WO2020105192A1 - Dispositif de déplacement - Google Patents

Dispositif de déplacement

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Publication number
WO2020105192A1
WO2020105192A1 PCT/JP2018/043283 JP2018043283W WO2020105192A1 WO 2020105192 A1 WO2020105192 A1 WO 2020105192A1 JP 2018043283 W JP2018043283 W JP 2018043283W WO 2020105192 A1 WO2020105192 A1 WO 2020105192A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
traveling
power transmission
movable
power
Prior art date
Application number
PCT/JP2018/043283
Other languages
English (en)
Japanese (ja)
Inventor
加藤　進一
壮志 野村
Original Assignee
株式会社Ｆｕｊｉ
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
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to PCT/JP2018/043283 priority Critical patent/WO2020105192A1/fr
Priority to JP2020557401A priority patent/JP7047127B2/ja
Publication of WO2020105192A1 publication Critical patent/WO2020105192A1/fr

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Classifications

    • 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
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/03—Electric propulsion by linear motors
    • 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
    • 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
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • 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
    • 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
    • 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
    • B60L55/00—Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M7/00—Power lines or rails specially adapted for electrically-propelled vehicles of special types, e.g. suspension tramway, ropeway, underground railway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • 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 specification relates to a traveling device including a movable portion that can travel along a traveling path formed in a fixed portion, and more specifically, relates to a traveling device that performs non-contact power supply from the fixed portion to the movable portion.
  • the traveling device includes a fixed portion on which a traveling path is formed and a movable portion that can travel along the traveling path.
  • Many traveling devices are applied to the use of a transport device that loads and transports products and equipment.
  • As driving modes of the traveling device rotational driving of wheels by a motor, generation of propulsive force by a linear motor, and the like are used. Further, a configuration in which a contactless power feeding technique is combined to feed power to a moving movable portion is also used.
  • Patent Document 1 discloses a technical example of a traveling device that is contactlessly powered.
  • the sorting facility disclosed in Patent Document 1 includes a traveling route, a traveling vehicle, a guide line along the traveling route, and a coil provided on the traveling vehicle and supplied with power from the guide line in a non-contact manner.
  • the traveling path is formed of a conductive member, and the wheels of the traveling carriage are conductive wheels. According to this, it is said that the electric charge generated in the wheel is escaped from the conductive wheel to the traveling route, and the generation of static electricity can be prevented.
  • a fixed portion in which a traveling path is formed a power transmission portion provided in the fixed portion, which supplies electric power, a movable portion capable of traveling along the traveling path, and provided in the movable portion,
  • a power receiving unit that receives the electric power from the power transmitting unit in a non-contact manner, a traveling drive unit that is provided in the movable unit, operates by the electric power received by the power receiving unit, and drives the movable unit, and the fixed unit.
  • An approach sensing unit that senses that an operator approaches, and a power transmission that regulates the power supplied by the power transmitting unit to a specified level or less when the approach sensing unit senses the approach of the operator to the fixed unit.
  • a traveling device including a restriction unit.
  • the power transmission regulation part regulates the electric power supplied by the power transmission part to be equal to or lower than a prescribed level.
  • the voltage generated in the power transmission section of the fixed section and the voltage generated in the power reception section of the movable section are suppressed to be lower than in the normal state, so that the operator can be reliably protected.
  • it is not necessary to secure a large space distance or a creepage distance in order to surely protect the operator it is possible to downsize the movable portion.
  • FIG. 6 is a cross-sectional view of the fixed part taken along the YZ plane. It is a side view of the movable part seen from the X direction. It is a block diagram explaining a control configuration and a power supply path of the traveling apparatus of the embodiment. It is a figure which shows the first half of the control flow in which a high-order control part controls traveling of a some movable part. It is a figure which shows the latter half of the control flow in which a higher-order control part controls traveling of a some movable part.
  • FIG. 1 is a plan view schematically showing a device configuration of a traveling device 1 of the embodiment.
  • the traveling device 1 includes a fixed unit 2, a power transmission unit 29, a movable unit 3, a power receiving unit 36, a traveling drive unit 3C, a protective cover 5, an approach sensing unit 6, a power transmission regulation unit 24, and a traveling control unit 82 (see FIG. 5).
  • FIG. 2 is a perspective view showing a configuration of a part of the fixed part 2 and the movable part 3, and a part of the members is omitted.
  • FIG. 3 is a cross-sectional view of the fixing portion 2 taken along the YZ plane.
  • FIG. 4 is a side view of the movable portion 4 viewed from the X direction, and some members are omitted.
  • the fixed part 2 is configured by connecting a plurality of section units 21.
  • the section unit 21 includes a curved line unit and a Y-shaped branch unit in addition to the linear unit illustrated.
  • a travel path is formed in each section unit 21 of the fixed portion 2.
  • the traveling roads are continuous for a long time to form a straight road, a curved road, a branch road, a peripheral circuit, or the like.
  • the shape of the traveling path is changed by changing the connection order.
  • the fixed portion 2 can be extended by adding the section unit 21.
  • the movable part 3 is mounted on the fixed part 2 and travels along the traveling path.
  • the length of the movable portion 3 in the X direction is smaller than the length of the section unit 21.
  • the movable part 3 is formed so that a work can be placed on the work table 32 on the upper surface thereof.
  • the traveling device 1 can be configured to include a plurality of movable parts 3. The plurality of movable parts 3 travel under the control of the travel control part 82 to avoid a collision.
  • the protective cover 5 is shown by a broken line for convenience in FIG. 1, and is provided in each of the section units 21.
  • One side 51 of the protective cover 5 that is long in the X direction is attached to one side edge of the section unit 21 so as to be openable and closable by using a pair of hinges 52.
  • the protective cover 5 is made of transparent resin and is formed in a shape that bulges upward.
  • the protective cover 5 is normally closed and covers the fixed part 2 and the moving movable part 3 to protect the operator.
  • a rectangular cutout window 54 is formed near the other side 53 of the protective cover 5. Through the cutout window 54, the work of loading and unloading the work on the work table 32 of the movable part 3 is performed. Further, the work on the workbench 32 is processed or assembled through the cutout window 54. These operations are performed by an unillustrated work robot.
  • the approach sensing unit 6 is provided in each of the section units 21.
  • the proximity sensor 6 is arranged near the other side 53 of the protective cover 5.
  • An open / close sensor that detects an opening operation of the protective cover 5 that is normally closed is used as the approach sensing unit 6. That is, the approach sensing unit 6 senses the approach of the operator to the fixed unit 2 by detecting the operation of the operator opening the protective cover 5.
  • each of the section units 21 forming the fixed part 2 has a device configuration similar to each other. Therefore, in the following description, the configuration of one section unit 21 will be described as the configuration of the fixed portion 2.
  • the fixing portion 2 is configured with the bottom plate 22 and the pair of side plates 23 as main structural members, and opens upward.
  • the fixed portion 2 has a bilaterally symmetrical structure in the Y direction.
  • the bottom plate 22 has a thin box shape that opens downward.
  • the power transmission restriction unit 24 is attached to the lower side of the bottom plate 22.
  • the power transmission regulation unit 24 functions as a power supply unit that normally performs non-contact power supply.
  • the pair of side plates 23 are erected on the upper surface of the bottom plate 22 in parallel with each other.
  • a plurality of magnets 25 are provided on the inner surfaces of the pair of side plates 23.
  • Each of the magnets 25 is formed in a plate shape that is long in the Z direction.
  • the plurality of magnets 25 are arranged such that the N poles and the S poles alternately appear in the X direction on the inner sides facing each other.
  • a rail portion 26 extending in the X direction is provided on the upper surface of the side plate 23.
  • the inner side surface of the rail portion 26 is formed in a V shape.
  • a linear scale 27 extending in the X direction is attached to the upper surface of one rail portion 26 (left side in FIG. 3).
  • a traveling rail 28 is provided in the center of the upper side of the bottom plate 22 in the Y direction.
  • the traveling rail 28 extends in the X direction and is formed in a groove shape that opens upward.
  • the traveling rail 28 and the pair of rail portions 26 form a traveling path along which the movable portion 3 travels.
  • the lower parts of the pair of side plates 23 are bent inward to approach the traveling rail 28.
  • the power transmission unit 29 is disposed on the upper surface of the lower portion of each of the pair of side plates 23.
  • Each of the pair of power transmission units 29 is a power transmission coil extending in the X direction.
  • the power transmission coil includes a winding 2A and a core 2B.
  • the core 2B is formed using a magnetic material such as ferrite or electromagnetic steel plate.
  • the cross section of the core 2B taken along the YZ plane has an E shape that opens upward.
  • the power transmission unit 29 is supplied with power from the power transmission regulation unit 24 and supplies power to the power reception unit 36 described below in a contactless manner.
  • the movable part 3 includes a main body 31 and a workbench 32.
  • the main body 31 is formed in a box shape that is long in the X direction, and various members to be described later are arranged inside.
  • the workbench 32 is formed in a rectangular thin plate shape and is fixed to the upper side of the main body 31.
  • the workbench 32 is engraved with a round hole into which a projection on the bottom surface of the work is inserted. As a result, the work is stably placed and does not shake or shift even while the movable portion 3 is running.
  • a groove roller 33 is provided near the top of the main body 31. Three groove rollers 33 are arranged in the X direction and two sets are provided in the Y direction for a total of six groove rollers 33. The groove roller 33 slides from the inside onto the V-shaped portion of the rail portion 26 of the fixed portion 2.
  • a traveling roller 34 is provided on the lower surface of the main body 31. Two traveling rollers 34 are arranged in the Y direction as one set, and a plurality of traveling rollers 34 are provided separately in the X direction. The traveling roller 34 slides on the inner side surface of the traveling rail 28 of the fixed portion 2. The groove roller 33 and the traveling roller 34 allow the movable portion 3 to travel.
  • a position detector 35 is provided at one end in the Y direction on the top of the main body 31.
  • the position detection unit 35 is arranged to face the linear scale 27 of the fixed unit 2.
  • the position detection unit 35 detects the scale of the linear scale 27 to detect the current position of the movable unit 3 on the traveling path.
  • Examples of the detection method of the position detection unit 35 and the linear scale 27 include an optical detection method and a detection method using electromagnetic induction, but the detection method is not limited to these.
  • a pair of power receiving units 36 are provided on the lower surface of the main body 31 outside the traveling rollers 34 in the Y direction.
  • Each of the pair of power receiving units 36 is a power receiving coil extending in the X direction.
  • the power receiving coil includes a winding 37 and a core 38.
  • the core 38 is formed using the same material as the core 2B of the power transmission unit 29.
  • a cross section of the core 38 taken along the YZ plane has an E shape that opens downward.
  • the power receiving unit 36 is arranged to face the power transmitting unit 29 of any of the fixed units 2 regardless of the current position of the movable unit 3. As a result, the core 2B of the power transmission unit and the core 38 of the power reception unit 36 approach each other and are magnetically coupled, and jointly form a circulating magnetic path. Therefore, the power receiving unit 36 can receive the power from the power transmission unit 29 by the non-contact power feeding of the electromagnetic coupling method.
  • a power receiving circuit 39, a wireless communication unit 3A, and a linear control unit 3B are provided near the center of the main body unit 31. Further, a pair of traveling drive units 3C is provided on both side surfaces in the Y direction of the intermediate height of the main body unit 31.
  • the power receiving circuit 39 transforms the power received by the power receiving unit 36 and supplies power to the wireless communication unit 3A and the linear control unit 3B.
  • the linear control unit 3B controls the electric power supplied to the traveling drive unit 3C.
  • a moving coil is used for the traveling drive unit 3C.
  • the moving coil is composed of winding 3D and core 3E.
  • the moving coil is arranged to face the magnet 25 of the fixed portion 2.
  • the linear motor is configured by the combination of the traveling drive unit 3C and the magnet 25, and the propulsive force of the movable unit 3 in the X-axis direction is generated.
  • the linear motor of the embodiment has advantages such as low cost and easy travel control, as compared with the linear motor in which the movable portion 3 is provided with a magnet and the fixed portion 2 is provided with a coil.
  • FIG. 5 is a block diagram illustrating a control configuration and a power supply path of the traveling device 1 according to the embodiment.
  • the traveling device 1 is configured to include a host controller 8.
  • the host controller 8 controls the above-mentioned various operations performed on the work, controls the traveling of the plurality of movable parts 3 in accordance with this, and further controls the non-contact power supply to the movable parts 3.
  • the upper control unit 8 includes a power transmission control unit 81, a travel control unit 82, and a wireless communication unit 83.
  • each of the section units 21 of the fixed unit 2 includes the power transmission regulation unit 24, the power transmission unit 29, and the approach detection unit 6.
  • Each of the power transmission control units 24 is communicatively connected to the power transmission control unit 81 of the upper control unit 8.
  • the power transmission regulation unit 24 operates according to a power transmission command from the power transmission control unit 81 and supplies power to the power transmission unit 29.
  • an AC power supply suitable for the frequency characteristic of the power transmission unit 29 can be used.
  • the power transmission regulation unit 24 automatically stops the power supply to the power transmission unit 29 when the approach sensing unit 6 senses the approach of the operator to the fixed unit 2. As a result, non-contact power supply (arrow P in the figure) from the power transmission unit 29 to the power reception unit 36 is stopped.
  • the power transmission regulation unit 24 may regulate the power supply to the prescribed level or lower without stopping the power supply to the power transmission unit 29. In this case, the power supply from the power transmitting unit 29 to the power receiving unit 36 also drops below the specified level.
  • the software processing does not intervene after the detection by the approach detection unit 6, and the regulation can be promptly realized by hardware.
  • the electromagnetic relay device cuts off the electric path in the power transmission regulation unit 24. Therefore, the voltage generated in the relevant section unit 21 in which the protective cover 5 is opened quickly disappears or is significantly reduced. Further, when the movable portion 3 is located in the section unit 21 in question, non-contact power feeding is not performed, or the power received by the power receiving portion 36 is significantly reduced. Therefore, the movable part 3 is stopped, and the voltage generated in the movable part 3 is rapidly and significantly reduced. Therefore, even if the protective cover 5 is opened, the operator is surely protected.
  • the power transmission regulation unit 24 automatically restarts power supply to the power transmission unit 29. As a result, contactless power supply is automatically restarted.
  • the power transmission regulation unit 24 notifies the power transmission control unit 81 of the start and end of the power transmission regulation.
  • the traveling control unit 82 shares information on the start and end of power transmission regulation in each of the section units 21.
  • the movable unit 3 includes the position detection unit 35, the power receiving unit 36, the power receiving circuit 39, the wireless communication unit 3A, the linear control unit 3B, and the traveling drive unit 3C.
  • the wireless communication unit 3A performs wireless communication with the wireless communication unit 83 of the upper control unit 8 so that bidirectional signal exchange is possible.
  • the upper wireless communication unit 83 is configured to perform 1: N wireless communication with the wireless communication units 3A of the plurality of movable units 3 (see WL in FIG. 5).
  • the travel control unit 82 issues a travel command for controlling the position of each movable unit 3 in order to smoothly perform the work applied to the work.
  • the travel command is represented by, for example, a target position, a travel route, and an arrival time.
  • the traveling command is transmitted from the wireless communication unit 83 to the wireless communication unit 3A of each movable unit 3.
  • the wireless communication unit 3A transmits the received travel command to the linear control unit 3B.
  • the linear control unit 3B controls the electric power supplied to the traveling drive unit 3C based on the traveling command.
  • the linear control unit 3B refers to the current position detected by the position detection unit 35 and performs PID control or the like.
  • the linear control unit 3B causes the wireless communication unit 3A to reply to the wireless communication unit 83 with a target arrival signal indicating that the target position has been reached.
  • the traveling power supply cannot be secured when the contactless power supply is regulated.
  • the power receiving unit 36 acts as an electromagnetic brake that prevents traveling.
  • the movable portion 3 stops at a short coasting distance.
  • the wireless communication unit 3A and the linear control unit 3B are also stopped. Therefore, the current position of the movable portion 3 is unknown.
  • the traveling command that has already been received is meaningless.
  • the traveling control unit 82 when the traveling control unit 82 receives the information of the section unit 21 for which the power supply is stopped from the power transmission control unit 81, the traveling control unit 82 causes the wireless communication unit 83 to transmit the state confirmation command to all the movable units 3. Upon receiving the state confirmation command, the movable section 3 in operation responds with an in-operation signal. On the other hand, the movable part 3 which is stopped cannot respond to the in-operation signal. Therefore, the traveling control unit 82 can determine which movable unit 3 is stopped. Then, the traveling control unit 82 controls so that the moving (not stopped) moving part 3 does not enter the section unit 21 in which power supply is stopped.
  • the movable part 3 responds to the wireless communication part 83 with an in-operation signal immediately after the recovery.
  • the traveling control unit 82 recognizes the return of the movable unit 3 which has stopped.
  • the traveling control unit 82 causes the wireless communication unit 83 to transmit the position request signal to the movable unit 3 concerned.
  • the movable part 3 returns a current position signal.
  • the traveling control unit 82 recognizes the current position of the movable unit 3 which has become unknown. After that, the traveling control unit 82 sets a new traveling command and restarts traveling of the movable unit 3.
  • FIG. 6 is a diagram showing the first half of a control flow in which the upper control unit 8 controls traveling of the plurality of movable units 3.
  • FIG. 7 is a diagram showing the second half of the control flow in which the upper control unit 8 controls the traveling of the plurality of movable units 3.
  • the traveling path includes a branch road, a circuit, and the like, and the traveling of the plurality of movable portions 3 is controlled in parallel.
  • step S1 of FIG. 6 the upper control unit 8 executes initial processing. Specifically, the upper control unit 8 first acquires information regarding the type of work and the content of the work to be performed. Next, the power transmission control unit 81 activates the function of the power transmission regulation unit 24 as a power supply unit and activates each movable unit 3. Next, the traveling control unit 82 transmits a position request signal to each movable unit 3, receives a current position signal from each movable unit 3, and recognizes the current position of each movable unit 3.
  • the traveling control unit 82 sets and transmits a traveling command for each movable unit 3 based on the content of the work performed on the work.
  • the movable portion 3 travels toward the target position according to the travel command.
  • the movable unit 3 that has reached the target position returns a target arrival signal.
  • the traveling control unit 82 investigates whether or not the target arrival signal has been received. When the target reaching signal of any of the movable parts 3 is received, execution of the control flow is branched to step S4.
  • step S4 after the work of the work robot at the target position is completed, the traveling control unit 82 sets a new traveling command for the movable unit 3 concerned. After that, the execution of the control flow is returned to step S2. In step S2 again, the traveling control unit 82 transmits a new traveling command to the movable unit 3 concerned. If the target reaching signal is not received in step S3, execution of the control flow proceeds to step S11.
  • step S11 the power transmission control unit 81 investigates whether or not there is a start of power transmission restriction by the power transmission restriction unit 24 in any of the section units 21. If there is, the traveling control unit 82 prohibits the entry into the relevant section unit 21 in step S12. In the next step S13, the traveling control unit 82 corrects the traveling command so that the movable unit 3 does not enter the section unit 21 that cannot enter. For example, the traveling control unit 82 delays the arrival time by setting a detour, or resets the target position before the inaccessible section unit 21. The correction of the travel command is often executed by some of the movable parts 3, and may not be corrected in some cases.
  • the traveling control unit 82 confirms the state of each movable unit 3. That is, the traveling control unit 82 transmits a state confirmation signal to each movable unit 3 and waits for the reception of the operating signal. In the next step S15, the traveling control unit 82 can recognize the movable unit 3 that has not responded to the operation signal as the stopped movable unit 3.
  • the traveling control unit 82 executes the control flow in either step S16 or step S21 (see FIG. 7) depending on whether or not the movable part 3 is stopped.
  • step S16 when there is the movable portion 3 that is stopped, the traveling control unit 82 stores the movable portion 3 that is stopped and temporarily excludes it from the traveling control targets.
  • the movable part 3 which is stopped is located in the section unit 21 where the power transmission regulation is started or is in the middle of approach.
  • step S16 After execution of step S16, if there is no movable part 3 stopped in step S15, and if there is no start of power transmission regulation in step S11, execution of the control flow proceeds to step S21 of FIG. 7.
  • step S21 the power transmission control unit 81 investigates whether or not the power transmission regulation unit 24 has finished the power transmission regulation in any of the section units 21.
  • step S22 the traveling control unit 82 changes the section unit 21, which has been prohibited from entering due to power transmission restriction, to enter (cancellation of entering).
  • step S23 the traveling control unit 82 corrects the traveling command of the movable unit 3 in consideration of the section unit 21 that has been changed to be enterable. For example, the traveling control unit 82 corrects the traveling command of the movable unit 3 which arrives earlier by traveling in the section unit 21. Further, for example, the traveling control unit 82 restarts traveling of the movable unit 3 that has stopped before the section unit 21 in question.
  • the correction of the travel command is often executed by some of the movable parts 3, and may not be corrected in some cases.
  • the traveling control unit 82 can appropriately correct the traveling commands of the plurality of movable units 3 in response to changes in the situation of power transmission regulation.
  • step S31 the traveling control unit 82 investigates whether or not there is a response of the in-operation signal from the movable unit 3 which is stopped. If there is, the traveling control unit 82 transmits a position request signal to the movable unit 3 in step S32. In response to this, the movable part 3 returns a current position signal.
  • step S33 the traveling control unit 82 returns the movable unit 3 concerned to the subject of traveling control and sets a new traveling command based on the current position.
  • step S33 execution of the control flow is returned to step S2.
  • step S2 the traveling control unit 82 transmits the corrected traveling command (see steps S13 and S23) and the new traveling command (step S33) to the movable unit 3 concerned. Thereafter, the control flow is repeatedly executed, and the work to be applied to the work is advanced.
  • the power transmission regulation unit 24 regulates the power supplied by the power transmission unit 29 to be equal to or lower than a specified level.
  • the voltage generated in the power transmission unit 29 of the fixed unit 2 and the voltage generated in the power reception unit 36 of the movable unit 3 are suppressed to be lower than in the normal time, so that the operator can be reliably protected.
  • the movable portion 3 can be downsized.
  • the protective cover 5, the proximity sensor 6, and the power transmission restrictor 24 are provided as a set in each of all the section units 21, but the present invention is not limited to this. That is, the protection cover 5, the approach sensing unit 6, and the power transmission regulation unit 24 are provided only in a part of the plurality of section units 21, and the protection cover 5 and the approach sensing unit 6 are not attached in the remaining section units 21, A power supply unit that replaces the power transmission regulation unit 24 may be provided. This reduces the cost of the section unit 21 that does not require operator protection.
  • the protective cover 5, the proximity sensing unit 6, and the power transmission regulation unit 24 may be provided for two or more adjacent section units 21. According to this, the required number of the protective cover 5, the approach sensing unit 6, and the power transmission regulation unit 24 is reduced, so that the cost is reduced.
  • the proximity sensor 6 may be other than the open / close sensor described in the embodiment.
  • a human sensor that detects an operator using infrared rays or the like can be used.
  • the protection cover 5 can be omitted.
  • the traveling drive unit 3C is not limited to the moving coil of the linear motor, and may be, for example, a general motor that rotationally drives traveling wheels.
  • the contactless power supply method can be selected separately from the drive method of the traveling drive unit 3C. Therefore, the power transmission unit 29 and the power reception unit 36 are not limited to the coils, and may be, for example, an electrostatic coupling method using an electrode plate. Furthermore, instead of wireless communication between the upper control unit 8 and the movable unit 3, wired communication using a flexible cable may be used. The embodiment can be variously modified and applied in addition to the above.
  • traveling device 1 of the embodiment can also be used as a conveying device that conveys only products and equipment, the traveling device 1 is not limited to the manufacturing industry and can be used in various industrial fields such as logistics.
  • Traveling device 2 Fixed part 21: Section unit 24: Power transmission regulation part 25: Magnet 26: Rail part 27: Linear scale 28: Running rail 29: Power transmission part 3: Moving part 35: Position detection part 36: Power reception part 3A : Wireless communication unit 3B: Linear control unit 3C: Travel drive unit 5: Protective cover 6: Approach detection unit 8: Upper control unit 81: Power transmission control unit 82: Travel control unit 83: Wireless communication unit

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Non-Mechanical Conveyors (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Control Of Linear Motors (AREA)

Abstract

La présente invention concerne un dispositif de déplacement qui comprend : une unité fixe formée avec un trajet de déplacement ; une unité de transmission d'énergie disposée dans l'unité fixe et fournissant de l'énergie ; une unité mobile pouvant se déplacer le long du trajet de déplacement ; une unité de réception d'énergie disposée dans l'unité mobile et recevant l'énergie en provenance de l'unité de transmission d'énergie d'une manière sans contact ; une unité d'entraînement de déplacement disposée dans l'unité mobile et actionnée par l'énergie reçue par l'unité de réception d'énergie pour entraîner l'unité mobile ; une unité de détection d'approche pour détecter qu'un opérateur s'approche de l'unité fixe ; et une unité de limitation de transmission d'énergie qui, lorsque l'unité de détection d'approche détecte que l'opérateur s'approche de l'unité fixe, limite l'énergie fournie par l'unité de transmission d'énergie à un niveau spécifié ou à un niveau moindre.
PCT/JP2018/043283 2018-11-22 2018-11-22 Dispositif de déplacement WO2020105192A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2018/043283 WO2020105192A1 (fr) 2018-11-22 2018-11-22 Dispositif de déplacement
JP2020557401A JP7047127B2 (ja) 2018-11-22 2018-11-22 走行装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/043283 WO2020105192A1 (fr) 2018-11-22 2018-11-22 Dispositif de déplacement

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WO2020105192A1 true WO2020105192A1 (fr) 2020-05-28

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JP (1) JP7047127B2 (fr)
WO (1) WO2020105192A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4071970A1 (fr) * 2021-03-31 2022-10-12 ATS Automation Tooling Systems Inc. Procédé et système de communication sans fil dans un système de convoyeur

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08324790A (ja) * 1995-06-02 1996-12-10 Daifuku Co Ltd 仕分け設備
JPH101046A (ja) * 1996-06-18 1998-01-06 Daifuku Co Ltd 搬送設備
JP2001122108A (ja) * 1999-10-28 2001-05-08 Murata Mach Ltd 有軌道台車システム
JP2017070146A (ja) * 2015-10-01 2017-04-06 ニチユ三菱フォークリフト株式会社 無線給電システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08324790A (ja) * 1995-06-02 1996-12-10 Daifuku Co Ltd 仕分け設備
JPH101046A (ja) * 1996-06-18 1998-01-06 Daifuku Co Ltd 搬送設備
JP2001122108A (ja) * 1999-10-28 2001-05-08 Murata Mach Ltd 有軌道台車システム
JP2017070146A (ja) * 2015-10-01 2017-04-06 ニチユ三菱フォークリフト株式会社 無線給電システム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4071970A1 (fr) * 2021-03-31 2022-10-12 ATS Automation Tooling Systems Inc. Procédé et système de communication sans fil dans un système de convoyeur

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JPWO2020105192A1 (ja) 2021-10-07

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