| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an article conveying apparatus capable of effectively using regenerative electric power of a motor for horizontal driving. <P>SOLUTION: The article conveying apparatus is provided with a regenerative electric power collection and supply means that collects regenerative electric power generated in one of a motor for vertical driving and the motor for horizontal driving and freely supplies it to the other, and in which a vertical speed pattern is determined so that a period when a horizontal movement control part decelerates a moving body according to the change in speed given by a horizontal deceleration period of a horizontal speed pattern and a period when a vertical movement control part raises the moving body according to the change in speed given by a vertical speed pattern overlap, and in which the rise of the moving body is started at a rise start timing later than a movement start timing where the movement of the moving body is started, by delay time. <P>COPYRIGHT: (C)2012,JPO&INPIT |
