JPH11322020A - Inverter control - Google Patents

Abstract

PROBLEM TO BE SOLVED: To miniaturize a stacker crane, and to save the electricity by arranging an AC/DC converter and plural DC/AC converters in a route for electrifying a traveling motor and a fork elevating motor of a stacker crane, and connecting the plural DC/AC inverters to each motor for changeover. SOLUTION: A stacker crane arranged in a passage between shelves of a high-rises warehouse is provided with a traveling motor 6 and a load carrying platform elevating motor 7, and the electric energy is supplied to each motor 6, 7 from an alternating current power source 8. At this stage, the alternating current power source 8 and each motor 6, 7 are connected to each other through an AC/DC converter 9 and plural DC/AC inverters 10 and a switching means 11. The switching means 11 receives the position information and the speed information sent from each stacker crane with a ground control board 12, and performs changeover so as to generate the control signal from the DC/AC inverter 10 sending the optimal frequency, and the signal from this switching means 11 is transmitted to the stacker cranes through duct shoes.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION An object of the present invention is to control the speed control and position control of a stacker crane used in an automatic warehouse by equipment on the ground side.

[0002]

2. Description of the Related Art Conventionally, there are two systems for motor control of a stacker crane used in an automatic warehouse, a system for traveling and a system for raising and lowering, each of which is independently provided with an inverter, each of which is controlled from a higher order by a sequencer. Is going. Also, they are individually mounted on cranes.

[0003]

Conventionally, as described above, the motor control of the stacker crane has two systems, one for traveling and the other for raising and lowering. Inverters are installed independently for each of the stacker cranes. The sequencer is controlling from the upper level. In addition, since each is mounted on a crane, the equipment becomes large, the price becomes expensive, and there is also a use frequently used for only one of the lifting and lowering or traveling, and the heat balance of the inverter deteriorates,
There is a problem that the maximum power amount is large compared to the average power amount, and the power cost is also expensive. The present invention has been devised to solve these problems.

[0004]

SUMMARY OF THE INVENTION According to the present invention, a path for transmitting electric energy to a traveling motor and a fork elevating motor of a stacker crane used in an automatic warehouse is provided.
One AC / DC converter and DC /
A plurality of AC converters are arranged, and the plurality of DC / AC
According to the present invention, the converter is configured to supply electric energy to the traveling motor and the fork elevating motor of the stacker crane via the switching means, thereby solving the above-described problem.

[0005] In the subsequent stage of the AC / DC converter and in the DC / AC
It is also possible to adopt a configuration in which a capacitor is arranged in the preceding stage of the converter to achieve a smooth regeneration control.

[0006] An AC / DC converter and a plurality of DC / AC converters for transmitting a specific frequency are arranged, and the plurality of DC / AC converters are used to drive the traveling motor of the stacker crane and the fork up / down. AC / D switching means for supplying electric energy to the motor is switched by the ground control panel upon receiving a control signal transmitted from the stacker crane.
A configuration in which a capacitor is arranged after the C converter and before the DC / AC converter may be used to reduce the number of devices mounted on the stacker crane, thereby further simplifying and reducing the weight of the stacker crane. it can.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. 1 and 2. According to the present invention, a shelf 2 having a large number of load storage spaces 1 formed in a horizontal direction and a vertical direction is provided in a predetermined space at a predetermined interval. In the three-dimensional warehouse 3 arranged in such a manner, the load W is unloaded from the load storage space 1 on both sides of the inter-shelf passage 4 formed between the shelves 2 or the load W is loaded into the load storage space 1. The present invention is applied to a device in which a stacker crane 5 which is a load transporting device for loading W is disposed.

The stacker crane 5 is individually provided with a traveling motor 6 and a bed lifting motor 7, and the traveling motor 6 and the bed lifting motor 7 are supplied with electric energy from an AC power source 8 for traveling. The stacker crane 5 is started and stopped by rotating the motor 6 and the loading platform elevating motor 7.

The AC power source 8, the traveling motor 6 of the stacker crane 5, and the loading platform elevating motor 7
They are connected via a converter 9, a DC / AC converter 10 and a switching means 11. The DC / AC converter 10 emits three different frequencies, for example, 100 HZ, 50 HZ and 5 HZ, each of which is connected to one AC / DC converter 9 at the preceding stage and each of them is connected to each other. Latter stage 3
Connected to the switching means 11.

The switching means 11 receives the position information and speed information transmitted from the individual stacker cranes 5 by the ground control panel 12, and transmits the optimum frequency.
The converter 10 is switched to emit a control signal.
The signal from the switching means 11 is transmitted to the stacker crane 5 via the duct shoe 13 and the stacker crane 5
Performs a predetermined control.

A capacitor 14 is connected between the AC / DC converter 9 and the DC / AC converter 10.

[0012]

According to the present invention, by adopting the above-described structure, the stacker crane can be reduced in size and simplified, and furthermore, the contract power rate can be reduced, the power factor can be improved, and automatic regeneration control between the mutual motors can be achieved. Is produced.

[Brief description of the drawings]

FIG. 1 shows a structural diagram of a stacker crane using the present invention.

FIG. 2 shows a block diagram of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 load storage space 2 shelves 3 three-dimensional warehouse 4 shelves passage 5 stacker crane 6 traveling motor 7 carrier lifting motor 8 AC power supply 9 AC / DC converter 10 DC / AC converter 11 switching means 13 duct shoe 14 condenser

Claims (3)

[Claims] An AC / DC converter and a DC / AC for transmitting a specific frequency to a path for transmitting electric energy to a traveling motor and a fork lifting / lowering motor of a stacker crane used in an automatic warehouse. Inverter control comprising a plurality of converters, and supplying the plurality of DC / AC converters with electric energy to a traveling motor and a fork lifting / lowering motor of the stacker crane via switching means. 2. The inverter control according to claim 1, wherein
Inverter control, wherein a capacitor is arranged at a stage after the AC / DC converter and before the DC / AC converter. 3. The inverter control according to claim 1, wherein
One AC / DC converter and DC /
A plurality of AC converters are arranged, and the plurality of DC / AC
An inverter, wherein switching means for supplying electric energy from the converter to the traveling motor of the stacker crane and the fork elevating motor is switched by a ground control panel upon receiving a control signal transmitted from the stacker crane. control