CN102442217B - Self-propelled conveying system with capacitor and secondary battery as power supply - Google Patents
Self-propelled conveying system with capacitor and secondary battery as power supply Download PDFInfo
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- CN102442217B CN102442217B CN201110222999.0A CN201110222999A CN102442217B CN 102442217 B CN102442217 B CN 102442217B CN 201110222999 A CN201110222999 A CN 201110222999A CN 102442217 B CN102442217 B CN 102442217B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
A self-propelled conveying system with a capacitor and a secondary battery as power supply reuses regenerated power and restrain stopping precision deviation of a self-propelled conveying tool. A bidirectional DC-DC converter is connected between the capacitor and a driving control device. The self-propelled conveying system is provided with the following components: a control circuit which switches off a switch when the output voltage of the capacitor is above the output voltage of the bidirectional DC-DC converter, switches on the switch when the output voltage of the capacitor is lower than the output voltage of the DC-DC converter, converts the DC-DC converter to a regeneration side when the output side voltage of the DC-DC converter is above a regeneration starting setting voltage, and switches the DC-DC converter to a power operation side when the output side voltage of the DC-DC converter is below the regeneration finishing setting voltage; and a rectifying mechanism which is connected between the battery and the secondary battery so an electric current is generated from the secondary battery side to the driving control device, and no electric current is generated in an opposite direction.
Description
Technical field
The present invention relates to the self-propelled conveying system carried in the self-propelled transportation means of transported substance moving along prescribed path and possess cond and secondary battery, the driven by power self-propelled transportation means of use charging in them.
Background technology
There is following self-propelled conveying system (such as with reference to Fig. 1 and Fig. 4 of patent documentation 1): in automatic conveying vehicle, possess the electrical motor and driving control device thereof and the electric double layer capacitor as driving power that drive drive wheel, by the charging power supply of the battery-charging station from the appropriate location be arranged in factory is supplied and driving motor to driving control device the electric power that electric double layer capacitor charges, automatic conveying vehicle is moved, and is power supply with electric double layer capacitor; Also there is the auxiliary energy as electric double layer capacitor and use the structure (with reference to Fig. 2 of patent documentation 1) of the plumbous secondary battery be connected in parallel with electric double layer capacitor.
In addition, also has following structure (such as with reference to patent documentation 2): in unmanned waggon, possess the cond driving the electrical motor of drive wheel and driving control device thereof and battery and be connected in parallel on this battery, from the charging power supply (electric supply installation) of the battery-charging station of the appropriate location be arranged in factory to battery and cond charging, complete charging in the charging complete moment of the good cond of fast charging and discharging characteristic and remove the constraint of unmanned waggon.
Patent documentation 1: Japanese Unexamined Patent Publication 7-163016 publication (Fig. 1 ~ Fig. 2, Fig. 4)
Patent documentation 2: Japanese Unexamined Patent Publication 2008-137451 publication (Fig. 1)
In the self-propelled conveying system taking cond as power supply, the quantity of the number ratio battery-charging station of self-propelled transportation means is many, when making manufacturing line (between such as two days of day off weekly) stopping during day off, there is the self-propelled transportation means that place in this stopping period beyond battery-charging station is standby.By self-propelled transportation means standby for the place like this beyond battery-charging station after terminating day off again entry into service time, have because of the stand-by electric in the larger and above-mentioned stopping period of cond nature discharge rate and the residual voltage of cond becomes below rated value, can not the situation of entry into service again because of running down of battery.
As the countermeasure of such running down of battery, can consider to arrange many battery-charging statioies to make the quantity of battery-charging station consistent with the quantity of self-propelled transportation means or increase the capacity of cond, but cost increases in the former countermeasure, in the countermeasure of the latter cost increase and the volume of cond and weight also increase, be not suitable for practicality so by these which kind of countermeasure all become.
As mentioned above, Patent Document 2 discloses structure battery and cond are connected in parallel, charging to battery and cond was completed in the charging complete moment of cond, the standing time of the self-propelled transportation means such as only when the operation of the handling etc. of goods carries out the charging from charging power supply (electric supply installation), when self-propelled transportation means mobile etc., charge to battery from cond when the voltage of battery is lower.
Here, when the structure such by patent documentation 2 is charged from cond to battery, be subject to considering the impact bring the life-span and the restriction of the bound voltage of the charging valtage set, and be in the charging of the battery of constant-voltage charge substantially, the voltage of cond carries out along with charging and declines, so the amount can charged from cond to battery is considerably less, so the energy of cond effectively can not be applied flexibly.
Thus, in the structure that battery and cond are connected in parallel that patent documentation 2 is such, battery is main power source, and terminate from charging complete moment at the good cond of fast charging and discharging characteristic of the charging of charging power supply (electric supply installation), so charging duration is shorter for battery, the amount can charged from cond to battery is as described above considerably less, and if consider and prevent exhausting of battery, need the battery selecting capacity larger in advance, so weight and cost increase.
And, because battery is main power source, so the discharge and recharge time of natural battery increases, only can use the short time because of the charging-discharging cycle life-span (usual depth of discharge is for 50% time about 500 times).
And then, as mentioned above, Patent Document 1 discloses the auxiliary energy as electric double layer capacitor and use the structure (with reference to Fig. 2 and paragraph [0014]) of the plumbous secondary battery be connected in parallel with electric double layer capacitor, how electric double layer capacitor and plumbous secondary battery are charged, how to use the electric power of charging to be unclear, do not carry out the research of practical aspect completely.
In order to solve such problem, carry out invention (reference No. 2010-174977, the Japanese Patent Application about self-propelled conveying system by the inventor of the application.Hereinafter referred to as " first invention "), this self-propelled conveying system possesses: bi-directional DC-DC converter, is connected between electric double layer capacitor and driving control device, secondary cell charge device, between above-mentioned electric double layer capacitor and above-mentioned driving control device, its outgoing side is connected to the outgoing side of above-mentioned bi-directional DC-DC converter via switch, charges to secondary battery, and control circuit, when the output voltage of above-mentioned electric double layer capacitor is more than the output voltage of above-mentioned bi-directional DC-DC converter, above-mentioned switch is disconnected, when output voltage less than above-mentioned bi-directional DC-DC converter of the output voltage of above-mentioned electric double layer capacitor by above-mentioned switch connection, and when the voltage of the outgoing side of above-mentioned bi-directional DC-DC converter is more than regeneration beginning setting voltage, the internal circuit of above-mentioned bi-directional DC-DC converter is switched to regeneration side, when the voltage of the outgoing side of above-mentioned bi-directional DC-DC converter is and has regenerated below setting voltage, above-mentioned internal circuit is run side to power to switch.
According to first invention, running down of battery is there is in the running that can not terminate to wait on day off when starting again, life-span is longer, the increase of weight and cost can be suppressed, and owing to being connected to bi-directional DC-DC converter between electric double layer capacitor and driving control device, so the regenerated energy that can lose being transformed to heat energy by regeneration resistance unit in the past recycles to electric double layer capacitor electric power storage via bi-directional DC-DC converter, the waste of energy can be eliminated.
But it is possible to the reverse side of regenerated energy electric power storage, the situation that the stop position that there is self-propelled transportation means offsets with such as about 200 ~ 300mm, so also there is room for improvement viewed from the viewpoint of the stopping precision of raising self-propelled transportation means.
Summary of the invention
So, the present invention makes in view of above-mentioned condition, the problem that solve be following a bit: provide a kind of and regenerated energy electric power storage can be recycled and the self-propelled conveying system being power supply with cond and secondary battery of the skew of the stopping precision of self-propelled transportation means can be reduced.
The situation of inventor to the stopping precision offset of self-propelled transportation means of the application has carried out testing and research, the state of above-mentioned switch when finding the regenerated energy electric power storage according to producing when motor is slowed down and stopped, above-mentioned switch be close and situation about operating using cond as power supply and above-mentioned switch open and operate using secondary battery as power supply, stop the skew of precision to become large, thus complete the present invention.
The self-propelled conveying system that is power supply with cond and secondary battery for the present invention, in order to solve the problem, carry in the self-propelled transportation means of transported substance moving along prescribed path, possess motor and driving control device thereof, as cond and the secondary battery of the driving power of said motor, and the powered body to be connected with above-mentioned cond, the power supply body and charging power supply that are electrically connected with above-mentioned powered body is possessed in the battery-charging station being arranged at assigned position, by the electric power be charged in above-mentioned cond and secondary battery is driven said motor to above-mentioned driving control device supply, above-mentioned self-propelled transportation means is moved, the feature of the self-propelled conveying system that should be power supply with cond and secondary battery is, possess: bi-directional DC-DC converter, be connected between above-mentioned cond and above-mentioned driving control device, secondary cell charge device, between above-mentioned cond and above-mentioned driving control device, its outgoing side is connected, to above-mentioned secondary cell charge via the outgoing side of switch with above-mentioned bi-directional DC-DC converter, control circuit, in more than the output voltage of above-mentioned cond is the output voltage of above-mentioned bi-directional DC-DC converter or defined threshold, above-mentioned switch is disconnected, when above-mentioned cond output voltage less than when the output voltage of above-mentioned bi-directional DC-DC converter or defined threshold by above-mentioned switch connection, and when the voltage of the outgoing side of above-mentioned bi-directional DC-DC converter is more than regeneration beginning setting voltage, the internal circuit of above-mentioned bi-directional DC-DC converter is switched to regeneration side, when the voltage of the outgoing side of above-mentioned bi-directional DC-DC converter is and has regenerated below setting voltage, above-mentioned internal circuit is run side to power to switch, and rectification mechanism, be connected between above-mentioned switch and above-mentioned secondary battery, make from above-mentioned secondary battery side to above-mentioned driving control device effluent excess current, do not flow through electric current to its opposite sense.
According to such structure, the internal circuit of bi-directional DC-DC converter is switched to regeneration side when being more than regeneration beginning setting voltage by the voltage due to the outgoing side at bi-directional DC-DC converter, when the voltage of the outgoing side of bi-directional DC-DC converter is and has regenerated below setting voltage, above-mentioned internal circuit is run side to power to switch, so when power running and operating from electric double layer capacitor via bi-directional DC-DC converter to driving control device supply power, when motor slows down stopping etc., when producing regenerated electric power, regenerated energy can be recycled to electric double layer capacitor electric power storage via bi-directional DC-DC converter.
In addition, due to possess be connected between switch and secondary battery, make from secondary battery side direction driving control device effluent excess current, the rectification mechanism not flowing through electric current to its opposite sense, even if so switch is the state of opening, also can not by regenerated energy electric power storage in secondary battery.
Namely, close, with cond be the situation of power drives motor and switch open at switch and under taking secondary battery as arbitrary situation of the situation of power drives motor, all by slow down at motor stop time produce regenerated energy only electric power storage in cond, so when with cond be the situation of power supply or be power supply with secondary battery, the stopping precision of self-propelled transportation means does not have skew.
Invention effect
As described above, according to the self-propelled conveying system being power supply with cond and secondary battery for the present invention, running down of battery can not be there is when the running terminating to wait day off starts again, life-span is longer, the increase of weight and cost can be suppressed, and owing to being connected to bi-directional DC-DC converter between cond and driving control device, so the regenerated energy that can lose being transformed to heat energy by regeneration resistance unit in the past recycles to capacitor storage via bi-directional DC-DC converter, the waste of energy can be eliminated, switch close using cond as the power supply situation of CD-ROM drive motor and switch open and using secondary battery as power supply the situation of CD-ROM drive motor any one situation under, all by slow down at motor stop time produce regenerated energy only electric power storage in cond, so play when with cond be the situation of power supply or be power supply with secondary battery self-propelled transportation means the stopping precision significant effect that can not offset.
Accompanying drawing explanation
Fig. 1 be represent embodiment for the present invention with the approximate vertical view of an integrally-built example of cond and the secondary battery self-propelled conveying system that is power supply.
Fig. 2 represents the block diagram to the state that the automatic conveying vehicle stopping at battery-charging station charges.
Fig. 3 is the block diagram of the bi-directional DC-DC converter and driving control device etc. representing Fig. 2 in more detail.
In Fig. 4, the block diagram of the flowing of the energy that a () is the output voltage Vi that represents cond when being more than the output voltage Vo of bi-directional DC-DC converter, (b) represents the block diagram of output voltage Vi less than the flowing of energy when output voltage Vo.
The block diagram of the flowing of energy when Fig. 5 to be the voltage of the outgoing side representing bi-directional DC-DC converter be regeneration starts more than setting voltage Vs, wherein, a () represents that switch is the state of cutting out, (b) represents that switch is the state of opening.
Description of symbols
R prescribed path
The output voltage of Vi cond
The output voltage of Vo bi-directional DC-DC converter
Vs regeneration starts setting voltage
Ve has regenerated setting voltage
1 automatic conveying vehicle (self-propelled transportation means)
2A, 2B battery-charging station
3 charging power supplys
4 control setups
5 cylinders
6A charging terminal (power supply body)
6B electrified terminal (powered body)
7 conies
8 bi-directional DC-DC converters
8A power runs conv
8B regenerates conv
9 lead battery chargers (secondary cell charge device)
10 lead batterys (secondary battery)
11 switches
12 control circuits
12A, 12B voltage detection department
13 driving control devices
14 motors
15 drive wheels
16 flower wheels
17 diodes (rectification mechanism)
Detailed description of the invention
Then, explain embodiments of the present invention based on accompanying drawing, but the present invention is not limited to embodiment shown in the drawings, and comprises the whole embodiments meeting the important document recorded in claims.
The self-propelled conveying system being power supply with cond and secondary battery of the embodiment for the present invention shown in Fig. 1, such as be made up of such as lower part: as self-propelled transportation means unmanned automatic conveying vehicle 1,1 ... prescribed path R in the factory formed by magnetic conductance leader tape, transported substance is carried from traveling in the position detecting above-mentioned steering tape (ガ イ De テ mono-プ); Battery-charging station 2A, 2B, be located at the midway of prescribed path R, forms by as the power supply charging terminal 6A of body and charging power supply 3 etc.; Not shown heap enters bay-lift or unloads bay-lift, is arranged on the position of battery-charging station 2A, 2B, carries out the handling of transported substance; And control setup etc., control the action of each equipment and the charging power supply 3 controlled as constant-current supply; Prescribed path R possesses the automatic conveying vehicle 1 more than the quantity (two places) of battery-charging station 2A, 2B, 1 ...
At the setting position place of battery-charging station 2A, 2B, as mentioned above, have and pile into bay-lift or unload bay-lift, if automatic conveying vehicle 1 comes these positions, then automatic conveying vehicle 1 stops and being located, by piling into bay-lift or unloading the loading and unloading operation that bay-lift carries out transported substance, utilize the standing time of the automatic conveying vehicle 1 suitable with this production time, carry out the charging to the cond 7 (with reference to Fig. 2) on automatic conveying vehicle 1 by charging power supply 3.
Here, the fast charging and discharging characteristic of cond 7 is good, in cond 7, except comprising electric double layer capacitor and lithium-ion capacitor, also comprises that have can 2 primary cells of characteristic of fast charging and discharging.
As shown in Figure 2, the automatic conveying vehicle 1 as self-propelled transportation means possesses on its matrix: drive wheel 15,15 and flower wheel 16,16; Drive motor 14 and the driving control device 13 thereof of drive wheel 15,15; As the cond 7 as main power source of the driving power of motor 14; Be connected on cond 7, contact the electrified terminal 6B as powered body combined with charging terminal A; And bi-directional DC-DC converter 8, be connected between cond 7 and driving control device 13, the VD (such as below 54V) of cond 7 is matched with load and converts to other certain vdc (such as 24V); Lead battery charger 9, between cond 7 and driving control device 13, its outgoing side is connected to the outgoing side of bi-directional DC-DC converter 8 via the switch 11 such as thyristor, charges to the lead battery 10 as accessory feed; With control circuit 12 etc., switch 11 is disconnected (switch 11 cuts out) when the voltage Vi of voltage detection department 12A is more than the output voltage Vo (such as 24V) of bi-directional DC-DC converter 8, at voltage Vi less than when voltage Vo, switch 11 being connected (switch 11 is opened).
In addition, except the voltage Vi of voltage detection department 12A of the output voltage (input voltage of bi-directional DC-DC converter 8) as cond 7 is compared with the output voltage Vo (such as 24V) of bi-directional DC-DC converter 8 and is undertaken except the structure of the switching controls of switch 11 by control circuit 12, also can be configured to, voltage Vi is compared with the defined threshold (such as 23V) of the output voltage Vo being different from bi-directional DC-DC converter 8, when voltage Vi is more than defined threshold, switch 11 is disconnected, switch 11 is connected less than when defined threshold at voltage Vi.
Shown in Fig. 2 be connected to the charging terminal 6A as body of powering on charging power supply 3 can by the cylinder (シ リ Application ダ) 5 that controlled by control setup 4 to close to electrified terminal 6B direction and away from direction move, combine carrying out contacting with the electrified terminal 6B as powered body of automatic conveying vehicle 1 side, and this combination can be removed.In addition, power supply body and powered body both can be the pair of connectors etc. of electrical connection, also can by electromagnetic induction effect from power supply body (supply side coil) to powered body (power side coil) transmitting electric power, the structure of cond 7 being charged by non-contact power.
Stopping at the battery-charging station 2A shown in Fig. 1 or 2B, as shown in Figure 2 charging terminal 6A at automatic conveying vehicle 1 contacts under the state combined with electrified terminal 6B, by control setup 4 computing to the command value of charging with power supply 3, this command value is sent to charging power supply 3, charging current is supplied to cond 7 via charging terminal 6A and electrified terminal 6B from charging power supply 3.
Automatic conveying vehicle 1 after the charging complete of cond 7, after the contact of charging terminal 6A and electrified terminal 6B is combined releasing by the cylinder 5 by being controlled by control setup 4, the discharged power carrying out sufficient power from capacitor 7 is supplied by driving control device 13 via bi-directional DC-DC converter 8, drive wheel 15,15 is driven, so move along prescribed path R by the driving torque of the motor 14 by driving control device 13 drived control.
The discharged power of sufficient power from capacitor 7 is supplied to driving control device 13 (the thick-line arrow A with reference to Fig. 4 (a)) via bi-directional DC-DC converter 8 like this, but dump power is now fed into (the thick-line arrow B with reference to Fig. 4 (a)) in lead battery charger 9, by bat.chgr. 9, certain voltage (such as 27.3V ~ 29.1V) is supplied in lead battery 10, lead battery 10 (such as rated voltage 24V) is charged.
Lead battery 10 described above also can be other secondary batterys such as Ni-MH battery or lithium ion battery.
In addition, when lead battery 10, owing to needing the charging duration of such as a few hours, so select the electric capacity of cond 7, so that the dump power can discharged by the circulation of the stipulated number of cond 7 can by lead battery 10 full charge.
In addition, although the charging valtage of lead battery 10 (such as 27.3V ~ 29.1V) exceedes the permissible range (such as 24V ± 10%) of the power line voltage of driving control device 13, but when charging to lead battery 10, namely automatic conveying vehicle 1 usual running (such as on ordinary days manufacturing line work time running) time, owing to switch 11 being disconnected by control circuit 12, so lead battery charger 9 and lead battery 10 are not connected with driving control device 13, so the voltage of the permissible range of its power line voltage can not be applied above to driving control device 13, and lead battery 10 can not discharge in order to CD-ROM drive motor 14.
As mentioned above, due to automatic conveying vehicle 1, 1, number ratio battery-charging station 2A, the quantity (two places) of 2B is many, so when making manufacturing line (between such as two days of day off weekly) stopping during day off, exist in this stopping period at battery-charging station 2A, the automatic conveying vehicle 1 that place beyond 2B is standby, 1, so will at battery-charging station 2A, the automatic conveying vehicle 1 that place beyond 2B is standby, 1, after terminating day off again entry into service time, there is the output voltage Vo (such as 24V) of voltage Vi less than bi-directional DC-DC converter 8 of the voltage detection department 12A of the output voltage (input voltage of bi-directional DC-DC converter 8) as cond 7, from bi-directional DC-DC converter 8 to the situation that the supply of the electric power of driving control device 13 is cut-off.
In the case, because the voltage Vi of voltage detection department 12A is less than the output voltage Vo of bi-directional DC-DC converter 8, so switch 11 is connected by control circuit 12 as described above, the discharged power from lead battery 10 is supplied (the thick-line arrow C with reference to Fig. 4 (b)) to driving control device 13.
In addition, lead battery 10 selects the lead battery following electric power to sufficient capacity, and this electric power is from supplying stand-by electric after the voltage Vi of the voltage detection department 12A output voltage Vo become less than bi-directional DC-DC converter 8 terminated to day off, driving to the electric power of next battery-charging station from stop position in above-mentioned stopping period.
In addition, when starting the charging of cond 7 after terminating day off again, lead battery charger 9 also starts action again, so closed by switch 11 by control circuit 12, is not connected in parallel to make the outgoing side of the outgoing side of bi-directional DC-DC converter 8 and lead battery charger 9.
According to structure such above, when the usual running of automatic conveying vehicle 1, discharged power from the cond 7 as main power source is supplied and CD-ROM drive motor 14 by driving control device 13 via bi-directional DC-DC converter 8, and the dump power carrying out the discharged power of sufficient power from capacitor 7 is fed in lead battery charger 9, by lead battery charger 9, certain voltage is supplied in lead battery 10, lead battery 10 is charged, so the energy of cond 7 effectively can be applied flexibly.
In addition, as mentioned above, when output voltage Vo less than bi-directional DC-DC converter 8 of the voltage Vi of voltage detection department 12A, by control circuit 12 turn on-switch 11, discharged power from the lead battery 10 as accessory feed is supplied to driving control device 13, so can not running down of battery be become when such as manufacturing line becomes mode of operation from off working state as terminated day off.
And then, because lead battery 10 is not main power source but accessory feed, so relative to the structure being main power source with lead battery 10, the discharge and recharge number of times of lead battery 10 tails off, although so be the lead battery 10 using the charging-discharging cycle life-span shorter, long use can be realized.
And then lead battery 10 is not main power source, as long as it is just passable to possess the capacity that automatic conveying vehicle 1 can be moved to battery-charging station 2A or 2B after terminating day off, so can suppress the increase of weight and cost.
In addition, with arrange many battery-charging statioies with make the quantity of battery-charging station and automatic conveying vehicle 1,1 ... the consistent structure of quantity compare and can reduce costs, with increase cond 7 electric capacity structure compared with can reduce costs and the volume of cond 7 and weight.
Above, to standby in battery-charging station 2A, the automatic conveying vehicle 1 in the place beyond 2B, 1, in, the voltage Vi of voltage detection department 12A is less than the output voltage Vo of bi-directional DC-DC converter 8, from bi-directional DC-DC converter 8 to the supply of the electric power of driving control device 13 cut-off be running again after terminating day off time situation be illustrated, even if but be not that running after terminating day off is when starting again, but in storage portion such as in prescribed path R in situation not having the position of charger standby for a long time etc. too, when cut-off to the supply of the electric power of driving control device 13 from bi-directional DC-DC converter 8, by control circuit 12 turn on-switch 11, so the discharged power from lead battery 10 is supplied to driving control device 13, so can running down of battery be avoided.
Then, the structure example of regenerated energy and action thereof is utilized to be described to being used for.
As shown in Figures 2 and 3, between cond 7 and driving control device 13, be connected to bi-directional DC-DC converter 8, and the voltage of the outgoing side (driving control device 13 side) of bi-directional DC-DC converter 8 can be detected by voltage detection department 12B.
Thus, according to the voltage detected by voltage detection department 12B, control circuit 12 is when the regeneration that the voltage of voltage detection department 12B is regulation starts more than setting voltage Vs (such as 28V), the internal circuit of bi-directional DC-DC converter 8 is switched to regeneration side (the regeneration conv 8B with reference to Fig. 3), when the voltage of voltage detection department 12B be regulation regeneration complete setting voltage Ve (such as 24V) below, by above-mentioned internal circuit to power run side (with reference to Fig. 3 power run conv (Lixing コ Application バ mono-タ) 8A) switch.
By such structure and action, conv 8A is run to driving control device 13 supply power from cond 7 via the power of bi-directional DC-DC converter 8 when power running and operating, when motor 14 slows down stopping etc., when producing regenerated electric power, the regeneration conv 8B of regenerated energy via bi-directional DC-DC converter 8 can be carried out recycling (the thick-line arrow D with reference to Fig. 5) to cond 7 electric power storage.
In addition, when utilizing regenerated energy like this, as shown in Figures 2 and 3, make from lead battery 10 side direction driving control device 13 effluent excess current, the diode 17 as rectification mechanism not flowing through electric current to its opposite sense owing to possessing between switch 11 and lead battery 10, even if so also can not by regenerated energy electric power storage in lead battery 10 when switch as Fig. 5 (b) 11 is and opens.
Namely, to close at switch 11 and in the situation being power drives motor 14 with cond 7 and switch 11 arbitrary situation of opening and being the situation of power drives motor 14 with lead battery 10, all as shown in Fig. 5 (a) and Fig. 5 (b), by slow down at motor 14 stop time produce regenerated energy only electric power storage in cond 7, so do not have skew in the situation being power supply with cond 7 or with the stopping precision that lead battery 10 is automatic conveying vehicle when power supply 1.
In the above description, the self-propelled transportation means illustrating self-propelled conveying system is the situation of the automatic conveying vehicle 1 along steering tape movement, but self-propelled transportation means also can be the structure of overhead type along guide rail movement or floor type.
Claims (1)
1. the self-propelled conveying system that is power supply with cond and secondary battery, carry in the self-propelled transportation means of transported substance moving along prescribed path, possess motor and driving control device thereof, as cond and the secondary battery of the driving power of said motor, and the powered body to be connected with above-mentioned cond, the power supply body and charging power supply that are electrically connected with above-mentioned powered body is possessed in the battery-charging station being arranged at assigned position, by the electric power be charged in above-mentioned cond and secondary battery is driven said motor to above-mentioned driving control device supply, above-mentioned self-propelled transportation means is moved, the feature of the self-propelled conveying system that should be power supply with cond and secondary battery is, possess:
Bi-directional DC-DC converter, is connected between above-mentioned cond and above-mentioned driving control device;
Secondary cell charge device, between above-mentioned cond and above-mentioned driving control device, its outgoing side is connected, to above-mentioned secondary cell charge via the outgoing side of switch with above-mentioned bi-directional DC-DC converter;
Control circuit, in more than the output voltage of above-mentioned cond is the output voltage of above-mentioned bi-directional DC-DC converter or defined threshold, above-mentioned switch is disconnected, when above-mentioned cond output voltage less than when the output voltage of above-mentioned bi-directional DC-DC converter or defined threshold by above-mentioned switch opens, and when the voltage of the outgoing side of above-mentioned bi-directional DC-DC converter is more than regeneration beginning setting voltage, the internal circuit of above-mentioned bi-directional DC-DC converter is switched to regeneration side, when the voltage of the outgoing side of above-mentioned bi-directional DC-DC converter is and has regenerated below setting voltage, above-mentioned internal circuit is run side to power to switch, and
Rectification mechanism, is connected between above-mentioned switch and above-mentioned secondary battery, makes from above-mentioned secondary battery side to above-mentioned driving control device effluent excess current, does not flow through electric current to its opposite sense,
Above-mentioned rectification mechanism, to close at switch and in arbitrary situation of situation of taking cond as the situation of power drives said motor and switch open and being power drives said motor with above-mentioned secondary battery, when all stopping slowing down in said motor the regenerated energy of generation only electric power storage in above-mentioned cond.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP220950/2010 | 2010-09-30 | ||
| JP2010220950A JP5605135B2 (en) | 2010-09-30 | 2010-09-30 | Self-propelled transport system using a capacitor and secondary battery as power source |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102442217A CN102442217A (en) | 2012-05-09 |
| CN102442217B true CN102442217B (en) | 2015-06-17 |
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| CN201110222999.0A Expired - Fee Related CN102442217B (en) | 2010-09-30 | 2011-08-04 | Self-propelled conveying system with capacitor and secondary battery as power supply |
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| JP2014042404A (en) * | 2012-08-22 | 2014-03-06 | Sharp Corp | Charging device, solar system, electrical system, and vehicle |
| CN103692923B (en) * | 2012-09-27 | 2017-05-10 | 中西金属工业株式会社 | Self-propelled conveyor system as power supply by capacitor and secondary battery |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102442217A (en) | 2012-05-09 |
| JP5605135B2 (en) | 2014-10-15 |
| JP2012080612A (en) | 2012-04-19 |
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