JPH08157013A - Stopping device of elevating body - Google Patents

Abstract

PURPOSE: To surely make an electromagnetic brake function even if a trouble such as a short circuit takes place in a stopping contactor point so as to prevent the falling accident of an elevating body by opening a second driving contactor point in addition to the stopping contactor point, when the elevating body is stopped in a receiving part or the like. CONSTITUTION: An elevating motor 12 elevating the elevating carriage of a stacker crane is connected to an alternating current power source through an inverter 22, and a first driving contactor point MCa is provided between the elevating motor 12 and the inverter 22. An electromagnetic brake 24 for braking the elevating motor 12 is connected to the alternating current power source through a rectifier 23, but in this case, a second driving contactor point MCb is on the alternating current side of the rectifier 23, and a stopping contactor point R1a is on the direct current side of the rectifier 23, respectively provided. When the elevating motor 12 is stopped, the respective contactor points MCa, MCb, R1a are opened so as to stop the elevating motor 12, and the electromagnetic brake 24 is operated to brake the motor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stopping device for a lifting body driven by a lifting motor.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 6, a three-phase AC power supply is supplied via an inverter 52 to a lift motor 51 for moving a lift carriage of a stacker crane arranged in an automatic warehouse. A drive contactor contact 53 is provided between the lifting motor 51 and the inverter 52.

Two of the three-phase AC power supplies are connected to an electromagnetic brake 54 that stops the lift motor 51 via a rectifier 55. A stop contactor contact 56 is provided between the rectifier 55 and the electromagnetic brake 54. An emergency stop contactor contact 57 is provided between the AC power supply and the rectifier 55.

The electromagnetic brake 54 is energized when DC power is supplied, releases mechanical braking on the rotary shaft of the lifting motor 51, and is de-energized when DC power is not supplied, and the electromagnetic brake 54 Mechanical braking is applied to the rotating shaft.

The stacker crane is provided with a controller for driving and controlling the traveling of the stacker crane and the elevating and lowering of the elevating carriage, and an emergency stop circuit for making an emergency stop of the stacker crane.

The controller controls the drive contactor contact 53 and the stop contactor contact 56, and the emergency stop circuit controls the emergency stop contactor contact 57.

When the elevator carriage is moved up and down, the controller closes the drive contactor contact 53 and connects the inverter 52 and the elevator motor 51. The controller controls the inverter 52 to supply power to the lift motor 51, thereby driving the lift motor 51,
The lift carriage moves up and down. In this case, the lifting speed of the lifting carriage is adjusted by controlling the inverter based on the frequency signal from the controller.

When stopping the raising / lowering carriage which is being raised or lowered, for example, in the storage part of the automatic warehouse, the controller stops the output from the inverter 52 and then opens the stop contactor contact 56 to thereby cause electromagnetic interference. The brake 54 is applied and the carriage is stopped at that position.

[0009]

However, when the stop contactor contact 56 causes a short-circuit failure due to welding or the like, the stop contactor contact 56 does not open based on a signal from the controller, and after the lifting motor 51 stops, There is a problem that the lifting carriage cannot be stopped and held at that position.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a lifting device stopping apparatus which can reliably stop and hold the lifting member.

[0011]

In order to solve the above-mentioned problems, the invention according to claim 1 drives and controls a lifting body of a crane device installed in an automatic warehouse, and at the same time, drives for being energized by a controller. The contactor, the first contactor contact for supplying drive power to the lifting motor based on the energization of the drive contactor, the stop contactor energized by the controller, and the electromagnetic brake based on the energization of the stop contactor A stop contactor contact that shuts off the power supply, an emergency stop contactor that is energized based on the emergency stop circuit, and a drive contactor and a stop contactor that are de-energized based on the energization of the emergency stop contactor. A stopping device for an ascending / descending body including a contactor for stopping, wherein an electromagnetic breaker is provided based on the energization of the contactor for driving. That was provided second driving contactor contacts to cut off the power supplied to the gist thereof.

According to a second aspect of the present invention, in the first aspect of the present invention, the power supplied to the electromagnetic brake is converted from an AC power source into a DC power source by a rectifier and supplied to the electromagnetic brake. The gist is that the contactor contact for stop is provided on the DC side and the contactor contact for emergency stop is provided on the AC side.

[0013]

Therefore, according to the first aspect of the invention, the elevating body of the crane device installed in the automatic warehouse is drive-controlled by the controller.

When the elevator body is moved up and down, the drive relay coil and the stop relay coil are energized by the controller, and the first and second drive relay contacts and the stop relay contact are closed. That is, power is supplied to the lifting motor and the electromagnetic brake is released.

In order to stop the elevating body during elevating and lowering, for example, in the storage section of an automatic warehouse, the controller first controls the inverter to gradually lower the frequency of the inverter output and lower the rotation speed of the elevating motor. , The elevator is decelerated, and the output of the inverter is set to 0 to stop the rotation of the elevator motor. After that, the energization of the drive relay coil is released, the first and second drive relay contacts are opened, and the energization of the stop relay coil is released, and the stop relay contact is opened. Then, the lift motor and the inverter are disconnected, and the second drive relay contact and the stop relay contact are opened, so that the electromagnetic brake is applied.

Further, when the lifting motor is to be stopped in an emergency, the emergency stop circuit energizes the relay coil for emergency stop. Then, the emergency stop relay contact is controlled, and the drive relay coil and the stop relay coil are de-energized. Then, the drive relay coil is de-energized,
The first and second drive relay contacts are opened. Similarly, the stop relay contacts are opened. That is, the connection between the inverter and the lifting motor is released, the electromagnetic brake is applied, and the lifting motor stops.

According to the second aspect of the invention, since the stop relay contact is provided on the direct current side, the elevating carriage can normally be stopped quickly. Further, since the second drive relay contact is provided on the AC side, it can be opened without applying a surge when the electromagnetic brake is opened.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a stacker crane installed in an automatic warehouse will be described below with reference to FIGS.

As shown in FIG. 1, the automatic warehouse 1 is provided with a pair of frame shelves 2 on both left and right sides thereof. Each frame shelf 2 is formed with a plurality of storage parts 3 for storing loads. A plurality of storage units 3 are arranged in the vertical and depth directions of the frame shelf 2.

A traveling rail 4 is laid between the frame shelves 2. A stacker crane 5 is installed on the traveling rail 4 as a crane device capable of traveling along the traveling rail 4. Further, mechanical stoppers 6a and 6b provided with urethane rubber as elastic members are installed at both ends of the traveling rail 4.

The stacker crane 5 includes a traveling platform 7 and
It is composed of both masts 8a and 8b which are erected on the traveling platform 7, and an elevating carriage 9 as an elevating body which is provided so as to be able to ascend and descend with respect to both masts 8a and 8b. in this case,
The mast 8a is located on the home position HP side, and the mast 8b is located on the opposite position OP side.

A crane controller 10 is provided on the mast 8a side of the traveling platform 7, and a traveling motor 11 and a lifting motor 12 are provided on the mast 8b side. Further, traveling wheels 7 are provided on the traveling platform 7. That is, the traveling motor 11 is driven based on the control signal from the crane controller 10 and the traveling wheels 13 are rotationally driven, so that the traveling platform 7 travels. An optical communication device Ha is attached to the traveling table 7.

The elevating carriage 9 is hung by a wire chain 14 and is moved up and down based on the winding and unwinding by the elevating motor 12. The elevating carriage 9 is provided with a guide roller 15 that rolls along the masts 8a and 8b. In other words, these guide rollers 15 prevent lateral shake when the elevating carriage 9 is moved up and down.

Further, a ground control panel 16 is provided in front of the stacker crane 5. The ground control panel 16 is provided with a display 17, a keyboard 18, a ground controller 19, and an emergency stop button B. Further, an optical communication device Hb is provided on the ground control panel 16 at a position facing the optical communication device Ha.
The ground controller 19 and the crane controller 10 are provided to be communicable via a and Hb.

In the thus constructed automatic warehouse 1, the ground controller 19 outputs a control signal to the crane controller 10 based on a control program stored in advance, an input signal from the keyboard 18, and the like. Then, the crane controller 10 controls the drive of the stacker crane 5,
That is, by controlling the traveling of the traveling platform 7 and the elevating and lowering of the elevating carriage 9, the load transfer operation is performed with the storage section 3 of the automatic warehouse 1. When the stacker crane 5 is driven, pressing the emergency stop button B outputs an emergency stop signal to the ground controller 19. Then, the stacker crane 5 is emergency stopped by the emergency stop signal from the ground controller 19.

Next, the electrical construction of the stopping device for stopping the lifting motor for lifting the lifting carriage will be described. As shown in FIG. 3, the lifting motor 12 has an R phase,
Inverter 2 for three-phase AC power supply consisting of S-phase and T-phase
It is connected via 2. A drive contactor contact MCa is provided between the inverter 22 and the lifting motor 12. By closing the drive contactor contact MCa, the inverter 22 and the lift motor 12 are connected, power is supplied to the lift motor 12, and the drive contactor contact MCa is opened to cut off power to the lift motor 12. .

The inverter 22 is connected to the crane controller 10. The inverter 22 varies the power supply frequency from the three-phase AC power supply based on the frequency signal. Further, the inverter 22 controls the rotation direction of the lifting motor 12 based on the drive signal.

The R and S phases of the three-phase AC power supply are connected to an electromagnetic brake 24 for mechanically braking the rotary shaft of the lifting motor 12 via a rectifier 23.
The rectifier 23 includes a rectifying diode 23a and a flywheel diode 23b. This rectifier 23 uses an AC power supply as a DC power supply and an electromagnetic brake 24.
To be supplied. The electromagnetic brake 24 does not operate when power is supplied, and when the power is cut off, the electromagnetic brake 24 operates and brakes the rotating shaft of the lifting motor 12 by a non-excitation operated type. It is a brake.

Between the rectifier 23 and the electromagnetic brake 24, that is, on the direct current side of the rectifier 23, a stop contactor contact R is provided.
1a is provided. This stop contactor contact R1
When the stop contactor R1 is energized and excited, a is in a closed state.

The second drive contactor contact MCb is provided between the AC power source and the rectifier 23, that is, on the AC side of the rectifier 23.
Is provided. This second drive contactor contact MC
b is closed when the driving contactor MC is energized and excited. Further, the second driving contactor contact MCb is opened when the driving contactor MC is de-energized and demagnetized.

The second drive contactor contact M on the AC side
When Cb is opened and the power source is cut off, and when the DC side stop contactor contact R1a is opened and the power source is cut off, the energy accumulated in the electromagnetic brake 24 shown in FIG. Therefore, the response will be delayed if the contact MCb on the AC side is opened and cut off for the duration of release. In this case, it takes 0.1 seconds to 0.2 seconds from the opening of the second driving contactor contact MCb on the AC side until the power is cut off, and the second driving contactor contact MCb on the DC side is opened. It takes 0.02 seconds to 0.03 seconds from when the brake is activated. That is, when the stop contactor contact R1a on the DC side is opened and interrupted, the brake operation can be performed more quickly than when the contactor contact MCb on the AC side is interrupted. Further, when the power is cut off at the DC side stop contactor contact R1a, a surge generated during the operation of the electromagnetic brake 24 is applied to the contact, but the power is cut off at the AC side second drive contactor contact MCb. Need not consider the effect of surge on the contacts.

Subsequently, the drive contactor contact MC
A circuit for controlling a, MCb and the contactor contact R1 for stopping will be described. As shown in FIG. 4, the crane controller 10 for driving and controlling the stacker crane 5 is composed of a control circuit 20, an emergency stop circuit 21 for making an emergency stop of the stacker crane 5, and the like.

The control circuit 20 includes a drive contactor MC and a stop contactor R for controlling the drive of the lift motor 12.
1 is connected. Further, an emergency stop contactor R2 is connected to the emergency stop circuit 21. Each of these contactors MC and R1 is connected to the DC plus power source P, and is energized by being energized and controlled by the control circuit 20. The emergency stop contactor R2 is a positive power source P
The power supply is controlled based on the emergency stop circuit 21.

Further, on the power supply line for supplying the power from the DC plus power supply P, the line supplied from the emergency stop contactor R2 side to the respective contactors MC, R1 side is
An emergency stop contactor contact R2a is provided. The emergency stop contactor contact R2a is an emergency stop contactor R
When 2 is energized by being energized, it will be in a closed state. On the other hand, when the emergency stop contactor R2 is turned off, the emergency stop contactor contact R2a is opened.

The emergency stop circuit 21 is normally energized by energizing the contactor R2 for emergency stop, and the contactor contact R2a for emergency stop is closed. Also, emergency stop circuit 2
When the emergency stop signal is output, the emergency stop contactor R2 is de-energized and demagnetized, and the emergency stop contactor contact R2a is opened.

When the emergency stop contactor contact R2a is closed, the control circuit 20 operates on the basis of the power from the DC power supply P to drive the contactor MC and the stop contactor R.
Control 1

That is, the control circuit 20 uses the driving contactor M.
It controls the excitation and demagnetization of C and the stop contactor R1. That is, the control circuit 20 energizes and excites the driving contactor MC, and at the same time, cuts off the power supply to the driving contactor MC to bring it into a non-energized state.
Degauss C. Further, the control circuit 20 uses the stop contactor R
1 is energized and excited, and when the power supply to the stop contactor R1 is cut off, the stop contactor R1 is deenergized to demagnetize the stop contactor R1.

Further, the control circuit 20 is adapted to output a drive signal and a frequency signal. The drive signal is a signal for controlling the drive of the elevating motor 12, and is a signal for changing the rotation direction of the elevating motor 12 and instructing the elevating and lowering of the elevating carriage 9.

The frequency signal is a signal that commands the frequency of the output from the inverter 22 (inverter output).
When the drive signal and the frequency signal are output to the inverter 22, the inverter 22 outputs the inverter having the frequency indicated by the frequency signal to the lift motor 12. Then, the lift motor 12 rotates at a rotation speed based on the inverter output.

Next, the operation and effect of the brake circuit constructed as described above will be described with reference to FIG. First, when raising / lowering the raising / lowering carriage 9, the control circuit 20 excites the driving contactor MC. Then
The first contactor contact MCa for driving is in a closed state.
At this time, the second driving contactor contact MCb is also closed.
That is, the inverter 22 and the lift motor 12 are connected. In this state, simply the inverter 22 and the lifting motor 1
Since only 2 is connected, the inverter 22 does not output, and the stop contactor contact R1a is demagnetized and the stop contactor contact R1 is open.
The electromagnetic brake 24 is applied.

Next, the control circuit 20 outputs a normal rotation signal as a drive signal and a frequency command signal to the inverter 22 after a predetermined time t1 from exciting the drive relay coil MC. Then, the control circuit 20 gradually increases the value of the frequency indicated by the frequency signal.

Then, when the torque of the lifting motor 12 exceeds a predetermined value, that is, when the value of the frequency commanded by the frequency signal exceeds a predetermined value, the stop contactor R1 is excited. Then, the stop contactor contact R1a opens,
The electromagnetic brake 24 is released, and the lift carriage 9 starts lifting. In this case, the stop contactor R1 is excited after the predetermined time t2.

The elevating motor 12 rotates based on the frequency of the inverter output, and the elevating carriage 9 moves up and down according to the rotation of the elevating motor 12. In order to normally stop the elevating carriage 9 in the ascending / descending state in order to transfer a load to the storage unit 3 or the like, first, the control circuit 20 gradually decreases the frequency value of the frequency signal and then the frequency of the inverter output. Is gradually lowered to reduce the lifting speed of the lifting carriage 9 to a slight speed. When the ascending / descending speed of the ascending / descending carriage 9 is decelerated to a slight speed, the control circuit 20 stops the output of the forward rotation signal, and then further reduces the frequency to 0 and stops the inverter output.

At the same time, the stop contactor R1 is demagnetized. Then, the stop contactor contact R1a is opened, and the power supply to the electromagnetic brake 24 is cut off, so that the electromagnetic brake 24 operates. In this case, since the stop contactor contact R1a is provided on the DC side,
When the stop contactor R1 is demagnetized, the contactor R1 is immediately opened. Therefore, the electromagnetic brake 24 is activated immediately when the stop contactor R1 is demagnetized, and brakes the lifting motor 12. That is, the electromagnetic brake 24 operates at the time shown in FIG.

Subsequently, the control circuit 20 demagnetizes the driving contactor MC in a state where the inverter output is completely stopped, that is, after a predetermined time t3 after the inverter output is stopped. Then, the first and second driving contactor contacts MC
a and MCb are opened.

When the stop contactor contact R1a has a short circuit failure, the drive contactor contact MCb is provided on the alternating current side, so that an operation delay (time t4) occurs after the drive contactor MC is demagnetized, and the operation concerned. After the delay, the electromagnetic brake 24 is activated. That is, the second contactor contact MCb for driving is opened at the time shown in FIG. Therefore, even when the stop contactor contact R1a causes a short-circuit failure or the like and the stop contactor contact R1a does not open even when the stop contactor R1 is demagnetized, the predetermined time (t
After 3 + t4), the electromagnetic brake 24 is activated. A predetermined time (t3 +
t4) is about 0.15 to 0.25 seconds, and during that time, the elevating carriage 9 is slightly dropped, and is slightly displaced from the normal stop position.

To stop the stacker crane 5 in an emergency, for example, an operator pushes the emergency stop button B. Then, the emergency stop signal is output to the emergency stop circuit 21. The emergency stop circuit 21 demagnetizes the contactor R2 for emergency stop by turning it off. Then, the contactor contact R2a for emergency stop is opened. Therefore, the supply of power to the driving contactor MC and the stopping contactor R1 is stopped, and the excited states of the driving contactor MCa and the stopping contactor contact R1a are released.

Then, the first and second drive contactor contacts MCa and MCb are opened, and the stop contactor contact R1a is opened. Therefore, since the stop contactor contact R1a is provided on the DC side, when the elevating carriage 9 is stopped in the storage portion 3 or the like, the elevating carriage 9 can be stopped quickly. Further, since the second drive contactor contact MCb is provided on the AC side, the second drive contactor contact MCb can be easily opened without applying a load. Therefore, the second drive contactor contact MC
It is possible to prevent a short circuit failure or the like of b, and to reliably open the second driving contactor contact MCb.

Further, when the electromagnetic brake 24 is applied at the second drive contactor contact MCb, an operation delay occurs for a predetermined time and the stop position shifts. Therefore, by detecting the shift of the stop position, the stop relay contact R
The failure of 1a can be easily known.

In addition, when the emergency stop signal is output, the emergency stop circuit 21 demagnetizes the emergency stop contactor R2 to open the emergency stop contactor contact R2a, and connects the drive and stop contactors MC and R1. Because the power is shut off,
The stacker crane 5 can be reliably stopped in the same manner as in the conventional case.

The present invention is not limited to the above-mentioned embodiments, but may be appropriately modified and carried out without departing from the spirit of the invention. (1) In the above embodiment, the second drive contactor contact MCb may be provided on the DC side.

(2) In the above embodiment, the lifting motor 1
In addition to the three-phase AC power supply that supplies power to the power supply 2, a dedicated DC power supply that supplies power to the electromagnetic brake 24 may be provided. (3) In the above embodiment, when the predetermined frequency is reached, it is determined that the torque of the lifting motor 12 has reached the predetermined value.
For example, attach a dynamometer (not shown) to the lifting motor 12,
The torque of the lift motor 12 may be determined based on the data from the dynamometer.

Alternatively, it may be determined that the elevating motor 12 has reached a predetermined torque after the predetermined time t2 has been reached. The technical ideas other than the claims that can be understood from the above-described embodiments will be described below along with their effects.

(1) The elevator stopping device according to claim 3, wherein the emergency stop circuit turns off the emergency stop relay coil by outputting an emergency stop signal. According to this elevator stop device,
The crane device can be reliably stopped in an emergency.

[0055]

As described in detail above, according to the first aspect of the invention, when the elevator is stopped in the storage part or the like, the second contactor contact is opened in addition to the stop contactor contact. Therefore, even when the stop contactor contact is not opened due to a short-circuit fault or the like, the second drive contactor contact is open, so that the electromagnetic brake can be reliably operated and the lifting body can be prevented from falling. .

According to the second aspect of the invention, since the stop contactor contact is provided on the DC side, the stop contactor can be quickly opened based on the stop contactor, and the elevating body can be stopped quickly. At the same time, the second drive contactor contact can be easily opened based on the drive contactor without load.

[Brief description of drawings]

FIG. 1 is a perspective view showing an automated warehouse.

FIG. 2 is a side view showing an automated warehouse.

FIG. 3 is a drive circuit diagram of a lifting motor and an electromagnetic brake.

FIG. 4 is a circuit diagram showing a crane controller and an emergency stop circuit.

FIG. 5 is a timing chart when driving the lifting motor.

FIG. 6 is a drive circuit diagram of a conventional lifting motor and electromagnetic brake.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Automatic warehouse, 5 ... Stacker crane as a crane apparatus, 9 ... Elevating carriage as an elevating body, 10 ... Crane controller as a controller, 12 ... Elevating motor, 23 ... Rectifier, 24 ... Electromagnetic brake, R1 ... Stopping contactor , R1a ... Contactor contact for stop, R2 ...
Emergency stop contactor, R2a ... Emergency stop contactor contact, MC ... Drive contactor, MCa ... First drive contactor contact, MCb ... Second drive contactor contact.

Claims (2)

[Claims] 1. A drive contactor which is energized by a controller, and a drive power source for a hoisting motor is supplied based on the energization of a drive contactor while driving and controlling an elevating body of a crane device installed in an automated warehouse. 1 Drive contactor contact, stop contactor energized by the controller, stop contactor contact that shuts off the power supply to the electromagnetic brake based on the energization of the stop contactor, and energization based on the emergency stop circuit An emergency stop contactor, which comprises an emergency stop contactor and an emergency stop contactor contact that brings the drive contactor and the stop contactor into a non-energized state based on the energization of the emergency stop contactor, wherein the drive contactor is energized. Second contactor contact for cutting off the power supplied to the electromagnetic brake based on Fukarada of the stopping device. 2. The power supplied to the electromagnetic brake is
The contactor contact for stop is provided on the direct current side of the power supply which is converted from the alternating current power source to the direct current power source by the rectifier and is supplied to the electromagnetic brake, and the contactor contact for emergency stop is provided on the alternating current side. Stopper for elevator body.