JPH0739763B2 - Transfer conveyor control method for parking lot equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is designed to transfer a vehicle by a conveyor between a vehicle transporting means using a trolley and a shelf side vehicle storing means, or in a shelf side vehicle storing means. The present invention relates to a method for controlling the conveyor of the parking lot facility described above.

(Prior Art and Problems Thereof) In the parking lot facility as described above, when a vehicle is transferred from one means to the other means by a conveyor provided in each means, the position at which the vehicle should be stopped When the vehicle is started to decelerate when the vehicle is conveyed to a position closer to a proper distance, and when the vehicle is controlled to forcibly stop the conveyor when the vehicle reaches a predetermined stop position, the entire transfer process of the vehicle is performed. The time required for transfer can be shortened and the car can be stopped smoothly and safely compared to the case where the car is transferred at a low speed.However, conventionally, the transferred car is transferred onto the conveyor of the vehicle receiving side means. Since the conveyor was controlled to start decelerating after that, the conveyor path length of the conveyor of the vehicle receiving side becomes long, and as a result, the conveyor means The width of the storage means (length in the transfer direction of the vehicle) was significantly wider than the width of the vehicle handled, which led to an increase in the size of the entire parking lot facility.

(Means for Solving the Problem) The present invention has been made to solve the above conventional problems, and the features of the invention of claim 1 are as follows.
Each of the above means (vehicle transportation means or vehicle storage means on the shelf side)
The vehicle passage detectors are arranged near the vehicle transfer end of the vehicle and the vehicle passage detectors of the vehicle sending side means detect the passage of the vehicle. The deceleration stop control is started, and after the passage of a fixed time set longer than the expected time required for the conveyor to stop and the vehicle passage detector of the vehicle receiving side means has detected passage of the vehicle, The point is to lock and lock the conveyor of the vehicle receiving side means.

A second aspect of the invention is characterized in that the vehicle passing detector of the vehicle sending side means detects the passage of the vehicle, so that the conveyors of both means of the vehicle sending side and the vehicle receiving side are switched to a constant speed drive. The condition is that the conveyors of both means are braked and stopped on condition that the vehicle passage detector of the vehicle receiving side means detects the passage of the vehicle.

(Operation of the Invention) For example, when an automobile is transferred from the transport means onto one storage means adjacent to the transport means, the conveyor on the transport means and the conveyor on the storage means are driven to drive the automobile on the transport means. From the above, the vehicle passing detector detects that the vehicle has passed the position near the end on the vehicle transfer side of the conveying means in the invention according to claim 1. As a result, both the conveyor on the transport means side and the conveyor on the storage means side are decelerated and stopped by a method such as applying an electric brake to each drive motor. That is, the deceleration stop control of the conveyors of both means is started before the vehicle completely transfers to the storage means.

By this deceleration stop control of the conveyor, the vehicle will move onto the conveyor of the storage means in a decelerated state, but the completion of the vehicle transfer will be detected by the vehicle passage detector near the end of the storage means on the vehicle transfer side. It can be checked by detecting the passage of the vehicle into the storage means. That is, since the vehicle on the side of the storage means detects the passage of the vehicle, the vehicle is transferred into the storage means. For example, after the deceleration stop control of the conveyors of both means is started, the vehicle is transferred. Is completed and a predetermined time longer than the expected time required for the conveyor to stop has passed, at least if the detector on the storage means has detected the passage of the automobile, The conveyor on the means side can be brake locked. Of course, if the detector on the storage means side detects the automobile after the set time has passed, that is, if the automobile has not completely transferred to the predetermined position on the storage means side, at least the conveyor on the storage means side. Is restarted, the vehicle is pulled in, and the conveyor is brake-locked in a state where the detector on the side of the storing means detects the passage of the vehicle.

When transferring a car from the storage means to the transportation means,
When the detector near the vehicle transfer side end of the storage means detects the passage of the vehicle, the deceleration stop control of the conveyor of both means is started. The vehicle transfer conveyor can be controlled in the same manner when the vehicles are transferred between the storage means.

According to the deceleration stop control for each conveyor described above, each conveyor is automatically decelerated and then stopped, so that the braking lock for the conveyor is supported by preventing idling of the stopped conveyor. This is to prevent the moving vehicle from moving in the transfer direction.

In the invention described in claim 2, since the conveyor is not decelerated and stopped as described above but is simply switched to the constant speed drive, the automobile transferred by the conveyor is completely transferred to the automobile receiving side means. It is necessary to stop the conveyor when the transfer is completed. Therefore, in the invention described in claim 2, when the vehicle passage detector of the vehicle receiving side means detects the passage of the vehicle, the conveyors of both means which are switched to the low speed drive as described above are braked. Although the vehicle is stopped, in the invention according to the second aspect, the conveyor is switched to the low speed drive before the vehicle transferred by the conveyor of both means is completely transferred to the vehicle receiving side means.

(Embodiment) An embodiment of the present invention will be described below with reference to the accompanying illustrative drawings. In the following embodiment, a carriage (2) is illustrated as an automobile conveying means, and a vehicle compartment is a storage compartment. (5) is illustrated.

In FIGS. 1 to 3, (1A) to (1D) are multi-tiered parking lot units on each floor, and each floor parking unit (1A) to (1D) is an automobile loading / unloading carriage. The traveling route (3) of (2) and the vehicle storage compartment rows (4a) to (4d) arranged in parallel on the left and right sides of the traveling route (3) in two rows parallel to the traveling route (3) respectively. ing. In each of the vehicle storage compartment rows (4a) to (4d), a large number of vehicle compartments (5) are formed in the direction of the travel path (3) so as to be aligned in a direction orthogonal to the travel path (3). Has been done. (6)
Is an elevator for vertical transportation which is vertically installed adjacent to one end of one side of the traveling route (3) in each floor parking unit (1A) to (1D). An automobile loading / unloading work area (8) is installed so as to be connected to one side of the elevator / carrying platform (7) when it is at a level corresponding to the floor parking unit (1A).

As shown in FIGS. 4 and 5, the carrier vehicle (2) is provided with wheels (10) rolling on guide rails (9) laid on both left and right sides of the traveling route (3). A motor (11) for driving the wheel (10) to rotate forward and backward, and a pair of vehicle transfer conveyors (13) (14) for separately supporting the front wheel and the rear wheel and laterally transporting the vehicle (12). , Both conveyors (13)
A motor (15) for driving forward and backward interlocking movement of (14) is provided. In addition, a pair of vehicle transfer conveyors (16) (17) for laterally transporting the vehicle (12) and front and rear wheels separately supported in each vehicle storage compartment (5), and both conveyors ( 16) and (17) are provided with a motor (18) for interlocking forward and reverse. The conveyor (16) in two storage compartments (5) arranged in a direction orthogonal to the traveling route (3)
(17) are arranged so as to be continuous with each other and are adjacent to the traveling route (3) on the front side of the vehicle storage compartment row (4a) (4).
The conveyors (16) (17) in the storage compartment (5) in c)
Is a pair of conveyors (13) (1) on the carriage (2).
4) Can be connected with.

It should be noted that the elevator (6) shown in FIG. 1 and FIG.
The same conveyors (19) and (20) as the conveyors (16) and (17) installed in the storage compartment (5) and a drive motor are installed.

When the vehicle (12) is to be loaded, the vehicle (12) that has stopped advancing to the vehicle loading / unloading work area (8) with the elevator (6) lifting / lowering platform (7) adjacently stopped On the lifting / lowering platform (7) by means of the pair of conveyors (19) (20) installed on the vehicle loading / unloading workshop (8) and the pair of conveyors (19) (20) on the lifting / lowering platform (7). Transfer and transfer sideways to a predetermined position. Next, the elevator carrier (7) is raised to a predetermined floor and stopped.
Of course, when entering the parking lot unit (1A) on the first floor,
Do not raise the elevator carrier (7). On the other hand, the carrier truck (2) on the target floor is stopped and waits at the home position adjacent to the elevator carrier (7) of the elevator (6), and the elevator carrier (7) and the carrier truck (2) are separated from each other. Adjacent to each pair of conveyors (19) (20) and (13) (1
4) is driven to laterally transfer and transfer the automobile (12) on the elevator carriage (7) to a predetermined position on the carriage (2).

Next, the carrier vehicle (2) is caused to travel on the travel route (3) and stopped at the lateral position of the storage compartment (5) to be stored. In such a state, the pair of conveyors (13) (14) on the transport carriage (2)
And a pair of conveyors (16) (17) in the storage compartment (5) on the storage side adjacent to one side of the transport carriage (2) to drive the automobile (12) on the transport carriage (2). The storage compartment row (4a) or (4c) on the front side when viewed from the transport vehicle (2) side
Is laterally transferred and transferred to a predetermined position in the storage compartment (5) belonging to As described above, the storage compartment (5) to be stored is the front storage compartment row (4a) when viewed from the side of the carrier vehicle (2).
Or, if it is the storage section (5) belonging to (4c), it means that the warehousing has been completed by this, but if it is the storage section row (4b) or (4d) on the back side when viewed from the carriage (2). When storing in the storage compartment (5) belonging to, the pair of conveyors (16) (17) in the storage compartment (5) on the back side adjacent to the front storage compartment (5) as described above are also stored. Driving and automobile (12)
Can be continuously transferred and transferred to a predetermined position in the storage compartment (5) on the back side via the storage compartment (5) on the front side.

The warehousing work may be performed in the reverse order of the warehousing work.
Of course, in this case, each conveyor (16) (17), (13) (1
The driving directions of 4) and (19) (20) are opposite.

The transfer conveyor control method of the present invention implemented in the parking lot facility as described above is used as a storage section (5) belonging to the storage section row (4c) (4d) on one side of the transport vehicle traveling route (3). The transfer of the automobile (12) to and from the carrier vehicle (2) will be described as an example. In the following, the storage partition (5) of the storage partition row (4c) is (5-4c), the storage partition (5) of the storage partition row (4d) is (5-4d), and the storage partition (5-4c). The motor (18) that drives the conveyors (16) (17) of (18-4c),
The motor (18) for driving the conveyors (16, 17) of the storage section (5-4d) will be described as (18-4d).

As shown in FIGS. 4 to 6, at positions near the storage compartment side end of the carrier truck (2) and at positions near both ends of each storage compartment (5-4c) (5-4d) in the vehicle transfer direction, Floodlights (21a)
~ (25a) and light receiver (21b) ~ (25b) transmission type photoelectric switch type automobile passage detector (21) ~ (25)
And a detection signal of a detector (21) on the side of the carriage (2) is supplied with a motor (1) for driving the conveyors (13) (14).
5) Motor controller such as inverter (26)
Vehicle side microcomputer controlled via the computer (27)
The detection signals of the detectors (22) to (25) on the side of the storage compartments (5-4c) and (5-4d) are input to the storage compartments (5-4c).
(5-4d) Conveyor drive motor (18-4c) (18-
4d) Motor controller such as inverter (28)
Input to the shelf side microcomputer (29) controlled via. However, the shelf-side microcomputer (29) and the carriage-side microcomputer (27) are, for example, the signal carriage (30) stretched along the carrier carriage travel route (3) and the carrier carriage so as to be in sliding contact with the signal wire (30). Wired signal transmission means (32) comprising a current collector (31) provided in (2)
Connected by. Of course, wireless signal transmission means can also be used.

The detectors (22) on the side of the storage compartments (5-4c) (5-4d)
(25) can be provided for each storage compartment (5-4c) (5-4d), but the projectors (22a) to (25a) and the light receiver are provided at both ends of each storage compartment row (4c) (4d). It is desirable to arrange (22b) to (25b) so that the detectors (22) to (259) of the storage sections (5-4c) and (5-4d) in the same row can also be used as the detectors. The storage compartment (5-
Of both ends of the vehicle transfer direction of 4d), the detector (25) on the terminal side where the vehicle does not pass is not essential and may be omitted.

The trolley-side microcomputer (27) is programmed so that the automatic control shown in the flowchart of FIG.
The automatic control shown in the flowchart of the figure is programmed to be performed. That is, when the vehicle (12) transported to the storage position by the transport vehicle (2) is transferred and stored in the storage section (5-4c) adjacent to the transport vehicle (2), the transport vehicle (2) has a predetermined size. By stopping at the position,
A conveyor start command is given from the carriage side microcomputer (27) to the shelf side microcomputer (29) via the signal transmission means (32), and the conveyor driving motor (15) on the transfer carriage (2) and the storage compartment. The motor (18-4c) for driving the conveyor of (5-4c) is started at the same time, and the automobile (12) is stowed from the top of the carriage (2) by the conveyors (13) (14) and (16) (17). (5-4c) is sent out.

However, the detector (21) on the side of the carriage (2) is
When the passage of 2) is detected, a conveyor stop control command is given from the carriage side microcomputer (27) to the shelf side microcomputer (29) via the signal transmission means (32), and the conveyor on the conveyor carriage (2). Drive motors (15)
And the conveyor driving motor (18-4c) in the storage section (5-4c) are simultaneously controlled to decelerate and stop. That is, the electric brakes are applied to both motors (15) (18-4c) at the same time, and the automobile (12) conveys the conveyor (2) to the conveyor (13).
(14) Conveyor (16) (1) from storage compartment (5-4c) from above
7) The conveyors (13), (14), (16) and (17) are decelerated so as to stop after being fed to a predetermined position above. Therefore, in a normal state, the motors (15) for driving both conveyors after the car (12) is sent to a predetermined position on the conveyors (16, 17) in the storage section (5-4c) and stopped.
(18-4c) will stop, but when the set time that is set slightly longer than the time required until this stop has elapsed, the detector (22 ) Has detected the passage of the automobile (12), the conveyor drive motor (18-4) in the storage section (5-4c) is detected.
The mechanical brake is applied to c), and the conveyors (16) (17) that are already stopped are brake-locked. Then, a storage completion signal is given from the shelf side microcomputer (29) to the truck side microcomputer (27) through the signal transmission means (32), and the conveyor drive motor (15) on the conveyor truck (2) also has a machine. Brakes are applied to the conveyor (1
3) (14) is also brake locked. The warehousing completion signal is transmitted on condition that the detector (23) on the back side of the storage section (5-4c) does not detect the automobile (12).

If the set time elapses, the detector (22) in the storage compartment (5-4c) on the vehicle receiving side displays the vehicle (12).
If it is in the state of detecting itself, the storage section (5-
4c) the conveyor drive motor (18-4c) is restarted to drive the conveyors (16) (17) at low speed, and the detector (22)
When the vehicle detects the passage of the automobile (12), the conveyor drive motor (18-4c) is mechanically braked to forcibly brake and lock the low-speed driven conveyors (16) (17). .

As mentioned above, the conveyors (13) (14) on the transport carriage (2)
And the conveyors (16) (17) on the storage section (5-4c) are driven so that the automobile (12) is transferred from the carrier truck (2) to the storage section (5-4c). At this time, even though the conveyor stop control command is not given from the truck side microcomputer (27) to the shelf side microcomputer (29), the detector (22 ) Detects the passage of the automobile (12), an emergency stop is applied to the conveyor drive motor (18-4c) on the storage compartment (5-4c) side.

From the storage compartment (5-4c) onto the carriage (2) Car (1
When 2) is transferred and unloaded, the conveyors (16) (17) and (13) (14) are controlled in the procedure just reverse to the above-mentioned loading. That is, when the detector (22) on the storage compartment (5-4c) side detects the passage of the automobile (12), the motor (18-4c)
An electric brake is applied to (15) to conveyer (16) (1
7), (13) and (14) are decelerated and the detector (21) on the side of the carriage (2) has finished detecting the passage of the automobile (12) after the set time set as described above has elapsed. On this condition, the mechanical brakes are applied to the motors (18-4c) (15) and the conveyors (16) (17) and (13) (14) are brake-locked.

Next, FIG. 9 (carriage side microcomputer) and FIG. 10 (shelf side) are used to control the transfer of the automobile (12) from the transport carriage (2) to the rear storage compartment (5-4d). If the carrier vehicle (2) stops at a predetermined position, it will be transferred from the vehicle side microcomputer (27) to the shelf side microcomputer (29) via the signal transmission means (32). A conveyor start command is given, and the conveyor drive motor (15) on the transport carriage (2), the conveyor drive motor (18-4c) of the front storage compartment (5-4c), and the rear storage compartment (5).
-4d) Conveyor drive motor (18-4d) is started at the same time, and the car (12) drives the conveyors (13) (14) and (1
6) The storage compartment (5)
It is transported to the storage section (5-4d) via -4c).

However, if the detector (23) in the front storage compartment (5-4c) detects the passage of the automobile (12), both storage compartments (5-
4c) (5-4d) conveyor drive motor (18-4c)
(18-4d) is simultaneously controlled to decelerate and stop. That is, both motors (18-4c) (18-4d) are simultaneously applied with electric brakes, and the automobile (12) is moved from the top of the conveyors (16) (17) of the front storage compartment (5-4c) to the rear storage compartment. The conveyors (16) and (17) of both storage compartments (5-4c) and (5-4d) are decelerated so as to stop after being fed to the predetermined position on the conveyors (16 and 17) of (5-4d). Controlled. Therefore, under normal conditions, the motors (18-4c) (18-4d) for driving both conveyors (18-4c) (18-4d) are sent after the car (12) has been sent to a predetermined position on the conveyors (16) (17) in the rear storage compartment (5-4d) and stopped. ) Will stop, but when the set time that is set to be slightly longer than the time required until this stop elapses, the detector (24) in the storage compartment (5-4d) on the vehicle receiving side will If the passage of 12) is detected, the storage compartment (5-4
c) (5-4d) conveyor drive motor (18-4c) (1
8-4d) is mechanically braked, and the conveyors (16) (1) of both storage compartments (5-4c) (5-4d) already stopped.
7) is brake locked. And from the shelf side microcomputer (29) to the truck side microcomputer (27)
A storage completion signal is given to the conveyor via the signal transmission means (32), and the conveyor drive motor (15) on the carrier vehicle (2)
Is also controlled to stop. The storage completion signal is stored in the storage section (5
It is transmitted on the condition that the detector (25) on the back side of −4d) does not detect the automobile (12).

If the set time has elapsed, the detector (24) in the storage compartment (5-4d) on the vehicle receiving side will detect the vehicle (12).
If it is in the state of detecting itself, the storage section (5-
4d) the conveyor drive motor (18-4d) is restarted to drive the conveyors (16) (17) of the storage compartment (5-4d) at a low speed, and the detector (24) of the automobile (12) When passage is detected, the mechanical brakes are applied to the conveyor drive motors (18-4c) (18-4d) of the storage compartments (5-4c) (5-4d), and the conveyors (16) (17) are Braking locked. Then, the storage completion signal is output as described above, and the conveyor driving motor (15) on the transport carriage (2) is also stopped and controlled. When the conveyor drive motor (18-4d) in the storage compartment (5-4d) is restarted, the conveyor drive motor (18-4c) in the front storage compartment (5-4c) may also be restarted. I can.

When the vehicle (12) on the storage compartment (5-4d) on the back side is transferred onto the transport vehicle (2) via the storage compartment (5-4c) on the front side, the storage compartment (5-4c) ) Cars on (12)
Conveyor drive motor (18-4d) in the rear storage compartment (5-4d) for control when loading and unloading the cargo onto the transport carriage (2)
Control will be added, but this rear storage compartment (5-
The conveyor drive motor (18-4d) of 4d) is the conveyor drive motor (18-4c) of the front storage compartment (5-4c).
It may be controlled in the same manner as.

According to the control of the above embodiment, the conveyors (13) (14) which have already stopped when the vehicle transfer is normally performed.
And (16) and (17) will be locked by the mechanical brake after the completion of the transfer of the vehicle is confirmed. Therefore, not only can the service life of the mechanical brake be extended, but also the conveyor that is still working can be forcibly stopped. It is not necessary to give a shock to the vehicle being transferred like the above, and the vehicle can be transferred safely, but in some cases,
It is also possible to switch the conveyor to a low speed drive when the detector on the vehicle sending side detects the passage of the vehicle, and to brake and stop the conveyor on the condition that the detector on the vehicle receiving side detects the passage of the vehicle. It is possible. FIG. 11 illustrates the control procedure by the shelf side microcomputer (29) in this case by taking as an example the case where the vehicle (12) on the carrier vehicle (2) is transferred to the front storage compartment (5-4c). is doing.

The vehicle (12) between the storage compartment (5) of the storage compartment row (4c) (4d) on one side of the travel route (3) and the carrier vehicle (2).
The control method was explained for the loading and unloading of the vehicle, but the loading and unloading of the vehicle (12) between the storage section (5) of the storage section row (4a) (4b) on the opposite side and the transport vehicle (2). Can be performed by the same control method as above.

The configuration of the entire parking lot facility is not limited to that shown in FIGS. For example, the storage compartments (5) may be arranged only on one side of the traveling route (3) of the carrier vehicle (2), or one storage compartment row may be provided on both sides of the traveling route (3). It may be provided. Further, it may be a parking lot facility of a type in which the automobile (12) is placed on a pallet and transferred.

(Effects of the Invention) As described above, according to the transfer conveyor control method of the parking lot facility of the present invention, between the vehicle transporting means using a dolly and the vehicle storing means on the shelf side, or between the vehicle storing means on the shelf side. When the vehicle is transferred by the conveyor, the deceleration stop control of the conveyor is started or the driving is switched to the low speed before the vehicle completely transfers to the receiving side means, so that the entire transfer process of the vehicle is carried at low speed. The time required for transfer can be shortened as compared with the case of carrying out, and the vehicle can be stopped smoothly and safely. Moreover, the width of both the conveying means and the storing means (in the vehicle transferring direction) is larger than the case where the deceleration stop control or the switching to the low speed driving of the conveyor is performed after the vehicle has moved to the storing means or the conveying means which is the vehicle receiving side means. It is possible to reduce the overall size of the parking lot equipment by keeping it to the minimum necessary width, which is slightly wider than the width of the car handling the length.

[Brief description of drawings]

FIG. 1 is a cross-sectional plan view of a parking lot facility, FIG. 2 is a vertical side view of the same, FIG. 3 is a front view of the same vertical section, FIG. 4 is an enlarged plan view of essential parts, FIG. FIG. 6 is a block diagram for explaining the configuration of the embodiment of the present invention, FIGS. 7 and 9 are flowcharts for explaining the control procedure by the trolley-side microcomputer, and FIGS. 8, 10, and 11 are for the shelf side. It is a flow chart explaining a control procedure by a microcomputer. (1A) to (1D) …… Parking lot units on each floor, (2) …… Carrying vehicle for loading and unloading vehicles, (3) …… Trucking vehicle traveling route,
(4a) to (4d) ... Storage section row, (5) (5-4c) (5
−4d) …… Storing area, (6) …… Elevator, (12)
…… Cars, (13) (14) (16) (17) (19) (20)…
… Car transfer conveyor, (15) (18) (18-4c) (18
-4d) …… Conveyor drive motor, (21) to (25)…
... Transmission type photoelectric switch type automobile passage detector, (2
6) (28) …… Motor controller, (27) (29)
…… Microcomputer, (30) …… Signal line, (3
1) …… collector, (32) …… wired signal transmission means.

Claims (2)

[Claims] 1. A parking lot facility in which vehicles are transferred by a conveyor between a vehicle transportation means using a trolley and a vehicle storage means on the shelf side, or between vehicle storage means on the shelf side. Since the vehicle passage detectors are installed near the mounting end, and the vehicle passage detector of the vehicle sending side detects the passage of the vehicle, deceleration of the conveyors of both the vehicle sending side and the vehicle receiving side. After the stop control is started and the set time is longer than the expected time required for the conveyor to stop, the vehicle passing detector of the vehicle receiving side means has detected the passage of the vehicle. A transfer conveyor control method for a parking lot facility, characterized in that the side means conveyor is brake-locked. 2. A parking lot facility for transferring vehicles between a vehicle transporting means using a trolley and a shelf side vehicle storing means or between shelf side vehicle storing means in a parking lot facility, the vehicle transfer of each means. Since the vehicle passage detectors are installed near the mounting end, and the vehicle passage detector of the vehicle sending side means detects the passage of the vehicle, the conveyors of both the vehicle sending side and the vehicle receiving side are driven at low speed. A transfer conveyor control method for a parking lot facility, comprising switching to driving and stopping the conveyors of both means when the vehicle passage detector of the vehicle receiving means detects passage of the vehicle.