JPH1149310A - Elevation control device for elevation base - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevation control device for an elevation lift in which irregularity of the stop position can be effectively prevented in the case where load on an elevation lift is changed. SOLUTION: An elevation drive motor 9 is provided to drive an elevation lift 6. A rise stop sensor and a lowering stop sensor 19 are respectively provided at specified positions corresponding to a stop position of the elevation lift 6. An elevation command part 11 to give a command for rise or lowering to an elevation drive motor 9, and a stop command to it based on a detection signal of the stop sensor 19 for stopping the elevation lift 6 at a target stop position. Also provided are a current detector 15 to detect a drive current of the elevation drive motor 9 during elevation of the elevation lift 6, and a timing setting means 21 to set a timing after receiving the detection signal of the stop sensor 19 and before giving the stop command to the elevation drive motor 9.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift control device for a lift in a multi-story parking facility, a multi-level warehouse, etc., having a lift which can be moved up and down.

[0002]

2. Description of the Related Art Conventionally, as a multi-story parking facility, a parking space as a one-layer or multi-layer parking portion is formed on an upper floor or a basement floor, and a plurality of vehicles having, for example, moving wheels at four corners are installed in the parking space. Pallets are arranged side by side in two rows, and there is a horizontal circulation type multi-story parking facility in which horizontal cycling is performed by moving the pallets alternately vertically and horizontally so that there is always an empty space at one of the ends of each row facing each other. . For example, Tokiko Sho 61
As disclosed in JP-A--40828.

[0003] The vehicle is provided with a lift platform which can be moved up and down between a parking space and an entrance / exit opening provided on a vehicle entrance floor such as a ground floor. When the vehicle is parked, no vehicle is mounted. A pallet (a so-called empty pallet) is called from the parking space on the elevator, and after the empty pallet is transferred onto the elevator, the elevator is moved up and down to the entrance / exit position, and the pallet is moved from the entrance / exit to the empty pallet. Cars were entered by entering the vehicle.

At the time of unloading, a pallet (so-called actual vehicle pallet) on which a target vehicle is mounted is called from a parking space on an elevator, and the actual vehicle pallet is transferred onto the elevator. Thereafter, the elevator was moved up and down to the entrance / exit position, and the vehicle on the pallet was exited from the entrance / exit opening.

[0005] In such a parking facility, when transferring a pallet between the elevator and the parking space, and when the vehicle moves in and out of the vehicle on the floor where the vehicle enters, the elevator is moved to the target stop position as accurately as possible. It is preferable from the viewpoint of the operation of the machinery and equipment to stop at a time.

Therefore, in order to stop at the target stop position, for example, as disclosed in Japanese Patent Laid-Open No. 5-280216, the lift platform reaches the target stop position despite the braking delay of the mechanical brake means. In such a case, a method has been proposed in which the mechanical brake is reliably actuated.

[0007]

However, when it is detected that the elevator has arrived at a predetermined position, the drive motor of the elevator drive means is stopped, and the brake is operated, the presence or absence of a vehicle on the elevator is considered. Alternatively, the load at the time of braking differs due to the difference in the weight of the vehicle, and the stop position of the lift platform varies depending on the amount of brake slippage.

[0008] Since the variation in the stop position varies depending on the load state on the lift, it is difficult to cope with the position of the stop sensor fixed to the fixed structure in order to detect the arrival of the lift. .

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a lift control device for a lift that effectively prevents variations in stop positions even when the load on the lift changes. I do.

[0010]

The technical means for achieving the above object is a lifting / lowering driving means for driving the lifting / lowering platform, and a stop sensor provided at a predetermined position corresponding to the stop position of the lifting / lowering platform. A lift command unit for stopping the lift table at a target stop position by giving a lift command or a drop command to the lift drive unit and giving a stop command based on a detection signal of the stop sensor. A lifting / lowering control device, a current detection unit for detecting a drive current of a lifting / lowering drive unit during the lifting / lowering of the lifting / lowering table, and a lifting / lowering after receiving a detection signal of the stop sensor based on a detection value of the current detection unit. The present invention is characterized in that timing setting means for setting timing until a stop command is given to the driving means is provided.

[0011] The timing setting means may be arranged such that, in a state where the detection value of the current detection means is within a predetermined range set in advance, when the elevating command unit gives a stop command to the elevating drive means, When a timing setting such that the vehicle is almost stopped at the target stop position is a standard value, and when the detection value is larger than a predetermined range, the timing setting is set longer than the standard value and the detection value is set to a predetermined value. If it is smaller, the timing may be set to be shorter than the standard value.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG.
Is a horizontal-circulation-type multi-story parking facility, which has two upper and lower parking spaces B1 and B2 on the basement floor.

The floors F1, F of the parking spaces B1, B2
2, two vertical rails and two horizontal rails are laid in a rectangular shape, as in the prior art, and a plurality of vehicle-mounted pallets 2 are provided on these rails at four corners on the lower surface side of the moving wheels. And a plurality of pallets 2 are connected in a horizontal direction, and one of the opposing row ends is made an empty space, and can be horizontally circulated on rails by a pallet driving device (not shown). Have been.

On one side of each parking space B1, B2,
A hoistway 4 is provided which communicates with an entrance / exit 3 configured on the ground floor. An elevating lift 6 as an elevating table is supported movably up and down along a guide column 5 erected in the hoistway 4.

The lifting lift 6 is connected to a balance weight 8 via a chain 7, a relay sprocket and the like, and the lifting lift 6 is driven up and down by lifting driving means including a lifting drive motor 9 and a chain interlocking mechanism. It is configured to: And the lifting drive motor 9
Is a motor with a brake mechanism that stops the rotation of the drive shaft by stopping the drive current.

The control unit for managing the multi-story parking facility 1 includes an elevating command unit 11. The elevating command unit 11 receives a necessary elevating operation command by operating the operation panel 12 and sends a command unit 14 for sending an instruction to the inverter 13. Prepare. The inverter 13 is configured to receive the instruction and supply necessary power to the lifting drive motor 9. The control of the inverter 13 at this time is performed by a general drive control method similar to the conventional one.

Further, a current detector 15 is provided as current detection means for detecting a drive current for driving the elevation drive motor 9, and the current detector 15 has a function of outputting a voltage in an analog manner corresponding to the detected current. Having. A load judging unit 17 for taking in the output value via the A / D converter 16 is provided in the elevating command unit 11. The load judging unit 17 responds to the elevating direction of the elevating lift 6 and the detected voltage value. In addition, it has a function of determining whether the load on the lift 6 is a light load, a medium load, or a heavy load.

That is, as shown in FIG.
When a vehicle 18 having a weight within the standard range is mounted on the upper side, that is, in the case of a medium load, a weight difference between the lifting lift side weight WL and the balance weight side weight WC is generated. The lift 6
Since the drive current of the lifting drive motor 9 at the time of the lowering operation or the raising operation of the motor has a value in a standard range, the detected voltage value also has a voltage value in a standard range, and it is determined that the load is medium. .

On the other hand, as shown in FIG. 3, when no vehicle 18 is mounted on the lift 6, that is, when the vehicle is lightly loaded, the lift weight on the lift side is smaller than the weight WC on the balance weight side. Since the WL is fairly light, a great difference in weight occurs between the lifts. When the lift 6 is lowered, it is necessary to raise the balance weight 8 on the heavy side, and the load is large. A value greater than the standard range value, and
At the time of the lifting operation of the lift 6, since the heavy weight 8 is lowered, the load is small, and the drive current of the lift drive motor 9 is smaller than the value in the standard range. 6, when the drive current of the lifting drive motor 9 is large, that is, when a large voltage value is detected, or when the lift 6 is raised, the drive current of the lift drive motor 9 is a small value, that is, a small voltage value. If detected, it is determined that the load is light.

As shown in FIG. 4, when a heavy vehicle 18 such as a large vehicle is mounted on the lift 6, that is, when the vehicle is under heavy load, the weight WC on the balance weight side is increased. On the other hand, since the weight WL on the lifting lift side is considerably heavy, there is a large difference in weight as described above, and when the lifting lift 6 is lowered, the lifting drive motor 9 is driven to lower the heavy lifting lift 6. The current becomes a value smaller than the value in the standard range, and when the lift 6 is lifted, the heavy lift 6
Needs to be increased, and the drive current of the lift drive motor 9 becomes a value larger than the value in the standard range.
When the drive current of the lifting drive motor 9 is small, that is, a small voltage value is detected when the lift 6 is lowered, or when the drive current of the lift drive motor 9 is large, that is, when the lift 6 is raised. If a value is detected, it is determined that the load is heavy.

The guide post 5 includes an ascent / descent stop sensor 19 and a descent / stop sensor 19 for detecting approach to a stop position when the elevating lift 6 is raised and lowered (in FIG. 1, the floor F2 of the lower parking space B2). (Only the corresponding descent stop sensor is disclosed) is provided at a corresponding appropriate position.

When a detection signal for detecting the lift 6 by the ascent / descent sensor 19 is input to the timing setting means 21 provided in the elevating command unit 11, the timing setting means 21 The timer value of the soft timer until the elevating drive motor 9 is stopped is set according to the light load, medium load, and heavy load judgment signals from the load judgment unit 17, and the command unit 14 is driven up and down according to the timer value. Control is performed so as to adjust the timing of sending the stop signal of the motor 9.

That is, the timing setting means 21 provides a stop command for the lifting / lowering drive motor 9 from the command unit 14 at the time of lifting / lowering operation of the lifting / lowering lift 6 when the drive current of the lifting / lowering drive motor 9 is a medium load having a value within a standard range. Is given, a timer value at a timing at which the lift 6 is almost stopped at the target stop position is set as a standard value.

The driving current of the lifting / lowering drive motor 9 is larger than a standard range, that is, when the lifting / lowering operation of the lifting / lowering lift 6 is performed under a light load, or when the lifting / lowering operation is performed under a heavy load.
At the time of the ascent operation, the slip amount at the time of the brake operation is small, so that the timer value of the soft timer is set longer than the standard value, the stop timing of the elevating drive motor 9 is delayed, and the motor 9 is almost stopped at the target stop position. Is controlled.

On the other hand, when the drive current of the lift drive motor 9 is smaller than the standard range, that is, when the lift 6 is lifted when the load is light, or when the lift 6 is lowered when the load is heavy. At this time, since the amount of slip at the time of the brake operation is large, the timer value of the soft timer is set shorter than the standard value, the stop timing of the elevating drive motor 9 is advanced, and control is performed so that the motor 9 is almost stopped at the target stop position. Have been.

Next, the elevation control of the elevation lift 6 will be described with reference to the flowcharts shown in FIGS. 5 to 7. First, in step S1, it is determined whether the elevation lift 6 is being activated. If the current is being started, the process proceeds to step S2, where the detection by the current detector 15 is performed, and it is determined whether or not the detected value XV of the voltage value corresponding to the detected current value is the starting current (step S2).
3).

If it is determined in step S3 that the current is the starting current, the process returns to step S2. If it is determined that the current is not the start-up current but the steady-state current, the process proceeds to step S4 to determine whether the operation direction of the lifting / lowering lift 6 is an ascending operation.

When it is determined that the operation is a rising operation,
In step S5, the magnitude of the preset voltage value and the detected value XV are compared. Note that a plurality of large, medium, and small voltage values AV, BV, and CV are set as appropriate in advance.
>BV> CV. And step S
In 5, the load determining unit 17 determines whether the detected value XV is within the range between the large voltage value AV and the medium voltage value BV, and if it is within the range, it is determined that the load is heavy (step S6). .

If it is determined in step S5 that the detected value XV is not within the range, the process proceeds to step S7 to determine whether or not the detected value XV is within the range between the medium voltage value BV and the small voltage value CV. If so, it is determined that the load is medium (step S8).

If it is determined in step S7 that the detected value XV is not within the range, the process proceeds to step S9, in which it is determined whether the detected value XV is smaller than the small voltage value CV. If smaller, the light load is determined (step S10). If it is larger, it is determined that the voltage is greater than the large voltage value AV, and it is determined that an abnormality has occurred, and the lifting operation of the lift 6 is abnormally stopped (step S11).

When the load is determined in step S6, step S8, or step S10, the process proceeds to step S12, where it is determined whether a predetermined ascent / stop sensor corresponding to the target stop position has been activated.
Go to step 13.

In step S13, the timing setting means 21 determines whether or not a heavy load is determined. If the determination is a heavy load, the process proceeds to step S14 to set a timer value of a soft timer. In addition, when the lifting / lowering lift 6 is lifted / lowered when the driving current of the lifting / lowering drive motor 9 is a medium load having a value within a standard range, a command to stop the lift / lower drive motor 9 is given from the command unit 14. A standard value YT as a timer value set at such a timing that the target value is almost stopped at the target stop position, a long timer value XT set a predetermined time longer than the standard value YT, and a standard value YT
The short timer value ZT set shorter than the predetermined time is set to an appropriate value in advance. Then, step S14
, A long timer value XT is set.

If it is determined in step S13 that the load is not heavy, the process proceeds to step S15 to determine whether the load is a medium load.
To the standard value Y as the timer value of the soft timer
T is set.

Further, if it is not the middle load determination in step S15, the process proceeds to step S17, where a short timer value ZT is set as the timer value of the soft timer.

When the timer value is set in step S14, step S16 or step S17, step S
18 to determine whether the timer value has been counted up.
The lifting drive motor 9 is stopped according to the command from Step 4 (Step S19).

If it is determined in step S4 that the operation is a descending operation, the process proceeds to step S20, and
It is determined whether the detected value XV is within the range between the large voltage value AV and the medium voltage value BV, and if it is within the range, it is determined that the load is light (step S21).

If it is determined in step S20 that it is not within the range, the flow shifts to step S22, where the detection value XV
Is within the range between the medium voltage value BV and the small voltage value CV, and if it is within the range, it is determined that the load is medium (step S23).

If it is determined in step S22 that the detected value is not within the range, the flow shifts to step S24 to detect the detected value X.
It is determined whether or not V is smaller than the small voltage value CV. If V is smaller, it is determined that the load is heavy (step S25). If it is larger, it is determined that the voltage is larger than the large voltage value AV. The lowering operation of the lift 6 is abnormally stopped (step S26).

When the load is determined in step S21, step S23 or step S25, step S27 is performed.
Then, it is determined whether or not the predetermined descent stop sensor corresponding to the target stop position has been activated, and if it has been activated, the routine proceeds to step S28.

In step S28, it is determined whether or not a heavy load determination is made. If the determination is a heavy load determination, the process proceeds to step S29, where a short timer value ZT is set as the timer value of the soft timer.

If it is not a heavy load determination in step S28, the flow shifts to step S30 to determine whether or not a middle load determination is made.
To the standard value Y as the timer value of the soft timer
T is set.

Further, if it is not the middle load determination in step S30, the process proceeds to step S32, where a long timer value XT is set as the timer value of the soft timer.

When the timer value is set in step S29, step S31 or step S32, step S
18 to determine whether the timer value has been counted up.
The lifting drive motor 9 is stopped according to the command from Step 4 (Step S19).

The multi-story parking facility 1 according to the present embodiment is configured as described above. When the load on the lift 6 is a medium load, a predetermined operation is performed when the lift 6 is lifted or lowered. When the ascending stop sensor or the descending stop sensor 19 detects the lift 6, the drive of the lift drive motor 9 is stopped at the timing of the standard value YT, which is a standard, and is effectively stopped at the target stop position by the operation of the brake mechanism. You.

In a lifting operation in which the load on the lift 6 is light, when a predetermined corresponding lift stop sensor detects the lift 6, a short timer value ZT shorter than the standard value YT is used. Since the drive of the lifting drive motor 9 is stopped at the timing, even if a large amount of slip occurs due to the operation of the brake mechanism, the drive is effectively stopped at the target stop position.

Further, at the time of the descending operation when the load on the lift 6 is a light load, when the corresponding corresponding descent stop sensor 19 detects the lift 6, the standard value Y
Since the drive of the elevating drive motor 9 is stopped at the timing of the timer value XT which is longer than T, even if the slip amount due to the operation of the brake mechanism is small, it is effectively stopped at the target stop position.

In a lifting operation in which the load on the lift 6 is heavy, when a corresponding lift stop sensor detects the lift 6, a long timer value XT slower than the standard value YT is applied. Since the drive of the elevation drive motor 9 is stopped at the timing, even if the amount of slip caused by the operation of the brake mechanism is small, it is effectively stopped at the target stop position.

Further, at the time of the descending operation when the load on the lift 6 is a heavy load, the standard value Y is set when the corresponding lowering stop sensor 19 detects the lift 6.
Since the drive of the elevation drive motor 9 is stopped at the timing of the short timer value ZT earlier than T, even if a large amount of slip occurs due to the operation of the brake mechanism, it is effectively stopped at the target stop position.

As described above, even if the load on the lift 6 changes, the variation in the stop position can be effectively prevented, and the stop at the target stop position can be accurately performed.

Therefore, when the vehicle 18 enters or leaves the pallet 2 on the lift 6, operations such as transfer operations between the lift 6 and each of the parking spaces B 1 and B 2 can be smoothly performed. The stable operation of the equipment 1 becomes possible.

Further, since the stop position of the lift 6 is stabilized, it is possible to employ a mechanism that requires higher accuracy of the stop position, and there is an advantage that the operation at that time can be performed stably.

In the present embodiment, the load on the lift 6 is classified into three stages: light load, medium load and heavy load, and the control is performed. By adopting this method, the stop position accuracy can be further improved.

The detection of the drive current by the current detector 15 may be taken out from the signal output terminal of the inverter 13.

Further, the method for changing the timer value of the soft timer by the timing setting means 21 is shown. The stop timing of the elevation drive motor 9 is controlled by using a pulse signal of an encoder synchronized with the elevation operation of the elevation lift 6. May be adjusted.

Although a motor with a brake mechanism is employed as the lifting drive motor 9, a structure having a separate brake mechanism may be used.

Further, although the structure adopted in the multi-story parking facility 1 is shown, the invention can be similarly applied to a hoisting and lowering control device of a type in which the elevating platform is operated to elevate and lower such as a multistory warehouse.

[0057]

As described above, according to the lift control device of the lift table of the present invention, the current detection means for detecting the drive current of the lift drive means during the lifting of the lift table, and the detection value of the current detection means. And timing setting means for setting a timing from when a detection signal of the stop sensor is received to when a stop command is given to the lifting / lowering driving means, wherein the timing setting means detects a detection value of the current detection means. When the elevating command unit gives a stop command to the elevating drive means in a state within a predetermined range set in advance, a timing setting such that the elevating platform is almost stopped at the target stop position is set as a standard value, and the detected value is set to a predetermined value. When larger than the range, the timing setting is set longer than the standard value, and when the detected value is smaller than the predetermined range, the timing setting is set shorter than the standard value. By constant, even when the load on the lifting platform changes can effectively prevent the variation in the stop position, there is an advantage that it is possible to stop accurately at the target stop position.

Further, since the machine can be stopped at the target stop position with high accuracy, the operation of the mechanical equipment and the like can be performed smoothly, and the apparatus can be operated stably, and a mechanism that requires more accurate stop position is required. Has the advantage that it can be adopted.

[Brief description of the drawings]

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

FIG. 2 is an explanatory diagram of the operation.

FIG. 3 is an explanatory diagram of the operation.

FIG. 4 is an explanatory diagram of the operation.

FIG. 5 is a flowchart showing elevating control of the elevating lift.

FIG. 6 is a flowchart showing the lifting control of the lifting lift.

FIG. 7 is a flowchart showing elevating control of the elevating lift.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Multilevel parking equipment 2 Pallet 6 Elevation lift 7 Chain 8 Balance weight 9 Elevation drive motor 11 Elevation command part 13 Inverter 14 Command part 15 Current detector 17 Load judgment part 18 Vehicle 19 Descent stop sensor 21 Timing setting means

Claims (2)

[Claims] An elevation drive means for driving the elevation platform up and down;
By providing a stop sensor provided at a predetermined position corresponding to the stop position of the lift table, and giving a command of ascending or descending to the lifting drive means, and giving a stop command based on a detection signal of the stop sensor, A lift control device for a lift platform, comprising: a lift command unit that stops the lift platform at a target stop position; a current detection unit that detects a drive current of a lift drive unit during the lifting of the lift platform; and the current detection unit. And a timing setting means for setting a timing from when the detection signal of the stop sensor is received to when a stop command is given to the lifting drive means based on the detection value of 2. The timing setting unit according to claim 1, wherein the lift control unit gives a stop command to the lift drive unit in a state where a value detected by the current detection unit is within a predetermined range set in advance. When a timing setting such that the vehicle is almost stopped at the target stop position is a standard value, and when the detection value is larger than a predetermined range, the timing setting is set longer than the standard value and the detection value is set to a predetermined value. 2. The lift control device according to claim 1, wherein the timing setting is set to be shorter than the standard value when it is smaller than the standard value.