MOVABLE CARRIAGE FOR AUTOMATIC WAREHOUSE, POSITIONING CONTROL SYSTEM THEREFOR AND AUTOMATIC WAREHOUSE CONTROL DEVICE USING THEREOF

摘要

PURPOSE:To carry out positional control for positioning a fork part precisely at a desired rack without previously providing a running count dog or the like at a position where a movable carriage for an automatic warehouse comes to a stop. CONSTITUTION:A movable carriage for an automatic warehouse moves with any of various loads being set on its fork part. Drive wheels provided to the movable carriage run the movable carriage in a predetermined direction while they receives the dead weight of the movable carriage and a load from cargo or the like. A torque is given to the wheels from a running motor. A first position detector detects a rotational position of the running motor, and outputs a first detection signal. An auxiliary wheel for detecting a travel distance, which rotates in association with the running of the movable carriage, is attached to the carriage so that it makes contact with the surface of a running path under a predetermined load, irrespective of the load. A second position detector detects a rotational position of this auxiliary wheel, and outputs a second detection signal. A fork part is moved up and down by an elevating motor. The third position detector detects a rotational position of the elevating motor, and outputs a third detection signal. The position and speed control means controls the rotational positions of the running and elevating motors in accordance with the first, second and third signals so as to precisely position the fork part at a desired position.