JP2011122384A - Mechanical parking system and method for controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To rapidly perform control based on the weight of a load. <P>SOLUTION: This mechanical parking system includes a swing device 3 which is provided on a riding floor for loading/unloading a vehicle and which swings the vehicle-placed pallet, and a control unit 21 which controls the ascent/descent of a lift carrier machine on the basis of the weight of the pallet and the vehicle placed on the pallet. The swing device 3 includes a lifting and lowering motor 31 which lifts the vehicle-placed pallet by a predetermined amount from a prescribed reference position before the vehicle-placed pallet is swung in the direction of being housed on a storage shelf, in the loading of the vehicle, and a weight estimation portion 32 which estimates the weight of the pallet and the vehicle placed on the pallet, on the basis of an electric current flowing through the lifting and lowering motor 31 when the lifting and lowering motor 31 is lifted by a predetermined amount. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a mechanical parking apparatus and a control method thereof.

  2. Description of the Related Art Conventionally, a lifting device that lifts and lowers a load has been provided with a lifting member such as a lift transporter, a motor for operating the lifting member, a control device thereof, and the like, and storage of the load based on control from the control device. For example, it is used in a mechanical parking device that uses a vehicle as a load.

By the way, the lifting device places restrictions on the weight and dimensions of the luggage to be raised and lowered, determines whether or not the luggage is within the range that does not exceed these restrictions, and controls accidents and malfunctions by controlling according to the determination result It is preventing.
For example, in Patent Document 1, it is determined whether the weight of the vehicle exceeds a predetermined weight by detecting the current value when the lifting member on which the vehicle is mounted moves up and down. A control technique is disclosed in which the vehicle is delivered if the vehicle is exceeded.

JP 2001-063971 A

  However, in the method of the above-mentioned patent document 1, until the weight of the vehicle is estimated by the lifting member such as the lift transporter, the control method for the vehicle and the lift transporter is not determined, and the weight after the lifting member is activated. There was a problem that favorable control could not be performed during the period until the estimation.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a mechanical parking apparatus capable of promptly performing control according to the weight of a load and a control method thereof.

In order to solve the above problems, the present invention employs the following means.
The present invention is a lift conveyor installed in a structure having a plurality of floors, and lifts and lowers the vehicle, and storage shelves arranged on the plurality of floors along a hoistway that the lift conveyor moves up and down, A mechanical parking device comprising a pallet on which the vehicle to be loaded and unloaded is gripped by the lift transfer machine, and a turning means for turning the pallet on which the vehicle is placed, the pallet, and the pallet Control means for controlling the lifting and lowering of the lift transporter based on the weight of the vehicle placed on the pallet, and the turning means is the pallet on which the vehicle is placed when the vehicle is received. Before turning in a direction to store the storage pallet in the storage shelf, and includes a lift motor that lifts the pallet on which the vehicle is mounted from a predetermined reference position by a predetermined amount, and the control means includes the lift motor A machine comprising weight estimation means for estimating the weight of the pallet and the vehicle mounted on the pallet based on a current flowing through the lifting motor when a fixed amount is raised, and performs a lifting control. A parking device is provided.

According to such a configuration, when the vehicle is received, the turning means turns the pallet on which the vehicle is placed from the predetermined reference position to the pallet and the pallet by the lift motor when turning the pallet in the storage shelf. The weight of the pallet and the vehicle is estimated based on the current flowing through the lifting motor at this time, and the lifting and lowering of the lift transporter is controlled based on the estimated weight.
Thus, since the weight of the pallet and the vehicle is estimated using the turning means and the information on the current flowing through the lifting motor included in the turning means, the additional equipment for estimating the weight can be minimized. And cost reduction can be achieved. In addition, since the weight of the pallet and the vehicle to be lifted and lowered by the lift transporter is estimated before the lift transporter is controlled to be lifted / lowered, compared to the case of estimating the weight when the lift transporter is lifted / lowered as in the conventional case. Since there is no loss time for estimating the weight during lifting, rapid control can be performed when lifting the lift carrier.

The turning means of the mechanical parking device may be provided on a boarding floor where the vehicle is loaded and unloaded.
Space can be saved by providing the turning means on the entrance floor.

The said control means of the said mechanical parking apparatus is good also as determining the raising / lowering speed of the said lift conveyance machine based on the weight of the said vehicle, and controlling the said lift conveyance machine based on this determined raising / lowering speed.
Since the lifting speed of the lift transporter is set according to the weight estimated by the swivel means, when the lift transporter is lifted or lowered, it can be operated at the set speed quickly and energy is effectively used. It can be used for.

The control means of the mechanical parking device may determine acceleration when the lift carrier is moved up and down based on the weight of the vehicle, and may control the lift carrier based on the determined acceleration. Good.
Since the acceleration for raising and lowering the lift carrier is set according to the weight estimated by the swivel means, when raising and lowering the lift carrier, it is possible to quickly operate at the set acceleration and save energy. It can be used effectively.

When the weight of the pallet and the vehicle estimated by the weight estimation unit is heavier than a predetermined weight, the control unit of the mechanical parking apparatus is It is good also as storing the said vehicle in the said storage shelf with a short distance with a floor.
Since heavy pallets and vehicles are stored in storage shelves with a short distance from the entry floor, energy-saving operation is possible compared to storing heavy items in storage shelves with a long distance from the entry floor. . For example, when the boarding floor is on the first floor, a heavy vehicle is stored on the lower floor, so that the burden on the mechanical parking device during an earthquake can be reduced.

Storage means for storing the position information of the vehicle stored in the storage shelf of the mechanical parking apparatus and the information on the weight of the vehicle stored in the storage shelf estimated by the weight estimation means in association with each other. The control unit reads out the vehicle position information and the vehicle weight information stored in the storage shelf from the storage unit when the vehicle is delivered from the storage shelf, and reads the weight information. Based on the above, the lift transporter may be moved up and down.
Once the vehicle has been stored in the storage shelf, the vehicle position information and the vehicle weight information are stored, and when the vehicle is moved up and down the next time, the stored weight information is read to quickly control based on the weight information. Can be done.

The storage means of the mechanical parking device stores identification information of the vehicle and weight information of the vehicle, and the control means is stored in the storage means based on the identification information of the vehicle. The information on the vehicle and the information on the weight of the vehicle may be read out, and the lifting and lowering of the lift transporter may be controlled according to the read out information on the weight of the vehicle.
By setting the identification number associated with the vehicle identification information and the vehicle weight information, the vehicle weight information can be easily read out, so that control according to the weight can be performed quickly.

The weight estimation means of the mechanical parking device includes correspondence information for associating a current value with a load mass, and when the vehicle is not placed on the pallet, the lift motor is raised by a predetermined amount. The current value flowing through the lifting motor is measured, and the current value flowing through the lifting motor when the vehicle is not placed on the pallet matches the current value indicated as the weight of the pallet in the correspondence information. If not, it may be provided with correcting means for correcting the correspondence information based on the current value flowing through the lifting motor when the vehicle is not placed on the pallet.
By measuring the current value when no vehicle is placed on the pallet, the current value of only the pallet whose weight does not change is measured, and this measured current value is the current value indicated as the pallet weight in the correspondence information. The corresponding information is calibrated. The correspondence information is, for example, a function, a graph determined based on the function, and a table. By performing calibration in this way, it is possible to easily calibrate the secular change of the measuring device, and to improve the weight estimation accuracy.

  The present invention is a lift conveyor installed in a structure having a plurality of floors, and lifts and lowers the vehicle, and storage shelves arranged on the plurality of floors along a hoistway that the lift conveyor moves up and down, A control method of a mechanical parking device comprising a pallet on which the vehicle to be loaded and unloaded is gripped by the lift transfer machine, and a turning means for turning the pallet on which the vehicle is placed comprises the vehicle At the time of warehousing, before turning the pallet on which the vehicle is placed in the storage shelf, the pallet on which the vehicle is placed is raised by a lifting motor from a predetermined reference position by a predetermined amount. Based on the first process and the weight of the pallet and the vehicle placed on the pallet, the control means for controlling the lifting and lowering of the lift transporter raises the lifting motor by a predetermined amount. A control method for a mechanical parking apparatus, comprising: a second step of estimating a weight of the pallet and the vehicle placed on the pallet by weight estimation means based on a current flowing through the lifting motor, and performing a lifting control. provide.

  The present invention has an effect that control according to the weight of a load can be quickly performed.

It is the schematic of the mechanical parking apparatus which concerns on the 1st Embodiment of this invention. It is a figure of an example which showed schematic structure of the boarding floor. It is the functional block diagram which showed schematic structure of the ground control panel and turning apparatus of the mechanical parking apparatus which concern on the 1st Embodiment of this invention. It is a figure for demonstrating the case where the turning apparatus which concerns on the 1st Embodiment of this invention raises. It is a figure for demonstrating the case where the turning apparatus which concerns on the 1st Embodiment of this invention descend | falls. It is a figure of an example of the corresponding information which shows the relationship between the weight of a vehicle, and an electric current value. It is a figure which shows an example of the relationship between the weight by the side of a lift conveyance machine, and a torque. It is a figure which shows the relationship between a motor rotation speed and a motor torque. It is an operation | movement flow in case the mechanical parking apparatus which concerns on the 1st Embodiment of this invention enters a vehicle. It is an operation | movement flow in case the mechanical parking apparatus which concerns on the 1st Embodiment of this invention makes a vehicle go out. It is a figure which shows an example of the relationship between time and motor rotation speed about the mechanical parking apparatus which concerns on the 2nd Embodiment of this invention. It is a figure of an example which showed the allowance of the acceleration torque in case speed is constant and it is the maximum torque. It is a figure of an example which showed the margin of the acceleration torque in case speed is constant and it is average torque. It is a figure of an example which showed the margin of the acceleration torque in case speed is constant and it is the minimum torque.

Hereinafter, an embodiment of a mechanical parking apparatus and a control method thereof according to the present invention will be described with reference to the drawings.
[First Embodiment]
In the present embodiment, as shown in FIG. 1, the lift carrier 44 is installed in a structure having a plurality of floors and moves up and down the vehicle 10, and the hoistway 43 along which the lift carrier 44 moves up and down. It is a 90 ° swivel mechanical parking device 1 that includes storage shelves 41 arranged on a plurality of floors, and a pallet 42 on which a vehicle 10 to be loaded and unloaded is loaded and unloaded. Although explained, it is not limited to this. The 90 ° turning type means that when the vehicle 10 is stored in the storage shelf 41, the direction in which the vehicle 10 is stored in the storage floor 41 is 90 ° different from the direction in which the vehicle 10 is stored in the storage shelf 41. In this method, the vehicle on the floor 11 is turned 90 °. For example, it may be a 180 ° turning type that turns the vehicle entering and leaving the vehicle 180 °, or a 30 ° turning type that turns 30 ° when the vehicle is received, and the turning angle is not particularly limited. In the present embodiment, the entrance floor 11 is described as being provided on the first floor, but the placement position of the entrance floor is not particularly limited.

As shown in FIG. 1, the mechanical parking device 1 includes a boarding floor 11 on the first floor, which is the lowest floor, and allows the vehicle 10 to enter the boarding floor 11 through the entrance and exit. It stores in the storage shelf 41 in the upper part. Moreover, the mechanical parking apparatus 1 takes out the vehicle 10 to be taken out from the storage shelf 41, and makes it take out from the boarding floor 11 through the entrance / exit.
FIG. 2 is a diagram illustrating an example of a schematic configuration of the entrance floor 11. As shown in FIG. 2, the entrance floor 11 is provided with a ground control panel 2 and a turning device (turning means) 3. FIG. 2 shows an example in which a pallet 42 is arranged on the upper part of the swivel device 3.

FIG. 3 is a functional block diagram showing the configuration of the ground control panel 2 and the turning device 3.
The turning device 3 includes a lifting motor 31, a turning motor 32, and a current measuring unit 33. The elevator motor 31 moves the pallet 42 on which the vehicle 10 is placed from a predetermined reference position before turning the pallet 42 on which the vehicle 10 is placed in the storage shelf 41 when the vehicle 10 is received. Increase by a predetermined amount. The turning motor 32 turns the pallet 42 on which the vehicle 10 is placed in the direction in which it is stored in the storage shelf 41. The current measuring unit 33 measures a current value flowing through the lifting motor 31 when the lifting motor 31 is raised by a predetermined amount from the reference position, and outputs the measured current value to the ground control panel 2.

The current measuring unit 33 measures the current value when the vehicle 10 is placed on the pallet 42 and when the vehicle is not placed on the pallet. For example, the case where the vehicle is placed on the pallet is a case where the vehicle 10 is turned in the direction in which the vehicle 10 is stored in the storage shelf 41 at the time of warehousing, and the case where the vehicle is not placed on the pallet. The case where the pallet 42 is turned in the direction in which the pallet 42 is stored in the storage shelf 41 is shown.
In addition, the current measurement unit 33 calculates a current measurement value based on a current value when the vehicle 10 is not placed on the pallet 42 and a correction value acquired from a zero correction unit (details will be described later) 24. to correct.

More specifically, with reference to FIGS. 4 and 5, the operation in which the turning device 3 moves the pallet 42 and the vehicle 10 placed on the pallet 42 up or down by a predetermined amount from a predetermined reference position will be described.
As shown in FIGS. 4 and 5, more specifically, the turning device 3 includes an elevating motor 31, a pinion rack 36, a lever 34, and a pallet receiving base 35. For example, if the pinion rack 36 connected to the lifting / lowering motor 31 moves in the horizontal direction by the rotation of the central lifting / lowering motor 31, the right lever 34 connected to the pinion rack 36 rotates clockwise (the left lever 34 rotates counterclockwise). As the lever 34 rotates, the part supporting the pallet cradle 35 on which the pallet is placed rises, and the pallet cradle 35 rises from a predetermined reference position by a predetermined amount (for example, 350 millimeters). The current measuring unit 33 measures the current flowing through the lifting motor 31 when the lifting motor 31 is raised by a predetermined amount from a predetermined reference position, and outputs the measurement result to the ground control panel 2.

  Further, when the pallet cradle 35 returns to a predetermined reference position, for example, the central lifting / lowering motor 31 rotates in the opposite direction to the case where the pallet cradle 35 is lifted and is connected to the lifting / lowering motor 31. When the rack 36 moves in the horizontal direction, the right lever 34 connected to the pinion rack 36 rotates counterclockwise (the left lever 34 rotates clockwise). As the lever 34 rotates, the portion where the lever 34 supports the pallet cradle 35 is lowered, and the pallet cradle 35 is lowered to a predetermined reference position.

The ground control panel 2 controls the entry and exit of the vehicle 10 when an operation for entering and leaving the vehicle 10 is performed. Specifically, the ground control panel 2 includes a control unit 21, a power supply device 22, a vehicle weight storage unit 23, and a zero correction unit (correction unit) 24.
The power supply device 22 supplies power to the lifting device such as the lift transporter and the turning device 3 by supplying power to the mechanical parking device 1 and also supplies power to the control device such as the control unit 21.

  The control unit 21 controls the lifting and lowering of the lift transporter 44 based on the pallet 42 and the weight of the vehicle 10 placed on the pallet 42. Specifically, the control unit 21 acquires a measured value of the current flowing through the lifting motor 31 input from the turning device 3 and estimates the weight of the pallet 42 and the vehicle 10 based on the measured current value. 25. The control unit 21 controls the lifting and lowering of the lift transporter 44 based on the weight of the pallet 42 and the vehicle 10 estimated by the weight estimation unit 25.

  More specifically, the weight estimation unit 25 includes correspondence information indicating the relationship between the load mass and the current value when the lifting motor 31 is raised by a predetermined amount from the reference position. In the present embodiment, the correspondence information is described as an example in which the relationship between the load mass (kgf) on the horizontal axis and the current value (A) on the vertical axis is shown as a quadratic function graph as shown in FIG. However, the format of the correspondence information is not limited to this. For example, the relationship between the load mass and the current value may be appropriately calculated by a mathematical formula, or may be indicated by a list of numerical values (table format).

FIG. 6 shows an example in which the weight of the pallet (empty pallet) in a state where the vehicle 10 is not placed is 1000 (kgf). A range that is average is Wave, and a range in which the weight of the vehicle 10 is small is Wmin.
As shown in FIG. 6, the correspondence information included in the weight estimation unit 25 shows a tendency that the value of the current flowing through the lifting motor 31 gradually increases as the weight of the vehicle 10 increases and the load mass increases. The weight estimation unit 25 estimates the load mass based on the correspondence information and the measured current value of the current flowing through the lift motor 31.

  Further, the control unit 21 determines a torque required to move the vehicle 10 to the storage shelf 41 by the lift transporter 44 based on the load mass estimated by the weight estimation unit 25 and based on the magnitude of the torque. To determine the speed. FIG. 7 shows the weight on the lift transporter 44 side on the horizontal axis and the magnitude of the torque on the vertical axis, and shows that a larger torque is required as the weight on the lift transporter 44 side is larger. The control unit 21 includes a table indicating the relationship between the weight and the torque, and determines a necessary torque based on the table indicating the relationship between the weight and the torque.

Moreover, the control part 21 is provided with the table which shows the relationship between the rotation speed (the speed of the lift conveyance machine 44) of the lift raising / lowering motor which raises / lowers the lift conveyance machine 44, and a motor torque as shown in FIG. The number of rotations of the lift lifting motor is determined based on the table indicating the relationship between the number of rotations of the lift lifting motor and the motor torque and the determined torque.
As shown in FIG. 8, the lift lifting motor that lifts and lowers the lift transporter operates within the range surrounded by the vertical motor torque axis and the curve. In this embodiment, the speed when the maximum load torque Tmax is required is V1, the speed when the average load torque Tave is required is V2, and the speed when the minimum load torque Tmin is required. V3 and these speeds V1, V2, and V3 are speeds set so that the acceleration torque is increased by 20% of the load torque.

  In the present embodiment, it is assumed that the acceleration torque is set as 20% increase of the load torque. However, the magnitude of the acceleration torque is appropriately set depending on the equipment used, and the increase in the load torque is increased. The amount is not particularly limited. For example, the acceleration torque may be 10% increase of the load torque or 30% increase of the load torque.

  For example, when the information of the current measurement value 6.5 (A) is acquired, the control unit 21 estimates that the load mass is in the region of Wmax based on FIG. Subsequently, when the load mass is Wmax, based on FIG. 7, the control unit 21 sets the required load torque to Tmax. Further, the control unit 21 determines the speed in the case of the load torque Tmax as V1 based on FIG. The control unit 21 outputs the determined speed V1 to the vehicle weight storage unit 23 as speed information corresponding to the vehicle 10 to be stored.

The vehicle weight storage unit 23 stores speed information (for example, speed V1) corresponding to the vehicle 10 acquired from the control unit 21 and weight information of the pallet 42. The speed information in the vehicle weight storage unit 23 is read from the control unit 21 before the control unit 21 moves the vehicle 10 by the lift transporter 44. Thereby, the control part 21 controls the speed of the lift conveyance machine 44 according to the vehicle weight estimated before turning by the turning apparatus 3.
In addition, it is preferable to set the identification number together with the speed information associated with the vehicle 10. The identification number is, for example, a number assigned to each vehicle used when the same vehicle 10 as the entering vehicle 10 is delivered. By setting the identification number, the corresponding vehicle 10 and information on the speed at which the vehicle 10 is moved can be easily called.

The zero correction unit 24 is configured such that the weight of the pallet 42 estimated based on the measured current value when the turning device 3 raises only the pallet 42 and the reference pallet 42 stored in the vehicle weight storage unit 23. Compare with weight. Specifically, when the vehicle 10 is not placed on the pallet 42, the current measuring unit 33 measures the value of the current flowing through the lifting motor 31 when the lifting motor 31 is raised by a predetermined amount, and the zero correction unit 24. Compares the current value flowing through the lifting motor 31 measured as the weight of the pallet 42 only with the current value indicated as the weight of the pallet 42 in the correspondence information. If they do not match as a result of the comparison, the zero correction unit 24 corrects the correspondence information based on the value of the current flowing through the lifting motor 31 measured as the weight of only the pallet 42 and corresponds to the weight of the pallet 42 in the correspondence information. Correct the current value.
Further, the correction by the zero correction unit 24 may be performed every time the delivery is completed, or may be performed once every predetermined period (for example, one day, two weeks, one month, etc.).

  In addition, the control unit 21 preferably selects the position of the storage shelf 41 according to the weight of the vehicle 10. Specifically, the vehicle weight is compared with a predetermined weight, and an empty storage shelf 41 having a shorter distance from the entrance floor 11 is selected as the vehicle weight is heavier than the predetermined weight. An empty storage shelf 41 having a longer distance from the entrance floor 11 is selected as the weight is lighter. As described above, since the load torque increases as the vehicle weight increases, a larger torque is required when moving a heavy vehicle than when moving a light vehicle. From this, the power consumption of the mechanical parking apparatus 1 can be reduced by selecting the storage shelf 41 in order to shorten the moving distance of a heavy vehicle. In addition, when the entry floor 11 is on a lower floor (for example, the first floor of the mechanical parking device 1 as shown in FIG. 1), a heavy vehicle is placed on the lower floor and a light vehicle is loaded. Is placed on the upper floor, the force applied to the mechanical parking device 1 when an earthquake occurs can be reduced.

Next, the operation of the mechanical parking apparatus 1 having the above-described configuration will be described with reference to FIGS. 1 to 3 and 9 and the case of unloading the vehicle with reference to FIG. 10.
The driver gets out of the vehicle 10, operates the operation panel 5, and performs a warehousing setting that causes the vehicle 10 to enter the mechanical parking device 1. When entry is set to the ground control panel 2 from the operation panel 5 (step SA1), the lift carrier 44 is driven at a predetermined speed (for example, the speed V ′ when the lift carrier does not hold the pallet and the vehicle). It is moved to the storage shelf (step SA2). The empty pallet is taken out from the storage shelf 41 with the empty pallet (step SA3), and the lift transporter 44 on which the empty pallet is placed is loaded at a predetermined speed (for example, the speed V ″ when the lift transporter grips the pallet). It moves to the entrance 11 (step SA4). The control unit 21 determines whether or not the mechanical parking device 1 is a 90 ° turning type (step SA5). If the mechanical parking device 1 is a 90 ° turning type, the empty pallet is turned 90 ° and placed on the turning device 3. And descends (step SA6).

  Subsequently, the entrance door provided at the entrance / exit of the entrance floor 11 is opened (step SA7), and the vehicle 10 enters the entrance floor 11 and stops on the pallet (step SA8). When it is detected by a photoelectric sensor or the like that the vehicle 10 has stopped on the pallet 42, the entrance door of the boarding floor 11 is closed (step SA9). The pallet 42 and the vehicle 10 placed on the pallet 42 are raised from a predetermined reference position by the lifting motor 31 of the turning device 3, and the weight of the pallet 42 and the vehicle 10 is based on the current flowing through the lifting motor 31 at this time. Is estimated (step SA10).

  In the control unit 21, it is determined whether or not the type of the mechanical parking device 1 is a 90 ° turning type (step SA11). If the type is the 90 ° turning type, the pallet is turned 90 ° (step SA12). In the control unit 21, the speed of the lift transporter is determined (for example, the speed V3) based on the weight of the vehicle estimated in the previous stage, and the pallet 42 gripped by the lift transporter 44 and the lift transporter 44 at the determined speed V3. Is moved to the storage shelf in a state where the vehicle 10 is mounted on the vehicle (step SA13). The lift transporter 44 stores the pallet 42 on which the vehicle 10 is placed in the storage shelf 41 in which the vehicle 10 is not stored (step SA14), and ends this operation flow.

Next, the case where the vehicle 10 is delivered will be described with reference to FIG.
The operation panel 5 is operated by the driver, and the exit setting is input to the ground control panel 2 (step SB1). In the delivery setting, the lift transporter 44 is moved to the corresponding storage shelf 41 based on the information of the storage shelf 41 that stores the vehicle 10 that the driver has entered (step SB2). The pallet 42 (actual pallet) on which the driver's vehicle 10 is placed is taken out from the storage shelf 41 (step SB3). The lift carrier 44 and the pallet 42 on which the vehicle 10 held by the lift carrier 44 is placed are moved to the entry floor 11 at the speed V3 set when the vehicle 10 is received (step SB4). The controller 21 determines whether or not it is a 90 ° turning type (step SB5). If it is the 90 ° turning type, the pallet is turned 90 ° and then lowered to a predetermined reference position (step SB6). ). If the direction of the vehicle 10 differs by 180 ° between entering and leaving instead of the 90 ° turning type, the pallet is turned 180 ° and the pallet is lowered to a predetermined reference position (step SB7).

Subsequently, the entrance door of the entrance floor 11 is opened (step SB8), the driver gets on the vehicle 10 and leaves the vehicle 10 (step SB9), and the entrance door of the entrance floor 11 is closed. (Step SB10). The pallet 42 is raised by the elevating motor 31, the current measurement value in a state where no vehicle is placed on the pallet 42 is measured, and the weight of the pallet 42 is estimated (step SB11). This measured current value is compared with a reference current value when the pallet 42 is not placed on the vehicle. If they are different, the correspondence information is corrected based on the current measurement value measured in a state where the vehicle is not placed (step SB12).
It is determined whether or not the mechanical parking device 1 is a 90 ° turning type (step SB13). If the mechanical parking device 1 is a 90 ° turning type, the vehicle 10 is turned 90 ° (step SB14) and the vehicle 10 is not placed on the pallet 42. Thus, the storage shelf 41 is moved at a predetermined speed (for example, speed V ′) (step SB15). An empty pallet is stored in the storage shelf 41 (step SB16), and this operation flow ends.

  As described above, according to the mechanical parking device 1 and the control method thereof according to the present embodiment, the turning device 3 provided on the entrance floor 11 for entering and exiting the vehicle is the vehicle 10 when the vehicle is received. When the pallet 42 on which the pallet 42 is placed is turned in the direction to be stored in the storage shelf 41, the pallet 42 and the vehicle 10 placed on the pallet 42 are lifted from the predetermined reference position by the lift motor 31. Based on the current flowing through the motor, the weight of the pallet 42 and the vehicle 10 is estimated, and the lifting and lowering of the lift transporter 44 is controlled based on the estimated weight.

  Thus, since the weight of the pallet 42 and the vehicle 10 is estimated using the turning device 3 and the information on the current flowing through the lifting motor included in the turning device 3, the additional equipment for estimating the weight is minimized. The cost can be reduced. Further, since the weight of the pallet 42 and the vehicle 10 that are lifted and lowered by the lift carrier 44 is estimated before the lifting and lowering control is performed by the turning device 3 provided on the entrance floor 11, Compared with the case where the weight is estimated at the time of raising and lowering, there is no loss time for estimating the weight at the time of raising and lowering, and quick control can be performed when the lift transporter 44 is raised and lowered.

  In the present embodiment, the swivel device 3 has been described on the assumption that the swivel device 3 is provided on the entrance floor 11. However, the swivel device 3 may be performed before the lift control of the lift transporter 44 is performed. The installation position is not particularly limited.

[Modification]
In addition, in this embodiment, although the control method in the case of entering the vehicle 10 for the first time in the mechanical parking apparatus 1 and the case of leaving is demonstrated as an example, it is not limited to this. For example, in the residential mechanical parking device 1, when the vehicle stored in the predetermined storage shelf 41 is determined in advance, the previous storage / exit state of the vehicle is stored in the vehicle weight storage unit 23. For the vehicles that have previously entered and exited, the pallet 42 may be taken out based on information such as the speed stored in the vehicle weight storage unit 23.
As a result, when the storage destination shelf of the vehicle is determined, the estimation of the vehicle weight can be omitted, so that the warehousing operation of the vehicle can be performed promptly.

  In the present embodiment, the torque is determined according to the three mass ranges of the vehicle weight Wmin, Wave, and Wmax, and the speed is determined based on the torque. However, the present invention is not limited to this. For example, the magnitude of the torque may be further finely divided according to the weight of the vehicle, and the speed may be determined based on the finely graded torque magnitude.

[Second Embodiment]
Next, a mechanical parking apparatus according to a second embodiment of the present invention will be described with reference to FIGS. The mechanical parking device of the present embodiment is different from the first embodiment in that the control unit 21 controls the speed of the lift transporter 44 instead of controlling the speed of the lift transporter 44 according to the weight of the vehicle. The acceleration is controlled with a constant value. Hereinafter, about the mechanical parking apparatus of this embodiment, description is abbreviate | omitted about the point which is common in 1st Embodiment, and a different point is mainly demonstrated.

In FIG. 11, the horizontal axis indicates time, the vertical axis indicates the number of rotations (cage speed) of the lift lifting motor, and the speed changes with time. FIG. 11 shows a case where the lift transporter is accelerated from time 0 to t1, the speed of the lift transporter is constant from time t1 to t2, and the speed of the lift transporter is decelerated from time t2 to t3. .
Assuming that the load torque is Tm, the acceleration torque is Taf, and the deceleration torque is -Taf, the total torque is the sum of the load torque and the acceleration torque from time 0 to t1, and the total torque is Tm + Taf and does not accelerate from time t1 to t2. Tm is equal to the load torque, and from time t2 to t3, the total torque is the sum of the load torque and the negative acceleration torque (deceleration torque), which is Tm-Taf. As described above, the total torque when changing the acceleration of the lift transporter is the sum of the load torque Tm and the adjusting torque Taf.

Next, the relationship between the load torque Tm and the acceleration torque Taf will be described below.
When the speed is constant at the speed V and the load torque Tm is Tmax, as shown in FIG. 12, the distance from the load torque Tmax to the torque value indicated by the torque curve is the torque that can be used for actual acceleration. Similarly, when the speed is constant and the load torque is Tave, as shown in FIG. 13, the distance from the load torque Tave to the torque value indicated by the torque curve is the torque that can be used for actual acceleration. Acceleration torque larger than acceleration from the load torque Tmax can be used. Furthermore, when the load torque is Tmin, as shown in FIG. 14, the distance from the load torque Tmin to the torque value indicated by the torque curve is the torque that can be used for actual acceleration, and the acceleration from the load torque Tave is accelerated. Greater acceleration torque than available is available.

As described above, if the load torque Tm is large, the acceleration is performed slowly with a small acceleration torque, and if the load torque is small, a large acceleration torque can be used and acceleration can be performed quickly.
From these things, the control part 21 selects the acceleration used as the small acceleration torque Taf, so that the magnitude | size of the load torque Tm is large, and controls a lift conveyance machine by the selected acceleration.
Thus, since the acceleration which raises / lowers a lift conveyance machine according to the weight estimated by the turning apparatus 3 is set, when raising / lowering a lift conveyance machine, driving | operating with the set acceleration rapidly can be performed. The energy can be effectively used as compared with the case where the acceleration is determined in the middle of raising and lowering.

DESCRIPTION OF SYMBOLS 1 Mechanical parking apparatus 2 Ground control panel 3 Turning apparatus 21 Control part 22 Power supply device 23 Weight memory | storage part 24 Zero correction | amendment part 25 Weight estimation part 31 Lifting motor 32 Turning motor 33 Current measurement part 34 Lever 35 Pallet stand 36 Pinion rack

Claims (9)

A lift transporter installed in a structure having a plurality of floors for raising and lowering the vehicle, a storage shelf disposed on the plurality of floors along a hoistway where the lift transporter moves up and down, and the lift transporter A mechanical parking device comprising a pallet on which the vehicle to be loaded and unloaded is gripped,
Turning means for turning the pallet on which the vehicle is mounted;
Control means for controlling the lifting and lowering of the lift conveyor based on the weight of the pallet and the vehicle placed on the pallet;
The swivel means is
Elevating and lowering the pallet on which the vehicle is placed by a predetermined amount from a predetermined reference position before turning the pallet on which the vehicle is placed in the storage shelf when turning on the vehicle. Equipped with a motor,
The control means includes
A weight estimation unit configured to estimate the weight of the pallet and the vehicle mounted on the pallet based on a current flowing through the lifting motor when the lifting motor is raised by a predetermined amount, and performs lifting control; Mechanical parking device characterized by.   The mechanical parking apparatus according to claim 1, wherein the turning means is provided on a boarding floor where the vehicle is loaded and unloaded.   The said control means determines the raising / lowering speed of the said lift conveyance machine based on the weight of the said vehicle, and controls the said lift conveyance machine based on this decided raising / lowering speed. 2. The mechanical parking device according to 2.   The control means determines an acceleration when the lift carrier is moved up and down based on a weight of the vehicle, and controls the lift carrier based on the determined acceleration. The mechanical parking apparatus according to claim 3.   When the weight of the pallet and the vehicle estimated by the weight estimation unit is heavier than a predetermined weight, the control unit has a short distance from the entry floor among the storage shelves. The mechanical parking apparatus according to any one of claims 1 to 4, wherein the vehicle is stored in the storage shelf. Storage means for storing the vehicle position information stored in the storage shelf and the weight information of the vehicle stored in the storage shelf estimated by the weight estimation unit in association with each other;
The control means includes
When unloading the vehicle from the storage shelf, the vehicle position information and the vehicle weight information stored in the storage shelf are read from the storage means, and the lift is based on the read weight information. The mechanical parking apparatus according to any one of claims 1 to 5, wherein the conveyor is moved up and down. The storage means stores identification information of the vehicle and information on the weight of the vehicle,
The control means reads out the vehicle information and the vehicle weight information stored in the storage means based on the identification information of the vehicle, and the lift according to the read out vehicle weight information. The mechanical parking apparatus according to any one of claims 1 to 6, wherein the raising and lowering of the conveyor is controlled. The weight estimation means includes
Corresponding information for associating a current value with a load mass, when the vehicle is not placed on the pallet, measuring a current value flowing through the lifting motor when the lifting motor is raised by a predetermined amount,
If the current value flowing through the lifting motor when the vehicle is not placed on the pallet and the current value indicated as the weight of the pallet in the correspondence information do not match, the vehicle is placed on the pallet. The mechanical parking device according to any one of claims 1 to 7, further comprising a correcting unit that corrects the correspondence information based on the current value flowing through the lifting motor when the motor is not placed. . A lift transporter installed in a structure having a plurality of floors for raising and lowering the vehicle, a storage shelf disposed on the plurality of floors along a hoistway where the lift transporter moves up and down, and the lift transporter And a control method of a mechanical parking device comprising a pallet on which the vehicle to be loaded and unloaded is placed,
The turning means for turning the pallet on which the vehicle is placed turns the pallet on which the vehicle is placed before turning the pallet on which the vehicle is placed in the storage shelf. A first step of raising the placed pallet by a lifting motor from a predetermined reference position by a predetermined amount;
Based on the current flowing in the lifting motor when the lifting means is raised by a predetermined amount by the control means for controlling the lifting and lowering of the lift transporter based on the weight of the pallet and the vehicle mounted on the pallet. And a second step of estimating the weight of the pallet and the vehicle placed on the pallet by weight estimation means and performing a lift control.

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