JPH07149408A - Drive controller for stacker crane - Google Patents

Abstract

PURPOSE:To shorten a cycle time for carrying-in/out a load as much as possible without applying an excessive load to a drive means by controlling the traveling speed or acceleration of a carriage most suitably according to the weight of a load. CONSTITUTION:When a load 34 is placed on a loading deck 25, its weight is detected by a weight detection means 36, and the data on the weight of the load 34 is transmitted to a traveling control means 37. According to the data, a traveling drive means 14 and so forth are controlled so that it may become smaller as the weight of the load 34 is larger.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling speed or acceleration of a trolley in a stacker crane for loading and unloading a load to and from a desired position of a multi-stage loading rack, a lifting speed of a loading platform,
The present invention relates to a device for controlling the lateral feed speed of lateral feed means.

[0002]

2. Description of the Related Art In automatic warehouses and factories, as a stacker crane for automatically loading and unloading a load to and from a desired position on a multi-tiered cargo rack that is long in the front-rear direction, a mast is erected on a truck that runs in the front-rear direction on the floor. However, there is one in which the loading platform is mounted on the mast so as to be able to move up and down, and the loading platform is provided with a lateral feed means for horizontally moving the loading in the left-right direction.

In such a stacker crane,
In order to carry in and out the load quickly, it is desirable to drive the cart at high speed.

[Problems to be Solved by the Invention]

However, if the trolley is suddenly accelerated or decelerated while the weight of the load is large, an excessive load is applied to the driving means such as a motor and the durability of the driving means deteriorates. for that reason,
Conventionally, the traveling speed and acceleration of the trolley have been suppressed to constant values based on the assumed maximum load of the load and the performance of the motor and the like.

In this way, even if the load is extremely light or the load is extremely light, the traveling speed and acceleration of the dolly are limited as described above even though the driving means has a sufficient margin. It takes a long time to reach
Lack of swiftness. Further, the same problem occurs in the lifting drive means and the lateral feed means of the carriage.

In view of the above-mentioned problems of the prior art, the present invention optimizes the traveling speed or acceleration of the trolley, the ascending / descending speed of the loading platform, and the lateral feeding speed of the lateral feeding means according to the weight of the load. It is an object of the present invention to provide a drive control device for a stacker crane that is controlled so that an excessive load is not applied to the drive means and the load / unload cycle time can be shortened as much as possible. . Further, the present invention facilitates attachment, removal, and maintenance of the weight detection means, accurately detects the weight of the load even if an unbalanced load is applied to the loading platform, and easily converts the weight information into an electric signal. In addition, the input signal to the control means must be accurate and easy to handle, and the entire device can be manufactured at low cost.The motor can be controlled accurately and easily, and the position and speed of the trolley must be accurate. It is also intended to be able to control the safety and improve safety.

[0007]

In order to achieve the above object, the drive control device for a stacker crane of the present invention is characterized by the following items.

(1) A trolley that travels on the floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, traveling drive means that drives the trolley, and a loading platform that moves up and down along the mast. A drive control device for a stacker crane, comprising: a lifting drive means for causing a weight detection means for detecting the weight of a load placed on a loading platform; and an acceleration of a truck based on the weight of the load detected by the weight detection means. However, a traveling control means for controlling the traveling drive means is provided such that the smaller the weight of the load, the smaller the weight (claim 1).

(2) A trolley that travels on the floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, traveling drive means that drives the trolley, and a loading platform that moves up and down along the mast. A stacker crane drive control device comprising a lifting drive means for moving the load platform based on the weight detection means for detecting the weight of the load placed on the load platform and the weight of the load detected by the weight detection means. Elevating control means for controlling the elevating drive means is provided so that the speed becomes smaller as the weight of the load becomes heavier (claim 2).

(3) A truck running on the floor, a mast standing on the truck, a loading platform mounted on the mast so as to be movable up and down, and a transverse feed provided on the loading platform and laterally moving the load. A drive control device for a stacker crane, comprising: a driving means for driving a carriage, and a lifting drive means for raising and lowering a loading platform along a mast, the weight detection detecting a weight of a load placed on the loading platform. Means, and a lateral feed control means for controlling the lateral feed means such that the lateral feed speed of the load becomes smaller as the weight of the load becomes heavier, based on the weight of the load detected by the weight detection means ( Claim 3).

(4) A trolley that travels on the floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, and a transverse feed that is provided on the loading platform and that moves the load laterally. A drive control device for a stacker crane, comprising: a driving means for driving a carriage, and a lifting drive means for raising and lowering a loading platform along a mast, the weight detection detecting a weight of a load placed on the loading platform. And the traveling control means for controlling the traveling drive means based on the weight of the load detected by the weight detection means so that the acceleration of the trolley becomes smaller as the weight of the load becomes heavier. Based on the weight of the load, based on the weight of the load detected by the lifting control means and the weight detection means, the lifting speed of the platform becomes smaller as the weight of the load becomes smaller, Lateral feed speed And a lateral feed control means for controlling the lateral feed means so that the degree of the load becomes smaller as the weight of the load becomes heavier (claim 4).

(5) In the above-mentioned (1) to (4), the elevating and lowering drive means suspends the loading platform from the upper part of the mast with the rope and raises and lowers the loading platform along the mast via the rope. In the device according to any one of the above, the weight detecting means is provided between the rope and the cargo bed or in the middle of the rope (Claim 5).

(6) The above-mentioned (5), wherein the elevating and lowering drive means suspends the loading platform with a plurality of ropes from the upper part of the mast, and raises and lowers the loading platform along the mast via the ropes. In the device, weight detecting means is provided between each of the ropes and in the middle of each rope, and output information of the plurality of weight detecting means is summed and input to each control means. A summing means is provided (Claim 6).

(7) In the apparatus according to any one of (1) to (6) above, the weight detecting means is a load cell (claim 7).

(8) In the device described in any one of (5) to (7) above, the traveling drive means includes an electric motor in which the number of rotations per unit time is increased or decreased by increasing or decreasing the frequency.
Further, the traveling control means is provided with an inverter circuit for converting the frequency of the power source supplied to the electric motor (claim 8).

(9) In the device described in any of (1) and (4) to (8) above, the traveling control means determines the traveling speed of the trolley based on the weight of the load detected by the weight detection means. A speed control means is provided so as to decrease as the weight of the load increases (claim 9).

(10) In the device described in any of (1) and (4) to (9) above, a speed detecting means for detecting the traveling speed of the carriage is provided, and the speed detecting means is provided in the traveling control means. The speed information detected by the means and / or the acceleration information obtained by the change of the speed information and the optimum speed or acceleration determined based on the weight information detected by the weight detection means are compared, and based on the comparison A comparison circuit for outputting an optimum control signal to the traveling drive means is provided (claim 10).

(11) In the device described in any one of (1) to (10) above, the device is activated when the weight of the load detected by the weight detecting means exceeds a predetermined maximum allowable weight. An alarm means is provided (Claim 11).

[0019]

When the load is placed on the loading platform, the weight of the load is detected by the weight detecting means, the information about the weight of the load is transmitted to the traveling control means, and the traveling drive means and the like are based on the information. The heavier the weight of the load, the smaller the speed and acceleration of the dolly.

[0020]

1 to 5 show a first embodiment which is an embodiment of the invention described in claims 1 and 6.

As shown in FIGS. 1 and 2, each of the cargo racks (1) in the automated warehouse stands up and down (left and right in FIG. 1) at equal intervals between the floor (2) and the ceiling (3). Two columns of left and right columns installed (4)
Are connected by connecting rods (5) facing in the front-rear direction, and left and right columns (4) are connected by load receiving frames (6) which are horizontal and are vertically arranged at a predetermined interval.

In the middle of the left and right luggage racks (1) on the upper surface of the floor (2) and the lower surface of the ceiling (3), rails (7) for running and guide rails (7) that are parallel to each other and face in the front-rear direction. 8) and are laid.

(9) is a stacker crane, a mast (11) is erected at the center of the carriage (10), the wheels (12) of the carriage (10) roll along the traveling rail (7), In addition, a pair of left and right rollers (13) pivotally installed at the upper end of the mast (11) slides on the guide rails (8) from both sides to roll, so that the rollers can run in the front-back direction without tilting in the left-right direction. You can

Reference numeral (14) is a traveling drive means for traveling the carriage (10), and as shown in FIG. 3, a toothed belt (15) is installed along the rail (7) to allow the carriage (10) to move. ) Via a pair of guide pulleys (16) pivotally mounted on the carriage (10).
The bogie (10) can be moved in the front-rear direction by engaging with the pinion (17) and rotating this pinion (17) by a traveling motor (18) provided in the bogie (10) capable of forward and reverse rotation. You can do it.

(19) is wound around the sprocket (20) fixed to the shaft (18a) of the motor (18) and the sprocket (21) fixed to the shaft (17a) of the pinion (17). This is a chain that transmits the rotational force of the motor (18) to the pinion (17).

Reference numeral (22) is a lower brake adapted to apply a braking force to the shaft (17a) of the motor (18). On top of the mast (11), insert the guide rail (8) to remove the mast.
An upper brake (23) for applying a braking force is installed at the upper end of (11).

Guide rails (24) facing vertically are fixed to both side surfaces of the mast (11), and the guide rails (24) are connected to the rear portion of the loading platform (25) along the front surface of the mast (11). Installed sliding part (2
6) is engaged so that it can move up and down.

A chain (line) (27) having both ends fastened to the upper and lower parts of the loading platform (25) is composed of a suspension sprocket (28) pivotally mounted on the upper end of the mast (11) and a mast (11). Lower part and trolley (10)
The driven sprocket (29) pivotally mounted on the carriage (10) and the drive sprocket (31) fixed to the shaft (30a) of the lifting motor (30) installed on the carriage (10) are wound around the load carrier (25). It can be raised and lowered by the rotation of (30).

On the loading platform (25), a lateral feed means (32) which expands and contracts in two stages on the left and right sides by a motor (not shown) is installed, and a pallet (33) is placed on the lateral feed means (32). And a load (34) placed on it.

The load (34) on the loading platform (25) is moved by moving the stacker crane (9) and moving the loading platform (25) up and down.
(34) is the side of the target storage section of the luggage rack (1), the lateral feeding means (32) is extended, and the load (34) is inserted into the desired storage section, and then the loading platform (25) is set. By lowering it slightly and shortening the transverse feed means (32), the load (34) can be loaded together with the pallet (33) on the rack.
It can be transferred onto both load receiving frames (6) of (1), and by the reverse operation, the target load (34) can be taken out together with the pallet (33).

However, the above-mentioned stacker crane (9) is
When moving a heavy load (34) to the desired position on the rack (1), with the load (34) raised above the mast (11), accelerate rapidly to the side of the target storage unit. If it is stopped or stopped suddenly, the traveling drive means (14) will be overloaded and the durability will deteriorate, or the stacker crane (9) will move in the traveling direction due to the inertial force of the cargo bed (25) and the cargo (34). There is a risk of tilting backwards or forwards.

In the present invention, in order to avoid this and to enable the carriage 10 to travel quickly,
Height detection means (35) for detecting the height of (25) and weight detection means (36) for detecting the weight of the load (34) placed on the loading platform (25)
And the height of the bed (25) detected by the height detection means (35),
Also, based on the weight of the load (34) detected by the weight detection means (36), the higher the height of the loading platform (25) and the larger the weight of the load (34), the more A travel control means (37) for controlling the travel drive means (14) is provided so that the acceleration becomes small.

In the first embodiment, the height detecting means (35)
Is a rotary encoder that is provided at the bottom of the mast (11) and detects the height of the cargo bed (25) by detecting the number of rotations of an appropriate driven sprocket (29). 36) is a chain close to the loading platform (25)
The load cell is a known load cell or the like that is provided in the middle of (27) and detects the tensile force applied to the chain (27).

The height detecting means (35) may be, for example, a known linear encoder or other means, or a weight detecting means.
(36) is provided on the upper surface of the lateral feed means (32), and the load (34)
It is also possible to use other known weight measuring means for electrically measuring the weight of the.

As shown in FIG. 4, the traveling control means (37) in the control device (38) includes a height detection means (35) and a weight detection means.
(36), motor (18) of traveling drive means (14), lower brake (2
2) and the height of the cargo bed (25) and the weight of the load (34) electrically connected to the upper brake (23) and detected by the height detecting means (35) and the weight detecting means (36), respectively. The motor 18, the lower brake 22, and the upper brake 23 are controlled as shown in FIG.

That is, the loading platform (25) is located at the highest position (H
= Max) and there is a load (34) of the maximum weight assumed on the platform (25) (W = max), as shown by the solid line (a) in FIG. Power (negative acceleration = deceleration)
However, the motor (18) is controlled so that it becomes the smallest. The state indicated by the solid line (a) is the same as the traveling state of the carriage (10) in the conventional device.

When the loading platform (25) is located at the highest position (H = max) and there is no loading (34) on the loading platform (25) (W = 0), as shown by the broken line (b) in FIG. The acceleration and braking force of the truck (10)
The motor should be slightly larger than that shown by the solid line (a).
Control (18).

When the load platform (25) is at the lowest position (H = min) and the load (34) having the maximum weight is on the load platform (25) (W = max)
Controls the motor (18) so that the acceleration and the braking force of the carriage (10) are larger than those shown by the broken line (b), as indicated by the alternate long and short dash line (c) in FIG.

When the loading platform (25) is at the lowest position (H = min) and there is no loading (34) on the loading platform (25) (W = min = 0), the chain double-dashed line (d ), The motor (18) is controlled so that the acceleration and the braking force of the carriage (10) are maximized.

The loading platform (25) is highest (H = max) and lowest (H =
min), the acceleration and braking force are intermediate values between the solid line (a) and the alternate long and short dash line (c) shown in FIG. 5 (on the loading platform (25)). Load (34)), or Figure 5
It is preferable to control the motor (18) so as to show an intermediate value between the broken line (b) and the chain double-dashed line (d) (when there is no load (34) on the loading platform (25)).

By controlling the motor (18) in this way, an unreasonable load is not applied to the traveling drive means (14),
The durability can be improved, and the traveling speed of the trolley (10) is shown in FIG.
Except for the case shown in (a), it can be faster than the conventional one, and the load / unload cycle time can be shortened as much as possible.

Incidentally, the height detecting means (35) is omitted from the device of the first embodiment, and in the traveling control means (37), the loading platform is used.
(25) is controlled by eliminating the control factor depending on the height, or the weight detection means (36) does not actually measure the weight of the load (34) linearly, but the presence or absence of the load is detected by a photoelectric sensor. Etc., W = 1 when there is a load, W when there is no load
The motor (18) may be controlled by simply switching to two steps by setting = 0.

6 to 10 show a second embodiment which is an embodiment of the invention described in claims 1 to 11. The same members as those in the first embodiment are designated by the same reference numerals and are shown in the drawings, and detailed description thereof will be omitted.

In the second embodiment, the carriage (40) has a front and rear 1
Set a pair of masts (41) upright and connect the upper end parts to the upper connecting material.
Connect with (42), between the masts (41), the cargo bed (43),
An appropriate guide roller (44) is mounted so as to be slidable in the vertical direction.

The loading platform (43) is guided by an appropriate guide sprocket (47) axially attached to the mast (41), etc. by the winding device (46) in the lifting drive means (45) provided in the cart (40). And is suspended by a pair of chains (48) such as front and rear chains or wires hanging from the upper part of the mast (41), and the winding device (4
It can be raised and lowered by the operation of 6).

Between the end of each cord (48) and the bed (43), there is provided a weight detecting means (49) comprising a load meter such as a well-known load cell having a strain gauge incorporated therein.

On the loading platform (43), a transverse feeding means (50) similar to that of the first embodiment is provided. (51) is the cargo bed (43)
A flexible cable coupled between the lower part of the mast (41) and the middle part of one of the masts (41) to drive the drive motor (50) of the traverse means (50).
a), electric system and cart on the side of the loading platform (43) such as weight detection means (49)
It serves to electrically connect to the control device (52) provided in (40).

Reference numeral (53) is a traveling drive means provided on the carriage (40), and in this embodiment, the rail (7) laid on the floor (2).
The front and rear wheels (54) rolling above are linked by a chain (55), and the one wheel (54) and the shaft of the motor (56) are linked by a chain (57).
The reference numerals are omitted for the sprockets around which the chains (55) (57) are wound.

Next, the circuit configuration of the control device (52) will be described with reference to FIG. The outputs of the two weight detecting means (49) are input to a summing circuit (summing means) (58), where the output information of both weight detecting means (49) is summed, and the output is an amplifier.
After being amplified by (59), the analog / digital converter (6
It is converted into a digital signal by 0) and input to the main control circuit (61).

Although the main control circuit (61) is actually formed by a CPU, for convenience of explanation, the main control circuit (61) will be described as having the following respective circuit configurations.

That is, the main control circuit (61) includes a discrimination circuit (6
2), traveling control circuit (traveling control means) (63), lifting control circuit (lifting control means) (64), lateral feed control circuit (lateral feed control means) (65), and alarm activation circuit (66 ) And.

The discriminating circuit (62) is provided with an alarm activating circuit (66) when the weight of the load contained in the digital signal input from the analog / digital converter (60) is larger than a predetermined maximum allowable weight. To activate the alarm means such as the alarm lamp (67) and the alarm buzzer (not shown) shown in FIGS. 6 and 7.

In the discriminating circuit (62), when the weight of the load contained in the input digital signal is smaller than the maximum allowable weight, a signal containing information on the weight is sent to the traveling control circuit (63) and the lifting control. Circuit (64) and traverse control circuit (65)
Send to each.

In the traveling control circuit (63), the discrimination circuit (6
2) Information about the weight of the load sent from the vehicle and the position and speed information of the carriage (40) sent from the encoder (68) connected to the motor (56) of the traveling drive means (53). By comparison, the speed of the carriage (40) during constant speed running, the acceleration until reaching that speed, and the deceleration after constant speed running (also a kind of acceleration) are as shown in FIG. The motor drive circuit (69) is controlled such that the heavier the weight, the smaller the speed and acceleration.

In FIG. 9, (a) is when the weight of the load is large, (b) is when it is medium, and (c).
Shows the speed of the truck (40) when the vehicle is also small.

The motor (56) is an electric motor in which the number of rotations per unit time is increased or decreased by increasing or decreasing the frequency, and the motor drive circuit (69) is a control signal sent from the traveling control circuit (63). Based on the above, it is preferable to use an inverter circuit in which the rotation speed of the motor (56) is changed by changing the frequency of the current supplied to the motor (56). The motor drive circuit (69) may be included in the travel control circuit (63).

The lifting control circuit (64), based on the information about the weight of the load sent from the determination circuit (62), the loading platform (43)
The ascending / descending driving means (45) is such that the ascending speed of the load becomes smaller as the weight of the load becomes heavier, and the descending speed of the loading platform (43) becomes almost constant regardless of the size of the load. To control.

The lateral feed control circuit (65) determines that the feeding speed of the lateral feed means (50) is smaller as the weight of the load is heavier, based on the information about the weight of the load sent from the discrimination circuit (62). The transverse feed means (50) is controlled so that

The lifting control circuit (64) and the lifting drive means (4
5) and / or the transverse feed control circuit (65) and the transverse feed means
An inverter control circuit similar to the motor drive circuit (69) for the travel control circuit (63) may be provided also between (50).

FIG. 10 is a flow chart showing the operation of the second embodiment centering on the operation of the traveling control means (37).

The operation of the second embodiment will be described with reference to FIG. 10. First, the carriage (40) is stopped at the original position away from the luggage rack (1), and the luggage carrier (43) is at the lowest position. When the load (34) is supplied onto the loading platform (43) while stopped at
1), the weight detection means (49) detects the weight of the load (34), and the detected weight (W) of the load (34) at that time is the maximum allowable weight (Wma).
x) or greater than (step S2),
The determination circuit (62) determines that, the traveling control circuit (63),
Do not output to the lift control circuit (64) and traverse control circuit (65), or output a signal of zero speed or stop (step S3) and then send a signal to the alarm activation circuit (66). The alarm means such as the alarm lamp (67) is activated (step S4), and the traveling drive means (53) and the like are maintained in the stopped state (step S4).
Five).

In step (S2), the weight (W) of the load (34)
Is less than the maximum allowable weight (Wmax)
When it is determined by (62), a signal indicating the weight (W) of the load (34) is sent to each of the traveling control circuit (63), the lifting control circuit (64), and the lateral feed control circuit (65). In each of these circuits, the optimum traveling speed and acceleration of the carriage (40), the optimum descending speed, and the optimum transverse feed speed are calculated based on a predetermined arithmetic expression or the like (step S6).

The trolley (4
When the signal indicating the optimum traveling speed and acceleration of (0) is sent to the motor drive circuit (69) (step S7), the traveling control circuit (63)
The motor (56) of the traveling drive means (53) is
It is operated so that the traveling speed and acceleration of (40) become the above-mentioned optimum traveling speed and acceleration (step S8).

During this time, the lifting control circuit (64) also
The optimum lowering speed is calculated, and the optimum rising speed is set to a preset constant speed, and the lifting drive means (45) is controlled to lift and lower the platform (43) (initially only ascending), but this action is illustrated. Is omitted.

When the motor (56) is operated, the encoder (68) is also operated accordingly, and the information on the position and speed of the carriage (40) is fed back to the traveling control circuit (63), whereby the traveling control circuit ( In 63), it is detected whether or not the speed and acceleration of the actual carriage (40) match the optimum traveling speed and acceleration (step S9), and if they do not match, the process returns to step (S7), The correction value is added to the control signal sent from the travel control circuit (63) to the motor drive circuit (69) to control the motor (56).

When the trolley (40) reaches the designated destination position,
When the encoder (68) detects that the platform (43) has reached the target height (step S10), the motor (5
6) and the operation of the lifting drive means (45) are stopped (step S11), and subsequently the work of transferring the load (34) to the load rack (1) is started (step S12).

The transfer operation of the load (34) is carried out by the lateral feeding means (50).
Is performed at the optimum lateral feed speed calculated by the lateral feed control circuit (65).

Even with the configuration of the second embodiment, the same effect as that of the first embodiment can be obtained.

Also in the second embodiment, instead of the weight detecting means (49), the presence or absence of the load (34) is detected and the weight of the load (34) is divided into only two levels, 0 and 1. You may make it control by.

Further, in the circuit diagram shown in FIG. 8, the traveling control circuit (63), the lift control circuit (64), and the lateral feed control circuit (6
It is not necessary to adopt all of 5), and only one or two of them may be adopted. Furthermore, many other variations and modifications are possible.

[0071]

According to the present invention, the following effects can be obtained. (1) Based on the weight of the load placed on the platform, the traveling drive means is controlled so that the higher the weight of the load, the smaller the speed or acceleration of the trolley. The load on the stacker can be improved, durability can be improved, and the stacker crane can be operated safely without tipping, and vice versa.
When the weight of the load is light, the traveling drive means is controlled so that the speed or acceleration of the dolly becomes large, so that the durability and safety are not deteriorated, and the loading and unloading of the load can be carried out quickly and efficiently. Therefore, the cycle time of loading and unloading the load can be shortened as much as possible (claims 1, 4, and 9).

(2) Based on the weight of the load placed on the loading platform, the lifting drive means is controlled so that the higher the weight of the loading, the lower the lifting speed of the loading platform. The lifting drive means is not overloaded and the durability can be improved. Conversely, when the weight of the load is light, the lifting drive means is controlled so as to increase the lifting speed of the loading platform. Therefore, without lowering the durability or safety,
Loading and unloading of cargo can be carried out quickly and efficiently, and the cycle time of loading and unloading of cargo can be shortened as much as possible (claims 2 and 4).

(3) Based on the weight of the load placed on the loading platform, the lateral feed means is controlled such that the heavier the weight of the load, the smaller the lateral feed speed of the lateral feed means. Therefore, the transverse feed means is not overloaded and the durability can be improved. Conversely, when the weight of the load is light, the transverse feed speed of the transverse feed means is increased. Since the transverse feeding means is controlled, the loading and unloading of cargo can be carried out quickly and efficiently without lowering the durability and safety of the transverse feeding means, and the cycle time of loading and unloading of cargo is minimized. It can be shortened (claims 3 and 4).

(4) Based on the weight of the load detected by the weight detecting means, the traveling control means for controlling the traveling drive means is controlled so that the acceleration of the carriage becomes smaller as the weight of the load becomes heavier. An ascending / descending control means for controlling the ascending / descending driving means so that the ascending speed becomes smaller as the weight of the load becomes heavier
Similarly, it is assumed that two or all of the three control means including the lateral feed control means for controlling the lateral feed means are provided so that the lateral feed speed of the load becomes smaller as the weight of the load becomes heavier. The durability, safety, promptness, etc. of the above (1) to (3) can be further improved (Claim 4).

(5) In the lifting and lowering drive means, the load carrier is suspended from the upper part of the mast by the rope, and the load carrier is moved up and down along the mast via the rope. If the weight detecting means is provided between the rope and the bed or in the middle of the rope, the weight detecting means can be easily attached, detached and maintained (Claim 5).

(6) In the one in which the lifting drive means suspends the loading platform with a plurality of ropes from the upper part of the mast, and raises and lowers the loading platform along the mast via the ropes,
A weight detecting means is provided between each rope and the bed or in the middle of each rope, and summing means for summing output information of the plurality of weight detecting means and inputting to each control means is provided. If it is provided, the load on the loading platform is uneven and even if an unbalanced load is applied to the loading platform,
The weight of the load can be accurately detected (Claim 6).

(7) If the weight detecting means is a load cell, the weight information can be easily converted into an electric signal and can be handled accurately and easily as an input signal to the control means, and the entire apparatus can be manufactured at low cost and the apparatus can be manufactured at a low cost. It is possible to reduce the size and the weight (claim 6).

(8) The traveling drive means is provided with an electric motor in which the number of revolutions per unit time is increased or decreased by increasing or decreasing the frequency, and the traveling control means converts the frequency of the electric power supplied to the electric motor. If an inverter circuit is provided, the motor can be controlled accurately and easily,
By pulling, the position and speed of the dolly can be accurately controlled.

(9) A speed detecting means for detecting the traveling speed of the trolley is provided, and the speed information detected by the speed detecting means and / or the acceleration information obtained by the change of the speed information is provided in the traveling control means. And the optimum speed or acceleration determined based on the weight information detected by the weight detection means, and based on the comparison, a comparison circuit for outputting an optimum control signal to the travel drive means is provided. Can be controlled accurately and safely without error.

(10) If an alarm means is provided which is activated when the weight of the load detected by the weight detection means exceeds a predetermined maximum allowable weight, an excessive load is applied to the traveling drive means and the like. It is possible to prevent the occurrence of damages and failures of the device and improve the safety.

[Brief description of drawings]

FIG. 1 is a side view of a stacker crane and a luggage rack including a first embodiment of the present invention.

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

FIG. 3 is an enlarged vertical cross-sectional side view of a main part of the bogie.

FIG. 4 is a block diagram showing an example of a control device of the first embodiment.

FIG. 5 is a diagram showing a relationship between a traveling speed of a trolley and time by the control device of the first embodiment.

FIG. 6 is a side view of a stacker crane and a luggage rack including a second embodiment of the present invention.

FIG. 7 is a view taken along the line BB of FIG.

FIG. 8 is a block diagram showing an example of a control device of a second embodiment.

FIG. 9 is a diagram showing a relationship between a traveling speed of a trolley and time by the control device of the second embodiment.

FIG. 10 is a flowchart showing the operation of the second embodiment.

[Explanation of symbols]

(1) Luggage rack (2) Floor (3) Ceiling (4) Pillar (5) Connecting frame (6) Loading frame (7) Rail (8) Guide rail (9) Stacker crane (10) Truck (11) Mast ( 12) Wheels (13) Rollers (14) Travel drive means (15) Toothed belt (16) Guide pulley (17) Pinion (17a) Shaft (18) Motor (18a) Shaft (19) Chain (20) (21) Sprocket (22) Lower brake (23) Upper brake (24) Guide rail (25) Loading platform (26) Sliding part (27) Chain (28) Suspension sprocket (29) Driven sprocket (30) Motor (30a) Axis ( 31) Drive sprocket (32) Traverse means (33) Pallet (34) Load (35) Height detection means (36) Weight detection means (37) Travel control means (38) Control device (40) Truck (41) Mast (42) Upper connecting member (43) Load (44) Guide roller (45) Elevating drive means (46) Winding device (47) Guide sprocket (48) Rope (49) Weight detection means (50) Side feed means ( 50a) Drive motor (51) Cable (52) Controller (53) Travel drive means (54) Wheel (55) Chain (56) Motor (57) Chain (58) Summing circuit (summing means) (59) Amplifier (60) Analog / digital converter (61) Main control circuit (62) Discrimination circuit (63) Travel control circuit ( (Traveling control means) (64) Lifting control circuit
(Elevation control means) (65) Horizontal feed control circuit (Horizontal feed control means) (66) Alarm activation circuit (67) Alarm lamp
(Alarm means) (68) Encoder (69) Motor drive circuit

Claims (11)

[Claims] 1. A trolley that travels on a floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, a traveling drive unit that drives the trolley, and a loading platform that moves up and down along the mast. A drive control device for a stacker crane comprising a lifting drive means, wherein a weight detection means for detecting the weight of a load placed on a loading platform, and the acceleration of the truck based on the weight of the load detected by the weight detection means A drive control device for a stacker crane, comprising: travel control means for controlling the travel drive means such that the smaller the weight of the load, the smaller the load. 2. A trolley that travels on the floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, a travel drive unit that drives the trolley, and a loading platform that moves up and down along the mast. A drive control device for a stacker crane, comprising a lifting drive means, comprising: a weight detection means for detecting the weight of a load placed on the bed, and a lifting speed of the bed based on the weight of the load detected by the weight detection means. However, the drive control device for the stacker crane is provided with an elevating control means for controlling the elevating drive means so that the heavier the load, the smaller the load. 3. A trolley that travels on a floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, and a traverse means that is provided on the loading platform and that moves the load laterally. A drive control device for a stacker crane, comprising: a traveling drive means for traveling a dolly; and an elevating and lowering drive means for elevating and lowering a loading platform along a mast, the weight detecting means detecting a weight of a load placed on the loading platform. And a transverse feed control means for controlling the transverse feed means such that the transverse feed speed of the cargo becomes smaller as the weight of the cargo becomes heavier, based on the weight of the cargo detected by the weight detection means. Drive control device for stacker crane. 4. A trolley that travels on a floor, a mast that is erected on the trolley, a loading platform that is vertically movable on the mast, and a traverse means that is provided on the loading platform and that moves the load laterally. A drive control device for a stacker crane, comprising: a traveling drive means for traveling a dolly; and an elevating and lowering drive means for elevating and lowering a loading platform along a mast, the weight detecting means detecting a weight of a load placed on the loading platform. Based on the weight of the load detected by the weight detection means, the traveling control means for controlling the traveling drive means is set so that the acceleration of the carriage becomes smaller as the weight of the load becomes heavier, and the load detection means detects the load. Based on the weight of the load, based on the weight of the load detected by the weight detection means and the lifting control means for controlling the lifting drive means so that the lifting speed of the loading platform becomes smaller as the weight of the load becomes heavier. Cross feed Degrees is, as the weight of the load becomes smaller heavier, the drive control unit of the stacker crane, characterized in that it comprises a transverse feed control unit for controlling the cross-feed means. 5. The lifting / lowering drive means suspends the cargo bed from above the mast with a rope, and moves the cargo bed up and down along the mast via the rope. In the drive control device for the stacker crane, the weight detection means is provided between the rope and the cargo bed or in the middle of the rope, the drive control device for the stacker crane. 6. The stacker crane according to claim 5, wherein the elevating and lowering drive means suspends the loading platform with a plurality of ropes from the upper part of the mast, and raises and lowers the loading platform along the mast via the ropes. In the drive control device, weight detecting means is respectively provided between the ropes and the bed or in the middle of the ropes, and output information of the plurality of weight detecting means is summed and input to each control means. A drive control device for a stacker crane, which is provided with the summing means described above. 7. The drive control device for a stacker crane according to claim 1, wherein the weight detecting means is a load cell. 8. The traveling drive means comprises an electric motor in which the number of revolutions per unit time increases and decreases as the frequency increases and decreases, and the traveling control means includes an inverter circuit for converting the frequency of the power supply supplied to the electric motor. The drive control device for a stacker crane according to any one of claims 5 to 7, further comprising: 9. The traveling control means comprises speed control means for determining the traveling speed of the carriage based on the weight of the load detected by the weight detection means such that the traveling speed of the carriage becomes smaller as the weight of the load becomes heavier. The drive control device for the stacker crane according to any one of claims 1 to 4 to 8. 10. A speed detecting means for detecting a traveling speed of a trolley is provided, and the traveling control means has speed information detected by the speed detecting means or acceleration information obtained by a change of the speed information, and a weight. A comparison circuit is provided which compares an optimum speed or acceleration determined based on the weight information detected by the detection means and outputs an optimum control signal to the traveling drive means based on the comparison. The drive control device for a stacker crane according to any one of 1 or 4 to 9. 11. The alarm means is provided so as to be activated when the weight of the load detected by the weight detecting means exceeds a predetermined maximum allowable weight. The drive control device for the stacker crane described in.