JP2000270596A - Drive controller of cargo loading apparatus, and multilayer-box type circulating mode parking apparatus using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress with minimum energy consumption amount of the drive controller of a cargo loading apparatus by connecting with each other the same polarity electrodes of a plurality of capacitors, and by connecting each of the plurality of capacitors in parallel with respective rectifying portion and each switching portion. SOLUTION: A P electrode of a first capacitor 40 of this drive apparatus is connected with a P electrode of its second capacitor 43 by a first connective wire 33, while their N electrodes are connected with each other by a second connective wire 34. Also, the first capacitor 40 is connected, in parallel with a first rectifying portion 39 and a first switching portion 41, while the second capacitor 43 is connected in parallel with a second rectifying portion 42 and a second switching portion 44 to integrate them into the two elevation members of a multilevel car parking apparatus. Furthermore, the power generated by the generating action of the drive motor of one member of the two elevation members which lowers cargoes is fed to the capacitors of the other elevation member, which lifts cargoes to feed from the foregoing motor one portion of the necessary large current for lifting cargoes to them. Thereby, the consumption of the power of the power supply of this drive apparatus can be reduced or saved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control of a cargo handling device having a plurality of lifting parts for simultaneously performing different lifting operations and lowering operations at the same time so as to minimize energy consumption. The present invention relates to a device and a multilayer box-type circulation type parking device using the same.

[0002]

2. Description of the Related Art A cargo handling device is provided with a lifting member such as a lift, a drive motor for operating the same, and a control device therefor. Under the control of the control device, cargo handling operations such as storage and unloading of various kinds of luggage are performed. Is being done. Examples of such a cargo handling device include an automatic warehouse, a multi-story parking device, and the like, each of which handles target luggage. An example of such a cargo handling device is a multi-story parking device as shown in FIG.

FIG. 3 shows the structure of an underground, multi-layer, box-shaped, circulating parking system which is a type of multi-story parking system. In FIG. 3, reference numeral 1 denotes an entrance of a car installed on the first floor above the ground, which has an entrance / exit at the front thereof and can be opened and closed by an automatic door. The storage section 2 of the car is installed in the underground part. In this case, the underground storage unit 2 has a three-layer structure underground, and a box-shaped circulation type parking device main body is installed. That is, 3 is the first storage layer, 4 is the second storage layer, 5 is the third storage layer, and 6 is defined on one end side of these three storage layers and each storage layer 3, 4, 5 A first hoistway, 7 is defined at the other end side for each storage layer 3, 4,.
5 is a second shaft. Each of the first, second, and third storage layers 3, 4, and 5 includes a pair of front and rear fixed rails 8 and a pair of front and rear movable rails 9 like the fixed rails 8.

[0004] A turntable 10 for rotating a car to enter or leave the car is rotatably installed on the floor of the entrance 1 of the car. 5, a first hoistway 6 for performing an ascending / descending operation for carrying a car into or out of the storage layers 3, 4, 5. At the center of the turntable 10, a rectangular opening slightly larger than the tray 11 is provided in order to allow the tray 11 to be mounted on an automobile to pass therethrough, and a hoisting device 12 is attached to the lower surface thereof. I have.

[0005] A first elevating member 13 is installed in the first hoistway 6 of the underground storage part 2.
The tray 11 moved up and down by 3 is transferred to the hoisting device 12, and is fitted into the opening at the center of the turntable 10 by the raising operation of the hoisting device 12. Further, a first drive motor 14 is provided at the bottom of the first hoistway 6 to move the first elevating member 13 up and down at the time of loading and unloading of the car, and to perform any one of two layers in the underground storage unit 2. When performing the circulation operation with
Is driven to move up and down. Also, the second hoistway 7
A second lifting / lowering member 15 is installed in the inside, and a second drive motor 16 is installed at the bottom thereof. The second elevating member 1 is operated in cooperation with the drive motor 14 of FIG.
5 is driven up and down. Further, a frame for instructing each fixed rail is provided with a traversing drive mechanism 17 for laterally moving the tray 11 when performing a tray circulation operation.
When performing the circulating operation in the underground storage unit 2, when the first drive motor 14 moves the first lifting member 13 up, the second drive motor 16 lowers the second lifting member 15. In such a case, the raising operation and the lowering operation are performed simultaneously differently from each other, and the traversing drive mechanism 17 of each corresponding layer traverses the tray in a predetermined direction.

FIG. 4 shows an example of a drive control device for realizing such different lifting operations. The drive control device includes a first inverter 21 that converts an AC current from the AC power supply 20 into a DC current and controls a drive current supplied to the first drive motor 14, and an AC current from the AC power supply 20. Into a DC current, and a second inverter 22 for controlling the drive current supplied to the second drive motor 16, and a regenerative current generated by the power generation action of the first inverter 21 causes the first inverter 21 to be over-voltage. And a second discharge radiator 24 for preventing the second inverter 22 from becoming overvoltage due to a regenerative current generated by the power generation action of the second inverter 22. Have been. Capacitors are provided in the first and second inverters 21 and 22, and charge the electric power from the power supply 20. The first discharge heat radiating section 23 is provided with a resistor 25 for performing a heat radiating operation, while the second discharge heat radiating section 24 is provided.
Is provided with a resistor 26 for performing a heat radiation operation.

With such a configuration, in the conventional drive control device, when the first drive motor 14 is mounted on the tray 11 to raise the vehicle and the second drive motor 16 is lowered, Since one of the inverters 21 receives a positive load, the first drive motor 14 is driven by receiving more supply of the current I1 from the power supply 20. As for the second inverter 22, the second drive motor 16 does not need to lift the tray 11 and receives almost no current I2 from the power supply 20, but in the direction according to the weight of the tray 11 and the vehicle. Since it moves, it becomes a generator state, and the second inverter 22 receives a negative load. For this reason, unnecessary electric charge is stored in the capacitor of the second inverter 22, and when the voltage due to the accumulation of the electric charge exceeds a predetermined value, the second discharge heat radiating section 24 performs a heat radiating operation.

On the contrary, the second drive motor 16
When the user performs an operation of ascending with the car placed on the tray 11 and lowering the first drive motor 14, the operation is in a mode opposite to the above operation. Such an aspect occurs not only in a multilevel parking device but also in a general cargo handling device such as an elevator device of an automatic warehouse.

[0009]

However, in the above-described drive control device for a conventional cargo handling device, at the time of lifting and lowering the load, two or more lift and lowering operations are performed simultaneously and differently. In the case of having the elevating members 13 and 15, not only does not use any negative load current obtained from the drive motor 14 or 16 in the generator state, but when this current is excessive, it is discharged by the heat radiation operation. Therefore, while energy is wasted, there is a problem that the configuration of the drive control device for obtaining the maximum current required at the time of a positive load becomes large, and the manufacturing cost of the device also increases.

The present invention has been made in view of the above-mentioned conventional problems, and has as its object to minimize the energy consumption when operating a cargo handling device having a plurality of lifting units such as a multi-story parking device. It is an object of the present invention to provide a drive control device for a cargo handling device and a multilayer box-shaped circulation type parking device using the same.

[0011]

According to the present invention, in order to achieve the above object, a loading control device for controlling a driving motor is provided in a cargo handling apparatus having a plurality of lifting members and a driving motor for driving the lifting member up and down. The drive control device includes a plurality of rectifying units that convert an alternating current into a direct current, a capacitor that charges the rectified charge, and a switching unit that generates an alternating current by inverting the polarity of the current caused by discharging the capacitor. A plurality of capacitors corresponding to the drive motors, and terminals of the same polarity of the plurality of capacitors are connected to each other, and the plurality of capacitors are connected in parallel to the rectifying unit and the switching unit. Is what you do.

In this drive control device, only one discharge heat radiating member needs to be provided between the terminals of the capacitor. Further, the discharge heat radiating member can be constituted by an electric resistor and a switch member for passing a current through the electric resistor when a voltage between terminals of the capacitor exceeds a predetermined voltage.

Further, the cargo handling apparatus provided with the drive control device comprises two lifting members for simultaneously performing the raising operation and the lowering operation differently from each other, and two driving units for respectively raising and lowering the two lifting members. It is possible to adopt a configuration having a motor.

With this configuration, of the two elevating members, the power generated by the drive motor of the elevating member that lowers the load is supplied to the condenser of the elevating member that lifts the load. By replenishing a part of the large current required for the ascent from the other drive motor, the power consumption of the power supply can be reduced or saved.

In another aspect of the present invention, by applying the drive control device to a multi-story parking device, a plurality of trays having a plurality of automatic in-vehicle mounting layers and on which a car is mounted can be provided.
In a multilayer circulation type parking device which circulates by means of horizontal drive means of each layer and two sets of up-and-down elevating members, and transfers necessary trays to an entrance / exit port in response to a call, each of the elevating members drives the elevating member up and down. Each with a drive motor,
The drive control device further includes a drive control device that controls the lifting drive of the lifting member by the drive motor. The drive control device includes a rectifier that converts an alternating current into a direct current, a capacitor that charges the rectified electric charge, and a current that is generated by discharging the capacitor. A plurality of switching units for inverting the polarity and generating an alternating current respectively corresponding to the plurality of drive motors, and connecting terminals of the same polarity of the plurality of capacitors to each other, rectifying the plurality of capacitors and The gist is that the switching unit is connected in parallel.

With this configuration, of the two elevating members for elevating and lowering heavy luggage such as an automobile, the electric power generated by the power generating action of the drive motor of the elevating member for lowering the luggage is used to raise the luggage. Supply or supply a part of the large current required for lifting the load from the other drive motor, thereby reducing or saving the power consumption associated with the cycling operation of the multi-story parking device. Can be.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is directed to a loading / unloading apparatus having a plurality of lifting members for loading and lifting a load and a plurality of driving motors for driving the lifting members up and down. A rectification unit that converts an alternating current into a direct current, a capacitor that charges a rectified charge, and a polarity inversion of a current generated by discharging the capacitor to generate an alternating current A plurality of switching units are provided corresponding to the plurality of drive motors, and terminals of the same polarity are connected to the plurality of capacitors, and the plurality of capacitors are connected in parallel to the rectifying unit and the switching unit. It is provided with a drive control device, and among a plurality of lifting members,
The power generated by the drive motor of the lifting member for lowering the load is supplied to the capacitor of the lifting member for raising the load, and a part of the large current required for lifting the load is supplied from the other drive motor. Replenishment has the effect of reducing or saving power supply power consumption.

According to a second aspect of the present invention, in the driving control device for a cargo handling device according to the first aspect, the driving control device includes one discharge heat radiation member connected between terminals of the capacitor. This has the effect of simplifying the configuration by using one discharge heat radiating member for two sets of AC / DC conversion mechanisms.

According to a third aspect of the present invention, there is provided a drive control device for a cargo handling device according to the first or second aspect, wherein the loading and unloading device performs two different lifting and lowering operations simultaneously. A lifting / lowering member, and two drive motors for respectively driving the two lifting / lowering members up and down, and the drive control device includes a rectifying unit, a capacitor, and a switching unit corresponding to the drive motor. Have two,
Of the two lifting members, the power generated by the drive motor of the lifting member for lowering the load is supplied to the capacitor of the lifting member for lifting the load. The electric power generated by the drive motor of the lifting member that lowers the load among the basic lifting members is supplied to the capacitor of the lifting member that raises the load, and one of the large currents required for lifting the load is supplied. By replenishing the unit from the other drive motor, the power consumption of the power supply can be reduced or saved.

According to a fourth aspect of the present invention, there are provided a plurality of automatic vehicle mounting layers, wherein a plurality of trays on which vehicles are mounted are driven by two sets of horizontal driving means and driving motors for each layer. A multi-layer circulating parking device that circulates by the up-and-down elevating member and transfers the necessary trays to the entry / exit port according to the call, as a drive control device that controls the elevating member's elevating drive by the drive motor, converts AC current to DC Rectifying unit, a capacitor that charges the rectified charge, and a plurality of switching units that generate an AC current by inverting the polarity of the current by discharging the capacitor, respectively, corresponding to the plurality of drive motors, and A drive control device comprising a plurality of capacitors connected to terminals of the same polarity and a plurality of capacitors connected in parallel to a rectifying unit and a switching unit. In the circulation operation of the multi-layered circulation type parking device, of the two lifting members, of the two lifting members, the electric power generated by the drive motor of the lifting member for lowering the load is generated by the capacitor of the lifting member for lifting the load. By supplying and supplying a part of the large current necessary for raising the load from the other drive motor, the power consumption of the power supply can be reduced or saved.

[0021]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a drive control device according to one embodiment of the present invention. This drive control device has a three-phase alternating current (generally 50 Hz or 60 H
z) converts the AC current from the power supply 20 supplied thereto to a DC current and controls the drive current supplied to the first drive motor 14, and also converts the AC current from the AC power supply 20 A second inverter 32 that converts the current into a DC current and controls the drive current supplied to the second drive motor 16, a capacitor built in the first inverter 31, and a capacitor built in the second inverter 32. A first connection line 33 connecting first terminals of the same polarity to each other, a second connection line 34 connecting second terminals of the same polarity of the two capacitors to each other,
And a discharge radiator 35 that is connected in parallel to the second inverter 31 and prevents the inverters 31 and 32 from being heated by the regenerative current generated by the power generation action. The capacitors provided in the first and second inverters 21 and 22 charge the electric charge from the power supply 20. The discharge heat radiating portion 35 includes a resistor 3 for performing a heat radiating operation.
And a switch member 37 for causing the discharge radiator 35 to radiate heat when unnecessary voltage is stored in a capacitor built in the first or second inverter 31 or 32 and the voltage exceeds a predetermined value. Consists of Further, the switch member 37 is configured by, for example, a transistor circuit.

FIG. 2 is a circuit diagram showing the internal structure of the drive control device according to the present embodiment in more detail. As shown in FIG. 2, a first inverter 31 constituting the drive control device
Is a first power supply connected to the power supply 20 for converting an alternating current to a direct current.
Rectifier 39, a first capacitor 40 for charging the charge rectified by the first rectifier 39, and a power supply current different from the power supply current by inverting the polarity of the DC current resulting from the discharge of the first capacitor 40. A first switching unit 41 that generates an alternating current having a frequency and supplies the current to the first drive motor 14. The second inverter 32 is connected to the power supply 20 and converts the AC current into a DC.
A second capacitor 43 for charging the charge after being rectified by the first rectifier 42, and an AC current having a frequency different from the power supply current by inverting the polarity of the DC current resulting from the discharge of the second capacitor 43. And a second switching unit 44 for generating the same and supplying it to the second drive motor 16.

The P pole of the first capacitor 40 (P
Terminal) and the P pole of the second capacitor 43 are connected by the first connection line 33, while the N pole of the first capacitor 40 is
The pole (N terminal) and the N pole of the second capacitor 43 are connected by a second connection line 34. First capacitor 4
0 is the first rectifying unit 39 and the first switching unit 41
, While the second capacitor 43 is connected to the second rectifying unit 42 and the second switching unit 4.
4 are connected in parallel. In addition, the discharge radiator 3
5 is a first capacitor 40 and a second capacitor 43
Are connected in parallel. The switch member 37 of the discharge heat radiating section 35 includes first and second capacitors 40 and 4.
3 is connected in series with the resistor 36 so that a current flows through the resistor 36 when the voltage between at least one of the terminals exceeds a predetermined voltage. Such a drive control device is incorporated in a lifting / lowering member of a luggage transport device in an automatic warehouse or a multi-story parking device that circulates stored cars in a multilayer manner and is used to control the drive of a drive motor.

The operation of the drive control device of this embodiment having such a configuration will be described assuming that the drive control device is incorporated in the multilayer circulation type parking device shown in FIG. The first lifting member 1 is moved by the circulation operation of the parking device.
The first drive motor 14 for driving the third lifting member 13 is mounted on the tray 11 and the second driving member 15 for driving the second lifting member 15 is raised.
When the operation of lowering the drive motor 16 is performed, the first
Receives a positive load, receives more current I01 from the power supply 20, and drives the first drive motor 14. Regarding the second inverter 32, the second drive motor 16 does not need to lift the tray 11 and receives almost no current I02 from the power supply 20, but in the direction according to the weight of the tray 11 and the vehicle. Since it moves, it becomes a generator state, and the second inverter 22 receives a negative load. For this reason, the second drive motor 1 is connected to the second capacitor 43 incorporated in the second inverter 32.
6, the electric charge is stored, and the electric charge is stored in the current I
First capacitor 4 incorporated in first inverter 31 through first and second connection lines 33 and 34 as 03
0 is supplied.

Thus, the first drive motor 14 is replenished by the second drive motor 16, which is the other drive motor, with a part of the large current necessary to lift the load tray 11 and the vehicle. Will be. Therefore, if the drive current required to drive the first drive motor 14 upward is IMA (the drive current required to drive the second drive motor 16 upward is IMB), then IMA = I01 + I03, and there is no need to supply all the drive current (IMA) necessary to drive the first lifting member 13 from the power supply 20. As a result, power consumption of the power supply can be reduced or saved.

On the contrary, the second drive motor 16
When the user performs an operation of ascending with the car placed on the tray 11 and lowering the first drive motor 14, the operation is in a mode opposite to the above operation. Such an aspect occurs not only in a multilevel parking device but also in a general cargo handling device such as an elevator device of an automatic warehouse.

[0027]

As described above, according to the present invention,
A loading control device that controls a drive motor is provided in a cargo handling device including a plurality of lifting members and a plurality of drive motors that drive the lift member, and the drive control device includes a rectifier that converts an AC current to a DC, A capacitor for charging the
A plurality of switching units for inverting the polarity of the current due to the discharge of the capacitor and generating an alternating current corresponding to the plurality of drive motors, respectively, and connecting terminals of the same polarity of the plurality of capacitors to each other; Since the capacitor is connected in parallel with the rectifying unit and the switching unit, of the two lifting members, the power generated by the drive motor of the lifting member that lowers the load is used to raise the load. By supplying a part of the large current necessary for raising the load from the other drive motor to the capacitor of the lifting member to be moved, the effect of reducing or saving the power consumption of the power supply can be obtained. .

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a drive control device of a cargo handling device according to an embodiment of the present invention.

FIG. 2 is a circuit diagram showing the internal structure of the drive control device according to the embodiment in more detail.

FIG. 3 is a front view showing a structure of a multilayer circulation type parking device which is a cargo handling device into which the drive control device of the present invention is incorporated.

FIG. 4 is a block diagram showing a configuration of a conventional drive control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Entrance part 2 Storage part 3 1st storage layer 4 2nd storage layer 5 3rd storage layer 6 1st hoistway 7 2nd hoistway 8 Fixed rail 9 Movable rail 10 Turntable 11 Tray 12 Hoist Apparatus 13 First lifting member 14 First driving motor 15 Second lifting member 16 Second driving motor 17 Traversing drive mechanism 20 Power supply 21, 22 Inverter 23, 24 Discharge heat radiator 25, 26 Resistor 31 First Inverter 32 Second inverter 33 First connection line 34 Second connection line 35 Discharge radiator 36 Resistor 37 Switch member 38 Transistor 39 First rectifier 40 First capacitor 41 First switching unit 42 Second Rectifier 43 second capacitor 44 second switching unit

Claims (4)

[Claims] 1. A cargo handling apparatus comprising: an elevating member for loading and lowering a load, and a plurality of drive motors for driving the elevating member to move up and down, and a drive control device for controlling the ascent and descent of the elevating member by the drive motor. The drive control device includes a rectifying unit that converts an alternating current into a direct current, a capacitor that charges the rectified electric charge, and a switching unit that generates an alternating current by inverting the polarity of the current caused by discharging the capacitor. A cargo handling apparatus, comprising: a plurality of capacitors corresponding to the drive motors of (a), (b), terminals of the same polarity of the plurality of capacitors connected to each other, and a plurality of capacitors connected in parallel to the rectification unit and the switching unit. Drive control device. 2. The drive control device for a cargo handling device according to claim 1, wherein the drive control device includes one discharge heat radiation member connected between terminals of the capacitor. 3. The loading and unloading device includes two lifting members that simultaneously perform a lifting operation and a lowering operation differently from each other, and two drive motors that respectively drive these two lifting members up and down. In addition, the drive control device includes two rectifying units, two capacitors, and two switching units corresponding to the drive motors, and the drive motor of the one of the two lift members that lowers the load. The drive control device for a cargo handling device according to claim 1 or 2, wherein the power generated by the power generation operation of (1) is supplied to a capacitor of a lifting member for raising the load. 4. A plurality of trays each having a plurality of automatic vehicle-mounting layers, on which a car is mounted, are circulated by two sets of up-and-down elevating members driven by horizontal driving means and a driving motor of each layer. In the multi-layered circulation type parking device for transferring necessary trays to a loading / unloading port, each of the lifting members is provided with a drive motor for driving the lifting member up and down, and a drive for controlling the lifting drive of the lifting member by the driving motor. The drive control device includes a rectifier that converts an alternating current into a direct current, a capacitor that charges the rectified electric charge, and a switching unit that generates an alternating current by inverting the polarity of the current due to the discharge of the capacitor. Are provided corresponding to the plurality of drive motors, respectively, and terminals of the same polarity of the plurality of capacitors are connected to rectify the plurality of capacitors. And multi-layer box shaped circulation parking system, characterized by comprising connected in parallel to the switching unit.