JPH06327293A - Driving/control equipment for stacking crane - Google Patents

Abstract

PURPOSE:To enable quick, accurate positioning for stop without significant increase in cost. CONSTITUTION:The traveling car of a stacking crane is driven by a travel driving motor 1, which is an AC servo motor wherein the rotational motion of the motor is fed back by means of a pulse generator 4. This makes quick, accurate positioning possible. The car is also provided with a fork driving motor 2, an ordinary induction motor 2. These motors are driven by a servo driver 3 that can switch between servo operation and inverter operation. CPU 5 controls the operation switching by the servo driver 3, and operates switches 6 and 7 in interlocked manner.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane, and more particularly to a drive control device for a stacker crane capable of accurately carrying out travel stop positioning while saving costs.

[0002]

2. Description of the Related Art In factories and warehouses, in order to temporarily store products and products to be processed, shelves having a plurality of frontages arranged in a matrix, and the front and back of the frontages are moved up and down to move articles in and out. An automated warehouse consisting of a stacker crane is used. The stacker crane is equipped with a plurality of actuators for traveling the traveling platform, raising and lowering the elevating platform, and driving an article delivery means such as a slide fork.

Usually, these actuators are ordinary induction motors and are driven by an inverter controlled by a CPU. In that case, the traveling drive motor and the lifting drive motor are simultaneously driven, and the fork driving motor is driven when the traveling drive motor and the lifting drive motor are stopped, so for cost reduction, The inverter for driving the fork drive motor is also used as the inverter for the traveling drive motor or the elevation drive motor.

[0004]

In recent years, shortening the cycle time of the operation of the automatic warehouse has become an important issue. To this end, it is necessary to quickly and accurately perform stop positioning of the traveling carriage and stop positioning of the lifting platform. It is essential. In order to improve the followability of the actuator itself, the traveling drive motor and the elevating drive motor may be replaced with AC servo motors from ordinary induction motors. However, since one servo driver is required for each of the traveling drive motor and the elevating drive motor, and an inverter for the fork drive motor is also required, there has been a large obstacle in terms of cost.

Therefore, an object of the present invention is to provide a drive control device for a stacker crane which can introduce an AC servomotor into the stacker crane without significantly increasing the cost.

[0006]

In order to achieve the above object, the present invention provides a stacker crane having an AC servomotor and an induction motor by supplying power to the AC servomotor and the induction motor to perform servo operation and inverter operation. The drive control device for the stacker crane is configured to include one servo driver capable of switching the operation of 1 and switching means for switching the power supply to the AC servo motor and the induction motor in conjunction with the switching of the operation of the servo driver.

[0007]

Since the present invention has the above-mentioned structure, it has the following effects.

In the stacker crane drive controller according to the present invention, when the stacker crane has an AC servo motor and an induction motor, power is supplied to each motor from one servo driver. The servo driver can switch between servo operation and inverter operation.
The switch means switches the power supply to the AC servo motor and the induction motor in conjunction with the operation switching of the servo driver.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments shown in the drawings will be described below.

FIG. 1 is a block diagram showing the construction of an embodiment of a drive control device for a stacker crane according to the present invention.

In FIG. 1, a traveling drive motor 1 for traveling a traveling carriage of a stacker crane (not shown) and a fork drive motor 2 for driving a slide fork of an elevator are powered by one servo driver 3. The traveling drive motor 1 is an AC servomotor, and the pulse generator 4 detects the rotation of the motor and feeds it back to the servo driver 3.

The servo driver 3 is controlled by the CPU 5. In addition, between the servo driver 3 and each motor,
Switches 6 and 7 are provided, and opening / closing of the switches 6 and 7 is controlled by the CPU 5.

The operation of the servo driver 3 is switched between the servo operation and the inverter operation according to a command from the CPU 5. That is, the servo operation for controlling the output of the servo driver 3 based on the feedback value of the pulse generator 4 and the inverter operation for controlling the frequency of the output of the servo driver 3 only according to the command of the CPU 5 are switched.

Next, the operation of this embodiment will be described.

When operating the stacker crane, first, the traveling carriage and the lift of the stacker crane are moved.
Therefore, the CPU 5 commands the servo operation, causes the servo controller 3 to perform the servo operation, closes the switch 6, and opens the switch 7. Servo controller 3
Is a traveling drive motor 1 while receiving a feedback value from the pulse generator 4 based on a command from the CPU 5.
To drive.

After the traveling drive motor 1 is stopped according to the instruction from the CPU 5, the CPU 5 issues an instruction to the servo driver 3 to operate the inverter. At the same time, the switch 6 is opened and the switch 7 is closed. The servo driver 3 drives the fork drive motor 2 based on a command from the CPU 5.

As described above, according to the drive control device for the stacker crane of this embodiment, one servo driver 3
The traveling drive motor 1 which is a C servo motor and the fork drive motor 2 which is an induction motor can be driven, and traveling positioning can be performed quickly and accurately, so that the cycle time can be shortened and a separate inverter is prepared. Since it is not necessary, the cost can be saved.

The embodiment of the present invention has been described above.
It is needless to say that the present invention is not limited to the above-mentioned embodiments and can be appropriately modified within the scope of the gist of the present invention.

For example, in the illustrated embodiment, the servo driver 3
Although the traveling drive motor 1 and the fork drive motor 2 are driven by the above, the elevation drive motor and the fork drive motor may be driven by one servo driver.

[0019]

As described above, according to the drive control device for the stacker crane of the present invention, the AC servo motor and the induction motor are driven by one servo driver, so that the AC servo motor is used for traveling. Alternatively, the vertical positioning can be performed quickly and accurately, and since the inverter dedicated to the induction motor is not required, the cost does not increase significantly.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of a drive control device for a stacker crane according to the present invention.

[Explanation of symbols]

 1 traveling drive motor 2 fork drive motor 3 servo driver 4 pulse generator 5 CPU 6, 7 switch

Claims (1)

[Claims] 1. In a stacker crane having an AC servo motor and an induction motor, one servo driver capable of switching between a servo operation and an inverter operation by supplying power to the AC servo motor and the induction motor, and the operation of the servo driver. A drive control device for a stacker crane, comprising: an AC servo motor and a switch means for switching power supply to an induction motor in conjunction with the switching.