CN108237921B - Conveying trolley - Google Patents
Conveying trolley Download PDFInfo
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- CN108237921B CN108237921B CN201711005184.0A CN201711005184A CN108237921B CN 108237921 B CN108237921 B CN 108237921B CN 201711005184 A CN201711005184 A CN 201711005184A CN 108237921 B CN108237921 B CN 108237921B
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- power
- voltage
- storage device
- electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/38—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from conductor rails
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
- B61C3/02—Electric locomotives or railcars with electric accumulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Stand-By Power Supply Arrangements (AREA)
Abstract
The present invention relates to a conveyance cart that travels using electric power to convey an article. When the driving device (22) for traveling does not receive electric power supplied from a power receiving device (24) serving as a main power supply device, the driving device (22) is driven by the electric power stored in the power storage device (26). A voltage converter (30) for performing voltage conversion between the driving device (22), the power receiving device (24), and the power storage device (26) converts the stored voltage (V) output from the power storage device (26) B ) Monitoring is performed when the voltage (V) is accumulated during the period when the voltage converter (30) is operating as a booster B ) When the voltage is lower than a predetermined lower limit voltage, the connection between the voltage converter (30) as a booster and the power storage device (26) is disconnected.
Description
Technical Field
The present invention relates to a conveyance carriage that travels using electric power.
Background
In some cases, a conveyance vehicle that travels using electric power and conveys an article is used as the conveyance device. In the transport facility described in patent document 1, the transport carriage is supported and guided by the rail device to move on a fixed path. A power supply line is disposed along the rail device, and the power supply line supplies power to the conveyance carriage by a contactless power supply method.
Patent literature
Patent document 1: japanese patent laid-open publication No. 2003-079074
Disclosure of Invention
The movement path of the transport carriage may include not only a linear portion but also a curved portion or a portion where the movement paths are branched or merged. In order to supply power to the conveyance carriage by the non-contact power supply method also in such a portion, it is necessary to provide a power supply line even in a curved portion or the like. However, the work of arranging the feed line in a curved portion is more difficult than that in a linear portion, and the arrangement work cost is increased. In addition, at a portion where the movement path is branched, when the conveyance carriage enters the portion, either one of the left and right side surfaces of the conveyance carriage is separated from the rail device. In this case, in order to prevent interruption of power supply to the conveyance carriage, it is necessary to provide power supply lines on both left and right sides of a linear portion on the front side of the branched portion, and it is necessary to provide power receiving devices on both left and right sides of the conveyance carriage. Therefore, the range in which the power supply line is installed is expanded, which leads to an increase in wiring cost, and in addition, the number of power receiving devices is increased, which leads to an increase in material cost of the equipment. In this way, in order to supply power to the conveyance carriage by the contactless power supply method even in a portion other than the linear portion, the cost for constructing the apparatus increases.
In contrast, in the conveyance device described in patent document 1, no power supply line is provided in a curved portion (a branch/merge path portion) where the movement path of the conveyance carriage branches or merges. In the transport facility described in patent document 1, a battery is mounted on the transport carriage, and the transport carriage is supplied with power by the battery in an area where the power supply line is not provided.
However, such a conveying apparatus has the following problems: when the conveyance carriage stops in an area where no power feeding line is provided, it is difficult to start the movement of the conveyance carriage again. In the conveying facility, when an abnormality such as an obstacle is found in the conveying path, the conveying carriage may be stopped until the abnormality is resolved. At this time, when the conveyance carriage stops in an area where the power feeding line is not provided, the electric power stored in the battery is discharged during the stop of the conveyance carriage. Thus, even if the operator attempts to restart the movement of the conveyance carriage after the abnormality is resolved, the power necessary for the movement may not remain in the battery. In this case, the operator may perform: however, such an operation takes a lot of time, and adversely affects the operation efficiency of the entire facility.
In view of the above-described problems, an object of the present invention is to provide a transport carriage that travels using electric power and transports an article, wherein the transport carriage can travel using an electric storage device even when not receiving electric power supplied from a main power supply source, and the electric storage device can secure electric power necessary for restarting the movement of the transport carriage.
In order to solve the above problem, a conveyance carriage according to the present invention travels by electric power to convey an article, the conveyance carriage comprising: a driving device that drives the transport vehicle by being applied with a voltage equal to or higher than a predetermined driving voltage; a main power supply device that supplies power to the drive device; a power storage device that stores electric power supplied from the main power supply device; and a booster that is connected to the drive device and the power storage device, and that boosts a stored voltage output from the power storage device and supplies the boosted voltage to the drive device, wherein the drive device can be driven by receiving the supply of the power stored in the power storage device via the booster when the drive device does not receive the power supplied from the main power supply device, and wherein the booster monitors the stored voltage output from the power storage device, boosts the stored voltage to the drive voltage, and applies the stored voltage to the drive device, and disconnects the booster from the power storage device when the stored voltage is lower than a predetermined lower limit voltage.
Further, the transport vehicle according to the present invention may be arranged such that the transport vehicle travels along a guide rail provided along a predetermined transport path, and the guide rail is provided with: a power supply section in which a power supply line for supplying power to the main power supply device is provided; and a non-power-supply section in which the power supply line is not provided, wherein the drive device is driven by the power supplied from the power supply line via the main power supply device while the transport vehicle travels in the power supply section, the power storage device stores the power supplied from the power supply line, and the drive device is driven by receiving the supply of the power stored in the power storage device via the booster while the transport vehicle travels in the non-power-supply section.
In the transport carriage according to the present invention, the lower limit voltage may be equal to or higher than a voltage corresponding to an electric energy: and an amount of power required to cause the conveyance carriage to travel from the non-power-supply section to the power-supply section.
Effects of the invention
According to the transport carriage of the present invention, even when the supply of electric power from the main power supply device is not received, the electric power stored in the electric storage device compensates for the traveling electric power of the transport carriage, and therefore, the transport carriage can continue traveling even on the transport route in which the non-power supply section exists, and further, when the amount of electric power stored in the electric storage device decreases, the connection with the booster is disconnected, and therefore, the charging electric power of the electric storage device is not transmitted to the booster, and the electric power is not consumed by the drive device via the booster, and therefore, the electric power stored in the electric storage device does not further decrease, and the electric power necessary for restarting the movement of the transport carriage can be secured.
Drawings
Fig. 1 is a plan view showing an overview of an article transport facility including a transport carriage as an example of an embodiment of the present invention.
Fig. 2 is a block diagram showing a configuration of the conveyance carriage according to the present embodiment.
Fig. 3 is a flowchart showing an operation performed by the voltage converter of the transport carriage according to the present embodiment.
Description of reference numerals
10. Article transport facility 11 articles
12. Supply line for transport rail 14
15. Alternating current 16 linear section
18. Curve section 19 branch section
20. Conveying trolley 21 wheel
22. Driving device 24 power receiving device
26. Voltage converter for electricity storage device 30
38. Opening and closing device
Step-down operation S01 received voltage determination
S03 step-up operation S04 received Voltage determination
S05 accumulated voltage determination S06 off operation
Detailed Description
Fig. 1 shows an overview of a conveyance carriage 20 as an example of an embodiment of the present invention, and an article conveyance facility 10 including the conveyance carriage 20. As shown in fig. 1, the article transport facility 10 includes a plurality of transport carriages 20, and transport rails 12 are laid along a transport path on which the transport carriages 20 travel. The conveyance guide rails 12 are disposed 1 on each of the left and right sides with respect to the traveling direction of the conveyance carriage 20, and are disposed at intervals approximately equal to the vehicle width of the conveyance carriage 20. The wheels 21 of the conveyance carriage 20 are supported on the upper surface of the conveyance rail 12 and rotate, whereby the conveyance carriage 20 travels along the conveyance path. The conveyance carriage 20 can hold the article 11, and the conveyance carriage 20 travels along the conveyance rail 12 while holding the article 11, thereby conveying the article 11 in the article conveyance facility 10. Although the mechanism for holding the article 11 provided in the conveyance carriage 20 is not illustrated here, for example, a flat surface on which the article 11 can be placed may be provided on the upper surface of the conveyance carriage 20, or an arm capable of gripping the article 11 may be provided below the conveyance carriage 20.
The conveyance path of the conveyance carriage 20 has a linear section and a curved section. In the embodiment shown in fig. 1, in addition to 2 straight line segments 16 arranged in parallel, there are provided 2 circular arc-shaped curved segments 18 connecting an end of one straight line segment 16 and an end of another straight line segment 16. The entire conveying path is formed in a rounded rectangular shape by the straight section 16 and the curved section 18.
Further, a circular arc-shaped branch section 19 (short-cut section) is connected to the vicinity of the center of the straight section 16. Since the conveyance carriage 20 can pass through the branch section 19, it can move from one linear section 16 to the other linear section 16 without passing through the curved section 18. The conveyance carriage 20 can reach the destination on the shortest route by selecting whether to pass through the branch section 19 or the curved section 18 according to the need of where the carriage is to be moved in the article conveyance facility 10. In the branch section 19, the conveying guide rail 12 on the inner peripheral side of the straight section 16 IN Connected 2 arc-shaped conveying guide rails 12 BR The conveyance carriage 20 is disposed at an interval substantially equal to the vehicle width. Therefore, the inner peripheral side of the transport rail 12 is the linear section 16 IN Interrupted in correspondence with the width of the branch interval 19. Therefore, when the conveyance carriage 20 travels from one end to the other end of the linear section 16, the conveyance carriage 20 can continuously pass through the outer peripheral side conveyance rail 12 OUT A position close to the position of the inner peripheral side of the conveying guide rail 12, but at a position connected to the branch section 19 IN But temporarily separated.
A conveying guide rail 12 along the outer periphery of the linear section 16 OUT A power supply line 14 through which an alternating current flows is laid. As a method of laying the power supply line 14, for example, there is a method of embedding an electric wire in a groove provided in the transport rail 12. An ac power supply 15 for supplying a high-voltage ac current is connected to the power supply line 14. The conveyance carriage 20 can receive electric power from the power supply line 14 in a non-contact manner. On the other hand, the conveying guide rail 12 in the curved section 18 CUR And a conveying guide rail 12 of a branch section 19 BR The power supply line 14 is not provided. In addition, even in the linear section 16, the conveying guide rail 12 on the inner peripheral side IN The power supply line 14 is also not provided. Hereinafter, in the transport path, a section in which the feeder line 14 is provided (here, the straight section 16) may be referred to as a power feeding section, and a section in which the feeder line 14 is not provided (here, the curved section 18 and the straight section 16) may be referred to as a section in which the feeder line 14 is not providedBranch section 19) is referred to as an unpowered section.
Fig. 2 shows a block diagram of the conveyance carriage 20.
As shown in fig. 2, the conveyance carriage 20 includes: a power receiving device 24 that receives power from the power supply line 14 in a non-contact manner; a driving device 22 that drives the wheels 21 by the electric power supplied from the power receiving device 24 to rotate, thereby causing the conveyance carriage 20 to travel; and a power storage device 26 that stores the electric power supplied from the power receiving device 24. The transport vehicle 20 further includes a voltage converter 30, and the voltage converter 30 is connected to the power receiving device 24, the driving device 22, and the power storage device 26. Here, the driving device 22 and the voltage converter 30 are connected in parallel to the power receiving device 24, and the voltage converter 30 is disposed between the power receiving device 24 and the power storage device 26.
The driving device 22 is a device for rotating the wheels 21 of the conveyance carriage 20 by electric power, and is configured to include, for example, a motor and a rotation controller for the motor. The conveyance carriage 20 shown in fig. 1 has 4 wheels 21, and a plurality of motors (for example, 2 for front wheels and 2 for rear wheels) and a rotation controller are provided to rotate these wheels, but these plurality of motors and rotation controller are collectively shown as 1 driving device 22 here. Although the wheels 21 are rotated by the driving device 22 being driven by the voltage application, a relatively strong electric power of a predetermined level or more is required to run the conveyance carriage 20, and therefore, a predetermined driving voltage V needs to be applied to drive the driving device 22 D (e.g., 320V) or higher.
The power receiving device 24 includes a coupling coil (pick up coil) and a rectifier. The power receiving device 24 is disposed in: a position on the lower surface of the conveyance cart 20 or the like, which passes through the vicinity of the power supply line 14. Since the ac current flows through the power feeding line 14, the direction and intensity of the magnetic flux generated in the vicinity of the power feeding line 14 constantly fluctuate. The coupling coil generates an electromotive force by electromagnetic induction in accordance with the variation of the magnetic flux. The electromotive force is an alternating voltage, and is converted into a direct voltage by a rectifier and applied to the driving device 22. Thus, the power receiving device 24 does not directly supply powerThe line 14 contact can receive electric power from the power supply line 14. If the power receiving device 24 receives sufficient power from the power supply line 14, the power receiving device 24 will supply the driving voltage V D The above-described voltage is applied to the driving device 22 to cause the conveyance carriage 20 to travel. The power receiving device 24 is a main power supply device that supplies power to the driving device 22 in the conveyance carriage 20.
The voltage converter 30 is a bidirectional DC-DC converter that can perform an operation as a so-called booster that boosts a voltage applied to the input terminal and outputs the boosted voltage to the output terminal, and can perform an operation as a so-called step-down that lowers the voltage of the input terminal and outputs the lowered voltage to the output terminal. In addition, the voltage converter 30 can also switch the roles of the output terminal and the input terminal. The driving voltage V is supplied to the power receiving device 24 D While the above voltage is applied to the drive device 22, the voltage converter 30 is also applied with the drive voltage V D Above receiving voltage V R . In this case, the voltage converter 30 operates as a step-down transformer and receives the voltage V R Lowered to a lower voltage (e.g., 100V), and the electric power from the power-receiving device 24 is supplied to the electrical storage device 26. On the other hand, at the receiving voltage V applied by the power receiving device 24 R Lower than the driving voltage V D In the case of (3), the voltage converter 30 operates as a booster to convert the stored voltage V output from the power storage device 26 into the stored voltage V B (e.g., 100V) up to a drive voltage V D And applies it to the driving device 22. The voltage converter 30 has a switch 38 connected between the power storage device 26 and the voltage converter 30, and the electrical connection between the power storage device 26 and the voltage converter 30 can be disconnected or maintained by opening or closing the switch 38 according to the states of the power storage device 26 and the power receiving device 24.
The power storage device 26 is a capacitor (capacitor) or a battery, and is capable of receiving electric power (electric energy) from the outside and storing (charging) the electric power. The power storage device 26 can also supply the stored electric power to other electronic devices. While the voltage converter 30 operates as a step-down converter, the power storage device 26 stores the electric power supplied from the power receiving device 24. While the voltage converter 30 is operating as a booster, the power storage device 26 supplies electric power to the drive device 22 via the voltage converter 30.
How the voltage converter 30 operates will be described with reference to a flowchart shown in fig. 3. First, while the conveyance carriage 20 is traveling in the power feeding section (the linear section 16), the voltage converter 30 operates as a voltage reducer to cause the power receiving voltage V from the power receiving device 24 to be the received voltage V R Decreases and supplies electric power to power storage device 26 (step S01).
Receiving voltage V of voltage converter 30 to receiving device 24 R And the storage voltage V of the power storage device 26 B Monitoring is performed. While the voltage converter 30 is operating as a step-down converter, the reception voltage V is determined R Whether or not it is not lower than the driving voltage V of the driving device 22 D (step S02). If receiving the voltage V R Not lower than the driving voltage V D (step S02: NO), the voltage converter 30 continues to operate as a voltage reducer (return to step S01).
When the conveyance carriage 20 enters the non-power-supply section (the curve section 18 or the branch section 19), the power receiving device 24 does not receive the power supplied from the power supply line 14, and therefore the power receiving voltage V is R Decreases and eventually becomes zero. If the voltage converter 30 detects the receiving voltage V R Lower than the driving voltage V D (YES in step S02), the voltage converter 30 operates as a booster to boost the voltage V stored in the power storage device 26 B Is raised to a driving voltage V D At the same time, the electric power stored in the power storage device 26 is supplied to the drive device 22 (step S03). Thus, even in the non-power-supply section, the transport vehicle 20 can continue traveling by receiving the electric power supplied from the power storage device 26. Here, the storage voltage V of the power storage device 26 B Not constant but varies according to the amount of electricity stored in the electricity storage device 26. Therefore, in order to reliably apply the driving voltage V D The above voltage is applied to the driving device 22, and the voltage converter 30 can be operated according to the stored voltage V B The value of (c) defines the magnification of the boost. Specifically, the voltage converter 30 calculates the drive voltage V D And a storage voltage V B Ratio of (N = V) D /V B And make the accumulated voltage V B The voltage is raised by N times and the electric power is supplied to the driving device 22.
While the voltage converter 30 is operating as a booster, the voltage converter also supplies the receiving voltage V from the power receiving device 24 R Monitoring and confirming the receiving voltage V R Whether or not to remain below the drive voltage V D Is not changed (step S04). If receiving the voltage V R Not lower than the driving voltage V D (step S04: NO), the power reception device 24 resumes receiving power from the power supply line 14 when the conveyance carriage 20 passes through the non-power-supply section and reaches the power-supply section, and therefore the voltage converter 30 operates again as a step-down converter (return to step S01).
If it is supplied with the voltage V R Kept lower than the driving voltage V D If the state of (1) is not changed (YES in step S04), the voltage converter 30 checks whether or not sufficient electric power remains in the power storage device 26. Specifically, voltage converter 30 converts the storage voltage V output from power storage device 26 B Measuring and determining the accumulated voltage V B Whether or not it is lower than a prescribed lower limit voltage V L (e.g., 80V) (step S05). If the accumulated voltage V is outputted from the accumulator 26 B Not lower than the lower limit voltage V L (step S05: NO), since it is determined that sufficient power remains in the power storage device 26, the voltage converter 30 continues to operate as a booster (return to step S03).
At the storage voltage V output from the power storage device 26 B Below a predetermined lower limit voltage V L In the case of (YES in step S05), since sufficient electric power does not remain in the power storage device 26, the voltage converter 30 opens the shutter 38, thereby disconnecting the electrical connection between the voltage converter 30 and the power storage device 26 (step S06). Then, since then, the electric power stored in the power storage device 26 is not supplied to the drive device 22 via the voltage converter 30, the electric power stored in the power storage device 26 does not further decrease. Here, the predetermined lower limit voltage V L Is a predetermined value between the time when the conveyance carriage 20 starts traveling from the non-power-supply section and the time when the conveyance carriage starts travelingThe voltage value which is equivalent to the electric quantity needed in the power supply interval is reached.
Next, a case in which the electrical connection between the voltage converter 30 and the electrical storage device 26 is disconnected will be described. In the article transport facility 10 having a plurality of transport carriages 20 as shown in fig. 1, generally, the travel of each transport carriage 20 is controlled by a management system, not shown. The management system monitors the entire article transport facility 10 and controls the travel of each transport vehicle 20 in order to transport articles 11 safely and efficiently. For example, the management system controls the traveling speed of each of the conveyance vehicles 20 so that the conveyance vehicle 20 passes through a non-power-supplied section (the curve section 18 or the branch section 19) for a predetermined time period, or so that two or more conveyance vehicles 20 do not enter the same non-power-supplied section at the same time. When it is determined that the transport vehicle 20 cannot travel safely, the management system stops the travel of the transport vehicle 20. For example, when an obstacle is found on the conveyance guide 12, the management system stops the travel of the conveyance carriage 20 near the obstacle.
Here, when the conveyance carriage 20 stops in the non-power-supply section (the curve section 18 or the branch section 19), the conveyance carriage 20 is located at a position away from the power supply line 14, and therefore the power reception voltage V of the power reception device 24 shown in fig. 2 R Becomes zero. Therefore, the voltage converter 30 operates as a booster to supply the electric power stored in the power storage device 26 to the drive device 22. Even if electric power is supplied to the driving device 22, if the transport vehicle 20 cannot travel due to, for example, the management system interrupting the power transmission between the driving device 22 and the wheels 11, the electric power stored in the power storage device 26 is consumed (discharged) although the transport vehicle 20 remains stopped. If the obstacle is removed and the conveyance carriage 20 can travel safely, the management system resumes the travel of the conveyance carriage 20, but if the electric power of the power storage device 26 is continuously consumed for the period of time, the electric power that can travel the conveyance carriage 20 does not remain in the power storage device 26, and the conveyance carriage 20 may not travel using the electric power. In this case, the operator must manually operate the machineThe conveyance carriage 20 needs to spend time until it moves to the power supply section and starts traveling again. Therefore, when the conveyance carriage 20 stops in the non-power-supplied section, it is preferable that the power storage device 26 has electric power remaining therein necessary for the conveyance carriage 20 to be detached from the non-power-supplied section. Therefore, the voltage converter 30 disconnects the electrical connection between the voltage converter 30 and the power storage device 26 while electric power that allows the conveyance carriage 20 to automatically travel and to be disconnected from the unpowered section remains in the power storage device 26.
As described above, the storage voltage V of the power storage device 26 B Varies according to the amount of electricity stored in power storage device 26. The amount of electricity stored in the electricity storage device 26 and the storage voltage V output from the electricity storage device 26 B The values of (A) are: a fixed correspondence determined according to the electrical characteristics of the electrical storage device 26, and therefore if at the stored voltage V B Below a lower limit voltage V L When the electrical connection between the voltage converter 30 and the power storage device 26 is disconnected at that time, the lower limit voltage V of the voltage stored in the power storage device 26 is maintained L The state of the corresponding power is not changed. The electric energy required for the conveyance carriage 20 to automatically travel and to be disengaged from the unpowered section is quantitatively represented by "power consumption per unit time during automatic travel" x "and the time taken until the disengagement is completed", that is, the amount of electricity (WS, watt-seconds). The user of the article transport facility 10 can calculate the required amount of electric power in advance based on the mass of the transport vehicle 20 and the article 11, the length of the non-power-supplied section, the speed at which the transport vehicle 20 is caused to travel, and the like. Alternatively, the user may actually start traveling the conveyance carriage 20 from within the non-power-supply section to reach the power-supply section, and measure how much power is consumed in that time.
In addition, in order to allow the conveyance carriage 20 to reach the power feeding section without any problem regardless of the start of traveling from any position within the non-power feeding section, the lower limit voltage V may be set to L The following settings are set: the electric power required when the entrance of the longest non-power-supply section of the conveyance carriage 20 is stopped, that is, the voltage value corresponding to the required maximum electric power, or the voltage value equal to or higher than the voltage value is set.
As described above, according to the conveyance carriage 20 of the present embodiment, the driving device 22 does not receive the electric power supplied from the power receiving device 24, which is the main power supply device, in the curve section 18 and the branch section 19, which are the non-power-supply sections, but the conveyance carriage 20 can travel using the electric power stored in the power storage device 26 even in the non-power-supply sections. Therefore, the power supply line 14 can be eliminated from the curve section 18 and the branch section 19, and the work cost and the material cost required for laying the power supply line 14 can be reduced.
In addition, even in the linear section 16, the feeder line 14 is only provided on the outer peripheral side of the transport rail 12 OUT That is, the power receiving device 24 that receives electric power from the power feeding line 14 by the non-contact power feeding method may be provided only on the outer peripheral side of both the left and right sides of the transport vehicle 20 (the left side with respect to the traveling direction when the transport vehicle 20 travels in a right turn in the drawing), and therefore, the material cost of the power receiving device 24 can be reduced.
Further, according to the transport vehicle 20 of the present embodiment, before the energy stored in the power storage device 26 becomes equal to or less than the amount of electricity required to automatically travel in the non-power-supplied section and depart from the non-power-supplied section, the connection between the power storage device 26 and the voltage converter 30 is disconnected. Therefore, since a sufficient amount of electric energy remains in the power storage device 26, when the transport vehicle 20 starts traveling again after the transport vehicle 20 stops in the non-power-supplied section, the transport vehicle 20 can travel using the electric energy remaining in the power storage device 26 and leave the non-power-supplied section. Accordingly, since the operator does not need to move the conveyance carriage 20 by using human power, it does not take a long time to restart the travel of the conveyance carriage 20 stopped in the non-power-supply section, and the operation efficiency of the entire article conveyance facility 10 can be kept high.
In addition, according to the transport carriage 20 of the present embodiment, the storage voltage V is set as the voltage to be stored in the power storage device 26 B A voltage converter 30 which boosts and operates the booster supplied to the drive device 22, and therefore, the output stored voltage V can be used B Lower than the driving voltage V D Voltage ofA battery or a capacitor having a capacity is used as the power storage device 26. Therefore, the storage device 26 does not have to output the storage voltage V B The cost of the power storage device 26 is reduced by a large-capacity battery having a high voltage to the extent that the drive device 22 can be directly driven. In addition, the voltage converter 30 always stores the voltage V to the power storage device 26 to determine the step-up magnification B Since the monitoring is performed, the voltage V can be stored B Whether or not it is lower than the lower limit voltage V L And (4) judging. Therefore, it is not necessary to separately prepare a voltage converter 30 for converting the stored voltage V B The manufacturing cost of the conveyance cart 20 can be reduced by the monitoring device.
Although the conveyance carriage 20 of the present embodiment travels along the conveyance guide rail 12, the conveyance carriage 20 of the present invention is not limited to this. For example, the following structure is also possible: in a facility in which a power supply line is buried on a floor surface along a conveyance path, the conveyance carriage 20 travels on the floor surface along the power supply line and moves along the conveyance path.
In the present embodiment, the electric power stored in the power storage device 26 is used when the transport carriage 20 travels in the non-power-supply section, but the power storage device 26 may be used for other purposes. For example, when an instantaneous power failure occurs in the article transport facility 10, although the power supply from the power supply line 14 is temporarily stopped, the transport carriage 20 can be caused to travel by the electric power stored in the power storage device 26 during a period from the power failure to the recovery of the article transport facility 10.
In the present embodiment, the power receiving device 24 of the conveyance carriage 20 is a main power supply device that mainly supplies power to the drive device 22, but the main power supply device may be of another form. For example, the conveyance carriage 20 is not a non-contact power supply system, but a system in which an external power supply, which is a main power supply device, is directly connected. The following mode can also be adopted: the external power supply supplies power to the drive device 22 and stores power in the power storage device 22, and when the transport carriage 20 moves to a position separated from the external power supply and does not receive power supplied from the external power supply temporarily, the power stored in the power storage device 26 is used.
In the present embodiment, the voltage converter 30 that can operate as both the booster and the step-down converter is used, but the booster that performs the boosting operation and the step-down converter that performs the step-down operation may be different devices. In this case, even at the stored voltage V B In the case of a low voltage, the state where the voltage reducer and the electrical storage device 26 are electrically connected may be maintained as long as only the connection between the electrical storage device 26 and the voltage booster is disconnected.
In the present embodiment, the lower limit value (lower limit voltage) of the electric power of power storage device 26 is a voltage value corresponding to the following electric energy: the amount of electric power required for the conveyance carriage 20 to travel from the inside of the power feeding section and reach the power feeding section is not limited to this. For example, when a check point for checking the state of the transport carriage 20 is provided in the non-power-supply section, a voltage value corresponding to an amount of power required to move the transport carriage 20 to the check point may be set as the lower limit voltage.
In the present embodiment, the entire conveyance path on which the conveyance carriage 20 travels is formed in a rounded rectangular shape, but the conveyance path may be formed in any shape such as a circular shape or a polygonal shape. Among these, the transport path is preferably designed such that: at the time when the conveyance carriage 20 enters the non-power-supply section, the power storage device 26 is brought into a sufficiently charged state. For example, when a linear portion in the conveyance path is set as the power feeding section and a curved portion is set as the non-power feeding section, at least 1 linear portion may be disposed between the plurality of curved portions. In this way, the conveying path is preferably designed such that: the conveyance carriage 20 travels at least once in the non-power-feeding section (curved section) after passing through the power-feeding section (linear section).
Claims (1)
1. A transport vehicle that travels using electric power to transport an article, the transport vehicle being characterized in that,
the conveying trolley is provided with:
a driving device that drives the transport carriage by being applied with a voltage equal to or higher than a predetermined driving voltage;
a main power supply device that supplies power to the drive device;
an electric storage device that stores electric power supplied from the main power supply device; and
a booster connected to the drive device and the power storage device, for boosting a storage voltage output from the power storage device and supplying the boosted storage voltage to the drive device,
the drive device is capable of receiving and driving the electric power stored in the storage device via the booster when the drive device does not receive the electric power supplied from the main power supply device,
the conveying carriage travels along a guide rail provided along a predetermined conveying path,
the guide rail is provided with: a power supply section in which a power supply line for supplying power to the main power supply device is provided; and a non-power-feeding section in which the power supply line is not provided,
the booster monitors the stored voltage output from the power storage device, raises the stored voltage to the drive voltage, and applies the stored voltage to the drive device, and when the transport vehicle stops in the non-power-supply section, if the stored voltage decreases and becomes lower than a predetermined lower limit voltage, the connection between the booster and the power storage device is disconnected and the power stored in the power storage device is not supplied to the drive device,
wherein the drive device is driven by electric power supplied from the electric power feed line via the main power supply device while the transport vehicle travels in the electric power feed section, and the electric power storage device stores the electric power supplied from the electric power feed line,
the drive device receives the supply of the electric power stored in the storage device via the booster and drives the conveyance carriage while the conveyance carriage travels in the non-power-supply section,
the lower limit voltage is a value equal to or higher than a voltage corresponding to: and an amount of power required to cause the conveyance carriage to travel from the non-power-supply section to the power-supply section.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-252183 | 2016-12-27 | ||
| JP2016252183A JP6776889B2 (en) | 2016-12-27 | 2016-12-27 | Transport trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108237921A CN108237921A (en) | 2018-07-03 |
| CN108237921B true CN108237921B (en) | 2022-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711005184.0A Active CN108237921B (en) | 2016-12-27 | 2017-10-25 | Conveying trolley |
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| Country | Link |
|---|---|
| JP (1) | JP6776889B2 (en) |
| KR (1) | KR102398345B1 (en) |
| CN (1) | CN108237921B (en) |
| TW (1) | TWI731175B (en) |
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| JP7276468B2 (en) * | 2019-08-29 | 2023-05-18 | 村田機械株式会社 | running car system |
| KR102173130B1 (en) * | 2020-05-20 | 2020-11-04 | (주)그린파워 | Automated guided vehicle system |
| KR102654165B1 (en) * | 2020-07-28 | 2024-04-02 | 세메스 주식회사 | Apparatus for managing power of article transport vehicle in article transport system |
| KR102618817B1 (en) * | 2020-09-22 | 2023-12-27 | 세메스 주식회사 | Method for controlling transport vehicle in article transport system in fabrication facility and vehicle control apparatus thereof |
| IL302546A (en) * | 2021-01-20 | 2023-07-01 | Murata Machinery Ltd | Transport cart system |
| WO2023223754A1 (en) * | 2022-05-18 | 2023-11-23 | パナソニックＩｐマネジメント株式会社 | Mobile robot and rail movement system |
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Also Published As
| Publication number | Publication date |
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| TWI731175B (en) | 2021-06-21 |
| JP2018107907A (en) | 2018-07-05 |
| KR20180076283A (en) | 2018-07-05 |
| TW201823061A (en) | 2018-07-01 |
| KR102398345B1 (en) | 2022-05-16 |
| JP6776889B2 (en) | 2020-10-28 |
| CN108237921A (en) | 2018-07-03 |
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