JPS60210105A - Controller of automatic carriage system - Google Patents

Abstract

PURPOSE:To control the speed and to detect the position of a carriage train by power supply trolley wires and a signal trolley wire by providing detecting means for detecting the polarity of a power supply line in the train. CONSTITUTION:When a carriage train 9 moves to a signal trolley 9e, a current flows to a photocoupler 29e for detecting the position of the train, and the signal is input to a carriage train service controller 26. If a forward electromagnetic contactor 33e is closed at this time, a current flows to a forward signal receiving photocoupler 20, and a forward command is input to a speed controller 13. On the other hand, if a low speed command switch 27e is closed, a current flowed to the trolley 6e is cut off. Accordingly a low speed command receiving photocoupler 22 becomes OFF, and a slow speed command is input to the controller 13. If the contactor 33e is opened, the power of a power supply trolley wire 4 is interrupted, and an electromagnetic brake is operated to stop the train 9.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a control method for an automatic conveyance system, and particularly to a speed control and position detection device suitable for controlling a conveyance vehicle.

[Background of the invention]

Conventionally, the speed of a guided vehicle in an automatic transportation system has been controlled using a wireless control method using a transmitter and a receiver, or by installing multiple signal trolley wires along the rails, adding control signals to these, and transmitting these signals. A detection method has been devised and is currently in use.

These devices not only require complicated and expensive ground-side control devices and control devices on the transport vehicle side, but also require a large number of signal trolley wires on the traveling road side, which increases the cost of the entire system. This was a drawback that also reduced reliability.

[Purpose of the invention]

Is the purpose of the present invention a dedicated track for transport vehicles? In the automatic transport system provided, a simple control method such as speed control and position detection device of the transport vehicle is provided using a power supply trolley installed on the track and a single signal trolley wire.

[Summary of the Invention] The present invention provides an automatic transport system in which a transport vehicle is provided with a detection means for detecting the polarity of a power supply line, and furthermore, the transport vehicle is connected to a ground position detection unit and a high speed command for the transport vehicle via a signal trolley wire. (or low speed command) The receivers are all connected in series, and the ground side controller switches the polarity of the voltage applied to the feeder line. By setting the detection circuit 'kON', when the conveyance vehicle enters this section, it receives the low speed command r and decelerates, and then when it enters the stop section, this is detected by the position detection on the ground side and the feeder When the vehicle in front enters the deceleration section, it is detected by the position detection device on the ground and the vehicle is stopped at a fixed position by turning off the applied voltage. Is it possible to give a deceleration command r, and when the vehicle in front enters a stop zone, this is detected by all ground position detection devices and the voltage k of the power supply trolley in the rear zone is turned off? This system is designed to prevent collisions and control the distance between transport vehicles.

[Embodiments of the invention]

Next, what is the drawing of an embodiment of the present invention? I will explain using

FIG. 1 is a plan view of a part of an automatic conveyance system using the present invention, and FIG. 2 is a block diagram and circuit diagram of a control system of the present invention.

In number xb, is l the station for loading and unloading cargo? , 2 is a parallel branching device ks3 for changing the track by parallel movement of the track, and a rotary branching device kb4 for changing the track by rotational movement of the track cage.4 is a power supply trolley line k for feeding power to the conveyance vehicle.
, 5 is a dedicated track kb on which the guided vehicle 9 runs; 6 is a signal trolley for detecting the position of the guided vehicle and for giving commands for height, low, or low speed to the guided vehicle; 7 is a power supply trolley , or an insulating part for separating sections of the signal trolley, 8 a ground control device for managing and controlling the transport vehicle, 9 a transport vehicle, and 10 a collector that contacts the power supply trolley and signal trolley of the transport vehicle. 11 is a switching circuit that controls the current r of the traveling motor; 13 is a speed control unit that controls the switching circuit; 14 is a switching circuit that is related to the polarity of the voltage of the power supply trolley; 15 is a diode that detects the polarity of the power supply line and outputs a forward direction command, 16 is a diode that also outputs a reverse command, and 17 is a photocoupler 20.2.
1.22 A current limiting resistor that limits the current flowing through the
18 is an electromagnetic brake, 23 is a low speed command signal to the speed control section, 24 is also a backward command, 25 is also a forward command, 26 is a transport vehicle operation control section that controls the travel of each transport vehicle, and 27 is a transport vehicle. 28 is a guided vehicle position signal that is input to the guided vehicle position detection section 26, 29 is a photocoupler for detecting the location of the guided vehicle, and 30 is a low speed command from the ground control device side for instructing a low speed for the vehicle. Even if there are multiple transport vehicles in the same section, Zener diodes are used to supply a constant current to the photo couplers on the ground and on the transport vehicles, photo couplers for position detection on the ground side, and A signal power supply for supplying current to the photocoupler for high-speed command reception on the transport vehicle side, 32 is a power supply for power supply to the transport vehicle for supplying power to the power supply trolley, and 33 is a power supply when the transport vehicle wants to move forward. 34 is an electromagnetic contactor for connecting the trolley to a power supply with a predetermined polarity, 34 is an electromagnetic contactor for moving the carrier backwards, and 35 is a rotation detector for detecting the rotation of the motor of the carrier. be.

Next, the movement of the transport vehicle and the operation of each device will be fully explained using FIG. It is assumed that the transport vehicle 9a is currently traveling in response to a transport command from station l. At this time, if the transport vehicle 9b, which is the vehicle in front, is stopped at the parallel branching device i2, the ground control device issues a low speed command to the signal trolley 1/-6b. The transport vehicle 98 detects this r, decelerates and then shifts to low-speed operation, and when it enters the signal trolley 60, the ground control device detects the position r, and the transport vehicle cuts off the power supply of the power supply trolley corresponding to the signal trolley 60. ke to stop.

The foot position stop mode in this case is the mode shown by the travel curve in FIG. 1(b). In addition, when the parallel branching device 2 is to stop the guided vehicle 9b at a fixed position, a low speed command is given to the signal trolley 6C, and the guided vehicle is stopped at the parallel branching device 2.
When it detects that the trolley has entered the trolley, it cuts off the power supply to this part of the trolley and stops it in a fixed position. This running mode is shown in FIG. 1(a).

Since the rotary branching device 3 is arranged in the direction in which the conveying vehicle 9d travels as shown in FIG. 1, it is necessary to stop the conveyance vehicle 9C before the rotation divergence.
Is there a control that gives a low speed command to the signal trolley 6e, detects that the conveyance vehicle has entered the signal trolley 6f, and stops the power supply trolley for this part by turning on or off? Let's do it.

The section from the parallel branching device 2 to the signal trolley I)-5e is a free travel section, and the conveyance vehicle travels at high speed in this section.

Is theory 8A the prevention of transport vehicle collisions in this section?
Although omitted here, a contact or non-contact switch such as an ultrasonic sensor is used to prevent collisions between transport vehicles.

FIG. 2 shows a control block diagram of a ground control device and a transport vehicle for carrying out the control described in FIG. As a representative example, FIG. 2 particularly shows the portion of FIG. 1 before the rotation branch.

The traveling motor 11 of the transport vehicle 9 is shown as an example using a brushless motor in the present invention. When moving the transport vehicle forward, the ground control device 8 uses a forwarding electromagnetic contactor of 336 kO.
Let N. When this is done, a current flows through the polarity detection diode 15 of the transport vehicle, a current flows through the forward signal receiving photocoupler 20, and a forward command is input to the speed control a1 section 13.

The speed control unit 13 receives this command and controls the switching circuit 12i to control the motor to rotate in a predetermined direction. In the case of reversing, on the other hand, by turning on the reversing electromagnetic contactor 34e'k of the ground side controller, current flows through the photocoupler 21 for receiving the reversing signal of the guided vehicle, and a reversing command is input to the speed control unit 13, causing the forward The switching circuit operates to rotate the motor in the opposite direction.

When the guided vehicle moves from the position of the signal trolley 6d to the position of the signal trolley 6e, a current flows through the photocoupler 29eK for detecting the guided vehicle position on the ground control device side, and this signal is transmitted to the guided vehicle operation control unit 26.
to go into. The operation control unit fully determines that the rotary branch 3 is in a position that forms another passage (the position shown in Figure 1) and that the transport vehicle 9C cannot get onto the rotary branch 3, and sets the signal trolley. It is cut by the signal current gold low speed command 27e given to IJ(,e).

As a result, the current flowing through the photocube 2- for receiving the low-speed command of the guided vehicle is turned off, and the low-speed command is transmitted to the speed control unit 13.
, and the speed control unit controls the switching circuit 12 &
- control. Next, the photocoupler 29f detects that the guided vehicle has entered the signal trolley 6f, this signal is input to the operation control section, and the operation control section turns on the electromagnetic contactor 33fk.
Turn it FF and turn off the voltage 'k' applied to the power supply trolley. When the power supply of the power feeding trolley is cut off, the electric current of the electromagnetic brake is turned OFF', and the electromagnetic brake is activated to stop the transport vehicle.

In addition, the conveyance vehicle operation control unit detects that the conveyance vehicle 9C enters the signal trolley section 6f, interrupts the power supply electromagnetic contactor 33eil in the signal trolley 6e section behind it, and interrupts the subsequent conveyance. Also stop the car. Next, when the three rotary branching devices are rotated and the conveyance vehicle gc is moved to the two rotating branching devices, the electromagnetic contactor 33e (]1-ON is turned on to control the following vehicle to move to the next section, and the preceding vehicle is controlled to move to the next section. The distance between the vehicle and the following vehicle is controlled to prevent the following vehicle from entering the wrong lane.

〔Effect of the invention〕

According to the present invention, speed control commands and position detection for the guided vehicle can be performed using a simple signal transmission method, resulting in a significant reduction in equipment costs and improved reliability.

[Brief explanation of drawings]

Figure 1 shows a two-part embodiment of an automatic conveyance system using the present invention. The plan view shown in FIG. 2 is a control block diagram of an automatic guided vehicle using the sound of the present invention, and a position detection and traveling control signal transmission circuit diagram of a ground side control device. 12... Switching circuit for motor drive, 13...
Speed control section, 34, 34e, 34f... Reverse power feeding section electromagnetic contactor, 35... Rotation detector. Agent Patent Attorney Akio Takahashi Figure 1

Claims (1)

[Claims] 1. Carrying out or carrying in a container? The station where the container is carried out, the conveyance vehicle that transports the container, the track on which this conveyance vehicle travels, and the trajectory of the conveyance vehicle? In an automatic transport system consisting of a branching device for switching, a power supply line for supplying power to the transport vehicle attached to the track, a signal line for giving a signal to the transport vehicle, and a ground control device for controlling these devices. , a device for detecting the polarity of the voltage applied to the power supply line to the conveyance vehicle, and a motor? a switching circuit to control;
This switching circuit is equipped with a speed control section that controls sound,
turning on the voltage applied from the ground control device to the power supply line;
The forward running, backward running, and stopping control of the transport vehicle is performed by switching OFF and voltage polarity. A control device for an automatic conveyance system, characterized in that a means for carrying out the operation is provided. 2. In claim 1, is there an insulating part in the signal trolley wire? A signal power supply is connected to the trolley wire for each divided section and the power feeding trolley wire, and a position detection section on the ground side and a speed command detection section of the guided vehicle are connected in series to this signal power supply. 1. A control device for an automatic transport system, comprising: detecting the position of a transport vehicle; and providing high-speed and low-speed commands to the transport vehicle using the signal trolley wire. 3. In claim 1, the power feeding trolley and the signal trolley at the rotary branch and parallel branch approach sections are insulated so as to be subdivided into two sections, and the leading conveyance vehicle and the following conveyance vehicle are connected to each other. Entering a different line? Interval control 1tl to prevent
k something to do? Features: Control device for automatic conveyance system.