JP2004312896A - Travel cart system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To backup a travel cart with an adjacent travel cart when the travel cart is failed in traveling, and to restrain a power supply for a feeder in every travel area to that necessary for a single travel cart. <P>SOLUTION: A travel route of stacker cranes 6, 7 is divided into right and left travel areas, the stacker cranes 6, 7 are arranged at each area, the noncontact feeders 8, 9 and the power supply 10 are arranged, and the noncontact feeders 8, 9 are arranged in parallel with each other at a border of the travel areas. A main power-receiving unit 14 is connected to a drive part 12 for the stacker cranes 6, 7, and a sub power-receiving unit 16 is connected thereto via a switch 18. When either of the stacker cranes 6, 7 fails in traveling, the failing stacking crane can be backed up with the other stacking crane, thus making the power supply capacity of the single stacker crane suffice for capacities of the power supplies 10, 10 of the noncontact feeders 8, 9. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
Field of application of the invention
The present invention relates to a traveling bogie system using a stacker crane, an automatic guided vehicle, a tracked bogie, and the like, and particularly to power supply to a traveling bogie.
[0002]
[Prior art]
[Patent Document 1] Japanese Patent No. 33353221 Patent Document 1 discloses a connection between traveling routes of a traveling vehicle. For example, when the traveling route B is added to the traveling route A, the auxiliary traveling route C is also extended, and a section where the power supply line is parallel between the traveling route C and the traveling route A is provided. A section where the power supply line is parallel to the traveling route A is also provided. Electric power is supplied to the power supply lines from the power supplies 50 to 52, and the traveling vehicles 54 to 56 are provided with a pair of power receiving units so that power can be received from any of the power supply lines of the traveling routes A, B, and C.
[0003]
In this way, the traveling vehicles 54 to 56 can travel between the traveling routes A and B via the traveling route C. The traveling vehicles 54 and 55 are both at positions where power can be received from the power supply 50, and the traveling vehicle 55 is at a position where power can also be received from the power supply 52. The traveling vehicle 55 only needs to be able to distribute the power to be received between the power receiving units, for example, 50% from the power source 50, 50% from the power source 52, etc., but controls at what ratio the power is received from the two power receiving units. Is difficult. For this reason, the power supply 50 needs the power supply capacity of two traveling vehicles 54 and 55, and the power supply 52 at the position for supplying power to the traveling vehicles 55 and 56 also needs the power supply capacity of two vehicles. For these reasons, eventually, each of the power supplies 50 to 52 needs a power supply capacity for two trucks. As described above, if power can be received from any of the plurality of power supply lines, a large-scale power supply facility is required.
[0004]
[Problems of the Invention]
A basic object of the present invention is to make it possible to back up a traveling vehicle in an adjacent traveling area when the traveling vehicle goes down, and to reduce the power supply of the power supply line for each traveling area to the power supply capacity of one traveling vehicle. (Claims 1 to 3).
An additional object of the present invention is to perform clean power supply without generating dust and to prevent interference between power supply lines.
Another object of the present invention is to use a switch for connecting / disconnecting the sub power receiving unit and the load as a breaker of the sub power receiving unit.
[0005]
Configuration of the Invention
The present invention divides one traveling route into a plurality of traveling areas, arranges one traveling vehicle in each traveling area, and travels back and forth in the traveling area. A power supply line and a power supply are provided, and a power supply line of a traveling area adjacent to a boundary between the traveling areas is partially arranged in parallel, and the traveling vehicle has a main power receiving unit for a power supply line of its own traveling area. And a load for connecting / disconnecting the sub power receiving unit to / from the load, and a sub power receiving unit for a power supply line in an adjacent traveling area. This switch is not limited to a switch that simply switches the connection between the load and the sub power receiving unit, and may be a three-point switch that connects the load to either the main power receiving unit or the sub power receiving unit.
[0006]
Preferably, a high-frequency current is supplied from the power supply to each of the power supply lines, and power is received in a non-contact manner by a pickup coil of each of the power receiving units. They are arranged in parallel at intervals so as not to interfere with each other (claim 2). For example, when rails are provided along a traveling route, power supply lines of a traveling area adjacent to both sides of the rail are arranged in a pair on the left and right. At the boundary between the traveling areas, the power supply lines of the adjacent traveling areas are arranged in parallel at an interval of, for example, 100 mm or more, preferably 200 mm or more, particularly preferably 300 mm or more. This interval is an interval in a direction perpendicular to the traveling direction.
[0007]
Particularly preferably, an overcurrent detecting element is provided in the sub power receiving unit, and the switch and the sub power receiving unit are separated by the switch when the overcurrent is detected (claim 3).
[0008]
Function and Effect of the Invention
In the present invention, the connection between the sub power receiving unit and the load is normally opened by a switch. For this reason, even if the traveling vehicle enters the boundary between the traveling areas, the power receiving unit is the main power receiving unit, which is supplied with power from the power supply of its own traveling area and does not receive power from the power supply of the adjacent traveling area. For this reason, one traveling vehicle receives power from one power source. When one of the traveling vehicles goes down, the traveling vehicle in the adjacent traveling area enters by connecting the sub-power receiving unit and the load with a switch, and can travel by receiving power from the sub-power receiving unit and traveling. Also in this case, one traveling vehicle receives power from one power source. For this reason, each power supply only needs to have a power supply capacity of one unit, and an excessive power supply facility is not required. Further, when the traveling vehicle goes down, it can be backed up by the traveling vehicle in the adjacent area (claim 1).
[0009]
According to the second aspect of the present invention, by performing non-contact power supply, dust generation due to contact between the power supply line and a sliding member such as a brush can be prevented. Since high-frequency current is used for non-contact power supply, if the power supply lines are arranged in parallel, interference between the power supply lines becomes a problem, but since the power supply lines are arranged with sufficient spacing to prevent interference between the power supply lines. In addition, it is possible to prevent a decrease in power supply efficiency due to interference.
[0010]
According to the third aspect of the present invention, the overcurrent of the sub power receiving unit is detected by a temperature sensor, a coil, or the like, and the connection between the sub power receiving unit and the load is cut off when the overcurrent is detected. Therefore, the switch for connecting / disconnecting the load and the sub power receiving unit can be used also as the breaker.
[0011]
【Example】
1 to 4 show an embodiment. In these figures, 2 is an automatic warehouse, 4 is a running rail, and 6 and 7 are a pair of stacker cranes for carrying goods between a rack (not shown) and a station. Reference numerals 8 and 9 denote non-contact power supply lines, for example, arranged on both sides of the traveling rail 4 with an interval D of about 700 mm. Each of the non-contact power supply lines 8 and 9 is laid in a loop, and a high-frequency current such as 540 V and 130 A is supplied at about 9 kHz from a power supply 10 provided at an end of the traveling rail 4 or the like. At a high frequency such as 9 kHz, the effective length L1 that can be fed from the contactless power supply lines 8 and 9 is limited to, for example, about 60 m due to the inductance components of the contactless power supply lines 8 and 9. For this reason, the total length L of the traveling rail 4 is, for example, about 100 m, the effective length L1 of each of the non-contact power supply lines 8, 9 is, for example, 60 m or less, and the traveling rail 4 is divided into two traveling areas on the left and right in FIG. At the center of the running rail 4 (boundary of the left and right running areas), the left and right non-contact power feeding lines 8 and 9 are partially arranged in parallel with the running rail 4 interposed therebetween. It is about 20 m.
[0012]
The stacker cranes 6 and 7 are arranged one by one in each of the left and right traveling areas, and a driving unit 12 including a traveling motor, a lifting / lowering motor, and a control system for these units is selected from a main power receiving unit 14 and a sub power receiving unit 16. Power supply. For example, in the stacker crane 6 on the right side in FIG. 1, the main power receiving unit 14 is constantly connected to the driving unit 12, and the sub power receiving unit 16 is connected to the driving unit 12 via the switch 18. Similarly, in the left stacker crane 7, the main power receiving unit 14 is always connected to the driving unit 12, and the sub power receiving unit 16 is connected to the driving unit 12 via the switch 18.
The switch 18 in FIG. 1 is a conceptual display, and the actual switch configuration will be described later with reference to FIG. Reference numeral 20 denotes a ground control unit for controlling the stacker cranes 6 and 7.
[0013]
FIG. 2 shows the configuration of the power receiving units 14 and 16 using the stacker crane 6 as an example.
Each of the power receiving units 14 and 16 is provided with a rectifying unit 22 composed of a diode bridge or the like, and a pickup coil 24 is arranged in series or in parallel so that power can be obtained from the non-contact power supply lines 8 and 9. . For example, a switch 26 provided for each pickup coil 24 connects the pickup coil 24 to the drive unit 12 via the rectification unit 22. Note that reference numeral 30 denotes a smoothing capacitor, which is provided for each of the power receiving units 14 and 16 here, but one capacitor 30 may be provided for two units 14 and 16.
[0014]
The switch 26 is turned on / off by, for example, an entry control signal from the ground control unit 20 (an entry permission signal to the opposite traveling area), and is always off. A temperature sensor (not shown) and a current sensor (not shown) for detecting a current flowing through the pickup coil 24 are provided around the pickup coil 24 for the switch 26, and the switch 26 is turned on / off by these sensors. It can be so. In other words, the switch 26 is opened when the temperature around the pickup coil 24 rises to a predetermined temperature or higher or when a current equal to or more than the upper limit flows through the pickup coil 24. By doing so, the switch 26 can be used also as a breaker for the pickup coil 24.
[0015]
The switch 18 in FIG. 1 may be provided as a single switch, but for example, the switch 26 in FIG. 2 may be used as the switch 18 in FIG. The switch 18 and components corresponding thereto need only be able to switch at least the connection between the sub power receiving unit 16 and the drive unit 12. For example, as shown in the range of the upper dashed line in FIG. 2, the contact A of the drive unit 12 is connected to either the output contact B of the main power receiving unit 14 or the output contact C of the sub power receiving unit 16. Or a three-point switch 19 or the like.
[0016]
The switch 26 (switch 18) may be provided only in the sub power receiving unit 16, but in this case, the positions of the sub power receiving unit 16 and the main power receiving unit are reversed between the stacker crane 6 and the stacker crane 7. . Therefore, in terms of hardware, the main power receiving unit 14 and the sub power receiving unit 16 are commonly used, and a switch 26 is provided on the main power receiving unit 14 side. This switch is always connected, and is turned off when overheating is detected by the temperature sensor or when a current equal to or more than the upper limit flows to the pickup coil 24, so that the main power receiving unit 14 is disconnected from the drive unit 12.
[0017]
FIG. 3 shows the arrangement of the non-contact power supply lines 8 and 9 on both sides of the traveling rail 4. The stacker crane 6 is provided with a driving unit 12 such as a traveling motor or a lifting / lowering motor of a lifting platform that moves up and down along a mast 32. The driving unit 12 travels on the traveling rail 4 by traveling wheels, and the non-contact power supply lines 8 and 9 are connected. The interval D is, for example, about 700 mm, and is preferably arranged on both sides of the running rail 4 so that a sufficient interval can be taken. As a result, even if a high-frequency current flows through the non-contact power supply lines 8 and 9, mutual interference can be prevented. The hardware configuration of the stacker crane 7 is the same as that of the stacker crane 6, and the arrangement of the main power receiving unit 14 and the sub power receiving unit 16 is reversed between the stacker crane 6 and the stacker crane 7 by the switch 26.
[0018]
FIG. 4 shows a control algorithm of the embodiment. It is checked whether both stacker cranes are normal. If both stacker cranes are normal, each stacker crane switches off the sub power receiving unit. As a result, the stacker crane 6 of FIG. 1 receives power only from the non-contact power supply line 8, and the stacker crane 7 receives power only from the non-contact power supply line 9. Even if the stacker cranes 6 and 7 enter a position where power can be received from any of the power supply lines 8 and 9 at the boundary of the traveling area, power is received from only one of the power supply lines and the load of two vehicles is supplied to one power supply. Will not be added.
[0019]
If one stacker crane goes down (fails) due to some abnormality, the failed crane is retracted to the end of the traveling rail. Next, turn on the switch of the stacker crane on the normal side, connect the sub power receiving unit to the load, and receive power from any non-contact power supply line, and cover the entire traveling rail with one stacker crane I do. As a result, even if the stacker crane goes down, it can be backed up by another stacker crane, and the number of stacker cranes that receive power from one power supply is always limited to one, and the power supply capacity is sufficient for one stacker crane.
[0020]
Also, as shown in FIG. 2, when the main power receiving unit and the sub power receiving unit are physically equivalent, and a switch 26 is provided between them and the load, the stacker crane 6 and the stacker crane 7 Can be commonly used. Further, as shown in FIG. 2, when a temperature sensor, an overcurrent detection sensor, or the like is connected to the switch 26, the switch can also be used as a breaker.
[0021]
FIG. 5 shows a traveling bogie system according to a modification. Reference numerals 40, 41, and 42 denote loop-shaped non-contact power supply lines, respectively, and reference numeral 44 denotes a high-frequency power supply for one traveling vehicle. In FIG. 5, the traveling route is divided into three traveling areas, and one traveling vehicle 45, 46, 47 is arranged in each traveling area, and the article is transported by reciprocating in its own traveling area. Each of the traveling vehicles 45 to 47 may be a tracked vehicle or an unmanned guided vehicle traveling on a trackless route.
[0022]
The traveling vehicles 45 to 47 are provided with a main power receiving unit and a sub power receiving unit. For example, the traveling vehicles 45 and 47 are provided with main power receiving units at positions facing the non-contact power feeding lines 40 and 42, respectively. A sub power receiving unit is provided at the facing position.
In the traveling vehicle 46, a main power receiving unit is provided at a position facing the non-contact power supply line 41, and a sub power receiving unit is provided at a position facing the non-contact power supply lines 40 and 42.
In each of the traveling vehicles 45 to 47, for example, a main power receiving unit is always connected to a driving unit such as a traveling motor or a transfer device, and a sub power receiving unit is connected via a switch (not shown). This switch is preferably a switch also serving as a breaker as shown in FIG.
[0023]
By arranging the traveling carts 45 to 47 and the non-contact power supply lines 40 to 42 as shown in FIG. 5, the traveling route can be sequentially extended, and the non-contact power supply lines 40 and 42 and the non-contact power supply line 41 Are arranged at an interval of, for example, about 300 to 500 mm on the left and right sides of the vehicle body of the traveling vehicles 45 to 47 to prevent interference between the non-contact power supply lines.
[0024]
In the embodiment, non-contact power supply is described as an example, but contact power may be supplied via a brush or the like. In the embodiment, one traveling route is divided into a plurality of traveling areas, and the traveling vehicle travels only in the traveling area at all times. When any traveling vehicle goes down, the traveling vehicle in the adjacent traveling area backs up. By switching between the main power receiving unit and the sub power receiving unit with a switch, the number of traveling vehicles receiving power from one power supply is always limited to one, and the power supply capacity can be improved by one vehicle.
[Brief description of the drawings]
FIG. 1 is a plan view showing a layout of a traveling bogie system according to an embodiment. FIG. 2 is a block diagram showing a power supply system of a stacker crane according to an embodiment. FIG. FIG. 4 is a flow chart showing a method of switching power receiving units in the embodiment. FIG. 5 is a plan view showing a layout of a traveling vehicle system according to a modification. FIG. 6 is a diagram showing a layout of a traveling vehicle system according to a conventional example. Plan view [Explanation of reference numerals]
2 Automatic warehouse 4 Running rail 6,7 Stacker crane 8,9 Non-contact power supply line 10 Power supply 12 Drive unit 14 Main power receiving unit 16 Sub power receiving unit 18 Switch 20 Ground control unit 22 Rectifying unit 24 Pickup coil 26 Switch 30 Capacitor 32 Mast 40 ~ 42 Non-contact power supply line 44 Power supply 45 ~ 47

Claims (3)

In a system in which one traveling route is divided into a plurality of traveling areas, one traveling vehicle is arranged in each traveling area and the traveling route reciprocates in the traveling area, an independent power supply line and a power supply are provided for each traveling area. Provided, the power supply line of the adjacent traveling area at the boundary between the traveling areas is partially arranged in parallel, and the traveling vehicle has a main power receiving unit for the power supply line of its own traveling area, A traveling trolley system, comprising: a sub power receiving unit for a power supply line; a load; and a switch for connecting / disconnecting the sub power receiving unit to / from the load. A high-frequency current is supplied from the power supply to each of the power supply lines, and power is received in a non-contact manner by the pickup coil of each of the power receiving units. At a boundary between the traveling areas, the power supply lines in the adjacent traveling areas do not interfere with each other. The traveling bogie system according to claim 1, wherein the traveling bogie system is arranged in parallel with a distance between the traveling bogies. 3. The traveling bogie system according to claim 1, wherein an overcurrent detection element is provided in the sub power receiving unit, and the switch and the sub power receiving unit are separated by the switch when the overcurrent is detected.

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