JPH0288851A - Three-dimensional parking apparatus - Google Patents

Abstract

PURPOSE:To keep the moving speed of a pallet when it is moved downward, at a specified value by arranging a damping device for generating retarding torque according to control current, and a controller for changing the control current in order. CONSTITUTION:From a damping device 50, retarding torque according to control current is generated, and an interlocking device 40 and a motor 30 connected via toothed belt transmission gears 44, 48 are damped. When a pallet 20 is moved downward, the moving speed of the pallet 20 is detected by a speed sensor 35, and by a controller 60, the control current to the damping device 50 is increased or reduced so that the retarding torque may be increased if the detected value is larger than a specified speed, and so that the retarded torque may be reduced if the detected value is smaller than the specified speed. As a result, the descending speed of the pallet 20 is kept to be almost at the specified speed.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention has a plurality of upright members vertically arranged opposite to each other on both sides of a fixed frame body, and a vehicle is mounted between the upright members. The present invention relates to a small multi-story parking system that is provided with a pallet that can be moved up and down by a motor.

(Prior Art) In this type of conventional multilevel parking system, an AC motor is used as a motor for lifting and lowering pallets.

(Problem to be Solved by the Invention) This type of small multilevel parking device is mainly used for home use, but when lifting and lowering pallets, a considerable amount of electric power is required for the motor for a short period of time. , 200
There is the problem of having to install a new Volt Sanwa power supply or increasing the contracted power in the case of a 100-volt single-phase system, and that it cannot be used during a power outage. An object of the present invention is to use a DC motor operated by a buff battery as a motor for lifting and lowering pallets, thereby eliminating the trouble of installing a new AC power source or changing a contract, and making it possible to use the motor even during a power outage.

Furthermore, as shown in Figure 9, DC motors have the characteristic that their rotational speed becomes excessive when a negative load torque is applied, so when lowering the pallet, its own weight and the weight of the vehicle cause the pallet to move at an excessive speed. Therefore, there is a problem that it becomes difficult to stop at a predetermined position due to inertia, or a large capacity brake is required to stop at a predetermined position. To deal with this, it is possible to reduce the descending speed of the valent by using dynamic braking or regenerative braking, but with these methods, it is difficult to control the descending speed to a predetermined speed. The present invention also includes providing a braking device that is connected to a DC motor for lifting and lowering the pallet to generate a controlled braking torque so that the moving speed of the pallet during lowering is maintained at a predetermined value. purpose.

(Means for Solving the Problems) To this end, the multi-level parking device according to the present invention has a fixed frame body 10 having a plurality of upright members 11 facing each other and standing vertically on both sides, as illustrated in the attached drawings. and the upright member 1
In a multi-level parking system, the multi-level parking system includes a valet/120 provided between 1 and 120 having a horizontal upper surface on which a car is mounted, and a motor 30 for raising and lowering the valet.
2, and a charging device 33 for charging the battery, and the motor 30 is a DC motor operated by the battery 32.

Further, the present invention further includes a braking device 50 connected to the motor 30 to generate a braking torque according to a control current, a speed sensor 35 for detecting the moving speed of the pallet 20, and a speed sensor 35 for detecting the moving speed of the pallet 20. The detected value is compared with a predetermined moving speed, and if the detected value is larger, the control current is sequentially changed in a direction to increase the braking torque of the braking device 50, and if the detected value is smaller It is preferable to include a control device 60 that sequentially changes the control current in opposite directions.

(Function) The charging device 33 charges the battery 32 with a small current over a sufficient period of time, regardless of the operation of the multi-level parking device. When the multilevel parking system is in operation, the motor 30 is supplied with a large current from the pantry 32 to move the pallet 20 up and down, but the time is extremely short.

Further, when the pallet 20 is lowered, the speed sensor 35 detects the moving speed of the pallet 20, and the control device 60 increases the braking torque if this detected value is higher than a predetermined speed.
If it is small, the control current for the braking device 50 is increased or decreased so that the braking torque is reduced. As a result, the descending speed of the pallet 20 is maintained at a predetermined speed.

(Effects of the Invention) As described above, according to the present invention, although a large current is required when operating a multilevel parking system, the battery can be charged with a small current over a sufficient amount of time. You can use a normal household power source as is, eliminating the hassle of installing a new AC power source or changing your contract, or you can use an economical power source such as a solar battery. Furthermore, even in the event of a power outage, the multilevel parking system can be used.

Furthermore, according to the second aspect of the invention, the descending speed of the pallet can be maintained at a predetermined speed, so that the pallet can be reliably stopped at a predetermined position using a relatively small capacity brake.

(Example) The present invention will be explained below using examples shown in the accompanying drawings.

As mainly shown in FIGS. 1 to 3, the fixed frame 10 of the multi-level parking system has four pillars (erecting members) 11 as main constituent members, and each pillar 11 is arranged so that two pillars form one set. The upper part is connected by a reinforcing member 12, and the leg plate 13 fixed to the lower end with screws is vertically erected on the ground G facing each other by foundation bolts. A pallet 20 on which a car is mounted is placed between each of the pillars 11, and on the side of each pillar 11 facing the pallet 20, there is a pickpocket along the entire length in the vertical direction.
1413 (see FIG. 2) is formed.

Further, a support plate 14 is fixed to the upper part of the support column 11, and a ball screw shaft 15 is suspended and supported via a support pin 16 so as to be able to swing to some extent.

Mainly as shown in FIGS. 1 and 2, the pallet 20 consists of a main body 21 and footboards 29 provided at both ends of the main body 21 to allow the vehicle to enter and exit the pallet 20.
A motor 30, an interlocking mechanism 40, a buffet steering wheel 32, etc. for raising and lowering are built-in. The frame 22 of the main body 21 includes a plurality of blocks 22a, 22b, 22c and a reinforcing member 2.
2d.

22e are integrally connected by bolting, and the upper and lower surfaces of the frame 22 are divided into an upper slope 24 and a bottom plate 25.
covered by. Part of interlocking device 40, motor 30
, the battery 32, etc., an elongated opening 24a extending back and forth is provided in the center of the upper slope 24, and is covered with a removable cover 26. Body 2 of pallet 20
Four brackets 23 protruding and fixed on both front and rear edges of the frame 1 enter into the column 11 through a slit lla, and a ball nut 31 is provided at each end via a bearing to allow rotation only around the vertical axis. The pallet 20 is supported by being screwed into each ball screw shaft 15 via transfer balls.

As shown in FIGS. 1 and 2, the main body 21 of the pallet 20
A ball nut 31 provided in the main body 21 is simultaneously rotated by a motor 30 built in the main body 21 via an interlocking mechanism 40. To explain this interlocking mechanism 40, a bevel gear 46 is coaxially fixed to the lower part of each ball nut 31, and a bevel gear 45 that meshes with this bevel gear 46 is connected to the bracket 23.
A gear shaft 45a that is rotatably supported by and extends in the left-right direction.
is fixed to the outer edge of the On the other hand, the frame 22 is provided with two sets of gear boxes 42 at positions corresponding to the respective brackets 23 on the longitudinal center line, and the gear boxes 42 include an input shaft 42a along the center line and an input shaft 42a perpendicular thereto. A pair of output shafts 42b extending horizontally on both sides are supported, and the input shaft 42
A bevel gear provided at the inner end of each output shaft 42b (the bevel gears are not shown) meshes with the bevel gear provided at the inner end of the output shaft 42b. The outer end of each output shaft 42b is connected to four interlocking shafts 43 and a shaft coupling 49.
The input shaft 42a of both gear boxes 42 is connected to the intermediate shaft 41 supported on the frame 22 of the main body 21 by a shaft coupling 49, Further, a toothed belt transmission device 44 is provided between the output shaft of the motor 30 attached to the block 22b at the rear of the frame 22 and the intermediate shaft 41.

A pair of supports 127a fixed to the frame 22.

A battery 32 is provided on 27b, and the motor 30 is a DC motor driven by this battery 32. As shown in FIG. 2, a motor 30 is installed at the base of one of the pillars 11 to automatically charge each battery 32 when the voltage decreases, and to automatically stop charging when the voltage increases. A charging device 33 is provided that includes a regulator that temporarily stops charging to prevent overload when the charging device is in operation.

In this embodiment, the power source of the charging device 33 is a household 10
Although the power source is a 0 volt AC power source, a power source such as a solar battery may also be used. Note that the charging device 33 is provided inside the support column 11 located at the upper right in FIG. 1, and although not shown, the charging device 33 and the battery 32 provided on the pallet 20 are
A flexible wiring is provided between them.

The intermediate shaft 41 is provided with an electromagnetic brake 47 at each shaft bearing portion to the frame 22 near both ends, and the motor 30
A braking device 50 is provided on the rear block 22b of the frame 22 to which the brake device 50 is attached, and is connected to the intermediate shaft 41 via a threaded belt transmission device 48. Electromagnetic brake 47
Normally, the intermediate shaft 41 is braked by a spring, but if you press the up/down button switch on the operation box 61, which will be described later, power is supplied from the battery 32 to the motor 30 and each electromagnetic brake 47 at the same time, and the electromagnetic brake 47 The motor 30 operates as soon as the brake is released, and the motor 30 and the electromagnetic brake 47 operate when the lift button switch is released.
At the same time, the power supply to the pallet 20 is stopped, and the pallet 20 is stopped at that position.

As shown in FIG. 4, the braking device 50 includes an electromagnet 5 that is fixed to the rear block 22b of the frame 22, has a large number of magnetic poles 51a along its outer circumferential surface, and has a coil 52 wound around it.
1 and an anchor ring 53 which is rotatably supported by a flange 54 supported by an electromagnet 51 via a bearing 55 and a magnetic pole 51a with a slight gap between the flange 54 and the flange 54. A pulley 48a of a belt transmission device 48 is coaxially fixed. An eddy current is generated in the anchor ring 53 according to its rotational speed and the magnetic flux of the electromagnet 51, and as a result, the braking device 50 generates an eddy current that is applied to the coil 52 from the rotational speed of the anchor ring 53 and the conductor 52a, as shown in FIG. A braking torque corresponding to the control current is generated to brake the interlocking device 40 and the motor 30, which are connected via the toothed belt transmission devices 44 and 48.

Inside the flag throat 23 located at the lower left of Figure 1,
The rotation speed of the gear shaft 45a of the bevel gear 45
A speed sensor 35 for detecting a moving speed of 0 is provided. As shown in FIG. 2, the speed sensor 35 mainly consists of a rotating disk 36 that is coaxially fixed to a gear shaft 45a and has a number of slits 36a formed along the circumferential direction, and a U-shaped disk 36 provided on the fixed side. f) The ink blister 37 is the main component, and the entire body is covered by a case 38. The speed sensor 35 is connected to the front 1. A light emitting element and a light receiving element provided at each tip of the ink blister 37, and a clock pulse generator provided separately, allow
The rotational speed of the gear shaft 45a is detected by measuring the opening/closing time interval of the gear shaft 6a, and the lifting speed of the pallet 20 is detected.

As shown in FIG. 1, a relay 62 and an electronic control device 60 for operating the motor 30 are provided at the rear of the main body 21 of the barre 7+/20, and an upright member 11 located at the upper right in the figure is provided.
is provided with an operation box 61 having a downward pressure. As shown in FIG. 6, a speed sensor 35 and an operation box 61 are connected to the electronic control device 〇〇, as well as a motor 30, an electromagnetic brake 47, and a braking device 50. Although not shown, the motor 30 is connected via a relay 62, and flexible wiring is provided between the operation box 61 and the electronic control device 60 in the valve left 20.

Next, the operation of the above embodiment will be explained. To raise the barre 7F/20, turn on the power and press the raise button on the operation box 61, and the electronic control unit 60 will supply power to each electromagnetic brake 47 from the buffer battery 32 to raise the electromagnetic brake 4.
7 is released, and at the same time, the relay 62 is activated to supply power from the battery 32 to the motor 30 in the forward rotation direction, whereby the motor 30 rotates each ball nut 31 in the forward direction via the interlocking mechanism 40. Palette 2
Increase 0. When the lift button is released when it has risen to the desired position, the electronic control unit 60 releases the relay 62 and stops the motor 30, and at the same time stops power supply to each electromagnetic brake 47, and each electromagnetic brake operates to move the pallet 2.
0 stops. The braking device 50 does not operate when raising the brake system 20.

Next, the operation for lowering the pallet 20 will be explained with reference to the flowchart in FIG. 8 and the related picture chart in FIG. 7.

When the power is turned on, the electronic control unit 60 starts executing the control operation shown in flowchart 1 of FIG.

First, in steps 100 and 101, each flag P,
After setting Q to 0, the electronic control unit 60 performs step 1
At step 02, it is checked whether or not the lowering button of the operation box 61 has been pressed, and if it has not been pressed, the control operation returns to step 102 via step 120, and this is repeated so that the pallet 20 does not lower. If the lowering button has been pressed, the electronic control unit 60 checks in step 103 whether the pallet 20 has reached the lowest position, and if it has not reached the lowest position, checks in step 104 whether P=1.

In this state, since P=O, the electronic control device 60
advances the control operation to steps 105 to 107, supplies power to the electromagnetic brake 47, and then p! Divide by l, set flag P to 1
Then, the relay 62 is activated to supply power to the motor 30 in the reverse direction (downward direction). As a result, the motor 30
rotates the ball nut 31 in the opposite direction via the interlock InfW 40 to start lowering the pallet 20.

In the following step 110, the electronic control device 60 adjusts the descending speed V of the valent 20 detected by the speed sensor 35.
is a predetermined speed V that is stored in advance.

If V>V, the control operation proceeds to step 111, and if not, the control operation proceeds to step 116.

If the descending speed is still small immediately after the start of descent, the process proceeds to step 116 to check whether Q=1 or not, and since it is not in the current state, the control operation returns to step 102 and repeats the above operations. repeat. In addition, in the case of repetition, since P=1, steps 105 to 107 are skipped and operated. The above state is I- in the related time chart in Figure 7.
■ The motor 30 is operating, and the valve l-
20's lowering speed (■) increases rapidly due to its own weight (and the mounted car mold pan).

When the descending speed V increases to ■>vθ, the electronic control unit 60 advances the control operation from step 110 to 111, and further advances to steps 112 to 114, releases the relay 62, and stops power supply to the motor 30. Then, the control current to the braking device 50 is set to the initial value and applied to the coil 52 (the state shown in FIG. 7), the flag Q?CI is set, and the process returns to step 102. device 60
The control operation proceeds from step 111 to step 115, the control current to the coil 52 of the braking device 50 is increased by a certain amount, and this operation is repeated for a while.

This state corresponds to the period ①-■ of the related signal I in FIG.
The descending speed V increases somewhat and then decreases.

When the descending speed ■ decreases and becomes no longer ■〉■ρ, the electronic control unit 60 changes the control operation from step 110 to step 11.
6 and further to step 117, the control current of the braking device 50-- is decreased by a certain amount, and this operation is repeated for a while. This state corresponds to the interval If-IV in FIG. 7, and the braking torque of the braking device 50 gradually decreases, so that the descending speed of the pallets 7) and 20 decreases somewhat and then increases again. After that, repeat the same operation and get 7t・2
0 is a predetermined speed (2), and the speed decreases while increasing or decreasing somewhat.

When the lowering button that has been pressed is released or when the valent 20 reaches the lowest position and a limit switch (not shown) is activated, the electronic control unit 60 switches the control operation to step 102 or 1.
Proceed from step 03 to step 120, and further proceed to steps 122 to 124 via step 121, and each electromagnetic brake 4
Stop the power supply to 7 and activate it, flags P and Q
'cO', the control operation returns to step 102, and only steps 102 and 120 are repeated to remove the pallet 20.
is in a stopped state. As mentioned above, the descending speed (■) of the pallet 20 is centered around the predetermined speed (■), although it changes somewhat.
Since the speed is constant, even if the capacity of the electromagnetic brake 47 is not so large, it will surely stop at the desired position or the lowest position, and the stopped position will not deviate greatly or a large impact will occur at the lowest position. Note that if you release your hand from the lowering button before stopping the power supply to the motor 30, the electronic control device 6
0 is the control operation from step 121 to step 125-1
27, the power supply to the motor 30 is stopped, the electromagnetic brake 47 is activated, the flag P is set to 0, and the control operation is returned to step 102.

Note that the present invention is not limited to a multi-level parking device in which a rotating pole nut 31 is provided on the balent 20 to raise and lower it as in the above embodiment, but the present invention is also applicable to a multi-level parking device in which a motor is provided on the fixed frame side and a pallet is moved via a rope, chain, etc. The present invention can be implemented in various other types of small multilevel parking systems, such as those that raise and lower.

Further, the braking device 50 is not limited to one that uses eddy current as in the above embodiment, but may be any other device that can electrically control braking l/lux, such as an electromagnetic friction brake or a powder brake. Furthermore, the speed sensor 35 is not limited to one using a photo ink club as in the above embodiment, but may also be a tacho generator provided on the motor 3o, a proximity switch provided near the gear, a linear gauge provided within the support 11, etc. Any device that can measure the descending speed of the valent 20 can be used.

[Brief explanation of drawings]

The attached drawings show an embodiment of the multilevel parking system according to the present invention, in which Fig. 1 is a plan view of the main parts, Fig. 2 is an enlarged sectional view taken along the line nn of Fig. Figure 4 is a cross-sectional view of an example of a braking device, Figure 5 is a characteristic diagram of the braking device shown in Figure 4, Figure 6 is a block diagram showing a control system, Figure 7 is a related time chart 1, and Figure 8 is a diagram showing a control system. Flowchart 1 showing the braking operation, FIG. 9 is a characteristic diagram of an example of a DC motor. Explanation of symbols 10... Fixed frame body, 11... Standing member (post) 20
...Bullet, 30...Motor, 32...Battery, 33...Charging device, 35.Speed sensor, 50...
- Braking device, 60...control device (electronic control device).

Claims (2)

[Claims] (1) A fixed frame body having a plurality of upright members installed vertically facing each other on both sides, a pallet provided between the upright members and having a horizontal upper surface on which a car is mounted, and raising and lowering this pallet. What is claimed is: 1. A multi-story parking system comprising a motor for driving a vehicle, the multi-story parking system comprising a battery and a charging device for charging the battery, the motor being a DC motor operated by the battery. (2) A braking device that is connected to the motor and generates a braking torque according to the control current, a speed sensor that detects the moving speed of the pallet, and a detection value detected by the speed sensor when the pallet is lowered to a predetermined value. If the detected value is larger than the moving speed, the control current is sequentially changed in a direction that increases the braking torque of the braking device, and if the detected value is smaller, the control current is sequentially changed in the opposite direction. The multilevel parking system according to claim 1, comprising a control device.