BRAKEING CONTROL DEVICE FOR STACKER CRANE OF AUTOMATED STORAGE AND RETRIEVAL WAREHOUSE

摘要

PROBLEM TO BE SOLVED: To significantly reduce swing of a mast caused by impact from stacker crane breaking. SOLUTION: In a stacker crane 5 traveling along a rail provided in an automated storage and retrieval warehouse and transferring articles in the automated storage and retrieval warehouse, an automated storage and retrieval warehouse stacker crane braking control device controls braking of the stacker crane 5 by a controller 20. The controller 20 changes a speed of the stacker crane 5 by acceleration and deceleration to force a mast 12 to swing just before braking of the stacker crane 5 based on mast swing data about swing of the mast 12 generated during braking of the stacker crane 5. Swing of the mast 12 during braking is significantly reduced by canceling the swing of the mast 12 generated during braking by this forced swing.