JP2018074674A - Traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease branches of wiring to reduce the volume of wiring at a bogie connection part.SOLUTION: A stacker crane 11 comprises a plurality of drive trucks 13, a front side first bogie member 201a and a rear side first bogie member 201b, and wiring W1, W2. The plurality of drive trucks 13 are arranged side by side in a traveling direction. The first bogie members 201a, 201b bogie-connect the plurality of drive trucks 13 respectively at the front and rear in the traveling direction. The wiring W 1, W 2 are directly connected from an end of the front side first bogie member 201a on the opposite side of the traveling direction to an end of the rear side first bogie member 201b on the traveling direction side.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a traveling vehicle having a plurality of drive carriages arranged side by side in a traveling direction.

Conventionally, a traveling vehicle that travels along a track such as a rail is known. In such a traveling vehicle, as a method of supplying electric power to a motor or the like that drives the traveling vehicle, a power supply cable is provided on the guide rail, and a pickup coil for receiving power from the cable in a contactless manner is provided to the traveling vehicle. There is a method of providing (for example, Patent Document 1).
In an automatic warehouse, a stacker crane is known as a transporting device for dropping a load on a rack shelf or loading a load from the rack shelf. In this stacker crane, a plurality of drive carriages that cause the stacker crane to travel along a track are connected by a bogie connecting portion.

JP 2001-128316 A

  In the stacker crane described above, wiring for driving and controlling a plurality of drive carriages is provided at the bogie connection portion. In addition, common drive wiring and control wiring may be required for a plurality of drive carriages. In this case, one wiring is branched into a plurality of wirings using connection terminals or the like. Therefore, when the number of branches of the wiring is increased, the number of connection terminals and wirings arranged in the bogie connection portion is increased. As a result, the volume of wiring at the bogie connection portion increases.

  An object of the present invention is to reduce wiring branching in a traveling vehicle having a plurality of bogies connected to a bogie.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A traveling vehicle according to an aspect of the present invention includes a plurality of drive carriages, a front bogie connection portion and a rear bogie connection portion, and wiring. The plurality of drive trolleys are arranged side by side in the traveling direction. The front-side bogie connection portion and the rear-side bogie connection portion respectively connect the plurality of drive trolleys before and after the traveling direction. The wiring is directly connected from the rear portion of the front bogie connection portion to the front portion of the rear bogie connection portion.

  Since the wiring is directly connected from the rear portion of the front bogie connection portion to the front portion of the rear bogie connection portion, wiring for a plurality of drive carts can be serially performed. As a result, the number of wiring branches can be reduced, and the wiring volume at the bogie connection portion can be reduced.

The traveling vehicle may further include a mast supported by a plurality of drive carriages. In this case, the wiring extends along the mast and enters from the one end of the mast to the end portion at the shortest position from one end of the mast of the front bogie connection portion or the rear bogie connection portion.
Thereby, the wiring from the position away from the plurality of drive trolleys can be connected in series to the plurality of drive trolleys to reduce the branching of the wiring.

The traveling vehicle may further include a cable duct extending from the rear portion of the front bogie connection portion to the front portion of the rear bogie connection portion. In this case, the cable duct has a plurality of links, and the plurality of links have a bending prevention stopper. The anti-bending stopper is convex in the horizontal direction perpendicular to the traveling direction in plan view as a whole, and abuts on adjacent links so that the convex does not dent.
Thereby, it is possible to avoid unreasonable deformation of the wiring from the rear portion of the front bogie connection portion to the front portion of the rear bogie connection portion. As a result, the wiring can be prevented from being damaged by the unreasonable deformation.

  In a traveling vehicle having a plurality of bogie-coupled drive trolleys, the number of wiring branches can be reduced and the volume of the wiring at the bogie connection portion can be reduced.

1 is a schematic plan view of an automatic warehouse in which an embodiment of the present invention is adopted. The schematic front view of an automatic warehouse. The schematic plan view of a stacker crane. The perspective view of a stacker crane. The perspective view of the upper part of a stacker crane. The perspective view of a drive trolley | bogie. The perspective view of a ceiling rail. The schematic side view which shows schematic structure of a bogie structure. The figure which shows arrangement | positioning of the wiring in a 1st bogie member. The figure which shows typically the case where a cable duct carries out an appropriate deformation | transformation. The figure which shows the rotation direction of the link for making a cable duct deform | transform appropriately. The figure which shows an example when a cable duct carries out an inappropriate deformation | transformation. The block diagram which shows the control structure of an automatic warehouse.

1. 1st Embodiment (1) Automatic warehouse The automatic warehouse 1 is demonstrated using FIG.1 and FIG.2. FIG. 1 is a schematic plan view of an automatic warehouse in which an embodiment of the present invention is adopted. FIG. 2 is a schematic front view of the automatic warehouse.

The automatic warehouse 1 has a plurality of racks 5. The rack 5 has a plurality of shelves 5a. In FIG. 1, the plurality of racks 5 extend in the left-right direction and are arranged in parallel. The shelf 5a can store the collection shelf member 25 or the pallet P as shown in FIG. A container 23 or a cardboard box 28 is placed on the pallet P.
The collection shelf member 25 has a shelf structure having a plurality of stages of support portions, and can accommodate a plurality of containers 23 and cardboard boxes 28. The container 23 is a member that can store a product. The bottom surface of the collection shelf member 25 has the same structure as the bottom surface of the pallet P, and is thereby supported and transported by the stacker crane 11. Further, in FIG. 1, alphabets are attached to the pallet P stored in the rack 5. Further, a container 23 and a cardboard box 28 are stored in another rack 5 (not shown).

The automatic warehouse 1 has a ceiling rail 7 (an example of a track) provided along the rack 5. Specifically, the ceiling rail 7 is disposed above the passage 5 b between the racks 5. The ceiling rail 7 is provided at a position higher than the rack 5, that is, a position higher than the plurality of shelves 5a. Further, the ceiling rail 7 has a plurality of circulation routes having curved portions in a planar layout, and further has a branching portion and a merging portion.
The automatic warehouse 1 has a lower guide rail 9 provided along the rack 5. Specifically, the lower guide rail 9 is disposed on the floor surface of the passage 5 b between the racks 5.

The automatic warehouse 1 has a suspended stacker crane 11 (an example of a traveling vehicle) (hereinafter referred to as “stacker crane 11”). “Suspension type” means that the upper structure travels and branches and further suspends the lower structure. As shown in FIG. 2, the stacker crane 11 travels while being suspended from the ceiling rail 7.
Note that the traveling direction of the stacker crane 11 is referred to as “traveling direction” and is represented by an arrow X in the drawing. Further, the horizontal direction orthogonal to the traveling direction is indicated as “left-right direction” and is represented by an arrow Y in the figure.

As shown in FIGS. 1 and 3, the stacker crane 11 has an upper traveling carriage 12. The upper traveling carriage 12 is a device that travels along the ceiling rail 7 by generating a driving force. The upper traveling carriage 12 has a plurality of driving carriages 13 arranged side by side in the traveling direction (indicated by white arrows). In this embodiment, eight drive carts 13 are provided. FIG. 3 is a schematic plan view of the stacker crane.
The stacker crane 11 includes a transfer device 15 that is suspended from a plurality of drive carriages 13 so as to be lifted and lowered. The transfer device 15 can transfer the collection shelf member 25 or the pallet P. The transfer device 15 is, for example, a slide fork type device.
As shown in FIG. 2, the stacker crane 11 has a lower traveling carriage 17. The lower traveling carriage 17 is guided along the lower guide rail 9.

(2) Stacker crane The stacker crane 11 will be described in detail with reference to FIGS. 4 and 5. FIG. 4 is a perspective view of the stacker crane. FIG. 5 is a perspective view of the upper part of the stacker crane.
As shown in FIG.4 and FIG.5, the eight drive trolley | bogies 13 are arrange | positioned along with the running direction. Furthermore, as shown in FIGS. 3 and 9, the drive carriage 13 has a bogie structure 29 (an example of a bogie connection portion).
By the bogie structure 29, the stacker crane 11 can stably travel on the curve of the orbit. Details of the bogie structure 29 will be described later.

The stacker crane 11 has a pair of masts 31 arranged in the traveling direction, that is, the front-rear direction. The pair of masts 31 extends long in the vertical direction.
The stacker crane 11 has an upper base member 33 that extends in the traveling direction and connects the upper ends of a pair of masts 31.

The stacker crane 11 has a lower base member 34 that extends in the traveling direction and connects the lower ends of the pair of masts 31.
As shown in FIG. 9, the upper ends of the pair of masts 31 are supported by other members by pins 47 and 49. Specifically, the upper ends of the pair of masts 31 are supported by pins 47 with respect to the lifting frame 45 (described later). The lower ends of the pair of masts 31 are supported by pins 49 with respect to the lower base member 34. The pins 47 and 49 extend in the left-right direction, so that the pair of masts 31 can swing in the traveling direction. With the structure described above, vibration suppression control and body weight reduction are realized.

  The stacker crane 11 has a lifting device 35 for lifting and lowering the transfer device 15. The elevating device 35 includes an elevating table 37 supported by the mast 31 and an elevating unit 39 for elevating the elevating table 37. The elevating part 39 is provided in each of the pair of masts 31. The elevating unit 39 is a known device that includes an elevating drive motor 40, a chain 41, an elevating drive sprocket 46, and the like.

The elevating part 39 has an elevating frame 45. The elevating drive motor 40 and the elevating drive sprocket 46 are fixed to the elevating frame 45. An upper end of the mast 31 is connected to the elevating frame 45, and an upper base member 33 is further fixed.
The transfer device 15 is provided on the lifting platform 37. The transfer device 15 moves the load in the left-right direction and transfers the load between the shelves.
A control panel 43 is provided at one lower portion of the pair of masts 31.
In this embodiment, four drive trolleys 13 are arranged corresponding to the mast 31 on the front side in the traveling direction, and four drive trolleys 13 are arranged on the mast 31 on the rear side in the traveling direction. Yes. In particular, the four drive carts 13 are arranged so that the center of the four drive carts 13 in the running direction corresponds to the center of the lift drive sprocket 46. With the above configuration, the drive carriage 13 can evenly support the load acting from the lifting platform 37 and the mast 31.

(3) Drive cart The drive cart 13 is demonstrated using FIG. FIG. 6 is a perspective view of the drive carriage.
The drive carriage 13 has an axle shaft 51. The axle shaft 51 extends in the left-right direction.
The drive carriage 13 has a pair of traveling wheels 53. Each traveling wheel 53 is rotatably attached to both ends of the axle shaft 51. Specifically, each traveling wheel 53 is two wheels. The traveling wheel 53 is placed on a traveling wall 75 a (described later) of the ceiling rail 7.

  The drive carriage 13 has side guide rollers 59. The side guide roller 59 is guided by the inner side surface (described later) of the side wall 75 b of the ceiling rail 7. In this embodiment, a pair of side guide rollers 59 are provided side by side in the traveling direction, and the total number is four.

The drive carriage 13 has a branching / merging switching device 61. The branching / merging switching device 61 is a device for selecting a travel route at a branching / merging point in a circular track.
The branch / junction switching device 61 includes a branch switching roller 63. A pair of branch switching rollers 63 are provided side by side in the traveling direction, and there are a total of four. The branch switching roller 63 is disposed above the side guide roller 59. The distance in the left-right direction between the branch switching rollers 63 is shorter than the distance in the left-right direction between the side guide rollers 59. The branch switching rollers 63 are connected to each other by a plate 65, and the plate 65 can slide in the left-right direction.
The branching / merging switching device 61 has a motor 68 that generates power for slidingly driving the plate 65.

The drive carriage 13 has a linear motor 69. The linear motor 69 includes a coil facing a magnet rail 78 provided on the ceiling side.
The drive carriage 13 has a magnetic pole sensor 101. The magnetic pole sensor 101 is a sensor for detecting the traveling position of the drive carriage 13. The magnetic pole sensor 101 is disposed on the side of the linear motor 69.

  As described above, since the branch switching roller 63 and the linear motor 69 are provided in each of the drive carriage 13 and the drive carriage 13, it is easy to cope with an increase or decrease in the number of drive carriages 13. Further, since each of the drive carriages 13 can be controlled, the control becomes easy and accurate.

The side guide rollers 59 are disposed close to the front and rear of the axle shaft 51 in the traveling direction, and partly overlap the pair of traveling wheels 53 in plan view. Specifically, a part of the traveling direction of the side guide roller 59 is close to an obliquely lower portion of the lower front and rear surfaces of the traveling wheel 53. Thereby, the drive cart 13 is reduced in size in the traveling direction.
The branch switching roller 63 is disposed close to the front and rear of the axle shaft 51 in the traveling direction, and partially overlaps the pair of traveling wheels 53 in a plan view. Specifically, a part of the traveling direction of the branch switching roller 63 is close to an obliquely upper portion of the upper front and rear surfaces of the traveling wheel 53. Thereby, the drive cart 13 is reduced in size in the traveling direction.

(4) Ceiling rail The ceiling rail 7 is demonstrated using FIG. FIG. 7 is a perspective view of the ceiling rail.
The ceiling rail 7 has a rail body 75. The rail body 75 mainly has a running wall 75a and a side wall 75b. The travel wall 75a forms a pair of travel surfaces that are spaced apart in the left-right direction. The side wall 75b forms a pair of guide surfaces provided on both sides of the running surface. The ceiling rail 7 has a plurality of support members 77. The support member 77 suspends the rail body 75 from the ceiling.

(5) Bogie structure The bogie structure 29 will be described in detail with reference to FIG. FIG. 8 is a schematic side view showing a schematic configuration of the bogie structure.
The bogie structure 29 constitutes a load supporting portion of the stacker crane 11 and has a plurality of stages of bogies. In this embodiment, the bogie structure 29 is a three-stage bogie. In other words, the two drive trolleys 13 have a bogie structure, and further have a bogie structure to form a bogie structure for four drive trolleys 13 and further a bogie structure for eight drive trolleys 13. Hereinafter, the bogie structure 29 will be described in detail.

  The bogie structure 29 includes first bogie members 201a and 201b on which a drive carriage shaft 13a extending downward from the drive carriage 13 is rotatably supported. The lower end of the drive carriage shaft 13a is rotatably supported by the first bogie members 201a and 201b, and supports the load of the first bogie members 201a and 201b. The first bogie members 201a and 201b extend in the traveling direction, and the drive carriage shaft 13a is rotatably supported at both ends in the traveling direction. That is, the first bogie members 201a and 201b respectively support the pair of drive carriages 13 so as to be rotatable. In this manner, in the stacker crane 11, the first-stage bogie structure 205 is realized for each pair of drive carriages 13, and the total number is four.

Further, the bogie structure 29 includes a second bogie member 203 on which a first shaft 202 extending downward from the first bogie members 201a and 201b is rotatably supported. The lower end of the first shaft 202 is rotatably supported by the second bogie member 203 so as to support the load of the second bogie member 203. The second bogie member 203 extends in the traveling direction, and the first shaft 202 is rotatably supported at both ends in the traveling direction. That is, the second bogie member 203 rotatably supports the pair of first bogie members 201a and 201b.
In this manner, in the stacker crane 11, the second-stage bogie structure 207 is realized for each pair of first bogie members 201a and 201b, and the total number is two.

Further, the bogie structure 29 has a support portion 45a in which a second shaft 203a extending downward from the second bogie member 203 is rotatably supported in an elevating frame 45 fixed to the upper ends of the pair of masts 31. Yes. The lower end of the second shaft 203a is rotatably supported by the support portion 45a so as to support the load of the support portion 45a. That is, the support part 45a supports a pair of 2nd bogie members 203 so that rotation is possible. In this manner, in the stacker crane 11, the third-stage bogie structure 209 is realized for each pair of second bogie members 203. Note that the third-stage bogie structure 209 is configured by the support portion 45a and the upper base member 33. It is configured.
With the above-described bogie structure 29, when the plurality of drive carriages 13 travel along the curved portion of the ceiling rail 7, each drive carriage 13 can be directed in an appropriate direction, and therefore can travel smoothly.

(6) Wiring As shown in FIG. 8, the stacker crane 11 has wirings W <b> 1 and W <b> 2 for transmitting and receiving control signals from the control panel 43 to the plurality of driving carriages 13 and / or supplying electric power. doing. One wiring W1 extends upward from the control panel 43 along the mast 31 on the traveling direction side, and is moored by the lifting frame 45 on the traveling direction side, and then the first bogie member 201a on the front side on the traveling direction side ( Enter one example of the front bogie connection. At this time, the wiring W1 enters the first bogie member 201a from the end portion on the traveling direction side of the first bogie member 201a on the front side.

  The other wiring W2, for example, extends upward along the mast 31 on the opposite side to the traveling direction from the control panel 43 via the lower base member 34, and at the lifting frame 45 on the opposite side to the traveling direction. After being moored, the first bogie member 201b (an example of the rear bogie connection portion) on the rear side opposite to the traveling direction is entered. At this time, the wiring W2 enters the rear first bogie member 201b from the end opposite to the traveling direction of the rear first bogie member 201b.

  As described above, the wiring W1 enters the end portion on the traveling direction side of the front first bogie member 201a at the shortest position from the upper end of the mast 31 on the traveling direction side, and / or the wiring W2 is connected to the traveling direction. Is located at a position away from the plurality of drive carriages 13 (control panel 43) by entering the end opposite to the traveling direction of the rear first bogie member 201b located at the shortest position from the upper end of the opposite mast 31. Wiring W1 and W2 from the (positioning position) can be connected in series to the plurality of drive carriages 13 to reduce the branching of the wiring.

As shown in FIG. 9, the wiring W1 from the mast 31 on the traveling direction side is disposed along the traveling direction on the first bogie member 201a after entering the end portion on the traveling direction side of the first bogie member 201a on the front side. From the end on the opposite side to the traveling direction of the first bogie member 201a (an example of the rear portion of the front bogie connecting portion), the end portion on the traveling direction side of the first bogie member 201b on the rear side (rear bogie connecting portion). Is directly connected to an example of the front part. FIG. 9 is a diagram illustrating an arrangement of wirings in the first bogie member.
Thereby, wiring W1, W2 for a plurality of drive carts 13 can be made in series. As a result, the branching of the wiring can be reduced, and the volume of wiring in the bogie members such as the first bogie members 201a and 201b can be reduced.

  In the present embodiment, as shown in FIG. 9, the wirings W1 and W2 are housed in a cable duct 208 (for example, a cable bear (registered trademark)), and the front first bogie member 201a and the rear first bogie. It is connected between the member 201b.

Hereinafter, a specific configuration of the cable duct 208 will be described. The cable duct 208 has a plurality of links 2081. Each of the plurality of links 2081 has a space for storing the wirings W1 and W2. Each of the plurality of links 2081 is a member having an opening at one end and a shaft at the other end. The shaft at the other end of the link 2081 adjacent on the traveling direction side is rotatably inserted into the opening at one end. On the other hand, the shaft at the other end is inserted into the opening at one end of the link 2081 adjacent on the opposite side to the traveling direction.
With the above configuration, a plurality of links 2081 are connected in a daisy chain to form a cable duct 208 having a length direction, and each link 2081 is rotatable with respect to the adjacent link 2081, so that the cable duct 208 is connected. Is deformable in the length direction.

  In the present embodiment, as shown in FIG. 10, when the first bogie members 201 a and 201 b are rotated with respect to the second bogie member 203, the cable duct 208 as a whole is in the horizontal direction orthogonal to the traveling direction in plan view. Each of the plurality of links 2081 is formed to be convex. FIG. 10 is a diagram schematically illustrating a case where the cable duct is appropriately deformed.

Specifically, as shown in FIG. 11, a link 2081 (link on the left side in FIG. 11) existing on the traveling direction side of a certain link 2081 (link on the right side in FIG. 11) The first bogie members 201a and 201b can be rotated in the direction in which the first bogie members 201a and 201b exist (the direction of the curved arrow shown by the solid line in FIG. 11), while the opposite direction (indicated by the one-dot chain line in FIG. In the direction of the curved arrow), the two links 2081 cannot be further rotated from the state in which the two links 2081 are arranged in a straight line.
FIG. 11 is a diagram illustrating the rotation direction of the link for appropriately deforming the cable duct.

  For example, as shown in FIG. 11, at the end of the link 2081 on the opposite side to the traveling direction, the folding prevention stopper 2081a (in the example shown in FIG. 11, the traveling of the link 2081 on the opposite side of the traveling direction). A projection protruding from a predetermined position at the end on the direction side), while the link 2081 on the traveling direction side is in contact with the bending prevention stopper 2081a of the adjacent link 2081 on the opposite side to the traveling direction. A protrusion 2081b protruding from the surface of the side link 2081 is formed.

  In the above configuration, it is assumed that the link 2081 on the traveling direction side tries to rotate in the direction opposite to the direction in which the first bogie members 201a and 201b exist with respect to the link 2081 adjacent on the opposite side to the traveling direction. At this time, at the timing when the two links 2081 are linearly arranged, the bending prevention stopper 2081a comes into contact with the protrusion 2081b from the side opposite to the direction in which the first bogie members 201a and 201b exist. The contact between the anti-bending stopper 2081a and the projection 2081b prohibits the two links 2081 from rotating further in the reverse direction from the state in which the two links 2081 are aligned in a straight line, thereby further rotating the link 2081 in the reverse direction. Can be restricted.

Since each of the plurality of links 2081 forming the cable duct 208 has the above-described configuration, as shown in FIG. 12, the cable duct 208 is further recessed from the convexly deformed state, and the first bogie on the front side is formed. Forcible deformation can be avoided in the wirings W1 and W2 extending from the rear part of the member 201a to the front part of the first bogie member 201b on the rear side. As a result, the wirings W1 and W2 can be prevented from being damaged by the unreasonable deformation.
FIG. 12 is a diagram schematically illustrating an example when the cable duct is inappropriately deformed.

(7) Control structure of automatic warehouse The control structure of the automatic warehouse 1 is demonstrated using FIG. FIG. 13 is a block diagram showing a control configuration of the automatic warehouse.
The stacker crane 11 has a controller 81. The controller 81 is a computer having a processor (eg, CPU), a storage device (eg, ROM, RAM, HDD, SSD) and various interfaces (eg, A / D converter, D / A converter, communication interface, etc.). System. The controller 81 performs various control operations by executing a program stored in the storage unit (corresponding to a part or all of the storage area of the storage device).

The controller 81 may be composed of a single processor, but may be composed of a plurality of independent processors for each control.
Some or all of the functions of each element of the controller 81 may be realized as a program that can be executed by a computer system that constitutes the control unit. In addition, some of the functions of each element of the control unit may be configured by a custom IC.
Although not shown, the controller 81 is connected to a sensor for detecting the size, shape and position of the load, a sensor and switch for detecting the state of each device of the stacker crane 11, and an information input device.

The controller 81 controls the operation of each drive carriage 13 of the stacker crane 11. The controller 81 is connected to the linear motor 69 and the branching / merging switching device 61 of each drive carriage 13. Furthermore, the transfer device 15 and the lifting device 35 are connected to the controller 81, and the controller 81 can transmit a drive signal to them.
A sensor for detecting information related to the traveling state is provided in each drive carriage 13. As described above, the controller 81 can control suitable timing / capability based on the individual positions of each drive carriage 13 such as travel drive and branch switching.

  The controller 81 can communicate with the host controller 83. The host controller 83 is a computer that includes a CPU, a RAM, a ROM, and the like and executes programs. The host controller 83 controls the entire automatic warehouse 1 and, in particular, controls the transfer and transfer of the container 23 and the collection shelf member 25 by the stacker crane 11 and the assortment of goods delivered by these. The host controller 83 has a function of managing the stacker crane 11 and assigning a travel command or a transport command to these. The “conveyance command” includes a travel command and a transfer command including the load holding position and the unloading position.

2. Common Items of Embodiment The first embodiment has the following configurations and functions.
The stacker crane 11 (an example of a traveling vehicle) includes a plurality of driving carts 13 (an example of driving carts), a first bogie member 201a on the front side (an example of a front bogie connecting portion), and a first bogie member 201b on the rear side (rear). An example of a side bogie connecting portion) and wirings W1 and W2 (an example of wiring). The plurality of drive carriages 13 are arranged side by side in the traveling direction. The first bogie members 201a and 201b connect the plurality of drive carts 13 by bogie connection before and after the traveling direction. Wirings W1 and W2 extend from the end portion on the opposite side to the traveling direction of the front first bogie member 201a (an example of the rear portion of the front bogie connecting portion) to the end portion on the traveling direction side of the first bogie member 201b on the rear side. It is directly connected to (an example of the front portion of the rear bogie connecting portion).

  The wirings W1 and W2 are directly connected from the end portion on the opposite side to the traveling direction of the first bogie member 201a on the front side to the end portion on the traveling direction side of the first bogie member 201b on the rear side. Wirings W1 and W2 for the drive carriage 13 can be made in series. As a result, branching of the wirings W1 and W2 can be reduced, and the volume of the wirings W1 and W2 in the bogie member can be reduced.

3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(A) The configuration of the link 2081 that limits the deformation of the cable duct 208 to a convex shape is not limited to the example described in the first embodiment, and has the same function (limits the rotation direction and the rotation amount of the links 2081). Any configuration is possible.

  (B) The arrangement method of the wirings W1 and W2 and the configuration and arrangement method of the cable duct 208 (link 2081) described in the first embodiment are arranged such that a plurality of drive units such as a drive carriage are arranged in the running direction. The present invention can also be applied to other traveling vehicles other than the stacker crane 11 being used.

  The present invention relates to a traveling vehicle having a plurality of drive carriages arranged side by side in a traveling direction.

DESCRIPTION OF SYMBOLS 1 Automatic warehouse 5 Rack 5a Shelf 5b Passage 7 Ceiling rail 9 Lower guide rail 11 Stacker crane 12 Upper traveling cart 13 Driving cart 13a Driving cart shaft 15 Transfer device 17 Lower traveling cart 23 Container 25 Collection shelf member 28 Corrugated cardboard box 29 Bogie Structure 31 Mast 33 Upper base member 34 Lower base member 35 Lifting device 37 Lifting platform 39 Lifting unit 40 Lifting drive motor 41 Chain 43 Control panel 45 Lifting frame 45a Supporting unit 46 Lifting drive sprocket 47, 49 Pin 51 Axle shaft 53 Traveling wheel 59 Side guide roller 61 Branch / junction switching device 63 Branch switching roller 65 Plate 68 Motor 69 Linear motor 75 Rail main body 75a Traveling wall 75b Side wall 77 Support member 78 Magnet rail 81 Controller 83 Host controller 101 Magnetic pole center 201a, 201b First bogie member 202 First shaft 203 Second bogie member 203a Second shaft 205 First stage bogie structure 207 Second stage bogie structure 208 Cable duct 2081 Link 2081a Bending prevention stopper 2081b Projection 209 Third stage bogie structure P Pallet W1, W2 Wiring

Claims (3)

A plurality of drive carts arranged side by side in the traveling direction;
A front bogie connecting portion and a rear bogie connecting portion for bogie connecting the plurality of drive trolleys before and after in the traveling direction;
Wiring directly connected from the rear part of the front bogie connection part to the front part of the rear bogie connection part;
A traveling vehicle equipped with Further comprising a mast supported by the plurality of drive carriages,
2. The wiring extends along the mast, and enters an end portion of the front bogie connecting portion or an end portion of the rear bogie connecting portion located at the shortest position from one end of the mast. The traveling vehicle described in 1. A cable duct extending from the rear portion of the front bogie connection portion to the front portion of the rear bogie connection portion;
The cable duct has a plurality of links,
The plurality of links are convex in a horizontal direction orthogonal to the traveling direction in plan view as a whole, and have a bending prevention stopper that abuts on an adjacent link so that the convex does not dent. 2. The traveling vehicle according to 2.

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