JPH0626235A - Parking equipment - Google Patents

Abstract

PURPOSE:To downsize the whole equipment and to simplify the structure. CONSTITUTION:When an automobile 2 is carried in/out of a garage, a truck 3 which is positioned adjacent to the empty space is moved to the empty space 7 in a parking lot 1 by the control of the control part, and then, other truck 3 which is positioned adjacent thereto is moved to a new empty space obtained by the movement of this truck 3, and by successively repeating the similar operation, the truck 3 for carrying the target automobile in/out of the garage is moved to the carrying-in/out station 1a. The empty space 7 required may be sufficient with the space necessary for one minimum sized automobile 2, and this arragement suppresses the necessary area of the parking lot 1 to the minimum. No large-sized complicated driving device is required by mounting an independent driving source on the truck 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking device, and more particularly, to a parking device in which a plurality of carriages for mounting a car are moved in relation to each other so that the car can be loaded and unloaded. .

[0002]

2. Description of the Related Art With the rapid increase in the number of automobiles in recent years,
In particular, the shortage of parking lots in urban areas has become a serious social problem. From such a viewpoint, recently, various parking devices for compactly accommodating an automobile have been proposed, and one example thereof is shown in FIGS. 15 and 16.

In the parking device shown in FIG. 15, a loading / unloading work space a is formed at the center, and the loading / unloading work space a is formed.
A plurality of parking portions b, b, ... Are divided and formed on both sides of the floor, and a floor c is erected on a plurality of floors. In the loading / unloading work space a, a vehicle-mounted pallet d is provided on the first floor portion.
A lift device (not shown) is provided to lift each floor. In addition, in the loading / unloading work space a on the second floor or higher, trolleys e for receiving the vehicle-mounted pallets d from the lift device are provided so as to be movable in the horizontal arrow directions (Japanese Patent Publication No. 2-35814). (See Japanese Patent Publication).

In the loading / unloading work of the vehicle f in the parking device, for example, the loading work, the empty pallet d is lowered by the lift device and the vehicle f is moved to a fixed position on the pallet d. Next, this pallet f is lifted up to the floor where the goods are to be stored by the lift device, and the pallet f is handed over to the truck e of this floor. The trolley e that has received the pallet f moves in the direction of the horizontal arrow and stops in opposition to the target parking portion b, and the pallet d and the automobile f are parked by the loading device configured by a chain conveyor or the like. Carry it into part b. The shipping operation is also performed in the reverse order.

In the parking device shown in FIG. 16, a plurality of pallets p for mounting on an automobile are arranged in the left-right direction and the direction perpendicular to the drawing, and the trolley device is provided above the pallets p, p, .... A garter r including q is provided so as to be able to travel in a direction perpendicular to the paper surface. The trolley device q is provided with a telescopic mast s that is movable in the left-right direction on the garter r and is capable of expanding and contracting in the up-down direction. At the lower end portion of this mast s, a suspension tool t for suspending and supporting the pallet p is provided. Is rotatably provided (see Japanese Patent Publication No. 2-44984). u is the receiving station,
Reference numeral v denotes a delivery station, w denotes a pit provided at the lower part of the delivery stations u and v, and x denotes a table lifter for raising and lowering a pallet p provided in the pit w.

When the vehicle o is loaded or unloaded in the parking apparatus, for example, when the vehicle o is to be loaded on the pallet p of the loading station u, the garter r and the trolley device q are moved. , The fishing tackle t is positioned above the pallet p of the storage station u. next,
The mast s is lowered, and the pallet p is held by the work attaching / detaching portion of the fishing tackle t, and then the mast s is raised again. Subsequently, the garter r and the trolley device q are moved and stopped at a desired storage location (not shown), the mast s is lowered, and the holding state of the pallet p by the work attaching / detaching portion of the fishing t is released. As a result, the automobile o is carried into the storage location together with the pallet p. The shipping operation is also performed in the reverse order.

[0007]

However, these parking devices have the following problems, and further improvements have been demanded.

That is, in the former parking apparatus shown in FIG. 15, a loading / unloading work space a is required between the floors c, c over the entire length thereof. The utilization rate of is poor. Also,
A large device such as a lift device is required, and the entire device is complicated and expensive.

Also, in the latter parking device shown in FIG. 16, a large device such as a trolley device q, a garter r, a telescopic mast s, a sling t, and a table lifter x are required, and the entire device is complicated and expensive. Has become.

The present invention has been made in view of the above problems of the prior art, and an object thereof is to provide a parking apparatus which can be downsized and its structure can be simplified.

[0011]

In order to achieve the above object, in the parking device of the present invention, a plurality of vehicles for mounting an automobile are arranged in a parking lot in a first direction and a second direction orthogonal to the first direction. Each of these carriages is provided with an independent drive source and is movable in each of the directions, and an empty space for moving the carriages is provided in a part of the parking lot to allow the carriages to move. Is provided with a control unit for controlling the drive in relation to each other, and by the control unit, in the empty space,
One of the trucks located adjacent to this is moved, and the truck located adjacent to this is moved into another empty space created by the moved truck, and this operation is repeated thereafter. As a result, an empty trolley for warehousing is moved to the warehousing station of the parking lot, and a trolley for warehousing equipped with a car is configured to be moved to the unloading station of the parking lot. Characterize.

[0012]

In the parking apparatus of the present invention, when the vehicle is parked, the control unit controls the carriage to move the carriage located adjacent to the empty space provided in a part of the parking lot. Then, move the dolly located adjacent to it into the new empty space created by this dolly movement, and then repeat this operation to move the empty dolly for warehousing to the warehousing station. . On the other hand, even when the vehicle is unloaded, the trolley for loading, which carries the vehicle to be unloaded, is moved to the shipping station by the same operation as described above.

As described above, since each trolley moves by effectively utilizing the empty space provided in the parking lot, it is not necessary to install a space for moving the trolley throughout the parking lot, and the entire apparatus can be installed. It is possible to reduce the size, especially the area required for the plane.

Further, since each trolley is provided with an independent small drive source, a large and complicated device such as a hoisting device for a car or a trolley, a carrying device, etc. is unnecessary.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

Embodiment 1 FIG. 1 shows the whole parking apparatus according to the present invention. This parking device includes a plurality of carriages 3 for mounting an automobile 2 in a parking lot 1 which is formed by partitioning a plurality of rectangular parking areas.
, 3 are arranged adjacent to each other in the X direction and the Y direction orthogonal thereto. As will be described later, each of these carts 3 is provided with an independent drive source and can be moved in both the X and Y directions by the control unit.

Each dolly 3 has a dolly No. Are assigned, and the position of each trolley 3 is, as shown in FIG.
It is determined by the X, Y coordinates (X, Y) with the coordinate origin (0,0) being the parking area located in the lower right corner of the parking lot 1. The position of the parking area that is the coordinate origin (0,0) is
A loading / unloading station 1a for loading / unloading the automobile 2
Used as. In this loading / unloading station 1a,
A gate 4 that can be opened and closed is provided. An entrance / exit 5 is provided outside the parking lot 1 so as to face the gate 4. An entrance / exit slope 6 (see FIG. 3) of the automobile 2 is arranged between the gate 4 and the entrance / exit opening 5.

Further, a part of the parking lot 1, that is, a part of the parking area (one in the illustrated example) is an empty space 7 (shaded portion) for moving the carriage. This empty space 7
Is a space for about one dolly 3 and allows movement of the dolly 3, 3, ... As described later.

As shown in FIGS. 3 to 5, the trolley 3 is provided with a trolley body 8, a rotary base 12, and a drive source for driving these as main parts. As shown in FIG. 4, FIG. 6 and FIG. 7, spherical wheels 11 made of rubber, for example, are provided at four locations on the lower portion of the carriage body 8. The spherical wheels 11, 11, ... Are for maintaining an equilibrium state when the carriage 3 is moved, and are fitted and supported in a spherical recess 9 formed in the lower portion of the carriage main body 8 in a freely rotatable manner.

A base recess 10 is formed in a downward opening in the center of the lower part of the carriage main body 8, and a rotary base 12 is fitted in the base recess 10. The rotary base 12 has a disk shape, and can be moved up and down and rotated in the base recess 10 by an elevating mechanism and a rotation index mechanism described later.

Below the rotary base 12, a pair of traveling wheels 13, 13 are provided. These running wheels 13
Are connected by an axle 14, and the axle 14 is rotatably supported by a bearing 15 fixed to the lower portion of the rotary base 12. The center of the axle 14 is shown in FIG.
A bevel gear 16 is attached as shown in FIG.

On the other hand, below the rotary base 12, a traveling motor 20 and a speed reducer 21 capable of rotating in the forward and reverse directions are provided. The output shaft 20a of the traveling motor 20 is connected to the input side of the speed reducer 21 via a coupling 22.
A bevel gear 23 is attached to an end portion of the output shaft 21a of the reduction gear 21, and the bevel gear 23 serves as the bevel gear 16.
Has been meshed with. As a result, the rotational force of the traveling motor 20 is transmitted to the traveling wheels 13, 13 via the speed reducer 21 and the bevel gears 23, 16.

A rotary encoder 24 for detecting the rotation amount of the traveling motor 20 is connected to the traveling motor 20. The traveling motor 20 has a carriage control unit 70, which will be described later.
(FIG. 9) is driven in cooperation with the lifting mechanism and the rotation index mechanism of the rotary base 12 to rotate the traveling wheels 13, 13 in the forward or reverse direction, and move the carriage 3 by a predetermined distance in the X direction or the Y direction. Is configured.

Next, an elevating mechanism and a rotary indexing mechanism of the rotary base 12 will be described with reference to FIG.

The lifting mechanism of the rotary base 12 is specifically composed of a hydraulic cylinder 32. This hydraulic cylinder 3
The reference numeral 2 is provided downward in the central portion of the carriage main body 8, and the tip end flange 37a of the cylinder rod 37 thereof is connected to the rotary base 12. A cylinder sensor 39 is arranged inside the fitting / inserting portion 31 of the carriage main body 8 to detect the forward end and the backward end of the cylinder rod 37.

When the cylinder rod 37 is lowered (advanced), the lower surface of the wheel 13 and the lower surface of the spherical wheel 11 are placed at substantially the same height position so that both the spherical wheel 11 and the wheel 13 are grounded. Is set to. At this time, a predetermined vertical gap 38 corresponding to the lifting stroke of the rotary base 12 is formed between the upper surface 12 a of the rotary base 12 and the base recess 10.

On the other hand, the cylinder rod 37 is raised (retreated).
At this time, the rotary base 12 rises in the vertical gap 38, and the lower surface of the wheel 13 is brought into a non-grounded state. In FIG. 4, reference numerals 30 and 31 denote hydraulic cylinders 3.
2 is a fitting insertion portion, 34 is a fixing member of the hydraulic cylinder 32, 35
Is a closing plate, and 36 is a through hole for inserting the cylinder rod 37 of the hydraulic cylinder 32.

The rotary index mechanism of the rotary base 12 is specifically a motor 40 and gear trains 41, 45, which transmit the driving force of the motor 40 to the rotary base 12.
It consists of 46 and 52.

The motor 40 is arranged on the side of the hydraulic cylinder 32 in the bogie main body 8, and the pinion 41 constituting the gear train is mounted on the output shaft end thereof. On the other hand, on the side of the motor 40, an intermediate shaft 42 is arranged vertically in parallel with the output shaft thereof. This intermediate shaft 42
Is rotatably supported by a bracket 44 via a bearing 43, and a gear 45 that meshes with the pinion 41.
Is equipped with. Further, a wide pinion 46 is mounted on the lower end of the intermediate shaft 42, while a ring gear 52 is mounted on the outer periphery of the rotary base 12, and these are meshed with each other through a notch 50 in the base recess 10 of the carriage body 8. Has been done.

By the gear trains 41, 45, 46, 52, the driving force of the motor 40 is transmitted to the rotary base 12, and the rotary baze 12 is rotated within a predetermined angle range. Although not shown, a base sensor for detecting the amount of rotation of the rotary base 12 is arranged in the base recess 10 of the carriage body 8, and the motor 40 is detected according to the detection result of the base sensor. Is controlled.

Further, as shown in FIG. 4, when the traveling wheels 13 are in the ground contact state, the ring gear 52 meshes with the lower side of the pinion 46, and the rotary base 12 moves up and down between the ring gear 52 and the notch 50. A predetermined vertical gap 55 corresponding to the stroke is formed. As a result, when the wheel 13 shifts from the grounded state to the non-grounded state, that is, when the rotary base 12 rises, the ring gear 5
The gear 2 moves up in the vertical gap 55 while meshing with the pinion 46.

However, by the lifting mechanism and the rotation index mechanism, the carriage 3 has one of the X-direction posture (FIG. 6) that can move in the X direction and the Y-direction posture (FIG. 7) that can move in the Y direction. Can be taken selectively. That is, first, when the cylinder rod 37 of the hydraulic cylinder 32, which is an elevating mechanism, retracts (raises), the traveling wheels 13, 13 ascend together with the rotary base 12 and become in a non-grounded state (see the chain line in FIG. 4). . In this state, the motor 40 of the rotation index mechanism is driven, the rotary base 12 is rotated by a predetermined angle, and the traveling wheels 1 of the carriage 3 are rotated.
3 and 13 are placed in the X-direction posture or the Y-direction posture. Then, the cylinder rod 37 moves forward (descends), and the traveling wheels 13 and 13 descend again to be in the ground contact state.

As shown in FIG. 3, a car stop 58 is provided on the front end side of the vehicle mounting surface 8a on the bogie main body 8.
The cart body 8 is provided with, for example, a weight sensor (not shown) that detects whether or not the vehicle 2 is mounted on the vehicle mounting surface 8a. A travel sensor 56 is provided on the front end side of the lower part of the bogie main body 8, while a sensor rail 57 detected by the travel sensor 56 is provided in the parking lot 1 in the X and Y directions, as shown in FIG. It is extended. As a result, each carriage 3 in the parking lot 1
When the carriage 3 moves in the X direction and the Y direction, each carriage 3 moves while being guided by the sensor rail 57.

As described above, the parking device is provided with a control unit for drivingly controlling the drive sources of the trucks 3 in association with each other. The control unit is composed of the main control unit 60 and the truck control unit 70. Has been done.

As shown in FIG. 8, the main control unit 60 specifically includes a CPU 61, a RAM 62, a ROM 63 and an I / O.
It is composed of a microcomputer including an O port 64 and the like. The I / O port 64 has a keyboard 6
5. A transmission / reception unit 66 for exchanging signals with the trolley control unit 70 of each trolley 3 and other input units are connected. Further, the I / O port 64 has a gate driving unit 6 of the gate 5.
7, the display unit 68 and other output units are connected.

The trolley control unit 70 is mounted on each trolley 3, and the rotary base 1 is associated with the main control unit 70.
2, which controls the driving of the vehicle 2 and the traveling wheels 13, and is composed of a microcomputer including a CPU and the like like the main controller 60.

In the trolley control unit 70, as shown in FIG.
A transmission / reception unit 71 for exchanging various signals with the transmission / reception unit 66 of the main control unit 60, various sensors 72 such as the cylinder sensor 39, the base sensor, and the weight sensor described above, a traveling sensor 56, and other input units are connected. Has been done. Further, the carriage control unit 70 includes a motor control circuit 73 including the rotary encoder 24 for performing drive control of the traveling motor 20, the hydraulic cylinder 32, and the rotary base 1.
The motor 40 for two rotations and other output parts are connected.

The parking device configured as described above is driven and controlled by the main controller 60 and the carriage controller 70, and operates as described below. 10 to 12 are flowcharts showing the control program in this case. FIG. 10 shows the control flow of the warehousing process, and FIG. 11 shows the control flow of the warehousing process.
12 and FIG. 12 show control flows for moving the carriage, respectively.

A. Goods Receipt Process (See FIG. 10) At the time of good warehousing process, in step S1, it waits until a warehousing command is input. When the operator inputs a storage instruction from the keyboard 65, the process proceeds to step S2. In step S2, it is determined whether or not there is an empty trolley at the loading / unloading station 1a (FIG. 1). Loading / unloading station 1
When it is determined that there is a vacant truck in a, the process proceeds to step S6. On the other hand, if it is determined in step S2 that there is no vacant truck in the loading / unloading station 1a, step S3
Move to.

In step S3, the loading / unloading station 1
The vacant truck to be moved to a is determined. As this empty truck, the empty truck closest to the loading / unloading station 1a is used. Next, in step S4, each carriage 3, 3 ... Which should be moved to move the empty carriage 3 is determined, and the shortest movement route of the empty carriage 3 to the loading / unloading station 1a is calculated.

For example, in FIG. 2, when there is no vacant carriage at the loading / unloading station 1a and there is a vacant carriage 3 at the position of coordinates (1, 2), in this case, the thick line in FIG. The carts 3, 3 ... At the coordinate positions surrounded by the frame are targets of movement.

When the empty carriage 3 to be moved and the shortest moving route thereof are determined, a carriage moving subroutine (see FIG. 12) to be described later is executed in step S5, and the carriages 3 and 3 along the shortest moving route are executed. , Are moved to move the empty trolley 3 having the coordinates (1, 2) to the loading / unloading station 1a.

That is, each carriage 3 is sequentially moved in the arrow direction from the carriage 3 at the coordinate (1,1), that is, the carriage at the coordinate (1,1) is first moved in the empty space 7 at the coordinate (1,0). To the coordinates (1,
By moving the empty carriage 3 with the coordinates (1, 2) into the empty space of 1) and repeating the same operation as described below in sequence, the empty carriage 3 with the coordinates (1, 2) can be moved to the loading / unloading station by the shortest route. It will move to 1a.

When the target empty carriage 3 is present or has moved in the loading / unloading station 1a, the gate 4 is opened by driving the gate driving unit 67 in step S6. Next, in step S7, the process waits for the automobile 2 to be loaded into the empty carriage 3. During this waiting time, the vehicle 2 to be parked is driven by the driver, and the vehicle 2 is carried in from the loading / unloading port 5 onto the empty carriage 3 of the loading / unloading station 1a.

After the loading of the automobile 2, when the operator inputs a warehousing completion key from the keyboard 65, the process proceeds to step S8 and the gate 4 is closed. Next, step S
At 9, the warehousing data stored in the RAM 62 is corrected for this new warehousing process.

B. Outgoing Process (Refer to FIG. 11) In the outgoing process, in step T1, the trolley No. having the automobile 2 to be taken out is mounted. Wait for input. From the keyboard 65 by the operator, the dolly No. Is entered,
In step T2, each carriage 3 to be moved to move the carriage 3 from the storage position of the carriage 3 to be discharged.
.. is determined, and the shortest movement route of the cart 3 to be unloaded to the loading / unloading station 1a is calculated.
The calculation of this shortest movement route is performed in the same manner as in the above-mentioned warehousing process A.

When the bogie 3 to be moved and its shortest moving route are determined, the bogies 3 along the shortest moving route decided in step T2 are followed in accordance with a bogie moving subroutine (see FIG. 12) which will be described later in step T3. 3 ... is carried out, and the trolley 3 to be unloaded is loaded / unloaded at the loading / unloading station 1a.
Move to.

When the trolley 3 carrying the automobile 2 to be unloaded moves to the loading / unloading station 1a, step T4
Then, the gate 4 is opened by the driving of the gate driving unit 67. Next, in step T5, the vehicle 2 is waited for to be carried out from the loading / unloading station 1a. During this waiting time, the vehicle 2 is driven by the driver and is unloaded from the loading / unloading station 1a.

When the operator inputs the warehousing completion key from the keyboard 65 after carrying out the vehicle, the process proceeds to step T6 and the gate 4 is closed. Next, in step T7,
The data stored in the RAM 62 is corrected for the shipping process.

C. Truck moving process (see FIG. 12) Step S4 or step T2 of the main routine
When the shortest movement route for the target bogie 3 is determined in, each bogie 3,
Move 3, ... The movement control at this time is performed by the main control unit 6
0 and the transmission / reception units 66 and 71 of the carriage control unit 70 to move the carriages 3 in the X direction or the Y direction.

First, in step P1, it is judged whether or not the carriage 3 should be moved in the X direction. If the movement in the X direction is unnecessary, the process proceeds to step P4, and if the movement in the X direction is necessary. Control goes to step P2. In Step P2, the traveling wheels 13 of the trolley 3 are placed in a posture in which the trolley 3 can move in the X direction (X-direction posture), as shown in FIG. Next, in step P3, the traveling motor 20 (FIG. 4) is driven to drive the traveling wheels 1
3, 3 and 13 are rotated normally or reversely to move the carriage 3 in the X direction by a predetermined distance.

If the carriage 3 does not need to be moved in the X direction or has moved a predetermined distance, then in step P4, it is determined whether or not the carriage 3 should be moved in the Y direction. If there is, the process proceeds to step P7, and if it is necessary to move in the Y direction, the process proceeds to step P5. In Step P5, the traveling wheels 13 are brought into a posture in which the carriage 3 can move in the Y direction (Y direction posture), as shown in FIG. Next, in step P6, the traveling motor 2 is processed in the same manner as in step P3.
0 is driven to rotate the running wheels 13, 13 in the forward or reverse direction, and the carriage 3 is moved in the Y direction for a predetermined distance.

During each movement of the carriage 3 in the X direction and the Y direction, the traveling sensor 56 detects the sensor rail 57, whereby the carriage 3 is guided along the sensor rail 57 and the parking lot. It will move within 1.

As described above, the required carts 3, 3,
... and the target vacant dolly 3 or the dolly 3 on which the vehicle 2 to be unloaded is installed is the entry / exit station 1.
After moving to a, it is determined in step P7 whether or not all the carriage movements have been completed. If the carriage movements have been completed, the control program proceeds to step S6 (see FIG. 1) of the main routine.
0) or shifts to step T4. On the other hand, if the carriage movement has not been completed, the process returns to step P1 again.

Embodiment 2 FIG. 13 shows the entire parking apparatus according to another embodiment of the present invention. This parking device includes a rectangular frame 80 provided along the peripheral portion of the parking lot 1, and a plurality of carriages 81 for mounting the automobile 2 in the frame 80.
.. (only part of which is shown in the figure) are arranged adjacent to each other in the X direction and the Y direction orthogonal thereto. Each of these carts 81 has an independent drive source and is movable in both the X and Y directions by the control unit.

As in the first embodiment, an empty space 83 (shaded portion) for moving the carriage is provided in a part of the frame 80, and its shape and size and function are the same as those of the empty space 5 described above. ing. Further, the lower right corner of the frame 80, that is, the position of the parking area that is the coordinate origin (0,0) is
A loading / unloading station 80 for loading / unloading the automobile 2
Used as a. A warehousing slope 84 of the automobile 2 is arranged between the warehousing / unloading station 80a and the warehousing / unloading port 85.

As shown in FIG. 14, each carriage 81 has a total of four wheels 82, 82, at two corners in the diagonal direction.
, And these wheels can be rotated forward and backward around a vertical axis by a drive mechanism (not shown).

Each wheel 82 is supported by the outer periphery of the carriage 81 so as to be retractable and retractable, and is constantly elastically biased toward the outside of the carriage 81 by a biasing mechanism (not shown). As a result, as shown in FIG. 13, when the carriage 81 is accommodated in the frame 80, the wheels 82, 82, ... Of each carriage 81 are elastically attached to the inner surface of the adjacent carriage 81 or frame 80. Is pressed against.

As in the case of the first embodiment, the trolley movement during the loading / unloading process is performed by utilizing the empty space 83, and each trolley 8 is moved into the empty space 83.
When the vehicle 1 is moved, the wheels 82, 82, ... Roll on the side portions of the trucks 81 adjacent to each other or the inner surface of the frame 80. In this case, since each wheel 82 can be retracted from the carriage 81 as described above, each wheel 82 does not hinder the movement of the carriage.

The present invention is not limited to the above-described first and second embodiments, and various design changes can be made. For example, in the illustrated example, since the shape and size of the parking lot 1 are not so large, only the space for one dolly is provided as the empty spaces 4 and 83, but according to the increase in the shape and size of the parking lot 1. An empty space for two or more trolleys may be provided. Further, in the illustrated example, the loading / unloading stations 1a and 80a serving as the loading and unloading stations are provided, but these loading and unloading stations may be provided separately.

Furthermore, the present invention can be applied to an automatic warehouse by using each of the above-mentioned trucks as a truck for loading products in an automatic warehouse, for example.

[0062]

As described in detail above, according to the present invention,
In the parking lot, there are a plurality of trucks for mounting cars, and an empty space for moving each truck is provided in a part of the parking lot. The trolley located at the same position moves and the trolley located adjacent to it moves into the empty space created by this trolley movement. In addition, since the trolley for loading, which is equipped with a car, is configured to move to the loading station, respectively,
The following excellent effects can be obtained.

(1) Since the vacant space for moving the dolly may be the space for a minimum of one vehicle, it is not necessary to provide a large space for moving the dolly over the entire parking lot as in the conventional case. In particular, the required area on the plane can be greatly reduced, and the utilization rate of land space can be greatly improved.

(2) Each trolley has an independent small drive source, and these trolleys are configured to move in relation to each other by the control unit. , A large and complicated drive device such as a transfer device is not required, which is combined with the reduction in the required area described above, and the entire device is further compacted.
A device with a simple structure and low cost is realized.

(3) Since the trolley in which the automobile is mounted is housed in the parking lot, work such as handing over the automobile between the trolleys is unnecessary, and it is not necessary to accurately position the automobile at a fixed position on the trolley. The loading / unloading process can be performed quickly and easily.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing an overall configuration of a parking device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing coordinate positions of a parking area of a truck in the parking device.

FIG. 3 is a view showing a state in which a vehicle of the parking device is mounted on a vehicle.
FIG. 3 is a schematic side view from the direction of arrow III in FIG.

FIG. 4 is an enlarged side view showing a partial cutout of a main part of the vehicle.

FIG. 5 is a schematic diagram showing a configuration of a traveling drive system of the vehicle.

FIG. 6 is a schematic plan view showing the cart, showing a state in which the cart is placed in the X-direction posture.

FIG. 7 is a schematic plan view showing the cart, showing a state in which the cart is placed in a Y-direction posture.

FIG. 8 is a schematic block diagram showing a main control unit of the parking device.

FIG. 9 is a schematic block diagram showing a carriage control unit of the carriage.

FIG. 10 is a control flowchart of a warehousing process in the parking device.

FIG. 11 is a control flowchart of a shipping process in the parking device.

FIG. 12 is a control flowchart of the movement of the carriage in the parking device.

FIG. 13 is a schematic plan view showing the overall configuration of a parking device according to a second embodiment of the present invention.

FIG. 14 is an enlarged plan view showing a carriage of the parking device.

FIG. 15 is a plan view showing the overall configuration of a conventional parking device.

FIG. 16 is a front view showing the overall configuration of another conventional parking device.

[Explanation of symbols]

 1 parking lot 1a loading / unloading station 2 automobile 3 vehicle 7 empty space for moving vehicle 8 vehicle body 12 rotary base 13 traveling wheel 20 traveling motor 32 hydraulic cylinder (elevating mechanism) 40 motor 60 main controller (microcomputer) 70 vehicle control Part (microcomputer) 80 frame 80a Storage / unloading station 81 Car 82 Wheel 83 Car Empty space for moving car

Claims (4)

[Claims] 1. A plurality of trolleys for mounting an automobile are arranged in a parking lot in a first direction and a second direction orthogonal thereto, and each trolley has an independent drive source and is movable in each of the directions. An empty space for trolley movement is provided in a part of the parking lot to allow movement of the trolleys, and a control unit for driving and controlling the trolleys in relation to each other is provided. Part moves one of the carriages located adjacent to the empty space to the empty space, and moves the adjacent carriage to another empty space created by the moved empty space. By repeating this operation thereafter, the empty trolley for warehousing is moved to the warehousing station of the parking lot, and the trolley for warehousing equipped with a car is moved to the unloading station of the parking lot. Parking apparatus characterized by being configured to so that. 2. The vacant carriage determining means for deciding a vacant carriage to be moved to an entrance station or an exit station of the parking lot, and a shortest route for deciding a shortest movement route of the vacant carriage to the station. The parking apparatus according to claim 1, further comprising a determining unit. 3. The trolley comprises a trolley body on which an automobile is mounted, a rotary base rotatably provided at a lower portion of the trolley body, and a pair of traveling wheels provided on the rotary base so as to be able to rotate forward and backward. The parking apparatus according to claim 1, further comprising: a carriage control unit that drives and controls the traveling wheels and the rotary base. 4. A rectangular frame is provided along a peripheral portion of the parking lot, and the carriage is arranged in the frame in a first direction and a second direction orthogonal to the frame. It is provided with wheels provided so as to be capable of appearing and retracting at the corners and a carriage control section for driving and controlling these wheels so that they can be rotated forward and backward around a vertical axis, and the wheels roll on the inner surface of the frame or the side surface of an adjacent carriage. The parking apparatus according to claim 1, wherein the carriage is moved.