JPS6321791B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automobile attitude control device that controls the attitude of an automobile when parking in a multi-story parking lot, etc., and which automatically aligns the center line of the automobile with the center line of a pallet. The purpose is to prevent wheels from falling off and collisions so that cars can be parked safely.

Conventionally, when parking a car in a multi-story parking lot with multiple parking floors, the car to be parked is placed on a pallet for car placement, and the pallet on which the car is placed is moved to a predetermined floor by a lifting device. After being lifted up, the pallet is transferred onto a truck, the pallet on the truck is transferred to a predetermined parking section, and a car is parked together with the pallet at the predetermined parking section.

However, in this case, when placing the car on the pallet, the center line of the car may not match the center line of the pallet, and the car may be placed off the predetermined position on the pallet. When lifting the pallet using a lifting device or moving the pallet on the trolley to the parking area, the automobile on the pallet may collide with building materials or other automobiles, or easily fall off the pallet due to the impact. This inconvenience arises.

This invention has been made with the above points in mind.

Next, the means to solve the above problems are as follows.
An explanation will be given below using drawings corresponding to the embodiments.

The automobile attitude control device of the present invention includes a pallet 12 for placing a car on which a car traveling from the side is placed, and pallets placed on the left and right sides of the pallet 12, respectively, and moved in the front and back direction. Four freely installed base floor frames 20, 2
1, 23, 24, and each of the frames 20, 21,
A plurality of rollers 25 are provided at 23 and 24 with the left and right directions as rotation axes, on which each wheel of the automobile is placed, respectively, and a plurality of rollers 25 are arranged on the left and right sides of the pallet 12, respectively, and are mounted on the rollers 25. A plurality of detection units 38, 39, 40, and 41 that detect the distance from the mounted vehicle and output a detection signal;
a control section 60 that outputs a control signal that causes the center line of the automobile to match the stop line of the pallet 12 based on the detection signals; Rotation mechanism section 8 that rotates the roller 25
4, 86, 87, and 88.

Therefore, according to the automobile attitude control device of the present invention, a plurality of detection sections for detecting the distance to the automobile and a control section for inputting detection signals from the respective detection sections and outputting control signals are provided. , by providing a rotation mechanism unit which receives the control signal and operates each roller of each base floor frame to align the center line of the vehicle with the center line of the pallet, thereby aligning the center line of the vehicle with the center line of the pallet. The vehicle can be parked safely by automatically matching the vehicle speed with the vehicle's speed, thereby preventing the vehicle from falling off its wheels or colliding with the vehicle.

Next, the present invention will be explained in detail with reference to drawings showing one embodiment thereof.

1 is a multi-story parking building having floors 2 to 6 of the first to fifth parking spaces and a loading/unloading work space penetrated through the center of each floor 2 to 6; 7 is a recess 8 formed in the first floor 2; A lift table 10 for placing pallets (described later) is raised and lowered by a hydraulic jack 9 from the first floor 2 to the fifth floor 6, and the automobiles on the pallets are transported to a predetermined floor. Ru. 11 is a safety fence installed at the car entrance of building 1, 12 is a safety fence installed on each floor 2~
A pallet for placing a car on each of the parking sections 13 of 6 from the side, and a pallet 14 that runs along a traveling rail 15 provided on each floor 2 to 6 and is placed in a predetermined parking section 13. 16 is each trolley 1 that transfers the pallet 12 between the
A safety fence 17 is provided at the upper end of the recess 8 of the first floor 2. Next, the configuration of the attitude control device 17 will be described.

Reference numerals 18 and 18' are front slide frames disposed in front of the pallet 12, 19 and 19' are rear slide frames respectively disposed in the rear of the pallet 12, and 20 and 21 each have one end at the front;
The first frame consists of two frame members 22 fixed to the rear slide frames 18 and 19, and is placed on the front and rear left ends of the pallet 12 on the table 10.
The second base floor frames 23 and 24 are made up of three frame members 22' with one end fixed to the front and rear slide frames 18' and 19', respectively, and the front and rear right ends on the pallet 12 on the table 10. The base floor frames 20, 21, 23, and 24 are provided movably in a direction orthogonal to the traveling direction of the automobile, that is, in a front-back direction. 25 is each frame 2
0, 21, 23, and 24 with the traveling direction, that is, the left-right direction as a rotation axis, and each wheel 26' of the automobile 26 is mounted on each base floor frame 20, 21, 2.
3 and 24 and each roller 25 constitute first to fourth base floors 27a to 27d.

28 is a pedestal formed by combining a plurality of base materials having a U-shaped cross section into a rectangular shape; 29 and 30 are pedestals 2;
Rails 32, 32' are provided at the center of the frame 28 and serve as running guides for the wheels 31 provided on the lower surface of each slide frame 18, 18', 19, 19'. Linear way bearings are provided at the right end to serve as auxiliary travel guides, 33 is a front-rear rack provided in the center of the pedestal 28, 34 to 37
are first to fourth hydraulic cylinders provided on the front and rear base materials of the pedestal 28, and the tips of piston rods are respectively attached to the respective base floor frames 20, 21, 23, 24, and each hydraulic cylinder 34 to 37, each base floor frame 20, 21, 23, 24 is moved in a direction perpendicular to the direction of travel of the automobile, that is, in a front-back direction.

38 to 41 are first ultrasonic sensors disposed at the front and rear of the left and right sides of the pallet 12, respectively, which detect the distance to the automobile 26 placed on each roller 25 and output a detection signal. ~4th
Detection units 42 to 45 are first to fourth control panels equipped with display units that display the respective distances based on the detection signals from the detection units 38 to 41, and 46 to 49 display the respective detection signals that are current signals. first to fourth current-to-voltage converters that convert into voltage signals and output converted signals; 50;
- 58 are first to fourth A/D converters that convert the conversion signals from the current-voltage converters 46 to 49 into analog-to-digital converters and output digital detection signals, and 54 are first and second A/D converters. The first and second detection sections 3
8, 39 and the car 26 and outputs a control signal by calculating the difference in distance;
The digital detection signals from the 4A/D converters 52 and 53 connect the third and fourth detection sections 40 and 41 to the vehicle 2.
A second calculating section 56, 57 calculates the difference in distance between the two calculating sections 54, 55 and outputs a control signal. second display signal output section, 58;
Reference numeral 59 denotes first and second indicators that display the difference in each distance using display signals from each output section 56 and 57, and each A/D converter 50 to 53, each calculation section 54,
55, each output section 56, 57 and each display 58,
59 constitutes a control section 60, and each detection section 38-41, each control panel 42-45, each current-voltage converter 46-49, and control section 60 constitute a detection control section 61.

62, 62' are the first base floor frame 20
A rotating shaft 63 provided at the front end between the frame members of
first and second drive wheels pivoted at both ends of the
Reference numerals 4 and 64' indicate third and fourth drive wheels rotatably attached to both ends of the shaft of the rearmost roller 25 provided on the first base floor frame 20, and reference numerals 65 and 66 indicate the first and third drive wheels 62, respectively. , 64 and second,
These are first and second connecting rods that connect the peripheral edges of the fourth drive wheels 62', 64' and rotatably connect the shafts of each roller 25, and each rod 65, 66 is provided in the front-rear direction. Similarly to the first base floor 27a, the second to fourth base floors 27b to 27d also have a rotating shaft 67,
Wheels 68, 68', 69, 69' and connecting rods 70, 71 are provided.

72 is a mounting table fixed to the lower side between the front slide frames 18 and 18' located at the front end of the first base floor 27a; 73 is a mounting plate installed upright on the mounting table 72; 74 is the mounting table 72 75 is a first gear pivotally attached to the center of the rotating shaft 63; 76 is a second gear meshing with the first gear 75;
7 is a third gear pivotally attached to the rotating shaft of the second gear 76; 78 is a fourth gear meshing with the third gear 77;
9 is a large-diameter fifth gear that is pivotally attached to the rotation shaft of the fourth gear 78; 80 is a sixth gear that is pivoted to the shaft of a hydraulic motor 81 and meshes with the fifth gear 79; and 82 is a first transmission rod 83. The gears 75 to 80, 82 and the hydraulic motor 81 constitute a first rotation mechanism section 84, and a first calculation section of the control section 60. In response to a control signal from 54, the hydraulic motor 81 is operated to rotate the first to sixth gears 75 to 80, and
The rotating shaft 63 rotates and the first and second drive wheels 6
2, 62' rotate, and the third and fourth drive wheels 64,
64' and each roller 25 are configured to rotate with the left and right directions as rotational axes, and similarly to the first rotation mechanism section 84, the second to fourth rotation mechanisms are controlled by the mounting table, a plurality of gears, and the hydraulic motor 85. Part 86-8
8 is provided for each of the second to fourth base floors 27b to 27d.

89 is a second transmission rod whose left end is connected to the right end of the first transmission rod 83 via the first coupling portion 90;
91 is a fourth transmission rod whose right end is connected to the gear of the third rotation mechanism section 87 via the second coupling section 92 and the third transmission rod 93; A mounting plate provided,
Reference numeral 95 indicates four support plates respectively erected on the mounting plate 94; reference numerals 96 and 97 indicate eighth and ninth gears pivotally attached to the other ends of the second and fourth transmission rods 89 and 91, respectively; 99 is the 10th and 11th gears 100 and 101 that mesh with the 8th and 9th gears 96 and 97, respectively.
are 12th and 13th gears that rotate in synchronization with the rotation of the 10th and 11th gears 98 and 99 and are detachably provided;
102 and 103 are the 12th and 13th gears 10, respectively
0,101 and the 14th and 14th meshes meshing with the rack 33.
15 gears, 104, 105 are the first and second electromagnetic clutches, 10th and 11th gears 98, 99 and 12th and 12th gears.
13 gears 100 and 101 are synchronized and disconnected, and the first to fifth gears 96 to 103 and both electromagnetic clutches 104 and 105 perform attitude control.
First synchronization mechanism section 1 that synchronizes the moving speed of the third base floors 27a, 27c and the rotational speed of each roller 25 of the first and third base floors 27a, 27c
06 is configured, and the first tuning mechanism section 10
6, it consists of a plurality of gears and electromagnetic clutches, and the second and fourth base floors 27b, 27d
movement speed and the second and fourth base floors 27b, 2
A second synchronization mechanism section 107 is configured to synchronize the rotational speed of each roller 25 of 7d.

In addition, 108 is each base floor frame 20,
These are auxiliary rollers provided at the inner ends of the pallets 21, 23, and 24, and only each of the auxiliary rollers 108 comes into contact with the pallet 12 and holds each roller 25 floating above the pallet 12. Furthermore, 109,1
Reference numeral 10 denotes a vehicle length detector and a vehicle width detector that respectively detect the vehicle length and vehicle width of the vehicle 26, and 111 a stop plate provided at the front end of the pallet 12 and against which the front wheels 26' of the vehicle 26 come into contact; During the control operation, a contact release tool (not shown) releases the contact state with the wheel 26', and the resistance to the movement of the wheel 26' due to the rotation of each roller 25 is removed.

Next, the operation of the embodiment will be explained with reference to the flowchart shown in FIG.

When carrying the automobile 26 into the predetermined parking section 13, the automobile 26 moves in the direction of the solid arrow in FIGS. 2 and 10, that is, from the right to the left, and
As shown in the figure, each base floor 27a to 27d
When the vehicle stops with each wheel 26' placed on each roller 25, each detection unit 38 to 41 and each control panel 4
2 to 45 and the control unit 60 start operating to start controlling the attitude of the automobile 26, and each of the detection units 38 to 4
1 is activated, and ultrasonic waves are emitted from the ultrasonic sensors of each of the detection units 38 to 41.

At this time, the center line of the car 26 and the pallet 12
To explain attitude control of the front wheel 26' side of the vehicle 26 when the vehicle 26 is stopped with its center line shifted as shown in FIG.
39 detects the respective distances l ₁ and l ₂ between the respective detection units 38 and 39 and the automobile 26, and the first and second control panels 4
The distances l ₁ and l ₂ are displayed on the display units 2 and 43, respectively, and the detection signals based on the distances l ₁ and l ₂ from the control panels 42 and 43 are displayed on the first and second display units.
The current-voltage converters 46 and 47 convert the converted signals into voltage signals, and the converted signals are converted into digital detection signals by the first and second A/D converters 50 and 51, and the converted signals are converted into digital detection signals by the first and second A/D converters 50 and 51. At the same time, the first calculation unit 54 compares and determines the distances l ₁ and l ₂ based on the respective digital detection signals.

Then, when it is determined that l ₁ > l ₂ , the first calculation unit 5
4, the deviation between the center line of the car 26 and the center line of the pallet 12, that is, the deviation x ((l ₁ - l ₂ )/2)
is calculated, the deviation x is displayed on the first display 58, and when the predetermined deviation calculation time t becomes zero, the first calculation section 54 calculates each of the first and second rotation mechanism sections 84 and 86. A control signal is output to the hydraulic motors 81, 85, and the hydraulic motors 81, 85 operate, and each gear of each of the rotating mechanism parts 84, 86 operates, and each drive wheel 62, 62', 64,
64', 68, 68', 69, 69' and each roller 25 rotate counterclockwise when viewed from the solid line arrow side in FIGS. 2 and 10, respectively, and the automobile 26
The front wheels of are moved in the counterclockwise direction.

At this time, even when the hydraulic motors 81 and 85 are in operation, the first and second detection sections 38 and 39 constantly detect the vehicle 2.
The distances l ₁ and l ₂ to 6 have been detected, and at the point when the distance l ₁ becomes equal to the distance l ₂ , or the distance l ₁ becomes the distance l ₂
When it becomes slightly larger than , the output of the control signal from the first calculation unit 54 to each hydraulic motor 81, 85 is stopped, the operation of the hydraulic motors 81, 85 is stopped, and the attitude control is completed.

Next, the first calculation unit 54 calculates the distances l ₁ and l ₂ as l ₁
When it is determined that <l ₂ , the deviation x is calculated and displayed by the same operation as in the case of l ₁ >l ₂ described above, and after a predetermined deviation calculation time t has elapsed, the deviation x is calculated from the first calculation unit 54. A control signal is output to each hydraulic motor 81, 85 of the first and second rotation mechanism parts 84, 86, and each hydraulic motor 81, 85 operates, and each drive wheel 62, 62', 64, 64', 68 ,6
8', 69, 69' and each roller 25 are rotated in the opposite direction to the case where l ₁ > l ₂ , and the front wheel 26' of the automobile 26 is moved, and the distance l ₁ becomes equal to the distance l ₂ . The hydraulic motors 81 and 85 are stopped when the distance l ₁ becomes slightly smaller than the distance l ₂ , and the attitude control ends.

Furthermore, the distances l ₁ and l ₂ are determined by the first calculation unit 54 as l ₁
If it is determined that = l ₂ , the first and second rotation mechanism parts 8
The hydraulic motors 81 and 85 of No. 4 and 86 are not operated, and the attitude control immediately ends.

Next, the attitude control on the rear wheel 26' side of the automobile 26 is performed in the same manner as the attitude control on the front wheel 26' side, and each of the detection parts detected by the third and fourth detection parts 40 and 41 Based on the distances l ₁ ', l ₂ ' between the vehicle 26 and the rear wheels 40, 41, the attitude control of the rear wheel 26' is performed in accordance with a procedure similar to the flowchart shown in FIG.

Then, the front wheel 26' side and the rear wheel 2
Attitude control on the 6' side is performed at the same time, and the vehicle 26
After the center line of the pallet 12 and the center line of the pallet 12 are aligned and the attitude control is completed, the pallet 12 and the wheel 2
6', each of the hydraulic cylinders 34 to 37 is operated, and the first and third base floors 27a and 27c are slid forward by the first and third hydraulic cylinders 34 and 36. The second and fourth hydraulic cylinders 35 and 3 are moved forward together with the frames 18 and 18'.
7, the second and fourth base floors 27b and 27d
is moved rearward together with the rear slide frames 19, 19'.

At this time, the first and third base floors 27a, 2
Hydraulic motors 81 and 85 of 7c operate, and each roller 25 rotates in a direction opposite to the moving direction of the first and third base floors 27a and 27c, that is, in a clockwise direction when viewed from the direction of the solid line arrow in FIG. With,
Due to the operation of the hydraulic motors 81 and 85, the second and fourth transmission rods 89 and 91 rotate in the opposite direction to the respective rollers 25, and the first and second electromagnetic clutches 10
4,105 operates and the 14th and 15th gears 102,1
03 rotates in the same direction as the rotational direction of the second and fourth transmission rods 89 and 91, and the fourteenth and fourth transmission rods
Since the 15th gears 102 and 103 move forward while meshing with the rack 33, the 14th and 15th gears 102,
103, the first and third base floors 27a, 2
The rotation speed of each roller 25 on the second and fourth base floors 27b and 27d is synchronized with the forward movement speed of each of the base floors 27a and 27c, and the rotational speed of each roller 25 on the second and fourth base floors 27b and 27d is 2
The rotational speed in the counterclockwise direction when viewed from the solid line arrow direction in the figure is synchronized with the backward movement speed of each base floor 27b, 27d, and each base floor 27
The wheels 26' on a to 27d are connected to each base floor 27.
The base floors 27a to 27d move relatively at the same speed as the movement speed of each base floor 27a to 27d in the opposite direction to the movement direction of the base floors 27a to 27d.
27d is moved by each of the hydraulic cylinders 34 to 37, the vehicle 26 does not shift in the front-rear direction, and each base floor 27a to 27d remains aligned with the center line of the vehicle 26 and the center line of the pallet 12.
7d can be pulled out from between the pallet 12 and the wheels 26', and the automobile 26 can be placed on the pallet 12 without shifting.

Next, the pallet 12 on which the car 26 is placed
However, by the lifting device 7, the first to fifth parking floors 2 to
After the pallet 12 is lifted up to a predetermined floor of 6 and transferred to the cart 14 on the predetermined floor, the cart 14 travels to a predetermined parking section 13, and the pallet 12 is moved from the cart 14 to the predetermined parking section 1.
3, the pallet 12 is transferred and the automobile 26 is carried into a predetermined parking section 13, and parking of the automobile 26 is completed.

Therefore, according to the embodiment, the automobile 26
The first to fourth detection units 38 to 41 detect the distance from
A control unit 60 is provided which outputs a control signal based on the detection signals from each of the detection units 38 to 41, and the control unit 60 receives the control signal and receives the control signal from each base floor 2.
By providing the first to fourth rotation mechanism parts 84, 86 to 88 that operate the respective rollers 25 of each of 7a to 27d to align the center line of the car 26 with the center line of the pallet 12, the center line of the car 26 can be adjusted. The pallet 12 can be automatically aligned with the center line of the pallet 12, and the pallet 12 can be automatically aligned with the center line of the pallet 12 when the pallet 12 is raised or lowered by the lifting device 7, when the cart 14 is traveling, or when the pallet 12 is transferred between the cart 14 and the parking section 13. It is possible to prevent the vehicle above from falling off the pallet 12 and colliding with building materials of the building 11, and it is possible to park the vehicle safely.

Further, since each roller 25 is held in a floating state from the pallet 12 by the auxiliary roller 108, each roller 25 can be rotated without applying resistance to each roller 25. Furthermore, each drive wheel 62, 62', 64, 64'6
By connecting the rollers 8, 68', 69, 69' and each roller 25 with the connecting rods 65, 66, 70, 71, the mechanism for rotating each roller 25 can be made smaller.

Furthermore, by providing the first and second tuning mechanism sections 106 and 107, after the attitude control is completed, the vehicle 26
Each of the base floors 27a to 27d can be extracted from between the pallet 12 and the wheels 26' while keeping the center line of the pallet 12 aligned with the center line of the pallet 12.

As described above, according to the vehicle attitude control device of the present invention, the center line of the vehicle can be automatically aligned with the center line of the pallet, thereby preventing the vehicle from falling off its wheels, colliding, etc., and parking the vehicle safely. be able to.

[Brief explanation of the drawing]

The drawing shows one example of the automobile attitude control device of the present invention.
Embodiments are shown; FIG. 1 is a cutaway right side view of a multi-story parking lot, FIG. 2 is a plan view of the main parts, FIG. 3 a is an enlarged view of a part of FIG. 2, b is a front view of a, Fig. 4 is a front view of Fig. 2, Fig. 5 is a left side view of the first rotation mechanism part of Fig. 3, Fig. 6 is a left side view of a part of Fig. 3, and Fig. 7 is a left side view of a part of Fig. 3.
The figure is a cutaway left side view of a part of Figure 3, and Figure 8 is a partial left side view of Figure 5.
Figure 9 is a cutaway left side view of the third base floor in Figure 3, Figure 10 is a block connection diagram of each detection section and control section, and Figure 11 is a flowchart for explaining the operation. be. 12... Palette, 20, 21, 23, 24...
...First to fourth base floor frames, 25...Rollers, 26...Cars, 26'...Wheels, 38-
41...first to fourth detection units, 60...control unit, 8
4, 86, 87, 88...first to fourth rotation mechanism sections.

Claims (1)

[Claims] 1. A pallet for placing a car on which a car traveling from the side is placed, and four base floor frames that are placed on the left and right sides of the pallet, respectively, and are movable in the front and back direction. and,
A plurality of rollers are provided on each of the frames with the left and right directions as rotation axes, on which each wheel of the automobile is placed, respectively, and a plurality of rollers are provided on the left and right sides of the pallet, respectively, and are placed on each of the rollers. a plurality of detection units that detect the distance to the vehicle and output a detection signal; a control unit that outputs a control signal that causes the center line of the vehicle to match the center line of the pallet based on each of the detection signals; An automobile attitude control device comprising: a rotation mechanism unit configured to rotate each of the rollers of each of the base floor frames in accordance with the control signal.