JP7755977B2 - Conveying device, mechanical parking device, control method for conveying device, and control program for conveying device - Google Patents

Description

The present invention relates to a conveying device, a mechanical parking device, a control method for a conveying device, and a control program for a conveying device.

Mechanical parking systems are widely used, which move up and down within an elevator shaft to transport vehicles to a storage floor and then store the vehicles in a designated storage area on the storage floor.

As an example of such a mechanical parking device, Patent Document 1 discloses a mechanical parking device equipped with an elevator for transporting automobiles up and down. The elevator is equipped with a fork device that can extend and retract in a direction toward the storage shelf in the automobile storage space. A deck on which automobiles are placed is provided above the fork device, and automobiles are transferred between the storage shelf and the elevator via this deck. The elevator is also equipped with a swivel device between the fork device and the deck for rotating the deck.

Japanese Utility Model Application Publication No. 63-8346

Mechanical parking systems such as those described in Patent Document 1 require multiple steps to store a vehicle in a storage rack, such as rotating the deck, raising or lowering the elevator, and extending the fork mechanism. Furthermore, when removing a vehicle from a storage rack, the steps are reversed from when the vehicle was stored. However, as mechanical parking systems become more widespread, there is a growing demand for faster entry and exit of vehicles.

In addition to mechanical parking systems, there is also a growing demand for conveyance devices that can lift, rotate, and extend, not only in mechanical parking systems but also in large warehouses and other facilities where multiple storage areas are arranged in various directions, to quickly store and remove luggage from designated storage areas.

The present invention therefore aims to provide a conveying device, a mechanical parking device, a control method for a conveying device, and a control program for a conveying device that can more quickly store and remove items such as vehicles and luggage.

The conveying device of the present invention is a conveying device that moves up and down within an elevator shaft to convey items to a storage floor and store the items in a predetermined storage section provided on the storage floor. It is equipped with an extension/contraction section on which the item is placed and that extends and contracts between the extension/contraction section and the storage section to store the item in the storage section or remove the item from the storage section, a swivel section that rotates the extension/contraction section to face the predetermined storage section, and a control section that controls the operation of the extension/contraction section and the swivel section so that, when storing the item in the predetermined storage section or removing the item from the predetermined storage section, the extension/contraction section rotates and extends and contracts relative to the predetermined storage section.

With this configuration, when storing or removing items from a storage section, the swivel section of the transport device rotates while the telescopic section extends and retracts relative to the specified storage section. Therefore, this configuration allows for faster storage and removal of items.

In the conveying device of the present invention, a no-entry area that prohibits the extension/retraction unit from entering any area other than the storage unit to which the extension/retraction unit is to be moved may be set in advance for each storage unit, and the control unit may control the operation of the swivel unit and the extension/retraction unit so that the extension/retraction unit does not enter the no-entry area. This configuration can prevent the extension/retraction unit from colliding with other components when it is extended.

In the conveying device of the present invention, the no-entry area may be set based on the location of the storage unit to which the telescopic unit will be moved, the type of item placed on the telescopic unit, and the types of other items already stored in the other storage units. This configuration allows the swivel unit and telescopic unit to operate in accordance with the specifications of the item placed on the telescopic unit, and also prevents collisions between items placed on the telescopic unit and other stored items when the telescopic unit is extended.

In the conveying device of the present invention, when the control unit moves the telescoping unit to the specified storage unit, it executes a first operation to rotate the swivel unit, a second operation to simultaneously rotate the swivel unit and extend the telescoping unit, and a third operation to extend the telescoping unit to the specified storage unit, in that order, and the start timings of the first, second, and third operations may be set for each storage unit. With this configuration, by optimizing the start timings of the first, second, and third operations, items can be stored and removed more quickly.

In the conveying device of the present invention, the control unit may execute at least one of the first operation, the second operation, and the third operation in conjunction with vertical movement within the elevator shaft. With this configuration, the swivel unit and the extendable unit operate in conjunction with the vertical movement of the conveying device, allowing for faster storage and removal of items.

In the conveying device of the present invention, when the control unit moves the extendable unit from the specified storage unit, it sequentially executes a fourth operation of retracting the extendable unit from the specified storage unit, a fifth operation of simultaneously rotating the swivel unit and retracting the extendable unit, and a sixth operation of rotating the swivel unit, and the start timings of the fourth, fifth, and sixth operations may be set for each storage unit. With this configuration, by optimizing the start timings of the fourth, fifth, and sixth operations, items can be carried in and out more quickly.

In the conveying device of the present invention, the control unit may execute at least one of the fourth, fifth, and sixth operations in conjunction with vertical movement within the elevator shaft. With this configuration, the swivel unit and the extendable unit operate in conjunction with the vertical movement of the conveying device, allowing items to be transported in and out more quickly.

The mechanical parking device of the present invention is equipped with the above-described conveying device and stores a vehicle as the item in the specified storage section. This configuration allows vehicles to be parked in and out of the mechanical parking device more quickly.

In the mechanical parking device of the present invention, the predetermined storage section may include a pair of main body members extending parallel to both sides of the vehicle, and a plurality of wheel support members provided perpendicular to the main body members to support each wheel of the vehicle in the front-to-rear direction of the vehicle, and the telescopic section may have a gap formed therein through which the wheel support members pass in the vertical direction. With this configuration, vehicles can be parked in and out of the mechanical parking device more quickly.

The control method for a conveying device of the present invention is a method for controlling a conveying device that moves up and down in an elevator shaft to convey an item to a storage floor and stores the item in a predetermined storage unit provided on the storage floor. The conveying device includes an extension/contraction unit on which the item is placed and that extends and contracts between the extension/contraction unit and the storage unit to store the item in the storage unit or transport the item from the storage unit, and a swivel unit that rotates the extension/contraction unit to face the predetermined storage unit. When storing the item in the predetermined storage unit or transporting the item from the predetermined storage unit, the operation of the extension/contraction unit and the swivel unit is controlled so that the extension/contraction unit extends and contracts relative to the predetermined storage unit while the swivel unit rotates.

The control program for a conveying device of the present invention is a control program for a conveying device that moves up and down in an elevator shaft to convey an item to a storage floor and stores the item in a predetermined storage unit provided on the storage floor. The control program causes the computer of the conveying device, which includes an extension/contraction unit on which the item is placed and that extends and retracts between the extension/contraction unit and the storage unit to store the item in the storage unit or remove the item from the storage unit, to function as a control unit that controls the operation of the extension/contraction unit and the swivel unit so that the extension/contraction unit extends and retracts relative to the predetermined storage unit while the swivel unit swivels when storing the item in the predetermined storage unit or removing the item from the predetermined storage unit.

In the control program for the conveying device of the present invention, a no-entry area that prohibits the extension/contraction unit from entering any area other than the storage unit to which the extension/contraction unit is to be moved may be set in advance for each storage unit, and the control unit may control the operation of the swivel unit and the extension/contraction unit so that the extension/contraction unit does not enter the no-entry area.

In the control program for the conveying device of the present invention, the no-entry area may be set based on the position of the storage section to which the extension section is to be moved, the type of item to be placed on the extension section, and the types of other items already stored in other storage sections.

This invention allows for faster storage and removal of vehicles, luggage, and other items.

FIG. 1 is a perspective view of a parking lot according to this embodiment. FIG. 2 is a cross-sectional view of the parking lot of this embodiment taken from the front side. FIG. 3 is a schematic top view of the loading/unloading room of this embodiment. FIG. 4 is a schematic top view of the transport device of this embodiment. FIG. 5 is a schematic top view showing the extended state of the conveying device of this embodiment. FIG. 6 is a top view of the parking space pallet and slide. FIG. 7 is a diagram showing the process of storing a vehicle from the transport device to the parking space pallet of this embodiment. FIG. 8 is a functional block diagram relating to the control of the transport device of this embodiment. FIG. 9 is a schematic diagram showing the no-entry area, the operation of the turn deck section, and the operation of the slide section in this embodiment. FIG. 10 is a flowchart showing the flow of the vehicle storage process performed by the transport device of this embodiment.

Embodiments of the present invention will now be described with reference to the drawings. Note that the embodiments described below are merely examples of how the present invention may be implemented, and the present invention is not limited to the specific configurations described below. When implementing the present invention, specific configurations corresponding to the embodiments may be adopted as appropriate.

The general configuration of a mechanical parking lot (hereinafter referred to as "parking lot") 10 of this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a perspective view of the parking lot 10 of this embodiment. Figure 2 is a cross-sectional view of the parking lot 10 of this embodiment from the front.

The parking lot 10 of this embodiment is, as an example, an underground parking lot in which a body 16 is buried underground and which has multiple storage sections 14 for storing vehicles 12. The parking lot 10 of this embodiment is, as an example, designed to store only vehicles of a certain standard with a specific wheelbase length, and is primarily intended to store two types of vehicles 12 with slightly different overall lengths and widths. However, this is not a limitation, and the types of vehicles 12 stored in the parking lot 10 do not have to be limited.

As shown in Figure 1, the parking lot 10 is constructed by a cylindrical structure 16 extending from above ground to underground, with multiple storage areas 14 arranged in layers inside. The structure 16 is formed into a cylindrical shape as a whole by driving multiple piles into a circle. In the example shown in Figures 1 and 2, the storage areas 14 have five levels, but this is not limited to this, and the storage areas 14 may have multiple levels. Furthermore, the structure 16 may not only be formed by driving piles, but may also be formed using concrete or steel frames.

A cover plate 18 is placed over the opening at ground level in the body 16. A building 20 is provided in the center of the cylindrical body 16 on top of the cover plate 18. The building 20 is provided with a vehicle entrance/exit 22 through which vehicles 12 enter and exit, and its interior forms an entrance/exit room 24 (see Figure 3).

A transport device 30 for placing the vehicle 12 is provided inside the body 16, and an opening is formed in the cover plate 18 at a position corresponding to the transport device 30. Therefore, the building 20 is positioned to surround at least the opening in the cover plate 18. When entering the building, the occupant of the vehicle 12 drives the vehicle 12 into the building 20, parks it on the transport device 30 located inside the building 20, and disembarks. When leaving the building, the occupant gets into the vehicle 12 placed on the transport device 30 located inside the building 20, drives it, and leaves the building 20.

The transport device 30 carries the vehicle 12 and moves up and down within the elevator shaft 29. The elevator shaft 29 is a space in the central region of the main body 16 for the transport device 30 to move up and down. The transport device 30 transfers the vehicle 12 between it and multiple storage units 14 arranged radially around the elevator shaft 29.

That is, when a vehicle 12 enters the parking lot 10, the parking lot 10 transports the vehicle 12 to a specified storage floor using a transport device 30 that moves up and down, and then moves the vehicle 12 from the transport device 30 to a specified storage section 14 provided on that storage floor for storage. On the other hand, when a vehicle 12 leaves the parking lot 10, the parking lot 10 moves the transport device 30 to the storage section 14 where the vehicle 12 to be released is stored, and then moves the vehicle 12 from the storage section 14 to the transport device 30. The transport device 30 then transports the vehicle 12 to the building 20.

The transport device 30 can rotate in any direction, allowing the front of the vehicle 12 moved from the storage unit 14 to the building 20 for retrieval to face the vehicle entrance/exit 22. The storage unit 14 in which the vehicle 12 is stored is determined by a conventionally known method when the vehicle 12 is brought into storage.

Next, the details of the conveying device 30 will be explained with reference to Figures 3 to 5. Figure 3 is a schematic top view of the loading/unloading room 24, Figure 4 is a schematic top view of the conveying device 30, and Figure 5 is a schematic top view showing the conveying device 30 in an extended state.

As described above, the transport device 30 is placed in the loading/unloading room 24, and the vehicle 12 enters from the direction of the arrow in Figure 3 and is placed on the transport device 30. The hatched area in Figure 3 corresponds to the cover plate 18, and in this embodiment, the area other than the hatched area is the transport device 30, which moves up and down. However, this is not limiting, and the hatched area may also be considered part of the transport device 30 and move up and down.

In addition, a monitor 31 is installed on the wall inside the loading/unloading room 24, facing the front of the entering vehicle 12. The monitor 31 displays the exact position of the vehicle 12 as photographed by a camera installed inside the loading/unloading room 24, whether the front wheels have become trapped (described below), and the associated instructions to move forward or backward.

The transport device 30 comprises a main body 32 on which the vehicle 12 is placed, and a deck 34, which is the area where passengers get on and off the vehicle 12. The main body 32 is supported by a support member 35 (see Figure 4) via the deck 34, and a wire (not shown) is attached to the support member 35. A counterweight is attached to the other end of the wire, allowing the transport device 30 to move up and down.

As shown in Figure 5, the main body 32 of the transport device 30 includes a slide section 36 and a turn deck section 38.

The slide section 36 is an expandable section on which the vehicle 12 is placed and which expands and contracts (arrow A in Figure 5) between the slide section 36 and the storage section 14 to store or remove the vehicle 12 in or from the storage section 14.

The slide section 36 has a gap (hereinafter referred to as a "slit") 40A formed in the area where the front wheels of the vehicle 12 are placed, and a slit 40B formed in the area where the rear wheels are placed. The slide section 36 is designed so that the spacing between the two slits 40A is wider than the spacing between the two slits 40B. The area between the two slits 40A where the front wheels of the vehicle 12 are placed is recessed, one step lower than the rest of the slide section 36. The front wheels of the vehicle 12 fit into this recess, restricting the movement of the vehicle 12 on the slide section 36 and preventing the vehicle 12 from falling off the slide section 36. Therefore, the occupant of the vehicle 12 places the vehicle 12 on the conveying device 30 located in the loading/unloading room 24 so that the front wheels fit into the recess in the slide section 36. In the following description, when there is no need to distinguish between the slits 40A and 40B, they are simply referred to as slits 40. Furthermore, the number of slits 40 corresponding to one wheel is at least two, and for example, three or more slits 40 may be formed for one wheel.

The turn deck unit 38 is equipped with a mechanism for rotating the main body unit 32 in the direction of arrow B, and the slide unit 36 is provided on its upper surface. In other words, the turn deck unit 38 is a rotating unit that rotates the slide unit 36 so that it faces a predetermined storage position. Note that "facing" here means, for example, that the slide unit 36 faces directly opposite the predetermined storage position.

Next, referring to Figures 6 and 7, we will explain how vehicles 12 are stored on the parking space pallet 50 from the transport device 30 of this embodiment. The parking space pallet 50 is a so-called comb-type pallet provided in each storage section 14, on which vehicles 12 can be placed one at a time.

As shown in Fig. 6(A), the parking space pallet 50 of this embodiment is formed by a pair of main body members 52 and a plurality of wheel support members 54. The pair of main body members 52 extend in a direction parallel to both sides of the vehicle 12. The plurality of wheel support members 54 are provided in a direction perpendicular to the main body members 52 to support each wheel of the vehicle 12 in the fore-and-aft direction of the vehicle 12. As shown in Fig. 6(B), the slits 40 of the slide portion 36 are formed as gaps through which the wheel support members 54 pass in the vertical direction.

The wheel support members 54 may be removably attached to the main body member 52. For example, the attachment positions of the wheel support members 54 to the main body member 52 may be appropriately changed so that the parking space pallet 50 can be adapted to vehicles 12 with longer wheelbases or vehicles 12 with shorter wheelbases.

Next, we will explain the process of storing the vehicle 12 from the transport device 30 onto the parking space pallet 50. When the transport device 30 moves to the specified floor where the vehicle 12 will be stored, the slide section 36 on which the vehicle 12 is placed moves (extends) toward the parking space pallet 50 in the storage section 14 (Figure 7(A)).

The slide portion 36 stops extending when it moves to a position where the slit 40 and the wheel support member 54 are aligned (Figure 7(B)).

When the extension of the slide portion 36 stops, the conveying device 30 moves downward (Figure 7(C)). At this time, the wheel support member 54 of the parking space pallet 50 passes through the slit 40 in the slide portion 36.

When the slide section 36 is positioned below the parking space pallet 50 as the conveying device 30 moves downward, the vehicle 12 moves from the slide section 36 to the parking space pallet 50 (Figure 7 (D)).

Then, the slide section 36 retracts to return to the turn deck section 38 (Figure 7(E)), completing the movement of the vehicle 12 from the transport device 30 to the storage section 14 (Figure 7(F)). Once the movement of the vehicle 12 is complete, the transport device 30 returns to the loading/unloading room 24, but this is not limited thereto; the transport device 30 may also move to a storage floor where a vehicle 12 waiting to be unloaded is stored.

When moving the vehicle 12 from the storage unit 14 to the transport device 30 for removal from the warehouse, the transport device 30 performs the reverse operations of those shown in Figures 7(A) to 7(F).

Here, in order to store (enter) or remove (unload) a vehicle 12, the parking lot 10 requires a series of operations, including the vertical movement of the transport device 30, the rotation of the turn deck section 38, and the extension and retraction of the slide section 36. At the same time, the parking lot 10 is required to store and remove the vehicle 12 more quickly.

The parking lot 10 of this embodiment therefore controls the operation of the slide section 36 and the turn deck section 38 so that, when storing a vehicle 12 in a designated storage section 14 or removing a vehicle 12 from a designated storage section 14, the turn deck section 38 rotates while the slide section 36 extends and retracts relative to the designated storage section 14. In other words, the parking lot 10 of this embodiment is configured so that the rotation of the turn deck section 38 and the extension and retraction of the slide section 36 can partially overlap.

Figure 8 is a functional block diagram related to the control of the conveying device 30 in this embodiment.

The transport device 30 includes a parking lot control unit 60, a transport device control unit 62, a lifting drive unit 64, an extension/retraction drive unit 66, and a swivel drive unit 68.

The parking lot control unit 60 outputs entry and exit instructions from users of the parking lot 10, as well as control signals based on various sensors, to the transport device control unit 62. The parking lot control unit 60 keeps track of the type of vehicle 12 stored in each storage unit 14, the time of entry, etc., and determines the location of the storage unit 14 in which the vehicle 12 will be stored when an entry instruction for the vehicle 12 is received.

Based on control signals from the parking lot control unit 60, the transport device control unit 62 outputs various control signals to the lifting/lowering drive unit 64, extension/retraction drive unit 66, and rotation drive unit 68 to move the transport device 30 up and down, rotate the turn deck unit 38, and extend/retract the slide unit 36.

The lifting/lowering drive unit 64 is a motor that moves the conveying device 30 up and down based on a control signal from the conveying device control unit 62.

The extension/retraction drive unit 66 is a motor that extends and retracts the slide unit 36 based on a control signal from the transport device control unit 62.

The rotation drive unit 68 is a motor for rotating the turn deck unit 38 based on a control signal from the transport device control unit 62.

Figure 9 is a schematic diagram showing the operation of the no-entry area 70, slide section 36, and turn deck section 38 in this embodiment. Figure 9 shows a cross-section of the parking lot 10, with the hatched area indicating the no-entry area 70 and the thick line indicating the trajectory of the front end position of the slide section 36.

The no-entry area 70 is an area that prohibits the slide section 36 from entering any area other than the storage section 14 to which the slide section 36 is to be moved, and is set in advance for each storage section 14. The transport device control section 62 controls the operation of the turn deck section 38 and the slide section 36 so that the slide section 36 does not enter the no-entry area 70. In this way, by setting the no-entry area 70, it is possible to prevent the slide section 36 from colliding with other components when the slide section 36 is extended.

The no-entry area 70 is set based on the position of the storage section 14 to which the slide section 36 is moved, the type of vehicle 12 to be placed on the slide section 36, and the types of other vehicles 12 already stored in other storage sections 14. The type of vehicle 12 here refers to the size of the vehicle 12, expressed, for example, as the overall length and width.

As described above, the parking lot 10 of this embodiment is, for example, assumed to store only two types of vehicles 12 that are slightly different in size. Therefore, for example, the parking lot control unit 60 pre-stores the size of the vehicle 12 according to the type of vehicle 12. The vehicle 12 is then equipped with an RFID (radio frequency identifier) tag that stores the type of vehicle 12, and the RFID tag is read when the vehicle 12 enters the loading/unloading room 24. The parking lot control unit 60 reads the size according to the type obtained from the RFID tag.

However, this is not limiting. For example, a sensor (not shown) that detects the overall width, overall length, or weight of the vehicle 12 may be installed in the loading/unloading room 24, and the size and specifications of the vehicle 12 may be determined using this sensor. Also, the user of the parking lot 10 and the specified vehicle type may be registered in advance as registration information, and the size and specifications of the vehicle 12 may be determined based on this registration information.

The no-entry area 70 is set as a predetermined reference value, and a margin based on the size of the vehicle 12 being loaded and the size of other stored vehicles 12 is added to this reference value to determine the no-entry area 70 for each storage unit 14 actually used. In this way, the no-entry area 70 is a unique value set individually for each storage unit 14. The no-entry area 70 may be set by the parking lot control unit 60 or the transport device control unit 62. In this way, by setting the no-entry area 70 taking into account the type of vehicle 12, the operation of the slide unit 36 and the turn deck unit 38 can be adjusted to suit the specifications of the vehicle 12 placed on the slide unit 36. Furthermore, collisions between the vehicle 12 placed on the slide unit 36 and other stored vehicles 12 can be prevented when the slide unit 36 is extended.

Next, the operation of the slide section 36 and turn deck section 38 will be described in detail.

When moving the slide section 36 to a specified storage section 14, the transport device control section 62 causes the turn deck section 38 and slide section 36 to perform the first, second, and third operations in that order. Moving the slide section 36 to a specified storage section 14 means storing a vehicle 12 in the specified storage section 14, or moving the slide section 36 to a specified storage section 14 to remove a vehicle 12 from the specified storage section 14.

The first operation is to rotate the turn deck section 38. The second operation is to simultaneously rotate the turn deck section 38 and extend the slide section 36. The third operation is to extend the slide section 36 into the specified storage section 14.

The rotation of the turn deck section 38 as the first operation and the rotation of the turn deck section 38 as the second operation are continuous operations. In other words, in the second operation, part of the rotation of the turn deck section 38 and part of the extension of the slide section 36 overlap.

In this way, when the transport device 30 moves the slide section 36 to a specified storage section 14, it first rotates the turn deck section 38, and then simultaneously rotates the turn deck section 38 and extends and retracts the slide section 36, extending the slide section 36 to the specified storage section 14. The rotation speed of the turn deck section 38 and the extension and retraction speed of the slide section 36 are the same in the first, second, and third operations. However, this is not limited to this, and the rotation speed of the turn deck section 38 and the extension and retraction speed of the slide section 36 may be variable.

In addition, the transport device control unit 62 of this embodiment executes at least one of the first, second, and third operations in conjunction with the vertical movement of the transport device 30 within the elevator shaft 29. In this way, the turn deck unit 38 and slide unit 36 are operated in conjunction with the vertical movement of the transport device 30, allowing the vehicle 12 to be stored and transported more quickly.

The third operation also includes fine adjustments (hereinafter referred to as "fine adjustment operations") when positioning the slide section 36 on the parking space pallet 50. The fine adjustment operation is a fine adjustment of the position of the slide section 36 to allow the wheel support members 54 of the parking space pallet 50 to pass through the slits 40 of the slide section 36. This fine adjustment involves the extension and contraction of the slide section 36, but may also include the rotation of the turn deck section 38. When performing this fine adjustment operation, the conveying device 30 may also be moved up and down. Furthermore, these fine adjustments may be performed based on preset characteristic values, or may be performed based on various sensors provided on the slide section 36 and turn deck section 38.

Once the fine adjustment operation is complete, the slide section 36 is lowered relative to the parking space pallet 50, as shown in Figures 7(C) and 7(D). This moves the vehicle 12 from the slide section 36 to the parking space pallet 50, completing the storage of the vehicle 12.

Here, point A in Figure 9 is the tip of the slide section 36, and this point A is the starting point of the rotation. The positions of the multiple storage sections 14 are different distances from the starting point of the rotation. For this reason, the start timings of the first, second, and third operations are set for each storage section 14 and are optimized so that the slide section 36 can move to the specified storage section 14 as quickly as possible. In other words, the start timings of the first, second, and third operations are unique values for each storage section 14.

For example, if the position of the specified storage section 14 that stores the vehicle 12 is close to point A, the first operation is short or not performed at all, the second operation is initiated, and the third operation is performed after the second operation. In this case, if the storage floor of the specified storage section 14 is the top floor (first basement floor) of the parking lot 10, the transport device 30 is lowered along with the first or second operation, but if the transport device 30 has already reached the specified storage floor at the end of the second operation, only the third operation is performed.

Furthermore, for example, if a specified storage section 14 for storing vehicles 12 is located on the lowest storage floor and the transport device 30 has not yet reached the lowest floor even after the first operation has ended, the rotation of the turn deck section 38 ends at a specified position (end of the first operation) and only the lowering of the transport device 30 is performed. Then, a specified time before the transport device 30 reaches the lowest floor, the second operation is initiated as the transport device 30 lowers, and then the third operation is performed. In this way, the transport device control section 62 of this embodiment may perform the first and second operations discontinuously, but in order to maintain the extension and retraction speed of the slide section 36, the second and third operations are performed continuously.

Figure 10 is a flowchart showing the flow of the vehicle storage process performed by the transport device 30 of this embodiment. In the following explanation, the no-entry area 70 set for each storage unit 14 and the start timings of the first, second, and third operations are also referred to as operation parameters.

First, in step 100, the vehicle 12 is placed on the slide section 36 of the transport device 30 in the loading/unloading room 24, and a loading instruction is input to the parking lot control unit 60.

In the next step 102, the parking lot control unit 60 determines the storage floor and storage unit 14 in which to store the vehicle 12.

In the next step 104, the transport device control unit 62 determines the operating parameters of the transport device 30 based on the storage floor and storage unit 14 determined by the parking lot control unit 60.

In the next step 106, the transport device control unit 62 starts the operation of the transport device 30 and lowers the transport device 30 to the determined storage floor.

In the next step 108, the transport device control unit 62 rotates the turn deck unit 38 based on the operation parameters (first operation).

In the next step 110, the transport device control unit 62 simultaneously rotates the turn deck unit 38 and extends the slide unit 36 based on the operation parameters (second operation).

In the next step 112, the transport device control unit 62 extends the slide portion 36 based on the operation parameters (third operation).

In steps 108 to 112, the transport device 30 descends to the specified storage floor and performs at least one of the first, second, and third operations. Once the extension of the slide section 36 is complete in step 112, the transport device 30 descends in step 114, and the vehicle 12 is stored in the parking space pallet 50 provided in the specified storage section 14.

In the next step 116, the conveying device control unit 62 moves (raises or lowers) the conveying device 30 to a predetermined position. This predetermined position may be, for example, the loading/unloading room 24, or, if the next storage floor to move to has already been determined, that storage floor.

So far, we have described the case where the slide unit 36 is moved to a specified storage unit 14, such as when storing a vehicle 12. Below, we will describe the case where the slide unit 36 is moved from a specified storage unit 14. Examples of cases where the slide unit 36 is moved from a specified storage unit 14 include when the slide unit 36 (transport device 30) that has stored the vehicle 12 and is now empty is returned to the loading/unloading room 24, and when the vehicle 12 is removed from the storage unit 14 to be unloaded (unloaded), and the slide unit 36 (transport device 30) with the vehicle 12 loaded on it is returned to the loading/unloading room 24.

When moving the slide section 36 from a specified storage section 14, the transport device control section 62 executes the following operations in order: a fourth operation in which the slide section 36 is retracted from the specified storage section 14; a fifth operation in which the turn deck section 38 is rotated and the slide section 36 is retracted simultaneously; and a sixth operation in which the turn deck section 38 is rotated. The start timings of the fourth, fifth, and sixth operations are set for each storage section 14. When transporting the vehicle 12 from the specified storage section 14, point A shown in Figure 9 is the end point of the rotation.

Therefore, when moving the slide section 36 from the designated storage section 14, the slide section 36 is first retracted from the designated storage section 14, and then the turn deck section 38 is rotated and the slide section 36 is extended and retracted simultaneously, rotating the turn deck section 38 so that the tip of the slide section 36 is positioned at point A.

In this way, when moving the slide section 36 from a specified storage section 14, the first, second, and third operations performed when moving the slide section 36 to a specified storage section 14 are reversed.

In addition, the transport device control unit 62 executes at least one of the fourth, fifth, and sixth operations in conjunction with the vertical movement of the transport device 30 within the elevator shaft 29. In this way, the turn deck unit 38 and slide unit 36 are operated in conjunction with the vertical movement of the transport device 30, allowing the vehicle 12 to be stored and transported more quickly.

As described above, the transport device 30 provided in the parking lot 10 of this embodiment controls the operation of the slide section 36 and the turn deck section 38 so that, when storing a vehicle 12 in a designated storage section 14 or removing a vehicle 12 from a designated storage section 14, the turn deck section 38 rotates while the slide section 36 extends and retracts relative to the designated storage section 14. Therefore, the transport device 30 of this embodiment can store and remove a vehicle 12 more quickly.

In addition, in the parking lot 10 of this embodiment, the parking space pallets 50 installed in the storage section 14 are comb-tooth pallets. By using comb-tooth pallets for the parking space pallets 50, even if there is vertical misalignment between the parking space pallets 50, the slide section 36 itself moves vertically, allowing the vehicle 12 to be quickly stored or removed regardless of this misalignment.

The present invention has been described above using the above embodiment, but the technical scope of the present invention is not limited to the scope described in the above embodiment. Various modifications and improvements can be made to the above embodiment without departing from the spirit of the invention, and such modifications and improvements are also included in the technical scope of the present invention.

In this embodiment, the parking lot 10 is described as an underground parking lot in which the main body 16 is buried underground, but the present invention is not limited to this. The parking lot 10 may have the main body 16 located above ground. In this configuration, the loading and unloading room 24 is located on the lowest floor of the main body 16. Also, the main body 16 may have a configuration in which part of the lower floor is buried underground.

Furthermore, in this embodiment, the goods are vehicles 12 and the conveying device 30 is used in a parking lot 10, but the present invention is not limited to this. The conveying device 30 may also be used in other facilities, such as a large warehouse in which multiple storage sections 14 are arranged in vertical and horizontal directions. In this case, the conveying device 30 stores or transports luggage stored in the warehouse as goods.

10. Parking lot (mechanical parking device)
12. Vehicles (items)
14 Storage section 30 Transport device 36 Slide section (extendable section)
38 Turn deck section (rotating section)
70 No entry area

Claims (13)

A conveying device that moves up and down in a hoistway to convey an article to a storage floor and stores the article in a predetermined storage unit provided on the storage floor,
an extendable section on which the article is placed and which extends and contracts between the article and the storage section to store the article in the storage section or to carry the article out of the storage section;
a rotating unit that rotates the extension/contraction unit so as to face the predetermined storage unit;
a control unit that controls the operation of the extension and retraction unit and the swivel unit so that, when the item is stored in the predetermined storage unit or removed from the predetermined storage unit, the extension and retraction unit retracts and retracts relative to the predetermined storage unit while the swivel unit swivels;
A conveying device comprising: an intrusion-prohibited area that prohibits the extension/contraction unit from entering any area other than the storage unit to which the extension/contraction unit is to be moved is set in advance for each storage unit;
The conveying device according to claim 1 , wherein the control unit controls the operation of the swivel unit and the extendable unit so that the extendable unit does not enter the no-entry area. The conveying device described in claim 2, wherein the no-entry area is set based on the position of the storage unit to which the extension/contraction unit is to be moved, the type of item to be placed on the extension/contraction unit, and the types of other items already stored in other storage units. When the control unit moves the extension/contraction unit to the predetermined storage unit, the control unit executes a first operation of rotating the swivel unit, a second operation of simultaneously rotating the swivel unit and extending the extension/contraction unit, and a third operation of extending the extension/contraction unit to the predetermined storage unit in this order;
The transport device according to claim 1 , wherein start timings of the first operation, the second operation, and the third operation are set for each of the storage units. The conveying device described in claim 4, wherein the control unit executes at least one of the first operation, the second operation, and the third operation in conjunction with vertical movement within the elevator shaft. When the control unit moves the extension/contraction unit from the predetermined storage unit, the control unit executes, in this order, a fourth operation of retracting the extension/contraction unit from the predetermined storage unit, a fifth operation of simultaneously rotating the swivel unit and retracting the extension/contraction unit, and a sixth operation of rotating the swivel unit,
The transport device according to claim 1 , wherein start timings of the fourth operation, the fifth operation, and the sixth operation are set for each of the storage units. The conveying device described in claim 6, wherein the control unit executes at least one of the fourth operation, the fifth operation, and the sixth operation in conjunction with vertical movement within the elevator shaft. A conveying apparatus comprising: the conveying device according to any one of claims 1 to 7;
A mechanical parking device that stores a vehicle as the item in the specified storage section. The predetermined storage unit is
a pair of main body members extending in a direction parallel to both sides of the vehicle;
a plurality of wheel support members provided perpendicular to the main body member to support the wheels of the vehicle in the front-rear direction of the vehicle;
Equipped with
The expansion/contraction portion has a gap through which the wheel support member passes in the vertical direction.
The mechanical parking device according to claim 8. A control method for a transport device that moves up and down in a hoistway to transport an article to a storage floor and stores the article in a predetermined storage unit provided on the storage floor, comprising:
the transport device includes an extension/contraction unit on which the article is placed and which extends and contracts between the extension/contraction unit and the storage unit to store the article in the storage unit or carry the article out of the storage unit, and a swivel unit which swivels the extension/contraction unit so as to face the predetermined storage unit,
A control method for a conveying device, which controls the operation of the extension/contraction unit and the swivel unit so that the extension/contraction unit extends and contracts relative to the specified storage unit while the swivel unit rotates when storing the item in the specified storage unit or transporting the item from the specified storage unit. A control program for a transport device that moves up and down in a hoistway to transport an article to a storage floor and stores the article in a predetermined storage unit provided on the storage floor,
a computer for the transport device, which includes an extension/contraction unit on which the article is placed and which extends and contracts between the extension/contraction unit and the storage unit to store the article in the storage unit or carry the article out of the storage unit, and a swivel unit which swivels the extension/contraction unit so as to face the predetermined storage unit,
a control unit that controls the operation of the extension and retraction unit and the swivel unit so that, when storing the item in the predetermined storage unit or removing the item from the predetermined storage unit, the extension and retraction unit retracts and retracts relative to the predetermined storage unit while the swivel unit swivels;
A control program for a transport device that functions as a an intrusion-prohibited area that prohibits the extension/contraction unit from entering any area other than the storage unit to which the extension/contraction unit is to be moved is set in advance for each storage unit;
The control program for a conveying device according to claim 11 , wherein the control unit controls the operation of the swivel unit and the extendable unit so that the extendable unit does not enter the no-entry area. The control program for a conveying device described in claim 12, wherein the no-entry area is set based on the position of the storage unit to which the extension/contraction unit is to be moved, the type of item to be placed on the extension/contraction unit, and the types of other items already stored in other storage units.