JP2800906B2 - Elevating control device of the elevating device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device for raising and lowering an elevating part for raising and lowering an article, a braking device for braking the elevating part, and a speed detecting means for detecting the elevating speed of the elevating part. A control unit that controls the operation of the driving device and the braking device is provided based on the information of the speed detection unit, and controls acceleration, descent, constant speed elevation, and deceleration elevation, respectively, in elevating the elevating unit from the elevating start position to the stopping position. Is configured to control the speed so as to be a preset speed, and to stop the lifting of the lifting unit when the speed exceeds a permissible limit speed set higher than the set speed to the high speed side. The present invention relates to a lifting control device of a lifting device.

[0002]

2. Description of the Related Art Conventionally, in an elevation control device of an article elevating device of this kind, an allowable limit speed set on a higher speed side than a set speed is set by a speed obtained by adding a predetermined constant value to the set speed. There has been considered a setting mode in which the setting is performed, or a setting mode in which the speed is obtained by adding a certain percentage value to the set speed.

The former is, for example, a setting mode for determining a speed difference between a set speed and an allowable limit speed due to the detection accuracy of speed detecting means for detecting the elevating speed of an elevating unit such as an encoder. In the latter case, the set speed and the permissible limit speed are determined based on the mechanical accuracy or drive accuracy of the drive device that moves the elevating unit such as a servomotor to move the elevating unit up and down according to the set speed. This is a setting mode for determining a speed difference between the setting and the speed.

[0004]

However, according to the above-mentioned prior art, when the speed difference is determined as a fixed predetermined value, for safety, the predetermined value is determined at the highest set speed (for example, , Maximum speed 200m / mi
Let n be an allowable speed difference of 20 m / min, and an allowable limit speed is 220 m / min. ), The allowable speed difference becomes too large at a low set speed (for example, a speed difference of 20 m / min for a low speed of 3.5 m / min).
If it is set to min, the permissible limit speed becomes 23.5 m / min. ), There is an inconvenience that the permissible limit speed at low speed does not make sense in safety. On the other hand, when the speed difference is determined as a fixed percentage value of the set speed, a predetermined percentage value is determined at the highest set speed for safety (for example, a maximum speed of 200 m / m).
The allowable limit speed is set to 220 m / min with an allowable percentage of 10% in. ), The allowable speed difference becomes too small at a low set speed (for example, an allowable percentage of 1 for a low speed of 3.5 m / min).
Assuming 0%, the allowable speed difference is 0.35 m / min. ), There is a disadvantage that the detection accuracy of the speed detecting means and the driving accuracy of the driving device are required to be unnecessarily high. The present invention is to solve the above-mentioned conventional disadvantages.

[0005]

The lift control device of the article lifting device according to the present invention is characterized in that the allowable limit speed is set such that the speed difference from the set speed becomes smaller as the set speed becomes lower, and the allowable limit speed becomes smaller. Looking at the speed difference from the speed as a percentage of the set speed, the point is that the speed is set to be higher when the set speed is the lowest speed than when the set speed is the highest speed.

[0006]

According to the characteristic structure of the present invention, the allowable limit speed is set so that the speed difference from the set speed becomes smaller as the set speed becomes lower. When determining the speed difference and looking at the speed difference from the set speed as a percentage of the set speed, the speed is set at a state where the minimum speed is higher than the maximum speed. The speed difference can be determined based on the detection accuracy.

[0007]

According to the characteristic structure of the present invention, the speed difference is determined based on the detection accuracy of the speed detecting means while the speed difference is determined based on the mechanical accuracy of the driving device. The lifting device eliminates the inconvenience that the detection accuracy of the speed detection means and the driving accuracy of the driving device are required to be unnecessarily high, while setting a permissible limit speed that is meaningful over the entire range of the set speed. Can be provided.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 5 show a multi-story parking lot in which a lifting control device of an article lifting device according to the present invention is applied to a lifting control device H for controlling a vehicle transport device C. As shown in FIG. 1, the multi-story parking garage is formed on a vehicle storage rack A for storing a pallet P on which a vehicle G can be mounted on a rack portion in which a plurality of shelves 1 are vertically arranged, and on a ground floor portion thereof. And
A vehicle having an external communication port 2 and having an external communication section B used for entry and exit of the vehicle G, and a lifting / lowering section 3 for transporting the pallet P between the shelf 1 and the external communication section B And a transfer device C.

Hereinafter, in the present embodiment, the direction facing the outside of the external communication portion B from the external communication port 2 is referred to as the depth direction of the multi-story parking lot, and the direction orthogonal to the depth direction and extending across the width of the opening of the external communication port 2 is referred to. The width direction of the multi-story parking lot.

The vehicle storage rack A is provided with a pair of rack portions on both sides in the depth direction inside the vehicle storage rack A, each of which has a plurality of shelves 1 arranged vertically. The shelf 1 includes a pallet P for mounting on a vehicle, and a pair of receiving frames 1 for supporting the pallets P on both ends in the longitudinal direction.
a, 1a are juxtaposed, and the vehicle G is stored in a state mounted on the pallet P. Between the pair of rack portions, an elevating passage S extends along the side of each rack portion,
The lower end is formed so as to protrude into the external communication portion B.

The external communication portion B has an external communication port 2, and when the vehicle G enters and leaves the vehicle, the elevator portion 3 is located inside the external communication portion B. A pit 4 is provided so as to be connected to the pit 4, and a turntable 5 that can be raised and lowered and turned can be operated in the pit 4.
a turning device 5 provided with a. Pallet P
Means that the longitudinal direction of the external communication portion B is the external communication port 2
, And the vehicle G is driven by itself, whereby the loading and unloading of the vehicle G is performed. The pallet P on which the vehicle G is loaded in the loading operation is carried on the turntable 5a by raising the turntable 5a of the turning device 5, and is turned 90 degrees. Will be transferred above. In the unloading operation, the pallet P is transferred onto the turntable 5a at the raised position as the lifting unit 3 is lowered, turned 90 degrees, and mounted on the external communication unit B.

As shown in FIG. 2, the vehicle transport device C comprises a lifting unit 3 which carries a pallet P and moves up and down in a lifting passage S, and a lifting drive mechanism D which moves the lifting unit 3 up and down. ing. The elevating unit 3 supports the frame 3a and the pallet P, and performs transfer between the frame 3a and the shelf 1.
A telescopic fork 3b, side plates 3c vertically erected at both longitudinal ends of the frame 3a, and the side plates 3c.
It is composed of a shield 3d attached in a roof shape on the upper part of c and a floor plate 3e. The lifting drive mechanism D is
Elevating part 3 and balance weight 7 by cable system 6 of system
And the cord 6 is connected to the suspension pulleys 8a, 8b, 8
c, 8d and a drive pulley 9a of a servomotor 9 as a drive device.
The servo motor 9 is provided with a braking device 9b. Accordingly, the elevating unit 3 is suspended and supported by the cord-like body 6 in the elevating passage S, its longitudinal direction is oriented in the lateral width direction, is moved up and down by the operation of the servomotor 9, and is stopped by the braking device 9b. You.

Accordingly, in the loading operation, the elevator 3 mounts the pallet P in the external communication section B, and accelerates, rises at a constant speed, decelerates and rises, stops at the side of a predetermined shelf 1, and extends and retracts the fork. The pallet P is moved to the shelf 1 by the operation of 3b.
Transfer to In the unloading operation, the lifting / lowering unit 3 stops at the side of the predetermined shelf 1 and mounts the pallet P by the operation of the telescopic fork 3b, and accelerates and descends, descends at a constant speed, decelerates and descends, and stops at the external communication unit B. I do.

The drive shaft 9c of the servo motor 9 is provided with a rotary encoder 10 as a speed detecting means for detecting the speed of elevating the elevating unit 3.

FIG. 3 shows a lifting control device H for controlling the vehicle transport device C. The elevating control device H has a control unit 11 of a microcomputer as a main part, and is connected to a rotary encoder 10, a servomotor 9, and a braking device 9b.
Operation of the servo motor 9 based on the detection information of
By controlling the operation of the braking device 9b, the elevating speed of the elevating unit 3 is adjusted so that the elevating speed is set at a preset speed for each of the acceleration and descent, the constant speed ascent and descent, and the deceleration and descent in the elevating and lowering from the elevating start position to the stop position. Control means 101 for controlling is configured. On the higher side than the set speed, an allowable limit speed is set in advance corresponding to the set speed, and the elevation control device H determines that the elevating speed of the elevating unit 3 exceeds the allowable limit speed on the high speed side. When the rotary encoder 10 detects that the lift has occurred, the brake device 9b is actuated to stop the lifting of the lifting unit 3 in an emergency.

FIG. 4 is a graph showing the relationship between the preset speed and the permissible limit speed for each of the acceleration and deceleration, the constant speed ascent and descent, and the deceleration and elevation of the elevating unit 3. Time T is plotted on the horizontal axis, and velocity V is plotted on the vertical axis. The solid line in the graph of FIG. 4 represents the set speed. The elevating unit 3 is set so as to start accelerating and lowering from a point A, shift to a constant speed ascent from a point B, and start decelerating and lowering from a point C. The setting speed from the origin O of the graph to the point A changes stepwise because the rotary encoder 10 measures the elevating speed of the elevating unit 3 due to the so-called wire-bound of the cord-like body 6. This is because, due to the measurement error in the above, the operating characteristics of the servomotor 9, and the like, it is meaningless to set a lower speed any more. The same reason applies for the stepwise change from the point D at which the deceleration up / down ends to the stop point E. In this embodiment, the maximum speed is set to 200 m / min, and the minimum speed in the ascending and descending state is set to 3.5 m / min.

An alternate long and short dash line in the graph of FIG. 4 indicates an allowable limit speed. As the rotary encoder 10 detects that the elevating speed of the elevating unit 3 has exceeded the permissible limit speed on the high-speed side, the elevating control device H activates the braking device 9.
By operating b, the lifting of the lifting unit 3 is stopped urgently. The allowable limit speed is set so that the speed difference from the set speed becomes smaller as the set speed becomes lower. In the present embodiment, the speed difference at the maximum speed (for example, point B or point C) is set to 20 m / min. This is a value obtained by setting the percentage to the set speed as 10%. In addition, the speed difference at the lowest speed (for example, the point A or the point D) in the elevating state is 3.5.
m / min. This is a value determined as a percentage of the set speed as 100%. The speed difference at the intermediate speed is obtained by proportionally distributing the speed difference between the speed difference at the maximum speed and the speed difference at the minimum speed.

FIG. 5 is a graph showing a percentage value of the speed difference with respect to the set speed. The time T is plotted on the horizontal axis and the percentage with respect to the set speed is plotted on the vertical axis. The time T at points A, B, C, D and E in the graph is represented by A, B, C and D in the graph shown in FIG. , E correspond to time T. The percentage value of the speed difference between the permissible limit speed and the set speed with respect to the set speed is set such that the lowest speed is higher than the highest speed. In this embodiment, the percentage value is determined at the maximum speed (for example, B
10% at the point or the point C), and 10% at the lowest speed in the elevating state (for example, the point A or the point D).
It is set to 0%. Further, the percentage value at the intermediate speed is determined based on the speed difference at the intermediate speed determined in FIG.

[Alternative Embodiment] The percentage value at the intermediate speed may partially include a portion where the percentage value decreases as the set speed decreases.

The set speed, the permissible limit speed, their speed difference, and the percentage value represent the permissible limit speed as:
Decrease the speed difference from the set speed as the set speed becomes lower, and determine the speed difference from the set speed as a percentage of the set speed so that the lowest set speed is greater than the highest speed. It goes without saying that it is not limited to the above numerical values as long as it can be performed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a side view showing the entire structure of a multistory parking lot.

FIG. 2 is a perspective view showing the structure of a vehicle transport device.

FIG. 3 is a block diagram showing a configuration of a lifting control device.

FIG. 4 is a graph showing a relationship between a set speed and an allowable limit speed.

FIG. 5 is a graph showing a relationship between a speed difference between a set speed and an allowable limit speed and the set speed.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 3 Elevating part 9 Drive device 9b Braking device 10 Speed detection means 101 Control means

Claims (1)

(57) [Claims] 1. A driving device (9) for raising and lowering an elevating part (3) for raising and lowering articles, a braking device (9b) for braking the elevating part (3), and a driving device for the elevating part (3). Each of speed detecting means (10) for detecting an ascending and descending speed is provided, and a control means (101) for controlling operation of the driving device (9) and the braking device (9b) is provided by the speed detecting means (1).
On the basis of the information of 0), speed control is performed such that acceleration, descent, constant speed descent, and deceleration descent of the lifting / lowering unit (3) from the lifting start position to the stop position attain a preset speed. A lifting / lowering control device of an article lifting / lowering device configured to stop lifting / lowering of the lifting / lowering unit (3) when the speed exceeds a permissible limit speed set on a higher speed side than the set speed. The allowable limit speed is in a state where the speed difference from the set speed is reduced as the set speed becomes lower, and the speed difference from the set speed is viewed as a percentage with respect to the set speed. An elevating control device of an article elevating device which is set in a state where the speed at the lowest speed is higher than the highest speed.