JPH0648305U - Self-propelled vehicle speed control device - Google Patents

Abstract

(57) [Summary] [Objective] To provide a control device for causing all of the self-propelled carriages on the same traveling route to travel at the same speed at an arbitrarily set traveling speed. [Structure] Signal line 10 provided along the traveling route of the truck
And means 1 for supplying the speed command signal 18a to this signal line
8, the self-propelled vehicle has means 11, 19 for receiving the speed command signal 18a from the signal line 10, current speed detecting means 7, 21, speed comparing means 22, and a speed control device 23 for the traveling motor 6. And the speed control device 23 compares the speed set value 19a given from the signal line 10 via the receiving means 11 and 19 and the current speed value 21a detected by the current speed detecting means 7 and 21 with the speed comparing means 22. The traveling motor 6 is controlled so that the two speed values 19a and 21a coincide with each other based on the result of the comparison.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a control device for causing all of the self-propelled carriages on the same traveling route to travel at an arbitrarily set traveling speed.

[0002]

[Prior art and its problems]

 It is desirable that the work transfer on the assembly line is performed based on the work transfer speed arbitrarily set according to the production plan amount of the day. Therefore, as the work transfer means in the assembly line, a transfer device of a type that can change the transfer speed arbitrarily is required.

Conventionally, for example, a slat conveyor, a belt conveyor, a trolley conveyor, etc. have been used as this type of transfer device, but recently, it is easy to change the layout of the transfer line and increase or decrease the line length. Instead, it is considered to use a track-type self-propelled trolley that is convenient for loading and unloading work and can be stored. However, a conventional track type self-propelled bogie, for example, as described in Japanese Examined Patent Publication No. 38-6661, can automatically switch the traveling speed for each predetermined section, but the same traveling route. It was not possible to arbitrarily change the traveling speed on the (section) according to an instruction from the outside so that all the self-propelled vehicles on the same traveling route could travel at the same speed at an arbitrary set speed. Therefore, the conventional track-type self-propelled cart has not been used as a transportation means in the assembly line.

[0004]

[Means for Solving the Problems]

 The present invention proposes a speed control device for a self-propelled carriage that can solve the above-mentioned conventional problems, and its features are shown in parentheses with reference numerals of embodiments described later. The speed control device for a self-propelled carriage of the present invention comprises a signal line (10) provided along the traveling route of the carriage and a means (18) for supplying a speed command signal (18a) to the signal line (10). The self-propelled carriage (1) equipped with a self-propelled carriage (1) equipped with a means (11, 19) for receiving a speed command signal (18a) from the signal line (10) and a current speed detection means (7). , 21), speed comparison means (22), and speed control device (23) for the traveling motor (6) are provided, and the speed control device (23) receives the signal line via the reception means (11, 19). Based on the result of the speed comparison means (22) comparing the speed set value (19a) given from (10) and the current speed value (21a) detected by the current speed detection means (7, 21), both speeds are compared. The values (19a, 21a) match As described above, it is characterized in that it controls the traveling motor (6).

In the control device of the present invention as described above, the traveling speed is arbitrarily set according to the situation and is supplied to the signal line (10) as the speed command signal (18a). , The speed command signal (18a) can be given to all the self-propelled carriages (1) on the traveling route of the carriage equipped with the signal line (10) via the receiving means (11, 19), and each self-propelled The carriage (1) can be made to travel at the set speed given by the speed command signal (18a) by feedback control of the travel motor (6) by the speed control device (23).

[0006]

【Example】

 An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 is a self-propelled carriage, and a guide rail 2 and wheels 3 engaged with the guide rail 2 provide a fixed path. To drive. Reference numeral 4 denotes a traveling drive gear that meshes with a rack gear 5 laid along the traveling route of the carriage, and is linked to a motor 6 in an interlocking manner. Reference numeral 7 is a pulse encoder (current speed detecting means) which is linked to the rack gear 5. Reference numeral 8 is a power supply line laid along the traveling route of the truck, which supplies electric power to the motor 6 via the collector 9 of the self-propelled truck 1. Instead of using the traveling drive gear 4 and the rack gear 5, at least one of the wheels 3 may be driven by the motor 6.

Reference numeral 10 denotes a signal line laid along the traveling route of the vehicle in the vehicle traveling control section, and the self-propelled vehicle 1 via the collector (speed command receiving means) 11 of the self-propelled vehicle 1 Give a speed command signal to. Reference numeral 12 is a photoelectric distance sensor attached to the front end of the self-propelled carriage 1, and 13 is a reflection plate attached to the rear end of the self-propelled carriage 1. Reference numeral 14 denotes an inter-vehicle distance command signal receiving means attached to the self-propelled carriage 1. The inter-vehicle distance command signal transmitting means is installed at the starting point of the bogie traveling control section or at a fixed position in front of it to correspond to the receiving means 14. The inter-vehicle distance command signal 15a is received from the means 15, and the binary inter-vehicle distance setting value 14a is continuously output until the next new inter-vehicle distance command signal 15a is received.

The photoelectric distance sensor 12 receives the reflected light from the reflection plate 13 of the self-propelled carriage 1 in front, and thereby outputs to the reflection plate 13, that is, the output 12a corresponding to the inter-vehicle distance L with the front carriage. The output 12a is converted into the binary inter-vehicle distance current value 16a in the conversion unit 16 as shown in FIG. The comparison unit 17 compares the inter-vehicle distance set value 14a output from the inter-vehicle distance command signal receiving means 14 with the inter-vehicle distance current value 16a, and outputs the speed correction value 17a.

As shown in FIG. 2, the signal line 10 is supplied with a speed command signal 18 a converted into a serial pulse signal by a converter (speed command supply means) 18, and a current collector (speed command receiving means) is supplied. ) 11 receives a speed command signal 18a composed of a serial pulse signal, and is converted by a conversion unit (speed command receiving means) 19 into a binary set speed setting value 19a. The speed setting value correction unit 20 corrects the speed setting value 19a with the speed correction value 17a from the comparison unit 17, and outputs the speed target value 20a.

An output 7a of the pulse encoder (current speed detecting means) 7 is converted into a current speed value 21a by a converting portion (current speed detecting means) 21, and a speed target value is obtained in a comparing portion (speed comparing means) 22. It is compared with the value 20a. The comparison unit 22 outputs the speed control value 22a obtained by correcting the speed target value 20a according to the difference between the speed target value 20a and the current speed value 21a. The rotational speed control device 23 is controlled, and the rotational speed of the motor 6 is automatically adjusted so that the current speed value 21a becomes equal to the target speed value 20a. That is, so-called feedback control is performed.

According to the above configuration, when each of the self-propelled carriages 1 traveling on the same travel route passes through the starting point of the vehicle traveling control section or a fixed position in front of it, the inter-vehicle distance command signal receiving means 14 is transmitted from the transmitting means 15. The inter-vehicle distance command signal 15a is received, and the inter-vehicle distance set value 14a is sent to the comparison unit 17 in the next stage. Then, when the self-propelled vehicle 1 enters the vehicle traveling control section, the current collector 11 receives the speed command signal 18a supplied to the signal line 10, and the conversion unit 19 outputs the speed set value 19a.

On the other hand, the inter-vehicle distance present value 16 a is sent to the comparison unit 17 by the functions of the optical distance sensor 12 of each self-propelled carriage 1 and the conversion unit 16 in the next stage, and the comparison unit 17 uses the inter-vehicle distance value 16 a. The distance set value 14a and the inter-vehicle distance current value 16a are compared, and the speed correction value 17a corresponding to the deviation is sent to the speed set value correction unit 20 in the next stage. This speed correction value 17a is added to or subtracted from the speed set value 19a in the speed set value correction unit 20 to output the speed target value 20a. This target speed value 20a is greater than the speed setting value 19a when the current inter-vehicle distance value 16a is greater than the inter-vehicle distance setting value 14a, and conversely, the speed is less than the current inter-vehicle distance value 16a is less than the inter-vehicle distance setting value 14a. It is corrected to be smaller than the set value 19a. The correction amount is proportional to the deviation between the current inter-vehicle distance value 16a and the inter-vehicle distance set value 14a.

The traveling speed of the self-propelled carriage 1, that is, the rotation speed of the motor 6 is feedback-controlled by the speed control device 23 so that the current speed value 21a becomes equal to the speed target value 20a as described above. The self-propelled carriage 1 travels at a higher speed than the set speed given by the speed command signal 18a when the inter-vehicle distance L with the front bogie is larger than the set inter-vehicle distance given by the inter-vehicle distance command signal 15a. The vehicle is decelerated as the inter-vehicle distance L approaches the set inter-vehicle distance, and the vehicle travels at the set speed when the inter-vehicle distance L becomes equal to the set inter-vehicle distance. When the inter-vehicle distance L to the front bogie is smaller than the set inter-vehicle distance, the vehicle travels at a speed lower than the set speed, and the inter-vehicle distance L is increased as the inter-vehicle distance L approaches the set inter-vehicle distance. When it becomes equal to, the vehicle will travel at the set speed. By such control, each self-propelled carriage 1 on the same carriage traveling control section runs while automatically maintaining the set speed and the set inter-vehicle distance.

Among the plurality of self-propelled carriages 1 traveling on the carriage traveling control section while maintaining a constant inter-vehicle distance, the leading self-propelled carriage 1 has an inter-vehicle distance current value 16a of infinity or zero. Normal control cannot be performed. Therefore, at the starting point of the bogie traveling control section or at an appropriate position before this, a signal indicating that the vehicle is the leading vehicle is given to the leading traveling vehicle 1, or an inter-vehicle distance command signal 15a is given to the leading traveling vehicle 1 A state in which the trolley that does not have the inter-vehicle distance set value 14a is judged to be the leading trolley, or the inter-vehicle distance detecting means does not detect the inter-vehicle distance with the front bogie (the inter-vehicle distance current value 16a becomes infinity or zero) ) Is used to determine that the vehicle is the leading vehicle, or the presence of a front vehicle is detected by a sensor attached separately to determine that the vehicle is the leading vehicle. It is necessary to eliminate the function of the correction unit 20 so that the speed target value 20a is always equal to the speed set value 19a, so that the vehicle always travels at the set speed.

In the above embodiment, the inter-vehicle distance is also set arbitrarily, and the traveling speed of each self-propelled carriage 1 is automatically adjusted so as to be the set inter-vehicle distance. However, in order to maintain this inter-vehicle distance, The automatic adjustment of the traveling speed of is not a requirement of the present invention. Therefore, it is possible to omit the speed set value correction unit 20 and input the speed set value 19a as it is to the comparison unit (speed comparison means) 22 so that the self-propelled carriage 1 travels at the set speed regardless of the inter-vehicle distance. . Further, the speed command signal receiving means is composed of the current collector 11 and the converting section 19, and the current speed detecting means is composed of the pulse encoder 7 and the converting section 21. Not limited to.

Further, the control device of the present invention can be implemented by program control using a microcomputer mounted on the self-propelled carriage 1.

[0017]

[Operation and effect of the device]

 As described above, according to the self-propelled carriage speed control device of the present invention, all the self-propelled carriages on the same carriage traveling route can travel at the same speed at an arbitrarily set speed. Since it is only necessary to supply the speed command signal to the signal line, the speed switching control is simple and easy compared to the case where the speed switching operation has to be given to each of the self-propelled vehicles passing through a certain point. Not only that, but there is an advantage that the traveling speed of all the self-propelled carriages on the carriage traveling route can be instantly switched.

Therefore, by using the device of the present invention, a self-propelled carriage, which has a great advantage as compared with other general conveyors as a transfer means, is used as a transfer means in an assembly line, and a work is planned for production. It can be transported at a speed adapted to.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing the configuration of a self-propelled carriage.

FIG. 2 is a block diagram illustrating a control system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled carriage 4 Traveling drive gear 5 Rack gear 6 Motor 7 Pal encoder (current speed detection means) 8 Power supply line 10 Speed command signal transmission signal line 11 Current collecting (speed command signal receiving means) 12 Optical distance sensor 13 Reflector plate 14 inter-vehicle distance command signal receiving means 14a inter-vehicle distance set value 15 inter-vehicle distance command signal transmitting means 15a inter-vehicle distance command signal 16a inter-vehicle distance current value 17 comparison section 17a speed correction value 18 conversion section (means for supplying speed instruction signal) 18a speed Command signal 19 Conversion unit (speed command signal receiving means) 19a Speed setting value 20 Speed setting value correction unit 20a Speed target value 21 Conversion unit (current speed detection means) 21a Current speed value 22a Speed control value 23 Motor rotation speed control device

Claims (1)

[Scope of utility model registration request] 1. A signal line (1) provided along a traveling route of a truck.
0) and a means (18) for supplying a speed command signal (18a) to this signal line (10) .The self-propelled carriage (1) that is self-propelled along the traveling route of the carriage has a signal line (10 ) Means for receiving the speed command signal (18a) from (11, 19)
, A current speed detecting means (7, 21), a speed comparing means (22), and a speed control device (23) for the traveling motor (6) are provided, and the speed control device (23) includes the receiving means (11, 19). ) Through the signal line
Based on the result of comparing the speed setting value (19a) given from (10) with the current speed value (21a) detected by the current speed detecting means (7, 21) by the speed comparing means (22), both speeds Value (19a, 2
A speed control device for a self-propelled carriage that controls a traveling motor (6) so that 1a) is matched.