JPS6289404A - Plural trucks travel controller for operatorless conveying system - Google Patents

Abstract

PURPOSE:To make trucks smoothly travel on the closed loop rails without rear-end collision by detecting a truck presence zone by using at least ones of motors and brake trolleys divided into many zones along the rails. CONSTITUTION:A drive motor 2 and an electromagnetic brake 3 are provided in each truck 1, and connected through a current collector 4 to trolleys 6 provided along rails 5. Two trolleys 6 are provided for the motor 2 and the brake 3, divided into many zones and the zones are electrically insulated therebetween. A controller 8 controls to start, travel and stop the truck 1 by controlling the energization of the trolley zones on the basis of a detection signal form a ground sensor 7 provided near the rail 5 and a truck presence zone detection signal from the trolley zone. Thus, the truck which is not equipped with a control device can be driven on closed loop rails.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an unmanned transportation system used in a harsh environment such as a steel mill, and in particular to an unmanned transportation system for driving multiple carts in an open loop drive. The present invention relates to a control device.

[Conventional technology]

In environments such as steel mills, the transportation of various materials such as molten ore tends to be carried out by unmanned transportation systems rather than by workers. Therefore, the conventional methods adopted for this purpose are as follows.

The first method is to install multiple inductive radio loops along the route of the bogie, while installing an oscillator on the bogie, and detect the position by capturing the signal from the oscillator on the bogie with the inductive radio loop on the ground. Then, in accordance with this detection result, a running control signal for the bogie is formed by the ground control device, and is transmitted to the control device on the bogie by guided radio or data transmission, thereby causing the bogie to run or stop.

On the other hand, as a second method, there is a method in which the presence of a vehicle is detected by short-circuiting the rails used in a railway vehicle using the wheels or axles of the vehicle.

[Problem that the invention seeks to solve]

However, according to the first method, failures are likely to occur because various control devices are mounted on the trolley, and it is not suitable for usage conditions.

Also, the second method is inappropriate for short-distance closed-loop trajectories.

The present invention has been made in consideration of the above-mentioned points, and an object of the present invention is to provide a control device for causing a cart not equipped with a control device to travel on a closed loop passage.

[Means for solving problems]

To achieve this objective, the present invention provides a motor and brake trolley arranged along a closed loop track and divided into multiple areas (2N-i-1 or more, where N is the number of trolleys). The trolley's motor and brake are energized from the trolley, and at least one of these signals is used to send a signal current to the trolley for detecting the area where the trolley is present, and based on this detection signal, the trolley's predetermined area is energized. The present invention provides a control device.

The energization of the trolley is controlled so that the area immediately behind the trolley area where a certain trolley is located is turned off in order to prevent a rear-end collision with a following truck so that the following truck enters and makes an emergency stop.

When the bogie starts, runs, and stops, a detection signal from a ground sensor provided on the track is sent to a speed control device to perform acceleration, deceleration, and constant speed control.

(Example) The present invention will be described below by way of example with reference to the accompanying drawings.

FIG. 1 shows the overall configuration of an unmanned transportation system according to the present invention, and 1 is a truck, and in the illustrated example, three trucks are provided. Each trolley 1 is provided with a running motor 2 and an electromagnetic brake 3, and is connected via a current collector 4 to a trolley 6 provided along a track 5. The trolley 6 has two parts, one for the motor 2 and one for the brake 3, each of which is divided into a large number of areas (2N+1 or more, where N is the number of trolleys), and each area is electrically insulated from each other. Then, a control device 8 controls the supply of electricity to each trolley area based on a detection signal from a ground sensor 7 installed near the track 5 and a vehicle presence area detection signal from the trolley area to start, run, and stop the trolley 1. is controlled by Ibl.

In other words, the controller @8 travels on the track 5 and detects the ground sensor 7.
The bogie 1 approaching the ground is controlled to reduce its voltage and frequency in order to decelerate, and the bogie 1 departing from the ground sensor 7 is controlled to increase its voltage, and the bogie 1 that is running is controlled to reduce its voltage and frequency. A constant energization is carried out, and the energization is stopped in the trolley area immediately after the trolley passes. As a result, the three bogies 1 are started and run independently on the track 5 forming a closed loop.

Stop the vehicle and prevent a rear-end collision.

FIG. 2 shows the configuration of the control device 8 shown in FIG. 1 and the connection relationship with the trolley 6, and FIG.
It is a wiring diagram of a power supply system including -1.

First, looking at the trolley 6, motor trolley 6-
+1 (6-11.6-21.6-31 in the figure)
...6-101) and brake trolley 6-
+2 (6-12.6-22.6-32 in the figure,...
...6-102), and these trolleys 6-11 and 6-12 are respectively T1 to T+o.
Divided into 0 areas.

Among these, each area of the motor trolley 6-11 is connected to the feeder 30-1, 3C)-2, 3 (13) to the electromagnetic contactor 17.
(17-1.17-2 in the figure...17-
10) and three electromagnetic contactors 9 (9-11 in the figure)
．． 9-12.9-13. 'J-21.9-22.9-2
3.・・・・・・・・・9-101.9-102.9-
103) via one of the three speed controllers 13
-1.13-2.13-3 output is given. Three speed controllers 13-1, 13-2 and 13-3 provided corresponding to each bogie 1 convert AC power obtained from an AC power source into starting power in accordance with control signals from the main computer 15, respectively. The feeder 30. converts power for running, decelerating, and stopping. -1.30-2.30-. 3
to supply power. The difference between starting, running, and decelerating is most commonly a difference in frequency or voltage, but
Depending on the nature of the motor 2, power may be generated in other forms.

And three speed controllers 13-1.13-2゜13-
The main computer 15 which gives different control signals to the coils 1 and 3 of the electromagnetic contactor 9 for energizing the motor performs other operations.
2 (12-11 in the figure...12-103
) and brake energizing type magnetic contactor coil 26
(indicated by 26-1...26-10 in the figure) is energized and deenergized. Due to this energization and deenergization, the motor trolley 6-11 and the brake trolley 6
-12 speed controllers 13-1 sequentially in sections T1 to TIo;
．． Power is supplied from 13-2 and 13-3. Also,
The main computer 15 also receives input from a manual operation panel 16. This is done when the host computers H-CP, U are down, and the operator inputs the truck number and destination address.

On the other hand, each section of the brake trolley 6-12 is connected to a resistor 20 (20-1, 20-2, . . . in the figure) from the feeder 40.
...20-10) and electromagnetic contact, device 1
The output of the brake power source 14 is applied via the power source 14.

With such a circuit configuration, each trolley 1 has a trolley 6-i.
Electric power is supplied from l, 6-i2 to the motor 2 or the brake 3 via the current collector 4, and as a result, the bogie 1 starts, runs, and stops.

The motor trolley 6-11 is configured with three trolleys in case the trolley motor is three-phase, and accordingly three-phase wiring is installed from the feeder 30-1, 30-2, 30-3 to the trolley 6-11. It becomes. In the illustrated example, the AC power supply that supplies power to the speed controller 13-1.13-2.13-3 and the brake power supply 14 is also three-phase.

A feeder 30-1.30-2.30- is provided so that power can be supplied to each section of the motor trolley 6-11 from any of the three speed controllers 13-1.13-2.13-3.
3. Magnetic contactor 9-i 1.9-i2.
9-i3 is provided. The coils 12-11, 12-i2 and 12-i3 of these electromagnetic contactors are energized and de-energized by the main computer 15. The main computer 15 determines which speed controller output should be applied to each trolley area based on the position information of each trolley sent from ground sensors. Then, energization control of the coils 12-il, 12-i2, 12-13 of the electromagnetic contactor is performed.

Also, the coil 18i of the electromagnetic contactor 17-1, which is also inserted into the circuit that supplies power to the motor trolley 6-11, is always energized via the normally closed contact 19i, but for example, when the trolley is in the trolley area Ti+1 Next trolley area Ti
The coil 18i is not energized. That is, when a trolley is in the trolley area Ti+1, a signal current flows through its electromagnetic brake coil, and this is detected by the voltage detector 21-i+1, which is similar to the voltage detector 21-1 provided in the trolley area Ti. Since the voltage detector 21-1+1 is energized, its relay contact 19
t is opened and the magnetic contactor coil 18i is deenergized. As a result, the electromagnetic contactor 17-1 is opened and the motor trolley 6
-11 trolley area T+ is no longer supplied with power. Then, the next trolley 1 is prevented from entering the trolley area Ti.

Here, the truck detection operation of the relay 221 will be described in detail as follows. After passing through one side of the brake feeder 40 from the brake power source 14, a resistor 20-1. One of the resistors 11-1, one of the trolleys 6-12, and the trolley 6-1
When the two wires of the trolley 6-12 are connected by an electromagnetic brake coil (not shown) of the trolley in the path of the other of the resistors 11-i, the other of the resistors 11-i, and the other of the feeders 40, the resistors 20-1 A voltage is generated between both ends and detected by voltage detector 21-1, and relay 22-1 is energized. This is trolley detection.

FIG. 4 is an explanatory diagram of a sensor constituting the ground sensor 7 in FIG. 1 and a truck-mounted striker that operates this sensor. The ground sensor 7 is installed to stop the bogie at a predetermined stop position, and in this case consists of a deceleration point sensor 25-1 and a stop point sensor 25-2, while the striker on the bogie is connected to the deceleration point sensor 25. A striker 23 on the truck is provided for the stop point sensor 25-1, and a striker 24 on the truck is provided for the stop point sensor 25-2.

The main computer 15 also has a deceleration point sensor 25 in advance.
-1 detects the striker 23 of the truck to the stop position, and a control pattern for decelerating and stopping the truck is determined.

Assume that the trolley 1-1 is now entering the trolley area T1 from the left side in the figure. When the truck moves to the right in the figure, the right end of the striker 23 is first detected by the deceleration point sensor 25-1. The detection output of the sensor 25-1 is given to the main computer 15 in FIG. 2, and a switching command from the high-speed output to the low-speed output is issued to the speed controller 13-1 corresponding to the bogie. As a result, the trolley changes from high-speed running to low-speed running and moves further to the right in the figure, reaching the stop point sensor 25-2.
The deceleration point is controlled to the position of .

When the truck stops on the two sensors of the stop point sensor 25-2 due to the output control of the speed controller 13-1, the main computer 15 energizes the electromagnetic contactor coil 10-1. Activate the electromagnetic brake and apply the brake to the trolley to stop it.

If the stop position of the trolley shifts, the main computer 1
5 causes the speed controller 13-1 and the electromagnetic contactor coil 10-i to output intermittent outputs to stop the truck at the normal inching position.

When the work on the trolley, for example loading work, is completed, a start command is given from the host computer to the main computer 15, and based on this, control power for the motor 2 is output from the speed controller 13, and the electromagnetic brake 3 is released, and the trolley starts. do.

Repeat this operation below.

〔Effect of the invention〕

As described above, the present invention provides a trolley for motors and brakes that is divided into multiple areas along a closed loop track, and supplies power to the motors and brakes of multiple rolling bogies from these trolleys. By using at least one of the trolleys, a signal current is applied to the bogie to detect the area where the vehicle is present, and the energized area of the trolley is controlled according to the detection result, so that the bogie that is not equipped with a control device can be moved on a closed loop track. It is possible to drive the car smoothly without causing a rear-end collision. The power supply to the motor trolley is controlled by the speed control device for each trolley in accordance with the trolley detection signal from the ground sensor placed at a predetermined point on the track, so each trolley can run at a particular speed. efficient and efficient.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing the overall configuration of the unmanned transportation system according to the present invention, Fig. 2 is a connection diagram showing the configuration of the control device shown in Fig. 1 and its connection to the trolley, and Fig. 3 is a connection diagram showing the connection to the trolley. FIG. 4 is an explanatory diagram of the ground sensor provided on the track and the striker on the bogie.

Claims (1)

[Claims] 1. A closed-loop track; A motor trolley and a brake trolley consisting of 2N+1 or more areas for the number N of carts arranged along this track; A plurality of bogies whose motors and brakes are energized to start, run, and stop on the track; and a plurality of bogies that are provided corresponding to each bogie to energize each of these bogies; a plurality of speed control devices that supply power for traveling at a predetermined speed; a ground sensor installed at a predetermined point on the track; and a ground sensor installed at a predetermined point on the track; means for controlling the power supply from the speed control device; means for constantly applying a signal current to each area of the brake trolley to detect the presence or absence of a trolley; and checking that there is no trolley in the trolley area to which the trolley is to go next. A traveling control device for a plurality of trolleys in an unmanned conveyance system, comprising: means for applying the output of the speed control device to the trolley area under the condition that the trolley area is energized when there is a trolley;