| 摘要 |
Equipment with racks, in particular pallet racks, comprising a stacker crane (1) with a transfer wagon (3), a mast (2) on the transfer wagon and on this a lifting table (10) or other load carrier, an aisle along the warehouse, drive means (7, 11) comprising separate motors for the transfer wagon and for the load carrier so as to move the transfer wagon in the aisle and so as to raise and lower the load carrier on the mast, and also controls to guide the load carrier to the desired place in the warehouse (5) during movement of the transfer wagon and the load carrier. According to the invention the mast slopes from a foot point on the transfer wagon over or near one of the carrier wheels of this inwards over the transfer wagon. The controls comprise individual pulsators (14, 15) for the transfer wagon and for the load carrier arranged to emit pulses related to the transfer wagon's movements in the longitudinal axis in the aisle or to the load carrier's movements in both the longitudinal and the height axis on the sloping mast and also pulse counters which give information about the load carrier's actual position, that is to say the position's actual value. Further there is a computer so as to compare the actual value with the nominal value which corresponds to the desired place in the warehouse and also so as to regulate the drive motors of the transfer wagon and the load carrier, so that the transfer wagon and/or load carrier moves till its actual value co-incides with the current nominal value. |
