JP6651963B2 - Article transfer device - Google Patents

Description

  The present invention relates to a lower rail installed on a floor, a traveling body guided along the lower rail and traveling along the lower rail, a mast erected on the traveling body, and an upper end of the mast. An upper frame connected to the vehicle, an upper rail extending along the traveling direction of the traveling body to guide the movement of the upper frame, and a transfer device for transferring articles, and ascending and descending along the mast. An upper and lower body, wherein the upper frame includes at least two guide rollers that are rotatable about a vertical axis and are disposed on both sides of the upper rail when viewed in a vertical direction and are guided by the upper rail, The present invention relates to an article transport device provided in a state where the position with respect to an upper frame is fixed.

  As a prior art related to such an article transport apparatus, a technique of suppressing vibration of the mast after the traveling body stops by suppressing occurrence of vibration of the mast while the traveling body is traveling. It is described in Japanese Unexamined Patent Publication No. 2003-237911 (Patent Document 1). In the article conveying apparatus of Patent Document 1, an upper motor with a brake is provided on an upper frame, and the upper motor and its brake are operated during traveling to suppress the generation of mast vibration during traveling of the traveling body. I have.

JP 2003-237911 A

  In the article conveyance device of Patent Document 1, since the upper frame is provided with the upper motor with the brake, the weight of the upper frame connected to the upper end of the mast increases, and the moment of inertia at the upper end of the mast increases. For this reason, there is a problem that the mast is easily elastically deformed and the mast is easily vibrated. In addition, a support structure for supporting a heavy object such as a motor with a brake on the upper frame also needs to be robust, which causes a complicated configuration of the upper frame.

  The present invention has been made in view of the above situation, and an object of the present invention is to provide an article conveying apparatus capable of suppressing the occurrence of vibration of a mast during traveling while suppressing an increase in the weight of an upper frame. Is to do.

The feature configuration of the article conveying device according to the present invention includes a lower rail installed on a floor, a traveling body guided along the lower rail and traveling along the lower rail, and a mast installed on the traveling body. An upper frame connected to an upper end of the mast, an upper rail extending along a traveling direction of the traveling body to guide movement of the upper frame, and a transfer device for transferring articles. An elevating body that moves up and down along the mast, wherein the upper frame is rotatable about a vertical axis and is disposed on both sides of the upper rail when viewed in the vertical direction, and is guided by the upper rail. In an article transporting apparatus provided with at least two guide rollers in a state where a position with respect to the upper frame is fixed,
A traveling drive device that drives and brakes the traveling body, the upper frame does not include a motor that drives the upper frame, and includes an upper braking device that brakes movement of the upper frame; The braking device is mounted in a state of being pressed against the upper rail, and is a braking roller that is rotatable around a rotation axis perpendicular to the traveling direction. The pressing force of the braking roller against the upper rail is a first pressing force. A pressing force changing unit that changes between a second pressing force greater than the first pressing force, and a pressing control unit that controls an operation of the pressing force changing unit is provided; The pressure control unit is configured to control the operation of the pressing force changing unit according to a traveling state of the traveling body, wherein the pressing force is equal to the second pressing force while the traveling body is decelerating at a set deceleration. Become While controlling the pressing force changing unit, the pressing force is changed from the second pressing force to the first pressing force in response to the traveling body completing the deceleration at the set deceleration and becoming the stopping creep speed. The point is to change .

According to this characteristic configuration, the traveling body travels in the traveling direction by the traveling driving device, so that the mast erected on the traveling body moves along the traveling direction integrally with the traveling body, and the upper frame is moved to the mast. It will be towed and move in the running direction.
As described above, since the mast pulls the upper frame when the traveling body runs, for example, when the traveling body is decelerated, a phenomenon occurs in which the mast is elastically deformed in the traveling direction due to the inertia moment of the upper frame and the mast, This contributes to the vibration of the mast after the running body stops.
In this respect, in this characteristic configuration, since the upper frame is not provided with a motor, an increase in the weight of the upper frame is suppressed, and since the moment of inertia of the upper frame is smaller than when the upper frame is provided with a motor, vibration of the mast is reduced. It is also advantageous in terms of suppression of Moreover, since the upper frame can be braked by the upper braking device, the relative movement of the upper frame with respect to the traveling body due to the inertia moment of the upper frame and the mast generated when the traveling body is decelerated is suppressed, and the amount of elastic deformation of the mast is reduced. Can be suppressed. Therefore, occurrence of vibration of the mast during traveling can be suppressed.
As described above, according to this characteristic configuration, it is possible to suppress the occurrence of vibration of the mast during traveling while suppressing an increase in the weight of the upper frame.
Further, according to this configuration, the pressing force of the braking roller against the upper rail can be changed according to the traveling state of the traveling body to adjust the braking force of the upper frame by the upper braking device. Therefore, even when the upper frame is braked, excessive braking that hinders the traveling of the traveling body is avoided as much as possible, so that the upper frame can be appropriately braked. The pressing control unit determines the traveling state of the traveling body based on any one or a combination of a plurality of pieces of information such as a traveling speed, a traveling acceleration, a traveling deceleration, a traveling position, the presence / absence of an article to be conveyed, and its weight. preferable.

Further, another characteristic configuration of the article transporting device according to the present invention includes a lower rail installed on a floor surface, a traveling body guided along the lower rail and traveling along the lower rail, and a standing body standing on the traveling body. A mast provided, an upper frame connected to an upper end of the mast, an upper rail extending along the traveling direction of the traveling body to guide the movement of the upper frame, and a transfer for transferring articles. An elevating body that is equipped with a mounting device and moves up and down along the mast, wherein the upper frame is rotatable about a vertical axis and is disposed on both sides of the upper rail when viewed in the vertical direction, and the upper rail is An article transport device comprising at least two guide rollers guided to the upper frame in a fixed state with respect to the upper frame,
It includes a traveling driving device for driving and braking the traveling body, the upper frame is not provided with a motor for driving the upper frame, and an upper brake device for braking the movement of the upper frame, the upper The braking device is mounted in a state of being pressed against the upper rail, and is a braking roller that is rotatable around a rotation axis perpendicular to the traveling direction. An upper brake for braking rotation, a braking control unit for controlling the braking torque of the upper brake is provided, and the braking control unit controls the operation of the upper brake according to a traveling state of the traveling body. The braking control unit sets the braking torque to the deceleration torque while the traveling body is decelerating at the set deceleration, and sets the traveling body to the deceleration torque. Beyond the deceleration at the deceleration lies in to change the braking torque to a small creep torque than the deceleration torque from the reduction torque in response to a stop creep rate.

According to this characteristic configuration, the traveling body travels in the traveling direction by the traveling driving device, so that the mast erected on the traveling body moves along the traveling direction integrally with the traveling body, and the upper frame is moved to the mast. It will be towed and move in the running direction.
As described above, since the mast pulls the upper frame when the traveling body runs, for example, when the traveling body is decelerated, a phenomenon occurs in which the mast is elastically deformed in the traveling direction due to the inertia moment of the upper frame and the mast, This contributes to the vibration of the mast after the running body stops.
In this respect, in this characteristic configuration, since the upper frame is not provided with a motor, an increase in the weight of the upper frame is suppressed, and since the moment of inertia of the upper frame is smaller than when the upper frame is provided with a motor, vibration of the mast is reduced. It is also advantageous in terms of suppression of Moreover, since the upper frame can be braked by the upper braking device, the relative movement of the upper frame with respect to the traveling body due to the inertia moment of the upper frame and the mast generated when the traveling body is decelerated is suppressed, and the amount of elastic deformation of the mast is reduced. Can be suppressed. Therefore, occurrence of vibration of the mast during traveling can be suppressed.
As described above, according to this characteristic configuration, it is possible to suppress the occurrence of vibration of the mast during traveling while suppressing an increase in the weight of the upper frame.
Further, according to this configuration, the braking torque applied to the rotating shaft of the braking roller by the upper brake can be changed according to the traveling state of the traveling body, so that the braking force of the upper frame by the upper braking device can be adjusted. Therefore, even when the upper frame is braked, excessive braking that hinders the traveling of the traveling body is avoided as much as possible, and the upper frame can be appropriately braked. The braking control unit may determine the traveling state of the traveling body based on any one or a combination of a plurality of pieces of information such as a traveling speed, a traveling acceleration, a traveling deceleration, a traveling position, the presence or absence of an article to be conveyed, and its weight. preferable.

Further, another characteristic configuration of the article transporting device according to the present invention includes a lower rail installed on a floor surface, a traveling body guided along the lower rail and traveling along the lower rail, and a standing body standing on the traveling body. A mast provided, an upper frame connected to an upper end of the mast, an upper rail extending along the traveling direction of the traveling body to guide the movement of the upper frame, and a transfer for transferring articles. An elevating body that is equipped with a mounting device and moves up and down along the mast, wherein the upper frame is rotatable about a vertical axis and is disposed on both sides of the upper rail when viewed in the vertical direction, and the upper rail is An article transport device comprising at least two guide rollers guided to the upper frame in a fixed state with respect to the upper frame,
A traveling drive device that drives and brakes the traveling body, the upper frame does not include a motor that drives the upper frame, and includes an upper braking device that brakes movement of the upper frame; The braking device is mounted in a state of being pressed against the upper rail, and is a braking roller that is rotatable about a rotation axis perpendicular to the traveling direction, and a pressing force change that changes a pressing force of the braking roller against the upper rail. A pressing control unit that controls the operation of the pressing force changing unit is provided, the pressing control unit controls the operation of the pressing force changing unit according to the traveling state of the traveling body, and The braking device, as the braking roller, is at the same position in the traveling direction and at a position opposite to each other with respect to the upper rail in a left-right direction orthogonal to the traveling direction when viewed in the up-down direction. A first support member, comprising a first roller and a second roller disposed thereon, rotatably supporting the first roller around the rotation axis along the vertical direction, a first swing axis along the vertical direction. A second support member rotatably supported by the upper frame and rotatably supporting the second roller about the rotation axis along the vertical direction, a second support member around the second swing axis along the vertical direction; The first swing axis and the second swing axis are at the same position in the traveling direction and on a virtual center line which is the center of the upper rail in the left-right direction. At the point that is the common axis.

  Since the position of the upper frame is regulated with respect to the upper rail by at least a pair of guide rollers whose rotation axis is fixed to the upper frame, the pair of guide rollers, the first roller and When the first roller and the second roller roll on the upper rail as the traveling body moves, if the first roller and the second roller are separated from each other in the traveling direction, the first roller and the second roller with respect to the upper rail. In some cases, a swelling phenomenon may occur in which the position in the left-right direction fluctuates as the vehicle runs. The cause of the undulation phenomenon is considered to be the influence of left-right vibration of the mast, errors in manufacturing the linearity of the device such as the upper frame and the lower rail, and errors in assembling the device.

  In this regard, according to this characteristic configuration, the first support member and the second support member are each swingable around a common axis located on a virtual center line that is the center of the upper rail in the left-right direction. The first roller and the second roller mounted in a state of being pressed against the upper rail move left and right so as to follow the upper rail even if the position in the left-right direction with respect to the upper rail fluctuates with running due to the undulation phenomenon. The position of the direction can change. Accordingly, the first roller and the second roller roll on the upper rail while being appropriately pressed from both sides against the upper rail. Therefore, the braking force acting on the upper part of the mast by the upper braking device, such as the braking force due to the rotational resistance when the first roller and the second roller are pressed and the braking force due to the braking torque when the upper brake for braking the rotating shaft is provided. Can be generated stably during traveling.

  Further preferably, in the first support member, a first force point located on the same side as the first roller with respect to the virtual center line in the left-right direction and on the opposite side to the first roller with respect to the common axis in the running direction, , A first urging member and a second urging member are disposed between a second force point located on the same side as the second roller with respect to the virtual center line in the left-right direction and on the opposite side of the common roller with respect to the common axis in the running direction The elastic body is disposed in a compressed state, and the distance in the traveling direction from the common axis to the first force point is equal to the distance in the traveling direction from the common axis to the second force point, and in the vertical direction. It is desirable that the distance from the common axis to the rotation axis of the first roller is equal to the distance from the common axis to the rotation axis of the second roller.

Overall side view of the stacker crane according to the first embodiment The upper part enlarged perspective view of the stacker crane according to the first embodiment. FIG. 4 is a partially cutaway plan view of the pressing brake unit according to the first embodiment. FIG. 3 is a plan view showing a transmission model of a pressing force of the pressing type brake unit according to the first embodiment. Control block diagram according to the first embodiment FIG. 7 is a diagram illustrating switching of the pressing force by the pressing force changing cam according to the first embodiment. The figure which shows the relationship between the change of the traveling speed of the stacker crane which concerns on 1st Embodiment, and the change of the pressing force of a press type braking unit. Flow chart of upper press control according to the first embodiment Front view of a brake-type braking unit according to a second embodiment Control block diagram according to the second embodiment The figure which shows the relationship between the change of the traveling speed of the stacker crane which concerns on 2nd Embodiment, and the change of the brake torque of a brake type braking unit. Flow chart of upper brake control according to the second embodiment

[First Embodiment]
A first embodiment of an article transport device according to the present invention will be described with reference to the drawings. As shown in FIG. 1, the article conveying device according to the present embodiment includes a linearly extending lower rail R <b> 1 installed on a floor, and a linearly extending upper rail disposed parallel to the lower rail R <b> 1. R2 and a stacker crane 1 that is guided and travels.

  The stacker crane 1 has a traveling body 4 that supports a traveling wheel 3 rolling on the lower rail R1 and a traveling direction (a direction indicated by X in FIG. 1; hereinafter, referred to as a traveling direction X) above the traveling body 4. ), And a pair of masts 5 (first mast 5A, second mast 5B) erected along a vertical direction (a direction indicated by Z in FIG. 1; hereinafter, referred to as a vertical direction Z). An upper frame 6 that connects the upper ends of the first mast 5A and the second mast 5B, and an elevating body 7 that is driven up and down in a suspended state by a pair of drive chains 10 to move up and down a lifting path between the pair of masts 5. And

  The traveling wheels 3 included in the traveling body 4 include a traveling drive wheel 3a driven and braked by a traveling motor M1 having a negative brake and a speed reducer, and a freely rotatable driven wheel 3b. It is provided at the end. That is, in the present embodiment, the traveling motor M1 is provided on the traveling body 4 as a traveling drive device that drives and brakes the traveling body 4.

  The elevating body 7 is provided with a transfer device 8 for transferring the article B to be transported to and from a transfer target location. The transfer device 8 retreats in a direction perpendicular to the traveling path in plan view (a direction penetrating back and forth in the drawing in FIG. 1; hereinafter, referred to as a left-right direction Y) through the article supporting portion supporting the article B to be transported. By doing so, the article B to be transported is moved, and the article B is exchanged with the transfer target location. In the present embodiment, the transfer device 8 is configured by a fork-type transfer device provided with an article supporting portion for mounting and supporting the article B so as to be able to move out and out. In addition, as the transfer target location, for example, provided at each storage section in the article storage shelf arranged on both sides in the left-right direction Y of the traveling route of the stacker crane 1 or at the outer end of the end of the article storage shelf in the traveling direction X. A transfer point for incoming and outgoing parking is set.

  Each of the pair of masts 5 is formed in a vertically elongated hollow rectangular cylindrical body. Three of the four outer surfaces of each of the first mast 5A and the second mast 5B form a guide surface for guiding the elevating body 7 up and down. That is, each of the first mast 5A and the second mast 5B includes a pair of guide surfaces along the vertical direction Z and facing in opposite directions, and a guide surface facing the direction in which the elevating body 7 exists in the traveling direction X. Have. The drive chain 10 is wound by the lift motor M2 in a state where the plurality of lift guide rollers 9 of the lift body 7 are guided by three guide surfaces of the first mast 5A and three guide surfaces of the second mast 5B. Then, the elevating body 7 moves up and down along the mast 5.

  As described above, the article transport device of the present embodiment includes the traveling body 4 guided along the lower rail R1 installed on the floor surface and traveling along the lower rail R1, and the mast 5 erected on the traveling body 4. , An upper frame 6 connected to the upper end of the mast 5, an upper rail R2 extending along the traveling direction X of the traveling body 4 to guide the movement of the upper frame 6, and a transfer for transferring the article B. An elevating body 7 having an apparatus 8 and moving up and down along the mast 5. The upper rail R2 is, for example, a single article storage shelf arranged on the side of the traveling path of the traveling body 4 or a plurality of supports provided on the upper end of a pair of article storage shelves arranged across the traveling path. Supported by the member.

  As shown in FIG. 2, the upper frame 6 includes a pair of guide units 11 (a first guide unit 11A and a second guide unit 11B) dispersed in the traveling direction X. The first guide unit 11A is provided at a position corresponding to the first mast 5A in the traveling direction X, and the second guide unit 11B is provided at a position corresponding to the second mast 5B in the traveling direction X.

  The upper frame 6 includes a bottom portion 6B to which a flange portion 5f formed at an upper end portion of the pair of masts 5 is bolted via the mounting plate 13, and a vertical direction Z from both end edges of the bottom portion 6B in the left-right direction Y. It has a pair of left and right side portions 6S that stand up. An upper idler 14 is rotatably supported by the mounting plate 13.

  The guide unit 11 is attached to the side 6S of the upper frame 6 by a bracket 15. The bracket 15 supports a pair of guide rollers 16 arranged on both sides in the left-right direction Y of the upper rail R2 in a state of being lined up in the left-right direction Y and rotatably supporting the vertical axis Pg. In the present embodiment, the arrangement interval between the pair of guide rollers 16 is based on the length in the left-right direction Y of the upper rail R2 and the diameter of the guide roller 16, and is set between the outer peripheral surface of each guide roller 16 and the guide surface of the upper rail R2. It is set to a specified value at which a gap of several millimeters (for example, 1.5 mm) is formed. If the interval between the pair of guide rollers 16 is set as specified in the design, the guide roller 16 may be pressed against the upper rail R2 depending on the manufacturing accuracy of the upper rail R2 and the upper frame 6. However, even in that case, the distance is adjusted so that each guide roller 16 is pressed against the upper rail R2 in the left-right direction Y with a force equal to or less than an allowable pressing force (150 [Kgf] in the present embodiment).

  As described above, the upper frame 6 in the article transporting apparatus of the present embodiment is configured such that the two guide rollers 16 rotatable around the vertical axis Pg guided by the upper rail R2 are fixed to the upper frame 6. The two guide rollers 16 in each group are disposed on both sides of the upper rail R2 in the left-right direction Y orthogonal to the running direction X in plan view. I have.

  With such a configuration, the stacker crane 1 can move the article B to be transported at the transfer destination location of the transport source by a combination of the traveling operation of the traveling body 4, the elevation operation of the lifting / lowering body 7, and the transportation operation of the transportation device 8. And carries out the transfer operation of transferring the article B to the transfer destination of the transfer destination. The respective operations of the traveling operation of the traveling body 4, the elevating operation of the elevating body 7, and the transferring operation of the transferring device 8 are controlled by the control unit H.

  As shown in FIG. 1, as a traveling position detecting unit 2 that detects a traveling position of a traveling body 4, a laser distance meter that measures a distance from a reference position set outward in a longitudinal direction of the traveling route at an end of the traveling route. Is provided on the traveling body 4. The traveling position detection unit 2 measures the rotation amount of the rotating body that contacts the lower rail R1 and rotates at a rotation amount corresponding to the traveling amount of the traveling body 4 by using a rotary encoder or the like, thereby determining the reference of the traveling body 4. It may be configured to detect a position from a position.

  As shown in FIG. 5, the detection information of the traveling position detection unit 2 is input to the control unit H. The controller H controls the traveling of the traveling body 4 based on the detection information of the traveling position detector 2. When a transfer command specifying the transfer source and the transfer destination of the article B is instructed from the upper controller to the control unit H, the control unit H transfers the transfer from the transfer handling position of the transfer source based on the transfer command. In order to receive the article B by the device 8 and supply the article B to the transfer target location of the transport destination, the traveling target corresponding to the transfer target location of the transport source and the transfer target location of the transport destination The traveling body 4 is moved to the position. For convenience, FIG. 1 shows a configuration in which the control unit H is provided on the stacker crane 1. However, in actuality, the control unit H includes a ground controller provided on the ground side and a moving side provided on the stacker crane 1. Consists of a controller.

  The traveling speed from the start of traveling of the traveling body 4 to the stop of traveling changes as in the traveling speed pattern shown in the upper part of FIG. That is, the vehicle accelerates at the set acceleration after the start of traveling, travels at a constant speed when it reaches the set upper limit speed Vh, decelerates at the set deceleration at the deceleration start time t1, and moves the traveling body 4 by a predetermined distance from the target stop position. When the vehicle reaches the creep traveling start position set in front and reaches the creep traveling start time t2, the vehicle travels at the stopping creep speed Vc, and stops when the traveling body 4 reaches the target stop position and the stop time t3 arrives.

  The upper frame 6 of the stacker crane 1 is braked in order to suppress the vibration of the upper frame 6 along the traveling direction X due to the elastic deformation of the mast 5 in the traveling direction X that occurs when the traveling body 4 is decelerated during the transfer operation. A unit 12 is provided. In the present embodiment, the braking unit 12 corresponds to the upper braking device of the present invention.

  As shown in FIG. 2, the braking unit is attached to the upper frame 6 at a position sandwiched between the pair of guide units 11 in the traveling direction X, that is, at an intermediate position between the first mast 5A and the second mast 5B in the traveling direction X. Installed.

  The braking unit 12 includes a first roller 18A and a second roller 18B that are rotatable around the vertical axis as braking rollers. The upper roller R2 is pressed at the same position in the running direction X from the opposite direction with respect to the upper rail R2. It is provided in a state pressed against R2.

  As shown in FIGS. 2 and 3, the braking unit 12 is attached in a posture protruding from the upper frame 6 in the left-right direction Y. A base 17B of the mounting bracket 17 which is long in the left-right direction Y is mounted on the side 6S of the upper frame 6, and a tip 17T opposite to the base 17B of the mounting bracket 17 in the left-right direction Y is directly below the upper rail R2. It protrudes to the position.

  A first support member 19 that rotatably supports the first roller 18A about the first vertical axis P1 and a second roller 18B that is rotatable about the second vertical axis P2 at the tip portion 17T of the mounting bracket 17. The second support member 20 to be supported is provided so as to be swingable around the common axis Pc.

  The first support member 19 and the second support member 20 are configured by plate members extending along a horizontal plane. The first support member 19 has a boss 19B bulging downward from the lower surface, and the second support member 20 has a boss 20B bulging downward from the lower surface. The boss 19B of the first support member 19 and the boss 20B of the second support member 20 are rotatably fitted to the swing shaft 17P along the direction Z via bearings. Then, the respective axes of the swing shaft 17P of the mounting bracket 17, the boss 19B of the first support member 19, and the boss 20B of the second support member 20 are the virtual centers of the upper rail R2 in the left-right direction Y. Since the first support member 19 and the second support member 20 are arranged so as to coincide with the common axis Pc along the vertical direction Z located on the line 21, the first support member 19 and the second support member 20 are attached to the mounting bracket 17. It can swing freely around each.

  As described above, in the article transporting apparatus according to the present embodiment, the braking unit 12 as the upper braking device serves as a braking roller at the same position in the traveling direction X and in the left-right direction Y orthogonal to the traveling direction X in the vertical direction. A first roller 18A and a second roller 18B disposed at positions opposite to each other with respect to the upper rail R2, and a first support member rotatably supporting the first roller 18A about a rotation axis P1 along the vertical direction. 19 is supported by the upper frame 6 so as to be swingable about a second swing axis (common axis Pc) along the vertical direction, and is capable of rotating the second roller 18B around a rotation axis P2 along the vertical direction. The supporting second support member 20 is supported by the upper frame 6 so as to be swingable about a second swing axis (common axis Pc) along the vertical direction. The first pivot axis and the second pivot axis are the common axis Pc located at the same position in the traveling direction X and on the virtual center line 21 which is the center of the upper rail R2 in the left-right direction Y. .

  As shown in FIGS. 2 and 3, a first spring receiving plate 19T and a second spring receiving plate 20T are provided on the side opposite to the first roller 18A and the second roller 18B with respect to the common axis Pc in the traveling direction X. As shown in FIG. 6, between the first spring receiving plate 19T and the second spring receiving plate 20T, a coil spring 22 in a compressed state is attached to a slide rod 23 having an axial center along the left-right direction Y. It is arranged in a fitted state. The first spring receiving plate 19T and the second spring receiving plate 20T are formed with through holes larger than the outer diameter of the threaded portion of the slide bar 23 and smaller than the inner diameter of the coil spring 22.

  The first support member 19 has a first spring receiving plate 19T having an insertion hole through which the distal end of the slide bar 23 is movably inserted with a gap formed in the circumferential direction, and the first spring receiving plate. A slide bar support 25 to which 19T is attached is provided. The slide rod support 25 movably supports the tip of the slide rod 23 by a ball bush 25a. The slide bar support 25 and the first spring receiving plate 19T are in surface contact, and the pressing force of the coil spring 22 input to the first spring receiving plate 19T is applied to the first support member 19 via the slide bar support 25. Is transmitted.

  With such a configuration, the coil spring 22 in the compressed state presses the first spring receiving plate 19T and the second spring receiving plate 20T so as to be separated from each other in the left-right direction Y. As a result, the force is applied with the common axis Pc as a fulcrum. Is reversed in plan view, and the first roller 18A and the second roller 18B are pressed against the upper rail R2 by a force in a direction approaching each other along the left-right direction Y.

  That is, in the article transporting apparatus of the present embodiment, the first support member 19 is urged in the direction of rotating counterclockwise around the common axis Pc in FIG. 3 by the elastic force of the coil spring 22 in the compressed state. The second support member 20 is urged in a direction to rotate clockwise around the common axis Pc in FIG. Thus, the first roller 18A and the second roller 18B are pressed against the upper rail R2 in opposite directions in the left-right direction Y. Since the first support member 19 and the second support member 20 can swing around the common axis Pc so that the pressing force of the first roller 18A and the pressing force of the second roller 18B are balanced, both of them can be rotated. The state where the pressing force is balanced is maintained.

  The second support member 20 is operated by pushing an operated portion 23H formed at the base end of the slide bar 23 toward the slide bar support 25 of the first support member 19 along the left-right direction Y. A pressing force changing unit 24 is provided for changing the compression state of the coil spring 22 by moving the rod 23 to change the pressing force of the first roller 18A and the second roller 18B against the upper rail R2. As shown in FIGS. 2, 3, and 6, a plurality of guide rod support rollers 33 are in contact with the outer peripheral surface of the cylindrical portion on the base side of the operated portion 23H of the slide rod 23. The movement of the operation unit 23H in the traveling direction X and the vertical direction Z is restricted. Thus, the slide bar 23 can smoothly slide in the left-right direction Y while maintaining the position of the axis with the rotation of the cam plate 27.

  As shown in FIGS. 2, 3, and 6, the pressing force changing unit 24 is configured by a plate member having a sub-elliptical shape viewed from the traveling direction X, and rotates around a horizontal axis Ph along the traveling direction X. Plate 27, a rotating operation shaft 28 having the cam plate 27 at the tip end thereof and disposed along the horizontal axis Ph, and an upper braking state switching motor 29 capable of freely rotating the rotating operation shaft 28 in both forward and reverse directions. And a bearing 30 disposed between the upper braking state switching motor 29 and the cam plate 27 to rotatably support the rotary operation shaft 28.

  As shown in FIG. 6, when the cam plate 27 is rotated while the outer peripheral end surface of the cam plate 27 is in contact with the tip of the operated portion 23H of the slide bar 23, the slide bar 23 moves in the left-right direction Y. And the second spring receiving plate 20T is moved (approached / separated) with respect to the first spring receiving plate 19T. In a preferred embodiment of the operated portion 23H, in the present embodiment, a roller that can freely rotate around an axis parallel to the horizontal axis Ph of the cam plate 27 is provided at the tip of the operated portion 23H.

  When the second spring receiving plate 20T approaches the first spring receiving plate 19T, the coil spring 22 is deformed to the compression side, and the pressing force of the first roller 18A and the second roller 18B on the upper rail R2 increases. Further, when the second spring receiving plate 20T is separated from the first spring receiving plate 19T, the coil spring 22 is deformed to the extension side, and the pressing force of the first roller 18A and the second roller 18B on the upper rail R2 decreases. I do.

  As described above, the braking unit 12 as the upper braking device is mounted in a state of being pressed against the upper rail R2, and is configured as a braking roller that is rotatable around the rotation axis P1 along the vertical direction perpendicular to the traveling direction X. It includes a first roller 18A, a second roller 18B, and a pressing force changing unit 24 that changes the pressing force on the upper rail R2.

  The pressing force changing unit 24 is configured to be able to adjust the pressing force of the first roller 18A and the second roller 18B in the reference state. As shown in FIGS. 3 and 6, a double nut 26 b for adjusting the pressing force is screwed to the slide bar 23. Since the movement of the second spring receiving plate 20T toward the operated portion 23H is regulated by the double nut 26b, the pressing force of the coil spring 22 input to the second spring receiving plate 20T is received by the double nut 26b, The light is transmitted to the cam plate 27 via the operation unit 23H. By changing the screw position of the double nut 26b on the slide bar 23, the compression state of the coil spring 22 in the reference state can be changed, and the pressing force of the first roller 18A and the second roller 18B in the reference state can be adjusted.

  As shown in FIG. 3, the first support member 19 is located on the same side as the first roller 18A with respect to the virtual center line 21 in the left-right direction Y and on the opposite side to the first roller 18A with respect to the common axis Pc in the running direction X. In the first force point T1 and the second support member 20, the second support member 20 is located on the same side as the second roller 18B with respect to the virtual center line 21 in the left-right direction Y and on the opposite side to the second roller 18B with respect to the common axis Pc in the traveling direction X. A coil spring 22, which is an elastic body serving as a first urging member and a second urging member, is disposed in a compressed state between the two force points T2.

  Further, as shown in FIG. 4, when the first support member 19 and the second support member 20 are in the reference posture, the distance L1 in the traveling direction X from the common axis Pc to the first force point T1 and the common axis The distance L2 in the traveling direction X from Pc to the second force point T2 is equal. The reference posture is such that the axis of the rotary operation shaft 28 supported by the second support member 20 is along the running direction X, and the axis of the bolt insertion hole provided in the slide rod support 25 of the first support member 19 is in the left-right direction Y. It is a posture along.

  Further, when viewed in the vertical direction Z, the distance D1 from the common axis Pc to the rotation axis P1 of the first roller 18A is equal to the distance D2 from the common axis Pc to the rotation axis P2 of the second roller 18B. In the reference posture, the distance r1 from the common axis Pc to the first force point T1 and the distance r2 from the common axis Pc to the second force point T2 when viewed in the vertical direction Z are slightly different. Both the first support member 19 and the second support member 20 are slightly (about 1 to 3 degrees) from the reference posture around the common axis Pc so that the pressing force of the second roller 18B is balanced with the pressing force of the second roller 18B. ) It is in a rocking state.

  As described above, in the article transporting device according to the present embodiment, the first support member 19 that rotatably supports the first roller 18A can change the position of the rotation axis P1 of the first roller 18A in the left-right direction Y. The second support member 20, which is mounted in the state and urged by the coil spring 22 in the direction of pressing the first roller 18 </ b> A against the upper rail R <b> 2, and rotatably supports the second roller 18 </ b> B, The rotation axis P2 is attached in a state where the position can be changed in the left-right direction Y and the second roller 18B is urged by the coil spring 22 in a direction of pressing the upper roller R2. That is, in the present embodiment, the first swing axis of the first roller 18A and the second swing axis of the second roller 18B are the centers of the upper rail R2 in the left-right direction Y when viewed in the up-down direction Z. This is the common axis Pc located on the virtual center line 21, and the first biasing body and the second biasing body are shared by the single coil spring 22.

  The distance D1 from the rotation axis P1 of the first roller 18A to the common axis Pc is equal to the distance D2 from the rotation axis P2 of the second roller 18B to the common axis Pc. Since the second support member 20 can swing around the common axis Pc so that the pressing force of the first roller 18A and the pressing force of the second roller 18B are balanced, the first roller 18A and the second roller The state where the pressing force of 18B is balanced is maintained. Therefore, the state where the first roller 18A and the second roller 18B are pressed against the upper rail R2 with good balance can be maintained.

  The operation of the pressing force changing unit 24 is controlled by the control unit H according to the traveling state of the traveling body 4. That is, in the present embodiment, the control unit H is provided as a pressing control unit that controls the operation of the pressing force changing unit 24, and the control unit H controls the pressing force changing unit 24 according to the traveling state of the traveling body 4. Control the operation.

  As shown in FIG. 5, detection information of an upper braking state detection unit that detects the braking state of the braking unit 12 is input to the control unit H. Based on this, the braking state of the braking unit 12 is controlled. In the present embodiment, as shown in FIGS. 3 and 6, a sensor 32 for detecting a dog plate 31 provided on a cam plate 27 is provided as an upper braking state detecting unit. The braking state of the braking unit 12 (in this embodiment, the rotational position of the cam plate 27 and the pressing force of the first roller 18A and the second roller 18B) is controlled based on the information.

  As shown in FIGS. 3 and 6, the sensor 32 is attached to the second support member 20 via the bracket 34 at a position where the dog plate 31 can be detected when the cam plate 27 is located at the reference rotation position. I have. The controller H determines the rotation position of the cam plate 27 based on the rotation amount when the upper braking state switching motor 29 is rotated from the state where the detection information of the sensor 32 is input.

  As shown in FIG. 6, in a state where the cam plate 27 is located at the reference rotation position (a state where the sensor 32 detects the dog plate 31), the length of the coil spring 22 becomes the length K1 at which the set pressing state is reached. The compression state of the coil spring is a low compression state lower than a high compression state described later. In the present embodiment, in the set pressing state, the pressing force of the first roller 18A and the second roller 18B becomes the first pressing force F1 which is the same as the allowable pressing force (150 [Kgf]) of the guide roller 16 in the guide unit 11. Although it is in the state, the pressing force of the first roller 18A and the second roller 18B in the set pressing state can be appropriately set according to the weight of the upper frame 6, the length of the mast 5, the traveling performance of the stacker crane 1, and the like.

  As shown in FIG. 6, in a state where the cam plate 27 is rotated 90 degrees clockwise in FIG. 6 from the reference rotation position, the length of the coil spring 22 is set to K2 shorter than the length K1. The compression state of the coil spring is a high compression state higher than the low compression state described above. In the present embodiment, in the high compression state, the pressing force of the first roller 18A and the second roller 18B becomes the second pressing force F2 (300 [Kgf]) which is twice the first pressing force F1 in the low compression state. State.

Next, the control of the pressing force changing unit 24 by the upper pressing control executed by the control unit H will be described based on the timing chart of FIG. 7 and the flowchart of FIG.
As shown in FIG. 7, in a state where the traveling body 4 is traveling at the set upper limit speed Vh, the control unit H sets the deceleration start time t1 for starting the deceleration of the traveling body 4 to the set time before deceleration time t0. Then, the upper braking state switching motor 29 is controlled to switch the pressing force of the first roller 18A and the second roller 18B by the braking unit 12 from the first pressing force F1 to the second pressing force F2 (step # 101 and FIG. 8). # 102). By starting the switching operation of the braking force of the braking unit 12 at the pre-deceleration time t0 just before the set time of the deceleration start time t1, the deceleration start time t1, which is the timing at which the acceleration of the traveling body 4 changes, is appropriate. It can be set to a state in which an appropriate braking force is generated.

  During the deceleration period of the traveling body 4, the pressing force of the braking unit 12 on the first roller 18A and the second roller 18B is maintained at the second pressing force F2 (loop in step # 103 in FIG. 8). Then, at the creep running start time t2 at which the deceleration of the running body 4 is completed and the running at the stopping creep speed Vc is started, the upper braking state switching motor 29 is controlled to control the first roller 18A and the second roller 18A by the braking unit 12. The pressing force of the two rollers 18B is switched from the second pressing force F2 to the first pressing force F1 (Steps # 103 and # 104 in FIG. 8).

  As described above, in this embodiment, since the upper frame 6 does not include the motor, an increase in the weight of the upper frame 6 is suppressed, and the control unit H controls the pressing force changing unit 24 while the traveling body 4 is traveling. Of the upper frame 6 and the mast 5 generated when the traveling body 4 is decelerated by changing the pressing force of the first roller 18A and the second roller 18B by the braking unit 12 during traveling by controlling the operation of , The amount of elastic deformation of the mast 5 can be suppressed, and the occurrence of vibration of the mast 5 during traveling can be suppressed.

  Further, both the first support member 19 that rotatably supports the first roller 18A and the second support member 20 that rotatably supports the second roller 18B are provided so as to be swingable around the common axis Pc. Therefore, even if the upper rail R2 has undulation, the braking force by the braking unit 12 acting on the upper part of the mast 5 can be stably obtained during traveling of the traveling body 4. Therefore, elastic deformation of the mast 5 such that the mast 5 tilts in the traveling direction at the time of deceleration of the traveling body 4 can be appropriately suppressed, and the swing of the mast 5 after the traveling body 4 stops can be suppressed, and the stopping of the traveling body 4 The transfer of the article B can be performed by the transfer device 8 as soon as possible.

[Second embodiment]
Next, a second embodiment of the article transport device according to the present invention will be described. The second embodiment is different from the first embodiment in that a brake unit 35 is provided instead of the brake unit 12 as an upper braking device in the article transport device described in the first embodiment, and that the control unit H serves as a pressing control unit. Is different in that the control unit H controls the operation of the upper brake 36 of the brake unit 35 as a braking control unit instead of controlling the operation of the pressing force changing unit 24 in. Therefore, in the following, the configuration of the brake unit 35 and the control unit H will be described, and the other configuration will be the same as that of the article transport device of the first embodiment, and the description will be omitted.

  As shown in FIG. 9, the brake unit 35 includes a first roller 18 </ b> A and a second roller 18 </ b> A, which are mounted in a state of being pressed against the upper rail R <b> 2 and are rotatable around a rotation axis perpendicular to the traveling direction X. 18B, and an upper brake 36 that applies a braking torque to the rotation shaft of the second roller 18B among these braking rollers to brake the rotation of the second roller 18B. As shown in FIG. 10, the upper brake 36 is electrically connected to the controller H, and the controller H controls the upper brake 36.

  The first roller 18A is rotatably supported by a first support member 39 about a rotation axis P1 along the vertical direction. The first support member 39 is connected to a first swing axis (common axis) along the vertical direction. The bracket 37 is swingably supported around the center Pc). The base 37B of the bracket 37 is attached to the side 6S of the upper frame 6. Further, the second roller 18B is rotatably supported by a second support member 40 about a rotation axis P2 along the vertical direction, and the second support member 40 has a second swing axis ( The bracket 37 is swingably supported around the common axis Pc).

  As described above, the brake unit 35 includes, as braking rollers, the first roller 18A and the second roller 18B arranged at the same position in the running direction X and at positions opposite to each other with respect to the upper rail R2 in the left-right direction Y. The first support member 39 that rotatably supports the first roller 18A around a rotation axis P1 along the vertical direction is swingable around a first swing axis (common axis Pc) along the vertical direction. The second support member 40, which is supported by the upper frame 6 and rotatably supports the second roller 18B around the rotation axis P2 along the vertical direction, has a second swing axis (common axis Pc) along the vertical direction. ) It is supported by the upper frame 6 so as to swing around. The first swing axis and the second swing axis are the common axis Pc located at the same position in the traveling direction X and on the virtual center line 21 which is the center of the upper rail R2 in the left-right direction. I have.

  A coil spring 42 is provided as urging means for pressing the first roller 18A and the second roller 18B against the upper rail R2. The coil spring 42 is fitted on the screw portion of the bolt 43. The bolt 43 is supported by a bolt support 44 provided on the second support member 40 at a base end portion in a fixed state, and a distal end portion moves along the traveling direction X by a bolt inserter 45 provided on the first support member 39. It is freely supported.

  The movement of the bolt 43 toward the proximal end with respect to the bolt support 44 is restricted by tightening a nut 46 a for bolt position setting screwed to the bolt 43 on the proximal end side with respect to the bolt support 44. A double nut 46b for adjusting the pressing force for adjusting the pressing force by the coil spring 42 is provided on the tip side of the nut 46a of the bolt 43. Since the movement of the second spring receiving plate 40T toward the proximal end is restricted by the double nut 46b, the pressing force of the coil spring 42 input to the second spring receiving plate 20T is received by the double nut 46b, and the bolt support The light is transmitted to the second support member 40 via the reference numeral 44.

  Since the coil spring 42 is disposed in a compressed state between the first spring receiving plate 39T and the second spring receiving plate 40T, the first spring receiving plate 39T and the second spring receiving plate 40T are separated in the traveling direction X. As a result, the first roller 18A and the second roller 18B are pressed against the upper rail R2 by a force in a direction approaching each other along the left-right direction Y. As described above, the brake unit 35 has the first roller 18A and the second roller 18B pressed against the upper rail R2 with the same pressing force from directions opposite to each other with respect to the upper rail R2.

  Although not shown in detail, as in the first embodiment, the distance from the rotation axis P1 of the first roller 18A to the common axis Pc and the distance from the rotation axis P2 of the second roller 18B to the common axis Pc are the same as in the first embodiment. Are equal, and the first support member 39 and the second support member 40 are both positioned around the common axis Pc so that the pressing force of the first roller 18A and the pressing force of the second roller 18B are balanced. Can be swung, so that the state in which the pressing forces of the first roller 18A and the second roller 18B are balanced is maintained. Therefore, a state in which the first roller 18A and the second roller 18B are pressed against the upper rail R2 with good balance can be maintained while the traveling body 4 is traveling.

  The upper brake 36 is fixedly attached to the second support member 40 below the second support member 40 so that the vertical range does not overlap with that of the upper rail R2. The upper brake 36 is provided with an output shaft 41 for taking out a braking force in a state of protruding from the main body. The output shaft 41 is rotatably supported by a bearing 47 and has a first bevel gear 48 provided at an end on the protruding side. Are operatively connected to a second bevel gear 49 provided on the rotation shaft of the second roller 18B. Thus, the rotation of the rotation shaft of the second roller 18B can be braked by the braking torque of the output shaft 41 of the upper brake 36. In the present embodiment, a powder brake is used as the upper brake 36 from the viewpoint of easy control of the braking torque, but another type of brake such as a hysteresis brake may be used.

  Next, the operation of the control unit H as a braking control unit that controls the braking torque of the upper brake 36 will be described. The control unit H executes upper brake control for controlling the operation of the upper brake 36 by changing the current value of the electric power supplied to the upper brake 36 according to the traveling state of the traveling body 4. Hereinafter, the upper brake control will be described based on the timing chart of FIG. 11 and the flowchart of FIG.

  As illustrated in FIG. 11, the control unit H controls the upper brake 36 at a deceleration start time t1 at which the traveling body 4 starts to decelerate in a state where the traveling body 4 is traveling at the set upper limit speed Vh. The braking torque for the rotation axis of the second roller 18B by the brake unit 35 is set to the deceleration torque Tr1, and the braking by the brake unit 35 is started (steps # 201 and # 202 in FIG. 12). Note that the braking torque of the brake unit 35 may be started with a braking torque value smaller than the deceleration torque Tr1 at the pre-deceleration time just before the deceleration start time t1 by the set time. In this case, when the deceleration start time t1, which is the timing at which the acceleration of the traveling body 4 changes, comes to a state where an appropriate braking force is generated.

  During the deceleration period of the traveling body 4, the braking torque of the second roller 18B by the brake unit 35 is maintained at the deceleration torque Tr1 (loop in step # 203 in FIG. 12). Then, when the creep running start time t2 at which the deceleration of the running body 4 is completed and the running at the stopping creep speed Vc is started is reached, the upper brake 36 is controlled to brake the rotating shaft of the second roller 18B by the brake unit 35. The torque is switched from the deceleration torque Tr1 to the creep torque Tr2 smaller than the deceleration torque Tr1 (steps # 203 and # 204 in FIG. 12). Then, when the traveling body 4 reaches the traveling stop position and the stop time t3 comes, the upper brake 36 is controlled to switch the braking torque for the rotation shaft of the second roller 18B by the brake unit 35 from the creep torque Tr2 to the zero torque. Then, the upper brake 36 is released (steps # 205 and # 206 in FIG. 12).

  As described above, in the present embodiment, since the upper frame 6 does not include the motor, an increase in the weight of the upper frame 6 is suppressed, and the control unit H operates the upper brake 36 while the traveling body 4 is traveling. To change the braking torque for the rotating shaft of the second roller 18B by the running brake unit 35, thereby controlling the upper frame 6 and the upper frame 6 generated by the moment of inertia of the mast 5 when the traveling body 4 decelerates. , The amount of elastic deformation of the mast 5 can be suppressed, and the occurrence of vibration of the mast 5 during traveling can be suppressed.

[Another embodiment]
(1) In the first and second embodiments, the rotation axes of the first roller and the second roller are changed in the left-right direction by the first support member and the second support member swinging about the vertical axis. The first support member and the second support member are configured to move in parallel in the left-right direction, so that the rotation axes of the first roller and the second roller are changed in the left-right direction. Is also good.

(2) In the first and second embodiments, the first urging member for urging the first support member to press the first roller against the upper rail, and the second roller against the upper rail. Although the second urging body for urging the second support member is also used by a single elastic body, the first urging body and the second urging body may be separately provided. .

(3) In the first and second embodiments, the traveling body is provided with a pair of front and rear masts arranged in the traveling direction, but the traveling body may be provided with a single mast. The upper frame connected to the upper end of the single mast can reduce the length in the traveling direction as compared with the case where the upper frame is connected to a pair of masts. Can be placed closer. Therefore, the center in the left-right direction of the vertical axis of the pair of guide rollers in the guide unit, and the center in the left-right direction of the first vertical axis of the first roller and the second vertical axis of the second roller in the braking unit. The difference from the position is small in the left-right direction, which is relatively advantageous when the upper part of the mast is braked by the first roller and the second roller.

(4) In the above-described first and second embodiments, the article conveying device in which the traveling motor that drives the traveling body is provided on the traveling body is exemplified. However, the traveling rail may be fixed to the traveling motor, for example, on a floor surface. , The traveling body and the traveling motor may be connected by a power transmission mechanism using, for example, a belt or a chain to drive the traveling body.

(5) In the first and second embodiments, the brake roller provided in the upper braking device is exemplified as being rotatable around the vertical axis. However, even if the brake roller is rotatable around the horizontal axis. Good. In this case, the common axis of the first support member and the second support member also runs horizontally.

(6) In the first and second embodiments, the upper braking device is provided with a braking roller. However, the upper braking device is provided with a sliding body that slides in a state of contacting the upper rail, and a pusher is provided. The pressure changing unit may be configured to change the pressing force of the sliding body against the upper rail by moving the sliding body relative to the upper rail. In addition, the upper braking device may be configured to include the braking roller and the sliding body only on one side of the direction orthogonal to the traveling direction with respect to the upper rail.

(7) In the first embodiment, the pressing force changing unit includes the cam mechanism, and the upper braking state switching motor operates the cam mechanism. However, the pressing force changing unit has various configurations. Can be adopted. For example, the pressing force changing unit may include a link mechanism, and the upper braking state switching motor may operate the link mechanism.The pressing force changing unit may include an electromagnetic cylinder, and the pressing control unit may include a pressing control unit. The operation of the electromagnetic cylinder may be controlled.

(8) In the first embodiment, the pressing control unit switches the pressing force of the first roller and the second roller to one of the first pressing force and the second pressing force according to the running state of the running body. However, the present invention is not limited to this, and the pressing control unit may switch the pressing force of the first roller and the second roller to any one of three or more pressing forces according to the running state of the running body. The pressing force of the first roller and the second roller may be changed steplessly. In that case, in the first embodiment, the coil spring 22 may have a natural length while the cam plate 27 is located at the reference rotation position.

(9) In the second embodiment, a non-excitation operation type electromagnetic brake having a structure in which a negative operation type, that is, a brake is applied in a non-energized state is used as the upper brake, and the braking control unit lowers the non-excitation operation type electromagnetic brake. The braking torque of the upper brake may be controlled only by controlling the duty ratio in the frequency PWM control.

(10) In the first and second embodiments, the control unit is exemplified by the control device H. However, the control unit controls the traveling operation of the traveling body, and the upper braking device. And a braking control unit that controls the operation of the control unit. In this case, it is desirable that the traveling control unit and the braking control unit be communicably connected by a communication line or wirelessly so that the braking control unit can freely acquire traveling state information of the traveling body. Furthermore, a driving state detecting unit such as an acceleration sensor for detecting the driving state of the traveling body is provided in the upper braking device, and the control unit controls the upper braking device based on the detection information of the driving state detecting unit (specifically, , The pressing force changing unit and the brake may be controlled. In this case, the control unit may not have a function of controlling the operation of the traveling body.

  As described above, the invention made by the inventor has been specifically described based on the embodiments of the present invention. However, the present invention is not limited to the above embodiments, and can be variously modified without departing from the gist thereof. Further, the above embodiments can be combined within a range that does not cause contradiction.

4: Traveling body 5: Mast 6: Upper frame 7: Elevating body 8: Transfer device 12: Braking unit (upper braking device)
16: guide roller 18A: first roller 18B: second roller 19: first support member 20: second support member 21: virtual center line 24: pressing force changing unit 35: brake unit (upper braking device)
36: Upper brake 39: First support member 40: Second support member B: Article H: Control units P1, P2: Rotation axis Pc: Common axis R1: Lower rail R2: Upper rail X: Running direction Y: Left and right Direction Z: Vertical direction

Claims (4)

A lower rail installed on the floor,
A traveling body guided along the lower rail and traveling along the lower rail;
A mast erected on the traveling body,
An upper frame connected to an upper end of the mast,
An upper rail extending along the traveling direction of the traveling body and guiding movement of the upper frame,
An elevating body that is equipped with a transfer device for transferring articles and that moves up and down along the mast,
The upper frame has at least two guide rollers that are rotatable about the vertical axis and are disposed on both sides of the upper rail when viewed in the vertical direction and are guided by the upper rail, and have a fixed position with respect to the upper frame. An article transport device provided in an inclined state,
A traveling drive device for driving and braking the traveling body,
The upper frame does not include a motor that drives the upper frame, and includes an upper braking device that brakes movement of the upper frame,
The upper braking device is mounted in a state of being pressed against the upper rail and is configured to be rotatable around a rotation axis perpendicular to the traveling direction, and a first pressing force of the braking roller against the upper rail. A pressing force changing unit that changes between the pressure and a second pressing force larger than the first pressing force ,
A pressing control unit that controls the operation of the pressing force changing unit is provided,
The pressing control unit is configured to control an operation of the pressing force changing unit according to a traveling state of the traveling body ,
The pressing control unit controls the pressing force changing unit such that the pressing force becomes the second pressing force while the traveling body is decelerating at the set deceleration. An article conveying device that changes the pressing force from the second pressing force to the first pressing force in response to the stopping creep speed after the deceleration . A lower rail installed on the floor,
A traveling body guided along the lower rail and traveling along the lower rail;
A mast erected on the traveling body,
An upper frame connected to an upper end of the mast,
An upper rail extending along the traveling direction of the traveling body and guiding movement of the upper frame,
An elevating body that is equipped with a transfer device for transferring articles and that moves up and down along the mast,
The upper frame has at least two guide rollers that are rotatable about the vertical axis and are disposed on both sides of the upper rail when viewed in the vertical direction and are guided by the upper rail, and have a fixed position with respect to the upper frame. An article transport device provided in an inclined state,
A traveling drive device for driving and braking the traveling body,
The upper frame does not include a motor that drives the upper frame, and includes an upper braking device that brakes movement of the upper frame,
The upper braking device is mounted in a state pressed against the upper rail, and is configured to be rotatable around a rotation axis perpendicular to the traveling direction. The braking device applies braking torque to a rotation shaft of the braking roller. With an upper brake that brakes the rotation of the roller,
A braking control unit that controls the braking torque of the upper brake is provided,
The braking control unit is configured to control operation of the upper brake according to a traveling state of the traveling body,
The braking control unit sets the braking torque to the deceleration torque while the traveling body is decelerating at the set deceleration, and the traveling body finishes deceleration at the set deceleration and becomes the stopping creep speed. An article conveying device that changes the braking torque from the deceleration torque to a creep torque that is smaller than the deceleration torque according to the following. The upper braking device includes, as the braking roller, a first roller disposed at the same position in the traveling direction and at a position opposite to each other with respect to the upper rail in a left-right direction orthogonal to the traveling direction when viewed vertically. A second roller,
A first support member rotatably supporting the first roller around the rotation axis along the vertical direction, the first support member being swingably supported by the upper frame around a first swing axis along the vertical direction,
A second support member that rotatably supports the second roller about the rotation axis along the vertical direction, is supported by the upper frame so as to be swingable about a second swing axis along the vertical direction,
The said 1st rocking axis and the said 2nd rocking axis are a common axis located in the same position in the said running direction and on the virtual center line used as the center of the said upper rail in the said left-right direction. Or the article transport device according to 2. A lower rail installed on the floor,
A traveling body guided along the lower rail and traveling along the lower rail;
A mast erected on the traveling body,
An upper frame connected to an upper end of the mast,
An upper rail extending along the traveling direction of the traveling body and guiding movement of the upper frame,
An elevating body that is equipped with a transfer device for transferring articles and that moves up and down along the mast,
The upper frame has at least two guide rollers that are rotatable about the vertical axis and are disposed on both sides of the upper rail when viewed in the vertical direction and are guided by the upper rail, and have a fixed position with respect to the upper frame. An article transport device provided in an inclined state,
A traveling drive device for driving and braking the traveling body,
The upper frame does not include a motor that drives the upper frame, and includes an upper braking device that brakes movement of the upper frame,
The upper braking device includes a braking roller mounted in a state of being pressed against the upper rail and rotatable about a rotation axis perpendicular to the traveling direction, and a pressing roller that changes a pressing force of the braking roller against the upper rail. With a pressure change unit,
A pressing control unit that controls the operation of the pressing force changing unit is provided,
The pressing control unit controls an operation of the pressing force changing unit according to a traveling state of the traveling body ,
The upper braking device includes, as the braking roller, a first roller disposed at the same position in the traveling direction and at a position opposite to each other with respect to the upper rail in a left-right direction orthogonal to the traveling direction when viewed vertically. A second roller,
A first support member rotatably supporting the first roller around the rotation axis along the vertical direction, the first support member being swingably supported by the upper frame around a first swing axis along the vertical direction,
A second support member that rotatably supports the second roller about the rotation axis along the vertical direction, is supported by the upper frame so as to be swingable about a second swing axis along the vertical direction,
The article transport device, wherein the first swing axis and the second swing axis are a common axis located at the same position in the traveling direction and on a virtual center line that is the center of the upper rail in the left-right direction. .

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