JP2014043747A - Lifting body landing detection control device and mechanical parking facility with the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lifting body landing detection control device capable of preventing the fluctuation of the landing position of a carrier that is caused by the extension and shrinkage of a rope even when a change in a loading weight is generated in the landed carrier.SOLUTION: A lifting body landing detection control device 46 is provided in an elevator type parking facility which includes a lifting motor for lifting a carrier 16 in accordance with the winding-up/winding-down of a rope suspended from the upper part of a parking tower and is configured such that the carrier 16 is allowed to land at the predetermined position of the parking tower in accordance with the winding-up/winding-down of the rope by the lifting motor and held. The lifting body landing detection control device includes: a predetermined position holding device 30 for holding the carrier 16 at the predetermined position of the parking tower; a detector 40 for detecting the carrier 16 at the predetermined position of the parking tower; and a control device for allowing the lifting motor to lift the carrier 16, and for allowing the detector 40 to detect the carrier 16, and for allowing the predetermined position holding device 30 to hold the carrier 16 at the predetermined position, and for allowing the lifting motor to wind down the carrier 16, and to stop when detecting that the drive current value of the lifting motor has reached a predetermined value.

Description

  The present invention relates to a landing detection control device that detects landing of a lifting body in a three-dimensional warehouse, a mechanical parking facility, and the like, and a mechanical parking facility including the same.

  Conventionally, three-dimensional warehouses and mechanical parking facilities, etc., are moved up and down by means of a rope (“cord” in this specification and claims refers to “wire rope”, “chain”, etc.) There is a thing provided with the raising / lowering body made to move, and this raising / lowering body is raised / lowered by the raising / lowering machine. In this elevator, the hoisting body is moved to a desired position by hoisting / lowering the cord-like body, and loading / unloading of a load or a vehicle is performed by a transfer mechanism or the like. Hereinafter, an elevator parking facility, which is an example of a mechanical parking facility, will be described as an example.

  In the case of an elevator-type parking facility, a transporter (elevating body) for transporting a pallet on which a vehicle is mounted to a predetermined storage shelf is provided, and this transporter is suspended by a cable-shaped body. The carrier is adapted to move to a desired storage shelf position by hoisting / lowering the cord-like body and landing. As an elevator which winds up / down the hoisting and lowering the cord-like body, there is a hoisting drum type using a raising / lowering motor, a traction type and the like for hoisting / lowering the cord-like body.

  Then, the hoist is moved to the desired storage shelf position by hoisting / lowering the cord-like body, and is held on the parking facility side, and then the pallet is carried in / out with the storage shelf. Also in the case of the above-described three-dimensional warehouse, the lifting / lowering body is moved to the position of a desired storage shelf by winding / lowering the cord-like body, and then the cargo is carried in / out of the storage shelf.

  In addition, as this type of prior art, for example, an elastic body provided on a mechanical elastic support portion that elastically supports the end of the rope and the load acting on the rope when the elevator is landed is reduced to a predetermined amount. Is detected by a sensor from the change in the amount of displacement, and the lowering operation of the elevator is stopped based on the amount of displacement of the elastic body, and the rope tension is reduced to stop landing (for example, patents) References 1 and 2).

JP 2006-188840 A JP 2011-80360 A

  However, in the case where the mechanical device is provided in the carrying device as in the above prior art and the landing is stopped, when the load acting on the elastic body is changed by an operation other than the raising / lowering (such as traversing and turning), the carrying device is provided. The operating conditions of the selected sensor also change, and depending on the operating conditions, there is a risk that the sensor will remain stopped.

  Also, a mechanical elastic support portion is provided at the lower end of the plurality of wires that suspend the carrier, and the force of the urging mechanism between the first connection member and the second connection member provided on the elastic support portion is reduced. It is difficult to set the urging mechanism to the same condition at multiple locations on the carrier because the tension of the rope is maintained by using it, and if the load acting on the elastic body changes as described above, the landing of the carrier Position may vary.

  Therefore, the present invention provides an elevating body that can prevent the landing position of the elevating body from fluctuating due to the expansion and contraction of the cord-like body even if a change in the load load occurs in the elevating body such as a carrier that is landed at a predetermined position. An object of the present invention is to provide a landing detection control device and a mechanical parking facility equipped with the same.

  In order to achieve the above object, an elevator landing detection control apparatus according to the present invention includes an elevator that moves up and down along a structure, and a rope-like object suspended from the upper part of the structure. Elevating body landing in equipment having an elevator that moves up and down by hoisting / lowering and configured to land and hold the hoisting body at a predetermined position of the structure body by hoisting / lowering the cord-like body by the elevator A detection control device, a fixed position holding device for holding the lifting body at a predetermined position of the structure, a detector for detecting the lifting body at a predetermined position of the structure, and lifting and lowering the lifting body by the lift The detector detects the lifting body, holds the lifting body in a predetermined position by the fixed position holding device, and then lowers the lifting body by the elevator to reach a predetermined drive current value of the elevator. When it detects that And a control device for.

  With this configuration, the cord-like body in which the lifting body is suspended is wound up / down by the lifting machine, the lifting body is detected by the detector at a predetermined position of the structure, and the lifting body is landed by the fixed position holding device at that position. If the elevator is stopped when the drive current value of the elevator reaches a predetermined value, the load (tension) acting on the cord-like body while holding the elevator in a predetermined position is changed. Therefore, it is possible to prevent a change in the landing position caused by a change in the loading load that occurs after landing. In addition, since the load of the cable-shaped body is detected by electric means, the degree of freedom in designing the end structure and form of the cable-shaped body can be increased.

  The elevator is an inverter-controlled elevator motor, and the controller outputs a stop signal based on an output current value of an inverter that drives the elevator motor after the transporter is held by the fixed position holding device. Then, the elevator may be configured to stop.

  If comprised in this way, it will determine that the hanging load of the raising / lowering body decreased from the load of the cord-like body based on the output current value of the inverter after landing of the raising / lowering body, and stop the lowering / lowering motor from being lowered. The lifting / lowering body can be held at a predetermined landing position in a state where the cord-like body is adjusted to a predetermined load.

  The stop signal may be configured to be output when a torque detection signal by a torque detection means provided in the inverter reaches a predetermined value.

  If comprised in this way, a raising / lowering motor can be stopped based on the torque detection signal using the torque detection means with which the inverter was equipped, and a raising / lowering body can be stopped to a predetermined landing position.

  The stop signal may be output when an output torque command value of the inverter exceeds a predetermined threshold value.

  If comprised in this way, since the raising / lowering body is made to land in a predetermined position with an electric signal, the load of a cord-like body can be easily changed by the threshold value setting of the output torque command value of the inverter which stops an raising / lowering motor. For example, even if the load of the lifting body changes due to individual differences or aging of the apparatus, the dark value can be reset as appropriate with a simple operation, so that it is possible to easily cope with changes in conditions due to aging.

  The detector may include a detection object and a detection sensor, the detection object may be provided at a predetermined position of the structure, and the detection sensor may be provided in the lifting body.

  With this configuration, since the detection sensor for electrical detection is provided only on the lifting body and detects the detection target provided on the structure, there are few costly components, improving reliability and cost. Can be reduced.

  The detection sensor includes a plurality of detection sensors for detecting the detected object, and the detected object has a size that can be detected simultaneously by the plurality of detection sensors, and the plurality of detection sensors. The position at which the detected object is simultaneously detected by the sensor is set as a temporary stop position of the lifting / lowering body, the lifting / lowering body is lowered from the temporary stop position, the lower detection sensor does not detect the detection target, and the upper detection sensor The detection of the detection body may be included in the condition for stopping the elevator.

  If comprised in this way, after stopping at the temporary stop position which detects a to-be-detected body with a some detection sensor, a raising / lowering body is lowered | hung to the position which cannot detect a to-be-detected body with one detection sensor, and the raising / lowering is carried out after that. By detecting that the cord-like body that winds down the body has a predetermined load, the lifting body can be quickly raised and lowered before landing.

  Moreover, the said control apparatus may be comprised so that a raising / lowering body may be raised to the position which detects a to-be-detected body simultaneously with these several detection sensors, when cancel | releases the landing state of the said raising / lowering body.

  If comprised in this way, the raising / lowering body will always be raised to a predetermined position, the space for switching the fixed position holding apparatus holding this lifting body from the holding position state to the passing position state is secured, and the fixed position holding apparatus Stable switching can be performed.

  On the other hand, the mechanical parking facility according to the present invention includes any one of the lifting body landing detection control devices, the structure is a parking tower, the lifting body is a transporter, and a predetermined position for holding the transporter. Are a plurality of storage shelves, and a lift motor that winds / unwinds the transporter with a rope suspended from the upper part of the parking tower by the elevator, and the detector moves the transporter at the positions of the plurality of storage shelves. The fixed position holding device is configured to hold the carrying device at a predetermined storage shelf position based on a detection signal of the detector.

  With this configuration, in the mechanical parking facility, the load acting on the cable-like body can be landed on the carrier without loosening the cable-like body in a state where the carrier is held at a predetermined storage shelf position by the fixed position holding device. The elevator can be stopped so as to obtain a load state suitable for the state and the ascent.

  According to the present invention, even when the loading load changes while the lifting body is held by the fixed position holding device, the load acting on the cord-like body is kept in an appropriate state to prevent the landing position from changing. It becomes possible.

FIG. 1 is an overall schematic front view showing the inside of an elevator parking facility which is an example of a mechanical parking facility provided with a lifting body landing detection control device according to the present invention. FIG. 2 is a schematic perspective view showing an elevating drive system in the elevator parking facility shown in FIG. FIG. 3 is a schematic plan view taken along the line III-III shown in FIG. 4 is a drawing of the home position holding device shown in FIG. 3, wherein (a) is a front view and (b) is a plan view. FIG. 5 is an enlarged front view of a portion where the floor sensor of the carrier shown in FIG. 4 is provided. 6 is an enlarged cross-sectional view taken along the line VI-VI shown in FIG. FIG. 7 is a schematic diagram showing the operation of the floor sensor shown in FIG. FIG. 8 is a control block diagram in the mechanical parking facility according to the present invention. FIG. 9 is a flowchart at the time of storage in the mechanical parking facility according to the present invention. FIGS. 10A to 10D are schematic views showing the positional relationship between the floor sensor and the detected object in the flowchart shown in FIG. FIG. 11 is a flowchart at the time of movement in the mechanical parking facility according to the present invention.

  Hereinafter, an example of an embodiment of the present invention will be described based on the drawings. In the following embodiments, an elevator parking facility 1 that is an example of a mechanical parking facility will be described as an example. Further, in this embodiment, a “wire rope” (hereinafter simply referred to as “rope 21”) is taken as an example of the cord-like body, and an elevator parking facility 1 that lifts and lowers the transporter 16 by winding / lowering the rope 21 is taken as an example. Explained. In addition, the concept of the front-back / left-right direction in the document of this specification and a claim shall correspond with the concept of the front-back / left-right direction in the state which went to the elevator type parking equipment 1 shown in FIG.

  As shown in FIG. 1, the elevator parking facility 1 includes a main pillar 3 (FIG. 3) provided in the vertical direction at four corners, a beam 4 (FIG. 3) and the like that connect the main pillar 3 in the horizontal direction. Thus, a steel structure is formed, and an exterior plate 5 is provided on the outer surface of the steel structure to form the parking tower 2. In the parking tower 2, the first floor is a loading section 6, and a pit 8 is formed on the loading floor 7 of the loading section 6. Moreover, the elevator type parking facility 1 of this example is a 90 ° entry system in which an entrance / exit 9 is provided on the left side of the entry part 6. A driving operation panel 53 is provided in the vicinity of the entrance / exit 9.

  Such an elevator parking facility 1 is provided with a hoistway (elevator shaft) 12 having a rectangular shape in a plan view in the vertical direction of the center of the parking tower 2. The hoistway 12 has a rectangular shape with a long dimension in the front-rear direction of the parking tower 2 and a short dimension in the left-right direction in plan view (FIG. 3). A plurality of storage shelves 13 are provided in the vertical direction on the left and right sides of the figure with the hoistway 12 in between. Each storage shelf 13 is provided with a shelf rail 14 extending in the horizontal direction shown in the figure. The shelf rail 14 is fixed to the main pillar 3 and the shelf pillar 15 provided in the vertical direction in parallel with the main pillar 3 with a shelf support material 19 (FIG. 3). The pallet 70 is carried in / out in the left-right direction.

  Further, the hoistway 12 is provided with a transporter (elevator) 16 which is a lifting body for transporting the pallet 70. The transporter 16 is provided with a pallet transfer mechanism 17, and the pallet transfer mechanism 17 carries in / out the pallet 70 between the transporter 16 and the shelf rail 14 of each storage shelf 13. The pit 8 is provided with a pallet lifting and turning device 18 that lifts and turns the pallet 70 of the transporter 16, and the pallet lifting and turning device 18 causes the pallet 70 to be placed at the loading / unloading port 9. It is turned 90 ° in the direction of. As these pallet transfer mechanism 17 and pallet lifting and turning device 18, known means are adopted.

  Furthermore, in this elevator type parking facility 1, an elevator 20 is installed at the entrance 6 of the parking tower 2. In the elevator 20, a plurality of ropes (cord-like bodies) 21 are hung on a drive sheave 23, and these ropes 21 are horizontally turned by a turning pulley 24 provided at the top of the parking tower 2. Yes. A part of the rope 21 is bent downward by a suspension pulley 25 provided above the hoistway 12, hangs down toward the transporter 16, and is hung on the movable pulley 11 provided at the lower part of the transporter 16. Then, it extends to the upper part of the parking tower 2 and is suspended from the cable-like body support portion 10 of the parking tower 2. The other rope 21 is bent downward by a suspension pulley 26 provided at the rear portion of the storage shelf 13 and suspends a counterweight 22 that reduces the hoisting force by the elevator 20. Therefore, by driving the elevator 20, the transporter 16 suspended by the rope 21 can be raised and lowered by the hoistway 12.

  Moreover, in this embodiment, the raising / lowering motor 20 driven based on the output current value of an inverter is used as the raising / lowering machine 20 which winds / lowers the rope 21. The output current value of the inverter that drives the lifting motor 20 is detected as an output torque command value as will be described later.

  As shown in FIG. 2, the carrying device 16 is suspended by supporting one of the ropes 21 hung on the movable pulley 11 provided at the lower portion of the carrying device 16 on the cable-like body support portion 10 of the parking tower 2 and the other as an elevator. After being wound around 20 drive sheaves 23, a moving pulley system is used in which a counterweight 22 is suspended by a moving pulley.

  The suspension of the transporter 16 by this moving pulley system is such that a plurality of ropes 21 hung on the drive sheave 23 of the elevator 20 extend upward from the drive sheave 23 at both ends, and are on the top of the parking tower 2. It is turned in the horizontal direction by a plurality of turning pulleys 24 provided. Thereafter, the one rope 21 is turned in the vertical direction by the suspension pulley 25, and is supported by the upper portion of the parking tower 2 after the transporter 16 is suspended. The other rope 21 is turned in the vertical direction by a suspension pulley 26 to suspend the counterweight 22, and is then supported by a cord support 10 provided at the upper portion of the parking tower 2. Therefore, when the rope 21 is driven to wind up / down by the elevator 20, the transporter 16 and the counterweight 22 operate in a sliding manner, and when the transporter 16 is lifted, the counterweight 22 is lowered by the stroke. Driven by.

  As shown in FIG. 3, the elevator parking facility 1 is provided with a fixed position holding device 30 that holds the transporter 16 at a predetermined position of the storage shelf 13. The fixed-position holding device 30 of this embodiment includes shelf-side receiving brackets 31 and 32 provided on the shape steel shelf pillars 15 at the positions of the storage shelves 13 and the shelf-side receiving brackets 31 and 32 provided on the transporter 16. And a carrying device holding mechanism 35 having holding members 33 and 34 held by 32. The transporter holding mechanism 35 is disposed symmetrically with respect to the center of the transporter 16, and the holding members 33 and 34 provided in the transporter holding mechanism 35 are held at four points by the shelf-side receiving brackets 31 and 32. It is like that. The shelf-side receiving brackets 31 and 32 are provided at predetermined positions of the respective storage shelves 13 (height positions at which the pallet 70 can be smoothly carried in / out between the transporter 16 and the storage shelf 13).

  As shown in FIGS. 4 (a) and 4 (b), each carrying device holding mechanism 35 of the fixed position holding device 30 is provided with holding members 33 and 34 at both ends. The holding members 33 and 34 are provided at both ends of a rotatable drive shaft 37 supported by a bearing 36 provided in the transporter 16. The drive shaft 37 is rotated around a horizontal axis via a chain 39 by a drive motor 38 provided in the transporter 16. The drive shaft 37 can be rotated by a drive motor 38 within a range of about 90 °.

  In this embodiment, different types of holding members 33 and 34 are provided at both ends of the drive shaft 37. The right holding member 33 shown in the figure is formed in a substantially L shape, and is fixed to the end of the drive shaft 37. The holding member 33 is disposed so that the central portion of the abutting surface is located at the axis of the drive shaft 37 (FIG. 4 (b)).

  On the other hand, the left holding member 34 shown in the figure is formed in a substantially inverted L shape that protrudes in one direction from the axis of the drive shaft 37. The holding member 34 is disposed such that the contact surface protrudes in only one direction with respect to the axis of the drive shaft 37 (FIG. 4B).

  According to such holding members 33 and 34, if the drive shaft 37 is rotated so that the contact surfaces 33a and 34a face the vertical direction (two-dot chain line shown in FIG. 4), the storage shelf 13 and the shelf side The carrier 16 can be raised and lowered without causing interference with the receiving brackets 31 and 32 (shown by a solid line in FIG. 3). Further, as shown in FIG. 4 (a), if the drive shaft 37 is rotated so that the contact surfaces 33a, 34a are oriented in the horizontal direction (solid line shown in FIG. 4), it is provided at the position of each storage shelf 13. The carrying device 16 can be held by the shelf-side receiving brackets 31 and 32 (shown by a two-dot chain line in FIG. 3). As described above, the carrying device holding mechanism 35 is in a holding position where the holding members 33 and 34 holding the carrying device 16 are placed on the shelf-side receiving brackets 31 and 32, and these shelf-side receiving brackets 31 and 32. It is possible to switch to a passing position that does not interfere.

  Further, as shown in FIG. 4A, the holding members 33 and 34 have different forms, and the contact surfaces 33 a and 34 a are offset in the vertical direction with respect to the rotation center of the drive shaft 37. In this embodiment, the contact surface 33 a of the holding member 33 is offset by a predetermined amount downward with respect to the axis of the drive shaft 37, and the contact surface 34 a of the holding member 34 is upward with respect to the axis of the drive shaft 37. It is offset by a predetermined amount.

  Further, as shown in FIG. 4B, the carrier 16 is held by the holding members 33 and 34 when the contact surfaces 33a and 34a of the holding members 33 and 34 provided at both ends of the drive shaft 37 are viewed in a plan view. Thus, they are placed and held on the shelf-side receiving brackets 31 and 32 at diagonal positions. By holding the transporter 16 at the diagonal position of the drive shaft 37 in this way, the rotational moments acting on the drive shaft 37 in the transported device holding state are applied in opposite directions.

  According to such a transporter holding mechanism 35, when the transporter 16 is held by the shelf-side receiving brackets 31 and 32 of the respective storage shelves 13, the holding members 33 and 34 are held at the holding positions indicated by solid lines in FIG. When the transporter 16 is moved up and down, the holding members 33 and 34 are switched to the passing position indicated by the two-dot chain line in FIG. It can be changed.

  In addition, the fixed position holding | maintenance apparatus 30 in this embodiment is an example, and you may make it hold | maintain the transporter 16 in the predetermined position of each storage shelf 13 with another structure.

  As shown in FIG. 5, a detector 40 is provided between the carrier 16 and the shelf column 15 of the parking tower 2 on the fixed side. The detector 40 in this embodiment includes floor sensors 41 and 42 that are detection sensors provided in the transporter 16 and a detected body 43 provided on the shelf column 15 on the fixed side. The detected body 43 is formed of a plate material. By arranging the floor sensors 41 and 42 and the detected body 43 in this way, the floor sensors (detection sensors) 41 and 42 that are electrically detected are used as only the transporter (elevating body) 16 and the cost is high. There are fewer elements to improve reliability and reduce costs.

  In addition, the floor sensors 41 and 42 of this embodiment are provided in a plurality (two) in the vertical direction. With respect to the mounting pitch of these floor sensors 41, 42, as shown in FIG. 7 described later, the vertical center distance P of the two floor sensors 41, 42 and the vertical dimension T of the detected body 43 are the same. It is a dimension. Thereby, simultaneous detection of the detected body 43 by the two floor sensors 41 and 42 and individual detection of the detected body 43 by the individual floor sensors 41 and 42 can be performed.

  As shown in FIG. 6, the floor sensors 41 and 42 are attached to an L-shaped bracket 44 that is fixed so as to protrude laterally from the frame of the transporter 16. As the floor sensors 41 and 42 in this embodiment, groove-type proximity sensors are used. These floor sensors 41 and 42 are disposed such that a U-shaped groove portion 45 opens in the vertical direction.

  The detected body 43 is a plate provided so as to extend from the shelf column 15 toward the groove portions 45 of the floor sensors 41, 42, and the groove portions 45 of the floor sensors 41, 42 are L-shaped. It is formed so as to pass through the tip portion 43a.

  Therefore, when the groove portions 45 of the floor sensors 41 and 42 reach the position of the detected body 43 by the raising and lowering of the transporter 16, the floor sensors 41 and 42 that are proximity sensors can detect the detected body 43.

  As shown in FIG. 7, the detection range of the floor sensors 41, 42 is detected (turned on) when the detected object 43 is part of the floor sensors 41, 42. Yes. When the floor sensors 41 and 42 (carryer side) move up and down with respect to the detected body 43 (fixed side) from this state, and the detection range of the floor sensors 41 and 42 deviates from the detected body 43, Not detected (off).

  The elevator landing detection control device 46 provided in the elevator parking facility 1 uses the detection signals from the detectors 40 including the floor sensors 41 and 42 and the detected body 43 to move the transporter 16. After landing at a predetermined position (predetermined floor) by the fixed position holding device 30, the controller 50 is configured to control as described later.

  FIG. 8 is a control block diagram of the elevator parking facility 1 shown in FIG. As shown in the figure, as a control block of the elevator parking facility 1, a control device 50, a drive unit 51, a detection unit 52, and the driving operation panel 53 constitute an I / O device 54 (input / output device). Are connected to each other, and signals are transmitted and received between the respective units. The control device 50 includes a RAM, a CPU, and the like, and inputs and outputs signals for controlling each unit.

  The drive unit 51 includes a lift drive unit (elevator 20; lift inverter) of the transporter 16. The elevating drive unit outputs a RAM that holds a torque threshold value and the like, and a torque command value. In addition, the drive unit 51 includes a fixed position holding device drive unit, a pallet lifting / turning / transfer drive unit, an opening / closing drive unit for an entrance / exit door, and the like.

  The detection unit 52 includes a floor detection unit (detector 40) of the transporter 16, a pallet lifting / turning / transfer detection unit (pallet lifting / swinging device 18), a vehicle / person detection unit of the loading unit, and a loading / unloading port. Vehicle / person detection means.

  On the other hand, the operation operation panel 53 is provided with a display unit 55 at the top, and below it, “start”, “safety confirmation”, “end door closed”, “password” with indicator lights. And a button portion 56 provided with “empty call” and “cancel” buttons. On the side of the button unit 56, an “inlet number” and a “call number” guidance display unit 57 are provided. Also, below the guidance display section 57, a numeric keypad 58 used for inputting a pallet number for entering / exiting and a password is provided. On the side of the numeric keypad 58 is provided broadcasting means 59 (speaker; warning means) for performing alarm / guide broadcasting, and below that, an “emergency stop” button 60 having an emergency stop display lamp is provided. Yes. In addition, a switch unit 61 in which selection switches for “control power supply”, “operation mode”, “operation management”, and “standby mode” are arranged is provided at the bottom. The configuration of the driving operation panel 53 is an example, and another configuration may be used.

  According to the elevator type parking facility (mechanical parking facility) 1 configured as described above, the transporter (elevating body) 16 is landed and held at the position of the predetermined storage shelf 13 as follows. The load acting on the rope 21 can be adjusted to a load reduced by a predetermined amount.

  FIG. 9 is an operation flowchart at the time of landing by the lifting / lowering body landing detection control device 46, and FIG. 10 is a schematic diagram showing a positional relationship between the floor sensors 41 and 42 and the detected body 43 in the operation flowchart. It is. Based on these drawings, the operation when the transporter 16 is moved up and landed on the predetermined storage shelf 13 will be described. Each operation will be described based on the flowchart of FIG. 9, and a description will be added when the positional relationship between the floor sensors 41 and 42 and the detected object 43 shown in FIG. 10 is obtained. In the following flowchart, the lower floor sensor 41 is described as “Z0”, and the upper floor sensor 42 is described as “Z1”.

  First, it starts and raises the transporter 16 (S1). Thereby, the transporter 16 starts to rise from the current position (for example, the loading unit 6). The transporter 16 is raised to a position where both the floor sensor Z0 and the floor sensor Z1 provided at predetermined positions of the storage shelf 13 are turned on (S2). This position is a state in which the floor sensors 41 (Z0) and 42 (Z1) and the detected body 43 are positioned as shown in FIG.

  When both the floor sensor 41 and the floor sensor 42 are turned on, the transporter 16 continues to rise to a position that is further raised from that position by a predetermined distance (for example, several mm to several tens of mm) (S3). When it rises to the position, it stops (S4). This position is a state in which the floor sensor 42 (Z1) is detached from the detected body 43 and the floor sensor 42 (Z0) is detected by the detected body 43 as shown in FIG. Thus, the chattering of the sensor is prevented by further raising the position detected by the floor sensors 41 and 42 by a predetermined distance.

  Then, the fixed position holding | maintenance apparatus 30 is act | operated to the state of a holding position in the state which raised the transporter 16 to the predetermined position (S5). When the operation of the fixed position holding device 30 is completed (S6), the transporter 16 is lowered (S7). In this way, after the transporter 16 is kept at a predetermined position and the home position holding device 30 is in the holding position at that position, the transporter 16 starts to descend at a slow speed.

  It is determined whether or not the floor sensor 41 (Z0) is turned off and the floor sensor 42 (Z1) is turned on by the lowering of the transporter 16 (S8). The state shown in FIG. 10C is a state where the floor sensor 41 (Z0) is off and the floor sensor 42 (Z1) is on. In this embodiment, the floor sensor Z0 is further off. Next, it is determined whether or not a predetermined pulse has elapsed since the floor sensor Z1 was turned on (S9). In this embodiment, since the inverter-controlled lift motor 20 is used, the lowering amount of the transporter 16 is determined based on the elapse of a predetermined pulse of the lift motor 20. As a result, the transporter 16 is lowered by a predetermined distance (for example, several tens of millimeters), and the floor sensors 41 and 42 and the detected body 43 are positioned as shown in FIG.

  Then, after the transporter 16 is lowered by a predetermined distance, the transporter 16 is further lowered. By this downward movement, the transporter 16 is supported by the shelf-side receiving brackets 31 and 32 of the shelf column 15 (fixed side) via the fixed position holding device 30, and the weight of the transporter is gradually supported on the shelf column 15 side. The load acting on the rope 21 during the lowering operation is initially larger on the loader 16 side than on the counterweight 22 side. However, after the load on the loader 16 side and the counterweight 22 side is balanced, The load on the weight 22 side increases. That is, after the predetermined load on the transporter 16 side is supported by the shelf column 15, torque for lifting the weight of the counterweight 22 is necessary, and the torque command value signal of the lifting motor 20 starts to increase. Accordingly, the torque command value signal from the inverter-controlled lift motor 20 is repeatedly confirmed, and when the detection signal (torque command value> threshold) is reached when the torque command value signal increases and reaches a predetermined threshold value (S10), The elevating motor 20 is stopped and the lowering of the transporter 16 is stopped (S11).

  As a result, the transporter 16 is placed and held at the position of the predetermined storage shelf 13 by the fixed position holding device 30, and in this state, a predetermined load (tension) is applied to the rope 21. It has become. That is, in this state, the transporter 16 is supported by the fixed position holding device 30 and the tension of the rope 21 is reduced to a predetermined value.

  In addition, when the torque command value of the lifting / lowering motor 20 reaches a predetermined threshold value, the lowering of the transporter 16 by the lifting / lowering motor 20 is stopped, so that the transporter 16 is placed in the fixed position holding device 30 regardless of whether the transporter 16 is empty or mounted on the vehicle. After landing, the load corresponding to the weight of the counterweight 22 and the transporter 16 is stopped in a state where the load is applied to the rope 21, and the rope 21 is always subjected to the same load (tension). can do.

  In the flowchart shown in FIG. 9, the floor sensor 41 (Z0) is off and the floor sensor 42 (Z1) is on, depending on the number of pulses of the encoder of the inverter control lifting motor 20. Although the reliability is improved by using the confirmation of the descent of the predetermined distance (for example, several tens mm), the progress confirmation of the predetermined number of pulses may be omitted.

  In the description of FIG. 9, an example is shown in which the transporter 16 is lifted and landed on a predetermined storage shelf floor, but may be lowered (for example, moved from the upper storage shelf 13 to the lower storage shelf 13). This is the same except that [lifting / stopping of the transporter] in the flowchart is changed to [lowering / stopping of the transporter].

  As described above, according to the elevator type parking facility 1, the weight of the transporter 16 and the large weight when the pallet 70 and the vehicle V are mounted on the top of the carrier 16 are connected to the end of the rope 21. 10, the pallet 70 supported by the fixed parking tower 2 and moved up and down by the transporter 16 is not mounted on the transporter 16 even if the load acting on the rope 21 is greatly different between the empty vehicle and the actual vehicle. However, as described above, the transporter 16 can be stopped at an accurate position by the detection of the detection object 43 by the floor sensors 41 and 42.

  When the transporter (elevating body) 16 is held at a predetermined position of the storage shelf 13, the position of the transporter 16 is detected by the floor sensors 41 and 42 and the weight of the transporter 16 is attached to the shelf side receiving brackets 31 and 32. After the floor is held, the lifting motor 20 can be stopped by detecting that the load acting on the rope 21 has decreased to a predetermined amount and that the output torque command value of the lifting motor 20 has reached the threshold value. . Moreover, it is stopped in a state where the conditions of the torque value of the elevating motor 20 and the position of the transporter 16 are satisfied.

  Therefore, the load acting on the rope 21 in a state where the transporter 16 is held by the storage shelf 13 sets a threshold value suitable for the output torque command value of the inverter that drives the lifting motor 20, so that the rope in the holding state of the transporter 16. The load acting on 21 can always be kept stable.

  Therefore, according to the lifting body landing detection control device 46, even if the load acting on the rope 21 changes due to secular change or the like, it is possible to set the condition (threshold or the like) for stopping the lifting motor 20 to the rope 21. The applied load can be made almost constant at all times, and when the lifting motor 20 is stopped, the rope 21 that suspends the transporter 16 is not slackened, and a predetermined load is always applied. Therefore, the transporter (elevating body) 16 can always be stably held at the landing position.

  In addition, since the load acting on the rope 21 is not constantly monitored, even if the load changes due to an operation other than raising and lowering (for example, traversing), the detection state by the detector 40 can be maintained.

  Moreover, the structure which stops the raising / lowering motor 20 in the state in which the predetermined load is acting on the rope 21 can be made into a simple structure (for example, the complicated mechanism for compulsorily restraining is unnecessary), and a raising / lowering body It is possible to improve the reliability and maintenance of the landing detection control device 46.

  Next, based on the flowchart of FIG. 11, the operation in the case where the transporter 16 that has landed on the storage shelf 13 in the flow of the flowchart of FIG. 9 is moved from the storage shelf 13 to another storage shelf position will be described. .

  First, the transporter 16 is started and the transporter 16 is raised (S21), and the floor sensor 41 (Z0) and the floor sensor 42 (Z1) provided with the transporter 16 at predetermined positions are both turned on (FIG. 10 (a). ))) (S22).

  When both the floor sensor 41 (Z0) and the floor sensor 42 (Z1) are turned on, the transporter 16 continues to rise to a position above that position by a predetermined distance (for example, several mm to several tens of mm) ( S23), it stops when it rises to a predetermined position (S24). In this way, the chattering of the sensor is prevented by further raising a predetermined distance from the position detected by the floor sensors 41 (Z0) and 42 (Z1).

  It is the same as that at the time of landing until the transporter 16 starts to rise from the landing state and stops rising at a predetermined position (S24).

  Further, by raising the transporter 16 to a position where both the floor sensor 41 (Z0) and the floor sensor 42 (Z1) are turned on in this way, the fixed position holding device 30 is moved from the holding position to the passing position. It is possible to switch to a stable state. This temporary stop position is a position at which the transporter 16 temporarily stops here both when it is raised and lowered, and moves the fixed position holding device 30 to the holding position state / passing position state.

  Then, at the position where the transporter 16 is raised to a predetermined position, the fixed position holding device 30 operates the transporter holding mechanism 35 to the passing position (S25). When the operation of the fixed position holding device 30 is completed (S26), the transporter 16 is moved to the storage shelf 13 on the destination floor (S27).

  The movement to the storage shelf 13 on the destination floor is ascending or descending, and the transporter 16 that has arrived at the storage shelf 13 on the destination floor is landed on the storage shelf 13 on the destination floor in the flow of the flowchart shown in FIG. Retained.

  After the transporter (elevating body) 16 is landed and held at the position of the predetermined storage shelf 13, as described above, the output torque command value of the inverter that drives the elevating motor 20 becomes a predetermined value (threshold value). By detecting that the lifting / lowering motor 20 is stopped, the load acting on the rope 21 in the holding state of the transporter 16 can be made almost constant without being affected by the load on the transporter side. In addition, since the load acting on the rope 21 can be easily changed by setting the threshold value of the elevating motor 20, it is possible to easily cope with a load change due to secular change.

  As described above, according to the elevator parking facility 1 provided with the lifting body landing detection control device 46, the load applied to the rope 21 is different when the pallet 70 moved up and down by the transporter 16 is an empty vehicle and when it is an actual vehicle. Even if the load changes greatly due to loading / unloading (transverse operation) of the loaded load or the like, it is possible to prevent fluctuations in the lift stop position and frictional force fluctuation of the traction sheave caused by the expansion and contraction of the rope 21.

  When the transporter (elevating body) 16 is landed on the predetermined storage shelf 13, the load acting on the rope 21 decreases after the weight of the transporter 16 is supported by the fixed position holding device 30 and reaches a predetermined value. In order to detect this by the torque command value fluctuation of the lifting motor 20, the load acting on the rope 21 can be kept stable with the transporter 16 held by the storage shelf 13, and the load change on the transporter 16 can be maintained. Even if this occurs, the landing position of the transporter 16 can be held so as not to fluctuate.

  Even if the load acting on the rope 21 changes due to secular change or the like, the carrier 16 is suspended while the lifting motor 20 is stopped by adjusting the threshold value of the torque command value of the lifting motor 20. The rope 21 can be in a state in which a predetermined load is always applied without being slackened, and a stable landing position of the transporter (elevating body) 16 can always be maintained.

  Moreover, since the floor sensors (detection sensors) 41 and 42 can be simply turned on / off as in the above embodiment, the elevating motor 20 is stopped while a predetermined load is applied to the rope 21. It is possible to improve the reliability and maintainability of the lifting body landing detection control device 46 to be performed.

  In the above embodiment, the elevator parking facility 1 which is a mechanical parking facility is described as an example of the facility including the lifting body landing detection control device 46. However, at least one direction is provided at at least one transporter stop position. It can be applied in the same manner as long as it is a facility equipped with a fixed position holding device 30 that restricts the movement of the lifting body (for example, in the downward direction and the vertical direction) and a lifting device that lifts and lowers the lifting body. .

  Moreover, in the said embodiment, although the elevator-type parking equipment 1 of the lower drive system was demonstrated to the example, if it is a parking equipment etc. which raise / lower the transporter 16 with a rope-like body (rope, chain, etc.) as a mechanical parking equipment, etc. An upper drive system or other types of mechanical parking facilities may be used, and the present invention is not limited to the above embodiment. Furthermore, although the elevator type parking equipment 1 example in which the transporter 16 has become a moving pulley system suspension method has been described, the suspension method for raising and lowering the transporter 16 is not limited to the above embodiment, and other methods are used. There may be. The fixed position holding device 30 may be another type.

  Moreover, although the said embodiment demonstrated the example which provided the rope support part 10 of the elevator 20 in the parking tower 2 which is a fixed structure part, the rope support part 10 was provided in the carrying device (elevator) 16. The cable-like body support part 10 may be provided on either the fixed structure part or the lifting body, and is not limited to the above embodiment.

  Furthermore, the above-described embodiment shows an example, and various modifications can be made without departing from the gist of the present invention, and the present invention is not limited to the above-described embodiment.

  The lifting body landing detection control apparatus according to the present invention can be used in equipment for raising and lowering a lifting body using an elevator, and can be used in a three-dimensional warehouse, a mechanical parking facility, and the like.

1 Elevator parking facilities (mechanical parking facilities)
2 parking tower
3 main pillar 10 cable-like body support 12 hoistway (elevator shaft)
13 Storage Shelf 14 Shelf Rail 15 Shelf Pillar 16 Transporter (Elevator)
20 Elevator (elevating motor)
21 Rope
22 counterweight 30 fixed position holding device 31 shelf side receiving bracket 32 shelf side receiving bracket 33 holding member 34 holding member 35 transporter holding mechanism 40 detector 41 floor sensor (detection sensor)
42 Floor sensor (detection sensor)
43 Detected object 45 Groove portion 46 Elevating body landing detection control device 50 Control device 51 Drive unit 52 Detection unit 53 Operation panel 70 Pallet
V vehicle

Claims (8)

An elevator that moves up and down along the structure, and has an elevator that raises and lowers the elevator by hoisting / lowering the rope suspended from the upper part of the structure; A lifting / lowering body landing detection control device in equipment configured to land and hold the lifting body at a predetermined position of the structure by lowering,
A fixed position holding device for holding the lifting body at a predetermined position of the structure;
A detector for detecting the lifting body at a predetermined position of the structure;
The lift is moved up and down by the lift, the detector detects the lift, and the lift is held at a predetermined position by the fixed position holding device, and then the lift is unwound by the lift. An elevator landing detection control device comprising: a control device that stops the elevator when it detects that the drive current value has reached a predetermined value. The elevator is an inverter-controlled elevator motor;
The controller is configured to stop the elevator by outputting a stop signal based on an output current value of an inverter that drives the lift motor after the transporter is held by the fixed position holding device. The lifting body landing detection control apparatus according to 1.   The lifting / lowering body landing detection control apparatus according to claim 2, wherein the stop signal is configured to be output when a torque detection signal by a torque detection unit provided in the inverter reaches a predetermined value.   The elevator landing detection control apparatus according to claim 2, wherein the stop signal is configured to be output when an output torque command value of the inverter exceeds a predetermined threshold value. The detector has an object to be detected and a detection sensor,
The detected object is provided at a predetermined position of the structure,
The said detection sensor is a raising / lowering body landing detection control apparatus of any one of Claims 1-4 provided in the said raising / lowering body. The detection sensor has a plurality of detection sensors for detecting the detected object,
The detected object has a size that can be detected simultaneously by the plurality of detection sensors;
The position at which the plurality of detection sensors detect the detection object at the same time is set as a temporary stop position of the lifting / lowering body, the lifting / lowering body is lowered from the temporary stop position, and the lower detection sensor does not detect the detection target, and the upper part The lifting / lowering body landing detection control apparatus according to claim 5, wherein the detection sensor detects that the detected object is included in a condition for stopping the elevator.   The said control apparatus is comprised so that a raising / lowering body may be raised to the position which detects a to-be-detected body simultaneously with these several detection sensors, when releasing the landing state of the said raising / lowering body. Elevator landing detection controller. A mechanical parking facility comprising the lifting body landing detection control device according to any one of claims 1 to 7,
The structure is a parking tower;
The lifting body is a carrier;
The predetermined position for holding the transporter is a plurality of storage shelves,
The lifting motor is a lifting motor that winds up / down a transporter with a cord-like body suspended from the upper part of the parking tower,
The detector detects a transporter at the plurality of storage shelf positions,
The said fixed position holding | maintenance apparatus is comprised so that a carrying device may be hold | maintained in a predetermined storage shelf position based on the detection signal of the said detector, The mechanical parking equipment characterized by the above-mentioned.

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