DEVICE FOR CONTROLLINGLY STOPPING VIBRATION OF STACKER CRANE

摘要

PURPOSE:To restrict the main column system of a stacker crane from producing vibration by connecting a travel speed control pattern generating unit and a main column vibrating angular velocity pattern generating unit to the driving unit of the stacker crane through a switching circuit thereby to enable a vibration error to be corrected. CONSTITUTION:A subtracter 20 compares a target speed obtained by a speed control pattern generating unit 19 and an actual speed from a speed detector 15 depending upon a deflection between a travel distance set by a travel distance setting unit 17 and a zero signal from a counter 26 and a stacker crane 1 is travelled by controlling a drive unit 25 so that the distance between the target speed and the actual speed is zero. When a positional deflection is less than a prescribed value, a switching circuit 24 is energized. As a result, an arithmetic unit 21 computes a vibrating angle and a vibrating angular velocity of the main column of the stacker crane 1 in response to an output from an acceleration detector 16 to control the drive unit 25 depending upon the deflection between a target vibrating angular velocity obtained by a vibrating angular velocity pattern generator 22 in accordance with the vibrating angle and the aforementioned vibrating angular velocity.