JP2833584B2 - Overhead traveling car - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an overhead traveling vehicle for transporting a work, and more particularly to an overhead traveling vehicle provided with a pair of carts. The invention is especially useful for controlling a total of at least two motors synchronously and for at least two motors of the winding unit.
The present invention relates to synchronous control of motors.

[0002]

2. Description of the Related Art Overhead traveling vehicles are used for transporting finished products and products (work) in factories and the like. For example, an overhead traveling vehicle travels along a rail laid along the ceiling of a building, and raises or lowers a hand with a winding unit provided on the main body. The unloaded work is unloaded to another ground station.

[0003] The applicant has studied a method of providing a pair of trolleys on an overhead traveling vehicle and, for example, pivotally connecting the trolley to a main body. This makes it easy for the overhead traveling vehicle to turn a curve, allows a curve with a small radius of curvature to be provided, and reduces the swing of the work at the curve. However, in this case, it becomes necessary to synchronously control a pair of motors provided for each truck. A basic method for synchronous control is to provide an encoder such as a rotary encoder for each traveling motor and detect the number of revolutions. However, this requires a pair of encoders, and the inventor has found that monitoring the rotational speed with the pair of encoders is not effective for synchronous control.

[0004]

It is an object of the present invention to 1) reliably control a pair of traveling motors with a simple circuit (claims 1 to 3); and 2) to control two traveling motors with one encoder. (2) The two drivers can control a total of four motors, a pair of traveling motors and a pair of hoisting motors, with two drivers. (Claim 3).

[0005]

SUMMARY OF THE INVENTION The present invention relates to at least a pair of trucks that travel while being supported by a traveling rail provided along a ceiling or the like of a building, a main body supported by the cart, and a hoisting unit provided at a lower portion of the main body. A traveling vehicle provided with a traveling motor provided on each of the carts, a measuring means for measuring an output torque of each traveling motor, and an output of each traveling motor. At least one pair of drivers for controlling the traveling motor so that the torques substantially match each other are provided (claim 1). The pair of trolleys are pivotally connected to the main body, for example.

Preferably, only one of the traveling motors is connected to an encoder for measuring the number of rotations.

Preferably, the hoist unit is provided with at least a pair of hoist motors and measuring means for measuring an output torque of each hoist motor, and the at least one pair of drivers is connected to the at least one pair of travel motors. Between the at least one pair of hoisting motors, at least one pair of switches for switching connection is provided, the respective drivers are connected to the respective traveling motors when the respective bogies travel, and the respective ones when the hoisting unit moves up and down. A driver is connected to each of the hoist motors, and control is performed so that the output torques of the respective hoist motors substantially match (claim 3).

As the output torque of the traveling motor or the hoisting motor, a load current in the case of current driving, a motor voltage in the case of voltage driving, or a chopping frequency in the case of chopper control may be measured. As the number of revolutions of the traveling motor or the hoisting motor, for example, the number of revolutions of the motor shaft or the number of revolutions of the axle or hoisting drum connected to the motor may be measured. Note that the number of rotations of the motor does not represent its output torque. For example, in the case of a pair of traveling motors,
When these are connected to the axle of the traveling wheels, the rotation speed is forced to be equal when there is no slip between the motor shaft and the axle. Therefore, how the load is distributed to the pair of traveling motors cannot be determined from the rotation speed.

[0009]

According to the present invention, for example, the main body of the overhead traveling vehicle is pivotally connected to at least a pair of trolleys. This makes it easy for the overhead traveling vehicle to make a curve. Accordingly, at least one traveling motor is required for each truck, and a total of at least two traveling motors need to be synchronously controlled. Therefore, a measuring means for measuring the output torque of the driver and the traveling motor is provided for each traveling motor.
The amount representing the output torque includes, for example, a load current of the traveling motor, a driving voltage in the case of voltage driving, a chopping frequency in the case of chopper control, and the like. Then, the driver is provided with a target value corresponding to the amount representing the output torque from the main controller or the like, compares the amount with the amount actually measured by the measuring means and performs feedback control, and the output torque substantially matches the target value. , For example, within ± 5%. With this configuration, at least the pair of traveling motors are driven with substantially the same output torque, and synchronous control is performed (claim 1).

[0010] With the above configuration, a pair of traveling motors can be controlled synchronously, but the speed and traveling distance of the bogie are open loop control. Therefore, only one of the pair of traveling motors is provided with an encoder for measuring the number of rotations. The quantity representing the number of rotations of the motor is, for example, the number of rotations of the motor shaft or the number of rotations of wheels connected to the motor. And if you know the rotation speed of the traveling motor,
The speed of the bogie is known, and the running distance of the bogie is known by integrating this. With this configuration, the speed and the position of the overhead traveling vehicle having the pair of traveling motors can be accurately controlled by one encoder (claim 2).

Preferably, the driver is used for controlling the hoist motor of the hoist unit and for controlling the traveling motor. For this purpose, a switch may be connected to each of the pair of drivers, and the connection of the driver may be switched between the traveling motor and the hoist motor by switching the switch. Measuring means for measuring the output torque of each hoist motor is provided, and the driver controls the hoist motors so that the output torque of each hoist motor substantially matches. (Claim 3). And also in this case, preferably
An encoder is provided in only one of the pair of hoist motors so that the number of rotations can be monitored.

[0012]

1 to 11 show an overhead traveling vehicle according to an embodiment.
First, the overall structure of the overhead traveling vehicle and the structure of the bogie will be described. FIG.
Shows the overall structure of the overhead traveling vehicle 2, 01 is a rail laid along the ceiling of a building such as a clean room or a factory,
Reference numeral 02 denotes a rail, and reference numeral 03 denotes a communication cable between the overhead traveling vehicle 2 and the management center. The overhead traveling vehicle 2 has two trolleys 4,
4, and each truck 4 includes a bumper 6. The main body 8 is connected to the carts 4 and 4 by a pivot shaft 32 shown in FIGS. 2 to 4, and a hoisting unit 10 is provided below the main body 8. Then, the hoisting unit 10 raises and lowers the hand 12, and the hand 12 holds and transports a work 04 such as a SMIF pod containing a semiconductor substrate. Reference numerals 14 and 14 denote a pair of fall prevention members for preventing the work 04 from dropping when the hand 12 is lifted and the work 04 is transported.

[0013]

[Dolly] FIG. 2 shows the structure of the trolleys 4 and 4 viewed from a direction perpendicular to the traveling direction of the overhead traveling vehicle 2, FIG. 3 shows the structure of the trolleys 4 and 4 viewed from the ceiling side, and FIG. The section of the carriage 4 in a direction perpendicular to 01 is shown. In these figures, the covers and the like of the carts 4 and 4 are removed. Referring to FIG. 4 to illustrate the mounting of the trolleys 4 and 4 on the rail 01, 05
Is a support for the rail 01, which has a function of adjusting the height of the rail 01, and is covered with a cover 06. Reference numeral 08 denotes an overhead line for supplying power to the overhead traveling vehicle 2, and reference numeral 09 denotes a mark for transmitting a stop position and the like to the overhead traveling vehicle 2.

As shown in FIGS. 2 to 4, traveling motors 16 and 17 are provided for each carriage 4 substantially horizontally along the longitudinal direction of the carriage 4 (direction parallel to the rails 01). The motor shaft 20 is substantially horizontal, for example, in a range of ± 10 degrees with respect to a horizontal plane. A brake is not provided for the traveling motors 16 and 17, and a brake 18 such as an electromagnetic brake is provided separately. The motor shaft 20 and the brake shaft 22 of the brake 18 are connected to the hypoid gear 24, the rotation direction is changed by 90 degrees, the traveling shaft 25 is rotated, and the traveling wheels 26 are driven. Here, the running wheel 26 has a vertical rotating surface, but may be horizontal. 2
Reference numeral 8 denotes a guide roller for preventing each truck 4 from coming off the rail 01. For example, eight guide rollers are provided for each truck 4 as shown in FIGS. Guide rollers 28, 28 are also provided at the tip of the bumper 6, and the bumper 6 is
To make it run smoothly. Reference numeral 30 denotes a current collector rotatable about a vertical axis, which receives power from the overhead wire 08 and
Power is supplied to 6, 17 and so on.

Numerals 32, 32 are pivot shafts for connecting the carts 4, 4 to the main body 8. As a result, the pair of carts 4 and 4 act as bogies with respect to the main body 8. 34, 34
Is a pivot shaft connecting the bumpers 6, 6 to the carts 4, 4, and is connected to the covers 15, 15 of the carts 4, 4. The bumper 6 travels on the rail portion 02 by the guide roller 28, and can be turned with respect to the carriage 4 by the pivot shaft 34. Proximity sensor 3 at the tip of bumpers 6 and 6
6 is provided to detect a preceding traveling vehicle, an obstacle, and the like. Reference numeral 38 denotes a reading sensor provided to face the mark 09.
The stop position and the like are detected by assisting the control data built in the main body 8.

The features of the carts 4 and 4 will be described. It is important that the overhead traveling vehicle 2 used in a crane room or the like has a small volume. In the case of the truck 4, since the space along the longitudinal direction of the rail 01 is allocated to the overhead traveling vehicle 2, it is important to reduce the width and height of the truck 4, 4 with respect to the rail 01. In the embodiment, the traveling wheels 26 are located near the center of the carriage 4 along the longitudinal direction, the traveling motors 16 and 17 are on one side, and the brakes 18 are on the other side.
There is. The traveling motors 16 and 17 are partially
Sticking out from. The motor shaft 20 and the brake shaft 22 are substantially horizontal, for example, in a range of ± 10 degrees with respect to a horizontal plane, and their directions are parallel to the traveling direction of the carriage 4. Therefore, the longitudinal directions of the motors 16 and 17 and the brake 18 are parallel to the longitudinal direction of the rail 01, and the height and width of the carts 4 and 4 are reduced. The motor shaft 20 and the brake shaft 22 are connected to the hypoid gear 24, and drive the traveling wheels 26 by changing the direction of the rotating shaft to a right angle. In the hypoid gear 24, its axial direction does not intersect with the axial directions of the motor shaft 20 and the brake shaft 22. For example, in FIG.
Are simply arranged in parallel without overlapping. When the hypoid gear 24 is used, power can be transmitted more reliably with a thinner gear than a bevel gear, and therefore, the thickness of the gear portion can be reduced, and the height of the carts 4 can be reduced.

The traveling motors 16, 17 and the brake 18 are separately provided, and are disposed so as to be substantially opposed to each other around the traveling wheel 26. Since the motors 16 and 17 and the brake 18 are separate bodies, the motors can be downsized, and these loads are
6 are dispersed on both sides and become stable. If the brake 18 is integrated with the traveling motors 16 and 17, the size of the motor becomes large, and the traveling wheels 26 must be arranged substantially at the center of the truck 4, so that the truck 4 becomes large. Further, the load is concentrated on one side of the carriage 4 and becomes unstable.

Next, the two carts 4 and 4 are separated from the main body 8 and connected by pivot shafts 32 and 32. Since the motors 16 and 17 are provided for each truck 4, the diameters of the motors 16 and 17 and the brake 18 decrease, and the height and width of the trucks 4 and 4 decrease. In addition, since the trolleys 4 and 4 are pivotally connected to the main body 8, as shown in FIG. 5, the overhead traveling vehicle 2 can smoothly turn a curve, and the work 04 is less shaken. Further, since the front and rear bumpers 6 and 6 are connected to the carts 4 and 4 by the pivot shaft 34, the bumpers 6 and 6 bend with respect to the cart 4 along the direction of the rail 01, and the other overhead traveling ahead by the proximity sensor 36. The vehicle can be reliably detected, and even if a collision occurs, the truck 4 can be prevented from directly colliding. On the other hand, if the bumpers 6, 6 are not pivotally connected to the carts 4, 4, the direction of the proximity sensor 36 is fixed to the direction of the cart 4,
In some cases, the traveling vehicle 2 preceding the curve cannot be detected.

[0019]

[Winding Unit] FIGS. 6 to 8 show a winding unit 10 according to an embodiment. The hoisting unit 10 is supported by the lower portion of the main body 8, and a hoisting unit base 40 has three hoisting drums 42 disposed on the bottom surface thereof.
Each winding drum 42 is divided into two parts, and one rope 42 is used to wind two ropes, belts, tapes, or the like, and the hand 12 is wound using a total of six ropes 80. Further, the winding drum 42 is disposed, for example, along each side of the equilateral triangle, and a separation prevention roller 44 is provided outside the drum 42 as viewed from the center of the unit 10.
To prevent the rope 80 from coming off the drum 42.

Reference numerals 46 and 47 denote two sets of hoisting motors, in which brakes 48 such as electromagnetic brakes are separately provided. Reference numeral 50 denotes a motor shaft, 52 denotes a brake shaft, which is arranged in a substantially horizontal axial direction, for example, within a range of ± 10 degrees from a horizontal plane. As a result, the motors 46 and 47 and the brake 48 can be arranged substantially horizontally with the same height as the drum 42. A drive gear such as a hypoid gear 54 is provided at the center of the winding unit 10, that is, at the center of the triangle formed by the three drums 42, and a transmission spur gear 56 is provided on the common shaft 55.
The hypoid gear 54 converts the rotation of the motors 46 and 47 about the horizontal direction to the rotation about the height direction, and may use a bevel gear or the like. However, the hypoid gear 54 is preferable because the thin and reliable power can be transmitted. The spur gear 56 drives the drum 42 via a spur gear 58 on the drum 42 side. A bevel gear 60 is provided on the rotation shaft of the spur gear 58 to rotate the bevel gear 62 of the drum 42. Instead of the spur gears 58, 58, a helical gear or the like may be used.
64 is a guide pin for positioning with the hand 12.

Referring to FIG. 7, the operation of the hoisting unit 10 will be described.
0, and from each point, the rope 80 is divided into two and extends upward, and the two drums 42, 4 arranged on two sides of the triangle are provided.
Wind up with 2. Here, when the hand 12 is at the lowest position, the rope 80 is inside the drum 42, and as the winding proceeds, the winding position moves to the outside of the drum 42.
As a result, the rope 80 is on an isosceles triangle with each point P as the vertex, and the interval between the winding positions of the two drums 42, 42 decreases as the hand 12 rises. For this reason, at the position where the hand 12 is located below, the interval between the winding positions is large, and when the hand 12 is raised, the interval between the winding positions is reduced, and the angle formed by the two ropes 80 fixed to the same point is determined by the hand 12. It can be almost constant regardless of the rise and fall of. For this reason, the hand 12 can be stably held irrespective of the height position, and the torque required for winding up becomes substantially constant.
That is, the larger the angle between the two ropes 80, 80, the more stably the hand 12 can be held, but on the other hand, the torque required for winding increases. In the embodiment, the angle formed by the two ropes is made constant regardless of the height, and the hand 12 is stably wound up or down with almost constant torque. In the embodiment, since the hand 12 is moved up and down using the six ropes 80, even if one rope is cut, the hand 12 does not tilt and the work 04 can be stably conveyed.

Next, the size of the winding unit 10 will be considered. 6 and 7, the motor 4
8 and the position of the drum 42 in the height direction are aligned and arranged substantially horizontally. For this reason, the height of the hoisting unit 10 is reduced, and the area occupied by the hypoid gear 54 and the spur gear 56 is reduced by overlapping them vertically. Considering the transmission of the rotation from the motors 46 and 47, the rotation of the motors 46 and 47 having the rotation axis in a substantially horizontal direction is converted to a substantially right angle by the hypoid gear 54, transmitted to the spur gears 56 and 58, and transmitted to the bevel gears 60 and 62. Then, the rotation is converted into a horizontal rotation again and transmitted to the drum 42.

The three drums 42 are on three sides of an equilateral triangle, and a space is created on a line connecting the positions of the vertices and the hypoid gear 54 at the center. The motors 46, 47 and the brake 48 are arranged on this line, so that the plane size of the unit 10 can be minimized. In addition, since the brake 48 is separated from the motors 46 and 47, the size of each motor 46 and 47 can be reduced, and the drum 42, the motors 46, 47 and the brake 48 are arranged substantially uniformly around the hypoid gear 54, The load on the winding unit 10 is evenly distributed. As a result, the horizontal movement of the hoisting unit 10 using the later-described lateral movement rail 78 is facilitated.

[0024]

[Lateral movement of the hoisting unit] Lateral movement of the hoisting unit 10 will be described. 6, 7, and 9, reference numeral 70 denotes a lateral movement motor for laterally moving the hoisting unit 10 with respect to the main body 8, reference numeral 72 denotes a brake thereof, and reference numeral 74 denotes a pulley, which is driven by the rotation of the motor 70. A belt 90 is attached to the pulley 74, and a threaded shaft 92 is rotated. 94 and 96 are bearings, and 76 is a female ball screw. Of these members, the female ball screw 76 is attached to the hoisting unit 10, and the other members are attached to the main body 8. Conversely, the female ball screw 76 may be attached to the main body 8 and another member may be attached to the winding unit 10 side, but this is not preferable because the weight of the winding unit 10 increases. These are collectively referred to as a feed mechanism of a winding mechanism. Note that a simple cylindrical female screw may be used instead of the female ball screw 76. At the bottom of the main body 8, there are provided lateral movement rails 78, 78 shown in FIGS.
The forward and backward movement of the female ball screw 76 allows the hoisting unit 10 to move on the rail 78.

In this way, the female ball screw 76 moves forward and backward with respect to the threaded shaft 92 by the rotation of the motor 70, and the hoisting unit 10 moves on the laterally moving rail 78. For this reason, the work 04 located in a place other than immediately below the traveling rail 01 can be loaded and unloaded, and restrictions on the position of the work 04 are greatly eased. This means that restrictions on the arrangement of ground stations (not shown) are relaxed, and the ground stations can be arranged at desired positions. In addition, the degree of freedom in the arrangement of the traveling rail 01 is increased, and the installation of the rail 01 is facilitated.

The hoisting unit 10 with respect to the rail 01
The range in which the traverse can be
Is determined within a range in which the carriage 4 does not incline, and if the mounting of the carriage 4 on the rail 01 is stabilized, the range in which the carriage 4 can move laterally increases accordingly. Further, in the embodiment, the main body 8 is provided separately from the carriage 4, so that the lateral movement rail 78 is provided on the main body 8. However, if the main body 8 is integrated with the carriage 4, the lateral movement rail 78 is provided on the bottom of the carriage 4.
Will be provided.

[0027]

[Control] FIG. 10 shows the control of the traveling motors 16 and 17 and the hoisting motors 46 and 47. Reference numeral 150 denotes a power supply board, which is supplied with power from the overhead lines 08 and 08 and includes two parts, an external power supply 152 for driving a motor and the like and a control power supply 154 for driving a control circuit. The external power source 152 is, for example, 28 V and is a power source V for driving the traveling motors 16 and 17 and the hoisting motors 46 and 47.
1, a 24V power supply V2 for driving the lateral movement motor 70 and the hand rotation motor 104, and a 24V power supply V3 for driving various sensors, for example.
The control power supply 154 supplies a power supply V4 of 5 V, for example. Reference numeral 156 denotes a main controller which includes a CPU and a memory, 158 denotes a communication modem, and 160 denotes a coupler for transmission and reception with the communication cable 03. Reference numeral 162 denotes an input / output, which receives signals from various sensors such as S1 to S3 and receives remote control signals such as infrared rays and ultrasonic waves.

Numeral 164 denotes a servo unit, a speed calculating unit 166 for calculating a speed based on signals from the rotary encoders E1, E2, a position calculating unit 168 for integrating the speeds calculated by the speed calculating unit 166 to calculate a position, A target current determining unit 170 for determining a target value of the drive current with reference to the calculated speed and position. Among them, the rotary encoder E1 is, for example, a motor shaft 20 of the traveling motor 16.
, And the rotary encoder E2 determines the number of rotations of the motor shaft 50 of the hoist motor 46. The servo unit 164 has two drivers 172 and 174
Are connected, and the drivers 172 and 174 are provided with current sensors 176 and 178 for measuring output current (motor load current), respectively. And driver 17
Connections 2 and 174 can be switched between the running motors 16 and 17 and the hoisting motors 46 and 47 via switches 180 and 182.

Reference numeral 184 denotes a driver for controlling the lateral movement motor 70, and E3 denotes a rotary encoder for detecting the rotation speed of the lateral movement motor 70. Reference numeral 186 denotes a cable for controlling the hand control unit 188 by the main controller 156, which transmits a control signal from the main controller 156 to the hand control unit 188 and connects the power supply V2.

Referring to FIG. 11, control of the traveling motors 16, 17 and the hoisting motors 46, 47 will be described. It is impossible to drive the traveling motors 16 and 17 and the hoisting motors 46 and 47 at the same time. When the carts 4 and 4 are traveling, the hoist motors 46 and 47 are stopped. So servo unit 1
Reference numeral 64 checks the presence or absence of a traveling command based on a signal from the main controller 156. And if there is a driving command,
By switching the switches 180 and 182, the traveling motor 16
To the driver 172 and the traveling motor 17 to the driver 174
Connect to Also, the driver 172, 1 according to the target speed
A signal corresponding to the magnitude of the target current value is input to 74.
The drivers 172 and 174 have gains adjusted so as to correct slight deviations in output characteristics between the traveling motors 16 and 17, and supply equal driving currents to the motors 16 and 17 from the drivers 172 and 174. This drive current, ie, motor 1
The load currents 6, 17 are monitored by current sensors 176, 178, and fed back to drivers 172, 174 to control the traveling motors 16, 17.

The fact that the load currents of the two traveling motors 16 and 17 are equal means that the output torques of the motors 16 and 17 are equal. And this is
This means that the traveling load of the overhead traveling vehicle is evenly distributed to the two traveling motors 16 and 17 and is synchronized.

The rotary encoder E1 detects the rotation speed of the traveling motor 16, here the rotation speed of the motor shaft 20. No encoder is provided for the traveling motor 17. The signal from the encoder E1 is sent to the servo unit 164.
Is input to the speed calculation unit 166, and the speed calculation unit 166 converts this into the speed of the overhead traveling vehicle. On the other hand, the position calculation unit 16
8 integrates the speed of the overhead traveling vehicle and converts it into the traveling distance.
From these, the traveling state of the overhead traveling vehicle, that is, the speed and the position are determined, and when approaching the target position, the target current determination unit 17
In the case of 0, the target current is reduced to decelerate, and then the brakes 18, 18 are driven near the target position to stop the overhead traveling vehicle.

When the overhead traveling vehicle arrives at the target position, the hand 12 is lowered by the hoisting unit 10. Hand 1
2 is input from the main controller 156 to the servo unit 164, and switches 180 and 182 are switched to drive the driver 172 to the hoist motor 46 and the driver 1
74 is connected to the hoist motor 47. The number of revolutions of the hoist motor 46, here the number of revolutions of the motor shaft 50, is read by the rotary encoder E2, and the
No encoder is provided for 7. Since the traveling motors 16 and 17 and the hoisting motors 46 and 47 are both driven by the common power supply V1, the drivers 172 and 174 can also be used.

The elevating operation is started by lowering the hand 12. Therefore, the servo section 164 inputs the target current value to the drivers 172 and 174, and the drivers 172 and 174 have already adjusted the gain so as to correct a slight difference in output characteristics between the hoist motors 46 and 47. Supply drive current. The drive current (load current) is detected by the current sensors 176 and 178, and the
174 is feedback-controlled. Further, the rotational speed of the hoist motor 46 is detected by the rotary encoder E2, and the lowering speed is controlled by the speed calculator 166, and the position of the hand 12 is detected by the position calculator 168. When the hand 12 approaches the stop target position, the servo unit 164 changes the target current value, decelerates the hand 12, stops the hand 12, and transfers the work using a chuck mechanism (not shown). When the delivery of the work is completed, the hand 12 is wound up. The control here is exactly the same as the control when the hand 12 is wound up.

[Brief description of the drawings]

FIG. 1 is a perspective view of an overhead traveling vehicle according to an embodiment.

FIG. 2 is a front view of a main part of a bogie section of the overhead traveling vehicle according to the embodiment.

FIG. 3 is a plan view of a main part of a bogie section of the overhead traveling vehicle according to the embodiment.

FIG. 4 is a cross-sectional view of a main part of the bogie of the overhead traveling vehicle according to the embodiment in a vertical plane.

FIG. 5 is a diagram showing a traveling state of the overhead traveling vehicle according to the embodiment on a curve of a bogie unit.

FIG. 6 is a front view of a main part of the winding unit according to the embodiment.

FIG. 7 is a bottom view of the winding unit according to the embodiment.

FIG. 8 is a diagram showing connection of a motor, a brake, and a hypoid gear in the hoisting unit of the embodiment.

FIG. 9 is a diagram showing a disassembled state of the hoisting unit in the height direction in the embodiment.

FIG. 10 is a control block diagram of an overhead traveling vehicle according to the embodiment.

FIG. 11 is an operation flowchart of the overhead traveling vehicle according to the embodiment.

[Explanation of symbols]

01 rail 52 brake shaft 02 rail 54 hypoid gear 03 communication cable 55 common shaft 04 work 56 spur gear 05 support 58 spur gear 06 cover 60 bevel gear 07 ceiling 62 bevel gear 08 overhead wire 64 guide pin 09 mark 70 lateral movement motor 010 holding plate 72 Brake 2 Overhead traveling vehicle 74 Pulley 4 Truck 76 Female ball screw 6 Bumper 78 Lateral moving rail 8 Main body 80 Rope 10 Winding unit 150 Power supply board 12 Hand 152 External power supply 14 Fall prevention member 154 Control power supply 15 Cover 156 Main controller 16, 17 Traveling motor 158 Modem 18 Brake 160 Coupler 20 Motor axis 162 Input / output 22 Brake axis 164 Servo unit 24 Hypoid gear 166 Speed calculation unit 25 Travel axis 168 Position calculation unit 26 Running wheel 170 Target current determination unit 28 Guide roller 172, 174
Driver 30 Collector 176,178
Current sensor 32 pivot shaft 180,182
Switch 32 pivot shaft 184
Driver 36 Proximity sensor 186
Cable 38 Reading sensor 188
Hand control unit 40 Winding unit base E1, E2, E3
Encoder 42 Hoisting drum V1, V2
Motor power supply 44 Roller prevention roller V3
Sensor power supply 46, 47 Winding motor V4
Control circuit power supply 48 Brake S1, S2, S3
Sensor 50 Motor shaft

Claims (3)

(57) [Claims] 1. A ceiling provided with at least one pair of trucks supported and supported by a traveling rail, a main body supported by the cart, a winding unit provided at a lower portion of the main body, and a hand which moves up and down by the winding unit. A traveling vehicle, wherein a traveling motor is provided on each of the carts, and a measuring means for measuring an output torque of each traveling motor, and a traveling motor for controlling the traveling motor so that the output torque of each traveling motor substantially coincides. An overhead traveling vehicle comprising at least a pair of drivers. 2. The overhead traveling vehicle according to claim 1, wherein an encoder for measuring the number of rotations of the traveling motor is connected to only one of the traveling motors. 3. The hoist unit is provided with at least one pair of hoist motors and measuring means for measuring an output torque of each hoist motor, wherein the at least one pair of drivers is provided with the at least one pair of travel motors, Between the pair of hoisting motors, at least a pair of switches for switching the connection are provided, the respective drivers are connected to the respective running motors when the respective carriages travel, and the respective drivers are connected when the hoisting unit moves up and down. 3. The overhead traveling vehicle according to claim 1, wherein the overhead traveling vehicle is connected to each of the hoist motors, and is controlled so that output torques of the respective hoist motors substantially match each other.