JPH02219406A - Charger for magnetic levitation carrier - Google Patents
Charger for magnetic levitation carrierInfo
- Publication number
- JPH02219406A JPH02219406A JP1037809A JP3780989A JPH02219406A JP H02219406 A JPH02219406 A JP H02219406A JP 1037809 A JP1037809 A JP 1037809A JP 3780989 A JP3780989 A JP 3780989A JP H02219406 A JPH02219406 A JP H02219406A
- Authority
- JP
- Japan
- Prior art keywords
- secondary battery
- capacity
- battery
- charging
- magnetic levitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005339 levitation Methods 0.000 title claims abstract description 24
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims description 4
- 230000005294 ferromagnetic effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は磁気浮上搬送車の充電装置に関し、さらに詳細
にいえば、磁力によって浮上し、走行する磁気浮上搬送
車に搭載された２次電池を充電する磁気浮上搬送車の充
電装置に関する。[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a charging device for a magnetically levitated carrier, and more specifically, a secondary battery mounted on a magnetically levitated carrier that levitates and travels by magnetic force. The present invention relates to a charging device for a magnetically levitated conveyance vehicle.
〈従来の技術〉
電磁石や永久磁石により浮上し、リニアモータによる推
力を得て、地上側に固定されたレール上を無接触状態で
走行する磁気浮上搬送車は、低騒音、低振動、無発塵等
の特徴があり、このため、清浄な環境が要求される半導
体製造や医薬品製造等の分野で好適な物品搬送手段とし
て導入され始めている。<Conventional technology> Magnetic levitation vehicles levitate using electromagnets or permanent magnets, receive thrust from linear motors, and travel without contact on rails fixed to the ground. It has characteristics such as dust, and for this reason, it has begun to be introduced as a suitable means of transporting goods in fields such as semiconductor manufacturing and pharmaceutical manufacturing, which require a clean environment.
この磁気浮上搬送車は、レールに対する浮上刃を得るた
めの電磁石および永久磁石を備えているので、上記電磁
石を駆動する電源を得る必要がある。ところが接触集電
方式により電源を得たのでは、騒音、振動、発塵が伴う
ため、磁気浮上搬送車に搭載した２次電池によって電源
をまかなっている。Since this magnetically levitated conveyance vehicle is equipped with an electromagnet and a permanent magnet for obtaining a levitation blade for the rail, it is necessary to obtain a power source to drive the electromagnet. However, obtaining power using the contact current collection method causes noise, vibration, and dust generation, so the power source is provided by a secondary battery mounted on a magnetically levitated vehicle.
したがって２次電池への充電が不可欠となるが、従来は
、前回の２次電池充電時から一定の時間を経過した頃に
磁気浮上搬送車を充電ステーションに停止させ、２次電
池の再充電を行うという方法を採用していた。Therefore, it is essential to charge the secondary battery, but conventionally, the magnetic levitation vehicle is stopped at a charging station after a certain amount of time has passed since the last time the secondary battery was charged, and the secondary battery is recharged. The method of doing this was adopted.
〈発明が解決しようとする課題〉
ところが、上記の磁気浮上搬送車の充電装置では、一定
時間ごとに充電しているため、２次電池の電源を消耗す
る使い方をした場合、一定時間経過前に２次電池が放電
してしまったり、一定時間を計測する時間計測手段が故
障すると充電不可能になったりする、といった事態が発
生し、磁気浮上搬送車の浮上制御ができず磁気浮上搬送
車が着地したまま走行するという事故を招く危険性があ
った。<Problem to be solved by the invention> However, since the charging device for the magnetically levitated vehicle described above charges at fixed intervals, if the secondary battery is used in a way that consumes the power source, the battery will be charged before the fixed time elapses. Situations such as the rechargeable battery becoming discharged or the time measuring means for measuring a certain period of time breaking down making it impossible to charge occur, making it impossible to control the levitation of the magnetic levitation vehicle and causing the magnetic levitation vehicle to There was a risk that the vehicle would continue driving after landing, leading to an accident.
本発明は、２次電池への充電が必要な時に確実に充電を
行うことによって、磁気浮上搬送車の走行に悪影響を与
えない磁気浮上搬送車の充電装置を提供することを目的
とする。SUMMARY OF THE INVENTION An object of the present invention is to provide a charging device for a magnetically levitated vehicle that does not adversely affect the running of the magnetically levitated carrier by reliably charging a secondary battery when charging is required.
く課題を解決するための手段〉
上記の目的を達成するための本発明の磁気浮上搬送車の
充電装置は、磁気浮上搬送車に搭載された２次電池と、
この２次電池の電池容量を検出する電池容量検出手段と
、前回の充電終了時からの経過時間を計測する時間計測
手段と、電池容量検出手段による電池容量検出値が所定
値を下回ったこと、あるいは前回の充電終了時からの経
過時間が所定時間を超えたことのいずれかの条件が満た
されたことを検知した場合に、磁気浮上搬送車を充電ス
テージシンに停止させるべく磁気浮上搬送車の走行を制
御する走行制御手段とを有する。Means for Solving the Problems> A charging device for a magnetically levitated carrier according to the present invention for achieving the above object includes a secondary battery mounted on a magnetically levitated carrier,
a battery capacity detection means for detecting the battery capacity of the secondary battery; a time measurement means for measuring the elapsed time since the end of the previous charging; and a battery capacity detection value by the battery capacity detection means falling below a predetermined value; Or, if it is detected that the elapsed time from the end of the previous charging has exceeded a predetermined time, the magnetic levitation vehicle will be stopped at the charging stage. and travel control means for controlling travel.
く作用〉
上記の構成の磁気浮上搬送車の充電装置によれば、２次
電池の容量を電池容量検出手段によって常に検出してお
（とともに、前回の充電終了時からの時間経過を計測す
ることにより、電池容量不足または時間経過のいずれか
早いほうの検知に基づいて、２次電池の再充電を行うこ
とができる。Effects> According to the charging device for a magnetically levitated guided vehicle configured as described above, the capacity of the secondary battery is constantly detected by the battery capacity detection means (and the time elapsed since the end of the previous charging is measured). Accordingly, the secondary battery can be recharged based on detection of insufficient battery capacity or the passage of time, whichever comes first.
〈実施例〉 以下実施例を示す添付図面によって詳細に説明する。<Example> Embodiments will be described in detail below with reference to the accompanying drawings showing embodiments.
第２図は軌道に沿って走行する磁気浮上搬送車を示す斜
視図（ただし軌道側はガイドレール（２１）のみ図示し
ている）である。磁気浮上搬送車の走行方向は矢印Ａの
方向である。FIG. 2 is a perspective view showing a magnetically levitated carrier traveling along a track (however, only the guide rail (21) on the track side is shown). The traveling direction of the magnetic levitation carrier is the direction of arrow A.
磁気浮上搬送車（１）は荷台を兼ねた平板状の車体（２
）を有し、車体（２）の上面には、進行方向の前側と後
ろ側にそれぞれ２つずつ合計４つのフレーム（３）が上
を向けて配置されている。フレーム（３）の上部には、
永久磁石および電磁石の複合体からなる浮上マグネット
（４）がそれぞれ固定されている。また、車体■の側面
には、着地ローラ（７）、案内ローラ（８）がフレーム
（３）から突設されている。着地ローラ（７）は、着地
時に磁気浮上搬送車（１）の上下方向の動きを規制する
ものであり、案内ローラ（８）は磁気浮上搬送車（１）
の左右方向への動きを規制するものである。なお、（９
）は、浮上マグネット（４）とガイドレール（２１）と
のギャップを電磁誘導効果等を用いて測定するギャップ
センサであり、（１０）は車体（２）の底部に設けられ
た荷物吊り下げ用のフックである。The magnetically levitated vehicle (1) has a flat body (2) that also serves as a loading platform.
), and on the upper surface of the vehicle body (2), a total of four frames (3), two each on the front side and the rear side in the direction of travel, are arranged facing upward. At the top of the frame (3),
Levitation magnets (4) each consisting of a composite of a permanent magnet and an electromagnet are fixed. Furthermore, a landing roller (7) and a guide roller (8) are provided protruding from the frame (3) on the side surface of the vehicle body (2). The landing roller (7) regulates the vertical movement of the magnetically levitated carrier (1) when landing, and the guide roller (8) controls the vertical movement of the magnetically levitated carrier (1).
This is to restrict movement in the left and right direction. In addition, (9
) is a gap sensor that measures the gap between the levitation magnet (4) and the guide rail (21) using electromagnetic induction effects, etc. (10) is a gap sensor installed at the bottom of the vehicle body (2) for hanging luggage. This is the hook.
また、車体（２Ｊの中心部には、進行方向と平行に肉薄
のリアクションプレート（６）が上向きに立設されてお
り、これに対応して軌道側の随所には、磁気浮上搬送車
（１）を発進、加速、減速、停止させるＬＩＭ（リニア
インダクションモータ）の１次側駆動系（図示せず）が
配置されている。In addition, in the center of the vehicle body (2J), a thin reaction plate (6) is erected upward parallel to the direction of travel, and correspondingly, magnetically levitated vehicles (1 ) is provided with a primary drive system (not shown) of a LIM (linear induction motor) that starts, accelerates, decelerates, and stops the motor.
浮上マグネット（４）に電力を供給する２次電池（１８
）は、第２図に示すように、車体（２）の内部に設置さ
れている。A secondary battery (18) that supplies power to the levitation magnet (4)
) is installed inside the vehicle body (2), as shown in FIG.
第１図は、磁気浮上搬送車（１）内部の電源回路、軌道
（２０）、軌道（２０）の随所に設けられたステーショ
ン（２２）、充電ステーション（２８）、充電制御用の
ＣＰ Ｕ （１２）等を総合的に図示した概略図である
。Figure 1 shows the power supply circuit inside the magnetically levitated vehicle (1), the track (20), the stations (22) provided throughout the track (20), the charging station (28), and the CPU for charging control ( 12) etc. is a schematic diagram comprehensively illustrating the following.
まず、磁気浮上搬送車（１）の所定部には、２次電池（
１８）の電力を浮上マグネット（４）の電磁コイルに供
給する電力供給回路（１Ｂ）と、ギャップセンサ（９）
のギャップ検知信号に基づいて電力供給回路（１６）の
出力を制御する浮上制御回路（１７）とが設けられてい
る。さらに磁気浮上搬送車（１）には、電池容量検出回
路（１９）と送信機（１５）とが設けられている。First, a secondary battery (
A power supply circuit (1B) that supplies the power of 18) to the electromagnetic coil of the levitation magnet (4), and a gap sensor (9)
A levitation control circuit (17) is provided which controls the output of the power supply circuit (16) based on the gap detection signal of the levitation control circuit (17). Furthermore, the magnetic levitation carrier (1) is provided with a battery capacity detection circuit (19) and a transmitter (15).
電池容量検出回路’ （１９）は２次電池（１８）の残
容量を検出し、残容量が所定値以下になれば送信機（１
５）に検出信号を送るものであり、送信機（１５）は、
電池容量検出回路（１９）の検出信号を受けて地上側に
無線伝送または光伝送するものである。The battery capacity detection circuit' (19) detects the remaining capacity of the secondary battery (18), and when the remaining capacity falls below a predetermined value, the transmitter (19) detects the remaining capacity of the secondary battery (18).
5), and the transmitter (15) is
It receives the detection signal from the battery capacity detection circuit (19) and transmits it wirelessly or optically to the ground side.
地上側には、軌道（２０）の所定位置に、停止中の磁気
浮上搬送車（１）内の２次電池（１８）を充電する充電
ステーション（２３）が配置されているとともに、上記
送信機（１５）の発振電波または光を受信する受信機（
１１）と、２次電池充電制御用のＣＰＵ （このＣＰＵ
は、通常、運行管理用ホストコンピュータの中に組み込
まれている） （１２）とが備えられている。（２２）
は荷物積み卸しのためのステーションであり、図では充
電ステーション（２３）と別に設けられているが、共通
のものであってもよい。ＣＰＵ（１２）、ステーション
（２２）、充電ステーション（２３）は信号伝送ライン
（１３）を通じて結ばれている。On the ground side, a charging station (23) for charging the secondary battery (18) in the stopped magnetically levitated vehicle (1) is arranged at a predetermined position on the track (20), and the transmitter (15) A receiver that receives oscillated radio waves or light (
11) and a CPU for secondary battery charging control (this CPU
(12), which is usually built into a host computer for operation management. (22)
is a station for loading and unloading luggage, and although it is provided separately from the charging station (23) in the figure, it may be a common station. The CPU (12), station (22), and charging station (23) are connected through a signal transmission line (13).
ＣＰ Ｕ （１２）は、前回の充電終了時刻からの経過
時間を所定時間カウントする時間測定機能（タイマ）を
有するとともに、受信機（１１）の受信信号、あるいは
自己の時間測定結果に基づいて地上側の駆動系（図示せ
ず）を作動させる機能を有している。The CPU (12) has a time measurement function (timer) that counts the elapsed time from the previous charging end time for a predetermined period of time, and also has a time measurement function (timer) that counts the elapsed time from the previous charging end time. It has the function of operating a side drive system (not shown).
第３図は、ＣＰ Ｕ （１２）の上記機能を実現するソ
フトウェアの概略を示すフローチャートであり、受信機
（１１）からの受信信号を検出するステップ■と、自己
のタイマのタイムアツプを検出するステップ■と、磁気
浮上搬送車（１）を最寄りの充電ステーション（２３）
に停止させるため地上側の駆動系を制御するステップ■
と、充電ステーション（２３）に停止したことを検知す
るステップ■と、充電ステーション（２３）からの充電
終了信号に基づいて充電の終了を検知するステップ■と
、再度タイマをスタートさせるステップ■とからなる。FIG. 3 is a flowchart showing an outline of the software that realizes the above functions of the CPU (12), and includes a step (2) of detecting a received signal from the receiver (11) and a step of detecting time-up of its own timer. ■ and the magnetic levitation vehicle (1) to the nearest charging station (23)
Step to control the drive system on the ground side to stop the vehicle
, a step ■ of detecting that the battery has stopped at the charging station (23), a step ■ of detecting the end of charging based on a charging end signal from the charging station (23), and a step ■ of restarting the timer. Become.
これによれば、電池容量検出値が所定値を下回ったこと
（ステップ■）、あるいは前回の充電終了時からの経過
時間が所定時間を超えたこと（ステップ■）のいずれか
の条件を検出した場合に、磁気浮上搬送車（１）を充電
ステーションに停止させるべく磁気浮上搬送車（１）の
走行を制御しくステップ■）、停止後（ステップ■）、
搭載２次電池への充電を行うことができる。そして、充
電終了を検知すると（ステップ■）、ふたたび経過時間
を計測しくステップ■）、次の充電に備えることができ
る。According to this, one of the following conditions has been detected: the battery capacity detection value has fallen below a predetermined value (step ■), or the elapsed time since the end of the previous charging has exceeded a predetermined time (step ■). In this case, the traveling of the magnetically levitated carrier (1) is controlled to stop the magnetically levitated carrier (1) at the charging station (Step ■), and after stopping (Step ■),
The onboard secondary battery can be charged. Then, when the end of charging is detected (step ■), the elapsed time is measured again (step ■), and preparations can be made for the next charging.
以上のような手順により、２次電池容量は、常に所定値
以下になる前に充電されることになり、２次電池残容量
の低下による落下事故が確実に回避される。また、２次
電池の電池容量検出機能とともに、前回の充電終了時刻
からの経過時間をカウントする機能を併用することによ
り、いずれかの機能が故障しても２次電池を間違いなく
再充電することができ、充電動作の安全性確実性を期す
ることができる。Through the above-described procedure, the secondary battery capacity is always charged before it becomes equal to or less than a predetermined value, and a fall accident due to a decrease in the remaining capacity of the secondary battery is reliably avoided. In addition, by using a function to detect the battery capacity of the secondary battery and a function to count the elapsed time since the last charging end time, the secondary battery can be recharged without fail even if any of the functions fail. Therefore, it is possible to ensure the safety and reliability of charging operations.
なお、本発明は上記の実施例に限定されるものではなく
、例えば２次電池充電制御用のＣＰＵ（１２）を磁気浮
上搬送車側に設けてもよい。こうすると、送信機（１５
）受信機（１１）により、ＣＰ Ｕ （１２）から出力
される命令信号を電波、光等を通して地上側の運行管理
コンピュータにデータ伝送することになる。その池水発
明の要旨を変更しない範囲内において、種々の設計変更
を施すことが可能である。Note that the present invention is not limited to the above-described embodiment, and for example, a CPU (12) for controlling secondary battery charging may be provided on the magnetically levitated conveyance vehicle. In this way, the transmitter (15
) The receiver (11) transmits the command signal output from the CPU (12) to the operation control computer on the ground side via radio waves, light, etc. Various design changes can be made without changing the gist of the invention.
〈発明の効果〉
以上のように、本発明の磁気浮上搬送車の充電装置によ
れば、搭載２次電池の残容量を電池容量検出手段により
検出するとともに、前回の充電時からの経過時間が所定
時間に達したかどうかを検出し、いずれか早いほうの検
出結果に基づいて２次電池への充電を実施できるので、
２次電池残容量の低下を防ぐとともに、いずれかの機能
が故障しても２次電池への充電を確実に行うことができ
る。したがって、２次電池の容量不足による磁気浮上搬
送車の落下事故を未然に防止することができる。<Effects of the Invention> As described above, according to the charging device for a magnetically levitated guided vehicle of the present invention, the remaining capacity of the mounted secondary battery is detected by the battery capacity detection means, and the elapsed time from the previous charging is detected. It is possible to detect whether a predetermined time has been reached and charge the secondary battery based on the earlier detection result.
This prevents the remaining capacity of the secondary battery from decreasing, and even if any of the functions fails, the secondary battery can be reliably charged. Therefore, it is possible to prevent a falling accident of the magnetically levitated carrier due to insufficient capacity of the secondary battery.
第１図は磁気浮上搬送車の充電装置の全体を図示した概
略構成図、
第２図は磁気浮上搬送車の斜視図、
第３図は充電手順を示すフローチャートである。
（１）・・・磁気浮上搬送車、
（１２）・・・充電制御用ＣＰＵ。
（■８）・・・２次電池、
（１９）・・・電池容量検出回路、
（２１）・・・レール、
（２３）・・・充電ステーショ
ンFIG. 1 is a schematic configuration diagram showing the entire charging device for a magnetic levitation carrier, FIG. 2 is a perspective view of the magnetic levitation carrier, and FIG. 3 is a flowchart showing a charging procedure. (1)...magnetic levitation carrier, (12)...charging control CPU. (■8)...Secondary battery, (19)...Battery capacity detection circuit, (21)...Rail, (23)...Charging station
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1037809A JPH02219406A (en) | 1989-02-16 | 1989-02-16 | Charger for magnetic levitation carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1037809A JPH02219406A (en) | 1989-02-16 | 1989-02-16 | Charger for magnetic levitation carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02219406A true JPH02219406A (en) | 1990-09-03 |
Family
ID=12507840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1037809A Pending JPH02219406A (en) | 1989-02-16 | 1989-02-16 | Charger for magnetic levitation carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02219406A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0454403U (en) * | 1990-09-07 | 1992-05-11 | ||
| WO2011062218A1 (en) * | 2009-11-19 | 2011-05-26 | 株式会社岡村製作所 | Article conveyance device |
| JP2011109859A (en) * | 2009-11-19 | 2011-06-02 | Okamura Corp | Article transport device |
| JP2012041128A (en) * | 2010-08-19 | 2012-03-01 | Daifuku Co Ltd | Picking equipment and method for charging battery in the picking equipment |
| WO2015011859A1 (en) * | 2013-07-23 | 2015-01-29 | 村田機械株式会社 | Overhead transport vehicle and overhead transport vehicle control method |
-
1989
- 1989-02-16 JP JP1037809A patent/JPH02219406A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0454403U (en) * | 1990-09-07 | 1992-05-11 | ||
| WO2011062218A1 (en) * | 2009-11-19 | 2011-05-26 | 株式会社岡村製作所 | Article conveyance device |
| JP2011109859A (en) * | 2009-11-19 | 2011-06-02 | Okamura Corp | Article transport device |
| CN102666185A (en) * | 2009-11-19 | 2012-09-12 | 株式会社冈村制作所 | Article conveyance device |
| JP2012041128A (en) * | 2010-08-19 | 2012-03-01 | Daifuku Co Ltd | Picking equipment and method for charging battery in the picking equipment |
| WO2015011859A1 (en) * | 2013-07-23 | 2015-01-29 | 村田機械株式会社 | Overhead transport vehicle and overhead transport vehicle control method |
| JPWO2015011859A1 (en) * | 2013-07-23 | 2017-03-02 | 村田機械株式会社 | Ceiling transport vehicle and control method of ceiling transport vehicle |
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