JPH0356308A - Article storehouse - Google Patents

Abstract

PURPOSE:To shorten an operation cycle in a vertical circulating type store-house for automobile or the like, by controlling the speed of a driving induction motor by an inverter having variable voltage and variable frequency so as to select a rotation of direction fast reaching a mounting position. CONSTITUTION:The current and voltage of an electric motor 10 are detected by respective detecting circuits 27, 28 and transformed into power values by a power transformer 26. They are compared with those at the time of rated frequency by a controller 25 to set a speed and command to a pulse duration modulator 23. In response to the output signal of a base driving signal circuit 24 based on this command, an inverter 22 operates the electric motor 10 in accordance with load, namely, at a speed higher than rated speed at the time of light load. At the same time, the rotating direction of the electric motor 10 is selected and driven by selecting a direction for fast reaching a mounting position. The cycle time is thus shortened.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a device for storing automobiles or articles (hereinafter referred to as articles), and particularly relates to a device for storing articles in a vertical circulation storage. This is an efficient device.

[Conventional technology]

For example, there is a vertical circulation type article storage, the schematic configuration of which is shown in Fig. 1, in which a plurality of storage shelves are moved up and down in an elliptical trajectory around a horizontal axis, and the desired storage shelf is moved up and down. I try to store and take out items.

1 and 2 shown in Fig. 1 are horizontal axes that are parallel to each other and have vertical axes. The guide rails 6 are elliptical in the vertical direction, and a pair of left and right guide rails symmetrical to each other are arranged with their positions slightly shifted in the front and rear.

By rotating the horizontal shaft 2 with an electric motor 10, the storage shelf 5 is kept in a horizontal state and rotated in an elliptical trajectory.

Furthermore, as shown in Fig. 5, even in a two-story multi-story parking lot where cars are stored, pairs of subrockets 3, 3 are provided on both sides and the bottom, and each pair of subrockets An endless chain 4 is wound between the chains 3 and 3, and a cage 5, which is a storage shelf for storing automobiles, is suspended from the endless chain 4. The cage 5 is raised and lowered while keeping it in a horizontal state, and is automatically moved to the desired cage 5. The cage 5 is designed so that troops can be brought in and taken out of the warehouse, and the circular movement of this cage 5 is performed by an electric motor.

[Problem to be solved by the invention]

Conventionally, when loading or unloading articles onto the storage shelves 5 in the above-mentioned storage warehouse, the electric motor 10 is operated and stopped in order to move the storage shelves 5 to the transfer position.

On the other hand, in order to accurately stop the storage shelf 5 for each transferred item, it is desirable to make the lifting speed of the storage shelf 5 as slow as possible before the stop position, and to make it as fast as possible before the stop position, and to further store the items. When circulating the desired storage shelf 5 to the transfer position, select whether it is faster to rotate the rotation direction clockwise or counterclockwise to shorten the moving time and efficiently store items. It is required to be able to do this.

However, the conventional method has a problem in that it is not possible to control the speed of the storage shelves, shorten the moving time of the storage shelves, and store articles efficiently.

Further, the above-mentioned circulating type multi-level parking garage for storing automobiles also had the same problems as the parking garage.

[Means to solve the problem]

The present invention was made in order to solve a series of problems, and the present invention has been made to solve a series of problems. The speed is controlled by a variable voltage, variable frequency inverter.

〔Example〕

Embodiments of the present invention will be described based on the drawings.

FIG. 2 shows an electric motor 10 that controls the rotation of a storage shelf 5 for storing automobiles or articles (hereinafter referred to as article-3).
A block diagram of a control circuit is shown.

In FIG. 2, reference numeral 10 denotes a squirrel type induction motor (hereinafter simply referred to as a motor), and a variable voltage, variable frequency type inverter 22 is connected between the primary side of the motor and a power source 21. Although the inverter 22 is of a transistor type in this embodiment, it goes without saying that the inverter 22 of the present invention is not limited to a transistor type.

The speed command signal of the 1/Illllller 5 is given to the pulse modulator 23. The output of the pulse 11 modulator 23 is manually input to the Haas drive signal circuit 24, and the pace drive signal circuit 24
The output is input to the inverter 22.

The current detection circuit 27 that outputs the current of the electric motor 10 and the voltage detection circuit 2 that detects the voltage are connected, and the current detection circuit 2
7, the output of the voltage detection circuit 28 is connected to the power converter (load detector) 26 and the controller 25, and the output of the power converter 26 is also input to the inverter 22.

Further, the power source of the electromagnetic brake l1-5-4 for controlling the electric motor 10 is connected to the AC power source 21 through a magnet switch 12, and this magnet switch 12 is connected to the inverter 2.
The electromagnetic brake 11 is operated by the output signal No. 2 to control the operation timing of the electromagnetic brake 11.

Since the speed of the electric motor is controlled by the inverter 22, the lifting speed of the storage shelf 5 can be operated in forward and reverse directions over a wide range from low speed to high speed, and at the time of starting, the generated torque of the electric motor can be controlled, so that it can be started slowly. , it can be activated without applying shock or vibration to the articles stored in the storage shelf 5. Also, since the machine can be stopped slowly when stopping, it can be stopped without applying shock or vibration.

Fig. 3 is an explanatory diagram showing the relationship between the motor's 1-Lecoup speed characteristic and the inverter output frequency in the block diagram of Fig. 2, and Fig. 4 is an explanatory diagram showing the relationship between the load size and the set output frequency. be.

When speed control is performed using a variable voltage, variable frequency inverter as shown in Figure 2, if the inverter output voltage is V and the output frequency is F, then the rated frequency (in this figure) is as shown in Figure 3. 50 HZ) or less, the electric motor's l·rook is scaled to the speed by constant V/F control, and the motor has a constant torque characteristic.

Furthermore, if the inverter output voltage is constant at frequencies above the rated frequency -L, the motor torque will be (V/F) 2, and the square reduction 1·lq characteristic will change with respect to the speed.

To explain how to control the speed based on the amount of stored items, that is, the load factor, the load factor of the motor is approximately proportional to the human power value, so as shown in Figure 2, the detected voltage and current values are transferred to the power converter. 27, it is converted to a power value, and compared with the power value at the rated frequency f3), a speed setting value (n) corresponding to the load factor is output as shown in Figure 4, and the output frequency (F3) is output to the inverter. ) give commands.

This command value is set so that it becomes the rated frequency (f3) at the rated load (assuming all the storage shelves are filled with items), and is within the low i1iI+-lux range shown in Figure 3. Frequency f3 allowed by
It is assumed that f8 is output continuously and steplessly as shown in FIG.

Therefore, when the load is light and the amount of articles stored in the storage shelf 5 is small, high-speed operation can be performed at a speed higher than the rated speed determined at the rated load. Therefore, high-speed operation is possible without increasing the capacity of the electric motor.

According to the present invention, as shown in FIG. 2, the rotational speed of the motor can be detected and the speed of the motor can be controlled by open loop control without feedback, thereby simplifying the apparatus.

The electric motor is capable of forward and reverse rotation, and depending on the position of the storage shelf 5 to be transferred, it is possible to select whether forward rotation is closer or reverse rotation is closer. Therefore, the storage shelf in which the user wants to place the item can be quickly called up, and the waiting time can be minimized.

Further, depending on the storage state of the articles in the storage shelf 5, the hoisting control or the unrolling control can be selected.

Next, the transfer of articles will be explained in detail based on FIG. 6. FIG. 6 shows an embodiment of the article storage.
indicates the case where there are 12 shelves from A to L, 8 is the transfer position of the article, the part indicated by 1 of the storage shelf 5 is the shelf where the article is stored, and the part indicated by the opening is the shelf where the article is stored. Indicates that the shelf that has not been moved is the shelf that you want to move to the transfer position.

First, the case of FIG. 6(1) will be explained.

In this case, the shelf H that you want to move to transfer position 8 is
In order to move quickly, it is sufficient to rotate clockwise, so the electric motor 10 is rotated in the normal rotation direction.

Next, in this case, the left and right balance of the storage condition of the articles stored in the storage shelf 5 is measured with the subrocket 3 as the center. Whether or not an article is stored can be detected by using a phototube, port-1 cell, etc.

In this case, storage shelves B, C, and Di are on the left side when facing the drawing.
This article is stored, and only the storage shelf G is on the right side, so the load is heavier on the left side.

Therefore, in this case, since the rotation is clockwise, the electric motor 1
If viewed from zero, the storage shelf 5 will be rolled up.

In the case of FIG. 6(1), the electric motor IO is rotated in the forward direction, and the hoisting control is performed by the inverter control shown in FIGS. 2 and 3 described above.

In the case of FIG. 6(2), the rotation direction may be clockwise as in the case of FIG. 6(1), so the electric motor 10 may be rotated in the forward rotation direction.

However, in this case, the only items stored in the storage shelves are storage shelves D on the left, and storage shelves G, I, and J on the right.
Therefore, the load is greater on the right side.

Therefore, in this case, as seen from the electric motor 10, the storage shelf 5 will be lowered.

Therefore, in the case of Fig. 6 (2), the electric motor 1o is rotated in the forward direction, and the lowering control is performed by the inverter control shown in Figs. 2 and 3 described above. If so, select the shelf you want to transfer! In order to move the motor 10 by +1 to the transfer position 8, it is sufficient to rotate it counterclockwise around 31, so the electric motor 10 is rotated in the reverse direction.

In this case, the only items stored in the storage shelves are storage shelves E on the left, and storage shelves G, L, and J on the right, and therefore the load is greater on the right side.

Therefore, in the case of Fig. 6 (3), the electric motor ]0 is rotated in the opposite direction,
Vol. 2 control will be performed.

In the case of FIG. 6(4), the rotation direction may be counterclockwise as in the case of FIG. 6(3), so the electric motor 10 may be rotated in the reverse direction.

However, in this case, the items stored in the storage shelves are the storage shelves B and CE on the left, and only the storage shelf H on the right, so the load is greater on the left side.

Therefore, in the case of FIG. 6(4), the electric motor 10 is rotated in the opposite direction to perform the lowering control.

As mentioned above, according to the present invention! i. First, select whether clockwise or counterclockwise is faster to move the storage shelf you want to transfer to the transfer position, determine the rotation direction, and then measure the balance of the items on the left and right, Deciding whether to use hoisting control or unwinding control will allow for efficient transfer of articles.

Furthermore, according to the present invention, the speed of the storage shelf 5 can be controlled by an inverter with open-loop control to control the speed of the electric motor, so the storage shelf 5 can be operated at an agriculturally appropriate speed during transfer or loading/unloading, and can also be operated in forward and reverse directions. By doing so, it is possible to efficiently transfer articles or store/unload them with a simple device.

Furthermore, since the speed is controlled by an inverter, it is possible to do so without causing the electric motor to generate more torque than necessary, resulting in energy savings.

It should be noted that the shape and structure of the storage shelves for storing articles, as well as the shape and structure of the storage compartment, are not limited to those of this embodiment, and it goes without saying that the present invention can be applied to shapes and structures other than those of this embodiment.

〔Effect of the invention〕

As described above, according to the present invention, the storage shelf can be moved to the transfer position using a simple device that only rotates the electric motor in the forward and reverse directions using an open-loop control inverter and controls the speed using hoisting and unwinding controls. Since the storage shelf can be rotated in a fast direction and the lifting speed of the storage shelf can be selected over a wide range, the operation cycle for transferring and loading articles can be minimized, and it is possible to efficiently transfer articles and unload people.

[Brief explanation of drawings]

FIG. 1 is a drawing showing a schematic configuration of an article storage, FIGS. 2 to 4 show an embodiment of the present invention, and FIG. Fig. 3 is an explanatory diagram showing the relationship between the torque-speed characteristics of the motor and the inverter output frequency, Fig. 4 is an explanatory diagram showing the relationship between the load size and the set frequency, and Fig. 5 is an explanatory diagram showing the relationship between the torque and speed characteristics of the electric motor and the inverter output frequency. A drawing showing the schematic configuration of a circulating multi-storey parking lot that stores
FIG. 6 is an explanatory diagram of the transfer of articles. -13 Kuichiichi Nishi Saiiwa Shiomi S Nikkiichiichinishi rE Tsunagi Masada (1)] Figure 6 (2) (3) (4) L k11

Claims (2)

[Claims] (1) An article storage warehouse equipped with a plurality of storage shelves that circulate in a vertical direction to store articles, the speed of which is controlled by an induction motor that circulates the storage shelves using a variable voltage, variable frequency inverter; An article storage cabinet characterized in that a rotation direction is selected to move a storage shelf to a transfer position, and an induction motor is operated under hoisting or unwinding control depending on the storage status of articles on the left and right storage shelves. (2) The article storage according to claim 1, wherein the inverter is an open loop inverter.