JPH0740930U - Elevator parking - Google Patents

Abstract

(57) [Summary] [Purpose] The chain extension due to changes in the load of the lift cage is corrected and the stop position of the lift cage is corrected. [Structure] A position sensor 16 for detecting a stop position with respect to a step of each shelf 7 is attached to a lift cage 12 suspended by a chain 13 of a hoisting device 11. Hoisting device 11
Based on the signals from the encoder 17 and the position sensor 16 that detect the rotation angle of the drive motor of FIG. The controller has a function of sending a command to the drive motor based on the hoisting data stored when the pallet 5 is traversed between the lift cage 12 and the shelves 7 to correct the positional deviation of the lift cage 12. Hold it.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an elevator type parking which is one type of a mechanical parking device.

[0002]

[Prior art]

 A multi-storey parking lot (tower parking) is known as a mechanical parking device that efficiently parks vehicles on a limited site. Among these multi-storey parking lots, elevator parking is known as one with relatively low noise and vibration. is there.

As shown in FIG. 5, an example of a conventional elevator-type parking system is that a hoistway 3 communicating with an entrance / exit 2 is formed in the center of a building 1 in the vertical direction, and the hoistway 3 is moved forward or backward or left. A shelf 7 with a transfer device (feed rollers are shown in the figure) 6 that can carry both longitudinal ends of a pallet 5 for mounting a vehicle 4 is sandwiched at the right sandwiched position, and a desired arrangement pitch is set. And a hoisting device 11 including a motor 8, a drive sprocket 9, a driven sprocket 10 and the like is installed at the top of the building 1 in the vertical direction, and the four corners of the lift cage 12 arranged in the hoistway 3 are installed. Is suspended and supported by a chain 13 fed out from the hoisting device 11, and the lift cage 12 can be raised and lowered in the hoistway 3 by hoisting and lowering the chain 13, and further, A turning device 14 for turning the parked vehicle 4 is installed at the lowermost position of the road 3, that is, below the loading / unloading port 2 portion, and is set in advance to a position lower than the upper level of the turning device 14. When the lift cage 12 is suspended and the vehicle 4 is mounted on the pallet 5 set on the turning device 14, the turning device 14 is turned 90 °, and then the outer periphery of the turning device 14 is rotated. The lift cage 12 is hoisted so as to pass through the position, and the pallet 5 is lifted to the position of the shelf 7 of the required stage, and then, the lateral feed device (the feed roller is shown in the figure) mounted on the lift cage 12. The vehicle 4 along with the pallet 5 can be traversed and stored on the shelf 7 by the operation of 15.

[0004]

[Problems to be solved by the device]

 However, in the case of the above elevator type parking, the lift cage 12 has three states, that is, an empty cage state, an empty pallet loaded state, and an actual vehicle pallet loaded state. Therefore, the chain 13 that suspends the lift cage 12 depends on the state. Therefore, elastic extension occurs, and therefore, the difference in the amount of extension of the chain 13 according to each state of the lift cage 12 causes an error in the stop accuracy of the lift cage 12 with respect to each shelf 7, and this error causes the pallet to stop. There was a problem in the traverse movement of No. 5. That is, although the above-mentioned lift cage 12 is normally set to a stop position with respect to the shelves 7 in an empty cage state, for example, when the vehicle 4 is loaded with the vehicle 4 via the pallet 5, the chain 13 is Since the load of the pallet 5 and the vehicle 4 is added to the load of the lift cage 12, a larger elongation than that in the empty cage state is generated. Therefore, the lift cage 12 is raised and the rack 7 of the required stage is lifted. If the vehicle is stopped at the position, the stop position of the lift cage 12 will be lower than the position of the shelf 7 due to the extension of the chain 13, and a step will be created. In that state, the vehicle 4 should be stored on the shelf 7. When the actual vehicle pallet 5 is traversed, when the actual vehicle pallet 5 is transferred from the lateral feeding device 15 to the transfer device 6, there is a problem that shock and noise are generated due to the above step.

Therefore, the present invention is intended to correct the displacement of the stop position of the lift cage due to the change in the extension amount of the chain so that the traverse operation of the pallet can be smoothly performed.

[0006]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, the present invention arranges shelves for storing vehicles through a palette in a multi-tiered manner in a vertical direction at a position sandwiching a hoistway in a building, and hoisting the hoistway. In an elevator parking system in which a lift cage hung by a chain of equipment is arranged so that it can be raised and lowered, an encoder is provided to detect the rotation angle of the drive motor of the hoisting equipment, and the lift cage is provided for each shelf stage. Lifting data when the position sensor that detects the stop position is installed, and the lift cage is raised in the empty cage state and stopped at each shelf position based on the signals of the encoder and the position sensor, and the lift data. Hoisting data when the cage is lifted with empty pallets loaded and stopped at each rack position, and the lift cage is lifted with the actual vehicle pallet loaded and stopped at each rack position. The hoisting data for the hoisting device is stored, and when the empty pallet or the actual vehicle pallet is traversed between the lift cage and the shelves, the hoisting device drive motor is based on the stored hoisting data. It will be configured to include a control device that sends and receives commands to raise and lower the chain so that there is no step between the lift cage and the shelf.

[0007]

[Action]

 When storing the vehicle, place the vehicle on the pallet on the lift cage, raise the lift cage to the specified shelf level, and stop the lift when the position is detected by the position sensor. The signal received from the encoder is stored in the control device as hoisting data when the pallet is actually loaded on the vehicle. After that, the pallet of the actual vehicle is traversed so that it can be transferred to a shelf.At this time, the drive motor of the hoisting device is controlled based on the hoisting data stored in the empty cage state as the load moves. A command is sent from the device, and the lift cage is lowered and corrected to the stop position in the empty cage state. This prevents the lift cage from rising suddenly when the actual vehicle pallet is transferred to the shelf.

On the other hand, when the stored vehicle is to be unloaded, the empty lift cage is stopped at a predetermined shelf position, and then stored in the middle of transferring the actual vehicle pallet from the shelf to the lift cage. Based on the hoisting data when the actual vehicle pallet is loaded, the controller sends a command to the drive motor of the hoisting device to raise the lift cage and correct it to the stop position when the actual vehicle pallet is loaded. This prevents the lift cage from dropping suddenly when the actual vehicle pallet is transferred onto the lift cage.

[0009]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 1 to 3 show an embodiment of the present invention. In the same structure as the elevator type parking shown in FIG. 5, a hoist for raising and lowering a lift cage 12 suspended by a chain 13 is provided. A servomotor 18 is used as a drive motor of the device 11, and an encoder 17 that detects a rotation angle of the servomotor 18 to generate a pulse is provided. Further, the lift cage 12 is stopped for each shelf 7 stage. A position sensor 16 for detecting the position is attached, and a signal from the position sensor 16 and a signal from the encoder 17 as well as a signal from the transfer device 6 of each shelf 7 and a lift cage 12 are installed. A control device for driving the servo motor 18 based on a signal from the lateral feed device 15 to correct the extension amount of the chain 13 and correct the stop position of the lift cage 12. The device 19 is provided.

As shown in FIG. 2, the position sensor 16 is composed of upper and lower sensor portions 16a and 16b formed in a U-shape, and the space between the U-shape parts is attached to the shelf 7 side. The placed code plate 20 can be relatively passed, and a detection signal is emitted when both the upper and lower sensor parts 16a and 16b are turned on.

As shown in FIG. 3, the control device 19 is for correcting the shift of the stop position of the lift cage 12 due to the change in the elongation of the chain 13 due to the change in the load applied to the lift cage 12, and It has the following functions. That is, the lift cage 12 in the empty cage state is raised, the stop position for each shelf 7 is detected by the position sensor 16, and the rotation angle from the reference position of the servo motor 18 at that time is obtained as the number of pulses by the encoder 17 and the empty position is calculated. The function of storing as hoisting data in the cage state (hereinafter referred to as A data) and the lift cage 12 with the empty pallet 5 loaded on the lift cage 12 are lifted and stopped at the position of each shelf 7. At this time, the encoder 17 detects the rotation angle of the servo motor 18 from the reference position and stores it as hoisting data (hereinafter referred to as B data) when the empty pallet is loaded. The reference position of the servo motor 18 when the lift cage 12 with the vehicle 4 mounted on the vehicle 5 is lifted and stopped at the position of each shelf 7. The encoder 17 detects the rotation angle of the pallet and stores it as hoisting data (hereinafter referred to as C data) when the pallet is actually loaded on the vehicle. In the process of laterally feeding the empty pallets 5 onto the shelves 7 by the device 15, the function of issuing a command to the servomotor 18 of the hoisting device 11 to shift the suspension support of the lift cage 12 to A data, conversely, In the process of transferring the empty pallet 5 on the shelf 7 by the transfer device 6 onto the lift cage 12 in the empty cage state, the servo motor 18 of the hoisting device 11 is moved so that the suspension support of the lift cage 12 is transferred to B data. In the process of laterally feeding the actual vehicle pallet 5 onto the shelves 7 by the transverse feed device 15 from the lift cage 12 having the actual vehicle pallet loaded state, The function of issuing a command to the servomotor 18 of the hoisting device to transfer the suspension support of the lift cage 12 to the A data, conversely, the actual vehicle pallet 5 on the shelf 7 is transferred onto the lift cage 12 in the empty cage state. In the mounting process, a function of issuing a command to the servo motor 18 of the hoisting device 11 so as to shift the suspension support of the lift cage 12 to C data is provided.

In the above configuration, the control device 19 is configured to store A data and B data in advance. That is, first, the empty lift cage 12 is moved upward to the position of each shelf 7, the stop position is detected by the position sensor 16, and the rotation angle from the reference position of the servo motor 18 at that time is pulsed by the encoder 17. Then, the stop position for each shelf 7 when the empty pallet 5 is placed on the lift cage 12 and lifted is similarly determined as the number of pulses of the servo motor 18, and is stored as A data. It is stored as a data.

Now, for example, when the vehicle 4 is loaded and stored, the vehicle 4 is placed on the empty pallet 5 on the lift cage 12 located at the loading / unloading port 2, and the lift cage 12 is placed on a predetermined shelf. The servomotor 18 of the hoisting device 11 is driven up to the position 7 and is raised. At this time, for example, the rotation angle of the servomotor 18 is A data for raising the lift cage 12 to the position of the predetermined shelf 7. Assuming that the number of pulses is 500, when the lift cage 12 loaded with the actual vehicle pallets is lifted by that number of pulses, the extension of the chain 13 causes the stop position of the lift cage 12 to be lower than the position of the shelf 7. Therefore, assuming that 500 + α (for example, 100 pulses), a pulse that allows the lift cage 12 to move sufficiently above the position of the shelf 7 is set. To. In this way, the lift cage 12 is raised, and when it is detected by the position sensor 16 at a predetermined position of the shelf 7, it is stopped at that position, and the pulse of the servo motor 18 at that time is actually 530 pulses. If so, the 530 pulses are stored in the control device 19 as C data. As a result, the chain 13 is wound up by 30 pulses more than the A data, and the extension of the chain 13 due to the load of the pallet 5 and the vehicle 4 can be corrected, and the lift cage in the actual vehicle pallet loaded state can be corrected. It is possible to obtain the stop accuracy of the 12 shelves at the predetermined positions of the shelves 7.

Next, the lateral feed device 15 is operated to cause the actual vehicle pallet 5 on the lift cage 12 to traverse and transfer onto the transfer device 6 on the shelf 7 side. At this time, since the lift cage 12 and the shelf 7 have the same level and there is no step, the actual vehicle pallet 5 can be smoothly transferred, as indicated by the solid line in FIG. However, if the actual vehicle pallet 5 is laterally traversed as it is, the load of the pallet 5 and the vehicle 4 moves to the shelf 7 side, the elongation of the chain 13 decreases, and the two points in FIG. As indicated by the chain line, the lift cage 12 is pulled up by that amount, which causes a step between the lift cage 12 and the shelf 7. For example, the actual vehicle pallet 5 is moved to the shelf 7 side by about half. Then, based on the operation signal of the lateral feed device 15, the control device 19 sends a command of A data to the servo motor 18, and the chain 13 is unwound to lower the lift cage 12 while lowering the lift cage 12. Modify to move to. As a result, as shown in FIG. 4B, the lift cage does not suddenly rise when the actual vehicle palette 5 is completely transferred from the lift cage 12 onto the shelf 7. Therefore, the actual vehicle pallet 5 can be sent to the shelf 7 and put in the storage state without causing shock and noise caused by the step.

On the other hand, when the vehicle 4 stored on the shelf 7 is to be unloaded, the lift cage 12 in the empty cage state is moved to the position of the shelf 7 storing the vehicle 4 by A data and stopped. After that, the transfer device 6 is operated to transfer the actual vehicle pallet 5 onto the lift cage 12 from the shelf 7 side. At this time, if the actual vehicle pallet 5 is laterally traversed as it is, the load of the pallet 5 and the vehicle 4 moves to the side of the lift cage 12 as opposed to the time when the pallet 5 is stored. Since the lift cage 12 descends by that amount and a step is formed between the lift cage 12 and the shelf 7, when the actual vehicle palette 5 is transferred onto the lift cage 12 by about half, the operation signal of the transfer device 6 is transmitted. Based on the above, the controller 19 sends a command of C data to the servo motor 18 to wind up the chain 13 so as to raise the lift cage 12 and make a correction so that the lift cage 12 is moved to the stop position in the actual vehicle pallet loading state. This makes it possible to correct the elongation of the chain 13 that accompanies the transfer of the actual vehicle pallet 5, and the lift cage does not suddenly descend when the actual vehicle pallet 5 transfers from the shelf 7 onto the lift cage 12. .

As described above, according to the present invention, the stop accuracy is provided by the position sensor 16 for each vehicle 4 to be stored, and the C data obtained at that time is stored in the control device 19. Even with the vehicle 4 under load, the elongation of the chain 13 due to it can be corrected, and the lift cage 12 can always be accurately stopped.

In the above description, the case in which the actual vehicle pallet 5 is traversed between the lift cage 12 and the shelves 7 has been described. However, even when the empty pallet 5 is traversed, the A data is issued by a command from the control device 19. The same can be done by making full use of the B and B data.

In the above embodiment, as the traversing device for traversing the pallet 5, the lift cage 12 is provided with the traverse feed device 15 and the shelf 7 is provided with the transfer device 6, but the lift device is not limited to the lift device. The cage 12 may be provided with a traversing arm type traverse device and the pallet may be pushed and pulled by the traverse device, and various changes may be made without departing from the scope of the present invention. Of course.

[0020]

[Effect of device]

 As described above, according to the elevator type parking of the present invention, the lift cage is provided with the position sensor for detecting the stop position with respect to each shelf, so that even if the chain extension changes depending on the load state of the lift cage. The lift cage can be stopped accurately in accordance with the position of the shelf, and the empty cage state of the lift cage can be determined based on the signal from the position sensor and the signal from the encoder that detects the rotation angle of the hoist drive motor. Since the control device is provided which stores the hoisting data of the stop position with respect to the shelves in the empty pallet loaded state and the actual vehicle pallet loaded state and can control the drive motor of the hoisting device based on these hoisting data. It is possible to correct the displacement of the lift cage due to the load change when the pallet is traversed between the lift cage and the shelves. Since it can be smoothly traversed and the hoisting data of the lift cage stop position for each vehicle to be stored can be obtained, it exerts excellent effects such as being able to cope with permanent elongation of the chain. .

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of an elevator parking of the present invention.

FIG. 2 is an enlarged perspective view showing a position sensor.

FIG. 3 is a block diagram showing a control system for correcting a stop position of a lift cage.

FIG. 4 is a diagram showing an operating state, wherein (a) is a schematic diagram showing a state where an actual vehicle pallet is transferred from a lift cage to a shelf, and (b) is a schematic diagram showing a state after the actual vehicle pallet is transferred to a shelf. Is.

FIG. 5 is a schematic diagram showing an example of a conventional elevator parking.

[Explanation of symbols]

 1 Building 3 Hoistway 4 Vehicle 5 Pallet 7 Shelf 11 Hoisting Device 12 Lift Cage 13 Chain 16 Position Sensor 17 Encoder 18 Servo Motor (Drive Motor) 19 Control Device

Claims (1)

[Scope of utility model registration request] 1. A lift hung by a chain of a hoisting device in which a rack for storing a vehicle is arranged in multiple stages in a vertical direction at a position sandwiching a hoistway in a building, and the shelves are suspended in the hoistway by a chain. In an elevator-type parking system in which cages can be moved up and down, an encoder that detects the rotation angle of the drive motor of the hoisting device is provided, and a position sensor that detects the stop position for each shelf of the shelves is attached to the lift cage. Based on signals from the encoder and the position sensor, hoisting data when the lift cage is raised in the empty cage state and stopped at each shelf position, and the lift cage is raised in the empty pallet loaded state. The hoisting data when stopped at each shelf position and the hoisting data when the lift cage is lifted in the actual vehicle pallet loaded state and stopped at each shelf position are stored. In addition, when the empty pallet or the actual pallet is traversed between the lift cage and the shelves, a command is sent to the drive motor of the hoisting device based on the required hoisting data stored as described above, and the lift cage and the shelves are An elevator type parking characterized by comprising a control device for winding up and down the chain so that no step is formed between the chains.