JPS62296701A - Running controller for electric motor truck - Google Patents

Abstract

PURPOSE:To enable a following electric motor truck to be stop-controlled in good order, by hold-controlling divided sections and power feed lines in a stop- short-circuiting state between them and the motor control circuit of the following electric motor truck, when an electric motor truck is stopped. CONSTITUTION:When a distance between a divided section 18-1 and a power feed line 12-3 is stop-short-circuit-controlled by a truck controller 52, the first control current-collecting element 36 of an electric motor truck 20-1 enters the divided section 18-1, and at the same time, a relay CR1 is ON-driven to stop. At the same time, the hold circuit 64 of the electric motor truck 20-1 is controlled in the state of waiting for a following truck. When the first control current-collecting element 46 of the following electric motor truck 20-2 enters a divided section 18-2, the divided section 18-2 is hold-controlled in a stop-short- circuited state, and the following electric motor truck 20-2 is stop-controlled.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a running L111311 device for electric bogies, particularly a running control device for controlling the operation of a plurality of electric bogies running on rails. Regarding improvements.

[Prior Art] The U6 system that runs a plurality of electric trolleys on rails has been well known, and this system can transport various workpieces as needed using the electric trolleys. It is widely used as a workpiece transportation system 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 each electric cart without causing a rear-end collision with another electric cart.

As a device for performing such control, various (child devices) have been proposed in the past.
8948 Date of release: May 10, 1985! In this system, a zone-based 0 system is installed on a single-row rail divided into equal intervals, and the running status of each electric bogie is automatically adjusted so that two electric bogies do not run at the same time in the same divided section. It's in control.

Therefore, according to this traveling control device, when the first electric cart is controlled to stop 11J in a predetermined divided section using the cart control device, the following electric cart is stopped in the divided section adjacent to this stopped section. Every time it enters, each electric trolley is automatically controlled to stop within the corresponding divided section. In this way, each electric trolley is controlled to stop on each successive divided section of the section control line at a rate of approximately one vehicle per section, so that the preceding electric trolley and the following electric trolley are (0) It is possible to effectively stop each vehicle without causing collisions.

[Problem to be Solved by the Invention 1] However, with such a conventional device, when stopping the electric truck in a section designated in advance by the truck control device, it is difficult to properly control the stop. However, if the electric trolley is stopped at a position other than the designated area due to some kind of malfunction or manual operation, the following electric carts may collide with the stopped vehicle one after another, so an effective countermeasure is desired. was.

[Purpose of the Invention] The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to ensure that even if a plurality of electric trolleys running on rails stop due to failure or manual operation, To provide a running control device for an electric trolley capable of good stopping control without causing a subsequent electric cart to collide with a stopped vehicle.

[Means for Solving the Problems] In order to achieve the above-mentioned objects, the device of the present invention is capable of moving a plurality of electric bogies traveling on a running rail to a predetermined position indicated by a bogie control device without rear-ending them. In a running control device for an electric bogie that controls stopping and starting, the running rail includes: a power supply line that supplies electric power for driving a motor to the electric bogie; and a section formed by electrically dividing υj for each predetermined section. a control line, wherein the bogie control device establishes a stop short-circuit state between any divided section of the section control line and the power supply line. ] and is formed to indicate the stop section of the first electric truck, and the electric truck has a motor drive circuit that is in sliding contact with a power supply line using a power collector and drives a truck traveling motor; 1 makes contact with the section control line using the control collector 1, and outputs a motor stop signal to the motor drive circuit when the contact divided section and the power supply line are stopped and short-circuited, and when there is no short-circuit, a motor drive signal is output to the motor drive circuit. Using a Tanabata control circuit and a second control collector, when the electric bogie is stopped, it slides into contact with the divided section adjacent to the rear of the contact divided section of the first control collector, and controls the following bogie to standby state. and holds the divided J section and the Mino J supply line in the stopped state λσ between the second control collector and the motor control circuit of the subsequent electric truck that enters the contact divided section. and a 0-circuit hold circuit that outputs a motor stop signal to the motor drive circuit when the electric trolley fails or outputs a stop signal due to manual operation, and controls the short-circuit hold circuit to hold the following trolley in a standby state. A failure control circuit that performs the following steps.

[Function] With the above configuration, according to the present invention, when the electric bogie stops due to a failure or manual operation, the short hold circuit is forced to hold the bogie in the special state at the same time. It is expanded by 1,11.

Therefore, when the following electric truck enters the divided section where the electric truck stops, the short-circuit hold circuit forms a stop circuit with the motor control circuit of the following electric truck.

As a result, the following electric trolley is automatically controlled to stop with its first control collector and second control collector straddling two adjacent divided sections.

In this way, according to the present invention, when the leading electric truck stops due to failure or manual operation, it is possible to properly control the stopping of the following electric trucks without causing a rear-end collision with each other.

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

2 shows a preferred embodiment of the travel control device according to the present invention. It controls the state.

Here, on the traveling rail 10, an electric trolley 2
R, S supplying three-phase AC type) J towards 0.

T's three power supply lines 12-1, 12-2゜12
-3 or parallel, and this power supply line 12
A section control line 14 for controlling the running state of the electric trolley 200 is provided in parallel with the section control line 14 .

The section control line 14 is divided into a plurality of sections 18 which are insulated with insulators 16 provided at regular intervals.

Further, the electric trolley 20 has a device base 22 that is connected to a pair of hangers 2 with wheels 26-1 and 26-2 provided at the tips thereof.
4-1. It is suspended from the traveling rail 10 by 24-2,
By driving one wheel 26-1 by the motor 28, the vehicle travels on the traveling 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 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. 34-1, 34-2°34-3 are provided.

Historically, on the inner surface of each hanger 21-1, 24-2,
A first control collector 36 and a second control collector 3B which are in contact with the section control line 14 are provided, respectively.

Therefore, 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.

J, 1, the electric trolley 20 of the embodiment has a pair of arms 42 and 42 that hold the workpiece 44 on the lower surface side of the device base 22.
is provided so that the workpiece 44 can be transported to a predetermined position by the electric trolley 20 traveling on the traveling rail 10.

ELECTRICAL CIRCUIT FIG. 1 shows the electrical circuit of the device shown in FIG. 2.

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 is supplied with 200 three-phase AC power horns.

(a) Bogie control device Also, a control panel 50 is provided in one control room provided at a position away from the running rail 10, and this control panel 50 is connected to each bogie that runs on the running rail 10. Twenty truck control devices 52 are provided.

This bogie control device 52 is for stopping and short-circuiting the predetermined divided section 1B of the section control line 14 and the electricity supply line 12, and in the embodiment, relay contact CR3 (a
) is used to perform yH control between the divided section 18-1 and the power supply line 12-3.

Note that, in order to reduce the amount of current applied to this relay contact CR3(a), another relay CRZ is connected in series to CR3(a).

(b) Electric trolley J, actual IJfh In the example device, d3-C has a plurality of electric trolleys 20-1.20-2.20-3 on the traveling rail 10.
... is formed so that it can run.

In the present invention, each electric trolley 20 has a motor drive circuit 6.
0, - 1111 and 11 circuit 62) The short-circuit hold circuit 64 and the 1"5 n"i control υ11 circuit 66 are disconnected.

(Low 1) Motor drive circuit The motor drive circuit 60 includes a power collector 34-1.34
-2.34-, -3 are used to make sliding contact with the power supply line, and are formed to supply three-phase alternating current to the motor 2B.

In the embodiment, this motor drive circuit 60 includes a magnet coil M between a pair of power collectors 34-1, 31-3.
Connect C, and connect A contact MC of this magnet coil MC (
a) are provided in the power lines between each power collector 3/1-1.34 2, 34 3 and the motor 28, respectively.

As a result, when the magnet coil MC is excited I41, the contact MC(a) is turned on, the motor 28 is driven δ, and the electric trolley 20 can be driven along the travel rail 10.

(Low 2) Motor 101 circuit The Tanabata to Tanabata control circuit 62 is connected to the first 1. lI control electronic 3
3 (Detects whether or not the divided section 1ε3 and the power supply line 12 in sliding contact with each other are short-circuited, and
! , 'j are configured to output fJ, a motor stop signal, and a motor drive signal to the motor drive circuit 60 when there is no short circuit.

In the embodiment, this motor control circuit 62 consists of a relay CRI connected between the first control collector 36 and the power collector 34-1, and this relay CR1 is connected in the energizing circuit of the magnet coil MC. It has a B contact CRI (b) provided in series with the short-circuit hold circuit 64, and an A contact CR1 (a>) provided in the short-circuit hold circuit 64.

Therefore, relay contact CR3(a) is turned on and the divided section 18
-1 and the power supply line 12-3 are stopped and short-circuited, [゛Gravity supply line 12-1J→'Relay CR1J->
[Divided section 18-1J → “Relay contact CR3(a)” →
[Relay C with closed circuit of power supply line 12-3J
R1 is energized and excited.

As a result, B contact CRI (b) of relay CR1 is turned off, and motor 28 is automatically controlled to stop.

In this way, according to the device of the embodiment, the leading electric cart 20-1 is controlled by the cart control device 52 to control the short-circuit control 0a.
At the same time as the first control collector 36 comes into sliding contact with the divided section 18-1, the stop control pl+ is applied.

Therefore, the electric trolley 20-1 transfers its first control collector 36 to the front divided section 11"J18-1, and its second control collector 38 to the rear divided section 18-2 adjacent to this. It is understood that the stop is controlled in the state of sliding contact (!F).

On the contrary, for example, if relay contact CR3 (a) is controlled to the Δ off state, relay CR1 becomes de-energized (J), its B contact CRI (b) is turned on, and Tanabata 28 is driven. It turns out.

In this way, the motor control circuit 62 of the embodiment determines whether or not the divided section 18 with which the first control collector 36 comes into contact with each other is in a short-circuit state, and controls the motor 28 in a stopped state or in an operating state. Automatically control the situation.

(n-3) Short-circuit hold circuit The short-circuit hold circuit 64 is controlled to stop the electric trolley 20-1, so that the second control i3++ TEPCO Ryo 33B
The divided section 1B in sliding contact is controlled to a following trolley standby state, and at the same time as the following electric trolley 20-2 enters the divided section 18, the divided section 1B and the power supply line 12 are controlled to be stopped and short-circuited. do.

As a result, the following electric trolley 20-2 enters into the divided section 18 and at the same time its motor 91011 circuit 62
4) A motor stop signal is output from the electric truck 20, and the stop control is performed in the same manner as the preceding electric truck 20.

In the embodiment, this short-circuit hold circuit 64 connects the A contact CR1 (a> of the relay CR1) and the relay CR2.
is connected in series between the second control collector 338 and the power collector 12-3, and the A contact CR1 (
It is formed by connecting Δ contact CR2(a) of relay CR2 in parallel with a).

Therefore, a motor stop signal is sent from the motor ITL control circuit 62;
At the same time as the same signal is output, that is, when relay CR1 is turned on, its relay contact CR1(a) is also turned on, and this side 1 hold circuit 64 is then controlled to be in the standby state for the trolley. .

In this state, when the following electric bogie 20-2 enters into the divided section 18-2 in which the second control collector 38 is in single contact, the short circuit that is controlled to be in the following bogie standby state A short circuit that shorts between the divided section 18-2 and the power supply line 12-1 is formed between the bean paste hold circuit 64 and the motor control circuit 62 of the following electric trolley 20-2.

At the same time, the relay contact CR2(a) of CR2 is turned on to hold the short circuit state.

In this way, it is understood that according to the device of the embodiment, the divided section 18 and the power supply line 12 are held in a stopped short-circuited state, and the subsequent electric truck is automatically controlled to stop.

(Row 4) Failure control circuit The failure control circuit 66 outputs a motor stop signal g to the motor drive circuit 60 when the electric trolley 20 has a failure or when a manual stop signal is output, and also outputs a motor stop signal g to the motor drive circuit 60. The hold circuit 64 is formed to forcibly control the following bogie standby state.

The failure control circuit 66 of the embodiment includes a B contact CR4(b) connected in series to the energizing circuit of the magnet coil MC.
and A contact C provided in the short-circuit hold circuit 64.
R4(a) and control 1ffll river relay CR4 with
and connects the relay CR4 to a pair of power collectors 34-
1. Connected between 34-3.

, Also, in the energizing circuit of this control relay CR4,
A relay contact CR5(a>) that is turned on when a failure occurs is connected in series, and a switch SW for performing a manual stop operation is connected in parallel to the relay contact CR5(a).

Therefore, for example, if some kind of failure occurs while the electric trolley 20 is running, the relay contact CR5(a) turns on, turning on the control relay CR4.

At this time, the relay contact CR4(b) is turned off, and the magnet coil MC is switched to a non-excited state.

Therefore, MC(a) in the motor drive circuit 60 is turned off and the motor 28 is automatically controlled to stop.

At the same time, the A contact CR of control relay CR4
4(a) is also turned on, and holds the yrl circuit hold circuit 64 in the above-mentioned subsequent bogie standby state. For this reason,
The following electric truck 20 is located within the stop section 18 of the electric truck 20.
At the same time as the first control collector 36 approaches, the short-circuit hold circuit 64 automatically switches to the stop short-circuit state and automatically controls the following electric truck 20 to stop.

In addition, in the device of the embodiment, in order to self-hold the control relay CR4 in the on state, the A contact CR4 (
a) is connected in series with the B contact of switch CR4.

It goes without saying that in the device of this embodiment, the electric trolley 20 can also be controlled to stop in the same way by turning on the manual switch SW for stop control.

By the way, in the device of this embodiment, when a downfall occurs or when the switch SW is operated, the leading electric trolley 20-1 or the first and second control collectors 36°38 are moved by the same minute υ] section 18 The product may stop when it comes into sliding contact with the product.

In such a case, the relay CRI of each electric trolley 20-1 and 20-2 will be turned on, and in addition to this, the relay CR25 of the first electric trolley 20-1 will be turned on, as shown in Fig. 3. , relay C of the first electric trolley 12-1
``There is a risk that the voltage of 2 may become too high and cause burnout.

In order to prevent such burnout, in the device of the embodiment,
Relay CR6 for burnout prevention is connected to a pair of power collectors 34-
1.34-3, and its B contact CR6(b) is connected in series to the energizing circuit of relay C[1].

In addition, in the energizing circuit of this relay CR6 for stopping HVJ, there is the A contact C of the relay CR4 for 1111 Dll.
R4(a) is connected in series, and relay contact ○R2(a>, C
The Iij column circuit of R6(a> is connected to τ.

Therefore, according to the device of this embodiment, when the leading electric trolley 20-1 is stopped due to a failure or by operating the manual switch SW, the relay contact CR
4(a) turns on, turns on relay CR6 for D'A loss prevention, forcibly controls relay CR1 of the first electric trolley 28-1 to a non-operating state, and enables burnout of relay CR2. It becomes possible to prevent this.

1. This embodiment consists of the above-mentioned components, and the operation thereof will be explained next.

(a) Stop control using the bogie control device 52 First, the electric bogie 201 that runs (1) on the traveling rail 10 is
If the stop control is to be performed in step 8-1, relay contact CR3(a) is turned on using the trolley control device 52, and the cutting section 18-1 is turned on.
Stop short between 1 and power supply line 12-3 ♀8111
1 DIl. 2 As a result, the leading electric bogie 20-1 running on the rail 10 turns on the relay CR1 at the same time as its first control collector 36 enters the divided section 18-1. , turns off its relay contact CR1(b).

As a result, the motor 28 automatically stops, and the electric trolley 2
0-1, the first control collector 36 is brought into one contact with the divided section 18-1, and the second control collector 38 is brought into contact with the divided section 18-1.
It automatically stops when it comes into sliding contact with 2.

At the same time, the hold circuit 64 of the electric trolley 20-1 has its relay connection $CR'l (a) turned on and is controlled to standby for the following trolley.

Therefore, even if the following electric truck 20-2 travels to a place where the leading electric truck 20-1 is controlled to stop, the first control collector 36 of this electric truck 20-2
-2, this divided section 18-2 is held in a stopped short-circuit state at the same time. As a result, the following electric trolley 20-2 automatically moves to the divided sections 18-2 and 18-2.
The stop control will be performed in a state where the vehicle is straddling 3.

(b) Stop control due to failure, etc. Also, if some kind of failure occurs in the electric trolley 20 running on the rail 10, relay contact CR5 (a> is turned on and control relay CR4 is turned on.

As a result, the magnet coil MC becomes de-energized,
The motor drive circuit 60 is controlled to be in an OFF state, and the electric trolley 20
will be automatically controlled to stop.

At the same time, relay CR2 is turned on, and short-circuit hold circuit 64 is automatically held in a subsequent bogie standby state.

Then, the electric truck 20-1 is moved to the divided section where the electric truck 20-1 is stopped, for example, 18-1.
When 0-2 runs, the first control collector 36 of the electric truck 20-2 enters the divided section 18-2, and at the same time, the divided section 18-2 is held in a stopped short-circuited state. Thereby, the following electric trolley 20-2 is automatically controlled to stop while straddling the divided sections 18-2 and 18-3.

Similarly, the following electric trolleys 20-3, 20-4, etc. are sequentially controlled to stop while straddling adjacent divided sections.

In this way, according to the device of this embodiment, the electric trolley 2
Even if 0 stops due to a failure or the like, it is possible to effectively control the stopping of the following electric carts without causing them to collide with each other.

In addition, in the embodiment, the case where the electric trolley 20 is controlled to stop due to a failure is explained as an example, but the present invention is not limited to this, and the electric cart 20 is forcibly controlled to stop using the manual switch SW. Needless to say, even in such a case, it is possible to effectively control the stop without causing a rear-end collision with the following electric truck.

(c) Comparison with the conventional device Figure 4 shows the previously proposed travel control device for electric trolleys (
6O-98948), and the same reference numerals are given to the members corresponding to the apparatus of the present invention shown in FIGS. 1 to 3, and the explanation thereof will be omitted.

This conventional) (position is the relay contact CR of the bogie control device 52)
By turning on 3(a), it is possible to automatically stop the electric carts 20-1, 20-2, etc. without causing them to collide with each other, as in the device of this embodiment.

However, according to this conventional device, the leading electric trolley 20-
1 is a stop section instructed by the bogie control device 52, for example 18
If the motor stops at a location other than -1, relay CR1 of motor control circuit 62 cannot be turned on, and short-circuit hold circuit 64 cannot be turned on.

Therefore, even if the electric trolley 20-1 stops due to a failure or the like, the short-circuit hold circuit 64 is not controlled to switch to the succeeding cart standby state.
-2) . . . causes the problem of successive rear-end collisions with the leading electric cart 20-1.

On the other hand, in the device of the present invention, as mentioned above, the leading electric trolley 20-1 is damaged. ! If the vehicle stops due to such reasons, the failure control circuit 66 is activated and the short-circuit hold circuit 64 is automatically switched to a standby state for the following trolleys. It is understood that the stop of the vehicle is well controlled without colliding with the leading electric truck 20-1.

[Effects of the Invention] As explained above, according to the present invention, even if one of the plurality of electric trolleys running on the running rail stops due to a failure or other cause, the following It becomes possible to effectively stop the following electric truck without causing a rear-end collision with the preceding electric truck.

[Brief explanation of drawings]

Fig. 1 is an electric circuit diagram showing a preferred embodiment of the electric cart according to the present invention, Fig. 2 is an explanatory diagram of the external appearance of the electric cart shown in Fig. 1, and Fig. 3 is an electric circuit diagram showing a preferred embodiment of the electric cart according to the present invention. An explanatory diagram showing an electric circuit. FIG. 4 is a schematic explanatory diagram of a conventional device. 10... Traveling rail 12-1.12-2.12-3... Power supply line 1
4... 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 66... Failure control circuit MC... Magnet coils CR1, CR2, CR3, CR4, CR5... Relay.

Claims (2)

[Claims] (1) A running control device for an electric bogie that controls the stopping and starting of a plurality of electric bogies running on a running rail at predetermined positions indicated by the bogie control device without colliding with each other, wherein the running rail is electrically powered. A power supply line that supplies electric power for driving a motor to the bogie; and a section control line that is electrically divided into sections for each predetermined section; Control the section and the power supply line to a stopped short circuit state,
The electric truck is configured to indicate a stop section of the first electric truck, and the electric truck is in sliding contact with the power supply line using a power collector, and has a motor drive circuit that drives the truck traveling motor, and a first control collector. A motor control circuit that makes sliding contact with a section control line using electrons, and outputs a motor stop signal when the contact division section and the power supply line are stopped short-circuited, and outputs a motor drive signal to the motor drive circuit when there is no short-circuit. , using a second control collector, when the electric trolley is stopped, sliding contact is made with a divided section adjacent to the rear of the contact divided section of the first control collector, and the second control collector is controlled to be in a waiting state for the following trolley; A short-circuit hold circuit is provided between the motor control circuit of a subsequent electric trolley that enters the contact split section of the collector to hold the divided section and the power supply line in a stopped short-circuit state, and a An electric bogie characterized by comprising: a failure control circuit that outputs a motor stop signal to the motor drive circuit and holds the short-circuit hold circuit in a subsequent bogie standby state when a stop signal is output by manual operation. travel control device. (2) In the device described in claim (1), the motor drive circuit includes an A contact point of the magnet coil MC connected between the power collectors, which is provided in the power line between each collector and the motor. The motor control circuit includes a first relay CR1 having a B contact provided in series in the energizing circuit of the magnet coil MC and an A contact provided in the short circuit hold circuit. The short-circuit hold circuit is connected between the control collector and the power collector, and has a second relay CR2 connected in series with the A contact of the first relay CR1, The failure control circuit is connected between a second control collector and a power collector, and the A contact of the second relay CR2 is connected in parallel to the A contact of the first relay CR1. A control relay CR4 having a B contact connected in series to the energizing circuit of the magnet coil MC and an A contact connected in parallel to each A contact of the short circuit hold circuit is connected between the power collectors. A running control device for an electric trolley, characterized in that it is connected to.