JPS61258608A - Travel controller of motor drive truck - Google Patents

Abstract

PURPOSE:To control the stop or start of a motor driven truck with a simple structure by providing the second control current collector to be disposed in a split zone adjacent to the rear of a slide contact split zone of the first control current collector when the truck is stopped. CONSTITUTION:When a relay CR3 provided on a control board 50 is closed, a split zone 18-1 is controlled to be stopped and shortcircuited with a power supply line 12-3. Thus, a motor driven truck 201 is stopped simultaneously when the first control current collector 36 enters the zone 18-1. At this time, the second control current collector 38 stops in the state of slidably contact with a split zone 18-2. When the first control current collector 36 of the following truck 20-2 enters the zone 18-2, the zone 18-2 is controlled to be held in stopped and shortcircuited state, and the truck 20-2 is controlled to be stopped in the state of bridge over the zones 18-2 and 18-3.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an improvement in a traveling control device for an electric bogie, and particularly to a traveling control device that controls the operation of a plurality of electric bogies traveling on a traveling rail.

[Prior Art] A system in which a plurality of electric trolleys are run on a traveling rail has been well known.This system can be used to transport various workpieces as needed using each electric trolley, for example, in a factory. It is widely used as a transportation system for various workpieces and for other purposes.

By the way, in such a system, since a plurality of electric carts run on one traveling rail, it is necessary to stop and start each electric cart without causing a rear-end collision with another electric cart.

As a method for performing such control, a divided control method for electric bogies has been well known.This method involves providing section control lines divided at regular intervals on the traveling rail, and controlling the same divided sections. This system controls the running state of each electric truck so that two electric vehicles do not run at the same time.

In other words, on the control panel A in the control room of this system, it is monitored whether each electric trolley is running on the divided section on the traveling rail, and a stop signal or drive signal is sent to each electric trolley via each divided section. It is outputting a signal.

Therefore, for example, when controlling the first electric cart to stop in a predetermined divided section, a stop signal is output when the first electric cart enters the divided section, and each subsequent electric cart is controlled to stop. Each time the vehicle enters a divided section adjacent to this stop section, a stop signal is sequentially output to the electric trolley via the corresponding divided section. As a result, each electric bogie is controlled to stop on each successive divided section of the section control line at a rate of one unit per section, and each electric bogie is stopped without causing a rear-end collision between the preceding electric bogie and the following electric bogie. can be well controlled.

On the other hand, when starting a stopped electric truck, a starting signal is supplied to each electric truck sequentially from the leading vehicle through the corresponding divided sections. As a result, each of the stopped 'Ml1 carts is sequentially started from the leading side.

[Problems to be Solved by the Invention] However, in such a conventional section control device, the running state of a plurality of Ti electric bogies running on a traveling rail is monitored for each divided section and a control signal is output. . Therefore, in addition to a section control line for inputting control signals, it is necessary to provide a section monitor line on the running rail to monitor the running status of the electric bogie, making the structure of the running rail complex and expensive. There was a drawback.

Furthermore, according to this conventional device, since the electric trolley is controlled for each divided section, control signals are sent between the control panel in the control room and each divided section of the section control line and section monitor line. It is necessary to perform output wiring and monitor wiring, and especially when the running rail and control board are located far apart, the distance of the wiring becomes extremely long, making the entire device more complicated and expensive. There was a drawback that.

Purpose of the Invention The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to successfully perform start and stop control of a plurality of electric bogies running on traveling rails with a simple configuration. An object of the present invention is to provide a traveling control device for an interlocking bogie.

[Means for Solving the Problems] In order to achieve the above object, the device of the present invention provides a running control device for electric bogies that controls the stopping and starting of a plurality of electric bogies running on a running rail without colliding with each other. A bogie control circuit is provided for controlling a stop short-circuit state between a predetermined divided section of the section control line and the power supply line to instruct the electric bogie to stop, and the traveling rail supplies electric power for driving a motor to the electric bogie. A supply power supply line; and a section control line that is electrically divided into sections for each predetermined section; A motor drive circuit that drives a first control collector is used to make sliding contact with a section control line, and when the sliding contact divided section and the power supply line are stopped and short-circuited, a motor stop signal is sent, and a non-short-circuited motor stop signal is sent. A divided section adjacent to the rear of the sliding contact divided section of the first control collector when the electric trolley is stopped, using a motor control circuit that sometimes outputs a motor drive signal to the motor drive circuit and a second control collector. a motor control circuit of a subsequent electric truck that is in sliding contact with the section control line so as to be located above and enters into the sliding contact divided section of the second control collector after outputting the seven-pole stop signal; The present invention is characterized in that it includes a short-circuit hold circuit that forms a short-circuit between which the divided section and the power supply line are held in a stopped short-circuited state.

[Function] With the above configuration, according to the present invention, when stopping a plurality of electric bogies running on a traveling rail, the bogie control circuit can control the predetermined divided section of the section control line and the power supply line. Stop short circuit control.

As a result, when the first electric truck enters the divided section where the stop short-circuit control has been performed, the electric cart will stop the first control collector and switch the second control collector into the divided section where the short circuit control has been performed. Stop control is performed in a state where it is in sliding contact with the divided section adjacent to the rear of the divided section.

Then, at the same time as a subsequent electric truck enters the divided section where the second control current collector of the electric truck that has been subjected to stop control enters into sliding contact, the short-circuit hold circuit similarly performs stop short-circuit control on this divided section. For this reason, subsequent electric trolleys are
Similarly, the first control current collector and the second control current collector are controlled to stop while straddling two adjacent divided sections.

In this way, when the leading electric trolley is controlled to stop, the following electric carts are automatically sequentially stopped in the same way while straddling two adjacent divided sections, and each electric cart is stopped. It is possible to do this effectively without causing the carts to collide with each other.

In addition, 1. When starting a stopped electric truck, the stop short-circuit control state between the predetermined divided section and the power supply line by the truck control circuit should be canceled. As a result, the first electric trolley is activated first. Then, when the short circuit between the second control collector of the leading electric truck and the first control collector of the following electric truck is released, the electric power supply line and the divided section with which this electric truck makes sliding contact are connected. The stop short-circuit control state of the vehicle is automatically canceled, and the electric trolley is automatically started.

In this way, according to the device of the present invention, by simply canceling the stop short-circuit control state between the divided section in sliding contact of the first electric truck and the power supply line, each electric truck that has been controlled to stop collides from behind. They can be started automatically one after the other without any need.

[Example] Next, preferred embodiments of the present invention will be described based on the drawings.

1 shows a preferred embodiment of the traveling control device according to the present invention, and the device of the embodiment is for controlling the traveling state of a plurality of electric trolleys 20 traveling on a traveling rail 10. be.

Here, on the traveling rail 10, an electric trolley 2
R and S supply three-phase AC power towards 0.

■Three power supply lines 12-1.11-2゜12-
3 are provided in parallel, and a section control line 14 for controlling the running state of the electric truck 20 is provided in parallel with this power supply line 12.

The section control line 14 is divided into a plurality of sections 18 which are electrically insulated from each other by the insulators 16 provided at regular intervals.

The electric trolley 20 also has a device base 22 that is connected to a pair of hangers 24, each of which has wheels 26-1 and 26-2 at its tip.
-1.24-2 is suspended from the running rail 10, and one wheel 26-1 is driven by the motor 28 to run on the running rail 10.

In order to control the running state of such electric trolley 20,
On the inner surface of one hanger 24-1, there are three power collectors 3 that are in sliding contact with each power supply line 12-1, 12-2, 12-3 and supply three-phase AC power to the motor 28.
4-1.34-2°34-3 is provided.

Furthermore, on the inner surface of each hanger 24-1, 24-2,
a first control collector 3 in sliding contact with the section control line 14;
6 and a second control collector 38 are provided, respectively.

These first and second control collectors 36 and 38
The signals inputted and outputted via the base 22 are inputted to the traveling control section 40 provided on the lower surface side of the base 22, and the traveling state of the electric trolley 20 on the traveling rail 10 is controlled.

Further, the electric trolley 20 of the embodiment is provided with a pair of arms 42 and 42 on the lower surface side of the device base 22 for holding the workpiece 44, and when the electric trolley 20 runs on the traveling rail 10, the workpiece can be 44 into a predetermined position.

FIG. 2 shows the electrical circuit of the device shown in FIG.

In the present invention, each electric trolley 20 running on the running rail 10 has its first and second control collectors 36 and 38.
is controlled to stop while straddling two adjacent divided sections 18, and each interlocking cart 20 is controlled to stop in this way, so that each electric cart 20 at the time of stop control is controlled to stop.
This prevents rear-end collisions.

In the embodiment, each power supply line 12-1.12-2.12-3 provided on the running rail 10 has a voltage of 200V.
Three-phase AC power is supplied.

Further, a control panel 50 is provided in a control room provided at a position away from the traveling rail 10.
0 is provided with a bogie control circuit 52 for each bogie 20 running on the running rail 10.

This trolley control circuit 52 controls the predetermined divided section 18 of the section control line 14 and the power supply line 12 to stop and short-circuit, and in the embodiment, a relay contact CR1a that is turned on by turning on the relay CR3 is used. It is configured to perform stop/short circuit control between the divided section 18-1 and the power supply line 12-3.

Further, in the device of the embodiment, as described above, a plurality of electric trolleys 20-1, 20-2...2 are mounted on the traveling rail 10.
0-3 is formed so that it can run.

In the present invention, this electric trolley 20 is provided with a motor drive circuit 60, a motor control circuit 62, and a short-circuit hold circuit 64.

The motor control circuit 60 includes a power collector 34-1.34.
-2.34-3 is connected to the three-layer motor 28, and three-layer AC power is supplied to the motor 28 from the power supply line 12-1.12-2.12-3.

As a result, the motor vehicle 28 is driven, and the electric trolley 20 can be driven along the travel rail 10.

The motor drive circuit 60 is also provided with a brake 29 for the electric truck 20.

Further, the motor control circuit 62 is connected to the first control collector 3
6 is in sliding contact with the power control line 12 and detects whether or not there is a short circuit, and when the short circuit occurs, a motor stop signal is output, and when there is no short circuit, a motor drive signal is output to the motor drive circuit 60.

In the embodiment, this motor control circuit 62 comprises a relay CR1 connected between the first control collector 36 and the power collector 34-1, and this relay CR1 is provided in the motor drive circuit 60. b contact CRI (b) and a contact CR1 (a) provided in the short-circuit hold circuit 64
and has.

Therefore, the motor control circuit 62 of the embodiment turns on the relay CR3, for example, and connects the divided section 18-1 and the power supply line 12.
-3 is stopped and short-circuited, relay CR1 operates as follows: Division section 18-1-) a contact CR3 ('a)C on)→
Power supply line 12-3→Power supply line 12-1→Relay CR1 is energized with a closed circuit, and its relay contact CR1 (b
) is turned off and the motor 28 is automatically controlled to stop.

Conversely, if relay CR3 is turned off and its relay contact CR3(a) is controlled to turn off, relay CR1
is in a de-energized state, relay contact CR1(b) is turned on, and motor 28 is driven again.

In this way, the motor control circuit of the embodiment has its first
The control collector 36 determines whether or not the divided section 18 in sliding contact is in a short circuit state, and automatically controls the motor 28 to a stopped state or an operating state.

Note that, for example, when the divided section 18-1 is stopped and short-circuited and the electric trolley 20-1 is controlled to stop, the first control collector 36 of the electric trolley 20-1 is connected to the front divided section 18.
-1. The second control collector 38 is in sliding contact with the rear subsection 18-2 adjacent thereto.

In addition, when the electric truck 20 is controlled to stop, the short-circuit hold circuit 64 controls the divided section 18 in which the second control collector 38 comes into sliding contact with the subsequent truck standby state, so that the subsequent electric truck 20 is in a standby state. At the same time as entering the divided section 18, the divided section 18 and the power supply line 12 are controlled to be stopped and short-circuited.

As a result, the following electric cart 20 enters the divided section 18 and at the same time its motor control circuit 62 outputs a motor stop signal, and the electric cart 20 is stopped in the same manner as the preceding electric cart 20.

In the embodiment, this short circuit bold circuit 64 connects the series circuit of the a-contact CR1(a) of the relay CR1 and the relay CR2 to the second control collector 38 and the power collector 12.
-3, and relay contact CRI (a
) in parallel with relay contact CR2(a) of relay CR2. Then, at the same time as a motor stop signal is output from the motor control circuit 62,
That is, at the same time that relay CR1 is turned on, its relay contact CR1(a) is turned on and this short-circuit hold circuit 6 is turned on.
No. 4 is controlled to be in a standby state for the following bogie.

In this state, when the following electric bogie 20 enters into the divided section 18 where the second control i collector 38 is in sliding contact, the short-circuit hold circuit 64 which is controlled to be in the following bogie standby state is activated. A short-circuit circuit that short-circuits between the divided section 18 and the power line 12 is configured with the motor control circuit 62 of the following electric trolley 20 . As a result, CR2 is turned on and its contact CR2(a) is turned on, thereby holding the short circuit state. In this way, the corresponding divided section 1
8 and the power supply line 12 are held in a stopped short-circuited state, and the following electric trolleys are automatically controlled to stop.

The present embodiment has the above-mentioned configuration, and its operation will be explained next.

(a) Stop control First, when controlling the electric trolley 20-1 traveling on the traveling rail 10 to stop at the position of the divided section 18-1, turn on the relay CR3 provided on the control panel 50. good.

As a result, contact CR3(a) is turned on and the divided section 18
-1 is controlled to stop and short-circuit with the power supply line 12-3.

Therefore, the leading electric cart 2 traveling on the traveling rail 10
0-1, the first control collector 36 is in the divided section 18-
1, relay CRI is turned on and its relay contact CR1b is turned off. As a result, the motor 28 automatically stops and the two brakes are activated, and the electric trolley 20-1 brings the first control collector 36 into sliding contact with the divided section 18-1, and the second Control collector 38
is stopped in a state in which it is in sliding contact with the divided section 18-2.

At this time, the hold circuit 64 of the electric trolley 20-1 is controlled to be in a standby state for the following trolley, with its relay contact CR1 turned on.

Therefore, even if the following motorized trolley 20-2 travels to a place where the leading motorized trolley 28-1 is controlled to stop, the first control collector 36 of this motorized trolley 20-2
-2, and at the same time this divided section 12-2 is held in a stopped short-circuited state. As a result, the following electric trolley 20-2 automatically moves to divided sections 18-2 and 18.
-3 is controlled to stop.

That is, at the same time that the first control collector 36 of the following ffl fj J bogie 20-2 enters the divided section 18-2, the following changes occur: divided section 18-2 → contact CR1 (a) → relay CR2 (
(of the first electric trolley 20-1) → power supply line 12
-3 → power supply line 12-1 → relay CR1 (of the following electric trolley 20-2) → divided section 18-2, and a closed circuit is formed, and at this time, when relay CR2 is turned on, its contact CR2 (a) is Since it is automatically turned on, the divided section 18-2 is held in a stopped short-circuited state with the power supply line 12.

Therefore, the relay CR1 of the following electric cart 20-2 is also automatically turned on, and the electric cart EtI 20-2 is
The second control collector 38 in the divided section 18-2) is automatically stopped while the second control collector 38 is in sliding contact with the divided section 18-3.

Similarly, the following electric trolleys 20-3, 20-4...
are controlled to stop sequentially while straddling adjacent divided sections 18, and at this time, each divided section m118-1゜18-2...
By setting the interval distance of each of these electric trolleys 20-1.
It becomes possible to perform stop control of 20-2 . . . satisfactorily without causing the respective carts to collide with each other.

Therefore, in the device of the present invention, for example, the first motorized platform $
By setting the divided section 18-1 where the stop control of the workpiece 20-1 is used as the loading position or unloading position of the workpiece 44 with respect to the electric trolley 20, the loading and unloading of the workpiece onto the trolley 20 one by one can be carried out smoothly. becomes possible.

(b) Starting control Also, each electric trolley 20-
1.20-2..., it is sufficient to turn off the relay CR3 provided in the control panel 50 and release the stopped short-circuited state of the divided section 18-1. As a result, the relay CR1 of the leading electric cart 20-1 is turned off and the relay contact CR1(b) is turned on, thereby driving the motor 928 and causing the electric cart 28 to travel on the traveling rail 10. Especially.

At this time, the short-circuit hold circuit 6 of the first electric trolley 20-1
4, the short-circuit hold state is released at the same time as the sliding contact position of the second control collector 38 moves from the divided section 18-2 to the divided section 18-1.

Therefore, following this, the following electric trolley 20-2 also starts traveling, and in the same way, the other following electric carts 20-3, 20
-4 will also start running one after another.

As described above, according to the present invention, the electric vehicles 20-1, 20-2, .

Moreover, in the present invention, each of these electric trolleys 20-1.2
When setting the traveling interval of 0-2... as appropriate, the third
As shown in the figure, each electric trolley 20-1, 20-2...
All you have to do is start the .

That is, as shown in FIG. 3(A), relay CR3 is turned off to start the first electric truck 20-1. Then, as shown in FIG. 3(B), this leading electric trolley 20-1
When the second control collector 38 completely passes the divided section 18-2, the relay CR3 is turned on again and the divided section 18 is turned on again.
-1 is controlled to stop and short-circuit.

As a result, as shown in FIG. 3(C), the following electric cart 18-2 is automatically stopped again at the same time as it enters into this divided section 18-1, and the following electric cart 20-3
．． 20-4 is also controlled to stop in a similar manner.

Then, the first electric trolley 20-1 and the next electric trolley 20-
2, relay CR3 is turned off again and electric trolley 20-2 is activated.

By repeating such a starting operation, each electric trolley 28
-1.28-2... can be activated at appropriate intervals.

In addition, each electric trolley 20-1, 20-2...
The divided section 18-1 that stops or starts the electric trolley 20
It is also possible to provide it not only at the loading or unloading position of workpieces, but also at a branching or merging position of the running rail 10 on which the electric vehicle 20 runs, as appropriate.

(C) Comparison with a conventional device FIG. 4 shows a conventional traveling control device for an electric truck. This conventional device serially connects a section monitor line 100 for monitoring each section and a common line 110 in addition to power supply lines 12-1, 12-2, and 12-3 and section control lines 14 on the running rail. It's on.

Each electric trolley 2 running on this traveling rail 10
0-1.20-2 has a magnetic relay MC connected to the section control line 14, the section monitor line 100, and the common line 110, and when this MC is excited, the relay contact is turned on and the motor 28 is turned on. It is configured to be driven.

Therefore, running or stopping of each carriage 120-1, 20-2, . . . is controlled by turning on and off this magnetic relay MC.

For this reason, this conventional device has a group of relays 200 and a group of relay contacts 210 corresponding to each divided section of the running rail 10 on the side of the W control panel 50, and these group of relays 200 and group of relay contacts 210 are connected to each section. A lead wire 30 is connected to each corresponding divided section of the control line and the section monitor line 100.
0 is used to connect.

Then, on the control panel 50, the motorized trolley Il[20 running in each divided section was monitored, and the stop and start of the motorized trolley 200 was controlled via the lead wire 300.

Therefore, compared to such conventional devices, the device of the present invention does not need to provide lines such as the section monitor line 100 and the common line 110 on the running rail 10, and moreover, The trolley control circuit 52
Since it is only necessary to arrange the lead wires constituting the device, the configuration can be made extremely simple compared to conventional devices.

Furthermore, according to the present invention, it is only necessary to control the stop or start of each electric trolley 20 by focusing on the first electric trolley 20-1, which makes the control extremely simple and effectively prevents the occurrence of control errors. It becomes possible to do so.

[Effects of the Invention] As explained above, according to the present invention, it is possible to extremely simplify the configuration of a device used to control the stop or start of a plurality of electric bogies running on a traveling rail. Ru.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing a preferred embodiment of the travel control device for an electric trolley according to the present invention, FIG. 2 is an electric circuit diagram of the device shown in FIG. 1, and FIG.
FIG. 4 is an explanatory diagram of a conventional control device. 10... Traveling rail 12-1.12-2.12-3... Power supply line 14... Section control line 18... Section 20... Electric trolley 28... Motor 34-1 .34-2.34-3...Power collector 36...First control collector 38...Second control collector 52...Bogie control circuit 54...Relay 60... Motor drive circuit 62...Motor control circuit 64...Short circuit hold circuit CR1, CR2, CR3...Relay.

Claims (2)

[Claims] (1) In a travel control device for an electric bogie that controls the stopping and starting of a plurality of electric bogies running on a running rail without colliding with each other, stopping and short-circuiting between a predetermined divided section of the section control line and the power supply line is provided. A trolley control circuit is provided to control the state of the electric truck and instruct the electric truck to stop, and the traveling rail is electrically divided into predetermined sections and a power supply line that supplies electric power for driving a motor to the electric truck. a section control line; the electric bogie includes: a motor drive circuit that slides into contact with the power supply line using a power collector and drives a motor for running the bogie; and a section control line using a first control collector. a motor control circuit that is in sliding contact with a line and outputs a motor stop signal to the motor drive circuit when the sliding contact divided section and the power supply line are stopped and short-circuited, and outputs a motor drive signal to the motor drive circuit when there is no short-circuit; The second control collector is in sliding contact with the section control line so as to be located on the divided section adjacent to the rear of the sliding contact divided section of the first control collector when the electric trolley is stopped, and the control collector is in sliding contact with the section control line so as to be located on the divided section adjacent to the rear of the sliding contact divided section of the first control collector. Forming a short circuit between the motor control circuit of a subsequent electric truck that enters the sliding contact divided section of the second control collector after the output and holds the divided section and the power supply line in a stopped short-circuited state. A running control device for an electric trolley, comprising: a short-circuit hold circuit that performs a short-circuit hold circuit. (2) In the device according to claim (1), the motor control circuit controls a relay having a B contact provided in the motor drive circuit and an A contact provided in the short-circuit hold circuit. The short-circuit hold circuit is connected between the collector and the power collector, and has a second relay connected in series with the a contact of the first relay, and connects the series circuit to the second relay.
connected between the control collector and the power collector, and the second
A travel control device for an electric truck, characterized in that the a contact of the relay is connected in parallel to the a contact of the first relay.