| 摘要 |
<p>PURPOSE:To prevent easily a stacker crane from large sway by obtaining a sway amount of the stacker crane in travel and stoppage to control an elevational speed control unit of the stacker crane for minimizing the sway amount. CONSTITUTION:In a stacker crane 1 movable along upper and lower rails disposed along racks of an automatic warehouse are provided travel detecting units 118, 119 for detecting travelling speed on respective travelling units 106, 105 for rotatably driving wheels travelling on the upper and lower rails. And according to the vertical travelling amounts x1, x2 of stacker crane detected by the respective detecting units 118, 119 is calculated the vertical travelling deviation amount by a calculating unit 2 to generate the speed control signal outputs V1, V2 to obviate this deviation. Next, after these signals V1, V2 are V/F converted 30, 40, they are contrasted with the outputs of the respective travel detecting units 118, 119 to obtain a correction amount based on the deviation between both signals and outputs for speed control.</p> |
