JP2020078126A - Traveling truck - Google Patents

Abstract

To prevent abnormality of a power storage device.SOLUTION: A vanning/devanning device 1 includes: an operation device; a power reception unit 23; and a power storage device 21. The operation device has: a conveyer 3 and a lifter 5; and a conveyor drive part 31, a conveyer lifting part 33, and a lifter lifting part 51 for causing the conveyer and the lifter to move and/or causing a load to convey by the conveyer 3. The power reception unit 23 receives electric power when made into a power reception state with respect to an external power supply device 60. The power storage device 21 supplies electric power to a traveling motor 75 for travelling a travel part 7, a brake mechanism 77, and an electric steering mechanism 79. When the power reception unit 23 does not receive electric power, the power storage device 21 drives only the traveling motor 75, the brake mechanism 77, and the electric steering mechanism 79.SELECTED DRAWING: Figure 3

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling carriage provided in a load carrying device or the like.

  2. Description of the Related Art Conventionally, there is known a load carrying device including a traveling carriage that horizontally moves on a traveling surface. For example, a traveling carriage that is movable in the horizontal direction, a mechanism (referred to as a vanning / devanning mechanism) that is provided on the traveling carriage and that performs vanning / devanning work for a load, and a power storage device that drives these (for example, , A battery) and a vanning / devanning device (see, for example, Patent Document 1).

JP, 2017-224136, A

  In the above device, power can be supplied from the outside to the power storage device, while both the traveling carriage and the vanning / devanning mechanism can be driven by the power storage device. Therefore, when the vanning / devanning work is performed in a state where power is not being supplied from the outside, the amount of electricity stored in the electricity storage device rapidly decreases, and an abnormality (for example, insufficient electricity storage amount) occurs in the electricity storage device in a short time work. .. This is because much power is consumed in the vanning / devanning mechanism.

  An object of the present invention is to prevent an abnormality in a power storage device in a traveling vehicle that transports a load.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as needed.
A traveling vehicle according to one aspect of the present invention is a traveling vehicle that includes a traveling unit that travels in a horizontal direction and a first drive unit that causes the traveling unit to travel.
The traveling vehicle includes an operating device, a power receiving unit, and a power storage device.
The operating device includes an operating unit and a second driving unit. The operating unit is provided on the traveling vehicle and moves with respect to the traveling vehicle and / or conveys a load. The second drive unit moves the operating unit and / or conveys a load by the operating unit.
The power receiving unit receives power when the external power supply device is in the power receiving state.
The power storage device supplies electric power to the first drive unit.
When the power receiving unit does not receive power, the traveling vehicle drives only the first driving unit by the power storage device among the first driving unit and the second driving unit.

In the above traveling vehicle, a large amount of electric power is consumed in the movement of the operation unit and the second drive unit that causes the operation unit to convey the load. Further, in general, since the work of transporting a load is often performed continuously for a long time, a large amount of power is cumulatively consumed in the second drive unit that moves the operation unit and transports the load. ..
Therefore, in the above traveling vehicle, when the power receiving unit is not receiving power, the power storage device supplies power to the first drive unit to drive the first drive unit, while the second drive unit receives power from the power storage device. The second drive unit is not driven without supplying electric power.
As a result, it is possible to suppress power consumption of the power storage device when power is not being received from the external power supply device.

The power storage device may be electrically connectable to the first drive unit and may not be electrically connectable to the second drive unit.
Accordingly, it is not necessary to controllably switch the connection relationship between the power storage device and the second drive unit, and power supply from the power storage device to the second drive unit can be physically prevented.

The traveling vehicle may further include a control unit. The control unit controls the traveling unit and the operating device to operate.
Further, the operating device may include a drive circuit and a control circuit. The drive circuit is a circuit for driving the second drive unit. The control circuit is a circuit for communicating with the control unit and controlling the drive circuit.
In this case, the power storage device may supply power only to the control circuit of the operating device.
Accordingly, when there is no power supply from the external power supply device, the control circuit can grasp the abnormality of the second drive unit while suppressing the power storage amount consumption of the power storage device.

The traveling vehicle may further include a detection unit. The detection unit detects an obstacle.
In this case, the control unit controls to stop the traveling vehicle when the obstacle is detected by the detection unit.
Further, the power storage device supplies electric power to the control unit and the detection unit.
With this, even when the power receiving unit is not in the power receiving state, the control unit and the detection unit detect the obstacle while suppressing the storage amount of electricity of the power storage device, and when the obstacle is detected, the vehicle travels. You can safely stop the truck.

The traveling carriage may be a vanning / devanning device.
In this case, the first drive unit causes the traveling unit to perform an operation related to traveling of the traveling carriage.
Further, the operation unit has a conveyor and / or a lifter. The conveyor moves up and down, turns, and conveys a load with respect to the vanning / devanning device. An operator rides up and down the lifter.
Further, the second drive unit moves the conveyor up and down, turns, transfers a load, and / or moves the lifter up and down.
Furthermore, the power storage device supplies electric power to the first drive unit and does not supply electric power to the second drive unit.

In the traveling vehicle that is the vanning / devanning device, the first drive unit receives power from the power storage device, while the second drive unit does not receive power from the power storage device.
That is, while the operation related to traveling of the vanning / devanning device can be performed by the electric power from the power storage device, the conveyor and the lifter that consume large power cannot be driven by the power from the power storage device.
As a result, power consumption of the power storage device when power is not being received from the external power supply device can be suppressed.

  The traveling vehicle may further include a display unit. The display unit displays the power receiving state of the power receiving unit. As a result, it is possible to visually confirm whether or not power is being supplied to the control unit.

  The first drive unit is driven by the power of the power storage device, while the second drive unit is not driven by the power of the power storage device, thereby suppressing the power storage amount consumption of the power storage device when not receiving power from the external power supply device. It is possible to prevent the power storage device from becoming abnormal.

The side view of the vanning devanning device concerning a 1st embodiment of the present invention. FIG. 3 is a perspective view of a vanning / devanning device. The figure which shows the structure of the control system of the apparatus which concerns on 1st Embodiment. The figure which shows other embodiment of a control system.

1. First Embodiment (1) Configuration of Vanning / Devanning Device Hereinafter, a vanning / devanning device according to a first embodiment (hereinafter, referred to as “device 1”), which is an example of a traveling vehicle, will be described with reference to FIGS. 1 and 2. ) Is explained. FIG. 1 is a side view of a vanning / devanning apparatus according to a first embodiment of the present invention. FIG. 2 is a perspective view of the vanning / devanning device.
In the following description, the length direction of the device 1 is defined as the first direction (arrow X), the width direction is defined as the second direction (arrow Y), and the height direction is defined as the third direction (arrow Z). The axis extending in the first direction is the X axis, the axis extending in the second direction is the Y axis, and the axis extending in the third direction is the Z axis.

The device 1 is used, for example, for unloading (devanning) a container or for loading (vanning) a container, for example. Therefore, the device 1 is moved to the container placement position for devanning and / or vanning of the load.
Therefore, the device 1 mainly includes an operating unit that performs an operation of carrying a load such as vanning and devanning, and a traveling unit 7 that causes the device 1 to travel. In this embodiment, the operation unit includes the conveyor 3 and the lifter 5.
In the above-mentioned vanning and devanning, the conveyor 3 and / or the lifter 5 moves with respect to the apparatus 1, and the conveyor 3 conveys a load.

(2) Conveyor The conveyor 3 is a device that conveys a load from the load loading unit to the load discharging unit while being placed on the upper surface. Hereinafter, for simplification of description, the upstream side of the load carrying direction during devanning of the conveyor 3 will be referred to as the front side, and the downstream side of the load carrying direction during devanning will be referred to as the rear side.
The conveyor 3 is composed of a plurality of conveyors. Specifically, the conveyor 3 has a first conveyor 3a, a second conveyor 3b, a third conveyor 3c, a fourth conveyor 3d, and a fifth conveyor 3e arranged side by side in the first direction. is doing. The first conveyor 3a is a belt conveyor driven by a motor. The second conveyor 5b to the fifth conveyor 3e are roller conveyors of free rollers or drive roller conveyors in which rollers are driven.
Further, some of the second conveyor 5b to the fifth conveyor 3e may be free roller conveyors, and the other conveyors may be drive roller conveyors.

The first conveyor 3a is a conveyor that serves as a load loading unit for a worker to place a load during devanning work and serves as a load discharging unit during vanning work. When performing the vanning or the devanning, the first conveyor 3a is arranged, for example, in the vicinity of the entrance / exit of the container, the load loading section of the truck, or inside thereof.
The load carrying surface of the first conveyor 3a is moved to the rear side by the conveyor drive unit 31 (FIG. 3) (an example of the second drive unit).

The rear end of the first conveyor 3a is attached to the traveling unit 7 so as to be rotatable around the Y axis. Further, a conveyor elevating unit 33 (an example of a second drive unit) that rotates the first conveyor 3a is provided. The conveyor elevating unit 33 is a known technique for elevating the tip of the first conveyor 3a, and has an elevating motor, a rotation driving unit including a plurality of gears, and the like.
The rear end of the first conveyor 3a is attached to the traveling unit 7 so as to be rotatable about the Z axis. More specifically, the various structures of the conveyor elevating / lowering unit 33 described above are rotatable about the Z axis with respect to the traveling unit 7.

  The second conveyor 3b is provided on the rear side of the first conveyor 3a. A first additional conveyor 3f for bridging the rear end of the first conveyor 3a and the second conveyor 3b is provided between the first conveyor 3a and the second conveyor 3b. As a result, the load carrying surface of the first conveyor 3a and the load carrying surface of the second conveyor 3b can be continuously connected.

The third conveyor 3c is connected to the upper rear end of the traveling unit 7 so as to be rotatable around the Y axis. Specifically, the third conveyor 3c has a small gap and a step between the front end of the third conveyor 3c and the rear end of the second conveyor 3b, that is, the rear end of the second conveyor 3b and the front end of the third conveyor 3c. Is connected to the upper rear end of the traveling unit 7 so that the distance between the and is minimized. Specifically, in the vicinity of the load carrying surface at the front end of the third conveyor 3c (immediately below the front end of the third conveyor 3c), it is connected to the traveling unit 7 so that the rear end of the second conveyor 3b and the third conveyor 3c. The distance from the front end becomes smaller.
The rear end of the third conveyor 3c is supported on the upper portion of the first carriage 15. The first truck 15 has front wheels 15a and rear wheels 15b, and the rear wheels 15b are in contact with the traveling surface F. Accordingly, the rear end of the third conveyor 3c can be arranged at a position higher than the traveling surface F by the height of the first carriage 15.

The first carriage 15 is connected to the lower rear end of the traveling portion 7 so as to be rotatable about the Y axis. Furthermore, the rear end of the third conveyor 3c can move relative to the first carriage 15 in the first direction.
With such a configuration, for example, when the device 1 travels on the traveling surface F having an inclination, the first carriage 15 rotates about the Y axis at the lower rear end of the traveling unit 7, and the third conveyor 3c moves. It rotates around the Y-axis at the upper rear end of the traveling unit 7. At this time, the rear end of the third conveyor 3c moves relative to the first carriage 15 in the first direction, so that the first carriage 15 and the third conveyor 3c can smoothly rotate.

The front end of the fourth conveyor 3d is supported on the upper portion of the first carriage 15. Specifically, in the upper part of the first carriage 15, the front end of the fourth conveyor 3d is connected to the rear end of the third conveyor 3c by a connecting member (for example, a hook). This minimizes the distance between the front end of the fourth conveyor 3d and the rear end of the third conveyor 3c, that is, the load carrying surface of the third conveyor 3c and the load carrying surface of the fourth conveyor 3d. It is possible to minimize the step and the gap between the two.
Further, the front end of the fourth conveyor 3d is movable in the X direction relative to the first carriage 15. Accordingly, the first carriage 15 can be relatively moved in the first direction while being supported from below.

The fifth conveyor 3e is a load discharging section for the worker to take out the load. As shown in FIGS. 1 and 2, the fifth conveyor 3e is provided on the upper portion of the second carriage 17. The second trolley | bogie 17 has the front wheel 17a and the rear wheel 17b which were in contact with the traveling surface F. The fifth conveyor 3e is connected to the rear end of the fourth conveyor 3d by a connecting member provided on the second carriage 17.
The second additional conveyor 3g is connected to the rear end of the fourth conveyor 3d. Specifically, the front end of the second additional conveyor 3g is connected to the rear end of the fourth conveyor 3d so as to be rotatable around the Y axis. When the rear end of the fourth conveyor 3d is connected to the second carriage 17, the rear end of the second additional conveyor 3g is in a hanging state and is in contact with the load carrying surface of the fifth conveyor 3e. As a result, the load carrying surface of the fourth conveyor 3d and the load carrying surface of the fifth conveyor 3e can be continuously connected.

(3) Lifter The lifter 5 is a device, which is arranged below the first conveyor 3a, on which an operator rides and moves up and down. When the worker rides on the lifter 5, the load can be placed on the first conveyor 3a.
The lifter 5 extends long in the second direction, so that when the first conveyor 3a is near the center position of the lifter 5 in the second direction, the operator can move the first conveyor 3a to either side in the second direction. Can stand

  The lifter 5 is vertically movable according to the position of the first conveyor 3a when an operator loads a load on the conveyor 3. As a structure for that purpose, the lifter 5 is connected to the traveling unit 7 by a lifter elevating unit 51 (an example of a second drive unit). The lifter lifting unit 51 is a known technique that lifts and drives the lifter 5 by receiving electric power, and includes a cylinder, a drive direction changing mechanism, a motor, and the like. As a result, the operator can move the lifter 5 to a desired position above and below.

A first detector 53 (an example of a detector) is provided at the tip of the lifter 5 in the first direction, which corresponds to the leading edge of the apparatus 1. The first detection unit 53 is, for example, a bumper switch that is turned on when an obstacle, a person (worker), or the like contacts the first detection unit 53. The first detection unit 53 detects that an obstacle or the like comes into contact with the main body B (first detection unit 53) as an abnormality of the device 1.
Further, the first detection unit 53 may be a sensor that can detect that an obstacle, a person, or the like has come into contact with the device 1 in a non-contact manner. A photoelectric sensor, for example, can be used as such a sensor.

  In addition to the first detection unit 53 described above, a second detection unit 55 is provided below the first conveyor 3a. The second detection unit 55 is, for example, a switch that is turned on when an obstacle, a person, or the like contacts the first conveyor 3a. The second detection unit 55 detects that the descending first conveyor 3a comes into contact with an operator, an obstacle, or the like as an abnormality of the apparatus 1.

(4) Traveling Section The traveling section 7 is a traveling device that travels horizontally on the traveling surface F.
The traveling unit 7 mounts the first conveyor 3a and the second conveyor 3b, and connects the third conveyor 3c and the first carriage 15 to the rear end portion. Further, the second carriage 17 is connected to the fourth conveyor 3d supported by the first carriage 15.
As a result, the traveling unit 7 travels on the traveling surface F, and the first vehicle 15 and the second vehicle 17 connected to the traveling unit 7 move as the traveling unit 7 travels. 3a-5th conveyor 3e can be moved.

As shown in FIG. 1, the traveling unit 7 has a drive wheel 71 and a pair of driven wheels 73. The drive wheel 71 is provided behind the traveling unit 7.
The drive wheel 71 comes into contact with the traveling surface F and is rotatable about the Y axis by the traveling motor 75 (FIG. 3) (an example of the first drive unit). The steering angle of the drive wheel 71 can be changed by steering operation using the operation device 9 described later.
Further, the drive wheel 71 is provided with a brake mechanism 77 (FIG. 3) (an example of a first drive unit). The brake mechanism 77 is a known mechanism that fixes the steering angle of the drive wheels 71 when electric power is not supplied and releases the fixation of the steering angle of the drive wheels 71 by supplying electric power.

As another embodiment, the drive wheels 71 may be able to change the steering angle by an electric steering mechanism 79 (FIG. 3) (an example of the first drive unit). The electric steering mechanism 79 is, for example, a known mechanism that changes the steering angle of the drive wheels 71 by rotating the motor.
By providing the electric steering mechanism 79, the device 1 automatically orients the traveling unit 7 such that the length direction of the first conveyor 3a and the length direction of the container and the load loading unit of the truck are parallel. Can be adjusted to.

  The pair of driven wheels 73 is provided in front of the traveling unit 7 side by side in the Y direction. The pair of driven wheels 73 contacts the traveling surface F and stabilizes the traveling unit 7.

(5) Operating Device The device 1 includes an operating device 9. As shown in FIGS. 1 and 2, the operating device 9 is provided behind the traveling unit 7.
The operation device 9 has an operation panel provided with various switches and / or buttons for controlling the device 1, a handle provided on the operation panel, and a display for displaying the state of the device 1. Further, the operating device 9 is provided with a steering shaft for changing the steering angle of the drive wheels 71.
The operator can execute various controls of the device 1 with the switches / buttons of the operation device 9. Further, the steering angle of the drive wheels 71 can be changed by rotating the operating device 9 with the handle and rotating the steering shaft (steering operation).

Note that, as another embodiment, the device 1 may be provided with a plurality of operating devices 9. In this case, for example, one operating device 9 may be provided at the rear of the traveling unit 7, and another operating device 9 may be provided at the tip side surface of the first conveyor 3a.
In addition, the operating device 9 behind the traveling unit 7 enables control of traveling of the device 1, and the operating device 9 on the side surface of the first conveyor 3a controls the conveyor 3, the lifter 5, and the like (that is, control of load transportation). May be enabled.

(6) Control System The apparatus 1 also includes a control system that controls the conveyor 3, the lifter 5, and the traveling unit 7. As shown in FIG. 3, the control system includes a power supply system 20, a central control unit 30 (an example of a control unit), a conveyance control unit 40, and a travel control unit 50. FIG. 3 is a diagram showing a configuration of a control system of the device 1 according to the first embodiment.
In FIG. 3, the flow of signals such as sensor output and control command is indicated by dotted arrows, and the flow of power supply is indicated by solid arrows. Also, a plurality of blocks that receive power supply from the power receiving unit 23 (described later) are indicated by alternate long and short dash lines.

(6-1) Power Supply System The power supply system 20 is a system that supplies power to the device 1. In the present embodiment, the power supply system 20 includes a power storage device 21 and a power receiving unit 23.
The power storage device 21 includes, for example, a secondary battery (for example, a battery) and a constant voltage circuit that steps up and / or steps down the voltage output from the secondary battery. The secondary battery of power storage device 21 is charged by receiving power supply from power reception unit 23.

The power receiving unit 23 is a device that receives power when in a power receiving state and outputs the received power. The power receiving unit 23 enters a power receiving state by receiving power from the external power supply device 60, for example.
When the external power supply device 60 is, for example, a device having a plug that outputs electric power, the power receiving unit 23 is configured by a socket into which the plug is fitted. In this case, “being in the power receiving state with respect to the external power feeding device 60” means being in a state in which the socket of the external power feeding device 60 is fitted into the plug of the power receiving unit 23.

  In addition, when the external power supply device 60 is, for example, a device capable of non-contact power supply such as wireless power supply, the power receiving unit 23 includes, for example, a power receiving coil (in the case of electromagnetic non-contact power supply). It In this case, “being in the power receiving state with respect to the external power feeding device 60” means that the power receiving coil of the power receiving unit 23 is close to the external power feeding device 60 and the power receiving coil receives the electromagnetic field output from the external power feeding device 60. It means that it is in a state where it is possible to do.

  Furthermore, when the external power supply device 60 is, for example, a device that outputs electric power to a metal track and / or overhead wire, the power receiving unit 23, for example, is a device that collects power by contacting the track / overhead wire ( Current collector). In this case, “to be in a power receiving state with respect to the external power supply device 60” means that the current collecting device of the power receiving unit 23 comes into contact with the above-mentioned track / catenary line to be in a state capable of collecting current. ..

  Further, the power receiving unit 23 has a circuit that controls the power received from the external power supply device 60 (for example, boosting / stepping down the voltage).

(6-2) Central Control Unit The central control unit 30 is a programmable logic controller (PLC) having a processor (eg, CPU), a storage device (eg, ROM, RAM, etc.), and an input / output interface. The central control unit 30 controls transmission / reception of signals to / from devices connected to the input / output interface by executing a program stored in a storage device.

  The central control unit 30 may be composed of a single PLC or a plurality of PLCs. When the central control unit 30 is configured by a plurality of PLCs, one PLC may be used for controlling the device 1 and another PLC may be used for safety measures for the device 1.

  In the present embodiment, the central control unit 30 operates even when power is supplied from the power storage device 21 and the power receiving unit 23 is not receiving power.

The central control unit 30 connects the transport control unit 40 and the traveling control unit 50 to the input / output interface, and can communicate with these control units.
The central control unit 30 operates by the power supply from the power storage device 21 and can communicate with the transport control unit 40 and the travel control unit 50, so that the central control unit 30 does not receive power from the power receiving unit 23. It is possible to detect an abnormality in the drive control unit 40 and the traveling control unit 50 (for example, a drive circuit failure or communication abnormality).

Further, the central control unit 30 connects the first detection unit 53 and the second detection unit 55 to the input / output interface, and in the first detection unit 53 and / or the second detection unit 55, the obstacle 1 and the device 1 are connected to each other. When the contact is detected, the control relating to the abnormality of the device 1 is executed.
Specifically, when the first detection unit 53 detects contact between an obstacle and, for example, the lifter 5 when the device 1 is traveling, the central control unit 30 causes the traveling control unit 50 to drive the device 1. Give a command to stop. The traveling control unit 50 that has received the instruction stops the rotation of the traveling motor 75 and stops the device 1.
Since the central control unit 30 and the travel control unit 50 receive power from the power storage device 21 when the device 1 is running, in the device 1 according to the present embodiment, the amount of power stored in the power storage device 21 is stored even when the power receiving unit 23 is not in the power receiving state. While suppressing consumption, the device 1 can be safely stopped when contact with an obstacle is detected during traveling.

  Further, when the central control unit 30 detects the contact between the device 1 (the first detection unit 53 and / or the second detection unit 55) and the obstacle, it conveys that the device 1 is contacted by the obstacle. It can be output to a control circuit of the control unit 40 (described later), the traveling control unit 50, and / or the display unit of the operation device 9.

Further, the central control unit 30 connects the operating device 9 to the input / output interface, and receives a user's operation using the operating device 9. The central control unit 30 can control the operations of the conveyor 3, the lifter 5, and the traveling unit 7 by outputting the control command generated based on the received user's operation to the transport control unit 40 and the traveling control unit 50.
In addition, the central control unit 30 can put the device 1 in the emergency stop state when an emergency stop button provided on the operation device 9 or the like is pressed.

Further, when the central control unit 30 receives a signal indicating whether or not the power receiving unit 23 is in the power receiving state and receives a signal indicating that the power receiving unit is not in the power receiving state, the central control unit 30 receives the power by a character or an image on the display unit of the operation device 9. It is displayed that the unit 23 is not in the power receiving state. When the power receiving unit 23 receives a signal indicating that the power receiving unit 23 is in the power receiving state, the fact is displayed on the display unit.
In addition, when the central control unit 30, which is supplied with power from the power storage device 21, the first control circuit 42, and the travel control unit 50 are not in the power receiving state, the central control unit 30 displays a message to that effect on the display unit. ..
Further, when the transport control unit 40 and the travel control unit 50 receive power from the power receiving unit 23, and when these control units receive power from the power receiving unit 23, the central control unit 30 notifies the display unit to that effect. indicate.

(6-3) Transport Control Unit The transport control unit 40 controls the conveyor drive unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51 to move the first conveyor 3a, convey a load by the conveyor 3, and , A device for controlling the lifting and lowering of the lifter 5.
Specifically, the transport control unit 40 includes a first drive circuit 41 that drives the conveyor elevating unit 33, a first control circuit 42 that controls the first drive circuit 41, and a second drive that drives the conveyor drive unit 31. The circuit 43, a second control circuit 44 that controls the second drive circuit 43, a third drive circuit 45 that drives the lifter lifting unit 51, and a third control circuit 46 that controls the third drive circuit 45 are included.

Hereinafter, the configurations and functions of the above drive circuit and control circuit will be described by taking the first drive circuit 41 and the first control circuit 42 as an example. This is because the basic configurations and functions of other drive circuits and other control circuits are the same as those of the first drive circuit 41 and the first control circuit 42.
The first drive circuit 41 controls the conveyor elevating unit 33 by adjusting the electric power supplied from the power receiving unit 23 to an amount of electric power based on a command from the first control circuit 42 and outputting the electric power to the conveyor elevating unit 33. To do.
As the first drive circuit 41 having such a function, for example, a semiconductor switching element that electrically cuts off or connects between the power receiving unit 23 and the conveyor elevating unit 33 based on a command from the first control circuit 42. Including switching circuits can be used.
In addition, the first drive circuit 41 stabilizes a circuit that converts AC power from the power receiving unit 23 into DC power and / or power (voltage, current) input to the first drive circuit 41, as necessary. It may also include a circuit for causing it.

The first control circuit 42 receives a control command for the conveyor lifting / lowering unit 33 from the central control unit 30 and sends a signal for controlling the amount of electric power supplied from the first drive circuit 41 to the conveyor lifting / lowering unit 33 based on the control command. To generate. The first control circuit 42 outputs the generated power amount control signal to the first drive circuit 41.
When the first drive circuit 41 is a switching circuit, the first control circuit 42 is, for example, a circuit including a signal generation circuit that generates a signal for turning on / off a switching element included in the first drive circuit.

Next, power supply to each block of the transfer control unit 40 will be described.
As shown in FIG. 3, the conveyor driving unit 31, the conveyor lifting / lowering unit 33, and the lifter lifting / lowering unit 51 can be electrically connected to the power receiving unit 23 via a driving circuit, while being connected to the power storage device 21. Is not electrically connectable.
Here, “electrically connectable” means that the power receiving unit 23 is physically connected to the conveyor driving unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51 when the drive circuit is turned on. It means that power can be supplied.
In addition, for example, when the drive circuit is a circuit including switching elements such as an inverter circuit, "electrically connectable" means that the switching element of the drive circuit is a cycle between an on state and an off state. It means that the electric power from the power receiving unit 23 is adjusted by the automatic switching and is supplied to the conveyor driving unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51.

Therefore, when the power receiving unit 23 is in the power receiving state, electric power can be supplied to the conveyor drive unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51. On the other hand, when the power receiving unit 23 is not in the power receiving state, the conveyor driving unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51 are connected to the power receiving unit 23 even if the power receiving unit 23 is electrically connected. Since it is not in the power receiving state, no power is supplied from the power receiving unit 23.
Further, since the conveyor driving unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51 are not electrically connectable to the power storage device 21, the power receiving unit 23 is not in the power receiving state, but the power storage device 21 can supply power. Even if there is, power is not supplied from the power storage device 21.

The conveyor driving unit 31, the conveyor lifting / lowering unit 33, and the lifter lifting / lowering unit 51 require a relatively large amount of electric power, and the vanning work and the devanning work are often performed continuously for a long time. In, a large amount of power is consumed cumulatively.
Therefore, the power consumption of the power storage device 21 can be suppressed by not driving these drive units with the power from the power storage device 21.

  Because of the above-described configuration, when carrying a load using the conveyor 3 or the like of the apparatus 1 of the present embodiment, the load is carried out after the power receiving unit 23 is set to the power receiving state.

  As shown in FIG. 3, in the present embodiment, the first control circuit 42 is supplied with power from the power storage device 21. As a result, the first control circuit 42 can detect an abnormality in the first drive circuit 41, the conveyor elevating unit 33, and the like and notify the central control unit 30 even when the power receiving unit 23 is not receiving power.

  On the other hand, the second control circuit 44 and the third control circuit 46 are supplied with power from the power receiving unit 23. With such a configuration, the power supply lines of the second control circuit 44 and the second drive circuit 43 are common, and the power supply lines of the third control circuit 46 and the third drive circuit 45 are common. This is because

When the drive circuit and the control circuit have a common power supply line, for example, a switching switch is provided on the common power supply line, and the power receiving unit 23 is connected to one of the switching switches and the power storage device 21 is connected to the other of the switching switches to receive power. Power may be supplied from both the unit 23 and the power storage device 21.
In this case, when the power receiving unit 23 is receiving power, the changeover switch connects the power receiving unit 23 to the drive circuit and the control circuit, while when the power receiving unit 23 is not receiving power, the power storage device 21 and the drive circuit and the control circuit. And connect.
When the power storage device 21 and the drive circuit are connected, the control circuit performs only the abnormality monitoring function and does not control the drive circuit. As a result, it is possible to avoid power supply from the power storage device 21 to the drive circuit (that is, the conveyor drive unit 31, the conveyor elevating unit 33, and the lifter elevating unit 51).

  With the above configuration, the second control circuit 44 and the third control circuit 46 can also be supplied with electric power from the power storage device 21, so that the second drive circuit 43 and the third drive circuit can be supplied even when no electric power is supplied from the power receiving unit 23. The central control unit 30 can be notified by detecting an abnormality in 45, the conveyor driving unit 31, the lifter lifting unit 51, or the like.

(6-4) Travel Control Unit The travel control unit 50 is a device that controls the travel motor 75, the brake mechanism 77, and the electric steering mechanism 79.
Specifically, the traveling control unit 50 receives the control command generated by the central control unit 30 based on the operation of the user using the operation device 9, and outputs the power according to the control command. , The traveling motor 75, the brake mechanism 77, and the electric steering mechanism 79 can be controlled.
Similar to the transport control unit 40, the traveling control unit 50 controls the drive circuit based on a drive command that outputs electric power adjusted in electric power to the motor and the mechanism, and a control command from the central control unit 30. And a control circuit (both not shown). The drive circuit and the control circuit of the traveling control unit 50 are supplied with the drive power from the power storage device 21.

Further, the power storage device 21 can be electrically connected to the traveling motor 75, the brake mechanism 77, and the electric steering mechanism 79 via the traveling control unit 50.
Therefore, when the power receiving unit 23 is not receiving power, the traveling motor 75, the brake mechanism 77, and the electric steering mechanism 79 are driven by the power supply from the power storage device 21.
Thus, even when the power receiving unit 23 is not receiving power, the power storage device 21 can drive (travel) the device 1 by driving the traveling motor 75, the brake mechanism 77, and the electric steering mechanism 79.

2. Configuration and Function of Embodiment The first embodiment has the following configuration and function.
The traveling vehicle (for example, the vanning / devanning device 1) includes a traveling unit that travels in the horizontal direction (for example, the traveling unit 7) and a first drive unit (for example, a traveling motor 75, a braking mechanism 77, an electric motor) that causes the traveling unit to travel. And a steering mechanism 79).
The traveling vehicle includes an operating device, a power receiving unit (for example, power receiving unit 23), and a power storage device (for example, power storage device 21).
The operating device is provided on the traveling carriage, and moves with respect to the traveling carriage and / or an operation unit (for example, the conveyor 3 or the lifter 5) that conveys a load, and a movement of the operation unit and / or an operation unit. It has a 2nd drive part (For example, the conveyor drive part 31, the conveyor raising / lowering part 33, the lifter raising / lowering part 51) which conveys a load.
The power receiving unit receives power when the external power supply device (for example, the external power supply device 60) is in the power receiving state.
The power storage device supplies electric power to the first drive unit.
In the traveling vehicle, when the power receiving unit is not receiving power, only the first driving unit is driven by the power storage device among the first driving unit and the second driving unit.

In the above traveling vehicle, a large amount of electric power is consumed in the movement of the operation unit and the second drive unit that causes the operation unit to convey the load. Further, in general, since the work of transporting a load is often performed continuously for a long time, a large amount of power is cumulatively consumed in the second drive unit that moves the operation unit and transports the load. ..
Therefore, in the above traveling vehicle, when the power receiving unit is not receiving power from the external power supply device, power is supplied from the power storage device to the first driving unit to drive the first driving unit, while the second driving unit is driven. Does not supply power from the power storage device and does not drive the second drive unit.
As a result, it is possible to suppress power consumption of the power storage device when power is not being received from the external power supply device.

3. Other Embodiments One embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described in this specification can be arbitrarily combined as needed.
(A) The device 1 may be provided with a sensor other than the first detection unit 53 and the second detection unit 55 described above.

(B) When power is required to operate the first detection unit 53, the second detection unit 55, and other sensors, the power storage device 21 may supply power to these detection units and / or sensors. .. The power required for the operation of the detection unit and the sensor is generally small, and even if the power storage device 21 supplies power to the detection unit and the sensor, the amount of power stored in the power storage device 21 is hardly affected.
Further, by supplying electric power to the detection unit and the sensor from the power storage device 21, even when the power reception unit 23 is not receiving power from the external power supply device 60, the detection unit and the sensor are operated to detect the abnormality of the device 1. Can be detected.

(C) Electric power may be supplied from the power storage device 21 to the conveyor driving unit 31, the conveyor elevating unit 33, and / or the lifter elevating unit 51.
In this case, during normal use of the device 1, power is not supplied from the power storage device 21 to the drive unit or the like. On the other hand, the power storage device 21 can be used as a standby power supply, for example, in the event of an emergency such as a power failure, or when it is desired to drive the device 1 for a while during maintenance.
For example, when the device 1 falls into the above-mentioned emergency situation or when it is desired to drive the device 1 for a little during maintenance, power is supplied from the power storage device 21 to the drive unit or the like, and the conveyance of the load is terminated, and Alternatively, the conveyor 3 and the lifter 5 can be moved to a safe position.
The above function is achieved by, for example, a method of connecting the power storage device 21 and the first drive circuit 41 to the third drive circuit 45 via a switch, or a method of controllably connecting the power storage device 21 and the drive circuit. It can be realized by turning it on when necessary.

  Further, when power is supplied from the power storage device 21 to the drive unit or the like, for example, by a timer or based on the amount of power stored in the power storage device 21, the time period for supplying the power from the power storage device 21 to the drive unit or the like is limited. After that, power may not be supplied from the power storage device 21 to the drive unit or the like.

  (D) The configuration of the control system according to the first embodiment can be applied to an apparatus other than the vanning / devanning apparatus 1 that conveys a load. For example, the present invention can be applied to a control system such as a stacker crane, an overhead traveling vehicle, an AGV equipped with a load transfer device, and a guided vehicle.

Thereby, for example, the external power feeding device 60 is provided in the vicinity of the station for transferring the load to and from the device, and while transferring the load while receiving power from the external power feeding device 60 in the vicinity of the station, It is possible to perform an operation such as traveling only in a place other than the above.
In addition, for example, when an emergency situation such as a power failure occurs in the device 1, or when it is desired to drive the device 1 for a little during maintenance, the device for transferring the load can be moved to a safe position.

  (E) The central control unit 30 may be able to receive power not only from the power storage device 21 but also from the power receiving unit 23. Also in this case, switching between the power storage device 21 and the power receiving unit 23 can be realized in the same manner as described above.

  (F) Power may be supplied to all the control circuits of the transport control unit 40 from only the power storage device 21. Alternatively, all the control circuits may be capable of switching between receiving power from the power receiving unit 23 and receiving power from the power storage device 21.

(G) As illustrated in FIG. 4, the control system that controls the conveyor 3, the lifter 5, and the traveling unit 7 may further include a conversion device 25 between the power receiving unit 23 and the power storage device 21. FIG. 4 is a diagram showing another embodiment of the control system.
The conversion device 25 is a device that converts the electric power output from the power receiving unit 23 and supplies the converted electric power to the power storage device 21 and the travel control unit 50. By providing the conversion device 25, it is possible to cause the device 1 to travel without supplying the power storage device 21 by supplying electric power to the travel control unit 50. The conversion device 25 is, for example, a circuit such as an AC / DC conversion circuit that converts AC into DC.
It should be noted that during normal use of the device 1, power may not be supplied from the conversion device 25 to the travel control unit 50. For example, when the amount of electricity stored in the electricity storage device 21 is low, or when an abnormality occurs in the electricity storage device 21, when the device 1 is desired to travel, the conversion device 25 may supply power to the travel control unit 50. ..

  INDUSTRIAL APPLICABILITY The present invention can be widely applied to traveling vehicles that carry loads.

1 Vanning / Devanning Device B Main Body 3 Conveyor 3a First Conveyor 3b Second Conveyor 3c Third Conveyor 3d Fourth Conveyor 3e Fifth Conveyor 3f First Additional Conveyor 3g Second Additional Conveyor 31 Conveyor Drive Unit 33 Conveyor Lifting Unit 5 Lifter 51 Lifter lifting unit 53 First detection unit 55 Second detection unit 7 Traveling unit 71 Driving wheel 73 Driven wheel 75 Traveling motor 77 Braking mechanism 79 Electric steering mechanism 9 Operating device 15 First truck 15a Front wheel 15b Rear wheel 17 Second truck 17a Front wheel 17b Rear wheel 20 Power supply system 21 Power storage device 23 Power receiving unit 25 Conversion device 30 Central control unit 40 Transport control unit 41 First drive circuit 42 First control circuit 43 Second drive circuit 44 Second control circuit 45 Third drive circuit 46th 3 control circuit 50 traveling control unit 60 external power supply device F traveling surface

Claims (6)

A traveling vehicle having a traveling unit traveling in a horizontal direction and a first drive unit for traveling the traveling unit,
Operation having an operation unit provided in the traveling carriage for moving and / or conveying a load with respect to the traveling carriage, and a second drive unit for moving the operation unit and / or conveying a load by the operation unit A power receiving unit that receives power when the device and the external power supply device are in a power receiving state,
A power storage device that supplies electric power to the first drive unit,
A traveling vehicle that drives only the first driving unit of the first driving unit and the second driving unit by the power storage device when the traveling vehicle is not receiving power from the power receiving unit.   The traveling vehicle according to claim 1, wherein the power storage device is electrically connectable to the first drive unit and is not electrically connectable to the second drive unit. Further comprising a controller for controlling the traveling unit and the operating device to operate,
The operation device includes a drive circuit for driving the second drive unit, and a control circuit for communicating with the control unit and controlling the drive circuit,
The traveling vehicle according to claim 1, wherein the power storage device supplies electric power only to the control circuit of the operating device. Further comprising a detection unit for detecting an obstacle,
The control unit controls to stop the traveling vehicle when the obstacle is detected by the detection unit,
The traveling vehicle according to claim 3, wherein the power storage device supplies electric power to the control unit and the detection unit. The traveling carriage is a vanning / devanning device,
The first drive unit causes the traveling unit to perform an operation related to traveling of the traveling carriage,
The operating unit includes a lifter that moves up and down with respect to the vanning / devanning device, a conveyor that conveys the load, and / or a lifter that an operator rides up and down.
The second drive unit moves up and down with respect to the conveyor, rotates, conveys the load, and / or moves up and down the lifter,
The power storage device supplies electric power to the first drive unit and does not supply electric power to the second drive unit,
The traveling vehicle according to any one of claims 1 to 4.   The traveling vehicle according to any one of claims 1 to 5, further comprising a display unit that displays a power receiving state of the power receiving unit.

Images