TWI731175B - Handling trolley - Google Patents

Abstract

The present invention relates to a transport trolley, which uses electric power to travel, thereby transporting objects. When the driving device (22) for traveling cannot receive the power supply from the power receiving device (24) that is the main power supply device, the driving device (22) is driven by the electric power stored in the power storage device (26). The voltage converter (30) that performs voltage conversion between the driving device (22), the power receiving device (24), and the power storage device (26) monitors the storage voltage (V _B ) output from the power storage device (26), and then performs the voltage conversion When the accumulator (30) is operating as a booster and the accumulated voltage (V _B ) is lower than the predetermined lower limit voltage, the voltage converter (30) and the power storage device (26) will be used as a booster. The connection is blocked.

Description

Handling trolley

The present invention relates to a transport trolley that uses electric power to travel.

Sometimes a transport trolley is used in the transport equipment, and the transport trolley is driven by electric power to transport articles. In the conveyance equipment described in Patent Document 1, the conveyance trolley is supported and guided by a rail device to move on a fixed path. A power supply line is arranged along the track device, and power is supplied from the power supply line to the transport trolley by a non-contact power supply method.

[Prior Art Literature]

[Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2003-079074

The movement path of the conveyance trolley may include not only a linear part but also a curved part, or a part where the movement path branches or converges. In order to supply power to the transport trolley by non-contact power supply in such a part, a power supply line must also be provided in the curved part and the like. However, compared with the linear part, the work of distributing the power supply line to the curved part is difficult, and the disposing work cost is high. In addition, in the part where the movement path is branched, when the transport trolley enters the part, one of the left and right side surfaces of the transport trolley will leave the rail device. At this time, in order not to stop supplying the transport trolley For electricity, it is necessary to arrange power supply lines on the left and right sides of the linear part closer to the front than the branch part, and further need to install power receiving devices on the left and right sides of the transport trolley. Therefore, due to the expansion of the distribution range of the power supply line, the wiring cost is increased, and the number of power receiving devices is increased, and the material cost of the equipment is increased. In this way, in order to supply power to the transport trolley by non-contact power supply in parts other than the linear part, the construction cost of the equipment is increased.

On the other hand, in the conveyance equipment described in Patent Document 1, the power supply line is not provided in the curved portion (branch or confluence path portion) where the movement path of the conveyance trolley branches or converges. In the transportation equipment described in Patent Document 1, the transportation trolley is equipped with a battery, and in an area where the power supply line is not provided, power is supplied to the transportation trolley by the battery.

However, this kind of transportation equipment has a problem in that it is difficult to restart the movement of the transportation trolley when the transportation trolley stops in an area where the power supply line is not provided. For conveyance equipment, sometimes when an abnormality occurs, such as an obstacle is found in the conveyance path, the conveyance trolley stops moving until the abnormality is resolved. At this time, if the transport trolley stops in an area where the power supply line is not provided, the electric power stored in the battery will be discharged during the stop of the transport trolley. Therefore, there are cases in which, after the abnormality is resolved, even if the operator wants to restart the transfer trolley, there is no power required for the movement in the battery. In this case, the operator uses manpower to move the transport trolley to the power supply line, or uses an external power source to charge the battery. However, this type of work is extremely time-consuming and will affect the overall operating efficiency of the equipment. Adverse effects.

In view of the above, the object of the present invention is to provide the following truck, which uses electric power to transport goods, even in the case of unable to accept the power supply from the main power supply source, can also use the storage battery The device is running, and the power storage device can ensure the power required to restart the movement of the transport trolley.

In order to solve the above-mentioned problems, the transport trolley of the present invention uses electric power to travel to transport articles. The transport trolley is characterized by including a driving device that is driven by applying a voltage higher than a predetermined driving voltage, thereby causing all The transport trolley travels; a main power supply device that supplies power to the drive device; a power storage device that stores power supplied by the main power supply device; and a booster that is connected to the drive device and the power storage device , Boosting the accumulated voltage output from the power storage device, and supplying the accumulated voltage to the driving device, the driving device can pass through the boost when the driving device cannot receive the power supply from the main power supply device The power storage device receives the supply of the power stored in the power storage device to drive the power storage device. The booster monitors the storage voltage output from the power storage device and boosts the storage voltage to the drive voltage. The driving device applies, on the other hand, when the storage voltage is lower than a predetermined lower limit voltage, the connection between the booster and the power storage device is blocked.

Moreover, in connection with the transport trolley of the present invention, the transport trolley can also travel along a rail, which is arranged along a predetermined transport path, and a power supply section and a non-power supply section are provided on the rail, and the power supply section is provided with To the main power supply The power supply line for supplying electric power is set, and the power supply line is not installed in the non-power supply section, and the driving device utilizes power supply from the power supply line via the main power supply device while the transport trolley is traveling in the power supply section. The power storage device accumulates the power supplied from the power supply line, and the driving device receives the power storage through the booster while the transport trolley is traveling in the non-power supply section The power stored in the device is supplied to drive it.

Furthermore, in connection with the transport trolley of the present invention, the lower limit voltage may be a value equal to or higher than the voltage equivalent to the amount of power required by the transport trolley from the non-power-supply section to reach the power-supply section. .

According to the transport trolley of the present invention, even when the power supply from the main power supply device cannot be received, the power stored in the power storage device will be supplied to the traveling power of the transport trolley. Therefore, the transport trolley can also be transported in areas where there is no power supply. If you continue to travel along the path, and if the amount of power stored in the power storage device decreases, the connection to the booster will be blocked. Therefore, the power storage device’s stored power will not be sent to the booster, so it will not This causes the drive device to consume power through the booster, so the power stored in the power storage device will not be further reduced, and the power required to restart the movement of the transport trolley can be secured.

10: Item handling equipment

11: Items

12: Handling track

12 _BR : Conveyor track in branch section

12 _CUR : Conveyor track in curve section

12 _IN : Conveyor rail on the inner peripheral side of the straight section

12 _OUT : Conveyor rail on the outer peripheral side of the straight section

14: Power supply line

15: AC power

16: straight section

18: curve interval

19: branch interval

20: Handling trolley

21: Wheel

22: Drive

24: Power receiving device

26: Power storage device

30: Voltage converter

38: switch

S01: Step-down action

S02: Receive voltage judgment

S03: Boost action

S04: Receive voltage judgment

S05: Accumulated voltage judgment

S06: Blocking action

V _B : Accumulated voltage

V _D : drive voltage

V _R : receiving voltage

V _L : lower limit voltage

Fig. 1 is a plan view showing the outline of an article transport facility equipped with a transport trolley as an example of an embodiment of the present invention.

Fig. 2 is a block diagram showing the structure of the transport trolley in the present embodiment.

Fig. 3 is a flowchart showing the operation performed by the voltage converter of the transport trolley in the present embodiment.

FIG. 1 shows the outline of a transport trolley 20 as an example of the embodiment of the present invention and an article transport facility 10 equipped with the transport trolley 20. As shown in FIG. 1, there are a plurality of transport trolleys 20 in the article transport facility 10, and transport rails 12 are laid along the transport path along which these transport trolleys 20 travel. On the left side and the right side in the advancing direction of the transport trolley 20, one transport rail 12 is respectively arranged at an interval equal to the width of the transport trolley 20. The wheels 21 of the transport trolley 20 are supported on the upper surface of the transport rail 12 and rotate, whereby the transport trolley 20 travels along the transport path. The transport trolley 20 can hold the article 11, and the transport trolley 20 travels along the transport rail 12 while holding the article 11, thereby transporting the article 11 in the article transport facility 10. Here, the transport trolley 20 is not shown with a mechanism for holding the article 11, for example, a flat surface on which the article 11 can be placed is provided on the upper surface of the transfer trolley 20, or the article can be grasped is provided under the transfer trolley 20 11's robotic arm.

The conveyance path of the conveyance trolley 20 has a linear section and a curved section. In the embodiment shown in FIG. 1, in addition to the two straight line sections 16 arranged in parallel, two circular arc-shaped curved sections 18 are also provided. The circular arc-shaped curved section 18 divides the end of a straight line section 16 The part is connected to the end of the other straight section 16. Due to the straight section 16 and the curved section 18, the conveying path has a rounded rectangular shape as a whole.

Furthermore, an arc-shaped branch section 19 (shortcut section) is connected near the center of the straight section 16. The transport trolley 20 passes through the branch section 19, and thereby, even if it does not pass through the curved section 18, it can move from one straight section 16 to the other straight section 16. The transport trolley 20 selects whether to pass through the branch section 19 or the curved section 18 according to where in the article transport equipment 10 should be moved, thereby enabling the shortest route to reach the destination. In the branch section 19, the two arc-shaped conveying rails 12 _{BR connected to the conveying rail 12 IN} on the inner peripheral side of the straight section 16 are arranged so as to be separated by the same interval as the width of the conveying trolley 20. _{Therefore, the conveyance rail 12 IN} on the inner peripheral side of the straight section 16 is interrupted by an amount corresponding to the width of the branch section 19. With this, when the transport trolley 20 travels from one end of the straight section 16 to the other end, although the transport trolley 20 continues to pass a position close to the transport rail 12 _OUT on the outer peripheral side, the transport trolley 20 will continue to pass at the connection site connected to the branch section 19 _{Leave the conveyance rail 12 IN} on the inner peripheral side temporarily.

_{Along the conveyance rail 12 OUT} on the outer peripheral side of the straight section 16, a power supply line 14 through which an alternating current flows is laid. As a method of laying the power supply line 14, for example, there is a method of inserting an electrical lead wire into a groove provided in the conveyance rail 12. An AC power source 15 that supplies high-voltage AC current is connected to the power supply line 14. The transport trolley 20 can obtain electric power from the power supply line 14 in a non-contact manner. On the other hand, the power supply line 14 is not provided _{in the conveyance rail 12 CUR of the} curved section 18 and the conveyance rail 12 _{BR of the branch section 19.} In addition, in the straight section 16, the power supply line 14 is _{not provided on the conveyance rail 12 IN on the inner peripheral side.} Hereinafter, the section in the conveyance path where the power supply line 14 is installed (here, the straight section 16) is sometimes referred to as the power supply section, and the section where the power supply line 14 is not installed (here, the curved section 18 and the branch section 19) are referred to as the power supply section. It is a non-powered area.

FIG. 2 shows a block diagram of the structure of the transport trolley 20.

As shown in FIG. 2, the transport trolley 20 includes: a power receiving device 24 that obtains power from the power supply line 14 in a non-contact manner; and a driving device 22 that drives the wheels by power supply from the power receiving device 24 21 rotates, thereby causing the transport trolley 20 to travel; and the power storage device 26 which stores the electric power supplied by the power receiving device 24. In addition, the transportation trolley 20 also includes a voltage converter 30 that is connected to the power receiving device 24, the driving device 22, and the power storage device 26. Here, the drive device 22 and the voltage converter 30 are connected in parallel to the power receiving device 24, and the voltage converter 30 is arranged between the power receiving device 24 and the power storage device 26.

The driving device 22 is a device for rotating the wheels 21 of the transport trolley 20 by electric power, and includes, for example, a motor and a rotation controller of the motor. The transport trolley 20 shown in FIG. 1 has four wheels 21. In order to rotate these wheels 21, a plurality of (for example, two for the front wheels and two for the rear wheels) motors and rotation controllers are provided. Multiple motors or rotation controllers are collectively represented as a driving device 22. The driving device 22 is driven by the applied voltage to rotate the wheels 21. However, strong power equal to or higher than the fixed power is required to drive the transport trolley 20. Therefore, in order to drive the driving device 22, it is necessary to apply a predetermined driving voltage V _D (for example, 320V). ) Above voltage.

The power receiving device 24 includes a pick-up coil and a rectifier. The power receiving device 24 is arranged at a position near the power supply line 14 such as the lower surface of the transport trolley 20. Since the AC current flows in the power supply line 14, the direction and intensity of the magnetic flux generated near the power supply line 14 always fluctuate. The pickup coil generates electromotive force by electromagnetic induction according to the change of the magnetic flux. The electromotive force is an alternating current voltage, but the electromotive force is converted into a direct current voltage by a rectifier, and is applied to the driving device 22. In this way, the power receiving device 24 can obtain power from the power supply line 14 even if it is not in direct contact with the power supply line 14. After the power receiving device 24 receives sufficient power from the power supply line 14, the power receiving device 24 _{applies a voltage higher than the driving voltage V D} to the driving device 22, and the transport trolley 20 runs. In the transport vehicle 20, the power receiving device 24 is a main power supply device that supplies electric power to the driving device 22.

The voltage converter 30 is a bidirectional DC-DC converter, which can not only boost the voltage applied to the input terminal and output it to the output terminal as a booster, but also perform the operation of the input terminal The operation of stepping down the voltage and outputting it to the output terminal acts as a step-down device. Furthermore, the voltage converter 30 can also exchange the roles of the output terminal and the input terminal. While the power receiving device 24 is applying a voltage equal to _{or higher than the driving voltage V D} to the driving device 22, the receiving voltage V _{R equal to} or higher than the driving voltage V D is also applied to the voltage converter 30. In this case, the voltage converter 30 as a step-down operation is performed, the reception voltage V _R down to a lower voltage (e.g. 100V), power supplied from the power receiving device 24 to the power storage device 26. On the other hand, when the received voltage V _R applied by the power receiving device 24 is lower than the driving voltage V _D , the voltage converter 30 operates as a booster, and the accumulated voltage V _B output from the power storage device 26 (for example, 100V) is boosted to the driving voltage V _D , and the driving voltage V _{D is} applied to the driving device 22. Furthermore, the voltage converter 30 has a switch 38 connected between the power storage device 26 and the voltage converter 30, and the switch 38 is opened or closed according to the state of the power storage device 26 or the power receiving device 24, thereby enabling blocking or maintaining The electrical connection between the power storage device 26 and the voltage converter 30.

The power storage device 26 is a capacitor (condenser) or a storage battery, which can obtain and accumulate (charge) electric power (electric energy) from the outside. Furthermore, the power storage device 26 can also supply the stored electric power to other electronic devices. While the voltage converter 30 is operating as a step-down device, the power storage device 26 accumulates the electric power supplied by the power receiving device 24. While the voltage converter 30 is operating as a booster, the power storage device 26 supplies electric power to the drive device 22 via the voltage converter 30.

How the voltage converter 30 operates will be explained using the flowchart shown in FIG. 3. First, during conveyance carriage 20 traveling in the power supply section (straight section 16), the voltage converter 30 as a step-down and operated, the received voltage V _R apparatus 24 from the power receiving step down is supplied to the power storage device 26 Electricity (step S01).

Voltage converter 30 monitors the power receiving apparatus 24 receives a voltage V _R, the power storage device voltage V _B 26 of the accumulator. During the operation of the voltage is performed as a step-down converter 30, it is determined whether the reception voltage V _R lower than the driving voltage V _D (step S02) to drive means 22. Upon receiving a voltage V _R is not lower than the driving voltage V _D (step S02- NO), the voltage converter 30 continues operation as a buck (step returns to S01).

After the conveyance carriage 20 to enter the non-powered section (curved section 18 or the branch section 19), the power receiving device 24 does not accept the electric power supply from the power supply line 14, therefore, receives a voltage V _R decreases, and eventually becomes zero. After the voltage converter 30 detects that the received voltage V _{R is} lower than the driving voltage V _D (step S02-Yes), it operates as a booster to boost the accumulated voltage V _{B of the} power storage device 26 to the driving voltage V _D. And the electric power stored in the power storage device 26 is supplied to the drive device 22 (step S03). Thereby, the transport trolley 20 can receive the power supply from the power storage device 26 and continue to travel even in the non-power supply section. Here, the storage voltage V _{B of the} power storage device 26 is not fixed, and it varies according to the amount of electric power stored by the power storage device 26. Therefore, in order to reliably apply _{a voltage equal to or higher than the driving voltage V D} to the driving device 22, the voltage converter 30 may determine the boosting ratio based on the value of the _{accumulated voltage V B.} Specifically, the voltage converter 30 only needs to calculate the ratio N=V _D /V _{B between the drive voltage V D} and the accumulated voltage V _B , and boost the accumulated voltage V _{B by} N times and supply it to the drive device 22.

While the voltage converter 30 is operating as a booster, it also monitors the received voltage V _R from the power receiving device 24 and confirms whether the received voltage V _R is lower than the driving voltage V _D (step S04). If the received voltage V _{R is} not lower than the drive voltage V _D (step S04-No), the transport trolley 20 passes through the non-power supply section and arrives at the power supply section, and the power receiving device 24 restarts receiving power from the power supply line 14. Therefore, the voltage converter 30 operates again as a voltage reducer (returns to step S01).

Upon receiving a voltage lower than the driving voltage of V _R V _D state (step S04-), the voltage converter 30 to confirm whether or not the electric storage device 26 has sufficient power remaining. Specifically, voltage converter 30 measures accumulated voltage V _B output from power storage device 26, and determines _{whether or not accumulated voltage V B} is lower than a predetermined lower limit voltage V _L (e.g., 80V) (step S05). _{If the accumulated voltage V B} output from the power storage device 26 is not lower than the lower limit voltage V _L (step S05-No), there is sufficient power remaining in the power storage device 26, and therefore, the voltage converter 30 continues to operate as a booster (Return to step S03).

_{When the accumulated voltage V B} output from the power storage device 26 is lower than the predetermined lower limit voltage V _L (step S05-YES), the power storage device 26 does not have enough power remaining, so the voltage converter 30 opens the switch 38, The electrical connection between the voltage converter 30 and the power storage device 26 is blocked (step S06). Then, the electric power stored in the electric storage device 26 is not supplied to the drive device 22 via the voltage converter 30, and therefore, the electric power stored in the electric storage device 26 does not further decrease. Here, the predetermined lower limit voltage V _L is a predetermined value, which is a value equal to or higher than the voltage equivalent to the amount of electric power required for the transport vehicle 20 to travel from the non-power-supply section to reach the power-supply section.

Hereinafter, a description will be given of the conditions under which the electrical connection between the voltage converter 30 and the power storage device 26 is blocked. In the article transport facility 10 having a plurality of transport trolleys 20 as shown in FIG. 1, in general, the traveling of each transport trolley 20 is controlled by a management system not shown. The management system monitors the entire article transport facility 10, and controls the traveling of each transport vehicle 20 in a manner that transports the article 11 safely and efficiently. For example, the management system controls the traveling speed of each transport trolley 20 so that the transport trolley 20 passes through the non-powered section (curve section 18 or branch section 19) within a fixed time, or does not use two or more transport trolleys 20. At the same time enter the same non-powered section. In addition, the management system stops the transportation of the transportation vehicle 20 when it is determined that the transportation vehicle 20 cannot travel safely. For example, when an obstacle is found on the transportation rail 12, the management system stops the transportation trolley 20 near the obstacle.

Here, when the transport trolley 20 stops in the non-power supply section (curve section 18 or branch section 19), since the transport trolley 20 is at a position far from the power supply line 14, the receiving voltage of the power receiving device 24 shown in FIG. 2 V _R is zero. Therefore, the voltage converter 30 operates as a booster and supplies the electric power stored in the power storage device 26 to the drive device 22. Even if power is supplied to the drive device 22, if the management system blocks the power transmission between the drive device 22 and the wheels 21, etc., and the transport trolley 20 cannot travel, the transport trolley 20 will remain stopped, but the power stored in the power storage device 26 Will gradually be consumed (discharged). After the obstacle is removed and the transport trolley 20 can travel safely, the management system will restart the transport trolley 20. However, if the power of the power storage device 26 continues to be consumed during the period so far, there may be no energy remaining in the power storage device 26. The electric power used to make the transportation trolley 20 travel cannot use the electric power for the transportation trolley 20 to travel. In this case, the operator must use manpower to move the transport trolley 20 to the power supply section, which will take time before resuming running. Therefore, when the transport trolley 20 is stopped in the non-power-supplying section, it is preferable to leave the power storage device 26 with the power required to leave the non-power-supplying section. Therefore, the voltage converter 30 blocks the electrical connection between the voltage converter 30 and the power storage device 26 in a state in which the electric power that can be used for the transport trolley 20 to travel by itself while leaving the non-power supply section remains in the power storage device 26.

As described above, the storage voltage V _B of the power storage device 26 fluctuates according to the amount of electric power stored in the power storage device 26. The amount of electric power stored in the power storage device 26 and _{the value of the storage voltage V B} output from the power storage device 26 have a fixed correspondence relationship determined by the electrical characteristics of the power storage device 26. Therefore, if the storage voltage V _{B is} lower than the lower limit voltage V _At the time of L, if the electrical connection between the voltage converter 30 and the power storage device 26 is blocked, the power storage device 26 will be in a state in which electric power _{corresponding to the lower limit voltage V L is stored.} Quantitatively speaking, the electric energy required for the transport trolley 20 to travel by itself and leave the unpowered section is calculated from "the power consumption per unit time during the self-propelled process" × "the time it takes to leave completely" that is the amount of power (Ws, watts). Seconds) means. The required amount of electric power can be calculated in advance by the user of the article handling equipment 10 based on the masses of the handling trolley 20 and the articles 11, the length of the non-power-supplying section, and the speed at which the handling trolley 20 is driven, and the like. Alternatively, the user may actually start the transport trolley 20 from the non-power-supply section until it reaches the power-supply section in advance, and measure how much electric power is consumed at this time.

Furthermore, the lower limit voltage V _L can be set to a voltage value corresponding to the amount of electric power required when the transport trolley 20 stops at the entrance of the longest non-power supply section, that is, the maximum amount of electric power that can be required, or more than this voltage value. The voltage value is so that the transport trolley 20 can reach the power supply section without any problems no matter where the transport trolley 20 starts to travel in the non-power supply section.

As described above, according to the transport trolley 20 of this embodiment, in the non-power supply section, that is, the curve section 18 and the branch section 19, the drive device 22 does not receive power from the power receiving device 24 as the main power supply device, but even in the non-power supply section The transport trolley 20 can also travel using the electric power stored in the power storage device 26. Therefore, the power supply line 14 may not be provided in the curve section 18 and the branch section 19, thereby reducing the work cost and material cost required for laying the power supply line 14.

Furthermore, even in the straight section 16, the power supply line 14 only needs to be installed on the outer transport rail 12 _OUT , and further, the power receiving device 24 that obtains power from the power supply line 14 by the non-contact power supply method only needs to be installed The outer peripheral side of the left and right sides of the transport trolley 20 (if the transport trolley 20 is turned right in the drawing, the outer peripheral side is the left side of the advancing direction). Therefore, the cost of materials consumed by the power receiving device 24 can also be reduced. .

Furthermore, according to the transport trolley 20 of the present embodiment, the connection between the power storage device 26 and the voltage converter 30 is blocked before the energy stored in the power storage device 26 becomes equal to or less than the amount of electric power required for self-propelled leaving the non-power-supply section. As a result, since there is sufficient electric power remaining in the power storage device 26, after the transport trolley 20 stops in the non-power supply section, when the transport trolley 20 restarts traveling, the transport trolley 20 can use the remaining power of the power storage device 26 to travel. And leave the non-powered area. In this way, the operator does not need to use manpower to move the transport trolley 20. Therefore, it does not take a long time for the transport trolley 20 stopped in the non-power-supply section to resume traveling, and it is possible to ensure high operating efficiency of the entire article transport facility 10.

Furthermore, according to the transport vehicle 20 of the present embodiment, since the voltage converter 30 is provided, a small-capacity battery or capacitor can be used as the power storage device 26. The voltage converter 30 serves to boost _{the storage voltage V B of the power storage device 26} On the other hand, the booster supplied to the driving device 22 operates, and the accumulated voltage V _B output by the small-capacity battery or capacitor is a voltage lower than the driving voltage V _D. Therefore, the power storage device 26 may not be _{a high-voltage large-capacity battery whose output storage voltage V B} is capable of directly driving the driving device 22, and the cost of the power storage device 26 can be lower. Furthermore, since this voltage converter 30 always monitors the accumulated voltage V _{B of} the power storage device 26 in order to determine the boosting ratio, it can also determine _{whether the accumulated voltage V B} is lower than the lower limit voltage V _L. Therefore, there is no need to prepare a device for monitoring the accumulated voltage V _B in addition to the voltage converter 30, and the manufacturing cost of the transport trolley 20 can be lower.

In addition, the conveyance trolley 20 in this embodiment travels along the conveyance rail 12, but the conveyance trolley 20 of this invention is not limited to this. For example, along the transportation path In equipment with a power supply line embedded in the ground, the transport trolley 20 can also travel on the ground along the power supply line, thereby moving along the transport path.

Furthermore, in the present embodiment, the electric power stored in the power storage device 26 is used when the transport vehicle 20 is traveling in a non-power-supplying section, but the power storage device 26 may also be used for other purposes. For example, in the event of an instantaneous power failure in the article handling equipment 10, the power supply from the power supply line 14 will be temporarily stopped. However, during the period from the power outage of the article handling equipment 10 to recovery, the transportation trolley 20 can also utilize the storage of the power storage device 26 Power driving.

In addition, in the present embodiment, the power receiving device 24 of the transport trolley 20 is a main power supply device that mainly supplies electric power to the driving device 22, but the main power supply device may have other forms. For example, it may be a form in which a non-contact power supply method is not adopted, but the transfer trolley 20 is directly connected to an external power source as a main power source device. This external power supply supplies power to the drive device 22 and stores power in the power storage device 22. When the transport trolley 20 moves to a location away from the external power source and temporarily cannot receive power from the external power source, the power stored in the power storage device 26 can be used .

Furthermore, in this embodiment, the voltage converter 30 that can operate as both a booster and a step-down device is used, but a booster that performs a step-up operation and a step-down device that performs a step-down operation may also be used. The compressor is set to a different machine. In this case, even when the storage voltage V _{B is} low, the step-down device and the power storage device 26 can be electrically connected, as long as the connection between the power storage device 26 and the step-up device is blocked.

In addition, in the present embodiment, the lower limit value (lower limit voltage) of the electric power of the power storage device 26 is the same as that of the transport trolley 20 from the non-power-supply section to reach the lower limit value. The voltage value corresponding to the amount of electric power required up to the power supply interval, but it is not limited to this. For example, when an inspection table for inspecting the state of the transport trolley 20 is installed in a non-power-supply section, a voltage value equivalent to the amount of electricity required for the transport trolley 20 to move to the inspection table can also be set as Lower limit voltage.

Moreover, in this embodiment, the conveyance path on which the conveyance trolley 20 travels has a rounded rectangular shape as a whole, but the conveyance path may have any shape such as a circle or a polygon. However, it is preferable to design the conveyance path so that when the conveyance trolley 20 enters the non-power supply section, the power storage device 26 is in a fully charged state. For example, when the linear portion in the conveyance path is set as the power supply section and the curved portion is set as the non-power supply section, at least one linear portion may be arranged between the plurality of curved portions. In this way, it is preferable to design the conveyance path so that the conveyance trolley 20 travels in the non-power-supply section (curve-shaped section) after passing through the power supply section (straight-shaped section) at least once.

14‧‧‧Power line

21‧‧‧Wheel

22‧‧‧Drive device

24‧‧‧Power receiving device

26‧‧‧Power storage device

30‧‧‧Voltage converter

38‧‧‧Switch

V _B ‧‧‧Accumulated voltage

V _D ‧‧‧Drive voltage

V _R ‧‧‧Receiving voltage

Claims (1)

A transport trolley, which uses electric power to travel, thereby transporting articles, the transport trolley is characterized by comprising: a driving device which is driven by applying a voltage higher than a predetermined driving voltage, thereby causing the transport trolley to travel; A main power supply device that supplies electric power to the drive device; a power storage device that stores electric power supplied by the main power supply device; and a booster that is connected to the drive device and the power storage device for the slave The accumulated voltage output by the power storage device is boosted, and the accumulated voltage is supplied to the driving device. When the driving device cannot receive the power supply from the main power supply device, it can receive it through the booster The power stored in the power storage device is supplied for driving, and the booster monitors the storage voltage output from the power storage device, boosts the storage voltage to the drive voltage, and transfers the power to the drive voltage. The driving device applies, on the other hand, when the storage voltage is lower than a predetermined lower limit voltage, the connection between the booster and the power storage device is blocked, and the electric power stored in the power storage device Is not supplied to the driving device; wherein the transport trolley runs along a rail, the rail is set along a predetermined transport path, a power supply section and a non-power supply section are provided on the rail, and the power supply section is provided with a direction The power supply line for the main power supply device to supply power is not set in the non-power supply section The power supply line is provided, and the driving device is driven by the electric power supplied from the power supply line via the main power supply device while the transport trolley is traveling in the power supply section, and the power storage device accumulates the power supply from the power supply line. The power supplied by the power supply line is driven by the driving device by receiving the power stored in the power storage device via the booster while the transport trolley is traveling in the non-power-supplying section The lower limit voltage is a value equal to or higher than the voltage equivalent to the amount of electric power required for the transport trolley from the non-power-supply section to reach the power-supply section.

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