WO2011062218A1 - Article conveyance device - Google Patents

Article conveyance device Download PDF

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Publication number
WO2011062218A1
WO2011062218A1 PCT/JP2010/070556 JP2010070556W WO2011062218A1 WO 2011062218 A1 WO2011062218 A1 WO 2011062218A1 JP 2010070556 W JP2010070556 W JP 2010070556W WO 2011062218 A1 WO2011062218 A1 WO 2011062218A1
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WO
WIPO (PCT)
Prior art keywords
unit
carriage
traveling
power
charging
Prior art date
Application number
PCT/JP2010/070556
Other languages
French (fr)
Japanese (ja)
Inventor
健士 渡邊
山崎　恵一
Original Assignee
株式会社岡村製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2009264320A external-priority patent/JP2011109859A/en
Priority claimed from JP2009288906A external-priority patent/JP5581048B2/en
Application filed by 株式会社岡村製作所 filed Critical 株式会社岡村製作所
Priority to CN201080052099.XA priority Critical patent/CN102666185B/en
Publication of WO2011062218A1 publication Critical patent/WO2011062218A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/04—Cutting off the power supply under fault conditions
    • 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
    • B60L5/36—Current collectors for power supply lines of electrically-propelled vehicles with means for collecting current simultaneously from more than one conductor, e.g. from more than one phase
    • 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
    • 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
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • 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
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • 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
    • B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
    • B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • B66C11/06—Underhung trolleys running on monorails
    • 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
    • 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
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention includes a traveling rail disposed along a transportation path, and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state in which a conveyance support member is suspended, and conveys an article.
  • the present invention relates to an article conveyance device that is loaded on an object support member and conveyed along the conveyance path.
  • a lifting body that moves up and down via a suspension member with respect to the body of a ceiling-type transport vehicle (cart unit) that is driven by an installed battery is lowered to a ground station that performs a load transfer operation, and then moves up and down.
  • a transport system that charges a battery (power storage means) by connecting a charging connector provided on the body and a power connector provided on a ground station (for example, see Patent Document 1).
  • the conventional article transporting device stops power supplied from a battery (power storage unit) to a control circuit by a switch circuit when the unmanned vehicle (cart unit) is stopped.
  • the power consumption of the battery is suppressed, and the current flowing through the induction wire is detected by a detector, so that the switch circuit automatically restarts the unmanned vehicle.
  • Patent Documents 3 to 4 by stopping the power supplied from the power storage means to the control circuit when the cart unit is stopped, the power consumption of the power storage device can be suppressed and the cart unit can be restarted. It has become.
  • Japanese Patent No. 3674065 (page 5, FIG. 1) Japanese Laid-Open Patent Publication No. Sho 62-111321 (Page 2, Fig. 1) Japanese Patent No. 3136882 (page 4, Fig. 2) Japanese Patent No. 4082287 (page 3, FIG. 3)
  • the charging connector and the power connector are connected in the vicinity of the floor where the worker is present, and the high power necessary for driving the ceiling-type transport vehicle (cart unit). Since charging work is performed, it is not only dangerous when the worker approaches the ground station during charging, but the charging and power connector protrudes to the side of the elevator and ground station, so the worker is inadvertent There is also a risk that the battery may come into contact with the charging and power connector.
  • This invention was made paying attention to such a problem, and it aims at providing the goods conveyance apparatus which can perform the charging operation
  • An object is to provide a transport device.
  • an article transporting apparatus of the present invention includes: A traveling rail disposed along the transportation path; and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state where the transportation object supporting member is suspended, and an article is attached to the transportation object supporting member.
  • the carriage unit includes a driving unit that causes the traveling carriage to travel on the traveling rail, and an electric storage unit that supplies electric power to the driving unit, and a charging unit that charges the electric storage unit is included in the transport path.
  • the power supply unit is provided with a power supply unit that is connected to the power supply unit of the charging unit and is supplied with power.
  • the power supply unit of the charging unit and the power-supplied unit of the traveling carriage are: Since it is located above the traveling rail, charging work is performed by connecting the power feeding part of the charging means and the power supplied part of the traveling carriage at a position away from the floor where the worker is present. In addition, there is no risk that the worker will inadvertently come into contact with the power supply unit and the power supply unit, and the charging operation for the power storage means of the cart unit can be performed safely.
  • the article conveying apparatus of the present invention is The cart unit non-electrically maintains a control circuit that controls electric power supplied from the power storage means to the driving means, and a cut-off state that cuts off an electrical connection between the control circuit and the power storage means. And a switch circuit.
  • the switch circuit can prevent the electric circuit from shutting off the control circuit and the power storage means Therefore, the switch circuit itself does not consume power, the power storage means does not consume any power, and even if the cart unit is stopped for a long time, the power storage means can store power. Will be maintained.
  • the article conveying apparatus of the present invention is The power supply unit of the charging unit is provided above the traveling rail, and the power-supplied unit is provided on an upper surface of the traveling carriage. According to this feature, since the power feeding unit and the power supplied unit that are connected to each other are arranged at a position higher than the traveling carriage, the power feeding unit and the power supplied unit are further away from the floor where the worker is present. As a result, the power supply unit of the charging means does not get in the way when the traveling carriage travels on the traveling rail.
  • the article conveying apparatus of the present invention is The cart unit has at least two front and rear traveling carts, and the powered unit is provided on a traveling cart disposed on the rear side.
  • the traveling cart on the rear side is pressed against the traveling rail so as to be stable without shaking and rattling, and the power feeding unit of the charging means is provided by providing a power-supplied unit on the traveling cart on the rear side. Can be easily connected to the powered part of the traveling carriage.
  • the article conveying apparatus of the present invention is The power supply unit of the charging unit is connected to the power-supplied unit of the traveling carriage on condition that the power capacity of the power storage unit is equal to or less than a predetermined capacity. According to this feature, when the carriage unit passes through a part of the conveyance path where the charging means is disposed, it is not always necessary to perform the charging operation, and the operation efficiency of the carriage unit is not reduced.
  • the power storage means can be charged.
  • the article conveying apparatus of the present invention is A part of the conveyance path is a transfer position of the article with respect to the conveyed product support member, a branch position of the traveling rail, a junction position of the traveling rail, or a standby position of the cart unit. It is a feature. According to this feature, the speed of the carriage unit is reduced or stopped at the transfer place, the branch place, the joining place, or the standby place. The connecting work can be easily performed.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a non-electrical switch that detects a detected portion of a detected object that contacts the cart unit without depending on the electric power of the power storage means.
  • the non-electric switch can be used to maintain the disconnected state between the control circuit and the power storage means non-electrically without relying on the power from the power storage means, and the detected object can be Since the separation from the cart unit can be detected by a non-electric switch, the cart unit can be automatically activated by energizing the control circuit and the power storage means using the operation of the detected object.
  • the non-electrical switch in the present invention is a switch that operates electrically, including a mechanically operated switch such as a magnetic switch that operates by magnetic force and a limit switch that operates by physical contact. It is also a switch that allows power to be supplied from an independent power source without relying on the power of power storage means such as a photoelectric switch that is operated by the power of a small internal battery or a switch that is operated by a solar battery. If present, it can be used as a non-electric switch in the present invention.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a bistable relay that operates when the power capacity of the power storage means is equal to or less than a predetermined capacity. According to this feature, the cart unit is automatically stopped when the power capacity of the power storage means is equal to or less than a predetermined capacity, and the driving power of the drive means is weakened and the operation efficiency is lowered. Can be prevented from continuing to be operated, and by using the bistable relay, it is possible to non-electrically maintain the cut-off state between the control circuit and the power storage means.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a return circuit that returns an electrical connection between the control circuit in the cut-off state and the power storage unit by an external operation. According to this feature, the shut-off state between the control circuit and the power storage means can be restored by a manual external operation arbitrarily performed by the operator.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a delay circuit for delaying the switching state. According to this feature, even when the switch circuit is activated, the delay circuit does not immediately turn off, but the delay circuit supplies power to the control circuit and the drive means for a predetermined delay time.
  • the control circuit can control the driving means while the electric power continues to be supplied until it completely stops.
  • FIG. 1 is a plan view showing an overall image of the article transporting apparatus in the embodiment.
  • FIG. 2 is a side view showing the cart unit.
  • FIG. 3 is a side view showing the preceding carriage and the front traveling carriage.
  • FIG. 4 is a plan view showing a preceding carriage and a front traveling carriage.
  • FIG. 5 is a side view showing a rear traveling carriage and a subsequent carriage.
  • FIG. 6 is a plan view showing a rear traveling carriage and a subsequent carriage.
  • FIG. 7 is a cross-sectional view taken along line AA in FIG. 6 showing the rear traveling carriage.
  • FIG. 8 is a front view showing the stopper and the preceding carriage.
  • FIG. 9 is a sectional view taken along the line BB showing the stopper and the preceding carriage.
  • FIG. 10 is a rear view showing the contact portion and the charging device.
  • 11 is a cross-sectional view taken along the line CC in FIG. 10 showing the contact portion and the charging device.
  • FIG. 12 is a circuit diagram illustrating a switch circuit included in the cart control apparatus.
  • FIGS. 2 to 6, 8 and 11 is the front side (front side) of the cart unit
  • the lower side of FIGS. 4 and 6 is the left side of the cart unit
  • the left side of FIG. 10 is the left side of the cart unit
  • the right side of FIG. 8 is the left side of the cart unit.
  • Reference numeral 1 in FIG. 1 denotes an article to which the present invention is applied for transporting a container 2 (see FIG. 2) as an article in the present invention in which automobile parts are housed, for example, in a factory that manufactures automobiles and the like. It is a transport device.
  • the article conveying apparatus in the article conveying apparatus 1, two traveling rails 3 arranged along the conveying path and a plurality of carriages that can travel the traveling rail 3 counterclockwise in plan view.
  • the unit 4 is mainly composed of.
  • the traveling rail 3 is stretched over a predetermined height near the ceiling in the factory.
  • the cart unit 4 is configured to transport the container 2 in which automobile parts are stored along the transport path.
  • the two traveling rails 3 are pipes made of a metal material such as aluminum or steel, the upper surface 3a of which is formed as a horizontal plane, and are suspended from the ceiling in the factory along the transport path in the factory. Provided. Moreover, the traveling rail 3 is L-shaped in a cross-sectional view, so that traveling carriages 8 and 9 of a carriage unit 4 to be described later are not detached from the traveling rail 3 (see FIG. 7).
  • the traveling rail 3 is formed in an endless shape by combining a plurality of straight roads 3b and curved roads 3c, and from the main rail 3d that is the traveling rail 3 that forms the outer peripheral conveyance path. Traveling rails 3e, 3f, and 3g that branch and merge are provided.
  • the traveling rail 3 that branches inward from the main rail 3d on the upper side in FIG. 1 is referred to as a branch rail 3e
  • the traveling rail 3 that branches inward from the main rail 3d in the center of the plane is referred to as a branch rail 3f
  • the traveling rail 3 that branches inwardly from the main rail 3d is referred to as a branch rail 3g.
  • the branch rail 3e is provided with a loading station C1 (transfer location) for loading the container 2 onto the cart unit 4, and the branch rail 3g is an unloading station C2 (for unloading the container 2 from the cart unit 4).
  • the transfer rail) is provided, and the branch rail 3f is provided with a standby station C3 (standby location) for waiting the cart unit 4.
  • a branch station C4 (branch point) is provided at a branch point from the main rail 3d to the branch rails 3e, 3f, 3g, and the branch rails 3e, 3f, 3g join the main rail 3d.
  • a joining station C5 (joining place) is provided at the place to perform.
  • Each of the stations C1 to C5 has the same configuration and is a charging station C for charging the power storage device 5 (power storage means) provided in the carriage unit 4.
  • the article transport device 1 is provided with a main control device (not shown) for comprehensively managing the cart unit 4 and the charging station C.
  • the main control device receives information from the cart unit 4 and the charging station C, and controls a charging device 6 (charging means) and a stopper 7 which will be described later in the charging station C.
  • the cart unit 4 includes two traveling carts 8 and 9 that travel on the traveling rail 3, a preceding cart 10 (auxiliary cart) that travels in front of the front traveling cart 8, A succeeding carriage 11 (auxiliary carriage) that travels behind the side traveling carriage 9 and a carrier 12 that holds the container 2 are provided.
  • the preceding carriage 10 and the front traveling carriage 8 are connected by the connecting anchor 13, and the rear traveling carriage 9 and the subsequent carriage 11 are connected by the connecting anchor 14.
  • These carriages 8, 9, 10, 11 are arranged in series and travel on the upper surface 3 a of the traveling rail 3.
  • the carrier 12 (conveyed object support member) is suspended by suspension bars 15 attached to the front and rear traveling carriages 8 and 9, respectively.
  • the traveling cart 8 on the front side includes a main body portion 16 having a substantially U shape in a front view, a motor 17 (driving means) for causing the cart unit 4 to travel, and the motor 17. And the two wheels 18 that rotate in contact with the upper surface 3a of the traveling rail 3 by driving.
  • the front end of the main body 16 is pivotally supported by the rear end portion of the connecting collar 13 connected to the preceding carriage 10, and the front traveling carriage 8 swings horizontally around the pivot shaft 19. It has come to be.
  • the motor 17 is disposed on the rear side of the main body 16 so that the shaft 17a faces the front side, and a bevel gear 17b is attached to the tip of the shaft 17a.
  • wheels 18 are pivotally supported by connecting shafts 20 at the left and right ends of the main body 16.
  • a bevel gear 20 a that engages with the bevel gear 17 b is attached to the connecting shaft 20, and the left and right wheels 18 are driven to rotate when the motor 17 is driven.
  • the motor 17 is supplied with electric power by being connected to a power storage device 5 to be described later, and the power storage device is provided at a plurality of charging stations C provided at predetermined locations (part of the transport path) on the traveling rail 3. 5 is charged (see FIG. 1).
  • a hanging bar 15 extending downward is attached to a substantially central portion of the lower end portion of the main body portion 16.
  • Guide rollers 21 are provided on the front and rear sides of the suspension bar 15, and these guide rollers 21 are pivotally supported so as to be independently rotatable about the vertical axis.
  • each guide roller 21 is arranged in the gap 22 between the traveling rails 3. Therefore, each guide roller 21 is in contact with the side end portions of the both traveling rails 3 while the traveling carriage 8 is traveling, so that the traveling carriage 8 is not separated from the traveling rail 3.
  • the rear traveling cart 9 is in contact with (connecting to) a main body portion 23 that is substantially U-shaped in a front view, two wheels 18 that rotate in contact with the upper surface 3a of the traveling rail 3, and a charging device 6 described later. ) And the contact portion 24 (power-supplied portion).
  • the contact portion 24 is connected to the power storage device 5 provided in the carrier 12 by wiring (not shown).
  • a front end portion of the connecting rod 14 connected to the succeeding carriage 11 is pivotally supported at the rear portion of the main body 23, and the rear traveling carriage 9 swings in the horizontal direction around the pivot shaft 26. It comes to be moved.
  • the wheels 18 are pivotally supported by shafts 18a at the left and right end portions of the main body 23, and the left and right wheels 18 are independently rotated.
  • the suspension bar 15 and the guide roller 21 are attached to the main body portion 23, similarly to the main body portion 16 of the front traveling carriage 8, and the configuration thereof is the same as that of the front traveling carriage 8.
  • an intermediate member 27 is attached to the lower part of the front and rear suspension rods 15, and a connecting rod 28 facing in the front-rear direction is attached between the intermediate members 27.
  • the front and rear traveling carriages 8 and 9 are connected to each other via the connecting rod 28, the intermediate members 27, and the suspension rod 15. Further, the upper end of the carrier 12 is attached to the lower end of the intermediate member 27.
  • the carrier 12 includes an upper saddle member 12a facing in the front-rear direction, a vertical saddle member 12b extending downward from a front end portion and a rear end portion of the upper saddle member 12a, and lower ends of the front and rear longitudinal saddle members 12b. It is comprised from the mounting board 12c attached to the part. Note that the carrier 12 is suspended from the front and rear traveling carriages 8 and 9 by attaching the upper saddle member 12 a to the intermediate members 27.
  • the motor 17 is connected to the power storage device 5 and the cart control device 29 by wiring (not shown).
  • a plate 31 having a substantially L shape in side view is attached to the upper ends of the two front and rear plates 30 erected on the inner side of the main body 23.
  • Contact portions 24 are attached to the upper surfaces of these plates 31 via brackets 32.
  • each contact portion 24 is formed with a groove portion that opens upward and extends in the front-rear direction, and a conductor 33 is provided at the bottom thereof.
  • the conductors 33 of the two outer contact portions 24a and 24d are connected to the power storage device 5 by wiring (not shown).
  • the conductors 33 of the inner two contact portions 24b and 24c are connected (short-circuited) to each other by wiring (not shown).
  • the contact portions 24b and 24c are provided for confirming a connection state between a charging plug 52 of the charging device 6 described later and the contact portions 24a and 24d.
  • the preceding carriage 10 has a main body portion 34 that is substantially U-shaped when viewed from the front, and a four-wheel wheel 35 that rotates in contact with the upper surface 3 a of the traveling rail 3. is doing.
  • the front end portion of the connecting rod 13 is pivotally supported at the rear portion of the main body portion 34, and is swung in the horizontal direction around the pivot shaft 36.
  • a protrusion 37 that protrudes forward is provided at the front end of the main body 34.
  • a guide roller 38 having a diameter smaller than that of the guide roller 21 is provided at the lower end portion of the main body 34 in parallel in the left-right direction at the front and rear portions. These guide rollers 38 are pivotally supported so as to be independently rotatable about the vertical axis. Like the guide rollers 21, the guide rollers 38 abut against the side end portions of the both traveling rails 3 during the traveling of the preceding carriage 10, 10 is prevented from leaving the traveling rail 3.
  • a Z-shaped sensor support member 39 is attached to the inside of the main body 34.
  • a curve detection sensor 40 tilt detection means for detecting the curved path 3c is attached to the back side of the standing portion 39a of the sensor support member 39.
  • the curve detection sensor 40 is composed of a photo sensor, and an upper light emitting element (not shown) and a lower light receiving element (not shown) are arranged to face each other, and the light receiving element can receive light emitted from the light emitting element. It is like that.
  • a dog 41 detected by the curve detection sensor 40 is provided at the front end portion of the connecting collar 13, and the front end portion of the dog 41 is formed by cutting the left and right corners into squares and reducing the left and right widths. (See FIG. 4).
  • the dog 41 is shielded so that the light from the light emitting element does not reach the light receiving element.
  • the subsequent carriage 11 has a main body portion 42 that is substantially U-shaped when viewed from the front, and a four-wheel wheel 35 that rotates in contact with the upper surface 3 a of the traveling rail 3. is doing.
  • the rear end portion of the connecting rod 14 is pivotally supported at the front portion of the succeeding carriage 11, and the connecting rod 14 is swung horizontally around the pivot shaft 43.
  • a curve detection sensor 46 that detects the curved path 3c. ) Is attached.
  • the curve detection sensor 46 can detect a dog 47 attached to the rear end portion of the connecting saddle member 14, and the connecting saddle member 14, the dog 47, and the curve detection sensor 46 are symmetrical with respect to the configuration of the preceding carriage 10. It has the same configuration as described above.
  • the curve detection sensors 40 and 46 are connected to the cart controller 29 by wiring (not shown).
  • the dog 47 is removed from the curve detection sensor 46 to receive light.
  • the curve detection sensor 46 is moved to the dog 47. By detecting this, it is possible to detect that the carriage unit 4 has escaped from the curved path 3c.
  • the carriage controller 29 decelerates the traveling speed of the carriage unit 4. 17 is controlled.
  • the cart controller 29 accelerates the traveling speed of the cart unit 4 based on the curve detection information (swing detection information) that is detected by the curve detection sensor 46 that the cart unit 4 has escaped the curved path 3c.
  • the motor 17 is controlled.
  • the speed at which the carriage unit 4 travels on the straight road 3b is about 30 m / min
  • the curved road 3c is controlled to travel at a speed of about 20 m / min.
  • a front detection sensor 48 that is a detection sensor for detecting a front obstacle or the like inside is provided at the upper end portion of the sensor support member 39 of the preceding carriage 10. It is attached.
  • the front detection sensor 48 is a reflective photoelectric sensor provided with a light emitting element (not shown) and a light receiving element (not shown), and light emitted forward from the light emitting element is a front object (detected object). ) And the light receiving element receives the light so that a front object can be detected.
  • a substantially L-shaped sensor support member 49 facing the front side is attached to the front side of the standing portion 39 a of the sensor support member 39, and the main body is attached to the lower surface of the front end portion of the sensor support member 49.
  • a stop detection sensor 51 contact detection means for detecting an object disposed in the detection space 50 in the front part of the part 34 is attached.
  • the stop detection sensor 51 is a magnet switch in which a built-in magnet detects the proximity and contact of a magnetic material such as an iron material by a magnetic force.
  • the front detection sensor 48 and the stop detection sensor 51 are connected to the cart controller 29 by wiring (not shown).
  • the traveling speed of the carriage unit 4 is controlled to be reduced (5 m / min in this embodiment) by the carriage controller 29, and the stop detection is performed.
  • the sensor 51 detects the iron material arranged in the detection space 50, the carriage unit 4 is controlled to be stopped by the carriage control device 29.
  • a plurality of carriage units 4 are running on a running rail 3.
  • a rear carriage When the unit 4 approaches the front carriage unit 4, the front detection sensor 48 of the preceding carriage 10 on the rear side detects the subsequent carriage 11 (detected body) on the front side, and the traveling speed becomes 5 m / min. Decelerated.
  • the projecting portion 37 of the preceding preceding carriage 10 on the rear side comes into contact with the succeeding carriage 11 on the front side (detected body), and the dog 44 (detected portion) is placed on the rear side.
  • the carriage unit 4 on the rear side is stopped by the carriage control device 29 based on the contact detection information that enters the detected space 50 of the preceding carriage 10 and the stop detection sensor 51 detects the dog 44.
  • the charging station C is provided with a stopper 7 for stopping the cart unit 4. 8 and 9 show a state where the stopper 7 is in the lower position. In FIG. 9, the members such as the stopper 7 are not shown in cross section for easy understanding.
  • the stopper 7 has left and right side surface portions 7a having an inverted L shape in a side view and a rear surface portion 7b having a rectangular shape in a front view, and has a shape in which the front is recessed. Further, the stopper 7 is provided with two left and right stopper holding portions 69 attached to the support frame 55, and the stopper 7 is pivotally supported by the stopper holding portion 69, and is rotated up and down around the pivot shaft 70. (See FIG. 9). A dog 71 made of iron is attached to the back side of the rear surface portion 7 b of the stopper 7.
  • a motor 72 for rotating the stopper 7 is provided on the rear side of the stopper 7.
  • the motor 72 is held by a motor holding portion 73 attached to the support frame 55, and is installed so that a shaft (not shown) faces the left side (the right side of the paper).
  • the motor 72 is driven at the tip of the shaft.
  • a rotating member 74 that rotates together with the rotating member 74 is attached.
  • the motor 72 is connected to a main controller (not shown), and drive control is performed.
  • a rear end portion of a stopper operating member 75 for rotating the stopper 7 is pivotally supported at the front end portion of the rotating member 74, and the front end portion of the stopper operating member 75 and the left side surface portion 7 a of the stopper 7 are supported.
  • the stopper 7 is pivoted about a connecting bar 76 that connects the left and right side portions 7a.
  • bearings 77 are provided on the outer periphery of the pivot shaft 70 in the stopper 7 and the outer periphery of the connecting bar 76 in the stopper operating member 75, so that the pivot shaft 70 and the connecting bar 76 rotate smoothly. It comes to be moved.
  • stopper detection sensors 78 and 79 for detecting that the stopper 7 is in the upper position or the lower position are provided, and the stopper detection sensors 78 and 79 are photo sensors.
  • the stopper detection sensor 78 that detects the upper position is attached to a sensor support member 80 that is screwed to the right side (left side of the paper) of the support frame 55, and includes a light emitting element (not shown) and a light receiving element (not shown). It is installed to face in the front-rear direction.
  • a stopper detection sensor 79 for detecting the lower position is attached to the sensor support member 80 and is installed so that the light emitting element and the light receiving element face each other in the vertical direction.
  • a dog 81 detected by the stopper detection sensors 78 and 79 is attached to the side surface portion 7a of the stopper 7, and when the stopper 7 is at the lower position shown in FIG. When 7 is in the upper position, it is detected by a stopper detection sensor 78.
  • a carriage detection sensor 82 for detecting the preceding carriage 10 is attached to the rear side of the motor 72, and this carriage detection sensor 82 is a reflective photoelectric sensor like the front detection sensor 48 described above. . It is installed so that light is emitted obliquely forward from a light emitting element (not shown), can detect the cart unit 4 stopped at the charging station C, and information of the cart detection sensor 82 is a main controller (not shown). To be sent to.
  • the charging device 6 is provided with two outer charging plugs 52 (power feeding units) and two inner connection confirmation plugs 53. These plugs 52 and 53 extend in the left-right direction, and are held by a plug holding portion 54 that is substantially L-shaped in a side view so that the tip ends thereof have the same height.
  • a support frame 55 extends in parallel with the travel rail 3 above the travel rail 3 in the charging station C, and the support frame 55 includes two travel rails 3. It has the same left-right width as the side-by-side width, and has a reverse U-shape when viewed from the front.
  • the support frame 55 and the traveling rail 3 are connected by a connecting member 56 provided so as to surround the outer periphery.
  • a motor 58 is installed on the lower surface of the support frame 55 via a bracket 57.
  • the motor 58 is attached so that the shaft 58a faces the rear side, and a turning member 59 that is turned when the motor 58 is driven is attached to the tip of the shaft 58a.
  • the motor 58 is connected to a main control device (not shown) so as to control driving.
  • the motor 58 is driven and the pivot member 60 is pivoted together with the pivot member 59, the plug holding portion 54 is moved up and down. 10 and 11, a state where the charging plug 52 is lowered is shown.
  • bearings 63 are provided on the outer periphery of the pivot shaft 61 of the pivot member 60 and the rotating member 59 and on the outer periphery of the pivot shaft 62 of the pivot member 60 plug holding portion 54, and the pivot member 60 is smooth. It is designed to be rotated.
  • the support frame 55 above the charging device 6 is provided with two left and right linear bushes 64 facing downward, and an elevating part 64b that is fitted into the upper fixing part 64a of the linear bush 64 and can be moved up and down. It is attached to the plug holding part 54.
  • the plug holding portion 54 When the plug holding portion 54 is moved in the vertical direction, it is guided in the vertical direction by the linear bush 64, so that the plug holding portion 54 does not wobble in the horizontal direction.
  • the charging plug 52 can be moved up and down (movable) between a charging position where the charging plug 52 can be charged by connecting to the contact portion 24 of the succeeding carriage 11 and a standby position where the charging plug 52 is separated from the contact portion 24 of the succeeding carriage 11 and waits. ing.
  • plug detection sensors 65 and 66 that detect that the charging device 6 is located at the standby position or the charging position are arranged side by side (see FIG. 10).
  • the plug detection sensors 65 and 66 are attached to a sensor support member 67 screwed to the right side portion of the support frame 55, and are attached to the right side portion of the plug holding portion 54 when the charging device 6 is in the standby position.
  • the protruding portion 68 is detected by the upper plug detection sensor 65 and the charging device 6 is in the charging position, the protruding portion 68 is detected by the lower plug detection sensor 66.
  • the plug detection sensors 65 and 66 are photosensors similar to the curve detection sensors 40 and 46 described above, and are installed so that the light emitting element (not shown) and the light receiving element (not shown) face each other in the vertical direction. Has been.
  • the main control device (not shown) receives the position information of each cart unit 4, and when the voltage of the power storage device 5 received from the cart control device 29 is equal to or lower than a predetermined voltage, the cart unit 4 Control is performed such that the stopper 7 of the charging station C that passes next is lowered to stop the cart unit 4.
  • the charging station C is passed without operating the stopper 7.
  • the motor 72 is driven to rotate the rotating member 74 around the rotating shaft 83 in the clockwise direction as viewed from the side.
  • the stopper operating member 75 is moved forward while drawing an arcuate locus, the upper end portion of the stopper 7 is moved forward by the connecting bar 76, and the stopper 7 rotates about the pivot shaft 70. Then, the lower end of the stopper 7 is moved downward.
  • the protruding portion 37 of the preceding carriage 10 contacts the stopper 7 (detected body), the dog 71 (detected portion) enters the detected space 50 of the preceding carriage 10, and the stop detection sensor 51 detects the dog 71.
  • the cart unit 4 is stopped by the cart control device 29 based on the detection information.
  • the cart detection sensor 82 detects the preceding cart 10
  • the fact that the cart unit 4 is stopped at the charging station C is transmitted to the main controller.
  • the stopper 7 and the charging apparatus 6 are arranged so that the charging apparatus 6 is positioned directly above the rear traveling carriage 9 having the contact portion 24 for charging. Has been.
  • the motor 58 is stopped by the main controller (not shown), and each of the four plugs 52, 53 is detected. Is in contact with the conductor 33 of the four contact portions 24 (see FIGS. 10 and 11). At this time, the charging plug 52 contacts the outer contact portions 24a and 24d, and the connection confirmation plug 53 contacts the inner contact portions 24b and 24c.
  • connection confirmation plug 53 contacts the conductor 33 of the inner contact portions 24b and 24c, the inner contact portions 24b and 24c are short-circuited, and the charging plug 52 is in contact with the conductor 33 of the two outer contact portions 24. You can confirm that.
  • this short-circuit information is transmitted to the main control device (not shown), it is considered that the charging plug 52 is in contact with the contact portions 24a and 24d, and the power storage device 5 is connected from the charging device 6 via the contact portions 24a and 24d. Charging starts.
  • the motor 58 is driven by the main controller to rotate the rotating member 59, and the plug holding portion 54 is raised as the pivot member 60 is raised.
  • the motor 58 is stopped by the main controller.
  • the stopper 7 is raised by the control of the main controller.
  • the motor 72 is driven and the rotating member 74 is rotated clockwise around the rotating shaft 83 in a side view, and the stopper operating member 75 pivotally supported at the tip of the rotating member 74 is circular.
  • the upper end portion of the stopper 7 is moved rearward by the connecting bar 76, and the stopper 7 rotates around the pivot shaft 70 to lower the lower end portion of the stopper 7. Is moved upward.
  • the charging operation at the charging station C is controlled so as to be charged when the voltage of the power storage device 5 is equal to or lower than a predetermined voltage.
  • the power storage device 5 of the cart unit 4 can be charged without reducing the operational efficiency.
  • the aforementioned front detection sensor 48 is stopped.
  • the subsequent carriage 11 of the next carriage unit 4 is detected, and the subsequent carriage unit 4 is decelerated.
  • the stop detection sensor 51 described above detects the subsequent carriage 11 of the stopped carriage unit 4 and the subsequent carriage. Unit 4 is stopped.
  • the cart control device 29 in the cart unit 4 will be described with reference to FIG.
  • the cart control device 29 is connected to the motor 17 (driving means) of the traveling cart 8 described above, and is a PLC (Programmable Logic) as a control circuit in the present invention that performs sequence control of the motor 17. Controller).
  • PLC Programmable Logic
  • This PLC is connected to the power storage device 5 (power storage means) to supply power.
  • the motor 17 is supplied with power from the power storage device 5 via the PLC.
  • the N1 line that is the wiring on the cathode side of the power storage device 5 is connected to the PLC, and the wiring on the anode side of the power storage device 5 is connected to the PLC.
  • a main switch is provided on the wiring on the anode side.
  • the wiring on the upstream side of the main switch will be described as a P1 line, and the downstream side will be described as a P2 line.
  • the N1 line and the P2 line are connected to the motor 17 of the traveling carriage 8 from the PLC. Electric power is supplied to the motor 17 by the PLC, and control of the rotational speed of the motor 17 and brake control are performed.
  • the main switch when the main switch is turned on (connected state), the power storage device 5 and the PLC are electrically connected, and power is supplied to the PLC and the motor 17. Further, when the main switch is turned off (cut off), the electrical connection between the power storage device 5 and the PLC is cut off, and the power supply to the PLC and the motor 17 is stopped.
  • the main switch ON / OFF control is performed by a switch circuit included in the cart control device 29.
  • the main switch is configured as a relay switch controlled by a switch circuit.
  • the solenoid part of the main switch is connected to the N1 line and the P1 line.
  • a PLC switch controlled by a PLC a maintenance switch manually operated by an operator during maintenance, and the preceding carriage 10 described above are provided between the solenoid portion of the main switch and the N1 line.
  • the magnet switch of the stop detection sensor 51 constitutes a non-electric switch in the present invention that operates without depending on the power of the power storage device 5.
  • an R3 relay controlled by a voltage detector described later is provided between the solenoid part of the main switch and the P1 line.
  • the magnet switch is connected to the N1 line and the P1 line. Between the magnet switch and the P1 line, a solenoid part of the R1 relay and a solenoid part of the R2 relay connected to the PLC are provided in parallel. Furthermore, an R3 relay described later is provided between the magnet switch and the P1 line.
  • the ON / OFF control of the R1 relay is controlled by the energization state between the N1 and P1 lines provided with the solenoid portion of the R1 relay that is switched according to the ON / OFF state of the magnet switch.
  • the R1 relay When the N1 and P1 lines are energized by the magnet switch, the R1 relay is turned on, and when the N1 and P1 lines are cut off, the R1 relay is turned off. Note that the PLC detects the ON / OFF state of the R1 relay via the solenoid part of the R2 relay arranged in parallel with the solenoid part of the R1 relay.
  • the dog 44 (detected part) of the succeeding carriage 11 (detected body) of the other truck unit 4 or the dog 71 (detected part) of the stopper 7 (detected object) is the object of the preceding carriage 10.
  • the stop detection sensor 51 detects the dogs 44 and 71, and the cart control device 29 performs control to stop the cart 17 by stopping the motor 17.
  • the PLC detects the OFF state of the R1 relay via the solenoid part of the R2 relay, performs brake control of the motor 17, and stops the carriage unit 4. Then, after the operation of the carriage unit 4 is completely stopped, the PLC relay is turned off and the main switch is turned off.
  • the PLC controls the main switch so that it does not immediately turn off even when the magnet switch is turned off.
  • the PLC performs control to turn off the PLC relay and turn off the main switch after a predetermined delay time has elapsed since the magnet switch was turned off.
  • the delay circuit in the present invention is constituted by the PLC and the PLC relay.
  • the magnet switch is configured to maintain its OFF state non-electrically. That is, when the stop detection sensor 51 detects the dogs 44 and 71 and the magnet switch is turned off and the main switch is turned off, all of the PLC, the motor 17 and the switch circuit are electrically connected to the power storage device 5. Therefore, the power storage device 5 does not consume any power.
  • the magnet switch (stop detection sensor 51) of the switch circuit is turned on, the N1 and P1 lines are energized, and the R1 relay is turned on. Become.
  • the main switch is turned on by energization between the N1 and P1 lines provided with the solenoid portion of the main switch, and the PLC and the motor 17 are started.
  • the PLC activated at this time returns the PLC switch to the ON state.
  • the main switch is turned ON by energizing the N1 and P1 lines provided with the solenoid part of the main switch. be able to.
  • the maintenance switch is operated by an operator during maintenance of the cart unit 4.
  • the switch circuit has a voltage detection unit that detects the voltage (power capacity) of the power storage device 5.
  • This voltage detector is provided between the N1 line and the P1 line.
  • the voltage detection unit performs ON / OFF control of the R3 relay via the solenoid unit of the R3 relay.
  • the voltage detection unit is connected to the PLC, and when the power of the power storage device 5 is consumed and the voltage of the power storage device 5 detected by the voltage detection unit becomes equal to or lower than a predetermined voltage, the PLC Brake control is performed to stop the cart unit 4.
  • the solenoid part of the R3 relay is provided between the N1 line and the P1 line via the voltage detection part.
  • a detection part interrupts
  • the R3 relay is a bistable relay (latch relay), and maintains its OFF state non-electrically. That is, when the R3 relay is in the OFF state and the main switch is in the OFF state, all of the PLC, the motor 17, and the switch circuit are in a state in which the electrical connection with the power storage device 5 is cut off. The device 5 does not consume any power.
  • the solenoid part of the R3 relay is connected to the N1 line via a reset switch that is manually operated by the operator. When the operator manually operates the reset switch, the solenoid portion of the R3 relay can be energized to turn on the R3 relay.
  • the worker can manually start the cart unit 4 by moving the cart unit 4 manually at the charging station C to charge the power storage device 5 and operating the reset switch.
  • the maintenance switch and the reset switch constitute a return circuit in the present invention.
  • the carriage unit 4 includes the motor 17 that travels the carriage unit 4, the power storage device 5 that supplies power to the motor 17, and the power supplied from the power storage device 5 to the motor.
  • the power storage device 5 By having a PLC that performs control and a switch circuit that non-electrically maintains a cut-off state that cuts off the electrical connection between the PLC and the power storage device 5, the power storage device 5
  • the power supplied to the PLC and the motor 17 can be stopped by the switch circuit, and since the switch circuit maintains the non-electrical disconnection state between the PLC and the power storage device 5, the switch circuit itself does not consume power.
  • the power storage device 5 does not need to consume any power, and the power storage of the power storage device 5 is maintained even if the carriage unit 4 is stopped for a long time. .
  • the switch circuit includes the magnet switch as the non-electric switch in the present invention that detects the dogs 44 and 71 (the detected portion) without depending on the electric power of the power storage device 5.
  • the shut-off state between the PLC and the power storage device 5 can be maintained non-electrically without relying on the power from the power storage device 5, and the magnet switches detect that the dogs 44 and 71 are separated from the cart unit 4. Therefore, the operation of the dogs 44 and 71 can be used to energize the PLC and the power storage device 5 to automatically start the carriage unit 4.
  • the non-electrical switch in the present invention may be other than a magnetic switch that operates by magnetic force, for example, a mechanically operated switch such as a limit switch that operates by physical and mechanical contact. Also good. Further, even an electrically operated switch is independent of the power of the power storage device 5 such as a photoelectric switch that is operated by the power of a small internal battery or a switch that is operated by a solar battery. Any switch that can supply power from the power source can be used as a non-electric switch in the present invention.
  • auxiliary power storage device auxiliary power storage means
  • the switch circuit itself is operated by this auxiliary power storage device
  • this switch circuit Even if all the switches included in the switch are electrically operated, these switches can be configured as non-electrical switches that operate without depending on the electric power of the power storage device 5.
  • the switch circuit includes an R3 relay (bistable relay) that operates when the voltage (power capacity) of the power storage device 5 is equal to or lower than a predetermined voltage, so that the power capacity of the power storage device 5 is equal to or lower than the predetermined capacity.
  • R3 relay bistable relay
  • the cart unit 4 is automatically stopped, it is possible to prevent the cart unit 4 from continuing to operate in a state where the driving force of the motor 17 is weakened and the operation efficiency is lowered, and the R3 relay is bistable. By using the relay, it is possible to non-electrically maintain the disconnected state between the PLC and the power storage device 5.
  • the switch circuit includes a maintenance switch and a reset switch (return circuit) that restores the electrical connection between the PLC in the shut-off state and the power storage device 5 by an external operation, so that the PLC and the power storage device 5 are shut off.
  • the state can be restored by a manual external operation arbitrarily performed by the operator.
  • the switch circuit includes a PLC and a PLC relay (delay circuit) for delaying the cut-off state, so that even if the switch circuit is operated, the switch circuit is not immediately cut-off, but is predetermined by the PLC and the PLC relay. In this delay time, electric power is supplied to the PLC and the motor 17, and the electric power continues to be supplied until the motor 17 is completely stopped, so that the PLC can control the motor 17.
  • the carriage unit 4 includes a motor 17 that causes the traveling carriages 8 and 9 to travel on the traveling rail 3, and a power storage device 5 that supplies power to the motor 17.
  • the charging device 6 that charges the power storage device 5 is arranged in a part of the transport path, and the traveling cart 9 is provided with contact portions 24a and 24d that are connected to the charging plug 52 of the charging device 6 and fed with power, The charging plug 52 of the charging device 6 and the contact portions 24a and 24d of the traveling cart 9 are used when the power storage device 5 of the cart unit 4 is charged with a large amount of power necessary for driving the motor 17 at a predetermined position on the transport path.
  • the charging plug 52 of the charging device 6 and the contact portions 24a and 24d of the traveling carriage 9 are connected at a position away from the floor where the worker is present, so that charging is performed. Work line It came to be, and also eliminates the possibility that worker inadvertently contact the charging plug 52 and the contact portions 24a, 24d, the charging operation for power storage device 5 of the carriage unit 4 can be performed safely.
  • the charging plug 52 of the charging device 6 is provided above the traveling rail 3, and the contact portions 24 a and 24 d are provided on the upper surface of the traveling carriage 9, so that the charging plug 52 and the contact portion 24 a that are connected to each other are provided.
  • 24d is arranged at a position higher than the traveling carriage 9, so that the charging plug 52 and the contact portions 24a, 24d are connected to each other at a position further away from the floor where the worker is present, thereby improving safety.
  • the traveling carriages 8 and 9 travel on the traveling rail 3, the charging plug 52 of the charging device 6 can be prevented from getting in the way.
  • the cart unit 4 has at least two traveling carts 8 and 9 at the front and rear, and contact units 24a and 24d are provided on the traveling cart 9 arranged on the rear side so that the cart unit 4 can be charged.
  • the carrier 12 suspended from the traveling carriages 8 and 9 is swayed forward by the deceleration, so that the rear traveling carriage 9 is pressed against the traveling rail 3.
  • the contact part 24a, 24d is provided in the traveling cart 9 on the rear side, so that the charging plug 52 of the charging device 6 and the traveling cart 9 are in contact with each other.
  • the connection work with the parts 24a and 24d can be easily performed.
  • the charging plug 52 of the charging device 6 is connected to the contact portions 24a and 24d of the traveling vehicle 9 on the condition that the voltage of the power storage device 5 is equal to or lower than a predetermined voltage.
  • a part of the transport path includes the loading station C1 for loading the container 2 on the carrier 12 and the unloading station C2, the branch station C4 of the traveling rail 3, the merging station C5 of the traveling rail 3, or the cart unit 4. Since the station C3 is the standby station C3, the speed of the carriage unit 4 is reduced or stopped at these stations C1 to C5. Therefore, the charging plug 52 of the charging device 6 and the contact portion 24a of the traveling carriage 9 are provided. The connecting operation with 24d can be easily performed.
  • this invention is applied to the article conveyance apparatus 1 provided with the trolley
  • the present invention can also be applied to a transport cart.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

In order to enable the work of charging an electricity storage means of a load carrying unit to be safely performed, an article conveyance device is provided with a travel rail (3) which is disposed along a conveyance path and also with the load carrying unit which has a traveling load carrier (9) capable of traveling on the travel rail (3) while suspending an article support member, and the article conveyance device is adapted to convey an article along the conveyance path with the article loaded on the article support member. The load carrying unit is provided with a drive means which causes the traveling load carrier (9) to travel on the travel rail (3), and also with the electricity storage means which supplies electric power to the drive means. A charging means (6) which charges the electricity storage means is disposed at a part of the conveyance path. Electricity receiving sections (24a, 24d) which are connected to an electric power supply section (52) of the charging means (6) and receive the electricity are provided to the traveling load carrier (9).

Description

物品搬送装置Article conveying device
　本発明は、搬送経路に沿って配設された走行レールと、搬送物支持部材を吊り下げた状態で前記走行レール上を走行可能な走行台車を有する台車ユニットと、を備え、物品を前記搬送物支持部材に積載して前記搬送経路に沿って搬送する物品搬送装置に関する。 The present invention includes a traveling rail disposed along a transportation path, and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state in which a conveyance support member is suspended, and conveys an article. The present invention relates to an article conveyance device that is loaded on an object support member and conveyed along the conveyance path.
　従来、搭載されたバッテリにより駆動される天井式搬送車（台車ユニット）の車体に対して吊下部材を介して昇降する昇降体を、荷の移載作業を行う地上ステーションに降下させて、昇降体に設けられた充電コネクタと、地上ステーションに設けられた電源コネクタとを連結させて、バッテリ（蓄電手段）を充電する搬送システムがある（例えば、特許文献１参照）。 Conventionally, a lifting body that moves up and down via a suspension member with respect to the body of a ceiling-type transport vehicle (cart unit) that is driven by an installed battery is lowered to a ground station that performs a load transfer operation, and then moves up and down. There is a transport system that charges a battery (power storage means) by connecting a charging connector provided on the body and a power connector provided on a ground station (for example, see Patent Document 1).
　また、従来の物品搬送装置は、例えば、特許文献２に示すように、無人車（台車ユニット）の停止時に、バッテリ（蓄電手段）から制御回路に供給される電力をスイッチ回路により停止させることで、バッテリの電力消費を抑えるとともに、誘導電線を流れる電流を検出器により検出して、スイッチ回路が自動的に無人車を再起動させるようにしている。また、特許文献３～４も同様に、台車ユニットの停止時に、蓄電手段から制御回路に供給される電力を停止させることで、蓄電手段の電力消費を抑えるとともに、台車ユニットが再起動できるようになっている。 Further, as shown in Patent Document 2, for example, the conventional article transporting device stops power supplied from a battery (power storage unit) to a control circuit by a switch circuit when the unmanned vehicle (cart unit) is stopped. The power consumption of the battery is suppressed, and the current flowing through the induction wire is detected by a detector, so that the switch circuit automatically restarts the unmanned vehicle. Similarly, in Patent Documents 3 to 4, by stopping the power supplied from the power storage means to the control circuit when the cart unit is stopped, the power consumption of the power storage device can be suppressed and the cart unit can be restarted. It has become.
特許第３６７４０６５号公報（第５頁、第１図）Japanese Patent No. 3674065 (page 5, FIG. 1) 特開昭６２－１１３２１１号公報（第２頁、第１図）Japanese Laid-Open Patent Publication No. Sho 62-111321 (Page 2, Fig. 1) 特許第３１３６８８２号公報（第４頁、第２図）Japanese Patent No. 3136882 (page 4, Fig. 2) 特許第４０８２２８７号公報（第３頁、第３図）Japanese Patent No. 4082287 (page 3, FIG. 3)
　しかしながら、特許文献１に記載の搬送システムにあっては、作業員が居る床面近傍にて充電コネクタと電源コネクタとの接続がなされ、天井式搬送車（台車ユニット）の駆動に必要な大電力の充電作業が行われるため、充電中に作業員が地上ステーションに近づくと危険であるばかりか、充電及び電源コネクタが昇降体及び地上ステーションの側方に突出されているため、作業員が不用意に充電及び電源コネクタに接触してしまう虞もある。 However, in the transport system described in Patent Document 1, the charging connector and the power connector are connected in the vicinity of the floor where the worker is present, and the high power necessary for driving the ceiling-type transport vehicle (cart unit). Since charging work is performed, it is not only dangerous when the worker approaches the ground station during charging, but the charging and power connector protrudes to the side of the elevator and ground station, so the worker is inadvertent There is also a risk that the battery may come into contact with the charging and power connector.
　また、特許文献２に開示されたスイッチ回路では、無人車（台車ユニット）の停止時であっても、スイッチ回路とバッテリとは、電気的に接続された状態が維持されており、常に微量な電力がスイッチ回路に供給されて消費されてしまうため、長時間、無人車を停止させるとバッテリの電力が全て放電されてしまうという問題がある。また、特許文献３～４にも同様の問題がある。 Further, in the switch circuit disclosed in Patent Document 2, the switch circuit and the battery are maintained in an electrically connected state even when the unmanned vehicle (trolley unit) is stopped, and a very small amount is always obtained. Since the electric power is supplied to the switch circuit and consumed, there is a problem that if the unmanned vehicle is stopped for a long time, all the electric power of the battery is discharged. Patent Documents 3 to 4 have the same problem.
　本発明は、このような問題点に着目してなされたもので、台車ユニットの蓄電手段に対する充電作業を安全に行うことができる物品搬送装置を提供することを目的とする。 This invention was made paying attention to such a problem, and it aims at providing the goods conveyance apparatus which can perform the charging operation | work with respect to the electrical storage means of a trolley | bogie unit safely.
　また本発明は、このような問題点に着目してなされたもので、台車ユニットの停止時において、蓄電手段から制御回路に供給される電力を停止させるスイッチ回路の電力消費を無くすことができる物品搬送装置を提供することを目的とする。 Further, the present invention has been made paying attention to such problems, and an article that can eliminate the power consumption of the switch circuit that stops the power supplied from the power storage means to the control circuit when the cart unit is stopped. An object is to provide a transport device.
　前記課題を解決するために、本発明の物品搬送装置は、
　搬送経路に沿って配設された走行レールと、搬送物支持部材を吊り下げた状態で前記走行レール上を走行可能な走行台車を有する台車ユニットと、を備え、物品を前記搬送物支持部材に積載して前記搬送経路に沿って搬送する物品搬送装置において、
　前記台車ユニットは、前記走行台車を前記走行レール上で走行させる駆動手段と、前記駆動手段に電力を供給する蓄電手段と、を有し、該蓄電手段を充電する充電手段が前記搬送経路の一部に配置され、前記走行台車には、前記充電手段の給電部に連結されて給電される被給電部が設けられることを特徴としている。
　この特徴によれば、搬送経路の所定位置にて、駆動手段の駆動に必要な大電力の充電を台車ユニットの蓄電手段に行う際に、充電手段の給電部及び走行台車の被給電部は、走行レールよりも上方位置に配置されているため、作業員が居る床面から離れた位置で、充電手段の給電部と走行台車の被給電部の連結がなされて充電作業が行われるようになり、かつ作業員が給電部及び被給電部に不用意に接触してしまう虞もなくなり、台車ユニットの蓄電手段に対する充電作業を安全に行うことができる。 In order to solve the above-described problem, an article transporting apparatus of the present invention includes:
A traveling rail disposed along the transportation path; and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state where the transportation object supporting member is suspended, and an article is attached to the transportation object supporting member. In the article transport apparatus that loads and transports along the transport path,
The carriage unit includes a driving unit that causes the traveling carriage to travel on the traveling rail, and an electric storage unit that supplies electric power to the driving unit, and a charging unit that charges the electric storage unit is included in the transport path. The power supply unit is provided with a power supply unit that is connected to the power supply unit of the charging unit and is supplied with power.
According to this feature, when charging the storage unit of the carriage unit with a large amount of power necessary for driving the drive unit at a predetermined position on the transport path, the power supply unit of the charging unit and the power-supplied unit of the traveling carriage are: Since it is located above the traveling rail, charging work is performed by connecting the power feeding part of the charging means and the power supplied part of the traveling carriage at a position away from the floor where the worker is present. In addition, there is no risk that the worker will inadvertently come into contact with the power supply unit and the power supply unit, and the charging operation for the power storage means of the cart unit can be performed safely.
　本発明の物品搬送装置は、
　前記台車ユニットは、前記蓄電手段から前記駆動手段に供給される電力の制御を行う制御回路と、該制御回路と前記蓄電手段との電気的な接続を遮断する遮断状態を非電気的に維持するスイッチ回路と、を有することを特徴としている。
　この特徴によれば、台車ユニットの停止時において、蓄電手段から制御回路及び駆動手段に供給される電力をスイッチ回路により停止できるとともに、スイッチ回路が制御回路と蓄電手段との遮断状態を非電気的に維持するため、スイッチ回路自体が電力を消費することがなく、蓄電手段が一切の電力の消費をせずに済むようになり、長時間、台車ユニットを停止させても、蓄電手段の蓄電が維持されるようになる。 The article conveying apparatus of the present invention is
The cart unit non-electrically maintains a control circuit that controls electric power supplied from the power storage means to the driving means, and a cut-off state that cuts off an electrical connection between the control circuit and the power storage means. And a switch circuit.
According to this feature, when the carriage unit is stopped, the power supplied from the power storage means to the control circuit and the drive means can be stopped by the switch circuit, and the switch circuit can prevent the electric circuit from shutting off the control circuit and the power storage means Therefore, the switch circuit itself does not consume power, the power storage means does not consume any power, and even if the cart unit is stopped for a long time, the power storage means can store power. Will be maintained.
　本発明の物品搬送装置は、
　前記充電手段の給電部は、前記走行レールの上方位置に設けられるとともに、前記走行台車の上面に前記被給電部が設けられることを特徴としている。
　この特徴によれば、互いに連結される給電部及び被給電部は、走行台車よりも上方位置に配置されているため、作業員が居る床面からさらに離れた位置で、給電部と被給電部の連結がなされて安全性が向上されるばかりか、走行台車が走行レール上を走行する際に、充電手段の給電部が邪魔にならずに済むようになる。 The article conveying apparatus of the present invention is
The power supply unit of the charging unit is provided above the traveling rail, and the power-supplied unit is provided on an upper surface of the traveling carriage.
According to this feature, since the power feeding unit and the power supplied unit that are connected to each other are arranged at a position higher than the traveling carriage, the power feeding unit and the power supplied unit are further away from the floor where the worker is present. As a result, the power supply unit of the charging means does not get in the way when the traveling carriage travels on the traveling rail.
　本発明の物品搬送装置は、
　前記台車ユニットは、少なくとも前後２つの前記走行台車を有し、後方側に配置された走行台車に前記被給電部が設けられることを特徴としている。
　この特徴によれば、台車ユニットが充電作業のために減速される際に、この減速によって、走行台車に吊り下げられた搬送物支持部材は、その下部が前方に向かって揺動されるため、後方側の走行台車は走行レールに押し付けられて揺れやがたつきが生じずに安定するようになっており、この後方側の走行台車に被給電部が設けられることで、充電手段の給電部と走行台車の被給電部との連結作業を容易に行うことができる。 The article conveying apparatus of the present invention is
The cart unit has at least two front and rear traveling carts, and the powered unit is provided on a traveling cart disposed on the rear side.
According to this feature, when the carriage unit is decelerated for charging work, the lower part of the conveyed object support member suspended from the traveling carriage is swung forward by this deceleration. The traveling cart on the rear side is pressed against the traveling rail so as to be stable without shaking and rattling, and the power feeding unit of the charging means is provided by providing a power-supplied unit on the traveling cart on the rear side. Can be easily connected to the powered part of the traveling carriage.
　本発明の物品搬送装置は、
　前記充電手段の給電部は、前記蓄電手段の電力容量が所定の容量以下であることを条件に、前記走行台車の被給電部に連結されることを特徴としている。
　この特徴によれば、台車ユニットは、充電手段が配置された搬送経路の一部を通過する際に、常に充電作業を行う必要がなくなり、台車ユニットの運用効率を低下させずに、台車ユニットの蓄電手段を充電することができる。 The article conveying apparatus of the present invention is
The power supply unit of the charging unit is connected to the power-supplied unit of the traveling carriage on condition that the power capacity of the power storage unit is equal to or less than a predetermined capacity.
According to this feature, when the carriage unit passes through a part of the conveyance path where the charging means is disposed, it is not always necessary to perform the charging operation, and the operation efficiency of the carriage unit is not reduced. The power storage means can be charged.
　本発明の物品搬送装置は、
　前記搬送経路の一部は、前記搬送物支持部材に対する前記物品の移載箇所、または前記走行レールの分岐箇所、または前記走行レールの合流箇所、または前記台車ユニットの待機箇所となっていることを特徴としている。
　この特徴によれば、移載箇所や分岐箇所や合流箇所や待機箇所では、台車ユニットの速度が低下したり、若しくは停止したりするため、充電手段の給電部と走行台車の被給電部との連結作業を容易に行うことができる。 The article conveying apparatus of the present invention is
A part of the conveyance path is a transfer position of the article with respect to the conveyed product support member, a branch position of the traveling rail, a junction position of the traveling rail, or a standby position of the cart unit. It is a feature.
According to this feature, the speed of the carriage unit is reduced or stopped at the transfer place, the branch place, the joining place, or the standby place. The connecting work can be easily performed.
　本発明の物品搬送装置は、
　前記スイッチ回路は、前記台車ユニットに接触する被検出体の被検出部を、前記蓄電手段の電力に拠らずに検出する非電気的スイッチを含むことを特徴としている。
　この特徴によれば、非電気的スイッチを用いて、制御回路と蓄電手段との遮断状態を、蓄電手段からの電力に拠らずに非電気的に維持することができるとともに、被検出体が台車ユニットから離れることを非電気的スイッチにより検出できるため、被検出体の動作を利用して、制御回路と蓄電手段とを通電させて台車ユニットを自動的に起動させることができる。
　尚、本発明における非電気的スイッチとは、磁力により作動する磁気スイッチや、物理的な接触により作動するリミットスイッチ等の機械的に作動するスイッチを含み、かつ電気的に作動するスイッチであっても、小型内蔵電池の電力で作動させるようにした光電スイッチや、太陽電池により作動させるようにしたスイッチ等の蓄電手段の電力に拠らずに独立した電源から電力を供給させるようにしたスイッチであれば、本発明における非電気的スイッチとして用いることができる。 The article conveying apparatus of the present invention is
The switch circuit includes a non-electrical switch that detects a detected portion of a detected object that contacts the cart unit without depending on the electric power of the power storage means.
According to this feature, the non-electric switch can be used to maintain the disconnected state between the control circuit and the power storage means non-electrically without relying on the power from the power storage means, and the detected object can be Since the separation from the cart unit can be detected by a non-electric switch, the cart unit can be automatically activated by energizing the control circuit and the power storage means using the operation of the detected object.
The non-electrical switch in the present invention is a switch that operates electrically, including a mechanically operated switch such as a magnetic switch that operates by magnetic force and a limit switch that operates by physical contact. It is also a switch that allows power to be supplied from an independent power source without relying on the power of power storage means such as a photoelectric switch that is operated by the power of a small internal battery or a switch that is operated by a solar battery. If present, it can be used as a non-electric switch in the present invention.
　本発明の物品搬送装置は、
　前記スイッチ回路は、前記蓄電手段の電力容量が所定の容量以下であるときに作動する双安定リレーを含むことを特徴としている。
　この特徴によれば、蓄電手段の電力容量が所定の容量以下であるときに自動的に台車ユニットが停止されるようになり、駆動手段の駆動力が弱まって運用効率が低下する状態で台車ユニットが動作されつづけることを防止でき、かつ双安定リレーを用いることで、制御回路と蓄電手段との遮断状態を非電気的に維持することができる。 The article conveying apparatus of the present invention is
The switch circuit includes a bistable relay that operates when the power capacity of the power storage means is equal to or less than a predetermined capacity.
According to this feature, the cart unit is automatically stopped when the power capacity of the power storage means is equal to or less than a predetermined capacity, and the driving power of the drive means is weakened and the operation efficiency is lowered. Can be prevented from continuing to be operated, and by using the bistable relay, it is possible to non-electrically maintain the cut-off state between the control circuit and the power storage means.
　本発明の物品搬送装置は、
　前記スイッチ回路は、前記遮断状態にある前記制御回路と前記蓄電手段との電気的な接続を、外部操作により復帰させる復帰回路を含むことを特徴としている。
　この特徴によれば、制御回路と蓄電手段との遮断状態を、作業者が任意に行う手動による外部操作により復帰させることができる。 The article conveying apparatus of the present invention is
The switch circuit includes a return circuit that returns an electrical connection between the control circuit in the cut-off state and the power storage unit by an external operation.
According to this feature, the shut-off state between the control circuit and the power storage means can be restored by a manual external operation arbitrarily performed by the operator.
　本発明の物品搬送装置は、
　前記スイッチ回路は、前記遮断状態になることを遅延させる遅延回路を含むことを特徴としている。
　この特徴によれば、スイッチ回路が作動しても即座に遮断状態にならずに、遅延回路によって所定の遅延時間は、電力が制御回路と駆動手段とに供給されるようになり、駆動手段が完全に停止するまで電力が供給されつづけて、制御回路が駆動手段を制御することができる。 The article conveying apparatus of the present invention is
The switch circuit includes a delay circuit for delaying the switching state.
According to this feature, even when the switch circuit is activated, the delay circuit does not immediately turn off, but the delay circuit supplies power to the control circuit and the drive means for a predetermined delay time. The control circuit can control the driving means while the electric power continues to be supplied until it completely stops.
図１は、実施例における物品搬送装置の全体像を示す平面図である。FIG. 1 is a plan view showing an overall image of the article transporting apparatus in the embodiment. 図２は、台車ユニットを示す側面図である。FIG. 2 is a side view showing the cart unit. 図３は、先行台車と前側の走行台車を示す側面図である。FIG. 3 is a side view showing the preceding carriage and the front traveling carriage. 図４は、先行台車と前側の走行台車を示す平面図である。FIG. 4 is a plan view showing a preceding carriage and a front traveling carriage. 図５は、後側の走行台車と後続台車を示す側面図である。FIG. 5 is a side view showing a rear traveling carriage and a subsequent carriage. 図６は、後側の走行台車と後続台車を示す平面図である。FIG. 6 is a plan view showing a rear traveling carriage and a subsequent carriage. 図７は、後側の走行台車を示す図６におけるＡ－Ａ断面図である。FIG. 7 is a cross-sectional view taken along line AA in FIG. 6 showing the rear traveling carriage. 図８は、ストッパーと先行台車を示す正面図である。FIG. 8 is a front view showing the stopper and the preceding carriage. 図９は、ストッパーと先行台車を示すＢ－Ｂ断面図である。FIG. 9 is a sectional view taken along the line BB showing the stopper and the preceding carriage. 図１０は、接触部と充電装置を示す背面図である。FIG. 10 is a rear view showing the contact portion and the charging device. 図１１は、接触部と充電装置を示す図１０におけるＣ－Ｃ断面図である。11 is a cross-sectional view taken along the line CC in FIG. 10 showing the contact portion and the charging device. 図１２は、台車用制御装置が有するスイッチ回路を示す回路図である。FIG. 12 is a circuit diagram illustrating a switch circuit included in the cart control apparatus.
　本発明に係る物品搬送装置を実施するための形態を実施例に基づいて以下に説明する。 DETAILED DESCRIPTION Embodiments for carrying out an article conveying apparatus according to the present invention will be described below based on examples.
　実施例に係る物品搬送装置につき、図１から図９を参照して説明する。以下、図２から図６、図８及び図１１の紙面左側を台車ユニットの正面側（前方側）とし、図４及び図６の紙面下側を台車ユニットの左方側とし、図７及び図１０の紙面左側を台車ユニットの左方側とし、図８の紙面右側を台車ユニットの左方側として説明する。 The article conveying apparatus according to the embodiment will be described with reference to FIGS. Hereinafter, the left side of FIGS. 2 to 6, 8 and 11 is the front side (front side) of the cart unit, and the lower side of FIGS. 4 and 6 is the left side of the cart unit. The left side of FIG. 10 is the left side of the cart unit, and the right side of FIG. 8 is the left side of the cart unit.
　図１の符号１は、例えば、自動車等を製造する工場内で、自動車の部品が収納された本発明における物品としてのコンテナ２（図２参照）を搬送するための本発明の適用された物品搬送装置である。 Reference numeral 1 in FIG. 1 denotes an article to which the present invention is applied for transporting a container 2 (see FIG. 2) as an article in the present invention in which automobile parts are housed, for example, in a factory that manufactures automobiles and the like. It is a transport device.
　図１及び図２に示すように、物品搬送装置１においては、搬送経路に沿って配置された２本の走行レール３と、走行レール３を平面視で反時計回りに走行可能な複数の台車ユニット４と、から主に構成されている。走行レール３は工場内の天井近傍の所定の高さ位置に掛け渡されている。また、台車ユニット４は、自動車の部品が収納されているコンテナ２を搬送経路に沿って搬送するようになっている。 As shown in FIGS. 1 and 2, in the article conveying apparatus 1, two traveling rails 3 arranged along the conveying path and a plurality of carriages that can travel the traveling rail 3 counterclockwise in plan view. The unit 4 is mainly composed of. The traveling rail 3 is stretched over a predetermined height near the ceiling in the factory. Further, the cart unit 4 is configured to transport the container 2 in which automobile parts are stored along the transport path.
　２本の走行レール３は、その上面３ａが水平面として形成された、アルミやスチール等の金属材によって構成された管材となっており、工場内の搬送経路に沿って工場内の天井から吊り下げられた状態で設けられている。また、走行レール３は、断面視でＬ字状をなしており、後述する台車ユニット４の走行台車８，９が走行レール３から外れないようになっている（図７参照）。 The two traveling rails 3 are pipes made of a metal material such as aluminum or steel, the upper surface 3a of which is formed as a horizontal plane, and are suspended from the ceiling in the factory along the transport path in the factory. Provided. Moreover, the traveling rail 3 is L-shaped in a cross-sectional view, so that traveling carriages 8 and 9 of a carriage unit 4 to be described later are not detached from the traveling rail 3 (see FIG. 7).
　図１に示すように、走行レール３は、複数の直線路３ｂと曲線路３ｃとが組み合わされて無端状に形成されており、外周の搬送経路を形成する走行レール３である本線レール３ｄから分岐及び合流する走行レール３ｅ，３ｆ，３ｇが設けられている。 As shown in FIG. 1, the traveling rail 3 is formed in an endless shape by combining a plurality of straight roads 3b and curved roads 3c, and from the main rail 3d that is the traveling rail 3 that forms the outer peripheral conveyance path. Traveling rails 3e, 3f, and 3g that branch and merge are provided.
　ここで、図１における紙面上側において本線レール３ｄから内側に分岐する走行レール３を分岐レール３ｅとし、紙面中央において本線レール３ｄから内側に分岐する走行レール３を分岐レール３ｆとし、紙面下側においてにおいて本線レール３ｄから内側に分岐する走行レール３を分岐レール３ｇとする。 Here, the traveling rail 3 that branches inward from the main rail 3d on the upper side in FIG. 1 is referred to as a branch rail 3e, and the traveling rail 3 that branches inward from the main rail 3d in the center of the plane is referred to as a branch rail 3f. The traveling rail 3 that branches inwardly from the main rail 3d is referred to as a branch rail 3g.
　分岐レール３ｅには、台車ユニット４にコンテナ２を積み込むための積込ステーションＣ１（移載箇所）が設けられ、分岐レール３ｇには、台車ユニット４からコンテナ２を降ろすための荷降ろしステーションＣ２（移載箇所）が設けられ、分岐レール３ｆには、台車ユニット４を待機させる待機ステーションＣ３（待機箇所）が設けられている。 The branch rail 3e is provided with a loading station C1 (transfer location) for loading the container 2 onto the cart unit 4, and the branch rail 3g is an unloading station C2 (for unloading the container 2 from the cart unit 4). The transfer rail) is provided, and the branch rail 3f is provided with a standby station C3 (standby location) for waiting the cart unit 4.
　また、これらステーションＣ１～Ｃ３以外に本線レール３ｄから分岐レール３ｅ，３ｆ，３ｇに分岐する箇所には分岐ステーションＣ４（分岐箇所）が設けられ、分岐レール３ｅ，３ｆ，３ｇから本線レール３ｄに合流する箇所には、合流ステーションＣ５（合流箇所）が設けられている。各ステーションＣ１～Ｃ５は、いずれも同様の構成からなり台車ユニット４に設けられた蓄電装置５（蓄電手段）への充電を行うための充電ステーションＣとなっている。 In addition to these stations C1 to C3, a branch station C4 (branch point) is provided at a branch point from the main rail 3d to the branch rails 3e, 3f, 3g, and the branch rails 3e, 3f, 3g join the main rail 3d. A joining station C5 (joining place) is provided at the place to perform. Each of the stations C1 to C5 has the same configuration and is a charging station C for charging the power storage device 5 (power storage means) provided in the carriage unit 4.
　尚、物品搬送装置１には、台車ユニット４や充電ステーションＣを統括管理する主制御装置（図示略）が設けられている。この主制御装置は、台車ユニット４や充電ステーションＣからの情報を受信して、充電ステーションＣにおける後述する充電装置６（充電手段）やストッパー７等の制御を行うようになっている。 Note that the article transport device 1 is provided with a main control device (not shown) for comprehensively managing the cart unit 4 and the charging station C. The main control device receives information from the cart unit 4 and the charging station C, and controls a charging device 6 (charging means) and a stopper 7 which will be described later in the charging station C.
　図２に示すように、台車ユニット４には、走行レール３を走行する前後２台の走行台車８，９と、前側の走行台車８の前方を走行する先行台車１０（補助台車）と、後側の走行台車９の後方を走行する後続台車１１（補助台車）と、コンテナ２を保持するキャリア１２と、が設けられている。 As shown in FIG. 2, the cart unit 4 includes two traveling carts 8 and 9 that travel on the traveling rail 3, a preceding cart 10 (auxiliary cart) that travels in front of the front traveling cart 8, A succeeding carriage 11 (auxiliary carriage) that travels behind the side traveling carriage 9 and a carrier 12 that holds the container 2 are provided.
　尚、先行台車１０と前側の走行台車８とが連結杆材１３によって連結され、後側の走行台車９と後続台車１１とが連結杆材１４によって連結されている。これらの台車８，９，１０，１１は、直列に配置されて走行レール３の上面３ａを走行するようになっている。また、前後の走行台車８，９にそれぞれ取り付けられた吊下棒１５によって、キャリア１２（搬送物支持部材）が吊り下げられている。 In addition, the preceding carriage 10 and the front traveling carriage 8 are connected by the connecting anchor 13, and the rear traveling carriage 9 and the subsequent carriage 11 are connected by the connecting anchor 14. These carriages 8, 9, 10, 11 are arranged in series and travel on the upper surface 3 a of the traveling rail 3. Further, the carrier 12 (conveyed object support member) is suspended by suspension bars 15 attached to the front and rear traveling carriages 8 and 9, respectively.
　図３及び図４に示すように、前側の走行台車８は、正面視で略Ｕ字状をなす本体部１６と、台車ユニット４を走行させるためのモータ１７（駆動手段）と、このモータ１７の駆動によって走行レール３の上面３ａに当接して回転する２輪の車輪１８と、から主に構成されている。 As shown in FIGS. 3 and 4, the traveling cart 8 on the front side includes a main body portion 16 having a substantially U shape in a front view, a motor 17 (driving means) for causing the cart unit 4 to travel, and the motor 17. And the two wheels 18 that rotate in contact with the upper surface 3a of the traveling rail 3 by driving.
　本体部１６の前部には、先行台車１０と連結される連結杆材１３の後端部が枢支されており、前側の走行台車８は、枢支軸１９を軸として水平方向に揺動されるようになっている。モータ１７は、シャフト１７ａが前方側を向くように本体部１６の後方側に配置されており、シャフト１７ａの先端には、ベベルギア１７ｂが取り付けられている。 The front end of the main body 16 is pivotally supported by the rear end portion of the connecting collar 13 connected to the preceding carriage 10, and the front traveling carriage 8 swings horizontally around the pivot shaft 19. It has come to be. The motor 17 is disposed on the rear side of the main body 16 so that the shaft 17a faces the front side, and a bevel gear 17b is attached to the tip of the shaft 17a.
　図４に示すように、本体部１６の左右側端部には、車輪１８が連結シャフト２０によって回転可能に枢支されている。連結シャフト２０には、ベベルギア１７ｂと係合するベベルギア２０ａが取り付けられており、左右の車輪１８は、モータ１７が駆動することで回転駆動されるようになっている。 As shown in FIG. 4, wheels 18 are pivotally supported by connecting shafts 20 at the left and right ends of the main body 16. A bevel gear 20 a that engages with the bevel gear 17 b is attached to the connecting shaft 20, and the left and right wheels 18 are driven to rotate when the motor 17 is driven.
　尚、モータ１７は、後述する蓄電装置５に接続されることで電力の供給を受けており、走行レール３における所定箇所（搬送経路の一部）に設けられた複数の充電ステーションＣにおいて蓄電装置５に充電が行われるようになっている（図１参照）。 The motor 17 is supplied with electric power by being connected to a power storage device 5 to be described later, and the power storage device is provided at a plurality of charging stations C provided at predetermined locations (part of the transport path) on the traveling rail 3. 5 is charged (see FIG. 1).
　また、本体部１６の下端部の略中央部には、下方に延設された吊下棒１５が取り付けられている。この吊下棒１５の前後には、ガイドローラ２１が設けられており、これらのガイドローラ２１は、独立して鉛直軸回りに回転可能に枢支されている。 Further, a hanging bar 15 extending downward is attached to a substantially central portion of the lower end portion of the main body portion 16. Guide rollers 21 are provided on the front and rear sides of the suspension bar 15, and these guide rollers 21 are pivotally supported so as to be independently rotatable about the vertical axis.
　走行台車８が走行レール３上に載置されることで、ガイドローラ２１が両走行レール３間の間隙２２内に配置されるようになっている。そのため、各ガイドローラ２１は、走行台車８の走行中に両走行レール３の側端部に当接し、走行台車８が走行レール３上から離脱しないようにしている。 When the traveling carriage 8 is placed on the traveling rail 3, the guide roller 21 is arranged in the gap 22 between the traveling rails 3. Therefore, each guide roller 21 is in contact with the side end portions of the both traveling rails 3 while the traveling carriage 8 is traveling, so that the traveling carriage 8 is not separated from the traveling rail 3.
　次に、後側の走行台車９について、図５から図７を参照して説明する。後側の走行台車９は、正面視で略Ｕ字状をなす本体部２３と、走行レール３の上面３ａに当接して回転する２輪の車輪１８と、後述する充電装置６と接触（連結）する接触部２４（被給電部）と、から主に構成されている。 Next, the rear traveling carriage 9 will be described with reference to FIGS. The rear traveling cart 9 is in contact with (connecting to) a main body portion 23 that is substantially U-shaped in a front view, two wheels 18 that rotate in contact with the upper surface 3a of the traveling rail 3, and a charging device 6 described later. ) And the contact portion 24 (power-supplied portion).
　尚、接触部２４は、キャリア１２に設けられた蓄電装置５と配線（図示略）で接続されている。また、本体部２３の後部には、後続台車１１と連結される連結杆材１４の前端部が枢支されており、後側の走行台車９は、枢支軸２６を軸として水平方向に揺動されるようになっている。 The contact portion 24 is connected to the power storage device 5 provided in the carrier 12 by wiring (not shown). In addition, a front end portion of the connecting rod 14 connected to the succeeding carriage 11 is pivotally supported at the rear portion of the main body 23, and the rear traveling carriage 9 swings in the horizontal direction around the pivot shaft 26. It comes to be moved.
　本体部２３の左右側端部には、車輪１８がシャフト１８ａによって回転可能に枢支されており、左右の車輪１８は、それぞれ独立して回転されるようになっている。また、本体部２３には、前側の走行台車８の本体部１６と同様に、吊下棒１５及びガイドローラ２１が取り付けられており、その構成は前側の走行台車８と同様である。 The wheels 18 are pivotally supported by shafts 18a at the left and right end portions of the main body 23, and the left and right wheels 18 are independently rotated. In addition, the suspension bar 15 and the guide roller 21 are attached to the main body portion 23, similarly to the main body portion 16 of the front traveling carriage 8, and the configuration thereof is the same as that of the front traveling carriage 8.
　図２に示すように、前後の吊下棒１５の下部には、中間部材２７が取り付けられており、中間部材２７間には、前後方向を向く連結杆材２８が取り付けられている。この連結杆材２８と各中間部材２７、及び吊下棒１５を介して前後の走行台車８，９が互いに連結されている。更に、中間部材２７の下端部には、キャリア１２の上端部が取り付けられている。 As shown in FIG. 2, an intermediate member 27 is attached to the lower part of the front and rear suspension rods 15, and a connecting rod 28 facing in the front-rear direction is attached between the intermediate members 27. The front and rear traveling carriages 8 and 9 are connected to each other via the connecting rod 28, the intermediate members 27, and the suspension rod 15. Further, the upper end of the carrier 12 is attached to the lower end of the intermediate member 27.
　キャリア１２は、前後方向を向く上部杆材１２ａと、この上部杆材１２ａの前端部と後端部とから下方に向けて延設される縦杆材１２ｂと、前後の縦杆材１２ｂの下端部に取り付けられた載置板１２ｃと、から構成されている。尚、上部杆材１２ａが両中間部材２７に取り付けられることで、前後の走行台車８，９からキャリア１２が吊り下げられている。 The carrier 12 includes an upper saddle member 12a facing in the front-rear direction, a vertical saddle member 12b extending downward from a front end portion and a rear end portion of the upper saddle member 12a, and lower ends of the front and rear longitudinal saddle members 12b. It is comprised from the mounting board 12c attached to the part. Note that the carrier 12 is suspended from the front and rear traveling carriages 8 and 9 by attaching the upper saddle member 12 a to the intermediate members 27.
　また、連結杆材２８の上部には、前側の走行台車８のモータ１７を駆動させるための蓄電装置５と、モータ１７の回転速度の制御やブレーキ制御を行う台車用制御装置２９（制御手段）と、が設置されている。尚、モータ１７は、蓄電装置５及び台車用制御装置２９に配線（図示略）で接続されている。 In addition, on the upper part of the connecting saddle member 28, a power storage device 5 for driving the motor 17 of the front traveling cart 8, and a cart control device 29 (control means) for controlling the rotational speed of the motor 17 and controlling the brake. And are installed. The motor 17 is connected to the power storage device 5 and the cart control device 29 by wiring (not shown).
　図５及び図６に示すように、本体部２３の内側に立設された前後２枚のプレート３０の上端部には、側面視で略Ｌ字状をなすプレート３１がそれぞれ取り付けられており、これらプレート３１の上面にはブラケット３２を介して接触部２４が取り付けられている。 As shown in FIGS. 5 and 6, a plate 31 having a substantially L shape in side view is attached to the upper ends of the two front and rear plates 30 erected on the inner side of the main body 23. Contact portions 24 are attached to the upper surfaces of these plates 31 via brackets 32.
　図７に示すように、プレート３１の上面には、前後方向に延びる４条の接触部２４ａ，２４ｂ，２４ｃ，２４ｄが設けられている。各接触部２４には、上方に開口して前後方向に延びる溝部が形成され、その底部には、導電体３３が設けられている。外側２つの接触部２４ａ，２４ｄ（被給電部）の導電体３３は、配線（図示略）によって蓄電装置５に接続されている。 As shown in FIG. 7, on the upper surface of the plate 31, four contact portions 24a, 24b, 24c, and 24d extending in the front-rear direction are provided. Each contact portion 24 is formed with a groove portion that opens upward and extends in the front-rear direction, and a conductor 33 is provided at the bottom thereof. The conductors 33 of the two outer contact portions 24a and 24d (power-supplied portions) are connected to the power storage device 5 by wiring (not shown).
　内側２つの接触部２４ｂ，２４ｃの導電体３３は、配線（図示略）によって互いに接続（短絡）されている。接触部２４ｂ，２４ｃは、後述する充電装置６の充電プラグ５２と接触部２４ａ，２４ｄとの接続状態の確認のために設けられている。 The conductors 33 of the inner two contact portions 24b and 24c are connected (short-circuited) to each other by wiring (not shown). The contact portions 24b and 24c are provided for confirming a connection state between a charging plug 52 of the charging device 6 described later and the contact portions 24a and 24d.
　次に、先行台車１０と後続台車１１について、図３から図６を参照して説明する。図３及び図４に示すように、先行台車１０は、正面視で略Ｕ字状をなす本体部３４と、走行レール３の上面３ａに当接して回転する４輪の車輪３５と、を有している。 Next, the preceding carriage 10 and the succeeding carriage 11 will be described with reference to FIGS. As shown in FIGS. 3 and 4, the preceding carriage 10 has a main body portion 34 that is substantially U-shaped when viewed from the front, and a four-wheel wheel 35 that rotates in contact with the upper surface 3 a of the traveling rail 3. is doing.
　尚、本体部３４の後部には、連結杆材１３の前端部が枢支され、枢支軸３６を軸として水平方向に揺動されるようになっている。また、本体部３４の前端部には、前方側に突出する突出部３７が設けられている。 In addition, the front end portion of the connecting rod 13 is pivotally supported at the rear portion of the main body portion 34, and is swung in the horizontal direction around the pivot shaft 36. In addition, a protrusion 37 that protrudes forward is provided at the front end of the main body 34.
　更に尚、本体部３４の下端部には、ガイドローラ２１よりも径が小さいガイドローラ３８が、前部と後部とで左右方向に２輪並設されている。これらのガイドローラ３８は、独立して鉛直軸回りに回転可能に枢支されており、ガイドローラ２１と同様に先行台車１０の走行中に両走行レール３の側端部に当接し、先行台車１０が走行レール３上から離脱しないようにしている。 Furthermore, a guide roller 38 having a diameter smaller than that of the guide roller 21 is provided at the lower end portion of the main body 34 in parallel in the left-right direction at the front and rear portions. These guide rollers 38 are pivotally supported so as to be independently rotatable about the vertical axis. Like the guide rollers 21, the guide rollers 38 abut against the side end portions of the both traveling rails 3 during the traveling of the preceding carriage 10, 10 is prevented from leaving the traveling rail 3.
　図３に示すように、本体部３４の内側には、Ｚ字状をなすセンサ支持部材３９が取り付けられている。このセンサ支持部材３９の立設部３９ａの背面側には、曲線路３ｃを検出するカーブ検出センサ４０（揺動検出手段）が取り付けられている。 As shown in FIG. 3, a Z-shaped sensor support member 39 is attached to the inside of the main body 34. A curve detection sensor 40 (swing detection means) for detecting the curved path 3c is attached to the back side of the standing portion 39a of the sensor support member 39.
　このカーブ検出センサ４０はフォトセンサで構成されており、上部の発光素子（図示略）と下部の受光素子（図示略）とが対向配置され、発光素子から発される光を受光素子が受光できるようになっている。 The curve detection sensor 40 is composed of a photo sensor, and an upper light emitting element (not shown) and a lower light receiving element (not shown) are arranged to face each other, and the light receiving element can receive light emitted from the light emitting element. It is like that.
　連結杆材１３の前端部には、カーブ検出センサ４０により検出されるドグ４１が設けられており、このドグ４１の前端部は、左右角部が四角く切り欠かれて左右幅が小さく形成されている（図４参照）。台車ユニット４が直線路３ｂを走行しているときには、ドグ４１が発光素子からの光が受光素子に到達しないように遮光されている。 A dog 41 detected by the curve detection sensor 40 is provided at the front end portion of the connecting collar 13, and the front end portion of the dog 41 is formed by cutting the left and right corners into squares and reducing the left and right widths. (See FIG. 4). When the carriage unit 4 is traveling on the straight road 3b, the dog 41 is shielded so that the light from the light emitting element does not reach the light receiving element.
　台車ユニット４が曲線路３ｃに差し掛かると、先行台車１０が左方向に揺動してカーブ検出センサ４０からドグ４１が外れてカーブ検出センサ４０の受光素子が発光素子からの光を受光することで、台車ユニット４が曲線路３ｃに進入したことを検出できるようになっている。 When the carriage unit 4 reaches the curved path 3c, the preceding carriage 10 swings leftward, the dog 41 is detached from the curve detection sensor 40, and the light receiving element of the curve detection sensor 40 receives light from the light emitting element. Thus, it can be detected that the cart unit 4 has entered the curved road 3c.
　図５及び図６に示すように、後続台車１１は、正面視で略Ｕ字状をなす本体部４２と、走行レール３の上面３ａに当接して回転する４輪の車輪３５と、を有している。後続台車１１の前部には、連結杆材１４の後端部が枢支され、連結杆材１４が枢支軸４３を軸として水平方向に揺動されるようになっている。 As shown in FIGS. 5 and 6, the subsequent carriage 11 has a main body portion 42 that is substantially U-shaped when viewed from the front, and a four-wheel wheel 35 that rotates in contact with the upper surface 3 a of the traveling rail 3. is doing. The rear end portion of the connecting rod 14 is pivotally supported at the front portion of the succeeding carriage 11, and the connecting rod 14 is swung horizontally around the pivot shaft 43.
　尚、本体部４２の下端部には、先行台車１０における本体部３４と同様に、ガイドローラ３８が前部と後部とで左右方向に２輪並設されており、本体部４２の後端部には、鉄材からなり側面視で略Ｌ字状をなすドグ４４が取り付けられている。 In the lower end portion of the main body portion 42, like the main body portion 34 in the preceding carriage 10, two guide rollers 38 are juxtaposed in the left-right direction at the front portion and the rear portion, and the rear end portion of the main body portion 42 is arranged. A dog 44 made of an iron material and having a substantially L shape in a side view is attached.
　更に尚、後続台車１１の略中央部に取り付けられた略Ｌ字状をなすセンサ支持部材４５の立設部３９ａの正面側には、曲線路３ｃを検出するカーブ検出センサ４６（揺動検出手段）が取り付けられている。 Furthermore, on the front side of the upright portion 39a of the substantially L-shaped sensor support member 45 attached to the substantially central portion of the succeeding carriage 11, a curve detection sensor 46 (swing detection means) that detects the curved path 3c. ) Is attached.
　カーブ検出センサ４６は、連結杆材１４の後端部に取り付けられたドグ４７を検出可能になっており、連結杆材１４、ドグ４７及びカーブ検出センサ４６は、先行台車１０の構成を前後対称にした同様の構成をなしている。尚、カーブ検出センサ４０，４６は、配線（図示略）で台車用制御装置２９に接続されている。 The curve detection sensor 46 can detect a dog 47 attached to the rear end portion of the connecting saddle member 14, and the connecting saddle member 14, the dog 47, and the curve detection sensor 46 are symmetrical with respect to the configuration of the preceding carriage 10. It has the same configuration as described above. The curve detection sensors 40 and 46 are connected to the cart controller 29 by wiring (not shown).
　後続台車１１が曲線路３ｃを走行しているときは、カーブ検出センサ４６からドグ４７が外れて受光状態になっており、後続台車１１が曲線路３ｃを抜けると、カーブ検出センサ４６がドグ４７を検出することで、台車ユニット４が曲線路３ｃを脱出したことを検出できるようになっている。 When the succeeding carriage 11 is traveling on the curved road 3c, the dog 47 is removed from the curve detection sensor 46 to receive light. When the succeeding carriage 11 passes through the curved road 3c, the curve detection sensor 46 is moved to the dog 47. By detecting this, it is possible to detect that the carriage unit 4 has escaped from the curved path 3c.
　カーブ検出センサ４０によって台車ユニット４が曲線路３ｃに進入したことを検出したカーブ検出情報（揺動検出情報）に基づいて、台車用制御装置２９が台車ユニット４の走行速度を減速するようにモータ１７を制御している。 Based on the curve detection information (swing detection information) detected by the curve detection sensor 40 that the carriage unit 4 has entered the curved road 3c, the carriage controller 29 decelerates the traveling speed of the carriage unit 4. 17 is controlled.
　同様に、カーブ検出センサ４６によって台車ユニット４が曲線路３ｃを脱出したことを検出したカーブ検出情報（揺動検出情報）に基づいて、台車用制御装置２９が台車ユニット４の走行速度を加速するようにモータ１７を制御している。尚、本実施例において台車ユニット４が直線路３ｂを走行する速度は約３０ｍ／分であり、曲線路３ｃでは約２０ｍ／分に減速して走行するように制御されている。 Similarly, the cart controller 29 accelerates the traveling speed of the cart unit 4 based on the curve detection information (swing detection information) that is detected by the curve detection sensor 46 that the cart unit 4 has escaped the curved path 3c. Thus, the motor 17 is controlled. In this embodiment, the speed at which the carriage unit 4 travels on the straight road 3b is about 30 m / min, and the curved road 3c is controlled to travel at a speed of about 20 m / min.
　また、図３及び図４に示すように、先行台車１０のセンサ支持部材３９の上端部には、内側に前方の障害物等を検出する検出センサである前方検出センサ４８（近接検出手段）が取り付けられている。この前方検出センサ４８は、発光素子（図示略）と受光素子（図示略）が設けられた反射型光電センサとなっており、発光素子から前方に発された光が前方の物体（被検出体）に反射されて受光素子が受光することで前方の物体を検出できるようになっている。 As shown in FIGS. 3 and 4, a front detection sensor 48 (proximity detection means) that is a detection sensor for detecting a front obstacle or the like inside is provided at the upper end portion of the sensor support member 39 of the preceding carriage 10. It is attached. The front detection sensor 48 is a reflective photoelectric sensor provided with a light emitting element (not shown) and a light receiving element (not shown), and light emitted forward from the light emitting element is a front object (detected object). ) And the light receiving element receives the light so that a front object can be detected.
　また、センサ支持部材３９の立設部３９ａの正面側には、前方側を向く略Ｌ字状のセンサ支持部材４９が取り付けられており、このセンサ支持部材４９の前端部の下面には、本体部３４における前部の被検出空間５０に配置された物体を検出する停止検出センサ５１（接触検出手段）が取り付けられている。この停止検出センサ５１は、内蔵されているマグネットが磁力により鉄材等の磁性材料の近接及び接触を検出するマグネットスイッチとなっている。 Further, a substantially L-shaped sensor support member 49 facing the front side is attached to the front side of the standing portion 39 a of the sensor support member 39, and the main body is attached to the lower surface of the front end portion of the sensor support member 49. A stop detection sensor 51 (contact detection means) for detecting an object disposed in the detection space 50 in the front part of the part 34 is attached. The stop detection sensor 51 is a magnet switch in which a built-in magnet detects the proximity and contact of a magnetic material such as an iron material by a magnetic force.
　前方検出センサ４８及び停止検出センサ５１は、配線（図示略）で台車用制御装置２９に接続されている。前方検出センサ４８が前方の物体を検出した場合には、台車用制御装置２９によって台車ユニット４の走行速度が減速（本実施例においては５ｍ／分）されるように制御されており、停止検出センサ５１が被検出空間５０に配置された鉄材を検出した場合には、台車用制御装置２９によって台車ユニット４が停止されるように制御されている。 The front detection sensor 48 and the stop detection sensor 51 are connected to the cart controller 29 by wiring (not shown). When the front detection sensor 48 detects an object in front, the traveling speed of the carriage unit 4 is controlled to be reduced (5 m / min in this embodiment) by the carriage controller 29, and the stop detection is performed. When the sensor 51 detects the iron material arranged in the detection space 50, the carriage unit 4 is controlled to be stopped by the carriage control device 29.
　図１に示すように、物品搬送装置１においては、複数の台車ユニット４が走行レール３を走行しており、例えば、前後２台の台車ユニット４が走行している際に、後方側の台車ユニット４が前方側の台車ユニット４に接近した場合には、後方側の先行台車１０の前方検出センサ４８が前方側の後続台車１１（被検出体）を検出し、走行速度が５ｍ／分に減速される。 As shown in FIG. 1, in the article conveying apparatus 1, a plurality of carriage units 4 are running on a running rail 3. For example, when two front and rear carriage units 4 are running, a rear carriage When the unit 4 approaches the front carriage unit 4, the front detection sensor 48 of the preceding carriage 10 on the rear side detects the subsequent carriage 11 (detected body) on the front side, and the traveling speed becomes 5 m / min. Decelerated.
　そして、更に両ユニット４，４が近接すると、後方側の先行台車１０の突出部３７が前方側の後続台車１１（被検出体）に接触するとともに、ドグ４４（被検出部）が後方側の先行台車１０の被検出空間５０に入り込み、停止検出センサ５１がドグ４４を検出した接触検出情報に基づいて台車用制御装置２９によって後方側の台車ユニット４が停止される。 When the units 4 and 4 are further brought closer, the projecting portion 37 of the preceding preceding carriage 10 on the rear side comes into contact with the succeeding carriage 11 on the front side (detected body), and the dog 44 (detected portion) is placed on the rear side. The carriage unit 4 on the rear side is stopped by the carriage control device 29 based on the contact detection information that enters the detected space 50 of the preceding carriage 10 and the stop detection sensor 51 detects the dog 44.
　次に、充電ステーションＣにおけるストッパー７について、図８及び図９を参照して説明する。充電ステーションＣには、台車ユニット４を停止させるためのストッパー７が設けられている。図８及び図９は、ストッパー７が下方位置にある状態を示している。尚、図９は理解を助けるためにストッパー７等の部材は断面にせずに示してある。 Next, the stopper 7 in the charging station C will be described with reference to FIGS. The charging station C is provided with a stopper 7 for stopping the cart unit 4. 8 and 9 show a state where the stopper 7 is in the lower position. In FIG. 9, the members such as the stopper 7 are not shown in cross section for easy understanding.
　このストッパー７は、側面視で逆Ｌ字状をなす左右の側面部７ａと正面視で矩形状をなす後面部７ｂとを有しており、前方が凹んだ形状をなしている。更に、ストッパー７には、支持フレーム５５に取り付けられた左右２つのストッパー保持部６９が設けられ、このストッパー保持部６９によってストッパー７が枢支されており、枢支軸７０を中心に上下に回動されるようになっている（図９参照）。また、ストッパー７の後面部７ｂの背面側には鉄材からなるドグ７１が取り付けられている。 The stopper 7 has left and right side surface portions 7a having an inverted L shape in a side view and a rear surface portion 7b having a rectangular shape in a front view, and has a shape in which the front is recessed. Further, the stopper 7 is provided with two left and right stopper holding portions 69 attached to the support frame 55, and the stopper 7 is pivotally supported by the stopper holding portion 69, and is rotated up and down around the pivot shaft 70. (See FIG. 9). A dog 71 made of iron is attached to the back side of the rear surface portion 7 b of the stopper 7.
　また、ストッパー７の後方側には、ストッパー７を回動させるためのモータ７２が設けられている。モータ７２は、支持フレーム５５に取り付けられたモータ保持部７３に保持され、シャフト（図示略）が左側方（紙面右側）を向くように設置されており、シャフトの先端には、モータ７２の駆動とともに回転される回転部材７４が取り付けられている。尚、モータ７２は、主制御装置（図示略）と接続され、駆動の制御が行われる。 Further, a motor 72 for rotating the stopper 7 is provided on the rear side of the stopper 7. The motor 72 is held by a motor holding portion 73 attached to the support frame 55, and is installed so that a shaft (not shown) faces the left side (the right side of the paper). The motor 72 is driven at the tip of the shaft. A rotating member 74 that rotates together with the rotating member 74 is attached. The motor 72 is connected to a main controller (not shown), and drive control is performed.
　回転部材７４の先端部には、ストッパー７を回動させるためのストッパー作動部材７５の後端部が枢支されており、ストッパー作動部材７５の前端部とストッパー７の左側の側面部７ａの前端部とが枢支されており、ストッパー７は、左右の側面部７ａを連結する連結バー７６を中心に回動されるようになっている。 A rear end portion of a stopper operating member 75 for rotating the stopper 7 is pivotally supported at the front end portion of the rotating member 74, and the front end portion of the stopper operating member 75 and the left side surface portion 7 a of the stopper 7 are supported. The stopper 7 is pivoted about a connecting bar 76 that connects the left and right side portions 7a.
　図８に示すように、ストッパー７における枢支軸７０の外周及びストッパー作動部材７５における連結バー７６の外周には、ベアリング７７が設けられており、枢支軸７０及び連結バー７６が滑らかに回動されるようになっている。 As shown in FIG. 8, bearings 77 are provided on the outer periphery of the pivot shaft 70 in the stopper 7 and the outer periphery of the connecting bar 76 in the stopper operating member 75, so that the pivot shaft 70 and the connecting bar 76 rotate smoothly. It comes to be moved.
　また、ストッパー７が上方位置または下方位置にあることを検出するストッパー検出センサ７８，７９が設けられており、ストッパー検出センサ７８，７９はフォトセンサとなっている。 Further, stopper detection sensors 78 and 79 for detecting that the stopper 7 is in the upper position or the lower position are provided, and the stopper detection sensors 78 and 79 are photo sensors.
　上方位置を検出するストッパー検出センサ７８は、支持フレーム５５の右側部（紙面左側）に螺着されたセンサ支持部材８０に取り付けられており、発光素子（図示略）と受光素子（図示略）が前後方向に対向するように設置されている。同様に、下方位置を検出するストッパー検出センサ７９は、センサ支持部材８０に取り付けられ、発光素子と受光素子が上下方向に対向するように設置されている。 The stopper detection sensor 78 that detects the upper position is attached to a sensor support member 80 that is screwed to the right side (left side of the paper) of the support frame 55, and includes a light emitting element (not shown) and a light receiving element (not shown). It is installed to face in the front-rear direction. Similarly, a stopper detection sensor 79 for detecting the lower position is attached to the sensor support member 80 and is installed so that the light emitting element and the light receiving element face each other in the vertical direction.
　ストッパー７の側面部７ａには、ストッパー検出センサ７８，７９によって検出されるドグ８１が取り付けられており、ストッパー７が図８に示す下方位置にある場合にはストッパー検出センサ７９によって検出され、ストッパー７が上方位置にある場合にはストッパー検出センサ７８によって検出されるようになっている。 A dog 81 detected by the stopper detection sensors 78 and 79 is attached to the side surface portion 7a of the stopper 7, and when the stopper 7 is at the lower position shown in FIG. When 7 is in the upper position, it is detected by a stopper detection sensor 78.
　また、モータ７２の後方側には、先行台車１０を検出する台車検出センサ８２が取り付けられており、この台車検出センサ８２は、前述した前方検出センサ４８と同様に反射型光電センサとなっている。発光素子（図示略）から斜前方に光が発されるように設置されており、充電ステーションＣで停止された台車ユニット４を検出でき、台車検出センサ８２の情報は主制御装置（図示略）に送信されるようになっている。 Further, a carriage detection sensor 82 for detecting the preceding carriage 10 is attached to the rear side of the motor 72, and this carriage detection sensor 82 is a reflective photoelectric sensor like the front detection sensor 48 described above. . It is installed so that light is emitted obliquely forward from a light emitting element (not shown), can detect the cart unit 4 stopped at the charging station C, and information of the cart detection sensor 82 is a main controller (not shown). To be sent to.
　次に、充電ステーションＣに設けられた充電装置６について、図１０及び図１１を参照して説明する。充電装置６には、外側２本の充電プラグ５２（給電部）と内側２本の接続確認プラグ５３とが設けられている。これらのプラグ５２，５３は左右方向に延設され、その先端部が同一の高さになるように側面視で略Ｌ字状をなすプラグ保持部５４に保持されている。 Next, the charging device 6 provided in the charging station C will be described with reference to FIGS. The charging device 6 is provided with two outer charging plugs 52 (power feeding units) and two inner connection confirmation plugs 53. These plugs 52 and 53 extend in the left-right direction, and are held by a plug holding portion 54 that is substantially L-shaped in a side view so that the tip ends thereof have the same height.
　図１０及び図１１に示すように、充電ステーションＣにおける走行レール３の上方には、走行レール３と平行に支持フレーム５５が延設されており、支持フレーム５５は、２本の走行レール３を並設した幅と同等の左右幅を有し、正面視で逆向きＵ字状をなしている。この支持フレーム５５と走行レール３とは、外周を囲むように設けられた連結部材５６によって連結されている。 As shown in FIGS. 10 and 11, a support frame 55 extends in parallel with the travel rail 3 above the travel rail 3 in the charging station C, and the support frame 55 includes two travel rails 3. It has the same left-right width as the side-by-side width, and has a reverse U-shape when viewed from the front. The support frame 55 and the traveling rail 3 are connected by a connecting member 56 provided so as to surround the outer periphery.
　図１１に示すように、支持フレーム５５の下面には、ブラケット５７を介してモータ５８が設置されている。モータ５８は、シャフト５８ａが後方側を向くように取り付けられており、シャフト５８ａの先端には、モータ５８の駆動とともに回動される回動部材５９が取り付けられている。尚、モータ５８は、主制御装置（図示略）と接続され、駆動の制御が行われるようになっている。 As shown in FIG. 11, a motor 58 is installed on the lower surface of the support frame 55 via a bracket 57. The motor 58 is attached so that the shaft 58a faces the rear side, and a turning member 59 that is turned when the motor 58 is driven is attached to the tip of the shaft 58a. The motor 58 is connected to a main control device (not shown) so as to control driving.
　図１１に示すように、回動部材５９とプラグ保持部５４との間には、回動部材５９の下端部及びプラグ保持部５４の上端部に枢支される枢支部材６０が設けられている。モータ５８が駆動して回動部材５９とともに枢支部材６０が回動することで、プラグ保持部５４が上下動されるようになっている。尚、図１０及び図１１では、充電プラグ５２が降下された状態が示されている。 As shown in FIG. 11, a pivot member 60 pivotally supported by the lower end of the pivot member 59 and the upper end of the plug holder 54 is provided between the pivot member 59 and the plug holder 54. Yes. When the motor 58 is driven and the pivot member 60 is pivoted together with the pivot member 59, the plug holding portion 54 is moved up and down. 10 and 11, a state where the charging plug 52 is lowered is shown.
　更に、枢支部材６０と回動部材５９の枢支軸６１の外周と枢支部材６０プラグ保持部５４の枢支軸６２の外周にはベアリング６３が設けられており、枢支部材６０は滑らかに回動されるようになっている。 Further, bearings 63 are provided on the outer periphery of the pivot shaft 61 of the pivot member 60 and the rotating member 59 and on the outer periphery of the pivot shaft 62 of the pivot member 60 plug holding portion 54, and the pivot member 60 is smooth. It is designed to be rotated.
　また、充電装置６の上方における支持フレーム５５には、下方を向く左右２つのリニアブッシュ６４が取り付けられており、リニアブッシュ６４における上部の固定部６４ａに内嵌されて昇降可能な昇降部６４ｂがプラグ保持部５４に取り付けられている。プラグ保持部５４が上下方向に移動される際には、リニアブッシュ６４によって垂直方向に案内されるため、プラグ保持部５４が水平方向にぐらつかないようになっている。 The support frame 55 above the charging device 6 is provided with two left and right linear bushes 64 facing downward, and an elevating part 64b that is fitted into the upper fixing part 64a of the linear bush 64 and can be moved up and down. It is attached to the plug holding part 54. When the plug holding portion 54 is moved in the vertical direction, it is guided in the vertical direction by the linear bush 64, so that the plug holding portion 54 does not wobble in the horizontal direction.
　充電プラグ５２は、後続台車１１の接触部２４に接続して充電できる充電位置と、後続台車１１の接触部２４から離間されて待機する待機位置と、の間で昇降可能（移動可能）となっている。充電装置６の右側部には、充電装置６が待機位置または充電位置に位置していることを検出するプラグ検出センサ６５，６６が上下に並設されている（図１０参照）。 The charging plug 52 can be moved up and down (movable) between a charging position where the charging plug 52 can be charged by connecting to the contact portion 24 of the succeeding carriage 11 and a standby position where the charging plug 52 is separated from the contact portion 24 of the succeeding carriage 11 and waits. ing. On the right side of the charging device 6, plug detection sensors 65 and 66 that detect that the charging device 6 is located at the standby position or the charging position are arranged side by side (see FIG. 10).
　プラグ検出センサ６５，６６は、支持フレーム５５の右側部に螺着されたセンサ支持部材６７に取り付けられており、充電装置６が待機位置にある場合には、プラグ保持部５４の右側部に取り付けられた突出部６８が上側のプラグ検出センサ６５に検出され、充電装置６が充電位置にある場合には、突出部６８が下側のプラグ検出センサ６６に検出されるようになっている。 The plug detection sensors 65 and 66 are attached to a sensor support member 67 screwed to the right side portion of the support frame 55, and are attached to the right side portion of the plug holding portion 54 when the charging device 6 is in the standby position. When the protruding portion 68 is detected by the upper plug detection sensor 65 and the charging device 6 is in the charging position, the protruding portion 68 is detected by the lower plug detection sensor 66.
　尚、プラグ検出センサ６５，６６は、前述したカーブ検出センサ４０，４６と同様のフォトセンサとなっており、発光素子（図示略）と受光素子（図示略）が上下方向に対向するように設置されている。 The plug detection sensors 65 and 66 are photosensors similar to the curve detection sensors 40 and 46 described above, and are installed so that the light emitting element (not shown) and the light receiving element (not shown) face each other in the vertical direction. Has been.
　次に、充電ステーションＣにおいて台車ユニット４における蓄電装置５に充電される際の動作について図１０から図９を参照して説明する。主制御装置（図示略）は各台車ユニット４の位置情報を受信しており、台車用制御装置２９から受信した蓄電装置５の電圧が所定の電圧以下である場合には、その台車ユニット４が次に通過する充電ステーションＣのストッパー７を降下させて台車ユニット４を停止させるように制御している。 Next, the operation when charging the power storage device 5 in the cart unit 4 at the charging station C will be described with reference to FIGS. The main control device (not shown) receives the position information of each cart unit 4, and when the voltage of the power storage device 5 received from the cart control device 29 is equal to or lower than a predetermined voltage, the cart unit 4 Control is performed such that the stopper 7 of the charging station C that passes next is lowered to stop the cart unit 4.
　尚、主制御装置が台車用制御装置２９から受信した蓄電装置５の電圧が所定の電圧よりも大きい場合には、ストッパー７を作動させることなく、充電ステーションＣを通過するようになっている。 When the voltage of the power storage device 5 received by the main control device from the cart control device 29 is higher than a predetermined voltage, the charging station C is passed without operating the stopper 7.
　主制御装置の制御によってストッパー７が降下される際には、図９に示すように、モータ７２が駆動して回転部材７４が回転軸８３を中心に側面視で時計回り方向に回転されるとともに、ストッパー作動部材７５が円弧状の軌跡を描きながら前方側に移動されることで、連結バー７６によってストッパー７の上端部が前方側に移動され、ストッパー７が枢支軸７０を中心に回動してストッパー７の下端部が下方に移動される。 When the stopper 7 is lowered by the control of the main control device, as shown in FIG. 9, the motor 72 is driven to rotate the rotating member 74 around the rotating shaft 83 in the clockwise direction as viewed from the side. When the stopper operating member 75 is moved forward while drawing an arcuate locus, the upper end portion of the stopper 7 is moved forward by the connecting bar 76, and the stopper 7 rotates about the pivot shaft 70. Then, the lower end of the stopper 7 is moved downward.
　そして、ストッパー検出センサ７９によってドグ８１が検出されると、モータ７２の駆動が停止してストッパー７が下方位置で停止される。そこへ台車ユニット４が接近すると、先行台車１０の前方検出センサ４８がストッパー７を検出し、台車用制御装置２９によって減速される。 Then, when the dog 81 is detected by the stopper detection sensor 79, the driving of the motor 72 is stopped and the stopper 7 is stopped at the lower position. When the carriage unit 4 approaches, the front detection sensor 48 of the preceding carriage 10 detects the stopper 7 and is decelerated by the carriage controller 29.
　先行台車１０の突出部３７がストッパー７（被検出体）に接触するとともに、ドグ７１（被検出部）が先行台車１０の被検出空間５０に入り込み、停止検出センサ５１がドグ７１を検出した接触検出情報に基づいて台車用制御装置２９によって台車ユニット４が停止される。 The protruding portion 37 of the preceding carriage 10 contacts the stopper 7 (detected body), the dog 71 (detected portion) enters the detected space 50 of the preceding carriage 10, and the stop detection sensor 51 detects the dog 71. The cart unit 4 is stopped by the cart control device 29 based on the detection information.
　台車検出センサ８２が先行台車１０を検出すると、充電ステーションＣに台車ユニット４が停止されたことが主制御装置に送信される。尚、台車ユニット４がストッパー７によって停止されると、充電のための接触部２４を有する後側の走行台車９の真上に充電装置６が位置されるようにストッパー７及び充電装置６が配置されている。 When the cart detection sensor 82 detects the preceding cart 10, the fact that the cart unit 4 is stopped at the charging station C is transmitted to the main controller. When the carriage unit 4 is stopped by the stopper 7, the stopper 7 and the charging apparatus 6 are arranged so that the charging apparatus 6 is positioned directly above the rear traveling carriage 9 having the contact portion 24 for charging. Has been.
　図１０に示すように、台車ユニット４の充電作業が行われる際には、主制御装置によってモータ５８が駆動されて回動部材５９が回転されると、枢支部材６０の降下とともにプラグ保持部５４が降下する。 As shown in FIG. 10, when the carriage unit 4 is charged, when the motor 58 is driven by the main control device and the rotating member 59 is rotated, the plug holding portion is lowered together with the lowering of the pivot member 60. 54 descends.
　そして、プラグ保持部５４が充電位置まで降下してプラグ検出センサ６５がプラグ保持部５４の突出部６８を検出すると主制御装置（図示略）によってモータ５８が停止され、４つの各プラグ５２，５３が４条の接触部２４の導電体３３に接触する（図１０及び図１１参照）。このとき、充電プラグ５２は外側の接触部２４ａ，２４ｄに接触し、接続確認プラグ５３は内側の接触部２４ｂ，２４ｃに接触する。 Then, when the plug holding portion 54 is lowered to the charging position and the plug detection sensor 65 detects the protruding portion 68 of the plug holding portion 54, the motor 58 is stopped by the main controller (not shown), and each of the four plugs 52, 53 is detected. Is in contact with the conductor 33 of the four contact portions 24 (see FIGS. 10 and 11). At this time, the charging plug 52 contacts the outer contact portions 24a and 24d, and the connection confirmation plug 53 contacts the inner contact portions 24b and 24c.
　内側の接触部２４ｂ，２４ｃの導電体３３に接続確認プラグ５３が接触すると内側の接触部２４ｂ，２４ｃ間が短絡され、外側２つの接触部２４の導電体３３に充電プラグ５２が接触されていることを確認できるようになっている。この短絡情報が主制御装置（図示略）に伝達されると、充電プラグ５２が接触部２４ａ，２４ｄに接触しているとみなされ、充電装置６から接触部２４ａ，２４ｄを介して蓄電装置５へ充電が開始される。 When the connection confirmation plug 53 contacts the conductor 33 of the inner contact portions 24b and 24c, the inner contact portions 24b and 24c are short-circuited, and the charging plug 52 is in contact with the conductor 33 of the two outer contact portions 24. You can confirm that. When this short-circuit information is transmitted to the main control device (not shown), it is considered that the charging plug 52 is in contact with the contact portions 24a and 24d, and the power storage device 5 is connected from the charging device 6 via the contact portions 24a and 24d. Charging starts.
　充電が完了すると、主制御装置によって、モータ５８が駆動して回動部材５９が回転され、枢支部材６０の上昇とともにプラグ保持部５４が上昇する。プラグ保持部５４が待機位置まで上昇してプラグ検出センサ６６がプラグ保持部５４の突出部６８を検出すると主制御装置によってモータ５８が停止される。 When the charging is completed, the motor 58 is driven by the main controller to rotate the rotating member 59, and the plug holding portion 54 is raised as the pivot member 60 is raised. When the plug holding portion 54 rises to the standby position and the plug detection sensor 66 detects the protrusion 68 of the plug holding portion 54, the motor 58 is stopped by the main controller.
　そして、主制御装置の制御によってストッパー７が上昇される。その際には、モータ７２が駆動して回転部材７４が回転軸８３を中心に側面視で時計回り方向に回転されるとともに、回転部材７４の先端部に枢支されたストッパー作動部材７５が円弧状の軌跡を描きながら後方側に移動されることで、連結バー７６によってストッパー７の上端部が後方側に移動され、ストッパー７が枢支軸７０を中心に回動してストッパー７の下端部が上方に移動される。 And the stopper 7 is raised by the control of the main controller. At that time, the motor 72 is driven and the rotating member 74 is rotated clockwise around the rotating shaft 83 in a side view, and the stopper operating member 75 pivotally supported at the tip of the rotating member 74 is circular. By moving backward while drawing an arcuate locus, the upper end portion of the stopper 7 is moved rearward by the connecting bar 76, and the stopper 7 rotates around the pivot shaft 70 to lower the lower end portion of the stopper 7. Is moved upward.
　そして、ストッパー検出センサ７９によってドグ８１が検出されると、モータ７２の駆動が停止してストッパー７が上方位置で停止される。台車ユニット４の停止検出センサ５１からドグ７１が外れるとともに、前方検出センサ４８にストッパー７が検出されなくなるため、台車ユニット４の走行が開始される。 Then, when the dog 81 is detected by the stopper detection sensor 79, the driving of the motor 72 is stopped and the stopper 7 is stopped at the upper position. Since the dog 71 is removed from the stop detection sensor 51 of the cart unit 4 and the stopper 7 is not detected by the front detection sensor 48, the cart unit 4 starts to travel.
　このようにして、充電ステーションＣにおける充電作業は、蓄電装置５の電圧が所定の電圧以下である場合に充電されるように制御されているため、常に充電作業を行う必要がなく、台車ユニット４の運用効率を低下させずに、台車ユニット４の蓄電装置５を充電することができるようになっている。 In this way, the charging operation at the charging station C is controlled so as to be charged when the voltage of the power storage device 5 is equal to or lower than a predetermined voltage. The power storage device 5 of the cart unit 4 can be charged without reducing the operational efficiency.
　尚、充電ステーションＣのストッパー７によって台車ユニット４が停止中に、後続の台車ユニット４の先行台車１０が停止中の台車ユニット４の後続台車１１に近づくと、前述した前方検出センサ４８が停止中の台車ユニット４の後続台車１１を検出して後続の台車ユニット４が減速される。更に、後続の台車ユニット４の先行台車１０が停止中の台車ユニット４の後続台車１１に接触すると、前述した停止検出センサ５１が停止中の台車ユニット４の後続台車１１を検出して後続の台車ユニット４が停止される。 When the carriage unit 4 is stopped by the stopper 7 of the charging station C and the preceding carriage 10 of the succeeding carriage unit 4 approaches the succeeding carriage 11 of the stopped carriage unit 4, the aforementioned front detection sensor 48 is stopped. The subsequent carriage 11 of the next carriage unit 4 is detected, and the subsequent carriage unit 4 is decelerated. Further, when the preceding carriage 10 of the subsequent carriage unit 4 contacts the subsequent carriage 11 of the stopped carriage unit 4, the stop detection sensor 51 described above detects the subsequent carriage 11 of the stopped carriage unit 4 and the subsequent carriage. Unit 4 is stopped.
　次に、台車ユニット４における台車用制御装置２９について図１２を参照して説明する。図１２に示すように、台車用制御装置２９は、前述した走行台車８のモータ１７（駆動手段）に接続されて、このモータ１７のシーケンス制御を行う本発明における制御回路としてのＰＬＣ（Ｐｒｏｇｒａｍｍａｂｌｅ　Ｌｏｇｉｃ　Ｃｏｎｔｒｏｌｌｅｒ）を有している。 Next, the cart control device 29 in the cart unit 4 will be described with reference to FIG. As shown in FIG. 12, the cart control device 29 is connected to the motor 17 (driving means) of the traveling cart 8 described above, and is a PLC (Programmable Logic) as a control circuit in the present invention that performs sequence control of the motor 17. Controller).
　そして、このＰＬＣは、蓄電装置５（蓄電手段）に接続されて電力が供給されるようになっている。尚、モータ１７はＰＬＣを介して蓄電装置５から電力が供給されるようになっている。 And this PLC is connected to the power storage device 5 (power storage means) to supply power. The motor 17 is supplied with power from the power storage device 5 via the PLC.
　尚、蓄電装置５の陰極側の配線であるＮ１ラインがＰＬＣに接続されるとともに、蓄電装置５の陽極側の配線がＰＬＣに接続される。この陽極側の配線には、メインスイッチが設けられている。蓄電装置５の陽極側の配線のうち、メインスイッチよりも上流側の配線をＰ１ラインとし、下流側をＰ２ラインとして説明する。 It should be noted that the N1 line that is the wiring on the cathode side of the power storage device 5 is connected to the PLC, and the wiring on the anode side of the power storage device 5 is connected to the PLC. A main switch is provided on the wiring on the anode side. Of the wiring on the anode side of the power storage device 5, the wiring on the upstream side of the main switch will be described as a P1 line, and the downstream side will be described as a P2 line.
　走行台車８のモータ１７には、ＰＬＣからＮ１ラインとＰ２ラインが接続されており、ＰＬＣによってモータ１７に電力が供給されるとともに、モータ１７の回転速度の制御やブレーキ制御が行われる。 The N1 line and the P2 line are connected to the motor 17 of the traveling carriage 8 from the PLC. Electric power is supplied to the motor 17 by the PLC, and control of the rotational speed of the motor 17 and brake control are performed.
　また、メインスイッチがＯＮ状態（接続状態）になると、蓄電装置５とＰＬＣとが電気的に接続され、ＰＬＣ及びモータ１７に電力が供給される。更に、メインスイッチがＯＦＦ状態（遮断状態）になると、蓄電装置５とＰＬＣとの電気的な接続が遮断され、ＰＬＣ及びモータ１７への電力供給が停止される。 Further, when the main switch is turned on (connected state), the power storage device 5 and the PLC are electrically connected, and power is supplied to the PLC and the motor 17. Further, when the main switch is turned off (cut off), the electrical connection between the power storage device 5 and the PLC is cut off, and the power supply to the PLC and the motor 17 is stopped.
　このメインスイッチのＯＮ／ＯＦＦ制御は、台車用制御装置２９が有するスイッチ回路により行われる。メインスイッチは、スイッチ回路により制御されるリレースイッチとして構成されている。スイッチ回路において、メインスイッチのソレノイド部がＮ１ラインとＰ１ラインとに接続されている。 The main switch ON / OFF control is performed by a switch circuit included in the cart control device 29. The main switch is configured as a relay switch controlled by a switch circuit. In the switch circuit, the solenoid part of the main switch is connected to the N1 line and the P1 line.
　尚、メインスイッチのソレノイド部が設けられているＮ１及びＰ１ライン間が通電されると、メインスイッチがＯＮ状態となり、Ｎ１及びＰ１ライン間が遮断されると、メインスイッチがＯＦＦ状態となる。 It should be noted that when the N1 and P1 lines where the solenoid part of the main switch is provided are energized, the main switch is turned on, and when the N1 and P1 lines are cut off, the main switch is turned off.
　また、スイッチ回路において、メインスイッチのソレノイド部とＮ１ラインとの間には、ＰＬＣにより制御されるＰＬＣスイッチと、メンテナンスの際に作業者が手動により操作するメンテナンススイッチと、前述した先行台車１０の停止検出センサ５１のマグネットスイッチ（磁気スイッチ）によりＯＮ／ＯＦＦ制御されるＲ１リレーと、が並列に設けられている。尚、この停止検出センサ５１のマグネットスイッチが、蓄電装置５の電力に拠らずに作動する本発明における非電気的スイッチを構成している。更に、メインスイッチのソレノイド部とＰ１ラインとの間には、後述する電圧検出部により制御されるＲ３リレーが設けられている。 In the switch circuit, a PLC switch controlled by a PLC, a maintenance switch manually operated by an operator during maintenance, and the preceding carriage 10 described above are provided between the solenoid portion of the main switch and the N1 line. An R1 relay that is ON / OFF controlled by a magnet switch (magnetic switch) of the stop detection sensor 51 is provided in parallel. The magnet switch of the stop detection sensor 51 constitutes a non-electric switch in the present invention that operates without depending on the power of the power storage device 5. Further, an R3 relay controlled by a voltage detector described later is provided between the solenoid part of the main switch and the P1 line.
　尚、マグネットスイッチは、Ｎ１ラインとＰ１ラインとに接続されている。そして、マグネットスイッチとＰ１ラインとの間には、Ｒ１リレーのソレノイド部と、ＰＬＣに接続されたＲ２リレーのソレノイド部と、が並列に設けられている。更に尚、マグネットスイッチとＰ１ラインとの間には、後述するＲ３リレーが設けられている。 The magnet switch is connected to the N1 line and the P1 line. Between the magnet switch and the P1 line, a solenoid part of the R1 relay and a solenoid part of the R2 relay connected to the PLC are provided in parallel. Furthermore, an R3 relay described later is provided between the magnet switch and the P1 line.
　また、Ｒ１リレーのＯＮ／ＯＦＦ制御は、マグネットスイッチのＯＮ／ＯＦＦ状態により切り換わるＲ１リレーのソレノイド部が設けられているＮ１及びＰ１ライン間の通電状態により制御されている。 Further, the ON / OFF control of the R1 relay is controlled by the energization state between the N1 and P1 lines provided with the solenoid portion of the R1 relay that is switched according to the ON / OFF state of the magnet switch.
　マグネットスイッチによりＮ１及びＰ１ライン間が通電されると、Ｒ１リレーがＯＮ状態となり、Ｎ１及びＰ１ライン間が遮断されると、Ｒ１リレーがＯＦＦ状態となる。尚、ＰＬＣは、Ｒ１リレーのＯＮ／ＯＦＦ状態を、Ｒ１リレーのソレノイド部と並列に配置されたＲ２リレーのソレノイド部を介して検出するようになっている。 When the N1 and P1 lines are energized by the magnet switch, the R1 relay is turned on, and when the N1 and P1 lines are cut off, the R1 relay is turned off. Note that the PLC detects the ON / OFF state of the R1 relay via the solenoid part of the R2 relay arranged in parallel with the solenoid part of the R1 relay.
　前述したように、他の台車ユニット４の後続台車１１（被検出体）のドグ４４（被検出部）、またはストッパー７（被検出体）のドグ７１（被検出部）が先行台車１０の被検出空間５０に入り込み、停止検出センサ５１がドグ４４，７１を検出し、台車用制御装置２９は、モータ１７を停止させて台車ユニット４を停止させる制御を行うようになっている。 As described above, the dog 44 (detected part) of the succeeding carriage 11 (detected body) of the other truck unit 4 or the dog 71 (detected part) of the stopper 7 (detected object) is the object of the preceding carriage 10. Entering the detection space 50, the stop detection sensor 51 detects the dogs 44 and 71, and the cart control device 29 performs control to stop the cart 17 by stopping the motor 17.
　スイッチ回路内の動作について詳述すると、停止検出センサ５１がドグ４４，７１を検出すると、スイッチ回路のマグネットスイッチ（停止検出センサ５１）がＯＦＦ状態となり、Ｎ１及びＰ１ライン間が遮断されてＲ１リレーがＯＦＦ状態となる。 The operation in the switch circuit will be described in detail. When the stop detection sensor 51 detects the dogs 44 and 71, the magnet switch (stop detection sensor 51) of the switch circuit is turned off, the N1 and P1 lines are cut off, and the R1 relay is disconnected. Is turned off.
　ＰＬＣは、Ｒ１リレーのＯＦＦ状態を、Ｒ２リレーのソレノイド部を介して検出し、モータ１７のブレーキ制御を行い、台車ユニット４を停止させるようにしている。そして、台車ユニット４の動作が完全に停止した後に、ＰＬＣリレーをＯＦＦ状態にしてメインスイッチをＯＦＦ状態にする。 The PLC detects the OFF state of the R1 relay via the solenoid part of the R2 relay, performs brake control of the motor 17, and stops the carriage unit 4. Then, after the operation of the carriage unit 4 is completely stopped, the PLC relay is turned off and the main switch is turned off.
　つまり、ＰＬＣは、マグネットスイッチがＯＦＦ状態になっても、直ぐにメインスイッチがＯＦＦ状態にならないように制御している。ＰＬＣは、マグネットスイッチがＯＦＦ状態になってから所定の遅延時間経過後に、ＰＬＣリレーをＯＦＦ状態にして、メインスイッチをＯＦＦ状態にする制御を行っている。 That is, the PLC controls the main switch so that it does not immediately turn off even when the magnet switch is turned off. The PLC performs control to turn off the PLC relay and turn off the main switch after a predetermined delay time has elapsed since the magnet switch was turned off.
　そのため、台車ユニット４の動作が完全に停止する前に、モータ１７のブレーキ制御ができなくなる虞がないようになっている。尚、ＰＬＣ及びＰＬＣリレーにより本発明における遅延回路を構成している。 Therefore, there is no possibility that the brake control of the motor 17 cannot be performed before the operation of the cart unit 4 is completely stopped. The delay circuit in the present invention is constituted by the PLC and the PLC relay.
　尚、マグネットスイッチは、そのＯＦＦ状態を非電気的に維持するようになっている。つまり、停止検出センサ５１がドグ４４，７１を検出してマグネットスイッチがＯＦＦ状態となり、メインスイッチがＯＦＦ状態になっているときには、ＰＬＣ、モータ１７、スイッチ回路のいずれも蓄電装置５との電気的な接続が遮断された状態となっており、蓄電装置５が一切の電力を消費しないようになっている。 Incidentally, the magnet switch is configured to maintain its OFF state non-electrically. That is, when the stop detection sensor 51 detects the dogs 44 and 71 and the magnet switch is turned off and the main switch is turned off, all of the PLC, the motor 17 and the switch circuit are electrically connected to the power storage device 5. Therefore, the power storage device 5 does not consume any power.
　また、ドグ４４，７１が先行台車１０の被検出空間５０から外れると、スイッチ回路のマグネットスイッチ（停止検出センサ５１）がＯＮ状態となり、Ｎ１及びＰ１ライン間が通電されてＲ１リレーがＯＮ状態となる。そして、メインスイッチのソレノイド部が設けられたＮ１及びＰ１ライン間の通電によってメインスイッチがＯＮ状態となり、ＰＬＣ及びモータ１７が起動される。このとき起動したＰＬＣは、ＰＬＣスイッチをＯＮ状態に復帰させる。 Further, when the dogs 44 and 71 are removed from the detected space 50 of the preceding carriage 10, the magnet switch (stop detection sensor 51) of the switch circuit is turned on, the N1 and P1 lines are energized, and the R1 relay is turned on. Become. The main switch is turned on by energization between the N1 and P1 lines provided with the solenoid portion of the main switch, and the PLC and the motor 17 are started. The PLC activated at this time returns the PLC switch to the ON state.
　尚、マグネットスイッチがＯＦＦ状態のときに、メンテナンススイッチを作業者が手動により操作することでも、メインスイッチのソレノイド部が設けられたＮ１及びＰ１ライン間を通電させて、メインスイッチをＯＮ状態にすることができる。このメンテナンススイッチは、台車ユニット４のメンテナンス時に作業者が操作するようになっている。 Even if the maintenance switch is manually operated by the operator when the magnet switch is OFF, the main switch is turned ON by energizing the N1 and P1 lines provided with the solenoid part of the main switch. be able to. The maintenance switch is operated by an operator during maintenance of the cart unit 4.
　更に、スイッチ回路は、蓄電装置５の電圧（電力容量）を検出する電圧検出部を有している。この電圧検出部はＮ１ラインとＰ１ラインとの間に設けられている。この電圧検出部によりＲ３リレーのソレノイド部を介してＲ３リレーのＯＮ／ＯＦＦ制御が行われる。 Furthermore, the switch circuit has a voltage detection unit that detects the voltage (power capacity) of the power storage device 5. This voltage detector is provided between the N1 line and the P1 line. The voltage detection unit performs ON / OFF control of the R3 relay via the solenoid unit of the R3 relay.
　また、電圧検出部はＰＬＣと接続されており、蓄電装置５の電力が消費されて、電圧検出部で検出した蓄電装置５の電圧が所定の電圧以下になったときに、ＰＬＣはモータ１７のブレーキ制御を行って台車ユニット４を停止させるようになっている。 The voltage detection unit is connected to the PLC, and when the power of the power storage device 5 is consumed and the voltage of the power storage device 5 detected by the voltage detection unit becomes equal to or lower than a predetermined voltage, the PLC Brake control is performed to stop the cart unit 4.
　Ｒ３リレーのソレノイド部は、電圧検出部を介してＮ１ラインとＰ１ラインとの間に設けられており、電圧検出部で検出した蓄電装置５の電圧が所定の電圧以下になったときに、電圧検出部は、Ｒ３リレーのソレノイド部とＮ１ラインとの間を遮断して、Ｒ３リレーをＯＦＦ状態にする。 The solenoid part of the R3 relay is provided between the N1 line and the P1 line via the voltage detection part. When the voltage of the power storage device 5 detected by the voltage detection part becomes equal to or lower than a predetermined voltage, A detection part interrupts | blocks between the solenoid part and N1 line of R3 relay, and makes R3 relay an OFF state.
　尚、Ｒ３リレーは双安定リレー（ラッチリレー）となっており、そのＯＦＦ状態を非電気的に維持するようになっている。つまり、Ｒ３リレーがＯＦＦ状態となり、メインスイッチがＯＦＦ状態になっているときには、ＰＬＣ、モータ１７、スイッチ回路のいずれも蓄電装置５との電気的な接続が遮断された状態となっており、蓄電装置５が一切の電力を消費しないようになっている。 The R3 relay is a bistable relay (latch relay), and maintains its OFF state non-electrically. That is, when the R3 relay is in the OFF state and the main switch is in the OFF state, all of the PLC, the motor 17, and the switch circuit are in a state in which the electrical connection with the power storage device 5 is cut off. The device 5 does not consume any power.
　また、Ｒ３リレーのソレノイド部は、作業者が手動により操作するリセットスイッチを介してＮ１ラインと接続されている。リセットスイッチを作業者が手動により操作することで、Ｒ３リレーのソレノイド部を通電させてＲ３リレーをＯＮ状態にすることができる。 Also, the solenoid part of the R3 relay is connected to the N1 line via a reset switch that is manually operated by the operator. When the operator manually operates the reset switch, the solenoid portion of the R3 relay can be energized to turn on the R3 relay.
　作業員は、台車ユニット４を手動により充電ステーションＣで移動させ、蓄電装置５に充電をするとともに、リセットスイッチを操作することにより、に台車ユニット４を起動させることができる。尚、メンテナンススイッチ及びリセットスイッチが、本発明における復帰回路を構成している。 The worker can manually start the cart unit 4 by moving the cart unit 4 manually at the charging station C to charge the power storage device 5 and operating the reset switch. Note that the maintenance switch and the reset switch constitute a return circuit in the present invention.
　以上、本実施例における物品搬送装置１では、台車ユニット４は、台車ユニット４を走行させるモータ１７と、モータ１７に電力を供給する蓄電装置５と、蓄電装置５からモータに供給される電力の制御を行うＰＬＣと、ＰＬＣと蓄電装置５との電気的な接続を遮断する遮断状態を非電気的に維持するスイッチ回路と、を有することで、台車ユニット４の停止時において、蓄電装置５からＰＬＣ及びモータ１７に供給される電力をスイッチ回路により停止できるとともに、スイッチ回路がＰＬＣと蓄電装置５との遮断状態を非電気的に維持するため、スイッチ回路自体が電力を消費することがなく、蓄電装置５が一切の電力の消費をせずに済むようになり、長時間、台車ユニット４を停止させても、蓄電装置５の蓄電が維持されるようになる。 As described above, in the article transport apparatus 1 according to the present embodiment, the carriage unit 4 includes the motor 17 that travels the carriage unit 4, the power storage device 5 that supplies power to the motor 17, and the power supplied from the power storage device 5 to the motor. By having a PLC that performs control and a switch circuit that non-electrically maintains a cut-off state that cuts off the electrical connection between the PLC and the power storage device 5, the power storage device 5 The power supplied to the PLC and the motor 17 can be stopped by the switch circuit, and since the switch circuit maintains the non-electrical disconnection state between the PLC and the power storage device 5, the switch circuit itself does not consume power. The power storage device 5 does not need to consume any power, and the power storage of the power storage device 5 is maintained even if the carriage unit 4 is stopped for a long time. .
　また、スイッチ回路は、ドグ４４，７１（被検出部）を、蓄電装置５の電力に拠らずに検出する本発明における非電気的スイッチとしてのマグネットスイッチを含むことで、マグネットスイッチを用いて、ＰＬＣと蓄電装置５との遮断状態を、蓄電装置５からの電力に拠らずに非電気的に維持することができるとともに、ドグ４４，７１が台車ユニット４から離れることをマグネットスイッチにより検出できるため、ドグ４４，７１の動作を利用して、ＰＬＣと蓄電装置５とを通電させて台車ユニット４を自動的に起動させることができる。 In addition, the switch circuit includes the magnet switch as the non-electric switch in the present invention that detects the dogs 44 and 71 (the detected portion) without depending on the electric power of the power storage device 5. In addition, the shut-off state between the PLC and the power storage device 5 can be maintained non-electrically without relying on the power from the power storage device 5, and the magnet switches detect that the dogs 44 and 71 are separated from the cart unit 4. Therefore, the operation of the dogs 44 and 71 can be used to energize the PLC and the power storage device 5 to automatically start the carriage unit 4.
　尚、本発明における非電気的スイッチとは、磁力により作動するマグネットスイッチ以外であってもよく、例えば、物理的及び機械的な接触により作動するリミットスイッチ等の機械的に作動するスイッチであってもよい。また、電気的に作動するスイッチであっても、小型内蔵電池の電力で作動させるようにした光電スイッチや、太陽電池により作動させるようにしたスイッチ等の蓄電装置５の電力に拠らずに独立した電源から電力を供給させるようにしたスイッチであれば、本発明における非電気的スイッチとして用いることができる。 The non-electrical switch in the present invention may be other than a magnetic switch that operates by magnetic force, for example, a mechanically operated switch such as a limit switch that operates by physical and mechanical contact. Also good. Further, even an electrically operated switch is independent of the power of the power storage device 5 such as a photoelectric switch that is operated by the power of a small internal battery or a switch that is operated by a solar battery. Any switch that can supply power from the power source can be used as a non-electric switch in the present invention.
　また、モータ１７等に電力を供給する蓄電装置５（蓄電手段）とは別に補助蓄電装置（補助蓄電手段）を設け、この補助蓄電装置によりスイッチ回路自体を作動させるようにすれば、このスイッチ回路に含まれるスイッチが全て電気的に作動するスイッチであっても、これらのスイッチを、蓄電装置５の電力に拠らずに作動する非電気的スイッチとして構成することができる。 Further, if an auxiliary power storage device (auxiliary power storage means) is provided separately from the power storage device 5 (power storage means) for supplying electric power to the motor 17 or the like and the switch circuit itself is operated by this auxiliary power storage device, this switch circuit Even if all the switches included in the switch are electrically operated, these switches can be configured as non-electrical switches that operate without depending on the electric power of the power storage device 5.
　また、スイッチ回路は、蓄電装置５の電圧（電力容量）が所定の電圧以下であるときに作動するＲ３リレー（双安定リレー）を含むことで、蓄電装置５の電力容量が所定の容量以下であるときに自動的に台車ユニット４が停止されるようになり、モータ１７の駆動力が弱まって運用効率が低下する状態で台車ユニット４が動作されつづけることを防止でき、かつＲ３リレーに双安定リレーを用いることで、ＰＬＣと蓄電装置５との遮断状態を非電気的に維持することができる。 The switch circuit includes an R3 relay (bistable relay) that operates when the voltage (power capacity) of the power storage device 5 is equal to or lower than a predetermined voltage, so that the power capacity of the power storage device 5 is equal to or lower than the predetermined capacity. At a certain time, the cart unit 4 is automatically stopped, it is possible to prevent the cart unit 4 from continuing to operate in a state where the driving force of the motor 17 is weakened and the operation efficiency is lowered, and the R3 relay is bistable. By using the relay, it is possible to non-electrically maintain the disconnected state between the PLC and the power storage device 5.
　また、スイッチ回路は、遮断状態にあるＰＬＣと蓄電装置５との電気的な接続を、外部操作により復帰させるメンテナンススイッチ及びリセットスイッチ（復帰回路）を含むことで、ＰＬＣと蓄電装置５との遮断状態を、作業者が任意に行う手動による外部操作により復帰させることができる。 In addition, the switch circuit includes a maintenance switch and a reset switch (return circuit) that restores the electrical connection between the PLC in the shut-off state and the power storage device 5 by an external operation, so that the PLC and the power storage device 5 are shut off. The state can be restored by a manual external operation arbitrarily performed by the operator.
　また、スイッチ回路は、前記遮断状態になることを遅延させるＰＬＣ及びＰＬＣリレー（遅延回路）を含むことで、スイッチ回路が作動しても即座に遮断状態にならずに、ＰＬＣ及びＰＬＣリレーによって所定の遅延時間は、電力がＰＬＣとモータ１７とに供給されるようになり、モータ１７が完全に停止するまで電力が供給されつづけて、ＰＬＣがモータ１７を制御することができる。 Further, the switch circuit includes a PLC and a PLC relay (delay circuit) for delaying the cut-off state, so that even if the switch circuit is operated, the switch circuit is not immediately cut-off, but is predetermined by the PLC and the PLC relay. In this delay time, electric power is supplied to the PLC and the motor 17, and the electric power continues to be supplied until the motor 17 is completely stopped, so that the PLC can control the motor 17.
　しかも、本実施例における物品搬送装置１では、台車ユニット４は、走行台車８，９を走行レール３上で走行させるモータ１７と、モータ１７に電力を供給する蓄電装置５と、を有し、蓄電装置５を充電する充電装置６が搬送経路の一部に配置され、走行台車９には、充電装置６の充電プラグ５２に連結されて給電される接触部２４ａ，２４ｄが設けられることで、搬送経路の所定位置にて、モータ１７の駆動に必要な大電力の充電を台車ユニット４の蓄電装置５に行う際に、充電装置６の充電プラグ５２及び走行台車９の接触部２４ａ，２４ｄは、走行レール３よりも上方位置に配置されているため、作業員が居る床面から離れた位置で、充電装置６の充電プラグ５２と走行台車９の接触部２４ａ，２４ｄの連結がなされて充電作業が行われるようになり、かつ作業員が充電プラグ５２及び接触部２４ａ，２４ｄに不用意に接触してしまう虞もなくなり、台車ユニット４の蓄電装置５に対する充電作業を安全に行うことができる。 Moreover, in the article conveying apparatus 1 in the present embodiment, the carriage unit 4 includes a motor 17 that causes the traveling carriages 8 and 9 to travel on the traveling rail 3, and a power storage device 5 that supplies power to the motor 17. The charging device 6 that charges the power storage device 5 is arranged in a part of the transport path, and the traveling cart 9 is provided with contact portions 24a and 24d that are connected to the charging plug 52 of the charging device 6 and fed with power, The charging plug 52 of the charging device 6 and the contact portions 24a and 24d of the traveling cart 9 are used when the power storage device 5 of the cart unit 4 is charged with a large amount of power necessary for driving the motor 17 at a predetermined position on the transport path. The charging plug 52 of the charging device 6 and the contact portions 24a and 24d of the traveling carriage 9 are connected at a position away from the floor where the worker is present, so that charging is performed. Work line It came to be, and also eliminates the possibility that worker inadvertently contact the charging plug 52 and the contact portions 24a, 24d, the charging operation for power storage device 5 of the carriage unit 4 can be performed safely.
　また、充電装置６の充電プラグ５２は、走行レール３の上方位置に設けられるとともに、走行台車９の上面に接触部２４ａ，２４ｄが設けられることで、互いに連結される充電プラグ５２及び接触部２４ａ，２４ｄは、走行台車９よりも上方位置に配置されているため、作業員が居る床面からさらに離れた位置で、充電プラグ５２と接触部２４ａ，２４ｄの連結がなされて安全性が向上されるばかりか、走行台車８，９が走行レール３上を走行する際に、充電装置６の充電プラグ５２が邪魔にならずに済むようになる。 In addition, the charging plug 52 of the charging device 6 is provided above the traveling rail 3, and the contact portions 24 a and 24 d are provided on the upper surface of the traveling carriage 9, so that the charging plug 52 and the contact portion 24 a that are connected to each other are provided. 24d is arranged at a position higher than the traveling carriage 9, so that the charging plug 52 and the contact portions 24a, 24d are connected to each other at a position further away from the floor where the worker is present, thereby improving safety. In addition, when the traveling carriages 8 and 9 travel on the traveling rail 3, the charging plug 52 of the charging device 6 can be prevented from getting in the way.
　また、台車ユニット４は、少なくとも前後２つの走行台車８，９を有し、後方側に配置された走行台車９に接触部２４ａ，２４ｄが設けられることで、台車ユニット４が充電作業のために減速される際に、この減速によって、走行台車８，９に吊り下げられたキャリア１２は、その下部が前方に向かって揺動されるため、後方側の走行台車９は走行レール３に押し付けられて揺れやがたつきが生じずに安定するようになっており、この後方側の走行台車９に接触部２４ａ，２４ｄが設けられることで、充電装置６の充電プラグ５２と走行台車９の接触部２４ａ，２４ｄとの連結作業を容易に行うことができる。 Moreover, the cart unit 4 has at least two traveling carts 8 and 9 at the front and rear, and contact units 24a and 24d are provided on the traveling cart 9 arranged on the rear side so that the cart unit 4 can be charged. When the vehicle is decelerated, the carrier 12 suspended from the traveling carriages 8 and 9 is swayed forward by the deceleration, so that the rear traveling carriage 9 is pressed against the traveling rail 3. In this way, the contact part 24a, 24d is provided in the traveling cart 9 on the rear side, so that the charging plug 52 of the charging device 6 and the traveling cart 9 are in contact with each other. The connection work with the parts 24a and 24d can be easily performed.
　また、充電装置６の充電プラグ５２は、蓄電装置５の電圧が所定の電圧以下であることを条件に、走行台車９の接触部２４ａ，２４ｄに連結されることで、台車ユニット４は、充電装置６が配置された搬送経路の一部を通過する際に、常に充電作業を行う必要がなくなり、台車ユニット４の運用効率を低下させずに、台車ユニット４の蓄電装置５を充電することができる。 Further, the charging plug 52 of the charging device 6 is connected to the contact portions 24a and 24d of the traveling vehicle 9 on the condition that the voltage of the power storage device 5 is equal to or lower than a predetermined voltage. When passing through a part of the conveyance path in which the device 6 is disposed, it is not necessary to always perform the charging operation, and the power storage device 5 of the cart unit 4 can be charged without reducing the operation efficiency of the cart unit 4. it can.
　また、搬送経路の一部は、コンテナ２をキャリア１２に積載する積込ステーションＣ１及び荷降ろしステーションＣ２、または走行レール３の分岐ステーションＣ４、または走行レール３の合流ステーションＣ５、または台車ユニット４の待機ステーションＣ３となっていることで、これらステーションＣ１～Ｃ５では、台車ユニット４の速度が低下したり、若しくは停止したりするため、充電装置６の充電プラグ５２と走行台車９の接触部２４ａ，２４ｄとの連結作業を容易に行うことができる。 In addition, a part of the transport path includes the loading station C1 for loading the container 2 on the carrier 12 and the unloading station C2, the branch station C4 of the traveling rail 3, the merging station C5 of the traveling rail 3, or the cart unit 4. Since the station C3 is the standby station C3, the speed of the carriage unit 4 is reduced or stopped at these stations C1 to C5. Therefore, the charging plug 52 of the charging device 6 and the contact portion 24a of the traveling carriage 9 are provided. The connecting operation with 24d can be easily performed.
　以上、本発明の実施例を図面により説明してきたが、具体的な構成はこれら実施例に限られるものではなく、本発明の要旨を逸脱しない範囲における変更や追加があっても本発明に含まれる。 Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.
　例えば、前記実施例では、本発明がキャリア１２を吊り下げた状態で走行レール３に沿って走行可能な台車ユニット４を備える物品搬送装置１に適用されているが、本発明は他の形式による搬送台車などにも適用することができる。 For example, in the said Example, although this invention is applied to the article conveyance apparatus 1 provided with the trolley | bogie unit 4 which can drive | work along the traveling rail 3 in the state which suspended the carrier 12, this invention is based on another form. The present invention can also be applied to a transport cart.
１　　　　　　　　物品搬送装置
２　　　　　　　　コンテナ（物品）
３　　　　　　　　走行レール
３ａ　　　　　　　上面
３ｂ　　　　　　　直線路
３ｃ　　　　　　　曲線路
４　　　　　　　　台車ユニット
５　　　　　　　　蓄電装置（蓄電手段）
６　　　　　　　　充電装置（充電手段）
７　　　　　　　　ストッパー（被検出体）
８　　　　　　　　前側の走行台車
９　　　　　　　　後側の走行台車（被検出体）
１０　　　　　　　先行台車（補助台車）
１１　　　　　　　後続台車（補助台車，被検出体）
１２　　　　　　　キャリア（搬送物支持部材）
１３，１４　　　　連結杆材
１７　　　　　　　モータ（駆動手段）
１８　　　　　　　車輪
２４　　　　　　　接触部（被給電部）
２４ａ，２４ｄ　　外側の接触部
２４ｂ，２４ｃ　　内側の接触部
２９　　　　　　　台車用制御装置（制御手段）
３３　　　　　　　導電体
３５　　　　　　　車輪
３７　　　　　　　突出部
４０　　　　　　　カーブ検出センサ（揺動検出手段）
４１　　　　　　　ドグ
４４　　　　　　　ドグ（被検出部）
４６　　　　　　　カーブ検出センサ（揺動検出手段）
４７　　　　　　　ドグ
４８　　　　　　　前方検出センサ（近接検出手段）
５０　　　　　　　被検出空間
５１　　　　　　　停止検出センサ（接触検出手段）
５２　　　　　　　充電プラグ（給電部）
５３　　　　　　　接続確認プラグ
７１　　　　　　　ドグ 1 article transport device 2 container (article)
3 traveling rail 3a upper surface 3b straight road 3c curved road 4 bogie unit 5 power storage device (power storage means)
6 Charging device (charging means)
7 Stopper (Detected object)
8 Front traveling carriage 9 Rear traveling carriage (detected body)
10 Leading trolley (auxiliary trolley)
11 Subsequent carriage (auxiliary carriage, detected object)
12 Carrier (conveyed material support member)
13, 14 Connecting rod 17 Motor (driving means)
18 Wheel 24 Contact part (powered part)
24a, 24d Outer contact portions 24b, 24c Inner contact portions 29 Control device for bogie (control means)
33 Conductor 35 Wheel 37 Projection 40 Curve Detection Sensor (Swing Detection Means)
41 Dog 44 Dog (Detected part)
46 Curve detection sensor (swing detection means)
47 Dog 48 Front detection sensor (proximity detection means)
50 Detected space 51 Stop detection sensor (contact detection means)
52 Charging plug (power supply unit)
53 Connection check plug 71 Dog

Claims (10)

  1. 　搬送経路に沿って配設された走行レールと、搬送物支持部材を吊り下げた状態で前記走行レール上を走行可能な走行台車を有する台車ユニットと、を備え、物品を前記搬送物支持部材に積載して前記搬送経路に沿って搬送する物品搬送装置において、
    　前記台車ユニットは、前記走行台車を前記走行レール上で走行させる駆動手段と、前記駆動手段に電力を供給する蓄電手段と、を有し、該蓄電手段を充電する充電手段が前記搬送経路の一部に配置され、前記走行台車には、前記充電手段の給電部に連結されて給電される被給電部が設けられることを特徴とする物品搬送装置。     A traveling rail disposed along the transportation path; and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state in which the transportation object support member is suspended. In the article transport apparatus that loads and transports along the transport path,
    The carriage unit includes a driving unit that causes the traveling carriage to travel on the traveling rail, and an electric storage unit that supplies electric power to the driving unit, and a charging unit that charges the electric storage unit is included in the transport path. The article transporting apparatus is provided with a power-supplied part that is connected to a power feeding part of the charging unit and is fed to the traveling carriage.
  2. 　前記台車ユニットは、前記蓄電手段から前記駆動手段に供給される電力の制御を行う制御回路と、該制御回路と前記蓄電手段との電気的な接続を遮断する遮断状態を非電気的に維持するスイッチ回路と、を有することを特徴とする請求項１に記載の物品搬送装置。 The cart unit non-electrically maintains a control circuit that controls electric power supplied from the power storage means to the driving means, and a cut-off state that cuts off an electrical connection between the control circuit and the power storage means. The article conveying apparatus according to claim 1, further comprising a switch circuit.
  3. 　前記充電手段の給電部は、前記走行レールの上方位置に設けられるとともに、前記走行台車の上面に前記被給電部が設けられることを特徴とする請求項１または請求項２に記載の物品搬送装置。 3. The article conveying device according to claim 1, wherein the power supply unit of the charging unit is provided at a position above the traveling rail, and the power-supplied unit is provided on an upper surface of the traveling carriage. .
  4. 　前記台車ユニットは、少なくとも前後２つの前記走行台車を有し、後方側に配置された走行台車に前記被給電部が設けられることを特徴とする請求項１または請求項２に記載の物品搬送装置。 3. The article transporting apparatus according to claim 1, wherein the carriage unit includes at least two traveling carriages on the front and rear sides, and the powered unit is provided on a traveling carriage disposed on a rear side. .
  5. 　前記充電手段の給電部は、前記蓄電手段の電力容量が所定の容量以下であることを条件に、前記走行台車の被給電部に連結されることを特徴とする請求項１または請求項２に記載の物品搬送装置。 The power supply unit of the charging unit is connected to the power-supplied unit of the traveling carriage on condition that the power capacity of the power storage unit is equal to or less than a predetermined capacity. The article conveying apparatus according to the description.
  6. 　前記搬送経路の一部は、前記搬送物支持部材に対する前記物品の移載箇所、または前記走行レールの分岐箇所、または前記走行レールの合流箇所、または前記台車ユニットの待機箇所となっていることを特徴とする請求項１または請求項２に記載の物品搬送装置。 A part of the conveyance path is a transfer position of the article with respect to the conveyed product support member, a branch position of the traveling rail, a junction position of the traveling rail, or a standby position of the cart unit. 3. The article conveying apparatus according to claim 1, wherein the article conveying apparatus is characterized in that
  7. 　前記スイッチ回路は、前記台車ユニットに接触する被検出体の被検出部を、前記蓄電手段の電力に拠らずに検出する非電気的スイッチを含むことを特徴とする請求項２に記載の物品搬送装置。 The article according to claim 2, wherein the switch circuit includes a non-electrical switch that detects a detected portion of the detected object that contacts the cart unit without depending on the electric power of the power storage means. Conveying device.
  8. 　前記スイッチ回路は、前記蓄電手段の電力容量が所定の容量以下であるときに作動する双安定リレーを含むことを特徴とする請求項２に記載の物品搬送装置。 3. The article conveying apparatus according to claim 2, wherein the switch circuit includes a bistable relay that operates when a power capacity of the power storage means is equal to or less than a predetermined capacity.
  9. 　前記スイッチ回路は、前記遮断状態にある前記制御回路と前記蓄電手段との電気的な接続を、外部操作により復帰させる復帰回路を含むことを特徴とする請求項２に記載の物品搬送装置。 3. The article conveying apparatus according to claim 2, wherein the switch circuit includes a return circuit that returns an electrical connection between the control circuit and the power storage unit in the cut-off state by an external operation.
  10. 　前記スイッチ回路は、前記遮断状態になることを遅延させる遅延回路を含むことを特徴とする請求項２に記載の物品搬送装置。 3. The article conveying apparatus according to claim 2, wherein the switch circuit includes a delay circuit that delays the switch circuit from entering the cut-off state.
PCT/JP2010/070556 2009-11-19 2010-11-18 Article conveyance device WO2011062218A1 (en)

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JP2009288906A JP5581048B2 (en) 2009-12-21 2009-12-21 Article conveying device
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