JP2827776B2 - Transfer equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer facility used in a line for incorporating an internal combustion engine (engine) into a vehicle body, for example, in an automobile manufacturing plant.

[0002]

2. Description of the Related Art Conventionally, as this kind, for example, the structure shown in FIGS. 10 and 11 has been provided. That is, the ceiling-side transfer device 90 that supports and transfers the vehicle body A includes a trolley guide rail 91, a guide rail 92 erected thereabove, and a trolley device 93 supported and guided by the trolley guide rail 91.
A supporting device 94 attached to a lower portion of the trolley device 93; and a trolley device 93 supported and guided by the driving body rail 92.
And a driving device 95 using a chain that applies a moving force to the vehicle, and carries the vehicle body A on the upper carrying line 96.

The floor-side transfer device 100 for supporting and transferring the internal combustion engine B incorporated in the vehicle body A includes a plurality of wheels 101.
Is provided with a supporting portion 104 of the internal combustion engine B via a lifting / lowering device 103. Dolly 102
A passive pin 105 is suspended from the front and rear of the
A pit 106 that allows entry from above 05 is formed on the floor 107 side.

In the pit 106, guide rails 108 and 109 are disposed in two stages, upper and lower, and an upper guide rail 108 is provided.
Is a movable body (trolley) 110 to which the passive pin 105 is detachable.
And a lower guide rail 109 is provided with a driving device (chain) 111 for applying a moving force to the movable body 110.
To guide. Thus, the carriage 102 is carrying the internal combustion engine B on the lower carrying line 112.

According to this conventional structure, the lower transfer line 11
2 is vertically opposed to the upper transfer line 96, where the trolley device 93 and the carriage 102
And are synchronized. Then, during the synchronous movement, the support portion 104 is raised by the lifting / lowering device 103, whereby the operator performs the intended assembly while the internal combustion engine B is installed in the vehicle body A from below.

[0006]

According to the above-mentioned conventional structure, the driving device 95 for moving the trolley device 93 and the bogie 102 are used.
The driving device 111 cannot move the trolley device 93 or the bogie 102 at the set correct speed due to elongation of the chain of each part, etc., even if the rotational speed is set correctly. The disassembly cannot be easily and accurately performed.

Further, since the carriage 102 is always driven at a predetermined speed by the driving device 111, the carriage 102 runs inefficiently on a non-working line excluding the built-in portion and the like. Many trolleys 10
2 is required. Further, on the floor side transfer device 100 side, a large width and deep pit 106 is formed on the floor 107 side, and a large-scale traveling drive facility is provided, so that the lower transfer line 112 can be easily changed. Can not be done.

An object of the present invention is to automatically and quickly absorb a speed difference between a ceiling-side transfer device and a floor-side transfer device, and to provide a floor-side transfer device that does not face the ceiling-side transfer device. It is an object of the present invention to provide a transport facility that can easily change a traveling speed at a high speed in a line section of the apparatus and can easily change a transport line of a floor-side transport apparatus.

[0009]

According to a first aspect of the present invention, there is provided a transfer apparatus for supporting a ceiling member for supporting a first member and a second member incorporated into the first member from below. And a part of a lower transfer line by the floor-side transfer device is formed vertically above and below an upper transfer line by the ceiling-side transfer device, and the ceiling-side transfer device includes a rail. And an upper movable body supported and guided by the rail, wherein the floor-side transport device has a lower movable body movable on a lower transport line, and the lower movable body supports the second member. The movable part has a movable part that can move up and down and move back and forth.
Configuration to correct the position within the setting range for the main unit
And, wherein the supporting portion is provided with a detector for detecting that it has moved back and forth above the preset range with respect to the main body side of the lower moving body detection the driving control for controlling the moving speed of the lower moving body based of the detection device A board is provided on the lower moving body .

[0010] In the transfer equipment of the second invention, the floor-side transfer device is constituted by a derivative provided on the floor side and a self-propelled trolley capable of automatically traveling while detecting the derivative.

[0011]

According to the structure of the first aspect of the present invention, the upper moving body can move on the upper conveying line in the ceiling side conveying apparatus, and the lower moving body can move on the lower conveying line in the floor side conveying apparatus. . In such a moving state, the upper moving body and the lower moving body can run synchronously opposite each other at the opposing portions of the two transport lines. By raising the support portion, the second member can approach the first member from below.

The raising of the second member is performed little by little, during which the final correction of the position of the second member with respect to the first member is performed. That is, synchronous traveling cannot be completely performed, and the moving speed of the floor-side transfer device is faster than the moving speed of the ceiling-side transfer device,
Or it's getting late. Here, when the moving speed of the floor-side transfer device is high, since the second member is located on the front side with respect to the first member, the final position correction is performed by moving the support portion backward, and the floor-side transfer is performed. When the moving speed of the device is slow, the second member is located on the rear side with respect to the first member, so that the final position correction is performed by moving the support portion forward.

Such a final position correction is performed when the movement in the front-rear direction due to the positional deviation is within the set range. However, the second member may be greatly displaced in the front-rear direction with respect to the first member, and the correction movement in the front-rear direction may be out of the set range. That is, when the movement of the support is out of the set range, the detection device detects that the support has moved out of the set range, and a speed increase or deceleration command is issued to the lower moving body based on the detection signal, As a result, the speed of the lower moving body is controlled to increase or decrease in speed so as to synchronize with the upper moving body.

According to the configuration of the second aspect of the present invention, the self-propelled trolley detects the derivative in the floor-side transport device, and automatically travels while correcting the displacement with respect to the derivative. Then, when the traveling is performed synchronously at the opposing portions of the two transport lines, the traveling speed of the self-propelled vehicle can be controlled in the same manner as described above.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. 1 and 2, reference numeral 1 denotes a ceiling-side transfer device, which is a trolley guide rail 2 which is an example of a rail, a guide rail 3 provided above the trolley guide rail, and an upper movement supported and guided by the trolley guide rail 2. A trolley device 4 as an example of a body, and a support device 5 attached to the trolley device 4
And a chain-type driving device 10 which is supported and guided by the driving member rail 3 to apply a moving force to the trolley device 4. The vehicle body A which is an example of the first member is supported by the supporting device 5.
And transported on the upper transport line 6.

As shown in FIGS. 2 and 9, the chain type driving device 10 includes a driven chain wheel 11 located on the upper side of the upper transfer line 6, a driven chain wheel 12 located on the lower side, and both chain wheels. 11,
The drive chain 13 is provided between the drive chain 13 and a drive unit (such as a motor with a speed reducer) 15 that is linked to a drive shaft 14 to which the drive chain wheel 12 is fixed. The transmission projections 16 provided at predetermined pitches on the drive chain 13 are configured to be detachable from the passive projections 7 provided on the trolley device 4 side.

As shown in FIGS. 1 and 2, a floor-side transfer device 20 that supports and transfers an internal combustion engine B, which is an example of a second member, includes a derivative (a guide magnet or the like) 21 provided on the floor 8 side, Detection device capable of detecting derivative 21 (guide sensor, etc.)
It comprises a self-propelled carriage 23 which is an example of a lower moving body having 22. The self-propelled carriage 23 has a drive wheel 25 at the front center of the main body 24.
And a pair of right and left driven wheels 26 at the rear.

Referring to FIGS. 3 to 6 and FIG.
Is mounted on the main body 24 so as to be pivotable together with a traveling drive device (such as a motor) 27, and a pivoting drive device 28 including a winding transmission structure and a motor is mounted on a traveling control panel 29 mounted on the front of the main body 24. Turning control, and the travel control panel 29
Controls the traveling speed of the self-propelled carriage 23 via the traveling drive device 27. The travel control panel 29 and the travel drive device 27 are connected to a battery 30 mounted at the rear of the main body 24, and the detection device 22 provided at the front of the main body 24 is connected to the travel control panel 29. Note that a component receiver 31 is provided on the traveling control panel 29.

The self-propelled carriage 23 in the floor-side transport device 20 having the above-described configuration can automatically travel on the lower transport line 32 while controlling the direction and speed by detecting the derivative 21 with the detection device 22. At this time, the lower transport line 32 is formed endlessly, and a part is formed so as to vertically face the linear portion of the upper transport line 6, and the facing portion is formed in the assembling work section 33. I have. The derivative 21 is laid in the groove 9 formed on the floor 8 side. At this time, a feeder cable 34 is laid along the derivative 21 and the upper surfaces of the two 21 and 24 are resin-molded (FIG. 4). reference).

A detecting device 22 capable of detecting the derivative 21 is provided on a side portion of the drive wheel 25, and a feeder radio 35 capable of opposing a feeder cable 34 is provided at a lower position of the detecting device 22 and a side portion thereof is provided. A charging collector 36 is provided, and optical transmission devices 37 are provided on both sides. Here, the feeder radio 35 and the optical transmission device 37 are respectively connected to the travel control panel 29.
, And the collector 36 is connected to the battery 30.

At the center of the main body 24, a lower lifter 41 is provided via a lower lifter 40. The lower lifting device 40 is composed of a plurality of (a pair of front and rear) cylinder devices. The cylinder body is fixed to the main body 24, and the upper end of the upward piston rod is connected to the flat frame-shaped lower lifting member 41. .

The lower lift 41 is provided with an upper lift 43 via an upper lift 42. The upper lifting device 42 comprises a cylinder device located at the center,
While fixing the cylinder body to the lower lifting body 41,
The upper end of the upwardly facing piston rod is a flat frame-like upper lifting body 43
It is connected to. Note that, at both front and rear positions of the upper lifting / lowering device 42, a vertical guide cylinder 44 provided on the lower lifting / lowering body 41 is provided.
And an elevating guide mechanism comprising a guide rod 45 suspended from the upper elevating body 43 so as to fit into the guide tube 44.

A left-right guide device is provided on the upper lifting body 43.
A lower slide plate 51 is provided via 50. That is, the left and right guide device 50 includes a plurality of left and right guide rails 52 disposed on the upper elevating body 43 and a sliding body 53 attached to the lower surface of the lower slide plate 51 so as to be fitted to the guide rail 52 from above. The LM guide is provided with a stopper (not shown) for restricting the horizontal movement limit of the lower slide plate 51.

Further, a lower lock mechanism 54 for maintaining the neutral position of the lower slide plate 51 is provided.
54 is a fitting member 56 which is continuously provided from the side of the lower elevating body 41 and has a V-shaped concave portion 55 which is open at the top, and a fitted member 57 which is vertically provided from the side of the lower slide plate 51. The fitted member 57 has a roller 58 that is guided on the V-shaped surface when descended, and that can be freely fitted into the concave portion 55.

An upper slide plate 61 is provided on the lower slide plate 51 via a front / rear guide device 60. That is, the front-rear guide device 60 includes a front-rear guide rail 62 provided on the lower slide plate 51 and a plurality of guide rails 62.
And a sliding body 63 attached to the lower surface of the upper slide plate 61 so as to fit the upper slide plate 61 from above, and a stopper (not shown) for restricting the upper and lower slide plates 61 from moving left and right is provided.

Further, an upper lock mechanism 64 for maintaining the neutral position of the upper slide plate 61 is provided.
Reference numeral 64 denotes a fitting member 66 which is continuously provided from the rear portion of the lower elevating body 41 and has a V-shaped concave portion 65 which is open at the upper surface, and a fitted member 67 which is vertically provided from the rear portion of the upper slide plate 61. The fitted member 67 has a roller 68 that is guided on the V-shaped surface when descended and that can be fitted into the concave portion 65. The above-described left and right guide device 50 and the front-rear guide device 60 constitute a planar motion permitting device.

From the upper slide plate 61, a support portion (skit) 69 extending in the left-right direction and backward is provided continuously.
The internal combustion engine B is configured to be supported between the support portions 69. A detection device 70 is provided for detecting that the support portion 69 has moved back and forth with respect to the main body 24 side of the self-propelled carriage 23 beyond a set range, and based on the detection of the detection device 70, the travel control panel 29 It is configured to control the moving speed of the self-propelled carriage 23 via the control unit.

That is, as shown in FIGS. 1 to 8, a detection object (striker) 71 is provided on the upper slide plate 61 on the support portion 69 side and the lower slide plate 51 on the main body 24 side. A pair of photoelectric switches 72 and 73 are provided. Here, the photoelectric switches 72 and 73 are spaced apart in the front-rear direction to obtain the above-described setting range L, and are mounted so as to be adjustable in the front-rear direction via brackets 74 and 75. A detection device 70 is constituted by the above-mentioned 71 to 75, and both photoelectric switches 72 and 73 are connected to the traveling control panel 29.

The main body 24 is provided with a plurality of lift levers 80 as operating tools for moving the lift devices (cylinder devices) 40 and 42 up and down, and further provided with a work completion button 81. . An air unit 82 for supplying air to the lifting and lowering devices 40 and 42 is mounted on a rear portion of the main body 24. The air unit 82 has a built-in accumulator and an air coupler 83.

As shown in FIG. 9, in the endless lower transfer line 32, a first station 84, a second station 85, and a standby section 86 are provided at a line portion extending from the end to the start of the assembling work section 33. Are arranged in this order, and ID tags 87 are provided at a plurality of places on the floor 8 side.

The stations 84 and 85 are formed in the loading section of the internal combustion engine B, and include an air supply device 88 and a charging device 89.
Is provided. The air replenishing device 88 is, for example, an air generating device such as a compressor, an air coupler attached to the end of a hose from the air generating device, and freely connectable to the air coupler 83 by a male and female type, and a cylinder for moving the air coupler in and out. The charging device 89 is formed of a rail type in which the collector 36 can freely contact from above.

The operation of the above embodiment will be described below. In the ceiling side transport device 1, the trolley device 4 supporting the vehicle body A moves by receiving the moving force from the chain type driving device 10, and conveys the vehicle body A on the upper transport line 6 at a predetermined speed. doing. In the floor-side transport device 20, the drive wheels 25 are forcibly rotated by the power of the battery 30 via the travel drive device 27, whereby the self-propelled vehicle 23 can automatically travel on the lower transport line 32.

At this time, the detecting device 22 detects the derivative 21, and when the position of the detecting device 22 is about to be shifted with respect to the derivative 21, the traveling control panel 29 sends a forward or reverse drive signal to the turning drive device 28. A command is issued, so that the self-propelled vehicle 23 can automatically travel on the lower transport line 32 while automatically correcting the displacement of the self-propelled vehicle 23.

The self-propelled carriage 23 supporting the internal combustion engine B is stopped by the standby unit 86. At this time, in the self-propelled carriage 23, the upper lifting body 43 is lowered with respect to the lower lifting body 41 by the lowering movement of the upper lifting / lowering device 42.
By fitting the fitted member 57 from above, the position of the lower slide plate 51 in the left-right direction with respect to the upper lifting / lowering body 43 is corrected to the center, and the corrected position is locked. Furthermore, by fitting the fitted member 67 to the fitting member 66 from above, the position of the upper slide plate 61 in the front-rear direction with respect to the lower slide plate 51 is corrected to the center, and the corrected position is changed. Locked.

In such a state, the self-propelled carriage 23 waiting in the standby section 86 is automatically driven again when the trolley device 4 reaches a predetermined position on the upper transfer line 6 and enters the built-in work section 33. go. 1 and 2, the self-propelled carriage 23 is moved toward the trolley device 4 with the internal combustion engine B facing a predetermined position of the vehicle body A transported on the upper transport line 6. Run synchronously.

A self-propelled carriage is used in the built-in work section 33.
The worker is attached to 23 and walks in synchronization with the running. During this walking, the operator operates the elevating lever 80, and the lower elevating body is moved relative to the main body 24 by the elevating movement of the lower elevating device 40.
At the same time, the upper lifter 43 is raised with respect to the lower lifter 41 by the upward movement of the upper lifter 42. As the upper lifting body 43 rises, both locking mechanisms 54, 64
Is automatically unlocked.

The above-mentioned upper elevating body 43 is lifted little by little, during which time the operator corrects the final position of the internal combustion engine B with respect to the vehicle body A. That is, the worker applies a force to the internal combustion engine B in the position correction direction. Accordingly, the position correction in the left-right direction can be performed by moving the lower slide plate 51 left and right with respect to the upper elevating body 43 by the allowable structure of the left-right guide device 50.

Further, the synchronous running is difficult to be completely synchronized, and the running speed of the self-propelled carriage 23 is faster or slower than the moving speed of the trolley device 4 side. That is, when the traveling speed of the self-propelled truck 23 is high, the internal combustion engine B
Is located on the front side, so the final position correction is
When the upper slide plate 61 is moved backward relative to the lower slide plate 51, and the traveling speed of the self-propelled carriage 23 is low,
Since the internal combustion engine B is located behind the vehicle body A, the final position correction is performed by moving the upper slide plate 61 forward with respect to the lower slide plate 51.

Such a final position correction is performed when the movement in the front-rear direction due to the positional deviation is within the set range L. However, the internal combustion engine B is largely displaced in the front-rear direction with respect to the vehicle body A, and the correction movement in the front-rear direction is limited to the set range L.
Sometimes outside.

That is, when the traveling speed of the self-propelled carriage 23 is high and the backward movement is out of the set range L, the detected object 71 moving backward together with the upper slide plate 61 is connected to the rear photoelectric switch 73. Will be detected. Then, a detection signal is given to the traveling control panel 29, and a deceleration command is issued from the traveling control panel 29 to the traveling driving device 27, and the self-propelled vehicle 23
Is decelerated to synchronize with the trolley device 4.

When the traveling speed of the self-propelled carriage 23 is low,
When the forward movement is out of the set range L, the subject 71 that moves forward together with the upper slide plate 61 is detected by the front photoelectric switch 72. Then, a detection signal is given to the travel control panel 29, and a speed increase command is issued from the travel control panel 29 to the travel drive device 27, so that the self-propelled carriage 23 travels at an increased speed in synchronization with the trolley device 4.

The internal combustion engine B whose position has been corrected with respect to the vehicle body A in this manner is incorporated into the vehicle body A from below as shown by the phantom lines in FIGS. A fixing operation is performed. When performing this fixing work, the components in the component receiver 31 are used. Then, the worker who has completed the fixing operation operates the lifting lever 80 in the reverse of the above-described manner, and the lower lifting device 40 moves the lower lifting device
At the same time, the upper lifting body 43 is lowered with respect to the lower lifting body 41 by the downward movement of the upper lifting / lowering device 42. The lowering of the upper elevating body 43 causes the two lock mechanisms 54 and 64 to move.
Is locked automatically.

Further, the operator presses the work completion button 81 together with the reverse operation of the lifting lever 80. As a result, the locking mechanisms 54, 64
The work is completely completed in a state where the lock operation is confirmed, whereby the self-propelled carriage 23 automatically travels on the lower transport line 32 at a high speed and stops at one of the stations 84 and 85. At the time of this stop, the operation of the loading device and the manual operation
A new internal combustion engine B is loaded for 69. This loading is performed stably and reliably because both the slide plates 51 and 61 are in a lock shape.

When stopped, the collector 36 is connected to the charging device.
The battery 30 is charged by automatically making contact with 89, and the air coupler of the air replenishing device 88 is connected to the air coupler 83 of the air unit 82 to replenish air to the accumulator of the air unit 82. Self-propelled trolley 23
Again automatically travels on the lower transport line 32 at high speed,
At 86, it stops temporarily and waits. As described above, the self-propelled trolley 23 traveling on the lower transport line 32 performs wireless transmission / reception with the ID tag 87, and confirms the presence or the like.

As shown in the above embodiment, when the stations 84 and 85 are provided at two places (a plurality of places),
The stop time at the 23 stations 84 and 85 can be sufficient, but this may be at one point. Although the guide magnet is shown as the derivative 21 in the above embodiment, it may be a magnetic tape or the like. In the case of a magnetic tape, a pickup coil is used as the detection device 22.

In the above-described embodiment, the trolley device 4 is shown as the moving body of the ceiling-side transfer device 1 and the self-propelled carriage 23 is shown as the moving body of the floor-side transfer device 20, but in the first invention, the ceiling-side transfer device is used. A type using a self-propelled mobile body supported and guided by a rail may be used as the mobile body of the device 1. Further, in the first aspect of the present invention, a self-propelled moving body may be used for the ceiling-side transport device 1 and a transport vehicle driven by a chain-type drive device may be used for the floor-side transport device 20. Alternatively, the trolley device 4 may be used for the ceiling-side transfer device 1 and a transfer trolley may be used for the floor-side transfer device 20.

[0047]

According to the first aspect of the present invention, the ceiling side is provided.
The second member of the floor-side transfer device is different from the first member of the transfer device.
When it is on the front side, the final position correction is
It can be moved backward, and
Final position correction when the second member is located on the rear side
Can be performed by moving the support portion forward. This
The final position correction like
It can be performed when the movement is within the set range. Soshi
Thus, the second member is largely positioned in the front-rear direction with respect to the first member.
If the correction movement in the front-rear direction is out of the setting range,
In other words, when the movement of the support is out of the set range, this support
The detector detects that the unit has moved out of the set range,
Acceleration / deceleration finger to the lower moving body based on the detection signal of
Command, and synchronize this lower mobile with the upper mobile.
Speed-up or deceleration control can be performed as needed. Therefore, the movement of the first member in the upper moving body is performed by using the position correcting movement in the front-rear direction when the first member supported by the ceiling-side transfer device and the second member supported by the floor-side transfer device face each other. The moving speed of the second member in the lower moving body can be automatically adjusted to the speed, so that the two members can always run synchronously at the same speed, and various operations between the two conveying devices can be easily and accurately performed. Can be done.

According to the second aspect of the present invention, the moving body of the ceiling-side transfer device and the self-propelled trolley of the floor-side transfer device can always run synchronously at the same speed. At that time, since the floor side only needs to lay a simple structural derivative, the lower transfer line in the floor side transfer device can be easily changed,
In addition, by using a self-propelled carriage, it is possible to easily change the traveling speed in the lower transport line, and to perform efficient high-speed traveling in a non-working line portion that is not synchronously traveling, and to use the lower transport line. The number of units used on the line can be reduced.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a front view of a synchronous traveling unit of a transport facility.

FIG. 2 is a side view of a synchronous traveling unit of the transport equipment.

FIG. 3 is a partially cutaway plan view of the self-propelled carriage.

FIG. 4 is a partially cutaway rear view of the self-propelled carriage.

FIG. 5 is a partially cutaway front view of the self-propelled carriage.

FIG. 6 is a partially cutaway side view of the self-propelled carriage.

FIG. 7 is a partially cutaway side view of the detection device.

FIG. 8 is a partially cutaway plan view of the detection device.

FIG. 9 is a schematic plan view showing the entire line of the transfer facility.

FIG. 10 is a side view of a synchronous traveling unit of a transfer facility, showing a conventional example.

FIG. 11 is a front view of a synchronous traveling unit of the transport facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Ceiling-side conveyance device 2 Trolley guide rail (rail) 4 Trolley device (upper moving body) 5 Support device 6 Upper conveyance line 20 Floor-side conveyance device 21 Derivative 22 Detector 23 Self-propelled trolley (lower moving body) 24 Main body 27 Travel drive device 28 Swing drive device 29 Travel control panel 32 Lower transport line 33 Built-in work unit 40 Lower lift device 42 Upper lift device 50 Left and right guide device (planar motion allowable device) 51 Lower slide plate 60 Front and rear guide device ( 61 Upper slide plate 69 Support section 70 Detecting device 71 Detected object 72 Photoelectric switch 73 Photoelectric switch A Body (first member) B Internal combustion engine (second member) L Setting range

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kenzo Onikuda 3-2-11 Moundoshima, Nishiyodogawa-ku, Osaka-shi, Osaka Daifuku Co., Ltd. (56) References JP-A-60-234083 (JP, A) (58) Field surveyed (Int.Cl. ⁶ , DB name) B65G 47/61

Claims (2)

(57) [Claims] A ceiling-side transfer device that supports the first member ;
A floor-side transfer device that supports a second member that is incorporated into the first member from below. A part of a lower transfer line by the floor-side transfer device is vertically connected to an upper transfer line by the ceiling-side transfer device. Formed in opposition, the ceiling-side transfer device includes a rail and an upper moving body supported and guided by the rail, and the floor-side transfer device includes a lower moving body that is movable on a lower transfer line. This lower moving body,
A supporting portion for supporting the second member is movable up and down and back and forth, and by the back and forth movement of the supporting portion , the lower moving body side
To correct the position within the setting range for
Run serial support portion a detector for detecting that it has moved back and forth above the preset range with respect to the main body side of the lower moving body provided to control the moving speed of the lower moving body based on the detection of the detection device
Transport equipment characterized in that a row control panel is provided on a lower moving body . 2. The transportation equipment according to claim 1, wherein the floor-side transportation device is constituted by a derivative provided on the floor side and a self-propelled carriage capable of automatically traveling while detecting the derivative.