WO2011062218A1 - Dispositif de transport d'articles - Google Patents

Dispositif de transport d'articles Download PDF

Info

Publication number
WO2011062218A1
WO2011062218A1 PCT/JP2010/070556 JP2010070556W WO2011062218A1 WO 2011062218 A1 WO2011062218 A1 WO 2011062218A1 JP 2010070556 W JP2010070556 W JP 2010070556W WO 2011062218 A1 WO2011062218 A1 WO 2011062218A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
carriage
traveling
power
charging
Prior art date
Application number
PCT/JP2010/070556
Other languages
English (en)
Japanese (ja)
Inventor
健士 渡邊
山崎　恵一
Original Assignee
株式会社岡村製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2009264320A external-priority patent/JP2011109859A/ja
Priority claimed from JP2009288906A external-priority patent/JP5581048B2/ja
Application filed by 株式会社岡村製作所 filed Critical 株式会社岡村製作所
Priority to CN201080052099.XA priority Critical patent/CN102666185B/zh
Publication of WO2011062218A1 publication Critical patent/WO2011062218A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/04—Cutting off the power supply under fault conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/36—Current collectors for power supply lines of electrically-propelled vehicles with means for collecting current simultaneously from more than one conductor, e.g. from more than one phase
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
    • B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • B66C11/06—Underhung trolleys running on monorails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention includes a traveling rail disposed along a transportation path, and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state in which a conveyance support member is suspended, and conveys an article.
  • the present invention relates to an article conveyance device that is loaded on an object support member and conveyed along the conveyance path.
  • a lifting body that moves up and down via a suspension member with respect to the body of a ceiling-type transport vehicle (cart unit) that is driven by an installed battery is lowered to a ground station that performs a load transfer operation, and then moves up and down.
  • a transport system that charges a battery (power storage means) by connecting a charging connector provided on the body and a power connector provided on a ground station (for example, see Patent Document 1).
  • the conventional article transporting device stops power supplied from a battery (power storage unit) to a control circuit by a switch circuit when the unmanned vehicle (cart unit) is stopped.
  • the power consumption of the battery is suppressed, and the current flowing through the induction wire is detected by a detector, so that the switch circuit automatically restarts the unmanned vehicle.
  • Patent Documents 3 to 4 by stopping the power supplied from the power storage means to the control circuit when the cart unit is stopped, the power consumption of the power storage device can be suppressed and the cart unit can be restarted. It has become.
  • Japanese Patent No. 3674065 (page 5, FIG. 1) Japanese Laid-Open Patent Publication No. Sho 62-111321 (Page 2, Fig. 1) Japanese Patent No. 3136882 (page 4, Fig. 2) Japanese Patent No. 4082287 (page 3, FIG. 3)
  • the charging connector and the power connector are connected in the vicinity of the floor where the worker is present, and the high power necessary for driving the ceiling-type transport vehicle (cart unit). Since charging work is performed, it is not only dangerous when the worker approaches the ground station during charging, but the charging and power connector protrudes to the side of the elevator and ground station, so the worker is inadvertent There is also a risk that the battery may come into contact with the charging and power connector.
  • This invention was made paying attention to such a problem, and it aims at providing the goods conveyance apparatus which can perform the charging operation
  • An object is to provide a transport device.
  • an article transporting apparatus of the present invention includes: A traveling rail disposed along the transportation path; and a carriage unit having a traveling carriage capable of traveling on the traveling rail in a state where the transportation object supporting member is suspended, and an article is attached to the transportation object supporting member.
  • the carriage unit includes a driving unit that causes the traveling carriage to travel on the traveling rail, and an electric storage unit that supplies electric power to the driving unit, and a charging unit that charges the electric storage unit is included in the transport path.
  • the power supply unit is provided with a power supply unit that is connected to the power supply unit of the charging unit and is supplied with power.
  • the power supply unit of the charging unit and the power-supplied unit of the traveling carriage are: Since it is located above the traveling rail, charging work is performed by connecting the power feeding part of the charging means and the power supplied part of the traveling carriage at a position away from the floor where the worker is present. In addition, there is no risk that the worker will inadvertently come into contact with the power supply unit and the power supply unit, and the charging operation for the power storage means of the cart unit can be performed safely.
  • the article conveying apparatus of the present invention is The cart unit non-electrically maintains a control circuit that controls electric power supplied from the power storage means to the driving means, and a cut-off state that cuts off an electrical connection between the control circuit and the power storage means. And a switch circuit.
  • the switch circuit can prevent the electric circuit from shutting off the control circuit and the power storage means Therefore, the switch circuit itself does not consume power, the power storage means does not consume any power, and even if the cart unit is stopped for a long time, the power storage means can store power. Will be maintained.
  • the article conveying apparatus of the present invention is The power supply unit of the charging unit is provided above the traveling rail, and the power-supplied unit is provided on an upper surface of the traveling carriage. According to this feature, since the power feeding unit and the power supplied unit that are connected to each other are arranged at a position higher than the traveling carriage, the power feeding unit and the power supplied unit are further away from the floor where the worker is present. As a result, the power supply unit of the charging means does not get in the way when the traveling carriage travels on the traveling rail.
  • the article conveying apparatus of the present invention is The cart unit has at least two front and rear traveling carts, and the powered unit is provided on a traveling cart disposed on the rear side.
  • the traveling cart on the rear side is pressed against the traveling rail so as to be stable without shaking and rattling, and the power feeding unit of the charging means is provided by providing a power-supplied unit on the traveling cart on the rear side. Can be easily connected to the powered part of the traveling carriage.
  • the article conveying apparatus of the present invention is The power supply unit of the charging unit is connected to the power-supplied unit of the traveling carriage on condition that the power capacity of the power storage unit is equal to or less than a predetermined capacity. According to this feature, when the carriage unit passes through a part of the conveyance path where the charging means is disposed, it is not always necessary to perform the charging operation, and the operation efficiency of the carriage unit is not reduced.
  • the power storage means can be charged.
  • the article conveying apparatus of the present invention is A part of the conveyance path is a transfer position of the article with respect to the conveyed product support member, a branch position of the traveling rail, a junction position of the traveling rail, or a standby position of the cart unit. It is a feature. According to this feature, the speed of the carriage unit is reduced or stopped at the transfer place, the branch place, the joining place, or the standby place. The connecting work can be easily performed.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a non-electrical switch that detects a detected portion of a detected object that contacts the cart unit without depending on the electric power of the power storage means.
  • the non-electric switch can be used to maintain the disconnected state between the control circuit and the power storage means non-electrically without relying on the power from the power storage means, and the detected object can be Since the separation from the cart unit can be detected by a non-electric switch, the cart unit can be automatically activated by energizing the control circuit and the power storage means using the operation of the detected object.
  • the non-electrical switch in the present invention is a switch that operates electrically, including a mechanically operated switch such as a magnetic switch that operates by magnetic force and a limit switch that operates by physical contact. It is also a switch that allows power to be supplied from an independent power source without relying on the power of power storage means such as a photoelectric switch that is operated by the power of a small internal battery or a switch that is operated by a solar battery. If present, it can be used as a non-electric switch in the present invention.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a bistable relay that operates when the power capacity of the power storage means is equal to or less than a predetermined capacity. According to this feature, the cart unit is automatically stopped when the power capacity of the power storage means is equal to or less than a predetermined capacity, and the driving power of the drive means is weakened and the operation efficiency is lowered. Can be prevented from continuing to be operated, and by using the bistable relay, it is possible to non-electrically maintain the cut-off state between the control circuit and the power storage means.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a return circuit that returns an electrical connection between the control circuit in the cut-off state and the power storage unit by an external operation. According to this feature, the shut-off state between the control circuit and the power storage means can be restored by a manual external operation arbitrarily performed by the operator.
  • the article conveying apparatus of the present invention is
  • the switch circuit includes a delay circuit for delaying the switching state. According to this feature, even when the switch circuit is activated, the delay circuit does not immediately turn off, but the delay circuit supplies power to the control circuit and the drive means for a predetermined delay time.
  • the control circuit can control the driving means while the electric power continues to be supplied until it completely stops.
  • FIG. 1 is a plan view showing an overall image of the article transporting apparatus in the embodiment.
  • FIG. 2 is a side view showing the cart unit.
  • FIG. 3 is a side view showing the preceding carriage and the front traveling carriage.
  • FIG. 4 is a plan view showing a preceding carriage and a front traveling carriage.
  • FIG. 5 is a side view showing a rear traveling carriage and a subsequent carriage.
  • FIG. 6 is a plan view showing a rear traveling carriage and a subsequent carriage.
  • FIG. 7 is a cross-sectional view taken along line AA in FIG. 6 showing the rear traveling carriage.
  • FIG. 8 is a front view showing the stopper and the preceding carriage.
  • FIG. 9 is a sectional view taken along the line BB showing the stopper and the preceding carriage.
  • FIG. 10 is a rear view showing the contact portion and the charging device.
  • 11 is a cross-sectional view taken along the line CC in FIG. 10 showing the contact portion and the charging device.
  • FIG. 12 is a circuit diagram illustrating a switch circuit included in the cart control apparatus.
  • FIGS. 2 to 6, 8 and 11 is the front side (front side) of the cart unit
  • the lower side of FIGS. 4 and 6 is the left side of the cart unit
  • the left side of FIG. 10 is the left side of the cart unit
  • the right side of FIG. 8 is the left side of the cart unit.
  • Reference numeral 1 in FIG. 1 denotes an article to which the present invention is applied for transporting a container 2 (see FIG. 2) as an article in the present invention in which automobile parts are housed, for example, in a factory that manufactures automobiles and the like. It is a transport device.
  • the article conveying apparatus in the article conveying apparatus 1, two traveling rails 3 arranged along the conveying path and a plurality of carriages that can travel the traveling rail 3 counterclockwise in plan view.
  • the unit 4 is mainly composed of.
  • the traveling rail 3 is stretched over a predetermined height near the ceiling in the factory.
  • the cart unit 4 is configured to transport the container 2 in which automobile parts are stored along the transport path.
  • the two traveling rails 3 are pipes made of a metal material such as aluminum or steel, the upper surface 3a of which is formed as a horizontal plane, and are suspended from the ceiling in the factory along the transport path in the factory. Provided. Moreover, the traveling rail 3 is L-shaped in a cross-sectional view, so that traveling carriages 8 and 9 of a carriage unit 4 to be described later are not detached from the traveling rail 3 (see FIG. 7).
  • the traveling rail 3 is formed in an endless shape by combining a plurality of straight roads 3b and curved roads 3c, and from the main rail 3d that is the traveling rail 3 that forms the outer peripheral conveyance path. Traveling rails 3e, 3f, and 3g that branch and merge are provided.
  • the traveling rail 3 that branches inward from the main rail 3d on the upper side in FIG. 1 is referred to as a branch rail 3e
  • the traveling rail 3 that branches inward from the main rail 3d in the center of the plane is referred to as a branch rail 3f
  • the traveling rail 3 that branches inwardly from the main rail 3d is referred to as a branch rail 3g.
  • the branch rail 3e is provided with a loading station C1 (transfer location) for loading the container 2 onto the cart unit 4, and the branch rail 3g is an unloading station C2 (for unloading the container 2 from the cart unit 4).
  • the transfer rail) is provided, and the branch rail 3f is provided with a standby station C3 (standby location) for waiting the cart unit 4.
  • a branch station C4 (branch point) is provided at a branch point from the main rail 3d to the branch rails 3e, 3f, 3g, and the branch rails 3e, 3f, 3g join the main rail 3d.
  • a joining station C5 (joining place) is provided at the place to perform.
  • Each of the stations C1 to C5 has the same configuration and is a charging station C for charging the power storage device 5 (power storage means) provided in the carriage unit 4.
  • the article transport device 1 is provided with a main control device (not shown) for comprehensively managing the cart unit 4 and the charging station C.
  • the main control device receives information from the cart unit 4 and the charging station C, and controls a charging device 6 (charging means) and a stopper 7 which will be described later in the charging station C.
  • the cart unit 4 includes two traveling carts 8 and 9 that travel on the traveling rail 3, a preceding cart 10 (auxiliary cart) that travels in front of the front traveling cart 8, A succeeding carriage 11 (auxiliary carriage) that travels behind the side traveling carriage 9 and a carrier 12 that holds the container 2 are provided.
  • the preceding carriage 10 and the front traveling carriage 8 are connected by the connecting anchor 13, and the rear traveling carriage 9 and the subsequent carriage 11 are connected by the connecting anchor 14.
  • These carriages 8, 9, 10, 11 are arranged in series and travel on the upper surface 3 a of the traveling rail 3.
  • the carrier 12 (conveyed object support member) is suspended by suspension bars 15 attached to the front and rear traveling carriages 8 and 9, respectively.
  • the traveling cart 8 on the front side includes a main body portion 16 having a substantially U shape in a front view, a motor 17 (driving means) for causing the cart unit 4 to travel, and the motor 17. And the two wheels 18 that rotate in contact with the upper surface 3a of the traveling rail 3 by driving.
  • the front end of the main body 16 is pivotally supported by the rear end portion of the connecting collar 13 connected to the preceding carriage 10, and the front traveling carriage 8 swings horizontally around the pivot shaft 19. It has come to be.
  • the motor 17 is disposed on the rear side of the main body 16 so that the shaft 17a faces the front side, and a bevel gear 17b is attached to the tip of the shaft 17a.
  • wheels 18 are pivotally supported by connecting shafts 20 at the left and right ends of the main body 16.
  • a bevel gear 20 a that engages with the bevel gear 17 b is attached to the connecting shaft 20, and the left and right wheels 18 are driven to rotate when the motor 17 is driven.
  • the motor 17 is supplied with electric power by being connected to a power storage device 5 to be described later, and the power storage device is provided at a plurality of charging stations C provided at predetermined locations (part of the transport path) on the traveling rail 3. 5 is charged (see FIG. 1).
  • a hanging bar 15 extending downward is attached to a substantially central portion of the lower end portion of the main body portion 16.
  • Guide rollers 21 are provided on the front and rear sides of the suspension bar 15, and these guide rollers 21 are pivotally supported so as to be independently rotatable about the vertical axis.
  • each guide roller 21 is arranged in the gap 22 between the traveling rails 3. Therefore, each guide roller 21 is in contact with the side end portions of the both traveling rails 3 while the traveling carriage 8 is traveling, so that the traveling carriage 8 is not separated from the traveling rail 3.
  • the rear traveling cart 9 is in contact with (connecting to) a main body portion 23 that is substantially U-shaped in a front view, two wheels 18 that rotate in contact with the upper surface 3a of the traveling rail 3, and a charging device 6 described later. ) And the contact portion 24 (power-supplied portion).
  • the contact portion 24 is connected to the power storage device 5 provided in the carrier 12 by wiring (not shown).
  • a front end portion of the connecting rod 14 connected to the succeeding carriage 11 is pivotally supported at the rear portion of the main body 23, and the rear traveling carriage 9 swings in the horizontal direction around the pivot shaft 26. It comes to be moved.
  • the wheels 18 are pivotally supported by shafts 18a at the left and right end portions of the main body 23, and the left and right wheels 18 are independently rotated.
  • the suspension bar 15 and the guide roller 21 are attached to the main body portion 23, similarly to the main body portion 16 of the front traveling carriage 8, and the configuration thereof is the same as that of the front traveling carriage 8.
  • an intermediate member 27 is attached to the lower part of the front and rear suspension rods 15, and a connecting rod 28 facing in the front-rear direction is attached between the intermediate members 27.
  • the front and rear traveling carriages 8 and 9 are connected to each other via the connecting rod 28, the intermediate members 27, and the suspension rod 15. Further, the upper end of the carrier 12 is attached to the lower end of the intermediate member 27.
  • the carrier 12 includes an upper saddle member 12a facing in the front-rear direction, a vertical saddle member 12b extending downward from a front end portion and a rear end portion of the upper saddle member 12a, and lower ends of the front and rear longitudinal saddle members 12b. It is comprised from the mounting board 12c attached to the part. Note that the carrier 12 is suspended from the front and rear traveling carriages 8 and 9 by attaching the upper saddle member 12 a to the intermediate members 27.
  • the motor 17 is connected to the power storage device 5 and the cart control device 29 by wiring (not shown).
  • a plate 31 having a substantially L shape in side view is attached to the upper ends of the two front and rear plates 30 erected on the inner side of the main body 23.
  • Contact portions 24 are attached to the upper surfaces of these plates 31 via brackets 32.
  • each contact portion 24 is formed with a groove portion that opens upward and extends in the front-rear direction, and a conductor 33 is provided at the bottom thereof.
  • the conductors 33 of the two outer contact portions 24a and 24d are connected to the power storage device 5 by wiring (not shown).
  • the conductors 33 of the inner two contact portions 24b and 24c are connected (short-circuited) to each other by wiring (not shown).
  • the contact portions 24b and 24c are provided for confirming a connection state between a charging plug 52 of the charging device 6 described later and the contact portions 24a and 24d.
  • the preceding carriage 10 has a main body portion 34 that is substantially U-shaped when viewed from the front, and a four-wheel wheel 35 that rotates in contact with the upper surface 3 a of the traveling rail 3. is doing.
  • the front end portion of the connecting rod 13 is pivotally supported at the rear portion of the main body portion 34, and is swung in the horizontal direction around the pivot shaft 36.
  • a protrusion 37 that protrudes forward is provided at the front end of the main body 34.
  • a guide roller 38 having a diameter smaller than that of the guide roller 21 is provided at the lower end portion of the main body 34 in parallel in the left-right direction at the front and rear portions. These guide rollers 38 are pivotally supported so as to be independently rotatable about the vertical axis. Like the guide rollers 21, the guide rollers 38 abut against the side end portions of the both traveling rails 3 during the traveling of the preceding carriage 10, 10 is prevented from leaving the traveling rail 3.
  • a Z-shaped sensor support member 39 is attached to the inside of the main body 34.
  • a curve detection sensor 40 tilt detection means for detecting the curved path 3c is attached to the back side of the standing portion 39a of the sensor support member 39.
  • the curve detection sensor 40 is composed of a photo sensor, and an upper light emitting element (not shown) and a lower light receiving element (not shown) are arranged to face each other, and the light receiving element can receive light emitted from the light emitting element. It is like that.
  • a dog 41 detected by the curve detection sensor 40 is provided at the front end portion of the connecting collar 13, and the front end portion of the dog 41 is formed by cutting the left and right corners into squares and reducing the left and right widths. (See FIG. 4).
  • the dog 41 is shielded so that the light from the light emitting element does not reach the light receiving element.
  • the subsequent carriage 11 has a main body portion 42 that is substantially U-shaped when viewed from the front, and a four-wheel wheel 35 that rotates in contact with the upper surface 3 a of the traveling rail 3. is doing.
  • the rear end portion of the connecting rod 14 is pivotally supported at the front portion of the succeeding carriage 11, and the connecting rod 14 is swung horizontally around the pivot shaft 43.
  • a curve detection sensor 46 that detects the curved path 3c. ) Is attached.
  • the curve detection sensor 46 can detect a dog 47 attached to the rear end portion of the connecting saddle member 14, and the connecting saddle member 14, the dog 47, and the curve detection sensor 46 are symmetrical with respect to the configuration of the preceding carriage 10. It has the same configuration as described above.
  • the curve detection sensors 40 and 46 are connected to the cart controller 29 by wiring (not shown).
  • the dog 47 is removed from the curve detection sensor 46 to receive light.
  • the curve detection sensor 46 is moved to the dog 47. By detecting this, it is possible to detect that the carriage unit 4 has escaped from the curved path 3c.
  • the carriage controller 29 decelerates the traveling speed of the carriage unit 4. 17 is controlled.
  • the cart controller 29 accelerates the traveling speed of the cart unit 4 based on the curve detection information (swing detection information) that is detected by the curve detection sensor 46 that the cart unit 4 has escaped the curved path 3c.
  • the motor 17 is controlled.
  • the speed at which the carriage unit 4 travels on the straight road 3b is about 30 m / min
  • the curved road 3c is controlled to travel at a speed of about 20 m / min.
  • a front detection sensor 48 that is a detection sensor for detecting a front obstacle or the like inside is provided at the upper end portion of the sensor support member 39 of the preceding carriage 10. It is attached.
  • the front detection sensor 48 is a reflective photoelectric sensor provided with a light emitting element (not shown) and a light receiving element (not shown), and light emitted forward from the light emitting element is a front object (detected object). ) And the light receiving element receives the light so that a front object can be detected.
  • a substantially L-shaped sensor support member 49 facing the front side is attached to the front side of the standing portion 39 a of the sensor support member 39, and the main body is attached to the lower surface of the front end portion of the sensor support member 49.
  • a stop detection sensor 51 contact detection means for detecting an object disposed in the detection space 50 in the front part of the part 34 is attached.
  • the stop detection sensor 51 is a magnet switch in which a built-in magnet detects the proximity and contact of a magnetic material such as an iron material by a magnetic force.
  • the front detection sensor 48 and the stop detection sensor 51 are connected to the cart controller 29 by wiring (not shown).
  • the traveling speed of the carriage unit 4 is controlled to be reduced (5 m / min in this embodiment) by the carriage controller 29, and the stop detection is performed.
  • the sensor 51 detects the iron material arranged in the detection space 50, the carriage unit 4 is controlled to be stopped by the carriage control device 29.
  • a plurality of carriage units 4 are running on a running rail 3.
  • a rear carriage When the unit 4 approaches the front carriage unit 4, the front detection sensor 48 of the preceding carriage 10 on the rear side detects the subsequent carriage 11 (detected body) on the front side, and the traveling speed becomes 5 m / min. Decelerated.
  • the projecting portion 37 of the preceding preceding carriage 10 on the rear side comes into contact with the succeeding carriage 11 on the front side (detected body), and the dog 44 (detected portion) is placed on the rear side.
  • the carriage unit 4 on the rear side is stopped by the carriage control device 29 based on the contact detection information that enters the detected space 50 of the preceding carriage 10 and the stop detection sensor 51 detects the dog 44.
  • the charging station C is provided with a stopper 7 for stopping the cart unit 4. 8 and 9 show a state where the stopper 7 is in the lower position. In FIG. 9, the members such as the stopper 7 are not shown in cross section for easy understanding.
  • the stopper 7 has left and right side surface portions 7a having an inverted L shape in a side view and a rear surface portion 7b having a rectangular shape in a front view, and has a shape in which the front is recessed. Further, the stopper 7 is provided with two left and right stopper holding portions 69 attached to the support frame 55, and the stopper 7 is pivotally supported by the stopper holding portion 69, and is rotated up and down around the pivot shaft 70. (See FIG. 9). A dog 71 made of iron is attached to the back side of the rear surface portion 7 b of the stopper 7.
  • a motor 72 for rotating the stopper 7 is provided on the rear side of the stopper 7.
  • the motor 72 is held by a motor holding portion 73 attached to the support frame 55, and is installed so that a shaft (not shown) faces the left side (the right side of the paper).
  • the motor 72 is driven at the tip of the shaft.
  • a rotating member 74 that rotates together with the rotating member 74 is attached.
  • the motor 72 is connected to a main controller (not shown), and drive control is performed.
  • a rear end portion of a stopper operating member 75 for rotating the stopper 7 is pivotally supported at the front end portion of the rotating member 74, and the front end portion of the stopper operating member 75 and the left side surface portion 7 a of the stopper 7 are supported.
  • the stopper 7 is pivoted about a connecting bar 76 that connects the left and right side portions 7a.
  • bearings 77 are provided on the outer periphery of the pivot shaft 70 in the stopper 7 and the outer periphery of the connecting bar 76 in the stopper operating member 75, so that the pivot shaft 70 and the connecting bar 76 rotate smoothly. It comes to be moved.
  • stopper detection sensors 78 and 79 for detecting that the stopper 7 is in the upper position or the lower position are provided, and the stopper detection sensors 78 and 79 are photo sensors.
  • the stopper detection sensor 78 that detects the upper position is attached to a sensor support member 80 that is screwed to the right side (left side of the paper) of the support frame 55, and includes a light emitting element (not shown) and a light receiving element (not shown). It is installed to face in the front-rear direction.
  • a stopper detection sensor 79 for detecting the lower position is attached to the sensor support member 80 and is installed so that the light emitting element and the light receiving element face each other in the vertical direction.
  • a dog 81 detected by the stopper detection sensors 78 and 79 is attached to the side surface portion 7a of the stopper 7, and when the stopper 7 is at the lower position shown in FIG. When 7 is in the upper position, it is detected by a stopper detection sensor 78.
  • a carriage detection sensor 82 for detecting the preceding carriage 10 is attached to the rear side of the motor 72, and this carriage detection sensor 82 is a reflective photoelectric sensor like the front detection sensor 48 described above. . It is installed so that light is emitted obliquely forward from a light emitting element (not shown), can detect the cart unit 4 stopped at the charging station C, and information of the cart detection sensor 82 is a main controller (not shown). To be sent to.
  • the charging device 6 is provided with two outer charging plugs 52 (power feeding units) and two inner connection confirmation plugs 53. These plugs 52 and 53 extend in the left-right direction, and are held by a plug holding portion 54 that is substantially L-shaped in a side view so that the tip ends thereof have the same height.
  • a support frame 55 extends in parallel with the travel rail 3 above the travel rail 3 in the charging station C, and the support frame 55 includes two travel rails 3. It has the same left-right width as the side-by-side width, and has a reverse U-shape when viewed from the front.
  • the support frame 55 and the traveling rail 3 are connected by a connecting member 56 provided so as to surround the outer periphery.
  • a motor 58 is installed on the lower surface of the support frame 55 via a bracket 57.
  • the motor 58 is attached so that the shaft 58a faces the rear side, and a turning member 59 that is turned when the motor 58 is driven is attached to the tip of the shaft 58a.
  • the motor 58 is connected to a main control device (not shown) so as to control driving.
  • the motor 58 is driven and the pivot member 60 is pivoted together with the pivot member 59, the plug holding portion 54 is moved up and down. 10 and 11, a state where the charging plug 52 is lowered is shown.
  • bearings 63 are provided on the outer periphery of the pivot shaft 61 of the pivot member 60 and the rotating member 59 and on the outer periphery of the pivot shaft 62 of the pivot member 60 plug holding portion 54, and the pivot member 60 is smooth. It is designed to be rotated.
  • the support frame 55 above the charging device 6 is provided with two left and right linear bushes 64 facing downward, and an elevating part 64b that is fitted into the upper fixing part 64a of the linear bush 64 and can be moved up and down. It is attached to the plug holding part 54.
  • the plug holding portion 54 When the plug holding portion 54 is moved in the vertical direction, it is guided in the vertical direction by the linear bush 64, so that the plug holding portion 54 does not wobble in the horizontal direction.
  • the charging plug 52 can be moved up and down (movable) between a charging position where the charging plug 52 can be charged by connecting to the contact portion 24 of the succeeding carriage 11 and a standby position where the charging plug 52 is separated from the contact portion 24 of the succeeding carriage 11 and waits. ing.
  • plug detection sensors 65 and 66 that detect that the charging device 6 is located at the standby position or the charging position are arranged side by side (see FIG. 10).
  • the plug detection sensors 65 and 66 are attached to a sensor support member 67 screwed to the right side portion of the support frame 55, and are attached to the right side portion of the plug holding portion 54 when the charging device 6 is in the standby position.
  • the protruding portion 68 is detected by the upper plug detection sensor 65 and the charging device 6 is in the charging position, the protruding portion 68 is detected by the lower plug detection sensor 66.
  • the plug detection sensors 65 and 66 are photosensors similar to the curve detection sensors 40 and 46 described above, and are installed so that the light emitting element (not shown) and the light receiving element (not shown) face each other in the vertical direction. Has been.
  • the main control device (not shown) receives the position information of each cart unit 4, and when the voltage of the power storage device 5 received from the cart control device 29 is equal to or lower than a predetermined voltage, the cart unit 4 Control is performed such that the stopper 7 of the charging station C that passes next is lowered to stop the cart unit 4.
  • the charging station C is passed without operating the stopper 7.
  • the motor 72 is driven to rotate the rotating member 74 around the rotating shaft 83 in the clockwise direction as viewed from the side.
  • the stopper operating member 75 is moved forward while drawing an arcuate locus, the upper end portion of the stopper 7 is moved forward by the connecting bar 76, and the stopper 7 rotates about the pivot shaft 70. Then, the lower end of the stopper 7 is moved downward.
  • the protruding portion 37 of the preceding carriage 10 contacts the stopper 7 (detected body), the dog 71 (detected portion) enters the detected space 50 of the preceding carriage 10, and the stop detection sensor 51 detects the dog 71.
  • the cart unit 4 is stopped by the cart control device 29 based on the detection information.
  • the cart detection sensor 82 detects the preceding cart 10
  • the fact that the cart unit 4 is stopped at the charging station C is transmitted to the main controller.
  • the stopper 7 and the charging apparatus 6 are arranged so that the charging apparatus 6 is positioned directly above the rear traveling carriage 9 having the contact portion 24 for charging. Has been.
  • the motor 58 is stopped by the main controller (not shown), and each of the four plugs 52, 53 is detected. Is in contact with the conductor 33 of the four contact portions 24 (see FIGS. 10 and 11). At this time, the charging plug 52 contacts the outer contact portions 24a and 24d, and the connection confirmation plug 53 contacts the inner contact portions 24b and 24c.
  • connection confirmation plug 53 contacts the conductor 33 of the inner contact portions 24b and 24c, the inner contact portions 24b and 24c are short-circuited, and the charging plug 52 is in contact with the conductor 33 of the two outer contact portions 24. You can confirm that.
  • this short-circuit information is transmitted to the main control device (not shown), it is considered that the charging plug 52 is in contact with the contact portions 24a and 24d, and the power storage device 5 is connected from the charging device 6 via the contact portions 24a and 24d. Charging starts.
  • the motor 58 is driven by the main controller to rotate the rotating member 59, and the plug holding portion 54 is raised as the pivot member 60 is raised.
  • the motor 58 is stopped by the main controller.
  • the stopper 7 is raised by the control of the main controller.
  • the motor 72 is driven and the rotating member 74 is rotated clockwise around the rotating shaft 83 in a side view, and the stopper operating member 75 pivotally supported at the tip of the rotating member 74 is circular.
  • the upper end portion of the stopper 7 is moved rearward by the connecting bar 76, and the stopper 7 rotates around the pivot shaft 70 to lower the lower end portion of the stopper 7. Is moved upward.
  • the charging operation at the charging station C is controlled so as to be charged when the voltage of the power storage device 5 is equal to or lower than a predetermined voltage.
  • the power storage device 5 of the cart unit 4 can be charged without reducing the operational efficiency.
  • the aforementioned front detection sensor 48 is stopped.
  • the subsequent carriage 11 of the next carriage unit 4 is detected, and the subsequent carriage unit 4 is decelerated.
  • the stop detection sensor 51 described above detects the subsequent carriage 11 of the stopped carriage unit 4 and the subsequent carriage. Unit 4 is stopped.
  • the cart control device 29 in the cart unit 4 will be described with reference to FIG.
  • the cart control device 29 is connected to the motor 17 (driving means) of the traveling cart 8 described above, and is a PLC (Programmable Logic) as a control circuit in the present invention that performs sequence control of the motor 17. Controller).
  • PLC Programmable Logic
  • This PLC is connected to the power storage device 5 (power storage means) to supply power.
  • the motor 17 is supplied with power from the power storage device 5 via the PLC.
  • the N1 line that is the wiring on the cathode side of the power storage device 5 is connected to the PLC, and the wiring on the anode side of the power storage device 5 is connected to the PLC.
  • a main switch is provided on the wiring on the anode side.
  • the wiring on the upstream side of the main switch will be described as a P1 line, and the downstream side will be described as a P2 line.
  • the N1 line and the P2 line are connected to the motor 17 of the traveling carriage 8 from the PLC. Electric power is supplied to the motor 17 by the PLC, and control of the rotational speed of the motor 17 and brake control are performed.
  • the main switch when the main switch is turned on (connected state), the power storage device 5 and the PLC are electrically connected, and power is supplied to the PLC and the motor 17. Further, when the main switch is turned off (cut off), the electrical connection between the power storage device 5 and the PLC is cut off, and the power supply to the PLC and the motor 17 is stopped.
  • the main switch ON / OFF control is performed by a switch circuit included in the cart control device 29.
  • the main switch is configured as a relay switch controlled by a switch circuit.
  • the solenoid part of the main switch is connected to the N1 line and the P1 line.
  • a PLC switch controlled by a PLC a maintenance switch manually operated by an operator during maintenance, and the preceding carriage 10 described above are provided between the solenoid portion of the main switch and the N1 line.
  • the magnet switch of the stop detection sensor 51 constitutes a non-electric switch in the present invention that operates without depending on the power of the power storage device 5.
  • an R3 relay controlled by a voltage detector described later is provided between the solenoid part of the main switch and the P1 line.
  • the magnet switch is connected to the N1 line and the P1 line. Between the magnet switch and the P1 line, a solenoid part of the R1 relay and a solenoid part of the R2 relay connected to the PLC are provided in parallel. Furthermore, an R3 relay described later is provided between the magnet switch and the P1 line.
  • the ON / OFF control of the R1 relay is controlled by the energization state between the N1 and P1 lines provided with the solenoid portion of the R1 relay that is switched according to the ON / OFF state of the magnet switch.
  • the R1 relay When the N1 and P1 lines are energized by the magnet switch, the R1 relay is turned on, and when the N1 and P1 lines are cut off, the R1 relay is turned off. Note that the PLC detects the ON / OFF state of the R1 relay via the solenoid part of the R2 relay arranged in parallel with the solenoid part of the R1 relay.
  • the dog 44 (detected part) of the succeeding carriage 11 (detected body) of the other truck unit 4 or the dog 71 (detected part) of the stopper 7 (detected object) is the object of the preceding carriage 10.
  • the stop detection sensor 51 detects the dogs 44 and 71, and the cart control device 29 performs control to stop the cart 17 by stopping the motor 17.
  • the PLC detects the OFF state of the R1 relay via the solenoid part of the R2 relay, performs brake control of the motor 17, and stops the carriage unit 4. Then, after the operation of the carriage unit 4 is completely stopped, the PLC relay is turned off and the main switch is turned off.
  • the PLC controls the main switch so that it does not immediately turn off even when the magnet switch is turned off.
  • the PLC performs control to turn off the PLC relay and turn off the main switch after a predetermined delay time has elapsed since the magnet switch was turned off.
  • the delay circuit in the present invention is constituted by the PLC and the PLC relay.
  • the magnet switch is configured to maintain its OFF state non-electrically. That is, when the stop detection sensor 51 detects the dogs 44 and 71 and the magnet switch is turned off and the main switch is turned off, all of the PLC, the motor 17 and the switch circuit are electrically connected to the power storage device 5. Therefore, the power storage device 5 does not consume any power.
  • the magnet switch (stop detection sensor 51) of the switch circuit is turned on, the N1 and P1 lines are energized, and the R1 relay is turned on. Become.
  • the main switch is turned on by energization between the N1 and P1 lines provided with the solenoid portion of the main switch, and the PLC and the motor 17 are started.
  • the PLC activated at this time returns the PLC switch to the ON state.
  • the main switch is turned ON by energizing the N1 and P1 lines provided with the solenoid part of the main switch. be able to.
  • the maintenance switch is operated by an operator during maintenance of the cart unit 4.
  • the switch circuit has a voltage detection unit that detects the voltage (power capacity) of the power storage device 5.
  • This voltage detector is provided between the N1 line and the P1 line.
  • the voltage detection unit performs ON / OFF control of the R3 relay via the solenoid unit of the R3 relay.
  • the voltage detection unit is connected to the PLC, and when the power of the power storage device 5 is consumed and the voltage of the power storage device 5 detected by the voltage detection unit becomes equal to or lower than a predetermined voltage, the PLC Brake control is performed to stop the cart unit 4.
  • the solenoid part of the R3 relay is provided between the N1 line and the P1 line via the voltage detection part.
  • a detection part interrupts
  • the R3 relay is a bistable relay (latch relay), and maintains its OFF state non-electrically. That is, when the R3 relay is in the OFF state and the main switch is in the OFF state, all of the PLC, the motor 17, and the switch circuit are in a state in which the electrical connection with the power storage device 5 is cut off. The device 5 does not consume any power.
  • the solenoid part of the R3 relay is connected to the N1 line via a reset switch that is manually operated by the operator. When the operator manually operates the reset switch, the solenoid portion of the R3 relay can be energized to turn on the R3 relay.
  • the worker can manually start the cart unit 4 by moving the cart unit 4 manually at the charging station C to charge the power storage device 5 and operating the reset switch.
  • the maintenance switch and the reset switch constitute a return circuit in the present invention.
  • the carriage unit 4 includes the motor 17 that travels the carriage unit 4, the power storage device 5 that supplies power to the motor 17, and the power supplied from the power storage device 5 to the motor.
  • the power storage device 5 By having a PLC that performs control and a switch circuit that non-electrically maintains a cut-off state that cuts off the electrical connection between the PLC and the power storage device 5, the power storage device 5
  • the power supplied to the PLC and the motor 17 can be stopped by the switch circuit, and since the switch circuit maintains the non-electrical disconnection state between the PLC and the power storage device 5, the switch circuit itself does not consume power.
  • the power storage device 5 does not need to consume any power, and the power storage of the power storage device 5 is maintained even if the carriage unit 4 is stopped for a long time. .
  • the switch circuit includes the magnet switch as the non-electric switch in the present invention that detects the dogs 44 and 71 (the detected portion) without depending on the electric power of the power storage device 5.
  • the shut-off state between the PLC and the power storage device 5 can be maintained non-electrically without relying on the power from the power storage device 5, and the magnet switches detect that the dogs 44 and 71 are separated from the cart unit 4. Therefore, the operation of the dogs 44 and 71 can be used to energize the PLC and the power storage device 5 to automatically start the carriage unit 4.
  • the non-electrical switch in the present invention may be other than a magnetic switch that operates by magnetic force, for example, a mechanically operated switch such as a limit switch that operates by physical and mechanical contact. Also good. Further, even an electrically operated switch is independent of the power of the power storage device 5 such as a photoelectric switch that is operated by the power of a small internal battery or a switch that is operated by a solar battery. Any switch that can supply power from the power source can be used as a non-electric switch in the present invention.
  • auxiliary power storage device auxiliary power storage means
  • the switch circuit itself is operated by this auxiliary power storage device
  • this switch circuit Even if all the switches included in the switch are electrically operated, these switches can be configured as non-electrical switches that operate without depending on the electric power of the power storage device 5.
  • the switch circuit includes an R3 relay (bistable relay) that operates when the voltage (power capacity) of the power storage device 5 is equal to or lower than a predetermined voltage, so that the power capacity of the power storage device 5 is equal to or lower than the predetermined capacity.
  • R3 relay bistable relay
  • the cart unit 4 is automatically stopped, it is possible to prevent the cart unit 4 from continuing to operate in a state where the driving force of the motor 17 is weakened and the operation efficiency is lowered, and the R3 relay is bistable. By using the relay, it is possible to non-electrically maintain the disconnected state between the PLC and the power storage device 5.
  • the switch circuit includes a maintenance switch and a reset switch (return circuit) that restores the electrical connection between the PLC in the shut-off state and the power storage device 5 by an external operation, so that the PLC and the power storage device 5 are shut off.
  • the state can be restored by a manual external operation arbitrarily performed by the operator.
  • the switch circuit includes a PLC and a PLC relay (delay circuit) for delaying the cut-off state, so that even if the switch circuit is operated, the switch circuit is not immediately cut-off, but is predetermined by the PLC and the PLC relay. In this delay time, electric power is supplied to the PLC and the motor 17, and the electric power continues to be supplied until the motor 17 is completely stopped, so that the PLC can control the motor 17.
  • the carriage unit 4 includes a motor 17 that causes the traveling carriages 8 and 9 to travel on the traveling rail 3, and a power storage device 5 that supplies power to the motor 17.
  • the charging device 6 that charges the power storage device 5 is arranged in a part of the transport path, and the traveling cart 9 is provided with contact portions 24a and 24d that are connected to the charging plug 52 of the charging device 6 and fed with power, The charging plug 52 of the charging device 6 and the contact portions 24a and 24d of the traveling cart 9 are used when the power storage device 5 of the cart unit 4 is charged with a large amount of power necessary for driving the motor 17 at a predetermined position on the transport path.
  • the charging plug 52 of the charging device 6 and the contact portions 24a and 24d of the traveling carriage 9 are connected at a position away from the floor where the worker is present, so that charging is performed. Work line It came to be, and also eliminates the possibility that worker inadvertently contact the charging plug 52 and the contact portions 24a, 24d, the charging operation for power storage device 5 of the carriage unit 4 can be performed safely.
  • the charging plug 52 of the charging device 6 is provided above the traveling rail 3, and the contact portions 24 a and 24 d are provided on the upper surface of the traveling carriage 9, so that the charging plug 52 and the contact portion 24 a that are connected to each other are provided.
  • 24d is arranged at a position higher than the traveling carriage 9, so that the charging plug 52 and the contact portions 24a, 24d are connected to each other at a position further away from the floor where the worker is present, thereby improving safety.
  • the traveling carriages 8 and 9 travel on the traveling rail 3, the charging plug 52 of the charging device 6 can be prevented from getting in the way.
  • the cart unit 4 has at least two traveling carts 8 and 9 at the front and rear, and contact units 24a and 24d are provided on the traveling cart 9 arranged on the rear side so that the cart unit 4 can be charged.
  • the carrier 12 suspended from the traveling carriages 8 and 9 is swayed forward by the deceleration, so that the rear traveling carriage 9 is pressed against the traveling rail 3.
  • the contact part 24a, 24d is provided in the traveling cart 9 on the rear side, so that the charging plug 52 of the charging device 6 and the traveling cart 9 are in contact with each other.
  • the connection work with the parts 24a and 24d can be easily performed.
  • the charging plug 52 of the charging device 6 is connected to the contact portions 24a and 24d of the traveling vehicle 9 on the condition that the voltage of the power storage device 5 is equal to or lower than a predetermined voltage.
  • a part of the transport path includes the loading station C1 for loading the container 2 on the carrier 12 and the unloading station C2, the branch station C4 of the traveling rail 3, the merging station C5 of the traveling rail 3, or the cart unit 4. Since the station C3 is the standby station C3, the speed of the carriage unit 4 is reduced or stopped at these stations C1 to C5. Therefore, the charging plug 52 of the charging device 6 and the contact portion 24a of the traveling carriage 9 are provided. The connecting operation with 24d can be easily performed.
  • this invention is applied to the article conveyance apparatus 1 provided with the trolley
  • the present invention can also be applied to a transport cart.

Abstract

Dans le but de réaliser en toute sécurité le travail de chargement d'un moyen de stockage d'électricité d'une unité de transport de charge, un dispositif de transport d'articles est doté d'un rail de déplacement (3) disposé le long d'une trajectoire de transport, ainsi que d'une unité de transport de charge qui comprend un support de charge mobile (9) susceptible de se déplacer sur le rail de déplacement (3) tout en suspendant un élément de support d'articles, et le dispositif de transport d'articles est adapté à transporter un article le long de la trajectoire de transport avec l'article chargé sur l'élément de support d'articles. L'unité de transport de charge est dotée d'un moyen d'entraînement qui amène le support de charge mobile (9) à se déplacer sur le rail de déplacement (3), ainsi que d'un moyen de stockage d'électricité qui fournit un courant électrique au moyen d'entraînement. Un moyen de chargement (6) qui charge le moyen de stockage d'électricité est disposé au niveau d'une partie de la trajectoire de transport. Des sections de réception d'électricité (24a, 24d) qui sont reliées à une section d'alimentation en courant électrique (52) du moyen de chargement (6) et qui reçoivent de l'électricité sont disposées sur le support de charge mobile (9).
PCT/JP2010/070556 2009-11-19 2010-11-18 Dispositif de transport d'articles WO2011062218A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201080052099.XA CN102666185B (zh) 2009-11-19 2010-11-18 物品搬运装置

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2009-264320 2009-11-19
JP2009264320A JP2011109859A (ja) 2009-11-19 2009-11-19 物品搬送装置
JP2009-288906 2009-12-21
JP2009288906A JP5581048B2 (ja) 2009-12-21 2009-12-21 物品搬送装置

Publications (1)

Publication Number Publication Date
WO2011062218A1 true WO2011062218A1 (fr) 2011-05-26

Family

ID=44059692

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2010/070556 WO2011062218A1 (fr) 2009-11-19 2010-11-18 Dispositif de transport d'articles

Country Status (4)

Country Link
KR (1) KR20120083471A (fr)
CN (1) CN102666185B (fr)
TW (1) TWI495578B (fr)
WO (1) WO2011062218A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2755100A4 (fr) * 2011-09-06 2016-06-08 Murata Machinery Ltd Système de véhicule de livraison et procédé de chargement pour véhicule de livraison
WO2018145138A1 (fr) * 2017-02-10 2018-08-16 Tgw Mechanics Gmbh Système automatisé d'entreposage sur rayonnages, transstockeur et procédé de fonctionnement d'un transtockeur
IT202100012440A1 (it) * 2021-05-14 2022-11-14 Mhart S R L Unità di trasporto indipendente per sistema di movimentazione aerea e relativo sistema di movimentazione aerea

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6299483B2 (ja) * 2014-06-26 2018-03-28 中西金属工業株式会社 昇降機能付き自走式搬送装置
CN104192150B (zh) * 2014-09-17 2017-01-11 张向东 一种列车系统
KR101832189B1 (ko) 2015-07-29 2018-02-26 야마하하쓰도키 가부시키가이샤 이상화상 검출장치, 이상화상 검출장치를 구비한 화상 처리 시스템 및 화상 처리 시스템을 탑재한 차량
KR102079524B1 (ko) * 2015-07-29 2020-02-20 야마하하쓰도키 가부시키가이샤 자동 주행 차량 및 이것을 포함하는 자동 주행 시스템
DE102016210031A1 (de) * 2016-06-07 2017-12-07 Schmid Technology Systems Gmbh Schienenfahrzeug für ein Schienentransportsystem und Schienentransportsystem
US11458847B2 (en) * 2017-01-27 2022-10-04 Murata Machinery, Ltd. Article transferring device
DE102017109818A1 (de) * 2017-05-08 2018-11-08 Liebherr-Verzahntechnik Gmbh Ladeportal
WO2020031465A1 (fr) * 2018-08-09 2020-02-13 村田機械株式会社 Système de véhicule de déplacement aérien
CN113581763A (zh) * 2020-04-30 2021-11-02 盟立自动化股份有限公司 悬挂式搬运系统及多节式搬运装置
KR102654165B1 (ko) * 2020-07-28 2024-04-02 세메스 주식회사 물품 반송 시스템에서 물품 반송 차량의 전력을 관리하기 위한 장치 및 방법
CN214691736U (zh) * 2020-09-30 2021-11-12 盒马(中国)有限公司 一种悬挂搬运机器人系统以及轨道

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58199270A (ja) * 1982-05-15 1983-11-19 日本ファイリング株式会社 自走式台車
JPH02219406A (ja) * 1989-02-16 1990-09-03 Sumitomo Electric Ind Ltd 磁気浮上搬送車の充電装置
JPH03251003A (ja) * 1990-02-27 1991-11-08 Sumitomo Electric Ind Ltd 磁気浮上搬送車の充電装置
JP2005280879A (ja) * 2004-03-29 2005-10-13 Daifuku Co Ltd 物品搬送装置
JP2009154560A (ja) * 2007-12-25 2009-07-16 Okamura Corp 吊り下げ搬送装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4438095B2 (ja) * 2005-05-26 2010-03-24 村田機械株式会社 搬送システム
JP4631881B2 (ja) * 2007-07-30 2011-02-16 トヨタ自動車株式会社 ワーク搬送装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58199270A (ja) * 1982-05-15 1983-11-19 日本ファイリング株式会社 自走式台車
JPH02219406A (ja) * 1989-02-16 1990-09-03 Sumitomo Electric Ind Ltd 磁気浮上搬送車の充電装置
JPH03251003A (ja) * 1990-02-27 1991-11-08 Sumitomo Electric Ind Ltd 磁気浮上搬送車の充電装置
JP2005280879A (ja) * 2004-03-29 2005-10-13 Daifuku Co Ltd 物品搬送装置
JP2009154560A (ja) * 2007-12-25 2009-07-16 Okamura Corp 吊り下げ搬送装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2755100A4 (fr) * 2011-09-06 2016-06-08 Murata Machinery Ltd Système de véhicule de livraison et procédé de chargement pour véhicule de livraison
WO2018145138A1 (fr) * 2017-02-10 2018-08-16 Tgw Mechanics Gmbh Système automatisé d'entreposage sur rayonnages, transstockeur et procédé de fonctionnement d'un transtockeur
US11904705B2 (en) 2017-02-10 2024-02-20 Tgw Mechanics Gmbh Automated rack storage system, storage-and-retrieval unit and method for operating a storage-and-retrieval unit
IT202100012440A1 (it) * 2021-05-14 2022-11-14 Mhart S R L Unità di trasporto indipendente per sistema di movimentazione aerea e relativo sistema di movimentazione aerea

Also Published As

Publication number Publication date
KR20120083471A (ko) 2012-07-25
TW201139177A (en) 2011-11-16
CN102666185B (zh) 2014-10-15
TWI495578B (zh) 2015-08-11
CN102666185A (zh) 2012-09-12

Similar Documents

Publication Publication Date Title
WO2011062218A1 (fr) Dispositif de transport d'articles
KR102398345B1 (ko) 반송대차
JP2011116313A (ja) 物品搬送設備
JP2011109859A (ja) 物品搬送装置
KR101400869B1 (ko) 전기자동차 충전용 주차장치
JP5581048B2 (ja) 物品搬送装置
JP5830282B2 (ja) 物品搬送装置
JP2011105499A (ja) 物品搬送装置
JP4971326B2 (ja) 自動搬送車とワーク積載台車とによるワーク搬送設備システム
JP2012101870A (ja) 物品搬送装置
JP2008150205A (ja) ストック装置
JP5391036B2 (ja) 物品搬送装置
CN206606707U (zh) 交叉带分拣agv
JP5941647B2 (ja) 物品搬送装置
JP2012101869A (ja) 物品搬送装置
JPH07330131A (ja) 台車使用の搬送装置
JP4716101B2 (ja) 物品搬送設備
JP4224792B2 (ja) 走行台車用運転制御装置
JP5775286B2 (ja) 物品搬送装置
JP5883604B2 (ja) 物品搬送装置
JP5912602B2 (ja) 物品搬送装置
JP6257914B2 (ja) 搬送台車
JP2011105500A (ja) 物品搬送装置
JP5494155B2 (ja) コンベア装置
JP5894425B2 (ja) 物品搬送装置

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201080052099.X

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10831611

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 20127012660

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10831611

Country of ref document: EP

Kind code of ref document: A1