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1. WO2012144278 - TRAVEL VEHICLE

Publication Number WO/2012/144278
Publication Date 26.10.2012
International Application No. PCT/JP2012/055779
International Filing Date 07.03.2012
Chapter 2 Demand Filed 11.09.2012
IPC
B65G 1/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
1Storing articles, individually or in orderly arrangement, in warehouses or magazines
02Storage devices
04mechanical
B60T 8/17 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
B60T 17/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
17Component parts, details, or accessories of brake systems not covered by groups B60T8/, B60T13/ or B60T15/170
08Brake cylinders other than ultimate actuators
10Two or more cylinders acting on the same brake with means for rendering them effective selectively or successively, the number of effective cylinders being variable
CPC
B60T 13/662
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
13Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
10with fluid assistance, drive, or release
66Electrical control in fluid-pressure brake systems
662characterised by specified functions of the control system components
B60T 8/17
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
B60T 8/321
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
32responsive to a speed condition, e.g. acceleration or deceleration
321deceleration
B65G 1/04
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
1Storing articles, individually or in orderly arrangement, in warehouses or magazines
02Storage devices
04mechanical
B65G 1/0421
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
1Storing articles, individually or in orderly arrangement, in warehouses or magazines
02Storage devices
04mechanical
0407using stacker cranes
0421with control for stacker crane operations
Applicants
  • 村田機械株式会社 MURATA MACHINERY, LTD. [JP]/[JP] (AllExceptUS)
  • 村中武 MURANAKA, Takeshi [JP]/[JP] (UsOnly)
Inventors
  • 村中武 MURANAKA, Takeshi
Agents
  • 新樹グローバル・アイピー特許業務法人 SHINJYU GLOBAL IP
Priority Data
2011-09400920.04.2011JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) TRAVEL VEHICLE
(FR) VÉHICULE DE DÉPLACEMENT
(JA) 走行車
Abstract
(EN)
A stacker crane according to the present invention includes a plurality of servo motors for causing a travel vehicle main body to travel, and a brake provided to each of the servo motors. The present invention further includes a travel control unit, which includes an abnormality detecting unit for detecting abnormality in the plurality of servo motors and a deceleration pattern storage unit storing a plurality of deceleration patterns based on combinations of some of the plurality of servo motors. When abnormality in a servo motor is detected by the abnormality detecting unit, the servo motor with abnormality is eliminated from consideration for a deceleration control, a deceleration pattern comprising a combination of normal servo motors is read from the deceleration pattern storage unit, and then a braking control is performed by using the deceleration pattern. Thus, the present invention enables safe and short-distance stopping even when abnormality develops in some of the motors.
(FR)
Un pont roulant gerbeur selon la présente invention comprend une pluralité de servomoteurs permettant d'amener un corps principal de véhicule de déplacement à se déplacer et un frein fourni à chacun des servomoteurs. La présente invention comprend en outre une unité de commande de déplacement qui comprend une unité de détection d'anomalie permettant de détecter une anomalie dans la pluralité de servomoteurs et une unité de stockage de profils de décélération qui stocke une pluralité de profils de décélération sur la base de combinaisons de certains des servomoteurs de la pluralité de servomoteurs. Lorsqu'une anomalie dans un servomoteur est détectée par l'unité de détection d'anomalie, le servomoteur présentant une anomalie n'est plus envisagé pour une commande de décélération, un profil de décélération comprenant une combinaison de servomoteurs normaux est lu depuis l'unité de stockage de profils de décélération puis une commande de freinage est réalisée au moyen du profil de décélération. La présente invention permet ainsi un arrêt sur une courte distance et en toute sécurité même lorsqu'une anomalie se développe dans certains des moteurs.
(JA)
 本発明であるスタッカクレーンは、走行車本体を走行させるための複数のサーボモータ、及び各サーボモータに設けられたブレーキを有する。本発明は、更に、複数のサーボモータにおける異常を把握する異常把握部と、複数のサーボモータのうち一部のサーボモータの組み合わせによる複数の減速度パターンを記憶した減速度パターン記憶部とを有する走行制御部を有し、異常把握部がサーボモータの異常を把握すれば、異常なサーボモータを減速制御の対象から外して、さらに、正常なサーボモータ同士の組み合わせからなる減速度パターンを減速度パターン記憶部から読み出して、次に、当該減速度パターンで制動制御を行うものである。本発明は、これにより、一部のモータに異常が発生した場合でも、安全かつ短距離で停止することが可能となる。
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