JP6944409B2 - Mechanical parking device - Google Patents

Description

The present invention relates to a mechanical parking device using a Mecanum type drive wheel.

As conventional multi-story 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, the conventional mechanical parking device requires a feeding device for feeding the tray in two directions in the vertical direction and the horizontal direction to the driving device configured on the floor side of the storage space, and a switching mechanism for changing the direction thereof. In addition, the tray side requires wheels corresponding to two directions in the vertical direction and the horizontal direction, and a rail surface that receives a driving force from the feeding device side, which complicates the configuration.

An object of the present invention is to provide a mechanical parking device capable of simplifying the overall configuration by omitting a switching mechanism for switching the direction of the feeding device for feeding the tray in two directions, the vertical direction and the horizontal direction. To provide.

In the mechanical parking device according to the first aspect, a plurality of drive units having the same configuration are arranged on the floor side of the storage space in the width direction and the longitudinal direction, respectively, and the above-mentioned is described in the other storage space excluding at least one empty space. In a mechanical parking device configured by arranging trays fed by drive units, each drive unit is rotatably arranged at each corner of a virtual square concentric with the center of the tray on the upper side thereof. The Mecanum type drive wheels are composed of a Mecanum type drive wheel and a motor for rotationally driving each Mecanum type drive wheel, and the Mecanum type drive wheels arranged diagonally to the virtual square have an inclination on the auxiliary wheel rotation axis of each barrel. At the same time, the tray located directly above one drive unit is placed on the other drive unit side by making it different from the inclination of the auxiliary wheel rotation axis of each barrel in the mechanum type drive wheels arranged diagonally. When driving to, the Mecanum type drive wheels are rotated by the motor selected in one drive unit, and the tray located directly above the Mecanum type drive wheels is fed by the rotating Mecanum type drive wheels. It is characterized by that.

According to the mechanical parking device according to the present invention, the overall configuration can be simplified by omitting the switching mechanism for switching the direction of the feeding device for feeding the tray in two directions, the vertical direction and the horizontal direction.

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 shown in FIG. 2 with a tray mounted, as viewed from the width direction frame side. It is an enlarged view of the main part of the drive unit shown in FIG. It is a top view which shows the driving direction of a wheel and the moving direction of a tray in the drive unit shown in FIG.

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

FIG. 1 is a schematic configuration diagram showing 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 unit 6A installed on the floor surface side appears on the drawing, but in other storage spaces, it is the same on the floor surface side below the trays 5A to 5G. The drive units 6A having the configuration are installed respectively.

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

The drive unit 6A 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 feed devices include four Mecanum type drive wheels 7A to 7D, motors 8A to 8D that rotate the main wheel rotation shafts of each Mecanum type drive wheel 7A to 7D, and motors 8A to 8A depending on the feed direction of the tray. It is composed of a control device 9 and the like that control the rotation direction and speed of 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 mounted on the intermediate fixing members 12A and 12B, and the control device 9 is mounted on a frame in the vicinity of the motors 8A to 8D.

Further, in a quadrangular frame of the drive unit 6A or a virtual quadrangle drawn concentrically from the center of the square tray 5A, mecanum type drive wheels 7A to 7D are arranged near each corner, and each mechanum type drive wheel 7A to 7A to The 7D main wheel rotation shaft extends in the width direction of the tray.

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 Mecanum type drive wheels 7A-7D.
FIG. 3 is a front view of the drive unit 6A with the tray mounted as viewed from the width direction frame body 11B side.

A tray 5A on which the parked vehicle 13 is mounted is arranged on the drive unit 6A. The Mecanum type drive wheels 7D are arranged on the left side of the figure, and the Mecanum type drive wheels 7C are arranged on the right side of the figure.

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

As can be seen from the figure, the base portion 14 mounted and fixed on the intermediate fixing member 12B has a pair of standing portions 15 and 16 that stand so as to face each other at a predetermined distance. Bearings 17 and 18 are fitted in the facing portions of the pair of standing portions 15 and 16, respectively.

The Mecanum type drive wheel 7D has wheels 19 and 20 arranged on both sides in the axial direction, and a plurality of barrels 21 which are auxiliary wheels arranged so as to cover the circumferential direction of the main wheel between the wheels 19 and 20. ing. The auxiliary wheel rotation axis of each barrel 21 is not arranged in a straight line connecting both wheels 19 and 20 at the shortest distance, but one wheel 19 is rotated about 45 degrees in the circumferential direction with respect to the other wheel 20. It is tilted and rotatably supported. The rotating shaft 22 of the motor 8D is inserted into the main wheel rotating shaft provided at the center of the wheels 19 and 20 and is coupled in the rotational direction, and the rotating shaft 22 is rotatably supported by the bearings 17 and 18. Has been done.

For example, the Mecanum type drive wheel 7D shown in FIG. 3 is coaxially shown in FIG. 3, assuming that one wheel 19 is rotated about 45 degrees clockwise with respect to the other wheel 20. The arranged Mecanum type drive wheels 7C have basically the same configuration, but one wheel 19 is rotated about 45 degrees counterclockwise with respect to the other wheel 20. ..

Further, as shown in FIG. 2, the Mecanum type drive wheel 7A has the same configuration as the Mecanum type drive wheel 7C, and is in a state of being rotated by about 45 degrees in the same direction. The Mecanum type drive wheel 7B has the same configuration as the Mecanum type drive wheel 7D, and is in a state of being rotated by about 45 degrees in the direction. Therefore, the auxiliary wheel rotation shaft in the barrel 21 of the Mecanum type drive wheels 7A and 7C and the auxiliary wheel rotation shaft in the barrel 21 of the Mecanum type drive wheels 7B and 7D are different by approximately 90 degrees.

With such a configuration, by adjusting the rotation directions and speed control of the four motors 8A to 8D, a plurality of combinations of the main wheel rotation axis and the movement of the barrel 21 on the circumference are created, and all directions are created. Movement can be realized.

FIG. 5 is a plan view showing the relationship between the feed direction of the tray and the rotation direction of the Mecanum type drive wheels 7A to 7D.

For example, when the Mecanum type drive wheels 7A and 7C are rotated in the direction indicated by the arrow 23 and the Mecanum type drive wheels 7B and 7D are rotated in the opposite directions indicated by the arrow 24, the barrel with respect to the rotation shaft 22 of the motor 8A which is the main wheel rotation axis. Due to the difference in inclination of the secondary wheel rotation shaft of 21, the tray can be fed in the width direction indicated by the arrow 25 by the resultant force.

Further, when the Mecanum type drive wheels 7A to 7D are rotated in the opposite directions to the arrows 23 and 24 shown in FIG. 5, the tray can be sent out in the width direction opposite to the arrow 25. Further, when all of the Mecanum type drive wheels 7A to 7D are rotated in the direction of the arrow 23 shown in FIG. 5, the tray can be vertically fed in the same direction as the arrow 23, while the Mecanum type drive wheels 7A to 7D By rotating everything in the direction of arrow 24 shown in FIG. 5, the tray can be vertically fed in the same direction as arrow 24.

Further, when the Mecanum type drive wheels 7A and 7D are rotated in the direction of the arrow 23 and the Mecanum type drive wheels 7B and 7C are rotated in the direction of the arrow 24, respectively, the tray can be rotated on the horizontal plane. Further, if only the diagonally arranged Mecanum type drive wheels are rotated in the same direction, for example, if the Mecanum type drive wheels 7A and 7C are rotated in the direction of arrow 23 without rotating the Mecanum type drive wheels 7B and 7C, respectively, The tray can be sent diagonally forward in the direction of travel.

Therefore, in the mechanical parking device as shown in FIG. 1, when the motor to be rotationally driven is selected by the control device 9 of the drive unit 6A arranged directly under the tray 5D, the tray 5D currently arranged in the center is selected. , Can be sent to the empty space on the left side, or can be sent to the empty space side on the upper side. Therefore, it is possible to move a predetermined tray to a desired position while sequentially feeding the trays while utilizing at least one empty space of the plurality of storage spaces.

The drive unit 6A in the above-described embodiment rotates four Mecanum type drive wheels 7A to 7D and each Mecanum type drive wheel 7A to 7D rotatably arranged at each corner of a virtual quadrangle above the drive unit 6A. Although the motors 8A to 8D to be driven are included in the configuration, the present invention is not limited to this configuration. For example, it is possible to arrange two Mecanum type drive wheels at each corner to reduce the load sharing of the tray with the parked vehicle mounted on each Mecanum type drive wheel.

As described above, in the mechanical parking device of the present invention, a plurality of drive units 6A having the same configuration are arranged on the floor side of the storage space in the width direction and the longitudinal direction, and each drive unit 6A has a tray on the upper side thereof. It has a Mecanum type drive wheels 7A to 7D rotatably arranged at each corner of a virtual square concentric with the center of the above, and motors 8A to 8D for rotationally driving each Mecanum type drive wheel 7A to 7D. However, the Mecanum type drive wheels 7A and 7C or the Mecanum type drive wheels 7B and 7D arranged diagonally of the virtual square match the inclinations of the auxiliary wheel rotation axes of each barrel 21, and the Mecanum type drive wheels arranged diagonally to each other. When driving the tray located directly above one drive unit 6A to the other drive unit side by making the inclination of the auxiliary wheel rotation shaft of each barrel 21 in the wheels 7B, 7D or Mecanum type drive wheels 7A, 7C different, one. The Mecanum type drive wheels 7A to 7D are rotated by the motors 8A to 8D selected in one drive unit 6A, and the tray located directly above the Mecanum type drive wheels 7A to 7D is fed by the rotating Mecanum type drive wheels 7A to 7D. It is characterized by.

According to such a configuration, the overall configuration can be simplified by omitting the switching mechanism for switching the direction of the feeding device for feeding the tray in the two directions of the vertical direction and the horizontal direction. In particular, the conventional mechanical parking device requires a switching mechanism for changing the direction of the feeding device in order to feed the tray in two directions, the vertical direction and the horizontal direction, to the driving device configured on the floor side of the storage space. In addition, the tray side requires wheels corresponding to two directions in the vertical direction and the horizontal direction, and a rail surface that receives a driving force from the feeding device side, which complicates the configuration. However, as described above, the feed direction of the tray can be changed without providing a mechanism for changing the direction of the main wheel rotation shafts of the Mecanum type drive wheels 7A to 7D, so that the overall configuration can be simplified and the weight can be reduced. ..

5A-5G Tray 6A Drive Unit 7A-7D Mecanum Type Drive Wheel 8A-8D Motor 21 Barrel

Claims (1)

A plurality of drive units having the same configuration are arranged on the floor side of the storage space in the width direction and the longitudinal direction, and trays sent by the drive units are arranged in the other storage spaces except for at least one empty space. In the mechanical parking device
Each of the drive units is provided between a quadrangular frame composed of a longitudinal frame and a width frame and the width frame at intervals, and is parallel to the width frame. an intermediate fixing member bridging between the longitudinal frame member extends, the Oite the upper side of the intermediate fixing member is rotatable arranged at each corner of the substantially center of the concentric virtual square of the tray and Mekanamutaipu drive wheel has, the motor for rotating each respective Mekanamutaipu drive wheels, provided in the frame, have a, and a control device for controlling the feeding direction of said tray,
The main wheel rotation shafts of the respective Mecanum type drive wheels are arranged parallel to the direction along the width direction frame.
The auxiliary wheel axle of each barrel of one of the pairs the Mekanamutaipu drive wheels that will be placed at the corners of a virtual rectangle having a tilt clockwise with respect to the orientation of the main wheel axle, is disposed on the other diagonal the Mekanamutaipu auxiliary wheel axle of each barrel of the drive wheel is disposed and having an inclination in the counterclockwise relative to the orientation of the main wheel axle that,
The control device selects the movement of the tray in two directions, the vertical direction and the horizontal direction, to drive each of the Mecanum type drive wheels.
Mechanical parking device.

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