JP2008267055A - Stopping position control method of lifting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately determine a speed reduction starting point, for omitting time for correcting a stopping position by an elongation of a wire rope. <P>SOLUTION: This elevator parking is set for warehousing or delivering a vehicle 37 by suspending, supporting and lifting a lift cage 29 by the wire rope 30, and is set for determining a speed reduction point by determining a distance for lifting the lift cage 29 of a suspending state up to an object position by the wire rope 30 of an elongated state by a calculation, when the wire rope 30 elongates by placing the vehicle 37 on the lift cage 29 suspended and supported by the wire rope 30. Afterwards, the lifting device is lifted up to the speed reduction point, and is stopped in a stopping position by reducing a speed from the speed reduction point. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a method for controlling a stop position at the time of lifting / lowering in a lifting / lowering device such as an elevator parking, particularly a high-rise lifting / lowering device using a wire rope for lifting / lowering.

  In the elevator parking as a high-rise type lifting device, there is an elevator parking as shown in FIG. 4 as an example in which control for stopping the lift cage at a target position is performed. In this elevator parking system, the lift cage is suspended and supported by a chain, and the lift cage is lifted and lowered by the chain. When the lift cage cannot be stopped at the target position as the chain extends, The stop position of the lift cage is corrected by correcting the elongation of the lift cage.

  More specifically, the elevator parking shown in FIG. 4 has a hoistway 3 that communicates with the entrance / exit 2 at the center in the building 1 in the vertical direction, and is located at a position sandwiching the hoistway 3 in the front-rear or left-right direction. 4 with shelves 7 with transfer devices 6 that can carry both ends in the longitudinal direction of the pallet 5 for mounting 4 in the vertical direction at the required arrangement pitch, and at the top in the building 1 A hoisting device 11 comprising a motor 8, a drive sprocket 9, a driven sprocket 10 and the like is installed, and the four corners of the lift cage 12 arranged in the hoistway 3 are suspended and supported by chains 13 fed out from the hoisting device 11. The lift cage 12 can be moved up and down the hoistway 3 by winding up and down the chain 13. Further, a turning device 14 for turning the stored vehicle 4 is installed below the entrance / exit port 2 which is the lowest position of the hoistway 3. When the vehicle 4 is mounted on the pallet 5 set on the turning device 14, the lifting cage has been turned 90 ° and suspended to a position below the upper surface level of the turning device 14. 12 is lifted so that the pallet 5 is raised to the position of the shelf 7 at the required stage, and then the vehicle 4 is traversed by the pallet 5 by operation of the lateral feed device 15 mounted on the lift cage 12 and then on the shelf 7. It can be stored in. Further, in the elevator parking having such a configuration, the drive motor 8 of the hoisting device 11 is used as a servo motor, an encoder 17 is provided for detecting the rotation angle of the servo motor 8 and generating a pulse. Is attached with a position sensor 16 comprising upper and lower sensor portions formed in a U-shape for detecting a stop position with respect to the stage of each shelf 7, and the code plate 16a attached to the shelf 7 side is the position sensor. The U-shaped portion 16 can be relatively passed through, and a detection signal is generated when the position sensor 16 is turned on after passing through the position of the code plate 16a. Further, the servo motor 8 is controlled based on the signal from the position sensor 16, the signal from each encoder 17, the signal from the transfer position 6 of each shelf 7, and the signal from the lateral feed device 15 of the lift cage 12. A control device 18 is provided that is driven to correct the extension amount of the chain 13 to correct the stop position of the lift cage 12.

  As shown in FIG. 5, the control device 18 is for correcting a shift in the stop position of the lift cage 12 due to a change in the elongation of the chain 13 due to a change in the load of the lift cage 12. The cage 12 is raised, the stop position with respect to each shelf 7 is detected by the position sensor 16, and the rotation angle from the reference position of the servo motor 8 at that time is obtained as the number of pulses by the encoder 17, and the winding data in the empty cage state ( (Hereinafter referred to as A data) and the reference position of the servo motor 8 when the lift cage 12 is lifted and stopped at the position of each shelf 7 with the empty pallet 5 loaded on the lift cage 12. A function of detecting the rotation angle of the pallet by means of the encoder 17 and storing it as hoisting data (hereinafter referred to as B data) in an empty pallet loading state; When the lift cage 12 loaded with the vehicle 4 on the upper pallet 5 is lifted and stopped at the position of each shelf 7, the rotation angle from the reference position of the servo motor 8 is detected by the encoder 17. It has a function of storing as hoisting data (hereinafter referred to as C data) in the pallet loading state, and the empty pallet 5 is horizontally placed on the shelf 7 by the lateral feed device 15 from the lift cage 12 in the empty pallet loading state. In the process of feeding, the function of issuing a command to the servo motor 8 of the hoisting device 11 so as to shift the suspension support of the lift cage 12 to A data, and conversely, the transfer device on the lift cage 12 in an empty cage state. 6, in the process of transferring the empty pallet 5 on the shelf 7, a command is issued to the servo motor 8 of the hoisting device 11 to shift the suspension support of the lift cage 12 to the B data. In addition, the suspension support of the lift cage 12 is transferred to A data in the process of laterally feeding the actual vehicle pallet 5 onto the shelf 7 by the lateral feed device 15 from the lift cage 12 loaded with the actual vehicle pallet. Thus, in the process of issuing a command to the servo motor 8 of the hoisting device, and conversely, in the process of transferring the actual vehicle pallet 5 on the shelf 7 onto the lift cage 12 in an empty cage state, the suspension support of the lift cage 12 is supported. The configuration includes a function of issuing a command to the servo motor 8 of the hoisting device 11 so as to shift to C data.

  In the elevator parking having the above-described configuration, when the vehicle 4 is stored, the vehicle 4 is placed on the empty pallet 5 on the lift cage 12 positioned at the loading / unloading port 2 and lifted to the predetermined shelf 7 position. The cage 12 is raised. When the servo motor 8 is driven up to the position of the predetermined shelf 7 with the hoisting data in the empty cage state, the lift cage 12 is extended by the extension of the chain 13 due to the loading of the vehicle 4. The stop position becomes a position lower than the position of the predetermined shelf 7. Therefore, in the case shown in FIGS. 4 and 5, the servo motor 8 is driven by setting a pulse that allows the lift cage 12 to move sufficiently above the position of the shelf 7, thereby driving the lift cage. When 12 is raised and detected by the position sensor 16 at the position of the predetermined shelf 7, it is stopped at that position so as to correct the amount corresponding to the elongation of the chain 13 due to the load of the pallet 5 and the vehicle 4. (For example, refer to Patent Document 1).

Japanese Utility Model Publication No. 7-40930

  However, in the one described in Patent Document 1, since the chain 13 is extended, the data is updated at a rate of about once a month for the correction.

  By the way, in recent years, in a high-rise elevator parking as described in Patent Document 1, a wire rope is used instead of the chain 13 described in Patent Document 1, and the wire rope is rotated by a winding drum. The lift cage has been moved up and down by winding or unwinding with the use of.

  FIG. 3 shows an elevator parking assembly assembling apparatus in which the lift cage is moved up and down by a wire rope, and corresponds to the two hoisting drums 19 and 20 and the hoisting drums 19 and 20 at the lower part of the building. Sheaves 21, 22, 23 and 21 a, 22 a, 23 a are provided, and a plurality of sheaves 24, 25, 26, 27, 28 corresponding to the hoisting drum 19 and the hoisting drum 20 are provided at the top of the building. Sheaves 24a, 25a, 26a, 27a, 28a are provided. One end of the wire rope 30 is bound to each of the front, rear, left and right corner portions of the lift cage 29, and the wire rope 30 bound to the front and rear end portions on one side in the left-right direction of the lift cage 29 is After being hung on the sheaves 24, 25 and 26 at the top of the building, they are hung on one of the hoisting drums 19 after being hung on the lower sheaves 21 and 22, and before and after the lift cage 29 on the other side in the left-right direction. The wire rope 30 attached to both ends is hung on the sheaves 24a, 25a and 26a at the top of the building, and then hung on the lower sheaves 21a and 22a, and then wound around the other hoisting drum 20. It is. Further, in order to balance the lifting and lowering of the lift cage 29, the other end of the wire rope 32 having one end bonded to one end in the left-right direction of the balance weight 31 is hung on the sheaves 27 and 28 at the top of the building, The wire rope 32 is wound around one of the hoist drums 19 in the direction opposite to the wire rope 30 and one end of the balance weight 31 is connected to the other end in the left-right direction. The other end of the wire is hung on the sheaves 27a, 28a at the top of the building, and then hung on the lower sheave 23a, and then wound around the other hoisting drum 20 in the direction opposite to the wire rope 30. .

  33 is a shelf provided on the left and right sides of the hoistway of the lift cage 29 in the building, 34 is a pallet, and the pallet 34 is from the lift cage 29 to the shelf 33, and from the shelf 33 to the lift cage 29, respectively. It is designed to be able to feed horizontally.

  In such a configuration, the lift cage 29 is lifted and lowered via the wire rope 30 by the rotational drive of the hoisting drums 19 and 20, and the weight 31 is also lifted and lowered via the wire rope 32. .

  Conventionally, in an elevator parking where the lift cage 29 is moved up and down using the wire rope 30 as described above, in particular, for example, a high-rise that reaches 100 m above the ground so that 50 cars can be stored on one side and 100 cars on both sides. In the case of the elevator parking, the wire rope 30 has a total length of 200 m. Therefore, when the pallet 34 is placed on the lift cage and the vehicle is further placed thereon, the wire rope 30 is stretched.

  When the vehicle is to be stored, the pallet 34 is placed on the lift cage 29 at the loading / unloading port, and further, for example, if a 2500 kg vehicle is placed on the pallet 34, the total weight with the pallet of about 600 kg is 3100 kg. Thus, the wire rope 30 is stretched, and in this state, the hoisting drums 19 and 20 are rotated in synchronism with each other so that the lift cage 29 is raised and stopped at a predetermined shelf 33 position. When 29 is raised, the stop position is shifted between when the lift cage 29 is empty and when the vehicle as described above is loaded.

  In general, in the loading / unloading operation of a vehicle, control is performed such that the vehicle is moved up and down at a high speed to a position just before reaching a predetermined stop position and then decelerated to complete the deceleration at the predetermined stop position. That is, as shown in FIG. 2 (a), when raising / lowering is started, the raising / lowering speed is increased, and then it is raised and lowered to a deceleration point (deceleration start point) 35 at a constant speed, and then decelerated from the deceleration point 35 to the stop position. It is considered to stop after a predetermined time.

  However, so far, in consideration of the elongation of the wire rope 30 when the vehicle is loaded on the lift cage 29, the deceleration point position in the ascending and descending to each shelf is loaded in advance with loading the maximum weight vehicle, In the loading / unloading of the vehicle, the vehicle is decelerated and stopped after moving up and down to the deceleration point position. However, in practice, there is a variation in the vehicle weight depending on the size of the vehicle. Since the weight of the vehicle is not known and the variation in the weight of the vehicle cannot be taken into consideration, the deceleration point 35 is determined early in anticipation of safety as shown in FIG. As a result, the deceleration completion point 36 is accelerated. Therefore, the correction of the stop position must be repeated from the deceleration completion point 36 to the original regular stop position, and it may take a long time to stop at the predetermined shelf position, which is useless for entering and leaving the store. It took time and the cycle time was long.

  Therefore, the present invention improves the problem that it takes time to correct the stop position by the method of determining the deceleration point position of the lifting operation based on the vehicle weight as described above, and determines the deceleration point position without being affected by the difference in wire rope elongation. The speed reduction completion point is sought at a predetermined position.

  In order to solve the above problems, the present invention places a vehicle on a lift cage supported by suspension with a wire rope, raises the vehicle to a predetermined shelf position, and lowers it from the shelf position to an entry / exit port to enter / exit. In the method of controlling the stop position of the lifting device that is supposed to perform the operation, determine the position of the deceleration point where deceleration is started after obtaining the distance from the suspended state to the target position with the wire rope, and then A method is adopted in which deceleration is started after the lift cage is raised or lowered to the deceleration point position, and the lift cage is positioned at the stop position at the deceleration completion point.

  Further, in the above configuration, the position data is read from the code plate of the required shelf while the lift cage on which the vehicle is mounted is suspended by the wire rope, and the distance from the position to the target position is calculated and decelerated. The method is to determine the position of the deceleration point at which to start.

  According to the stop position control method of the lifting device of the present invention, the vehicle is placed on the lift cage supported by being suspended by the wire rope, raised to a predetermined shelf position, and lowered from the shelf position to the entrance / exit. In the method of controlling the stopping position of the lifting device that is designed to perform the loading / unloading operation, the position of the deceleration point at which deceleration is started is determined after obtaining the distance from the suspended state to the target position with the wire rope, and accordingly After that, the lift cage is raised or lowered to the deceleration point position and then the deceleration is started, and the lift cage is positioned at the stop position at the deceleration completion point. By reading the position data on the code board of the required shelf in the suspended state, the distance from that position to the target position is calculated and the deceleration point where deceleration starts Since the position is decided, the deceleration point of the position where you want to stop the lift cage can be accurately obtained without being affected by the elongation of the wire rope, and you can make the target stop position at the completion point of deceleration, Ascending / descending time at the time of entering / exiting can be shortened, and accordingly, excellent effects such as shortening the waiting time for exiting the user and improving convenience can be achieved.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 shows an embodiment of the present invention and shows an outline of elevator parking.

  As in the elevator parking elevator assembly diagram shown in FIG. 3, the lift cage 29 is suspended and supported by the wire rope 30, and the lift cage 29 is lifted and lowered via the wire rope 30 by the rotation of the hoisting drums 19 and 20. Further, shelves 33 are installed at required intervals in the vertical direction on both right and left sides of the hoistway along which the lift cage 29 moves up and down, and a vehicle 37 is placed on a pallet 34 placed on the lift cage 29 to lift the lift cage. 29, the vehicle 37 is transferred together with the pallet 34 from the lift cage 29 to the shelf 33 at each shelf position, and the vehicle 37 is transferred with each pallet from the shelf 33 to the lift cage 29. In the configuration in which each of the shelves 33 is provided with a code plate 38 as a shelf sensor, and the lift cage 29 is positioned as shown in FIG. Attaching the same position sensor 39 and Nsa 16. Further, the distance between the shelf stages is obtained in advance as the distance between the code plates 38 of each shelf 33, and the distance between the arbitrary shelves 33 is calculated and inputted from the position of the code plate 38 at a certain position. In addition, the lift cage 29 is raised according to the distance to an arbitrary shelf with reference to the position of the code plate 38 of the shelf 33 in a certain step, or the position from the position of the certain shelf 33 to the loading / unloading port. A controller is provided for giving a rotation command to the hoisting drums 19 and 20 so as to lower the lift cage 29 according to the distance. The controller determines the position of the deceleration point 35 shown in FIG. 2 (a) by reading the distance from the start point for raising and lowering the lift cage 29 to the end point for raising and lowering, and gives commands to the hoisting drums 19 and 20. It is configured to automatically start deceleration from the deceleration point 35 and decelerate to the deceleration completion point 36.

  When entering the vehicle, the vehicle 37 is placed on the plate on which the pallet 34 is placed on the lift cage 29 lowered to a position lower than the level of the entry / exit port, and on the pallet 34 on the lift cage 29 from the entry / exit port. . When the vehicle 37 is put on the pallet 34 of the lift cage 29, the hoisting drums 19 and 20 are rotated to raise the lift cage 29 via the wire rope 30. At this time, the lift cage 29 loaded with the vehicle 37 is pulled up, so that the wire rope 30 is stretched, but the lift cage 29 is raised as it is.

  The lift cage 29 suspended and supported by the extended wire rope 30 is detected by the position sensor 39 of the lift cage 29 at the code plate 38 of the lowest shelf 33, for example. Read data and input to the controller. In the controller, the distance from the read data to the code plate 38 of the shelf 33 to be stored is calculated, and the deceleration point 35 is determined, a command is sent to the hoisting drums 19 and 20, and the position to the deceleration point 35 position at a stretch. Try to raise. When the deceleration point 35 is reached, the hoisting drums 19 and 20 are automatically decelerated, the lift cage 29 is stopped at the cord plate 38 of the target shelf 33, and the deceleration completion point 36 is reached. For example, when the lift cage 29 suspended by the wire rope 30 starts from the first code plate 38, the position data of the code plate 38 is assumed to be 1000, and the shelf 33 to be stored from the code plate 38 When the distance to the code plate 38 is 500, it is calculated by calculation that the position data of the code plate 38 of the shelf 33 to be stored is 1500. Therefore, the deceleration point 35 is determined from the 1500 data, and the 1500 It is calculated by calculation that it is only necessary to decelerate from the front position and stop at the 1500 code plate 38. As a result, the deceleration is automatically started from the deceleration point 35 and stopped at the deceleration completion point 36.

  As a result, it is not necessary to determine the deceleration point 35 early as shown in FIG. 2B and start deceleration, and it is possible to eliminate wasted time for correction from the conventional deceleration completion point 36 to the stop position.

  Next, when the vehicle is to be delivered, when the lift cage 29 is raised to the position of the required shelf 33 and the code plate 38 of the shelf 33 is detected by the position sensor 39 of the lift cage 29, the lift cage 29 is moved to that position. The vehicle 37 placed on the pallet 34 from the shelf 33 is transferred onto the lift cage 29 together with the pallet. At this time, the lift cage 29 is changed from the empty cage state to the state where the pallet 34 and the vehicle 37 are placed, so that the wire rope 30 is stretched.

  In the present invention, even if the wire rope 30 is extended while being suspended by the wire rope 30, the lift cage 29 is moved from the suspended state to the position of the cord plate 38 of the exit shelf 33 and then lowered. Without considering the elongation of the wire rope 30, the distance from the shelf 33 to the loading / unloading port can be obtained by calculation, and the position just before the loading / unloading port can be determined as the deceleration point 35. As a result, as in the case shown in FIG. 2 (a), the lift cage 29 is lowered to the position of the deceleration point 35 by the hoisting drums 19 and 20 at a stretch, starts deceleration from the position of the deceleration point 35, and completes the deceleration completion point 36. Can be lowered to the loading / unloading port, the deceleration point 35 is determined at an early stage in anticipation of safety, and the deceleration is started earlier. Accordingly, the deceleration completion point 36 is accelerated and the stop position is corrected. Can be made unnecessary, and unnecessary time required for it can be omitted.

  The present invention is not limited to the above embodiment. For example, in the case of warehousing, the data is read at the position of the code plate 38 of the bottom shelf 33, and the distance to the target shelf is determined. Although the case of obtaining by calculation has been shown, it is of course possible to read data at the position of another code plate 38 and, of course, various changes can be made without departing from the scope of the present invention.

It is the schematic of the elevator parking which shows one Embodiment of this invention. FIG. 5 shows the stop position and the position of the deceleration point of the lift cage, where (A) shows the case according to the present invention and (B) shows the case according to the conventional method. It is an example figure of the raising / lowering device assembly of the elevator parking using a wire rope. It is a schematic diagram of the elevator parking using the conventional chain. It is a block diagram of the control system for correcting the stop position of the lift cage of the elevator parking shown in FIG.

Explanation of symbols

19, 20 Hoisting drum 29 Lift cage 30 Wire rope 33 Shelf 34 Pallet 35 Deceleration point 36 Deceleration completion point 37 Vehicle 38 Code plate 39 Position sensor

Claims (2)

  Stop the elevating device that puts the vehicle on the lift cage supported by the wire rope and raises it to a predetermined shelf position, and lowers it from the shelf position to the entry / exit port to perform the entry / exit operation In the method of controlling the position, after determining the distance from the suspended state to the target position with the wire rope, determine the position of the deceleration point to start deceleration, and then raise or lower the lift cage to the deceleration point position. The stop position control method of the lifting device that starts the deceleration from the start and positions the lift cage at the stop position at the deceleration completion point.   Read the position data on the code board of the required shelf while hanging the lift cage with the vehicle on the wire rope, find the distance from that position to the target position by calculation and start the deceleration point The stop position control method of the lifting apparatus according to claim 1, wherein the position is determined.

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