JP2018079995A - Conveyance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveyance system comprising a vertical conveyance device 20 dedicated for descent, and a horizontal conveyance device 30 connected to the vertical conveyance device and enabling effective utilization of a regenerative electric power.SOLUTION: The electric motors of the vertical conveyance device 20 and the horizontal conveyance device 30 are connected to a DC circuit 50 via inverters 52 and 53, respectively. A power supply device 60 capable of charging and discharging with the DC circuit 50, and a control device 70 for controlling each electric motor are provided. The power supply device 60 is charged by the regenerative electric power of the vertical conveyance device 20, and the horizontal conveyance devices 30, 30... are driven by discharge of the power supply device 60. The vertical conveyance machine 20 is a reciprocating type in which a conveying table 22 on which an article is placed reciprocates vertically, and the conveying table 22 includes an in-machine conveying machine 27, and the in-machine conveying machine 27 is driven by discharge of the power supply device 60.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transport system composed of a vertical transport device dedicated to lowering an article and a horizontal transport device connected thereto, and in particular, effectively uses regenerative power obtained by operating the vertical transport device. The present invention relates to a transport system.

The vertical transfer machine includes a transfer table on which an article is placed, and a reciprocating type that transfers the object by reciprocating up and down, and a circulation type that includes a plurality of transfer tables and circulates and transfers the same. There is.
In the reciprocating type, usually, a carriage is connected to one side of a rope hung on a hoist, and a weight is connected to the other side. The weight of the weight is made larger than the weight of the carrier so that the load fluctuation of the electric motor that drives the hoisting machine is reduced.

When the conveyance for lifting the article from the bottom to the top is repeated, the vertical conveyance machine performs a power running operation in the ascending process and the descending process of the conveyance table.
Further, in the case where the conveyance of lowering the article from the top to the bottom is repeated, the vertical conveyance machine is in a regenerative operation in the ascending process and the descending process of the conveying table.

Patent Document 1 describes a vertical transfer machine that is a reciprocating type and dedicated to lowering, that is, a vertical transfer machine that performs only the transfer of dropping an article from top to bottom.
And, it is described that regenerative power can be obtained by operating this vertical transport machine, operating the electromagnetic brake using the obtained power, and controlling the transport platform to an appropriate speed, etc. Yes.

As described above, since the vertical conveyor dedicated to descending can be operated without power, a large power saving effect can be obtained. In addition, stable operation can be continued.
However, industrial vertical transporters are rarely used alone, and considering that they are used as transport systems including horizontal transporters etc., it is necessary to reduce equipment and save power as a system. .

  Note that Patent Document 2 describes an example of a circulation type vertical transfer machine, and in this case as well, a vertical transfer machine dedicated to lowering can be used.

JP 2011-241067 A JP 2007-217134 A

  An object of the present invention is a transport system that includes a vertical transport machine dedicated to lowering and transporting articles downward, and a horizontal transport machine connected to the transport system, and effectively uses regenerative power obtained by the vertical transport machine It is to provide a transport system. It is another object of the present invention to provide a transport system that enables equipment reduction and power saving for the entire system.

  In order to achieve the above-mentioned object, the transport system of the present invention is a transport system comprising a vertical transport device dedicated to lowering an article and a horizontal transport device connected to the vertical transport device. In addition, each of the motors of the vertical transfer machine and the horizontal transfer machine is connected to a DC circuit via an inverter, and a power supply device that can be charged / discharged to / from the DC circuit, and a control device that controls the motors It is characterized by having.

And the said power supply apparatus is charged with the regenerative electric power of the said vertical conveying machine, and the said horizontal conveying machine is driven by the discharge of the said power supply apparatus.
Further, the vertical transfer machine is activated by the discharge of the power supply device.

In the case where the vertical conveyance machine is a reciprocating type in which a conveyance table on which articles are placed reciprocates up and down, a particularly preferable configuration can be obtained.
And the said conveyance stand is equipped with an in-machine conveyance machine, and it can be set as the structure by which the said in-machine conveyance machine is driven by the discharge of the said power supply device.

The transfer system of the present invention can charge the power supply device with regenerative power generated by the operation of the vertical transfer machine. And the drive of the horizontal conveyance machine connected to a vertical conveyance machine, the starting of vertical conveyance machine itself, and the drive of the in-machine conveyance machine provided in a conveyance stand can all be performed by discharge of a power supply device.
Therefore, it is possible to effectively reduce power supply facilities and save power consumption for the entire transport system.

It is a schematic external view which shows an example of the mechanical structure of the conveyance system of this invention. It is a block diagram which shows an example of the electrical constitution of the conveyance system of this invention. It is the schematic which shows the charging / discharging pattern in the electrical structure of FIG. It is a flowchart which shows the flow of operation | movement in a control apparatus.

The transport system according to the present invention includes a mechanical configuration 10 shown in FIG. 1 and an electrical configuration 40 shown in FIG.
FIG. 1 shows an example of a mechanical configuration 10, which includes a vertical transfer machine 20 and a plurality of horizontal transfer machines 30, 30.
The vertical transfer machine 20 is a normal reciprocating type. However, in the present invention, the vertical transfer machine 20 is used as a dedicated descent machine for transferring an article only downward.

The vertical conveyance machine 20 is provided with a hoisting machine 21 at the uppermost part of the frame body 24, and can raise and lower a conveyance table 22 for conveying an article. A plurality of (here, four) ropes 25, 25... Are hung on the hoisting machine 21, and the carriage 22 is connected to one side of the rope 25 and the weight 23 is connected to the other side. ing.
The rope 25 is used to include all other usable strips such as a chain and a belt in addition to a commonly used wire rope.

The conveyor table 22 includes an in-machine conveyor 27 such as a roller conveyor or a chain belt conveyor on the floor surface, and automatically receives and dispenses articles.
In addition, one or a plurality of horizontal transfer machines 30, 30... For loading or unloading articles are installed on each floor where the transfer table 22 stops. The transport table 22 stops at a position where the in-machine transport machine 27 is at substantially the same level as each horizontal transport machine 30.

In the present invention, the vertical transfer machine 20 is a dedicated descent machine, and an operator can repeatedly perform the same work by inputting the work content to the operation panel.
For example, the operation of conveying articles from the fifth floor to the first floor is automatically repeated many times.
Then, the operator inputs the end of the work or automatically stops when the machine itself detects that there are no articles to be conveyed.

When paying attention to the articles to be conveyed, the order is not constant, but a work cycle including the next process is performed.
(1) The conveyance stand 22 of the vertical conveyance machine 20 is moved to the floor (upper floor) where the article is located.
(2) The horizontal conveyor 30 and the in-machine conveyor 27 on that floor are driven to carry the article from the horizontal conveyor 30 to the conveyor 22.
(3) The conveyance stand 22 is moved to the target floor (lower floor).
(4) The horizontal conveyor 30 and the in-machine conveyor 27 on the arrival floor are driven to carry the article from the conveyor table 22 to the horizontal conveyor 30.

FIG. 2 shows an example of the electrical configuration 40 of the transport system of the present invention.
In the electrical configuration 40, the electric motors of the vertical conveyor 20, the in-machine conveyor 27, and the horizontal conveyors 30, 30... Are connected to the DC circuit 50 through inverters 52, 57, 53, 53. It is characterized by being. Moreover, the power supply device 60 which can be charged / discharged between the direct current circuits 50, and the control apparatus 70 which controls each electric motor are provided.
Note that a control power supply unit 46 is provided as a power source for an operation panel or the like through which an operator inputs work contents.

An AC circuit from the primary power supply 45 is connected to the DC circuit 50 via a rectifier 51.
The DC circuit 50 is a circuit through which a DC current flows from the output side of the rectifier 51 to the input side of the inverter 52, but in FIG. 2, the rectifier 51 and the inverter 52 are included for convenience. .

Since the vertical conveyance machine 20 is a descent-only conveyance machine, it is in a powering operation for a short time at the time of activation, but all other operations are regenerative operation.
For this reason, the vertical conveyance machine 20 can be activated by the discharge of the power supply device 60. Then, the regenerative operation is immediately performed, and the regenerative power can be charged in the power supply device 60.
Further, by discharging the power supply device 60, the horizontal conveyors 30, 30... And the in-machine conveyor 27 can be driven.

In FIG. 1, the horizontal conveyor 30 is shown on each floor, but in many cases, only one horizontal conveyor 30 and the in-machine conveyor 27 operate at the same time. The horizontal conveyor 30 that operates is the horizontal conveyor 30 that carries an article into the conveyor table 22 or the horizontal conveyor 30 that carries the article out of the conveyor table 22, and these are rarely operated at the same time.
However, another horizontal transfer machine 30 may be used at the same time for preparation of the next cycle.

Therefore, normally, the regenerative electric power of the vertical conveyance machine 20 can cover all the electric power of the two horizontal conveyance machines 30 and 30 and the in-machine conveyance machine 27 necessary for carrying in and carrying out the articles.
In this case, the use of the power from the primary power supply 45 can be limited to initial charging or the like for charging the power storage device in the power supply device 60 first.
In the regenerative operation of the vertical transfer machine 20, when the power supply device 60 is in a fully charged state, surplus power can be consumed by the braking resistor 55.

  The power supply device 60 includes an electric double layer capacitor, a lithium ion capacitor, a lithium ion secondary battery, or the like as a power storage device, and can charge and discharge with the DC circuit 50.

Charging / discharging of the power supply device 60 is managed by the control device 70.
That is, the control device 70 can charge the power supply device 60 with the power from the primary power supply 45 by issuing the initial charge signal 73.
Then, by receiving the full charge amount signal 61 from the power supply device 60, it can be known that the charging is completed.

  In the work cycle, after the vertical transfer machine 20 and the horizontal transfer machine 30 are stopped, the control device 70 confirms the amount of power stored in the power supply device 60. By generating the power, the power from the primary power supply 45 can be charged in the power supply device 60.

  When the power storage amount of the power supply device 60 is sufficient, the power supply device 60 issues a full charge signal 61 to the control device 70. In addition, the power supply device 60 issues a preparation completion signal 62 to the control device 70 after confirming that the vertical transfer device 20 and the horizontal transfer device 30 can be activated.

  Each electric motor is controlled by a control device 70. That is, each of the inverters 52, 57, 53... Is controlled by the start signal 71 and the speed signal 72 from the control device 70. The start signal 71 is a signal for instructing start and stop, and the speed signal 72 is a signal for instructing a rotation speed.

  FIG. 3 shows the current used by the inverter 52 of the vertical transport machine 20 and the current used by the inverter 53 of the horizontal transport machine 30 and the charge / discharge state of the power supply device 60 in the work cycle.

In the vertical transfer machine 20, the raising / lowering inverter 52 receives the start signal 71 and the speed signal 72 from the control device 70, starts the motor at a constant acceleration, moves up and down at a constant speed, and then stops at a constant acceleration. .
The use current of the inverter 52 is used as start-up power in a short time immediately after start-up, but immediately becomes a regenerative operation and the regenerative current flows.

In the horizontal transfer machine 30, the traveling inverter 53 receives the start signal 71 and the speed signal 72 from the control device 70, starts the electric motor rapidly at a constant acceleration, travels at a constant speed, and then rapidly moves at a constant acceleration. To stop.
The operating current of the traveling inverter 53 has a small peak, but is used at a substantially constant current value.

  Charging / discharging in the power supply device 60 indicates a case where the vertical conveyance device 20 is activated while the horizontal conveyance device 30 is traveling. Although the discharge current shows a peak when the vertical carrier 20 is activated, the regenerative power of the vertical carrier 20 exceeds the discharge power used for the horizontal carrier 30 immediately after the peak. Thus, in normal operation, the power used in the mechanical configuration 10 can be covered entirely by regenerative power.

FIG. 4 simply shows the flow in a normal work cycle.
In step S01, a start-up discharge signal 75 is issued from the control device 70, and the power supply device 60 enters a discharge state.
In step S <b> 02, an activation signal 71 and a speed signal 72 are issued from the control device 70 to the lift inverter 52, and the vertical transfer machine 20 starts to lift.

In step S03, it is confirmed whether the vertical conveyance machine 20 is in regenerative operation.
If it is YES, it will progress to step S11 and regenerative electric power will be charged by the power supply device 60. FIG.
If NO, the vertical discharge machine 20 is awaited to stop, and the start discharge signal 75 is turned OFF in step S04.

When the regenerative power is charged in the power supply device 60 in step S11, the process proceeds to step S12, and it is confirmed whether or not the power supply device 60 is fully charged.
If NO, charging continues.
If it is YES, it will progress to step S13 and will wait for the stop of the vertical conveying machine 20 as a state where regenerative electric power is consumed by the braking resistor 55.

In step S <b> 21, a start signal 71 and a speed signal 72 are issued from the control device 70 to the traverse inverter 53, and the horizontal transfer machine 30 starts running.
Then, after waiting for the horizontal conveyance machine 30 to stop, the start discharge signal 75 is turned OFF in step S22.

After the vertical transfer machine 20 and the horizontal transfer machine 30 are stopped, it is checked in step S05 whether or not the charge amount of the power supply device 60 is insufficient to prepare for the next work cycle.
If NO (if the charge is sufficient), the cycle is terminated.
If YES (if the amount of charge is insufficient), the process proceeds to step S14 to issue a stop charge signal 74 to the power supply device 60.

In step S <b> 15, the power supply device 60 starts stop charging with the DC power from the rectifier 51. When stop charging is started in the power supply device 60, the process proceeds to step S16 to check whether the power supply device 60 is fully charged.
If NO, charging continues.
If YES, the process proceeds to step S17 to stop the stop charge signal 74 and end the cycle.

  The embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention are not limited thereto. include.

  For example, as shown in FIG. 1, the case where the vertical carrier 20 dedicated to descending is a reciprocating type is shown, but this can be a circulation type.

20: Vertical transfer machine 22: Transfer stand 27: In-machine transfer machine 30: Horizontal transfer machine 52: Inverter 53: Inverter 50: DC circuit 60: Power supply device 70: Control device

Claims (5)

A transport system composed of a vertical transport dedicated for lowering to transport articles downward and a horizontal transport connected to the vertical transport,
Each of the electric motors of the vertical transfer machine and the horizontal transfer machine is connected to a DC circuit via an inverter,
A conveyance system comprising: a power supply device that can be charged / discharged to / from the DC circuit; and a control device that controls each of the electric motors.   The transport system according to claim 1, wherein the power supply device is charged by regenerative power of the vertical transport device, and the horizontal transport device is driven by discharge of the power supply device.   The transport system according to claim 1, wherein the vertical transport machine is activated by discharge of the power supply device.   4. The transport system according to claim 1, wherein the vertical transport machine is a reciprocating type in which a transport base on which an article is placed reciprocates up and down. 5. The transport system according to claim 4, wherein the transport platform includes an in-machine transport machine, and the in-machine transport machine is driven by a discharge of the power supply device.

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