Goods transport equipment and trolleys
By attaching position information identifiers to the side surface of a secondary rail parallel to the main rail and using a reader to detect this information, the system addresses the issue of deteriorating detection performance in automated warehouses, ensuring accurate crane positioning.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- DAIFUKU CO LTD
- Filing Date
- 2023-06-08
- Publication Date
- 2026-06-30
Smart Images
Figure 0007882165000001 
Figure 0007882165000002 
Figure 0007882165000003
Abstract
Description
Technical Field
[0001] The present invention relates to article conveying equipment and a traveling carriage.
Background Art
[0002] Conventionally, a stacker crane that travels along a guide rail to convey articles is known. The stacker crane includes a traveling carriage having wheels, and travels on a traveling rail by driving the wheels of the traveling carriage. The position of the traveling carriage on the traveling rail is accurately detected by reading information from a barcode or the like.
[0003] For example, Patent Document 1 describes an automated warehouse including a stacker crane. In the automated warehouse, a beam is provided along an upper rail that guides guide rollers located at the ceiling portion. A detected object such as a dog or a barcode for controlling the travel of the stacker crane is attached to the beam. The travel of the stacker crane is controlled based on the detection result from the detected object.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] In the automated warehouse of Patent Document 1, it is necessary to provide a beam for attaching the detected object separately from the upper rail. In order to reduce the number of parts, it is conceivable to attach an identifier for controlling the travel of the stacker crane to the travel rail on which the traveling carriage of the stacker crane travels. However, if an identifier is attached to the travel rail on which the traveling carriage travels, it is conceivable that the identifier will be worn by the rollers rolling on the travel rail, or dust or the like of the rollers will accumulate on the identifier. Therefore, there is a risk that the detection performance of the identifier will deteriorate.
[0006] One aspect of the present invention aims to reduce the risk of a decrease in the detection performance of identifiers. [Means for solving the problem]
[0007] To solve the above problems, an article transporting device according to one aspect of the present invention comprises a first rail, a second rail installed in parallel with the first rail, a first wheel that rolls on the upper surface of the first rail, a first roller that rolls on the side surface of the first rail, and a second roller that rolls on the upper surface of the second rail, wherein an identifier including position information, which is information about the position of the second rail in the longitudinal direction, is attached to the side surface of the second rail, and the first transporting device further comprises a first reader that reads the position information from the identifier.
[0008] To solve the above problems, a trolley according to one aspect of the present invention comprises: wheels that roll on the upper surface of a first rail; a first roller that rolls on the side surface of the first rail; a second roller that rolls on the upper surface of a second rail installed in parallel with the first rail; and a reader that reads position information, which is information about the position of the second rail in the longitudinal direction, from an identifier attached to the side surface of the second rail. [Effects of the Invention]
[0009] According to one aspect of the present invention, the risk of a decrease in identifier detection performance can be reduced. [Brief explanation of the drawing]
[0010] [Figure 1] This is a schematic diagram showing an example of an article conveying equipment according to Embodiment 1 of the present invention. [Figure 2] Figure 1 is a perspective view of the stacker crane. [Figure 3] Figure 2 is a perspective view of the traveling platform of the stacker crane shown. [Figure 4] Figure 2 is a plan view from above of the traveling platform of the stacker crane. [Figure 5] Figure 2 is a plan view of the lifting platform of the stacker crane, as seen from above. [Figure 6] Figure 2 is a cross-sectional view of the lifting platform of the stacker crane, seen from the right side. [Figure 7] This is a schematic diagram illustrating the barcode reader and the barcodes attached to the side of the rails. [Figure 8] Figure 2 is a block diagram showing the electrical configuration of a stacker crane. [Figure 9] This is a schematic diagram showing a stacker crane provided in an article transporting system according to Embodiment 2 of the present invention. [Figure 10] Figure 9 is a perspective view from above of the traveling platform of the stacker crane shown. [Figure 11] Figure 9 is a perspective view from below of the traveling platform of the stacker crane shown. [Figure 12] This is an enlarged view of the main part of the article conveying equipment according to Embodiment 2. [Modes for carrying out the invention]
[0011] [Embodiment 1] One embodiment of the present invention will be described in detail below with reference to Figures 1 to 8.
[0012] [Goods handling equipment] Referring to Figure 1, the outline of the goods conveying equipment 100 will be described. Figure 1 is a schematic diagram showing an example of the goods conveying equipment 100. For the sake of explanation, the vertical direction, the front-back direction, and the left-right direction are defined as shown by the arrows in Figure 1, etc. In this embodiment, the vertical direction is perpendicular to the front-back direction and the left-right direction, and the front-back direction is perpendicular to the left-right direction.
[0013] The article conveying facility 100 shown in Fig. 1 includes a stacker crane 1, a goods shelf 2, a traveling guide rail 3, and a traveling rail 4. The goods shelf 2 is a shelf on which articles can be placed. The goods shelf 2 is provided with a plurality of tiers in the vertical direction, and spaces for placing articles are partitioned in the left - right direction of each tier. Between the front goods shelf 2 and the rear goods shelf 2, the traveling guide rail 3 and the traveling rail 4 that constitute the traveling path of the stacker crane 1 are installed on the floor, and the stacker crane 1 can travel between the front goods shelf 2 and the rear goods shelf 2. The traveling guide rail 3 is an example of the first rail. The traveling rail 4 is installed in parallel with the traveling guide rail 3. In the present embodiment, the traveling rail 4 is an example of the second rail. The longitudinal direction of the traveling guide rail 3 and the traveling rail 4 is the left - right direction.
[0014] The stacker crane 1 is a device for conveying articles. The height of the stacker crane 1 in the vertical direction is about 2m to 18m. The stacker crane 1 travels along the traveling guide rail 3. In the present embodiment, the traveling direction D1 of the stacker crane 1 is the left - right direction. In the article conveying facility 100, a plurality of stacker cranes 1 travel on the same traveling guide rail 3 and traveling rail 4. In the article conveying facility 100, it may also be configured such that one stacker crane 1 travels on the traveling guide rail 3 and the traveling rail 4.
[0015] In the following description, the stacker crane 1 shown on the left side of Fig. 1 is referred to as the stacker crane 1A, and the stacker crane 1 shown on the right side of Fig. 1 is referred to as the stacker crane 1B.
[0016] In the standby state where the stacker cranes 1A and 1B do not convey articles, they standby at the respective home positions HP1 and HP2. The home position HP1 of the stacker crane 1A is provided on the left side of the travel guide rail 3, and the home position HP2 of the stacker crane 1B is provided on the right side of the travel guide rail 3. On the right side of the home position HP1, there is provided an inlet / outlet EP1 for delivering articles to the stacker crane 1A, and on the left side of the home position HP2, there is provided an inlet / outlet EP2 for delivering articles to the stacker crane 1B. Note that the home position HP1 and the inlet / outlet EP1 may be at the same position, and the home position HP2 and the inlet / outlet EP2 may be at the same position. The conveyance position CP1 is a position where the stacker crane 1A can take in and out articles from the front shelf 2 or the rear shelf 2, and the conveyance position CP2 is a position where the stacker crane 1B can take in and out articles from the front shelf 2 or the rear shelf 2. The conveyance positions CP1 and CP2 differ according to the position of the front or rear shelf 2 on which the articles to be taken in and out are placed. The conveyance position CP1 of the stacker crane 1A is at a position on the right side of the travel guide rail 3 from the inlet / outlet EP1, and the conveyance position CP2 of the stacker crane 1B is at a position on the left side of the travel guide rail 3 from the inlet / outlet EP2.
[0017] Stacker crane 1A moves to home position HP1, inlet / outlet EP1, or transport position CP1 according to the transport command signal. Stacker crane 1B also moves to home position HP2, inlet / outlet EP2, or transport position CP2 based on the transport command signal. For example, if stacker crane 1A receives a transport command signal to place an item in the fourth column from the left of the front rack 2, stacker crane 1A receives the item from the inlet conveyor at inlet / outlet EP2 and then moves to transport position CP1 as shown in Figure 1. Once stacker crane 1A has finished placing the item in the front rack 2 at transport position CP1 as shown in Figure 1, it moves to home position HP1, inlet / outlet EP1, or transport position CP1 according to the next transport command signal. On the other hand, if stacker crane 1A receives a transport command signal to remove an item placed in the fourth column from the left of the front rack 2, stacker crane 1A moves to transport position CP1 as shown in Figure 1. When the items are unloaded from the shelves 2 at the transport position CP1 shown in Figure 1, the stacker crane 1A moves to the inlet / outlet EP1 and hands over the items to the outlet conveyor at the inlet / outlet EP1. The stacker crane 1A moves to the home position HP1, the inlet / outlet EP1, or the transport position CP1 according to the next transport command signal.
[0018] In this example, the entry / exit ports EP1 and EP2 are located on the outside of the cargo rack 2 in the direction of travel, but the configuration is not limited to this. The entry / exit ports EP1 and EP2 may be located in positions that overlap with the cargo rack 2 in the direction of travel. That is, the entry / exit ports EP1 and EP2 may be provided on either the front or rear cargo rack 2. In this case, the cargo rack 2 on which the entry / exit ports EP1 and EP2 are provided has an opening that allows for the transfer of goods. For example, the stacker crane 1A stops in front of the row of cargo rack 2 on which the entry / exit port EP1 is provided. Also, in this example, the entry / exit ports EP1 and EP2 are different, but the configuration is not limited to this. The entry / exit port EP2 may be the same as the entry / exit port EP1.
[0019] [Stacker crane] Next, the detailed configuration of the stacker crane 1A will be described with reference to Figures 2 to 7. Figure 2 is a perspective view showing the stacker crane 1A shown in Figure 1. As shown in Figure 2, the stacker crane 1A comprises a mast 10, a traveling carriage 20, a lifting platform 30, a control box 40, and a driver box 45.
[0020] 〔mast〕 The mast 10 is a columnar member that extends vertically. The stacker crane 1A is equipped with a pair of masts 10. In the following description, the mast 10 on the left side of the drawing (home position HP1 side) will be referred to as the first mast 10A, and the mast 10 on the right side of the drawing (transport position CP1 side) will be referred to as the second mast 10B.
[0021] The first mast 10A and the second mast 10B are spaced apart in the left-right direction. A lifting platform 30, described later, is provided between the first mast 10A and the second mast 10B. Lifting guide rails 11 are provided on each of the first mast 10A and the second mast 10B. The lifting guide rails 11 guide the lifting platform 30 in the vertical direction.
[0022] An upper frame 12 is provided above the mast 10. The upper frame 12 is provided to connect the upper end of the first mast 10A and the upper end of the second mast 10B. The upper frame 12 engages with an upper rail (not shown) provided along the travel guide rail 3. Guide rollers are also provided on the upper frame 12, and the upper part of the mast 10 is guided along the upper rail by the guide rollers of the upper frame 12. That is, the upper end of the mast 10 is guided in the travel direction D1 by the upper rail. Note that the stacker crane 1A may be configured without an upper frame 12.
[0023] Below each of the pair of masts 10, there is a lifting motor 13, which is a drive unit for raising and lowering the lifting platform 30 relative to the mast 10. The lifting motor 13 is located on the rear side of the mast 10, that is, on the side of the running rail 4 relative to the mast 10.
[0024] The lifting motor 13 drives a drive drum (not shown) located below the mast 10. The forward or reverse rotation of the lifting motor 13 causes a lifting belt (not shown) wound around the drive drum to move forward and backward from the drive drum. A pulley for securing the lifting belt is provided above the pair of masts 10. A lifting platform 30 is fixed to one end of the lifting belt, and a counterweight is fixed to the other end. The lifting platform 30 moves vertically along the lifting guide rail 11 as the lifting belt moves forward and backward. That is, the lifting platform 30 moves up and down relative to the mast 10 in the vertical direction D2 by the drive of the lifting motor 13. Alternatively, the lifting platform 30 may be configured to move up and down relative to the mast 10 using a lifting wire or a lifting chain instead of a lifting belt.
[0025] [Training platform] Next, the detailed configuration of the traveling carriage 20 will be described with reference to Figures 3 and 4. Figure 3 is a perspective view of the traveling carriage 20 provided by the stacker crane 1A shown in Figure 2. Figure 4 is a plan view of the traveling carriage 20 provided by the stacker crane 1A shown in Figure 2, viewed from above. As shown in Figures 3 and 4, the traveling carriage 20 has a carriage frame 21. The traveling carriage 20 of the stacker crane 1A is an example of a first traveling carriage. The carriage frame 21 is composed of a first side frame 211, a second side frame 212, a first connecting frame 213, and a second connecting frame 214. In this embodiment, the first side frame 211, the second side frame 212, the first connecting frame 213, and the second connecting frame 214 are formed integrally.
[0026] Furthermore, the frames 211 to 214 that constitute the trolley frame 21 are not limited to being formed as a single unit, but may be separate components. In this case, the left end of the first connecting frame 213 and the left end of the second connecting frame 214 are fixed to the first connecting frame 213 with bolts or the like. Also, the right end of the first connecting frame 213 and the right end of the second connecting frame 214 are fixed to the second connecting frame 214 with bolts or the like. By making each frame 211 to 214 a separate component, the large stacker crane 1 can be delivered in a disassembled state. Therefore, the stacker crane 1 can be transported compactly during delivery.
[0027] As shown in Figure 3, the first side frame 211 is a frame located in front of the trolley 20 and extends in a direction along the running guide rail 3 and the running rail 4. That is, the first side frame 211 is a frame whose longitudinal direction is the left-right direction, which is the running direction D1. The second side frame 212 is a frame located behind the trolley 20 and extends in a direction along the running guide rail 3 and the running rail 4. That is, the second side frame 212 is a frame whose longitudinal direction is the left-right direction. As shown in Figure 4, the second side frame 212 faces the first side frame 211 in the front-rear direction. The length of the second side frame 212 in the left-right direction is shorter than the length of the first side frame 211 in the left-right direction.
[0028] As shown in Figure 3, the first connecting frame 213 is a frame that connects the first side frame 211 and the second side frame 212, and is located on the left side relative to the traveling bogie 20. More specifically, the first connecting frame 213 connects the left end of the first side frame 211 to the left end of the second side frame 212. The first connecting frame 213 is a frame whose longitudinal direction is in the front-rear direction. As shown in Figure 4, the first mast 10A is erected on the first connecting frame 213.
[0029] As shown in Figure 3, the second connecting frame 214 is a frame that connects the first side frame 211 and the second side frame 212, and is located to the right of the traveling bogie 20. More specifically, the second connecting frame 214 connects the right end of the first side frame 211 and the right end of the second side frame 212. The second connecting frame 214 is a frame whose longitudinal direction is in the front-rear direction. In the left-right direction, the second connecting frame 214 faces the first connecting frame 213. As shown in Figure 4, the second mast 10B is erected on the second connecting frame 214.
[0030] As shown in Figure 3, the trolley 20 has multiple wheels that run on the running guide rail 3 and the running rail 4. More specifically, the trolley 20 has a first drive wheel 22, a second drive wheel 23, a first driven wheel 24, and a second driven wheel 25.
[0031] The first drive wheel 22 and the second drive wheel 23 are mounted on the first side frame 211 and roll on the upper surface of the running guide rail 3. The first drive wheel 22 and the second drive wheel 23 are examples of first wheels. The first drive wheel 22 is spaced apart from the second drive wheel 23 in the left-right direction. More specifically, the first drive wheel 22 is located on the left end side of the first side frame 211 when viewed from the left-right central position CL of the bogie frame 21, and the second drive wheel 23 is located on the right end side of the first side frame 211 when viewed from the central position CL. The first drive wheel 22 is located to the left of the first connecting frame 213 in the left-right direction. The second drive wheel 23 is located to the right of the second connecting frame 214 in the left-right direction.
[0032] The first driven wheel 24 and the second driven wheel 25 are mounted on the second side frame 212 and roll on the upper surface of the running rail 4. In this embodiment, the first driven wheel 24 and the second driven wheel 25 are examples of second rollers. The first driven wheel 24 is spaced apart from the second driven wheel 25 in the left-right direction. More specifically, the first driven wheel 24 is located on the left end side of the second side frame 212 when viewed from the left-right central position CL of the bogie frame 21, and the second driven wheel 25 is located on the right end side of the second side frame 212 when viewed from the central position CL. The first driven wheel 24 is located to the right of the first drive wheel 22 in the left-right direction. The second driven wheel 25 is located to the left of the second drive wheel 23 in the left-right direction.
[0033] The trolley frame 21 is equipped with a travel motor 26, which is a drive unit for moving the stacker crane 1A. In the following description, the travel motor 26 on the left side (home position HP1 side) will be referred to as the first travel motor 26A, and the travel motor 26 on the right side (transport position CP1 side) will be referred to as the second travel motor 26B. The first travel motor 26A is located at the left end of the first side frame 211 and drives the first drive wheel 22. The second travel motor 26B is located at the right end of the first side frame 211 and drives the second drive wheel 23.
[0034] The trolley 20 has a first guide roller pair 28 and a second guide roller pair 29. The first guide roller pair 28 and the second guide roller pair 29 are attached to the first side frame 211. The second guide roller pair 29 is positioned spaced apart from the first guide roller pair 28 in the left-right direction. The first guide roller pair 28 is located on the left side in the left-right direction, and the second guide roller pair 29 is located on the right side in the left-right direction. That is, the first guide roller pair 28 is located closer to the first drive wheel 22 than the second guide roller pair 29 in the left-right direction. Also, the first guide roller pair 28 is located closer to the first drive wheel 22 than the second distance sensor 80B, which will be described later, in the left-right direction. The first guide roller pair 28 and the second guide roller pair 29 are located between the first drive wheel 22 and the second drive wheel 23 in the left-right direction.
[0035] As shown in Figure 4, the first guide roller pair 28 is located to the left of the first side frame 211 and to the right of the first connecting frame 213, when viewed from the center position CL in the left-right direction of the trolley frame 21. The first guide roller pair 28 is composed of a pair of first guide rollers 281. The pair of first guide rollers 281 sandwich the running guide rail 3 in the front-rear direction. More specifically, the front first guide roller 281 abuts against the front side of the running guide rail 3 and rolls along the front side of the running guide rail 3. The rear first guide roller 281 abuts against the rear side of the running guide rail 3 and rolls along the rear side of the running guide rail 3. The first guide roller 281 is an example of a first roller.
[0036] The second guide roller pair 29 is located to the right of the first side frame 211 and to the left of the second connecting frame 214, as viewed from the left-right central position CL of the trolley frame 21. The second guide roller pair 29 is composed of a pair of second guide rollers 291. The pair of second guide rollers 291 sandwich the running guide rail 3 in the front-rear direction. More specifically, the front second guide roller 291 contacts the front side of the running guide rail 3 and rolls along the front side of the running guide rail 3. The rear second guide roller 291 contacts the rear side of the running guide rail 3 and rolls along the rear side of the running guide rail 3. The second guide roller 291 is an example of a first roller.
[0037] The first guide roller 281 of the first guide roller pair 28 and the second guide roller 291 of the second guide roller pair 29 are elastic rollers. For example, the first guide roller 281 and the second guide roller 291 are made of urethane. When the first drive wheels 22 and the second drive wheels 23 are driven, the traveling carriage 20 is guided by the first guide roller pair 28 and the second guide roller pair 29 in a direction along the traveling guide rail 3. As a result, the stacker crane 1A travels along the traveling direction D1.
[0038] As shown in Figure 3, multiple distance sensors 80 are attached to the first side frame 211 of the trolley 20. The distance sensors 80 are sensors that detect the horizontal distance between the first side frame 211 and the running guide rail 3. More specifically, the distance sensors 80 detect the horizontal distance between the front surface of the first side frame 211 and the rear side surface of the running guide rail 3. In this embodiment, the distance sensors 80 detect the distance in the longitudinal direction between the first side frame 211 and the running guide rail 3. An example of a distance sensor 80 is an infrared sensor.
[0039] In the following explanation, the distance sensor 80 on the left side of the drawing (home position HP1 side) will be referred to as the first distance sensor 80A, and the distance sensor 80 on the right side of the drawing (transport position CP1 side) will be referred to as the second distance sensor 80B.
[0040] As shown in Figure 4, the first distance sensor 80A and the second distance sensor 80B are located between the first drive wheel 22 and the second drive wheel 23 in the left-right direction. More specifically, the first distance sensor 80A and the second distance sensor 80B are located between the first guide roller pair 28 and the second guide roller pair 29 in the left-right direction. The first distance sensor 80A may be located between the first drive wheel 22 and the first guide roller pair 28 in the left-right direction. The second distance sensor 80B may be located between the second drive wheel 23 and the second guide roller pair 29 in the left-right direction.
[0041] The first distance sensor 80A is positioned spaced apart from the second distance sensor 80B in the left-right direction. The first distance sensor 80A is located on the left side in the left-right direction, and the second distance sensor 80B is located on the right side in the left-right direction. That is, in the left-right direction, the first distance sensor 80A is located closer to the first drive wheel 22 than the second distance sensor 80B. Also, in the left-right direction, the first distance sensor 80A is located closer to the first drive wheel 22 than the second guide roller pair 29. The first distance sensor 80A and the second distance sensor 80B are mounted on opposite sides of each other in the left-right direction when viewed from the left-right central position CL of the trolley frame 21. The first distance sensor 80A is on the left side when viewed from the left-right central position CL of the first side frame 211, and the second distance sensor 80B is on the right side when viewed from the left-right central position CL of the first side frame 211.
[0042] The first distance sensor 80A is mounted closer to the first drive wheel 22 than the second distance sensor 80B. The first distance sensor 80A is positioned near the first guide roller pair 28. Specifically, the distance L1 between the first distance sensor 80A and the first guide roller pair 28 in the left-right direction is shorter than the distance L2 between the first distance sensor 80A and the first drive wheel 22 in the left-right direction. More specifically, distance L1 is the distance between the first distance sensor 80A and the center of the rotation axis of the first guide roller 281 of the first guide roller pair 28 in the left-right direction. Distance L2 is the distance between the first distance sensor 80A and the center of the rotation axis of the first drive wheel 22 in the left-right direction.
[0043] Furthermore, the second distance sensor 80B is positioned near the second guide roller pair 29. Specifically, the distance L3 between the second distance sensor 80B and the second guide roller pair 29 in the left-right direction is shorter than the distance L4 between the second distance sensor 80B and the second drive wheel 23 in the left-right direction. More specifically, distance L3 is the distance between the second distance sensor 80B and the center of the rotation axis of the second guide roller 291 of the second guide roller pair 29 in the left-right direction. Distance L4 is the distance between the second distance sensor 80B and the center of the rotation axis of the second drive wheel 23 in the left-right direction.
[0044] As shown in Figures 3 and 4, a barcode reader 81 is attached to the second side frame 212 of the trolley 20. The barcode reader 81 is a device that reads a barcode 83 attached to the front side of the running rail 4. The barcode reader 81 is an example of a first reader. In a top view, the barcode reader 81 is positioned between the running guide rail 3 and the running rail 4. That is, the barcode reader 81 is attached to the trolley 20 so as to be positioned between the running guide rail 3 and the running rail 4 in the front-rear direction. The barcode reader 81 faces the front side of the running rail 4.
[0045] Here, the barcode reader 81 and barcode 83 will be described with reference to Figure 7. Figure 7 is a schematic diagram illustrating the barcode reader 81 and the barcode 83 attached to the side of the running rail 4. As shown in Figure 7, the barcode 83 is attached to the side of the running rail 4. The barcode 83 is an example of an identifier. More specifically, the barcode 83 is attached to the front side of the running rail 4. The barcode 83 contains position information, which is information about the position of the running rail 4 in the longitudinal direction. The position information contained in the barcode 83 corresponds to the position of the stacker crane 1A in the direction of travel. The stacker crane 1A moves to the home position HP1 or the transport position CP1 based on the position information read from the barcode 83 on the running rail 4.
[0046] According to the above configuration, the barcode 83 is attached to the side of the running rail 4 where the first driven wheel 24 and the second driven wheel 25 do not roll. Therefore, (i) the possibility of wear of the barcode 83 due to the rolling of the first driven wheel 24 and the second driven wheel 25, or (ii) the possibility of dust from the rollers generated from the first drive wheel 22, the second drive wheel 23, the first guide roller 281, the second guide roller 291, the first driven wheel 24, and the second driven wheel 25 accumulating on the barcode 83 is reduced. This reduces the risk of a decrease in the detection performance of the barcode 83. In addition, the barcode 83 is attached to the running rail 4 which is installed on the floor. That is, the barcode 83 is attached to the part close to the floor. Therefore, maintenance work on the barcode reader 81 and the barcode 83 can be easily performed.
[0047] As shown in Figure 4, an emergency stop sensor 82 is attached to the first side frame 211. The emergency stop sensor 82 is a sensor that stops the stacker crane 1A from moving beyond the home position HP1 or transport position CP1 where it is scheduled to stop.
[0048] Cable 90 is a cable that supplies power to the stacker crane 1A. Cable 90 enables the supply of power to each drive unit of the stacker crane 1A. Cable 90 is held by a cable bear (registered trademark) and moves in accordance with the movement of the stacker crane 1A. Cable 90 is connected to the trolley 20 from the region opposite to the region where the running guide rail 3 is located, in a direction perpendicular to the direction of travel D1 when viewed from above. In other words, in the front-rear direction, cable 90 is connected to the trolley 20 from the rear of the running rail 4, with the running rail 4 as the center.
[0049] With the above configuration, even if a cable 90 is provided, the cable 90 and the barcode reader 81 do not come into contact. Therefore, the barcode reader 81 does not tilt relative to the running rail 4 due to contact between the cable 90 and the barcode reader 81. As a result, the barcode reader 81 can read the barcode 83 on the running rail 4 even if the running trolley 20 moves. In addition, since the barcode reader 81 is positioned between the running guide rail 3 and the running rail 4 when viewed from above, the running trolley 20 can be made more compact.
[0050] [Elevating platform] The detailed configuration of the lifting platform 30 will be described with reference to Figures 5 and 6. Figure 5 is a plan view of the lifting platform 30 of the stacker crane 1A shown in Figure 2, viewed from above. Figure 6 is a cross-sectional view of the lifting platform 30 of the stacker crane 1A shown in Figure 2, viewed from the right side.
[0051] The lifting platform 30 is capable of placing an item M on it (see Figure 6) and is provided to be able to move up and down relative to the mast 10. As shown in Figure 5, the lifting platform 30 has a lifting platform frame 31, a fork section 60, a swivel section 70, and a cable box 37. The fork section 60 and the swivel section 70 are mounted on the lifting platform frame 31.
[0052] The lifting platform frame 31 is provided with a guide section 32 that guides the lifting platform 30 in the lifting direction D2 as the lifting belt moves forward and backward. The guide section 32 has a fixed section 33 and a guide shoe 35. One end of the lifting belt, inserted through an opening 34 formed in the fixed section 33, is fixed to the fixed section 33. As the lifting belt moves forward and backward, the fixed section 33 is pulled upward or moves downward. The guide shoe 35 engages with the lifting guide rail 11 of the mast 10 and slides relative to the lifting guide rail 11.
[0053] The fork section 60 loads and unloads items M between the luggage rack 2 and the lifting platform 30. The fork section 60 is mounted on the swivel frame 71 of the swivel section 70, which will be described later. The fork section 60 includes a fork 61, an arm section 62, a gearbox 65, and a fork motor unit 66. The fork 61 has a mounting surface 611 (see Figure 6) on which items M can be placed. The upper surface of the fork 61 is the mounting surface 611. The fork 61 is attached to the gearbox 65.
[0054] The arm section 62 is provided in pairs, one on the left and one on the right. As the arm section 62 moves in the front-rear direction, the fork 61 moves in the forward-backward direction D4 (see Figure 6) relative to the lifting platform 30. The arm section 62 has a first arm 63 and a second arm 64. One end 631 of the first arm 63 in the longitudinal direction is connected to the fork 61 via a gearbox 65. The first arm 63 rotates relative to the gearbox 65 about a pivot axis A1.
[0055] The second arm 64 is connected to the other end 632 of the first arm 63 in the longitudinal direction. In other words, the first arm 63 is provided on one end 641 of the second arm 64 in the longitudinal direction. The first arm 63 rotates relative to the second arm 64 about the pivot axis A2.
[0056] A fork motor 67 (see Figure 6) of the fork motor unit 66 is connected to the other end 642 of the second arm 64 in the longitudinal direction. The fork motor unit 66 is a drive unit for moving the fork 61 in the forward / backward direction D4. The second arm 64 rotates around the pivot axis A3 relative to the lifting platform 30 when the driving force of the fork motor 67 is transmitted to it.
[0057] Multiple fork motor units 66 are provided. Each fork motor unit 66 has a fork motor 67 and an encoder (not shown). When the fork motor 67 rotates in the forward or reverse direction, a pair of second arms 64 rotate around the pivot axis A3. As each second arm 64 rotates around the pivot axis A3, one end 641 of each second arm 64 moves forward or backward. As one end 641 of each second arm 64 moves forward or backward, a pair of first arms 63 move forward or backward. At this time, the other end 632 of each first arm 63 rotates relative to the second arm 64, and one end 631 of each first arm 63 rotates relative to the gearbox 65. As one end 631 of each first arm 63 moves forward or backward, the fork 61 moves forward or backward together with the gearbox 65. In this embodiment, the forward and backward direction D4 of the fork 61 of the fork section 60 is the forward and backward direction.
[0058] The swivel section 70 rotates relative to the lifting platform 30, thereby swiveling the fork section 60. The swivel section 70 includes a swivel frame 71 and a swivel motor unit 75.
[0059] The swivel frame 71 is a disc-shaped member and is provided with a fork section 60. As shown in Figure 6, the swivel frame 71 is connected to the rotation axis A4 of the swivel motor 76 of the swivel motor unit 75. The swivel motor unit 75 is a drive unit that rotates the swivel frame 71. The swivel motor unit 75 has a swivel motor 76 and an encoder (not shown). When a driving force is applied to the swivel frame 71 from the swivel motor 76, the swivel frame 71 rotates around the rotation axis A4. When the swivel frame 71 rotates relative to the lifting platform 30, the fork section 60 swivels in the swivel direction D3 relative to the lifting platform 30.
[0060] The position of the fork section 60 shown in Figure 5 is such that goods M can be loaded and unloaded onto the loading rack 2 in front of the stacker crane 1A. When the slewing frame 71 of the slewing section 70 rotates 180° from the position shown in Figure 5, the fork section 60 also rotates along with the rotation of the slewing frame 71. When the fork section 60 rotates 180° from the position shown in Figure 5, the fork section 60 enables the loading and unloading of goods M onto the loading rack 2 in rear of the stacker crane 1A.
[0061] The cable box 37 is a box that consolidates cables for connecting various devices such as sensors mounted on the lifting platform 30 with devices located outside the lifting platform 30. The cable box 37 is located to the left of the lifting platform 30 (on the home position HP1 side). The cable box 37 consolidates cables that communicate signals to the fork motor unit 66 and the slewing motor unit 75 mounted on the lifting platform 30. The cable box 37 has a connector plate on which connectors to which the lifting cables are connected are installed. The connectors in the cable box 37 are connected to the connectors installed on the connector plate of the driver box 45 by the lifting cables.
[0062] [Control Box] A control box 40 is attached to the first mast 10A. The control box 40 is attached to the rear side of the first mast 10A in the front-rear direction. The control box 40 is a housing that contains a control device 41 that performs electronic control of the entire stacker crane 1A.
[0063] Referring to Figure 8, the electrical configuration of the stacker crane 1A will be described. Figure 8 is a block diagram showing the electrical configuration of the stacker crane 1A shown in Figure 2. As shown in Figure 8, the control device 41 is composed of a computer equipped with a processor such as a CPU (Central Processing Unit), memory such as RAM or ROM, and a communication interface. The processor of the control device 41 performs various controls and calculations by executing various programs stored in memory. The processor of the control device 41 mainly performs the travel control of the stacker crane 1A, the lifting control of the lifting platform 30, the forward and backward control of the fork section 60, and the slewing control of the slewing section 70.
[0064] The control device 41 is connected to the lifting driver 46, which controls the power supplied to the lifting motor 13; the travel driver 47, which controls the power supplied to the travel motor 26; the fork driver 48, which controls the power supplied to the fork motor 67; and the slewing driver 49, which controls the power supplied to the slewing motor 76, in a manner that enables communication between them.
[0065] The control device 41 controls each of the drivers 46 to 49. Specifically, the control device 41 transmits command signals to each of the drivers 46 to 49 and controls the operation of each of the drivers 46 to 49. More specifically, the control device 41 transmits position commands to each of the drivers 46 to 49. Each of the drivers 46 to 49 outputs power to supply to each of the motors 13, 26, 67, and 76 based on the command signals from the control device 41.
[0066] Furthermore, the control device 41 is electrically connected to the distance sensor 80, the barcode reader 81, and the emergency stop sensor 82. Based on the signal obtained from the distance sensor 80, the control device 41 calculates the distance between the travel guide rail 3 and the travel bogie 20. The control device 41 obtains the position information read by the barcode reader 81 and controls the travel driver 47 based on the obtained position information. The control device 41 also controls the travel driver 47 based on the signal obtained from the emergency stop sensor 82.
[0067] [Driver Box] As shown in Figure 2, a driver box 45 is attached to the first mast 10A. The driver box 45 is attached to the front side of the first mast 10A in the front-rear direction. The driver box 45 houses a lifting driver 46, a travel driver 47, a fork driver 48, and a slewing driver 49. Each driver 46-49 is integrated into a single driver box 45. The fork driver 48 and the slewing driver 49 are located outside the lifting platform 30. The fork driver 48 and the slewing driver 49 are connected to the cable box 37 of the lifting platform 30 by a lifting cable (not shown).
[0068] As shown in Figure 8, the lifting driver 46 is electrically connected to the lifting motor 13. The lifting driver 46 controls the amount of current supplied to the lifting motor 13 based on command signals from the control device 41. The lifting driver 46 controls the amount of current supplied to the lifting motor 13 based on information fed back from an encoder (external encoder or lifting motor encoder) not shown. The lifting driver 46 includes a drive circuit that supplies current to the lifting motor 13.
[0069] The travel driver 47 is electrically connected to the travel motor 26. The travel driver 47 controls the amount of current supplied to the travel motor 26 based on command signals from the control device 41. The travel driver 47 controls the amount of current supplied to the travel motor 26 based on information fed back from an encoder (external encoder or travel motor encoder) not shown. The travel driver 47 includes a drive circuit that supplies current to the travel motor 26.
[0070] The fork driver 48 is electrically connected to the fork motor 67 of the fork motor unit 66. The fork driver 48 controls the amount of current supplied to the fork motor 67 based on command signals from the control device 41. The fork driver 48 controls the amount of current supplied to the fork motor 67 based on information fed back from an encoder (not shown) in the fork motor unit 66. The fork driver 48 includes a drive circuit that supplies current to the fork motor 67.
[0071] The slewing driver 49 is electrically connected to the slewing motor 76 of the slewing motor unit 75. The slewing driver 49 controls the amount of current supplied to the slewing motor 76 based on command signals from the control device 41. The slewing driver 49 also controls the amount of current supplied to the slewing motor 76 based on information fed back from an encoder 77 (not shown) of the slewing motor unit 75. The slewing driver 49 includes a drive circuit that supplies current to the slewing motor 76.
[0072] In addition, the configuration of the stacker crane 1B in the goods transport equipment 100 is the same as that of the stacker crane 1A, with the exception of some components. Some components of the stacker crane 1B that differ from those of the stacker crane 1A will be explained below. In the following explanation, the wheels of the traveling carriage 20 of the stacker crane 1B will be referred to as the first drive wheel 1B22, the second drive wheel 1B23, the first driven wheel 1B24, and the second driven wheel 1B25, respectively. Furthermore, the first side frame of the carriage frame 21 of the stacker crane 1B will be referred to as the first side frame 1B211, and the second side frame of the carriage frame 21 will be referred to as the second side frame 1B212. The configuration of each wheel 1B22 to 1B25 of stacker crane 1B, and the first side frame 1B211 and second side frame 1B212 of the trolley frame 21, differs from the configuration of each wheel 22 to 25 of stacker crane 1A, and the first side frame 211 and second side frame 212 of the trolley frame 21.
[0073] The rails on which the first drive wheels 1B22 and second drive wheels 1B23 of the stacker crane 1B's trolley 20 roll are different from the rails on which the first drive wheels 22 and second drive wheels 23 of the stacker crane 1A's trolley 20 roll. That is, the first drive wheels 22 and second drive wheels 23 of the stacker crane 1A roll on the upper surface of the running guide rail 3, while the first drive wheels 1B22 and second drive wheels 1B23 of the stacker crane 1B roll on the upper surface of the running rail 4.
[0074] The first drive wheel 1B22 and the second drive wheel 1B23 are mounted on the second side frame 1B212 of the traveling carriage 20. The traveling carriage 20 of the stacker crane 1B is an example of the second traveling carriage, and the first drive wheel 1B22 and the second drive wheel 1B23 are examples of the second wheels. In addition, the first driven wheel 1B24 and the second driven wheel 1B25 of the stacker crane 1B are mounted on the first side frame 1B211. The first driven wheel 1B24 and the second driven wheel 1B25 are examples of the fourth roller. The length of the second side frame 1B212 to which the drive wheels are mounted is longer in the left-right direction than the length of the first side frame 1B211 to which the driven wheels are mounted. The first guide roller pair 28 and the second guide roller pair 29 of stacker crane 1B are mounted on the first side frame 1B211, similar to the first guide roller pair 28 and the second guide roller pair 29 of stacker crane 1A. The first guide roller 281 and the second guide roller 291 of stacker crane 1B are examples of third rollers. The barcode reader 81 of stacker crane 1B is mounted on the second side frame 1B212, similar to the barcode reader 81 of stacker crane 1A. The barcode reader 81 of stacker crane 1B is an example of a second reader.
[0075] The cable 90 of the stacker crane 1B is connected to the trolley 20 of the stacker crane 1B from the rear of the running rail 4, centered on the running rail 4, in the same manner as the stacker crane 1A. However, the configuration is not limited to this. The cable 90 of the stacker crane 1B may also be connected to the trolley 20 of the stacker crane 1B from the front of the running guide rail 3, centered on the running guide rail 3, in the front of the running guide rail 3, in the same manner as the stacker crane 1A.
[0076] According to the above configuration, the first guide roller 281 and the second guide roller 291 of the stacker crane 1B's trolley 20 roll along the side surface of the trolley 3. Therefore, the barcode 83 on the trolley 4 is not worn down by the first guide roller 281 and the second guide roller 291 of the stacker crane 1B. This reduces the risk of a decrease in the detection performance of the barcode 83. Furthermore, with the configuration in which the first guide roller 281 and the second guide roller 291 of the stacker crane 1B roll along the side surface of the trolley 3, the first guide roller 281 and the second guide roller 291 of the stacker crane 1B and the cable 90 connected to the trolley 20 of the stacker crane 1A do not come into contact with each other while the trolley 20 of the stacker crane 1B is in motion. This allows the trolley 20 of the stacker crane 1B to move smoothly along the trolley 3 and the trolley 4.
[0077] [Detection by control device] The control device 41 detects that the first guide roller 281 of the first guide roller pair 28 has worn down, based on the horizontal distance detected by the first distance sensor 80A. The control device 41 also detects that the second guide roller 291 of the second guide roller pair 29 has worn down, based on the horizontal distance detected by the second distance sensor 80B.
[0078] The detection of guide roller wear by the control device 41 will be explained using the case where the first guide roller 281 of the first guide roller pair 28 is worn as an example. The detection of wear of the second guide roller 291 of the second guide roller pair 29 by the control device 41 is performed in the same manner as the detection of wear of the first guide roller 281 of the first guide roller pair 28 by the control device 41.
[0079] If either of the pair of first guide rollers 281 wears down, the rattle of the trolley 20 in the longitudinal direction relative to the running guide rail 3 increases. That is, the variation in the distance between the first side frame 211 and the running guide rail 3 increases. For example, if the front first guide roller 281 wears down, the distance between the first side frame 211 and the running guide rail 3 detected by the first distance sensor 80A may increase. Also, if the rear first guide roller 281 wears down, the distance between the first side frame 211 and the running guide rail 3 detected by the first distance sensor 80A may decrease. The control device 41 detects that either of the pair of first guide rollers 281 has worn down from the variation in horizontal distance detected by the first distance sensor 80A.
[0080] Furthermore, the control device 41 detects the tilt of the trolley 20 based on the horizontal distance detected by the first distance sensor 80A and the horizontal distance detected by the second distance sensor 80B. Specifically, the control device 41 detects the longitudinal tilt of the trolley 20 relative to the running guide rail 3 when it is stopped, based on the horizontal distance detected by the first distance sensor 80A and the horizontal distance detected by the second distance sensor 80B.
[0081] Since the first guide roller 281 and the second guide roller 291 are elastic members, they deform under load in the front-rear direction. When the first guide roller 281 and / or the second guide roller 291 deform, the traveling carriage 20 becomes tilted at an angle in the front-rear direction relative to the traveling guide rail 3. When the stacker crane 1A stops moving, the traveling carriage 20 may become tilted at an angle in the front-rear direction relative to the traveling guide rail 3. When the traveling carriage 20 is tilted at an angle in the front-rear direction relative to the traveling guide rail 3, the lifting platform 30 also tilts at an angle in the front-rear direction relative to the traveling guide rail 3 in accordance with the tilt of the traveling carriage 20.
[0082] The control device 41 calculates the inclination of the trolley 20 relative to the guide rail 3 based on the horizontal distance detected by the first distance sensor 80A and the horizontal distance detected by the second distance sensor 80B, and detects the inclination of the trolley 20. The control device 41 controls the swivel section 70 according to the detected inclination of the trolley. Specifically, the control device 41 drives the swivel motor 76 to rotate the swivel frame 71 in the opposite direction to the inclination of the trolley 20 in the longitudinal direction relative to the guide rail 3.
[0083] [Embodiment 2] Other embodiments of the present invention will be described below with reference to Figures 9 to 12. For the sake of convenience, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated. The article conveying equipment 100A according to Embodiment 2 differs from the article conveying equipment 100 according to Embodiment 1 in that it is equipped with a power supply unit for non-contact power supply to the stacker crane 1C provided by the article conveying equipment 100A. Furthermore, the stacker crane 1C according to Embodiment 2 differs from the stacker crane 1 according to Embodiment 1 in that it is equipped with a power receiving unit for receiving power from the power supply unit.
[0084] Figure 9 is a schematic diagram showing the stacker crane 1C provided in the goods transport equipment 100A according to Embodiment 2. Figure 10 is a perspective view from above of the traveling carriage 20A provided in the stacker crane 1C shown in Figure 9. Figure 11 is a perspective view from below of the traveling carriage 20A provided in the stacker crane 1C shown in Figure 9. Figure 12 is an enlarged view of the main part of the goods transport equipment 100A according to Embodiment 2.
[0085] The goods transport equipment 100A is equipped with multiple stacker cranes 1C. In the goods transport equipment 100A, two stacker cranes 1C travel on the same travel guide rail 3 and travel rail 4. As shown in Figure 9, the stacker cranes 1C equipped with the goods transport equipment 100A are equipped with a pair of masts 10, a travel carriage 20A, and a lifting platform 30A. A fork section 60 is mounted on the lifting platform frame 31 of the lifting platform 30A.
[0086] As shown in Figures 10 and 11, the trolley 20A has four drive wheels. The first drive wheel 22 and the second drive wheel 23 are mounted on the front of the trolley frame 21A of the trolley 20A. More specifically, the first drive wheel 22 is mounted on the front end of the first connecting frame 213A, and the second drive wheel 23 is mounted on the front end of the second connecting frame 214A.
[0087] The third drive wheel 24A and the fourth drive wheel 25A are mounted on the rear of the bogie frame 21A. More specifically, the third drive wheel 24A is mounted on the rear end of the first connecting frame 213A, and the fourth drive wheel 25A is mounted on the rear end of the second connecting frame 214A. The third drive wheel 24A and the fourth drive wheel 25A roll on the upper surface of the running rail 4.
[0088] An earth roller 55, which is a conductive roller, is attached to the first side frame 211 of the trolley 20A. In this embodiment, the earth roller 55 is an example of a second roller. The earth roller 55 rolls on the upper surface of the earth rail 5, which will be described later. The earth roller 55 has the function of an earth and is an additional roller attached separately from the wheels of the trolley 20A. Also, as shown in Figure 11, a barcode reader 81A is attached to the left end of the first side frame 211. The barcode reader 81A may be attached to the right end of the first side frame 211, or to the central part in the left-right direction of the first side frame 211.
[0089] A pickup coil 96 is attached to the first side frame 211. The pickup coil 96 is an example of a power receiving unit. The pickup coil 96 is positioned opposite the induction wire 95, which will be described later, with a gap between them.
[0090] As shown in Figure 12, the goods transport equipment 100A is equipped with a guide wire 95. The guide wire 95 is arranged in parallel with the running rail 4. The guide wire 95 is an example of a power supply unit. Power is supplied to the guide wire 95 from a power supply panel (not shown). When power is supplied to the guide wire 95, a magnetic field is generated in the guide wire 95. The pickup coil 96 of the running trolley 20A receives power from the magnetic field generated by the guide wire 95.
[0091] Furthermore, the goods transport equipment 100A is further equipped with an earth rail 5, which is a metal rail. In this embodiment, the earth rail 5 is an example of a second rail. The earth rail 5 is installed in parallel with the travel guide rail 3. The travel guide rail 3 is positioned between the guide wire 95 and the earth rail 5 in a direction perpendicular to the direction of travel along the travel guide rail 3 when viewed from above. That is, in the front-rear direction, the travel guide rail 3 is positioned between the guide wire 95 and the earth rail 5.
[0092] The earth rail 5 has a top wall 50 and side walls 51. The top wall 50 has an upper surface on which the earth roller 55 rolls. The side walls 51 extend downward from the running guide rail 3 side of the top wall 50 in a direction perpendicular to the longitudinal direction of the earth rail 5 when viewed from above. That is, the side walls 51 extend downward from the front end of the top wall 50 in the front-rear direction.
[0093] A barcode 83A is attached to the side wall 51 of the earth rail 5. More specifically, the side of the side wall 51 to which the barcode 83A is attached is the side opposite to the side of the side wall 51 that faces the running guide rail 3. That is, the barcode 83A is attached to the side of the side wall 51 that faces rear. The barcode 83A contains positional information, which is information about the position of the earth rail 5 in the longitudinal direction. The barcode reader 81A is mounted on the first side frame 211 so as to face the side of the side wall 51 that faces rear and to which the barcode 83A is attached.
[0094] According to the above configuration, the top wall 50 is located above the side of the side wall 51 to which the barcode 83A is attached. Since dust falling from above accumulates on the top wall 50, it becomes difficult for dust to adhere to the barcode 83A on the side wall 51. This reduces the risk of a decrease in the detection performance of the barcode 83A.
[0095] Furthermore, according to the above configuration, the barcode 83A is attached to the earth rail 5 on which the earth roller 55, which functions as an earth, rolls. Therefore, there is no need to provide a separate component for attaching the barcode 83A. This reduces the number of parts.
[0096] Furthermore, with the above configuration, since the earth rail 5 is located away from the guide wire 95, the earth rail 5 can be placed outside the magnetic field range generated by the guide wire 95. This prevents the temperature of the earth rail 5 from rising due to the magnetic field of the guide wire 95.
[0097] The configurations of the multiple stacker cranes 1C provided by the goods transporting equipment 100A are all the same. Among the multiple stacker cranes 1C, the traveling carriage 20A provided by one of the stacker cranes 1C is an example of a first traveling carriage. In this embodiment, the traveling carriage 20A provided by the other of the multiple stacker cranes 1C is an example of a third traveling carriage. In this embodiment, the first drive wheel 22 and the second drive wheel 23 provided by the traveling carriage 20A of the other of the multiple stacker cranes 1C are an example of a third wheel. Also, in this embodiment, the first guide roller 281 and the second guide roller 291 provided by the other of the multiple stacker cranes 1C are an example of a third roller. Also, in this embodiment, the earth roller 55 provided by the other of the multiple stacker cranes 1C is an example of a fifth roller. Furthermore, a barcode reader 81A provided by another stacker crane 1C among multiple stacker cranes 1C is an example of a third reader.
[0098] In the goods transport equipment 100A, the barcode readers 81A provided by each of the two stacker cranes 1C read position information from the barcode 83A. That is, the movement of the two stacker cranes 1C is controlled by the control device 41 based on the position information read from the same barcode 83A on the earth rail 5. In other words, each stacker crane 1C moves to a home position when in standby mode and when goods are being loaded or unloaded, based on the position information from the barcode 83A.
[0099] With the above configuration, even if multiple trolleys 20A travel on the travel guide rail 3, it is not necessary to attach a number of barcodes 83A to the ground rail 5 corresponding to the number of trolleys 20A. That is, the barcode reader 81A of one stacker crane 1C and the barcode reader 81A of the other stacker crane 1C read position information from the same barcode 83A. This makes it easy to control the position of the trolleys 20 of one stacker crane 1C and the other stacker crane 1C.
[0100] [Additional Notes] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]
[0101] 1. Stacker crane 3. Running guide rails 4. Running Rails 10 Mast 20 Bogies 21. Bogie frame 22 First drive wheel 23 Second drive wheel 28 First Guide Roller Pair 29. Second Guide Roller Pair 41 Control device 80 Distance Sensor 81 Barcode reader 100 Goods handling equipment 281 First guide roller 291 Second guide roller
Claims
1. The first rail and A second rail is installed in parallel with the first rail, The system comprises a first running bogie having a first wheel that rolls on the upper surface of the first rail, a first roller that rolls on the side surface of the first rail, and a pair of second rollers that roll on the upper surface of the second rail, An identifier containing positional information, which is information about the position of the second rail in the longitudinal direction, is attached to the side surface of the second rail. The first traveling carriage further includes a first reader that reads the position information from the identifier, The first leader is positioned between a pair of second rollers that are spaced apart in the direction of travel along the first rail, in an article conveying device.
2. A first rail and A second rail is installed in parallel with the first rail, A first running bogie having a first wheel that rolls on the upper surface of the first rail, a first roller that rolls on the side surface of the first rail, and a second roller that rolls on the upper surface of the second rail, The system includes a cable that supplies power to the first traction vehicle, An identifier containing positional information, which is information about the position of the second rail in the longitudinal direction, is attached to the side surface of the second rail. The first traveling carriage further includes a first reader that reads the position information from the identifier, The cable is connected to the first trolley from the region opposite to the region where the first rail is located, in a direction perpendicular to the direction of travel along the first rail when viewed from above, of two regions partitioned around the second rail. The first leader is an article conveying device positioned between the first rail and the second rail in a top view.
3. The second running bogie further comprises a second wheel which is a drive wheel that rolls on the upper surface of the second rail, a third roller which rolls on the side surface of the first rail, a fourth roller which rolls on the upper surface of the first rail, and a second reader which reads the position information from the identifier, The first wheel of the first traction vehicle is a drive wheel. The article conveying equipment according to claim 2.
4. A first rail and A second rail is installed in parallel with the first rail, The system comprises a first running bogie having a first wheel that rolls on the upper surface of the first rail, a first roller that rolls on the side surface of the first rail, and a second roller that rolls on the upper surface of the second rail, An identifier containing positional information, which is information about the position of the second rail in the longitudinal direction, is attached to the side surface of the second rail. The first traveling carriage further includes a first reader that reads the position information from the identifier, The second rail has a top wall having an upper surface on which the second roller rolls, and a side wall having the side surface to which the identifier is attached, extending downward from the first rail side of the top wall in a direction perpendicular to the longitudinal direction of the second rail when viewed from above. The side surface to which the identifier is attached is the side of the side wall opposite to the side facing the first rail, in an article conveying device.
5. The system further includes a power supply unit that supplies power to the first traction vehicle in a non-contact manner, The aforementioned second roller is a conductive roller, The article conveying equipment according to claim 4, wherein the second rail is a metal rail.
6. The article conveying equipment according to claim 5, wherein the first rail is positioned between the power supply unit and the second rail in a direction perpendicular to the direction of travel along the first rail when viewed from above.
7. The third running bogie further comprises a third wheel that rolls on the upper surface of the first rail, a third roller that rolls on the side surface of the first rail, and a fifth roller that rolls on the upper surface of the second rail. The article transport equipment according to claim 6, wherein the third traveling carriage further comprises a third reader that reads the position information from the identifier.
8. Wheels that roll on the upper surface of the first rail, A first roller that rolls along the side of the first rail, A pair of second rollers that roll on the upper surface of a second rail installed in parallel with the first rail, The system includes a reader that reads position information, which is information about the position of the second rail in the longitudinal direction, from an identifier attached to the side of the second rail, The leader is a traveling carriage positioned between the pair of second rollers, which are spaced apart in the direction of travel along the first rail.