| 摘要 |
PROBLEM TO BE SOLVED: To provide a vibration damping method of a stacker crane, certainly reducing rocking of a mast by a simple method. SOLUTION: According to an operation pattern obtained by removing a natural frequency component of mast rocking of the stacker crane from speed and acceleration being a vibration source by switching two values of acceleration, vibrations of the stacker crane is suppressed. Especially, third high harmonic wave component of the natural frequency of mast rocking from the operation pattern by the movement average of speed instruction value, thereby suppressing vibrations. Therefore, mechanical and extra vibrations of not only the stacker crane main body, but also an elevating element or a transfer machine provided on the stacker crane main body, by a simple method. COPYRIGHT: (C)2009,JPO&INPIT
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