| 摘要 |
<p>PURPOSE:To improve cargo handling efficiency by detecting the sway quantity of an elevator and commanding the operation start of a fork when it becomes the tolerance or less in controlling a stacker crane for an automatic warehouse. CONSTITUTION:During the travel of a stacker crane, a control unit 210 detects travel distances x1, x2, travel speeds' x'1, x'2, elevated position (1), performs speed control, sway prevention control, and stops the stacker crane 4 at a predetermined position. After the stop, an arithmetic unit 21 calculates the sway width delta and compares it with the permissible sway width deltap. When the sway width becomes the permissible sway width deltap or less, the arithmetic unit 21 sends a fork drive command to the drive until 111 of a fork device 11 to drive fork 112. According to this constitution, the queuing time for the fork device operation can be shortened and efficiency can be improved.</p> |
