WO2022168456A1 - Conveyance carriage system - Google Patents

Conveyance carriage system Download PDF

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Publication number
WO2022168456A1
WO2022168456A1 PCT/JP2021/046103 JP2021046103W WO2022168456A1 WO 2022168456 A1 WO2022168456 A1 WO 2022168456A1 JP 2021046103 W JP2021046103 W JP 2021046103W WO 2022168456 A1 WO2022168456 A1 WO 2022168456A1
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WO
WIPO (PCT)
Prior art keywords
power supply
supply device
power
carriage
operation mode
Prior art date
Application number
PCT/JP2021/046103
Other languages
French (fr)
Japanese (ja)
Inventor
陽介 ▲高▼杉
Original Assignee
村田機械株式会社
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 村田機械株式会社 filed Critical 村田機械株式会社
Publication of WO2022168456A1 publication Critical patent/WO2022168456A1/en

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    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations

Definitions

  • One aspect of the present invention relates to a carriage system.
  • Patent Document 1 discloses an article transport facility (transport cart system) equipped with transport devices such as a stacker crane, an incoming/outgoing conveyor, an incoming/outgoing conveyor, and a sorting transport truck. These transport devices (transport carts) are configured to be operated by electric motors, actuators, or the like driven by electric power. Electric power supplied from an electric power company or the like is supplied to the conveying equipment via a switchboard (power supply device) provided in the article conveying equipment.
  • a switchboard power supply device
  • an object of one aspect of the present invention is to provide a carriage system that can prevent the operation of the system from stopping.
  • a carriage system is configured to be able to receive power from both a track on which at least two feeder lines, that is, a first feeder line and a second feeder line are arranged, and the two feeder lines, a carrier that travels along a first power supply device connected to a first power supply line; and a second power supply device connected to a second power supply line, wherein the first power supply device and the second
  • the power supply device supplies the electric power required for the normal operation mode of the carriage by sharing it with two power supply lines, and is also required for the emergency operation mode in which the transportation capacity is lower than that of the normal operation. Power is supplied from each of the two feeders.
  • the power required for the normal operation mode is supplied from the power supply line connected to the first power supply device and from the power supply line connected to the second power supply device. supplied by combining power. Even if an abnormality occurs in one of the first power supply device and the second power supply device and the power supply from one of the first power supply device and the second power supply device is interrupted, the first power supply device and the second power supply supply supply the power required for the emergency operation mode. As a result, when an abnormality occurs in one of the first power supply device and the second power supply device, the operation of the carriage can be continued although the carriage performance of the carriage system is reduced. That is, it is possible to prevent the operation of the carriage system from stopping.
  • the carriage accelerates at the first acceleration value when it can receive the power required for the normal operation mode, and can receive only the power required for the emergency operation mode. It may have a control unit that controls acceleration at a second acceleration value that is limited to be smaller than the first acceleration value.
  • an abnormality occurs in one of the first power supply device and the second power supply device, and the carriage cannot receive power from one of the two power supply lines.
  • a control device may further be provided for switching the operation of the carriage from the normal operation mode to the emergency operation mode when the information is acquired.
  • the emergency operation mode in the normal operation mode, the maximum acceleration of all the carriages located in the section to which power is supplied from the first power supply device and the second power supply device is the first acceleration value.
  • the emergency operation mode may be a mode in which the maximum acceleration of at least one carriage located in the section is limited to be smaller than the first acceleration value.
  • the acceleration of the carriage during acceleration in the emergency operation mode is restricted to be smaller than that in the normal operation mode, thereby suppressing the power consumption of the entire system.
  • the carriage can continue to operate with power supplied only from the other of the first power supply device and the second power supply device.
  • the number of carriages that can enter the section to which power is supplied from the first power supply device and the second power supply device is set to the first predetermined value.
  • the emergency operation mode may be a mode in which the number of carriages that can enter the section is limited to a second predetermined value that is less than the first predetermined value.
  • the number of carriages that can enter the section to which power is supplied from the first power supply device and the second power supply device in the emergency operation mode is limited to a smaller number than in the normal operation mode, so the consumption of the entire system Power is curtailed. As a result, the carriage can continue to operate with power supplied only from the other of the first power supply device and the second power supply device.
  • the first power supply device and the second power supply device are devices that supply high-frequency current to power supply lines connected to the first power supply device and the second power supply device.
  • Each of the power supply devices may synchronize the period of the high frequency current to be output.
  • FIG. 1 is a diagram schematically showing an example of a carriage system according to one embodiment.
  • FIG. 2 is a front view seen from the front of the carriage traveling on the track.
  • 3 is an enlarged front view of the power receiving device of the carrier in FIG. 2.
  • FIG. 4 is a block diagram showing the functional configuration of the power supply equipment and the carriage.
  • FIG. 5 is a side view showing an example of the terminal block provided on the track.
  • the carriage system 1 uses a carriage 6 movable along a track 4 to transport, for example, an article F between placement units such as processing apparatuses.
  • the article F includes, for example, a FOUP (Front Opening Unified Pod) that stores a plurality of semiconductor wafers, a container such as a reticle pod that stores a glass substrate, and general parts.
  • the carriage system 1 includes a carriage 6 , a track 4 , a power supply facility 7 , a power monitoring device (control device) 70 , and a carriage controller 80 .
  • the transport carriage 6 travels along the track 4 and transports the article F.
  • the carriage 6 is configured to transfer the article F thereon.
  • the number of the carriages 6 included in the carriage system 1 is not particularly limited, and is plural.
  • the carriage 6 has a body portion 20 , a travel portion 50 , and a body controller (control portion) 35 .
  • the body portion 20 has a body frame 22 , a transverse feed portion 24 , a ⁇ drive 26 , an elevation drive portion 28 , an elevation platform 30 and a cover 33 .
  • the body frame 22 is connected to the traveling section 50 and supports the lateral feed section 24, the ⁇ drive 26, the elevation drive section 28, the elevation table 30, and the cover 33.
  • the traverse section 24 collectively traverses the .theta.
  • the ⁇ drive 26 rotates at least one of the elevation drive unit 28 and the elevation table 30 within a predetermined angle range in the horizontal plane.
  • the lift drive unit 28 lifts and lowers the lift table 30 by winding or unwinding a suspension member such as a wire, rope, or belt.
  • the lifting table 30 is provided with a chuck so that the article F can be freely held or released.
  • a pair of covers 33 are provided, for example, on the front and rear sides of the carriage 6 in the running direction.
  • the cover 33 has claws (not shown) appearing and retracting to prevent the articles F from falling during transportation.
  • the traveling unit 50 causes the carriage 6 to travel along the track 4.
  • the running section 50 mainly includes a running roller 51 , side rollers 52 , a running driving section 53 , and a power receiving device 55 .
  • the running roller 51 rolls on the lower surface portion 40B of the track 4 .
  • the running rollers 51 are arranged at both the front and rear left and right ends of the running portion 50 .
  • the side roller 52 is provided so as to be able to contact the side surface portion 40C of the track 4 .
  • the travel drive unit 53 is an LDM (Linear DC Motor) and is provided in front of and behind the travel unit 50 .
  • the travel drive unit 53 is provided with an electromagnet, and the travel drive unit 53 has an electromagnet for accelerating or braking the carriage 6 between the electromagnet and the magnetic plate 42 arranged on the upper surface of the track 4. Generate magnetic force.
  • each power receiving device 55 includes a core 56 and a power receiving coil 57 .
  • the core 56 has a vertically extending base 56A and three legs 56B, 56B, 56B horizontally extending from the base 56A.
  • the core 56 is a core having an E-shaped cross section orthogonal to the extending direction of the track 4 .
  • the core 56 is made of a magnetic material such as ferrite.
  • a flange portion 56C that functions as a retainer for the receiving coil 57 is provided at the tip of the central leg portion 56B.
  • the power receiving coil 57 is configured by winding a copper wire coated with enamel or the like, for example, around the central leg portion 56B.
  • the power receiving coil 57 generates an induced current by a magnetic field generated by the current (high-frequency current) supplied to the first power supply line 8 and the second power supply line 9, and the induced current causes the above-described elevation driving unit 28 and travel driving. Power is supplied to the unit 53 and the body controller 35 .
  • the core 56 described above is not limited to a core having an E-shaped cross section.
  • a core having a shape in which two leg portions 56B, 56B extend in parallel in the horizontal direction from the base portion 56A may be used.
  • the receiving coil 57 may be configured by winding a copper wire around one leg 56B of the two legs 56B, 56B.
  • the track 4 is laid, for example, near the ceiling, which is the overhead space of the worker.
  • the track 4 is suspended from the ceiling, for example.
  • the track 4 is a predetermined running path for running the carriage 6 .
  • the track 4 is supported by struts 40A, 40A.
  • the track 4 has a cylindrical rail main body 40 composed of a pair of lower surface portions 40B, 40B, a pair of side surface portions 40C, 40C, and a top surface portion 40D, a feeder line support portion 41, and a magnetic plate 42. ing.
  • the rail body portion 40 accommodates the traveling portion 50 of the carriage 6 .
  • the lower surface portion 40 ⁇ /b>B extends in the traveling direction of the carriage 6 and constitutes the lower surface of the rail body portion 40 .
  • the lower surface portion 40B is a plate-like member for causing the traveling rollers 51 of the carrier 6 to roll and travel.
  • the side surface portion 40 ⁇ /b>C extends in the traveling direction of the carriage 6 and constitutes the side surface of the rail body portion 40 .
  • the top surface portion 40 ⁇ /b>D extends in the traveling direction of the carriage 6 and constitutes the top surface of the rail body portion 40 .
  • the power supply line support part 41 supports the first power supply line 8 and the second power supply line 9 that supply power to the carriage 6 .
  • the power supply line support portion 41 may be fixed to each of the pair of side surface portions 40C, 40C, and may extend along the extending direction of the rail body portion 40, or may be arranged at intervals. .
  • the first power supply line 8 and the second power supply line 9 will be described in detail later.
  • the magnetic plate 42 generates a magnetic force (thrust force) for running or stopping the travel drive unit 53 of the carriage 6 .
  • the magnetic plate 42 is fixed to the top surface portion 40D and extends along the running direction.
  • the power supply equipment 7 is equipment for supplying electric power to the power receiving device 55 of the carriage 6 in a non-contact state.
  • the power supply equipment 7 includes a first power supply device 11 , a second power supply device 15 , a first power supply line 8 , a second power supply line 9 , and a terminal block 10 .
  • the first power supply device 11 supplies high-frequency current to the first power supply line 8 .
  • the first power supply device 11 is composed of devices such as a known wiring breaker, power converter, control device, etc.
  • the control device has a monitoring function, a synchronization function, and an abnormality Corresponding functions are added to known functions.
  • the first power supply device 11 is connected to an AC power supply such as a commercial power supply provided by an electric power company or the like, and is supplied with AC power (three-phase 200 V).
  • the frequency of AC power is, for example, 50 Hz or 60 Hz.
  • the second power supply device 15 supplies a high frequency current to the second feed line 9 .
  • the configuration of the second power supply device 15 is the same as that of the first power supply device 11 .
  • the first power supply line 8 and the second power supply line 9 are fixed to the side surface portion 40C of the track 4 via the power supply line support portion 41, and extend along the extending direction of the track 4. are placed.
  • the first feeder line 8 and the second feeder line 9 are arranged inside both side surfaces of the track 4 (the inner surface of the left side surface portion 40C and the inner surface of the right side surface portion 40C), except for some sections. (both inside and outside). More specifically, on the track 4, a first feeder line 8 connected to the first power supply device 11 and a second feeder line 9 connected to the second feeder line 9 are arranged so as to run in parallel. It is As a result, the power receiving device 55 of the carriage 6 can simultaneously receive power from the two feeder lines, the first feeder line 8 and the second feeder line 9, without contact.
  • feeder line support portions 41 that support the first feeder line 8 and the second feeder line 9 are arranged vertically.
  • a group of feeder lines, each consisting of two of the first feeder line 8 and the second feeder line 9 is arranged so as to sandwich the power receiving coil 57 in the power receiving device 55 of the carriage 6 . That is, the power receiving coil 57 of the carriage 6 moves while being sandwiched between two feeder lines, the first feeder 8 and the second feeder 9, when the carriage 6 travels.
  • the track layout of the track 4 is configured by connecting a plurality of track parts 4A in the traveling direction of the carriage 6.
  • a terminal block 10 is arranged at the joint of the track parts.
  • the terminal block 10 is connected to each of the first power supply line 8A, the second power supply line 9A, the first power supply line 8B, and the second power supply line 9B arranged on one track part 4A at the joint, and the other track part 4A.
  • the arranged first feeder line 8A, second feeder line 9A, first feeder line 8B and second feeder line 9B are electrically connected to each other.
  • the first power supply line 8A, the second power supply line 9A, the first power supply line 8B, and the second power supply line 9B arranged on one of the track parts 4A at the joint are connected to the terminal portion 10A, the terminal portion 10B,
  • the first power supply line 8A, the second power supply line 9A, the first power supply line 8B and the second power supply line 9B connected to the terminal portion 10C and the terminal portion 10D and arranged on the other track part 4A at the joint, Electrical connection is made by connecting to each of the terminal portion 10E, the terminal portion 10F, the terminal portion 10G, and the terminal portion 10H.
  • the terminal block 10 is provided on the outside of the side surface (the outer surface of the side portion 40C) opposite to the inside of the side surface (the inside surface of the side portion 40C) of the track 4 on which the first power supply line 8 and the second power supply line 9 are arranged. ).
  • the first feeder line 8 and the second feeder line 9 arranged inside the side surface of the track 4 extend from the inside side of the track 4 to the outside of the side surface of the track 4 via through holes 40E formed in the track 4. It is taken out and connected to the terminal block 10 .
  • the terminal block 10 is not only used for connecting the first feeder lines 8 and the second feeder lines 9 at the joints as described above, but is also arranged on the inner side surfaces of the jump lines 8C and 9C and the track 4. It is used to connect the first feeder 8 and the second feeder 9 that are connected to each other, and to connect the jump lines 8C and 9C to the first feeder 8 and the second feeder 9 that are arranged on the outer side surface of the track 4.
  • the first feeder line 8 and the second feeder line 9 after folding are respectively the first feeder line 8B and the second feeder line 9B
  • the first feeder line 8B and the second feeder line 9B are moved from the R point to the S point along the track 4 while being supported by the lower feeder line support portion 41. It is realized by connecting to the other end of the first power supply device 11 and the second power supply device 15 after laying up to the first power supply device 11 and the second power supply device 15 .
  • the first power supply device 11 includes a control section 12, an input section 13, and an output section .
  • the controller 12 is a computer system or processor implemented on an integrated circuit.
  • the control unit 12 is a part that executes various control processes in the first power supply device 11, such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and an input/output interface. etc.
  • Various programs or data are stored in the ROM.
  • the control unit 12 has a monitoring unit 12A and a power control unit 12B as conceptual parts that execute various control processes.
  • the monitoring unit 12A and the power control unit 12B are formed by, for example, loading a program stored in a ROM onto a RAM and executing the program by a CPU.
  • the monitoring unit 12A monitors the state of the second power supply device 15. Examples of the state of the second power supply 15 include switching signals output from the inverter of the second power supply 15 .
  • the monitoring unit 12A can also monitor the presence or absence of an abnormality in the second power supply device 15 based on the output status of the switching signal.
  • the power control unit 12B controls the current value, phase, etc. of the high-frequency current output from the first power supply device 11 .
  • the input unit 13 receives a switching signal output from the inverter of the second power supply device 15 .
  • the output unit 14 outputs a switching signal output from the inverter of the first power supply device 11 .
  • the second power supply device 15 also includes a control unit 16, an input unit 17, and an output unit 18.
  • the control unit 16 includes a monitoring unit 16A and a power control unit 16B. have.
  • the control unit 16, the input unit 17, and the output unit 18 of the second power supply device 15 have the same functions as the control unit 12, the input unit 13, and the output unit 14 of the first power supply device 11, respectively. detailed description is omitted.
  • the power required for the normal operation mode of the carriage 6 is divided and supplied to two power supply lines, that is, the first power supply line 8 and the second power supply line 9 .
  • each of the first power supply device 11 and the second power supply device 15 is always connected to the first power supply line 8 at normal times so that the carriage 6 can obtain the power required for the normal operation mode. and outputs a high-frequency current to the second feed line 9 .
  • each of the first power supply device 11 and the second power supply device 15 is: A high-frequency current of x/2 (A) is output.
  • the current value of the high-frequency current obtained by the power receiving device 55 of the carriage 6 from the power supply line group in which the first power supply line 8 and the second power supply line 9 run in parallel becomes x(A).
  • the sharing ratio of the current values of the high-frequency currents output by the first power supply device 11 and the second power supply device 15 may not be 1:1 (half each) as described above, and the first power supply line 8 and the second power supply line 9 may be 1:2 or 1:3, for example, as long as each of them can supply necessary power during emergency operation.
  • Each of the first power supply device 11 and the second power supply device 15 has a monitoring function to monitor each other's states. Specifically, the monitoring unit 12A of the first power supply device 11 monitors the inverter switching signal output from the second power supply device 15, and the monitoring unit 16A of the second power supply device 15 monitors the first power The inverter switching signal output from the supply device 11 is monitored.
  • Each of the first power supply device 11 and the second power supply device 15 has a synchronization function of synchronizing the cycles of the output high-frequency currents. Specifically, while the above-described monitoring is performed by the first power supply device 11 and the second power supply device 15, the power control unit 12B of the first power supply device 11 receives power from the second power supply device 15. The phase of the high-frequency current output from the first power supply device 11 is synchronized with the phase of the high-frequency current output from the second power supply device 15 so as not to deviate from the phase of the high-frequency current output.
  • the power control unit 16B of the second power supply device 15 changes the phase of the high-frequency current output from the second power supply device 15 to the high-frequency current output from the first power supply device 11. may be synchronized with the phase of .
  • Each of the first power supply device 11 and the second power supply device 15 has a function to cope with an abnormality.
  • the monitoring unit 12 ⁇ /b>A determines whether or not the second power supply device 15 is abnormal based on the switching signal from the second power supply device 15 input to the input unit 13 .
  • 16 A of monitoring parts determine the presence or absence of abnormality of the 1st electric power supply apparatus 11 based on the switching signal from the 1st electric power supply apparatus 11 input into the input part 17.
  • FIG. Abnormality of the first power supply device 11 and the second power supply device 15 includes, for example, stoppage of operation, inability to output a predetermined current value according to the sharing ratio, and the like.
  • the monitoring unit 12A and the monitoring unit 16A detect an abnormality in the monitored device
  • the monitoring unit 12A and the monitoring unit 16A output information to that effect to the power monitoring device .
  • the power monitoring device 70 may acquire the abnormality of the second power supply device 15 detected by the monitoring unit 12A and the abnormality of the first power supply device 11 detected by the monitoring unit 16A.
  • the power control unit 12B When the power control unit 12B detects that the second power supply device 15 cannot operate, that is, when it detects that there is an abnormality in the monitoring partner, the power control unit 12B reduces the power lower than that required for the normal operation mode of the carriage 6, To enable the supply of power in a range higher than the power supplied before an abnormality was detected. In other words, the first power supply device 11 switches so as to increase the value of the current supplied before the abnormality was detected within a predetermined range.
  • the predetermined range can be, for example, 10% to 20%.
  • the power monitoring device 70 monitors the states of the first power supply device 11 and the second power supply device 15 .
  • the power monitoring device 70 is composed of, for example, a CPU, a ROM, a RAM, etc., an input/output interface, and the like. Various programs or data are stored in the ROM.
  • the power monitoring device 70 is communicatively connected to the first power supply device 11, the second power supply device 15, and the carrier controller 80 by wire or wirelessly. When the power monitoring device 70 detects that an abnormality has occurred in the first power supply device 11 and/or the second power supply device 15 , it outputs information to that effect to the carrier controller 80 .
  • the transport vehicle controller 80 is provided so as to be able to communicate with a plurality of transport vehicles 6 by wire or wirelessly, and controls the travel of the transport vehicles 6 . More specifically, the carrier controller 80 assigns a carrier command transmitted from a host controller (not shown) to the carrier 6, and moves the carrier 6 according to the carrier command.
  • the transport vehicle controller 80 is composed of, for example, a CPU, a ROM, a RAM, etc., an input/output interface, and the like. Various programs or data are stored in the ROM.
  • the carriage controller 80 In the carriage controller 80, an abnormality occurred in one of the first power supply device 11 and the second power supply device 15, and the carriage 6 became unable to receive power from one of the first power supply line 8 and the second power supply line 9.
  • the operation of the carriage 6 is switched from the normal operation mode to the emergency operation mode.
  • the normal operation mode in the present embodiment is a mode in which the maximum acceleration of all the carriages located in the section where power is supplied from the first power supply device and the second power supply device is set to the first acceleration value
  • the emergency operation mode is a mode in which the maximum acceleration of at least one carriage 6 located in the section is limited to a value smaller than the first acceleration value.
  • the carrier controller 80 acquires abnormality information indicating that an abnormality has occurred in one of the first power supply device 11 and the second power supply device 15, the first power supply device 11 and the second power supply device 15
  • the acceleration of at least one carriage 6 located in the section to which power is supplied from 15 is restricted so as to be lower than before the acquisition of the abnormality information.
  • the acceleration here means acceleration during acceleration, and does not include acceleration during deceleration.
  • the emergency operation mode of the above-described embodiment instead of or in addition to the above-described restrictions, is the transport vehicle 6 that can enter the section to which power is supplied from the first power supply device 11 and the second power supply device 15.
  • the number (second predetermined value) may be restricted so as to be smaller than the number (first predetermined value) before acquiring the abnormality information.
  • the guided vehicle controller 80 that has acquired the abnormality information can enter the section to which power is supplied from the first power supply device 11 and the second power supply device 15 instead of or in addition to the acceleration limitation.
  • the number of carriages 6 may be restricted so as to be less than before the abnormality information is acquired.
  • the power required for the normal operation mode is supplied from the first power supply line 8 connected to the first power supply device 11 and the power supplied from the second power supply device 15. It is supplied by combining with the power supplied from the second feeder line 9 . Even if an abnormality occurs in one of the first power supply device 11 and the second power supply device 15 and the power supply from one of the first power supply line 8 and the second power supply line 9 is interrupted, the first power supply The electric power required for the emergency operation mode is supplied from the other of the line 8 and the second feed line 9 . As a result, when an abnormality occurs in one of the first power supply device 11 and the second power supply device 15, the transporting capability of the transporting vehicle system 1 is reduced, but the transporting vehicle 6 can continue to operate. That is, it is possible to prevent the operation of the carriage system 1 from stopping.
  • the carriage controller 80 when the carriage controller 80 is in a state where power supplied from one of the first power supply device 11 and the second power supply device 15 is interrupted, the first power supply device 11 and the second power supply device 15 automatically switches to a state in which the operation can be continued, it is possible to prevent the operation of the carriage system 1 from stopping.
  • the acceleration during acceleration of the carriage 6 in the emergency operation mode is limited to a smaller value than in the normal operation mode, so the power consumption of the entire carriage system 1 is suppressed.
  • the operation of the carriage 6 can be performed. You can make it continue.
  • the number of carriages 6 that can enter the section to which power is supplied from the first power supply device 11 and the second power supply device 15 in the emergency operation mode is smaller than that in the normal operation mode. Since it is limited, the power consumption of the entire carriage system 1 is suppressed. As a result, even if power is supplied only from one of the first power supply line 8 connected to the first power supply device 11 and the second power supply line 9 connected to the second power supply device 15, the operation of the carriage 6 can be performed. You can make it continue.
  • the power supply line group consisting of the upper first power supply line 8A and the second power supply line 9A and the lower power supply line consisting of the first power supply line 8B and the second power supply line 9B The groups are arranged so as to sandwich the power receiving coil 57, and currents in opposite directions are passed through the upper power supply line group and the lower power supply line group.
  • the magnetic fields generated around the upper power supply line group and the lower power supply line group synergistically act on the power receiving coil 57, resulting in a large induction compared to a configuration in which only one power supply line group is provided.
  • a current can be obtained in the receiving coil 57 .
  • the carriage 6 receives power from one of the first power supply line 8 connected to the first power supply device 11 and the second power supply line 9 connected to the second power supply device 15.
  • An example has been described in which the operation mode of the carriage 6 is switched to the abnormal operation mode by the control of the carriage controller 80 when it becomes a state where it is no longer possible, but the present invention is not limited to this.
  • the body controller (transport unit) 35 of the carriage 6 accelerates at the first acceleration value when it can receive the power required for the normal operation mode, and accelerates at the first acceleration value when it can receive only the power required for the emergency operation mode. (That is, when power can be received only from one of the first power supply line 8 and the second power supply line 9), control may be performed to accelerate at a second acceleration value limited to be smaller than the first acceleration value.
  • the carrier controller 80 of the above embodiment Although it was possible to limit the acceleration of at least one carriage 6 located in the section to which power is supplied from the first power supply The acceleration of all the carriages 6 positioned in the section to which the power is supplied from the device 11 and the second power supply device 15 is limited so as to be lower than before the abnormality information is acquired.
  • the track 4 suspended from the ceiling has been described as an example in the above embodiment and modification, it may be applied to a track installed on the floor surface of the ground.
  • the power receiving device 55 to which power is supplied from the first power supply line 8 and the second power supply line 9 in a non-contact manner has been described as an example. It may be a power receiving device to which power is supplied.
  • the first power supply device 11 and the second power supply device 15 have been described by giving an example in which they are connected to an AC power supply such as a commercial power supply provided by an electric power company or the like. It may be connected to an AC power supply such as In this case, it is possible to prevent the operation of the carriage system 1 from stopping when electric power is supplied from a private power generator that operates in an emergency or the like.

Abstract

A conveyance carriage system 1 comprises a track 4 in which at least two power feed lines including a first power feed line 8 and a second power feed line 9 are arranged; a conveyance carriage 6 that travels along the track 4 and is configured so as to be capable of receiving power from both the first power feed line 8 and the second power feed line 9, a first power supply device 11 connected to the first power feed line 8, and a second power supply device 15 connected to the second power feed line 9. The first power supply device 11 and the second power supply device 15 supplies electric power necessary for a normal operation mode of the conveyance carriage 6 such that the electric power is apportioned between the first power feed line 8 and the second power feed line 9, and supplies electric power necessary for an emergency operation mode in which conveyance capacity is reduced relative to the normal operation mode from each of the first power feed line 8 and the second power feed line 9.

Description

搬送台車システムcarriage system
　本発明の一側面は、搬送台車システムに関する。 One aspect of the present invention relates to a carriage system.
　特許文献１には、スタッカクレーン、入出庫コンベヤ、入出荷コンベヤ、及び仕分搬送台車等の搬送機器を備えた物品搬送設備（搬送台車システム）が開示されている。これらの搬送機器（搬送台車）は、電力によって駆動される電動モータ又はアクチュエータ等によって作動するように構成されている。搬送機器には、物品搬送設備に備えられた配電盤（電力供給装置）を介して、電力会社等から供給される電力が供給される。 Patent Document 1 discloses an article transport facility (transport cart system) equipped with transport devices such as a stacker crane, an incoming/outgoing conveyor, an incoming/outgoing conveyor, and a sorting transport truck. These transport devices (transport carts) are configured to be operated by electric motors, actuators, or the like driven by electric power. Electric power supplied from an electric power company or the like is supplied to the conveying equipment via a switchboard (power supply device) provided in the article conveying equipment.
特開２０１３－１００１５３号公報JP 2013-100153 A
　このような物品搬送設備では、例えば電力会社からの電力供給が停止された場合、搬送機器を稼働させることができないところ、上記特許文献１の物品搬送設備では、自家発電装置を備えているので、継続して稼働させることができる。しかしながら、電力の供給が継続している状態であっても、配電盤に異常が発生すると、搬送機器に電力が供給できなくなる。仮に、電力会社からの電力の供給がストップし、上記特許文献１の物品搬送設備のような自家発電装置から電力が供給される場合であっても、配電盤に異常が発生すると、搬送機器に電力が供給できなくなる。このため、物品搬送設備の稼働を停止せざるを得なくなる。 In such an article conveying facility, for example, if the electric power supply from the electric power company is stopped, the conveying equipment cannot be operated. can continue to operate. However, even if power supply continues, if an abnormality occurs in the switchboard, power cannot be supplied to the carrier equipment. Even if the power supply from the power company is stopped and power is supplied from a private power generator such as the article transport equipment of the above-mentioned Patent Document 1, if an abnormality occurs in the switchboard, power will be supplied to the transport equipment. can no longer be supplied. As a result, the operation of the article conveying equipment has to be stopped.
　そこで、本発明の一側面の目的は、システムの稼働が停止することを防止できる搬送台車システムを提供することにある。 Therefore, an object of one aspect of the present invention is to provide a carriage system that can prevent the operation of the system from stopping.
　本発明の一側面に係る搬送台車システムは、第一給電線及び第二給電線の二本の給電線が少なくとも配置された軌道と、二本の給電線の両方から受電可能に構成され、軌道に沿って走行する搬送台車と、第一給電線に接続された第一電力供給装置と、第二給電線に接続された第二電力供給装置と、を備え、第一電力供給装置及び第二電力供給装置は、搬送台車の通常運転モードに必要とされる電力を、二本の給電線によって分担して供給すると共に、通常運転よりも搬送能力を低下させた非常運転モードに必要とされる電力を、二本の給電線のそれぞれから供給する。 A carriage system according to one aspect of the present invention is configured to be able to receive power from both a track on which at least two feeder lines, that is, a first feeder line and a second feeder line are arranged, and the two feeder lines, a carrier that travels along a first power supply device connected to a first power supply line; and a second power supply device connected to a second power supply line, wherein the first power supply device and the second The power supply device supplies the electric power required for the normal operation mode of the carriage by sharing it with two power supply lines, and is also required for the emergency operation mode in which the transportation capacity is lower than that of the normal operation. Power is supplied from each of the two feeders.
　この構成の搬送台車システムでは、通常運転モードに必要な電力は、第一電力供給装置に接続された給電線から供給される電力と、第二電力供給装置に接続された給電線から供給される電力とを合わせることによって供給される。そして、仮に第一電力供給装置及び第二電力供給装置の一方に異常が発生し、第一電力供給装置及び第二電力供給装置の一方からの電力供給が途絶えたとしても、第一電力供給装置及び第二電力供給装置の他方からは、非常運転モードに必要とされる電力が供給される。これにより、第一電力供給装置及び第二電力供給装置の一方に異常が発生した場合、搬送台車システムの搬送能力は低下するものの搬送台車の運転を継続させることができる。すなわち、搬送台車システムの稼働が停止することを防止できる。 In the carriage system of this configuration, the power required for the normal operation mode is supplied from the power supply line connected to the first power supply device and from the power supply line connected to the second power supply device. supplied by combining power. Even if an abnormality occurs in one of the first power supply device and the second power supply device and the power supply from one of the first power supply device and the second power supply device is interrupted, the first power supply device and the second power supply supply the power required for the emergency operation mode. As a result, when an abnormality occurs in one of the first power supply device and the second power supply device, the operation of the carriage can be continued although the carriage performance of the carriage system is reduced. That is, it is possible to prevent the operation of the carriage system from stopping.
　本発明の一側面に係る搬送台車システムでは、搬送台車は、通常運転モードに必要とされる電力を受電できるときは第一加速度値で加速し、非常運転モードに必要とされる電力しか受電できないときは第一加速度値と比べて小さく制限された第二加速度値で加速するように制御する制御部を有してもよい。この構成では、第一電力供給装置及び第二電力供給装置の一方から供給される電力が途絶えた状態となったとき、搬送台車における加速時の加速度が通常モード時に比べ小さく制限され、システム全体の消費電力が抑制される。これにより、第一電力供給装置及び第二電力供給装置の他方からのみ電力が供給される場合であっても、搬送台車の運転を継続することができる。 In the carriage system according to one aspect of the present invention, the carriage accelerates at the first acceleration value when it can receive the power required for the normal operation mode, and can receive only the power required for the emergency operation mode. It may have a control unit that controls acceleration at a second acceleration value that is limited to be smaller than the first acceleration value. With this configuration, when power supplied from one of the first power supply device and the second power supply device is interrupted, the acceleration during acceleration of the carriage is limited to a smaller value than in the normal mode, and the overall system performance is reduced. Power consumption is suppressed. Thereby, even when power is supplied only from the other of the first power supply device and the second power supply device, the operation of the carriage can be continued.
　本発明の一側面に係る搬送台車システムでは、第一電力供給装置及び第二電力供給装置の一方に異常が発生し、搬送台車が二本の給電線の一方から受電ができなくなった状態を示す情報を取得すると、搬送台車の運転を通常運転モードから非常運転モードに切り替える制御装置を更に備えてもよい。この構成では、第一電力供給装置及び第二電力供給装置の一方から給電線を介した電力の供給が途絶えた状態となったとき、第一電力供給装置及び第二電力供給装置の他方からのみ供給される電力によって運転が継続できる状態に自動的に切り替えられるので、搬送台車システムの稼働が停止することを自動的に防止できる。 In the carriage system according to one aspect of the present invention, an abnormality occurs in one of the first power supply device and the second power supply device, and the carriage cannot receive power from one of the two power supply lines. A control device may further be provided for switching the operation of the carriage from the normal operation mode to the emergency operation mode when the information is acquired. With this configuration, when the supply of power from one of the first power supply device and the second power supply device through the power supply line is interrupted, only the other of the first power supply device and the second power supply device Since the operation is automatically switched to a state in which the operation can be continued by the supplied electric power, it is possible to automatically prevent the operation of the carriage system from stopping.
　本発明の一側面に係る搬送台車システムでは、通常運転モードは、第一電力供給装置及び第二電力供給装置から電力が供給される区間に位置する全ての搬送台車の最大加速度が第一加速度値に設定されたモードであり、非常運転モードは、区間に位置する少なくとも一台の搬送台車の最大加速度が第一加速度値と比べて小さく制限されたモードであってもよい。この構成では、非常運転モードにおける搬送台車における加速時の加速度が通常運転モード時に比べ小さく制限されるので、システム全体の消費電力が抑制される。これにより、第一電力供給装置及び第二電力供給装置の他方からのみ供給される電力によって搬送台車の運転が継続できる状態にすることができる。 In the carriage system according to one aspect of the present invention, in the normal operation mode, the maximum acceleration of all the carriages located in the section to which power is supplied from the first power supply device and the second power supply device is the first acceleration value. , and the emergency operation mode may be a mode in which the maximum acceleration of at least one carriage located in the section is limited to be smaller than the first acceleration value. In this configuration, the acceleration of the carriage during acceleration in the emergency operation mode is restricted to be smaller than that in the normal operation mode, thereby suppressing the power consumption of the entire system. As a result, the carriage can continue to operate with power supplied only from the other of the first power supply device and the second power supply device.
　本発明の一側面に係る搬送台車システムでは、通常運転モードは、第一電力供給装置及び第二電力供給装置から電力が供給される区間に入場可能な搬送台車の台数が第一所定値に設定されたモードであり、非常運転モードは、区間に入場可能な搬送台車の台数が第一所定値よりも少ない第二所定値に制限されたモードであってもよい。この構成では、非常運転モードにおける第一電力供給装置及び第二電力供給装置から電力が供給される区間に入場可能な搬送台車の台数が通常運転モード時に比べ少なく制限されるので、システム全体の消費電力が抑制される。これにより、第一電力供給装置及び第二電力供給装置の他方のみから供給される電力によって搬送台車の運転が継続できる状態にすることができる。 In the carriage system according to one aspect of the present invention, in the normal operation mode, the number of carriages that can enter the section to which power is supplied from the first power supply device and the second power supply device is set to the first predetermined value. The emergency operation mode may be a mode in which the number of carriages that can enter the section is limited to a second predetermined value that is less than the first predetermined value. In this configuration, the number of carriages that can enter the section to which power is supplied from the first power supply device and the second power supply device in the emergency operation mode is limited to a smaller number than in the normal operation mode, so the consumption of the entire system Power is curtailed. As a result, the carriage can continue to operate with power supplied only from the other of the first power supply device and the second power supply device.
　本発明の一側面に係る搬送台車システムでは、第一電力供給装置及び第二電力供給装置は、それぞれに接続される給電線に高周波電流を供給する装置であり、第一電力供給装置及び第二電力供給装置のそれぞれは、出力される高周波電流の周期を互いに同期させてもよい。この構成では、搬送台車に非接触で給電を行うことができる非接触給電システムを提供することができる。 In the carriage system according to one aspect of the present invention, the first power supply device and the second power supply device are devices that supply high-frequency current to power supply lines connected to the first power supply device and the second power supply device. Each of the power supply devices may synchronize the period of the high frequency current to be output. With this configuration, it is possible to provide a contactless power supply system capable of contactlessly supplying power to the carriage.
　本発明の一側面によれば、システムの稼働が停止することを防止できる。 According to one aspect of the present invention, it is possible to prevent system operation from stopping.
図１は、一実施形態に係る搬送台車システムの一例を模式的に示した図である。FIG. 1 is a diagram schematically showing an example of a carriage system according to one embodiment. 図２は、軌道を走行する搬送台車の前方から見た正面図である。FIG. 2 is a front view seen from the front of the carriage traveling on the track. 図３は、図２における搬送台車の受電装置を拡大して示した正面図である。3 is an enlarged front view of the power receiving device of the carrier in FIG. 2. FIG. 図４は、給電設備及び搬送台車の機能構成を示したブロック図である。FIG. 4 is a block diagram showing the functional configuration of the power supply equipment and the carriage. 図５は、軌道に設けられた端子台の一例を示す側面図である。FIG. 5 is a side view showing an example of the terminal block provided on the track.
　以下、添付図面を参照して、本発明の一側面の好適な実施形態について詳細に説明する。なお、図面の説明において同一又は相当要素には同一符号を付し、重複する説明は省略する。 Hereinafter, preferred embodiments of one aspect of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and overlapping descriptions are omitted.
　図１及び図２に示されるように、搬送台車システム１は、軌道４に沿って移動可能な搬送台車６を用いて、例えば、物品Ｆを処理装置等の載置部間で搬送するためのシステムである。物品Ｆには、例えば、複数の半導体ウェハを格納するＦＯＵＰ（Front　Opening　Unified　Pod）及びガラス基板を格納するレチクルポッド等のような容器、並びに一般部品等が含まれる。搬送台車システム１は、搬送台車６と、軌道４と、給電設備７と、電力監視装置（制御装置）７０と、搬送車コントローラ８０と、を備える。 As shown in FIGS. 1 and 2, the carriage system 1 uses a carriage 6 movable along a track 4 to transport, for example, an article F between placement units such as processing apparatuses. System. The article F includes, for example, a FOUP (Front Opening Unified Pod) that stores a plurality of semiconductor wafers, a container such as a reticle pod that stores a glass substrate, and general parts. The carriage system 1 includes a carriage 6 , a track 4 , a power supply facility 7 , a power monitoring device (control device) 70 , and a carriage controller 80 .
　搬送台車６は、軌道４に沿って走行し、物品Ｆを搬送する。搬送台車６は、物品Ｆを移載可能に構成されている。搬送台車システム１が備える搬送台車６の台数は、特に限定されず、複数である。搬送台車６は、本体部２０と、走行部５０と、本体コントローラ（制御部）３５と、を有する。本体部２０は、本体フレーム２２と、横送り部２４と、θドライブ２６と、昇降駆動部２８と、昇降台３０と、カバー３３と、を有する。 The transport carriage 6 travels along the track 4 and transports the article F. The carriage 6 is configured to transfer the article F thereon. The number of the carriages 6 included in the carriage system 1 is not particularly limited, and is plural. The carriage 6 has a body portion 20 , a travel portion 50 , and a body controller (control portion) 35 . The body portion 20 has a body frame 22 , a transverse feed portion 24 , a θ drive 26 , an elevation drive portion 28 , an elevation platform 30 and a cover 33 .
　本体フレーム２２は、走行部５０と接続されており、横送り部２４と、θドライブ２６と、昇降駆動部２８と、昇降台３０と、カバー３３とを支持する。横送り部２４は、θドライブ２６、昇降駆動部２８及び昇降台３０を一括して、軌道４の延在方向と直角な方向に横送りする。θドライブ２６は、昇降駆動部２８及び昇降台３０の少なくとも何れかを水平面内で所定の角度範囲内で回動させる。昇降駆動部２８は、昇降台３０をワイヤ、ロープ及びベルト等の吊持材の巻取りないし繰出しによって昇降させる。昇降台３０には、チャックが設けられており、物品Ｆの把持又は解放が自在とされている。カバー３３は、例えば搬送台車６の走行方向の前後に一対設けられている。カバー３３は、図示しない爪等を出没させて、搬送中に物品Ｆが落下することを防止する。 The body frame 22 is connected to the traveling section 50 and supports the lateral feed section 24, the θ drive 26, the elevation drive section 28, the elevation table 30, and the cover 33. The traverse section 24 collectively traverses the .theta. The θ drive 26 rotates at least one of the elevation drive unit 28 and the elevation table 30 within a predetermined angle range in the horizontal plane. The lift drive unit 28 lifts and lowers the lift table 30 by winding or unwinding a suspension member such as a wire, rope, or belt. The lifting table 30 is provided with a chuck so that the article F can be freely held or released. A pair of covers 33 are provided, for example, on the front and rear sides of the carriage 6 in the running direction. The cover 33 has claws (not shown) appearing and retracting to prevent the articles F from falling during transportation.
　走行部５０は、搬送台車６を軌道４に沿って走行させる。走行部５０は、主に、走行ローラ５１と、サイドローラ５２と、走行駆動部５３と、受電装置５５と、を有している。走行ローラ５１は、軌道４の下面部４０Ｂを転動する。走行ローラ５１は、走行部５０の前後の左右両端に配置されている。サイドローラ５２は、軌道４の側面部４０Ｃに接触可能に設けられている。走行駆動部５３は、ＬＤＭ（Linear　DC　Motor）であり、走行部５０の前後に設けられている。走行駆動部５３には、電磁石が設けられており、走行駆動部５３には、その電磁石に、軌道４の上面に配置された磁気プレート４２との間で搬送台車６を加速又は制動させるための磁力を発生させる。 The traveling unit 50 causes the carriage 6 to travel along the track 4. The running section 50 mainly includes a running roller 51 , side rollers 52 , a running driving section 53 , and a power receiving device 55 . The running roller 51 rolls on the lower surface portion 40B of the track 4 . The running rollers 51 are arranged at both the front and rear left and right ends of the running portion 50 . The side roller 52 is provided so as to be able to contact the side surface portion 40C of the track 4 . The travel drive unit 53 is an LDM (Linear DC Motor) and is provided in front of and behind the travel unit 50 . The travel drive unit 53 is provided with an electromagnet, and the travel drive unit 53 has an electromagnet for accelerating or braking the carriage 6 between the electromagnet and the magnetic plate 42 arranged on the upper surface of the track 4. Generate magnetic force.
　受電装置５５は、搬送台車６の上方から見た平面視において、走行部５０の前後に、左右方向に走行駆動部５３を挟むように配置されている。受電装置５５では、後段にて詳述される第一給電線８及び第二給電線９との間で非接触による給電が行われる。図３に示されるように、受電装置５５のそれぞれは、コア５６と、受電コイル５７と、を備えている。コア５６は、上下方向に延びた基部５６Ａと、基部５６Ａから水平方向に延在する三本の脚部５６Ｂ，５６Ｂ，５６Ｂと、を有する。コア５６は、軌道４の延在方向に直交する断面形状がＥ型のコアである。コア５６は、例えばフェライト等の磁性材料で形成されている。中央の脚部５６Ｂの先端には、受電コイル５７の抜け止めとして機能するフランジ部５６Ｃが設けられている。 The power receiving device 55 is arranged in front of and behind the traveling portion 50 so as to sandwich the traveling driving portion 53 in the left-right direction in a plan view of the carriage 6 viewed from above. In the power receiving device 55, contactless power supply is performed between the first power supply line 8 and the second power supply line 9, which will be described in detail later. As shown in FIG. 3 , each power receiving device 55 includes a core 56 and a power receiving coil 57 . The core 56 has a vertically extending base 56A and three legs 56B, 56B, 56B horizontally extending from the base 56A. The core 56 is a core having an E-shaped cross section orthogonal to the extending direction of the track 4 . The core 56 is made of a magnetic material such as ferrite. A flange portion 56C that functions as a retainer for the receiving coil 57 is provided at the tip of the central leg portion 56B.
　受電コイル５７は、中央の脚部５６Ｂに、例えばエナメル等で被覆された銅線が巻回されることによって構成されている。受電コイル５７は、第一給電線８及び第二給電線９に供給された電流（高周波電流）によって生じた磁界により誘導電流を生じさせ、この誘導電流により、上記の昇降駆動部２８、走行駆動部５３及び本体コントローラ３５に電力を供給する。なお、上記したコア５６は、断面Ｅ型のコアであることに限定されない。例えば、基部５６Ａから二本の脚部５６Ｂ，５６Ｂが水平方向に平行に延在する形状のコアが用いられてもよい。二本の脚部５６Ｂ，５６Ｂを持つコアの場合、受電コイル５７は、二本の脚部５６Ｂ，５６Ｂのうち一方の脚部５６Ｂに銅線が巻回されることによって構成されてもよい。 The power receiving coil 57 is configured by winding a copper wire coated with enamel or the like, for example, around the central leg portion 56B. The power receiving coil 57 generates an induced current by a magnetic field generated by the current (high-frequency current) supplied to the first power supply line 8 and the second power supply line 9, and the induced current causes the above-described elevation driving unit 28 and travel driving. Power is supplied to the unit 53 and the body controller 35 . Note that the core 56 described above is not limited to a core having an E-shaped cross section. For example, a core having a shape in which two leg portions 56B, 56B extend in parallel in the horizontal direction from the base portion 56A may be used. In the case of a core having two legs 56B, 56B, the receiving coil 57 may be configured by winding a copper wire around one leg 56B of the two legs 56B, 56B.
　図１及び図２に戻り、軌道４は、例えば、作業者の頭上スペースである天井付近に敷設されている。軌道４は、例えば天井から吊り下げられている。軌道４は、搬送台車６を走行させるための予め定められた走行路である。軌道４は、支柱４０Ａ，４０Ａにより支持される。 Returning to Figures 1 and 2, the track 4 is laid, for example, near the ceiling, which is the overhead space of the worker. The track 4 is suspended from the ceiling, for example. The track 4 is a predetermined running path for running the carriage 6 . The track 4 is supported by struts 40A, 40A.
　軌道４は、一対の下面部４０Ｂ，４０Ｂと一対の側面部４０Ｃ，４０Ｃと天面部４０Ｄとからなる筒状のレール本体部４０と、給電線支持部４１と、磁気プレート４２と、を有している。レール本体部４０は、搬送台車６の走行部５０を収容する。下面部４０Ｂは、搬送台車６の走行方向に延在し、レール本体部４０の下面を構成する。下面部４０Ｂは、搬送台車６の走行ローラ５１を転動させて走行させるための板状部材である。側面部４０Ｃは、搬送台車６の走行方向に延在し、レール本体部４０の側面を構成する。天面部４０Ｄは、搬送台車６の走行方向に延在し、レール本体部４０の上面を構成する。 The track 4 has a cylindrical rail main body 40 composed of a pair of lower surface portions 40B, 40B, a pair of side surface portions 40C, 40C, and a top surface portion 40D, a feeder line support portion 41, and a magnetic plate 42. ing. The rail body portion 40 accommodates the traveling portion 50 of the carriage 6 . The lower surface portion 40</b>B extends in the traveling direction of the carriage 6 and constitutes the lower surface of the rail body portion 40 . The lower surface portion 40B is a plate-like member for causing the traveling rollers 51 of the carrier 6 to roll and travel. The side surface portion 40</b>C extends in the traveling direction of the carriage 6 and constitutes the side surface of the rail body portion 40 . The top surface portion 40</b>D extends in the traveling direction of the carriage 6 and constitutes the top surface of the rail body portion 40 .
　給電線支持部４１は、搬送台車６に電力を供給する第一給電線８及び第二給電線９を支持する。給電線支持部４１は、一対の側面部４０Ｃ，４０Ｃのそれぞれに固定され、レール本体部４０の延在方向に沿って延在していてもよいし、間隔をあけて配置されていてもよい。なお、第一給電線８及び第二給電線９については、後段にて詳述する。磁気プレート４２は、搬送台車６の走行駆動部５３に走行又は停止のための磁力（推力）を発生させる。磁気プレート４２は、天面部４０Ｄに固定され、走行方向に沿って延在している。 The power supply line support part 41 supports the first power supply line 8 and the second power supply line 9 that supply power to the carriage 6 . The power supply line support portion 41 may be fixed to each of the pair of side surface portions 40C, 40C, and may extend along the extending direction of the rail body portion 40, or may be arranged at intervals. . In addition, the first power supply line 8 and the second power supply line 9 will be described in detail later. The magnetic plate 42 generates a magnetic force (thrust force) for running or stopping the travel drive unit 53 of the carriage 6 . The magnetic plate 42 is fixed to the top surface portion 40D and extends along the running direction.
　給電設備７は、搬送台車６の受電装置５５に対して非接触の状態で電力を供給するための設備である。給電設備７は、第一電力供給装置１１と、第二電力供給装置１５と、第一給電線８と、第二給電線９と、端子台１０と、を備えている。 The power supply equipment 7 is equipment for supplying electric power to the power receiving device 55 of the carriage 6 in a non-contact state. The power supply equipment 7 includes a first power supply device 11 , a second power supply device 15 , a first power supply line 8 , a second power supply line 9 , and a terminal block 10 .
　第一電力供給装置１１は、第一給電線８に高周波電流を供給する。第一電力供給装置１１は、公知の配線用遮断器、電力変換器、制御装置等の機器から構成されており、制御装置には、後段にて詳述する監視機能、同期機能、及び異常時対応機能が公知の機能に付加されている。第一電力供給装置１１は、電力会社等が提供する商用電源等の交流電源に接続されており、交流電力（三相２００Ｖ）の供給を受けている。交流電力の周波数は、例えば、５０Ｈｚ又は６０Ｈｚである。第二電力供給装置１５は、第二給電線９に高周波電流を供給する。第二電力供給装置１５の構成は、第一電力供給装置１１と同じである。 The first power supply device 11 supplies high-frequency current to the first power supply line 8 . The first power supply device 11 is composed of devices such as a known wiring breaker, power converter, control device, etc. The control device has a monitoring function, a synchronization function, and an abnormality Corresponding functions are added to known functions. The first power supply device 11 is connected to an AC power supply such as a commercial power supply provided by an electric power company or the like, and is supplied with AC power (three-phase 200 V). The frequency of AC power is, for example, 50 Hz or 60 Hz. The second power supply device 15 supplies a high frequency current to the second feed line 9 . The configuration of the second power supply device 15 is the same as that of the first power supply device 11 .
　図１～図３に示されるように、第一給電線８及び第二給電線９は、軌道４の側面部４０Ｃに給電線支持部４１を介して固定され、軌道４の延在方向に沿って配置されている。図３に示されるように、第一給電線８及び第二給電線９は、一部区間を除き、軌道４における両方の側面の内側（左側の側面部４０Ｃの内面と右側の側面部４０Ｃの内面との両方）に配置されている。より詳細には、軌道４には、第一電力供給装置１１に接続される第一給電線８及び第二給電線９に接続される第二給電線９の二本が並走するように配置されている。これにより、搬送台車６の受電装置５５は、第一給電線８及び第二給電線９の二本の給電線から同時に非接触で受電することができる。 As shown in FIGS. 1 to 3, the first power supply line 8 and the second power supply line 9 are fixed to the side surface portion 40C of the track 4 via the power supply line support portion 41, and extend along the extending direction of the track 4. are placed. As shown in FIG. 3, the first feeder line 8 and the second feeder line 9 are arranged inside both side surfaces of the track 4 (the inner surface of the left side surface portion 40C and the inner surface of the right side surface portion 40C), except for some sections. (both inside and outside). More specifically, on the track 4, a first feeder line 8 connected to the first power supply device 11 and a second feeder line 9 connected to the second feeder line 9 are arranged so as to run in parallel. It is As a result, the power receiving device 55 of the carriage 6 can simultaneously receive power from the two feeder lines, the first feeder line 8 and the second feeder line 9, without contact.
　本実施形態の軌道４は、第一給電線８及び第二給電線９を支持する給電線支持部４１が上下方向に配列されている。第一給電線８及び第二給電線９の二本を一組とする給電線群は、搬送台車６の受電装置５５における受電コイル５７を挟むことができるように配置されている。すなわち、搬送台車６の受電コイル５７は、搬送台車６が走行すると、第一給電線８及び第二給電線９の二本を一組とする給電線群に挟まれた状態で移動する。 In the track 4 of the present embodiment, feeder line support portions 41 that support the first feeder line 8 and the second feeder line 9 are arranged vertically. A group of feeder lines, each consisting of two of the first feeder line 8 and the second feeder line 9 , is arranged so as to sandwich the power receiving coil 57 in the power receiving device 55 of the carriage 6 . That is, the power receiving coil 57 of the carriage 6 moves while being sandwiched between two feeder lines, the first feeder 8 and the second feeder 9, when the carriage 6 travels.
　図１及び図５に示されるように、軌道４は、搬送台車６の走行方向に複数の軌道パーツ４Ａを繋ぎ合わせることによって軌道レイアウトが構成されている。軌道パーツの繋ぎ目には、端子台１０が配置されている。端子台１０は、繋ぎ目における一方の軌道パーツ４Ａに配置された第一給電線８Ａ、第二給電線９Ａ、第一給電線８Ｂ及び第二給電線９Ｂのそれぞれと、他方の軌道パーツ４Ａに配置された第一給電線８Ａ、第二給電線９Ａ、第一給電線８Ｂ及び第二給電線９Ｂのそれぞれとを電気的に接続する。端子台１０では、繋ぎ目における一方の軌道パーツ４Ａに配置された第一給電線８Ａ、第二給電線９Ａ、第一給電線８Ｂ及び第二給電線９Ｂを、端子部１０Ａ、端子部１０Ｂ、端子部１０Ｃ及び端子部１０Ｄのそれぞれに接続し、繋ぎ目における他方の軌道パーツ４Ａに配置された第一給電線８Ａ、第二給電線９Ａ、第一給電線８Ｂ及び第二給電線９Ｂを、端子部１０Ｅ、端子部１０Ｆ、端子部１０Ｇ及び端子部１０Ｈのそれぞれに接続することで、電気的な接続がなされる。 As shown in FIGS. 1 and 5, the track layout of the track 4 is configured by connecting a plurality of track parts 4A in the traveling direction of the carriage 6. A terminal block 10 is arranged at the joint of the track parts. The terminal block 10 is connected to each of the first power supply line 8A, the second power supply line 9A, the first power supply line 8B, and the second power supply line 9B arranged on one track part 4A at the joint, and the other track part 4A. The arranged first feeder line 8A, second feeder line 9A, first feeder line 8B and second feeder line 9B are electrically connected to each other. In the terminal block 10, the first power supply line 8A, the second power supply line 9A, the first power supply line 8B, and the second power supply line 9B arranged on one of the track parts 4A at the joint are connected to the terminal portion 10A, the terminal portion 10B, The first power supply line 8A, the second power supply line 9A, the first power supply line 8B and the second power supply line 9B connected to the terminal portion 10C and the terminal portion 10D and arranged on the other track part 4A at the joint, Electrical connection is made by connecting to each of the terminal portion 10E, the terminal portion 10F, the terminal portion 10G, and the terminal portion 10H.
　端子台１０は、軌道４において第一給電線８及び第二給電線９が配置された軌道４の側面の内側（側面部４０Ｃの内面）とは反対側の側面の外側（側面部４０Ｃの外面）に取り付けられている。軌道４の側面の内側に配置された第一給電線８及び第二給電線９は、軌道４に形成された貫通孔４０Ｅを介して、軌道４の側面の内側から軌道４の側面の外側に取り出され、端子台１０に接続されている。本実施形態では、軌道４の内側の側面に配置される第一給電線８及び第二給電線９と、軌道４の外側の側面に配置される第一給電線８及び第二給電線９とを接続するジャンプ線８Ｃ，９Ｃ（図１において破線で示される）が設けられている。なお、端子台１０は、上述したような繋ぎ目における第一給電線８同士及び第二給電線９同士の接続に用いられるだけでなく、ジャンプ線８Ｃ，９Ｃと軌道４の内側の側面に配置される第一給電線８及び第二給電線９との接続、ジャンプ線８Ｃ，９Ｃと軌道４の外側の側面に配置される第一給電線８及び第二給電線９との接続に用いられてもよい。 The terminal block 10 is provided on the outside of the side surface (the outer surface of the side portion 40C) opposite to the inside of the side surface (the inside surface of the side portion 40C) of the track 4 on which the first power supply line 8 and the second power supply line 9 are arranged. ). The first feeder line 8 and the second feeder line 9 arranged inside the side surface of the track 4 extend from the inside side of the track 4 to the outside of the side surface of the track 4 via through holes 40E formed in the track 4. It is taken out and connected to the terminal block 10 . In this embodiment, the first feeder 8 and the second feeder 9 arranged on the inner side surface of the track 4 and the first feeder 8 and the second feeder 9 arranged on the outer side of the track 4 There are provided jump lines 8C, 9C (indicated by dashed lines in FIG. 1) connecting the . The terminal block 10 is not only used for connecting the first feeder lines 8 and the second feeder lines 9 at the joints as described above, but is also arranged on the inner side surfaces of the jump lines 8C and 9C and the track 4. It is used to connect the first feeder 8 and the second feeder 9 that are connected to each other, and to connect the jump lines 8C and 9C to the first feeder 8 and the second feeder 9 that are arranged on the outer side surface of the track 4. may
　図３において上下方向に配列された給電線群において、上側の給電線群及び下側の給電線群には互いに逆向きの電流が流れる。例えば、図３に示される上側の給電線群を構成する第一給電線８Ａ及び第二給電線９Ａには、図面手前側から図面奥側へ向かう電流が、図３に示される下側の給電線群を構成する第一給電線８Ｂ及び第二給電線９Ｂには、図面奥側から図面手前側へ向かう電流が、それぞれ流れる。このような構成は、図１に示されるように、例えば、第一電力供給装置１１及び第二電力供給装置１５の一端に接続される第一給電線８Ａ及び第二給電線９Ａを、図１に示されるようにＳ地点から上側の給電線支持部４１に支持させた状態でＲ地点まで敷設して折り返し（折返し後の第一給電線８及び第二給電線９をそれぞれ第一給電線８Ｂ及び第二給電線９Ｂと称する。）、今度は第一給電線８Ｂ及び第二給電線９Ｂを、Ｒ地点から下側の給電線支持部４１に支持させた状態で軌道４に沿ってＳ地点まで敷設した後、第一電力供給装置１１及び第二電力供給装置１５の他端に接続させることで実現される。 In the feeder line group arranged in the vertical direction in FIG. 3, currents flow in opposite directions to each other in the upper feeder line group and the lower feeder line group. For example, in the first power supply line 8A and the second power supply line 9A that constitute the upper power supply line group shown in FIG. A current flowing from the back side of the drawing to the front side of the drawing flows through the first power supply line 8B and the second power supply line 9B that constitute the electric wire group. Such a configuration, as shown in FIG. , from the S point to the R point while being supported by the upper feeder line support portion 41 and folded back (the first feeder line 8 and the second feeder line 9 after folding are respectively the first feeder line 8B and the second feeder line 9B), this time the first feeder line 8B and the second feeder line 9B are moved from the R point to the S point along the track 4 while being supported by the lower feeder line support portion 41. It is realized by connecting to the other end of the first power supply device 11 and the second power supply device 15 after laying up to the first power supply device 11 and the second power supply device 15 .
　図１及び図４に示されるように、第一電力供給装置１１は、制御部１２と、入力部１３と、出力部１４とを備えている。制御部１２は、集積回路に実装されたコンピュータシステムあるいはプロセッサである。制御部１２は、第一電力供給装置１１における各種制御処理を実行する部分であり、例えば、ＣＰＵ（Central　Processing　Unit）、ＲＯＭ（Read　Only　Memory）、ＲＡＭ（Random　Access　Memory）等、及び入出力インターフェース等から構成される。ＲＯＭには、各種プログラム又はデータが格納されている。制御部１２は、各種制御処理を実行する概念的な部分としての監視部１２Ａと、電力制御部１２Ｂとを有している。監視部１２Ａ及び電力制御部１２Ｂは、例えばＲＯＭに格納されているプログラムがＲＡＭ上にロードされてＣＰＵで実行されることにより形成される。 As shown in FIGS. 1 and 4, the first power supply device 11 includes a control section 12, an input section 13, and an output section . The controller 12 is a computer system or processor implemented on an integrated circuit. The control unit 12 is a part that executes various control processes in the first power supply device 11, such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and an input/output interface. etc. Various programs or data are stored in the ROM. The control unit 12 has a monitoring unit 12A and a power control unit 12B as conceptual parts that execute various control processes. The monitoring unit 12A and the power control unit 12B are formed by, for example, loading a program stored in a ROM onto a RAM and executing the program by a CPU.
　監視部１２Ａは、第二電力供給装置１５の状態を監視する。第二電力供給装置１５の状態を示す例として、第二電力供給装置１５のインバータから出力されるスイッチング信号が含まれる。また、監視部１２Ａは、上記スイッチング信号の出力状況に基づいて、第二電力供給装置１５の異常の有無を監視することもできる。電力制御部１２Ｂは、第一電力供給装置１１から出力される高周波電流の電流値及び位相等を制御する。入力部１３は、第二電力供給装置１５のインバータから出力されるスイッチング信号が入力される。出力部１４は、第一電力供給装置１１のインバータから出力されるスイッチング信号が出力される。 The monitoring unit 12A monitors the state of the second power supply device 15. Examples of the state of the second power supply 15 include switching signals output from the inverter of the second power supply 15 . The monitoring unit 12A can also monitor the presence or absence of an abnormality in the second power supply device 15 based on the output status of the switching signal. The power control unit 12B controls the current value, phase, etc. of the high-frequency current output from the first power supply device 11 . The input unit 13 receives a switching signal output from the inverter of the second power supply device 15 . The output unit 14 outputs a switching signal output from the inverter of the first power supply device 11 .
　第二電力供給装置１５も第一電力供給装置１１と同様に、制御部１６と、入力部１７と、出力部１８とを備え、制御部１６は、監視部１６Ａと、電力制御部１６Ｂとを有している。第二電力供給装置１５の制御部１６、入力部１７及び出力部１８のそれぞれは、第一電力供給装置１１の制御部１２、入力部１３及び出力部１４のそれぞれと機能を同じくするので、ここでの詳細な説明は省略する。 Similarly to the first power supply device 11, the second power supply device 15 also includes a control unit 16, an input unit 17, and an output unit 18. The control unit 16 includes a monitoring unit 16A and a power control unit 16B. have. The control unit 16, the input unit 17, and the output unit 18 of the second power supply device 15 have the same functions as the control unit 12, the input unit 13, and the output unit 14 of the first power supply device 11, respectively. detailed description is omitted.
　本実施形態の給電設備７では、搬送台車６の通常運転モードに必要とされる電力が、二本の給電線、すなわち第一給電線８及び第二給電線９に分担されて供給される。言い換えれば、第一電力供給装置１１及び第二電力供給装置１５のそれぞれは、搬送台車６が通常運転モードに必要とされる電力が得られるように、通常時であれば常に第一給電線８及び第二給電線９に高周波電流を出力する。 In the power supply equipment 7 of the present embodiment, the power required for the normal operation mode of the carriage 6 is divided and supplied to two power supply lines, that is, the first power supply line 8 and the second power supply line 9 . In other words, each of the first power supply device 11 and the second power supply device 15 is always connected to the first power supply line 8 at normal times so that the carriage 6 can obtain the power required for the normal operation mode. and outputs a high-frequency current to the second feed line 9 .
　例えば、搬送台車６が通常運転モードに必要とされる電力を得るための高周波電流の電流値をｘ（Ａ）としたとき、第一電力供給装置１１及び第二電力供給装置１５のそれぞれは、ｘ／２（Ａ）の高周波電流を出力する。これにより、搬送台車６の受電装置５５が、第一給電線８及び第二給電線９が並走する給電線群から得られる高周波電流の電流値は、ｘ（Ａ）となる。なお、第一電力供給装置１１及び第二電力供給装置１５が出力する高周波電流の電流値の分担比は、上記のように１：１（半分ずつ）でなくてもよく、第一給電線８及び第二給電線９のそれぞれが非常運転時に必要な電力を供給できさえすれば、例えば、１：２又は１：３等であってもよい。 For example, when the current value of the high-frequency current for obtaining the power required for the carriage 6 in the normal operation mode is x(A), each of the first power supply device 11 and the second power supply device 15 is: A high-frequency current of x/2 (A) is output. As a result, the current value of the high-frequency current obtained by the power receiving device 55 of the carriage 6 from the power supply line group in which the first power supply line 8 and the second power supply line 9 run in parallel becomes x(A). In addition, the sharing ratio of the current values of the high-frequency currents output by the first power supply device 11 and the second power supply device 15 may not be 1:1 (half each) as described above, and the first power supply line 8 and the second power supply line 9 may be 1:2 or 1:3, for example, as long as each of them can supply necessary power during emergency operation.
　第一電力供給装置１１及び第二電力供給装置１５のそれぞれは、互いに状態を監視し合う監視機能を有している。具体的には、第一電力供給装置１１の監視部１２Ａは、第二電力供給装置１５から出力されるインバータのスイッチング信号を監視し、第二電力供給装置１５の監視部１６Ａは、第一電力供給装置１１から出力されるインバータのスイッチング信号を監視している。 Each of the first power supply device 11 and the second power supply device 15 has a monitoring function to monitor each other's states. Specifically, the monitoring unit 12A of the first power supply device 11 monitors the inverter switching signal output from the second power supply device 15, and the monitoring unit 16A of the second power supply device 15 monitors the first power The inverter switching signal output from the supply device 11 is monitored.
　第一電力供給装置１１及び第二電力供給装置１５のそれぞれは、出力される高周波電流の周期を互いに同期させる同期機能を有している。具体的には、第一電力供給装置１１及び第二電力供給装置１５によって、上記のような監視が行われる中、第一電力供給装置１１の電力制御部１２Ｂは、第二電力供給装置１５から出力される高周波電流の位相とずれないように、第一電力供給装置１１から出力される高周波電流の位相を、第二電力供給装置１５から出力される高周波電流の位相に同期させる。なお、上記の構成に代えて、第二電力供給装置１５の電力制御部１６Ｂが、第二電力供給装置１５から出力される高周波電流の位相を、第一電力供給装置１１から出力される高周波電流の位相に同期させる構成としてもよい。 Each of the first power supply device 11 and the second power supply device 15 has a synchronization function of synchronizing the cycles of the output high-frequency currents. Specifically, while the above-described monitoring is performed by the first power supply device 11 and the second power supply device 15, the power control unit 12B of the first power supply device 11 receives power from the second power supply device 15. The phase of the high-frequency current output from the first power supply device 11 is synchronized with the phase of the high-frequency current output from the second power supply device 15 so as not to deviate from the phase of the high-frequency current output. Note that, instead of the above configuration, the power control unit 16B of the second power supply device 15 changes the phase of the high-frequency current output from the second power supply device 15 to the high-frequency current output from the first power supply device 11. may be synchronized with the phase of .
　第一電力供給装置１１及び第二電力供給装置１５のそれぞれは、異常時対応機能を有している。具体的には、監視部１２Ａは、入力部１３に入力される第二電力供給装置１５からのスイッチング信号に基づいて、第二電力供給装置１５の異常の有無を判定する。監視部１６Ａは、入力部１７に入力される第一電力供給装置１１からのスイッチング信号に基づいて、第一電力供給装置１１の異常の有無を判定する。第一電力供給装置１１及び第二電力供給装置１５の異常には、例えば、動作が停止すること、上記分担比に従った所定電流値が出力できないこと等が含まれる。監視部１２Ａ及び監視部１６Ａは、監視対象装置の異常を検知すると、電力監視装置７０に向けてその旨の情報を出力する。なお、電力監視装置７０が、監視部１２Ａが捉えた第二電力供給装置１５の異常、監視部１６Ａが捉えた第一電力供給装置１１の異常を取得してもよい。 Each of the first power supply device 11 and the second power supply device 15 has a function to cope with an abnormality. Specifically, the monitoring unit 12</b>A determines whether or not the second power supply device 15 is abnormal based on the switching signal from the second power supply device 15 input to the input unit 13 . 16 A of monitoring parts determine the presence or absence of abnormality of the 1st electric power supply apparatus 11 based on the switching signal from the 1st electric power supply apparatus 11 input into the input part 17. FIG. Abnormality of the first power supply device 11 and the second power supply device 15 includes, for example, stoppage of operation, inability to output a predetermined current value according to the sharing ratio, and the like. When the monitoring unit 12A and the monitoring unit 16A detect an abnormality in the monitored device, the monitoring unit 12A and the monitoring unit 16A output information to that effect to the power monitoring device . The power monitoring device 70 may acquire the abnormality of the second power supply device 15 detected by the monitoring unit 12A and the abnormality of the first power supply device 11 detected by the monitoring unit 16A.
　電力制御部１２Ｂは、第二電力供給装置１５が動作できないことを検知すると、すなわち、監視相手に異常が有ることを検知すると、搬送台車６の通常運転モードに必要とされる電力よりも低く、異常が有ることが検知される以前に供給されていた電力よりも高い範囲での電力の供給を可能にする。言い換えれば、第一電力供給装置１１は、異常が有ることが検知される以前に供給されていた電流値よりも所定範囲で大きくするように切り替える。上記所定範囲は、例えば１０％～２０％とすることができる。 When the power control unit 12B detects that the second power supply device 15 cannot operate, that is, when it detects that there is an abnormality in the monitoring partner, the power control unit 12B reduces the power lower than that required for the normal operation mode of the carriage 6, To enable the supply of power in a range higher than the power supplied before an abnormality was detected. In other words, the first power supply device 11 switches so as to increase the value of the current supplied before the abnormality was detected within a predetermined range. The predetermined range can be, for example, 10% to 20%.
　電力監視装置７０は、第一電力供給装置１１及び第二電力供給装置１５の状態を監視している。電力監視装置７０は、例えば、ＣＰＵ、ＲＯＭ、ＲＡＭ等、及び入出力インターフェース等から構成される。ＲＯＭには、各種プログラム又はデータが格納されている。電力監視装置７０は、第一電力供給装置１１、第二電力供給装置１５及び搬送車コントローラ８０に、有線又は無線によって通信可能に接続されている。電力監視装置７０は、第一電力供給装置１１及び／又は第二電力供給装置１５に異常が発生したことを検知すると、搬送車コントローラ８０にその旨の情報を出力する。 The power monitoring device 70 monitors the states of the first power supply device 11 and the second power supply device 15 . The power monitoring device 70 is composed of, for example, a CPU, a ROM, a RAM, etc., an input/output interface, and the like. Various programs or data are stored in the ROM. The power monitoring device 70 is communicatively connected to the first power supply device 11, the second power supply device 15, and the carrier controller 80 by wire or wirelessly. When the power monitoring device 70 detects that an abnormality has occurred in the first power supply device 11 and/or the second power supply device 15 , it outputs information to that effect to the carrier controller 80 .
　搬送車コントローラ８０は、複数の搬送台車６と有線又は無線によって通信可能に設けられており、搬送台車６の走行を制御する。より詳細には、搬送車コントローラ８０は、上位コントローラ（図示せず）から送信されてくる搬送指令を搬送台車６に割り付け、搬送指令に従って搬送台車６を移動させる。搬送車コントローラ８０は、例えば、ＣＰＵ、ＲＯＭ、ＲＡＭ等、及び入出力インターフェース等から構成される。ＲＯＭには、各種プログラム又はデータが格納されている。 The transport vehicle controller 80 is provided so as to be able to communicate with a plurality of transport vehicles 6 by wire or wirelessly, and controls the travel of the transport vehicles 6 . More specifically, the carrier controller 80 assigns a carrier command transmitted from a host controller (not shown) to the carrier 6, and moves the carrier 6 according to the carrier command. The transport vehicle controller 80 is composed of, for example, a CPU, a ROM, a RAM, etc., an input/output interface, and the like. Various programs or data are stored in the ROM.
　搬送車コントローラ８０は、第一電力供給装置１１及び第二電力供給装置１５の一方に異常が発生し、搬送台車６が第一給電線８及び第二給電線９の一方から受電ができなくなった状態を示す情報を取得すると、搬送台車６の運転を通常運転モードから非常運転モードに切り替える。 In the carriage controller 80, an abnormality occurred in one of the first power supply device 11 and the second power supply device 15, and the carriage 6 became unable to receive power from one of the first power supply line 8 and the second power supply line 9. When the information indicating the state is acquired, the operation of the carriage 6 is switched from the normal operation mode to the emergency operation mode.
　本実施形態における通常運転モードは、第一電力供給装置及び第二電力供給装置から電力が供給される区間に位置する全ての搬送台車の最大加速度が第一加速度値に設定されたモードであり、非常運転モードは、上記の区間に位置する少なくとも一台の搬送台車６の最大加速度が第一加速度値と比べて小さく制限されたモードである。言い換えれば、搬送車コントローラ８０は、第一電力供給装置１１及び第二電力供給装置１５の一方に異常が発生したことを示す異常情報を取得すると、第一電力供給装置１１及び第二電力供給装置１５から電力が供給される区間に位置する少なくとも一台の搬送台車６の加速度が、異常情報を取得する前と比べて低くなるように制限する。なお、ここでいう加速度は、加速時の加速度を意味し、減速時の加速度は含まない。 The normal operation mode in the present embodiment is a mode in which the maximum acceleration of all the carriages located in the section where power is supplied from the first power supply device and the second power supply device is set to the first acceleration value, The emergency operation mode is a mode in which the maximum acceleration of at least one carriage 6 located in the section is limited to a value smaller than the first acceleration value. In other words, when the carrier controller 80 acquires abnormality information indicating that an abnormality has occurred in one of the first power supply device 11 and the second power supply device 15, the first power supply device 11 and the second power supply device 15 The acceleration of at least one carriage 6 located in the section to which power is supplied from 15 is restricted so as to be lower than before the acquisition of the abnormality information. Note that the acceleration here means acceleration during acceleration, and does not include acceleration during deceleration.
　また、上記実施形態の非常運転モードは、上記の制限に代えて、又は加えて、第一電力供給装置１１及び第二電力供給装置１５から電力が供給される区間に入場可能な搬送台車６の台数（第二所定値）が、異常情報を取得する前の台数（第一所定値）と比べて少なくなるように制限してもよい。言い換えれば、上記異常情報を取得した搬送車コントローラ８０は、上記加速度の制限に、代えて又は加えて、第一電力供給装置１１及び第二電力供給装置１５から電力が供給される区間に入場可能な搬送台車６の台数が、異常情報を取得する前と比べて少なくなるように制限してもよい。 In addition, the emergency operation mode of the above-described embodiment, instead of or in addition to the above-described restrictions, is the transport vehicle 6 that can enter the section to which power is supplied from the first power supply device 11 and the second power supply device 15. The number (second predetermined value) may be restricted so as to be smaller than the number (first predetermined value) before acquiring the abnormality information. In other words, the guided vehicle controller 80 that has acquired the abnormality information can enter the section to which power is supplied from the first power supply device 11 and the second power supply device 15 instead of or in addition to the acceleration limitation. The number of carriages 6 may be restricted so as to be less than before the abnormality information is acquired.
　上記実施形態の搬送台車システム１では、通常運転モードに必要な電力は、第一電力供給装置１１に接続された第一給電線８から供給される電力と、第二電力供給装置１５に接続された第二給電線９から供給される電力とを合わせることによって供給される。そして、仮に第一電力供給装置１１及び第二電力供給装置１５の一方に異常が発生し、第一給電線８及び第二給電線９の一方からの電力供給が途絶えたとしても、第一給電線８及び第二給電線９の他方から非常運転モードに必要とされる電力が供給される。これにより、第一電力供給装置１１及び第二電力供給装置１５の一方に異常が発生した場合、搬送台車システム１の搬送能力は低下するものの搬送台車６の運転を継続させることができる。すなわち、搬送台車システム１の稼働が停止することを防止できる。 In the carriage system 1 of the above embodiment, the power required for the normal operation mode is supplied from the first power supply line 8 connected to the first power supply device 11 and the power supplied from the second power supply device 15. It is supplied by combining with the power supplied from the second feeder line 9 . Even if an abnormality occurs in one of the first power supply device 11 and the second power supply device 15 and the power supply from one of the first power supply line 8 and the second power supply line 9 is interrupted, the first power supply The electric power required for the emergency operation mode is supplied from the other of the line 8 and the second feed line 9 . As a result, when an abnormality occurs in one of the first power supply device 11 and the second power supply device 15, the transporting capability of the transporting vehicle system 1 is reduced, but the transporting vehicle 6 can continue to operate. That is, it is possible to prevent the operation of the carriage system 1 from stopping.
　上記実施形態の搬送台車システム１では、搬送車コントローラ８０が、第一電力供給装置１１及び第二電力供給装置１５の一方から供給される電力が途絶えた状態となったとき、第一電力供給装置１１及び第二電力供給装置１５の他方から供給される電力によって運転が継続できる状態に自動的に切り替えるので、搬送台車システム１の稼働が停止することを防止できる。 In the carriage system 1 of the above-described embodiment, when the carriage controller 80 is in a state where power supplied from one of the first power supply device 11 and the second power supply device 15 is interrupted, the first power supply device 11 and the second power supply device 15 automatically switches to a state in which the operation can be continued, it is possible to prevent the operation of the carriage system 1 from stopping.
　上記実施形態の搬送台車システム１では、非常運転モードにおける搬送台車６における加速時の加速度が通常運転モード時に比べ小さく制限されるので、搬送台車システム１全体の消費電力が抑制される。これにより、第一電力供給装置１１に接続された第一給電線８及び第二電力供給装置１５に接続された第二給電線９の一方のみから供給される電力でも、搬送台車６の運転を継続できる状態にすることができる。 In the carriage system 1 of the above embodiment, the acceleration during acceleration of the carriage 6 in the emergency operation mode is limited to a smaller value than in the normal operation mode, so the power consumption of the entire carriage system 1 is suppressed. As a result, even if power is supplied only from one of the first power supply line 8 connected to the first power supply device 11 and the second power supply line 9 connected to the second power supply device 15, the operation of the carriage 6 can be performed. You can make it continue.
　上記実施形態の搬送台車システム１では、非常運転モードにおける第一電力供給装置１１及び第二電力供給装置１５から電力が供給される区間に入場可能な搬送台車６の台数が通常運転モード時に比べ少なく制限されるので、搬送台車システム１全体の消費電力が抑制される。これにより、第一電力供給装置１１に接続された第一給電線８及び第二電力供給装置１５に接続された第二給電線９の一方のみから供給される電力でも、搬送台車６の運転を継続できる状態にすることができる。 In the carriage system 1 of the above embodiment, the number of carriages 6 that can enter the section to which power is supplied from the first power supply device 11 and the second power supply device 15 in the emergency operation mode is smaller than that in the normal operation mode. Since it is limited, the power consumption of the entire carriage system 1 is suppressed. As a result, even if power is supplied only from one of the first power supply line 8 connected to the first power supply device 11 and the second power supply line 9 connected to the second power supply device 15, the operation of the carriage 6 can be performed. You can make it continue.
　上記実施形態では、図３に示されるように、上側の第一給電線８Ａ及び第二給電線９Ａからなる給電線群及び下側の第一給電線８Ｂ及び第二給電線９Ｂからなる給電線群は、受電コイル５７を挟むように配置されると共に、上側の給電線群及び下側の給電線群には互いに逆向きの電流が流される。これにより、上側の給電線群及び下側の給電線群の周囲に発生させられた磁界が受電コイル５７に相乗的に作用し、一方の給電線群のみが備えられた構成に比べて大きな誘導電流が受電コイル５７において得ることができる。 In the above-described embodiment, as shown in FIG. 3, the power supply line group consisting of the upper first power supply line 8A and the second power supply line 9A and the lower power supply line consisting of the first power supply line 8B and the second power supply line 9B The groups are arranged so as to sandwich the power receiving coil 57, and currents in opposite directions are passed through the upper power supply line group and the lower power supply line group. As a result, the magnetic fields generated around the upper power supply line group and the lower power supply line group synergistically act on the power receiving coil 57, resulting in a large induction compared to a configuration in which only one power supply line group is provided. A current can be obtained in the receiving coil 57 .
　以上、一実施形態について説明したが、本発明の一側面は、上記実施形態に限られない。発明の趣旨を逸脱しない範囲で種々の変更が可能である。 Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment. Various modifications are possible without departing from the gist of the invention.
　上記実施形態の搬送台車システム１では、搬送台車６が第一電力供給装置１１に接続された第一給電線８及び第二電力供給装置１５に接続された第二給電線９の一方から給電がされなくなる状態となったときに、搬送車コントローラ８０の制御によって搬送台車６の運転モードが異常運転モードに切り替えられる例を挙げて説明したがこれに限定されない。例えば、搬送台車６の本体コントローラ（搬送部）３５は、通常運転モードに必要とされる電力を受電できるときは第一加速度値で加速し、非常運転モードに必要とされる電力しか受電できないとき（すなわち、第一給電線８及び第二給電線９の一方からしか受電できないとき）は、第一加速度値と比べて小さく制限された第二加速度値で加速するように制御してもよい。 In the carriage system 1 of the above embodiment, the carriage 6 receives power from one of the first power supply line 8 connected to the first power supply device 11 and the second power supply line 9 connected to the second power supply device 15. An example has been described in which the operation mode of the carriage 6 is switched to the abnormal operation mode by the control of the carriage controller 80 when it becomes a state where it is no longer possible, but the present invention is not limited to this. For example, the body controller (transport unit) 35 of the carriage 6 accelerates at the first acceleration value when it can receive the power required for the normal operation mode, and accelerates at the first acceleration value when it can receive only the power required for the emergency operation mode. (That is, when power can be received only from one of the first power supply line 8 and the second power supply line 9), control may be performed to accelerate at a second acceleration value limited to be smaller than the first acceleration value.
　このような変形例に係る構成であっても、第一電力供給装置１１及び第二電力供給装置１５の一方から電力の供給が途絶えた状態となったとき、搬送台車６における加速時の加速度が通常モード時に比べ小さく制限され、搬送台車システム１全体の消費電力が抑制される。これにより、第一電力供給装置１１及び第二電力供給装置１５の他方からのみ供給される電力でも、搬送台車６の運転を継続することができる。 Even in the configuration according to such a modified example, when the power supply from one of the first power supply device 11 and the second power supply device 15 is interrupted, the acceleration of the carriage 6 during acceleration is As compared with the normal mode, the power consumption of the entire carriage system 1 is suppressed. As a result, the operation of the carriage 6 can be continued even with power supplied only from the other of the first power supply device 11 and the second power supply device 15 .
　なお、上記実施形態の搬送車コントローラ８０は、第一電力供給装置１１及び第二電力供給装置１５の一方に上記の異常が検知されると、第一電力供給装置１１及び第二電力供給装置１５から電力が供給される区間に位置する少なくとも一台の搬送台車６の加速度を、異常情報を取得する前と比べて低くなるように制限できたが、変形例に係る例では、第一電力供給装置１１及び第二電力供給装置１５から電力が供給される区間に位置する全ての搬送台車６の加速度が、異常情報を取得する前と比べて低くなるように制限される。 In addition, when the above abnormality is detected in one of the first power supply device 11 and the second power supply device 15, the carrier controller 80 of the above embodiment Although it was possible to limit the acceleration of at least one carriage 6 located in the section to which power is supplied from the first power supply The acceleration of all the carriages 6 positioned in the section to which the power is supplied from the device 11 and the second power supply device 15 is limited so as to be lower than before the abnormality information is acquired.
　上記実施形態及び変形例では、天井に吊り下げられた軌道４を例に挙げて説明したが、地上の床面に設置される軌道に適用してもよい。 Although the track 4 suspended from the ceiling has been described as an example in the above embodiment and modification, it may be applied to a track installed on the floor surface of the ground.
　上記実施形態及び変形例では、第一給電線８及び第二給電線９から非接触で電力が供給される受電装置５５を例に挙げて説明したが、トロリー線方式等の直接接触することによって電力が供給される受電装置としてもよい。 In the above embodiments and modifications, the power receiving device 55 to which power is supplied from the first power supply line 8 and the second power supply line 9 in a non-contact manner has been described as an example. It may be a power receiving device to which power is supplied.
　上記実施形態及び変形例では、第一電力供給装置１１及び第二電力供給装置１５が電力会社等によって提供される商用電源等の交流電源に接続される例を挙げて説明したが、自家発電装置等の交流電源に接続されてもよい。この場合、非常時等に作動する自家発電装置から電力が供給される場合に、搬送台車システム１の稼働が停止することを防止できる。 In the above embodiments and modifications, the first power supply device 11 and the second power supply device 15 have been described by giving an example in which they are connected to an AC power supply such as a commercial power supply provided by an electric power company or the like. It may be connected to an AC power supply such as In this case, it is possible to prevent the operation of the carriage system 1 from stopping when electric power is supplied from a private power generator that operates in an emergency or the like.
　１…搬送台車システム、４…軌道、６…搬送台車、７…給電設備、８（８Ａ，８Ｂ）…第一給電線、９（９Ａ，９Ｂ）…第二給電線、１０…端子台、１１…第一電力供給装置、１２…制御部、１２Ａ…監視部、１２Ｂ…電力制御部、１５…第二電力供給装置、１６…制御部、１６Ａ…監視部、１６Ｂ…電力制御部、３５…本体コントローラ（制御部）、４１…給電線支持部、５０…走行部、５３…走行駆動部、５５…受電装置、５７…受電コイル、７０…電力監視装置、８０…搬送車コントローラ（制御装置）。 DESCRIPTION OF SYMBOLS 1... Carrier system, 4... Track, 6... Carrier, 7... Power supply equipment, 8 (8A, 8B)... First power supply line, 9 (9A, 9B)... Second power supply line, 10... Terminal block, 11 First power supply device 12 Control unit 12A Monitoring unit 12B Power control unit 15 Second power supply device 16 Control unit 16A Monitoring unit 16B Power control unit 35 Main unit Controller (control unit) 41 Feed line support unit 50 Travel unit 53 Travel drive unit 55 Power receiving device 57 Power receiving coil 70 Power monitoring device 80 Transport vehicle controller (control device).

Claims (6)

  1. 　第一給電線及び第二給電線の二本の前記給電線が少なくとも配置された軌道と、
    　前記二本の給電線の両方から受電可能に構成され、前記軌道に沿って走行する搬送台車と、
    　前記第一給電線に接続された第一電力供給装置と、
    　前記第二給電線に接続された第二電力供給装置と、を備え、
    　前記第一電力供給装置及び前記第二電力供給装置は、前記搬送台車の通常運転モードに必要とされる電力を、前記二本の給電線によって分担して供給すると共に、前記通常運転モードよりも搬送能力を低下させた非常運転モードに必要とされる電力を、前記二本の給電線のそれぞれから供給する、搬送台車システム。     a track on which at least the two feeder lines of a first feeder line and a second feeder line are arranged;
    a carrier that is configured to be able to receive power from both of the two power supply lines and travels along the track;
    a first power supply device connected to the first power supply line;
    A second power supply device connected to the second power supply line,
    The first power supply device and the second power supply device share the power required for the normal operation mode of the carriage through the two power supply lines, and supply power more than the normal operation mode. A carriage system that supplies power required for an emergency operation mode with reduced carrying capacity from each of the two power supply lines.
  2. 　前記搬送台車は、前記通常運転モードに必要とされる電力を受電できるときは第一加速度値で加速し、前記非常運転モードに必要とされる電力しか受電できないときは第一加速度値と比べて小さく制限された第二加速度値で加速するように制御する制御部を有する、請求項１記載の搬送台車システム。 The vehicle accelerates at a first acceleration value when it can receive the power required for the normal operation mode, and accelerates at the first acceleration value when it can receive only the power required for the emergency operation mode. 2. The carriage system according to claim 1, further comprising a controller for controlling acceleration at a second limited acceleration value.
  3. 　前記第一電力供給装置及び前記第二電力供給装置の一方に異常が発生し、前記搬送台車が前記二本の給電線の一方から受電ができなくなった状態を示す情報を取得すると、前記搬送台車の運転を前記通常運転モードから前記非常運転モードに切り替える制御装置を更に備える、請求項１記載の搬送台車システム。 When one of the first power supply device and the second power supply device has an abnormality and the carriage acquires information indicating a state in which the carriage cannot receive power from one of the two power supply lines, the carriage 2. The carriage system according to claim 1, further comprising a control device for switching the operation of from said normal operation mode to said emergency operation mode.
  4. 　前記通常運転モードは、前記第一電力供給装置及び前記第二電力供給装置から電力が供給される区間に位置する全ての前記搬送台車の最大加速度が第一加速度値に設定されたモードであり、
    　前記非常運転モードは、前記区間に位置する少なくとも一台の前記搬送台車の最大加速度が前記第一加速度値と比べて小さく制限されたモードである、請求項３記載の搬送台車システム。     The normal operation mode is a mode in which the maximum acceleration of all the carriages located in the section where power is supplied from the first power supply device and the second power supply device is set to a first acceleration value,
    4. The carriage system according to claim 3, wherein the emergency operation mode is a mode in which the maximum acceleration of at least one of the carriages positioned in the section is limited to be smaller than the first acceleration value.
  5. 　前記通常運転モードは、前記第一電力供給装置及び前記第二電力供給装置から電力が供給される区間に入場可能な前記搬送台車の台数が第一所定値に設定されたモードであり、
    　前記非常運転モードは、前記区間に入場可能な前記搬送台車の台数が前記第一所定値よりも少ない第二所定値に制限されたモードである、請求項３又は４記載の搬送台車システム。     The normal operation mode is a mode in which the number of the carriages that can enter a section to which power is supplied from the first power supply device and the second power supply device is set to a first predetermined value,
    5. The carriage system according to claim 3, wherein said emergency operation mode is a mode in which the number of said carriages that can enter said section is limited to a second predetermined value smaller than said first predetermined value.
  6. 　前記第一電力供給装置及び前記第二電力供給装置は、それぞれに接続される前記給電線に高周波電流を供給する装置であり、
    　前記第一電力供給装置及び前記第二電力供給装置のそれぞれは、出力される前記高周波電流の周期を互いに同期させる、請求項１～５の何れか一項記載の搬送台車システム。     The first power supply device and the second power supply device are devices that supply a high-frequency current to the power supply line connected to each,
    The carriage system according to any one of claims 1 to 5, wherein each of said first power supply device and said second power supply device synchronizes the cycle of said high-frequency current to be output with each other.
PCT/JP2021/046103 2021-02-04 2021-12-14 Conveyance carriage system WO2022168456A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000044011A (en) * 1998-07-30 2000-02-15 Taisei Corp Truck turnout device
JP2005027400A (en) * 2003-06-30 2005-01-27 Tsubakimoto Chain Co Noncontact power receiving unit
JP2009126430A (en) * 2007-11-27 2009-06-11 Toyota Industries Corp Non-contact electricity feeding system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000044011A (en) * 1998-07-30 2000-02-15 Taisei Corp Truck turnout device
JP2005027400A (en) * 2003-06-30 2005-01-27 Tsubakimoto Chain Co Noncontact power receiving unit
JP2009126430A (en) * 2007-11-27 2009-06-11 Toyota Industries Corp Non-contact electricity feeding system

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