JP2012100505A - Lifting apparatus and control method therefor, and mechanical multistory parking lot applying the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contribute to energy saving by storing regenerative power of a motor as much as possible without loss.SOLUTION: A lifting apparatus comprises: a motor 17 performing power running operation that raises a vehicle 2 and regenerative operation that generates regenerative power by lowering the vehicle 2; power supply means 23; power storage means 32 of regenerative power; operation means 37 by which a class of the power running operation/regenerative operation is input; power storage amount detection means 33 and 34 detecting power storage amount of the power storage means 32; and control means 36 controlling the motor 17 based on an operation class signal and a power storage amount signal. The control means 36 supplies the motor 17 with power from the power storage means 32 prior to that from the power supply means 23, in the power running operation. In predetermined power running operation action, the control means 36 controls so as to compensate for shortage of storage power amount of the power storage means 32 by supplying the motor 17 with power of the power supply means 23 together with power of the power storage means 32, in the case that the storage power amount of the power storage means 32 is short; and controls so as to perform auxiliary charge to the power storage means 32 by the power supply means 23 before starting the power running operation, in the case that the shortage of the power amount of the power storage means 32 is expected.

Description

  The present invention relates to a lifting device that transports a transported object up and down with the power of a motor. Specifically, the regenerative power generated by a motor when the transported object is lowered is efficiently recovered and used during a power running operation. The present invention relates to a lifting device that contributes to energy, a control method thereof, and a mechanical multistory parking lot to which the lifting device is applied.

  In a lifting device such as a mechanical multistory parking lot, crane device, elevator device, etc., when the object to be transported such as a vehicle or luggage is raised to a predetermined height by the power of the motor, the motor operates while consuming electric power. Power running is being performed. On the other hand, when the transported object is lowered, the motor is reversely driven to act as a generator, and regenerative power is generated. This state is called regenerative operation.

  In the lifting device as described above, a commercial power supply (AC power supply) is rectified by a converter to be a DC power supply, and further converted to a required AC power supply by an inverter to drive a motor. When regenerative power is generated in the motor, the regenerative power returns to the DC bus line connecting the converter and the inverter. However, since this regenerative current cannot be stored in the DC bus line, the regenerative current is returned to the commercial power source by the converter. It was.

  In the elevator apparatus disclosed in the following Patent Document 1 and the mechanical parking facility disclosed in Patent Document 2, the battery bus and other power storage means are installed in the DC bus line, and the regenerative current generated by the motor Is stored in the power storage means, and this stored regenerative current is used during powering operation of the motor, thereby improving the energy saving effect.

Japanese Patent No. 445399 Japanese Patent Laid-Open No. 2003-314074

  For example, in an elevator type three-dimensional parking lot, when a vehicle on the ground is stored in a vehicle storage shelf above the parking tower, the motor performs a power running operation in order to lift the vehicle from the ground. On the other hand, when the vehicle inside the parking tower is released, the motor performs a regenerative operation in order to work to lower the vehicle to the ground. As described above, since the power running operation is performed when the vehicle enters the warehouse and the regenerative operation is performed when the vehicle exits, the power generated in the regeneration operation at the time of delivery and the power stored in the storage means is It can be used at the time of warehousing and is efficient.

  However, in the case of continuous delivery, the amount of regenerative power exceeds the power storage capacity of the power storage means, so it cannot be fully stored, and will inevitably be returned to the commercial power supply side. This is disadvantageous in terms of energy efficiency and economy. On the other hand, when the warehousing continues, the power stored in the power storage means is used up, and the power is supplied only from the commercial power source. In this case, it is necessary to make a power reception contract with an electric power company according to the required maximum power. However, if the power reception contract power amount is large, the basic charge becomes high and the running cost increases. As a solution to these problems, increasing the power storage means and increasing the power storage capacity is not a good solution in terms of installation space and cost of the power storage means.

  The present invention has been made in order to solve the above-described problem, and regenerative electric power generated by a motor is stored as much as possible without waste without increasing the size of power storage means, thereby saving energy. A lifting device that can contribute to the economy of running costs, etc., and appeal to users of the effects of using regenerative power, shortening the startup time, its control method, and a mechanical solid that uses this The purpose is to provide a parking lot.

In order to achieve the above object, the present invention provides the following means.
That is, the lifting device according to the present invention includes a motor that performs a power running operation that raises the object to be conveyed up and down, a regenerative operation that generates regenerative power while lowering the object to be conveyed, and an electric power to the motor. Power storage means for storing the regenerative power, operation means for inputting a type of the power running operation and the regenerative operation by a user, and a storage amount detection means for detecting a storage amount in the storage means Control means for controlling the motor on the basis of an operation type signal input from the operation means and an electricity storage amount signal input from the electricity storage amount detection means, and the control means during the power running operation The power stored in the power storage unit is given priority over the power stored in the power storage unit and supplied to the motor to perform a predetermined power running operation. When the power storage means is insufficient, the power of the power supply means is supplied to the motor together to control the power storage means so as to compensate for the shortage of power storage, and prior to the start of the power running operation, When the power of the power supply means is insufficient and the power consumption of the power supply means is expected to exceed a preset allowable power amount to supplement it with the power of the power supply means during the power running operation. In order to prevent the power consumption of the power supply means from exceeding the allowable power amount during the power running operation, the power storage means is pre-charged with the power of the power supply means before the power running operation is started. In the regenerative operation, the regenerative power is charged to the power storage means until the power storage means is fully charged, and the power storage means is fully charged. became And controls to rewire the regenerative power to the power unit side.

According to the above configuration, during the power running operation of the motor, the control means controls the power of the power storage means to be given priority over the power of the power supply means, so that the power of the power storage means, that is, the motor is generated. The generated regenerative power can be used without waste, thereby contributing to energy saving.
In addition, when the storage means of the power storage means is insufficient when performing the predetermined power running operation, the control means supplies the power of the power supply means to the motor together, so that the storage amount of the power storage means is insufficient. For example, when the power supply means is a commercial power supply, it is possible to reduce the power receiving contract power amount to a level where the power running operation cannot be performed alone with the commercial power supply alone. Cost) can be reduced.
Furthermore, prior to the start of the power running operation, the control means has insufficient power of the power storage means, and in order to compensate for this during the power running operation, the power consumption of the power supply means is set to a preset allowable power amount. In the case where it is expected that the power consumption will exceed, the power storage means uses the power of the power supply means before the start of the power running operation so that the power consumption of the power supply means does not exceed the allowable power amount during the power running operation. In this case, the electric power supplied from the power supply means to the power storage means may be electric power that allows one powering operation.
For this reason, the electric power supplied from a power supply means for the auxiliary charge of an electrical storage means can be decreased. Therefore, the maximum required power can be reduced, and when the power source means is a commercial power source, the preset allowable power amount, that is, the power receiving contract power amount with the power company is reduced to reduce the basic charge, The running cost can be reduced and the economy can be improved. In addition, since it is not necessary to increase the size of the power storage means, a compact and cost-effective configuration can be achieved.

  Furthermore, the control means charges the regenerative power to the power storage means during the regenerative operation of the motor until the power storage means reaches the full power storage state, and when the power storage means reaches the full power storage state, the regenerative power is transferred to the power supply means side. Control to return power. As described above, during the power running operation of the motor, the power of the power storage means has priority over the power of the power supply means and is supplied to the motor, and the power supplied from the power supply means during the auxiliary charge of the power storage means is the minimum necessary. Therefore, there is a high probability that there is room for power storage in the power storage means, and therefore even when the regenerative operation continues, most of the regenerative power can be stored in the power storage means. Therefore, the amount of regenerative power returned to the power supply means can be suppressed, and the regenerative power can be effectively used without waste as much as possible for powering operation, thereby contributing to energy saving.

  Further, the lifting device according to the present invention is configured such that the amount of charge at the time of the auxiliary charge is the minimum that the amount of power stored in the power storage means can be used for one powering operation of the motor by using the power of the power supply means together. It is characterized by the fact that the required amount of power storage is reached. In such a case, the electric power that needs to be supplied from the power supply means for supplementary charging of the power storage means is the minimum amount that can be used for one powering operation of the motor. It is possible to increase the economic efficiency by reducing the amount of power received from the contract. In addition, since the time required for supplementary charging is reduced, the time required for starting the power running operation is also reduced, and the lifting device is easy to use.

  Furthermore, when the regenerative power is charged / discharged to / from the power storage means, the lifting device according to the present invention provides at least one of the economic and environmental conservation effects of charging / discharging the regenerative power numerically to the operating means. It further has an effect display means for displaying. By providing such effect display means, it is possible to appeal the use effect of regenerative power to the user.

  The lifting device according to the present invention further includes weight measuring means for measuring the weight of the object to be conveyed, and the control means supplies the power storage means based on the weight measurement result by the weight measuring means. The auxiliary charge amount is determined. By providing such weight measuring means, the amount of work is determined from the weight of the object to be conveyed and the height to be raised when supplementary charging of the power storage means prior to the start of the power running operation as described above. As a result, the amount of supplementary charging to the battery can be accurately obtained, the charging amount can be minimized, the economy can be improved, and the charging time can be shortened.

  In addition, the mechanical multistory parking lot according to the present invention is a vehicle in which any of the above-described lifting devices is applied, and the vehicle as the object to be conveyed is moved up and down by the power of the motor and stacked in a plurality of stages in the vertical direction. It is characterized in that it is stored in and out of a storage shelf. Thereby, it can be set as the mechanical multistory parking lot which can recycle | reuse the regenerative electric power which the motor generated without waste, and can contribute to energy saving.

  Furthermore, in the mechanical multistory parking lot according to the present invention, when the vehicle is a contract vehicle and the type of the vehicle and the position of the vehicle storage shelf are determined, these vehicles are entered from the vehicle weight of each vehicle. The minimum required amount of electricity stored in the electricity storage means required for delivery is individually calculated and stored in the control means in advance, and the control means is configured to store the minimum electricity storage amount when the electricity storage means is not charged. The power running operation is executed after the power storage means is pre-supplemented with power from the power supply means until the minimum required power storage amount is reached.

  With this configuration, the user of the vehicle issues an entry / exit instruction using the operation means of the mechanical multistory parking lot, and at the same time, the control means grasps the minimum necessary storage amount necessary for entry / exit of the vehicle. The presence or absence of the minimum required power storage amount in the power storage means is determined, and supplementary charging is performed only when the minimum required power storage amount is not reached, so the motor can be quickly put into powering operation to shorten the start-up time of the mechanical multistory parking lot In addition, the amount of electric power required for auxiliary charging can be reduced to a minimum, contributing to energy saving, and improving economic efficiency.

  The mechanical multistory parking lot according to the present invention further includes a charging facility for charging the electric vehicle when the vehicle is an electric vehicle that requires charging, and the control means includes the charging unit. When there is an energization instruction to the facility, the power storage means always secures an amount of power that can be executed at least once by the combined use with the power of the power supply means, while the power of the power storage means Control is performed so as to supply power to the charging facility.

  In such a configuration, the regenerative power generated in association with the regenerative operation of the motor is supplied to charging equipment for charging the electric vehicle in addition to the power storage means, so that the power storage means is fully charged. It becomes difficult to become. Thereby, without returning regenerative electric power to the power supply means side, it can be effectively used without waste for powering operation of the motor or charging of the electric vehicle, and can greatly contribute to energy saving.

  In the lifting apparatus control method according to the present invention, in the lifting apparatus, in the control by the control means, a power running operation for determining whether the operation is a power running operation based on an operation type signal from the operation means. When the determination step and the powering operation determination step are affirmative determination (powering operation), based on the storage amount signal from the storage amount detection unit, the storage amount of the storage unit is at least combined with the power of the power unit. When the power storage amount determination step for determining whether or not it is sufficient to execute one powering operation by the power storage step, and when the power storage amount determination step is negative determination, the power storage means is at least combined with the power of the power supply means A supplementary charging step of supplementarily charging the power storage means with the power of the power supply means until a power storage amount capable of performing one powering operation is secured, and the power storage amount determination step is affirmative. When the power running operation step performs power running operation and the power running operation determination step is negative (regenerative operation), the power storage means stores the regenerative power based on the power storage amount signal from the power storage amount detection means. A storage space determination step for determining whether or not there is a possible storage space; and a charging regenerative operation step for performing a regenerative operation while charging the regenerative power to the power storage means when the storage space determination step is affirmative determination; And a regenerative regenerative operation step of performing a regenerative operation while returning the regenerative power to the power supply means side when the power storage room determination step is a negative determination.

  In the case of such a control method, when it is determined in the storage amount determination step that the amount of charge of the storage unit is insufficient to execute at least one powering operation in combination with the power of the power source unit In the next auxiliary charging step, the power storage means is supplementarily charged with the power of the power supply means until at least the amount of power storage capable of performing one powering operation is ensured by the combined use with the power of the power supply means. The power supplied from the power supply means may be power that can be operated several times at most, preferably power that can be used for one power supply operation. Electric power can be greatly reduced. Therefore, the maximum required power can be reduced, and when the power supply means is a commercial power supply, the power consumption contract power amount with the power company is reduced, the basic charge is reduced, the running cost is reduced, and the economy is improved. Can be increased.

  In addition, during the regenerative operation of the motor, the regenerative power is charged to the power storage means until the power storage means reaches the full power storage state, and the regenerative power is returned to the power supply means side after the power storage means reaches the full power storage state. Therefore, most of the regenerative power can be stored in the power storage means. Accordingly, the amount of regenerative power returned to the power supply means can be reduced, and the regenerative power can be effectively used without waste for powering operation, thereby contributing to energy saving.

  As described above, according to the lifting device and the control method thereof according to the present invention, and the mechanical multistory parking lot to which the lifting device is applied, the regenerative power generated by the motor is minimized as much as possible without enlarging the power storage means. It can be stored and reused, contributing to energy savings, increasing running costs and other economics, and appealing to users the effect of using regenerative power, thereby shortening startup time.

It is a schematic block diagram which shows the mechanical multistory parking lot as 1st Embodiment of the lifting apparatus which concerns on this invention. FIG. 2 is a diagram schematically illustrating a storage amount in the secondary battery illustrated in FIG. 1, where (a) illustrates a state where the storage amount has not reached the minimum required storage amount, and (b) illustrates a minimum storage amount. (C) shows a state where the amount of stored electricity exceeds the maximum amount of stored electricity and returns to the commercial power source, and (d) shows that the amount of stored electricity exceeds the minimum required amount of stored energy and below the maximum stored amount of electricity. It is a figure which shows the state which exists in. It is a figure which shows the flow of control in the mechanical multistory parking lot which is 1st Embodiment of this invention with a flowchart. It is a schematic block diagram which shows the mechanical multistory parking lot as 2nd Embodiment of the lifting apparatus which concerns on this invention. FIG. 5 is a diagram schematically showing the amount of electricity stored in the secondary battery shown in FIG. 4, where (a) shows a state where the amount of electricity stored does not reach the minimum required amount of electricity, and (b) shows the amount of electricity stored where the amount of electricity stored is the minimum required amount. (C) shows a state where the amount of stored electricity exceeds the minimum required amount of storage and is below the maximum amount of stored electricity, and (d) shows the state where the amount of stored electricity exceeds the maximum amount of stored electricity and returns power to the commercial power supply side. It is a figure which shows the state performed.

  Hereinafter, two embodiments of the present invention will be described with reference to the drawings. Note that the present invention can be widely applied as long as it is a device that conveys the object to be conveyed up and down by the power of the motor, and is not limited to the elevator type three-dimensional parking lot described below.

[First Embodiment]
FIG. 1 is a schematic configuration diagram showing a mechanical multi-story parking lot as a first embodiment of a lifting apparatus according to the present invention. This mechanical multistory parking lot 1 is an elevator-type multistory parking lot facility that can accommodate a plurality of vehicles 2, and includes a parking tower 4 in which a vehicle entrance / exit 3 is opened on the ground floor. A turntable 5 for changing the direction of the vehicle 2 is installed on the floor of the parking floor 4 on the ground floor. The turntable 5 has a configuration in which a turning plate 7, a turning motor 8, and a vehicle weight measuring device 9 (weight measuring means) are provided in a concave pit 6 formed on the floor surface of the ground floor.

  A vertical elevating passage 11 is formed at the center of the parking tower 4, and a plurality of stages of vehicle storage shelves 12 are provided in the vertical direction on both sides thereof. The vehicle storage shelves 12 are provided in a multi-layered shape so as to sandwich the up-and-down passage 11, and each vehicle storage shelf 12 accommodates one pallet 13 for loading vehicles.

  Further, an elevator-like vehicle transport mechanism 15 is provided inside the parking tower 4. The vehicle transport mechanism 15 includes a pulley 16 installed at the upper portion of the parking tower 4, and when this pulley 16 is driven, a wire rope 18 wound around the pulley 16, and an elevator passage connected to one end of the wire rope 18. 11 includes a lift 19 that moves up and down in the interior and a counterweight 20 connected to the other end of the wire rope 18. When the motor 17 is operated, the pulley 16 sends the wire rope 18 and the lift 19 moves up and down in the lift passage 11.

  When the heights of the floor surfaces of the vehicle storage rack 12 and the lift 19 coincide with each other, the empty pallet 13 or the pallet 13 loaded with the vehicle 2 is moved from the lift 19. A delivery mechanism (not shown) that can smoothly deliver to the vehicle storage shelf 12 or from the vehicle storage shelf 12 to the lift 19 is provided. Since the total weight of the vehicle 2, the pallet 13 and the lift 19 is offset by the weight of the counterweight 20, the load on the motor 17 when the vehicle 2 is conveyed upward is greatly reduced.

  When the vehicle 2 is received, the lift 19 rises to the height of the empty vehicle storage shelf 12 to take out the empty pallet 13 and descends together with the pallet 13 on the floor surface of the ground floor, for example, the turntable 5. Put it on. The vehicle 2 enters from the entrance / exit 3 and rides on the pallet 13 placed on the turntable 5 and is turned along the direction of the vehicle storage shelf 12 by turning the turntable 5 and then lifted. 19 rises to the height of the vehicle storage shelf 12 in an empty state together with the vehicle 2 and the pallet 13, and stores the vehicle 2 together with the pallet 13 in the vehicle storage shelf 12.

  When the vehicle 2 is delivered, the lift 19 is raised to the height of the vehicle storage shelf 12 in which the vehicle 2 to be delivered is stored, and the vehicle 2 is lowered together with the pallet 13 from the vehicle storage shelf 12. Place on top. After that, the turntable 5 turns and the traveling direction of the vehicle 2 is directed to the entrance / exit 3, and the vehicle 2 exits from the entrance / exit 3. Thereafter, if there is no other warehousing instruction, the lift 19 returns the empty pallet 13 to the empty vehicle storage shelf 12.

Next, a control system of the mechanical multistory parking lot 1 will be described.
The power source of the mechanical multistory parking lot 1 is, for example, a commercial power source 23 of AC 200V. From the commercial power source 23, it is possible to use up to a preset allowable power amount. The allowable power amount is a power receiving contract power amount with an electric power company, and the basic charge of the power receiving contract increases as the amount increases. For this reason, the running cost of the mechanical multilevel parking garage 1 can be reduced by minimizing the amount of power received contract power.

  AC power from the commercial power source 23 is once converted into DC power by the regenerative converter 24 and supplied to the DC bus line 25. For example, three inverters 26, 27, and 28 are connected to the DC bus line 25. The inverter 26 reconverts the DC power flowing through the DC bus line 25 into predetermined AC power and supplies it to the motor 17 of the vehicle transport mechanism 15. The inverter 27 supplies AC power to a motor 29 that drives a delivery mechanism (not shown) provided in the vehicle storage rack 12 and the lift 19. Further, the inverter 28 supplies AC power to the turning motor 8 of the turntable 5.

  A secondary battery 32 is connected to the DC bus line 25 via a DC / DC converter 31. Here, the secondary battery has a power storage function including a power storage element such as an electric double layer capacitor (EDLC) in addition to a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a lead battery. . As will be described later, the secondary battery 32 serves as a storage means for storing regenerative power generated by the motor 17 that moves the lift 19 up and down, and an ammeter 33 and a voltmeter 34 are connected to the secondary battery 32. The ammeter 33 and the voltmeter 34 serve as a storage amount detection unit that detects a storage amount in the secondary battery 32.

  A control device 36 as control means is connected to the DC / DC converter 31, and an operation panel 37 (operation means) is connected to the control device 36. The operation panel 37 is provided with an input device 38 for the user to input the type of entry and exit, and a display device 39 for displaying various information to the user. The storage amount signal detected by the ammeter 33 and the voltmeter 34 is input to the control device 36, but may be input to the control device 36 via the DC / DC converter 31. A vehicle weight signal detected by a vehicle weight measuring device 9 provided on the turntable 5 is input to the control device 36. In addition, various kinds of information such as position information of the lift 19 and operating states of the motors 8, 17, and 29 are input to the control device 36.

  When the vehicle 2 is loaded and unloaded, that is, when the pallet 13 on which the vehicle 2 is loaded by the lift 19 moves up and down, if the total weight of the vehicle 2, the pallet 13 and the lift 19 and the weight of the counterweight 20 match, The power required for raising and lowering is minimized. However, since the weight of the vehicle 2 varies depending on the vehicle type, in general, the weight of the counterweight 20 is set so that the weight relationship of (vehicle 2 + pallet 13 + lift 19) ≧ counter weight 20 ≧ (pallet 13 + lift 19) is established. Is set.

  At the time of warehousing, it is necessary to lower the empty pallet 13 from the upper vehicle storage shelf 12 to the floor of the ground floor as described above. In this case, the counterweight 20 is lifted. Since the weight relationship at that time is counterweight 20 ≧ (lift 19 + pallet 13), the counterweight 20 becomes a conveyed object, and power for driving the motor 17 is required, so the motor 17 is in a power running operation. . Thereafter, the weight relationship when the vehicle 2 placed on the pallet 13 is raised to the vehicle storage shelf 12 and stored is (vehicle 2 + lift 19 + pallet 13) ≧ counter weight 20, and the motor 17 is also used to lift the heavy side. Power for driving the motor 17 is required, and the motor 17 is in a power running operation. At this time, the vehicle 2 + lift 19 + pallet 13 becomes the conveyed object.

  On the other hand, at the time of delivery, the pallet 13 loaded with the vehicle 2 is lowered to the ground floor, and the weight relationship at that time is (vehicle 2 + pallet 13 + lift 19) ≧ counter weight 20, and the motor 17 is lowered to lower the heavy side. Is reversely driven and regenerative operation is performed, and regenerative power is generated by the motor 17. Further, in the ascending operation for returning the empty pallet 13 to the vehicle storage shelf 12, the weight relationship is counterweight 20 ≧ (pallet 13 + lift 19), and the lighter side is raised so that the regenerative operation is performed. Will occur.

  Thus, in the elevator type mechanical multilevel parking garage 1 in which the vehicle 2 is stored inside the parking tower 4, the motor 17 for raising and lowering the lift 19 performs a power running operation when the vehicle 2 enters the vehicle and performs a regenerative operation when the vehicle 2 leaves the vehicle. Do. In this embodiment, the vehicle transport mechanism 15 is arranged in the upper part of the parking tower 4 and the entrance / exit 3 is arranged in the lower part. However, the present invention is not limited to this structure, and is underground. The same applies to an underground mechanical multilevel parking lot that stores vehicles in the formed vehicle hangar. In this case, the relationship between the power running operation and the regenerative operation associated with loading / unloading is reversed, and the regenerative operation is performed at the time of warehousing and the power running operation is performed at the time of warehousing.

  The regenerative power generated by the motor 17 as described above is converted into direct current by the inverter 26 and returned to the DC bus line 25, and further stored in the secondary battery 32 via the DC / DC converter 31. Then, the regenerative power stored in the secondary battery 32 is supplied to the motor 17 via the DC / DC converter 31 when the motor 17 next performs a power running operation. Further, the regenerative power generated when the secondary battery 32 is in the fully charged state is not stored, but is returned to the commercial power supply 23 side by the regenerative converter 24.

  In this mechanical multistory parking lot 1, the user goes to the operation panel 37 provided near the entrance / exit 3 and operates the input device 38 to input the type of entry (power running operation) or exit (regeneration operation). . The control device 36 controls the motor 17 based on the operation type signal input from the operation panel 37 and the charged amount signal input from the ammeter 33 and the voltmeter 34.

That is, the control device 36 supplies the power of the secondary battery 32 to the motor 17 with priority over the power of the commercial power source 23 during the power running operation (entrance) of the motor 17 and performs a predetermined warehousing operation. When the amount of power stored in the secondary battery 32 is insufficient, the power of the commercial power supply 23 is supplied to the motor 17 together with the power to control the shortage of the power stored in the secondary battery 32.
Further, prior to the start of the power running operation, the control device 36 has insufficient power of the secondary battery 32, and the amount of power used by the commercial power source 23 is sufficient to supplement it with the power of the commercial power source 23 during the power running operation. When it is expected that the preset allowable power amount (power receiving contract power amount) will be exceeded, power running is performed so that the power consumption of the secondary battery 32 does not exceed the power receiving contract power amount during power running. Before starting the operation, the secondary battery 32 is quickly supplementarily charged with the electric power of the commercial power source 23 and then the motor 17 is controlled to perform the power running operation with the electric power of the secondary battery 32.
On the other hand, the control device 36 charges the secondary battery 32 with the regenerative power generated by the motor 17 until the secondary battery 32 reaches a fully charged state during the regenerative operation of the motor 17 (when leaving the vehicle). After the secondary battery 32 is fully charged, control is performed to return the regenerative power to the commercial power source 23 side.

  The amount of charge in the case of performing the above-mentioned supplementary charge is the minimum required amount of electricity that can be stored in the secondary battery 32 so that the motor 17 can perform one powering operation (entrance operation) in combination with the power of the commercial power supply 23. Until it reaches. That is, when the operation of lowering the empty pallet 13 from the vehicle storage shelf 12 to the ground floor or the operation of lifting the pallet 13 loaded with the vehicle 2 to the vehicle storage shelf 12 once is executed, This is the amount of electricity necessary to operate the battery 32 together.

  In this way, by operating the mechanical multistory parking lot 1 using the power of the commercial power supply 23 and the secondary battery 32 in combination, the amount of power received from the power company can be reduced to a level that cannot be driven solely by the commercial power supply 23 alone. It is also possible to suppress the running cost (fixed cost). In such a case, in order to operate in a range where there is no penalty charge from the electric power company due to excessive use of the commercial power source 23, a contract with the power company is made while compensating for the power shortage of the commercial power source 23 with the power of the secondary battery 32. It is necessary to use the commercial power source 23 within the range.

  When the secondary battery 32 is supplementarily charged from the commercial power supply 23, it is desirable that the secondary battery 32 be charged in a short time with a large amount of power within the range allowed by the charging capacity of the secondary battery 32. Since the contract with the electric power company is restricted in the same manner as described above, even if it takes some time, it may be performed within the scope of the contract. Here, the set value of the power receiving contract power amount is determined by the usage situation of each facility such as the time zone distribution and concentration of entry / exit, but in the present invention, the value of the power receiving contract power amount is Although it is related to the time of supplementary charging, it is not so important.

  When the empty pallet 13 is lowered to the ground floor, the remaining weight obtained by subtracting the weight of the pallet 13 and the lift 19 from the weight of the counterweight 20 becomes the weight of the object to be conveyed. When the pallet 13 loaded with the vehicle 2 is lifted up to the height of the vehicle storage shelf 12, the remaining weight obtained by subtracting the weight of the counterweight 20 from the weight of the vehicle 2, the pallet 13 and the lift 19 is the weight as the conveyed object. It becomes. The weight of the vehicle 2 is detected by the vehicle weight measuring device 9 provided on the turntable 5 at the time of warehousing and is input to the control device 36, and the control device 36 determines the amount of supplementary charge to the secondary battery 32 based on this. To do. As described above, since the weight of the transported object can be calculated clearly, the control device 36 can quickly determine the amount of supplementary charging to the secondary battery 32. Note that the vehicle weight measuring device 9 may be omitted, and the weight of the vehicle 2 may be substituted in advance as a fixed weight value. This fixed weight value is the weight of the maximum weight vehicle type that can be stored in the mechanical multilevel parking garage 1.

  2A to 2D are diagrams schematically showing the amount of power stored in the secondary battery 32. FIG. In these figures, when the maximum storage amount of the secondary battery 32 is 100% and the minimum required storage amount described above, that is, when the power of the secondary battery 32 and the allowable maximum power of the commercial power source 23 are used in combination, the motor 17 When the amount of electricity that can be executed for one powering operation (entry operation) is 20%, when the amount of electricity is only 10% as shown in FIG. 2A, the power of the secondary battery 32 and the commercial power supply Even if the allowable maximum power of 23 is used in combination, the next powering operation cannot be performed. Therefore, as shown in FIG. 2B, the control device 36 quickly performs supplementary charging until the charged amount reaches the minimum required charged amount 20%.

  The above auxiliary charging is performed immediately after the user gives an entry instruction (reservation for power running operation) on the operation panel 37. The reason for this is that if the controller 36 pre-charges the secondary battery 32 to the minimum required power storage amount of 20% or more, the storage space of the secondary battery 32 decreases, and a plurality of users When the car is discharged (regenerative operation) immediately after that, the amount of power stored in the secondary battery 32 becomes 100%, that is, fully charged as shown in FIG. This is because power cannot be stored in the secondary battery 32. In this case, the generated regenerative power can only be returned to the commercial power source 23 and cannot be used effectively.

  As shown in FIG. 2D, for example, when the storage amount of the secondary battery 32 is 60%, the unloading operation for three times can be performed by using the power of the commercial power source 23 together. As described above, the control device 36 performs control to power-operate the motor 17 by always performing the minimum necessary supplementary charging so that the secondary battery 32 is not fully charged. Note that the minimum required storage amount of the secondary battery 32 may be set to a value with a little margin in advance, but based on the weight measurement result input from the vehicle weight measuring device 9, an optimum value (necessary) The minimum value may be set.

By the way, the display device 39 of the operation panel 37, when the regenerative power is charged to and discharged from the secondary battery 32, displays an effect display means that numerically displays at least one of the economic and environmental conservation effects due to the charge and discharge of the regenerative power. Also works. For example, the regenerative power charged is converted into an electricity bill, CO ₂ reduction amount, etc., and displayed as a numerical value. In addition, a charging / discharging lamp may be installed and displayed by lighting the lamp, or a meter may be installed to indicate the magnitude of the regenerative current or the like by a swing of the pointer. It is also possible to display in combination with the integrated value from the past. This makes it possible for the user to visually understand the usage status of the regenerative current at the time of loading and unloading, and in the meter type, it is possible to see a difference such as a large shake in a heavy vehicle and a small shake in a light vehicle. It becomes like this. The lamp or meter may be a graphic display on the display.

FIG. 3 is a flowchart showing a flow of control in the mechanical multilevel parking garage 1.
The flow of this control will be described in order. When the user inputs the type of entry or exit to the operation panel 37 and the control is started, it is first determined in step S1 whether or not it is a power running operation (entrance) based on the operation type signal. (Power running determination step).

  If step S1 is affirmative (entrance = powering operation), the process proceeds to step S2, and the secondary battery 32 is combined with the electric power of the commercial power supply 23 based on the storage amount signal from the ammeter 33 and the voltmeter 34. It is determined whether or not there is a minimum required power storage amount that can execute the power running operation for the number of times (power storage amount determination step).

  When step S2 is negative determination, it transfers to step S3 and the secondary battery 32 is supplementarily charged (auxiliary charging step). This supplementary charging is continued until the minimum required power storage amount is stored in the secondary battery 32, that is, until step S2 is affirmative. And as soon as step S2 becomes affirmation determination, it will transfer to step S4, and a power running operation, ie, warehousing operation, will be performed (power running operation step). And control is complete | finished with completion of power running operation (entrance operation | movement).

  On the other hand, if step S1 is negative (shipping = regenerative operation), the process proceeds to step S5, and the secondary battery 32 performs a single shipping operation (regenerative operation) based on the storage amount signals from the ammeter 33 and the voltmeter 34. It is determined whether or not there is a room for charging that can store the regenerative electric power generated by performing ().

  If the determination in step S5 is affirmative, that is, if there is room for charging in the secondary battery 32, the process proceeds to step S6, and a regenerative operation, that is, a shipping operation is performed. At the same time, the regenerative current generated along with the regenerative operation of the motor 17 is charged in the secondary battery 32 (charging regenerative operation step).

  If the determination in step S5 is negative, the process proceeds to step S7 and the regenerative operation is performed. However, the regenerative current generated at that time is not charged in the secondary battery 32, and the DC bus line 25 and the regenerative converter 24 are used. Then, power is returned to the commercial power source 23 side (returning regeneration operation step).

  In either case of step S6 and step S7, the control is completed upon completion of the regenerative operation (shipping operation).

  According to the mechanical multilevel parking garage 1 configured as described above, the power of the secondary battery 32 is given priority to the power of the commercial power supply 23 and supplied to the motor 17 by the control device 36 during the power running operation of the motor 17. Therefore, the electric power of the secondary battery 32, that is, the regenerative electric power generated by the motor 17 is used without waste, and this can greatly contribute to energy saving.

  In addition, when performing a predetermined power running operation, the control device 36 supplies the electric power of the commercial power supply 23 to the motor 17 together with the secondary battery 32 when the storage amount of the secondary battery 32 is insufficient. In order to compensate for the shortage of the amount of power stored in the secondary battery 32, it is also possible to reduce the power receiving contract power amount with the electric power company supplying the commercial power source 23 to a level where the commercial power source 23 alone cannot perform power running alone. As a result, running costs (fixed costs) can be greatly reduced.

  Further, prior to the start of a predetermined power running operation, the control device 36 has a shortage of power stored in the secondary battery 32, and the amount of power used by the commercial power source 23 is a power receiving contract to compensate for this during power running. If it is expected that the amount of power will be exceeded, the power of the commercial power source 23 is not changed before the power running operation is started so that the power consumption of the commercial power source 23 does not exceed the power receiving contract power amount during the power running operation. Then, the secondary battery 32 is supplementarily charged in advance and then the motor 17 is controlled to perform a power running operation. At this time, the power supplied from the commercial power source 23 to the secondary battery 32 is at most several times, preferably 1 It is sufficient that the power running operation can be performed as many times as possible. For this reason, the electric power supplied from the commercial power source 23 for the auxiliary charge of the secondary battery 32 can be reduced. Therefore, the maximum required power can be reduced, the running cost of the mechanical multistory parking lot 1 can be reduced, and the economy can be improved. In addition, since it is not necessary to increase the storage capacity of the secondary battery 32, the secondary battery 32 can be made compact and can be configured without cost.

  Further, during the regenerative operation of the motor 17, the control device 36 charges the secondary battery 32 with regenerative power until the secondary battery 32 is in a fully charged state, and the secondary battery 32 is in a fully charged state. Then, control is performed to return the regenerative power to the commercial power supply 23 side. During powering operation of the motor 17, the power of the secondary battery 32 is given priority over the power of the commercial power supply 23 and is supplied to the motor 17. When the secondary battery 32 is supplementarily charged, the electric power supplied from the commercial power supply 23 is the minimum necessary, and therefore, there is a high probability that the secondary battery 32 has a storage space left, and therefore, the regenerative operation continues. However, most of the regenerative power can be stored in the secondary battery 32. Therefore, the amount of regenerative power that is returned to the commercial power source 23 can be suppressed, and the regenerative power can be effectively used as much as possible for powering operation to contribute to energy saving.

  The amount of charge required when auxiliary charging of the secondary battery 32 is performed, and the amount of electricity stored in the secondary battery 32 that can be used in combination with the electric power of the commercial power supply 23 to execute one powering operation of the motor 17. Therefore, the power required to be supplied from the commercial power source 23 for the supplementary charging of the secondary battery 32 becomes the minimum required amount, so the maximum required power is reduced and the power receiving contract power with the power company The amount can be minimized to increase economic efficiency. In addition, since the amount of charge is small as described above, the time required for supplementary charging is shortened, the time required for starting the power running operation is also shortened, and the activation time of the mechanical multistory parking lot 1 is shortened to make it easy to use. be able to.

  Further, when the regenerative power is charged / discharged to / from the secondary battery 32, at least one of economic and environmental conservation effects due to the charge / discharge of the regenerative power is displayed numerically on the operation panel 37 (display device 39). It is possible to appeal the use effect of regenerative power to the user.

  On the other hand, a vehicle weight measuring device 9 that measures the weight of the vehicle 2 that is a transported object is provided, and the control device 36 determines the amount of supplementary charge to the secondary battery 32 based on the weight measurement result by the vehicle weight measuring device 9. Therefore, when the secondary battery 32 is supplementarily charged prior to the start of powering operation as described above, the amount of work is determined from the weight of the vehicle 2 and the height to be raised, so the amount of supplementary charge to the secondary battery 32 is also increased. It is possible to accurately output the battery, minimizing the amount of charge and improving the economic efficiency, and shortening the charging time and shortening the activation time of the mechanical multistory parking lot 1.

  By the way, for example, when the mechanical multistory parking lot 1 is attached to a condominium or the like, and only the contracted vehicle is parked and the vehicle type is determined, the catalog of each vehicle can be provided without providing the vehicle weight measuring device 9. From the vehicle weight, it is possible to individually calculate the minimum required power storage amount of the secondary battery 32 required for loading and unloading these vehicles, and the value can be stored in the control device 36 in advance. In this way, since the weight measuring device 9 can be omitted, the cost is reduced in terms of equipment and maintenance, and at the same time the vehicle owner issues an entry / exit instruction on the operation panel 37, the control device 36 enters / exits the vehicle. Since the minimum required power storage amount necessary for charging is grasped and the presence or absence of the minimum required power storage amount in the secondary battery 32 is determined, supplementary charging is performed only when the minimum required power storage amount is not reached. The start time of the mechanical multistory parking garage 1 can be shortened by driving, and the amount of electric power necessary for supplementary charging can be reduced to the minimum, contributing to energy saving and improving the economic efficiency.

[Second Embodiment]
FIG. 4 is a schematic configuration diagram showing a mechanical multi-story parking lot as a second embodiment of the lifting device according to the present invention. The mechanical multistory parking garage 41 differs from the mechanical multistory parking garage 1 of the first embodiment shown in FIG. 1 in that inverters 26, 27, and 28 that drive motors 8, 17, and 29 are driven to the DC bus line 25. In addition, a charging facility 42 is connected, and this charging facility 42 is only capable of charging the electric vehicle 2A parked in the parking tower 4 while being controlled by the control device 36. Since the configurations of are the same, the same reference numerals are given to the respective portions and the description thereof will be omitted.

  Each vehicle storage shelf 12 in the parking tower 4 has a function of supplying power to the pallet 13 (not shown), and is electrically connected by being stored in the vehicle storage shelf 12. Further, the pallet 13 is provided with a charging outlet, and the electric vehicle 2A requiring charging is connected by a charging cable 43 between a charging connecting portion provided on the vehicle body and the charging outlet. So it will be charged after storage.

  In this mechanical multilevel parking garage 41, when there is an instruction to energize the charging facility 42, the control device 36 causes the secondary battery 32 to perform a power running operation for one time using at least the electric power of the commercial power supply 23. Control is performed so that power is supplied to the charging equipment 42 by the power of the secondary battery 32 while always ensuring the amount of power that can be executed.

  FIGS. 5A to 5D are diagrams schematically showing the amount of power stored in the secondary battery 32. When the maximum storage amount of the secondary battery 32 is 100% and the power of the secondary battery 32 and the allowable maximum power of the commercial power supply 23 are used in combination, the motor 17 can store power enough to execute one powering operation (entrance operation). When the amount is the minimum required storage amount 20% and the storage amount is only 10% as shown in FIG. 5A, the 10% storage power and the allowable maximum power of the commercial power source 23 are used in combination. However, the next powering operation cannot be performed. For this reason, the control device 36 performs supplementary charging until the charged amount reaches the minimum required charged amount 20% as shown in FIG. The control so far is the same as in the first embodiment.

  When the electric vehicle 2A enters the parking tower 4, the charging cable is connected, and the charging is set, the charging facility 42 is energized after the vehicle is stored. As shown in FIG. 5C, the control device 36 performs control to supply a part of the secondary battery 32 to the charging facility 42 when the charged amount of the secondary battery 32 exceeds the minimum required charged amount 20%. The electric power of the secondary battery 32 is supplied to the charging facility 42 via the DC / DC converter 31.

  When the electric power of the secondary battery 32 is supplied to the charging facility 42 and the electric vehicle 2A is being charged, the other vehicle 2 is unloaded and the motor 17 performs a regenerative operation. The power supply to the charging facility 42 is continued, and at the same time, the regenerative power is charged in the secondary battery 32. Further, when the power of the secondary battery 32 is supplied to the charging facility 42 and a warehousing instruction for another vehicle 2 is given and the motor 17 performs a power running operation, the storage amount of the secondary battery 32 is the minimum required. When the stored amount of electricity exceeds 20%, the power supply to the charging facility 42 is continued, and when the minimum required stored amount of electricity is 20% or less, the power supply to the charging facility 42 is temporarily suspended, As soon as the required power storage amount exceeds 20%, charging is resumed and charging is performed until charging of the electric vehicle 2A is completed. Furthermore, as shown in FIG. 5D, when the amount of power stored in the secondary battery 32 reaches 100%, the regenerative power beyond that is returned to the commercial power source 23 side.

  According to the mechanical multistory parking lot configured as described above, the regenerative electric power generated by the regenerative operation of the motor 17 is supplied to the charging facility 42 for charging the electric vehicle 2A in addition to the secondary battery 32. Therefore, even when the regenerative operation (departure) is continuously performed, the secondary battery 32 is unlikely to be fully charged. Thus, the regenerative power can be effectively used without waste for powering the motor 17 or charging the electric vehicle 2A without returning power to the commercial power source 23, and can greatly contribute to energy saving. In addition, even during powering operation (entrance), charging of the electric vehicle 2A is continued if the charged amount of the secondary battery 32 exceeds the minimum required charged amount, and charging of the electric vehicle 2A is hindered by the warehousing operation. That can be kept to a minimum.

  Moreover, compared with the case where a new power receiving contract is made with the electric power company and a power source facility for supplying power to the charging facility 42 is newly installed, the conventional power facility can be used as it is. Since no new construction is required and no change in the power reception contract is required, owners of mechanical multistory parking lots can introduce charging facilities for electric vehicles at low cost. In recent years, which is a transitional period of the spread of electric vehicles, the number of electric vehicles accommodated is limited, and thus the utility value is high in that a charging facility can be easily installed.

1,41 Mechanical multistory parking lot 2 Vehicle (conveyed object)
2A Electric vehicle 4 Parking tower 5 Turntable 9 Car weight measuring machine (weight measuring means)
12 Vehicle storage rack 17 Motor 20 Counterweight 23 Commercial power supply (power supply means)
26, 27, 28 Inverter 32 Secondary battery (power storage means)
33 Ammeter (charge storage detection means)
34 Voltmeter (charge storage detection means)
36 Control device (control means)
37 Operation panel (operation means)
39 Display device (effect display means)
42 Charging Facility S1 Powering Operation Determination Step S2 Power Storage Amount Determination Step S3 Supplementary Charging Step S4 Powering Operation Step S5 Storage Space Determination Step S6 Charging Regenerative Operation Step S7 Returning Regenerative Operation Step

Claims (8)

A motor that performs a power running operation that raises the object to be conveyed vertically and a regenerative operation that generates regenerative power while lowering the object to be conveyed;
Power supply means for supplying power to the motor;
Power storage means for storing the regenerative power;
An operation means for inputting a type of the power running operation and the regenerative operation by a user;
A storage amount detection means for detecting a storage amount in the storage means;
Control means for controlling the motor based on an operation type signal input from the operation means and a storage amount signal input from the storage amount detection means,
The control means includes
During the power running operation, the power stored in the power storage means is given priority over the power of the power supply means to supply to the motor, and when the predetermined power running operation is performed, the power storage amount of the power storage means is insufficient. If so, by supplying the electric power of the power supply means to the motor together, and controlling to compensate for the shortage of the amount of power storage of the power storage means,
Prior to the start of the power running operation, the power of the power storage means is insufficient, and in order to make up for it with the power of the power supply means during the power running operation, the power usage amount of the power supply means is preset. If it is expected that the amount of power will exceed the amount of power used by the power supply means before the start of the power running operation so that the amount of power used by the power supply means does not exceed the allowable power amount during the power running operation. While performing the control to start the power running operation after supplementarily charging the power storage means in advance,
During the regenerative operation, the regenerative power is charged to the power storage means until the power storage means reaches a full power storage state, and when the power storage means reaches a full power storage state, the regenerative power is transferred to the power supply means side. A lifting device that is controlled to return power.   The amount of charge at the time of the auxiliary charging is until the amount of electricity stored in the electricity storage means reaches the minimum amount of electricity necessary to perform one powering operation of the motor in combination with the electric power of the power supply means. The lifting apparatus according to claim 1.   When the regenerative power is charged / discharged to / from the power storage means, it further has an effect display means for displaying, on the operation means, at least one of economic and environmental conservation effects due to the charge / discharge of the regenerative power. The lifting apparatus according to claim 1 or 2.   2. The apparatus according to claim 1, further comprising a weight measuring unit that measures the weight of the object to be conveyed, wherein the control unit determines a supplementary charge amount to the power storage unit based on a weight measurement result by the weight measuring unit. Item 4. The lifting apparatus according to any one of Items 1 to 3.   Applying the lifting device according to any one of claims 1 to 4, the vehicle as the object to be conveyed is moved up and down by the power of the motor, and is moved into and out of a vehicle storage shelf provided in a plurality of stages in the vertical direction. Mechanical multistory parking lot characterized by   When the vehicle is a contract vehicle and the type of vehicle and the position of the vehicle storage shelf are determined, the minimum required power storage of the power storage means required for loading and unloading each vehicle from the vehicle weight of each vehicle. The amount is individually calculated and stored in the control unit in advance. When the minimum required storage amount is not stored in the storage unit, the control unit determines the amount of power of the power source unit until the minimum required storage amount is reached. 6. The mechanical multi-story parking lot according to claim 5, wherein power storage operation is performed after the power storage means is supplementarily charged with electric power in advance.   In the case where the vehicle is an electric vehicle that requires charging, the vehicle further includes a charging facility for charging the electric vehicle, and the control means is configured to store the power storage when there is an energization instruction to the charging facility. The power is controlled to be supplied to the charging facility by the power of the power storage means while always ensuring the power storage amount capable of executing one powering operation by using the power together with the power of the power supply means. The mechanical multistory parking lot according to claim 5 or 6. In the lifting apparatus according to claim 1, the control by the control means includes:
Based on the operation type signal from the operation means, a powering operation determination step for determining whether or not the powering operation,
When the power running determination step is an affirmative determination (power running), the amount of power stored in the power storage unit is at least equivalent to that of the power of the power source based on the power storage amount signal from the power storage amount detection unit. A storage amount determination step for determining whether or not the power running operation is sufficient;
When the storage amount determination step is negative, the power storage means uses the power of the power supply means until the power storage means secures an amount of power that can be executed at least once by using the power of the power supply means together. An auxiliary charging step for auxiliary charging;
A powering operation step of performing a powering operation when the stored amount determination step is affirmative;
If the power running determination step is negative (regenerative operation), it is determined whether or not the power storage means has a room for charging the regenerative power based on the power storage amount signal from the power storage amount detection means. A storage space determination step;
A charging regenerative operation step of performing a regenerative operation while charging the regenerative power to the power storage means when the power storage room determination step is affirmative;
When the storage space determination step is a negative determination, a regenerative operation step for performing a regenerative operation while returning the regenerative power to the power supply means side;
A control method for a lifting apparatus, comprising:

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