Horizontal circulation-type parking device and control method thereof

Abstract

To provide a horizontal circulation-type parking device capable of effectively utilizing non-aligned areas that are not aligned in a width direction or a length direction despite being adjacent to a storage space so as to increase the number of parking spaces and improve smoothness at entry and exit, and a control method thereof.SOLUTION: A horizontal circulation-type parking device comprises: a storage space S where pallets are aligned and arranged in two directions of a width direction and a length direction when stationary; an inner drive device 10 located inside the storage space S; and an outer drive device 20 located outside the storage space. The inner drive device 10 and the outer drive device 20 are each configured to be able to move the pallets in two directions. The outer drive device 20 is located in alignment with the adjacent inner drive device 10 in either the width or the length direction. Furthermore, the outer drive device 20 is configured to be movable in the other direction in which the pallets are not aligned from the inner drive device 10 in a direction (one direction) aligned with the inner drive device 10 at a position shorter than a pitch P of the storage space S.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a horizontal recirculating parking system having a storage space in which pallets are aligned in two directions, widthwise and lengthwise, when stationary, and a non-aligned area in the storage space where the pallets are not aligned in the widthwise or lengthwise directions, and a control method thereof. [Background technology]

[0002] A "horizontal circulation type parking device" is a mechanical parking facility that moves a pallet carrying a vehicle (e.g., a passenger car) in the width direction or length direction within a horizontal plane to allow the vehicle to enter and leave the parking facility (enter and exit the parking facility). Such a device is disclosed in, for example, Patent Documents 1 and 2. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6009222 [Patent Document 2] International Publication No. 2019 / 229821 Summary of the Invention [Problem to be solved by the invention]

[0004] In a horizontal circulation type parking system, pallets for placing vehicles are arranged in a line in the width and length directions on the floor for storing vehicles (hereinafter referred to as the "storage floor"). The arrangement space for such pallets is hereinafter referred to as the "storage space".

[0005] A horizontally recirculating parking system uses multiple drive cells that can move a pallet carrying a vehicle both in its width direction (lateral transport) and its length direction (vertical transport). Each drive cell is positioned in the storage space, and includes a frame having a size corresponding to the size of the pallet in a plan view, and a pallet drive device installed on the frame.

[0006] However, since multiple storage spaces are aligned in the width and length directions, there may be areas where a storage space cannot be set up, such as when the spacing between the posts is greater than the width or length of the storage space, but the posts are not aligned in the width or length direction with the aligned storage spaces. Hereinafter, an area that is adjacent to a storage space but is not aligned with the storage space in the width direction or length direction will be referred to as a "non-aligned area."

[0007] The present invention has been invented to make effective use of the non-aligned areas described above. That is, the object of the present invention is to provide a horizontal circulation type parking system and a control method thereof that can effectively utilize the non-aligned areas that are adjacent to storage spaces but are not aligned in the width direction or length direction, thereby increasing the number of parked vehicles and improving the smoothness of entry and exit. [Means for solving the problem]

[0008] According to the present invention, in a horizontal circulation type parking device in which a plurality of pallets carrying vehicles are moved in two directions, the width direction and the length direction of the pallets, within a horizontal plane, for the vehicles to enter and leave the parking device, A storage space having substantially the same width and length as the pallet in a plan view, and in which the pallet is aligned in the two directions when stationary; an inner drive device located inside the storage space and capable of moving the pallet in the two directions; an outer drive device located outside the storage space and capable of moving the pallet in the two directions; The outer drive unit is aligned with the adjacent inner drive unit in one of the two directions, and is configured to be movable in the other direction in which the pallets are not aligned at a position shorter than the pitch of the storage space from the inner drive unit in the one direction in which the outer drive unit is aligned.

[0009] According to the present invention, there is provided a method for controlling the above horizontal circulation type parking apparatus, comprising the steps of: moving the pallet supported by the inner drive horizontally in the one direction in alignment with the outer drive adjacent the inner drive; Then, a control method for a horizontal revolving parking device is provided, which moves the pallets in the other direction out of alignment at a position shorter than the pitch of the storage spaces from the inside drive device. Effect of the Invention

[0010] According to the configuration of the present invention, the outer drive unit is aligned in either the width direction or the length direction with respect to the inner drive unit located inside the storage space, and the outer drive unit is configured to be movable in the other direction, not aligning the pallets, at a position shorter than the pitch of the storage space from the inner drive unit in the alignment direction (one direction).

[0011] This configuration allows a pallet moved in a direction (one direction) that aligns it from the inside drive to the outside drive to be moved in a direction (the other direction) that aligns it with a non-alignment area and is not aligned with the inside drive. This makes it possible to effectively utilize non-aligned areas that are adjacent to storage spaces but are not aligned in the width or length directions, thereby increasing the number of parked vehicles and improving the smoothness of entering and exiting the parking lot. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a bottom view showing a specific example of a pallet. [Diagram 2] FIG. 2 is a plan view of a drive cell. [Diagram 3] FIG. 1 is a layout diagram of a storage floor in a conventional horizontal circulation type parking system. [Figure 4] FIG. 1 is a diagram showing a first embodiment of a horizontal circulation type parking device according to the present invention. [Diagram 5] FIG. 2 is a layout diagram of a storage floor showing a specific example of the first embodiment. [Figure 6] FIG. 2 is a diagram showing a second embodiment of the horizontal circulation type parking device according to the present invention. [Figure 7] FIG. 11 is a layout diagram of a storage floor showing a specific example of the second embodiment. [Figure 8] FIG. 4 is a diagram showing a third embodiment of the horizontal circulation type parking device according to the present invention. [Figure 9] FIG. 13 is a layout diagram of a storage floor showing a specific example of the third embodiment. [Figure 10] FIG. 4 is a diagram showing a fourth embodiment of the horizontal circulation type parking device according to the present invention. [Figure 11] FIG. 5 is a diagram showing a fifth embodiment of the horizontal circulation type parking device according to the present invention. [Figure 12] FIG. 13 is a layout diagram of a storage floor showing a specific example of the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A preferred embodiment of the present invention will be described with reference to the drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted.

[0014] The horizontal circulation type parking device 100 of the present invention is a parking device that moves a plurality of pallets 2 carrying vehicles in two directions, the width direction and the length direction of the pallets 2 (hereinafter referred to as "two directions") within a horizontal plane on a storage floor 24 for storing vehicles, to allow vehicles to enter and leave the parking lot. The vehicles are, for example, passenger cars.

[0015] (Palette 2) 1 is a bottom view showing a specific example of a pallet 2. This figure shows the bottom surface of the pallet 2. The pallet 2 is set to a size such that the entire vehicle can be placed thereon without any part of the vehicle protruding outside the pallet 2 in a plan view. In this example, the pallets 2 are the same size.

[0016] 1, the pallet 2 has, on its underside, a pair of widthwise rails 6a, a pair of lengthwise rails 6b, and four switching rails 6c at intersections 7 between the widthwise rails 6a and the lengthwise rails 6b. Hereinafter, unless otherwise necessary, the widthwise rails 6a, the lengthwise rails 6b, and the switching rails 6c will be simply referred to as "rails 6."

[0017] The pair of width direction rails 6a extend horizontally in the width direction at a fixed interval in the length direction of the pallet 2. In the following, "horizontal" means that the pallet 2 is horizontal when in use. The pair of longitudinal rails 6b extend horizontally in the longitudinal direction at a fixed interval in the width direction of the pallet 2. The interval between the pair of width direction rails 6a and the interval between the pair of longitudinal rails 6b are set so as to support the pallet 2 horizontally.

[0018] Multiple (four in this example) switching rails 6c are provided at intersections 7 (four in this example) between the widthwise rails 6a and the lengthwise rails 6b, and are configured to be rotatable between the widthwise and lengthwise directions. The switching rail 6c rotates about a vertical axis, and is not provided with a rotation drive mechanism, but is allowed to rotate freely by an external force.

[0019] The lower surfaces of the width direction rail 6a and the length direction rail 6b are flush with each other and form a horizontal surface, and the widths of the width direction rail 6a and the length direction rail 6b are set to be the same. The width direction rail 6a and the length direction rail 6b are separated at an intersection 7, and the end faces of each are spaced a certain distance from the turning center of the switching rail 6c. In addition, the outer ends of the width direction rail 6a and the length direction rail 6b extend to the vicinity of the outer edge of the pallet 2.

[0020] The switching rail 6c is a single rail having the same width as the width direction rail 6a and the length direction rail 6b. The lower surface of the switching rail 6c is a horizontal surface having the same height as the width direction rail 6a and the length direction rail 6b. The length of the switching rail 6c is set so that the width direction rail 6a and the length direction rail 6b, which are separated at the intersection 7, are connected via the switching rail 6c.

[0021] With the configuration of the pallet 2 described above, the switching rail 6c can be rotated horizontally and the divided width-direction rail 6a can be connected via the switching rail 6c to form a pair of rails extending across the entire width of the pallet 2 using the width-direction rail 6a and the switching rail 6c.

[0022] Similarly, by rotating the switching rail 6c horizontally and connecting the divided longitudinal rail 6b via the switching rail 6c, a pair of rails extending along the entire length of the pallet 2 can be formed by the longitudinal rail 6b and the switching rail 6c.

[0023] (Driving cell 4) FIG. 2 is a plan view of the drive cell 4. As shown in FIG. In this figure, the drive cell 4 comprises a frame 9 and a pallet drive device 10 mounted on the frame.

[0024] The frame 9 is a frame for the drive cell 4 which moves the pallet 2 carrying the vehicle in its width and length directions. 2, a number of frames 9 are arranged at regular intervals from one another and are supported horizontally at their four corners. In this case, support columns (not shown) extending vertically are provided on the outer sides of the four corners of the frames 9, and the pallets 2 can pass between the support columns by moving horizontally in the width and length directions.

[0025] The pallet drive device 10 has a pair of drive units 12 , a pair of driven units 14 , and a turning mechanism 16 . A pair of drive units 12 and a pair of driven units 14 are provided at the rotation center positions of the four switching rails 6c of the above-mentioned pallet 2, and are attached so as to be freely rotatable around the rotation center of the switching rail 6c. In this example, a pair of drive units 12 and a pair of driven units 14 are disposed at diagonal positions among the four rotation centers of the switching rail 6c.

[0026] The swivel mechanism 16 has a plurality of interlocking rods 17a which sequentially connect a pair of drive units 12 and a pair of driven units 14, and a swivel drive unit 17b which moves the interlocking rods 17a horizontally, and is configured to support the switching rail 6c so as to be able to rotate it horizontally. With this configuration, the pair of drive units 12 and the pair of driven units 14 can be synchronously rotated horizontally by the swivel drive unit 17b via the interlocking rod 17a, and the drive direction of the drive units 12 and the guide direction of the driven units 14 can be switched between the width direction and the length direction.

[0027] The drive unit 12 has drive wheels 12a that support and drive the pallet 2, and a plurality of guide rollers 12b that rotate horizontally together with the drive wheels 12a to guide the horizontal movement of the pallet 2. With this configuration, the drive unit 12 cooperates with the driven unit 14 to support the width direction rails 6a or the length direction rails 6b, and is configured to be able to drive the pallet 2 in the length direction of the rails. The drive wheel 12a is driven to rotate about a horizontal axis. The drive wheel 12a is disk-shaped, the upper surface of which supports the lower surface of the rail 6 of the pallet 2, and drives the pallet 2 in the horizontal direction by its rotation.

[0028] The driven unit 14 has a driven wheel 14a that supports the pallet 2 and moves with the pallet 2, and a plurality of guide rollers 12b that rotate horizontally together with the driven wheel 14a to guide the horizontal movement of the pallet 2. The driven wheel 14a rotates freely about a horizontal axis and is driven by the movement of the pallet 2. The driven wheel 14a has the same disk shape as the driving wheel 12a.

[0029] With the above-mentioned configuration, the drive direction of the drive unit 12 and the guide direction of the driven unit 14 can be switched in a linked manner in the width direction and the length direction by the linking rod 17a. In addition, when the rails 6 form a pair of rails in the width direction or length direction, a pair of drive units 12 are respectively positioned on the pair of rails, support the pallet 2 via the pair of rails, and can drive the pallet 2 horizontally in the width direction or length direction. Furthermore, in this case, a pair of driven units 14 are also positioned on the pair of rails, respectively, to support the pallet 2 via the pair of rails and to guide the pallet 2 in the width direction or length direction. Therefore, the above-mentioned pallet driving device 10 can switch between lateral feeding, in which the pallet 2 carrying a vehicle is moved in its width direction, and longitudinal feeding, in which the pallet 2 is moved in its length direction.

[0030] In FIG. 2, the horizontal circulation parking device 100 includes a first relay roller 18 that supports the width direction rail 6a or the length direction rail 6b of the pallet 2 and guides the pallet 2 in the width direction or length direction. In this example, the first relay roller 18 is located between adjacent storage spaces S.

[0031] In this example, the first relay roller 18 has a similar configuration to the driven unit 14, but differs from the driven unit 14 in that it is configured not to rotate horizontally. That is, the first relay roller 18 consists of an idling wheel 18a that rotates freely around a horizontal axis to support the rail 6, and multiple (four in this example) cylindrical rollers 18b that are located near the idling wheel at a distance equivalent to the rail width and rotate freely around a vertical axis to guide the horizontal movement of the pallet 2. By installing this first relay roller 18, when the pallet 2 is moved between adjacent storage spaces S, the pallet 2 can always be supported at two points, the drive unit 12 or driven unit 14 and the first relay roller 18, and can be accurately guided in the width or length direction.

[0032] In the configuration of the pallet driving device 10 described above, the parts that come into direct contact with the rails 6 of the pallet 2 are the driving wheel 12a, the guide roller 12b, and the driven wheel 14a. In other words, the pallet 2 does not come into contact (interfere) with the pallet driving device 10 outside the rectangular range ABCD in the drawing which surrounds the entire driving wheels 12a, guide rollers 12b, and driven wheels 14a in plan view. Hereinafter, this rectangular area will be referred to as the "contact area Z with pallet 2."

[0033] FIG. 3 is a layout diagram of a storage floor 24 in a conventional horizontal circulation type parking system. In this figure, a plurality of (six in this example) drive cells 4 are positioned inside a storage space S aligned in two directions, the width direction and the length direction. The storage space S has substantially the same width and length as the pallet 2 in a plan view, and the pallet 2 is arranged in the storage space S aligned in two directions when the apparatus is at rest. The above-mentioned pallet driving device 10 is adapted to move the pallet in one or both of two directions at the pitch P of the storage space S. The pitch P of the storage space S means the vertical pitch PL in the length direction and the horizontal pitch PB in the width direction. Further, the above-mentioned first relay rollers 18 are provided in the gaps between the adjacent drive cells 4, that is, between the adjacent storage spaces S. The rectangular hatched area in the drawing indicates an interference area Z between the pallet driving device 10 and the pallet 2.

[0034] The above-mentioned pallet driving device 10, i.e., a device that is located inside the storage space S in which the pallets 2 are aligned in two directions, widthwise and lengthwise, when stationary, and is capable of moving the pallets 2 in two directions, will be referred to below as the "inner driving device 10."

[0035] For the sake of convenience in the following explanation, the total length of the pallet is L, the total width of the pallet is B, the total length of the interference range Z is ZL, and the total width of the interference range is ZB. In addition, the pallet 2, the storage space S, and the interference range Z are assumed to be symmetrical left and right and front and rear with respect to the center line.

[0036] (First embodiment) FIG. 4 is a diagram showing a first embodiment of a horizontal circulation type parking device 100 according to the present invention. In FIG. 4(A), the horizontal circulation type parking device 100 includes, in addition to the above-mentioned inside drive device 10, an outside drive device 20 that is located outside the storage space S and is capable of moving the pallet 2 in two directions.

[0037] The outer driving unit 20 is aligned with the adjacent inner driving unit 10 in either the width direction or the length direction, and is located at a position shorter than the pitch P of the storage space S from the inner driving unit 10 in the one direction of alignment. Note that in this example, the outer drive 20 is longitudinally aligned with the adjacent inner drive 10 and is located at a longitudinal travel distance LR from the inner drive 10 that is less than the longitudinal pitch PL of the storage space S.

[0038] In FIG. 4(A), the interference range Z of the inside driving device 10 with the pallet 2 is set so that the total interference range length ZL is shorter than the total pallet length L, and the total interference range width ZB is shorter than the total pallet width B. In addition, the interference range Z1 of the outer drive device 20 with the pallet 2 is located outside the storage space S, the total length L1 of the interference range is shorter than the total length L of the pallet, and the total width B1 of the interference range is shorter than the total width B of the pallet. It is preferable that the outer drive device 20 is substantially the same as the inner drive device 10, but it may be different. Therefore, the total interference range length ZL, L1 and the total interference range width ZB, B1 may be the same or different.

[0039] In addition, the outer drive device 20 is configured to be able to move in the other direction (width direction) to unalign the pallets 2 at a position where the movement distance in the one direction (length direction) for alignment is a longitudinal movement distance LR which is shorter than the pitch P (vertical pitch PL) of the storage space S.

[0040] In FIG. 4(A), in addition to the above-mentioned first relay roller 18, there is provided a second relay roller 19 that supports the width direction rail 6a or the length direction rail 6b of the pallet 2 and guides the pallet 2 in the width direction or length direction. The second relay roller 19 is aligned in the width direction or length direction with respect to the outer driving device 20 and is positioned between the inner driving device 10 or the outer driving device 20 (not shown) which is positioned at the pitch P of the pallet 2 in the alignment direction.

[0041] In this example, the second relay roller 19 is provided on a part or all of the three outer parts surrounding the outer drive device 20, except between the inner drive device 10 and the outer drive device 20. That is, in this example, there may be three inner drive devices 10 or outer drive devices 20 (not shown) that are aligned with the illustrated outer drive device 20 in the width direction or the length direction and are positioned at the pitch P of the storage space S from the outer drive device 20. In this case, a second relay roller 19 for guiding the pallet 2 in the width direction or the length direction is provided on a part or all of the space between the three inner drive devices 10 or outer drive devices 20 (not shown) and the outer drive device 20 in this figure.

[0042] The second relay roller 19 is preferably substantially the same as the first relay roller 18. With this configuration, the pallet 2 can be accurately guided in the width direction or the length direction between the three inner drive devices 10 (not shown) and the outer drive device 20 in this figure.

[0043] FIG. 4(B) shows a state in which, in the apparatus shown in FIG. 4(A), the pallet 2 is moved from the inner drive device 10 in the length direction to the outer drive device 20, and then moved in the width direction from the outer drive device 20. In this figure, the length direction movement distance LR by the outer drive device 20 is set in the range of (L + ZL) / 2 < LR < PL ··· (1a).

[0044] In other words, in this example, the outer drive device 20 is aligned with the adjacent inner drive device 10 in the length direction, and is positioned at a position where the pallet 2 does not interfere with the interference range Z of the inner drive device 10 when the pallet 2 is moved in the width direction. Hereinafter, the outer drive device 20 at this position is referred to as the "length direction outer drive device 20A".

[0045] With the above-described configuration, the pallet 2 moved from the inner drive device 10 in the length direction to the outer drive device 20 can be moved in the width direction by the length direction outer drive device 20A at a length direction movement distance LR shorter than the vertical pitch PL.

[0046] In FIGS. 4(A) and 4(B), it is preferable to provide an inner drive unit 10 and an outer drive unit 20 on the same frame 9. This configuration makes it possible to easily position the outer driving device 20 relative to the inner driving device 10 by presetting the longitudinal movement distance LR.

[0047] 5 is a layout diagram of a storage floor 24 showing a specific example of the first embodiment. In this figure, (A) shows the prior art, and (B) shows the present invention. 5(A) and (B), there are a plurality of (six in this example) pillars 26 on the storage floor 24, and the arrangement of the pillars 26 is predetermined. Note that in this figure, the pallet 2, the first relay roller 18, and the second relay roller 19 are omitted.

[0048] As shown in FIG. 5(A), in the prior art, it is necessary to provide a storage space S aligned with the lift position 28, and in this example, a storage space S for three vehicles is provided. In other words, in this example, multiple storage spaces S are aligned in the width and length directions, so even though the spacing between the pillars 26 is greater than the length of the storage spaces S, space (non-aligned areas) is created that cannot be used as storage spaces S.

[0049] In Fig. 5(B), the above-mentioned outer driving device 20 (i.e., the longitudinal outer driving device 20A) and relay cell 29 are used. The relay cell 29 is, for example, made up of a plurality of horizontal rollers rotating about a horizontal axis, and has the function of moving the pallet 2 in either the width direction or the length direction (in this example, the width direction). The relay cell 29 may be, for example, a plurality of first relay rollers 18. This configuration allows for doubling of storage space S from three prior art vehicles to six vehicles in this example.

[0050] Second embodiment FIG. 6 is a diagram showing a second embodiment of the horizontal circulation type parking device 100 according to the present invention. In FIG. 6(A), a horizontal circulation type parking apparatus 100 has an inside drive unit 10 and an outside drive unit 20. In this example, the outer driving device 20 is aligned with the adjacent inner driving device 10 in the width direction and is located at a width movement distance BR from the inner driving device 10 in the width direction that is shorter than the lateral pitch PB.

[0051] In FIG. 4(A), the interference range Z of the inside driving device 10 with the pallet 2 is set so that the total interference range length ZL is shorter than the total pallet length L, and the total interference range width ZB is shorter than the total pallet width B.

[0052] In addition, the interference range Z2 of the outer drive device 20 with the pallet 2 is located outside the storage space S, the total length L2 of the interference range is shorter than the total length L of the pallet, and the total width B2 of the interference range is shorter than the total width B of the pallet. It is preferable that the outer drive device 20 is substantially the same as the inner drive device 10, but it may be different. Therefore, the total interference range length ZL, L2 and the total interference range width ZB, B2 may be the same or different.

[0053] In addition, the outer drive device 20 is configured to be capable of moving in the length direction so as to not align the pallets 2 at a position where the aligning widthwise movement distance BR is shorter than the lateral pitch PB of the storage spaces S.

[0054] In FIG. 6(A), in addition to the above-mentioned first relay rollers 18, second relay rollers 19 are provided which support the width direction rails 6a or length direction rails 6b of the pallet 2 and guide the pallet 2 in the width direction or length direction. The second relay rollers 19 are provided on all or part of the outside of the three sides surrounding the outer driving device 20, except for between the inner driving device 10 and the outer driving device 20. That is, in this example, there may be three inner drives 10 or outer drives 20 (not shown) aligned widthwise or lengthwise with respect to the outer drive 20 shown and positioned at a pitch P of the storage space S from the outer drive 20. In this case, between some or all of the three inner drive devices 10 or outer drive devices 20 (not shown) and the outer drive device 20 in this figure, there is a second relay roller 19 that guides the pallet 2 in the width direction or the length direction. With this configuration, the pallet 2 can be accurately guided in the width direction or the length direction between the three inner drive devices 10 or outer drive devices 20 (not shown) and the outer drive device 20 in this figure.

[0055] Figure 6(B) shows a state in which, in the device shown in Figure 6(A), the pallet 2 is moved from the inner drive device 10 in the width direction to the outer drive device 20, and then moved from the outer drive device 20 in the length direction. In this figure, the width-direction movement distance BR by the outer drive device 20 is set in the range of (B + ZB) / 2 < BR < PB ··· (2).

[0056] In other words, in this example, the outer drive device 20 is aligned with the adjacent inner drive device 10 in the width direction, and when the pallet 2 is moved in the length direction, the pallet 2 is positioned at a position where it does not interfere with the interference range Z of the inner drive device 10. Hereinafter, the outer drive device 20 at this position is referred to as the "width-direction outer drive device 20B".

[0057] With the above-described configuration, the pallet 2 that has moved from the inner drive device 10 in the width direction to the outer drive device 20 can be moved in the length direction by the width-direction outer drive device 20B at a width-direction movement distance BR shorter than the horizontal pitch PB.

[0058] Figure 7 is an arrangement diagram of the storage floor 24 showing a specific example of the second embodiment. In this example, by using the above-described outer drive device 20 (that is, the width-direction outer drive device 20B) instead of the relay cell 29 in Figure 5, the storage space S can be substantially increased.

[0059] (Third Embodiment) Figure 8 is a third embodiment diagram of the horizontal circulation type parking device 100 according to the present invention. In FIG. 8(A), the horizontal circulation type parking apparatus 100 further includes a bidirectional outer drive device 22. The bidirectional outer drive device 22 is aligned in the width direction with an adjacent length-direction outer drive device 20A, and is positioned at a location where the pallet 2 does not interfere with the length-direction outer drive device 20A when the pallet 2 moves in the length direction.

[0060] The interference range Z3 between the bidirectional outer drive device 22 and the pallet 2 is located outside the storage space S, and the total length L3 of the interference range is set to be shorter than the total length L of the pallet, and the total width B3 of the interference range is set to be shorter than the total width B of the pallet. Note that the bidirectional outer drive device 22 is preferably substantially the same as the inner drive device 10 or the outer drive device 20, but may be different. Therefore, the total length ZL, L3 of the interference range and the total width ZB, B3 of the interference range may be the same or different.

[0061] In this example, the width-direction movement distance BR by the bidirectional outer drive device 22 is set in the range of (B + B1) / 2 < BR < PB ··· (3), similar to the second embodiment (FIG. 6). Also, in this example, the inner drive device 10, the outer drive device 20, and the bidirectional outer drive device 22 are installed on the same frame 9.

[0062] With the above-described configuration, as shown in FIG. 8(B), for example, the pallet 2 that has moved from the length-direction outer drive device 20A in the width direction to the bidirectional outer drive device 22 can be moved in the length direction by the bidirectional outer drive device 22 at a width-direction movement distance BR shorter than the horizontal pitch PB.

[0063] FIG. 9 is an arrangement diagram of a storage floor 24 showing a specific example of the third embodiment. In this example, by using the above-described length-direction outer drive device 20A and the bidirectional outer drive device 22, the storage space S can be substantially increased.

[0064] (Fourth Embodiment) FIG. 10 is a diagram of a fourth embodiment of the horizontal circulation type parking apparatus 100 according to the present invention. In Fig. 10(A), the inner drive device 10 of the third embodiment (Fig. 8) has an outer drive device 20 that is aligned in the width direction and is aligned with the two-way outer drive devices 22 in the length direction. This outer drive device 20 is the above-described width-direction outer drive device 20B. It is aligned in the width direction with the adjacent inner drive device 10 and is located at a position shorter than the horizontal pitch PB of the storage space S from the inner drive device 10 in the aligned width direction.

[0065] With the above-described configuration, as shown in Fig. 10(B), for example, the pallet 2 that has moved in the width direction from the inner drive device 10 can be moved in the length direction to the two-way outer drive devices 22 by the width-direction outer drive device 20B.

[0066] (Fifth Embodiment) Fig. 11 is a diagram of the fifth embodiment of the horizontal circulation type parking device 100 according to the present invention. In Fig. 11(A), the horizontal circulation type parking device 100 includes one outer drive device 20 in the middle of the length direction of two inner drive devices 10. This outer drive device 20 is the above-described length-direction outer drive device 20A. In this figure, the length-direction movement distances LR1 and LR2 by the outer drive device 20 are set in the range of (L + ZL) / 2 < LR1, LR2 < PL ··· (1b), similar to the first embodiment. In this case, LR1 and LR2 may be the same or different. Other configurations are the same as those of the first embodiment.

[0067] With the above-described configuration, as shown in Fig. 11(B), the pallet 2 that has moved in the length direction from one of the two inner drive devices 10 can be moved in the width direction by the length-direction outer drive device 20A at length-direction movement distances LR1 and LR2 shorter than the vertical pitch PL. Note that this movement may also be in the reverse direction.

[0068] In Fig. 11, it is preferable that the same frame 9 includes two inner drive devices 10 and one outer drive device 20. With this configuration, the relative positioning of the outer driving device 20 with respect to the inner driving device 10 can be easily achieved by setting the longitudinal movement distances LR1 and LR2 in advance.

[0069] 12 is a layout diagram of a storage floor 24 showing a specific example of the fifth embodiment. In this figure, (A) and (B) are prior art, and (C) is the present invention. As shown in each drawing in FIG. 12, there are a plurality of pillars 26 (three in this example) on the storage floor 24, and the arrangement of the pillars 26 is predetermined.

[0070] FIG. 12(A) shows conventional Example 1. In this case, in the conventional technology, it is necessary to provide storage space S so that it is aligned with lift position 28, so in this example, storage space S for 17 vehicles is provided. However, in this example, six relay cells 29 must be provided to pass through the dead spaces created by the pillars 26. The relay cells 29 are, for example, made up of multiple horizontal rollers rotating about horizontal axes, and have the function of moving the pallets 2 in either the width direction or the length direction (in this example, the length direction).

[0071] FIG. 12(B) shows a second conventional embodiment, in which a storage space S for 18 vehicles is provided. In this example, three relay cells 29 are provided to allow the signal to pass through the dead space created by the pillars 26.

[0072] FIG. 12(C) shows an embodiment of the present invention, in which a storage space S for 20 vehicles can be provided by using the outer longitudinal drives 20A of the fifth embodiment (FIG. 11) described above.

[0073] (Control method for horizontal circulation type parking device) The method for controlling a horizontal circulation type parking system according to the present invention includes a first step S1 and a second step S2. In a first step S1, the pallet 2 supported by the inside drive unit 10 is moved horizontally in one direction so as to be aligned with the outside drive unit 20 adjacent to the inside drive unit 10. Next, in a second step S2, the pallet 2 is moved from the inside drive device 10 in the other direction out of alignment at a position shorter than the pitch P of the storage space S.

[0074] For example, in the example of the first embodiment (FIG. 4), in the first step S1, after confirming that no other pallets 2 are placed on the outer driving device 20, the pallet 2 is moved in the longitudinal direction from the inner driving device 10 by a longitudinal movement distance LR. Next, in the second step S2, after confirming that no pallet 2 is placed on another inner driving device 10 located widthwise outside the outer driving device 20, the pallet 2 is moved widthwise by the longitudinal outer driving device 20A. In addition, in the second step S2, after confirming that the pallet 2 is not placed on another inner driving device 10 or outer driving device 20 located longitudinally outside the outer driving device 20, the pallet 2 may be moved longitudinally by the longitudinal outer driving device 20A.

[0075] In addition, in the example of a similar fifth embodiment (FIG. 11), in the first step S1, after confirming that the pallet 2 is not placed on the inner driving device 10 and the outer driving device 20 on the opposite side, the pallet 2 is moved in the longitudinal direction from one of the inner driving devices 10 by a longitudinal movement distance LR. Next, in the second step S2, after confirming that no pallet 2 is placed on another inner driving device 10 located widthwise outside the outer driving device 20, the pallet 2 is moved widthwise by the longitudinal outer driving device 20A.

[0076] In the example of the second embodiment (FIG. 6), in the first step S1, after confirming that no other pallets 2 are placed on the outer driving device 20, the pallet 2 is moved in the width direction from the inner driving device 10 by a width direction movement distance BR. Next, in the second step S2, after confirming that no pallet 2 is placed on another inner driving device 10 located longitudinally outside the outer driving device 20, the pallet 2 is moved longitudinally by the widthwise outer driving device 20B. In the second step S2, after confirming that the pallet 2 is not placed on another inner driving device 10 or outer driving device 20 located widthwise outside the outer driving device 20, the pallet 2 may be moved widthwise by the widthwise outer driving device 20B.

[0077] The same applies to the other embodiments. The above-mentioned first step S1 and second step S2 are not limited to being performed in this order, and may be performed in the reverse order.

[0078] According to the embodiment of the present invention described above, the outer driving unit 20 is aligned in either the width direction or the length direction with respect to the inner driving unit 10 located inside the storage space S. In addition, the outer driving unit 20 is configured to be movable in the other direction where the pallets 2 are not aligned at a position shorter than the pitch P of the storage space S from the inner driving unit 10 in the alignment direction (one direction).

[0079] With this configuration, a pallet 2 moved in a direction that aligns it from the inside drive 10 to the outside drive 20 can be moved in a movement direction that aligns it with a non-alignment area and is not aligned with the inside drive 10. This makes it possible to effectively utilize non-aligned areas that are adjacent to storage space S but are not aligned in the width or length directions, thereby increasing the number of parked vehicles and improving the smoothness of entry and exit.

[0080] The above-described configurations of the pallet 2, the drive cell 4, and the pallet drive device 10 are merely examples, and the present invention is not limited to these, and other configurations may be used. For example, the present invention can also be applied to the parking devices or storage facilities disclosed in Japanese Patent Nos. 6556504, 6682317, 6949761, and 6914225.

[0081] The pallet may also have a pair of width direction rails, one length direction rail, and two transition rails at the intersections of the width direction rails and the length direction rails on its underside. Also, vertical wheels and lateral wheels may be rotatably attached at approximately the four corners. Furthermore, the inner drive device or the outer drive device may be provided at the pivot center of the two switching rails, and each may have a drive unit and a pivot mechanism that are freely pivotable about the pivot center of the switching rail. The drive unit may be configured to support a width direction rail or a length direction rail and be capable of driving the rail in the length direction, and the turning mechanism may be configured to support a switching rail and be capable of turning it horizontally. Further, a pair of widthwise fixed rails and a pair of lateral fixed rails may be provided to support the longitudinal wheels and the lateral wheels.

[0082] Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0083] B Overall width of pallet, BR Width direction travel distance, L Overall length of pallet, LR Length direction travel distance, P Pitch of storage space, PL Vertical pitch, PB Horizontal pitch, S Storage space, Z, Z1, Z2, Z3 Interference range, ZB, B1, B2, B3 Overall width of interference range, ZL, L1, L2, L3 Overall length of interference range, 2 Pallet, 4 Drive cell, 6 Rail, 6a Width direction rail, 6b Length direction rail, 6c Switching rail, 7 Intersection, 9 Frame, 10 Pallet drive device (inner drive device), 12 Drive unit, 12a Drive wheel, 12b Guide roller, 14 Driven unit, 14a Driven wheel, 16 Swivel mechanism, 17a Link rod, 17b Swivel drive unit, 18 First relay roller, 18a Idle wheel, 18b Cylindrical roller, 19 Second relay roller, 20 Outer drive device, 20A Lengthwise outer drive, 20B Widthwise outer drive, 22 Two-way outer drive, 24 Storage floor, 26 Pillar, 28 Lift position, 29 Transfer cell, 100 Horizontal circulation type parking device

Claims

1. In a horizontal circulation type parking system, a plurality of pallets carrying vehicles are moved in two directions, the width direction and the length direction, of the pallets in a horizontal plane to allow the vehicles to enter and leave the parking system, A storage space having substantially the same width and length as the pallet in a plan view, and in which the pallet is aligned in the two directions when stationary; an inner drive device located inside the storage space and capable of moving the pallet in the two directions; an outer drive device located outside the storage space and capable of moving the pallet in the two directions; A horizontally circulating parking device, wherein the outer drive unit is aligned with the adjacent inner drive unit in one of the two directions, and is configured to be movable in the other direction in which the pallets are not aligned at a position shorter than the pitch of the storage space from the inner drive unit in the one direction in which the pallets are aligned.

2. 2. The horizontal recirculating parking system according to claim 1, wherein the interference range of said inner drive device with said pallet in a plan view is set so that the total length is shorter than the total length of the pallet and the total width is shorter than the total width of the pallet.

3. 2. The horizontal circulation type parking device according to claim 1, wherein an interference range between the outer drive unit and the pallet in a plan view is located outside the storage space of the adjacent inner drive unit.

4. 3. The horizontally circulating parking device of claim 2, wherein the pitch in the longitudinal direction is a vertical pitch PL, the total length of the pallet is L, and the total length of the interference range of the inner drive device is ZL, and the longitudinal movement distance LR is set in the range of (L + ZL) / 2 < LR < PL.

5. 3. A horizontally circulating parking device as described in claim 2, wherein the pitch in the width direction is a horizontal pitch PB, the total width of the pallet is B, and the total width of the interference range of the inner drive device is ZB, and the width direction movement distance BR is set in the range of (B + ZB) / 2 < BR < PB.

6. 3. The horizontally recirculating parking system according to claim 2, wherein the outer drive unit is a longitudinal outer drive unit aligned with the adjacent inner drive unit in the longitudinal direction and positioned such that the pallet does not interfere with the interference range of the inner drive unit when moving the pallet in the width direction.

7. 3. The horizontally recirculating parking system according to claim 2, wherein the outer drive unit is a widthwise outer drive unit that is aligned in the width direction with the adjacent inner drive unit and that is positioned in a position where the pallet does not interfere with the interference range of the inner drive unit when moving in the length direction.

8. 7. The horizontally recirculating parking system of claim 6, further comprising a bidirectional outer drive unit that is aligned in the width direction with an adjacent one of the longitudinal outer drives and positioned such that the pallets do not interfere with the interference range of the longitudinal outer drives when moving in the longitudinal direction.

9. 2. The horizontal recirculating parking system according to claim 1, wherein the inside drive unit and the outside drive unit are mounted on the same frame.

10. 9. The horizontal revolving parking system of claim 8, wherein the outside drive unit and the bidirectional outside drive unit are mounted on the same frame.

11. The pallet has a pair of width direction rails on its underside, a pair of length direction rails, and four switching rails at intersections between the width direction rails and the length direction rails, The inner drive unit or the outer drive unit a drive unit and a turning mechanism provided at a turning center position of the four switching rails, the drive unit and the turning mechanism being capable of freely turning around the turning center of the switching rail; The drive unit is configured to support the width direction rail or the length direction rail and be drivable in the length direction of the rail, 11. The horizontal circulation type parking device according to claim 1, wherein the turning mechanism is configured to support the switching rail and turn the switching rail horizontally.

12. A first relay roller supports the width direction rail or the length direction rail and guides the pallet in the width direction or the length direction, The horizontal circulation type parking device according to claim 11, wherein the first relay roller is located between adjacent storage spaces.

13. A second relay roller is provided to support the width direction rail or the length direction rail and guide the pallet in the width direction or the length direction, 12. The horizontal circulation parking device according to claim 11, wherein the second relay roller is aligned in the width direction or the length direction with respect to the outer driving device and is positioned between the inner driving device or the outer driving device which is positioned at the pitch in the alignment direction.

14. The pallet has a pair of width direction rails, one length direction rail, and two switching rails at the intersections of the width direction rails and the length direction rails on its underside, Furthermore, vertical wheels and horizontal wheels are rotatably attached to approximately four corners, The inner drive unit or the outer drive unit a drive unit and a turning mechanism provided at a turning center position of the two switching rails, the drive unit and the turning mechanism being capable of freely turning around the turning center of the switching rail, The drive unit is configured to support the width direction rail or the length direction rail and be drivable in the length direction of the rail, The turning mechanism is configured to support the switching rail and turn the switching rail horizontally, 11. The horizontal circulation type parking device according to claim 1, further comprising a pair of widthwise fixed rails and a pair of lateral fixed rails for supporting the vertical wheels and the lateral wheels.

15. A method for controlling a horizontal circulation type parking apparatus according to claim 1, moving the pallet supported by the inner drive horizontally in the one direction in alignment with the outer drive adjacent the inner drive; Next, the pallet is moved in the other direction out of alignment from the inside drive device at a position shorter than the pitch of the storage space.

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