| 摘要 |
PROBLEM TO BE SOLVED: To provide a transporting device capable of moving a dolly in a short time while transported objects placed on a table are prevented from falling off or collapsing. SOLUTION: The transporting device has a speed parameter computing part 45 to compute the speed parameter on the basis of the pre-entered limit value of the inclining angular accelerationαωand an inclination control part 46 to perform the inclination control of the table 25 on the basis of the speed parameter and the inclining angular accelerationαω. On the basis of the inclination angleθof the table 25 given by the inclination control part 46 and the speed parameter, a running control part 48 controls the running of a stacker crane so that the resultant vector of the running accelerationα(α=G*tanθ) acting on the object 24 placed on the table 25 and the gravitational acceleration G acts on the table 25 perpendicularly. COPYRIGHT: (C)2008,JPO&INPIT
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