JP2926376B2 - Control device for traveling crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse for controlling a loading / unloading traveling crane for receiving or unloading a plurality of shelves from a receiving portion, or receiving or unloading from one receiving portion to another receiving portion. Control of loading and unloading traveling cranes
It concerns the device .

[0002]

2. Description of the Related Art Conventionally, this kind of technology has been disclosed in
There has been a method of controlling a traveling crane for loading and unloading disclosed in Japanese Patent No. 215404. The feature of the control method is that the position of the crane when the loading / unloading device provided on the lifting / lowering carriage of the traveling crane for loading / unloading corresponds to each loading / unloading section of the shelf,
In order to indicate the crane position on the traveling route, the count value that changes in conjunction with the traveling of the crane is stored for each receiving unit, and the loading / unloading device is arranged in the same column as the first corresponding receiving unit. When raising and lowering the carriage to correspond to the second receiving section of a different level located in the shelf, the stored count value corresponding to the first receiving section and the count value corresponding to the second receiving section, Perform a comparison operation, and when the difference is equal to or less than the allowable value, only raise / lower the lifting carriage,
When the difference exceeds the allowable limit, the crane is made to travel a fixed distance equal to or greater than the distance corresponding to the difference, and then moved backward, and the position where the count value matches the count value corresponding to the second receiving portion. With this, the crane is stopped and the lifting carriage is raised.

[0003] By controlling the traveling crane for loading and unloading as described above, this type of traveling crane for loading and unloading can be several mm.
Correcting the position accurately by a minute distance of several tens mm from
This solves the problem that it is extremely difficult because it must be stopped before reaching a stable low-speed state.

[0004]

However, in the above method of controlling a traveling crane for loading and unloading, the difference between the stored count value corresponding to the first receiving portion and the count value corresponding to the second receiving portion is an allowable limit. When it exceeds, after moving the crane a certain distance equal to or more than the distance corresponding to the difference, the crane is moved backward, and the crane is stopped at a position where the count value matches the count value corresponding to the second receiving portion. However, there is a disadvantage that the traveling distance of the crane increases, it takes time to match the count values, and the efficiency becomes poor.

For this reason, when the difference between the stored count value corresponding to the first receiving portion and the count value corresponding to the second receiving portion exceeds the allowable limit, the crane travels directly in the direction where the difference is zero. Although the method of causing this is good in terms of time and efficiency, in this method, a mechanical adverse effect such as gear backlash and a stable low speed cannot be obtained, so that a runout occurs, and the vehicle travels while repeating an unstable operation. Therefore, there is a problem that it takes time to reach the target position and the efficiency is poor. Also,
Since the unstable operation is repeated, there is a possibility that the reading of the count value of the encoder that generates the pulse may be misread,
There is a possibility that an accurate position detection operation cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and when moving from the first receiving section to the second receiving section in the same train, when the difference between the counted values exceeds the allowable limit. It is another object of the present invention to provide a control device for a traveling crane which can move the loading / unloading traveling crane in a direction where the error is directly zero and can accurately stop at the position of the second receiving portion in a short time and efficiently.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention comprises a lifting carriage provided with a delivery device.
Entry and exit traveling crane and entry and exit traveling crane
A control device that controls the
Travel control of outgoing traveling cranes, elevation control of lifting carriage
Cargo delivery control of the delivery and delivery equipment
From multiple stations provided along the traveling route of the traveling crane
Receiving or unloading from the receiving section of a shelf
In the control device of the loading and unloading traveling crane for receiving or unloading the cargo from the other receiving section, an absolute encoder that generates a pulse proportional to the traveling distance to the loading and unloading traveling crane and outputs the pulse to the control device, Run
Of the pulses generated by the absolute encoder in response to the row direction instruction, the pulses of the repetitively running portion are not counted, but only the substantial increase of the pulse corresponding to the specified running direction.
An encoder controller that performs arithmetic processing so as to count and outputs the result to the controller is provided. distance is provided a storage unit for storing in advance a pulse count of the absolute encoder, controller, goods movements traveling crane current
When moving from the stopped position to the target receiving section,
The count value of the receiving unit from the predetermined position stored in the storage unit is compared with the count value of the stop position, the traveling crane is moved in a direction in which the difference approaches 0, and the pulse number of the absolute encoder is calculated. It was added to or subtracted from the count value of the stop position, the which the count value is stored in the storage unit
When the count value of the loading / unloading unit matches the count value of the loading / unloading traveling crane, stop the loading / unloading traveling crane and hold the count value until the loading / unloading traveling crane actually stops. The calculated count value is compared with the count value of the target receiving unit stored in the storage unit.If the difference is equal to or greater than a predetermined value, the traveling crane is moved in a direction in which the difference approaches 0, Travel to encoder controller
Direction is specified, and among the pulses generated by the absolute encoder, the encoder control corresponds to the specified running direction.
It was added to or subtracted from the count value held only substantial increase of the output Ru pulses from the roller, the entry and leaving traveling crane If there is a match from the count value of the object goods receptacle to its actual count value is stored in the storage unit It is characterized by having a control function of stopping.

[0008] In the control device for the storage and retrieval traveling crane, a fixed position striker is provided for each row along the traveling route on the shelf, and the retrieval and retrieval traveling crane generates a pulse proportional to the traveling distance and outputs the pulse to the control device. Of the absolute encoder and the pulse generated by the absolute encoder in accordance with the traveling direction instruction from the control device .
An encoder controller that performs arithmetic processing so as to count only a substantial increase of the pulse corresponding to the instructed traveling direction without counting the pulses in the designated portion and outputs the result to the control device, and detects a fixed position striker A first storage unit in which a storage and retrieval traveling crane pre-stores a distance from a predetermined position for each row of shelves in a control device; When the loading / unloading traveling crane moves in the front-rear direction, the pulse count value of the absolute encoder from the front and rear ends of the fixed position striker provided in the row to which the load receiving unit belongs is stored in advance in the second position.
A storage unit provided in the control device, goods movements traveling crane current
When moving from the stopped position to the run to which the target receiving unit belongs, the count value of the distance from the predetermined position to the run stored in the first storage unit is compared with the count value of the stop position. When the difference becomes less than a predetermined value and the striker detector detects one end of the fixed position striker, the pulse of the absolute encoder is counted, and the count value is counted. Is the second
When the count value matches the count value stored in the storage unit, the loading / unloading traveling crane is stopped, and the count value until the loading / unloading traveling crane is actually stopped is held. When carrying out the delivery, the held count value is compared with the count value of the target receiving unit stored in the second storage unit, and if the difference is equal to or greater than a predetermined value, the direction in which the difference approaches 0 holding together to run the goods movements traveling crane, of the pulses emitted by the indicated absolute encoder traveling direction to the encoder controller, finger running direction corresponds substantially only increase the pulse encoder controller Ru is outputted as shown in the addition or subtraction to the count value, the actual the regimen figures comprises a control function for stopping the entry and leaving traveling crane If there is a match count value stored in the second storage unit And wherein the door.

In addition, a motor that generates a sufficiently large torque from a low speed range is used as a traveling motor of the entry / exit traveling crane of the control device for the entry / exit traveling crane.

[0010]

As described above, when the difference between the count value and the count value is equal to or greater than the predetermined value, the loading / unloading traveling crane is caused to directly travel in a direction in which the difference approaches 0, and the pulse count of the absolute encoder is determined based on the entry / exit traveling. Since the crane counts only pulses corresponding to the same traveling direction as the traveling direction, mechanical adverse effects such as gear backlash and stable low speed cannot be obtained when the loading / unloading traveling crane moves over a small distance. Therefore, even if a swinging motion occurs, a pulse in a direction opposite to the traveling direction of the loading / unloading traveling crane due to this is not counted, so that accurate position detection can be performed. Moreover, since the vehicle travels directly in the direction in which the count value difference approaches zero, the traveling distance of the crane is shortest, and the time is short and the efficiency is high.

[0011]

【Example】

An embodiment of the present invention will be described below with reference to the drawings. For convenience of explanation, an embodiment of the invention described in claim 2 will be described first. FIG. 4 is a diagram showing an outline of an automatic warehouse to which the control method of the entry / exit traveling crane of the present invention is applied. As shown, a plurality of runs M
A shelf 1 consisting of 1, M2, M3, M4, M5,...
0 is provided, and the shelf 10 is provided with a plurality of load receiving units 11 for each series. The loading / unloading traveling crane 12 is provided with a lifting carriage 13 and can travel back and forth on a traveling rail 15 laid on the floor. At a loading / unloading station (not shown), the load 14 picked up by the fork 16 and placed on the lifting carriage 13 is moved by the loading / unloading traveling crane 12 to a train M where the target load receiving unit 11 is located.
At the same time, the lifting carriage 13 moves up and down to the target receiving section 11 and the load 1 is loaded on the receiving section 11 by a fork.
4 is placed.

At the time of unloading, the load 14 is picked up from the target receiving section 11 by a fork, transferred to the loading / unloading station in the reverse order, and unloaded. In addition, the receiving and delivering of the load 14 from one receiving unit 11 to another receiving unit 11 is performed. Note that the above series M1, M2, M3, M4, M
The shelves 10 composed of 5,... Are usually provided on the left and right sides along the traveling rail 15 so that they can be loaded and unloaded between the left and right shelves. Only one side is shown.

Each of the series of shelves M1, M2, M3, M4, M
As shown in FIG. 3, the fixed position striker S is provided along the traveling route of the loading and unloading traveling crane 12 as shown in FIG.
1, S2, S3, S4,... Are provided.
These fixed position strikers S1, S2, S3, S4,.
······ Centers of each series M1, M2, M3, M
4, M5,...

FIGS. 1 and 2 are diagrams showing the configuration of a control system for a traveling crane according to the present invention. FIG. 1 is a diagram showing the configuration of a control device, and FIG. 2 is a diagram showing the entire configuration. In FIG. 2, 1 is a control device, 2 is a traveling motor controller that controls the driving of a traveling motor 5, 3 is a lifting motor controller that controls the driving of a lifting motor 6, 4 is a fork motor controller that controls the driving of a fork motor 7, 8a
Is an encoder controller for controlling the absolute encoder 8.

The controller 1 receives a work cycle setting signal and a destination setting signal from an input device 9 such as a keyboard (see FIG. 1). The travel motor 5 is started and stopped via the travel motor controller 2 by a control signal from the control device 1. By starting and stopping the traveling motor 5,
The entry and exit traveling crane 12 travels and stops. An absolute encoder 8 for generating a pulse proportional to the running distance and an absolute moving distance signal is provided, and the output pulse is input to a control device via an encoder controller 8a. The elevating motor 6 is started and stopped via the elevating motor controller 3 by a control signal from the control device 1.

The encoder controller 8a is connected to the control device 1
From the traveling cranes "in advance command" or "retreat command" from the controller, the arithmetic processing is performed so as to output only the pulse corresponding to the forward or backward direction of the entry and exit traveling crane. When there is no traveling direction command, the pulse from the absolute encoder 8 is output to the control device 1 as it is. Note that the encoder controller 8a may be provided inside the control device 1 as a matter of course.

The start and stop of the lift motor 6 causes the lift carriage 13 to move up and down, and the lift position is detected by a sensor (not shown), and is fed back to the lift motor controller 3 as a lift position detection. Further, the fork motor 7 is started and stopped via the fork motor controller 4 according to a control signal from the control device 1. The start and stop of the fork motor 7 causes the fork to perform a predetermined operation. The fork position is detected by a sensor (not shown), and is fed back to the fork motor controller 4 as a fork position detection signal.

As shown in FIG. 1, the control device 1 includes an input / output control device 1-1, a CPU 1-2, and a data storage unit 1--1.
3, a first storage unit 1-4, a second storage unit 1-5, and a control program storage unit 1-6. The data storage section 1-3 is provided with an actual moving distance storage area 1-3a, a striker count value storage area 1-3b, and the like. The actual travel distance storage area 1-3a stores the count value of the actual travel distance from the origin of the loading and unloading traveling crane 12 by adding and subtracting the output pulse from the absolute encoder 8, and the striker count value storage area 1-3b. The pulse count value from one end of the localization value striker S is stored.

The first storage section 1-4 stores the link M0 shown in FIG.
From the center of the (in / out station), each train M1, M2,
M3, M4, M5, ... fixed position striker S
Distance L to the center of 1, S2, S3, S4, ...
1, L2, L3, L4,... Are stored in advance. Further, the second storage unit 1-5 stores, in the second storage unit 1-5, the position of the receiving / unloading by the fork of the receiving unit 11 of the shelf, the count value from the front and rear ends of the fixed position striker S provided in the series M to which the receiving unit 11 belongs. (The number of pulses from the absolute encoder 8) is stored in advance.

The control operation of the control device 1 in the control system having the above configuration will be described below. When the loading / unloading traveling crane 12 moves from the row M0 (loading / unloading station) and receives or unloads from the first destination receiving section 11, the loading / unloading traveling crane 12 moves toward the row M to which the receiving section 11 belongs. To move. This movement is a traveling crane 1
2 and the count value of the distance L to the center of the fixed position striker S of the ream M to which the first target receiving unit 11 belongs, which is stored in the first storage unit 1-4 in advance. And the traveling crane 1 moves in and out in a direction in which the difference approaches zero.
2 is run.

When the difference becomes equal to or less than a predetermined value and the striker detector detects one end of the fixed position striker S, the pulse from the absolute encoder 8 is counted, and the counted value is stored in the second storage section 1-5 in advance. When the count value matches the pulse count at the receiving / unloading position of the first target receiving unit 11, the stop signal is issued to the traveling motor controller 2 to stop the loading / unloading traveling crane 12. Then, the counting of the number of pulses is continued until the loading / unloading traveling crane 12 actually stops, and this count value is stored and held in the striker count value storage area 1-3b of the data storage section 1-3.

In parallel with the traveling of the loading / unloading traveling crane 12, the elevation motor 6 is started to move the elevation carriage 13 to the first position.
The fork motor 7 is moved up and down to the receiving position of the target receiving portion 11 and stopped, and the fork motor 7 is started to receive or transfer the load. At this time, the traveling distance value of the entry / exit traveling crane 12 from the row M0 is stored and held in the actual traveling distance storage area 1-3a of the data storage section 1-3.

When the loading / unloading traveling crane 12 receives or unloads the second target load receiving unit 11 of a different series M from the current stop position, first, the striker count value storage area 1- of the data storage unit 1-3. The count value from one end of the fixed position striker S stored and held in 3b is deleted.
Subsequently, the actual moving distance storage area 1 of the data storage section 1-3 is stored.
-3a and the count value of the actual traveling distance of the loading / unloading traveling crane 12 and the sequence M0 stored in advance in the first storage unit 1-4 to the sequence M to which the second target load receiving unit 11 belongs. The count value of the distance L to the center of the fixed position striker S is compared, and the entrance / exit traveling crane 12 is moved in a direction in which the difference approaches zero.
To run.

When the difference becomes equal to or less than a predetermined value and the striker detector detects one end of the fixed position striker S, the pulse from the absolute encoder 8 is counted, and the counted value is stored in advance in the second storage unit 1-5. When the count value coincides with the count value of the unloading / unloading position of the second target receiving unit 11, a stop signal is issued to the traveling motor controller 2 to stop the loading / unloading traveling crane 12. The counting is continued until the loading / unloading traveling crane 12 actually stops, and the counted value is stored in the striker counted value storage area 1-3 of the data storage section 1-3.
b. The elevating motor 6 is started in parallel with the traveling of the loading and unloading traveling crane 12, and the elevating carriage 13 is moved.
Is moved up and down to the cargo receiving / unloading position of the second target receiving unit 11, and the fork motor 7 is activated to carry out or receive the cargo.

Next, the control operation of the control device in the case of carrying out the receiving and delivering of the goods to the third destination receiving part 11 which is in the same series as the second destination receiving part 11 will be described with reference to FIG. The count value from one end of the fixed position striker S stored in the striker count value storage area 1-3b of the data storage section 1-3 and the third object stored in advance in the second storage section 1-5. The count value of the receiving position of the receiving unit 11 is compared with the count value and the difference is calculated (step ST1). It is determined whether or not the difference is equal to or smaller than the allowable value (step ST2). If the difference is equal to or smaller than the allowable value, the lifting carriage 13 is moved up and down to the third destination receiving portion 11.

If the error exceeds the allowable value, the control device 1 moves the loading / unloading traveling crane 12 to the fixed position striker S of the series.
Is output to the encoder controller 8a (step ST3) at the same time that the difference approaches zero, and the direction in which the difference approaches zero is output. The traveling command is output to the traveling motor controller 2 in order to cause the traveling traveling crane to travel at step ST4. Thereby, the encoder controller 8a outputs only the pulse corresponding to the traveling direction instruction to the control device 1 among the pulses from the absolute encoder 8.

As described above, the encoder controller 8a
Output only the pulse corresponding to the traveling direction instruction from the control device 1, the traveling of the storage and retrieval traveling crane 12 for a minute distance is mechanically unstable, and the pulse from the absolute encoder 8 is In addition to the pulses corresponding to the movement of the encoder controller, pulses other than the target direction due to the unstable operation are also included.
By the processing of a, only the pulse corresponding to the traveling direction instruction is output to the control device 1. The counting of the pulses when the run-out motion occurs during running is calculated by the encoder controller 8a so as to count only a substantial increase of the pulses in the target direction without counting the pulses of the repetitively running portion.

The CPU 1-2 counts pulses from the absolute encoder 8, and counts the counted value from one end of the fixed position striker S stored in the striker counting area 1-3b of the data storage section 1-3. When the count value matches the count value of the receiving position of the third destination receiving unit 11 stored in advance in the second storage unit 1-5 (position shift amount A = 0) (step S1). ST5) A stop signal is sent to the traveling motor controller 2 to stop the loading / unloading traveling crane 12 (step ST6), and the traveling direction instruction to the encoder controller 8a is also stopped (step ST7).

The counting is continued until the loading / unloading traveling crane 12 actually stops, and the count value is stored and held in the striker count value storage area 1-3b of the data storage section 1-3. The term “between the load receiving units in the same series” includes a left-right relationship, an up-down relationship, and a combination of both. Note that when there is a vertical relationship,
And the traveling operation of the entry / exit traveling crane 12 may be performed simultaneously. The moving locus of the lifting carriage 13 in this case is like a virtual moving locus shown in FIG.

In the above embodiment, the control device 1 stores the count value from one end of the fixed position striker S and the second storage unit 1 in advance.
-5, and the data storage section 1-3 without removing the fixed position striker S.
The pulse from the absolute encoder 8 is added to or subtracted from the count value stored in the striker count value storage area 1-3b, and the calculated value with this count value is stored in the second storage unit 1-5. A stop signal is issued to the travel motor controller 2 when the count value matches the count value. However, in order to stop the entry / exit travel crane at the position of the count value stored in advance, there is actually an entry / exit travel crane 12. In consideration of the stopping distance, a stop signal is issued earlier by adjusting the count value. And even in this case, the operation of the relay and the effectiveness of the brake (different between forward and reverse)
It is noted that the stored count value is shifted by several pulses due to the inclination of the running rail and the like.

[Embodiment of the invention described in claim 1]
An example is shown in which a fixed position striker S is provided for each train along the traveling route, and a striker detector for detecting the fixed position striker is provided in the loading / unloading traveling crane, but the present invention is not limited to this. Instead, for example, the following configuration may be used.

Without providing the fixed position striker S and the striker detector, the storage unit of the control device 1 previously stores the distance between the receiving and transferring positions of each receiving unit of the shelf as the pulse count value of the absolute encoder 8. When the loading / unloading traveling crane 12 moves from the predetermined position M0 to the target receiving unit, the count value of the target receiving unit stored in the storage unit and the count value of the predetermined position M0 are compared, and the difference is 0. When the pulse count value of the absolute encoder 8 matches the count value of the target receiving part, the entry / exit traveling crane 12 is stopped and the entry / exit traveling crane is stopped until the pulse count value of the absolute encoder 8 matches the count value of the target receiving section. Is stored in the storage unit.

When carrying out the receiving and delivering between different receiving sections, the count value stored in the storing section is compared with the count value of the target receiving section stored in the storing section, and the difference is 0. , And the pulse of the absolute encoder 8 is added to or subtracted from the held count value, and when the count value matches the count value of the target receiving portion, the entry / exit travel crane 12 is moved. At the time of stopping, the count value until the entrance / exit traveling crane actually stops is stored in the storage unit.

When receiving and delivering between the receiving units in the same station, the count value held in the storage unit is compared with the count value of the target receiving unit. The carriage 13 is raised and lowered as it is to the destination receiving section,
If the difference is equal to or more than the allowable value, the traveling direction instruction signal of “during forward command” or “during reverse command” is output to the encoder controller 8a, and the entry / exit traveling crane travels in a direction in which the difference approaches 0, Absolute encoder 8
Only the pulses corresponding to the same direction as the traveling direction are added or subtracted from the pulses from the controller, and when the count value matches the count value stored in the storage unit, the entry / exit traveling crane is stopped.

Further, in the above embodiment, the traveling direction instruction signal is output to the encoder controller 8a, and the encoder controller 8a outputs only the pulse corresponding to the traveling direction instruction to the control device 1 among the pulses from the absolute encoder 8. As a result, by removing the pulse from the absolute encoder 8 based on mechanical instability due to the traveling of the entry / exit traveling crane 12 for a very small distance, the traveling of the entry / exit traveling crane 12 for a very small distance can also be accurately performed. As described above, a motor that generates a sufficiently large torque from a low speed range is used for the traveling motor of the loading and unloading traveling crane, or the motor is controlled so that the motor can generate a sufficiently large torque from the low speed range. If a motor control device (for example, inverter control) is used in combination, In moving, it is possible to obtain a more accurate running of the entry and leaving traveling crane 12.

[0036]

Claims 1 to of the present application as described above, according to the present invention
According to the invention described in 4, even when performing load receiving cargo passing between the goods receptacle in the same series in the shelves, stores beforehand the actual count value and purpose goods receptacle of the goods receptacle that is currently stopped Even if the difference from the counted value exceeds the allowable value, the loading and unloading traveling crane directly travels only the distance corresponding to the difference,
An excellent effect of shortening the operation cycle of the loading / unloading traveling crane can be obtained.

Further, according to the invention described in the claims 3 and 4, even if the cause which affects the pulse count of noise or the like during the further travel goods movements traveling crane until the striker position detection, the stop An excellent effect is obtained in that the entrance / exit traveling crane can be stopped at an accurate position without affecting the position accuracy.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a control device for a storage and retrieval traveling crane according to the present invention.

FIG. 2 is a diagram showing an overall configuration of a control device for a traveling crane according to the present invention.

FIG. 3 is a diagram showing a layout relationship between a series of shelves and a fixed position striker provided for each series;

FIG. 4 is a diagram showing an outline of an automatic warehouse to which the control device for a traveling crane according to the present invention is applied.

FIG. 5 is a diagram showing a control flow of a control device when carrying out a receiving and delivering of goods to a destination receiving part in the same chain.

FIG. 6 is a diagram illustrating a virtual movement locus of a carriage moving between shelves in the same series.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 control device 1-1 input / output control device 1-2 CPU 1-3 data storage unit 1-4 first storage unit 1-5 second storage unit 1-6 control program storage unit 2 traveling motor controller 3 elevating motor Controller 4 Fork motor controller 5 Traveling motor 6 Elevating motor 7 Fork motor 8 Absolute encoder 8a Encoder controller 9 Input device

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B65G 1/00-1/20 B66F 9/07

Claims (4)

(57) [Claims] 1. An incoming / outgoing traveling crane having an up / down carriage having a loading / unloading device, and a control device for controlling the incoming / outgoing traveling crane. The traveling control of the incoming / outgoing traveling crane is controlled by the control device. Carrying up and down control of the carriage and delivery control of the delivery device
Receiving or unloading from a cargo receiving section of a plurality of shelves provided along the traveling route of the loading and unloading traveling crane,
In a control device of a loading and unloading traveling crane that performs receiving or unloading from one receiving portion to another receiving portion, an absolute encoder that generates a pulse proportional to a traveling distance to the loading and unloading traveling crane and outputs the pulse to the control device. among the pulses the absolute encoder emitted by the traveling direction instruction from the control unit, to repeat the running
The arithmetic processing is performed so as to count only the substantial increase of the pulse corresponding to the instructed traveling direction without counting the pulse in the part where
And an encoder controller for outputting to the control device, wherein the control device determines a distance from a predetermined position in a traveling direction of the loading / unloading traveling crane of a loading / unloading position by a loading / unloading device of each receiving unit of the shelf. Providing a storage unit that stores in advance the pulse count value of the absolute encoder, the control device, the storage and retrieval traveling crane is currently stopped
When moving from the current position to the target receiving unit, the count value of the receiving unit from the predetermined position stored in the storage unit is compared with the count value of the stop position, and the difference approaches the zero direction. While the loading / unloading traveling crane is running, the number of pulses of the absolute encoder is added or subtracted from the count value of the stop position, and if the count value matches the count value of the load receiving unit stored in the storage unit, the loading is performed. When the delivery traveling crane is stopped, the count value until the entry / exit traveling crane is actually stopped is held, and when the receiving and delivering is performed between the receiving sections in the same train, the held count value and the storage section are stored. When the difference is equal to or greater than a predetermined value, the loading / unloading traveling crane is caused to travel in a direction in which the difference approaches zero, and the encoder controller is controlled. Among instructs running direction over La of the absolute encoder emits pulses output from the encoder controller in response to the traveling direction indicated finger
Is pulsed only substantial increase of the added or subtracted from the count value obtained by the holding Ru, stops its actual count value goods movements traveling crane If there is a match from the count value of the object goods receptacle stored in the storage unit A control device for a loading and unloading traveling crane having a control function. 2. The traveling motor of the loading / unloading traveling crane is a combination of a motor or a motor that generates a sufficiently large torque from a low speed range and a control unit that controls the motor to generate a sufficiently large torque from a low speed range. The control device for a storage and retrieval traveling crane according to claim 1, wherein: 3. A loading / unloading traveling crane having a lifting / lowering carriage provided with a loading / unloading device, and a control device for controlling the loading / unloading traveling crane. The traveling control of the loading / unloading traveling crane is controlled by the control device. Carrying up and down control of the carriage and delivery control of the delivery device
Receiving or unloading from a cargo receiving section of a plurality of shelves provided along the traveling route of the loading and unloading traveling crane,
In a control device for a loading / unloading traveling crane that performs loading or unloading from a certain receiving portion to another receiving portion, a fixed position striker is provided on the shelf along each traveling route along the traveling route. An absolute encoder that generates a pulse proportional to the traveling distance and outputs the pulse to the control device; and a pulse generated by the absolute encoder in response to a traveling direction instruction from the control device .
The encoder controller that performs arithmetic processing so as to count only a substantial increase of the pulse corresponding to the instructed traveling direction without counting the pulse of the fixed portion and outputs the result to the control device, and the fixed position striker. A first storage unit in which the storage / unloading traveling crane previously stores a distance for each of the series of shelves from a predetermined position in the control device; When the loading / unloading traveling crane moves in the front-rear direction, the loading / unloading transfer position of the device is stored in advance as a pulse count value of the absolute encoder from one of the front and rear ends of a fixed position striker provided in a row to which the receiving unit belongs. 2 is provided, and the control device is configured to control the first storage unit when the loading / unloading traveling crane moves from a currently stopped position to a run to which a target load receiving unit belongs. Is compared with the count value of the distance from the predetermined position to the ream from the predetermined position, and the count value of the stop position. When the striker detector detects one end of the fixed position striker, the pulse of the absolute encoder is counted, and when the count value matches the count value stored in the second storage unit, the loading / unloading traveling crane is activated. While stopping, hold the count value until the entry and exit traveling crane actually stops,
When receiving and delivering goods between receiving parts in the same series,
The held count value is compared with the count value of the target receiving unit stored in the second storage unit, and if the difference is equal to or greater than a predetermined value, the entry / exit is performed in a direction in which the difference approaches zero. While the traveling crane is traveling, the traveling direction is instructed to the encoder controller, and the pulse generated by the absolute encoder corresponds to the preceding traveling direction corresponding to the designated traveling direction.
Substantial pulse whose serial encoder controller Ru is output
Only increase by adding or subtracting the count value to the holding, the real
Controller the regimen number is goods movements traveling crane characterized by having a control function for stopping the entry and leaving traveling crane If there is a match count value stored in the second storage unit when. 4. The traveling motor of the loading / unloading traveling crane includes a motor or a motor that generates a sufficiently large torque from a low speed range and a control unit that controls the motor to generate a sufficiently large torque from a low speed range. The control device for a storage and retrieval traveling crane according to claim 3, wherein the control device is a combination .