JP6944408B2 - Mechanical parking device - Google Patents

Description

The present invention relates to a mechanical parking device including omni-wheel type drive wheels.

As conventional mechanical parking devices, those described in JP-A-2015-187798 (Patent Document 1) and JP-A-2016-223235 (Patent Document 2) are known.

Patent Document 1 describes an unmanned transport trolley capable of traveling on a traveling route without a magnetic guide. The unmanned transport trolley includes a housing and omnidirectional wheels, and the housing is a storage unit. The omnidirectional wheel is provided with an acceleration sensor, a plurality of optical sensors, an arithmetic processing unit, and a drive unit. It enables forward / backward movement, left / right lateral movement, diagonal movement, and turning movement, and each of the movements is calculated using the detection contents from the acceleration sensor and a plurality of optical sensors based on the traveling route of the storage unit. Described is an unmanned transport trolley characterized in that the processing unit calculates the movement amount and the drive unit drives based on the calculation.

Further, in Patent Document 2, a plurality of feed rollers for placing the object on the upper surface and transporting the object along the plane are arranged on a plane formed by arranging a plurality of compartments accommodating the objects vertically and horizontally along the horizontal direction. Described is an object transporting device comprising the feeding mechanism, wherein the feeding roller is configured as an omnidirectional wheel each having a rotation axis at an angle oblique to the arrangement direction of the compartment in the plane. ing.

JP 2015-187798 Japanese Unexamined Patent Publication No. 2016-223235

However, conventional mechanical parking devices use a drive device with a built-in switching mechanism to change the direction of the feed device for feeding in two directions, vertical and horizontal, and have a structure with wheels on the tray side. Therefore, the mechanism has a built-in roller on the rail surface so that the drive device can also be fed in two directions, which complicates the configuration. Further, even when considering the adoption of the configurations described in Patent Documents 1 and 2, the configuration with a small number of wheels has not been considered.

An object of the present invention is to omit a switching mechanism for switching the direction of a feeding device for feeding trays in two directions, a vertical direction and a horizontal direction, to simplify the overall configuration and to reduce the operating time of each tray. The purpose is to provide a mechanical parking device that can be shortened.

In the mechanical parking device according to the first aspect, a plurality of drive units having a plurality of feed devices are arranged adjacent to each other in the vertical feed direction and the horizontal feed direction on the floor side to form a plurality of storage spaces, and each drive unit is formed. In a mechanical parking device that vertically feeds or horizontally feeds a tray located above the tray by the feeding device, a plurality of vertically fed trays are vertically fed to the floor side of each storage space at predetermined intervals in the longitudinal direction of the tray. The omni-wheel type drive wheels are rotatably arranged and driven by a motor, and apart from the omni-wheel type drive wheels, on the floor side of each storage space, another predetermined interval in the width direction of the tray. It is characterized by rotatably arranging a plurality of other omni-wheel type drive wheels that are laterally fed with a distance between the two, and having a drive structure by a motor.

According to the mechanical parking device according to the first aspect, in the normal mechanical parking device, in order to feed the tray in two directions, the vertical direction and the horizontal direction, a switching mechanism for switching the direction of the feeding device is built in. It is a drive device on the floor side, and due to the switching mechanism described above, the mechanism on the tray and drive device side is complicated, and the accuracy of manufacturing and assembling the rail surface is also required. However, since the omni-wheel type drive wheel is used on the drive unit side as described above, the switching mechanism becomes unnecessary, the overall configuration can be simplified, and the operation time of each tray can be shortened.

The mechanical parking device according to the second aspect is the mechanical parking device according to the first aspect , wherein each drive unit arranges omni-wheel type drive wheels at each corner of a virtual square surrounding substantially the center of the tray. The omni-wheel type drive wheels driven by a motor that laterally feed the tray are arranged at both corners at one diagonal position, and the tray is placed at both corners at the other diagonal position. It is characterized in that the omni-wheel type drive wheels driven by a vertically feed motor are arranged respectively.

According to the mechanical parking device according to the second aspect, it is possible to configure a configuration with a very simple and small number of drive wheels as compared with the case where a conventional feed device provided with a switching mechanism is used, and moreover, vertical feed or vertical feed or During lateral feeding, the tray can be smoothly moved between adjacent drive units without creating a state in which the tray is not driven by any feeding device.

The mechanical parking device according to the third aspect is characterized in that, in the mechanical parking device of the second aspect , one motor-driven omni-wheel type drive wheel is arranged at each corner of the virtual quadrangle. ..

According to the mechanical parking device according to the third aspect, the number of motors is four, and the number of omni-wheel type drive wheels is four, so that the configuration can be simplified.

The mechanical parking device according to the fourth aspect is the mechanical parking device according to the second aspect , wherein the drive units provided in the vertical feed direction have the trays at both corners at diagonal positions of the one. The omni wheel type drive wheels driven by a motor to be vertically fed are arranged, and the omni wheel type drive wheels are arranged at positions in a zigzag arrangement between the drive units arranged along the vertical feed direction. In each of the drive units arranged and provided in the lateral feed direction, the omni-wheel type drive wheels driven by a motor that laterally feed the tray are arranged at both corners at diagonal positions of the other, and the drive wheels are arranged. The omni-wheel type drive wheels are characterized in that the omni-wheel type drive wheels are arranged at positions in a zigzag arrangement between the drive units arranged along the lateral feed direction.

According to the mechanical parking device according to the fourth aspect, the tray can be smoothly moved with a small number of motors and an omni-wheel type drive wheel without creating a state in which the tray is not driven by any feeding device.

The mechanical parking device according to the fifth aspect is characterized in that, in the mechanical parking device of the second aspect , two omni-wheel type drive wheels are arranged at each corner of the virtual quadrangle.

According to the mechanical parking device according to the fifth aspect, since the load on the tray side is received by two omni wheel type drive wheels at each corner of the virtual square, the load sharing of each omni wheel type drive wheel is reduced. This allows the tray with a heavy parked vehicle to be easily moved.

The mechanical parking device according to the sixth aspect is the mechanical parking device according to the first aspect , wherein the omni wheel type drive wheel driven by a laterally feed motor is the tray in the omni wheel type drive wheel driven by a vertically feed motor. It is characterized in that it is rotatably supported by a pair of drive spindles which are provided between facing each other in the longitudinal direction of the tray and which are rotatably arranged at a predetermined distance in the width direction of the tray.

According to the mechanical parking device according to the sixth aspect, any omni wheel type drive wheel can be used during vertical feed while ensuring a sufficient distance between the omni wheel type drive wheel and the omni wheel type drive wheel in the longitudinal direction of the tray. It is possible to prevent the occurrence of a non-driving state, and to make a simple configuration by the driving spindles arranged relatively close to each other in the width direction of the tray.

According to the mechanical parking device according to the present invention, in a normal mechanical parking device, the tray is fed in two directions, the vertical direction and the horizontal direction, so that the floor side has a built-in switching mechanism for switching the direction of the feeding device. Due to the switching mechanism described above, the mechanism on the tray and drive device side is complicated, and the accuracy of manufacturing and assembling the rail surface is also required. Since the omni-wheel type drive wheel is used on the drive unit side as described above, the switching mechanism becomes unnecessary, the overall configuration can be simplified, and the operating time of each tray can be shortened.

It is a top view which shows the storage space in the mechanical parking device by one Example of this invention. It is an enlarged view of the drive unit which is the main part of the mechanical parking device shown in FIG. It is a front view of the drive unit with the tray mounted from the width direction frame side. It is an enlarged view of the feed device provided with the omni-wheel type drive wheel shown in FIG. It is a top view which shows four storage spaces in a state which excludes a tray. FIG. 5 is a plan view showing four storage spaces when the conditions described with reference to FIG. 5 are not satisfied. It is an enlarged view of the drive unit used in the mechanical parking device in another embodiment of this invention. It is an enlarged view of the drive unit used in the mechanical parking device in still another embodiment of this invention. It is an enlarged view of the drive unit used in the mechanical parking device in still another embodiment of this invention. It is an enlarged view of the drive unit used in the mechanical parking device in still another embodiment of this invention. It is an enlarged view of the drive unit used in the mechanical parking device in still another embodiment of this invention. It is an enlarged view of the drive unit used in the mechanical parking device in still another embodiment of this invention.

Hereinafter, examples of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing a storage space in a mechanical parking device according to an embodiment of the present invention.

A plurality of pillars 1A to 4D are arranged on the floor of the storage space where the parked vehicle will be stored, and are arranged at predetermined equal intervals in the tray longitudinal direction and at other equal intervals in the tray width direction. Has been done. Storage spaces are formed in the areas surrounded by the four pillars, and trays 5A to 5G are arranged in the other storage spaces except for at least one empty space. For example, the tray 5A is arranged in one storage space formed in the area surrounded by the pillars 1A, 1B, 2A, and 2B.

In the empty space where the tray is not arranged, the drive units 6D and 6H installed on the floor surface side appear on the drawing, but in other storage spaces, they are also on the floor surface side below the trays 5A to 5G. Drive units with the same configuration are installed in each.

FIG. 2 is an enlarged view of the drive unit 6D shown in FIG.

The drive unit 6D has a frame body formed in a quadrangular shape as a whole and four feeding devices attached to the frame body to form a unit. The four feeders are four omni-wheel type drive wheels 7A to 7D, motors 8A to 8D that rotate the drive spindles of each omni-wheel type drive wheels 7A to 7D, and each motor according to the feed direction of the tray. It is composed of a common control device 9 and the like that select and control the one that operates from 8A to 8D.

The above-mentioned frame body is a combination of the longitudinal frame bodies 10A and 10B, the width direction frame bodies 11A and 11B, and the intermediate fixing members 12A and 12B arranged so as to bridge between the longitudinal direction frame bodies 10A and 10B. It is composed of. The four feeding devices are distributedly mounted on the intermediate fixing members 12A and 12B, and the control box 9 is mounted on a frame in the vicinity of the motors 8A to 8D.

Further, in a quadrangle frame in the drive unit 6D or a virtual quadrangle drawn concentrically from the center in the quadrangle tray 5A, omni wheel type drive wheels 7A and omni wheel type drive wheels are located at one of the diagonal corners. The 7D is arranged, and the omni wheel type drive wheel 7B and the omni wheel type drive wheel 7C are arranged at the other diagonal corners.

Here, the drive spindles 13A and 13D of the omni-wheel type drive wheels 7A and 7D extend in the width direction of the tray, and the tray is fed in the longitudinal direction by the rotation of the omni-wheel type drive wheels 7A and 7D. It is configured. On the other hand, the drive spindles 13B and 13C of the omni wheel type drive wheels 7B and 7C extend in the longitudinal direction of the tray, and the tray is fed laterally by the rotation of the omni wheel type drive wheels 7B and 7C. It is configured for use.

Each tray has a rectangular plate-like structure, and is arranged on intermediate fixing members 12A and 12B arranged at predetermined distances in the longitudinal direction and the width direction in order to mount a heavy parked vehicle. It is supported by omni-wheel type drive wheels 7A to 7D.
FIG. 3 is a front view of the drive unit 6D with the tray mounted from the width direction frame body 11B side.

A tray 5A on which the parked vehicle 43 is mounted is arranged on the drive unit 6D. The omni-wheel type drive wheel 7D arranged on the left side of the figure and the omni-wheel type drive wheel 7C arranged on the right side of the figure have different orientations by approximately 90 degrees due to the difference in the feed direction described above. As shown in detail in FIG. 4, which will be described later, the drive spindle 13D of the omni wheel type drive wheel 7D is rotatably supported by the width direction frame 12B, and the drive spindle 13C of the omni wheel type drive wheel 7C is supported. , It is rotatably supported by the width direction frame body 12B.

FIG. 4 is an enlarged view of a feed device including the omni-wheel type drive wheel 7D shown in FIG.

As can be seen from the figure, the base portion 14D mounted and fixed on the intermediate fixing member 12B has a pair of standing portions 15D and 16D standing so as to face each other at a predetermined distance. Bearings 17D and 18D are fitted in the facing portions of the pair of standing portions 15D and 16D, respectively, and the drive spindle 13D of the omni-wheel type drive wheel 7D is rotatably supported between the bearings 17D and 18D, respectively. The motor 8D is also supported and fixed to the base portion 14D, and the rotation shaft of the motor 8D is coupled to the drive spindle 13D.

Although the orientations are different as described above, the other omni-wheel type drive wheels 7A to 7C have the same configuration.

FIG. 5 is a plan view showing four storage spaces excluding the tray.

Each storage space includes a drive unit 6D, which is a feeding device described with reference to FIG. 2, and other drive units 6E, 6G, and 6H having the same configuration as the drive unit 6D. When the configurations of these other drive units 6E, 6G, and 6H are referred to, the same members as the components in the drive unit 6D will be described using the same reference numerals.

Next, a case where the tray 5A located on the drive unit 6G is vertically fed to the drive unit 6H side will be described.

In the drive unit 6G, when the motors 8A and 8D are selected and operated by the control device 9, it is the omni-wheel type drive wheels 7A and 7D that are rotationally driven by the motors 8A and 8D to perform the feed operation. In the drive unit 6H, when the motors 8A and 8D are selected and operated by the control device 9, it is the omni-wheel type drive wheels 7A and 7D that are rotationally driven by the motors 8A and 8D to perform the feed operation.

Here, when the tray 5A is vertically fed from the drive unit 6G to the drive unit 6H side, the omni-wheel type drive wheels 7A and 7D arranged diagonally in the drive unit 6G are used for this vertical feed. The omni-wheel type drive wheels 7A and 7D are arranged diagonally in the drive unit 6H, and are arranged in a zigzag pattern at predetermined intervals in the same vertical feed direction as the entire storage space used. ..

Therefore, the tray 5A initially located directly above the drive unit 6G starts to be fed to the right by the rotational drive of the omni-wheel type drive wheels 7A and 7D of the drive unit 6G. After that, when the tray 5A is disengaged from the omni-wheel type drive wheel 7A of the drive unit 6G, the tray 5A is fed to the right by the omni-wheel type drive wheel 7D of the drive unit 6G and the omni-wheel type drive wheel 7A of the drive unit 6H. Be done. Next, when the tray 5A is disengaged from the omni-wheel type drive wheel 7D of the drive unit 6G, the tray 5A is fed to the right by the omni-wheel type drive wheel 7A of the drive unit 6H and the omni-wheel type drive wheel 7D of the drive unit 6H. It is located directly above the drive unit 6H.

As can be seen from this description, in each drive unit, omni-wheel type drive wheels 7A and 7D, which are used for vertical feed and are rotationally driven by a motor, are arranged diagonally. Therefore, when the tray 5A located at the upper part of the drive unit 6G is vertically fed to the drive unit 6H side, the omni-wheel type drive wheels 7A and 7D that are rotationally driven by the motors 8A and 8D are arranged in a zigzag arrangement as the entire drive unit. It will be arranged in a stepping stone shape. Since the vertical feed direction is also the longitudinal direction of the tray 5A, there is an appropriate distance between the omni wheel type drive wheels 7A and 7C or between the omni wheel type drive wheels 7B and 7D, and the tray 5A can be used by any feed device. The tray 5A can be smoothly fed out in sequence without creating a non-driven state.

Next, a case where the tray 5A located at the upper part of the drive unit 6G is laterally fed to the drive unit 6D side will be described.

In the drive unit 6G, when the motors 8B and 8C are selectively operated by the control device 9, it is the omni-wheel type drive wheels 7B and 7C arranged diagonally that are rotationally driven by the motors 8B and 8C. Similarly, in the drive unit 6D, it is the omni-wheel type drive wheels 7C and 7B arranged diagonally that are rotationally driven by the selected motors 8C and 8B. Here, too, the omni-wheel type drive wheels 7C and 7B of the drive unit 6G and the omni-wheel type drive wheels 7C and 7B of the drive unit 6D are used for the lateral feed, and these are the same lateral feed as a whole. The wheels are arranged in a zigzag pattern at predetermined intervals in the direction.

Therefore, the tray 5A initially located directly above the drive unit 6G begins to be fed downward in the figure by the omni-wheel type drive wheels 7C and 7B of the drive unit 6G. After that, when the tray 5A is disengaged from the omni-wheel type drive wheel 7C of the drive unit 6G, the tray 5A is moved downward in the figure by the omni-wheel type drive wheel 7B of the drive unit 6G and the omni-wheel type drive wheel 7C of the drive unit 6D. Sent. Next, when the tray 5A is disengaged from the omni-wheel type drive wheel 7B of the drive unit 6G, the tray 5A is moved downward in the drawing by the omni-wheel type drive wheel 7C of the drive unit 6D and the omni-wheel type drive wheel 7B of the drive unit 6D. It is fed and is located directly above the drive unit 6D.

Compared to the distance between the omni wheel type drive wheels 7A and 7C or between the omni wheel type drive wheels 7B and 7D in the case of vertical feed, the distance between the omni wheel type drive wheels 7A and 7B or between the omni wheel type drive wheels in the case of horizontal feed The distance between 7C and 7D tends to be relatively narrow because it corresponds to the width direction of the tray 5A. This risks causing the following problems.

FIG. 6 is a plan view showing four storage spaces when configured so as not to satisfy the above-mentioned conditions.

Here, a case where the tray 5A located on the drive unit 6G is laterally fed to the drive unit 6D side will be described while comparing. In the drive unit 6G constituting the feed device, the omni-wheel type drive wheels 7A and 7C are configured for vertical feed in which the tray 5A is fed in the longitudinal direction by its rotation, and the omni-wheel type drive wheels 7B and 7D are rotated. The tray 5A is configured for lateral feeding to feed the tray 5A in the width direction thereof. The drive unit 6D constituting the other feeding device has the same configuration as the drive unit 6G.

Considering the case where the tray 5A located directly above the drive unit 6G is laterally fed to the drive unit 6D side, the feed device used at this time is the omni-wheel type drive wheels 7B, 7D in the drive unit 6G. And the omni-wheel type drive wheels 7B and 7D in the drive unit 6D. However, in this configuration, the drive unit 6G has omni-wheel type drive wheels 7B and 7D driven by motors 8B and 8D during lateral feed, and the drive unit 6D has omni-wheel type driven by motors 8B and 8D during lateral feed. Since the drive wheels 7B and 7D are not arranged diagonally, they are not arranged in a zigzag pattern in the same lateral feed direction at predetermined intervals as a whole.

Initially, the tray 5A, which is located directly above the drive unit 6G, begins to be fed downward in the figure by the omni-wheel type drive wheels 7B, 7D in the drive unit 6G. However, after that, when the tray 5A is separated from the omni-wheel type drive wheels 7B and 7C in the drive unit 6G as shown by the dotted line, the tray 5A is not sent by the omni-wheel type drive wheels 7B and 7D in the drive unit 6G, and moreover. , Even the omni-wheel type drive wheels 7B and 7D in the drive unit 6D cannot be sent. Therefore, in order to avoid such a situation, some measures must be taken.

In this regard, in the embodiment shown in FIG. 5, omni-wheel type drive wheels 7A and 7D that are vertically fed at predetermined intervals in the longitudinal direction of the tray are rotatably arranged on the floor side of each storage space. , Omni-wheel type drive with motors 8A and 8D, and separately from omni-wheel type drive wheels 7A and 7D, omni-wheel type drive that vertically feeds to the floor side of each storage space at other predetermined intervals in the width direction of the tray. The basic structure is that the wheels 7B and 7C are rotatably arranged and the drive structure is made by the motors 8B and 8C.

In a normal mechanical parking device, since the tray is fed in two directions, the vertical direction and the horizontal direction, it is a floor-side drive device having a built-in switching mechanism for switching the direction of the feeding device. Due to the switching mechanism described above, the mechanism on the tray and the drive device side is complicated, and the accuracy of manufacturing and assembling the rail surface is also required. However, as described above, since the omni-wheel type drive wheels 7A to 7D are used on the drive unit 6D side, the switching mechanism becomes unnecessary, the overall configuration can be simplified, and the operating time of each tray can be reduced. Can be shortened.

Further, in this embodiment, when the tray 5A located directly above the drive unit 6G is laterally fed to the drive unit 6D side, the omni-wheel type drive wheels 7C, which are used for lateral feed in each drive unit, 7Bs are arranged diagonally. Therefore, the omni-wheel type drive wheels 7C and 7B, which are arranged along the lateral feed direction and are rotationally driven by the motor, are arranged in a stepping stone shape in a zigzag arrangement across the drive units. .. Therefore, even in the tray 5A in the state shown in FIG. 6, the tray in FIG. 5 is laterally fed by the omni-wheel type drive wheel 7C of the drive unit 6D, and the tray is not driven by any feeding device. The tray can be moved smoothly without making a wheel.

In particular, omni-wheel type drive wheels 7A to 7D, which are rotationally driven by motors 8A to 8D, are arranged at each corner of the virtual quadrangle surrounding the center of the tray, and one diagonal is for vertical feed and the other is for vertical feed. Since it is used for horizontal feed diagonally, it has a very simple configuration using four omni-wheel type drive wheels 7A to 7D as one drive unit. The tray can be moved smoothly without creating a state in which it is not driven by the device.

FIG. 7 is an enlarged view of a drive unit used in the mechanical parking device according to another embodiment of the present invention.

In the previous embodiment, four omni-wheel type drive wheels 7A to 7D were used, but in this embodiment, a total of eight omni-wheel type drive wheels 19A to 19H are used to configure the drive unit 6D. The drive unit 6D of this embodiment assumes two virtual quadrangles concentric with respect to the center of the quadrangle drive unit 6D or the center of the quadrangle tray, and omni-wheel type drive at each corner of the outer virtual quadrangle. The wheels 19A to 19D are arranged, and the omni-wheel type drive wheels 19E to 19H are arranged at each corner of the inner virtual quadrangle.

The omni-wheel type drive wheels 19A to 19D arranged on the outside are rotatably supported in a direction in which the tray is vertically fed in the longitudinal direction thereof. Further, among the omni-wheel type drive wheels 19A to 19D arranged on the outside, the omni-wheel type drive wheels 19A and 19D arranged diagonally have the motors 20A and 20D. That is, only the diagonally arranged omni-wheel type drive wheels 19A and 19D are arranged so as to be driven by the motors 20A and 20D. This is because the omni-wheel type drive wheels 19A and 19D driven by the motors 20A and 20D are arranged in a zigzag pattern along the vertical feed direction as a whole when viewed between a plurality of adjacent drive units. The condition is satisfied.

On the other hand, the omni-wheel type drive wheels 19E to 19H arranged inside are rotatably supported in a direction in which the tray is laterally fed in the width direction. Further, among the omni-wheel type drive wheels 19E to 19H arranged inside, the omni-wheel type drive wheels 19F and 19G arranged diagonally have the motors 20B and 20C. That is, only the diagonally arranged omni-wheel type drive wheels 19F and 19G are arranged so as to be driven by the motors 20A and 20D. This is because the omni-wheel type drive wheels 19A and 19D driven by the motors 20A and 20D are arranged in a zigzag pattern along the vertical feed direction as a whole when viewed between a plurality of adjacent drive units. The condition is satisfied.

In the above explanation, it was explained from the viewpoint of the corners of two virtual squares, but considering that two omni wheel type drive wheels are arranged in one corner, the first corner is An omni-wheel type drive wheel 19A driven by the motor 20A and an omni-wheel type drive wheel 19E without a motor are arranged. An omni-wheel type drive wheel 19F driven by the motor 20B and an omni-wheel type drive wheel 19B without a motor are arranged at the second corner, and are driven by the motor 20C at the third corner. An omni-wheel type drive wheel 19G and an omni-wheel type drive wheel 19C having no motor are arranged. An omni-wheel type drive wheel 19D driven by the motor 20D and an omni-wheel type drive wheel 19H having no motor are arranged at the fourth corner.

Also in this embodiment, omni-wheel type drive wheels 7A and 7D that are vertically fed at predetermined intervals in the longitudinal direction of the tray are rotatably arranged on the floor side of each storage space, and are driven by motors 8A and 8D. As a structure, apart from the omni wheel type drive wheels 7A and 7D, the omni wheel type drive wheels 7B and 7C that are vertically fed at other predetermined intervals in the width direction of the tray are rotatable on the floor side of each storage space. The basic structure is that the drive structure is driven by the motors 8B and 8C. Therefore, the same effect as that of the previous embodiment can be obtained.

Further, as in the previous embodiment, omni-wheel type drive wheels 19A and 19D for vertical feed, which are rotationally driven by the motors 20A and 20D, are arranged on one diagonal in the virtual quadrangle, and the other omni-wheel type drive wheels 19A and 19D in the virtual quadrangle are arranged. Omni-wheel type drive wheels 19F and 19G for vertical feed, which are rotationally driven by the motors 20B and 20C, may be arranged diagonally.

Therefore, as in the previous embodiment, the tray can be smoothly moved during vertical feeding or horizontal feeding without creating a state in which the tray is not driven by any feeding device. Moreover, omni-wheel type drive wheels 19E, 19B, 19C, 19H, which are not motor-driven but are rotatably supported, are arranged in the vicinity of the motor-driven omni-wheel type drive wheels 19A, 19F, 19G, and 19D, respectively. ing. Therefore, since the load on the tray side is received by two omni-wheel type drive wheels at each corner of the virtual quadrangle, the load sharing of each omni-wheel type drive wheel should be reduced as compared with the case of the previous embodiment. Can be done. In other words, the tray with the heavy parked vehicle mounted can be easily moved.

The directions of the omni-wheel type drive wheels 19A to 19D arranged at each corner of the outer virtual quadrangle and the omni-wheel type drive wheels 19E to 19H arranged at each corner of the inner virtual quadrangle are interchanged. Is also good.

FIG. 8 is an enlarged view of a drive unit used in the mechanical parking device according to still another embodiment of the present invention.

Also in the drive unit 6D in this embodiment, the omni-wheel type drive wheels 19A to 19D arranged at each corner of the outer virtual quadrangle are arranged in the longitudinal direction of the tray as in the previous embodiment shown in FIG. It is rotatably supported in a certain vertical feed direction. The omni-wheel type drive wheels 19E to 19H arranged at each corner of the inner virtual quadrangle are rotatably supported in a direction in which the tray is laterally fed in the width direction thereof.

However, the drive system by the motor is different from the case of FIG. 7, and the drive spindles 21A and 21B of the omni-wheel type drive wheels 19A and 19B are opposed to each other on the same axis, and the motor is located between the drive spindles 21A and 21B. A 20A rotation axis is coupled. Similarly, the drive spindles 21C and 21D of the omni-wheel type drive wheels 19C and 19D are also opposed to each other on the same axis, and the rotation axis of the motor 20D is coupled between the drive spindles 21C and 21D.

Further, the drive spindles 21E and 21G of the omni-wheel type drive wheels 19E and 19G are opposed to each other on the same axis, and the rotation axis of the motor 20B is coupled between the drive spindles 21E and 21G. Similarly, the drive spindles 21F and 21H of the omni-wheel type drive wheels 19F and 19H are also opposed to each other on the same axis, and the rotation axis of the motor 20C is coupled between the drive spindles 21F and 21H.

Also in this embodiment, omni wheel type drive wheels 19A and 19B and omni wheel type drive wheels 19C and 19D, which are vertically fed at predetermined intervals in the longitudinal direction of the tray, are rotatably arranged on the floor side of each storage space. In addition, the drive structure is based on the motors 20A and 20D, and apart from the omni wheel type drive wheels 19A to 19D, the omni wheel is laterally fed to the floor side of each storage space at other predetermined intervals in the width direction of the tray. The basic structure is that the type drive wheels 19E and 19G and the omni wheel type drive wheels 19F and 19H are rotatably arranged and the drive structure is driven by the motors 20B and 20C. Therefore, the same effect as that of the previous embodiment can be obtained.

Further, according to the present embodiment, as in the previous embodiment, omni-wheel type drive wheels 19A and 19D for vertical feed driven by a motor are arranged on one diagonal in the virtual quadrangle, and the other pair. Omni-wheel type drive wheels 19F and 19G for lateral feed driven by a motor are arranged at the corners. Alternatively, motor-driven lateral feed omni-wheel type drive wheels 19E and 19H are arranged on one diagonal of the virtual quadrangle, and motor-driven vertical feed omni-wheels are arranged on the other diagonal. Type drive wheels 19B and 19C are arranged. Therefore, the same effect as that of the previous embodiment can be obtained.

Further, since a total of eight omni wheel type drive wheels 19A to 19H are used, it is possible to reduce the load sharing in one omni wheel type drive wheel. Moreover, since each omni-wheel type drive wheel 19A to 19H can be driven by motors 20A to 20D, even if the tray is equipped with a parked vehicle, the load is unbalanced in front of and behind or to the left and right of the parked vehicle. Even if there is, the tray can be moved smoothly while balancing the load.

Further, in the present embodiment, the laterally feed motor-driven omni-wheel type drive wheels 19E to 19H are provided between the vertically-feeding motor-driven omni-wheel type drive wheels 19A to 19D between the trays facing each other in the longitudinal direction. It is supported by a pair of drive spindles 21E to 21H that are rotatably arranged at a predetermined distance in the width direction of the tray.

According to such a configuration, which omni wheel type drive wheel 19A is used during vertical feed while ensuring a sufficient distance between the omni wheel type drive wheels 19A and 19B and the omni wheel type drive wheels 19C and 19D in the longitudinal direction of the tray. It is possible to prevent the occurrence of a state in which the drive is not driven even by ~ 19D, and to have a simple configuration by the drive spindles 21E to 21H which are arranged relatively close to each other in the width direction of the tray.

FIG. 9 is an enlarged view of a drive unit used in the mechanical parking device according to still another embodiment of the present invention.

Also in the drive unit 6D in this embodiment, the omni-wheel type drive wheels 19A to 19D arranged at each corner of the outer virtual quadrangle are arranged in the longitudinal direction of the tray as in the previous embodiment shown in FIG. It is rotatably supported in a certain vertical feed direction. The omni-wheel type drive wheels 19E to 19H arranged at each corner of the inner virtual quadrangle are rotatably supported in a direction in which the tray is laterally fed in the width direction thereof.

A sprocket 27 is coupled to the end of the drive spindle 21B of the omni wheel type drive wheel 19B, and a sprocket 28 is also coupled to the end of the common drive spindle 22 of the omni wheel type drive wheel 19D. The sprocket 27 and the sprocket 28 are connected by a power transmission means 29 such as a chain or a belt. Therefore, when the motor 20A is operated, the omni wheel type drive wheels 19A and 19B are rotationally driven via the drive spindles 21A and 21B, and the omni wheel type drive is driven via the sprocket 27, the sprocket 28 and the power transmission means 29. The wheels 19C and 19D are also rotationally driven.

Further, the drive spindles 21A and 21B of the omni-wheel type drive wheels 19A and 19B are opposed to each other on the same axis, and the rotation axis of the motor 20A is coupled between the drive spindles 21A and 21B. Further, the drive spindles 21E and 21G of the omni-wheel type drive wheels 19E and 19G are opposed to each other on the same axis, and the rotation axis of the motor 20B is coupled between the drive spindles 21E and 21G.

However, the other configurations are different from those shown in FIG. The omni-wheel type drive wheels 19C and 19D are opposed to each other on the same shaft, and are directly connected by a common drive main shaft 22 without using a motor. Further, the omni-wheel type drive wheels 19F and 19H are also opposed to each other on the same shaft, and are directly connected by the common drive main shaft 23 without using a motor. Moreover, the sprocket 24 is coupled to the drive spindle 21E of the omni-wheel type drive wheel 19E, the sprocket 25 is also coupled to the common drive spindle 23, and the sprocket 24 and the sprocket 25 are connected by a power transmission means 26 such as a chain or a belt. Has been done.

According to such a configuration, the same effect as that of the embodiment shown in FIG. 8 can be obtained with a simple configuration in which the number of motors is reduced to two.

FIG. 10 is an enlarged view of a drive unit used in the mechanical parking device according to still another embodiment of the present invention.

Also in the drive unit 6D in this embodiment, the omni-wheel type drive wheels 19A to 19D arranged at each corner of the outer virtual quadrangle are arranged in the longitudinal direction of the tray as in the previous embodiment shown in FIG. It is rotatably supported in a certain vertical feed direction. The drive spindles 21A and 21B of the omni-wheel type drive wheels 19A and 19B face each other on the same axis, and the rotation axis of the motor 20A is coupled between the drive spindles 21A and 21B. On the other hand, the omni-wheel type drive wheels 19C and 19D are directly connected on the same shaft by the common drive spindle 22.

A sprocket 27 is coupled to the opposite end of the drive spindle 21B in the omni wheel type drive wheel 19B, and similarly, a sprocket 28 is coupled to the opposite end of the drive spindle in the omni wheel type drive wheel 19D. The sprocket 27 and the sprocket 28 are connected by a power transmission means 29 such as a chain or a belt.

Therefore, when the motor 20A is operated, the omni wheel type drive wheels 19A and 19B are rotationally driven via the drive spindles 21A and 21B, and the omni wheel type drive is driven via the sprocket 27, the sprocket 28 and the power transmission means 29. The wheels 19C and 19D are also rotationally driven.

Further, the drive spindle 21E of the omni-wheel type drive wheels 19E arranged inside between the omni-wheel type drive wheels 19A and 19B is rotatably supported in a direction in which the tray is laterally fed in the width direction thereof. The drive spindle 21E is coupled to the rotation shaft of the motor 20B. A sprocket 24 is coupled to the motor 20B side of the drive spindle 21E. The omni wheel type drive wheel 19H is arranged at a position deviated from the omni wheel type drive wheel 19E in the width direction of the tray and inside between the omni wheel type drive wheels 19C and 19D. The drive spindle 21H of the omni-wheel type drive wheel 19H is rotatably supported, and the sprocket 25 is coupled to the drive spindle 21H at a position corresponding to the sprocket 24. The sprocket 24 and the sprocket 25 are connected by a power transmission means 26 such as a chain or a belt.

According to such a configuration, as in the previous embodiment, omni-wheel type drive wheels 19B and 19C for vertical feed driven by a motor are arranged on one diagonal in the virtual quadrangle, and the other pair. Omni-wheel type drive wheels 19E and 19H for vertical feed, which are motor-driven and for horizontal feed, are arranged at the corners. Therefore, the same effect as that of the previous embodiment can be obtained.

Moreover, in such a basic configuration, it is necessary to secure a sufficient distance between the omni-wheel type drive wheels 19A and 19B and the omni-wheel type drive wheels 19C and 19D because they are in the longitudinal direction of the tray. However, since the distance between the omni-wheel type drive wheels 19E and 19H is in the width direction of the tray, a relatively small facing distance is sufficient. Utilizing this feature, since the drive spindle 21E and the drive spindle 21H are separated in the width direction of the tray, that is, the lateral feed direction, the interval in the lateral feed direction can be easily changed by changing the length of the power transmission means 26. Can be adjusted to. Therefore, it is possible to easily prevent the occurrence of a situation in which the tray 5A as described with reference to FIG. 6 cannot be driven.

Further, in the previous embodiment shown in FIG. 9, the number of omni-wheel type drive wheels 19E to 19H in the direction of laterally feeding the tray in the width direction thereof was four, whereas in this embodiment, the trays are used. There are two omni-wheel type drive wheels 19E and 19H in the direction of laterally feeding in the width direction. Therefore, the configuration can be simplified.

Further, in the present embodiment, the laterally feed motor-driven omni-wheel type drive wheels 19E to 19H are provided between the vertically-feeding motor-driven omni-wheel type drive wheels 19A to 19D between the trays facing each other in the longitudinal direction. It is supported by a pair of drive spindles 21E and 21H that are rotatably arranged at a predetermined distance in the width direction of the tray.

According to such a configuration, which omni wheel type drive wheel 19A is used during vertical feed while ensuring a sufficient distance between the omni wheel type drive wheels 19A and 19B and the omni wheel type drive wheels 19C and 19D in the longitudinal direction of the tray. It is possible to prevent the occurrence of a state in which the drive is not driven even by ~ 19D, and to have a simple configuration by the drive spindles 21E to 21H which are arranged relatively close to each other in the width direction of the tray.

FIG. 11 is an enlarged view of a drive unit used in the mechanical parking device according to still another embodiment of the present invention.

In this embodiment, the omni-wheel type drive wheels 19A to 19D arranged at each corner of the outer virtual quadrangle as in the previous embodiment shown in FIG. 9 are oriented to vertically feed the tray in the longitudinal direction thereof. It is arranged in. The omni-wheel type drive wheels 19A and 19B are connected by a rotatably supported common drive spindle 30, and the omni-wheel type drive wheels 19C and 19D are connected by a rotatably supported common drive spindle 31. There is.

The sprockets 27 and 32 are coupled to one end of the common drive spindle 30, the sprocket 28 is also coupled to one end of the common drive spindle 31, and a power transmission means 29 such as a chain or a belt is used between the sprocket 27 and the sprocket 28. It is connected. A motor 20A is attached in the vicinity of the omni-wheel type drive wheel 19B, and a sprocket 33 is coupled to the rotating shaft of the motor 20A. The sprocket 33 and the sprocket 32 are also connected by a power transmission means 34 such as a chain or a belt.

Therefore, when the motor 20A is operated, the omni wheel type drive wheels 19A and 19B are rotationally driven via the power transmission means 33 and the common drive spindle 30, and the omni is driven via the power transmission means 29 and the common drive spindle 31. Wheel type drive wheels 19C and 19D are also rotationally driven.

The omni-wheel type drive wheels 19E to 19H arranged at each corner of the inner virtual quadrangle are rotatably supported in a direction in which the tray is laterally fed in the width direction thereof. The omni wheel type drive wheels 19E and 19G are connected by a rotatably supported common drive spindle 35, and the omni wheel type drive wheels 19F and 19H are connected by a rotatably supported common drive spindle 36. There is.

Sprocket 37, 38 is coupled to one end of the common drive spindle 35, sprocket 39 is also coupled to one end of the common drive spindle 36, and a power transmission means 40 such as a chain or a belt is used between the sprocket 38 and the sprocket 39. It is connected. A motor 20B is attached in the vicinity of the omni-wheel type drive wheel 19E, and a sprocket 41 is coupled to the rotating shaft of the motor 20B. The sprocket 41 and the sprocket 37 are also connected by a power transmission means 42 such as a chain or a belt.

Therefore, when the motor 20B is operated, the omni wheel type drive wheels 19E and 19G are rotationally driven via the power transmission means 42 and the common drive spindle 35, and the omni is driven via the power transmission means 40 and the common drive spindle 36. Wheel type drive wheels 19F and 19H are also rotationally driven.

According to such a configuration, as in the previous embodiment, omni-wheel type drive wheels 19A and 19D for vertical feed driven by a motor are arranged on one diagonal in the virtual quadrangle, and the other pair. Omni-wheel type drive wheels 19F and 19G for vertical feed, which are motor-driven and for horizontal feed, are arranged at the corners. Alternatively, omni-wheel type drive wheels 19B and 19C for vertical feed driven by a motor are arranged on one diagonal in the virtual quadrangle, and vertical feed for horizontal feed driven by a motor is arranged on the other diagonal. Omni-wheel type drive wheels 19E and 19H are arranged. Therefore, the same effect as that of the previous embodiment can be obtained.

Further, the omni-wheel type drive wheels 19A to 19D can be rotationally driven by the motors 20A and 20B whose number is reduced to two. Moreover, since the rotational driving force is transmitted using the power transmission means 29, 34, 40, 42, the motors 20A and 20B can be arranged at convenient positions, respectively, so that the degree of freedom in design is expanded. Will be done. Further, an arbitrary distance can be easily secured between the omni-wheel type drive wheels 19E and 19F or between the omni-wheel type drive wheels 19G and 19H, which are the lateral feed devices, by adjusting the length of the power transmission means 40. Can be done. As a result, it is possible to easily prevent the occurrence of a situation in which the tray 5A as described with reference to FIG. 6 cannot be driven.

FIG. 12 is an enlarged view of a drive unit used in the mechanical parking device according to still another embodiment of the present invention.

In this embodiment, the omni-wheel type drive wheels 19A to 19D arranged at each corner of the outer virtual quadrangle as in the previous embodiment shown in FIG. 11 are oriented to vertically feed the tray in the longitudinal direction thereof. It is arranged in. The omni wheel type drive wheel 19A and the omni wheel type drive wheel 19B are connected by a rotatably supported common drive spindle 30, and the omni wheel type drive wheel 19C and the omni wheel type drive wheel 19D are rotatably supported. It is connected by the common drive spindle 31.

The sprockets 27 and 32 are coupled to one end of the common drive spindle 30, the sprocket 28 is also coupled to one end of the common drive spindle 31, and a power transmission means 29 such as a chain or a belt is used between the sprocket 27 and the sprocket 28. It is connected. A motor 20A is attached in the vicinity of the omni-wheel type drive wheel 19B, and a sprocket 33 is coupled to the rotating shaft of the motor 20A. The sprocket 33 and the sprocket 32 are also connected by a power transmission means 34 such as a chain or a belt.

Therefore, when the motor 20A is operated, the omni wheel type drive wheels 19A and 19B are rotationally driven via the power transmission means 33 and the common drive spindle 30, and the omni is driven via the power transmission means 29 and the common drive spindle 31. Wheel type drive wheels 19C and 19D are also rotationally driven.

Further, the drive spindle 21E of the omni-wheel type drive wheels 19E arranged inside between the omni-wheel type drive wheels 19A and 19B is rotatably supported in a direction in which the tray is laterally fed in the width direction thereof. The drive spindle 21E is coupled to the rotation shaft of the motor 20B. A sprocket 24 is coupled to the motor 20B side of the drive spindle 21E. The omni wheel type drive wheel 19H is arranged at a position deviated from the omni wheel type drive wheel 19E in the width direction of the tray and inside between the omni wheel type drive wheels 19C and 19D. The drive spindle 21H of the omni-wheel type drive wheel 19H is rotatably supported, and the sprocket 25 is coupled to the drive spindle 21H at a position corresponding to the sprocket 24. The sprocket 24 and the sprocket 25 are connected by a power transmission means 26 such as a chain or a belt.

Therefore, when the motor 20B is operated, the omni wheel type drive wheel 19E is rotationally driven via the drive spindle 21E, and the omni wheel type drive wheel 19H is also rotationally driven via the power transmission means 26 and the drive spindle 21H. NS.

According to such a configuration, as in the previous embodiment, omni-wheel type drive wheels 19B and 19C for vertical feed driven by a motor are arranged on one diagonal in the virtual quadrangle, and the other pair. Omni-wheel type drive wheels 19E and 19H for vertical feed, which are motor-driven and for horizontal feed, are arranged at the corners. Therefore, the same effect as that of the previous embodiment can be obtained.

Further, the drive spindle 21E and the drive spindle 21H are separated in the width direction of the tray, that is, the lateral feed direction, and the interval in the lateral feed direction can be easily adjusted by changing the length of the power transmission means 26. Can be done. Therefore, it is possible to easily prevent the occurrence of a situation in which the tray 5A as described with reference to FIG. 6 cannot be driven.

Further, the omni-wheel type drive wheels 19A to 19D can be rotationally driven by the motors 20A and 20B whose number is reduced to two. Moreover, since the rotational driving force is transmitted using the power transmission means 26, 29, and 34, the motors 20A and 20B can be arranged at convenient positions, respectively, so that the degree of freedom in design is expanded. .. Further, an arbitrary distance can be easily secured between the omni-wheel type drive wheels 19E and 19F, which are the lateral feed devices, by adjusting the length of the power transmission means 26, and the embodiment shown in FIG. 10 can be easily secured. The same effect as

As described above, in the mechanical parking device according to the present invention, a plurality of drive units having a plurality of feeding devices are arranged adjacent to each other in the vertical feeding direction and the horizontal feeding direction on the floor side to form a plurality of storage spaces. In a mechanical parking device that vertically or horizontally feeds a tray located above it by a feeding device of each drive unit, an omni that vertically feeds the tray vertically at a predetermined interval to the floor side of each storage space. Wheel type drive wheels 7A and 7D are rotatably arranged and driven by motors 8A and 8D. Separately from omni wheel type drive wheels 7A and 7D, on the floor side of each storage space, in the width direction of the tray. The omni-wheel type drive wheels 7B and 7C, which are laterally fed at a predetermined interval, are rotatably arranged and have a drive structure by motors 8B and 8C.

According to such a configuration, in a normal mechanical parking device, the tray is fed in two directions, the vertical direction and the horizontal direction, so that the floor-side drive device has a built-in switching mechanism for switching the direction of the feeding device. Due to the switching mechanism described above, the mechanism on the tray and drive unit side is complicated, and the accuracy of manufacturing and assembling the rail surface is also required. Since omni-wheel type drive wheels 7A to 7D are used on the drive unit 6D side, a switching mechanism is not required, the overall configuration can be simplified, and the operating time of each tray can be shortened.

Further, in addition to the above-described configuration, in the present invention, each drive unit 6D, 6E, 6G, 6H has omni-wheel type drive wheels 7A to 7D arranged at each corner of a virtual square surrounding substantially the center of the tray 5A. The motor-driven omni-wheel type drive wheels 7B and 7C, which feed the tray laterally to both corners at one diagonal position, are arranged respectively, and the tray is vertically placed at both corners at the other diagonal position. It is characterized in that omni-wheel type drive wheels 7A and 7D driven by a motor to be fed are arranged, respectively.

According to such a configuration, it is possible to configure a configuration with a smaller number of drive wheels, which is much simpler than when a conventional feed device equipped with a switching mechanism is used, and moreover, during vertical feed or horizontal feed. The tray can be moved smoothly between adjacent drive units without creating a state in which the tray is not driven by any feeding device.

Further, in addition to the above-described configuration, the present invention is characterized in that one motor-driven omni-wheel type drive wheel 7A to 7D is arranged at each corner of the virtual quadrangle.

According to such a configuration, the number of motors 8A to 8D is four, and the number of omni-wheel type drive wheels 7A to 7D is four, so that a simple configuration can be achieved.

Further, in addition to the above-described configuration, the present invention is a motor-driven omni-wheel type drive in which the drive units 6G and 6H provided in the vertical feed direction vertically feed the tray 5A to both corners at diagonal positions. The wheels 7A and 7D are arranged respectively, and the omni wheel type drive wheels 7A and 7D are arranged so as to form a zigzag arrangement between the drive units 6G and 6H arranged along the vertical feed direction, and the omni wheel type drive wheels 7A and 7D are arranged horizontally. Each drive unit 6G, 6D provided in the direction arranges motor-driven omni-wheel type drive wheels 7B, 7C that laterally feed the tray to both corners at the opposite diagonal positions, and in the lateral feed direction, respectively. The omni-wheel type drive wheels 7B and 7C are provided so as to form a flying stone in a zigzag arrangement between the drive units 6G and 6D arranged along the line.

According to such a configuration, the tray can be smoothly moved with a small number of motors and an omni-wheel type drive wheel without creating a state in which the tray is not driven by any feeding device.

Further, in addition to the above-described configuration, the present invention has two omni-wheel type drive wheels 19A and 19E, omni-wheel type drive wheels 19B and 19F, and omni-wheel type drive wheels 19C and 19G, respectively, at each corner of the virtual square. It is characterized by arranging omni-wheel type drive wheels 19D and 19H.

According to such a configuration, two omni wheel type drive wheels 19A and 19E, omni wheel type drive wheels 19B and 19F, omni wheel type drive wheels 19C and 19G, and omni wheel type drive are provided at each corner of the virtual square. Since the load on the tray side is received by the wheels 19D and 19H, the load sharing of each omni-wheel type drive wheel can be reduced, and the tray with a heavy parked vehicle mounted can be easily moved.

Further, in addition to the above-described configuration, in the present invention, the laterally feed motor-driven omni-wheel type drive wheels 19E to 19H are provided between the vertically-feeding motor-driven omni-wheel type drive wheels 19A to 19D between the trays facing each other in the longitudinal direction. It is characterized in that it is provided and supported by a pair of drive spindles 21E and 21H rotatably arranged at a predetermined distance in the width direction of the tray.

According to such a configuration, which omni wheel type drive wheel 19A is used during vertical feed while ensuring a sufficient distance between the omni wheel type drive wheels 19A and 19B and the omni wheel type drive wheels 19C and 19D in the longitudinal direction of the tray. , 19B also prevents the occurrence of a state in which the drive is not driven, and the drive spindles 21E to 21H arranged relatively close to each other in the width direction of the tray can be used for a simple configuration.

5A tray 6D, 6E, 6G, 6H Drive unit 7A-7D Omni wheel type drive wheel 8A-8D motor 19A-19H Omni wheel type drive wheel 20A-20D motor 21E-21H Drive spindle

Claims (6)

A drive unit having a plurality of feeding devices includes a plurality of storage space that is more disposed to be the driving unit adjacent to the longitudinal feed direction and the lateral feeding direction of the floor side, by the driving of the respective drive unit In a mechanical parking device that feeds a tray located above each drive unit vertically or horizontally.
Wherein disposed on the floor side of the storage space, at a predetermined distance in the longitudinal direction of the tray, and a plurality of omni-wheel type drive wheel to longitudinal feeding driving structure by motor, Jo Tokoro the width direction before Symbol tray at a distance, and a omni-wheel type driving wheels of multiple you crossfeed driving structure by motor,
The laterally feed omni wheel type drive wheels are provided between the vertically opposed omni wheel type drive wheels of the trays in the longitudinal direction.
Mechanical parking device. Wherein each drive unit, the omni-wheel type driving wheels at each corner of the virtual rectangle surrounding the approximate center of the tray are arranged, before you crossfeed said tray both corner portions of the position at which one of the diagonal serial omni-wheel type drive wheels are arranged, longitudinal feed before Symbol omniwheel type driving wheels you the tray both corner portions of the position at which the other diagonal are arranged, mechanical claim 1 Parking device. The front Symbol omniwheel type driving wheels at each corner of the virtual rectangle are arranged one by one, respectively, mechanical parking device according to claim 2. The longitudinal feeding the respective drive unit provided in the direction, the disposed longitudinal feed before Symbol omniwheel type driving wheels you the tray both corner portions of the position at which one diagonal respectively Rutotomoni, the longitudinal feed said omni-wheel type driving wheels so that the stepping stone shaped staggered arranged between the respective drive units which are arranged along the direction, the each of the driving unit provided in the lateral feeding direction, the other pair crossfeed before Symbol omniwheel type driving wheels you the tray both corner portions of the angular position are arranged Rutotomoni, stepping stones shaped staggered between the traversing direction is arranged along the said respective drive unit The mechanical parking device according to claim 2 or 3 , wherein the omni-wheel type drive wheels are arranged so as to be. The mechanical parking device according to any one of claims 2 to 4, wherein two omni-wheel type drive wheels are arranged at each corner of the virtual quadrangle. Two of the omni wheel type drive wheels are arranged at each corner, and two laterally feed omni wheel type drive wheels are vertically fed. The length of the tray in the two vertically feed omni wheel type drive wheels. Provided between opposite directions,
The two laterally fed omni-wheel type drive wheels are supported by a pair of drive spindles rotatably arranged at a predetermined distance in the width direction of the tray.
The mechanical type according to claim 5 , wherein the two vertically fed omni-wheel type drive wheels are supported by a pair of drive spindles rotatably arranged at a predetermined distance in the longitudinal direction of the tray. Parking device.

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