JP5098595B2 - Stacker crane drive unit - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane drive device, and more particularly to a stacker crane drive device which receives a power supply from a commercial power source and causes a traveling motor to travel a crane main body and raises and lowers a carriage by a lifting motor to convey a load. .

As shown in FIGS. 8A and 8B, a traveling path 2 is laid along a shelf 1 having a plurality of openings and storing loads, and a stacker crane 3 travels on the traveling path 2. However, an automatic warehouse that loads and unloads loads between the shelf 1 and the load receiving table 4 is known.
The stacker crane 3 receives a power supply from a commercial power source, causes the crane main body 5 to travel by a traveling motor, and conveys a load by moving the carriage 6 up and down by a lifting motor.

  For this reason, when a power failure occurs during the operation of the automatic warehouse, commercial power is not supplied to the automatic warehouse, and a trouble occurs in the stacker crane 3. As described above, even when the supply of commercial power is stopped, if the stacker crane 3 is operated to load / unload the load, a private power generator for supplying power to the stacker crane 3 is required.

However, a power generation apparatus that can supply power to an automatic warehouse or an entire factory including an automatic warehouse is large in scale and requires enormous equipment costs.
Therefore, it is desired to be able to operate the stacker crane with a power generator having a small capacity when trouble occurs due to the stop of the supply of commercial power.
For example, in Patent Document 1, a storage battery in an uninterruptible power supply device is charged at normal time, and when a power outage occurs, the parking device is driven with electric power smaller than that at normal time using the uninterruptible power supply device. A control device is disclosed.

JP-A-11-71933

However, Patent Document 1 relates to a device that automatically restores a mechanical parking device, not a stacker crane in an automatic warehouse. Even if the technique of Patent Document 1 is applied to a stacker crane, simply driving the stacker crane with a smaller electric power than usual will cause the load carrying speed to be too low, and a practical loading / unloading operation is performed. May be difficult. In addition, as described above, the stacker crane needs to drive both the traveling motor that travels the crane main body and the lifting motor that raises and lowers the carriage. It is difficult to carry the load.
The present invention has been made to solve such problems, and provides a stacker crane drive device that can operate a stacker crane with a power generator having a small capacity even if a problem occurs due to the stop of the supply of commercial power. The purpose is to provide.

A stacker crane drive device according to the present invention is a stacker crane drive device that receives a power supply from a commercial power source and causes a traveling motor to travel a crane main body and also moves a carriage up and down by a lift motor to convey a load. One of a power supply device, a trouble detection circuit for detecting a supply stop of commercial power, a travel motor drive circuit for driving a travel motor, a lift motor drive circuit for driving a lift motor, and a commercial power source and a power generator When the contactor connected to the travel motor drive circuit and the lift motor drive circuit and the trouble detection circuit does not detect the supply stop of the commercial power supply, the contactor connects the commercial power source to the travel motor drive circuit and the lift motor drive circuit and Normal mode current pattern with each lifting motor preset Controls the drive motor drive circuit and the lift motor drive circuit to be driven, and when the trouble detection circuit detects the supply stop of the commercial power supply, the contactor is switched and the power generator is connected to the drive motor drive circuit and the lift motor drive circuit. In addition, the travel motor drive circuit and the lifting / lowering motor are driven so that the traveling motor and the lifting / lowering motor are driven with a current pattern in the power saving mode set so that the sum of the drive currents of the traveling motor and the lifting / lowering motor is less than the rated current of the power generation device A control circuit for controlling the motor drive circuit, and the control circuit proportionally distributes the rated current of the power generator in the power saving mode based on the ratio of the maximum current of the traveling motor and the lifting motor in the current pattern of the normal mode. The travel motor and lift motor are driven simultaneously with the current pattern obtained by And it controls the motor drive circuit and a lift motor drive circuit.

  According to this invention, when the trouble detection circuit detects the supply stop of the commercial power supply, the power generation device is connected to the travel motor drive circuit and the lift motor drive circuit via the contactor, and the travel motor and the lift motor are driven. The travel motor and lift motor are driven with a current pattern in the power saving mode that is set so that the sum of currents is equal to or less than the rated current of the power generator. Become.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1
FIG. 1 shows the configuration of the stacker crane drive device according to the first embodiment. A travel motor drive circuit 12 is connected to the travel motor 11 of the stacker crane, and an elevating motor drive circuit 14 is connected to the elevating motor 13. Both the travel motor drive circuit 12 and the elevating motor drive circuit 14 are connected to the first contactor 15. A commercial power supply 16 is connected via one contact 15a. Further, a trouble detection circuit 17 for detecting a supply stop of the commercial power supply 16 due to a power failure or the like is connected to the first contact 15a of the contactor 15, and a power generator 18 is connected to the second contact 15b. A control circuit 19 is connected to the travel motor drive circuit 12, the lift motor drive circuit 14, the contactor 15, the trouble detection circuit 17, and the power generator 18.

  As the stacker crane, like the one shown in FIG. 8, the crane main body 5 is caused to travel along the traveling path 2 by the traveling motor 11 and the carriage 6 is moved up and down by the lifting motor 13 so that the shelf 1 and the load receiving platform are moved. 4 is intended for transporting cargo between

  For example, as shown in FIG. 2, the control circuit 19 includes a drive current pattern P0h of the travel motor 11 in the normal mode in which the travel motor drive circuit 12 and the lift motor drive circuit 14 operate by receiving power supply from the commercial power supply 16. The drive current pattern P0v of the lift motor 13 is set in advance, and the drive current pattern P1h of the travel motor 11 in the power saving mode in which the travel motor drive circuit 12 and the lift motor drive circuit 14 operate by receiving power supply from the power generator 18. And the drive current pattern P1v of the raising / lowering motor 13 is preset.

  FIG. 2 shows an example in which the traveling motor 11 has a rated current of 20A, the lifting motor 13 has a rated current of 50A, and the power generator 18 has a rated current of 30A. The drive current patterns P0h and P0v of the traveling motor 11 and the lifting motor 13 in the normal mode are set so that the maximum current becomes the rated current of the traveling motor 11 and the lifting motor 13 respectively. Further, the drive current patterns P1h and P1v of the traveling motor 11 and the lifting motor 13 in the power saving mode are set so that the maximum current is less than the rated current of each motor and less than the rated current of the power generation device 18. Preferably, the drive current patterns P1h and P1v are set so that the maximum current is a smaller value of the rated current of each motor and the rated current of the power generator 18.

For example, since the travel motor 11 has a rated current 20A smaller than the rated current 30A of the power generator 18, the drive current pattern P1h is set so that the maximum current becomes the rated current 20A of the travel motor 11. That is, for the traveling motor 11, the drive current pattern P1h in the power saving mode is equal to the drive current pattern P0h in the normal mode.
On the other hand, since the elevating motor 13 has a rated current 50A larger than the rated current 30A of the power generator 18, the drive current pattern P1v is set so that the maximum current becomes the rated current 30A of the power generator 18.

Next, the operation of the first embodiment will be described. When the trouble detection circuit 17 does not detect the supply stop of the commercial power supply 16, the control circuit 19 connects the contactor 15 to the first contact 15 a, whereby the commercial power supply 16 supplies power to the travel motor drive circuit 12 and the lifting motor drive circuit 14. Is supplied.
When the control circuit 19 receives an instruction for carrying the load from a management computer (not shown) that manages the carry-in / out operation, the control circuit 19 controls the travel motor drive circuit 12 and the lift motor drive circuit 14 to control the load and carry-out work as shown in FIG. The travel motor 11 and the lift motor 13 are driven according to the drive current patterns P0h and P0v in the normal mode to carry the load.

  In this normal mode, the control circuit 19 simultaneously performs the lifting / lowering operation of the carriage 6 by the lifting / lowering motor 13 and the traveling operation of the crane body 5 by the traveling motor 11 to improve the efficiency of load conveyance. For example, as shown in FIG. 3, when delivering a load from one frontage of the shelf 1 to the load receiving platform 4, the carriage 6 is lowered by a height L <b> 1 and the crane body 5 is moved along a travel path 2 by a distance L <b> 2. When it is necessary to travel only the traveling circuit, the control circuit 19 drives the elevating motor 13 and the traveling motor 11 simultaneously so that the load on the carriage 6 is substantially linear as shown by the arrow A in FIG. Can be moved with a simple trajectory.

Here, when the supply of the commercial power supply 16 to the automatic warehouse is stopped due to the occurrence of a power failure or the like, and the supply stop of the commercial power supply 16 is detected by the trouble detection circuit 17, as shown in FIG. The control circuit 19 switches the contactor 15 previously connected to the first contact 15a to the second contact 15b. As a result, the electrical connection between the commercial power supply 16 and the travel motor drive circuit 12 and the lift motor drive circuit 14 is interrupted, and the power generator 18 is connected to the travel motor drive circuit 12 and the lift motor drive circuit 14 instead.
When receiving a load conveyance instruction from a management computer (not shown), the control circuit 19 controls the driving motor drive circuit 12 and the lifting motor drive circuit 14 to drive the drive current patterns P1h and P1v in the power saving mode shown in FIG. The driving motor 11 and the elevating motor 13 are driven according to the above to carry the load.

In this power saving mode, the control circuit 19 selectively executes the lifting / lowering operation and the traveling operation without simultaneously performing the lifting / lowering operation of the carriage 6 by the lifting / lowering motor 13 and the traveling operation of the crane body 5 by the traveling motor 11.
For example, when delivering a load from the front of the shelf 1 shown in FIG. 3 to the load receiving platform 4, first, as shown in FIG. 5, the lifting motor 13 is driven by the drive current pattern P1v to raise the carriage 6 to a height. Lower by L1. At this time, the traveling operation of the crane body 5 by the traveling motor 11 is not performed. Therefore, the power consumption of the traveling motor 11 is 0, and the lifting motor 13 can be driven with a maximum current of 30 A according to the drive current pattern P1v by supplying power from the power generator 18 with a rated current of 30 A. When the lowering of the carriage 6 is completed, as shown in FIG. 6, the traveling motor 11 is driven by the drive current pattern P <b> 1 h to cause the crane body 5 to travel along the traveling path 2 by the distance L <b> 2. At this time, the lifting / lowering operation of the carriage 6 by the lifting / lowering motor 13 is not performed, and the traveling motor 11 is driven with a maximum current of 20A according to the driving current pattern P1h.

In this manner, by selectively executing the lifting / lowering operation of the carriage 6 by the lifting / lowering motor 13 and the traveling operation of the crane body 5 by the traveling motor 11, the stacker crane 3 can be operated even with the power generator 18 having a small capacity. Loading / unloading work.
In addition, although the operation | movement which discharges a load from the shelf 1 to the receiving stand 4 was demonstrated, conversely, also when accommodating a load from the receiving stand 4 to the shelf 1, similarly in the normal mode, from the commercial power supply 16, it is a power saving mode. In the case, the power can be transferred from the power generation device 18 by each power supply.

Embodiment 2
In the first embodiment, in the power saving mode when the supply of the commercial power supply 16 is stopped due to a power failure or the like, the lifting / lowering operation of the carriage 6 by the lifting / lowering motor 13 and the traveling operation of the crane body 5 by the traveling motor 11 are selectively performed. However, it is also possible to simultaneously perform the lifting operation and the traveling operation.
The configuration of the stacker crane drive device according to the second embodiment is the same as the configuration in the first embodiment shown in FIG.
For example, as shown in FIG. 7, the control circuit 19 is preset with a drive current pattern P0h of the travel motor 11 in the normal mode and a drive current pattern P0v of the elevating motor 13 in the normal mode. The drive current pattern P2h and the drive current pattern P2v of the lifting motor 13 are set in advance.

  Similar to the first embodiment, a case where the rated current of the traveling motor 11 is 20 A, the rated current of the lifting motor 13 is 50 A, and the rated current of the power generator 18 is 30 A will be described. The drive current patterns P2h and P2v of the travel motor 11 and the lifting motor 13 in the power saving mode are set so that the sum of the drive currents of the travel motor 11 and the lift motor 13 is less than or equal to the rated current of the power generator 18. Preferably, the rated current of the power generator 18 is proportionally distributed based on the ratio of the maximum currents of the traveling motor 11 and the lifting motor 13 in the current pattern in the normal mode, and the drive current pattern has the maximum current obtained by this proportional distribution. P2h and P2v are set.

For example, in the drive current patterns P0h and P0v in the normal mode, the travel motor 11 has a maximum current of 20A and the lift motor 13 has a maximum current of 50A, so the maximum current Ih of the travel motor 11 and the lift motor 13 in the power saving mode Iv is a value obtained by proportionally distributing the rated current 30A of the power generator 18 by 20A of the traveling motor 11 and 50A of the lifting motor 13. That is,
Ih = 30 × [20 / (20 + 50)] = 8.6 (A)
Iv = 30 × [50 / (20 + 50)] = 21.4 (A)
Is calculated. Therefore, as shown in FIG. 7, a driving current pattern P2h of the traveling motor 11 having the maximum current 8.6A and a driving current pattern P2v of the elevating motor 13 having the maximum current 21.4A are set.

When the supply of the commercial power supply 16 is stopped due to a power failure or the like, the power supply from the power generator 18 is received, and the travel motor 11 and the lift motor are driven according to the drive current patterns P2h and P2v in the power saving mode shown in FIG. 13 are driven simultaneously. As a result, for example, as shown in FIG. 3, when the load is discharged from one frontage of the shelf 1 to the load receiving platform 4, the lowering operation of the carriage 6 at the height L1 and the traveling operation of the crane body 5 at the distance L2 are performed. At the same time, the load on the carriage 6 is conveyed in a substantially linear locus as indicated by an arrow A.
Since the drive current patterns P2h and P2v in the power saving mode have a maximum current that is a value obtained by proportionally distributing the rated current of the power generator 18, even if the travel motor 11 and the lifting motor 13 are driven simultaneously, these travel motors 11 and the drive current of the lifting motor 13 are below the rated current of the power generator 18.

In general, in motors,
The relationship of electric power = torque × rotational speed × constant holds, and stacker cranes are often driven with constant torque and constant voltage. Therefore, the rotational speed of the motor and the drive current are proportional to each other. Therefore, in the second embodiment, the rotational speeds of the traveling motor 11 and the lifting motor 13 in the power saving mode have a ratio of 30 / (20 + 50) = 3/7 with respect to the rotational speed in the normal mode. That is, the traveling speed of the crane body 5 and the lifting / lowering speed of the carriage 6 in the power saving mode are reduced to 3/7 compared to the speed in the normal mode.
Thus, although the traveling speed of the crane body 5 and the lifting / lowering speed of the carriage 6 are reduced, the traveling motor 11 and the lifting / lowering motor 13 can be simultaneously driven by the power supply from the power generator 18 to transport the load. Become.

  The rated current 20A of the traveling motor 11, the rated current 50A of the elevating motor 13 and the rated current 30A of the power generator 18 in the first and second embodiments described above are merely examples, and are limited to these values. It is not a thing.

It is a block diagram which shows the structure of the drive device of the stacker crane which concerns on Embodiment 1 of this invention. 3 is a graph showing driving current patterns of a traveling motor and a lifting motor in each of a normal mode and a power saving mode according to the first embodiment. 6 is a diagram illustrating a load conveyance path in a normal mode according to Embodiment 1. FIG. It is a block diagram which shows the state of the drive device of the stacker crane which concerns on Embodiment 1 when a trouble generate | occur | produces in a commercial power source. FIG. 3 is a diagram illustrating a load conveyance path in the power saving mode according to the first embodiment. FIG. 3 is a diagram illustrating a load conveyance path in the power saving mode according to the first embodiment. It is a graph which shows the drive current pattern of the driving | running | working motor and raising / lowering motor in each of the normal mode and power saving mode of Embodiment 2. A stacker crane and a shelf are shown, (a) is a plan view, and (b) is a side view.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Shelf, 2 Traveling path, 3 Stacker crane, 4 Loading stand, 5 Crane body, 6 Carriage, 11 Traveling motor, 12 Traveling motor drive circuit, 13 Lifting motor, 14 Lifting motor driving circuit, 15 Contactor, 15a 1st contact, 15b Second contact, 16 Commercial power supply 16, 17 Trouble detection circuit, 18 Power generation device, 19 Control circuit, P0h, P0v Normal mode drive current pattern, P1h, P1v, P2h, P2v Power saving mode drive current pattern.

Claims (1)

In a stacker crane driving device that receives a power supply from a commercial power source and travels a crane main body by a traveling motor and moves a carriage by a lifting motor to convey a load,
A power generator,
A trouble detection circuit for detecting the supply stop of commercial power,
A travel motor drive circuit for driving the travel motor;
A lift motor drive circuit for driving the lift motor;
A contactor for selectively connecting one of a commercial power source and the power generator to the traveling motor drive circuit and the lifting motor drive circuit;
When the trouble detection circuit does not detect a commercial power supply stoppage, the contactor connects the commercial power source to the travel motor drive circuit and the lift motor drive circuit, and the travel motor and the lift motor are set in advance. The travel motor drive circuit and the lift motor drive circuit are controlled so as to be driven with a current pattern of a mode, and when the trouble detection circuit detects a supply stop of commercial power, the contactor is switched to The travel pattern is connected to the travel motor drive circuit and the lift motor drive circuit, and the travel pattern has a current pattern in a power saving mode set so that a sum of drive currents of the travel motor and the lift motor is equal to or less than a rated current of the power generator. The traveling motor drive so that the motor and the lifting motor are driven. And a control circuit for controlling the circuit and the lift motor drive circuit,
In the power saving mode, the control circuit is a current pattern obtained by proportionally distributing the rated current of the power generator based on the ratio of the maximum currents of the traveling motor and the lifting motor in the current mode current pattern. The stacker crane drive device , wherein the travel motor drive circuit and the lift motor drive circuit are controlled so that the travel motor and the lift motor are driven simultaneously .

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