movement of the pallet are regulated by both the lateral feed guide roller and the longitudinal feed guide roller. The control means is programmed so that control can be performed to stop the feed mechanism switching means when an input is received from the restriction position detection means.

  According to this modified method, the horizontal feed mechanism and the vertical feed mechanism are equal in height, and the lateral movement and the vertical movement of the pallet are restricted by both the lateral feed guide roller and the longitudinal feed guide roller. Since it is only necessary to provide a restriction position detection means so that the detected position can be detected and then add a program for the control means, the existing mechanical parking facility can be easily modified. The restriction position detecting means may be a simple switch, sensor, or the like, and there is no need to add a new device, so there is no fear that the configuration of the pallet feeding device becomes complicated or the repair cost increases.

  As described above, according to the pallet feeder according to the present invention, the mechanical parking equipment provided with the pallet feeder, the control method of the pallet feeder, and the repair method of the mechanical parking equipment, without adding a new device, A simple configuration using an existing mechanism can prevent a pallet position shift during an earthquake or the like.

It is a perspective view of a plane circulation type mechanical parking facility showing an example of a mechanical parking facility to which the pallet feeder according to the present invention can be applied. It is a perspective view of a pallet and a pallet feeder in a transverse feed mode. It is a perspective view of a pallet and a pallet feeder in a longitudinal feed mode. It is a longitudinal cross-sectional view of the pallet and pallet feeder along the IV-IV line of FIG. It is a longitudinal cross-sectional view of the pallet and pallet feeder along the VV line of FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a longitudinal cross-sectional view of the pallet and pallet feeder which show one Embodiment of this invention, (A) is a transverse feed mode, (B) is a longitudinal feed mode, (C) is a figure which shows a fixed mode, respectively. (A) is a state in which the detection switch is OFF, and (B) is a longitudinal sectional view showing a state in which the detection switch is ON. It is the figure which showed a part of control operation by a control apparatus with the flowchart. It is the figure which showed the remaining part of the control action by a control apparatus with the flowchart.

Embodiments of the present invention will be described below with reference to FIGS.
FIG. 1 is a perspective view of a plane circulation type mechanical parking facility 10 showing an example of a mechanical parking facility to which the pallet feeder according to the present invention can be applied.

  The mechanical parking facility 10 is a so-called plane circulation type or puzzle circulation type, which is widely known, and a loading / unloading unit 14 for loading and unloading the parked vehicle 12 and a hierarchy different from the loading / unloading unit 14. And a lift 18 that communicates between the loading / unloading unit 14 and the storage 16. In the hangar 16, a plurality of storage shelves 20 are arranged in a grid (for example, N rows × M columns). The parked vehicle 12 is placed on each storage shelf 20 in a state of being mounted on the pallet 21, and each storage shelf is replaced by using one or more storage shelves 20 on which the pallet 21 is not disposed. Move between 20.

  The loading / unloading section 14 is provided with a loading / unloading door 23 and an operation panel 24. The operation panel 24 is provided outside the loading / unloading unit 14 so that a user of the mechanical parking facility 10 can operate. For example, various operations (switches, touch panels, IC cards, remote control devices, etc.) (Incoming or outgoing instructions etc.) is received, and characters and images are displayed on a display device such as a liquid crystal display device or a display lamp, or sound is produced by a voice synthesizer or a speaker that emits an alarm sound. Various information is provided for users.

  In addition, the mechanical parking facility 10 includes a control device 28 that controls an operation unit such as the pallet feeding device 25 provided in the storage door 16, the lift 18, and the storage 16 by an input operation of the operation panel 24. Is provided.

  The parked vehicle 12 is mounted on the pallet 21 in the loading / unloading unit 14, and the pallet 21 is transported to the designated floor of the storage 16 by the lift 18, and further transported to the storage shelf 20 designated by the pallet feeding device 25. Each pallet 21 can be moved vertically and horizontally in the storage 16 by the pallet feeder 25. In the hangar 16, a storage shelf 20 on which the pallet 21 is placed and a storage shelf 20 on which the pallet 21 is not placed, that is, an empty space are mixed.

  For example, when leaving a predetermined parked vehicle 12 in the hangar 16, the pallet 21 and the other pallet 21 on which the shed vehicle is placed are sent vertically and horizontally like a puzzle using the empty space, and the inside of the hangar 16 is moved. The pallet 21 on which the delivery vehicle is placed is brought close to the lift 18 and delivered. In the following description, sending the pallet 21 in the horizontal (short) direction is called a horizontal feed mode, and sending it in the vertical (longitudinal) direction is called a vertical feed mode.

  2 and 3 are perspective views of the pallet 21 and the pallet feeding device 25. FIG. 2 shows the situation in the transverse feed mode, and FIG. 3 shows the situation in the longitudinal feed mode. 4 and 5 are longitudinal sectional views of the pallet 21 and the pallet feeding device 25. FIG. 4 shows the situation in the transverse feeding mode, and FIG. 5 shows the situation in the longitudinal feeding mode, respectively.

  As shown in FIGS. 2 to 5 and 6 in a simplified manner, the pallet 21 is placed on a pallet frame 31 in which a vertical frame member 31a made of I-shaped steel and a horizontal frame member 31b are combined in a substantially ladder shape. This is a configuration in which the on-vehicle plate 32 made of a steel plate is fixed. The pallet 21 may be provided with accessories such as a vehicle stop indicating a vehicle stop position, a drainage mechanism, a charging outlet or plug for charging the electric vehicle, and a current collecting mechanism. It is not described here. In the following description, a direction along the short direction of the pallet 21 is referred to as a lateral direction of the pallet feeding device 25, and a direction along the longitudinal direction is also referred to as a vertical direction.

  The pallet feeder 25 is provided in each of the plurality of storage shelves 20, and includes a lateral feed mechanism 40 that laterally feeds the pallet 21, a longitudinal feed mechanism 50 that longitudinally feeds the pallet 21, and these lateral feed mechanisms 40 and A feed mechanism switching device 60 (feed mechanism switching means) that selectively activates the vertical feed mechanism 50 to horizontally and vertically feed the pallet 21 and the control device 28 (control means) described above are provided. .

  The vertical feed mechanism 50 is mainly composed of a vertical pipe member 51 made of a pair of left and right steel square pipes. These vertical pipe members 51 are fixed in parallel at substantially the same interval as the vertical frame member 31a of the pallet 21, and are fixed to the floor slab surface 20a (see FIG. 4) of the storage shelf 20 or the floor slab. When there is no surface 20a, it is fixed in the air with a steel frame or the like. That is, the vertical feed mechanism 50 is a fixed-side feed mechanism having a fixed height.

  Longitudinal drive rollers 52 are pivotally supported by horizontal shafts 53 (see FIG. 4) in the vicinity of both ends and the middle part of the vertical pipe member 51, respectively. Of the three vertical feed drive rollers 52 provided on each vertical pipe member 51, only the upper part thereof protrudes from the upper surface of the vertical pipe member 51, and at least one of them is a vertical feed drive motor 54 (FIGS. 2 and 3). The other two are driven idle rollers. When the pallet 21 is placed thereon, these vertical feed driving rollers 52 can contact the vertical frame material 31a of the pallet 21 from below and feed the pallet 21 in the vertical direction.

  Each longitudinal pipe member 51 is provided with a longitudinal feed guide roller 55 so as to be positioned in the vicinity of each longitudinal feed drive roller 52. As shown in FIG. 6, these vertical feed guide rollers 55 are pivotally supported by a shaft 56 projecting vertically from the upper surface of the vertical pipe member 51. When the pallet 21 is vertically fed by the above-described longitudinal feed drive roller 52, the longitudinal feed guide roller 55 abuts the longitudinal frame members 31a on both sides of the pallet 21 from the outside to move the pallet 21 in the lateral direction. regulate.

  On the other hand, the horizontal feed mechanism 40 is disposed between the left and right vertical feed mechanisms 50 and extends in the horizontal direction, and is a pair of front and rear steel plates arranged in parallel at substantially the same interval as the front and rear intervals of the horizontal frame member 31b of the pallet 21. The horizontal channel material 41 made from the material is mainly used. Each lateral channel member 41 has a channel cross-sectional shape opened upward, and a lateral feed drive roller 42 is pivotally supported by a horizontal shaft 43 in the vicinity of both ends of each lateral channel member 41 and in the middle. (See FIGS. 4 to 6). Only the upper part of these lateral feed drive rollers 42 protrudes from the upper surface of the lateral channel member 41, at least one of which is driven by a lateral feed drive motor 44 (see FIGS. 2 and 3), and the other two. It is an idle roller that is not driven. These lateral feed drive rollers 42 can feed the pallet 21 in the lateral direction when coming into contact with the lateral frame material 31b of the pallet 21 from below.

Each lateral channel member 41 is provided with a lateral feed guide roller 45 so as to be positioned in the vicinity of each lateral feed drive roller 42. As shown in FIG. 6, these lateral feed guide rollers 45 are pivotally supported on a shaft 46 provided on the upper surface or side surface of the lateral channel member 41 and extending vertically upward. When the pallet 21 is laterally fed by the lateral feed drive roller 42 described above, each lateral feed guide roller 45 abuts the lateral frame material 31b on the front and rear of the pallet 21 from the front side and the rear side, so Direction).
The number of drive rollers, the number of guide rollers, the number of idle rollers, the number of drive motors, etc. shown here are examples, and are not limited to the numbers shown here, and the range in which the pallet 21 can be appropriately supported and driven. You can set in.

  The lateral feed mechanism 40 is moved up and down relatively with respect to the vertical feed mechanism 50 whose height is fixed by a feed mechanism switching device 60 whose structure will be described later, and is in a raised position 40A higher than the vertical feed mechanism 50. (See FIGS. 4 and 6A), a lowered position 40B (see FIGS. 5 and 6B) lower than the vertical feed mechanism 50, and an intermediate position 40C having the same height as the vertical feed mechanism 50 (see FIG. 5). 6 (C)), the height can be changed.

  When the lateral feed mechanism 40 is in the raised position 40A, the lateral feed drive rollers 42 provided on the left and right lateral channel members 41 abut on the lateral frame member 31b of the pallet 21 from below as described above to lift the pallet 21. Can be sent horizontally. In this way, the lateral feed mechanism 40 is a lifting side feed mechanism that can change the height relative to the vertical feed mechanism 50 that is a fixed side feed mechanism having a fixed height.

  The control device 28 controls the feed mechanism switching device 60 to arrange the lateral feed mechanism 40 at any one of the raised position 40A, the lowered position 40B, and the intermediate position 40C. When the lateral feed mechanism 40 is in the raised position 40A, the pallet 21 is laterally fed by the lateral feed drive roller 42 of the lateral feed mechanism 40. When the lateral feed mechanism 40 is in the lowered position 40B, the longitudinal feed is performed. When the pallet 21 is in a longitudinal feed mode in which the pallet 21 is fed in the longitudinal direction by the longitudinal feed drive roller 52 of the mechanism 50 and the lateral feed mechanism 40 is at the intermediate position 40C, the lateral feed guide roller 45 of the lateral feed mechanism 40 and the longitudinal feed mechanism 50 are placed. This is a fixed mode in which the movement of the pallet 21 in the horizontal direction and the vertical direction is restricted by both the vertical feed guide roller 55. This control is performed individually in all the storage shelves 20.

  As shown in FIGS. 4 and 5, the feed mechanism switching device 60 that raises and lowers each lateral feed mechanism 40 is a lifting roller that is rotatably supported inside each lateral feed mechanism 40 (lateral channel member 41). 61, a pair of left and right cam support stays 62 fixed to the floor slab surface 20a of the storage shelf 20 together with the longitudinal feed mechanism 50, roller-shaped eccentric cams 63 pivotally supported by these cam support stays 62, The cam sprocket 64 provided so as to rotate integrally with the eccentric cam 63, the cam drive chain 65 wound around the left and right cam sprockets 64, and one of the left and right cam sprockets 64 are connected to a drive shaft 66 ( And a cam drive motor 67 that is rotationally driven through the configuration (see FIGS. 2 and 3). The lifting roller 61 and the eccentric cam 63 are always in contact. The eccentric cam 63 can rotate 180 ° from a position facing directly upward (see FIG. 4) to a position facing downward (see FIG. 5).

  In FIG. 4, the eccentric cam 63 faces directly upward, and the position of the elevating roller 61 that is in contact with the eccentric cam 63 is at the highest position, so the lateral feed mechanism 40 is in the raised position 40 </ b> A (FIG. 6 ( See also A)). At the raised position 40A, the lateral feed drive roller 42 of the lateral feed mechanism 40 abuts the lateral frame material 31b of the pallet 21 from below and the pallet 21 is lifted, so that the pallet 21 is laterally fed by the lateral feed drive roller 42. (Transverse feed mode).

  Further, in FIG. 5, the eccentric cam 63 faces directly downward, and the position of the elevating roller 61 is at the lowest position, so that the lateral feed mechanism 40 is at the lowered position 40B as shown in FIG. (See also FIG. 6B). At this lowered position 40B, the height of the lateral feed drive roller 42 of the lateral feed mechanism 40 is lower than the longitudinal feed drive roller 52 of the longitudinal feed mechanism 50, so that the longitudinal feed drive roller 52 is placed on the longitudinal frame material 31a of the pallet 21. The pallet 21 can be vertically fed by this contact (vertical feed mode).

  In addition, even if the weight of the parked vehicle 12 is added on the pallet 21 by interposing the raising / lowering roller 61 between the eccentric cam 63 and the lateral feed mechanism 40 (transverse channel member 41), the lateral feed mechanism 40 is provided. The pallet 21 can be raised and lowered smoothly.

  Further, although not shown in FIGS. 4 and 5, when the eccentric cam 63 faces sideways, as shown in FIG. 6C, the height of the lateral feed drive roller 42 of the lateral feed mechanism 40 and the longitudinal The heights of the longitudinal feed drive rollers 52 of the feed mechanism 50 coincide with each other, and the lateral feed drive rollers 42 and the longitudinal feed drive rollers 52 are all in contact with the pallet 21 at the same time. At the same time, the lateral feed guide roller 45 of the lateral feed mechanism 40 and the longitudinal feed guide roller 55 of the longitudinal feed mechanism 50 abut against the side surfaces of the lateral frame material 31b and the longitudinal frame material 31a of the pallet 21, respectively. For this reason, both the vertical movement and the horizontal movement of the pallet 21 are restricted (fixed mode).

  As shown in FIGS. 6 (A), (B), (C) and FIGS. 7 (A), (B), a lateral feed sensor 71 is provided between the lateral feed mechanism 40 and the pallet 21, and a vertical feed mechanism is provided. A longitudinal feed sensor 72 is provided between 50 and the pallet 21. 7A and 7B show the longitudinal feed sensor 72 provided in the longitudinal feed mechanism 50, the transverse feed sensor 71 provided in the transverse feed mechanism 40 has the same configuration.

  The lateral feed sensor 71 is set to be ON when the pallet 21 is positioned at a predetermined position of the lateral feed mechanism 40, and the vertical feed sensor 72 is set when the pallet 21 is positioned at a predetermined position of the vertical feed mechanism 50. It is set to be ON. Here, the predetermined position is a substantially central position in the vertical direction and the horizontal direction, that is, a position where the pallet 21 may be moved in either the horizontal feed direction or the vertical feed direction, and the lateral feed operation and the vertical feed operation are stopped. Position.

  The lateral feed sensor 71 and the longitudinal feed sensor 72 are, for example, light detection type switches, and are fixed to the side of the pallet 21 and extend downward, and fixed to the side of the lateral feed mechanism 40 and the longitudinal feed mechanism 50. And a detection section 75 having a channel cross-sectional shape opened upward. The length of the shielding plate 74 in the vertical direction is set to a length that is sandwiched between the channel shapes of the detection unit 75 when the horizontal feed mechanism 40 and the vertical feed mechanism 50 are in contact with the pallet 21. The lateral feed sensor 71 and the longitudinal feed sensor 72 may also serve as sensors for determining a stop position when the pallet 21 is laterally fed and vertically fed.

  As shown in FIG. 7A, a light emitting unit 76 that emits laser light, LED light, or the like and a light receiving unit 77 that receives light emitted from the light emitting unit 76 face each other. is set up. When the horizontal feed mechanism 40 and the vertical feed mechanism 50 are below the pallet 21 (the state shown in FIG. 7A), the shielding plate 74 is above the detection unit 75, and thus the light emission of the detection unit 75. The light emitted from the unit 76 is received by the light receiving unit 77 without being blocked. At this time, the horizontal feed sensor 71 and the vertical feed sensor 72 are in the OFF state.

  Further, as shown in FIG. 7B, when the lateral feed mechanism 40 and the longitudinal feed mechanism 50 are in contact with the pallet 21, the shielding plate 74 is sandwiched between the light emitting part 76 and the light receiving part 77 of the detection unit 75. Therefore, the light emitted from the light emitting unit 76 is shielded by the shielding plate 74 and is not received by the light receiving unit 77. At this time, the horizontal feed sensor 71 and the vertical feed sensor 72 are in the ON state.

The ON / OFF status of the lateral feed sensor 71 and the vertical feed sensor 72 is input as needed to the control device 28 shown in FIG. 1, and the control device 28 refers to the ON / OFF status of the lateral feed sensor 71 and the vertical feed sensor 72. While controlling the feed mechanism switching device 60.
That is, when the pallet feeder 25 is set to the transverse feed mode, the transverse feed mechanism 40 is raised to a height at which the transverse feed sensor 71 is ON and the vertical feed sensor 72 is OFF (see FIG. 6A).
Further, when the pallet feeder 25 is set to the vertical feed mode, the horizontal feed mechanism 40 is lowered to a height at which the horizontal feed sensor 71 is OFF and the vertical feed sensor 72 is ON (see FIG. 6B).
Further, when the pallet feeder 25 is set to the fixed mode, the lateral feed mechanism 40 is stopped at a height where both the lateral feed sensor 71 and the longitudinal feed sensor 72 are ON (see FIG. 6C).

  As described above, in order to set the fixed mode in which both the movement of the pallet 21 in the horizontal direction and the movement in the vertical direction are restricted, it is necessary that both the horizontal feed sensor 71 and the vertical feed sensor 72 are turned on. What is necessary is just to detect by the control apparatus 28, and the horizontal feed sensor 71 and the vertical feed sensor 72 function as a regulation position detection means in that meaning.

  When the parked vehicle 12 is loaded / unloaded, the control device 28 calculates the transport sequence of the pallets 21 in each storage shelf 20, and based on this, the feed mechanism switching device 60 is controlled, and the lateral feed mechanism 40 is moved up and down. Accordingly, the lateral feed guide roller 45 of the lateral feed mechanism 40 or the longitudinal feed guide roller 55 of the longitudinal feed mechanism 50 is driven, and the pallet 21 on which the parked vehicle 12 to be delivered is mounted is conveyed on the storage shelf 20. The

8 and 9 are flowcharts showing the control operation by the control device 28.
After the start of control, first, in step S1, a determination is made regarding the movement instruction of the pallet 21. For example, if there is an instruction for the transverse feed mode, the raising of the transverse feed mechanism 40 is started in step S2, and it is determined in the next step S3 whether or not the transverse feed sensor 71 is ON. In S4, it is determined whether or not the vertical feed sensor 72 is OFF. If step S3 and S4 are NO, it will return to step S2 and the raise of the lateral feed mechanism 40 will be continued.

  If step S4 is YES, since the lateral feed mechanism 40 is in the raised position 40A, the elevation of the lateral feed mechanism 40 is stopped in the next step S5. It should be noted that the lateral feed drive roller 42 can be sufficiently brought into contact with the pallet 21 by inserting a predetermined delay timer from the establishment of the condition in step S4 to the stop in step S5.

  Next, in step S6, a lateral feed operation is performed. Specifically, the lateral feed drive roller 42 is driven by the lateral feed drive motor 44, and the pallet 21 is laterally fed. Thereafter, in step S7, it is determined whether or not the system is stopped. If YES, the control ends. If NO, the process returns to step S1 and the same routine is repeated.

  If there is an instruction for the vertical feed mode in step S1, the process proceeds to step S8 to start the lowering of the horizontal feed mechanism 40, and in the next step S9, it is determined whether or not the vertical feed sensor 72 is ON. If YES, it is next determined in step S10 whether or not the lateral feed sensor 71 is OFF. If step S9 and S10 are NO, it will return to step S8 and the descent | fall of the horizontal feed mechanism 40 will be continued.

  If step S10 becomes YES, since the lateral feed mechanism 40 is in the lowered position 40B, the downward movement of the lateral feed mechanism 40 is stopped in the next step S11. In addition, by inserting a predetermined delay timer from the satisfaction of the condition in step S10 to the stop in step S11, the longitudinal feed driving roller 52 can be sufficiently brought into contact with the pallet 21.

  Next, in step S12, a vertical feeding operation is performed. Specifically, the longitudinal feed drive roller 52 is driven by the longitudinal feed drive motor 54 and the pallet 21 is longitudinally fed. Thereafter, in step S7, it is determined whether or not the system is stopped. If YES, the control ends. If NO, the process returns to step S1 and the same routine is repeated.

  If there is no movement instruction in step S1, the process proceeds to step S13 (FIG. 9) to determine whether both the vertical feed sensor 72 and the horizontal feed sensor 71 are ON. Since the feed mechanism 40 is at the intermediate position 40C, the state is maintained, and the process returns to step S1.

  If step S13 is NO, it is determined in step S14 whether the timer is stopped. If YES, the timer is started in next step S15.

Here, the reason for operating the timer is that if horizontal feed or vertical feed continues, it is necessary to move to the intermediate position every time it stops and then move to the horizontal feed position or vertical feed position again. In order to prevent a smooth operation of the facility due to a long time, at least a time longer than the interval at which the control movement instruction is issued is set as the timer set value.
In general, the control time lag from when conveyance is stopped by control until the next instruction is issued is 0.5 seconds to several seconds. In addition, in order to synchronize between devices, such as when getting on and off the user at the loading / unloading unit 14 and when the lift 18 is transported after waiting for arrival at the storage floor, it is set to wait several seconds to several minutes. Is preferred.

  After the timer is started in step S15, it is determined whether or not the set time of the timer has elapsed in step S16. If NO, the process returns to step S1, and if YES, the timer is stopped in the next step S17. The process proceeds to step S18.

  In step S18, the ON / OFF status of the vertical feed sensor 72 and the horizontal feed sensor 71 is determined. Here, if the transverse feed sensor 71 is ON and the longitudinal feed sensor 72 is OFF, the transverse feed mechanism 40 is at a position higher than the intermediate position 40C, so the process proceeds to step S19 and the descending of the transverse feed mechanism 40 starts. Then, the process proceeds to step S21. If the lateral feed sensor 71 is OFF and the vertical feed sensor 72 is ON in step S18, the lateral feed mechanism 40 is at a position lower than the intermediate position 40C, so the process proceeds to step S20 and the lateral feed mechanism 40 is raised. Is started, and the process proceeds to step S21.

  In step S21, it is determined whether or not both the vertical feed sensor 72 and the horizontal feed sensor 71 are ON. If YES, since the horizontal feed mechanism 40 is at the intermediate position 40C, in the next step S22, the horizontal feed mechanism is determined. 40 descending operation or ascending operation is stopped. Further, if step S21 is NO, the process returns to step S18, and steps S18 to S21 are performed until the lateral feed mechanism 40 reaches the intermediate position 40C, that is, until both the longitudinal feed sensor 72 and the lateral feed sensor 71 are turned on. The routine is repeated.

After step S22, it is determined whether or not the system is stopped in step S7. If YES, the control ends. If NO, the process returns to step S1 and the same routine is repeated.
In addition, although description of said step S13-S22 has demonstrated one pallet feeder 25, the said process is implemented individually about each pallet feeder 25. FIG.

  As described above, the pallet feeder 25 selects the lateral feed mechanism 40 for laterally feeding the pallet 21, the longitudinal feed mechanism 50 for longitudinally feeding the pallet 21, and the lateral feed mechanism 40 and the longitudinal feed mechanism 50. A feed mechanism switching device 60 for operating the pallet 21 horizontally and vertically and a control device 28 are provided. The control device 28 then feeds the pallet 21 laterally by the lateral feed mechanism 40, the longitudinal feed mode longitudinally feeds the pallet by the longitudinal feed mechanism 50, and the longitudinal feed guide roller 45 of the lateral feed mechanism 40 The feed mechanism switching device 60 is controlled to selectively execute the fixed mode in which the movement of the pallet 21 in the horizontal direction and the vertical direction is restricted by both the vertical feed guide roller 55 of the feed mechanism 50. ing.

  According to the pallet feeding device 25, in the fixed mode, the movement of the pallet 21 in the horizontal direction and the vertical direction is restricted by both the lateral feed guide roller 45 and the vertical feed guide roller 55. Can be reliably prevented, and safety and reliability can be improved.

  A pallet feeding device of a general plane circulation type mechanical parking facility is provided with devices corresponding to the lateral feeding mechanism 40, the longitudinal feeding mechanism 50, the feeding mechanism switching device 60, and the control device 28 in the present embodiment. Therefore, in order to realize a fixed mode that restricts movement of the pallet 21 in the vertical and horizontal directions, a simple position sensor such as the horizontal feed sensor 71 and the vertical feed sensor 72 is added at the same time as the program of the control device is changed. However, it is sufficient that the position of the feed mechanism in the fixed mode can be detected. Therefore, the position of the pallet can be prevented from shifting during an earthquake or the like with a simple configuration using an existing mechanism without adding a new device.

  Further, the pallet feeding device 25 uses the vertical feeding mechanism 50 as a fixed-side feeding mechanism with a fixed height, while the horizontal feeding mechanism 40 is raised higher than the vertical feeding mechanism 50 by the feeding mechanism switching device 60. The elevating side feed mechanism has a height that can be changed to a position 40A, a lowered position 40B lower than the vertical feed mechanism 50, and an intermediate position 40C having the same height as the vertical feed mechanism 50.

  For this reason, it is possible to realize the three modes of the pallet 21 in the lateral feed mode, the longitudinal feed mode, and the fixed mode only by raising and lowering only the lateral feed mechanism 40, and the vertical feed mechanism 50 may remain fixed. While simplifying the structure of the feeder 25, the control can be facilitated.

  Further, the pallet feeding device 25 includes a lateral feed sensor 71 that is turned on when the lateral feed mechanism 40 comes into contact with the pallet 21, and a vertical feed sensor 72 that is turned on when the vertical feed mechanism 50 comes into contact with the pallet 21. The control device 28 controls the feed mechanism switching device 60 while referring to the ON / OFF states of these sensors 71 and 72 to move the lateral feed mechanism 40 to the raised position 40A, the lowered position 40B, and the intermediate position 40C. Is raised and lowered between.

  According to this configuration, the lateral feed sensor 71 can also be used as a lateral feed stop sensor during an existing lateral feed operation, and the vertical feed sensor 72 can also be used as a vertical feed stop sensor during an existing longitudinal feed operation. No installation is required. Further, even if the lateral feed sensor 71 and the longitudinal feed sensor 72 are newly installed, it is possible to execute switching between the lateral feed mode, the vertical feed mode, and the fixed mode only by providing as a simple detection switch. Accordingly, the configuration of the pallet feeder 25 can be kept simple and the control thereof can be facilitated.

  Further, the intermediate position control may be performed by setting the switching time from the transverse feed mode to the fixed mode and the switching time from the vertical feed mode to the fixed mode by a timer. In this case, it is preferable to set the switching time from both the vertical and horizontal modes to the fixed mode with the switching time from the horizontal feeding mode to the vertical feeding mode or half of the switching time from the vertical feeding mode to the horizontal feeding mode as a guide. By doing so, it is not necessary to particularly provide sensor means for detecting the position of the fixed mode, so that the configuration and control of the pallet feeder 25 can be simplified.

  As described above, there is no existing regulation of movement of the pallet 21 in the vertical and horizontal directions using both the horizontal feed guide roller 45 of the horizontal feed mechanism 40 and the vertical feed guide roller 55 of the vertical feed mechanism 50. When refurbishing the mechanical parking equipment, the horizontal feed mechanism 40 and the vertical feed mechanism 50 have the same height, and both the lateral feed guide roller 45 and the vertical feed guide roller 55 move the pallet 21 in the lateral direction. And a restriction position detecting means for detecting a position where the movement in the vertical direction is restricted, that is, a sensor corresponding to the transverse feed sensor 71 and the longitudinal feed sensor 72 in the above-described embodiment may be provided.

  Along with this, the control device may be programmed so that the feed mechanism switching device 60 can be controlled to stop when there is an input from the sensors corresponding to the lateral feed sensor 71 and the longitudinal feed sensor 72.

  According to this repair method, the existing mechanical parking equipment can be easily repaired, and there is no need to add a new device. Deviation can be effectively prevented. At that time, there is no worry that the configuration of the pallet feeder becomes complicated or the repair cost increases.

  The pallet feeder according to the present invention, the mechanical parking equipment provided with the pallet feeder, the control method of the pallet feeder, and the repair method of the mechanical parking equipment are limited only to the configuration / material / member of the above embodiment. However, the present invention can be modified or improved as appropriate without departing from the gist of the present invention, and the embodiments added with such changes and improvements are also included in the scope of the right of the present invention.

  For example, in the mechanical parking facility 10 in the above-described embodiment, the loading / unloading unit 14 and the storage 16 are on different floors, and the lift 18 is connected between them. The positional relationship is not particularly limited. In short, the pallet 21 may be transported in the vertical and horizontal directions by the pallet feeding device 25 in the storage shelf 20.

  In the above-described embodiment, the lateral feed mechanism 40 is an up / down side feed mechanism and the vertical feed mechanism 50 is a fixed side feed mechanism. On the contrary, the vertical feed mechanism 50 is an up / down side feed mechanism, The mechanism 40 may be a fixed-side feed mechanism.

  Further, in detail, in the above-described embodiment, the lateral feed sensor 71 and the longitudinal feed sensor 72 are optical detection type switches, but there may be a change such that these sensors are simply contact switches.

DESCRIPTION OF SYMBOLS 10 Mechanical parking equipment 12 Parked vehicle 14 Entry / exit part 16 Storage 18 Lift 20 Storage shelf 21 Pallet 25 Pallet feeder 28 Controller 31 Pallet frame 31a Vertical frame material 32 Car-mounted plate 40 Horizontal feed mechanism (lifting side feed mechanism)
40A Ascending position 40B Lowering position 40C Intermediate position 42 Lateral feed drive roller 44 Lateral feed drive motor 45 Lateral feed guide roller 50 Vertical feed mechanism (fixed side feed mechanism)
52 Vertical Feed Drive Roller 54 Vertical Feed Drive Motor 55 Vertical Feed Guide Roller 60 Feed Mechanism Switching Device 61 Elevating Roller 63 Eccentric Cam 64 Cam Sprocket 65 Cam Drive Chain 66 Drive Shaft 67 Cam Drive Motor 71 Lateral Feed Sensor (Regulation Position Detection Means) )
72 Vertical feed sensor (regulatory position detection means)

Claims (7)

In a mechanical parking facility, a pallet feeder that feeds a pallet on which a parked vehicle is mounted vertically and horizontally,
A lateral feed mechanism in which a lateral feed drive roller that laterally feeds the pallet and a lateral feed guide roller that restricts movement of the pallet in the vertical direction during the lateral feed;
A longitudinal feed mechanism in which a longitudinal feed drive roller that longitudinally feeds the pallet and a longitudinal feed guide roller that restricts movement of the pallet in the lateral direction during the longitudinal feed;
A feed mechanism switching means for selectively actuating the transverse feed mechanism and the longitudinal feed mechanism to feed the pallet horizontally and vertically;
Control means for controlling the feed mechanism switching means,
The control means includes
A lateral feed mode in which the pallet is laterally fed by the lateral feed mechanism;
A longitudinal feed mode for longitudinally feeding the pallet by the longitudinal feed mechanism;
A fixed mode in which movement of the pallet in the vertical direction and the horizontal direction is restricted by both the horizontal feed guide roller of the horizontal feed mechanism and the vertical feed guide roller of the vertical feed mechanism. The pallet feeder is characterized by controlling the feeding mechanism switching means. One of the lateral feed mechanism and the vertical feed mechanism is a fixed-side feed mechanism having a fixed height, and the other feed mechanism is more than the fixed-side feed mechanism by the feed mechanism switching means. A raising and lowering side feed mechanism capable of changing the height to a high ascending position, a lowering position lower than the fixed side feed mechanism, and an intermediate position having the same height as the fixed side feed mechanism,
When the elevating side feed mechanism is in the raised position, the elevating side feed mechanism sends the pallet to the transverse feed mode,
When the elevating side feed mechanism is in the lowered position, the pallet is fed by the fixed side feed mechanism to enter the longitudinal feed mode,
When the elevating side feed mechanism is in the intermediate position, movement of the pallet in the horizontal direction and the vertical direction is restricted by the guide rollers of both the elevating side feed mechanism and the fixed side feed mechanism, and the fixed mode The pallet feeder according to claim 1, wherein A lateral feed sensor that is turned on when the pallet is positioned at a predetermined position of the lateral feed mechanism, and a vertical feed sensor that is turned on when the pallet is positioned at a predetermined position of the vertical feed mechanism,
The control means includes
When entering the transverse feed mode, the transverse feed mechanism is raised to a height where the transverse feed sensor is ON and the vertical feed sensor is OFF,
When the longitudinal feed mode is set, the lateral feed sensor is turned off, the transverse feed mechanism is lowered to a height at which the longitudinal feed sensor is turned on,
3. The pallet feeding device according to claim 2, wherein when the fixing mode is set, the transverse feeding mechanism stops the transverse feeding mechanism at a height where both the transverse feeding sensor and the longitudinal feeding sensor are ON.   A mechanical parking facility comprising the pallet feeding device according to any one of claims 1 to 3. In a mechanical parking facility, a control method for a pallet feeder that feeds a pallet on which a parked vehicle is mounted vertically and horizontally,
The pallet is laterally fed by a lateral feed drive roller, and a lateral feed mode for regulating movement in the longitudinal direction by a lateral feed guide roller;
A longitudinal feed mode in which the pallet is longitudinally fed by a longitudinal feed drive roller, and the movement in the lateral direction is regulated by a longitudinal feed guide roller;
A fixed mode in which movement of the pallet in the horizontal direction and the vertical direction is regulated by both the lateral feed guide roller and the longitudinal feed guide roller;
A control method for a pallet feeder characterized by comprising: A switching time from the transverse feed mode to the fixed mode and a switching time from the vertical feed mode to the fixed mode are set by timer means, respectively.
6. The control method for a pallet feeding device according to claim 5, wherein the two switching times are set with reference to half of the switching time from the transverse feed mode to the longitudinal feed mode. A lateral feed mechanism in which a lateral feed drive roller that laterally feeds a pallet on which a parked vehicle is mounted and a lateral feed guide roller that regulates movement of the pallet in the vertical direction during the lateral feed;
A longitudinal feed mechanism in which a longitudinal feed drive roller that longitudinally feeds the pallet and a longitudinal feed guide roller that restricts movement of the pallet in the lateral direction during the longitudinal feed;
A feed mechanism switching means for switching between the transverse feed and the longitudinal feed of the pallet by changing the relative height of the transverse feed mechanism and the longitudinal feed mechanism;
Control means for controlling the feed mechanism switching means so that either the lateral feed mechanism or the vertical feed mechanism is selectively brought into contact with the pallet and the pallet is laterally or longitudinally fed;
A method of repairing a mechanical parking facility comprising:
The horizontal feed mechanism and the vertical feed mechanism have the same height, and the lateral movement and the vertical movement of the pallet are restricted by both the lateral feed guide roller and the longitudinal feed guide roller. While providing a restriction position detection means for detecting the position,
A method for refurbishing a mechanical parking facility, wherein the control means is programmed so that control for stopping the feed mechanism switching means can be performed at the time when there is an input from the restriction position detecting means.

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