JP2841890B2 - Storage method of transport train - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a storage method for a transport train that runs on a fixed traveling route.

[0002]

2. Description of the Related Art When a transport train is stored in a storage line, at the beginning of the storage line,
A method of automatically stopping the transfer train when the mark sensor on the transfer train side detects the fixed mark to be detected is adopted, but as a method of automatically stopping the subsequent train, Generally, this type of transport train uses a rear-end collision prevention distance sensor, that is, a distance sensor that detects the front train when approaching the front train within a certain distance, and the distance sensor detects a train stopped ahead. A method is adopted that automatically stops when it is done.

[0003]

In the conventional method of automatically storing a transport train using the distance sensor as described above, the accuracy of the distance sensor is relatively low.
There is a disadvantage that the pitch between trains in the storage state varies. Of course, in order to solve such a problem, a detected part is protruded at the rear end of the train, and at the front end of the train,
A method of protruding a proximity switch that detects the detected portion of the forward train and automatically stopping when the proximity switch detects the detected portion of the forward train was considered. Since it must be properly spaced from the front and back of the train and accurately supported, the structure becomes complicated, and especially when the transported object protrudes long from the front and back of the train, the auxiliary trolley holding the detected part and the proximity switch is mounted on the train. It is necessary to connect via a connecting rod before and after the above, and a significant increase in cost cannot be avoided.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a storage method of a transportation train which can solve the above-mentioned conventional problems. The transport train 1
In addition, a distance sensor 16 for detecting the preceding train when approaching the preceding train within a certain distance L1 and a mark sensor 18 are provided, and the detected mark 15 detected by the mark sensor 18 is provided on the storage line 13.
Are arranged at a pitch P1 equal to the pitch P between the front and rear trains when the transport trains 1 are arranged at a distance L2 shorter than the predetermined distance L1, and the transport train 1 entering the storage line 13 is Approaching the forward train stopped within the line 13 within the predetermined distance L1, and moving the forward train to the distance sensor 16 of the transport train 1
Is characterized in that the transport train 1 is stopped when the mark sensor 18 of the transport train 1 detects the detected mark 15 after the detection.

In carrying out the method of the present invention, when the distance sensor 16 detects a forward train, it can be controlled to decelerate.
5 has a short-pitch storage detection mark 15 disposed at a short pitch P1 and a long-pitch storage detection mark 15L disposed at a long pitch P1L. The short transport train 1 stops when the short-pitch storage detection mark 15 is detected, and the full-length long transport train 1L including the transported object 11L receives the long-pitch storage detection mark 15L.
Can also be controlled to stop when is detected.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a transportation train, and a driving trolley 3 and a driven trolley 4 are mounted on a guide rail 2. The drive trolley 3 is provided with a drive wheel 7 linked to a motor 6 via a speed reducer 5 and a guide roller 8 for steadying the drive trolley 3. Are provided with driven wheels 9 and guide rollers 10 for steadying, and a hanger 12 for supporting a transferred object 11 is provided below the transport train 1.

As shown in FIG. 1 and FIG. 4, the guide rail 2 of the storage line 13 set in the traveling route of the transport train 1 has a start position for the start position of the storage line 13. A detection mark 14 is provided,
In the storage line 13 behind the start position, a plurality of storage target detection marks 15
1 is attached.

The transport train 1 has a distance sensor 16 for detecting the forward train when approaching the forward train within a predetermined distance L1, and a first mark sensor 17 for detecting the detected mark 14 for the start position. And a second mark sensor 18 for detecting the storage target detection mark 15.
And are attached.

The pitch P1 of the detected marks 15 for storage is shorter than the pitch P2 between the front and rear trains when the transport trains 1 are arranged at the predetermined distance L1 and is separated from the front and rear transport trains 1 by a safe distance. Is the same as the pitch P between trains when the vehicle is brought closest. And it is longer than the fixed distance L1 (the maximum detection distance of the distance sensor 16).

The transport train 1 drives the motor 6 with electric power supplied from a power supply line (not shown) laid on the guide rail 2 via a current collecting unit, thereby driving the drive wheels 7 to a predetermined position. By rotating the motor 6 in the direction, it is possible to travel forward along the guide rail 2. As shown in FIG. 2, a motor controller 19 such as an inverter for controlling the motor 6 and a motor controller 19 And a control device 21 such as a microcomputer that controls according to
According to the control program 20, when the transport train 1 arrives at the start position of the storage line 13 and the first mark sensor 17 detects the detected mark 14 for the start position, as shown in FIG. 1 is automatically stopped, and a start command 22 is given to the transport train 1 by a method using a signal line (not shown) laid on the guide rail 2 and a current collecting unit on the transport train 1 side or the like. To automatically start the transport train 1
1 controls the motor controller 19.

Further, the control program 20 executes the method of the present invention as shown in the flowchart of FIG. That is, as shown in FIG. 1, when the subsequent transport train 1 approaches the forward train stopped at the start end position of the storage line 13 within the predetermined distance L1, the distance sensor 16 of the subsequent transport train 1 is activated. The control unit 21 controls the motor controller 19 so as to detect the train stopped ahead, and decelerate the subsequent transport train 1 in accordance with the ON operation of the distance sensor 16. Thereafter, when the subsequent transport train 1 further approaches the forward stopped train, the second mark sensor 18 detects the detected mark 15 for storage on the guide rail 2 side, and the ON operation of the second mark sensor 18 is performed. The control device 21 controls the motor controller 19 so as to stop the subsequent transport train 1 in accordance with the following.

According to the above control, the succeeding transport train 1 is decelerated when the pitch between the train and the forward stopped train becomes P2, and stops when the pitch becomes P (P1). In addition, a distance L2 that is sufficiently shorter than the fixed distance L1, which is the maximum distance detected by the distance sensor 16, is secured between the trains before and after. It will be easily understood that each subsequent transport train 1 following this also automatically stops one after another while maintaining the train pitch P1 by the above control, and is stored in the storage line 13 as shown in FIG. .

The leading transport train 1 stopped at the start position of the storage line 13 automatically starts according to the start command given from the ground side as described above. As a result, the leading transport trains 1 and 2 Th stop transportation train 1
Is longer than the predetermined distance L1, the distance sensor 16 of the second stationary transport train 1 is turned on.
To OFF. Thereby, the control device 21 controls the motor controller 19 so that the second stopped transport train 1 starts running as shown in FIG. Then, when the second transport train 1 arrives at the start end position of the storage line 13, it stops automatically by the above control. With this control, the third and subsequent stopped transport trains 1 are also moved forward by one pitch in the forward direction and automatically stopped.

Note that, in the same storage line 13, the time when only the transport train having a short length including the transported object is stored and the time when only the long transport train including the transported object is stored are stored. In some cases, the following control method can be adopted.

For example, as shown in FIG. 4, a transport train that supports a short transported object 11 that does not protrude from the front and back of the transport train or an empty transport train, that is, a transport train having a short overall length including the transported object. In order to store the train 1 at the minimum pitch P at which the trains before and after do not collide with each other, the short pitch P1
Mark 15 for short pitch storage arranged at
And a transport train 1L having a long length including the transported object such as a transport train supporting a long transported object 11L protruding from the front and rear of the transport train as shown in FIG. In order to store at the minimum pitch P that does not cause collision, the detected mark 15L for long pitch storage provided at the long pitch P1L is
The transportation train 1 with a short overall length including the objects to be transported
Is stopped when the short-pitch storage detection mark 15 is detected, and the transportation train 1L having a long overall length including the transported object is connected to the long-pitch storage detection mark 15.
It can be controlled to stop when L is detected.

In this case, before entering the storage line 13, whether the stop control timing is to be detected when the detected mark 15 for short pitch storage is detected or when the detected mark 15L for long pitch storage is detected. Should be automatically switched and set according to whether or not the long transported object 11L is mounted. In addition, the same second mark sensor 18 is configured to selectively detect the two types of the detected marks 15 and 15L for storage, and a mark sensor dedicated to the detected mark 15 for short pitch storage, A dedicated mark sensor may be provided in addition to the long-pitch storage detection mark 15L, and both mark sensors may be selectively operated.

When the distance sensor 16 is also used as a rear-end collision prevention distance sensor on a normal traveling line other than the storage line, the distance sensor 16 is used immediately before entering the storage line 13. What is necessary is just to comprise so that it may switch so that it may function as the control means of the storage method by this invention.

[0018]

As described above, according to the transport train storage method of the present invention, when the distance sensor included in the transport train detects the forward train, the transport train is decelerated and stopped. Instead, when the distance sensor detects a forward train stopped at the storage line, and then a mark sensor provided on the transporting train detects a detected mark disposed in the storage line. In addition, since the transport train is controlled to stop, the mark to be detected can be passed without being stopped even if the mark sensor detects the mark until the distance sensor detects the forward stopped train, The transport train that is approaching the forward stopped train can be stopped at a position corresponding to the detected mark with high accuracy. In addition, the detected mark is located between the front and rear trains when the transport trains are arranged at a distance shorter than the maximum inter-vehicle distance (constant distance) from the preceding train when the distance sensor detects the preceding train. Since they are arranged at the same pitch as the pitch, the minimum necessary interval can be maintained between the front and rear trains, and storage can be performed safely and efficiently.

Also, a distance sensor generally used as a rear-end collision prevention sensor can be used as it is,
Compared with the case where the detected part and the proximity switch must be attached via the support means extending long before and after the train, the structure of the transport train can be implemented simply and inexpensively.

According to the control method of the second aspect,
Slow down from the point when the distance sensor detects the train ahead,
Since the detection mark can be stopped when the mark sensor detects the mark, the transportation train can be stopped safely without giving an impact.

According to the control method of the third aspect,
The same storage line can be selectively used for storing only a short-length transport train including an article to be transported and storing only a long-length transport train including an article to be transported. Also in this case, a necessary minimum interval can be accurately secured between trains including the transported object.

[Brief description of the drawings]

FIG. 1 is a side view illustrating a storage operation of a transport train at a storage line start end.

FIG. 2 is a block diagram illustrating a control system of a transport train.

FIG. 3 is a flowchart illustrating a control procedure.

FIG. 4 is a schematic side view showing a storage state of a transportation train having a short overall length including an object to be transported.

FIG. 5 is a schematic side view showing a storage state of a transport train having a long overall length including a transported object.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Transporting train (transporting train with a short total length including a transported object) 1L Transporting train with a long full length including a transported object 2 Guide rail 3 Drive trolley 4 Follower trolley 6 Motor for driving the drive wheel 7 11 Transported object (Short object to be transported) 11L Long object to be transported 13 Storage line 14 Detected mark for start position 15 Detected mark for storage (Detected mark for short pitch storage) 15L Detected mark for long pitch storage 16 Distance sensor 17 First mark sensor 18 Second mark sensor

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) G05D 1/02 B61L 23/00-23/34

Claims (3)

(57) [Claims] 1. A transportation train is provided with a distance sensor and a mark sensor for detecting the preceding train when approaching the preceding train within a certain distance, and the storage line includes:
The mark to be detected, which is detected by the mark sensor, is separated by a distance between vehicles shorter than the predetermined distance.
Arranged at a pitch equal to the pitch between trains before and after trains
The transportation train that entered the storage line
The above-mentioned constant for the forward train stopped in the storage line
Approach within a distance and move the train in front of it in front of the transport train
After the distance sensor detects, the
And stopping the transport train when the work sensor detects the detected mark . 2. The method according to claim 1, wherein the deceleration control is performed when the distance sensor detects a forward train. 3. The detected mark has a short-pitch storage detected mark disposed at a short pitch and a long-pitch storage detected mark disposed at a long pitch. The transportation train having a short overall length including the transported object is stopped when the detection mark for the short pitch storage is detected, and the transportation train having a long overall length including the transported object is stopped when the detection mark for the long pitch storage is detected. The storage method for a transport train according to claim 1, wherein: