JPS6194905A - Adaptive travel control system for stacker crane - Google Patents

Adaptive travel control system for stacker crane

Info

Publication number
JPS6194905A
JPS6194905A JP21401684A JP21401684A JPS6194905A JP S6194905 A JPS6194905 A JP S6194905A JP 21401684 A JP21401684 A JP 21401684A JP 21401684 A JP21401684 A JP 21401684A JP S6194905 A JPS6194905 A JP S6194905A
Authority
JP
Japan
Prior art keywords
position
signal
counter
input
output
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP21401684A
Inventor
Haruo Hirakawa
Toshiaki Makino
Hideki Tanaka
Haruo Unno
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP21401684A priority Critical patent/JPS6194905A/en
Publication of JPS6194905A publication Critical patent/JPS6194905A/en
Application status is Pending legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • B65G1/0421Storage devices mechanical using stacker cranes with control for stacker crane operations

Abstract

PURPOSE:To prevent vibration and to shorten the cargo work time by calculating the acceleration of a travel body and natural frequency of main post system to correct a travel speed control pattern in the above control system in automatic storage. CONSTITUTION:When a moving distance is input to an arithmetic unit 16, a reset signal is output to a counter 17, a deviation between 0 signal from the counter 17 and a moving target position is input to a speed control pattern generator 18 to output a target speed. The target speed is compared with the actual speed output by a tachogenerator 15, and a driving device 19 controls a driving mechanism to make a difference zero, thereby to travel a stacker crane 1. The position is detected by an encoder 14 to be input to the counter 17, a position signal is transmitted to the arithmetic unit 16 to position the crane, and according to a signal of a photoelectric switch 13, cumulative error of the encoder 14 is compensated. Thus, the cargo work time can be shortened.
JP21401684A 1984-10-12 1984-10-12 Adaptive travel control system for stacker crane Pending JPS6194905A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP21401684A JPS6194905A (en) 1984-10-12 1984-10-12 Adaptive travel control system for stacker crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21401684A JPS6194905A (en) 1984-10-12 1984-10-12 Adaptive travel control system for stacker crane

Publications (1)

Publication Number Publication Date
JPS6194905A true JPS6194905A (en) 1986-05-13

Family

ID=16648876

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21401684A Pending JPS6194905A (en) 1984-10-12 1984-10-12 Adaptive travel control system for stacker crane

Country Status (1)

Country Link
JP (1) JPS6194905A (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01247304A (en) * 1988-03-28 1989-10-03 Seibu Electric & Mach Co Ltd Antiroll method for mast of stacker crane
JPH01249949A (en) * 1988-03-30 1989-10-05 Toshiba Corp Stirling engine
DE102005005358A1 (en) * 2005-02-02 2006-08-10 Siemens Ag HMI device for a rack warehouse, in particular a storage and retrieval unit for a high-bay warehouse, and a method for controlling the HMI device
JP2007276962A (en) * 2006-04-07 2007-10-25 Murata Mach Ltd Conveying device
JP2010030728A (en) * 2008-07-28 2010-02-12 Seibu Electric & Mach Co Ltd Method of damping stacker crane
WO2012083055A1 (en) * 2010-12-15 2012-06-21 Casepick Systems, Llc Bot position sensing
US8694152B2 (en) 2010-12-15 2014-04-08 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US9051120B2 (en) 2009-04-10 2015-06-09 Symbotic Llc Control system for storage and retrieval systems
CN106628791A (en) * 2017-03-08 2017-05-10 江苏华章物流科技股份有限公司 Traveling positioning method for rail guided vehicle
US9776794B2 (en) 2011-09-09 2017-10-03 Symbotic, LLC Storage and retrieval system case unit detection
US9802761B2 (en) 2013-03-15 2017-10-31 Symbotic, LLC Automated storage and retrieval system
US9981808B2 (en) 2010-12-15 2018-05-29 Symbotic, LLC Pickface builder for storage and retrieval systems
US10053286B2 (en) 2010-12-15 2018-08-21 Symbotic, LLC Bot position sensing
US10088840B2 (en) 2013-03-15 2018-10-02 Symbotic, LLC Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01247304A (en) * 1988-03-28 1989-10-03 Seibu Electric & Mach Co Ltd Antiroll method for mast of stacker crane
JPH01249949A (en) * 1988-03-30 1989-10-05 Toshiba Corp Stirling engine
DE102005005358A1 (en) * 2005-02-02 2006-08-10 Siemens Ag HMI device for a rack warehouse, in particular a storage and retrieval unit for a high-bay warehouse, and a method for controlling the HMI device
JP2007276962A (en) * 2006-04-07 2007-10-25 Murata Mach Ltd Conveying device
JP2010030728A (en) * 2008-07-28 2010-02-12 Seibu Electric & Mach Co Ltd Method of damping stacker crane
US10239691B2 (en) 2009-04-10 2019-03-26 Symbotic, LLC Storage and retrieval system
US9051120B2 (en) 2009-04-10 2015-06-09 Symbotic Llc Control system for storage and retrieval systems
US9771217B2 (en) 2009-04-10 2017-09-26 Symbotic, LLC Control system for storage and retrieval systems
US10221014B2 (en) 2010-12-15 2019-03-05 Symbotic, LLC Bot position sensing
US9463925B2 (en) 2010-12-15 2016-10-11 Symbotic, LLC Maintenance access zones for storage and retrieval systems
TWI568655B (en) * 2010-12-15 2017-02-01 辛波提克有限責任公司 Storage and retrieval system with bot position sensing
US10005624B2 (en) 2010-12-15 2018-06-26 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US8694152B2 (en) 2010-12-15 2014-04-08 Symbotic, LLC Maintenance access zones for storage and retrieval systems
CN103442998A (en) * 2010-12-15 2013-12-11 西姆伯蒂克有限责任公司 Bot position sensing
WO2012083055A1 (en) * 2010-12-15 2012-06-21 Casepick Systems, Llc Bot position sensing
US9981808B2 (en) 2010-12-15 2018-05-29 Symbotic, LLC Pickface builder for storage and retrieval systems
US10233037B2 (en) 2010-12-15 2019-03-19 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US10053286B2 (en) 2010-12-15 2018-08-21 Symbotic, LLC Bot position sensing
US10252859B2 (en) 2011-09-09 2019-04-09 Symbotic, LLC Storage and retrieval system case unit detection
US10029850B2 (en) 2011-09-09 2018-07-24 Symbotic, LLC Storage and retrieval system case unit detection
US9776794B2 (en) 2011-09-09 2017-10-03 Symbotic, LLC Storage and retrieval system case unit detection
US10088840B2 (en) 2013-03-15 2018-10-02 Symbotic, LLC Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown
US9988213B2 (en) 2013-03-15 2018-06-05 Symbotic, LLC Automated storage and retrieval system
US9802761B2 (en) 2013-03-15 2017-10-31 Symbotic, LLC Automated storage and retrieval system
US10359777B2 (en) 2013-03-15 2019-07-23 Symbotic, LLC Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown
US10457484B2 (en) 2013-03-15 2019-10-29 Symbotic, LLC Automated storage and retrieval system
CN106628791A (en) * 2017-03-08 2017-05-10 江苏华章物流科技股份有限公司 Traveling positioning method for rail guided vehicle

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