JP4003684B2 - Traveling cart system - Google Patents

Description

[0001]
[Field of the Invention]
The present invention relates to a traveling carriage system using a stacker crane, an automatic guided vehicle, a tracked carriage, and the like, and more particularly, to power supply to the traveling carriage.
[0002]
[Prior art]
[Patent Document 1]
Japanese Patent No. 3353221 discloses a connection between travel routes of a traveling carriage. For example, when the travel route B is added to the travel route A, an auxiliary travel route C is also added, and a section where the power supply lines are parallel between the travel route C and the travel route A is provided. A section where the power supply line is parallel to the travel route A is also provided. Electric power is supplied to each power supply line from power sources 50 to 52, and a pair of power receiving units are provided in the traveling carriages 54 to 56 so that power can be received from any of the power supply lines of the travel routes A, B, and C.
[0003]
In this way, the traveling carts 54 to 56 can enter between the traveling routes A and B via the traveling route C. The traveling carriages 54 and 55 are both in a position where they can receive power from the power supply 50, and the traveling carriage 55 is in a position where they can also receive power from the power supply 52. The traveling carriage 55 only needs to be able to distribute the power to be received between the power receiving units, such as 50 to 50% of the power source and 50 to 50% of the power source, for example, but the proportion of power received from the two power receiving units is controlled. Is difficult. For this reason, the power source 50 requires the power capacity of two traveling carriages 54 and 55, and similarly, the power source 52 at a position where the traveling carriages 55 and 56 are supplied with power also needs the power capacity of two carriages. For these reasons, eventually, any of the power sources 50 to 52 needs to have a power capacity of two carriages. Thus, if power can be received from any of a plurality of power supply lines, a large-scale power supply facility is required.
[0004]
[Problems of the Invention]
The basic problem of the present invention is that when a traveling cart goes down, it can be backed up by a traveling cart in an adjacent traveling area, and the power supply power for each traveling area is set to the power capacity of one traveling cart. It is to be able to stay (claims 1 to 3).
An additional problem in the invention of claim 2 is to perform clean power supply without generation of dust and to prevent interference between power supply lines.
An additional problem in the invention of claim 3 resides in that a switch for connecting / opening a sub power receiving unit and a load is also used as a breaker of the sub power receiving unit.
[0005]
[Structure of the invention]
The present invention relates to a traveling cart system in which one traveling route is divided into a plurality of traveling areas, one traveling cart is arranged for each traveling area, and the traveling area is reciprocated, and each traveling area is independent. A power supply line and a power source are provided, and the power supply lines of the adjacent traveling areas at the boundary between the traveling areas are partially arranged in parallel, and the traveling carriage includes a main power receiving unit for the power supply line of its own traveling area, , the load sub-receiving unit of the electrical supply line of the traveling area adjacent switch which is opened at all times to connect / release the sub power receiving unit and the load, by providing a city, when the traveling vehicle goes down, the adjacent the traveling vehicles the switch traveling area which, by connecting the sub-power receiving unit load and the traveling carriage down is characterized in that so as to enter the arranged traveling area (claim ). This switch is not limited to a switch that simply turns on and off the connection between the load and the sub power receiving unit, but may be a three-point switch that connects the load to either the main power receiving unit or the sub power receiving unit.
[0006]
Preferably, a high-frequency current is supplied to each of the power supply lines from the power source, and power is received in a non-contact manner by a pickup coil of each of the power reception units, and the power supply lines of the adjacent travel areas are connected to each other at a boundary between the travel areas. They are arranged in parallel at intervals so as not to interfere (claim 2). For example, when a rail is provided along a travel route, a pair of power supply lines in a travel area adjacent to both sides of the rail are arranged on the left and right. Further, at the boundary between the traveling areas, the feeding lines of the adjacent traveling areas are arranged in parallel at an interval of, for example, 100 mm or more, preferably at an interval of 200 mm or more, particularly preferably at an interval of 300 mm or more. This interval is an interval in a direction perpendicular to the traveling direction.
[0007]
Particularly preferably, an overcurrent detection element is provided in the sub power receiving unit, and the load and the sub power receiving unit are separated by the switch when overcurrent is detected.
[0008]
[Operation and effect of the invention]
In the present invention, the connection between the sub power receiving unit and the load is always opened by the switch. For this reason, even when the traveling carriage enters the boundary between the traveling areas, the unit that receives power is the main power receiving unit, which is supplied with power from its own traveling area and does not receive power from the power source of the adjacent traveling area. For this reason, there is one traveling vehicle that receives power from one power source. Further, when any of the traveling carts goes down, the traveling cart in the adjacent traveling area can be backed up by connecting the sub power receiving unit and the load with a switch and receiving power from the sub power receiving unit and traveling. Also in this case, there is one traveling vehicle that receives power from one power source. For these reasons, each power supply may have a power supply capacity for one unit, and an excessive power supply facility is unnecessary. Further, when the traveling cart goes down, it can be backed up by the traveling cart in the adjacent area.
[0009]
In the invention of claim 2, by performing non-contact power feeding, dust generation due to contact between a sliding member such as a brush and the power feeding line can be prevented. And since high-frequency current is used for non-contact power feeding, if feeding lines are arranged in parallel, interference between feeding lines becomes a problem, but feeding lines are arranged with sufficient spacing to prevent interference between feeding lines. Therefore, it is possible to prevent a decrease in power supply efficiency due to interference.
[0010]
According to the invention of claim 3, the overcurrent of the sub power receiving unit is detected by a temperature sensor, a coil or the like, and the connection between the sub power receiving unit and the load is disconnected when the overcurrent is detected. For this reason, the switch for connecting / releasing the load and the sub power receiving unit can also be used as the breaker.
[0011]
【Example】
1 to 4 show an embodiment. In these drawings, 2 is an automatic warehouse, 4 is a traveling rail, and 6 and 7 are a pair of stacker cranes, which carry articles between a rack and a station (not shown). Reference numerals 8 and 9 denote non-contact power supply lines, which are arranged on both sides of the traveling rail 4 with an interval D of about 700 mm, for example. The non-contact power supply lines 8 and 9 are laid in a loop shape, and a high frequency current of 540 V, 130 A, etc. is supplied at about 9 kHz from a power source 10 provided at an end of the traveling rail 4 or the like. At a high frequency such as 9 kHz, the effective length L1 that can be supplied from the non-contact power supply lines 8 and 9 is limited to, for example, about 60 m due to the inductance component of the non-contact power supply lines 8 and 9. For this reason, the total length L of the traveling rail 4 is, for example, about 100 m, the effective length L1 of each non-contact power supply line 8, 9 is, for example, 60 m or less, and the traveling rail 4 is divided into two traveling areas on the left and right in FIG. In the central portion of the traveling rail 4 (the boundary between the left and right traveling areas), the left and right non-contact power supply lines 8 and 9 are arranged partially in parallel with the traveling rail 4 in between, and the length W of this section is set to 10 to 10 for example. About 20m.
[0012]
Stacker cranes 6 and 7 are arranged in each of the left and right traveling areas, and are selected from one of the main power receiving unit 14 and the sub power receiving unit 16 for the drive unit 12 including a traveling motor, a lifting motor, and a control system thereof. Power. For example, in the stacker crane 6 on the right side of FIG. 1, the main power receiving unit 14 is always connected to the driving unit 12, and the sub power receiving unit 16 is connected to the driving unit 12 via the switch 18. Similarly, in the left stacker crane 7, the main power reception unit 14 is always connected to the drive unit 12, and the sub power reception unit 16 is connected to the drive unit 12 via the switch 18. The switch 18 in FIG. 1 is a conceptual display, and the actual switch configuration will be described later with reference to FIG. Reference numeral 20 denotes a ground control unit for controlling the stacker cranes 6 and 7.
[0013]
FIG. 2 shows the configuration of the power receiving units 14 and 16 taking the stacker crane 6 as an example. Each power receiving unit 14, 16 is provided with a rectifying unit 22 composed of a diode bridge or the like, and a pickup coil 24 is arranged in series or in parallel so that electric power can be obtained from the non-contact power supply lines 8, 9. . For example, the switch 26 provided for each pickup coil 24 connects the pickup coil 24 to the drive unit 12 via the rectifying unit 22. In addition, although 30 is a capacitor | condenser for smoothness and was provided for every power receiving unit 14 and 16 here, you may provide one capacitor | condenser 30 with respect to the two units 14 and 16. FIG.
[0014]
The switch 26 is turned on / off by, for example, an entry control signal from the ground control unit 20 (an entry permission signal to the opposite travel area), and is always off. Further, a temperature sensor (not shown) and a current sensor (not shown) for detecting the current flowing through the pickup coil 24 are provided around the pickup coil 24 with respect to the switch 26, and the switch 26 is turned on / off by these sensors. It can be so. In other words, the switch 26 is opened when the temperature around the pickup coil 24 rises above a predetermined temperature or when a current exceeding the upper limit flows through the pickup coil 24. In this way, the switch 26 can be used also as a breaker for the pickup coil 24.
[0015]
1 may be provided as a single switch, for example, the switch 26 in FIG. 2 may be used as the switch 18 in FIG. It is sufficient that the switch 18 and the parts corresponding thereto can at least turn on and off the connection between the sub power receiving unit 16 and the drive unit 12. For example, as shown in the upper chain line range in FIG. 2, the contact A of the drive unit 12 is connected to either the output-side contact B of the main power receiving unit 14 or the output-side contact C of the sub power receiving unit 16. A three-point switch 19 or the like may be used.
[0016]
The switch 26 (switch 18) may be provided only in the sub power receiving unit 16, but in this case, the positions of the sub power receiving unit 16 and the main power receiving unit are reversed between the stacker crane 6 and the stacker crane 7. . Therefore, in terms of hardware, the main power receiving unit 14 and the sub power receiving unit 16 are made common, and a switch 26 is also provided on the main power receiving unit 14 side. This switch is always connected, and is turned off when overheating is detected by the temperature sensor or when a current exceeding the upper limit flows through the pickup coil 24 to disconnect the main power receiving unit 14 from the drive unit 12.
[0017]
FIG. 3 shows the arrangement of the non-contact power supply lines 8 and 9 on both sides of the traveling rail 4. The stacker crane 6 is provided with a drive unit 12 such as a traveling motor or a lifting / lowering motor that moves up and down along the mast 32, travels on the traveling rail 4 by traveling wheels, and is connected to the contactless power supply lines 8 and 9. The distance D is, for example, about 700 mm, and is preferably disposed on both sides of the traveling rail 4 so that a sufficient distance can be obtained. As a result, mutual interference can be prevented even if a high-frequency current is passed through the non-contact power supply lines 8 and 9. The stacker crane 7 has the same hardware configuration as the stacker crane 6, and the arrangement of the main power receiving unit 14 and the sub power receiving unit 16 is reversed between the stacker crane 6 and the stacker crane 7 by the switch 26.
[0018]
FIG. 4 shows a control algorithm of the embodiment. It is checked whether both stacker cranes are normal. If both are normal, each stacker crane switches off the sub power receiving unit. As a result, the stacker crane 6 in FIG. 1 receives power only from the non-contact power supply line 8, and the stacker crane 7 receives power from only the non-contact power supply line 9. Even if the stacker cranes 6 and 7 enter the position where they can receive power from any of the power supply lines 8 and 9 at the boundary of the traveling area, they receive power from only one power supply line and load for two power supplies to one power source. Will not be added.
[0019]
When one stacker crane is down (failed) due to some abnormality, the failed crane is retracted to the end of the traveling rail. Next, switch on the normal stacker crane and connect the sub power receiving unit to the load so that power can be received from any non-contact power supply line. To do. As a result, even if the stacker crane goes down, it can be backed up by another stacker crane, and the number of stacker cranes that receive power from one power source is always limited to one, and the power source capacity may be one stacker crane.
[0020]
As shown in FIG. 2, when the main power receiving unit and the sub power receiving unit are physically equivalent, and a switch 26 is provided between these and the load, the stacker crane 6, the stacker crane 7, The configuration can be made common. Furthermore, as shown in FIG. 2, if a temperature sensor, an overcurrent detection sensor, or the like is connected to the switch 26, the switch can also be used as a breaker.
[0021]
FIG. 5 shows a traveling cart system according to a modification. Reference numerals 40, 41, and 42 denote loop-shaped non-contact power supply lines, respectively, and 44 denotes a high-frequency power supply for one traveling carriage. In FIG. 5, the travel route is divided into three travel areas, and one travel cart 45, 46, 47 is arranged in each travel area, and the goods are conveyed by reciprocating in the travel area. The traveling carts 45 to 47 may be tracked carts or automatic guided vehicles that travel without tracks.
[0022]
The traveling carts 45 to 47 are provided with a main power receiving unit and a sub power receiving unit. For example, the traveling carts 45 and 47 are provided with a main power receiving unit at a position facing the non-contact power feeding lines 40 and 42. A sub power receiving unit is provided at the facing position. In the traveling carriage 46, the main power receiving unit is provided at a position facing the non-contact power supply line 41, and the sub power receiving unit is provided at a position facing the non-contact power supply lines 40 and 42. In each of the traveling carriages 45 to 47, for example, a main power receiving unit is always connected to a driving unit such as a traveling motor or a transfer device, and the sub power receiving unit is connected via a switch (not shown). This switch is preferably a breaker switch as shown in FIG.
[0023]
By arranging the traveling carriages 45 to 47 and the non-contact power supply lines 40 to 42 as shown in FIG. 5, the travel route can be extended sequentially, and the non-contact power supply lines 40 and 42 and the non-contact power supply line 41 Are arranged at intervals of, for example, about 300 to 500 mm on the left and right of the bottom of the vehicle body of the traveling carriages 45 to 47 to prevent interference between the non-contact power supply lines.
[0024]
In the embodiment, non-contact power feeding is taken as an example, but contact power feeding may be performed via a brush or the like. In the embodiment, one traveling route is divided into a plurality of traveling areas, and the traveling vehicle is always traveled only in the traveling area. When any traveling vehicle goes down, the traveling vehicle in the adjacent traveling area backs up. By switching between the main power receiving unit and the sub power receiving unit with a switch, the number of traveling carts that receive power from one power source is always limited to one, and the power source capacity is improved by one cart.
[Brief description of the drawings]
FIG. 1 is a plan view showing a layout of a traveling cart system of an embodiment. FIG. 2 is a block diagram showing a power supply system of a stacker crane in the embodiment. FIG. FIG. 4 is a flowchart showing a method of switching power receiving units in the embodiment. FIG. 5 is a plan view showing a layout of a traveling cart system according to a modification. FIG. 6 shows a layout of a conventional traveling cart system. Plan view [Explanation of symbols]
2 Automatic warehouse 4 Traveling rails 6, 7 Stacker cranes 8, 9 Non-contact power supply line 10 Power supply 12 Drive unit 14 Main power receiving unit 16 Sub power receiving unit 18 Switch 20 Ground control unit 22 Rectifier 24 Pickup coil 26 Switch 30 Capacitor 32 Mast 40 42 Contactless power supply 44 Power supply 45-47 Traveling carriage

Claims (3)

In a system in which one traveling route is divided into a plurality of traveling areas and one traveling carriage is arranged for each traveling area to travel back and forth within the traveling area, an independent power supply line and power source for each traveling area are provided. The feeder lines of the adjacent traveling areas at the boundary between the traveling areas are partially arranged in parallel, and the traveling carriage has a main power receiving unit for the feeder lines of its own traveling area and the adjacent traveling area of the traveling area. A power receiving sub-power receiving unit, a load, and a normally open switch for connecting / releasing the sub power receiving unit to / from the load ,
When the traveling cart goes down, the traveling cart in the adjacent traveling area connects the sub power receiving unit and the load by the switch, and enters the traveling area where the down traveling cart is arranged. A traveling cart system. A high-frequency current is supplied to each of the power supply lines from the power source so that the pickup coil of each power receiving unit receives power in a non-contact manner, and the power supply lines of the adjacent travel areas do not interfere with each other at the boundary between the travel areas. The traveling cart system according to claim 1, wherein the traveling cart system is arranged in parallel with an interval. The traveling cart system according to claim 1 or 2, wherein an overcurrent detection element is provided in the sub power receiving unit, and the load and the sub power receiving unit are separated by the switch when an overcurrent is detected.

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