JP6798250B2 - Traveling vehicle - Google Patents

Description

The present invention relates to a traveling vehicle having a plurality of drive carriages arranged side by side in the 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 non-contact manner is provided to the traveling vehicle. There is a method of providing (for example, Patent Document 1).
Further, in an automated warehouse, a stacker crane is known as a transport device for unloading a load on a rack shelf or loading a load from a rack shelf. In this stacker crane, a plurality of drive carriages for running the stacker crane along the track are connected by a bogie connecting portion.

Japanese Unexamined Patent Publication No. 2001-128316

In the stacker crane described above, wiring for driving and controlling a plurality of drive carriages is provided at the bogie connecting 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 by using a connection terminal or the like. Therefore, if the number of wiring branches is increased, the number of connection terminals and wirings arranged in the bogie connecting portion increases. As a result, the volume of wiring at the bogie connection portion increases.

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

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.
The traveling vehicle according to the seemingly present invention includes a plurality of drive carriages, a front bogie connecting portion, a rear bogie connecting portion, and wiring. The plurality of drive carriages are arranged side by side in the traveling direction. The front bogie connecting portion and the rear bogie connecting portion connect a plurality of drive carriages to each other in the front-rear direction in the traveling direction. The wiring is directly connected from the rear part of the front bogie connection to the front part of the rear bogie connection.

By connecting the wiring directly from the rear portion of the front bogie connecting portion to the front portion of the rear bogie connecting portion, wiring for a plurality of drive carriages can be made in series. As a result, the branching of the wiring can be reduced and the volume of the wiring at the bogie connection 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 one end of the mast into the shortest end of the front bogie connection or the rear bogie connection from one end of the mast.
As a result, the wiring from a position away from the plurality of drive carriages can be connected in series to the plurality of drive carriages to reduce the branching of the wiring.

The traveling vehicle may further include a cable duct extending from the rear of the front bogie connection to the front of the rear bogie connection. 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 as a whole becomes convex in the horizontal direction orthogonal to the traveling direction in a plan view, and abuts on the adjacent link so that the convex does not dent.
As a result, it is possible to avoid unreasonable deformation of the wiring from the rear portion of the front bogie connecting portion to the front portion of the rear bogie connecting portion. As a result, it is possible to prevent the wiring from being damaged due to the unreasonable deformation.

In a traveling vehicle having a plurality of bogie-connected drive carriages, the branching of wiring can be reduced to reduce the volume of wiring at the bogie connection portion.

The schematic plan view of the automated warehouse which adopted one Embodiment of this invention. Schematic front view of an automated warehouse. Schematic plan view of the stacker crane. Perspective view of the stacker crane. Top perspective view of the stacker crane. Perspective view of the drive bogie. Perspective view of the ceiling rail. The schematic side view which shows the schematic structure of the bogie structure. The figure which shows the arrangement of the wiring in the 1st bogie member. The figure which shows typically the case where the cable duct is deformed appropriately. The figure which shows the rotation direction of a link for appropriately deforming a cable duct. The figure which shows typically an example when the cable duct is improperly deformed. A block diagram showing a control configuration of an automated warehouse.

1. 1. First Embodiment (1) Automated Warehouse 1 The automated warehouse 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic plan view of an automated warehouse in which one embodiment of the present invention is adopted. FIG. 2 is a schematic front view of the automated warehouse.

The automated 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. As shown in FIG. 2, the shelf 5a can store the collection shelf member 25 or the pallet P. 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 store a plurality of containers 23 and a cardboard box 28. The container 23 is a member capable of storing products. The bottom surface of the collection shelf member 25 has the same structure as the bottom surface of the pallet P, and is supported and conveyed by the stacker crane 11. Further, in FIG. 1, the alphabet is attached to the pallet P housed in the rack 5. A container 23 and a cardboard box 28 are housed in another rack 5 (not shown).

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

The automated warehouse 1 has a suspended stacker crane 11 (an example of a traveling vehicle) (hereinafter, referred to as “stacker crane 11”). The "suspended type" means that the superstructure runs and branches, and further suspends the substructure. As shown in FIG. 2, the stacker crane 11 travels in a suspended state from the ceiling rail 7.
The traveling direction of the stacker crane 11 is defined as the "traveling direction" and is represented by an arrow X in the figure. Further, the horizontal direction orthogonal to the traveling direction is designated as the "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 carriages 13 are provided. FIG. 3 is a schematic plan view of the stacker crane.
The stacker crane 11 has a transfer device 15 suspended so as to be able to move up and down with respect to a plurality of drive carriages 13. 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 FIGS. 4 and 5, the eight drive carriages 13 are arranged side by side in the traveling direction. Further, the drive carriage 13 has a bogie structure 29 (an example of a bogie connecting portion) as shown in FIGS. 3 and 9.
The bogie structure 29 allows the stacker crane 11 to 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, in the front-rear direction. The pair of masts 31 extend 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 the pair of masts 31 to each other.

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 to each other.
As shown in FIG. 9, both upper end 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 elevating frame 45 (described later). Further, 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 control and body weight reduction are realized.

The stacker crane 11 has an elevating device 35 for elevating and lowering the transfer device 15. The elevating device 35 has an elevating table 37 supported by the mast 31 and an elevating portion 39 for raising and lowering the elevating table 37. The elevating part 39 is provided on each of the pair of masts 31. The elevating unit 39 is a known device including 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. The upper end of the mast 31 is connected to the elevating frame 45, and the upper base member 33 is further fixed.
The transfer device 15 is provided on the elevating table 37. The transfer device 15 moves the load in the left-right direction and transfers the load to and from the shelf.
A control panel 43 is provided below one of the pair of masts 31.
In this embodiment, four drive carriages 13 are arranged corresponding to the mast 31 on the front side in the traveling direction, and four drive carriages 13 are arranged corresponding to the mast 31 on the rear side in the traveling direction. There is. In particular, the four drive carriages 13 are arranged so that the center of the four drive carriages 13 in the traveling direction corresponds to the center of the elevating drive sprocket 46. With the above configuration, the drive carriage 13 can evenly support the load acting on the lifting platform 37 and the mast 31.

(3) Drive carriage 13 The drive carriage 13 will be described with reference to 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 mounted on both ends of the axle shaft 51. Specifically, each traveling wheel 53 is two wheels. The traveling wheel 53 is placed on the traveling wall 75a (described later) of the ceiling rail 7.

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

The drive carriage 13 has a branching / merging switching device 61. The branching / merging switching device 61 is a device for selecting a traveling route at a branching / merging point in an orbit.
The branch merging switching device 61 has a branch switching roller 63. A pair of branch switching rollers 63 are provided side by side in the traveling direction, for a total of four. The branch switching roller 63 is arranged above the side guide roller 59. The distance between the branch switching rollers 63 in the left-right direction is shorter than the distance between the side guide rollers 59 in the left-right direction. 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 sliding 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 arranged on the side of the linear motor 69.

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

The side guide rollers 59 are arranged close to each other in the front-rear direction of the axle shaft 51, and partially overlap the pair of traveling wheels 53 in a plan view. Specifically, a part of the side guide roller 59 in the traveling direction is close to diagonally downward of the lower front and rear surfaces of the traveling wheel 53. As a result, the drive carriage 13 is miniaturized in the traveling direction.
The branch switching rollers 63 are arranged close to each other in the traveling direction of the axle shaft 51, and partially overlap the pair of traveling wheels 53 in a plan view. Specifically, a part of the branch switching roller 63 in the traveling direction is close to diagonally upward of the upper front and rear surfaces of the traveling wheel 53. As a result, the drive carriage 13 is miniaturized in the traveling direction.

(4) Ceiling rail The ceiling rail 7 will be described with reference to FIG. 7. 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 traveling wall 75a and a side wall 75b. The traveling wall 75a forms a pair of traveling surfaces arranged with a space in the left-right direction. The side wall 75b forms a pair of guide surfaces provided on both sides of the traveling 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-bearing 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. That is, the two drive carriages 13 have a bogie structure, the bogie structure has a bogie structure of four drive carriages 13, and the bogie structure has a bogie structure of eight drive carriages 13. Hereinafter, the bogie structure 29 will be described in detail.

The bogie structure 29 has first bogie members 201a and 201b in 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 drive carriage shafts 13a are rotatably supported at both ends in the traveling direction. That is, the first bogie members 201a and 201b rotatably support the pair of drive carriages 13, respectively. In this way, 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 has a second bogie member 203 in 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 way, in the stacker crane 11, the second-stage bogie structure 207 is realized for each pair of the first bogie members 201a and 201b, and the total number is two.

Further, the bogie structure 29 has a support portion 45a in which the second shaft 203a extending downward from the second bogie member 203 is rotatably supported in the elevating frame 45 fixed to the upper ends of the pair of masts 31. There is. 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 portion 45a rotatably supports the pair of second bogie members 203. In this way, in the stacker crane 11, the third-stage bogie structure 209 is realized for each pair of the second bogie members 203, and the third-stage bogie structure 209 is formed by the support portion 45a and the upper base member 33. It is configured.
With the bogie structure 29 described above, when a plurality of drive carriages 13 travel on the curved portion of the ceiling rail 7, each drive carriage 13 can face an appropriate direction, so that the drive carriages 13 can travel smoothly.

(6) Wiring As shown in FIG. 8, the stacker crane 11 has wirings W1 and W2 for transmitting and receiving control signals from the control panel 43 to the plurality of drive carriages 13 and / or supplying electric power. doing. One of the wirings W1 extends upward from the control panel 43 along the mast 31 on the traveling direction side, is moored by the elevating frame 45 on the traveling direction side, and then is the first bogie member 201a on the front side on the traveling direction side. Enter the front bogie connection part). At this time, the wiring W1 enters the first bogie member 201a from the end portion of the front side first bogie member 201a on the traveling direction side.

The other wiring W2 extends upward from the control panel 43 via the lower base member 34 along the mast 31 on the opposite side of the traveling direction, and is formed by the elevating frame 45 on the opposite side of the traveling direction. After mooring, it enters the first bogie member 201b (an example of the rear bogie connecting portion) on the rear side opposite to the traveling direction. At this time, the wiring W2 enters the first bogie member 201b on the rear side from the end portion on the side opposite to the traveling direction of the first bogie member 201b on the rear side.

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

As shown in FIG. 9, the wiring W1 from the mast 31 on the traveling direction side is arranged 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. Then, from the end portion on the side opposite to the traveling direction of the first bogie member 201a (an example of the rear portion of the front side bogie connecting portion), the end portion on the traveling direction side of the rear first bogie member 201b (rear side bogie connecting portion). It is directly connected to (an example of the front part of). FIG. 9 is a diagram showing the arrangement of wiring in the first bogie member.
As a result, the wirings W1 and W2 for the plurality of drive carriages 13 can be connected in series. As a result, the branching of the wiring can be reduced, and the volume of the 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 to 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 accommodating the wirings W1 and W2. Further, 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 in the traveling direction 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 adjacent link 2081 on the side opposite to the traveling direction.
With the above configuration, a plurality of links 2081 are connected in a bead to form a cable duct 208 having a length direction, and each link 2081 is rotatable with respect to an adjacent link 2081. Can be deformed in the length direction.

In the present embodiment, as shown in FIG. 10, when the first bogie members 201a and 201b rotate 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 a plan view. Each of the plurality of links 2081 is formed so as to be convex to. FIG. 10 is a diagram schematically showing a case where the cable duct is appropriately deformed.

Specifically, as shown in FIG. 11, the link 2081 (the link on the left side of the paper in FIG. 11) existing on the traveling direction side of a certain link 2081 (the link on the right side of the paper in FIG. 11) is relative to the certain link 2081. The first bogie members 201a and 201b can be rotated in the direction in which they are present (the direction of the curved arrow shown by the solid line in FIG. 11), while the opposite direction (shown by the one-point chain line in FIG. 11). In the direction of the curved arrow), the above two links 2081 cannot rotate further from the state in which they are arranged in a straight line.
FIG. 11 is a diagram showing 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 side opposite to the traveling direction on the traveling direction side, a bending prevention stopper 2081a (in the example shown in FIG. 11, traveling on the link 2081 on the opposite side of the traveling direction). A protrusion protruding from a predetermined position at the end on the direction side) is provided, while the bending prevention stopper 2081a of the adjacent link 2081 on the side opposite to the traveling direction abuts on the link 2081 on the traveling direction. A protrusion 2081b is formed that projects from the surface of the side link 2081.

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 adjacent link 2081 on the side opposite to the traveling direction. At this time, at the timing when the two links 2081 are aligned linearly, 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 are present. The contact between the bending prevention stopper 2081a and the protrusion 2081b prohibits the two links 2081 from rotating in the opposite direction from the linearly aligned state, so that the link 2081 rotates further in the opposite direction. You can limit the movement.

Since each of the plurality of links 2081 forming the cable duct 208 has the above configuration, the cable duct 208 is further recessed from the convexly deformed state as shown in FIG. 12, and the first bogie on the front side is further recessed. It is possible to avoid unreasonable deformation of the wirings W1 and W2 from the rear portion of the member 201a to the front portion of the first bogie member 201b on the rear side. As a result, it is possible to prevent the wirings W1 and W2 from being damaged due to the unreasonable deformation.
FIG. 12 is a diagram schematically showing an example when the cable duct is improperly deformed.

(7) Control Configuration of Automated Warehouse 1 The control configuration of the automated warehouse 1 will be described with reference to FIG. FIG. 13 is a block diagram showing a control configuration of an automated warehouse.
The stacker crane 11 has a controller 81. The controller 81 is a computer having a processor (for example, a CPU), a storage device (for example, ROM, RAM, HDD, SSD, etc.) and various interfaces (for example, an A / D converter, a D / A converter, a communication interface, etc.). It is a 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, or may be composed of a plurality of independent processors for each control.
A part or all of the functions of each element of the controller 81 may be realized as a program that can be executed by the computer system constituting the control unit. In addition, a part of the function 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 a load, a sensor and a 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 linear motor 69 of each drive carriage 13 and the branching / merging switching device 61 are connected to the controller 81. Further, a transfer device 15 and an elevating device 35 are connected to the controller 81, and the controller 81 can transmit a drive signal to them.
A sensor for detecting information on the traveling state is provided on each drive carriage 13. From the above, the controller 81 can control suitable timing and capability based on the individual positions of each drive carriage 13, such as traveling drive and branch switching.

The controller 81 can communicate with the host controller 83. The host controller 83 is a computer that executes a program including a CPU, RAM, ROM, and the like. The host controller 83 controls the entire automated warehouse 1, and in particular, controls the transfer and transportation of the container 23 and the collection shelf member 25 by the stacker crane 11, and the assortment of the goods to be delivered by these. The host controller 83 has an allocation function of managing the stacker crane 11 and assigning a traveling command or a transport command to the stacker crane 11. The "transport command" includes a traveling command and a transfer command including a loading position and an unloading position.

2. 2. Common Matters of the Embodiment The above-mentioned first embodiment has the following configurations and functions.
The stacker crane 11 (an example of a traveling vehicle) includes a plurality of drive carriages 13 (an example of a drive carriage), a front first bogie member 201a (an example of a front bogie connecting portion), and a rear first bogie member 201b (rear). A side bogie connecting portion) and wirings W1 and W2 (an example of wiring) are provided. 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 carriages 13 to the front and rear in the traveling direction, respectively. The wirings W1 and W2 are from the end portion on the front side opposite to the traveling direction of the first bogie member 201a (an example of the rear portion of the front side bogie connecting portion) to the end portion on the traveling direction side of the rear first bogie member 201b. It is directly connected to (an example of the front part of the rear bogie connection part).

A plurality of wirings W1 and W2 are directly connected from the end portion of the front first bogie member 201a opposite to the traveling direction to the end portion of the rear first bogie member 201b on the traveling direction side. Wiring W1 and W2 for the drive carriage 13 can be connected in series. As a result, the 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. 3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.
(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 amount of rotation between the links 2081). It can have any configuration.

(B) In the method of arranging the wirings W1 and W2 and the method of arranging and arranging the cable duct 208 (link 2081) described in the first embodiment, the drive units such as the drive trolleys are arranged side by side in the traveling direction. It can also be applied to traveling vehicles other than the stacker crane 11.

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

1 Automated warehouse 5 Rack 5a Shelf 5b Passage 7 Ceiling rail 9 Lower guide rail 11 Stacker crane 12 Upper sprocket 13 Drive sprocket 13a Drive sprocket shaft 15 Transfer device 17 Lower sprocket 23 Container 25 Collection shelf member 28 Cardboard box 29 Bogie Structure 31 Mast 33 Upper base member 34 Lower base member 35 Elevating device 37 Elevating platform 39 Elevating part 40 Elevating drive motor 41 Chain 43 Control panel 45 Elevating frame 45a Support part 46 Elevating drive sprocket 47, 49 Pin 51 Axle shaft 53 Traveling wheel 59 Side guide roller 61 Branch switching roller 63 Branch switching roller 65 Plate 68 Motor 69 Linear motor 75 Rail body 75a Running wall 75b Side wall 77 Support member 78 Magnet rail 81 Controller 83 Upper controller 101 Magnetic pole sensor 201a, 201b First bogie member 202 1st shaft 203 2nd bogie member 203a 2nd shaft 205 1st stage bogie structure 207 2nd stage bogie structure 208 Cable duct 2081 Link 2081a Bending prevention stopper 2081b Protrusion 209 3rd stage bogie structure P pallet W1, W2 Wiring

Claims (3)

At least four drive carts arranged side by side in the direction of travel,
A front bogie connecting portion that rotatably supports two of the four drive carriages in the front-rear direction in the traveling direction, respectively .
A rear bogie connecting portion that rotatably supports the remaining two drive carriages of the four drive carriages in the front-rear direction in the traveling direction, respectively.
A second bogie member that rotatably supports the front bogie connecting portion on the front side in the traveling direction and rotatably supports the rear bogie connecting portion on the rear side in the traveling direction.
Wiring directly connected from the rear portion of the front bogie connecting portion to the front portion of the rear bogie connecting portion, and
Traveling vehicle equipped with. Further equipped with a mast supported by the plurality of drive carriages,
The wiring extends along the mast and enters the end of the front bogie connecting portion or the rear bogie connecting portion at the shortest position from one end of the mast from one end of the mast. The traveling vehicle described in. Further provided, a cable duct extending from the rear portion of the front bogie connecting portion to the front portion of the rear bogie connecting portion is provided.
The cable duct has multiple links and
The plurality of links are convex in the horizontal direction orthogonal to the traveling direction as a whole, and have a bending prevention stopper that abuts on adjacent links so that the convex is not dented. The traveling vehicle described in 2.

Images