Travelling vehicle

摘要

In a stacker crane, servomotors are travel motors causing a vehicle main body to travel, and include brakes. A travel controller includes a malfunction detecting unit to detect malfunctions in the servomotors, and a deceleration pattern storage unit to store deceleration patterns based on combinations of some of the servomotors. If a malfunction with a servomotor is detected by the malfunction detecting unit, the malfunctioning servomotor is no longer subject to deceleration control, a deceleration pattern including a combination of normal servomotors is read from the deceleration pattern storage unit, and then braking control is performed by using this deceleration pattern.

主权项

1. A travelling vehicle, comprising:
a vehicle main body; a plurality of servomotors configured to move the vehicle main body, each of the servomotors including a mechanical brake; and a controller configured and programmed to control the servomotors; wherein the controller includes:
a malfunction detection unit configured and programmed to detect malfunction of the servomotors; anda deceleration pattern storage unit configured and programmed to store a plurality of deceleration patterns including a combination of a portion of the servomotors among the plurality of the servomotors; whereinwhen the malfunction detection unit detects malfunction of at least one of the servomotors, the controller is configured and programmed to exclude an abnormal servomotor with the malfunction as targets to be controlled, read out one of the plurality of deceleration patterns including normal servomotors from the deceleration pattern storage unit, and then perform a brake control using either the one of the plurality of deceleration patterns or the mechanical brakes,the controller is configured and programmed to compare a deceleration value based on the one of the plurality of deceleration patterns with a deceleration value based on the mechanical brakes,the controller is configured and programmed to select either deceleration control using the mechanical brakes or deceleration control using the one of the plurality of deceleration patterns, according to which of the mechanical brakes and the one of the plurality of deceleration patterns generates a higher deceleration, andthe controller is configured and programmed to perform the brake control using only the selected one of the deceleration control using the mechanical brakes and the deceleration control using the one of the plurality of deceleration patterns.