Transport device

Abstract

To reduce vibration of a running truck by using a wrapping transmission member.SOLUTION: A traveling belt is wound around a driving pulley, and the driving pulley 42 is rotated by a traveling motor 40, thereby a traveling carriage travels. A traveling control unit 70 that controls traveling of the traveling motor 40 includes an FF control unit 710, an FF parameter calculation unit 720, a damping filter 730, a damping F parameter calculation unit 740, and an FB control unit 750. The FF parameter calculation unit 720 calculates an FF parameter on the basis of the traveling position Tp of the traveling carriage. The damping F parameter calculation unit 730 calculates a damping F parameter on the basis of the traveling position Tp. By controlling the traveling motor 40 using values of these parameters, traveling control can be executed in consideration of the spring constant of the traveling belt according to the traveling position, and vibration of the traveling carriage can be reduced.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a conveying device.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2001-261113 (Patent Document 1) discloses a load transfer device (stacker crane) used in an automated warehouse system. The stacker crane of Patent Document 1 is configured to travel on a travel path by winding a toothed belt whose both ends are fixed along the travel path (rail) around a roller driven by a travel motor.

[0003] Japanese Patent No. 6444243 (Patent Document 2) discloses a stacker crane including a lifting platform that moves vertically along a mast fixed to a traveling carriage. The traveling carriage is movable horizontally by a traveling motor. The stacker crane of Patent Document 2 includes a vibration damping filter that filters a position command value for designating the position of the traveling carriage, determines parameter values used for filtering according to the loading state of the lifting platform, and calculates a torque command value for driving the traveling motor based on the filtered position command value. According to this Patent Document 2, it is said that article conveyance can be performed in a shorter time while performing vibration damping control of the stacker crane.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] When a lower part (carriage) of a stacker crane travels by using a winding transmission member such as a belt extending along a traveling path as in Patent Document 1, the spring constant of the winding transmission member varies depending on the traveling position of the carriage, and its vibration characteristics change. For this reason, as in Patent Document 2, there is a concern that even if vibration control is performed according to the loading state of the lifting platform, vibration cannot be suitably reduced.

[0006] An object of the present disclosure is to reduce vibration of a carriage that travels using a winding transmission member.

Means for Solving the Problem

[0007] The conveying device of the present disclosure is a conveying device including a carriage capable of traveling in a horizontal direction, a winding transmission member extending in the traveling direction of the carriage, a driving device that applies power to the winding transmission member, and a control device that performs traveling control of the carriage by controlling the driving device. The control device obtains a value of a traveling control parameter based on vibration characteristics corresponding to the traveling position of the carriage, and executes traveling control using the traveling control parameter.

[0008] According to this configuration, the carriage travels by applying power to the winding transmission member extending in the traveling direction of the carriage. The value of the traveling control parameter used for the traveling control of the carriage is obtained based on the vibration characteristics corresponding to the traveling position of the carriage. Thereby, traveling control can be executed in consideration of the spring constant of the winding transmission member corresponding to the traveling position, and vibration of the carriage traveling using the winding transmission member can be reduced.

[0009] Preferably, the control device may include a feedforward parameter calculation unit that calculates a feedforward parameter based on the traveling position, and a feedforward control unit that calculates a feedforward torque based on a position command of the carriage and the feedforward parameter. By calculating the feedforward parameter based on the vibration characteristics corresponding to the traveling position, traveling control can be executed in consideration of the spring constant of the winding transmission member corresponding to the traveling position.

[0010] Preferably, the control device may include a vibration damping filter parameter calculation unit that calculates vibration damping filter parameters based on the traveling position, and a vibration damping filter that filters the position command using the vibration damping filter parameters. By calculating the vibration damping filter parameters based on the vibration characteristics corresponding to the traveling position, it is possible to execute traveling control considering the spring constant of the winding transmission member corresponding to the traveling position.

Advantages of the Invention

[0011] According to the present disclosure, it is possible to reduce the vibration of a carriage that travels using a winding transmission member.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

[0014] In the following embodiments, a configuration in which the "transport device" according to the present disclosure is applied to a stacker crane in an automated warehouse system will be described as an example. However, the device to which the "transport device" according to the present invention can be applied is not limited to a stacker crane. The "transport device" according to the present disclosure can also be applied to an automated guided vehicle (AGV), an aerial work platform, and the like.

[0015] FIG. 1 is a perspective view showing an example of the overall configuration of an automated warehouse system 100 according to the present embodiment. The automated warehouse system 100 is a stacker crane type transport system, and includes a stacker crane main body (hereinafter abbreviated as "crane main body") 1, a rail 8, and a storage shelf 9.

[0016] The crane main body 1 moves (travels) on the rail 8 in accordance with a control command from a controller 7 (see FIG. 2). The traveling direction of the crane main body 1 is described as the "X direction". The X direction is typically a horizontal direction. However, the X direction does not have to exactly coincide with the horizontal direction as long as it includes the horizontal direction.

[0017] The crane main body 1 operates by power supplied from, for example, a power supply line (not shown). However, the power supply method of the crane main body 1 is not particularly limited. The crane main body 1 may be powered from the rail 8, may be powered from a non-contact power transmission device arranged along the rail 8, or may be powered from a power supply rail provided above the storage shelf 9 to the crane main body 1.

[0018] The crane main body 1 includes a traveling carriage 11, an upper frame 12, two wheels 13, a pair of masts 14, and a carriage 15. Note that the traveling carriage 11 corresponds to an example of the "carriage" of the present disclosure.

[0019] The upper frame 12 is arranged above the crane main body 1 so as to extend in the X direction. The upper frame 12 connects the pair of masts 14 to each other.

[0020] One end of each of the pair of masts 14 is fixed to the traveling carriage 11. The other end of each of the pair of masts 14 is connected to the upper frame 12. In the present embodiment, the pair of masts 14 are arranged at a distance in the X direction. However, the arrangement of the pair of masts 14 is not limited to this, and the pair of masts 14 may be arranged at a distance in a direction orthogonal to the moving direction of the crane body 1 (Y direction orthogonal to the X direction in the horizontal plane).

[0021] The carriage 15 moves up and down along the pair of masts 14 between the traveling carriage 11 and the upper frame 12. The carriage 15 is driven by a lifting motor 50 according to a control command from the controller 7 (see FIG. 4), and moves to the commanded height. After the carriage 15 moves, the luggage stored in the storage shelf 9 is placed on the carriage 15 by forks (not shown). The luggage placed on the carriage 15 may be stored in the storage shelf 9 by forks.

[0022] The traveling carriage 11 is equipped with a traveling motor 40 and a lifting motor 50. FIG. 2 is a diagram for explaining the traveling drive unit 4 of the traveling carriage 11 and the lifting drive unit 5 of the carriage 15. In addition, in FIG. 1, the details of the traveling drive unit 4 and the lifting drive unit 5 are omitted in the illustration. Referring to FIG. 2, the traveling drive unit 4 includes a traveling motor 40, a speed reducer 41, a drive pulley 42, an idle pulley 43, and a traveling belt Rb. The traveling motor 40 may be, for example, a servo motor and is controlled by the controller 7. The speed reducer 41 is fixed to the traveling carriage 11, reduces the rotation of the traveling motor 40 (amplifies the torque), and transmits it to the drive pulley 42.

[0023] In the present embodiment, the traveling belt Rb is a toothed belt with both ends fixed along the rail 8, and the drive pulley 42 is a toothed pulley. The traveling belt Rb is wound around the drive pulley 42, and when the drive pulley 42 rotates by the driving force (output torque) of the traveling motor 40, the traveling carriage 11 travels in the X direction along the rail 8. A configuration may be adopted in which the wheels 13 travel on the road surface without providing the rail 8. In this case, both ends of the traveling belt Rb in the traveling direction (X direction) are fixed. The traveling belt Rb corresponds to an example of the "wrapped transmission member" of the present disclosure, and the traveling motor 40 corresponds to an example of the "driving device" of the present disclosure. Note that the traveling belt Rb may be a V-belt or a flat belt. Further, instead of the belt, a chain (roller chain, silent chain) may be used, and in this case, a drive sprocket is used.

[0024] The lifting drive unit 5 includes a lifting motor 50, a speed reducer 51, a drive pulley 52, an idle pulley, and a lifting belt Lb. For example, the lifting belt Lb is a toothed belt with both ends fixed to the carriage 15. The lifting belt Lb is wound around the drive pulley 52, and when the drive pulley 52 rotates by the driving force (output torque) of the lifting motor 50, the carriage 15 is lifted and lowered in the lifting direction (Z direction). Note that the lifting belt Lb may be a V-belt, a flat belt, or a chain.

[0025] Vibration occurs in the crane body 1 as the traveling carriage 11 travels. In particular, when the carriage 15 (mast 14) vibrates, it affects the conveyance of the load. For this reason, as described in Patent Document 2, when performing traveling control of the traveling carriage 11, vibration is suppressed by performing vibration suppression control using a physical model. In order to suitably execute the vibration suppression control, it is desirable to use parameters that suitably reflect the vibration characteristics of the crane body 1.

[0026] FIG. 3 is a diagram for explaining the vibration characteristics of the traveling bogie 11 in the present embodiment. FIG. 3(A) shows the case where the traveling position of the traveling bogie 11 is the central position S in the traveling direction (X direction), and FIG. 3(B) shows the case where the traveling position is the position M in the right direction (the direction in which X increases) in FIG. 3. In the present embodiment, when the traveling position of the traveling bogie 11 is the central position S, as shown in FIG. 3(A), the lengths of the left and right traveling belts Rb of the traveling bogie 11 are the same, which is 5L. When the traveling position shown in FIG. 3(B) is the position M, the length of the left traveling belt Rb of the traveling bogie 11 is 9L, and the length of the right traveling belt Rb of the traveling bogie 11 is 1L. Therefore, when the spring constant per unit length of the traveling belt Rb is k, the spring constant Kr of the traveling belt Rb is "Kr=(k / 5L)+(k / 5L)=(2 / 5)×(k / L)" at the central position S, and "Kr=(k / 9L)+(k / L)=(10 / 9)×(k / L)" at the position M.

[0027] Thus, in the traveling bogie 11 (crane body 1) that travels using the traveling belt Rb, since the spring constant of the traveling belt Rb changes according to the traveling position, the vibration characteristics of the crane body 1 change according to the traveling position. In the present embodiment, by obtaining the value of the traveling control parameter based on the vibration characteristics according to the traveling position of the traveling bogie 11, vibration suppression (vibration suppression) of the traveling bogie 11 (crane body 1) can be preferably executed.

[0028] FIG. 4 is a schematic configuration diagram showing an example of the control system 200 of the automated warehouse system 100 in the present embodiment. The control system 200 includes a host controller 2, a sensor group 3, and a controller 7.

[0029] The upper controller 2 is, for example, a ground control panel and is arranged outside the crane body 1. The upper controller 2 may include an HMI (Human Machine Interface). The HMI includes, for example, a keyboard, a mouse, operation buttons, a monitor, a monitor with a touch panel, etc. The HMI receives the operator's operation for moving the crane body 1 and displays the moving status of the crane body 1 for the operator. The upper controller 2 generates a position command X* for commanding the target position of the crane body 1, for example, according to the operation by the operator. The upper controller 2 outputs the generated position command X* to the controller 7.

[0030] The sensor group 3 includes an encoder 31 that detects the rotation angle of the traveling motor 40, and outputs the detection result to the controller 7.

[0031] The controller 7 controls the constituent devices of the automated warehouse system 100 (in this embodiment, the traveling motor 40 and the lifting motor 50) according to the control commands (such as the position command X* for commanding the target position) from the upper controller 2. The controller 7 is, for example, mounted on the crane body 1. However, the controller 7 may be arranged outside the crane body 1 (for example, on the ground). The controller 7 may receive the detection result by the sensor group 3 either wired or wirelessly. The controller 7 may transmit the control commands to the constituent devices of the automated warehouse system 100 either wired or wirelessly.

[0032] The controller 7 includes a processor 71 and a memory 72. The processor 71 includes processing circuitry such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The memory 72 includes volatile storage devices such as a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory), and non-volatile storage devices such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), and a flash memory. The memory 72 stores a system program including an OS (Operating System), a control program including computer-readable code, and various parameters for controlling the constituent devices of the automatic warehouse system 100. The processor 71 reads out the system program, the control program, and the parameters, expands them in the memory 72, and executes them to realize various arithmetic processes. The arithmetic processes by the controller 7 may be realized by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like.

[0033] The controller 7 may be divided into a plurality of units according to functions. For example, a unit for controlling the traveling motor 40 and a unit for controlling the lifting motor 50 may be provided separately. The controller 7 corresponds to an example of the "control device" of the present disclosure.

[0034] When the controller 7 receives a position command X* for commanding the target position of the crane body 1 from the upper controller 2, it executes a travel control for moving the crane body 1 toward the target position. In the present embodiment, the position command X* is generated as a position command (rotation angle) for the travel motor 40. FIG. 5 is a diagram showing an example of a travel control unit 70 which is a functional block configured in the controller 7. The travel control unit 70 controls the travel motor 40. The travel control unit 70 includes a feedforward control unit (FF control unit) 710, a feedforward parameter calculation unit (FF parameter calculation unit) 720, a vibration suppression filter 730, a vibration suppression filter parameter calculation unit (vibration suppression F parameter calculation unit) 740, and a feedback control unit (FB control unit) 750.

[0035] The FF control unit 710 calculates a torque feedforward value TrFF using a transfer function G1 obtained from a physical model (for example, a two-inertia model) of the crane body 1. The parameters of the transfer function G1 include, for example, the mass of the crane body 1 (traveling carriage 11, mast 14, carriage 15), resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary), and the like. Hereinafter, the parameters of the transfer function G1 are also referred to as feedforward parameters (FF parameters). Since the spring constant of the travel belt Rb changes according to the travel position of the crane body 1, the vibration characteristics of the crane body 1 change according to the travel position. Therefore, the resonance frequency and the anti-resonance frequency, which are FF parameters, change according to the travel position. In the present embodiment, in the FF parameter calculation unit 720, the value of the FF parameter is obtained using the travel position Tp (the position of the crane body 1 in the X direction), and the torque feedforward value TrFF is calculated.

[0036] In this embodiment, the traveling position Tp is calculated from the rotation angle of the traveling motor 40 detected by the encoder 31 and input to the FF parameter calculation unit 720. The FF parameter calculation unit 720 calculates the value of the FF parameter according to the traveling position Tp and outputs it to the FF control unit 710. In the memory 72, an FF parameter map set in advance by simulation, experiment, or the like is stored. The FF parameter calculation unit 720 calculates the value of the FF parameter from the FF parameter map according to the traveling position Tp. The FF parameter map is set based on the vibration characteristics considering the spring constant Kr of the traveling belt Rb according to the traveling position Tp for each parameter (for example, resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary)). The FF parameter map may be, for example, a two-dimensional map of the FF parameter and the traveling position Tp. The FF parameter calculation unit 720 calculates the value of each FF parameter based on the traveling position Tp and outputs it to the FF control unit 710. The FF parameter corresponds to an example of the "parameter for travel control" of the present disclosure.

[0037] The FF control unit 710 calculates a torque feedforward value TrFF using the transfer function G1 from the position command X* input from the host controller 2 and the FF parameter calculated by the FF parameter calculation unit 720, and outputs it to the addition unit 719.

[0038] The vibration damping filter 730 filters the position command X* using the transfer function G2. The vibration damping filter 730 has the function of a notch filter that removes the vibration component of the position command X* (the frequency component at which the crane body 1 is likely to vibrate). Similar to the transfer function G1, the transfer function G2 is obtained from the physical model of the crane body 1, and its parameters include, for example, the mass of the crane body 1 (traveling carriage 11, mast 14, carriage 15), resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary), etc. Hereinafter, the parameters of the transfer function G2 are also referred to as vibration damping filter parameters (vibration damping F parameters). Depending on the traveling position Tp, the resonance frequency and anti-resonance frequency, which are vibration damping F parameters, change. Therefore, in the vibration damping F parameter calculation unit 740, the value of the vibration damping F parameter is obtained based on the traveling position Tp, and the position command X* is filtered by the vibration damping filter 730.

[0039] When the traveling position Tp calculated from the rotation angle of the traveling motor 40 detected by the encoder 31 is input to the vibration damping F parameter calculation unit 740, the vibration damping F parameter calculation unit 740 calculates the value of the vibration damping F parameter according to the traveling position Tp. In the memory 72, a vibration damping F parameter map set in advance by simulation, experiment, etc. is stored, and the vibration damping F parameter calculation unit 740 calculates the value of the vibration damping F parameter from the vibration damping F parameter map according to the traveling position Tp. The vibration damping F parameter map is set based on the vibration characteristics considering the spring constant Kr of the traveling belt Rb corresponding to the traveling position Tp for each parameter (for example, resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary)). The vibration damping F parameter map may be, for example, a two-dimensional map of the vibration damping F parameter and the traveling position Tp. The vibration damping F parameter calculation unit 740 calculates the value of each vibration damping F parameter based on the traveling position Tp. The vibration damping F parameter corresponds to an example of the "parameters for travel control" of the present disclosure.

[0040] The vibration damping filter 730 filters the position command X* using the transfer function G2 and the vibration damping F parameter calculated by the vibration damping F parameter calculation unit 740, and outputs the filtered position command Xf to the velocity feedforward unit (velocity FF unit) 712 and the subtraction unit 714.

[0041] The velocity FF unit 712 generates a velocity feedforward value VFF by differentiating the filtered position command Xf. The velocity FF unit 712 outputs the generated velocity feedforward value VFF to the arithmetic unit 717.

[0042] The FB control unit 750 includes a position calculation unit 751, a position control unit 752, a velocity calculation unit 753, and a velocity control unit 754. The position calculation unit 751 calculates the position (rotation angle) X of the traveling motor 40 based on the signal of the encoder 31. The position calculation unit 751 outputs the calculated position X to the subtraction unit 714.

[0043] The subtraction unit 714 subtracts the position X calculated by the position calculation unit 751 from the position command Xf filtered by the vibration damping filter 730. The subtraction unit 714 outputs the subtraction value (Xf - X) to the position control unit 752.

[0044] The position control unit 752 generates a velocity command V* so that the subtraction value (Xf - X) by the subtraction unit 714 is eliminated (approaches zero). The position control unit 752 outputs the generated velocity command V* to the arithmetic unit 717.

[0045] The velocity calculation unit 753 calculates the velocity V at which the crane body 1 moves (the rotation speed of the traveling motor 40) based on the signal from the encoder 31. The velocity calculation unit 753 outputs the calculated velocity V to the arithmetic unit 717.

[0046] The arithmetic unit 717 adds the velocity feedforward value VFF from the velocity FF unit 712 to the velocity command V* from the position control unit 752, and subtracts the velocity V calculated by the velocity calculation unit 753 from the added value. The arithmetic unit 717 outputs the value (V* + VFF - V) obtained by the calculation to the velocity control unit 754.

[0047] The speed control unit 754 generates a torque command TrR* such that the calculated value (V* + VFF - V) by the calculation unit 717 is eliminated (approaches zero). The speed control unit 754 outputs the generated torque command TrR* to the addition unit 719.

[0048] The addition unit 719 adds the torque feedforward value TrFF from the FF control unit 710 to the torque command TrR* from the speed control unit 754. The addition unit 719 outputs the added value (TrR* + TrFF) to the traveling motor 40. The traveling motor 40 is controlled so that the torque of the added value (TrR* + TrFF) is output. In this way, the controller 7 performs traveling control on the traveling carriage 11 (crane body 1) so that vibration is suppressed using the physical model.

[0049] According to the present embodiment, the traveling carriage 11 travels by applying power to a traveling belt Rb extending in the traveling direction of the traveling carriage 11. The values of the FF parameter / vibration suppression F parameter used for the traveling control of the traveling carriage 11 are obtained based on the vibration characteristics corresponding to the traveling position Tp of the traveling carriage 11. Thereby, traveling control can be executed in consideration of the spring constant Kr of the traveling belt Rb corresponding to the traveling position Tp, and it becomes possible to reduce the vibration of the traveling carriage 11 that travels using the traveling belt Rb.

[0050] In the above embodiment, the values of the FF parameter and the vibration suppression F parameter were calculated based on the traveling position Tp. However, at least one of the FF parameter and the vibration suppression F parameter may be calculated based on the traveling position Tp. Also by this, traveling control can be executed in consideration of the spring constant Kr of the traveling belt Rb corresponding to the traveling position Tp, and it becomes possible to reduce the vibration of the traveling carriage 11 (crane body 1) that travels using the traveling belt Rb.

[0051] In the above embodiment, the traveling position Tp was calculated from the rotation angle of the traveling motor 40 detected by the encoder 31. However, as the traveling position Tp, the position command X*, that is, the position as a result of traveling based on the past position command, may be used as the current traveling position.

[0052] Further, a distance measuring sensor 32 (see FIGS. 1 and 4) may be arranged outside the crane body 1, and the traveling position Tp may be detected using the distance measuring sensor 32. The distance measuring sensor 32 may be an optical type, a millimeter wave type, an ultrasonic type, or a stereo camera. For example, the traveling position Tp may be obtained based on the distance between the crane body 1 and a reference point.

[0053] (Modification example) FIG. 6 is a diagram for explaining the traveling drive unit 4A in the modification example. In the modification example, the traveling trolley 11 of the crane body 1A is not equipped with a traveling motor. The traveling motor 40A of the modification example is installed at the end of the rail 8.

[0054] The traveling drive unit 4A of the modification example includes a traveling motor 40A, a speed reducer 41A, a drive pulley 42A, a driven pulley 42B, and a traveling belt Rbh. The speed reducer 41A is fixed to one end of the rail 8, decelerates the rotation of the traveling motor 40A (amplifies the torque), and transmits it to the drive pulley 42A. The driven pulley 42B is fixed to the other end of the rail 8 (the side opposite to the speed reducer 41A). The traveling belt Rbh is wound around the drive pulley 42A and the driven pulley 42B, and both ends thereof are fixed to the traveling trolley 11. Due to the driving force (output torque) of the traveling motor 40A, the drive pulley 42A rotates, and thus the traveling trolley 11 moves (travels) in the X direction along the rail 8. Note that a tensioner pulley Tp may be provided to adjust the tension (slack) of the traveling belt Rbh.

[0055] Also in this modification, similar to the above-described embodiment, by controlling the traveling motor 40A, traveling control can be executed in consideration of the spring constant of the traveling belt Rbh corresponding to the traveling position Tp, and it becomes possible to reduce the vibration of the traveling carriage 11 (crane body 1A) that travels using the traveling belt Rbh. When the rail 8 is not used, the speed reducer 41A (traveling motor 40A) and the driven pulley 42B may be fixed to the traveling road surface.

[0056] In the above embodiment, the speed reducers 41 and 41A are used, but a drive pulley may be provided on the output shaft of the traveling motors 40 and 40A without passing through a speed reducer. The type of the motor is not limited to a servo motor, and for example, it may be any type such as a stepping motor. Also, as long as it can drive the traveling belt (wrapping transmission member), it may be a hydraulic motor, a planar motor, or the like.

[0057] As an example of the embodiments in the present disclosure, the following aspects can be exemplified. 1) A transport device including a carriage (11) capable of traveling in the horizontal direction, a wrapping transmission member (Rb) extending in the traveling direction of the carriage (11), a drive device (40) for applying power to the wrapping transmission member (Rb), and a control device (7) for performing traveling control of the carriage (11) by controlling the drive device (40), wherein the control device (7) executes traveling control based on the vibration characteristics of the carriage (11) corresponding to the traveling position Tp of the carriage (11).

[0058] 2) In the above 1, the traveling control of the carriage (11) includes feedforward control for calculating the feedforward torque of the drive device (40), and changes the parameters of the feedforward control based on the vibration characteristics of the carriage (11).

[0059] 3) In the above 1 or 2, the traveling control of the carriage (11) includes a vibration damping filter for filtering the position command X* of the carriage (11), and changes the parameters of the vibration damping filter based on the vibration characteristics of the carriage (11).

[0060] 4) In the above item 1, the control device (7) includes a feedforward parameter calculation unit (720) that calculates a feedforward parameter based on the traveling position Tp of the carriage (11), a vibration damping filter parameter calculation unit (740) that calculates a vibration damping filter parameter based on the traveling position Tp, a feedforward control unit (710) that calculates a feedforward torque based on the position command X* of the carriage and the feedforward parameter, and a vibration damping filter (730) that filters the position command X* using the vibration damping filter parameter. The conveying device is as described above.

[0061] The embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of claims rather than the description of the above embodiments, and it is intended that all modifications within the meaning and scope equivalent to the scope of claims are included.

Description of Reference Numerals

[0062] 100 Automated warehouse system, 1, 1A Crane body, 11 Traveling carriage, 12 Upper frame, 13 Wheels, 14 Mast, 15 Carriage, 200 Control system, 2 Host controller, 3 Sensor group, 31 Encoder, 32 Distance measuring sensor, 4, 4A Travel driving unit, 40, 40A Traveling motor, 41, 41A Reducer, 42, 42A Driving pulley, 42B Driven pulley, 5 Lifting driving unit, 50 Lifting motor, 51 Reducer, 52 Driving pulley, 7 Controller, 70 Travel control unit, 71 Processor, 72 Memory, 710 Feedforward control unit, 712 Speed feedforward unit, 720 Feedforward parameter calculation unit, 730 Vibration damping filter, 740 Vibration damping filter parameter calculation unit, 750 Feedback control unit, 751 Position calculation unit, 752 Position control unit, 753 Speed calculation unit, 754 Speed control unit, 8 Rail, 9 Storage shelf.

Claims

1. A carriage capable of traveling in the horizontal direction, A winding transmission member extending in the traveling direction of the carriage, A driving device for applying power to the winding transmission member, A conveying device comprising a control device for performing traveling control of the carriage by controlling the driving device, wherein The control device Obtains a value of a traveling control parameter based on vibration characteristics corresponding to the traveling position of the carriage, The conveying device that executes the traveling control using the traveling control parameter.

2. The control device A feedforward parameter calculation unit that calculates a feedforward parameter based on the traveling position, A feedforward control unit that calculates a feedforward torque based on the position command of the carriage and the feedforward parameter, and The traveling control parameter is the feedforward parameter, and the conveying device according to claim 1.

3. The control device A vibration damping filter parameter calculation unit that calculates a vibration damping filter parameter based on the traveling position, A vibration damping filter that filters the position command of the carriage using the vibration damping filter parameter, and The traveling control parameter is the vibration damping filter parameter, and the conveying device according to claim 1 or claim 2.

4. A mast fixed to the carriage, A carriage that moves up and down along the mast, and the conveying device according to claim 3.

5. The driving device is a motor, The traveling position is calculated based on the rotation angle of the motor, and the conveying device according to claim 4.

6. The conveyance device according to claim 4, wherein the traveling position is a command value based on the position command.

7. The conveyance device according to claim 4, wherein the traveling position is calculated based on a detection signal of a distance measuring sensor.

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