JP2013122637A - Article conveyance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article conveyance device for controlling the traveling speed of a carriage unit by a detected part on a conveyance path without making it necessary to perform any complicated setting operation to speed control means in advance.SOLUTION: In an article conveyance device for conveying an article by loading the article on a carriage unit 4 capable of traveling along a conveyance path 3, the carriage unit 4 includes a detection sensor 49 for detecting a detected part 41 arranged at a predetermined position of the conveyance path 3 by emitting a going-straight detection wave, and the going-straight direction of the detection wave is faced to an angle relatively deviating from the traveling direction of the carriage unit 4, and the carriage unit 4 includes: speed control means for controlling the traveling speed of the carriage unit 4 while the detected part 41 is detected with the detection wave; and carriage control means for controlling the traveling speed of the carriage unit 4 by changing an arrangement state of the detected part 41.

Description

  The present invention relates to an article conveying apparatus that loads and conveys articles on a cart unit that can travel along a conveying path.

  In a conventional article transporting device, while a power is supplied from a trolley wire provided on a rail (conveyance path), a traveling carriage is run along the rail to carry a load, and a bar provided on the rail. When the traveling cart detects the code label and the dog (detected portion), the traveling cart (cart unit) is controlled to be stopped or decelerated at a predetermined position (for example, Patent Document 1). And 2).

JP-A-7-267347 (page 6, FIG. 1) JP-A-8-53207 (pages 3-4, FIG. 1)

  In the article conveying apparatus as disclosed in Patent Documents 1 and 2, the traveling carriage (cart unit) can be controlled to be stopped or decelerated at a predetermined position with a simple configuration, and the installation cost of the article conveying apparatus can be reduced. However, when the traveling cart detects a stop or deceleration dog (detected portion), a control mode to be performed based on the detected dog is set in advance in the cart control means (speed adjusting means). There is a problem that the setting work such as the programming work becomes complicated.

  The present invention has been made paying attention to such a problem, and it is not necessary to perform complicated setting work in advance on the speed adjusting means, and the traveling speed of the carriage unit can be controlled by the detected part in the transport path. An object of the present invention is to provide an article conveyance device that can be used.

In order to solve the above-described problem, an article transporting apparatus of the present invention includes:
In an article conveying apparatus that loads and conveys articles on a cart unit that can travel along the conveying path,
The cart unit has a detection sensor that can be detected by irradiating a detected wave that travels straight through a detected portion that is disposed at a predetermined position of the transport path, and the straight traveling direction of the detected wave is the travel of the cart unit. The cart unit further has a speed adjusting means for adjusting a running speed of the cart unit while detecting the detected portion by the detection wave, It is characterized by comprising a cart control means for controlling the traveling speed of the cart unit by changing the arrangement state of the detected portion.
According to this feature, the speed adjustment means may adjust the traveling speed of the carriage unit based on the detected or non-detected state of the detected part, the setting operation of the speed adjustment means is simplified, and the carriage unit Since the state of detection or non-detection of the detected part is changed as the vehicle travels, the traveling speed of the carriage unit is adjusted based on the change in this state, and complicated setting work is performed beforehand on the speed adjusting means. It is possible to control the traveling speed of the carriage unit at the position where the detected part is arranged in the transport path, and the carriage control means changes the arrangement state of the detected part by changing the arrangement state of the detected part. The traveling speed can be controlled.

The article conveying apparatus of the present invention is
The cart control means controls a state of detection or non-detection of the detected part by the detection sensor by changing an arrangement angle of the detected part.
According to this feature, it becomes possible to control the detection state or non-detection state of the detected part by the detection sensor with a simple configuration in which the arrangement angle is changed without changing the arrangement position of the detected part. The installation cost of the detected part can be reduced.

The article conveying apparatus of the present invention is
Stopper means that appears and disappears in the transport path is provided at a predetermined position of the transport path, and a proximity sensor that detects the stopper means is provided in the carriage unit, and the speed adjustment means includes the proximity sensor. Control is performed to stop the carriage unit during detection of the stopper means, and the detected part is provided in the stopper means, and the speed adjusting means is detecting the detected part by the detection sensor. In addition, the vehicle unit is controlled to decelerate.
According to this feature, it is possible to control the carriage unit to stop or pass by causing the stopper means to appear and disappear in the transport path, and to provide the detection means on the stopper means so that the carriage can be used by using the stopper means. Unit deceleration control can be performed, and various control modes of stop, passage and deceleration can be realized by the stopper means.

The article conveying apparatus of the present invention is
The detection sensor radiates the detection wave toward the front side of the traveling direction of the cart unit, and the straight traveling direction of the detection wave is directed obliquely upward.
According to this feature, the traveling speed of the carriage unit is adjusted in accordance with the front situation that changes as the carriage unit travels, and the detected portion can be disposed at an upper position of the transport path. The detection unit does not interfere with the cart unit passing through the transport path.

It is a top view which shows the whole image of the article conveyance apparatus in Example 1. FIG. It is a side view which shows a trolley | bogie unit. It is a rear view which shows a trolley | bogie unit. It is a conceptual diagram which shows the structure of an article conveyance apparatus. (A) is a side view which shows the state which a trolley unit passes, (b) is a side view which shows the state in which a trolley unit decelerates, (c) is a side view which shows the state in which a trolley unit stops. . The traveling state in the modification 1 is shown, (a) is a side view which shows the state which a trolley | bogie unit passes, (b) is a side view which shows the state in which a trolley | bogie unit decelerates, (c) is a trolley | bogie. It is a side view which shows the state which a unit stops. The traveling state in the modification 2 is shown, (a) is a top view which shows the state through which a trolley | bogie unit passes, (b) is a top view which shows the state in which a trolley | bogie unit decelerates, (c) is a trolley | bogie. It is a top view which shows the state which a unit stops.

  EMBODIMENT OF THE INVENTION The form for implementing the goods conveying apparatus which concerns on this invention is demonstrated below based on an Example.

  An article conveying apparatus according to an embodiment will be described with reference to FIGS. 1 to 5. Hereinafter, the left side of FIG. 2 and FIG. 4 will be described as the front side (front side) of the article conveying apparatus. Reference numeral 1 in FIG. 1 denotes an article to which the present invention is applied for transporting a container 2 (see FIG. 2) as an article in the present invention in which automobile parts are housed, for example, in a factory that manufactures automobiles and the like. It is a transport device.

  As shown in FIGS. 1 and 2, in the article conveying apparatus 1, two traveling rails 3 arranged along the conveying path and a plurality of carriages that can travel the traveling rail 3 counterclockwise in plan view. The unit 4 is mainly composed of. In this embodiment, seven cart units 4 are provided. The traveling rail 3 is stretched over a predetermined height near the ceiling in the factory. Further, the cart unit 4 is configured to transport the container 2 in which automobile parts are stored along the transport path.

  The two traveling rails 3 are formed of a metal material such as aluminum or steel, the upper surface of which is formed as a horizontal surface, and are provided suspended from the ceiling in the factory along the transport path in the factory. It has been. Further, the traveling rail 3 is formed endlessly by combining a plurality of straight roads and curved roads, and the traveling rail 3e branches and merges from the main rail 3d which is the traveling rail 3 that forms the outer peripheral conveyance path. , 3f, 3g.

  Here, the traveling rail 3 that branches inward from the main rail 3d on the upper side in FIG. 1 is referred to as a branch rail 3e, and the traveling rail 3 that branches inward from the main rail 3d in the center of the plane is referred to as a branch rail 3f. A traveling rail 3 that branches inward from the main rail 3d is referred to as a branch rail 3g.

  The branch rail 3e is provided with a loading station C1 for loading the container 2 onto the cart unit 4, and the branch rail 3g is provided with an unloading station C2 for unloading the container 2 from the cart unit 4. In 3f, a standby station C3 is provided for waiting the carriage unit 4.

  In addition to these stations C1 to C3, a branch station C4 is provided at a branch point from the main rail 3d to the branch rails 3e, 3f, 3g, and a branch point from the branch rails 3e, 3f, 3g to the main rail 3d is provided. A merging station C5 is provided. Each of the stations C1 to C5 has the same configuration and is a charging station C for charging the traveling battery 5 (traveling storage means) provided in the cart unit 4. Further, the traveling battery 5 of the present embodiment is configured by a capacitor device that stores electric power as electrostatic energy.

  In addition, the article conveying apparatus 1 is provided with a main control device 20 (cart control means) that comprehensively manages the cart unit 4 and the charging station C (see FIG. 4). The main controller 20 is provided on a ground portion such as a floor surface other than the traveling rail 3. The main control device 20 communicates information with the cart unit 4 and the charging station C, and controls a charging device 6 (charging means), a lifting motor 30 and the like which will be described later in the charging station C.

  As shown in FIG. 2, the cart unit 4 includes two traveling carts 8 and 9 that travel on the traveling rail 3, a preceding cart 10 that travels in front of the front traveling cart 8, and a rear traveling cart. 9 and a succeeding carriage 11 traveling behind the vehicle 9.

  The preceding carriage 10 and the front traveling carriage 8 are connected by a connecting saddle member 13, and the rear traveling carriage 9 and the succeeding carriage 11 are connected by a connecting anchor member 14. These carriages 8, 9, 10 and 11 are arranged in series so as to travel on the upper surface of the traveling rail 3. In addition, the traveling unit 31 is suspended by suspension rods 15 attached to the front and rear traveling carriages 8 and 9, respectively.

  As shown in FIG. 3, the cart unit 4 is provided with a carrier 12 (conveyed material support member) that holds the container 2 and an elevating unit 32 that raises and lowers the carrier 12. The elevating unit 32 is suspended below the traveling unit 31. The carrier 12 is suspended from a lifting unit 32 by a wire rope 33, and the carrier 12 is lifted and lowered by a lifting motor 30 and a pulley 34 provided inside the lifting unit 32.

  As shown in FIG. 4, the front traveling carriage 8 has a traveling motor 17 (traveling drive means) for traveling the carriage unit 4, and the carriage unit 4 is driven by driving the traveling motor 17. The vehicle travels on the traveling rail 3. Further, in the traveling unit 31, a traveling battery 5 for driving the traveling motor 17 of the front traveling cart 8 and a cart controller 29 (speed adjustment) for controlling the rotational speed of the traveling motor 17 and controlling the brake. Means). The cart control device 29 is connected to the travel motor 17 of the travel cart 8 described above, and has a PLC (Programmable Logic Controller) as a control circuit for performing sequence control of the travel motor 17.

  The traveling motor 17 and the cart control device 29 are supplied with electric power from the traveling battery 5 and travel at a plurality of charging stations C provided at predetermined locations (part of the transport path) on the traveling rail 3. The battery 5 is charged (see FIG. 1). Further, at the loading station C1 and the unloading station C2, the traveling of the cart unit 4 is stopped and the carrier 12 is moved up and down so that the worker can transfer the container 2.

  Further, as shown in FIG. 4, the preceding carriage 10 is provided with a front detection sensor 49 (detection sensor) that optically detects the presence of another carriage unit 4 or a stopper device 41 (detected portion) in front. It has been. As will be described later, the front detection sensor 49 can also detect the presence of the stopper device 41 at a slightly diagonally upper position on the front side.

  Further, the front detection sensor 49 is a reflective photoelectric sensor provided with a light emitting element (not shown) and a light receiving element (not shown), and the detection wave irradiated forward from the light emitting element is a front object (covered). The front object can be detected by the light receiving element receiving the light reflected by the detection unit.

  Note that the detection wave emitted from the front detection sensor 49 goes straight forward from the light emitting element. Further, the straight traveling direction of the detection wave emitted from the front detection sensor 49 is directed obliquely upward so as to be relatively deviated upward from the extending direction (horizontal direction) of the traveling rail 3.

  A plate-shaped dog 44 protrudes from the rear end of the succeeding carriage 11 of the carriage unit 4, and a stop detection sensor detects the dog 44 ′ of the other carriage unit 4 at the tip of the preceding carriage 10. 51 (proximity sensor) is provided. The stop detection sensor 51 is a magnet switch in which a built-in magnet detects the proximity and contact of a dog 44 formed of a magnetic material such as iron by a magnetic force.

  When the dog 44 ′ of another cart unit 4 comes close to the stop detection sensor 51, the cart control device 29 performs control to stop the running of the cart unit 4.

  The stop detection sensor 51 is a stopper provided at a predetermined position on the transport path such as the charging station C to stop the cart unit 4 as well as the dog 44 'of the other cart unit 4 as will be described later. The dog 42 included in the device 41 (stopper means) is also detected. The stopper device 41 is controlled by the main controller 20 described above.

  Further, the cart unit 4 can detect the presence of the front stopper device 41 by the front detection sensor 49, and the cart control device 29 performs control to reduce the speed of the cart unit 4 based on this detection. It has become.

  Further, as will be described later, the cart control device 29 reflects the detection wave emitted from the front detection sensor 49 by the reflection plates 43 and 45 of the stopper device 41, and the reflected detection wave is transmitted to the front detection sensor 49. During detection, control is performed to decelerate the speed of the cart unit 4, and if the detected wave is not detected by the front detection sensor 49, control is performed to cause the cart unit 4 to travel at a normal speed. In other words, the cart control device 29 adjusts the traveling speed of the cart unit 4 based on the detected or non-detected state of the detection wave reflected by the front detection sensor 49. Then, simplified control processing is performed.

  Each charging station C <b> 1 to C <b> 5 is provided with a charging device 6 for charging the traveling battery 5 of the cart unit 4. The charging device 6 has a charging plug 52 (power feeding unit). The charging device 6 converts the electric power of a commercial power supply (AC100V) supplied to the factory by the power grid into a direct current through a power supply (not shown) and supplies it to the cart unit 4 to charge the traveling battery 5. Is done.

  Furthermore, a connector 24 (power-supplied part) to which the charging plug 52 is connected is provided in the traveling cart 9 on the rear side of the cart unit 4. In each of the charging stations C1 to C5, the charging plug 52 of the charging device 6 is connected (contacted) to the connector 24 of the cart unit 4 that is stopped (or decelerated) to supply power to the traveling battery 5. .

  Further, the lifting unit 32 is provided with a rotary encoder 38 for detecting the number of rotations of the lifting motor 30 and an upper limit switch 39 for detecting that the raised carrier 12 is at the upper limit position. The cart control device 29 is connected to the lifting motor 30, the rotary encoder 38, and the upper limit switch 39.

  The loading station C1 and the unloading station C2 are provided with a mounting table 21 on which the lowered carrier 12 is mounted. The mounting table 21 is provided with a lower limit switch 40 for detecting that the lowered carrier 12 is at the lower limit position. The lower limit switch 40 is connected to the main controller 20 by a wired line. Then, the detection signal of the lower limit switch 40 is transmitted to the main control device 20 to the cart control device 29. And the raising / lowering motor 30 of the raising / lowering unit 32 is controlled by the control apparatus 29 for carts.

  As shown in FIG. 5A, the stopper device 41 is a plate-like device that is disposed above the traveling rail 3 that constitutes the transport path. Moreover, as shown in FIG.5 (c), the stopper apparatus 41 appears so that the driving | running | working rail 3 top may be plugged up by rotating below. And the dog 42 detected by the stop detection sensor 51 (proximity sensor) of the cart unit 4 described above projects from the lower end of the stopper device 41.

  The stopper device 41 is provided with a main reflection plate 43 and an auxiliary reflection plate 45 that reflect detection waves (infrared light or the like) emitted from the front detection sensor 49 in the incident direction. The stopper device 41 is a plate-like member that is swung around a swing shaft 46, and a large main reflection plate 43 is attached to almost the entire surface of the plate-like stopper device 41, and is small in size. The auxiliary reflecting plate 45 is attached to the end of the stopper device 41 so as to face a direction different from the main reflecting plate 43 at a right angle. These reflectors 43 and 45 are processed to reflect incident light while scattering incident light.

  In addition, when passing the trolley | bogie unit 4 on the running rail 3, the stopper apparatus 41 is rotated upwards, and it arrange | positions in the passing position where the plate-shaped stopper apparatus 41 makes a horizontal (FIG. 5 (a)). reference).

  Further, when the carriage unit 4 is stopped at a predetermined position on the traveling rail 3, the stopper device 41 is previously rotated downward and disposed at the stop position (see FIG. 5C). When the stopper device 41 is at the stop position, the stopper device 41 is disposed so as to block the traveling direction of the cart unit 4, and the main reflector 43 is disposed to face the front detection sensor 49 of the cart unit 4.

  When the cart unit 4 approaches the stopper device 41, first, the detection wave irradiated from the front detection sensor 49 is reflected by the main reflector 43 of the stopper device 41, so that the front detection sensor 49 is present in the stopper device 41. The cart control device 29 performs control to reduce the speed of the cart unit 4 while the reflected detection wave is detected by the front detection sensor 49.

  Next, when the dog 42 of the stopper device 41 comes close to the stop detection sensor 51, the carriage control device 29 performs control to stop the running of the carriage unit 4, and the carriage unit 4 is stopped at the position of the stopper device 41. The When the carriage unit 4 stopped by the stopper device 41 is caused to travel again, the stopper device 41 is rotated upward and disposed at the passing position (see FIG. 5A). The dog 42 of the stopper device 41 comes away from the detection sensor 51, and the cart control device 29 accelerates the cart unit 4 again to run.

  As shown in FIG. 5B, in the article transporting apparatus 1 of the present invention, the carriage unit 4 can be passed through in a decelerated state without stopping at the position where the stopper device 41 is disposed. When the carriage unit 4 is decelerated, it is slightly rotated so that the end portion of the stopper device 41 to which the auxiliary reflector 45 is attached is lowered and held in an obliquely inclined state. The arrangement state of the stopper device 41 is a deceleration position.

  In this state, the lower end of the stopper device 41 is arranged at a position higher than the height of the preceding carriage 10 etc. of the carriage unit 4 so that the preceding carriage 10 etc. can pass through the arrangement position of the stopper device 41. . In this state, the auxiliary reflector 45 of the stopper device 41 can reflect the detection wave emitted from the front detection sensor 49 of the carriage unit 4.

  While the reflected detection wave is being detected by the front detection sensor 49, the cart control device 29 performs control to reduce the speed of the cart unit 4. In this way, the carriage unit 4 can pass through in a decelerated state without stopping at the position where the stopper device 41 is disposed. The carriage unit 4 that has passed through the stopper device 41 is accelerated again when the front detection sensor 49 no longer detects the presence of the stopper device 41 and travels at a normal traveling speed.

  Such deceleration control of the carriage unit 4 can also be applied to a function of preventing the collision of the carriage unit 4 with the stopper device 41. For example, when two carriage units 4 are traveling close to each other in the front-rear direction, the preceding carriage unit 4 wants to stop only the following carriage unit 4 with the stopper device 41 while passing the stopper device 41. In this case, after all of the preceding carriage 10, the traveling carriages 8, 9 and the succeeding carriage 11 of the preceding carriage unit 4 have passed through the stopper apparatus 41, the stopper apparatus 41 is rotated downward to the stop position. The dolly unit 4 is not sufficiently decelerated and approaches the stopper device 41, and the preceding dolly 10 of the following dolly unit 4 may collide with the stopper device 41.

  Therefore, immediately after the preceding carriage 10 of the preceding carriage unit 4 passes through the stopper device 41, when the stopper device 41 is inclined obliquely to the deceleration position, the front detection sensor 49 of the succeeding carriage unit 4 is moved to the stopper device 41. The presence is detected, and the subsequent carriage unit 4 begins to decelerate early. Then, the subsequent carriage unit 4 comes close to the stopper device 41 in a state where it is sufficiently decelerated, and the subsequent carriage unit 4 is stopped at the position of the stopper device 41.

  In the above-described embodiment, the stopper device 41 pivots in the vertical direction so that the stopper device 41 appears and disappears on the running race 3. However, as shown in Modification 1 in FIG. The detection unit may be moved up and down on the traveling rail 3 by linearly moving in the vertical direction. The stopper device 41a according to the modified example 1 has the stopper device 41a at any position of the passing position (FIG. 6A), the deceleration position (FIG. 6B), and the stop position (FIG. 6C). Are vertically arranged, and the stopper device 41a is linearly moved in the vertical direction according to the situation.

  Furthermore, in the above-described embodiment, the stopper device 41 protrudes and appears on the traveling rail 3 from the upper position. However, as shown in the modified example 2 in FIG. 7, the stopper device 41b (detected portion) is horizontally disposed. It may be made to appear on the traveling rail 3 by rotating in the direction. The stopper device 41b in the modified example 2 is arranged at the side position of the traveling rail 3, and the front detection sensor 49 of the carriage unit 4b detects the presence of the stopper device 41b at a slightly diagonal side position on the front side. For this reason, the straight traveling direction of the detection wave emitted from the front detection sensor 49 is directed obliquely to the side so as to deviate from the extending direction of the traveling rail 3 toward the side. When the stopper device 41b is disposed at the deceleration position (FIG. 7B) and the stop position (FIG. 7C), the stopper device 41b is moved horizontally from the passing position (FIG. 7A). It is designed to be rotated.

  As described above, in the article transport apparatus 1 according to the present embodiment, the carriage control device 29 may adjust the traveling speed of the carriage unit 4 based on the detection or non-detection state of the stopper device 41. Since the setting work such as programming work is simplified and the detection or non-detection state of the stopper device 41 is changed as the carriage unit 4 travels, the traveling speed of the carriage unit 4 is determined based on the change in this state. Thus, it is not necessary to perform a complicated setting operation on the cart controller 29 in advance, and the traveling speed of the cart unit 4 can be controlled at the position where the stopper device 41 is arranged in the transport path. Furthermore, the main controller 20 can control the traveling speed of the carriage unit 4 by changing the arrangement state of the stopper device 41.

  Further, the main control device 20 changes the arrangement angle of the stopper device 41 by changing the arrangement angle of the stopper device 41 to control the state of detection or non-detection of the stopper device 41 by the front detection sensor 49. Without changing the arrangement angle, the detection state of the stopper device 41 by the front detection sensor 49 or the non-detection state of the stopper device 41 can be controlled, and the installation cost of the stopper device 41 can be reduced.

  Further, by causing the stopper device 41 to appear in and out of the traveling rail 3, it is possible to control the carriage unit 4 to stop or pass, and to use the stopper device 41 to control the deceleration of the carriage unit 4, Various control modes of stop, passage, and deceleration can be realized by the stopper device 41.

  Further, the front detection sensor 49 irradiates a detection wave toward the front side of the traveling direction of the cart unit 4 and the straight traveling direction of the detected wave is directed obliquely upward, so that the cart unit 4 travels. The traveling speed of the carriage unit 4 is adjusted in accordance with the situation ahead of the vehicle, and the stopper device 41 can be disposed above the traveling rail 3 so that the stopper device 41 passes the traveling rail 3. Unit 4 will not be disturbed.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

  For example, in the said Example, although this invention is applied to the article conveyance apparatus 1 provided with the trolley | bogie unit 4 which can drive | work along the traveling rail 3 in the state which suspended the carrier 12, this invention is based on another form. The present invention can also be applied to a transport cart.

  In the above embodiment, while the front detection sensor 49 detects the presence of the stopper device 41, the cart control device 29 performs control to reduce the speed of the cart unit 4. The adjustment of the traveling speed is not limited to deceleration, and the control device 29 for the trolley may perform control for accelerating the speed of the trolley unit 4 while the front detection sensor 49 detects the presence of the stopper device 41.

1 article transport device 2 container (article)
3 Traveling rail (transport route)
4 Cart unit 20 Main control device (cart control means)
29 Control device for bogie (speed adjusting means)
41 Stopper device (detected part)
41a, 41b Stopper device (detected part)
42 Dog 43 Main reflector 45 Auxiliary reflector 49 Front detection sensor (detection sensor)
51 Stop detection sensor (proximity sensor)

Claims (4)

In an article conveying apparatus that loads and conveys articles on a cart unit that can travel along the conveying path,
The cart unit has a detection sensor that can be detected by irradiating a detected wave that travels straight through a detected portion that is disposed at a predetermined position of the transport path, and the straight traveling direction of the detected wave is the travel of the cart unit. The cart unit further has a speed adjusting means for adjusting a running speed of the cart unit while detecting the detected portion by the detection wave, An article conveying apparatus comprising: a carriage control means for controlling a traveling speed of the carriage unit by changing an arrangement state of the detected part.   2. The article conveyance according to claim 1, wherein the carriage control unit controls a state of detection or non-detection of the detected part by the detection sensor by changing an arrangement angle of the detected part. apparatus.   Stopper means that appears and disappears in the transport path is provided at a predetermined position of the transport path, and a proximity sensor that detects the stopper means is provided in the carriage unit, and the speed adjustment means includes the proximity sensor. Control is performed to stop the carriage unit during detection of the stopper means, and the detected part is provided in the stopper means, and the speed adjusting means is detecting the detected part by the detection sensor. The article conveying apparatus according to claim 1, further comprising a control for decelerating the carriage unit.   4. The detection sensor according to claim 1, wherein the detection sensor irradiates the detection wave toward a front side in a traveling direction of the cart unit, and a straight traveling direction of the detection wave is directed obliquely upward. The article conveying apparatus according to any one of the above.

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