JPS612621A - Controller for automatic carrying system - Google Patents

Abstract

PURPOSE:To reduce the facility cost and to improve the reliability, in an automatic carrying system provided with a rail dedicated for the transporter, by performing the speed control of the transporter and the positional detection through the trolley feeder and single signal trolley wire provided along the rail. CONSTITUTION:Automatic carrying system is comprised of a station 1 for carrying in/out the container, a transporter 9 and its rail 5 for transporting the container, a branch system 3 for the rail 5, feeder line 4 for feeding power to the transporter 9, a signal wire 6 for providing a signal to the transporter 9 and a ground controller 8 for controlling them. In said system, an insulative section 7 is provided to the signal trolley wires 6 to split them while a signal power source is connected to the trolley wire 6 and the feeder trolley wire 4 at every splitted interval while the position detecting section at the ground side and the speed command detecting section of the transporter 9 are connected in series to said signal power source to provide the positional detection of the transporter 9 and the high/low speed commands through the signal trolley wire 6.

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 the transport vehicle in an automatic transport system has been controlled using a wireless control method using a transmitter and a receiver, or by installing multiple signal trolley lines along the rails, adding control signals to these, and transmitting these signals. A detection method has been devised and implemented.

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

[Purpose of the invention]

An object of the present invention is to provide a simple method for speed control and position detection of a guided vehicle using a power supply trolley installed on the track and a single signal trolley wire in an automatic transportation system that has a dedicated track for guided vehicles to run on. The purpose is to provide a suitable control device.

[Summary of the invention]

In an automatic transport system, the present invention connects a position detection unit on the ground and a high-speed command (or low-speed command) receiving unit of a transport vehicle in series via a signal trolley wire, and stops the transport vehicle using a ground-side control device. In the deceleration section before the deceleration section, the guided vehicle detects that it has entered the deceleration section and turns off the position detection circuit on the ground side, so that the guided vehicle receives a low speed command when it enters this section. When the vehicle decelerates and then enters the stop zone, the position sensor on the ground side detects this and turns off the voltage applied to the power supply line to stop the vehicle in a fixed position. When a vehicle in front enters a deceleration zone, it is detected by a position detection device on the ground and a deceleration command is given to the section behind, and when a vehicle in front enters a stop zone, this is detected by a position detection device on the ground. Detect it with
The voltage of the power supply trolley in the rear section is controlled to be turned off to prevent collisions between the transport vehicles and to control the distance between them.

[Embodiments of the invention]

Next, one embodiment of the present invention will be described using the drawings.

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 Fig. 1, 1 is a station for loading and unloading cargo, 2 is a parallel branching device for changing the track by parallel movement, 3 is a rotary branching device for changing the track by rotational movement, and 4 is for a transport vehicle. 5 is a dedicated track on which the transport vehicle 9 runs; 6 is a signal for detecting the position of the transport vehicle and giving commands for height, low, or low speed to the transport unit; Trolley, 7 is a power feeding trolley or an insulating part for separating sections of a signal trolley, 8 is a ground control device for managing and controlling the carrier, 9 is a carrier, 10 is a power feeding trolley for the carrier, A current collector in contact with the signal trolley, 11 a motor for traveling the guided vehicle, 12 a switching circuit that controls the current of the traveling motor, 13 a speed control unit that controls the switching circuit, 14 a switching circuit, A diode to keep the polarity of the voltage constant regardless of the polarity of the voltage on the power supply trolley, 15 is a diode that detects the polarity of the power supply line and takes out a command in the forward direction, 16 is a diode that also takes out a command in the reverse direction, 17 is a photo coupler 20.21
．． a current limiting resistor for limiting the current flowing through 22, 1;
8 is an electromagnetic brake, 23 is a low speed command signal for the speed control section, 24 is also a backward command, 25 is also a forward command,
Reference numeral 26 indicates a transport vehicle operation control unit that controls the travel of each transport vehicle, 27 indicates a low speed command on the ground control device side for instructing a low speed to the transport vehicle, and 28 indicates a transport vehicle position detection unit of 26. The guided vehicle position signal to be input, 29 is a photo coupler for detecting the location of the guided vehicle, and 30 is a device that applies a constant current to the photo coupler on the ground and the guided vehicle even if there are multiple guided vehicles in the same section. Zener diode for supplying a constant current to the current, 31 is a signal power source for supplying current to the photocoupler for position detection on the ground side and the photocoupler for high-speed command reception on the transport vehicle side, 32 is a trolley for power supply 33 is a forwarding electromagnetic contactor for connecting the power supply trolley to a power supply with a predetermined polarity when the transport vehicle is to be moved forward; 34 is a power source for reversing the transport vehicle; The electromagnetic contactor 35 is a rotation detector for detecting the rotation of the motor of the transport vehicle.

Next, the function of the transport vehicle and the operation of each device will be explained using FIG. It is assumed that the transport vehicle 9a is currently traveling in response to a transport command from station 1.

At this time, if the carrier vehicle 9b, which is the vehicle in front, is stopped at the parallel branching device 2, the signal toro! J-
Give a low speed command to 6b. The guided vehicle 9a detects this, decelerates and shifts to low-speed operation, and when it enters the signal trolley 1J5c, the position is detected by the ground control device, the power supply to the power trolley corresponding to the signal trolley 60 is cut off, and the guided vehicle to stop.

In this case, the fixed position stop mode is the mode shown by the running curve in FIG. 1(b). In addition, when the parallel branching device 2 is made to stop the conveyance vehicle 9b at a fixed position, the signal trolley 1J
5 (gives a low speed command to
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 its fixed position. Set this driving mode to
Shown in Figure (a).

Furthermore, as for the conveyance vehicle 9C, as shown in FIG. 1, since the rotary branching device 3 is located in the direction in which the conveyance vehicle 9d travels, it is necessary to stop the conveyance vehicle 9C before this rotary divergence.
A low speed command is given to the signal trolley 6e, and the transport vehicle performs control to cut off the power supply to the signal trolley and stop it.

The area between the parallel branching device 2 and the signal Toro IJ (ie is a free running section, in which the guided vehicle travels at high speed. The collision prevention of the guided vehicle in this section will not be explained here, but a contact type However, collisions between transport vehicles are still prevented using non-contact switches such as ultrasonic sensors.

FIG. 2 shows a control block diagram of a ground control device and a transport vehicle for executing the control described in FIG. FIG. 2 shows the portion of FIG. 1 before the rotation branch.

The traveling motor 11 of the transport vehicle 9 is an example in which a Gra/less motor is used in the present invention. When moving the conveyance vehicle forward, the electromagnetic contactor 33e for forward movement of the ground control device 8 is turned off.
Let it be N. When K is detected in this manner, a current flows through the polarity detection diode 15 of the guided vehicle, a current flows through the forward signal receiving photocoupler 20, and a forward command is input to the speed control section 13.

Upon receiving this command, the speed control section 13 controls the switching circuit 12 so that the motor rotates in a predetermined direction. In the case of reversing, the reverse electromagnetic contactor 34e of the ground-side control device is turned on, current flows through the photocoupler 21 for receiving a reversing signal of the guided vehicle, a reversing command is input to the speed control unit 13, and the reversing operation is reversed. The switching circuit operates to rotate the motor in the direction of .

When the guided vehicle moves from the position of signal Toro'J-6d to 6e, a current flows through the photocoupler 296 for detecting the guided vehicle position on the ground control device side, and this signal is input to the guided vehicle operation control section 26. The operation control unit is located at a position where the rotary branch 3 forms another passage (the position shown in FIG. 1), and the transport vehicle 9
It is determined that the motor c cannot get onto the rotating branch 3, and the signal current applied to the signal tree o'I/C is cut by the low speed command 27e.

As a result, the current flowing through the 7-coupler for receiving the low-speed command of the guided vehicle is turned OFF, and the low-speed command is input to the speed control section 3, which then decelerates the motor rotation speed until it reaches a predetermined rotation speed. Controls the switching circuit 12. Next, the photocoupler 29f detects that the carrier has entered the signal trolley 6fK, this signal is input to the operation control section, and the operation control section turns off the electromagnetic contactor 33f.
' to turn off the voltage applied to the power supply trolley. As the power supply of the power feeding trolley is cut off, the current of the electromagnetic brake becomes OFF'P, and the electromagnetic brake is activated to stop the transport vehicle.

In addition, the guided vehicle operation control unit detects that the guided vehicle 9C has entered the signal trolley section 6f, shuts off the power feeding electromagnetic contactor 33e in the signal trolley 56 section behind it, and Also stop the car. Next, when the rotary branching device 3 is rotated and the conveyance vehicle 9C is moved to the rotary branching device, the electromagnetic contactor 33e is turned on to control the following vehicle to move to the next section, and the The distance is controlled to prevent following vehicles from entering the wrong lane.

〔Effect of the invention〕

According to the present invention, it is possible to issue speed control commands and position detection for the guided vehicle using a simple signal transmission method, and it is possible to significantly reduce equipment costs and improve reliability.

[Brief explanation of drawings]

Fig. 1 is a plan view showing a part of an embodiment of an automatic transport system using the present invention, and Fig. 2 is a control block diagram of the automatic transport vehicle according to the invention, and position detection and travel control of the ground side control device. FIG. 3 is a diagram showing a signal transmission circuit.

Claims (1)

[Claims] 1. A station for loading and unloading containers, a carrier for transporting the container, a track on which the carrier travels, a branching device for changing the track of the carrier, and a transport vehicle attached to the track. feeder line for power supply,
In an automatic transport system consisting of a signal line that gives signals to the transport vehicle and a ground control device that controls these devices, the signal trolley wire is divided by providing an insulating section, and the trolley wire and the trolley wire for each divided section are separated. A signal power source is connected to the power supply 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 the signal power source, and the position detection section of the guided vehicle and the high speed and speed command detection section for the guided vehicle are connected in series. A control device for an automatic transport system, characterized in that a low speed command is given by the signal trolley wire.