JP2906308B2 - Method and apparatus for controlling traveling of stacker crane and lifting and lowering of cargo bed - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling the traveling of a stacker crane and the lifting and lowering of a loading platform for loading and unloading a load at a desired position on a multi-stage loading rack.

[0002]

2. Description of the Related Art In automatic warehouses and factories, a mast is erected on a bogie traveling in the front-rear direction on a floor as a stacker crane for automatically loading and unloading a load at a desired position in a multi-staged rack which is long in the front-rear direction. In some cases, a 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 traverse means for moving the load horizontally in the left-right direction.

[0003] In such a conventional stacker crane, a trolley or a pallet is moved and raised and lowered at the highest possible speed in order to carry in and out the load quickly.

[0004]

When a truck or a pallet is constantly moved and moved up and down at a high speed as in the conventional stacker crane as described above, each part is quickly fatigued and the mechanical life is shortened. There is a point.

[0005] As means for solving such problems,
A simultaneous two-axis control method of a pulse distribution method using a position detection means such as a high-resolution rotary encoder and a servomotor, which is used for controlling a numerically controlled machine tool or an industrial robot, is used. However, according to this method, expensive equipment such as a servomotor is required, and a large driving force cannot be expected. Therefore, this method is not suitable for a stacker crane requiring a large driving force.

The present invention has been made in view of the above-mentioned problems of the prior art, and does not impede the speed of loading and unloading the cargo. It is an object of the present invention to provide a method and an apparatus for controlling the travel of a stacker crane and the lifting and lowering of a carrier, which can reduce the fatigue and extend the mechanical life.

[0007]

In order to achieve the above object, a method of the present invention is to provide a method for driving a stacker crane having a mast erected on a truck traveling on the floor and a loading platform mounted on the mast so as to be able to move up and down. A method of controlling the lifting and lowering of the platform, wherein the required traveling distance of the truck required to move the platform from the current position to the target position is compared with the required lifting distance of the platform, and the traveling of the truck and the lifting and lowering of the platform are performed. Of the above, the moving speed of the longer one of the distances is maximized, and the moving speed of the shorter one is
The control is performed at a lower speed as the difference or ratio of the distance is larger.

[0008] The method of the present invention is a method for controlling the traveling of a stacker crane having a mast erected on a truck traveling on the floor and a carrier mounted on the mast so as to be able to move up and down, and the elevation of the carrier. Based on the required travel distance of the carriage required to move the carrier from the current position to the target position, the required elevation distance of the carriage, and the maximum traveling speed of the carriage and the carriage, the minimum of the travel of the carriage and the elevation of the carriage. The arrival times are determined and compared, and the maximum traveling speed of the minimum arrival time of the traveling of the bogie and the lifting / lowering of the loading platform is maximized, and the shorter traveling speed is determined by the difference or ratio of the minimum arrival times. It is characterized in that the control is performed at a lower speed as the value is larger.

In this case, the traveling speed of the truck and the lifting speed of the carrier can be switched to a plurality of stages, respectively, and the traveling speed of the shorter traveling time of the traveling of the truck and the raising and lowering of the carrier can be reduced to the minimum reaching speed. It is good to make it small gradually according to the time difference or ratio.

[0010] The device of the present invention comprises a truck traveling on the floor,
Traveling and raising / lowering of a stacker crane including a mast erected on a trolley, a loading platform mounted on the mast so as to be movable up and down, traveling driving means for traveling the trolley, and elevation driving means for lifting / lowering the loading platform along the mast. A control device, a traveling position detecting means for detecting a position of the carriage in the traveling direction, a height detecting means for detecting a height of the carrier, and an operating means for specifying a target position of the carrier to be moved next. The required travel distance of the truck from the current position of the truck detected by the traveling position detecting means to the target position is compared with the required travel distance of the truck from the current position of the truck detected by the height detecting means to the target position. The traveling speed of the longer distance is maximized, and the shorter traveling speed is set to a lower value as the difference or ratio of the distance is larger. A speed determining circuit for determining the line speed and the ascending / descending speed of the carrier, and a traveling drive means and an ascending / descending drive means such that the traveling speed of the bogie and the ascent / descent speed of the carrier are the respective speeds determined by the speed determining circuit. And a control circuit having a drive control circuit for controlling the control.

[0011] Further, the apparatus of the present invention comprises a truck traveling on the floor, a mast erected on the truck, a carrier mounted on the mast so as to be movable up and down, traveling driving means for traveling the truck, and a carrier mounted on the mast. A traveling control device for a stacker crane and a carrier platform, comprising: a traveling position detecting device for detecting a position of a truck in a traveling direction, and a height detecting device for detecting a height of the platform. Operating means for designating the target position of the carrier to be moved next, the required traveling distance of the bogie from the current position of the bogie detected by the traveling position detecting means to the target position, and the height detected by the height detecting means. Based on the required lifting distance of the platform from the current position of the loaded platform to the target position, and the maximum traveling speed of the platform and the platform, the minimum travel time of the traveling of the platform and the elevation of the platform is determined and compared. And, of the traveling of the bogie and the lifting of the loading platform, the maximum traveling speed of the minimum arrival time is maximized, and the shorter traveling speed is set to a lower value as the difference or ratio of the minimum arrival time is larger, A speed determination circuit for determining the traveling speed of the truck and the lifting speed of the carrier; and a traveling drive means and a lifting / lowering drive such that the traveling speed of the truck and the lifting speed of the carrier are the respective speeds determined by the speed determining circuit. And a control circuit having a drive control circuit for controlling the means.

[0012]

In the speed determining circuit, the required travel distance of the carriage required to move the carriage from the current position to the target position is compared with the required elevation distance of the carriage. Based on the comparison, the traveling of the carriage and the elevation of the carriage are performed. Of the above, the longer travel speed of the distance is determined as the maximum speed, and the shorter travel speed is determined as a low speed inversely proportional to the difference or ratio of the distance, and the drive control circuit determines the travel speed of the bogie. The traveling drive means and the elevation drive means are controlled such that the lifting speed of the carrier is equal to the speed determined by the speed determination circuit, so that one of the traveling of the truck and the elevation of the carrier is reduced. Therefore, the fatigue of each part can be reduced and the mechanical life can be prolonged.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS.

As shown in FIGS. 1 and 2, each of the shelves (1) in the automatic warehouse stands at equal intervals between the floor (2) and the ceiling (3). Right and left two columns of support (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) arranged horizontally and at predetermined intervals vertically.

Between the left and right cargo shelves (1) on the upper surface of the floor (2) and the lower surface of the ceiling (3), a running rail (7) and a guide rail ( 8) is laid.

A stacker crane (9) has a mast (11) erected in the center of a bogie (10), and the bogie (10) has wheels (12) rolling along a traveling rail (7), A pair of left and right rollers (13) pivotally mounted on the upper end of the mast (11) roll around the guide rail (8) from both sides so that they can travel in the front-back direction without tilting in the left-right direction. Can be.

(14) travel driving means for traveling the cart (10), as shown in FIG. 3, a toothed belt (15) is provided along the rail (7), and ) Through a pair of guide pulleys (16), and a pinion (1) also pivoted on a trolley (10).
7), and the pinion (17) is rotated by a forward / reverse rotatable motor (18) provided on the bogie (10), so that the bogie (10) can travel in the front-rear direction. I can do it.

(19) is wound around a sprocket (20) fixedly fitted to the shaft (18a) of the motor (18) and a sprocket (21) fixedly fitted to the shaft (17a) of the pinion (17). And a chain for transmitting the torque of the motor (18) to the pinion (17).

(22) is a lower brake for applying a braking force to the shaft (17a) of the motor (18). At the top of the mast (11), sandwich the guide rail (8) to
An upper brake (23) is provided at the upper end of (11) to apply a braking force.

Guide rails (24) pointing in the vertical direction are fixed to both sides of the mast (11), and the guide rails (24) are connected to the rear of a loading platform (25) along the front surface of the mast (11). Slide section (2
6) engages vertically.

A chain (27) having both ends fastened to the upper and lower parts of the carrier (25) is pivotally connected to the upper end of the mast (11), the inner lower part of the mast (11), and the carriage (10). Follower sprocket (28)
And a drive sprocket (30) fixedly fitted to the shaft (29a) of the elevating motor (29) installed on the trolley (10).
5) is raised and lowered by rotation of the motor (29). Thus, motor (29), sprocket (28) (30), chain (27)
Thus, a lifting drive means (31) is formed.

On the loading platform (25), traverse means (32) are installed on the left and right sides of the pallet (33), which extend and contract in two steps by motors (not shown). And a load (34) placed on top of it.

The stacker crane (9) is a traveling drive means.
The carriage (10) is moved by (14), and the carrier (25) is moved up and down by the lifting drive means (31).
5) from the current position indicated by the solid line in FIG. 4 to the target position where the load (34) is located on the side of the target storage unit of the load shelf (1), as indicated by the imaginary line in FIG. After moving, and then extending the traverse means (32) and inserting the load (34) into the desired storage section, lowering the bed (25) slightly to shorten the traverse means (32) With this, the load (34) can be transferred together with the pallet (33) onto both the cargo receiving frames (6) of the load shelf (1), and by performing the reverse operation, the target load (34) can be transferred to the pallet (33). Can be taken out with.

In this case, when the carriage (10) and the carrier (25) are moved at the highest possible speed as in the prior art, the carrier (10) and the carrier (25) are moved as shown by imaginary arrows in FIG. The movement of the trolley (10) and the luggage carrier (2), so that the ascent of the trolley (10) continues before the trolley (10)
The end time of lifting and lowering in 5) is often shifted. In this case, no matter how fast the loading platform (25) is lifted, the loading / unloading time cannot be reduced, but the fatigue of each part is unnecessarily increased and the mechanical life is shortened.

According to the present invention, in order to solve such problems, the stacker crane (9) is provided with a control device (A) as shown in FIG. This problem is solved by controlling the lifting and lowering of the loading platform (25).

As shown in FIG. 5, the control device (A) includes a carrier
(25) height detecting means (35) for detecting the height (H);
(0) in the traveling direction (L).
6), operating means (37) for designating a target position of the carrier (25) to be moved next, and a control circuit (38).

More specifically, as shown in FIG. 1, the height detecting means (35) is provided below the mast (11), and detects the rotation speed of an appropriate driven sprayet (29). Bed
The traveling position detecting means (36) is provided on a bogie (10) as shown in FIGS. 1 and 3, and is provided with a shaft of a pinion (17). (17
a) is a rotary encoder configured to detect the position (L) of the carriage (10) in the traveling direction by detecting the number of rotations of (a), and the operating means (37) is provided on one side of the load shelf (1). It is a plurality of push button type operation switches (not shown) incorporated in an appropriate operation panel (not shown) provided in the unit.

The height detecting means (35) and the traveling position detecting means (36) may be, for example, a known linear encoder or other measuring means.

The control circuit (38) changes the current position (L ₁ ) of the truck (10) detected by the traveling position detecting means (36) from the target position (L).
₂ ) The required travel distance (L ₀ ) and the loading platform (25) from the current height (H ₁ ) of the loading platform (25) detected by the height detection means (35) to the target height (H ₂ ) And the required lifting distance (H ₀ ) of the trolley (10)
Of the travel of the vehicle and the lifting and lowering of the bed (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 same as the distance (L ₀ ) (H ₀ The lower the ratio, the lower the value,
A speed determination circuit (39) for determining a designated traveling speed (VL ₀ ) of the truck (10) and a designated elevation speed (VH ₀ ) of the carrier (25); a traveling speed (VL) of the carrier (10) and a carrier ( The traveling drive means (14) and the up / down drive so that the elevation speed (VH) of (25) becomes the designated traveling speed (VL ₀ ) and the designated elevation speed (VH ₀ ) determined by the speed determination circuit (39). And a drive control circuit (40) for controlling the means (31).

In the first embodiment, the maximum moving speed (VLmax) of the bogie (10) and the maximum moving speed (maximum elevating speed) (VHmax) of the carrier (25) are assumed to be the same (VLmax = VHmax). The maximum movement speed is set to the 16th speed, and the maximum movement speed is set to 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 lifting / lowering drive means (31) are switched to the first to sixteenth speeds and operated. I'm trying to get it.

Next, together with the operation of the control device (A),
A first embodiment of the control method of the present invention will be described with reference to a flowchart shown in FIG.

While the loading platform (25) is stopped at an original position where the load (34) is transferred to and from another load transfer device (not shown) or at an arbitrary position, the operating device (37) Then, the loading platform (2
5) The destination position to which the user wants to move is set, for example, by the number of stages of the load rack (1) and the number of the part from the front of the stage (for example, the fifth to eighth from the bottom) (step 5). (S1) Then, when a start button (not shown) in the operation means (37) is pressed (step S2), the speed is determined by the traveling position detection means (36) in the speed determination circuit (39) of the control circuit (38). From the value indicating the current position (L ₁ ) of the trolley (10)
The required travel distance (L ₀ ) is obtained by subtracting the value indicating the target position (L ₂ ) set by
The value indicating the target height (H ₂ ) set by the operation means (37) is subtracted from the value indicating the current height (H ₁ ) of the loading platform (25) detected by 5), and the loading platform (25) Required lifting distance (H ₀ )
(Step S3), a comparison circuit (not shown) in the speed determination circuit (39)
In the above, the required travel distance (L ₀ ) and the required elevating distance (H ₀ )
Are compared (steps S4, S5, S6).

If the required traveling distance (L ₀ ) is larger than the required elevating 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 loading platform (25) is 16
Is divided by the ratio of the required traveling distance (L ₀ ) to the required elevating distance (H ₀ ), that is, determined as a speed stage of 16 ÷ L ₀ / H _0.
(Step S7). If the value of 16 ÷ L ₀ / H ₀ does not become an integer, the value after the decimal point is rounded down, rounded up or rounded off to obtain an integer value (the same applies to steps S8 and S9).

If the required travel distance (L ₀ ) is smaller than the required elevation distance (H ₀ ) (step S5), the designated elevation 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 bogie (10) is 16
Is divided by the ratio of the required ascent / descent distance (H ₀ ) to the required traveling distance (L ₀ ), that is, determined as a speed stage of 16 ÷ L ₀ / H _0.
(Step S8).

The required traveling distance (L ₀ ) and the required elevating distance (H
₀₎ and is to be approximately the same (step S6), and specify the lifting speed (VH ₀ specified traveling speed (VL ₀₎ and the bed (25) of the carriage (10)), but each maximum moving speed (VLmax) ( VHmax) (step S9).

Thus, the designated traveling speed of the bogie (10)
When (VL ₀ ) and the designated lifting / lowering speed (VH ₀ ) of the loading platform (25) are determined, the information is transmitted to the drive control circuit (40), and by the same circuit (40), the vehicle (10) The vehicle travels so that the traveling speed (VL) and the lifting / lowering speed (VH) of the carrier (25) become the designated traveling speed (VL ₀ ) and the designated lifting / lowering speed (VH ₀ ) determined by the speed determination circuit (39). The drive means (14) and the lifting drive means (31) are controlled,
The carriage (10) and the carrier (25) are moved (Step S1
0).

By controlling the traveling speed (VL) of the carriage (10) and the elevating speed (VH) of the carrier (25) in this manner, the carrier (25)
Moves, for example, as indicated by the solid arrow in FIG. 4, that is, the traveling of the truck (10) and the lifting and lowering of the carrier (25) are completed almost simultaneously, and the traveling of the truck (10) and the carrier (25) Can be made slower than the conventional one, the fatigue of each part can be reduced, and the mechanical life can be prolonged.

In the first embodiment, for the sake of simplicity, the maximum moving speed (VLmax) of the carriage (10) and the maximum moving speed (maximum lifting / lowering speed) (VHmax) of the carrier (25) are the same (VLmax). = VHma
However, in practice, these are rarely the same, and there are many cases where the maximum traveling distance of the truck (10) and the maximum elevating distance of the carrier (25) are not the same.

FIG. 7 shows a second embodiment of a stacker crane traveling and loading / lowering 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 the detailed description is omitted.

In the second embodiment, the speed determining circuit (39)
Is the required traveling distance (L ₀ ) from the current position (L ₁ ) of the bogie (10) detected by the traveling position detecting means (36) to the destination position (L ₂ ).
And a travel calculation circuit (41) for obtaining a minimum travel time (TL ₀ ) of travel of the truck (10) based on the maximum traveling speed (VLmax) of the truck (10), and a height detecting means (35). Detected loading platform (25)
The required lifting distance (H ₀ ) of the carrier (25) from the current height (H ₁ ) to the target height (H ₂ ), and the maximum moving speed (maximum vertical speed) (VHmax) of the carrier (25) A lifting and lowering operation circuit (42) for obtaining a minimum arrival time (TH ₀ ) of lifting and lowering of the loading platform (25) based on the two operation circuits (41)
A comparison circuit (43) that compares the minimum arrival time (TL ₀ ) (TH ₀ ) obtained by (42), and the traveling of the bogie (10) and the loading platform (25 ), The longer travel speed of the minimum arrival time (TL ₀ ) (TH ₀ ) is the maximum, that is, the 16th speed, and the shorter travel speed is the minimum arrival time (TL ₀ ) As the ratio of (TH ₀ ) is larger, the specified traveling speed (VL ₀ ) of the bogie (10) and the specified elevating speed of the carrier (25)
(VH ₀ ) and a designated speed calculation circuit (44).

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
Steps S2 to S2 are the same as those in the first embodiment, and a description thereof will be omitted.

In step S2, when a start button (not shown) in the operation means (37) is pressed, the speed determination circuit (39)
In the travel calculation circuit (41), from the value indicating the current position (L ₁ ) of the bogie (10) detected by the travel position detection means (36),
The required travel distance (L ₀ ) is obtained by subtracting the value indicating the target position (L ₂ ) set by the operating means (37), and this required travel distance (L ₀ ) is calculated as the maximum traveling speed of the bogie (10). By dividing by (VLmax), the minimum arrival time (TL ₀ ) of traveling of the bogie (10) is obtained (step S3), and the elevation calculation circuit of the speed determination circuit (39)
In (42), the loading platform detected by the height detecting means (35)
The value indicating the target height (H ₂ ) set by the operation means (37) is subtracted from the value indicating the current height (H ₁ ) of (25), and the loading platform (25)
The required vertical distance (H ₀ ) is calculated, and the required vertical distance (H ₀ )
Divided by the maximum travel speed (VHmax) of the carrier (25),
The minimum arrival time (TH ₀ ) for lifting and lowering the loading platform (25) is obtained (step S4).

Next, in the comparison circuit (43), both operation circuits
(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 traveling of the bogie (10) is If it is longer than the minimum reaching time (TH ₀ ) for ascending and descending of (25) (step S5), the designated traveling speed (VL ₀ ) of the bogie (10) is increased by the designated traveling speed calculation circuit (44) to the maximum traveling speed (VLma
x) is determined as the 16th speed and the loading platform (25)
Specifies the elevation rate of the (VH ₀₎ is 16 minimum arrival time (TL ₀₎ and a value obtained by dividing the ratio of the minimum arrival time (TH _0), i.e. 16 ÷ TL ₀
It is determined as the speed stage / TH ₀ (step S8). If the value of 16 ÷ TL ₀ / TH ₀ is not an integer, the value after the decimal point is rounded down, rounded up or rounded off to obtain an integer value (the same applies to steps S9 and S10).

If the minimum travel time (TL ₀ ) of traveling of the truck (10) is smaller than the minimum travel time (TH ₀ ) of lifting and lowering of the carrier (25) (step S6), the designated speed calculation circuit (44) , The designated moving speed (VH ₀ ) of the loading platform (25) is the maximum moving speed (VHmax)
Speed as well as the designated traveling speed of the bogie (10)
(VL ₀ ) is 16 with the minimum arrival time (TH ₀ ) and the minimum arrival time (T
L ₀ ), that is, as a speed step of 16 比 TH ₀ / TL ₀ (step S9).

If the minimum travel time (TL ₀ ) of traveling of the truck (10) and the minimum travel time (TH ₀ ) of lifting / lowering of the carrier (25) are substantially the same (step S7), the designated speed calculation circuit (44) ), The loading platform
(25) Designated lifting speed (VH ₀ ) and bogie (10) designated traveling speed (VL
₀ ) is the maximum moving speed (VLmax) (VHmax).
The speed is determined (step S10).

Thus, the designated traveling speed of the bogie (10)
When (VL ₀ ) and the designated lifting / lowering speed (VH ₀ ) of the loading platform (25) are determined, the information is transmitted to the drive control circuit (40), and by the same circuit (40), the vehicle (10) The vehicle travels so that the traveling speed (VL) and the lifting / lowering speed (VH) of the carrier (25) become the designated traveling speed (VL ₀ ) and the designated lifting / lowering speed (VH ₀ ) determined by the speed determination circuit (39). The drive means (14) and the lifting drive means (31) are controlled,
The carriage (10) and the carrier (25) are moved (Step S1
1).

By controlling the traveling speed (VL) of the carriage (10) and the lifting / lowering speed (VH) of the carrier (25) in this manner, one of the two speeds can be reduced as in the first embodiment. It is possible to reduce the fatigue of each part and extend the mechanical life.

In the first embodiment, the lower one of the designated traveling speed (VL ₀ ) of the truck (10) and the designated lifting / lowering speed (VH ₀ ) of the carrier (25) is set to the required traveling speed. Based on the ratio between the distance (L ₀ ) and the required elevating distance (H ₀ ), the larger the ratio, the lower the value. In the second embodiment, the minimum arrival time
Based on the ratio of (TL ₀ ) (TH ₀ ), the larger the ratio was, the lower the value was determined, but the required traveling distance (L ₀ ) and the required elevating distance (H ₀ )
Difference or minimum arrival time (TL ₀ ) (TH ₀ )
The speed may be determined in accordance with the section in which the difference actually occurred corresponds to the step.

[0049]

According to the present invention, one of the traveling of the carriage and the lifting and lowering of the carrier can be performed at a low speed without hindering the speed of loading and unloading the cargo. As a result, the mechanical life can be extended.

[Brief description of the drawings]

FIG. 1 is a side view of a stacker crane and a load shelf provided with a control device according to a first embodiment of the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is an enlarged vertical sectional side view of a main part of the truck.

FIG. 4 is a schematic side view showing a moving state of a carrier.

FIG. 5 is a block diagram showing a first embodiment of the control device of the present invention.

FIG. 6 is a flowchart showing the operation of the control device of the first embodiment and the first embodiment of the control method of the present invention.

FIG. 7 is a block diagram showing a second embodiment of the control device of the present invention.

FIG. 8 is a flowchart showing the operation of the control device of the second embodiment and the second embodiment of the control method of the present invention.

[Explanation of symbols]

(1) Packing shelf (2) Floor (3) Ceiling (4) Post (5) Connecting rod (6) Receiving frame (7) Rail (8) Guide rail (9) Stacker crane (10) Bogie (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) Carrier (26) Sliding part (27) Chain (28) Driven sprocket (29) Motor (30) Drive sprocket (31) Elevating drive means (32) Lateral feeding means (33) Pallet (34) Load (35) Height detecting means (36) Traveling position detecting means (37) Operating means (38) Control circuit (39) Speed determination circuit (40) Drive control circuit (41) Traveling operation circuit (42) Elevation operation circuit (43) Comparison circuit (44) Designated speed operation circuit (A) Control device (H) Height of carrier (H ₀ ) Required elevating 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)

(57) [Claims] 1. A mast is erected on a truck traveling on the floor,
A method for controlling the traveling of a stacker crane having a platform mounted on a mast so that it can be raised and lowered, and the elevation of the platform.The required travel distance of the platform required to move the platform from the current position to the target position, Compare the required elevating distance, the traveling speed of the bogie and the elevating of the carrier, the maximum moving speed of the longer distance, and the shorter moving speed, the lower the difference or ratio of the distance, the lower the speed A method for controlling the traveling of a stacker crane and the lifting and lowering of a carrier, characterized by comprising controlling. 2. A mast is erected on a truck traveling on the floor,
A method for controlling the traveling of a stacker crane having a platform mounted on a mast so that it can be raised and lowered, and the elevation of the platform.The required travel distance of the platform required to move the platform from the current position to the target position, Based on the required elevating distance and the maximum moving speed of the trolley and the pallet, the minimum travel time between the traveling of the trolley and the raising and lowering of the pallet is determined and compared. A method for controlling the traveling of a stacker crane and the lifting and lowering of a cargo bed, wherein the moving speed of a longer time is maximized and the moving speed of a shorter time is controlled to be lower as the difference or ratio of the minimum arrival time is larger. 3. The traveling speed of the truck and the lifting speed of the carrier are
3. The traveling of the stacker crane and the raising and lowering of the carrier according to claim 1 or 2, wherein the speed can be switched to a plurality of stages, and the speed of the lowering of the traveling of the truck and the raising and lowering of the carrier is switched stepwise. Control method. 4. A truck traveling on the floor, a mast erected on the truck, and a carrier mounted on the mast so as to be vertically movable,
A traveling control unit for traveling a stacker crane including a traveling drive unit for traveling a truck and an elevation driving unit for elevating and lowering a truck along a mast, and a traveling position detecting unit for detecting a position of the truck in a traveling direction. And height detecting means for detecting the height of the platform; operating means for designating a target position of the platform to be moved next; and a bogie from the current position of the bogie detected by the traveling position detecting means to the target position. The required travel distance of the platform and the required vertical distance of the platform from the current position of the platform detected by the height detection means to the target position are compared, and the travel of the bogie and the vertical A speed determination circuit for determining the traveling speed of the bogie and the ascending / descending speed of the carrier by setting the traveling speed to the maximum and setting the shorter traveling speed to a lower value as the difference or ratio of the distance is larger, and A control circuit having a drive control circuit for controlling the traveling drive means and the elevation drive means so that the line speed and the ascending / descending speed of the carrier become the respective speeds determined by the speed determination circuit. Stacker crane traveling and loading / lowering control device. 5. A trolley running on the floor, a mast erected on the trolley, and a carrier mounted on the mast so as to be vertically movable,
A traveling control unit for traveling a stacker crane including a traveling drive unit for traveling a truck and an elevation driving unit for elevating and lowering a truck along a mast, and a traveling position detecting unit for detecting a position of the truck in a traveling direction. And height detecting means for detecting the height of the loading platform; operating means for designating a target position of the loading platform to be moved next; and a bogie from the current position of the bogie detected by the traveling position detecting means to the target position. The required traveling distance of the truck, the required lifting distance of the carrier from the current position of the carrier detected by the height detection means to the target position, and the maximum traveling speed of the carriage and the carrier, Determine the minimum arrival time of and compare them, of the traveling of the bogie and the lifting of the loading platform, the maximum of the minimum arrival time longer moving speed,
And a shorter moving speed, a lower value as the difference or ratio of the minimum arrival time is larger, a speed determination circuit for determining the traveling speed of the bogie and the elevating speed of the carrier, and the traveling speed of the bogie and the elevating 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 as to have the respective speeds determined by the speed determination circuit. Lift control device.