JP6401640B2 - Driving method of mechanical hangar - Google Patents

Description

  The present invention relates to a method for driving a pallet in a mechanical hangar such as a mechanical parking facility.

  Conventionally, there is a mechanical parking facility as an example of a mechanical hangar. In the following description, a mechanical parking facility will be described as an example of a mechanical hangar. As this mechanical parking equipment, parking equipment such as a multi-row multi-stage type or a plane puzzle type is adopted depending on installation conditions and the like. For example, in the case of a multi-row multi-stage system, a plurality of storage spaces can be provided in a limited installation space by setting the number of rows in the left-right direction and the number of steps in the up-down direction. In the case of a plane puzzle type, a plurality of storage spaces can be provided on a plane including a space that cannot be stored by self-running.

  As a prior art of this type, for example, in a parking facility having a pallet that can be moved to a plurality of shelves formed by dividing a plane space into a grid, the driving means of each shelf is driven in advance to move the pallet. When the pallet is called up by storing the number of times of driving performed, there is a type in which each pallet is operated by determining a moving path using the driving means having the minimum number of times of driving (for example, see Patent Document 1).

  As another prior art, when a pallet is called in a hangar provided with a pallet that can slide back and forth and left and right on a block partitioned in a matrix, the empty space and the calling pallet are placed in the same area. After determining whether or not it belongs, in the case of another area, after belonging to the same area, an empty space is secured at an adjacent position of the calling pallet and the calling pallet is moved to the loading / unloading port one by one. (For example, refer to Patent Document 2).

JP 2014-51844 A JP 2011-1760 A

  However, the method described in Patent Document 1 is based on the premise that the pallet can be moved back and forth and right and left individually in all the storage spaces. In addition, since a movement route is determined and moved from an enormous combination of movement routes, it takes time for processing and movement, and may require power. Moreover, it cannot be applied to an apparatus including an operation in which pallets arranged in a row move together.

  Further, in the method of Patent Document 2, since the process belonging to the area is performed first, the process increases, and there is a risk that the control becomes complicated and the processing speed decreases. Moreover, since the pallet is operated one by one, it takes time and power to move the pallet when the loading / unloading port is separated.

  On the other hand, the present applicant has invented a multi-row multi-stage mechanical parking facility that circulates pallets in the up-down direction and the left-right direction, and has filed an application earlier. In the present invention, by providing a plurality of storage spaces in the vertical direction, a plurality of units can be stored in a limited installation space.

  The present inventor intends to save power in driving power for moving a designated pallet to a destination such as a loading / unloading port in a mechanical hangar such as a pallet circulation type mechanical parking facility as described above. Invented a driving operation method capable of

  The driving method of the mechanical hangar according to the present invention has a plurality of rows and a plurality of stages of storage spaces in a plane, at least one storage space is an empty space without a pallet, and some of the steps are traversing A drive operation method in a mechanical hangar configured so that each row is vertically movable in a possible row stage, and the drive operation for moving the designated pallet located in the row stage to the destination is the position of the designated pallet. A step of arranging an empty space in a row position of the front row on the destination side of the destination, and moving the designated pallet by one pitch in the direction of the empty space, and arranging an empty space at a position adjacent to the rear of the designated pallet. A step of vertically moving all pallets up to another row in the same column as the empty space in the direction of the empty space after traversing the designated palette, A pallet in the same row as the empty space in the row of the designated pallet and its front row is moved backward by one pitch in the direction of the empty space arranged by the vertical row of pallets, and the front adjacent to the row of the designated pallet A step of arranging an empty space in a column; and in the direction of the empty space arranged by traversing the pallet, moving the pallet up to the horizontal row of the designated pallet in the same column as the empty space in front of the designated pallet Repeating the operation of the step of arranging an empty space in a row, and moving the designated pallet to the same row as the destination by circulation in the row of the designated pallet and its front adjacent row and rear adjacent row. It is characterized by. In the specification and claims, the horizontal direction on the left and right sides of the storage space is referred to as “row”, and the vertical direction on the top and bottom is referred to as “column”. Also, the direction of movement of the designated pallet is called “front”, the direction opposite to the direction of movement of the designated pallet is “backward”, the movement in “column” is called “vertical row”, and the movement in “stage” is called “horizontal”. In addition, the “destination” in the specification and claims refers to an entry / exit port that is a part of the storage space, a storage space for moving to an external entrance / exit.

  With this configuration, the movement of moving the specified pallet toward the destination such as the loading / unloading port is circulated between the row where the specified pallet is located and the front adjacent row and the rear adjacent row to move a small number of pallets. As the driving operation to be performed, the driving power can be suppressed to save power. In addition, since the number of pallets to be operated simultaneously is small, noise can be suppressed. This drive operation can be applied to both a mechanical hangar with a plurality of storage spaces in a vertical plane and a mechanical hangar with a plurality of storage spaces in a horizontal plane. The driving power can be saved by performing the same driving operation in the left-right column in a plan view and the step in the direction orthogonal to the column.

  Further, when the designated pallet is located in a non-horizontal row, an empty space is arranged in the transverse row of the column where the designated pallet is located so that the designated pallet is vertically moved to the transverse row prior to the driving operation. A step of vertically moving all the pallets up to another horizontal row in the column where the designated pallet is positioned in the direction of the empty space, and the empty space arranged by the vertical row of the pallets A step of traversing a pallet in the same row as the empty space in an adjacent column by one pitch, and a vertical movement of the pallet in the same column as the empty space in the direction of the empty space arranged by traversing the pallet Placing an empty space in a row row of adjacent columns of the same, and the empty space is the same as the empty space of the specified pallet column The operation further includes the operation of repeating the operation of the step of arranging the empty space in the horizontal row of the column where the designated pallet is located by moving the pallet in the horizontal direction and vertically moving the designated pallet in the horizontal row. May be.

  If comprised in this way, even when the designated pallet is not in a horizontal row, the said horizontal movement can be performed after moving to a horizontal row efficiently.

  In addition, the direction of the empty space after the specified pallet is traversed so that the specified pallet is moved vertically to the destination after the specified pallet has reached the same column at a different stage from the destination by the driving operation. Vertically moving all pallets up to the other row in the same column as the empty space in the rear column, and the empty space arranged by the vertical row of the pallet is the same as the empty space in the column of the designated pallet A step of traversing the pallets in one row backward by one pitch, and vertically traversing all the pallets up to the other row in the row of the designated pallet in the direction of the empty space of the row of the designated pallet arranged by the row of the pallet It is also possible to further include an operation of repeating the operation of the step of causing the designated palette to move vertically to the destination.

  If comprised in this way, even when the destination is not in a part of the horizontal row, the designated pallet can be moved vertically to the destination efficiently.

  According to the present invention, in a mechanical hangar configured such that a part of the rows can be traversed and each column can be vertically traversed, the row of the designated pallet and the adjacent row during the driving operation of moving the designated pallet toward the destination. It is possible to reduce the number of pallets that perform the circulation operation between them and reduce the number of pallets that perform the circulation operation, thereby reducing the power consumption of the drive power. In addition, since the number of pallets to be moved during circulation is reduced, noise can be suppressed.

FIG. 1 is a front view showing an embodiment of a mechanical parking facility to which the present invention is applied. FIG. 2 is a front view showing a driving operation for moving the designated pallet shown in FIG. 1 to the entrance / exit. FIG. 3 is a front view showing an operation following the driving operation shown in FIG. FIG. 4 is a front view showing an operation following the driving operation shown in FIG. FIG. 5 is a driving operation flowchart in the case where there is a loading / unloading port in the transverse row. FIG. 6 is a traversing flowchart when traversing from the driving operation flowchart shown in FIG. 5 and FIG. FIG. 7 is an elevation flowchart for raising and lowering from the driving operation flowchart shown in FIGS. 5 and 8. FIG. 8 is a driving operation flowchart in the case where there is a loading / unloading port in the ascending / descending stage. FIG. 9 is an intermediate lifting flowchart when moving up and down from the driving operation flowchart shown in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiments, a vertical circulation type mechanical parking facility (mechanical hangar) 1 having four storage spaces 50 in the vertical direction and five rows in the left-right direction will be described as an example. In this embodiment, since it is a vertical circulation system, “longitudinal” is described as “elevating”. The concept of the up / down / left / right direction in the document of this specification and claims shall be the same as the concept of the up / down / left / right direction in the state facing the mechanical parking facility 1 shown in FIG.

[Description of mechanical parking equipment]
As shown in FIG. 1, the mechanical parking facility 1 of this embodiment is a ground-in type, a pillar member 2 provided vertically at the front and rear position, and a front and rear beam member that connects the pillar member 2 in the front-rear direction. 3 and a frame 4 having left and right beam members (not shown) connected in the left-right direction. This mechanical parking facility 1 includes the first row 10 from the lowest row, the second row 11, the third row 12, the fourth row 13 at the uppermost row, and the first row 20 to the second row 21, 3 of the leftmost row. The column 22, the fourth column 23, and the fifth column 24 of the rightmost column are 4 rows × 5 columns, and have 20 storage spaces 50. One storage space 50 is an empty space 40, and the number of pallets 30 for storing the automobiles V is 19, which is one less, and 19 automobiles V can be stored. In the state shown in the figure, the storage space 50 in the fourth row 13 which is the uppermost row of the fifth row 24 which is the right end row is one empty space 40. In each other storage space 50, a pallet 30 is arranged. The fifth row 24 of the first row 10 which is the lowest row is a loading / unloading port (destination) 60. In addition, the entrance / exit 61 shown by a dashed-two dotted line is an example of the external entrance / exit 61, In this case, the storage space 50 for moving to the external entrance / exit 61 is the destination (60). Become. As the external entrance / exit 61, in addition to being installed in the basement (downward) as in this example, it may be installed in any direction, up and down, left and right.

  Each pallet 30 can be traversed individually as indicated by an arrow W in the first stage 10 which is the lowest stage (transverse stage) and the fourth stage 13 which is the uppermost stage (transverse stage) of the storage space 50 shown in the figure. Yes. The first stage 10 and the fourth stage 13 are also referred to as “transverse stages”. In the traversing stage, the traversing of each pallet can traverse each pallet 30 between the columns 20 to 24 for each pitch (one column) by a traversing drive unit (not shown). Further, in each column (first column 20 to fifth column 24) of the storage space 50, the column is moved between the first row 10 and the fourth row 13 which are transverse rows by an elevating drive unit (not shown). As shown by the arrow H, all the pallets 30 can be moved up and down together (simultaneously). The operation of raising and lowering and traversing each pallet 30 is controlled by the control device 5. Note that, for example, when the number of stages is large, the traversing stage may be in an intermediate stage.

[Concept of drive operation]
Next, the driving operation in the mechanical parking facility 1 will be described. First, the concept of the operation | movement which moves the designation | designated pallet 35 of the motor vehicle V colored and shown in FIG. 1 to the entrance / exit 60 of the 1st step | line 10 is demonstrated based on FIGS.

  In FIG. 2, after all the pallets 30 in the fourth row 13 are traversed toward the empty space 40, the first row 20, which is the rear row of the designated pallet 35 that becomes the empty space 40, has 1 All pallets 30 in the row 20 are raised. Next, as shown in FIG. 3, the first row 10 of the first row 20 with the empty space 40 is replaced with the first row 10 pallet 30 in the third row 22 and the second row 21 which are the front row of the designated pallet 35. Rampant towards Thereafter, all the pallets 30 up to the fourth stage 13 which is the transverse stage of the designated pallet 35 in the third row 22 are lowered, and the empty space 40 is arranged in the front row of the designated pallet 35. Next, as shown in FIG. 4, the designated pallet 35 is made to traverse the empty space 40 by one pitch. At this time, since only one designated pallet 35 is traversed, its driving power is small. And all the pallets 30 of the 2nd row | line | column 21 which is a back row | line | column are raised to the empty space 40 after the designated pallet 35 traverses. The raising of all the pallets 30 is the same as the driving operation shown in FIG.

  Thereafter, the pallets 30 in the first row 10 in the fourth row 23 and the third row 22 in the front row of the designated pallet 35 are moved backward, and all the pallets 30 in the fourth row 23 in the front row of the designated pallet 35 are placed. Lower. This driving operation is the same as the driving operation shown in FIG.

  Such a driving operation is repeated, and the designated pallet 35 is traversed to the fifth column 24, which is the same as the column where the loading / unloading port 60 is located, one pitch at a time. Thereafter, the fourth pallet 13 is formed by using the empty space 40 in the fourth row 13 in the fourth row 23 formed after the designated pallet 35 traverses the fifth row 24, and the designated pallet 35 is lowered in the fifth row 24. The pallet is circulated in the row 23 and the fifth row 24.

  In this way, when the designated pallet 35 is moved to the loading / unloading port (destination) 60, the pallet 30 includes only the row where the designated pallet 35 is located and the adjacent rows before and after (the front row and the rear row in the traveling direction). The designated pallet 35 is moved to the loading / unloading port 60 while the row to be circulated is sequentially moved one pitch toward the loading / unloading port 60. Therefore, the designated pallet 35 can be moved to the loading / unloading port 60 through the shortest path, and the number of pallets 30 to be moved by one cycle can be reduced, thereby reducing driving power and saving power. This effect is effective in, for example, the mechanical parking facility 1 having at least three rows and at least two storage spaces 50. Further, it is effective when the row of the entrance / exit (destination) 60 is in a row (one or more rows in between) that is two or more rows away from the row of the designated pallet 35.

  In the case where the designated pallet 35 is moved from the state of FIG. 1 to the row of the loading / unloading port 60 at the fourth stage 13, conventionally, the traversing of all the pallets 30 in the front row and the fifth row of the loading / unloading port 60 are performed. It is considered that the lowering of all the pallets 30 at 24, the traversing of all the pallets 30 at the first stage 10 and the ascent of all the pallets 30 at the rear first row 20 are repeatedly moved on the outermost periphery. However, in this case, power for moving many pallets 30 is required at the same time. However, according to the driving operation method of the present invention, the driving power can be suppressed as a small amount of movement of the pallets 30.

[Driving operation when loading / unloading port 60 is traversing]
5-7 is a flowchart explaining the operation | movement according to the case where the designated pallet 35 is located in the raising / lowering stage other than the said basic operation | movement, and the position of the empty space 40. FIG.

  FIG. 5 is a driving operation flowchart when the loading / unloading port 60 is located in the transverse row. As shown in the figure, when the designated palette 35 is called, the coordinates (stage position, row position) of the designated palette 35 are detected (S1). Then, it is determined whether or not the coordinates of the designated pallet 35 and the loading / unloading port 60 are the same (the designated pallet 35 is located at the loading / unloading port 60) (S2). If the coordinates of the designated pallet 35 and the loading / unloading port 60 are different, it is determined whether or not the designated pallet 35 is in a horizontal row (S4). If the specified pallet 35 is not in the traversing stage, any one of [V1] to [V4] to be described later is executed in order to raise and lower the designated pallet 35 to the stage of the loading / unloading port 60 (S5).

  When the designated pallet 35 is in the horizontal row, it is determined whether or not the designated pallet 35 is a different row from the loading / unloading port 60 (S6). If it is not another stage, any one of [H1] to [H4], which will be described later, is executed in order to cause the designated pallet 35 to traverse to the line of the loading / unloading port 60 (S7). When the designated pallet 35 is in a different stage from the loading / unloading port 60, it is determined whether or not the row of the empty space 40 is a row on the loading / unloading port 60 side when viewed from the row of the designated pallet 35 (S8). If the row is not on the entry / exit port 60 side, any one of [V2] to [V4], which will be described later, is executed in order to move the designated pallet 35 up and down to the stage of the entry / exit port 60 (S9).

  When the empty space 40 is located on the loading / unloading port 60 side when viewed from the row of the designated pallet 35, the designated pallet 35 is moved to the row of the loading / unloading port 60 (S10). This traversal is performed by executing any one of [H1] to [H4] described later.

  The execution of each operation in the following flowchart may determine the location of the pallets 35 and 30 and the location of the empty space 40 before the operation. For example, the operation of [H1] described below ends. After that, even if the determination is not made, if the operation is performed in order, the designated pallet 35 can be moved toward the entrance / exit (destination) 60, and the determination before the operation may not be required. The determination of the place before execution includes the case where it is performed and the case where it is not performed. However, when the feedback control is performed every time by a sequencer or the like, the location of each pallet 35, 30 and the location of the empty space 40 may be determined before the operation. Whether or not to make the determination may be determined according to the conditions of the mechanical parking facility 1 or the like. The movement of the empty space 40 in the following description means that another pallet 30 is moved to the empty space 40 and the empty space 40 is arranged at the original position of the moved pallet 30.

[Ramp chart]
Next, a traversing flowchart for traversing the designated pallet 35 from the driving operation flowchart of FIG. 5 will be described with reference to FIG. This traversing flowchart is executed when the designated pallet 35 is traversed to the column of the loading / unloading port 60 in (S7) and (S10) of FIG. This traversing flowchart starts with different operations depending on the position of the empty space 40 provided in the traversing stage.

  [H1] is a case where the empty space 40 is at the same level as that of the designated pallet 35 and is behind the direction of travel of the designated pallet 35. Raise and lower (S11). Thereafter, the following is executed. [H2] is a case where the empty space 40 is in a stage different from the stage of the designated pallet 35 and is in the rearward row from the row of the designated pallet 35. In this case, the empty space 40 is moved in the direction of movement of the designated pallet 35. Move to an adjacent row (S12). Thereafter, the following is executed. [H3] is a case where the empty space 40 is in a stage different from the stage of the designated pallet 35 and is located in the front row from the next row in the traveling direction of the designated pallet 35 to the front row. All the pallets 30 in the 40 rows are moved up and down, and the empty space 40 is arranged in the front row of the designated pallet 35 (S13). Thereafter, the following is executed. [H4] is a case where the empty space 40 is in the front row in the traveling direction in the same stage as the stage of the designated pallet 35. In this case, all the pallets 30 between the designated pallet 35 and the empty space 40 are displayed. It traverses in the direction of the empty space 40 (S14).

  Such a traversing flowchart is repeated until the designated pallet 35 moves to the same column as the loading / unloading port 60 (S15). When the designated pallet 35 moves to the same row as the loading / unloading port 60, it is determined whether or not the designated pallet 35 is at the same level as the loading / unloading port 60 (S16). If it is the same stage, the process ends (S17). When the steps are different from (S10) in FIG. 5, the steps are executed from [V2] in the ascending / descending flowchart described below.

[Elevation flowchart]
Next, a lift flowchart when the designated pallet 35 is lifted and lowered from the drive operation flowchart of FIG. 5 shown in FIG. 7 will be described. This raising / lowering flowchart is executed when the designated pallet 35 is raised and lowered to the stage of the loading / unloading port 60 in (S5) and (S9) of FIG. This ascending / descending flowchart also starts with different operations depending on the position of the empty space 40 provided in the transverse row.

  [V1] is a case where the empty space 40 is in the direction opposite to the traveling direction of the same row as the row of the designated pallet 35. In this case, the empty space 40 is moved to an adjacent row of the designated pallet 35 (S21). . Thereafter, the following is executed. [V2] is a case where the empty space 40 exists in a row other than the row of the designated pallet 35 in the traverse stage opposite to the traveling direction of the designated pallet 35. In this case, all the pallets 30 in the row of the empty space 40 are moved up and down. (S22). Thereafter, the following is executed. [V3] is a case where the empty space 40 is located outside the column of the designated pallet 35 in the traversing stage of the designated pallet 35. In this case, the empty space 40 is moved to the column of the designated pallet 35 (S23). ). Thereafter, the following is executed. [V4] is a case where the empty space 40 is in the traveling direction of the same row as the row of the designated pallet 35. In this case, all the pallets 30 in the row of the designated pallet 35 are moved up and down (S24).

  Such a flowchart is repeated until the designated pallet 35 moves to the same stage as the loading / unloading port 60 (S25). When the designated pallet 35 moves to the same level as the loading / unloading port 60, it is determined whether or not the designated pallet 35 is in the same row as the loading / unloading port 60 (S26). If it is the same column, the process ends (S27). When the process is executed from (S5) in FIG. 5 and the columns are different, the process is executed from [H2] in the above horizontal flow chart.

  The driving operation for moving the designated pallet 35 to the loading / unloading port 60 is executed as shown in FIGS.

[Driving operation when the loading / unloading port 60 is in the middle of the row]
On the other hand, when the loading / unloading port 60 is not in the traverse stage and is in the up / down stage (a stage in which only up / down is possible), the following flowchart is executed. FIG. 8 is a driving operation flowchart in the case where the loading / unloading port 60 is in the ascent / descent stage. As shown in the figure, when the designated palette 35 is called, the coordinates (stage position, row position) of the designated palette 35 are detected (S31). Then, it is determined whether or not the coordinates of the designated pallet 35 and the loading / unloading port 60 are the same (the designated pallet 35 is located at the loading / unloading port 60) (S32).

  When the coordinates of the designated pallet 35 and the loading / unloading port 60 are different, it is determined whether or not the designated pallet 35 is in a separate row from the loading / unloading port 60 (S34). In the case of the same row, any one of the above [V1] to [V4] is executed to move the designated pallet 35 up and down to the stage of the loading / unloading port 60 (S35). When the designated pallet 35 is in another column, it is determined whether or not the level of the designated pallet 35 is not a horizontal level (S36). In the case of the traverse stage, any one of the above [H1] to [H4] is executed in order to traverse the designated pallet 35 to the column of the entrance / exit 60 (S37).

  If the stage of the designated pallet 35 is not a transverse stage, it is determined whether or not the number obtained by subtracting 1 from the number of stages of the loading / unloading port 60 is different from the number obtained by subtracting the stage number where the designated pallet 35 is located from the total number of stages ( S38). In the same case, the above [V3] and [V4] are executed in order to move the designated pallet 35 up and down to the horizontal row (S39). If they are different, it is determined whether or not the number obtained by subtracting 1 from the number of steps of the loading / unloading port 60 is smaller than the number obtained by subtracting the number of steps where the designated pallet 35 is located from the total number of steps (S40). If it is larger, one of the following [mV1] to [mV4] is executed in order to “rise” the designated palette 35 to the horizontal row (S41). If it is smaller, one of the following [mV1] to [mV4] is executed to “lower” the designated pallet 35 to the horizontal row (S42).

  Here, “rising” refers to moving farther from the stage serving as the reference for the number of stages, and refers to upward movement when the number of stages is counted from the bottom in the longitudinal circulation system. “Down” refers to the downward movement. On the other hand, in the case of the horizontal circulation method, if the number of stages is counted from the front side, “rise” indicates movement toward the back side. “Down” refers to the movement to the near side.

[Intermediate lift flowchart]
Next, based on FIG. 9, an intermediate lifting flowchart when the designated pallet 35 is lifted and lowered from the driving operation flowchart of FIG. 8 will be described.

  [MV1] is a case where the empty space 40 is in the direction opposite to the traveling direction of the same row as the row of the designated pallet 35. In this case, the empty space 40 is moved to an adjacent row of the designated pallet 35 (S51). . Thereafter, the following is executed. [MV2] is a case where the empty space 40 is located in a row other than the row of the designated pallet 35 in the horizontal direction opposite to the traveling direction of the designated pallet 35. In this case, all the pallets 30 in the row of the empty space 40 are moved up and down. (S52). Thereafter, the following is executed. [MV3] is a case where the empty space 40 is located outside the column of the designated pallet 35 in the traversing stage of the designated pallet 35. In this case, the empty space 40 is moved to the column of the designated pallet 35 (S53). ). Thereafter, the following is executed. [MV4] is a case where the empty space 40 is in the same direction of travel as the row of the designated pallet 35. In this case, all the pallets 30 in the row of the designated pallet 35 are moved up and down (S54). This operation is repeated until the designated palette 35 moves to the horizontal row (S55). After the designated palette 35 has moved to the horizontal row, [H2] in the above horizontal flowchart is executed.

  On the other hand, in FIG. 8, when the designated pallet 35 is lowered to the horizontal row (S42), if the empty space 40 is not in the adjacent row of the designated pallet 35, the empty space 40 of [mV1] is moved to the adjacent row (S51). ) All the pallets 30 in the row of the empty space 40 are raised. If the empty space 40 is in the adjacent row, all pallets 30 in the row of the empty space 40 of [mV2] are raised (S52). Then, the lowermost pallet in the row of the designated pallet 35 is moved to the adjacent row, and the empty space 40 of [mV3] is moved to the lowermost row in the row of the designated pallet 35 (S53). Thereafter, all the pallets 30 in the row of the designated pallet 35 of [mV4] are lowered (S54). This operation is repeated until the designated palette 35 moves to the horizontal row (S55). After the designated palette 35 has moved to the horizontal row, [H2] in the above horizontal flowchart is executed.

[Summary]
As described above, according to the driving operation method described above, a plurality of rows and stages of storage spaces 50 are planar, and at least one storage space 50 is an empty space 40. In a mechanical parking facility (mechanical hangar) 1 that can traverse but can only be moved up and down in each row and cannot traverse in the other stages, the designated pallet 35 is moved toward the entrance / exit 60. Since the drive operation for moving a small number of pallets by circulating between the row where the designated pallet 35 is located and the front adjacent row and the rear adjacent row can be performed, the drive power can be suppressed and power saving can be achieved. A mechanical parking facility (mechanical hangar) 1 can be configured. In addition, since the number of pallets 30 to be operated simultaneously is small, noise during operation can be suppressed.

  In addition, the pallet 30 (35) that is operated only by the relative relationship between the current position of the designated pallet 35 and the position of the loading / unloading port 60 for each operation and the moving direction thereof are uniquely determined. Even if it stops halfway, it can be easily restarted from the stop position.

  Further, this driving operation is also the same in a planar mechanical parking facility (mechanical storage) in which the storage space 50 is arranged in the horizontal direction, and in a plan view, a horizontal column and a direction orthogonal to the column. By performing the same driving operation at this stage, it is possible to reduce the driving power and save power.

  In the above-described embodiment, the five-row, four-stage vertical circulation type mechanical parking facility 1 is taken as an example. However, if it is a mechanical hangar such as a mechanical parking facility having a storage space in a planar shape, The number of rows and the number of stages may be set according to installation conditions and the like, and is not limited to the above embodiment. In particular, when there are three rows, two or more rows and at least one row is sandwiched between the designated pallet 35 and the entrance / exit (destination) 60, the effect can be exhibited.

  Moreover, the drive operation of the designated pallet 35 in the above-described embodiment is an example, and the drive operation of the above-described embodiment may be combined according to the entrance / exit (destination) 60 and the position of the designated pallet 35.

  Furthermore, the above-described embodiment shows an example, and various modifications can be made without departing from the gist of the present invention, and the present invention is not limited to the above-described embodiment.

1 Mechanical parking equipment (mechanical hangar)
2 Column material
3 Front and rear beam materials
4 Frame
5 Control device 10 1st stage (transverse stage)
11 2nd stage 12 3rd stage 13 4th stage (transverse stage)
20 1st row 21 2nd row 22 3rd row 23 4th row 24 5th row 30 Pallet 35 Designated pallet 40 Empty space 50 Storage space 60 Entry / exit entrance (destination)

Claims (3)

It has at least three rows and two or more storage spaces in a flat shape, at least one storage space is an empty space without pallets, and some of the rows are traverse steps that can traverse multiple pallets individually . It is a driving operation method in a mechanical hangar configured so that each column can run vertically,
Driving operation to move by rampant designation pallet positioned in the transverse stage in one of the columns of the destination,
Disposing an empty space at a row position of a front row on the destination side of the position of the designated pallet;
A step of traversing the designated pallet by one pitch in the direction of the empty space and disposing the empty space at a position adjacent to the rear of the designated pallet;
Vertically traversing all pallets up to another row in the same column as the empty space in the direction of the empty space after traversing the designated pallet;
Adjacent to the row of the designated pallet is a row of the designated pallet in the direction of the empty space arranged by the vertical row of the pallet and the pallet in the same row as the empty space in the front row thereof is traversed one pitch backward. Placing an empty space in the front row;
The step of vertically arranging the pallets up to the horizontal row of the designated pallet in the same column as the empty space in the direction of the empty space arranged by the horizontal movement of the pallet and arranging the empty space in the front row of the designated pallet; Repeat the action
Is an operation of moving the specified pallet to the column of the destination in the circulation in the column of the specified pallet and its front adjacent rows and backward adjacent row,
A method for driving a mechanical hangar. When the designated pallet is located in a non-transverse row, the designated pallet is moved vertically to the transverse row prior to the driving operation of claim 1.
Placing an empty space in the transverse row of the column where the designated pallet is located;
Causing all pallets up to another horizontal row in the column where the designated pallet is located in the direction of the empty space,
Traversing the empty space arranged by the vertical row of the pallet by one pitch of a pallet in the same level as the empty space in the adjacent column of the designated pallet;
Placing a pallet in the same column as the empty space in the direction of the empty space arranged by a row of the pallet and arranging an empty space in a row of an adjacent column of the designated pallet;
The operation of the step of repeating the step of placing the empty space in the horizontal row of the row where the designated pallet is located by traversing the empty space to a pallet in the same stage as the empty space of the designated pallet column, An operation of vertically moving the pallet in the horizontal row;
The method for driving a mechanical hangar according to claim 1. After the designated pallet reaches the same column at a stage different from the destination by the driving operation of the claim 1, the designated pallet is caused to run vertically to the destination.
Vertically extending all pallets up to the other row stage in the same column as the empty space in the rear column in the direction of the empty space after traversing the designated pallet;
Traversing the pallet in the same level as the empty space in the row of the designated pallet to the empty space arranged by the vertical movement of the pallet one pitch backward;
The operation of the step of vertically moving all the pallets up to the other row stage in the designated pallet row in the direction of the empty space of the designated pallet row arranged by the pallet row is repeated, and the designated pallet is moved to the destination. Further includes the action of causing the
The method for driving a mechanical hangar according to claim 1 or 2.

Images