JP6298593B2 - 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, the pallet moving mechanism having a turning-type rotating roller mechanism, and the turning-type rotating roller mechanism , Contact the rolling surface from below A plurality of rotating rollers each having an outer peripheral surface that rolls along a virtual tangent of a rotating roller that includes a rotating roller contact that is a contact with the rolling surface and that extends in the horizontal direction, and a plurality of the rotating A horizontal feed posture, which is a posture in which each of the rotating roller virtual tangents is parallel to a virtual horizontal direction line, and a vertical feed, which is a posture in which each of the rotating roller virtual tangents is parallel to a virtual vertical line. At least one rotating roller support mechanism that supports the plurality of rotating rollers so as to be swingable about the rotating roller swinging vertical axis, which is a vertical axis, and a plurality of the rotating rollers, so as to be able to transition between postures And at least one rotating roller driving mechanism for rotating and driving at least one of the rotating rollers, and the plurality of rotating rollers supported by the one rotating roller mechanism The rotating shafts coincide with each other, and the plurality of rotating rollers are rotated in either the normal rotation direction or the reverse rotation direction to rotate each of the plurality of rotating rollers on the rolling surface. The posture is changed between the lateral feed posture and the vertical feed posture.

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 turning-type rotating roller mechanism of the pallet moving mechanism includes a rotating roller virtual tangent that is a virtual tangent extending in a horizontal direction including a rotating roller contact that is in contact with the rolling surface from below and is a contact with the rolling surface. A plurality of rotating rollers each having an outer peripheral surface that rolls along, and a plurality of rotating rollers, a plurality of rotating rollers, and a lateral feed posture that is a posture in which each rotating roller virtual tangent is parallel to a virtual lateral line; A plurality of the rotating rollers around the rotating roller swinging vertical axis which is a vertical axis so that the rotating roller can be shifted between a vertical feeding posture which is a posture parallel to the virtual vertical line. At least one rotating roller support mechanism that swingably supports, and at least one rotating roller driving device that rotationally drives at least one of the rotating rollers. And, with a. A plurality of the rotating rollers supported by one rotating roller type mechanism make the rotation axes coincide with each other. The plurality of rotating rollers are rotated in either the normal rotation direction or the reverse rotation direction to rotate the plurality of rotating rollers on the rolling surface, and the posture of the rotating rollers is changed to the lateral feed posture. And the vertical feed posture.
As a result, when the pallet moving mechanism swings the plurality of rotating rollers around the rotating roller swinging vertical axis, the plurality of rotating rollers roll on the rolling surface and the contact moves on the outer peripheral surface. it can.

  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.

An object transport mechanism according to an embodiment of the present invention includes a first rotating roller and a second rotating roller, in which a plurality of rotating rollers are adjacent to each other, and the rotating roller swinging when viewed from above. A vertical axis is located between the rotating roller contact of one of the first rotating rollers and the rotating roller contact of one of the second rotating rollers, and the posture of the rotating roller is changed to the lateral feed posture and the When the transition is made between the vertical feed postures, one of the first rotating rollers and one of the second rotating rollers roll in opposite rotation directions.
According to the configuration of the above embodiment, the plurality of rotating rollers include one first rotating roller and one second rotating roller adjacent to each other, and one rotating roller swinging vertical shaft is seen from above. Between the rotating roller contact of the first rotating roller and the rotating roller contact of one second rotating roller. When the posture of the rotary roller is changed between the lateral feed posture and the vertical feed posture, one of the first rotary rollers and one of the second rotary rollers are in opposite rotation directions. To roll.
As a result, the plurality of rotating rollers can be stably rotated around the rotating roller swinging vertical axis.

An object transport mechanism according to an embodiment of the present invention is a drive wheel in which at least one of the plurality of rotating rollers is driven by the rotating roller driving mechanism, The other rotating roller is an idler wheel.
With the configuration of the above embodiment, at least one of the plurality of rotating rollers is a driving wheel driven by the rotating roller driving mechanism. The other rotating roller among the plurality of rotating rollers is an idler wheel.
As a result, the plurality of rotating rollers can be stably rotated around the rotating roller swinging vertical axis.

In the object transport mechanism according to the embodiment of the present invention, the posture of the plurality of rotating rollers supported by one rotating roller mechanism is set to one of the lateral feed posture and the vertical feed posture. A turning mechanism having a turning lock mechanism that can restrain or freely swing the plurality of rotating rollers so that the posture can be selectively maintained.
With the configuration of the above-described embodiment, the turning lock mechanism of the turning mechanism changes the posture of the plurality of rotating rollers supported by one rotating roller type mechanism from the lateral feeding posture or the vertical feeding posture. The swinging of the plurality of rotating rollers can be constrained or made free so that either one of the postures can be selectively maintained.
As a result, the swinging of the plurality of rotating rollers is restrained, and the postures of the plurality of rotating rollers are maintained in one of the lateral feed posture and the vertical feed posture. The posture of the rotating roller can be changed by freely swinging 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 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.

An object transport mechanism according to an embodiment of the present invention includes a plurality of rotating rollers, at least one pair of rotating roller support mechanisms, and at least one rotating roller each including at least one pair of turning-type rotating roller mechanisms. A plurality of rotating rollers so that the turning mechanism can selectively maintain the postures of all the rotating rollers in either the lateral feed posture or the vertical feed posture. A link mechanism for connecting the mechanisms;
According to the configuration of the above-described embodiment, each of the turning-type rotating roller mechanisms includes at least one pair of the plurality of rotating rollers, at least one pair of the rotating roller support mechanisms, and at least one of the rotating roller driving mechanisms. . A link mechanism that connects a plurality of rotating roller support mechanisms so that the turning mechanism can selectively maintain the postures of all the rotating rollers in either the lateral feed posture or the vertical feed posture. Have
As a result, the postures of all the rotating rollers can be selectively maintained in one of the lateral feed posture and the vertical feed posture all at once.

The object transport mechanism according to the embodiment of the present invention selectively restrains at least one of the movement of the pallet along the virtual horizontal direction line and the movement of the virtual vertical direction line. Or, a pallet locking mechanism that can be freely provided is provided.
With the configuration of the above embodiment, the pallet lock mechanism selectively restrains at least one of the movement of the pallet along the virtual horizontal direction line and the movement of the virtual vertical direction line. Or you can do it freely.
As a result, the pallet can be fixed by using the pallet lock mechanism and the posture of the rotating roller can be changed.

An object conveying mechanism according to an embodiment of the present invention includes a plurality of rotating rollers each having at least one pair of turning-type rotating roller mechanisms, at least a pair of rotating roller support mechanisms, and a rotating roller driving mechanism. One of the plurality of rotating rollers and the other plurality of the rotating rollers supported by a pair of the rotating roller support mechanisms of each of the plurality of rotating rollers each having a pair of turning mechanisms. There is a link mechanism that couples the pair of rotating roller support mechanisms so as to swing the rotating roller around a pair of rotating roller swinging vertical axes in directions opposite to each other.
According to the configuration of the above-described embodiment, each of the turning-type rotating roller mechanisms includes at least one pair of the plurality of rotating rollers, at least one pair of the rotating roller support mechanism, and the rotating roller driving mechanism. One of the plurality of rotating rollers and the other of the plurality of rotating rollers supported by a pair of the rotating roller support mechanisms of the plurality of rotating rollers each having a pair of link mechanisms of the turning mechanism. The pair of rotating roller support mechanisms are coupled so as to swing the rotating roller around a pair of rotating roller swinging vertical axes in directions opposite to each other.
As a result, when the plurality of paired rotating rollers are swung, the pair of reaction forces acting on each of the paired rotating rollers cancel each other. .

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. The turning-type rotating roller mechanism selectively touches one of the rail surface of the vertical rail or the rail surface of the horizontal rail from below, and each of the rotating roller virtual tangents is virtually vertical. A pair of each of the plurality of rotating rollers and a pair of each of the plurality of rotating rollers capable of rotating so as to be selectively parallel to one of the direction line and the virtual lateral direction line Times There is at least one pair of rotating roller support mechanisms that support each of them so as to be swingable around a roller swinging vertical axis, and at least one rotating roller drive mechanism that rotationally drives the rotating rollers. One of the plurality of rotating rollers and the other plurality of rotating rollers respectively supported by a pair of the rotating roller support mechanisms of the plurality of rotating rollers formed into a pair of the rotating rollers. There is a link mechanism that couples the pair of rotating roller support mechanisms so that the rotating rollers swing around the vertical axis in opposite directions of rotation.
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 each of the rotating roller virtual tangents is a virtual vertical line or virtual horizontal line. At least one pair of rotating rollers that can be rotated to be selectively parallel to one of the direction lines and each of the plurality of rotating rollers that are paired with each other are rocked by a pair of the rotating rollers. It has at least one pair of rotating roller support mechanisms that support each swingably around a vertical axis and at least one rotating roller drive mechanism that rotationally drives the rotating rollers.
One of the plurality of rotating rollers and the other plurality of the rotating mechanisms supported by a pair of the rotating roller support mechanisms of the plurality of rotating rollers in a pair are respectively linked to the turning mechanism. The pair of rotating roller support mechanisms are coupled so as to swing the rotating rollers around the pair of rotating roller swinging vertical axes in directions opposite to each other.
As a result, it is possible to switch the direction in which the pallet moves by stably swinging each pair of rotating rollers.

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 Wherein a virtual link mechanism for connecting the movable guide member of the pair as about a vertical swinging in each rotational direction opposite to each other.
According to the configuration of the above embodiment, the object can be selectively moved along a virtual vertical direction line and a pair of virtual horizontal direction lines which are virtual lines orthogonal to each other in a horizontal plane. The transverse lines are parallel to each other by a predetermined 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 link mechanism of the turning mechanism couples the pair of movable guide members so as to swing the pair of movable guide members in opposite directions of rotation around the pair of virtual vertical lines.
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 for moving the rotating roller rotates the rotating roller by bringing the rolling surfaces into contact with the outer peripheral surfaces of the rotating rollers that can swing around the rotating roller swinging vertical axis. The rotary rollers have their rotational axes coincident with each other, rotate the rotary rollers in either the normal rotation direction or the reverse rotation direction, and roll the rotary roller on the rolling surface. Is moved between the lateral feed posture and the vertical feed posture, so that the rotating roller rolls when the pallet moving mechanism swings the rotating roller around the rotating roller swinging vertical axis. Rolling face Contact Te can move the outer peripheral surface.
Further, when viewed from above, the first rotating roller and the second rotating roller are positioned with the rotating roller swinging vertical axis in between, and when the posture of the rotating roller is changed, Since the second rotating roller rolls in the opposite rotation directions, the plurality of rotating rollers can be stably swung around the rotating roller swinging vertical axis.
In addition, since at least one of the plurality of rotating rollers is a driving wheel and the other rotating rollers are idle wheels, the plurality of rotating rollers are arranged around the rotating roller swinging vertical axis. It can be turned stably.
Further, the turning lock mechanism constrains or freely swings the plurality of rotating rollers, and selectively selects the posture of the rotating roller as one of the lateral feed posture and the vertical feed posture. So that the swinging of the plurality of rotating rollers is restrained and the posture of the rotating rollers is maintained in one of the lateral feed posture and the vertical feed posture, The posture of the rotating roller can be changed by freely swinging the plurality of rotating rollers.
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, It is difficult for the contact point to bend the outer peripheral surface.
Further, the link mechanism is connected to at least one pair of rotating roller support mechanisms, and the postures of all the rotating rollers are selectively set to one of the lateral feed posture and the vertical feed posture. Therefore, the postures of all the rotating rollers can be selectively maintained in one of the lateral feed posture and the vertical feed posture at the same time.
In addition, since the movement of the pallet along the virtual horizontal direction line and / or the movement along the virtual vertical direction line can be selectively restrained or freely made, the pallet lock The pallet can be fixed using a mechanism to change the postures of the plurality of rotating rollers.
In addition, since the plurality of rotating rollers that are paired with each other by the link mechanism are swung in directions opposite to each other, when the at least one pair of rotating rollers are swung, A pair of reaction forces acting on each of the at least one pair of the plurality of rotating rollers cancel each other.
The pallet has a pair of vertical rails having a rolling surface on the lower surface and a pair of horizontal rails having a rolling surface. The rotary mechanism selectively rotates along one of the directional rails or the pair of horizontal rails, and the link mechanism of the turning mechanism swings the rotary rollers in opposite directions. Can stably swing and change the direction of movement of the pallet.
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.
In addition, since the vehicle is caused to correspond to the object and the vehicle is selectively moved along one virtual vertical direction line and at least one virtual horizontal direction line using the above-described object conveyance mechanism, 1 It is possible to park in a parking space located selectively along one 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 sectional drawing of the 1st rotation roller 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 sectional drawing of the 2nd rotation roller 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 cross-sectional view of the first rotating roller according to the embodiment of the present invention. FIG. 6 is a plan view of the pallet moving mechanism 2 according to the embodiment of the present invention. FIG. 7 is a side view of the pallet moving mechanism 2 according to the embodiment of the present invention. FIG. 8 is a cross-sectional view of the second rotating roller according to the embodiment of the present invention. FIG. 9 is a side view of the object transport mechanism according to the embodiment of the present invention. FIG. 10 is a front view of the object transport mechanism according to the embodiment of the present invention. FIG. 11 is a partial structure part 1 of the object transport mechanism according to the embodiment of the present invention. FIG. 12 is a partial structure part 2 of the object transport mechanism according to the embodiment of the present invention. FIG. 13 is an explanatory diagram 1 of an operation of the object transport mechanism according to the embodiment of the present invention. FIG. 14 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 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, the turning mechanism 400, and the pallet lock mechanism 500.

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 be composed of 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 members 120 are longitudinal members each provided with a notch portion G that is notched by a predetermined dimension E at a location that extends along the virtual vertical direction line Dy and intersects the pair of virtual horizontal direction lines Dx. It is a member to have.
The longitudinal feed guide members 120 are longitudinal members each provided with a notch portion G that is notched by a predetermined dimension E at a location that extends along the virtual vertical direction line Dy and intersects the pair of virtual horizontal 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. A member having a longitudinal member provided for G may be used.
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 which is a structure having a substantially quadrangular shape when viewed from above and on which an object can be mounted. 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 direction 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.

The pallet main structure 210 may be provided with a pallet engaged portion 250 that is an engaged portion that can be engaged with a pallet lock mechanism 500 described later.
For example, the pallet main structure 210 may be provided with a pallet engaged portion 250 that forms a through-hole penetrating in the vertical direction that can be engaged with a pallet lock mechanism 500 described later.
For example, the pallet main structure 210 may be provided with an engaged portion that forms a contact surface facing in the horizontal direction or the vertical direction that can be engaged with a pallet lock mechanism 500 described later.
When the pallet lock mechanism 500 is engaged with the pallet engaged portion 250, the pallet 200 selectively restrains one of the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line. Is done.
Alternatively, when the pallet lock mechanism 500 is engaged with the engaged portion, the pallet 200 is restrained from both the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line.
When the pallet lock mechanism 500 is not engaged with the engaged portion, the pallet 200 is free to move both along the virtual horizontal line and along the virtual vertical line.

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 be movable 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. 10 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, Alternatively, each of the guides may be guided only by two guide points, which are two points that move selectively following 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 by 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 It 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 be composed of 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 selectively moves the pallet 200 along the virtual horizontal direction line Dx or the virtual vertical direction line Dy using the rotating roller 311 that turns around the rotating roller swinging vertical axis F ′. Also 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 moves the pallet 200 along the virtual vertical direction line Dy using the rotating roller 311.

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.

  Hereinafter, the turning type rotating roller mechanism 310 will be described in detail.

The turning-type rotating roller mechanism 310 may include a plurality of rotating rollers 311 and at least one rotating roller support mechanism 312.
The turning-type rotating roller mechanism 310 may include a plurality of rotating rollers 311 and a single rotating roller support mechanism 312.
For example, the turning-type rotating roller mechanism 310 includes two rotating rollers 311 and one rotating 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 a pair of two rotating rollers 311 and a pair of rotating roller support mechanisms 312.
For example, the turning-type rotating roller mechanism 310 includes a pair of two rotating rollers 311 and a pair of rotating roller support mechanisms 312.

The turning-type rotating roller mechanism 310 may include at least a plurality of rotating rollers 311, at least one rotating roller support mechanism 312, and at least one rotating roller drive mechanism 313.
The turning-type rotating roller mechanism 310 may include a plurality of rotating rollers 311, one rotating roller support mechanism 312, and one rotating roller driving mechanism 313.
For example, the turning-type rotating roller mechanism 310 includes two rotating rollers 311, one rotating roller support mechanism 312, and a rotating roller driving mechanism 313.
The turning-type rotating roller mechanism 310 may be configured by at least one pair of rotating rollers 311, at least one pair of rotating roller support mechanisms 312, and at least one rotating roller driving mechanism 313.
The turning-type rotating roller mechanism 310 may be composed of a plurality of rotating rollers 311, a pair of rotating roller support mechanisms 312, and a rotating roller driving mechanism 313, which form a pair.
For example, the turning-type rotating roller mechanism 310 includes a pair of two rotating rollers 311, a pair of rotating roller support mechanisms 312, and a pair of rotating roller driving mechanisms 313.

The plurality of rotating rollers 311 may be supported by one rotating roller support mechanism 312.
For example, the two rotating rollers 311 are supported by one rotating roller support mechanism 312.
One pair of rotating rollers 311 and the other plurality of rotating rollers 311, each of which is a pair of rotating rollers 311, are supported by a pair of rotating roller support mechanisms 312. Is done.
For example, one pair of two rotating rollers 311 and the other two rotating rollers 311 are supported by a pair of rotating roller support mechanisms 312, respectively.

The plurality of rotating rollers 311 may include at least one first rotating roller 311a and at least one second rotating roller 311b.
For example, the two rotating rollers 311 are composed of one first rotating roller 311a and one second rotating roller.
Each of the plurality of rotating rollers 311 in a pair includes one pair of first rotating rollers 311a and a plurality of second rotating rollers 311b and the other plurality of first rotating rollers 311a and You may be comprised with the some 2nd rotating roller 311b.
For example, the two pairs of rotating rollers 311 include a pair of one first rotating roller 311a and one second rotating roller 311b and the other one first rotating roller 311a and one first rotating roller 311b. And a two-rotation roller 311b.

The rotating roller 311 has an outer peripheral surface that contacts a rolling surface S from below and 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 extends in the horizontal direction. It can rotate.
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.

A plurality of rotating rollers 311 supported by one rotating roller support mechanism 312 may have their rotation axes aligned with each other.
The plurality of first rotation rollers 311a and the plurality of second rotation rollers 311b supported by one rotation roller support mechanism 312 may have their rotation axes aligned with each other.
For example, one first rotating roller 311a and one second rotating roller 311b supported by one rotating roller support mechanism 312 are aligned with each other.

The plurality of rotating rollers 311 includes one first rotating roller 311a and one second rotating roller 311b adjacent to each other, and the rotating roller swinging vertical axis F ′ as viewed from above is one first rotation. Located between the rotating roller contact I of the roller 311a and the rotating roller contact of one second rotating roller 311b, and when the posture of the rotating roller 311 is changed between the lateral feed posture and the vertical feed posture. One first rotating roller 311a and one second rotating roller 311b may roll in opposite directions of rotation.
For example, the plurality of rotating rollers 311 includes one first rotating roller 311a and one second rotating roller 311b adjacent to each other, and the rotating roller swinging vertical axis F ′ is one when viewed from above. Located between the rotating roller contact I of the first rotating roller 311a and the rotating roller contact of one second rotating roller 311b, the posture of the rotating roller 311 transitions between the lateral feed posture and the vertical feed posture. In this case, one first rotating roller 311a and one second rotating roller 311b may roll in directions opposite to each other.

At least one rotating roller of the plurality of rotating rollers 311 may be a driving wheel driven by the rotation driving mechanism 313, and the other rotating roller 311 of the plurality of rotating rollers 311 may be a driven wheel. .
At least one rotating roller 311 among the plurality of rotating rollers 311, the first rotating roller 311 a and the second rotating roller 311 b is a driving wheel driven by the rotating roller driving mechanism 313, and the first rotating roller 311 a and the second rotating roller 311 b The other rotating rollers of the rotating rollers 311b may be idle wheels.
For example, at least one rotating roller 311 out of one first rotating roller 311a and one second rotating roller 311b is a driving wheel driven by the rotating roller driving mechanism 313, and one first rotation. Of the roller 311a and one second rotating roller 311b, the other rotating roller 311 is an idler wheel.
For example, one rotating roller among one first rotating roller 311a and one second rotating roller 311b is a driving wheel driven by the rotating roller driving mechanism 313, and one first rotating roller 311a. The other rotating roller 311 of the second rotating roller 311b is an idler wheel.

At least one rotating roller 311 of the plurality of first rotating rollers 311a and the plurality of second rotating rollers 311b that are paired is a driving wheel that is driven by a rotating roller driving mechanism. The other rotary rollers of the plurality of first rotary rollers and the plurality of second rotary rollers may be idle wheels.
For example, at least one of the plurality of first rotating rollers and the plurality of second rotating rollers that are paired with each other is a drive wheel that is driven by the rotating roller driving mechanism 313 and is paired. Each of the plurality of first rotating rollers 311a and the other rotating rollers 311 among the plurality of second rotating rollers 311b are idle wheels.
For example, one rotating roller 311 out of each of a pair of first rotating roller 311a and one second rotating roller 311b is a driving wheel driven by a rotating roller driving mechanism 313. The other one of the first rotating roller 311a and the second rotating roller 311b, each of which is a free wheel.

The rotating roller support mechanism 312 is a mechanism that supports a plurality of rotating rollers 311 so as to be swingable around a rotating roller swinging vertical axis F ′ that is a vertical axis.
The rotation roller support mechanism 312 has a horizontal feed posture and a rotation roller virtual posture in which the posture of the plurality of rotation rollers 311 supported by the rotation roller support mechanism 312 is parallel to the virtual horizontal tangent line Dy. The rotating roller 311 is supported so as to be swingable around the rotating roller swinging vertical axis F ′ so that the tangent line J can be shifted between the vertical feeding posture which is a posture parallel to the virtual vertical line Dx. Also good.

The rotating roller support mechanism 312 includes a lateral feed attitude in which the attitude of the plurality of rotating rollers 311 supported by the rotating roller support mechanism 312 is parallel to the virtual horizontal direction line Dy. The plurality of rotary rollers 311 can be rotated vertically as a vertical axis so that the rotary roller virtual tangent line J can be shifted between the vertical feed posture which is a posture parallel to the virtual vertical direction line Dx. It may be supported so as to be swingable around '.
The rotating roller support mechanism 312 is configured so that the position of one first rotating roller 311a and one second rotating roller 311b supported by the rotating roller support mechanism 312 is parallel to each rotating roller virtual tangent line J and the virtual horizontal direction line Dy. One first rotating roller so that it can transition between a horizontal feeding posture that is a posture to be set and a vertical feeding posture that is a posture in which each rotary roller virtual tangent line J is parallel to the virtual vertical direction line Dx. 311a and one second rotating roller 311b may be swingably supported around a rotating roller swinging vertical axis F ′ that is a vertical axis.
For example, the rotating roller support mechanism 312 determines the posture of one first rotating roller 311a and one second rotating roller 311b supported by the rotating roller support mechanism 312 with each rotating roller virtual tangent J as a virtual lateral line Dy. The first feed direction is such that a transition can be made between a horizontal feed posture that is parallel to the vertical feed posture and a vertical feed posture that is a posture in which each rotary roller virtual tangent J is parallel to the virtual vertical line Dx. The rotating roller 311a and one second rotating roller 311b are supported so as to be swingable around a rotating roller swinging vertical axis which is a vertical axis.

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 rotates 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.

The rotating roller driving mechanism 313 may rotationally drive at least one rotating roller 311 among the plurality of rotating rollers 311.
The rotating roller driving mechanism 313 may rotationally drive at least one rotating roller 311 out of one first rotating roller 311a and one second rotating roller 311b.
For example, the rotating roller driving mechanism rotationally drives at least one rotating roller 311 out of one first rotating roller 311a and one second rotating roller 311b.

The rotation roller 311 is selectively rotated in either the normal rotation direction or the reverse rotation direction, the rotation roller 311 is rolled on the rolling surface S, and a plurality of rotation rollers are rotated on the rolling surface to rotate. The posture of the roller 311 can be changed between the lateral feed posture and the vertical feed posture.
For example, the first rotation roller 311 is rotated in the normal rotation direction, the plurality of rotation rollers 311 are rolled on the rolling surface S, and the posture of the rotation roller 311 is changed from the lateral feed posture to the vertical feed posture. The rotary roller drive mechanism 313 rotates the rotary roller 311 in the reverse rotation direction to change the posture of the rotary roller from the vertical feed posture to the horizontal feed posture.
For example, when the rotation roller drive mechanism 313 drives the first rotation roller 311a, which is a drive wheel, to rotate in the normal rotation direction, the second rotation roller 311b, which is a driven wheel, rotates in the reverse rotation direction, and a plurality of rotation rollers are formed. Rolling on the rolling surface changes the posture of the rotating roller from the lateral feeding posture to the vertical feeding posture, and the rotating roller driving mechanism 313 drives the rotating roller 311 to rotate in the reverse rotation direction to vertically rotate the rotating roller. Transition from the direction feed posture to the horizontal feed posture.

The rotating roller driving mechanism 313 rotates and drives the rotating roller 311 that is a driving wheel, and the rotating roller 311 that is a driven wheel is driven to roll a plurality of rotating rollers 311 on the rolling surface S, so that the posture of the rotating roller 311 is changed horizontally. Transition between the direction feed posture and the vertical feed posture.
For example, the rotation roller drive mechanism 313 rotates the first rotation roller 311a that is a drive wheel, the second rotation roller 311b that is a driven wheel is driven, and a plurality of rotation rollers 311 are rolled on the rolling surface S. The posture of each of the rotating rollers 311 is changed between the horizontal feed posture and the vertical feed posture.

When viewed from above, the 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.

When the posture of all the rotating rollers 311 is constrained to the lateral feed posture and the rotating roller driving mechanism 313 rotates and drives the rotating roller 311 that is a driving wheel, the rotating roller 311 that is a driven wheel is driven and rotated, and the pallet 200 moves along a virtual lateral line Dx.
When the rotation roller driving mechanism 313 rotates and drives the rotation roller 311 as a driving wheel while the posture of all the rotation rollers 311 is constrained to the vertical feeding posture, the rotation roller 311 as a driven wheel is driven to be in the same rotation direction. The pallet 200 moves along the virtual vertical line Dy.
When the movement of the pallet is constrained so that the rotation of all the rotation rollers freely around the rotation roller swing vertical axis F ′ and the rotation roller drive mechanism 313 rotates and drives the rotation roller 311 as a drive wheel, The rotating roller 311 which is a driven wheel is driven to rotate in the same rotational direction or in the opposite rotational direction, and the rotating roller 311 rolls on the rolling surface S to change the posture of all the rotating rollers 311 to the lateral feed posture. To the vertical feed posture, or from the vertical feed posture to the horizontal feed posture. When the transition is completed, the swinging of all the rotating rollers around the rotating roller swinging vertical axis F ′ is restrained. ,
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.

FIG. 1 shows a turning type rotary roller mechanism 310 composed of two pairs of two rotary rollers 311, two pairs of rotary roller support mechanisms 312 and a pair of rotary roller drive mechanisms 313.
The two rotating rollers 311 are each composed of a first rotating roller 311a and a second rotating roller 311b.
The two rotating rollers 311 supported by the two rotating roller support mechanisms 312 include a first rotating roller 311a that is one driving wheel and a second rotating roller 311b that is one driven wheel. Composed.
The two rotating rollers 311 supported by the two rotating roller support mechanisms 312 are each composed of two rotating rollers 311a and 311b which are driven wheels.
The pair of rotating roller driving mechanisms 313 rotationally drive the first rotating rollers 311a that are driving wheels supported by the pair of turning-type rotating roller mechanisms 310, respectively.
3, 4, and 5 show an example of the structure of a turning-type rotating roller mechanism including the rotating roller driving mechanism 313.
The first rotating roller 311a in FIG. 5 is a driving wheel, and the second rotating roller 311b is a driven wheel.
6, 7, and 8 show an example of the structure of a turning type rotary roller mechanism that does not include the rotary roller drive mechanism 313.
The first rotating roller 311a and the second rotating roller 311b in FIG. 8 are both driven wheels.
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 swings the plurality of rotating rollers 311 around the rotating roller swinging vertical axis F ′, so that the posture of the plurality of rotating rollers 311 is one of the lateral feed posture and the vertical feed posture. It is a mechanism that selectively matches the posture of the camera.
For example, the turning mechanism 400 selectively matches the postures of all the rotating rollers 311 with either one of the lateral feed posture and the vertical feed posture.
The turning mechanism 400 includes a link mechanism 420.
The turning mechanism 400 may include a link mechanism 420 and a turning lock mechanism 430.

The link mechanism 420 is a mechanism that connects a plurality of rotation roller support mechanisms so that the postures of all the rotation rollers 311 can be selectively maintained in either one of a lateral feed posture and a vertical feed posture. .
FIG. 13 shows how the pallet 200 moves along the virtual lateral direction line Dx while maintaining the postures of all the rotating rollers 311 in the lateral direction.
FIG. 14 shows how the pallet 200 moves along the virtual vertical direction line Dy while maintaining the posture of all the rotating rollers 311 in the vertical feed posture.
The link mechanism 420 has a pair of rotations so that each of the pair of rotation rollers 311 swings in a direction opposite to each other around a pair of rotation rollers swinging vertical axis F ′. The roller support mechanism 312 may be connected.

The link mechanism 420 includes a plurality of paired rotating rollers 311 supported by a pair of rotating roller support mechanisms 312 out of at least one pair of rotating rollers, and the other rotating roller 311 and the other pair. A pair of rotating roller support mechanisms may be coupled so as to swing the plurality of rotating rollers 311 around the pair of rotating roller swinging vertical axes F ′ in opposite directions.
For example, the link mechanism 420 includes at least one first rotating roller 311a and a second rotating member that are respectively supported by a pair of rotating roller support mechanisms 312 of a plurality of rotating rollers. A pair of the roller 311b and the other one of the first rotating roller 311a and the second rotating roller 311b are oscillated around the pair of rotating roller oscillating vertical axes F 'in opposite directions. The rotating roller support mechanism may be connected.
In this way, when the pair of movable guide members 130 are swung, the pair of reaction forces received by the pallet 200 from the pair of movable guide members 130 cancel each other, so that the pallet 200 is moved. Does not work.

The link mechanism 420 may connect the pair of movable guide members 130 so as to swing the pair of movable guide members 130 around the pair of virtual vertical lines F in directions opposite to each other. .
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. Movable guide members 130 are guided in the same direction.

The link mechanism 420 may include a rotating roller turning lever 422, a guide roller turning lever 423, a plurality of turning connecting arms 424, and a turning lock lever 425.
The turning lock lever 425 has a lever structure connected to a turning lock mechanism 430 described later.
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 turning lock lever 425 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 the guide roller. It comprises a connecting arm that connects the turning lever 423.
For example, the turning connecting arm 424 includes a pair of connecting arms that connect the turning lock lever 425 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. The rotating roller turning lever 422 and the guide roller turning lever 423 are configured by a pair of connecting arms.

The turning lock mechanism 430 can selectively maintain the posture of the plurality of rotating rollers 311 supported by one rotating roller type mechanism 312 to one of a lateral feed posture and a vertical feed posture. In this manner, the mechanism can restrain or freely swing the rotating roller 311.
For example, the turning lock mechanism 430 selectively selects the posture of the two rotating rollers 311 supported by one rotating roller type support mechanism 312 as one of a lateral feed posture and a vertical feed posture. It may be configured by a brake mechanism that can restrain or freely swing the rotation roller 311 so that the rotation can be maintained.

The turning lock mechanism 430 is configured to change the posture of the plurality of rotating rollers 311 supported by a pair of rotating roller support mechanisms 312, each of which is a plurality of rotating rollers 311, respectively, in a lateral feed posture or a vertical direction. The swinging of the plurality of rotating rollers 311 may be constrained or made free so that one of the feeding postures can be selectively maintained.
The turning lock mechanism 430 includes one first rotating roller 311 a and one second rotating roller 311 b that are supported by a pair of rotating roller support mechanisms 312 that are a plurality of rotating rollers 311. The swing of the plurality of rotating rollers 311 may be constrained or made free so that the posture can be selectively maintained at either one of the lateral feed posture and the vertical feed posture.
For example, the turning lock mechanism 430 includes one first rotating roller 311a and one second rotating roller that are a pair of rotating rollers 311 supported by a pair of rotating roller support mechanisms 312 respectively. The swing of the plurality of rotating rollers 311 may be constrained or made free so that the posture of 311b can be selectively maintained in one of a lateral feed posture and a vertical feed posture.

The turning lock mechanism 430 may be coupled to the link mechanism 420 so as to restrain or free the movement of the link mechanism 420.
For example, the turning lock mechanism 430 may be coupled to the turning lock lever 425 so as to restrain or free the movement of the link mechanism 420.

The pallet lock mechanism 500 is a mechanism that can selectively restrain or freely move at least one of movement along the virtual horizontal direction line and movement along the virtual vertical direction line of the pallet 200.
The pallet lock mechanism 500 is a mechanism that can restrain or freely move both the movement of the pallet 200 along the virtual horizontal direction line and the movement along the virtual vertical direction line.
For example, the pallet lock mechanism 500 includes a rod-shaped member that tilts through a through hole that extends in the vertical direction, which is the pallet engaged portion 150.
When the rod-shaped member is inserted into the through hole, both the movement of the pallet 200 along the virtual horizontal direction line and the movement along the virtual vertical direction line are restrained.
When the rod-shaped member is removed from the through hole, both the movement of the pallet 200 along the virtual horizontal direction line and the movement along the virtual vertical direction line are made free.

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. 13 shows the relationship between the fixed-side guide mechanism and the pallet in the transverse feed process.
FIG. 14 shows the relationship between the fixed-side guide mechanism and the pallet in the longitudinal feed process.
In FIGS. 13 and 14, the pallet main structure is indicated 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, a turning lock mechanism 430, and a pallet lock mechanism 500 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.
The turning lock mechanism 430 restrains the swinging of the rotating roller 311 so that the posture of the rotating roller 3311 is maintained in the lateral feed posture.
The pallet locking mechanism 500 freely moves both the movement of the pallet 200 along the virtual horizontal direction line and the movement along the virtual vertical direction line.
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 pallet lock mechanism 500 restrains the movement of the pallet 200 along the virtual lateral direction line.
For example, the pallet lock mechanism 500 restrains both the movement of the pallet 200 along the virtual horizontal direction line and the movement along the virtual vertical direction line.
The turning lock mechanism 430 freely swings the movable guide member 130 and swings the rotating roller 311.
When the rotating roller driving mechanism 313 drives the rotating roller 311 that is a driving wheel, the rotating roller 311 that is a driven wheel is driven, the rotating roller 311 rolls on the rolling surface S, and the rotating roller 311 is rotated. The movable guide member 130 and the turning type rotating roller mechanism 310 are turned by swinging around the swinging vertical axis F7.
When the posture of the rotating roller 311 is changed from the lateral feed posture to the vertical feed posture, one first rotary roller located on each side of the rotary roller swinging vertical axis F ′ as a boundary when viewed from above. 311a and one second rotating roller 311b roll in opposite rotation directions.
The pair of movable guides 130 change the state from the state in which the longitudinal direction of the longitudinal member is along the virtual lateral line to the state in which the longitudinal direction of the longitudinal member is along the virtual longitudinal line Dy.
A state in which all the rotating rollers 311 roll on the rolling surface S and have the rotating roller tangent line J along the virtual horizontal direction line Dy from the state in which the rotating roller tangent line J extends along the virtual horizontal direction line Dx. To change.
When the orientation of the turning roller 311 becomes the longitudinal feeding posture, the turning lock mechanism 430 restrains the swinging of the rotating roller 311 so as to maintain the orientation of the rotating roller 331 in the longitudinal feeding posture.

-Vertical feed process-
The pallet lock mechanism 500 freely moves the pallet 200 along the virtual vertical direction line.
For example, the pallet locking mechanism 500 freely moves both the movement of the pallet 200 along the virtual horizontal direction line and the movement along the virtual vertical direction line.
The turning lock mechanism 430 restrains the swinging of the rotating roller 311 so that the posture of the rotating roller 331 is maintained in the longitudinal feeding posture.
When the rotating roller driving mechanism 313 drives the rotating roller 311 as a driving wheel, the rotating roller 311 rotates, and the frictional force between the rotating roller and the rail surface S of the pallet 200 causes the pallet 200 to move along the virtual vertical line Dy. Move.
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 stops.
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 thereof is omitted.

Next, the parking apparatus concerning 1st embodiment of this invention is demonstrated based on a figure.
FIG. 15 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 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 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. 16 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.
The pallet 200 is provided with a rolling surface on the lower surface and is guided by the stationary 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 to be selectively moved rotates the rotating roller 311 by bringing the rolling surfaces into contact with the outer peripheral surfaces of the rotating rollers 311 that can swing around the rotating roller swinging vertical axis F ′. Yes, a plurality of rotating rollers 311 are aligned with each other, and the rotating roller 311 is rotated in either the forward rotation direction or the reverse rotation direction to rotate the rotating roller on the rolling surface S to rotate. Since the posture of the roller 311 is changed between the lateral feed posture and the vertical feed posture, when the pallet moving mechanism 300 swings the rotating roller 311 around the rotating roller swinging vertical axis F ′. , The rotating roller contacts I rotating roller 311 is rolling on the rolling surface S can move the outer peripheral surface.
Further, when viewed from above, the first rotating roller 311a and the second rotating roller 311b are positioned with the rotating roller swinging vertical axis F ′ interposed therebetween, and when the posture of the rotating roller is changed, Since the second rotating roller 311b rolls in the opposite rotation directions, the pair of rotating rollers 311 can be stably swung around the rotating roller swinging vertical axis F ′.
Further, since at least one rotating roller 311 of the plurality of rotating rollers 311 is a driving wheel and the other rotating rollers 311 are idle wheels, the plurality of rotating rollers 311 are rotated around the rotating roller swinging vertical axis F ′. It can be made to turn stably.
Further, since one rotating roller 311 of the two rotating rollers 311 supported by one rotating roller support mechanism 312 is a driving wheel and the other one rotating roller 311 is an idler wheel, The rotating roller 311 can be stably rotated around the rotating roller swinging vertical axis F ′.
Further, the turning lock mechanism 430 restrains or freely swings the plurality of rotating rollers 311 so that the posture of the rotating roller 311 is selectively set to one of a lateral feed posture and a vertical feed posture. Since the rotation of the plurality of rotating rollers 311 is restrained, the posture of the rotating roller 311 is maintained in one of the lateral feed posture and the vertical feed posture, The posture of the rotating roller 311 can be changed by freely swinging the rotating roller 311.
Further, since the imaginary line connecting the rotating roller swinging vertical axis F ′ and the rotating roller contact point I as viewed from above is orthogonal to the rotating roller virtual tangent line F ′, the rotating line is rotated when the rotating roller 311 is swung. A force for rolling the outer peripheral surface at the contact point I of the roller 311 hardly occurs.
In addition, the link mechanism 420 can connect at least one pair of rotating roller support mechanisms 312 to selectively maintain the postures of all the rotating rollers 311 in either one of a lateral feed posture and a vertical feed posture. Since it did in this way, the attitude | position of all the rotation rollers 311 can be selectively maintained to either attitude | position of a horizontal direction feed attitude | position or a vertical direction feed attitude | position all at once.
In addition, since the movement of the pallet 200 along the virtual horizontal direction line and / or the movement along the virtual vertical direction line can be selectively restrained or freely made, the pallet locking mechanism 500 Can be used to fix the pallet 200 to change the posture of the plurality of rotating rollers 311.
In addition, since the link mechanism 420 swings at least one pair of the plurality of rotating rollers 311 in the opposite rotational directions, at least when the at least one pair of the plurality of rotating rollers 311 is swung, A pair of reaction forces acting on each of the pair of plural rotating rollers 311 cancel each other.
The pallet 200 has a pair of longitudinal rails 231 having a rolling surface S on the lower surface and a pair of lateral rails 232 having a rolling surface S, and a plurality of rotating rollers 311 in a pair. Are selectively rotated along one of the pair of longitudinal rails 231 or the pair of lateral rails 232, and the link mechanism 420 of the turning mechanism 400 swings the plurality of rotating rollers 311 in the opposite rotational directions. Since it did in this way, the several rotation roller 311 can rock | fluctuate stably and can switch the direction which the pallet 200 moves.
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 are selectively selected from either a virtual vertical direction line or a pair of virtual horizontal direction lines. Since the pair of pallet side guide mechanisms 220 that are guided so as to move according to the above are arranged, the pallet 200 on which the object is mounted can be stably moved in the vertical direction or the horizontal direction.
In addition, since the vehicle is caused to correspond to the object and the vehicle is selectively moved along one virtual vertical direction line and at least one virtual horizontal direction line using the above-described object conveyance mechanism, 1 It is possible to park in a parking space located selectively along one 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.
Although the example provided with the pallet lock mechanism has been described, the present invention is not limited to this. For example, even if the pallet locking mechanism is not provided, if the pair of movable guide members are swung in the opposite rotation directions around the pair of virtual vertical lines, the pallet 200 substantially The movement in the horizontal direction and the movement in the vertical direction can be restricted.
The example in which the pallet 200 includes the pallet side sub guide mechanism 240 and the lateral feed sub guide member 140 has been described. However, the pallet 200 is not limited thereto. For example, the pallet 200 does not include the pallet side sub guide mechanism 240 and the lateral feed sub guide member 140. May be.

E Predetermined dimensions G Notch L Predetermined separation distance M Predetermined separation 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 Horizontal 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 sub guide mechanism 241 Pallet side sub guide roller 242 Pallet side sub guide roller Support member 250 pallet Engaged portion 300 Pallet moving mechanism 310 Turning type rotating roller mechanism 311 Rotating roller 311a First rotating roller 311b Second rotating roller 312 Rotating roller support mechanism 313 Rotating roller driving mechanism 400 Turning mechanism 420 Link mechanism 422 Rotating roller turning lever 423 Guide Roller turning lever 424 Turning connecting arm 430 Turning lock mechanism 500 Pallet lock mechanism

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

Claims (8)

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 pallet locking mechanism that can selectively restrain or freely move at least one of movement along the virtual horizontal direction line or movement along the virtual vertical direction line of the pallet;
A turning mechanism;
With
The pallet moving mechanism has a turning type rotating roller mechanism,
An outer peripheral surface on which the turning-type rotating roller mechanism rolls along a rotating roller virtual tangent that is a virtual tangent extending in a horizontal direction including a rotating roller contact that is in contact with the rolling surface from below and that is a contact with the rolling surface A plurality of rotating rollers each capable of rotating about a rotation axis, a plurality of rotating rollers, and a plurality of rotating rollers, each having a horizontal feed posture that is a posture in which each rotating roller virtual tangent is parallel to a virtual lateral line. The plurality of rotating rollers are swung around the rotating roller vertical axis, which is the vertical axis, so as to be able to transit between the vertical feeding posture which is a posture in which the virtual tangent of the rotating roller is parallel to the virtual vertical line. at least the one rotational roller supporting mechanism, at least one rotating roller which at least one said rotating roller for rotating around said rotation axis of the plurality of the rotating roller which movably supports Have and the dynamic mechanism, the,
A plurality of the rotating rollers supported by one rotating roller support mechanism have their rotation axes coincide with each other;
The plurality of rotating rollers are rotated in either the normal rotation direction or the reverse rotation direction to rotate the plurality of rotating rollers on the rolling surface, and the posture of the rotating rollers is changed to the lateral feed posture. And the vertical feed posture,
The turning mechanism can selectively maintain the postures of the plurality of rotating rollers supported by one rotating roller support mechanism in either the lateral feed posture or the vertical feed posture. The rotation lock mechanism capable of restricting or freely swinging the plurality of rotating rollers and the postures of all the rotating rollers are selectively set to one of the lateral feed posture and the vertical feed posture. A link mechanism for connecting a plurality of rotating roller support mechanisms,
The plurality of rotating rollers includes one first rotating roller and one second rotating roller adjacent to each other,
When viewed from above, the rotating roller swinging vertical axis is located between the rotating roller contact of one of the first rotating rollers and the rotating roller contact of one of the second rotating rollers,
When the rotary roller is in the lateral feed posture,
Maintaining the state in which the pallet locking mechanism restrains both the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line of the pallet;
And maintaining the state in which the turning lock mechanism is free to swing the rotating roller,
When the rotary roller driving mechanism rotationally drives the rotary roller in one rotational direction around the rotary shaft, the rotary roller virtual tangent generated on the rolling surface while the rotary roller rolls on the rolling surface. Is converted into a torque that causes the rotating roller to swing about the rotating roller swinging vertical axis, and the torque causes the rotating roller to simultaneously rotate around the rotating roller swinging vertical axis. swings, Runode to deflect the deflecting rotating roller mechanism,
While all the rotating rollers roll on the rolling surface, the rotating roller virtual tangent line extends along the virtual horizontal line from the rotating roller virtual tangent line along the virtual vertical line. It is varied,
As a result, when the posture of the rotating roller becomes the vertical feeding posture, the turning lock mechanism restrains the swinging of the rotating roller so that the posture of the rotating roller is maintained in the vertical feeding posture.
When the posture of the rotating roller is the vertical feed posture,
Maintaining the state in which the pallet locking mechanism restrains both the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line of the pallet;
And maintaining the state in which the turning lock mechanism is free to swing the rotating roller,
When the rotary roller driving mechanism rotationally drives the rotary roller in the other rotational direction around the rotary shaft, the rotary roller tangent to the rotary roller generated on the rolling surface while the rotary roller rolls on the rolling surface. Is converted into a torque that causes the rotating roller to swing about the rotating roller swinging vertical axis, and the torque causes the rotating roller to simultaneously rotate around the rotating roller swinging vertical axis. Since it swings and turns the turning-type rotating roller mechanism,
While all the rotating rollers roll on the rolling surface, the rotating roller virtual tangent line extends along the virtual vertical line from the rotating roller virtual tangent line along the virtual horizontal line. Change
As a result, when the posture of the rotating roller becomes the lateral feeding posture, the turning lock mechanism restrains the swinging of the rotating roller so as to maintain the posture of the rotating roller in the lateral feeding posture.
The object conveyance mechanism characterized by the above-mentioned. At least one of the plurality of rotating rollers is a driving wheel driven by the rotating roller driving mechanism, and the other rotating roller of the plurality of rotating rollers is a driven wheel,
When the rotary roller is in the lateral feed posture,
Maintaining the state in which the pallet locking mechanism restrains both the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line of the pallet;
And maintaining the state in which the turning lock mechanism is free to swing the rotating roller,
When the rotating roller drive mechanism drives the rotary roller is driven wheels, said rotating roller is driven a driven wheel in conjunction, while the rotating roller rolls on the rolling surface, at the same time the rotation roller swings around the rotation roller oscillating vertical shaft, Runode to deflect the deflecting rotating roller mechanism,
While all the rotating rollers roll on the rolling surface, the rotating roller virtual tangent line extends along the virtual horizontal line from the rotating roller virtual tangent line along the virtual vertical line. It is varied,
As a result, when the posture of the rotating roller becomes the vertical feeding posture, the turning lock mechanism restrains the swinging of the rotating roller so as to maintain the posture of the rotating roller in the vertical feeding posture.
The object transport mechanism according to claim 1, wherein: 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 link mechanism couples the pair of movable guide members such that the pair of movable guide members swing around the pair of virtual vertical lines in directions opposite to each other;
When the rotary roller is in the lateral feed posture,
Maintaining the state in which the pallet locking mechanism restrains both the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line of the pallet;
And wherein turning the locking mechanism to maintain a state in which free and swinging of the rotating roller and the swing of the movable guide member,
When the rotating roller drive mechanism drives the rotary roller is driven wheels, said rotating roller is driven a driven wheel in conjunction, while the rotating roller rolls on the rolling surface, at the same time the rotation roller swings around the rotation roller oscillating vertical shaft, Runode to deflect and said movable guide member and the diverting rotating roller mechanism,
In conjunction, the pair of movable guide members change their state from the state in which the longitudinal direction of the longitudinal member is along the virtual horizontal line to the state in which the longitudinal direction of the longitudinal member is along the virtual longitudinal line. And
While all the rotating rollers are rolling on the rolling surface at the same time , the rotating roller virtual tangent line is along the virtual vertical line from the rotating roller virtual tangent line along the virtual horizontal line. by changing to,
As a result, when the posture of the rotating roller becomes the vertical feeding posture, the turning lock mechanism restrains the swinging of the rotating roller so as to maintain the posture of the rotating roller in the vertical feeding posture.
The object conveying mechanism according to claim 2, wherein Each of the turning type rotating roller mechanisms has at least one pair of each of the plurality of rotating rollers, at least one pair of the rotating roller support mechanisms, and at least one of the rotating roller driving mechanisms,
One of the at least one pair of rotating roller support mechanisms is the first rotating roller that is a driving wheel that is driven to rotate by the rotating roller driving mechanism and the second rotation that is a driven wheel. swingably supporting the rollers around said rollers oscillating vertical shaft,
Of the at least one pair of rotating roller support mechanisms, the other one rotating roller support mechanism is a driven wheel and the first rotating roller is a driven wheel and the second rotating roller is a driven wheel. freely supported swinging around,
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 link mechanism couples the pair of movable guide members such that the pair of movable guide members swing around the pair of virtual vertical lines in directions opposite to each other;
When the rotary roller is in the lateral feed posture,
Maintaining the state in which the pallet locking mechanism restrains both the movement along the virtual horizontal direction line and the movement along the virtual vertical direction line of the pallet;
And wherein turning the locking mechanism to maintain a state in which free and swinging of the rotating roller and the swing of the movable guide member,
Wherein the rotating roller driving mechanism to drive the rotation rollers, while the rollers roll along the rolling surface, swung simultaneously the rotating roller around said rollers oscillating vertical shaft, the movable Runode to deflect the guide member and the turning rotating roller mechanism,
In conjunction, the pair of movable guide members change their state from the state in which the longitudinal direction of the longitudinal member is along the virtual horizontal line to the state in which the longitudinal direction of the longitudinal member is along the virtual longitudinal line. And
While all the rotating rollers are rolling on the rolling surface at the same time , the rotating roller virtual tangent line is along the virtual vertical line from the rotating roller virtual tangent line along the virtual horizontal line. by changing to,
As a result, when the posture of the rotating roller becomes the vertical feeding posture, the turning lock mechanism restrains the swinging of the rotating roller so as to maintain the posture of the rotating roller in the vertical feeding posture.
The object conveyance mechanism according to claim 1, wherein Each of the turning type rotating roller mechanisms has at least one pair of each of the plurality of rotating rollers, at least one pair of the rotating roller support mechanisms, and at least one of the rotating roller driving mechanisms,
One of the at least one pair of rotating roller support mechanisms is the first rotating roller that is a driving wheel that is driven to rotate by the rotating roller driving mechanism and the second rotation that is a driven wheel. swingably supporting the rollers around said rollers oscillating vertical shaft,
Of the at least one pair of rotating roller support mechanisms, the other one rotating roller support mechanism is a driven wheel and the first rotating roller is a driven wheel and the second rotating roller is a driven wheel. freely supported swinging around,
The object conveyance mechanism according to claim 1, wherein 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 pallet locking mechanism that can selectively restrain or freely move at least one of movement along the virtual horizontal direction line or movement along the virtual vertical direction line of the pallet;
A turning mechanism;
With
The pallet moving mechanism has a turning type rotating roller mechanism,
An outer peripheral surface on which the turning-type rotating roller mechanism rolls along a rotating roller virtual tangent that is a virtual tangent extending in a horizontal direction including a rotating roller contact that is in contact with the rolling surface from below and that is a contact with the rolling surface A plurality of rotating rollers each capable of rotating, a plurality of rotating rollers, a lateral feeding posture in which each rotating roller virtual tangent is parallel to a virtual lateral line, and each rotating roller virtual A plurality of rotating rollers are supported in a swingable manner around a vertical axis of a rotary roller swinging vertical axis so that a transition can be made between a vertical feed posture that is a posture in which a tangent line is parallel to a virtual vertical direction line. Having at least one rotating roller support mechanism and at least one rotating roller driving mechanism for rotating and driving at least one rotating roller of the plurality of rotating rollers,
A plurality of the rotating rollers supported by one rotating roller support mechanism have their rotation axes coincide with each other;
A plurality of said rotary roller driven to rotate around said rotary shaft in either one rotational direction of the forward or reverse rotated respectively by rolling the plurality of the rollers in the rolling surface the The reaction force of the frictional force along the virtual tangent line of the rotating roller generated on the rolling surface is converted into a torque that swings the rotating roller about the rotating roller swinging vertical axis, and the torque causes the rotating roller to Rotating around the rotating roller swinging vertical axis, the posture of the rotating roller is changed between the lateral feed posture and the vertical feed posture,
The turning mechanism can selectively maintain the postures of the plurality of rotating rollers supported by one rotating roller support mechanism in either the lateral feed posture or the vertical feed posture. The rotation lock mechanism capable of restricting or freely swinging the plurality of rotating rollers and the postures of all the rotating rollers are selectively set to one of the lateral feed posture and the vertical feed posture. A link mechanism for connecting a plurality of rotating roller support mechanisms,
A plurality of rotating rollers including one first rotating roller and one second rotating roller adjacent to each other;
When viewed from above, the rotating roller swinging vertical axis is located between the rotating roller contact of one of the first rotating rollers and the rotating roller contact of one of the second rotating rollers,
Each of the turning type rotating roller mechanisms has at least one pair of each of the plurality of rotating rollers, at least one pair of the rotating roller support mechanisms, and at least one of the rotating roller driving mechanisms,
One of the at least one pair of rotating roller support mechanisms is the first rotating roller that is a driving wheel that is driven to rotate by the rotating roller driving mechanism and the second rotation that is a driven wheel. swingably supporting the rollers around said rollers oscillating vertical shaft,
Of the at least one pair of rotating roller support mechanisms, the other one rotating roller support mechanism is a driven wheel and the first rotating roller is a driven wheel and the second rotating roller is a driven wheel. freely supported swinging around,
The object conveyance mechanism characterized by the above-mentioned. 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 transport mechanism is an object transport mechanism according to any one of claims 1 to 7, wherein the vehicle corresponds to an object.
The control mechanism moves a plurality of the pallets each carrying a plurality of vehicles along a virtual vertical direction line and a virtual horizontal direction line, along the virtual vertical direction line and the virtual horizontal direction line. Parking the vehicle in the parking space.
A parking device characterized by that.

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