JPH09209596A - Multistory parking facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide parking facilities improved in carrying in-and-out working efficiency, compared with conventional facilities, in which the elevation speed of pallets is constant, having a long time required for carrying vehicles in and out, a poor carrying-in-and-out efficiency and a long time for customers to wait. SOLUTION: A moving body has an elevating means to elevate pallets via an elevator, a vehicle loading sensor 58 to detect the existance of the vehicles on the pallets, a pulse encoder 71 connected to an elevation driving unit (motor) 50 for the elevating means and an elevation controller 79 to input a vehicle loading detection signal and a pulse signal from the detecting means for driving the elevation driving unit 50. The elevation controller 79 varies the lowering speed of the pallets, when controlled by the elevating means, depending on the existance of the vehicles on the pallets judged by the vehicle loading detection signal and the positions of the pallets judged by a pallet elevation distance counted as a pulse signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-story parking facility capable of parking a large number of vehicles in a plurality of upper and lower stages (several floors).

[0002]

2. Description of the Related Art Conventionally, as a multi-level parking facility of this type,
For example, a multi-level parking facility as disclosed in Japanese Patent Laid-Open No. 5-263545 is provided. According to this conventional configuration, a plurality of first transport units, which are movable in the front-rear direction by driving wheels guided by the first guide rails and are capable of vertically moving a pallet on which a vehicle is mounted, and a second guide rail are provided. A plurality of second transport units, which are movable in the left-right direction by driving guided wheels and are capable of moving the pallets up and down, are provided in a frame body on which the first and second guide rails are laid, and in a plurality of upper and lower floors. It is built and configured.

According to this conventional structure, by performing the combined operation of the forward / backward movement of the first transfer unit and the left / right movement of the second transfer unit, it is moved up and down below the desired transfer unit on the target floor. A path can be formed, and in this state, the pallet raising / lowering means provided in the transport unit is operated to move the pallet to the ground (1
You can go up and down between floors.

[0004]

According to the above-mentioned conventional type, since the speed of raising and lowering the pallet is constant,
There is a problem that the time required for moving the vehicle in and out becomes long, the efficiency of the work of moving in and out is inferior, and the waiting time of the customer becomes long.

Therefore, the invention according to claim 1 of the present invention is intended to provide a multi-story parking facility with improved efficiency in taking in and out.

[0006]

In order to achieve the above object, the multi-level parking facility according to claim 1 of the present invention forms a plurality of upper and lower vehicle parking spaces in the main body and excludes the lowermost stage. The vehicle parking space on each tier forms a plurality of rows of parking compartments in the vehicle width direction, and in each tier except the bottom tier, the number of compartments is at least one less than the number of compartments and the compartments are movable in the row direction. A carriage and a movable body that is movable in the column direction below the carriage group are provided, and each of the carriages detachably supports a pallet on which the vehicle can be placed, and the movable body and each of the carriages are connected to each other. An elevating means that is capable of handing over the pallet and elevates the pallet via an elevating body; and a vehicle loading detection means that detects the presence or absence of the vehicle on the pallet,
Elevating distance detecting means for detecting an ascending / descending distance of the pallet by the elevating means, and control means for driving the elevating means by inputting a vehicle loading detection signal and a pallet ascending / descending signal of these detecting means are provided, and the control means is During the descent control of the pallet by the elevating means, the descent speed is varied according to the presence or absence of the vehicle on the pallet determined by the vehicle loading detection signal and the position of the pallet determined by the pallet elevation distance signal. It is characterized by.

With the above structure, when lowering the pallet from the trolley, first the trolley or the moving body is moved so that the trolley and the moving body are aligned with each other, and the elevating body is raised to scoop the pallet on the traverse trolley. The position of the trolley or the moving body is shifted to release the mounting posture.

Then, the pallet supported by the lifting body is lowered together with the vehicle toward the vehicle parking space on the lower stage.
When the elevating body descends, the presence or absence of a vehicle on the pallet is detected by the vehicle loading detection means, the pallet is descended at high speed when there is no vehicle, and at a speed lower than the high speed when there is a vehicle. Then, the elevating body lands and the descending is stopped, after which the vehicle is loaded and unloaded.

In the multi-level parking facility according to a second aspect of the present invention, a plurality of upper and lower tiered vehicle parking spaces are formed in the main body, and the tiered vehicle parking spaces except the lowermost tier are parked in a plurality of rows in the vehicle width direction. In each stage except the lowest stage, a trolley that is smaller than the number of partitions and movable in the column direction and a movable body that is movable in the column direction below these trolley groups are formed in each stage except the lowest stage. Each trolley detachably supports a pallet on which the vehicle can be placed, and a pallet that can transfer the pallet to and from the trolley to the moving body and that raises and lowers the pallet through the elevator. An overload detecting means of the elevating means, an elevating distance detecting means for detecting an elevating distance of the pallet by the elevating means, and a vehicle loading detection signal and a pallet elevating distance signal of these detecting means are input to drive the elevating means. The control means is provided, the control means,
When the pallet is controlled to be lifted by the lifting means, the lifting speed is varied depending on the presence / absence of the vehicle on the pallet judged by the overload detection signal and the position of the pallet judged by the pallet lifting distance signal. It is what

With the above construction, when the lifting body is lifted from the state where the lifting body is landed, if the overload of the lifting means is not detected by the overload detection means, the pallet is lifted at high speed and the overload is detected. If the lifting body is raised to the pallet lowering position of the truck, it is stopped. Then, the carriage and the moving body are aligned with each other, the elevating body is lowered, and the pallet is lowered onto the carriage.

Further, the multi-level parking facility according to claim 3 is the multi-level parking facility according to claim 1 or 2, wherein the control means, when a predetermined time has elapsed from the start of raising and lowering the pallet, the pallet. It is characterized by slowing down the ascending / descending speed of.

With the above structure, the elevating speed of the pallet is decelerated after a predetermined time has elapsed from the start of elevating the pallet, which prevents the pallet elevating distance detecting means from continuing to elevate at a high speed when the pallet elevating distance detecting means is defective. The shock to the vehicle and the moving body due to the sudden stop is reduced.

According to a fourth aspect of the present invention, there is provided the multi-level parking facility according to the second aspect, wherein the control means decelerates the rising speed of the pallet in response to an overload detection signal. To do.

With the above construction, the deceleration of the lifting speed of the pallet is continued unless the overload detection signal is turned off.
It is possible to prevent a situation in which the lifting means breaks down due to overload and the lifting body falls.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIGS. 2 to 4, the frame body 1 serving as the main body of the multi-story parking facility is composed of columns that are erected at predetermined intervals, and a plurality of front and rear members and left and right members that connect adjacent columns, In addition, the front and rear materials and the left and right materials allow the vehicle parking spaces 2A, 2B to have four stages (a plurality of stages) vertically.
2C and 2D are formed.

Then, in the vehicle parking spaces 2A to 2C of the second tier or more except the bottom tier, 3 in the row direction 3 which is the vehicle width direction.
Three rows (a plurality of rows) of parking sections 5 (9 sections in each row in the figure) are formed in rows (a plurality of rows) and in a row direction 4 which is a vehicle length direction. In the lowermost vehicle parking space 2D, three columns (a plurality of columns) in the column direction 3 and the row direction 4
The parking lot 5A (six in the drawing) is formed in two rows (a plurality of rows), so that the frontmost row is a turning space S of the vehicle 6.

In the vehicle parking spaces 2A to 2C of the second and higher tiers, the vehicle 6 is handled via the transverse pallet 15 or the longitudinal pallet 17. Here, on the outside of the transverse pallet 15, as shown in FIG. 5, from two locations (plural locations) at both ends in the column direction 3 and in the row direction 4,
The locked portion 16 is formed so as to face the opposite directions in the row direction 4. In addition, outside the vertical pallet 17, as shown in FIG. 6, from one end in the row direction 4 and both ends in the column direction 3, a locked portion 18 that faces outward in the row direction 4 is formed. From the other end in the row direction 4 and both ends in the column direction 3, a locked portion 19 is formed which faces the directions opposite to each other in the column direction 3.

5, FIG. 7, and FIG. 8, in the frame body 1 described above, in the partition portion of the parking section 5 in the row direction 4 of the vehicle parking spaces 2A to 2C of the second and higher stages, the column direction is provided. The beam member 7 along 3 is provided. These beam members 7 have an I-shaped cross section, and an upper rail 9 is arranged along the column direction 3 on each of the upper flange portions, and a lower rail 10 is arranged on each of the lower flange portions along the column direction 3. I have set up. Further, a pair of fixed side rails 11 in the column direction 3 are arranged along the row direction 4 in each of the parking sections 5 in the rows located in the front and rear.

A vehicle parking space 2A on each stage of the second stage and above
2C, in the row located at the center (one row of the adjacent rows), the number of vehicles is reduced by at least one division with respect to the number of divisions, that is, two transverse carriages 20 in the embodiment.
Are provided so as to be movable in the column direction 3. In the front and rear rows (the other row), there are provided vertical carriages 30 which are movable in the row direction 4 with the center row. The transverse carriage 20 and the longitudinal carriage 30 are configured to detachably support the respective pallets 15 and 17.

That is, the transverse carriage 20 has an elongated flat frame-shaped main body 21, wheels 22 provided at four corners of the main body 21, and a transverse drive device provided on the main body 21 in association with a pair of left and right wheels 22 ( Motor) 23. Then, it is configured to be movable in the column direction 3 by being mounted on the upper rail 9 provided on the beam member 7 via wheels 22.

Further, inside the main body 21 of the traversing carriage 20, pallet locking portions are provided from two locations (plural locations) at both ends in the row direction 3 and in the column direction 4 toward opposite directions (row direction 3). 24 are projected. The traverse side pallet 15 is
By locking the locked portion 16 from above from the pallet locking portion 24, the pallet locking portion 24 is supported by the traversing carriage 20.
15 and the transverse carriage 20 are slightly displaced in the column direction 3 to allow the locked portion 16 to escape laterally from above the pallet locking portion 24.
The traverse side pallet 15 can be moved up and down through the traverse carriage 20.

The vertical carriage 30 has the same structure as the horizontal carriage 20, and comprises a main body 31, wheels 32 and a vertical drive unit 33. Here, the wheels 32 of the vertical carriage 30 are provided so as to be displaced by 90 degrees from the horizontal carriage 20, and can be moved in the row direction 4 by being mounted on the fixed side rail 11 via the wheels 32. Is configured. At that time, the vertical carriage 30 becomes freely transferable to a moving body (described later) arranged in the central row. The main body 31 has pallet locking portions 34 protruding inward in the row direction 4 from one end side in the row direction 4 and both end sides in the column direction 3, and at the other end side in the row direction 4 and in the column direction. From both ends in the direction 3, pallet locking portions 35 are provided protruding inward in the row direction 3.

Therefore, the vertical pallet 17 is supported by the vertical carriage 30 by locking the locked portions 18 and 19 from above on the pallet locking portions 34 and 35, and the vertical pallet 17 is also supported. And the vertical carriage 30 are slightly displaced in the row direction 4 to allow the locked portions 18 and 19 to escape from above the pallet locking portions 34 and 35, thereby allowing the vertical pallet 17 to pass through the vertical carriage 30. It is constructed so that it can be moved up and down.

As shown in FIG. 2, FIG. 3, FIG. 7, and FIG. 8, a movable body 40 that is movable in the column direction 3 below the carriages 20 and 30 is provided in the central row. The main body side of the moving body 40 has the same structure as that of the transverse carriage 20 and includes a main body 41, wheels 42, and a transverse drive device 43. The wheels 42 are mounted on the lower rails 10 provided on the beam member 7 so as to be movable in the row direction 3. On the upper part of the main body 41, a pair of movable rails 44 are arranged along the row direction 4 in the column direction 3.

Here, the movable body 40 is movable in the row direction 3 by passing through below the bogies 20 and 30 group by setting the thickness by utilizing the vertical displacement of the upper rail 9 and the lower rail 10. Further, when stopped, the movable side rail 44 is connected to the fixed side rail 11 of the intended parking section 5 in a straight line.

The moving body 40 is provided with an elevating means 45 capable of transferring the pallets 15 and 17 to and from the carriages 20 and 30 and elevating the pallets 15 and 17. That is, the elevating means 45 has a pair of constant pulleys 46 and 47 inside the pair of frames facing each other in the column direction 3 of the main body 41 and at two positions in the row direction 4, respectively.

A drive shaft 48 along the column direction 3 is provided on one end side of the main body 41 in the row direction 4, and the drive shaft 48 is provided.
Lifting drive (motor) interlocked with the speed reducer 49
50 is provided in the main body 41. The drive shaft 48 has a row direction 3
The hoisting drums 51 are provided at both ends of the pulleys, and four hanging wire ropes 52 from the hoisting drums 51 are stretched from above to the pair of constant pulleys 46 and 47 at their respective positions. It is fixed to the main body 41 through the.

Further, an elevating body 54 is provided which can be raised and lowered through the inside of the main body 41. The elevating body 54 has a rectangular flat frame shape, and is provided with dynamic pulleys 55 at four locations corresponding to the pair of constant pulleys 46 and 47 at each location. These moving pulleys 55 are elevating bodies
54, and a pair of fixed pulleys 46, 47
In between, it is locked from above with respect to the suspended wire rope 52.

According to the construction of the elevating means 45 described above, the hoisting wire rope 52 can be wound or unwound by rotating the hoisting drum 51 in the forward and reverse directions via the drive shaft 48 and the like by driving the elevating and lowering drive device 50. , With moving pulley 55
The lifting body 54 can be moved up and down via the. At that time, the ascending / descending body 54 is brought into contact with the lower surfaces 15a and 17a of the pallets 15 and 17 supported by the carts 20 and 30 located immediately above from the lower side, and the cart 20 and
The pallets 15 and 17 are configured to be lifted from 30 and the elevating body 54 is configured to descend to the front parking section 5A in the lowermost vehicle parking space 2D.

Further, an elevating body 54 is provided on the main body 41 and a pallet on a trolley.
An upper limit limit switch 56, which is an upper limit detection unit that detects that the elevator 15 is in the scooping position, an intermediate limit switch 57 that is an intermediate detection unit that detects that the lifting body 54 is located in the main body 41, and the pallet 15 (Or, pallet 17) Vehicle loading sensor 58 (OFF when vehicle 6 is detected) consisting of a photoelectric switch that detects whether vehicle 6 is placed on the elevator body
54 is landing, ie pallet 15 (or pallet 17)
Is provided with a slack detector (lower limit detection means) 59 that detects when the vehicle reaches the lowermost vehicle parking space by the slack of the wire rope 52, and a pulse encoder 71 that detects the rotation of the drive shaft 48 is provided. There is.

Further, as shown in FIGS. 2 and 4, in the lowermost vehicle parking space 2D, the vehicle moves in the row direction 4 to the parking section 5A of the innermost row and the parking section 5A of the front row. A vertical action body 60 is provided which is free and allows the vehicle 6 to be directly placed thereon. Further, the parking section 5A in the front row is provided with a lateral action body 65 that is at least one less than the number of sections, that is, two lateral action bodies 65 that are movable in the column direction 3. Can be placed directly.

The vertical motion body 60 has the same structure as the vertical carriage 30 and is composed of a main body 61, wheels 62, a vertical drive device 63 and the like. And it is configured to be movable in the row direction 4 by being mounted on a vertical rail 64 provided on the floor side via wheels 62. The traversing body 65 has the same configuration as the traverse vehicle 20, and includes a main body 66, wheels 67, a traverse driving device 68, and the like. And it is configured to be movable in the row direction 3 by being mounted via a wheel 67 on a horizontal rail 69 provided on the floor side.

As shown in the figure, the length of the four (a plurality of) hanging wire ropes 52 is set so that the moving pulleys 55 provided on the lifting body 54 are always at the same height. doing. In addition, each of the hanging wire ropes 52
The book disperses the load and enhances safety.

The drive devices 23, 33, 43, 50, 63, 68, etc. are driven by commands from controllers provided in the control panel 12 and their operations are controlled. Also, a signal transmission line and a power supply line are omitted. As shown in FIGS. 2 and 3, a deck 13 is provided at one end of the frame body 1 in the row direction 3 so as to face each of the second and higher tiers, so that the deck 13 can be further raised. Ladder 14 is installed.

FIG. 1 shows a control block diagram of the lifting drive device (motor) 50. The lift drive device 50 is provided with a current detector 76 that is supplied with power via an inverter 75 and detects the supplied current, and is configured so that the lift drive device 50 is stopped by the operation of a brake 77. The motor current value detected by the current detector 76 is passed through the analog-digital converter (A / D converter) 78 to move up and down the driving device 50.
Is input to the controller (elevation controller) 79 of the elevating controller 50, and the elevating controller 79 outputs the speed command signal of the elevating drive device 50 to the inverter 75 via the digital-analog converter (D / A converter) 80. The operation signal is output to.

The elevating controller 79 inputs a drive / stop command signal for the elevating body 54 and another command signal for ascending / descending from an overall controller 81 which controls the controllers of the respective drive devices, and outputs the pulse of the pulse encoder 71. Signal and defective signal, the upper limit position detection signal of the upper limit switch 56, the intermediate position detection signal of the intermediate limit switch 57, the vehicle detection signal of the vehicle loading sensor 58, the lower limit position detection signal of the wire slack detector 59, and the above Outputs speed command signal and operation signal. The general controller 81 is arranged in the control panel 12, and integrally controls the entire equipment according to an operation signal from the operation panel 82 installed in the vicinity.

The control blocks of the lift controller 79 are shown in FIGS. The control block is composed of a common section, a descending control section, and an ascending control section. The common part will be described with reference to FIG.

A relay RW driven by an RS flip-flop set / reset by the drive / stop command signal, a relay RX driven by an RS flip-flop set / reset by the up / down command signal, and wire slack detection. The relay RY driven by the lower limit position detection signal of the device 59 and the relay RZ driven by the defective signal of the pulse encoder 71 are provided, and the motor current value detected by the current detector 76 is set to the preset overload current. A comparator is provided to judge whether the value is larger than a value, and a relay ST is provided which is driven when it is judged as an overload by the comparator. When raising and lowering the lifting body 54,
When the relay ST operates, stall control (described later) is executed.

Further, the lowering control speed command signal VD output from the lowering control unit and the rising control speed command signal VU output from the rising control unit are switched by the relay RX, and when the relay RW is off, that is, The speed command is switched to "0" when stopped. Further, a descending brake command signal (ON signal of relay SP) output from a descending control unit and an ascending brake command signal (ON signal of relay SQ) output from the ascending control unit are switched by the relay RX, which will be described later. The logical sum (OR) is taken and output so that the brake is applied when the RW is off.

FIG. 10 is a block diagram of the descending control unit and FIG.
This will be explained with reference to 15 characteristic diagrams. A relay RA driven by an RS flip-flop set / reset by the upper limit position detection signal of the upper limit switch 56 and the intermediate position detection signal of the intermediate limit switch 57, the intermediate position detection signal of the intermediate limit switch 57 and the relay RY (wire slack Relay RB driven by RS flip-flop set / reset by ON signal of lower limit position detection signal of detector 59, relay driven by OFF signal of vehicle detection signal of vehicle loading sensor 58 and ON signal of relay RY RC
Is provided.

Further, relay RB (intermediate limit switch
57 operation) is provided with a timer that counts time when it is on, and the time t1 counted by this timer is
Is provided with a comparator that determines whether a preset "high speed 2" (described later) acceleration start time (Tmax1 + α) has elapsed, and a relay RK that is driven when it is determined that time has elapsed by this comparator. Further, a comparator is provided for judging that the time t1 has passed a preset "high speed 1" (described later) deceleration start time Tl1, and a relay which is driven when the time is judged by this comparator. An RG is provided, and a comparator is provided to judge that the time t1 has passed a preset "high speed 2" (described later) deceleration start time Tl2. When the time t1 is judged to have passed, the comparator is driven. A relay RH is provided.

Further relay RK ("high speed 2" acceleration starts)
Is provided and the relay RC (vehicle load detection) is off, a relay RL is provided, a timer is provided for counting the time by the operation of the relay RL, and the time t2 counted by the timer is A comparator is provided for judging that a preset time Td has passed, and a relay RI which is driven by the comparator when the relay RZ (encoder failure) is judged to have elapsed and which is driven is provided. , A timer that counts time when relay RG (high speed 1 deceleration) is on (counted time t3) and a timer that counts time when relay RH (high speed 2 deceleration) is on (counted time) t4) is provided.

Further, a counter for resetting by the intermediate position detection signal of the intermediate limit switch 57 and counting the pulse signal of the pulse encoder 71 is provided, and the descending distance H of the lifting / lowering body 54 detected by this counter is "high speed" which will be described later. 1 "A deceleration set value [K- (Lmax1 + C)] is provided with a comparator for judging whether it has become larger, and the relay RD which is driven when it is judged by this comparator that it has become larger
Is provided, and a comparator for determining whether or not the descending distance H has become larger than a "high speed 2" deceleration set value [K- (Lmax2 + C)] described later is provided, and it is judged by this comparator that it has become larger. Is provided with a relay RE, and a comparator is provided to determine whether or not the descending distance H is larger than a "low speed" set value [K-C], which will be described later. A relay RF is provided which is driven when it is operated, and the remaining distance L until the landing by subtracting the descending distance H from the ascending / descending distance K is provided.
A subtractor for calculating

When the relay RY (lower limit detection) is operated under the condition that the relay RZ (encoder failure) is off and the relay RF (elevating body reaches the lower limit of distance) is on, the relay RZ (encoder lower limit) operates. A relay SP that is driven when the relay RY operates is provided on the condition that the (bad) is on and the relay RG (the lifting body reaches the timer lower limit region) is on. When the relay SP is on, the brake 77 is activated.

The arithmetic expression shown in FIG. 11 is shown below. In the arithmetic expression, as shown in FIG. 15, Vmin is a constant speed when "low speed" is selected, Vmax1 is a constant speed when "high speed 1" is selected, and Vma
x2 is a constant speed when "high speed 2" is selected, a is acceleration / deceleration, C is a descending distance due to a low speed when stopped, Lmax1 is a descending distance until becoming a low speed when "high speed 1" is selected, and Lmax2 is "high speed 2" It is the descending distance until the speed becomes low at the time of selection. Lmax1, Lmax2
Is calculated in advance by Lmax1 = (Vmax1 ² −Vmin ² ) / 2a Lmax2 = (Vmax2 ² −Vmin ² ) / 2a. [Calculation formula 1] V1 = t1 / Tmax1 * (Vmax1-Vmin) + Vmin (however, Tmax1 = (Vmax1-Vmin) / a) [Calculation formula 2] V2 = t2 / Tmax2 * (Vmax2-Vmax1) + Vmax1 (however, Tmax2 = (Vmax2-Vmax1) / a) [computing equation 3] V3 = root [(L-C) / Lmax1 × (Vmax1 2 -Vmi
n ² ) + Vmin ² ] [Equation 4] V4 = route [(L−C) / Lmax2 × (Vmax2 ² −Vmi
n ²⁾ + Vmin ^2] [arithmetic expression 5] V5 = Vmax1-t3 / Tmax1 × (Vmax1-Vmin) ( where, Tmax1 = (Vmax1-Vmin) / a) [arithmetic expression 6] V6 = Vmax2-t4 / Tmax2 × (Vmax2-Vmin) (however, Tmax2 = (Vmax2-Vmin) / a) According to the above formula 1, the command speed V1 at the time of acceleration by "high speed 1" is calculated from the low speed Vmin, and is limited to the constant speed Vmax1 by the upper limiter. (Output command speed V1 '), and the command speed V3 at the time of deceleration by "high speed 1" is calculated from the constant speed Vmax1 by the above calculation formula 3, and is limited to the constant speed Vmin by the lower limiter, and the relay RD (high speed 1 The operation is switched by the (deceleration) operation, and the descending curve of "high speed 1" shown in FIG. 15 is output. Further, the above-mentioned arithmetic expression 5 calculates the command speed V5 at the time of deceleration by "high speed 1" from the constant speed Vmax1, is limited to the low speed Vmin by the lower limiter, and is switched by the operation of the relay RI (encoder defect),
Instead of the command speed V3 during deceleration, the command speed V5 during deceleration is output.

The command speed V2 for accelerating from the constant speed Vmax1 is calculated by the arithmetic expression 2, and the command speed V4 at the time of deceleration by "high speed 2" is calculated from the constant speed Vmax2 by the upper limit limiter. Then, it is limited to a constant speed Vmin by the lower limiter and switched by the operation of the relay RE (high speed 2 deceleration), and the descending curve of "high speed 2" shown in FIG. 15 is output. Further, by the above calculation formula 6, the command speed V6 at the time of deceleration by "high speed 2" is calculated from the constant speed Vmax2, and the constant speed Vmin is calculated by the lower limiter.
And is switched by the operation of the relay RI (encoder failure), and the command speed V6 during deceleration is output instead of the command speed V4 during deceleration.

When switching between "high speed 1" and "high speed 2", the relay RL is turned off, that is, when the loading of the vehicle 6 is confirmed, "high speed 1" is selected and the relay RL is turned on, that is, the vehicle 6 is turned on. If loading is not confirmed, "high speed 2" is selected and the vehicle is accelerated again.

Until the relay RA operates, that is, the upper limit switch 56 operates and the intermediate limit switch 57 operates, the low speed Vmin is selected, and the relay S
When P is actuated, ie the brake is actuated, the speed "
0 ", that is, a stop signal is output.

With the configuration of the descending control section, as shown in FIG. 15, the intermediate limit switch 57 is lowered at a low speed Vmin until the intermediate limit switch 57 is operated (the relay RB is on), that is, the relay RB is on. Then, the acceleration a is accelerated to the constant speed Vmax1, and when the relay RL (“high speed 2” acceleration start and vehicle loading detection) is off, the acceleration a is accelerated to the constant speed Vmax2.

In the case of "high speed 2", the relay RE
When (high speed 2 deceleration) is turned on, that is, when the position reaches (Lmax2 + C) above the lower limit position, deceleration a decelerates to low speed Vmin, and in case of "high speed 1", relay RD
When (high speed 1 deceleration) is turned on, that is, when the position reaches (Lmax1 + C) above the lower limit position, deceleration a decelerates to a low speed Vmin, and relay RF (low speed region) is turned on and relay RY operates, that is, the lower limit. When reaches, the brake is activated, the speed command is set to "0", and the brake is stopped.

If the pulse encoder 71 is defective,
In the case of "high speed 2", when the relay RH (high speed 2 deceleration) is turned on, that is, when the predetermined time Tl2 is operated, the deceleration a
When the relay RG (high speed 1 deceleration) is turned on in the case of "high speed 1", that is, when a predetermined time Tl1 operates, the speed is reduced to a low speed Vmin by deceleration a and the relay RG (high speed 1 deceleration) ) Is turned on and relay R
When Y operates, that is, when the lower limit is reached, the brake is operated, the speed command is set to "0", and the brake is stopped. Therefore,
Even when the pulse encoder 71 is defective, it can be stopped safely. When both the relay RF and the relay RG are off and the relay RY is on, an alarm of "wire slack detection failure" can be issued.

FIG. 12 to FIG. 14 are block diagrams and views of the raising control unit.
It will be described with reference to 16 characteristic diagrams. A timer is provided for counting time from when the relay RY (wire slack detection signal) is off, that is, when the lifting body 54 starts rising from the lower limit, and the time t10 counted by this timer is set.
Is provided with a comparator for judging that a preset time Td has elapsed, a relay RM which is driven when the time is judged by this comparator to be elapsed, and a time t10 has passed a predetermined time TH. A comparator for judging is provided, and a relay RS is provided which is judged to have elapsed time by this comparator and is driven when the relay RM is on. A timer (count time t9 when the relay RS is turned on is provided). ) Is provided.

A relay RP1 driven by an RS flip-flop set / reset by a relay ST (stall signal) and an upper limit position detection signal of the upper limit switch 56 is provided.

On the condition that the relay RP1 is off, another timer (count time t5) for driving when the relay RY (wire slack detection signal) is off is provided, and when the relay RP1 is on, it is driven. A timer is provided, and a comparator is provided for judging that the time t6 counted by the timer has passed a preset time Tc. The relay RQ1 driven when it is determined that the time has passed by the comparator. Is provided.

Further, a relay R driven by an RS flip-flop set / reset by a signal in which the relay ST (stall signal) is turned on and the relay RQ1 is turned on and the upper limit position detection signal of the upper limit switch 56.
P2 is provided, a timer is provided for driving when the relay RP2 is on, and a comparator is provided for judging that the time t7 counted by the timer has exceeded a preset time Tc. A relay RQ2 is provided which is driven when it is determined that the time has elapsed.

The relay ST (stall signal) is turned on,
The relay RP3 driven by the RS flip-flop set / reset by the relay RQ2 ON signal and the upper limit position detection signal of the upper limit switch 56.
Is provided, and a timer (counting time t8) which is driven when the relay RP3 is turned on is provided.

Further, a counter is provided which is reset when the relay RY (lower limit position) is turned on and counts the pulse signal of the pulse encoder 71. The ascending distance H of the lifting / lowering body 54 detected by this counter is a deceleration setting which will be described later. A comparator is provided to judge whether the value has become larger than the value [K- (LmaxH + C)], and the relay RR driven when the relay RM (time Td has elapsed from the lower limit position) is judged to have become larger by this comparator. And a subtractor for subtracting the ascending distance H from the ascending / descending distance K to calculate the remaining ascending distance L.

Further, the relay RU is turned on and the relay RY is turned on, that is, the relay RU which is driven when the rising command and the lower limit position are set, and when the upper limit switch 56 is turned on, the relay RU is driven and the brake 77 is operated. Relay SQ
And a relay RT for switching when the relay RM (time Td has elapsed from the lower limit position) is on and the relay RZ is on, that is, the pulse encoder 71 is defective.

The arithmetic expression shown in FIG. 14 is shown below. In the calculation formula, as shown in FIG. 16, Vmin is a constant speed when "low speed" is selected, Vmax2 is a constant speed when "high speed 2" is selected, a is acceleration / deceleration, C is a descending distance due to a low speed when stopped, LmaxH Is the descending distance from the maximum speed to the low speed. LmaxH
It is calculated by ^{LmaxH = (VmaxH 2 -Vmin 2)} / 2a. [Equation 8] V8 = t5 / Tmax3 × Vmax2 + Vmin (where Tmax3 = (Vmax2-Vmin) / a) [Equation 9] V9 = t6 / Tmax3 × Vmax2 [Equation 10] V10 = t7 / Tmax3 × Vmax2 [ Formula 11] V11 = t8 / Tmax3 × Vmax2 [Formula 12] V12 = Route [(L−C) / LmaxH × (VmaxH ² −Vmi
n ²⁾ + Vmin ^2] [arithmetic expression 13] V13 = VmaxH-t9 / TmaxH × (VmaxH-Vmin) ( where, TmaxH = (VmaxH-Vmin) by / a) above operation expression 8, "fast 2" slower Vmin The command speed V8 at the time of acceleration by is calculated, and is limited to the constant speed Vmax2 by the upper limiter (output command speed V8 '), and V9 subtracted by the first stall signal is calculated by the above formula 9, and the upper limit is calculated. Down speed ΔV by limiter
V10 subtracted by the second stall signal is calculated by the above-mentioned arithmetic expression 10, V10 subtracted by the upper limit limiter by the upper limit limiter, and V11 subtracted by the third stall signal by the above-mentioned arithmetic expression 11 Is calculated and is limited to the descending speed ΔV by the upper limiter.

When the relay RP1 is ON, that is, when the relay RP2 is ON, that is, when the relay RP2 is ON, that is, when the relay RP2 is ON, that is, when the relay RP1 is ON, that is, the first stall signal is selected The command speed obtained by subtracting V10 limited to ΔV from the command speed is selected by the stall signal of, and when the relay RP3 is turned on, that is, the third stall signal causes V10 limited to ΔV from the command speed. The subtracted command speed VmaxH
Is selected and output.

A command speed V12 for deceleration is calculated from the remaining distance L and the speed VmaxH, the speed is limited to a constant speed Vmin by the lower limiter, and switching is performed by the operation of the relay RR, and the descending curve shown in FIG. 16 is output. . Further, according to the above equation 13, the command speed V13 when decelerating from the constant speed VmaxH
Is calculated and is limited to the low speed Vmin by the lower limit limiter, and is switched by the operation of the relay RT, that is, when the pulse encoder 71 is defective, the command speed V during deceleration is calculated.
Instead of 12, the command speed V13 during deceleration is output.

When the relay RU is operating, that is, when the low speed is selected, the low speed Vmin is selected, and when the relay SQ is operating, that is, when the brake is operated, the speed "0", that is, a stop signal is output. With the configuration of the ascending control unit, as shown in FIG. 16, the relay RY is turned on, that is, the relay RY is turned up at the low speed Vmin at the lower limit position, and the relay RY is turned off.
That is, when the distance from the lower limit is exceeded, the acceleration is accelerated toward the constant speed Vmax2 at the acceleration a, and when the relay ST (stall signal) is turned on, the relay ST is decelerated by the deceleration a by ΔV, and after the time Tc, the relay ST (stall signal) is changed. When it is confirmed that the relay ST is on, the vehicle is decelerated by the deceleration a by ΔV, and after the time Tc, when it is confirmed that the relay ST is on, the vehicle is decelerated by the deceleration a by ΔV.

When the relay RR is turned on, that is, when it reaches a position (LmaxH + C) below the upper limit position, it is decelerated to a low speed Vmin by the deceleration a and the relay SQ is reduced.
Is activated, that is, when the upper limit is reached, the brake is operated, the speed command is set to "0", and the brake is stopped.

When the pulse encoder 71 is defective, when the relay RS is turned on, that is, when the predetermined time tH operates, the deceleration a decelerates to the low speed Vmin. Therefore, even if the pulse encoder 71 is defective, it can be stopped safely.

By the operation of the elevating controller 79, when the elevating body 54 descends, when the vehicle 2 is not loaded, the descending speed is increased from "high speed 1" to "high speed 2" to shorten the descending time. In addition, when the vehicle 2 is not loaded at the time of climbing, the climbing time can be shortened by increasing the climbing speed to "high speed 2". When the pulse encoder 71 is defective, the lifting / lowering body 54 is decelerated by the timer operation, so that the traverse carriage 20 moves.
It is possible to prevent the vehicle from crashing into the landing point and to mitigate the shock to the vehicle 6 due to the sudden stop.

Unless the overload detection signal is turned off, the deceleration of the ascending speed is continued, so that it is possible to prevent a situation in which the elevating means 45 fails due to an overload and the elevating body 54 falls, so that safety is ensured. You can

The exit operation of the vehicle 6 will be described in the above embodiment. For example, in FIG. 17, the position of each of the three rows is set to A, B, C for the sake of clarity.
The position of each of the three lines is a, b, and c. The command signal is output from the control panel 12 when the driver or the administrator operates the operation panel 82 to leave the warehouse.

Here, as shown in FIG. 17 (a), the uppermost vehicle parking space 2A is set as the parking section 5 for loading and unloading.
It is assumed that the position of [B c] in is selected.
In the central row [b], the trolley 20 is located in one column [A] and the central column [B], and the moving body 40 is located in the other column [C]. And

In each of the transverse carriages 20 and the longitudinal carriages 30, the actual or empty pallets 15 and 17 supporting the vehicle 6 are
As shown by the solid lines in FIGS. 5 and 6, the locked portions 16, 18,
19 is supported by being locked to the pallet locking portions 24, 34 and 35 from above. Further, in the moving body 40, as shown by the dotted line in FIG. 8, the elevating body 54 that does not support the pallets 15 and 17 is in the raised position.

In this state, when the delivery operation is first performed, [B
The transverse carriage 20 that is stopped at the position [B] and the moving body 40 that is stopped at the position [C] are opposed to the position of [C], and the traversing of the movable body 40 is performed simultaneously or in tandem. Be seen. That is, as shown in FIG. 17 (b), the traverse carriage 20 is traversed to the other side by the operation of the traverse drive device 23, whereby the traverse carriage 20 is stopped at the position [C]. Further, the traverse of the moving body 40 is performed toward the central portion side by the operation of the traverse driving device 43, and the moving body 40 is stopped at the position [B].

Simultaneously with the movement of the moving body 40 described above, the transverse carriages located in the intermediate vehicle parking spaces 2B, 2C.
At least one of the moving body 20 and the moving body 40 traverses, empties the parking section 5 facing the above-mentioned position [B] from the lower side, and further is located in the lowermost vehicle parking space 2D. A hoistway in which the body 65 traverses and empties the parking section 5A facing the above-mentioned [B-ro] position from below and reaches the lowermost vehicle parking space 2D below the [B-ro] position. Form H.

As described above, in the uppermost vehicle parking space 2A, the traversing carriage 20 and the moving body 40 are interchanged by traversing, and at that time, the two pass each other up and down. As shown in FIG. 7, the movable body 40 stopped at the position [B] connects the movable side rail 44 to the fixed side rail 11. Next, the vertical carriage located at [B Ha]
The 30 longitudinal drive devices 33 are activated, which causes the longitudinal carriage 30
Moves from the fixed side rail 11 to the movable side rail 44, and as a result moves onto the moving body 40 as shown in FIG. 17 (c),
The vertical pallet 17 is positioned right above the elevator 54 and stopped.

In this state, first, the elevating / lowering drive device 50 is operated in the winding direction of the hanging wire rope 52 to move the elevating / lowering body 54.
To rise. Then, the ascending / descending body 54 contacts the pallet lower surface 17a of the vertical pallet 17, and the vertical pallet 17
Lift 17 from vertical trolley 30. The phantom line in FIG. 8 shows the state where the traverse side pallet 15 is lifted from the traverse carriage 20, and the lifting posture is the same.

When the lifting of the lifting / lowering body 54 is completed, the vertical carriage 30 is slightly moved vertically, and as shown by the phantom line in FIG. The locked portions 34, 35 of the pallet 17 are released from the pallet locking portions 34, 35 of the vertical carriage 30 in the vertical direction. Next, the lifting drive device 50
The suspension wire rope 52 in the feeding direction,
By lowering the elevating body 54, the vertical pallet 17 and the vehicle 6 descend through the vertical carriage 30 as shown by the phantom line in FIG. It may descend to the vehicle parking space 2D. At this time, the raising / lowering controller 79 executes the lowering control.

By the descending operation described above, as shown in FIG. 17 (d), the lifting body 54 lands on the empty parking section 5A, that is, the lifting body 54 is placed on the vertical rails 64 and the horizontal rails 69. As a result, the descent is stopped, and thereafter, the driver or the administrator can get out by riding in the vehicle 6 and driving.

Thereafter, by the action opposite to that described above, the raising / lowering drive device 50 is operated in the winding direction of the hanging wire rope 52, and the raising / lowering body 54 is raised in the hoistway H. At this time, the lifting control by the lifting controller 79 is executed.

In this way, the elevating body 54 is raised in the hoistway H to the position of the moving body 40, and the empty vertical pallet 17 is returned to the vertical carriage 30. At a suitable time point, the empty vertical carriage 30 is returned to the position of [B ha] and moved to complete a series of departure operations. Note that the vehicle 6 stopped in the return space S is operated in the opposite manner to the above.
Can be stored at the position [B] in the uppermost vehicle parking space 2A.

As described above, when the moving body 40 is stopped at the position of [B], it is possible to carry in and out at the position of [B] on the opposite side. Further, when the moving body 40 is stopped at the position of [C], it is possible to carry in and out at the positions of [C] and [C]. Further, when the moving body 40 is stopped at the position [A] in the reverse direction, it is possible to carry out the loading / unloading at the position [A] or [A].

For moving in and out of the transverse carriage 20, the moving body 40 is located directly below the desired transverse carriage 20, or the desired transverse carriage 20 is located directly above the movable body 40, and then It can be done by operating in the same manner as. At this time, the locked portion 16 and the pallet locking portion 24 are disengaged from each other, as shown by the imaginary line in FIG. This can be done by letting the pallet locking portion 24 escape in the transverse direction with respect to the locked portion 16 of the side pallet 15. In addition, the vehicle parking spaces 2B and 2C in the middle stage
The loading and unloading of the same is performed in the same manner, but at that time, the operation for forming the hoistway H is not performed in the step above the corresponding step.

Further, loading and unloading into and from the vehicle parking space 2D in the lowermost stage is performed when the loading and unloading work on the upper stage side is stopped. That is, the entry / exit to / from the innermost vertical action body 60 is performed by emptying (opening) the front of the intended vertical action body 60 due to the horizontal movement of the horizontal action body 65, and then emptying the parking section 5A.
Then, by arranging the vertical action body 60 in a vertical direction, the vehicle 6 can enter and leave the vehicle from the switching space S with respect to the intended vertical action body 60. Thereafter, the vertical action body 60 traverses in the reverse direction and returns to the home position. Regarding the entry / exit to / from the lateral action body 65 in the front row, the vehicle 6 can enter / exit from the switching space S regardless of the position where the lateral action body 65 is stopped.

Further, in each stage, only the moving body 40 is provided with the elevating means 45, and the transverse carriage 20 and the vertical carriage 30 are not provided with the elevating means, so that the whole structure can be made simple and lightweight. Further, by providing the transverse carriage 20 movable in the column direction 3, the vertical carriage 30 movable in the row direction 4, and the movable body 40 having the elevating means 45 and movable in the column direction 3, The parking space 5 can be formed above the turning space S, which has been a dead zone in the past (more than two steps), and the storage efficiency is significantly improved compared to the number of multi-storey parking facilities with the same space and the same number of steps. You can

In the above embodiment, the moving body 40 provided with the lifting means 45 is movable in the column direction 3, but the moving body 40
It is also possible to employ an embodiment in which the moving direction of is also up and down and which also serves as the elevating means.

Further, in the above-mentioned embodiment, the three-row type in which the rows having the parking section 5 of the vertical carriage 30 are arranged before and after the row having the horizontal carriage 20 and the moving body 40, respectively, is shown. It may be a four-row type in which the rows having the transverse carriage 20 and the moving body 40 are arranged in two rows (double).

Further, in the above embodiment, the parking section 5 is formed in three rows, but it may be two rows or three or more rows. In the case of three or more rows, a plurality of traversing cars 20 may be incorporated in each stage. The number of upper and lower stages is arbitrary, and the scale of the multi-story parking facility can be arbitrarily set according to these types, so that the storage efficiency can be further greatly improved.

In the above embodiment, the transverse carriage 20, the longitudinal carriage 30, the moving body 40, the vertical body 60, and the lateral body 65 are shown as a self-propelled type. A type that pushes and pulls with an electric cylinder provided,
It may be of a type that receives power from another and moves.

[0086]

According to the first aspect of the present invention, the presence or absence of the vehicle on the pallet is detected by the vehicle loading detection means when the elevator is lowered, and the pallet is lowered at high speed when there is no vehicle. By doing so, the pallet lowering time can be shortened, so that the work efficiency can be improved and the waiting time of the customer can be shortened.

According to the second aspect of the present invention, when the lifting / lowering body is raised, when the overload of the lifting means is not detected by the overload detection means, that is, when it is determined that there is no vehicle on the pallet, By lifting the pallet at a high speed, the lifting time of the lifting body can be shortened, thus improving work efficiency.

Further, according to the invention described in claim 3,
After a lapse of a predetermined time from the start of raising and lowering the pallet, the raising and lowering speed of the pallet is decelerated to prevent the pallet raising and lowering distance from being continued to rise and fall at a high speed in the event of a malfunction in the pallet raising and lowering distance detection means. It is possible to mitigate the shock to the vehicle and the moving body caused by.

According to the fourth aspect of the present invention, when the overload detection signal is detected, the ascending speed of the pallet is decelerated so that the lifting means fails due to the overload and the lifting body falls. The situation can be prevented and safety can be improved.

[Brief description of drawings]

FIG. 1 is a control configuration diagram of a lifting drive device for a multilevel parking facility according to an embodiment of the present invention.

FIG. 2 is a side view of the three-dimensional parking facility.

FIG. 3 is a plan view of the second and higher tiers of the multilevel parking facility.

FIG. 4 is a bottom plan view of the same multi-level parking facility.

FIG. 5 is a plan view of a traversing trolley portion of the multi-story parking facility.

FIG. 6 is a plan view of a vertical carriage portion of the multilevel parking facility.

FIG. 7 is a plan view of a moving body portion of the multi-story parking facility.

FIG. 8 is a side view of a transverse carriage and a moving body portion of the multi-level parking facility.

FIG. 9 is a block diagram of an elevating controller of the three-dimensional parking facility.

FIG. 10 is a block diagram of an elevating controller of the same multi-level parking facility.

FIG. 11 is a block diagram of an elevating controller of the three-dimensional parking facility.

[Fig. 12] Fig. 12 is a block diagram of a lift controller of the multilevel parking facility.

[Fig. 13] Fig. 13 is a block diagram of a lift controller of the multilevel parking facility.

[Fig. 14] Fig. 14 is a block diagram of a lift controller of the multilevel parking facility.

[Fig. 15] Fig. 15 is a characteristic diagram of the descent control by the elevating controller of the three-dimensional parking facility.

FIG. 16 is a characteristic diagram of ascending control by the ascending / descending controller of the multistory parking facility.

[FIG. 17] FIG. 17 is an explanatory view showing a procedure for leaving the vehicle of the multi-storied parking facility.

[Explanation of symbols]

 1 Frame (main body) 2A Top (4th) vehicle parking space 2B 3rd vehicle parking space 2C 2nd vehicle parking space 2D Bottom (1st) vehicle parking space 3 Row direction ( Vehicle width direction 4 Row direction (vehicle length direction) 5 Parking area 5A Parking area 7 Beam member 15 Traverse side pallet 17 Longitudinal side pallet 20 Traverse carriage 23 Traverse drive unit 30 Traverse carriage 33 Vertical drive unit 40 Moving body 43 Traverse drive 45 Lifting means 50 Lifting drive 56 Lifting wire rope 54 Lifting body 56 Upper limit switch 57 Intermediate limit switch 58 Car load sensor (car load detection means) 71 Pulse encoder (lift distance detection means) 75 Inverter 76 Current detection Device (overload detection means) 77 Brake 79 Lift controller (control means)

Claims (4)

[Claims] 1. A main body is formed with a plurality of upper and lower tiered vehicle parking spaces, and each tier of the vehicle parking space except the lowermost tier is formed with a plurality of rows of parking sections in the vehicle width direction, excluding the lowermost tier. Each stage is provided with a carriage that is smaller than the number of compartments by at least one division and that is movable in the row direction, and a movable body that is movable in the row direction below these carriage groups. An elevating means for detachably supporting a pallet on which a vehicle can be placed, and for moving the pallet to and from each of the carriages and elevating the pallet via an elevating body,
Based on the vehicle loading detection means for detecting the presence or absence of the vehicle on the pallet, the lifting distance detection means for detecting the lifting distance of the pallet by the lifting means, and the vehicle loading detection signal and the pallet lifting distance signal of these detection means A control means for driving the elevating means is provided, and the control means is determined by the presence / absence of the vehicle on the pallet determined by the vehicle loading detection signal and the pallet elevating distance signal when the pallet lowering control is performed by the elevating means. A multi-storey parking facility characterized in that the descending speed is variable according to the position of the pallet. 2. The main body is formed with a plurality of upper and lower tiered vehicle parking spaces, and each tier of the vehicle parking space other than the lowermost tier is formed with a plurality of rows of parking compartments in the vehicle width direction, excluding the lowermost tier. Each stage is provided with a carriage that is at least one division smaller than the number of compartments and that is movable in the row direction and a movable body that is movable in the row direction below these carriage groups. Elevating means for detachably supporting a pallet that can be placed, the moving body being capable of delivering and receiving pallets between each trolley and elevating the pallet via an elevating body,
Overload detecting means of the ascending / descending means, ascending / descending distance detecting means for detecting the ascending / descending distance of the pallet by the ascending / descending means, and control for driving the ascending / descending means based on the vehicle loading detection signal and the pallet ascending / descending signal of these detecting means. The control means is provided with a rising speed depending on the presence or absence of the vehicle on the pallet judged by the overload detection signal and the position of the pallet judged by the pallet ascending / descending distance signal when the pallet ascending control by the elevating means. A multi-story parking facility with a variable construction. 3. The multi-level parking facility according to claim 1 or 2, wherein the control means decelerates the lifting speed of the pallet when a predetermined time has elapsed from the start of lifting the pallet. To do. 4. The multi-storey parking facility according to claim 2, wherein the control means decelerates the rising speed of the pallet in response to an overload detection signal.