JPH06135508A - Run of stacker crane and elevation control method and device for load-carrying platform - Google Patents
Run of stacker crane and elevation control method and device for load-carrying platformInfo
- Publication number
- JPH06135508A JPH06135508A JP31106592A JP31106592A JPH06135508A JP H06135508 A JPH06135508 A JP H06135508A JP 31106592 A JP31106592 A JP 31106592A JP 31106592 A JP31106592 A JP 31106592A JP H06135508 A JPH06135508 A JP H06135508A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- speed
- loading platform
- lifting
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、多段状の荷棚の所望の
位置に荷を出し入れするためのスタッカークレーンの走
行及び荷台の昇降を制御する方法及び装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for controlling the movement of a stacker crane and the lifting and lowering of a loading platform for loading and unloading a load at a desired position of a multi-tiered loading rack.
【０００２】[0002]
【従来の技術】自動倉庫や工場等において、前後方向に
長い多段状の荷棚の所望の位置に荷を自動的に出し入れ
するスタッカークレーンとして、床上を前後方向に走行
する台車にマストを立設し、マストに荷台を昇降自在に
装着するとともに、荷台に、荷を左右方向に水平に移動
させる横送り手段を設けたものがある。2. Description of the Related Art In automatic warehouses and factories, as a stacker crane for automatically loading and unloading a load to and from a desired position on a multi-tiered cargo rack that is long in the front-rear direction, a mast is erected on a truck that runs in the front-rear direction on the floor. However, there is one in which the loading platform is mounted on the mast so as to be able to move up and down, and the loading platform is provided with a lateral feed means for horizontally moving the loading in the left-right direction.
【０００３】このような従来のスタッカークレーンにお
いては、荷の搬出入を迅速に行なうため、台車や荷台を
可能な限り高速度で走行及び昇降させている。In such a conventional stacker crane, in order to carry in and out a load quickly, the truck and the loading platform are moved and moved up and down at the highest speed possible.
【０００４】[0004]
【発明が解決しようとする課題】上述のような従来のス
タッカークレーンのように、台車や荷台を常時高速度で
走行及び昇降させると、各部が早期に疲労し、機械的寿
命が短くなるという問題点がある。When the truck or the loading platform is constantly moved and moved up and down at a high speed like the above-mentioned conventional stacker crane, each part is fatigued early and the mechanical life is shortened. There is a point.
【０００５】このような問題点を解決する手段として、
数値制御式の工作機械や、工業用ロボットの制御等に用
いられているような、高分解能のロータリエンコーダ等
の位置検出手段とサーボモータとを用いて行なうパルス
分配方式の同時２軸制御方法があるが、この方法による
とサーボモータ等の高価な設備を必要とし、しかもあま
り大きな駆動力は望めないので、大きな駆動力を必要と
するスタッカークレーンには不向きである。As a means for solving such a problem,
A simultaneous two-axis control method of pulse distribution method using a position detection means such as a high-resolution rotary encoder and a servo motor, which is used for controlling numerically controlled machine tools and industrial robots, is provided. However, this method requires expensive equipment such as a servomotor and cannot expect a large driving force, and is not suitable for a stacker crane that requires a large driving force.
【０００６】本発明は、従来の技術が有する上記のよう
な問題点に鑑み、荷の搬出入の迅速性を妨げることな
く、台車や荷台の移動速度を可及的に低速とし、もって
各部の疲労を少なくして、機械的寿命を長くしうるよう
にしたスタッカークレーンの走行及び荷台の昇降制御方
法及び装置を提供することを目的としている。In view of the above-mentioned problems of the prior art, the present invention makes the moving speed of the carriage or the cargo bed as slow as possible without impeding the promptness of loading and unloading of the cargo, and thus the respective parts An object of the present invention is to provide a method and an apparatus for controlling the traveling of a stacker crane and the lifting and lowering of a loading platform, which can reduce fatigue and prolong mechanical life.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するた
め、本発明の方法は、床上を走行する台車にマストを立
設し、マストに荷台を昇降自在に装着してなるスタッカ
ークレーンの走行と荷台の昇降とを制御する方法であっ
て、荷台を現在位置から目的位置まで移動させるのに要
する台車の必要走行距離と、荷台の必要昇降距離とを比
較し、台車の走行と荷台の昇降とのうち、前記距離の長
い方の移動速度を最大とし、かつ短い方の移動速度を、
前記距離の差又は比が大きいほど低速として制御するこ
とを特徴としている。In order to achieve the above object, the method of the present invention is a method of running a stacker crane in which a mast is erected on a truck traveling on the floor and a loading platform is mounted on the mast so as to be vertically movable. A method of controlling the lifting and lowering of the loading platform, which compares the required traveling distance of the truck required to move the loading platform from the current position to the target position with the required lifting distance of the loading platform, and Of these, the moving speed of the longer one is the maximum, and the moving speed of the shorter one is
The larger the difference or ratio of the distances, the slower the speed.
【０００８】また、本発明の方法は、床上を走行する台
車にマストを立設し、マストに荷台を昇降自在に装着し
てなるスタッカークレーンの走行と荷台の昇降とを制御
する方法であって、荷台を現在位置から目的位置まで移
動させるのに要する台車の必要走行距離と、荷台の必要
昇降距離と、台車及び荷台の最大移動速度とに基づい
て、台車の走行と荷台の昇降との最小到達時間を求めて
それらを比較し、台車の走行と荷台の昇降とのうち、最
小到達時間の長い方の移動速度を最大とし、かつ短い方
の移動速度を、最小到達時間の差又は比が大きいほど低
速として制御することを特徴としている。Further, the method of the present invention is a method for controlling the traveling of a stacker crane in which a mast is erected on a truck traveling on the floor, and the loading platform is mounted on the mast so that the loading platform can be raised and lowered. , The minimum of travel of the truck and lifting of the platform based on the required travel distance of the vehicle required to move the platform from the current position to the target position, the required lifting distance of the platform, and the maximum moving speed of the truck and the platform. Obtain the arrival times and compare them, and of the traveling of the trolley and the lifting and lowering of the loading platform, the travel speed of the longer of the minimum arrival times is the maximum, and the travel speed of the shorter one is the difference or ratio of the minimum arrival times. It is characterized in that the larger the speed, the slower the speed.
【０００９】この場合に、台車の走行速度及び荷台の昇
降速度を、それぞれ複数段階に切替え可能とし、台車の
走行と荷台の昇降とのうち、最小到達時間の短い方の移
動速度を、最小到達時間の差又は比に応じて段階的に小
とするのがよい。In this case, the traveling speed of the trolley and the ascending / descending speed of the loading platform can each be switched to a plurality of stages, and the traveling speed of the traveling of the trolley and the lifting / lowering of the loading platform, whichever has the shorter minimum arrival time, can be reached to the minimum. It is preferable to gradually decrease the size according to the time difference or the ratio.
【００１０】本発明の装置は、床上を走行する台車と、
台車に立設したマストと、マストに上下動可能として装
着した荷台と、台車を走行させる走行駆動手段と、荷台
をマストに沿って昇降させる昇降駆動手段とを備えるス
タッカークレーンの走行及び荷台の昇降制御装置であっ
て、台車の走行方向の位置を検知する走行位置検知手段
と、荷台の高さを検知する高さ検知手段と、次に移動し
ようとする荷台の目的位置を指定する操作手段と、走行
位置検知手段により検知された台車の現在位置から目的
位置までの台車の必要走行距離と、高さ検知手段により
検知された荷台の現在位置から目的位置までの荷台の必
要昇降距離とを比較し、台車の走行と荷台の昇降とのう
ち、前記距離の長い方の移動速度を最大とし、かつ短い
方の移動速度を、前記距離の差又は比が大きいほど低い
値として、台車の走行速度と荷台の昇降速度とを決定す
る速度決定回路、及び台車の走行速度と荷台の昇降速度
とが、速度決定回路により定められた前記各速度となる
ように走行駆動手段と昇降駆動手段とを制御する駆動制
御回路を有する制御回路とを備えることを特徴としてい
る。The apparatus of the present invention comprises a trolley that travels on the floor,
Traveling a stacker crane and raising / lowering the loading platform, which includes a mast that is erected on the cart, a loading platform that is vertically movable on the mast, a travel drive unit that drives the platform, and an elevating drive unit that raises and lowers the platform along the mast. A control device, a traveling position detecting means for detecting the position of the carriage in the traveling direction, a height detecting means for detecting the height of the cargo bed, and an operating means for designating a target position of the cargo bed to be moved next. , Compare the required travel distance of the trolley from the current position of the trolley detected by the traveling position detection means to the target position and the required travel distance of the trolley from the current position of the trolley to the target position detected by the height detection means However, of traveling of the bogie and lifting and lowering of the loading platform, the traveling speed of the longer one is maximized, and the traveling speed of the shorter one is set to a lower value as the difference or ratio of the distances is larger, A speed determining circuit that determines the traveling speed and the lifting speed of the loading platform, and a traveling driving means and a lifting driving means so that the traveling speed of the carriage and the lifting speed of the loading platform become the respective speeds determined by the speed determining circuit. And a control circuit having a drive control circuit for controlling the.
【００１１】また、本発明の装置は、床上を走行する台
車と、台車に立設したマストと、マストに上下動可能と
して装着した荷台と、台車を走行させる走行駆動手段
と、荷台をマストに沿って昇降させる昇降駆動手段とを
備えるスタッカークレーンの走行及び荷台の昇降制御装
置であって、台車の走行方向の位置を検知する走行位置
検知手段と、荷台の高さを検知する高さ検知手段と、次
に移動しようとする荷台の目的位置を指定する操作手段
と、走行位置検知手段により検知された台車の現在位置
から目的位置までの台車の必要走行距離と、高さ検知手
段により検知された荷台の現在位置から目的位置までの
荷台の必要昇降距離と、台車及び荷台の最大移動速度と
に基づいて、台車の走行と荷台の昇降との最小到達時間
を求めてそれらを比較し、台車の走行と荷台の昇降との
うち、前記最小到達時間の長い方の移動速度を最大と
し、かつ短い方の移動速度を、前記最小到達時間の差又
は比が大きいほど低い値として、台車の走行速度と荷台
の昇降速度とを決定する速度決定回路、及び台車の走行
速度と荷台の昇降速度とが、速度決定回路により定めら
れた前記各速度となるように走行駆動手段と昇降駆動手
段とを制御する駆動制御回路を有する制御回路とを備え
ることを特徴としている。Further, the apparatus of the present invention comprises a trolley that travels on the floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, travel drive means that drives the trolley, and the loading platform on the mast. A traveling control device for a stacker crane and an elevating / lowering device for a loading platform, which comprises an elevating and lowering driving device for moving up and down along the traveling position, and a traveling position detecting device for detecting a position in a traveling direction of a trolley, and a height detecting device for detecting a height of the loading platform. An operating means for designating a target position of the cargo bed to be moved next, a required traveling distance of the carriage from the present position of the carriage to the target position detected by the traveling position detecting means, and a height detecting means for detecting. Based on the required lifting distance of the platform from the current position of the platform to the target position and the maximum movement speed of the platform and the platform, the minimum arrival time between the traveling of the platform and the lifting of the platform is calculated and compared. Of the traveling of the trolley and the lifting and lowering of the loading platform, the moving speed of the longer one of the minimum arrival times is the maximum, and the moving speed of the shorter one is a lower value as the difference or the ratio of the minimum arrival times is larger, A speed determining circuit that determines the traveling speed of the trolley and the lifting speed of the loading platform, and a traveling drive unit and a lifting drive so that the traveling speed of the trolley and the lifting speed of the loading platform become the respective speeds determined by the speed determining circuit. And a control circuit having a drive control circuit for controlling the means.
【００１２】[0012]
【作用】速度決定回路において、荷台を現在位置から目
的位置まで移動させるのに要する台車の必要走行距離
と、荷台の必要昇降距離とが比較され、その比較に基づ
いて台車の走行と荷台の昇降とのうち、前記距離の長い
方の移動速度が最大速度として、また短い方の移動速度
が、前記距離の差又は比に反比例した低速度として決定
され、駆動制御回路により、台車の走行速度と荷台の昇
降速度とが速度決定回路により決定された上記速度とな
るように、走行駆動手段と昇降駆動手段とが制御される
ので、台車の走行と荷台の昇降とのいずれか一方を低速
とすることができ、各部の疲労を少なくして、機械的寿
命を長くすることができる。In the speed determining circuit, the required traveling distance of the carriage required to move the luggage carrier from the present position to the target position is compared with the required lifting distance of the luggage carrier, and based on the comparison, the traveling of the carriage and the raising and lowering of the luggage carrier are performed. Among these, the moving speed of the longer one is determined as the maximum speed, and the moving speed of the shorter one is determined as a low speed inversely proportional to the difference or the ratio of the distances, and the driving speed of the carriage is determined by the drive control circuit. Since the traveling drive means and the elevating drive means are controlled so that the ascending / descending speed of the loading platform becomes the above-mentioned speed determined by the speed determination circuit, one of the traveling of the trolley and the lifting / lowering of the loading platform is set to a low speed. It is possible to reduce fatigue of each part and prolong mechanical life.
【００１３】[0013]
【実施例】以下、本発明の第１実施例を、図１〜図６を
参照して説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS.
【００１４】図１及び図２に示すように、自動倉庫内の
各荷棚(１)は、床(２)と天井(３)との間に前後(図１の
左右)に等間隔をもって立設した左右２列の支柱(４)
を、それぞれ前後方向を向く連結杆(５)をもって連結
し、左右の支柱(４)を、水平をなして所定間隔をもって
上下に並ぶ荷受枠(６)をもって連結して形成されてい
る。As shown in FIGS. 1 and 2, each of the cargo racks (1) in the automated warehouse stands up and down (left and right in FIG. 1) at equal intervals between the floor (2) and the ceiling (3). Two columns of left and right columns installed (4)
Are connected by connecting rods (5) facing in the front-rear direction, and left and right columns (4) are connected by load receiving frames (6) which are horizontal and are vertically arranged at a predetermined interval.
【００１５】床(２)の上面と天井(３)の下面における左
右の両荷棚(１)の中間には、互いに平行をなして前後方
向を向く走行用のレール(７)とガイドレール(８)とが敷
設されている。In the middle of the left and right cargo racks (1) on the upper surface of the floor (2) and the lower surface of the ceiling (3), there are rails (7) for running and guide rails (7) that are parallel to each other and face in the front-rear direction. 8) and are laid.
【００１６】(９)はスタッカークレーンで、台車(10)の
中央にはマスト(11)が立設され、台車(10)は車輪(12)が
走行レール(７)に沿って転動し、またマスト(11)の上端
に枢設した左右１対のローラ(13)がガイドレール(８)を
両側より挾んで転動することによって、左右方向に傾倒
することなく、前後方向に走行することができる。(9) is a stacker crane, in which the mast (11) is erected in the center of the carriage (10), the wheels (12) of the carriage (10) roll along the traveling rail (7), In addition, a pair of left and right rollers (13) pivotally installed on the upper end of the mast (11) slides on the guide rails (8) from both sides to roll, so that the rollers can run in the front-rear direction without tilting in the left-right direction. You can
【００１７】(14)は、台車(10)を走行させる走行駆動手
段で、図３に明示してあるように、レール(７)内に歯付
ベルト(15)を沿設し、台車(10)に枢設した１対の案内プ
ーリ(16)を経て、同じく台車(10)に枢設したピニオン(1
7)に噛合させ、このピニオン(17)を、台車(10)に設けた
正逆回転可能な走行用のモータ(18)により回転させるこ
とによって、台車(10)を前後方向に走行させることがで
きるようになっている。Reference numeral (14) is a traveling drive means for traveling the carriage (10). As clearly shown in FIG. 3, a toothed belt (15) is installed along the rail (7) to allow the carriage (10) to move. ) Via a pair of guide pulleys (16) pivotally mounted on the carriage (10).
The bogie (10) can be moved in the front-rear direction by engaging with the pinion (17) and rotating this pinion (17) by a traveling motor (18) provided in the bogie (10) capable of forward and reverse rotation. You can do it.
【００１８】(19)は、モータ(18)の軸(18a)に固嵌され
たスプロケット(20)と、ピニオン(17)の軸(17a)に固嵌
されたスプロケット(21)とに掛け回され、モータ(18)の
回転力をピニオン(17)に伝達するチェーンである。(19) is wound around the sprocket (20) fixed to the shaft (18a) of the motor (18) and the sprocket (21) fixed to the shaft (17a) of the pinion (17). This is a chain that transmits the rotational force of the motor (18) to the pinion (17).
【００１９】(22)は、モータ(18)の軸(17a)に制動力を
付与するようにした下部ブレーキである。マスト(11)の
上部には、ガイドレール(８)を挾むことにより、マスト
(11)の上端部に制動力を付与するようにした上部ブレー
キ(23)が設置されている。Reference numeral (22) is a lower brake adapted to apply a braking force to the shaft (17a) of the motor (18). On top of the mast (11), insert the guide rail (8) to remove the mast.
An upper brake (23) for applying a braking force is installed at the upper end of (11).
【００２０】マスト(11)の両側面には、上下方向を向く
案内レール(24)が固着され、案内レール(24)には、マス
ト(11)の前面に添う荷台(25)の後部に連設した摺動部(2
6)が昇降自在に係合している。Guide rails (24) facing vertically are fixed to both side surfaces of the mast (11), and the guide rails (24) are connected to the rear portion of the loading platform (25) along the front surface of the mast (11). Installed sliding part (2
6) is engaged so that it can move up and down.
【００２１】荷台(25)の上部と下部に両端が止着された
チェーン(27)は、マスト(11)の上端と、マスト(11)の内
下部と、台車(10)とに枢設した従動スプロケット(28)
と、台車(10)に設置した昇降用モータ(29)の軸(29a)に
固嵌した駆動スプロケット(30)とに掛け回され、荷台(2
5)はモータ(29)の回転により昇降させられる。かくし
て、モータ(29)、スプロケット(28)(30)、チェーン(27)
等により、昇降駆動手段(31)が形成されている。A chain (27) having both ends fastened to the upper and lower parts of the carrier (25) is pivotally mounted on the upper end of the mast (11), the inner and lower parts of the mast (11), and the carriage (10). Driven Sprocket (28)
And the drive sprocket (30) fixed to the shaft (29a) of the lifting motor (29) installed on the carriage (10),
5) is moved up and down by the rotation of the motor (29). Thus, the motor (29), sprocket (28) (30), chain (27)
The elevator driving means (31) is formed by the above.
【００２２】荷台(25)上には、モータ(図示省略)により
左右の両側方に２段に伸縮する横送り手段(32)が設置さ
れ、横送り手段(32)上にはパレット(33)とその上に載置
した荷(34)が乗っている。On the loading platform (25), a lateral feed means (32) which expands and contracts in two stages on the left and right sides by a motor (not shown) is installed, and a pallet (33) is placed on the lateral feed means (32). And a load (34) placed on it.
【００２３】スタッカークレーン(９)は、走行駆動手段
(14)により台車(10)を走行させるとともに、昇降駆動手
段(31)により荷台(25)を昇降させることにより、荷台(2
5)を、例えば図４に実線で示す現在位置から、図４に想
像線で示すように、荷(34)が荷棚(１)の目標とする収納
部の側方に位置する目的位置まで移動し、次いで、横送
り手段(32)を伸長させて、荷(34)を所望の収納部に挿入
した後、荷台(25)を若干下降させて、横送り手段(32)を
短縮することにより、荷(34)をパレット(33)とともに荷
棚(１)の両荷受枠(６)上に移載させることができ、その
逆の操作により、目的の荷(34)をパレット(33)とともに
取り出すことができる。The stacker crane (9) is a traveling drive means.
The carriage (10) is caused to travel by the (14), and the load carrier (25) is moved up and down by the lifting drive means (31), so that the load carrier (2
5), for example, from the current position shown by the solid line in FIG. 4 to the target position where the load (34) is located on the side of the target storage part of the load rack (1) as shown by the imaginary line in FIG. Moving, then extending the transverse feed means (32), inserting the load (34) into the desired storage, and then lowering the loading platform (25) slightly to shorten the transverse feed means (32). By this, the load (34) can be transferred together with the pallet (33) onto both load receiving frames (6) of the load rack (1), and by the reverse operation, the target load (34) can be transferred to the pallet (33). Can be taken out with.
【００２４】この場合に、従来のように、台車(10)と荷
台(25)とを、可能な限りの高速度で移動させると、例え
ば図４に想像線の矢印で示すように、荷台(25)の上昇が
台車(10)の走行より先に終了し、その後は台車(10)のみ
が走行を続けるというように、台車(10)の走行と荷台(2
5)の昇降との終了時期がずれることが多い。この場合
に、荷台(25)の上昇速度をいくら早くしても、荷の搬出
入時間を短縮することはできず、いたずらに各部の疲労
を増加し、機械的寿命を短くするだけである。In this case, if the carriage (10) and the carrier (25) are moved at the highest possible speed as in the conventional case, for example, as shown by an imaginary line arrow in FIG. The ascent of 25) ends before the traveling of the bogie (10), and thereafter only the bogie (10) continues traveling, so that the traveling of the bogie (10) and the loading platform (2)
The end time of lifting and lowering in 5) often shifts. In this case, no matter how fast the loading platform (25) is raised, the loading / unloading time of the load cannot be shortened, and the fatigue of each part is unnecessarily increased and the mechanical life is shortened.
【００２５】本発明は、このような問題点を解決するた
め、スタッカークレーン(９)に図５に示すような制御装
置(Ａ)を設け、それによって後述するようにスタッカー
クレーン(９)の走行及び荷台(25)の昇降を制御すること
により、この問題点を解決したものである。In the present invention, in order to solve such a problem, the stacker crane (9) is provided with a control device (A) as shown in FIG. 5, whereby the stacker crane (9) runs as described later. This problem is solved by controlling the lifting and lowering of the loading platform (25).
【００２６】図５に示すように、制御装置(Ａ)は、荷台
(25)の高さ(Ｈ)を検知する高さ検知手段(35)と、台車(1
0)の走行方向の位置(Ｌ)を検知する走行位置検知手段(3
6)と、次に移動しようとする荷台(25)の目的位置を指定
する操作手段(37)と、制御回路(38)とを備えている。As shown in FIG. 5, the control unit (A) is
A height detecting means (35) for detecting the height (H) of the (25) and a carriage (1
Driving position detecting means (3) for detecting the position (L) in the traveling direction of (0)
6), an operating means (37) for designating a target position of the bed (25) to be moved next, and a control circuit (38).
【００２７】具体的には、高さ検知手段(35)は、図１に
示すように、マスト(11)の下部に設けられ、適宜の従動
スプレケット(29)の回転数を検知することにより、荷台
(25)の高さを検知するようにしたロータリエンコーダと
してあり、走行位置検知手段(36)は、図１及び図３に示
すように、台車(10)に設けられ、ピニオン(17)の軸(17
a)の回転数を検知することにより、台車(10)の走行方向
の位置(Ｌ)を検知するようにしたロータリエンコーダと
してあり、また操作手段(37)は、荷棚(１)の一側部に設
けられた適宜の操作盤(図示略)に組み込まれた複数の押
しボタン式の操作スイッチ(図示略)としてある。Specifically, as shown in FIG. 1, the height detecting means (35) is provided in the lower part of the mast (11), and detects the number of rotations of an appropriate driven sprocket (29). Loading platform
As a rotary encoder adapted to detect the height of (25), the traveling position detecting means (36) is provided on the carriage (10) as shown in FIGS. 1 and 3, and the shaft of the pinion (17) is provided. (17
It is a rotary encoder configured to detect the position (L) of the carriage (10) in the traveling direction by detecting the rotation speed of (a), and the operating means (37) is one side of the luggage rack (1). This is a plurality of push button type operation switches (not shown) incorporated in an appropriate operation panel (not shown) provided in the section.
【００２８】なお、高さ検知手段(35)及び走行位置検知
手段(36)は、例えば公知のリニアエンコーダその他の計
測手段としてもよい。The height detecting means (35) and the traveling position detecting means (36) may be, for example, known linear encoders or other measuring means.
【００２９】制御回路(38)は、走行位置検知手段(36)に
より検知された台車(10)の現在位置(L1)から目的位置(L
2)までの必要走行距離(L0)と、高さ検知手段(35)により
検知された荷台(25)の現在高さ(H1)から目的高さ(H2)ま
での荷台(25)の必要昇降距離(H0)とを比較し、台車(10)
の走行と荷台(25)の昇降とのうち、前記距離(L0)(H0)の
長い方の移動速度を最大とし、かつ短い方の移動速度
を、前記距離(L0)(H0)の比が大きいほど低い値として、
台車(10)の指定走行速度(VL0)と荷台(25)の指定昇降速
度(VH0)とを決定する速度決定回路(39)と、台車(10)の
走行速度(VL)と荷台(25)の昇降速度(VH)とが、速度決定
回路(39)により定められた上記指定走行速度(VL0)及び
指定昇降速度(VH0)となるように走行駆動手段(14)と昇
降駆動手段(31)とを制御する駆動制御回路(40)とを有し
ている。The control circuit (38) changes the current position (L 1 ) of the carriage (10) detected by the traveling position detection means (36) from the target position (L 1 ).
2 ) the required travel distance (L 0 ) and the platform (25) from the current height (H 1 ) of the platform (25) detected by the height detection means (35) to the target height (H 2 ). Compare with the required lifting distance (H 0 ) of the trolley (10)
Of the traveling and the raising and lowering of the loading platform (25), the moving speed of the longer one of the distances (L 0 ) and (H 0 ) is maximized, and the moving speed of the shorter one is the distance (L 0 ) (H 0 ). The larger the ratio of), the lower the value,
A speed determination circuit (39) for determining the specified traveling speed (VL 0 ) of the carriage (10) and the specified lifting speed (VH 0 ) of the carrier (25), and the traveling speed (VL) of the carrier (10) and the carrier ( The travel drive means (14) and the up-and-down drive such that the ascending / descending speed (VH) of 25) becomes the specified traveling speed (VL 0 ) and the specified ascending / descending speed (VH 0 ) determined by the speed determination circuit (39). And a drive control circuit (40) for controlling the means (31).
【００３０】なお、第１実施例においては、台車(10)の
最大移動速度(VLmax)と荷台(25)の最大移動速度(最大昇
降速度)(VHmax)とを同一(VLmax=VHmax)として、その最
大移動速度を第１６速とし、かつその最大移動速度を１
６等分して、小さいものから順に第１速〜第１５速と
し、走行駆動手段(14)及び昇降駆動手段(31)を、この第
１速〜第１６速の１６段階に切替えて作動しうるように
してある。In the first embodiment, the maximum moving speed (VLmax) of the carriage (10) and the maximum moving speed (maximum ascending / descending speed) (VHmax) of the loading platform (25) are the same (VLmax = VHmax). The maximum moving speed is 16th, and the maximum moving speed is 1
It is divided into six equal parts, and the first to fifteenth speeds are set in ascending order, and the traveling drive means (14) and the elevating and lowering drive means (31) are switched to 16 stages of the first to sixteenth speeds to operate. I have made it possible.
【００３１】次に、この制御装置(Ａ)の作用とともに、
本発明の制御方法の第１実施要領を、図６に示すフロー
チャートを参照して説明する。Next, together with the operation of this control device (A),
A first embodiment of the control method of the present invention will be described with reference to the flowchart shown in FIG.
【００３２】荷台(25)が他の荷移送手段(図示略)との間
で荷(34)の受渡しを行なう原位置か、又は任意の位置で
停止している状態で、操作手段(37)により、次に荷台(2
5)を移動しようとする目的位置を、例えば荷棚(１)の段
数とその段の前方から何番目の部位かをもって(例えば
下から第５番目の第８番目というように)設定し(ステッ
プS1)、次いで、操作手段(37)中のスタートボタン(図示
略)を押すと(ステップS2)、制御回路(38)の速度決定回
路(39)において、走行位置検知手段(36)により検知され
た台車(10)の現在位置(L1)を示す値から、操作手段(37)
により設定された目的位置(L2)を示す値が減算されて必
要走行距離(L0)が求められるとともに、高さ検知手段(3
5)により検知された荷台(25)の現在高さ(H1)を示す値か
ら、操作手段(37)により設定された目的高さ(H2)を示す
値が減算されて荷台(25)の必要昇降距離(H0)が求められ
(ステップS3)、速度決定回路(39)中の比較回路(図示略)
において、上記の必要走行距離(L0)と必要昇降距離(H0)
とが比較される(ステップS4、S5、S6)。The operation means (37) is operated while the loading platform (25) is stopped at the original position where the load (34) is transferred to or from another load transfer means (not shown) or at an arbitrary position. To the loading platform (2
5) Set the target position to move to, for example, based on the number of steps of the rack (1) and the number of the part from the front of the step (for example, 5th to 8th from the bottom) (step S1), and then pressing the start button (not shown) in the operating means (37) (step S2), in the speed determination circuit (39) of the control circuit (38) is detected by the traveling position detection means (36). From the value indicating the current position (L 1 ) of the carriage (10), the operating means (37)
The required travel distance (L 0 ) is obtained by subtracting the value indicating the target position (L 2 ) set by the height detection means (3
The value indicating the target height (H 2 ) set by the operating means (37) is subtracted from the value indicating the current height (H 1 ) of the cargo bed (25) detected by 5), and the cargo bed (25) The required lifting distance (H 0 ) of
(Step S3), comparison circuit (not shown) in the speed determination circuit (39)
In above, the required travel distance (L 0 ) and the required ascent / descent distance (H 0 )
And are compared (steps S4, S5, S6).
【００３３】必要走行距離(L0)が必要昇降距離(H0)より
大であると(ステップS4)、台車(10)の指定走行速度(V
L0)が最大移動速度(VLmax)である第１６速として決定さ
れるとともに、荷台(25)の指定昇降速度(VH0)が、１６
を必要走行距離(L0)と必要昇降距離(H0)との比で除した
値、すなわち１６÷L0／H0の速度段階として決定される
(ステップS7)。なお、１６÷L0／H0の値が整数とならな
い場合は、小数点以下を切捨て、切上げ、又は四捨五入
して、整数値とする(ステップS8、S9においても同様と
する)。When the required traveling distance (L 0 ) is larger than the required ascending / descending distance (H 0 ) (step S4), the designated traveling speed (V
L 0 ) is determined as the 16th speed, which is the maximum moving speed (VLmax), and the designated lifting speed (VH 0 ) of the platform (25) is 16
Is divided by the ratio of the required travel distance (L 0 ) and the required ascending / descending distance (H 0 ), that is, the speed step of 16 ÷ L 0 / H 0
(Step S7). When the value of 16 ÷ L 0 / H 0 is not an integer, the decimal point is rounded down, rounded up, or rounded off to obtain an integer value (the same applies to steps S8 and S9).
【００３４】必要走行距離(L0)が必要昇降距離(H0)より
小であると(ステップS5)、荷台(25)の指定昇降速度(V
H0)が最大移動速度(VHmax)である第１６速として決定さ
れるとともに、台車(10)の指定走行速度(VL0)が、１６
を必要昇降距離(H0)と必要走行距離(L0)との比で除した
値、すなわち１６÷L0／H0の速度段階として決定される
(ステップS8)。When the required traveling distance (L 0 ) is smaller than the required ascending / descending distance (H 0 ) (step S5), the specified ascending / descending speed (V
H 0 ) is determined as the 16th speed which is the maximum moving speed (VHmax), and the designated traveling speed (VL 0 ) of the carriage (10) is 16
Is divided by the ratio of the required ascending / descending distance (H 0 ) and the required traveling distance (L 0 ), that is, the speed step of 16 ÷ L 0 / H 0
(Step S8).
【００３５】また、必要走行距離(L0)と必要昇降距離(H
0)とがほぼ同一であると(ステップS6)、台車(10)の指定
走行速度(VL0)と荷台(25)の指定昇降速度(VH0)とが、そ
れぞれ最大移動速度(VLmax)(VHmax)である第１６速とし
て決定される(ステップS9)。The required travel distance (L 0 ) and the required ascent / descent distance (H
0 ) is almost the same (step S6), the specified traveling speed (VL 0 ) of the carriage (10) and the specified ascending / descending speed (VH 0 ) of the platform (25) are respectively the maximum moving speed (VLmax) ( The 16th speed which is VHmax) is determined (step S9).
【００３６】このようにして、台車(10)の指定走行速度
(VL0)と荷台(25)の指定昇降速度(VH0)とが決定される
と、それらの情報が駆動制御回路(40)に伝達され、同回
路(40)により、台車(10)の走行速度(VL)と荷台(25)の昇
降速度(VH)とが、速度決定回路(39)により定められた上
記指定走行速度(VL0)及び指定昇降速度(VH0)となるよう
に走行駆動手段(14)と昇降駆動手段(31)とが制御され、
台車(10)及び荷台(25)が移動させられる(ステップS1
0)。In this way, the designated traveling speed of the carriage (10)
When (VL 0 ) and the designated lifting speed (VH 0 ) of the platform (25) are determined, the information is transmitted to the drive control circuit (40), and the circuit (40) causes the truck (10) to move. The vehicle travels so that the traveling speed (VL) and the lifting speed (VH) of the platform (25) become the specified traveling speed (VL 0 ) and the specified lifting speed (VH 0 ) defined by the speed determination circuit (39). The drive means (14) and the lifting drive means (31) are controlled,
The trolley (10) and the loading platform (25) are moved (step S1
0).
【００３７】台車(10)の走行速度(VL)と荷台(25)の昇降
速度(VH)とをこのように制御することにより、荷台(25)
は、例えば図４の実線の矢印で示すように、すなわち台
車(10)の走行と荷台(25)の昇降とがほぼ同時に完了する
ように移動し、台車(10)の走行と荷台(25)の昇降とのい
ずれか一方を従来のものより低速とすることができ、各
部の疲労を少なくして、機械的寿命を長くすることがで
きる。By controlling the traveling speed (VL) of the carriage (10) and the ascending / descending speed (VH) of the carrier (25) in this manner, the carrier (25)
Moves, for example, as indicated by the solid line arrow in FIG. 4, that is, the traveling of the carriage (10) and the lifting and lowering of the luggage carrier (25) are completed almost at the same time, and the traveling of the carriage (10) and the luggage carrier (25) are completed. It is possible to make either one of the vertical movement and the vertical movement lower than that of the conventional one, thereby reducing fatigue of each part and prolonging the mechanical life.
【００３８】第１実施例においては、説明を簡単にする
ため、台車(10)の最大移動速度(VLmax)と荷台(25)の最
大移動速度(最大昇降速度)(VHmax)とを同一(VLmax=VHma
x)としたが、実際には、これらを同一としうる場合は少
なく、また、台車(10)の最大走行距離と荷台(25)の最大
昇降距離とが同一とならない場合が多い。In the first embodiment, in order to simplify the explanation, the maximum moving speed (VLmax) of the carriage (10) and the maximum moving speed (maximum ascending / descending speed) (VHmax) of the carrier (25) are the same (VLmax). = VHma
However, in reality, it is unlikely that they can be the same, and in many cases, the maximum travel distance of the carriage (10) and the maximum hoisting distance of the luggage carrier (25) are not the same.
【００３９】図７は、このような場合を考慮したスタッ
カークレーンの走行及び荷台の昇降制御装置の第２実施
例を示す。なお、第１実施例の部材と同一の部材には、
同一の符号を付し、その詳細な説明は省略する。FIG. 7 shows a second embodiment of the stacker crane traveling and loading / descending / descending control device in consideration of such a case. The same members as those of the first embodiment include
The same reference numerals are given and detailed description thereof will be omitted.
【００４０】第２実施例においては、速度決定回路(39)
は、走行位置検知手段(36)により検知された台車(10)の
現在位置(L1)から目的位置(L2)までの必要走行距離(L0)
と、台車(10)の最大移動速度(VLmax)とに基づいて、台
車(10)の走行の最小到達時間(TL0)を求める走行演算回
路(41)と、高さ検知手段(35)により検知された荷台(25)
の現在高さ(H1)から目的高さ(H2)までの荷台(25)の必要
昇降距離(H0)と、荷台(25)の最大移動速度(最大昇降速
度)(VHmax)とに基づいて、荷台(25)の昇降の最小到達時
間(TH0)を求める昇降演算回路(42)と、両演算回路(41)
(42)により求められた最小到達時間(TL0)(TH0)を比較す
る比較回路(43)と、この比較回路(43)の判別に基づい
て、台車(10)の走行と荷台(25)の昇降とのうち、前記最
小到達時間(TL0)(TH0)の長い方の移動速度を最大、すな
わち第１６速とし、かつ短い方の移動速度を、前記最小
到達時間(TL0)(TH0)の比が大きいほど低い値として、台
車(10)の指定走行速度(VL0)と荷台(25)の指定昇降速度
(VH0)とを決定する指定速度演算回路(44)とからなって
いる。In the second embodiment, the speed determining circuit (39)
Is the required travel distance (L 0 ) from the current position (L 1 ) of the carriage (10) detected by the travel position detection means (36) to the target position (L 2 ).
Based on the maximum moving speed (VLmax) of the carriage (10), the travel calculation circuit (41) for obtaining the minimum arrival time (TL 0 ) of the travel of the carriage (10), and the height detection means (35). Detected cargo bed (25)
The required lifting distance (H 0 ) of the bed (25) from the current height (H 1 ) to the target height (H 2 ) and the maximum moving speed (maximum lifting speed) (VHmax) of the bed (25) Based on this, the lifting operation circuit (42) that determines the minimum arrival time (TH 0 ) for lifting the cargo bed (25), and both operation circuits (41)
Based on the comparison circuit (43) that compares the minimum arrival time (TL 0 ) (TH 0 ) obtained by (42) and the comparison circuit (43), the traveling of the carriage (10) and the loading platform (25 ), The longer moving speed of the minimum arrival time (TL 0 ) (TH 0 ) is the maximum, that is, the 16th speed, and the shorter moving speed is the minimum arrival time (TL 0 ). The higher the ratio of (TH 0 ), the lower the value, the specified traveling speed (VL 0 ) of the bogie (10) and the specified lifting speed of the loading platform (25).
(VH 0 ) and a designated speed calculation circuit (44) for determining.
【００４１】次に、この第２実施例の制御装置(Ａ)の作
用とともに、本発明の制御方法の第２実施要領を、図８
に示すフローチャートを参照して説明する。ステップS1
〜ステップS2までは、前述の第１実施要領と同一である
ので、説明を省略する。Next, the operation of the control device (A) of the second embodiment and the second embodiment of the control method of the present invention will be described with reference to FIG.
This will be described with reference to the flowchart shown in FIG. Step S1
The steps up to step S2 are the same as those in the first embodiment described above, and the description thereof will be omitted.
【００４２】ステップS2において、操作手段(37)中のス
タートボタン(図示略)が押されると、速度決定回路(39)
の走行演算回路(41)において、走行位置検知手段(36)に
より検知された台車(10)の現在位置(L1)を示す値から、
操作手段(37)により設定された目的位置(L2)を示す値が
減算されて必要走行距離(L0)が求められ、この必要走行
距離(L0)を台車(10)の最大移動速度(VLmax)で除すこと
により、台車(10)の走行の最小到達時間(TL0)が求めら
れ(ステップS3)、また速度決定回路(39)の昇降演算回路
(42)において、高さ検知手段(35)により検知された荷台
(25)の現在高さ(H1)を示す値から、操作手段(37)により
設定された目的高さ(H2)を示す値が減算されて荷台(25)
の必要昇降距離(H0)が求められ、この必要昇降距離(H0)
を荷台(25)の最大移動速度(VHmax)で除すことにより、
荷台(25)の昇降の最小到達時間(TH0)が求められる(ステ
ップS4)。When the start button (not shown) in the operating means (37) is pressed in step S2, the speed determining circuit (39)
In the traveling arithmetic circuit (41) of, from the value indicating the current position (L 1 ) of the carriage (10) detected by the traveling position detection means (36),
Set object position by operating means (37) (L 2) is subtracted value indicating the required travel distance (L 0) is determined, the maximum moving speed of the required travel distance (L 0) of the carriage (10) By dividing by (VLmax), the minimum arrival time (TL 0 ) of traveling of the truck (10) is obtained (step S3), and the lifting calculation circuit of the speed determination circuit (39)
The cargo bed detected by the height detection means (35) at (42)
The value indicating the target height (H 2 ) set by the operating means (37) is subtracted from the value indicating the current height (H 1 ) of (25) to determine the load platform (25).
The necessary travel distance (H 0) is determined, the necessary travel distance (H 0)
Is divided by the maximum moving speed (VHmax) of the loading platform (25),
The minimum arrival time (TH 0 ) of raising and lowering the loading platform (25) is obtained (step S4).
【００４３】次に、比較回路(43)において、両演算回路
(41)(42)により求められた最小到達時間(TL0)(TH0)が比
較され(ステップS5、S6、S7)、台車(10)の走行の最小到
達時間(TL0)が荷台(25)の昇降の最小到達時間(TH0)より
大であると(ステップS5)、指定速度演算回路(44)におい
て、台車(10)の指定走行速度(VL0)が最大移動速度(VLma
x)である第１６速として決定されるとともに、荷台(25)
の指定昇降速度(VH0)が、１６を最小到達時間(TL0)と最
小到達時間(TH0)との比で除した値、すなわち１６÷TL0
／TH0の速度段階として決定される(ステップS8)。な
お、１６÷TL0／TH0の値が整数とならない場合は、小数
点以下を切捨て、切上げ、又は四捨五入して、整数値と
する(ステップS9、S10においても同様とする)。Next, in the comparison circuit (43), both arithmetic circuits are
(41) The minimum arrival time (TL 0 ) (TH 0 ) obtained by (42) is compared (steps S5, S6, S7), and the minimum arrival time (TL 0 ) of the traveling of the carriage (10) is determined by the loading platform ( If it is longer than the minimum reaching time (TH 0 ) of (25) (step S5), the specified traveling speed (VL 0 ) of the truck (10) is set to the maximum moving speed (VLma) in the specified speed calculation circuit (44).
x) is determined as the 16th speed and the loading platform (25)
The specified lifting speed (VH 0 ) of 16 is a value obtained by dividing 16 by the ratio of the minimum arrival time (TL 0 ) and the minimum arrival time (TH 0 ), that is, 16 ÷ TL 0
It is determined as the speed stage of / TH 0 (step S8). If the value of 16 ÷ TL 0 / TH 0 is not an integer, the decimal point is rounded down, rounded up, or rounded off to obtain an integer value (the same applies to steps S9 and S10).
【００４４】台車(10)の走行の最小到達時間(TL0)が荷
台(25)の昇降の最小到達時間(TH0)より小であると(ステ
ップS6)、指定速度演算回路(44)において、荷台(25)の
指定昇降速度(VH0)が最大移動速度(VHmax)である第１６
速として決定されるとともに、台車(10)の指定走行速度
(VL0)が、１６を最小到達時間(TH0)と最小到達時間(T
L0)との比で除した値、すなわち１６÷TH0／TL0の速度
段階として決定される(ステップS9)。When the minimum arrival time (TL 0 ) of traveling of the carriage (10) is smaller than the minimum arrival time (TH 0 ) of ascending / descending of the loading platform (25) (step S6), the designated speed calculation circuit (44) 16th, the designated ascending / descending speed (VH 0 ) of the loading platform (25) is the maximum moving speed (VHmax)
It is determined as the speed and the specified traveling speed of the truck (10)
(VL 0 ) has 16 as the minimum arrival time (TH 0 ) and the minimum arrival time (T
It is determined as a value divided by the ratio with L 0 ), that is, a speed step of 16 ÷ TH 0 / TL 0 (step S9).
【００４５】台車(10)の走行の最小到達時間(TL0)と荷
台(25)の昇降の最小到達時間(TH0)とがほぼ同一である
と(ステップS7)、指定速度演算回路(44)において、荷台
(25)の指定昇降速度(VH0)と台車(10)の指定走行速度(VL
0)とをともに最大移動速度(VLmax)(VHmax)である第１６
速として決定される(ステップS10)。When the minimum arrival time (TL 0 ) of traveling of the carriage (10) and the minimum arrival time (TH 0 ) of ascending / descending of the loading platform (25) are substantially the same (step S7), the designated speed calculation circuit (44 ), The loading platform
(25) specified hoisting speed (VH 0 ) and bogie (10) specified running speed (VL
0 ) and the maximum moving speed (VLmax) (VHmax)
The speed is determined (step S10).
【００４６】このようにして、台車(10)の指定走行速度
(VL0)と荷台(25)の指定昇降速度(VH0)とが決定される
と、それらの情報が駆動制御回路(40)に伝達され、同回
路(40)により、台車(10)の走行速度(VL)と荷台(25)の昇
降速度(VH)とが、速度決定回路(39)により定められた上
記指定走行速度(VL0)及び指定昇降速度(VH0)となるよう
に走行駆動手段(14)と昇降駆動手段(31)とが制御され、
台車(10)及び荷台(25)が移動させられる(ステップS1
1)。In this way, the designated traveling speed of the carriage (10)
When (VL 0 ) and the designated lifting speed (VH 0 ) of the platform (25) are determined, the information is transmitted to the drive control circuit (40), and the circuit (40) causes the truck (10) to move. The vehicle travels so that the traveling speed (VL) and the lifting speed (VH) of the platform (25) become the specified traveling speed (VL 0 ) and the specified lifting speed (VH 0 ) defined by the speed determination circuit (39). The drive means (14) and the lifting drive means (31) are controlled,
The trolley (10) and the loading platform (25) are moved (step S1
1).
【００４７】台車(10)の走行速度(VL)と荷台(25)の昇降
速度(VH)とをこのように制御することにより、第１実施
例の場合と同様に、そのいずれか一方を低速とすること
ができ、各部の疲労を少なくして、機械的寿命を長くす
ることができる。By controlling the traveling speed (VL) of the carriage (10) and the ascending / descending speed (VH) of the loading platform (25) in this way, one of them can be operated at a low speed, as in the case of the first embodiment. Therefore, fatigue of each part can be reduced and mechanical life can be extended.
【００４８】なお、第１実施例においては、台車(10)の
指定走行速度(VL0)と荷台(25)の指定昇降速度(VH0)との
うち低速とする方の値を、必要走行距離(L0)と必要昇降
距離(H0)との比に基づいて、その比が大きいほど低い値
として定め、また第２実施例においては、最小到達時間
(TL0)(TH0)の比に基づいて、その比が大きいほど低い値
として定めたが、必要走行距離(L0)と必要昇降距離(H0)
との差、又は最小到達時間(TL0)(TH0)の差を、予め１６
段階に区分しておき、実際に生じた差が該当する区分に
したがってその速度を決定するようにしてもよい。In the first embodiment, the specified traveling speed (VL 0 ) of the carriage (10) and the specified ascending / descending speed (VH 0 ) of the loading platform (25), whichever is the lower speed, is the required travel speed. Based on the ratio of the distance (L 0 ) and the required ascending / descending distance (H 0 ), the larger the ratio is, the lower the value is determined.
Based on the ratio of (TL 0 ) (TH 0 ), the larger the ratio, the lower the value, but the required travel distance (L 0 ) and the required ascent / descent distance (H 0 ).
And the difference of the minimum arrival time (TL 0 ) (TH 0 )
Alternatively, the speed may be determined in accordance with the classification in which the difference that has actually occurred corresponds to the classification.
【００４９】[0049]
【発明の効果】本発明によると、荷の搬出入の迅速性を
妨げることなく、台車の走行と荷台の昇降とのうちのい
ずれか一方を低速とすることができるので、各部の疲労
を少なくして、機械的寿命を長くすることができる。As described above, according to the present invention, it is possible to reduce the fatigue of each part because it is possible to slow down either one of the traveling of the carriage and the lifting and lowering of the cargo without impairing the speed of loading and unloading the cargo. Thus, the mechanical life can be extended.
【図１】本発明の制御装置の第１実施例を備えたスタッ
カークレーンと荷棚の側面図である。FIG. 1 is a side view of a stacker crane and a load rack including a first embodiment of a control device of the present invention.
【図２】図１のＡ−Ａ線断面図である。FIG. 2 is a sectional view taken along the line AA of FIG.
【図３】台車の要部の拡大縦断側面図である。FIG. 3 is an enlarged vertical cross-sectional side view of a main part of the bogie.
【図４】荷台の移動状態を示す概略側面図である。FIG. 4 is a schematic side view showing a moving state of the loading platform.
【図５】本発明の制御装置の第１実施例を示すブロック
図である。FIG. 5 is a block diagram showing a first embodiment of the control device of the present invention.
【図６】第１実施例の制御装置の作用と本発明の制御方
法の第１実施要領とを示すフローチャートである。FIG. 6 is a flow chart showing an operation of the control device of the first embodiment and a first embodiment of the control method of the present invention.
【図７】本発明の制御装置の第２実施例を示すブロック
図である。FIG. 7 is a block diagram showing a second embodiment of the control device of the present invention.
【図８】第２実施例の制御装置の作用と本発明の制御方
法の第２実施要領とを示すフローチャートである。FIG. 8 is a flow chart showing an operation of the control device of the second embodiment and a second embodiment of the control method of the present invention.
(１)荷棚 (２)床 (３)天井 (４)支柱 (５)連結杆 (６)荷受枠 (７)レール (８)ガイドレール (９)スタッカークレーン (10)台車 (11)マスト (12)車輪 (13)ローラ (14)走行駆動手段 (15)歯付ベルト (16)案内プーリ (17)ピニオン (17a)軸 (18)モータ (18a)軸 (19)チェーン (20)(21)スプロケ
ット (22)下部ブレーキ (23)上部ブレーキ (24)案内レール (25)荷台 (26)摺動部 (27)チェーン (28)従動スプロケット (29)モータ (30)駆動スプロケット (31)昇降駆動手段 (32)横送り手段 (33)パレット (34)荷 (35)高さ検知手段 (36)走行位置検知手段 (37)操作手段 (38)制御回路 (39)速度決定回路 (40)駆動制御回路 (41)走行演算回路 (42)昇降演算回路 (43)比較回路 (44)指定速度演算回路 (Ａ)制御装置 (Ｈ)荷台の高さ (H0)必要昇降距離 (H1)現在高さ (H2)目的高さ (Ｌ)台車の位置 (L0)必要走行距離 (L1)現在位置 (L2)目的位置 (VH)荷台の昇降速
度 (VH0)指定昇降速度 (VL)台車の走行速
度 (VL0)指定走行速度 (VHmax)(VLmax)最
大移動速度(1) Luggage rack (2) Floor (3) Ceiling (4) Post (5) Connecting rod (6) Loading frame (7) Rail (8) Guide rail (9) Stacker crane (10) Truck (11) Mast ( 12) Wheels (13) Rollers (14) Travel drive means (15) Toothed belt (16) Guide pulley (17) Pinion (17a) Shaft (18) Motor (18a) Shaft (19) Chain (20) (21) Sprocket (22) Lower brake (23) Upper brake (24) Guide rail (25) Bed (26) Sliding part (27) Chain (28) Driven sprocket (29) Motor (30) Drive sprocket (31) Lift drive means (32) Traverse means (33) Pallet (34) Load (35) Height detecting means (36) Travel position detecting means (37) Operating means (38) Control circuit (39) Speed determining circuit (40) Drive control circuit (41) Travel calculation circuit (42) Elevation calculation circuit (43) Comparison circuit (44) Specified speed calculation circuit (A) Controller (H) Platform height (H 0 ) Required lift distance (H 1 ) Current height (H 2) object height (L) position of the carriage (L 0) must travel distance (L 1) a current position (L 2) Position (VH) bed of the lifting velocity (VH 0) speed (VL 0) of the specified lifting speed (VL) dolly designated speed (VHmax) (VLmax) maximum moving speed
Claims (5)
マストに荷台を昇降自在に装着してなるスタッカークレ
ーンの走行と荷台の昇降とを制御する方法であって、 荷台を現在位置から目的位置まで移動させるのに要する
台車の必要走行距離と、荷台の必要昇降距離とを比較
し、台車の走行と荷台の昇降とのうち、前記距離の長い
方の移動速度を最大とし、かつ短い方の移動速度を、前
記距離の差又は比が大きいほど低速として制御すること
を特徴とするスタッカークレーンの走行及び荷台の昇降
制御方法。1. A mast is erected on a truck that travels on the floor,
This is a method for controlling the traveling of a stacker crane in which a loading platform is mounted on a mast so that it can be raised and lowered, and the lifting and lowering of the loading platform, and the required travel distance of the truck required to move the loading platform from the current position to the target position and Comparing the required lifting distance, the traveling speed of the longer one of the traveling of the carriage and the lifting and lowering of the loading platform is maximized, and the traveling speed of the shorter one is set to be lower as the difference or ratio of the distances is larger. A method for controlling traveling of a stacker crane and lifting and lowering of a loading platform, which is characterized by controlling.
マストに荷台を昇降自在に装着してなるスタッカークレ
ーンの走行と荷台の昇降とを制御する方法であって、 荷台を現在位置から目的位置まで移動させるのに要する
台車の必要走行距離と、荷台の必要昇降距離と、台車及
び荷台の最大移動速度とに基づいて、台車の走行と荷台
の昇降との最小到達時間を求めてそれらを比較し、台車
の走行と荷台の昇降とのうち、最小到達時間の長い方の
移動速度を最大とし、かつ短い方の移動速度を、最小到
達時間の差又は比が大きいほど低速として制御すること
を特徴とするスタッカークレーンの走行及び荷台の昇降
制御方法。2. A mast is erected on a truck running on the floor,
This is a method for controlling the traveling of a stacker crane in which a loading platform is mounted on a mast so that it can be raised and lowered, and the lifting and lowering of the loading platform, and the required travel distance of the truck required to move the loading platform from the current position to the target position and Based on the required hoisting distance and the maximum moving speed of the trolley and the loading platform, the minimum arrival time between the traveling of the trolley and the lifting of the loading platform is calculated and compared, and the minimum of the traveling of the trolley and the lifting of the loading platform is reached. A method for controlling the traveling of a stacker crane and the lifting and lowering of a loading platform, wherein the moving speed of the longer one is controlled to be maximum and the moving speed of the shorter one is controlled to be lower as the difference or ratio of the minimum arrival times is larger.
それぞれ複数段階に切替え可能とし、台車の走行と荷台
の昇降とのうち、低速とする方の速度を段階的に切替え
ることを特徴とする請求項１又は２記載のスタッカーク
レーンの走行及び荷台の昇降制御方法。3. The traveling speed of the carriage and the ascending / descending speed of the carrier are
3. The stacker crane traveling and loading / unloading of a stacker crane according to claim 1 or 2, wherein each of the switching is possible in a plurality of stages, and the lower speed of traveling of the carriage and lifting / lowering of the loading platform is switched in stages. Control method.
マストと、マストに上下動可能として装着した荷台と、
台車を走行させる走行駆動手段と、荷台をマストに沿っ
て昇降させる昇降駆動手段とを備えるスタッカークレー
ンの走行及び荷台の昇降制御装置であって、 台車の走行方向の位置を検知する走行位置検知手段と、 荷台の高さを検知する高さ検知手段と、 次に移動しようとする荷台の目的位置を指定する操作手
段と、 走行位置検知手段により検知された台車の現在位置から
目的位置までの台車の必要走行距離と、高さ検知手段に
より検知された荷台の現在位置から目的位置までの荷台
の必要昇降距離とを比較し、台車の走行と荷台の昇降と
のうち、前記距離の長い方の移動速度を最大とし、かつ
短い方の移動速度を、前記距離の差又は比が大きいほど
低い値として、台車の走行速度と荷台の昇降速度とを決
定する速度決定回路、及び台車の走行速度と荷台の昇降
速度とが、速度決定回路により定められた前記各速度と
なるように走行駆動手段と昇降駆動手段とを制御する駆
動制御回路を有する制御回路とを備えることを特徴とす
るスタッカークレーンの走行及び荷台の昇降制御装置。4. A trolley that travels on the floor, a mast that is erected on the trolley, and a loading platform that is vertically movable on the mast,
A traveling position detection means for detecting the position of a stacker crane in a traveling direction, the traveling and loading platform elevating and lowering control device comprising a traveling drive means for traveling a bogie and an elevating and lowering drive means for elevating and lowering a luggage platform along a mast. A height detecting means for detecting the height of the loading platform, an operating means for designating a target position of the loading platform to be moved next, and a truck from the present position of the truck detected by the traveling position detecting means to the destination position. Required travel distance of the platform from the present position of the platform detected by the height detection means to the target position, and the traveling of the carriage and the lifting of the platform, whichever is longer, A speed determination circuit that determines the traveling speed of the truck and the lifting speed of the platform with the traveling speed being maximum and the traveling speed of the shorter one being lower as the difference or ratio of the distance is larger, and the traveling speed of the truck. It is characterized by comprising a control circuit having a drive control circuit for controlling the traveling drive means and the elevating and lowering drive means so that the traveling speed and the ascending and descending speed of the platform become the respective speeds determined by the speed determining circuit. A stacker crane traveling and loading platform lifting control device.
マストと、マストに上下動可能として装着した荷台と、
台車を走行させる走行駆動手段と、荷台をマストに沿っ
て昇降させる昇降駆動手段とを備えるスタッカークレー
ンの走行及び荷台の昇降制御装置であって、 台車の走行方向の位置を検知する走行位置検知手段と、 荷台の高さを検知する高さ検知手段と、 次に移動しようとする荷台の目的位置を指定する操作手
段と、 走行位置検知手段により検知された台車の現在位置から
目的位置までの台車の必要走行距離と、高さ検知手段に
より検知された荷台の現在位置から目的位置までの荷台
の必要昇降距離と、台車及び荷台の最大移動速度とに基
づいて、台車の走行と荷台の昇降との最小到達時間を求
めてそれらを比較し、台車の走行と荷台の昇降とのう
ち、前記最小到達時間の長い方の移動速度を最大とし、
かつ短い方の移動速度を、前記最小到達時間の差又は比
が大きいほど低い値として、台車の走行速度と荷台の昇
降速度とを決定する速度決定回路、及び台車の走行速度
と荷台の昇降速度とが、速度決定回路により定められた
前記各速度となるように走行駆動手段と昇降駆動手段と
を制御する駆動制御回路を有する制御回路とを備えるこ
とを特徴とするスタッカークレーンの走行及び荷台の昇
降制御装置。5. A trolley that travels on the floor, a mast that is erected on the trolley, and a loading platform that is vertically movable on the mast,
A traveling position detection means for detecting the position of a stacker crane in a traveling direction, the traveling and loading platform elevating and lowering control device comprising a traveling drive means for traveling a bogie and an elevating and lowering drive means for elevating and lowering a luggage platform along a mast. A height detecting means for detecting the height of the loading platform, an operating means for designating a target position of the loading platform to be moved next, and a truck from the present position of the truck detected by the traveling position detecting means to the destination position. Based on the required travel distance of the vehicle, the required lifting distance of the platform from the current position of the platform detected by the height detection means to the target position, and the maximum moving speed of the platform and the platform, the traveling of the vehicle and the lifting of the platform are performed. The minimum arrival time is calculated and compared with each other, and the traveling speed of the longer of the minimum arrival time is the maximum of the traveling of the carriage and the lifting and lowering of the loading platform,
And, the shorter moving speed is set to a lower value as the difference or ratio of the minimum arrival times is larger, and a speed determination circuit for determining the traveling speed of the carriage and the lifting speed of the carrier, and the traveling speed of the carriage and the lifting speed of the carrier. And a control circuit having a drive control circuit for controlling the traveling drive means and the elevating drive means so that the speeds are set to the respective speeds determined by the speed determination circuit. Lift control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31106592A JP2906308B2 (en) | 1992-10-28 | 1992-10-28 | Method and apparatus for controlling traveling of stacker crane and lifting and lowering of cargo bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31106592A JP2906308B2 (en) | 1992-10-28 | 1992-10-28 | Method and apparatus for controlling traveling of stacker crane and lifting and lowering of cargo bed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06135508A true JPH06135508A (en) | 1994-05-17 |
| JP2906308B2 JP2906308B2 (en) | 1999-06-21 |
Family
ID=18012700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31106592A Expired - Fee Related JP2906308B2 (en) | 1992-10-28 | 1992-10-28 | Method and apparatus for controlling traveling of stacker crane and lifting and lowering of cargo bed |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2906308B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1172326A1 (en) * | 2000-07-12 | 2002-01-16 | Murata Kikai Kabushiki Kaisha | Conveying device with plurality of running motors |
| JP2007197134A (en) * | 2006-01-25 | 2007-08-09 | Toyota Industries Corp | Method for controlling stacker crane and controller for stacker crane |
| JP2011201608A (en) * | 2010-03-24 | 2011-10-13 | Okamura Corp | Stacker crane |
| KR20160067638A (en) * | 2014-12-04 | 2016-06-14 | 주식회사 에스에프에이 | Stocker system and method for controlling the same |
| JP2016185862A (en) * | 2015-03-27 | 2016-10-27 | 村田機械株式会社 | Transportation vehicle system |
| CN108177917A (en) * | 2017-12-28 | 2018-06-19 | 广州番禺职业技术学院 | A kind of Intelligent cargo cabinet and its method for fetching |
| US10106337B2 (en) | 2008-02-21 | 2018-10-23 | Eisenmann Se | Overhead conveyor system and dip coating line comprising said system |
| US10179342B2 (en) | 2012-02-21 | 2019-01-15 | Eisenmann Se | Immersion treatment installation |
-
1992
- 1992-10-28 JP JP31106592A patent/JP2906308B2/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1172326A1 (en) * | 2000-07-12 | 2002-01-16 | Murata Kikai Kabushiki Kaisha | Conveying device with plurality of running motors |
| JP2007197134A (en) * | 2006-01-25 | 2007-08-09 | Toyota Industries Corp | Method for controlling stacker crane and controller for stacker crane |
| JP4706488B2 (en) * | 2006-01-25 | 2011-06-22 | 株式会社豊田自動織機 | Stacker crane control method and stacker crane control apparatus |
| US10106337B2 (en) | 2008-02-21 | 2018-10-23 | Eisenmann Se | Overhead conveyor system and dip coating line comprising said system |
| JP2011201608A (en) * | 2010-03-24 | 2011-10-13 | Okamura Corp | Stacker crane |
| US10179342B2 (en) | 2012-02-21 | 2019-01-15 | Eisenmann Se | Immersion treatment installation |
| KR20160067638A (en) * | 2014-12-04 | 2016-06-14 | 주식회사 에스에프에이 | Stocker system and method for controlling the same |
| JP2016185862A (en) * | 2015-03-27 | 2016-10-27 | 村田機械株式会社 | Transportation vehicle system |
| CN108177917A (en) * | 2017-12-28 | 2018-06-19 | 广州番禺职业技术学院 | A kind of Intelligent cargo cabinet and its method for fetching |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2906308B2 (en) | 1999-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4978778B2 (en) | Article conveying device | |
| JPH06135508A (en) | Run of stacker crane and elevation control method and device for load-carrying platform | |
| CN210342821U (en) | Mechanical parking device with parking space | |
| JP4775652B2 (en) | Goods storage equipment | |
| JPH07149408A (en) | Drive controller for stacker crane | |
| JP3261423B2 (en) | Article storage facility | |
| JP2020040771A (en) | Apparatus and method for transfer | |
| JPH0692409A (en) | Traveling control method for stacker crane and its device | |
| JPS63272704A (en) | Three-dimensional storage warehouse | |
| JPH07187323A (en) | Travel movement accelerating-decelerating control method for stacker crane in automatic warehouse | |
| JP4257590B2 (en) | Lifting type article transport device | |
| JP2001019117A (en) | Carrying device | |
| KR960014365B1 (en) | Elevator-type parking apparatus | |
| JP2748230B2 (en) | Fork-type multi-story parking device | |
| US3363784A (en) | Device for laterally conveying and depositing motor vehicles | |
| KR100251414B1 (en) | A weight balance of parking machine lifter | |
| JPH05254612A (en) | Shiftable shelf equipment | |
| JPH1077104A (en) | Method and device for running and lift controlling of pallet | |
| JP2004339859A (en) | Elevator type parking equipment | |
| JP2001019119A (en) | Stacker crane | |
| JPH07317368A (en) | Fork type multistory parking device | |
| KR930004019B1 (en) | Multi-storied parking apparatus | |
| JPH069011A (en) | Carry-out control method for automated warehouse | |
| JPH09151089A (en) | Raising/lowering carrying device | |
| JP2004155571A (en) | Control device for movable body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990223 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090402 Year of fee payment: 10 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100402 Year of fee payment: 11 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110402 Year of fee payment: 12 |
|
| LAPS | Cancellation because of no payment of annual fees |