JPH0419169Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a drive control device for a circulating parking facility that circulates and moves a large number of vehicle mounting cages to store vehicles.

(Conventional technology) Conventionally, a vehicle that was put into storage in a forward motion was placed on a chassis, and when leaving the garage, the chassis and a rotating frame were engaged and both were rotated 180 degrees, making it possible to leave the vehicle in a forward motion. Circulating mobile parking facilities have been proposed (see, for example, Japanese Patent Laid-Open No. 178760/1983).

(Problems to be Solved by the Invention) However, conventionally, the motor that drives this type of rotating frame to rotate has not been equipped with any speed control mechanism, and has only been capable of controlling power supply ON/OFF. Therefore, there was a problem in that the torque at the start of a turn was large, and the impact force applied to the vehicle was large.

(Means for Solving the Problems) The drive control device for a circulating mobile parking facility of the present invention provides a drive control device for a circulating mobile parking facility in which vehicles are stored by circulating a large number of vehicle mounting cages.
A vehicle platform is placed on the lower part of the cage frame of each cage,
The vehicle platform is configured to be able to rotate by engaging with an elevating and rotating device installed in the pit on the ground floor and lifting it upward from the lower part of the cage frame, and the elevating and rotating device is configured to engage with an elevating and rotating device installed in the pit on the ground floor and to be able to rotate. an elevating frame installed in engagement with the elevating frame; an elevating drive mechanism that raises and lowers the elevating frame; a revolving frame that rises as the elevating frame rises and comes into contact with the lower surface of the vehicle platform; The frame includes a swing drive mechanism that causes the swing frame to swing, and a speed control device that can arbitrarily control the swing speed of the swing frame, and the speed control device is linked to a motor rotation shaft or a swing rotation shaft constituting the swing drive mechanism. an encoder that outputs a pulse signal corresponding to the turning angle, a counting means that counts the output of the encoder, a calculation means that calculates the turning angle based on the count value, and a predetermined turning angle and calculation. The motor is driven and controlled based on the comparison result, and includes a control circuit that controls the rotational speed of the motor.

(Operation) In the circulation mobile parking facility, the vehicle moves forward and is placed on the chassis inside the cage. When leaving the warehouse, lift the cage that has been circulated above the ground floor pit by raising the elevator frame.
Place the rotating frame in contact with the underside of the chassis. Then, rotate this rotating frame 180° and move the chassis.
Make a 180° turn. When the turning drive of the turning frame is started, slow speed control is performed to gently accelerate the vehicle to reduce the impact force applied to the vehicle.
Furthermore, during deceleration, the impact force applied to the vehicle is also reduced by controlling the speed to be slow.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings. First, a circulating mobile parking facility to which this example is applied will be explained.

FIG. 5 shows a vertical circulation type parking facility 2 of a bottom entry type installed in a building 1. This vertical circulation type parking facility has two upper and lower sprockets 3 and 4 placed at the top and bottom of the building 1.
An endless chain 5 of a book is stretched, and a large number of cages 7 for mounting vehicles W are suspended by an attachment 6 pivotally connected to the endless chain 5, and the cages 7 are It moves cyclically through the group. Reference numeral 9 denotes an entry/exit entrance formed in the lowermost rear wall of the building 2.

The cage 7 is composed of a pair of rectangular cage frames 7a, etc., which are inclined so as to move away from each other in the front and rear directions as they go upward, and a lower part of the cage frame 7a is configured such that the cage frames 7a can be removed upwardly. A chassis 7b is provided. On the upper surface of the chassis 7b, two grooved vehicle entrance paths 7c are formed on the left and right sides, which are elongated in the front and rear direction.

Reference numeral 10 denotes a pit dug in the ground floor 11 of the building 1, in which a movable lifting and turning device 12 is installed to lift the chassis 7b of the cage 7 stopped at the vehicle entry area and turn it by 180 degrees.

Details of this movable elevating and rotating device 12 are shown in FIGS. 6 and 7.

In FIG. 7, 13 and 14 are the pits 10.
horizontally on the floor (arrow A in Figures 5 and 6)
Each of the front and rear trucks 13 and 14 is made of a member elongated in the left and right direction with a U-shaped cross section, and there are a total of 4 parts on the front and rear sides of the left and right parts, respectively. The wheels 15 and 16 are pivotally supported. On the floor of the pit 10, track bodies 17 and 18 are laid in the left and right direction, spaced apart from each other in the front and rear.
The wheels 15 and 16 are rotatably engaged with the wheels 15 and 16, respectively.

Reference numeral 19 denotes a fixed guide cylinder with vertical stripes installed upright at the left and right ends of the front and rear bogies 13 and 14, and 20 denotes an elevating cylinder, and a ring-shaped guide shoe ( (not shown) so that it can be raised and lowered freely. The fixed guide cylinder body 19 and the elevating cylinder body 20 are linked together by an appropriate screw mechanism (not shown).

Reference numeral 21 denotes a rectangular horizontal lifting frame arranged on the four lifting cylinders 20, and this lifting frame 21
Inverted L-shaped brackets 22 are fixedly installed at the four corners of the brackets 22, and the horizontal portions 22a of the brackets 22 are placed on the upper surfaces of the flanges 23 of the corresponding elevating cylinders 20 and secured with bolts.

Reference numeral 24 denotes a circular rotating body disposed above the center of the lifting frame 20, which includes a vertical shaft 24a protruding from the center of the lifting frame 21, and a base rotating member supported by the vertical shaft 24a so as to be rotatable around the vertical axis L. 24b, four supporting members 24c of the same length projecting radially outward from the base rotating member 24b,
A circular track 24d with a U-shaped cross section whose inner surface is fixed to the outer end surface of the support member 24c, and a shaft mounted on the lifting frame 21 so as to rollably contact the lower surface of the circular track 24d and support the circular track 24d from below. It consists of four supported rollers 24e, and the circular track 24d is rotatable around the vertical axis L via a support member 24c and a base rotating member 24b. Further, a pedestal 25 is fixedly installed approximately at the center of the elevating frame 21 and near the vertical shaft 24a, and an encoder 26 for detecting the rotation angle of the vertical shaft 24a is attached to the pedestal 25.
It is set up in 7 rows.

Reference numeral 28 denotes a rectangular rotating frame elongated in the front and back direction with the left and right center portions fixed to the upper surfaces of the left and right portions of the circular track 24d, and abutting plates 28a made of rubber material on the upper surfaces of the front, rear, left and right four corners. is fixedly installed, and this plate 28
When the vehicle platform 7b is lifted up, the contact plate a collides with the contact plate 7f that comes into contact with the lower surface of the vehicle platform 7b. Also,
Positioning pins 28b, 28b which taper upward diagonally with respect to the vertical axis L are protruded from the front left and rear right parts of the rotating frame 28. The positioning pins 28b are fitted into two hole members 7g fixed at diagonal positions on the lower surface of the chassis 7b just before the chassis 7b is lifted.

30 is the elevating tube body 20 and the elevating frame 21
A reversible motor 32 and a reducer 3 with a brake connected to the reversible motor 32 are mounted on a frame 31 fixed to the inside of the front part of the elevating frame 21.
3 is installed, and a drive sprocket 34 is fixed to the upward output shaft of the reducer 33. Reference numeral 35 denotes an endless chain, which is wound around the driving sprocket 34, four sprockets 36 to 39 fixed to the upper part of the elevating cylinder 20, and a guide sprocket 40 pivotally supported on the frame 31.

41 is the circular rotating body 24 and the rotating frame 2
8, a reversible motor 43 and a reduction gear with a brake 44 connected to the motor are installed on a frame 42 fixed inside the rear part of the lifting frame 21, and a drive sprocket is attached to the upward output shaft of the reduction gear 44. 45 is fixed. Reference numeral 46 designates an endless chain for rotation, which is wound around the drive sprocket 45 and the guide sprocket 47 that is pivotally supported on the pedestal 42, and is further wound around the outer peripheral surface of the circular orbit 24d, and is wound around the right outer periphery of the circular orbit 24d. On the surface, only one portion of the endless chain 46 is fixed to the circular track 24d by a fastener 48.

Accordingly, the drive sprocket 34 is rotated by the drive of the reversible motor 32, thereby the endless chain 35 circulates in one direction, and the sprocket 36 is rotated.
~ 39 respectively through the screw mechanism (not shown)
As a result, the elevating cylinders 20 are raised and lowered in the same vertical direction and at the same speed using the fixed guide cylinder 19 as a guide. During this upward movement, the two positioning pins 28b and 28 on the rotating frame 28
b fits into the two hole members 7g on the underside of the chassis 7b,
The rotation frame 28 is positioned with respect to the chassis 7b. As the elevating frame 21 further rises, the four contact plates 28 on the rotating frame 28
a collides with the contact plate 7f on the lower surface of the chassis 7b, and the chassis 7b
The lifting action stops when the holder is completely lifted upwards. Next, the rotational drive mechanism 4
1 is activated. Then, the reversible motor 43 is driven at the same time as the brake of the brake reducer 44 is released.
The endless chain 46 circulates in the counterclockwise direction in FIG. At this time, 1 of the endless chain 46
The circular rotating body 24, the rotating frame 28, the chassis 7b, and the mounted vehicle W are fixed to the circular track 24d by the anchoring device 48, so that the circular rotating body 24, the rotating frame 28, the chassis 7b, and the mounted vehicle W can integrally rotate counterclockwise around the vertical axis L. do.
Then, the reversible motor 43 stops driving when it has turned exactly 180 degrees. The front part of the loaded vehicle W is now in a state pointing backward, that is, toward the entrance/exit 9.

Next, the elevating drive mechanism 30 is activated again, and the reversible motor 32 is driven in the opposite direction to the above-described upward movement, so that the elevating frame 21, the swing frame 28, the chassis 7b, and the mounted vehicle W are lowered together. Then, it is positioned and placed at a predetermined position. As a result, the driver moves the vehicle W forward and leaves the cage 7 through the ground floor 11 and exits through the entrance 9.

FIG. 1 is a block diagram showing a speed control device for the reversible motor 43 in the rotational drive mechanism 41. As shown in FIG. In this example, the speed of the reversible motor 43 is controlled by changing the duty ratio of the control pulses applied to the thyristor circuit 50.

The pulse output from the encoder 26 is
The signal is input to a calculation section 51 composed of a microcomputer. Functionally, the calculation unit 51 is divided into a pulse counter 52 that counts input pulses and a rotation counter that determines the rotation angle of the rotation frame 28 around the vertical axis 24a based on the count value. Angle determining means 53 and a comparing means 5 that compares the determined turning angle with a preset angle set in RAM or the like and outputs the comparison result.
It consists of 4. This set angle divides the angle from 0° to 180° into a plurality of predetermined zones, and serves as a threshold angle for changing the rotational speed of the reversible motor 43.

The comparison result signal outputted from the comparison means 54 is input to a switch circuit 55, and this switch circuit 55 is switched according to the comparison result signal to drive the thyristor circuit 50 into three drive circuits 56.
A predetermined drive circuit is selected from among the circuits 58 to 58 and duty-driven. The drive circuit of this example is composed of three types: a slow speed drive circuit 56, a constant speed drive circuit 57, and a stop circuit 58. The slow drive circuit 56 has a duty ratio, for example, for gently controlling acceleration from the start of rotation of the reversible motor 43 to a certain angle α.
A control pulse having a duty ratio D ₁ is output, and a control pulse having a duty ratio D ₂ is output in order to perform gradual deceleration control up to a certain angle β before the end of rotation.
The constant speed drive circuit 57 outputs a control pulse with a duty ratio D ₀ for constant speed control between the angle α and the angle β, and the stop circuit 58 performs brake control to quickly stop the reversible motor 43. It is something. The rotation command unit 59 controls power supply to the thyristor circuit 50.

FIG. 2a shows the basic control pulse S ₁ used for speed control, and FIG. 2b shows the control pulse S ₂ of this example.

The control pulse S ₁ has a constant duty ratio D ₀ (T _ON /T _OFF ) from the start to the end of rotation, but the control pulse S ₂ has three time segments 60
This duty ratio is changed by ~62. That is, the duty ratio D ₁ for the time 60 from the start of rotation to the time corresponding to the angle α is smaller than the duty ratio D ₀ and gradually approaches D 0 as time passes, and the duty ratio D 1 during the time 60 corresponding to the angle α is smaller than the duty ratio D 0 and gradually approaches D ₀ as time passes. The duty ratio D ₂ at time 62 is a waveform that is larger than the above-mentioned D ₀ and gradually becomes smaller than D ₀ as time passes.
A time 61 between these times 60 and 62 is set to the same duty ratio as the duty ratio _D0 .

When the control pulse S2 shown in FIGS. 2a and _2b is input to the thyristor circuit 50, its rising and falling speeds change gradually, as shown by the speed characteristic 63 shown by the solid line in FIG. 3a. Controlled by speed characteristics. Note that the speed characteristic due to the control pulse S ₁ is shown by a broken line 64.

Figures 3b and 3c show other speed characteristic examples of this example, where figure 3b shows a case where a constant speed region 65 is provided even in the middle of the deceleration period, and figure 3c shows a case where there is no constant speed region. 3
This is the following curve characteristic 66.

FIG. 4 is a flowchart showing a control procedure for obtaining the speed characteristic 63 shown in FIG. 3a. in this case,
The setting angle given to the comparison means 54 is 3, β
and the angle at which the rotation ends (180°). In the figure, when the rotation command unit 59 is turned on in step, the power is connected to the thyristor circuit 50, and the reversible motor 43 becomes rotatable. At this time,
The switch circuit 55 switches to the slow drive circuit 56 side, controls the thyristor circuit 50 at a duty ratio _D1 , and gradually accelerates the reversible motor 43 (step). In step, the measured turning angle determined by counting the pulses output from the encoder 26 is compared with the set angle 3. Then, when the measured turning angle reaches this set angle 3,
In this step, the switch circuit 55 is switched to a constant speed drive circuit 57 to control the thyristor circuit 50 at a duty ratio _D0 to maintain the reversible motor 43 at a constant speed. The measured rotation angle by this constant speed control is compared with the set angle β in step, and when the measured rotation angle reaches this set angle β, the switch circuit 55 is again switched to the slow drive circuit 5 in step.
6 side, the thyristor circuit 50 is controlled at the duty ratio _D2 , and the reversible motor 43 is gradually decelerated. When 180° rotation is confirmed in step, the switch circuit 55 is switched to the stop circuit 58 in step to stop the reversible motor 43.
The speed characteristic resulting from the above speed control has a gentle acceleration portion 63a and a deceleration portion 63b, as shown in FIG. 3a.

In addition, in this example, the output of the encoder 26 is constantly counted, so if the count value at the stop position of the rotating frame 28 is memorized in advance, it is possible to prevent the machine from shifting from the proper stop position due to inertia or malfunction of the machine. Even in such cases, a return to origin can be performed to automatically return to the stored appropriate count value. This origin return control can also be applied to the reversible motor 32 that constitutes the elevating drive mechanism.

In addition, if the configuration is such that it is possible to output multiple types of control pulses with different waveforms in addition to the control pulse S ₂ shown in FIG. , its speed characteristics can be changed. Furthermore, arbitrary speed control is also possible.

Furthermore, in this example, the speed change is determined by comparing the measured rotation angle obtained by counting the output of the encoder 26 and the set angle 3, β, but of course the value obtained by counting the output pulses of the encoder 26 and the rotation start It is also possible to measure the subsequent times and use these values as a threshold for changing the speed by comparing them with a preset value. Furthermore, the encoder 26 may be provided in conjunction with the rotating shaft of the reversible motor 43.

(Effects of the Invention) As described above, according to the present invention, by controlling the turning angle according to the turning angle of the turning frame, it is possible to smoothly control the speed and reduce the impact force on the vehicle. In addition, by using an encoder as a means of detecting rotational speed,
Automatic return operation of the rotational origin position of a rotating table, etc. can be performed.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the drive control device for a circulating mobile parking facility according to the present invention, Fig. 2a is a waveform diagram showing basic control pulses, and Fig. 2b is a control pulse of this example. Figures 3 a to c are graphs illustrating the speed characteristics of this example;
Figure 5 is a flowchart showing the speed control procedure, Figure 5 is an overall front sectional view showing the circulation mobile parking equipment, Figure 6 is a plan view showing the lifting frame, the rotating frame and their drive mechanism, and Figure 7 is the FIG. 7...Cage, 7a...Cage frame, 7b...Vehicle chassis, 9...Enter/exit entrance, 10...Pits, 12...
Mobile lifting and turning device, 13, 14... trolley, 21...
...Elevating frame, 24...Circular rotating body, 26...
Encoder, 28... Rotating frame, 43... Reversible motor, 50... Thyristor circuit, 51... Arithmetic unit, 55... Switch circuit, 56... Slow speed drive circuit, 57... Constant speed drive circuit, 58... Stop circuit, W...vehicle.

Claims (1)

[Scope of utility model registration request] In a circulating parking facility in which vehicles are stored by circulating a large number of vehicle mounting cages, a vehicle platform is placed at the bottom of the cage frame of each cage, and the vehicle platform is equipped with an elevating and rotating device installed in a ground floor pit. The lifting/lowering device is configured to be able to rotate by engaging with the cage frame and lifting it upward from the lower part of the cage frame, and the lifting/lowering device includes a cart installed on the floor of the pit, an lifting frame installed in engagement with the cart, and a lifting/lowering device. an elevating drive mechanism for elevating and lowering a frame; a revolving frame that rises as the elevating frame rises and comes into contact with the lower surface of the vehicle; a revolving drive mechanism that rotates the revolving frame about a vertical axis; and a revolving speed of the revolving frame. The speed control device is provided in conjunction with the motor rotation shaft or the swing rotation shaft constituting the swing drive mechanism, and is configured to send a pulse signal corresponding to the swing angle. An encoder that outputs, a counting means that counts the encoder output, a calculation means that calculates a turning angle based on the count value, a comparison means that compares a predetermined turning angle and a calculated turning angle, and the comparison result. 1. A drive control device for a circulating parking facility, characterized in that the drive control device is configured to be driven and controlled by a motor, and is comprised of a control circuit that controls the rotational speed of the motor.