Running terminal deceleration stop method of the stacker crane

摘要

PURPOSE: To provide a stacker crane traveling deceleration and stopping method capable of understanding the current position of the stacker crane by using a signal of a fixed position to be read when this is moved, gradually reducing its speed during its moving to a traveling path terminal and safely stopping this at the traveling path terminal. ;CONSTITUTION: A first deceleration point Pn-3 is set in a specified position in a middle way side from a traveling path terminal considering the traveling speed, deceleration and decelerating distance of a stacker crane, a plurality of deceleration points Pn-2, Pn-1 and Pn are set at specified intervals between the first deceleration point Pn-3 and a traveling path terminal END and traveling speeds (VH, VHM, VLM and VL) are respectively set for the deceleration points Pn-3, Pn-2, Pn-1 and Pn. Then, each time the stacker crane reaches the deceleration points Pn-3, Pn-2, Pn-1 and Pn during its traveling toward the traveling path terminal END, its speed is gradually reduced by specified deceleration so as to change from the set speed of the deceleration point to that of the deceleration point lower than this and thus this is stopped at the traveling path terminal END.;COPYRIGHT: (C)1996,JPO