CN108237921A - Conveying carrier - Google Patents
Conveying carrier Download PDFInfo
- Publication number
- CN108237921A CN108237921A CN201711005184.0A CN201711005184A CN108237921A CN 108237921 A CN108237921 A CN 108237921A CN 201711005184 A CN201711005184 A CN 201711005184A CN 108237921 A CN108237921 A CN 108237921A
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- CN
- China
- Prior art keywords
- voltage
- conveying carrier
- electrical storage
- storage device
- electric power
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
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- 238000003860 storage Methods 0.000 claims abstract description 90
- 238000009825 accumulation Methods 0.000 claims abstract description 39
- 230000005611 electricity Effects 0.000 claims description 29
- 239000000969 carrier Substances 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000009471 action Effects 0.000 description 16
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 3
- 230000006837 decompression Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/38—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from conductor rails
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
- B61C3/02—Electric locomotives or railcars with electric accumulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Stand-By Power Supply Arrangements (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention relates to a kind of conveying carriers, are travelled using electric power and article is conveyed.In the case where not received for the driving device of traveling (22) from the electric power of power receiving device (24) supply as main power source device, driving device (22) is driven using the electric power accumulated in electrical storage device (26).The voltage changer (30) of voltage conversion is carried out between driving device (22), power receiving device (24) and electrical storage device (26) to the accumulation voltage (V that is exported from electrical storage device (26)B) monitored, in voltage changer (30) as booster and during execution acts, as accumulation voltage (VB) less than prespecified lower voltage limit in the case of, will as the connection of the voltage changer of booster (30) and electrical storage device (26) disconnect.
Description
Technical field
The present invention relates to a kind of conveying carriers travelled using electric power.
Background technology
For conveying equipment, sometimes using the conveying carrier for being travelled using electric power and being conveyed to article.
In conveying equipment recorded in patent document 1, conveying carrier is moved by track-type facilities supporting guide on fixed route.Along this
Track-type facilities and be equipped with supply line, and conveying carrier is powered from the supply line by contactlessly powered mode.
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2003-079074 bulletins
Invention content
Sometimes not only include linear part in the mobile route of conveying carrier, further include curvilinear part, movement
The part that path is diverged or converged.In order to be supplied at such part also by non-contact power mode conveying carrier
Electricity, even if supply line must also be arranged in curvilinear part etc..However, compared with linear part, in curve-like
Part at be arranged supply line operation it is more difficult, so as to cause be arranged operating cost promoted.In addition, in mobile route point
At the part of trouble, when conveying carrier enters the part, either one in the left and right side of conveying carrier can take off from track-type facilities
From.At this point, in order not to make the power failure to conveying carrier, the linear portion closer to front side in the part than fork is needed
Supply line is arranged in the left and right sides divided, in addition it is also necessary to set power receiving device in the left and right sides of conveying carrier.Therefore, match
If the range of supply line expands, so as to cause wiring cost, on this basis, the quantity of power receiving device can also increase,
It can also be promoted so as to the goods and materials cost of equipment.In this way, in order to which the position other than linear part can also pass through contactless confession
Electric mode and conveying carrier is powered, the construction cost of equipment can be caused to be promoted.
In this regard, in the conveying equipment recorded in patent document 1, in the mobile route fork of conveying carrier or the song converged
The part (diverge, converge path sections) of threadiness is simultaneously not provided with supply line.In the conveying equipment recorded in patent document 1,
In conveying carrier equipped with accumulator, in the region for being not provided with supply line, conveying carrier is powered using the accumulator.
However, in such conveying equipment, but there are following problems：When conveying carrier is in the region for being not provided with supply line
During interior stopping, it is difficult to conveying carrier be made to start again at movement.In conveying equipment, obstacle is found that when being happened in transport path
Object sometimes stops conveying carrier mobile until the exception is resolved when exception.At this point, if conveying carrier is not being set
It puts in the region of supply line and stops, then electric power of the accumulation in accumulator can be released in the stopped process of conveying carrier.
It is sometimes also not residual in accumulator even if operator's conveying carrier to be made starts again at movement as a result, after being resolved extremely
There are the required electric power of movement.In this case, although operator can carry out：Conveying carrier is made to be moved to confession using manpower
The operation of electric line or the operation charged using external power supply to accumulator, still, when such operation expends very much
Between, so as to which harmful effect can be caused to the running efficiency of equipment entirety.
In view of the above problems, article is carried out defeated the object of the present invention is to provide a kind of travelled using electric power
The conveying carrier sent, wherein, even if in the case where not receiving the electric power supplied from main power supply source, can also utilize
Electrical storage device and travelled, also, electrical storage device can be ensured that conveying carrier is made to start again at mobile required electric power.
In order to solve the above problems, conveying carrier of the invention is travelled using electric power and article is conveyed,
It is characterized in that, which has：Driving device is driven due to the voltage being applied in more than prespecified driving voltage
It is dynamic, so that the conveying carrier travels；Main power source device supplies electric power the driving device；Electrical storage device, to from
The electric power of the main power source unit feeding is accumulated；And booster, connect with the driving device and the electrical storage device
It connects, increase the accumulation voltage exported from electrical storage device and supplies the accumulation voltage to the driving device, the driving device exists
It does not receive in the case of the electric power of the main power source unit feeding, can receive in the electrical storage device via the booster
The supply of the electric power of accumulation and be driven, the booster monitors the accumulation voltage exported from the electrical storage device, makes
The accumulation voltage is increased to the driving voltage and applies the accumulation voltage to the driving device, on the other hand, described
Voltage is accumulated less than in the case of prespecified lower voltage limit, and the connection of the booster and the electrical storage device is disconnected.
In addition, about conveying carrier according to the present invention, it could be provided as, the conveying carrier is gone along guide rail
It sails, wherein, which is set along prespecified transport path, is provided in the guide rail：Power section, in the power supply
Section is provided with the supply lines to the main power source unit feeding electric power；And the section that do not power, section is not powered not at this
The supply lines is set, and in the conveying carrier during the power supply section travel, the driving device is utilized from described
Supply lines is driven via the electric power of the main power source unit feeding, and the electrical storage device from the supply lines to supplying
Electric power is accumulated, and in the conveying carrier during the section travel of not powering, the driving device is via the liter
Depressor receives the supply of electric power accumulated in the electrical storage device and is driven.
In addition, about conveying carrier according to the present invention, the lower voltage limit can be and the comparable electricity of following electricity
Value more than pressure, wherein, which is：So that the conveying carrier is started running out of described the section that do not power and is reached described
The electricity powered needed for section.
Invention effect
According to conveying carrier according to the present invention, even if in the feelings for not receiving the power supply from main power source device
Under condition, since the electric power accumulated in electrical storage device compensates for the traveling electric power of conveying carrier, even if there being non-service area
Between transport path on, conveying carrier can also continue to travel, if in addition, the electricity accumulated in electrical storage device is reduced, will be with
The connection of booster disconnects, and therefore, the charging power of electrical storage device will not be transported to booster, so as to be filled by driving
It puts via booster and consumes electric power, therefore, the electric power accumulated in electrical storage device will not be further reduced, so as to ensure to use
Mobile required electric power is started again in making conveying carrier.
Description of the drawings
Fig. 1 is the overview for representing to have the article carrying apparatus of the conveying carrier of an example as embodiment of the present invention
Vertical view.
Fig. 2 is the block diagram of the structure for the conveying carrier for representing present embodiment.
Fig. 3 is the flow chart of action that the voltage changer for the conveying carrier for representing present embodiment is carried out.
The explanation of reference numeral
10 article carrying apparatus, 11 article
12 conveying, 14 supply lines
15 AC power, 16 line interval
18 curve section, 19 branching point
20 conveying carrier, 21 wheel
22 driving device, 24 power receiving device
26 electrical storage device, 30 voltage changer
38 shutters
S01 decompressions action S02 receiving voltage judgements
S03 boost action S04 receiving voltages judge
S05 accumulation voltage judgement S06 disconnection actions
Specific embodiment
The conveying carrier 20 of an example as embodiment of the present invention is shown in Fig. 1 and has the conveying carrier 20
The overview of article carrying apparatus 10.As shown in Figure 1, there are more conveying carriers 20, along for these in article carrying apparatus 10
Conveying carrier 20 travel transport path and be equipped with conveying 12.Conveying 12 relative to conveying carrier 20 traveling side
1 is respectively equipped with, and be configured to separate the interval with the overall width same degree of conveying carrier 20 to and left side and right side.It is defeated
The wheel 21 of trolley 20 is sent to be supported in the upper surface of the conveying 12 and rotated, so that conveying carrier 20 is along conveying
Path and travel.Conveying carrier 20 can keep article 11, the edge in the state of article 11 is maintained of conveying carrier 20
Conveying 12 and travel, thus article 11 is conveyed in the article carrying apparatus 10.Conveying carrier 20 has, use
Though it is not shown herein in the mechanism kept to article 11, for example, can be set in the upper surface of conveying carrier 20
The flat surface that can be loaded for article 11 or the arm that will be held to article 11 are set under conveying carrier 20
Side.
The transport path of conveying carrier 20 has linear section and curvilinear section.Embodiment party shown in Fig. 1
In formula, other than 2 line intervals 16 of configured in parallel, by the end of a line interval 16 and another line interval 16
The arc-shaped curve section 18 that connects of end be provided with 2.Made by these line intervals 16 and curve section 18
It obtains transport path and is integrally formed as the rectangular shape of fillet.
In addition, nearby it is connected with arc-shaped branching point 19 (shortcut section) in the center of line interval 16.Due to defeated
Send trolley 20 that can pass through from branching point 19, so, it, also can be from the linearity sector of side even if not passing through from curve section 18
Between 16 moved to the line interval 16 of opposite side.Conveying carrier 20 is moved according to the where wanted into article carrying apparatus 10
Demand, and select from branching point 19 by still passing through from curve section 18, so as to reach purpose with shortest path
Ground.In branching point 19, the conveying 12 with the inner circumferential side of line interval 16IN2 arc-shaped conveyings of connection
12BRIt is configured to separate the interval with the vehicle-width same degree of conveying carrier 20.Therefore, for line interval 16, inner circumferential
The conveying 12 of sideINIt is correspondingly interrupted with the width of branching point 19.Thus, in conveying carrier 20 from the one of line interval 16
In the case of the traveling to the other end of end, although conveying carrier 20 can be continually by the conveying 12 with peripheral sideOUTIt is close
Position, still, at the position being connect with branching point 19 then relative to the conveying of inner circumferential side 12INAnd it is temporarily separated.
Along the conveying 12 of the peripheral side of line interval 16OUT, it is equipped with the supply lines 14 to circulate for alternating current.
As the laying method of supply lines 14, for example, in the presence of electric lead is made to be embedded in the medium method of slot set by conveying 12.
The AC power 15 of supply high-voltage ac current is connect with supply lines 14.Conveying carrier 20 can be in a non-contact manner from the confession
Electric wire 14 receives electric power.On the other hand, in the conveying 12 in curve section 18CURWith the conveying 12 of branching point 19BRAnd
It is not provided with supply lines 14.In addition, even if in line interval 16, the conveying 12 in inner circumferential sideINAlso it is not provided with supply lines 14.
In the following, in transport path, sometimes by the section (here, for line interval 16) for being provided with supply lines 14 be referred to as power supply section,
And the section for being not provided with supply lines 14 (here, for curve section 18 and branching point 19) is referred to as the section that do not power.
The structure diagram of conveying carrier 20 is shown in Fig. 2.
As shown in Fig. 2, conveying carrier 20 has：Power receiving device 24 receives electricity from supply lines 14 in a non-contact manner
Power；Driving device 22 is driven using the electric power supplied from above-mentioned power receiving device 24 and rotates wheel 21, thus made defeated
Trolley 20 is sent to travel；And electrical storage device 26, the electric power supplied from power receiving device 24 is accumulated.Moreover, conveying carrier
20 are also equipped with voltage changer 30, which connect with power receiving device 24, driving device 22, electrical storage device 26.
This, driving device 22 and voltage changer 30 are connected in parallel relative to power receiving device 24, and voltage changer 30 is configured at by Denso
It puts between 24 and electrical storage device 26.
Driving device 22 is the device for rotating the wheel 21 of conveying carrier 20 using electric power, for example, being configured to
Rotation Controllers including motor and the motor.Conveying carrier 20 shown in FIG. 1 has 4 wheels 21, although in order to make this
A little wheels rotations and be provided with multiple (for example, front-wheel uses 2 with trailing wheel) motors and Rotation Controllers, still, herein
Such multiple motors and Rotation Controllers are collectively expressed as 1 driving device 22.Driving device 22 be applied in voltage and into
Row driving, so that wheel 21 rotates, still, in order to travel conveying carrier 20, needs more than constant degree stronger
Therefore electric power, in order to be driven driving device 22, needs to apply prespecified driving voltage VDMore than (such as 320V)
Voltage.
Power receiving device 24 includes coupling coil (pick up coil) and rectifier.The power receiving device 24 is configured：Conveying
The lower surface of trolley 20 etc., near supply lines 14 by position.Since alternating current flows in supply lines 14,
Therefore, nearby the direction of generated magnetic flux and intensity change supply lines 14 always.Coupling coil is corresponding to the variation of the magnetic flux
Ground generates electromotive force by electromagnetic induction.The electromotive force is alternating voltage, and DC voltage is converted thereof into simultaneously using rectifier
It is applied to driving device 22.In this way, power receiving device 24 even if it is not direct contacted with supply lines 14 can receive from supply lines 14
Electric power.If power receiving device 24 receives enough electric power from supply lines 14, power receiving device 24 can be by driving voltage VDMore than
Voltage be applied to driving device 22 and so that conveying carrier 20 is travelled.For conveying carrier 20, power receiving device 24
It is the main power source device supplied electric power to driving device 22.
Voltage changer 30 is bi-directional DC-DC converter, in addition to being able to carry out as the electricity for making to be applied to input terminal
Pressure increases and except the action for the so-called booster that leading-out terminal exports, additionally it is possible to perform as the voltage drop for making input terminal
The action of so-called reducing transformer that is low and being exported to leading-out terminal.In addition, voltage changer 30 also is able to leading-out terminal and input
The effect of terminal switches over.In power receiving device 24 by driving voltage VDDuring above voltage is applied to driving device 22,
Voltage changer 30 is also applied in driving voltage VDAbove receiving voltage VR.In this case, voltage changer 30 is as decompression
Device and perform action, make its receiving voltage VRIt is reduced to lower voltage (such as 100V), and by the electricity from power receiving device 24
Power is supplied to electrical storage device 26.On the other hand, in the receiving voltage V applied by power receiving device 24RLess than driving voltage VDSituation
Under, voltage changer 30 performs action as booster, makes the accumulation voltage V exported from electrical storage device 26B(such as 100V)
It is increased to driving voltage VDAnd it is applied to driving device 22.In addition, voltage changer 30 has and electrical storage device 26 and electricity
The shutter 38 connected between buckling parallel operation 30, according to electrical storage device 26, power receiving device 24 state and shutter 38 is opened
Or close, so as to disconnect or maintain the electrical connection by the electrical connection between electrical storage device 26 and voltage changer 30.
Electrical storage device 26 is capacitor (capacitor) or accumulator, can receive electric power (electric energy) from outside simultaneously
The electric power is accumulated (charging).Moreover, electrical storage device 26 also is able to supply the electric power of accumulation to other electronic equipments.
For voltage changer 30 as reducing transformer and during execution acts, electrical storage device 26 carries out the electric power supplied from power receiving device 24
Accumulation.During voltage changer 30 is acted as booster and execution, electrical storage device 26 via voltage changer 30 and to
Driving device 22 supplies electric power.
Using flow chart shown in Fig. 3, how account for voltage converter 30 is acted.First, exist in conveying carrier 20
It powers during section (line interval 16) traveling, voltage changer 30 performs action as reducing transformer, makes to come from by Denso
Put 24 receiving voltage VRIt reduces and is supplied electric power (step S01) to electrical storage device 26.
Voltage changer 30 is to the receiving voltage V of power receiving device 24RWith the accumulation voltage V of electrical storage device 26BIt is monitored.
As reducing transformer and during execution acts, judge receiving voltage V in voltage changer 30RWhether not less than driving device 22
Driving voltage VD(step S02).If receiving voltage VRNot less than driving voltage VD(step S02：NO), then voltage changer 30
Continue to perform action (returning to step S01) as reducing transformer.
When conveying carrier 20, which enters, does not power section (curve section 18 or branching point 19), due to power receiving device 24
The electric power supplied from supply lines 14, therefore, receiving voltage V are not receivedRIt reduces and ultimately becomes zero.If voltage changer 30
Detect receiving voltage VRLess than driving voltage VD(step S02：YES), then voltage changer 30 performed as booster it is dynamic
Make, make the accumulation voltage V of electrical storage device 26BIt is increased to driving voltage VD, while by the electric power accumulated in electrical storage device 26 to driving
Device 22 supplies (step S03).As a result, even at the section that do not power, conveying carrier 20 can also receive from electrical storage device 26
The electric power of supply and continue to travel.Here, the accumulation voltage V of electrical storage device 26BAnd it is non-constant, but according in electrical storage device 26
The electricity of accumulation and change.Therefore, in order to reliably by driving voltage VDAbove voltage is applied to driving device 22, and voltage becomes
Parallel operation 30 can be according to accumulation voltage VBValue and provide boosting multiplying power.Specifically, as long as voltage changer 30 calculates
Driving voltage VDWith accumulation voltage VBRatio N=VD/VB, and make accumulation voltage VBIt is increased to N times and driving device 22 is supplied
The electric power.
In voltage changer 30 as booster and during execution acts, also to the receiving voltage from power receiving device 24
VRIt is monitored, confirms receiving voltage VRWhether driving voltage V is kept belowDState it is constant (step S04).If by electric
Press VRNot less than driving voltage VD(step S04：NO), then conveying carrier 20 passes through and does not power section and reach power supply section, so as to
Power receiving device 24, which is started again at from supply lines 14, receives electric power, and therefore, voltage changer 30 performs dynamic as reducing transformer again
Make and (returned to step S01).
If receiving voltage VRKeep below driving voltage VDConstant (the step S04 of state：YES), then voltage changer 30
Confirm in electrical storage device 26 and whether remain enough electric power.Specifically, voltage changer 30 from electrical storage device 26 to exporting
Accumulation voltage VBIt measures, and judges to accumulate voltage VBWhether defined lower voltage limit V is less thanL(such as 80V) (step
S05).If the accumulation voltage V exported from electrical storage device 26BNot less than lower voltage limit VL(step S05：NO), then it is determined as electric power storage
Enough electric power is remained in device 26, therefore, voltage changer 30 continues to perform action (to step S03 as booster
It returns).
In the accumulation voltage V exported from electrical storage device 26BLess than defined lower voltage limit VLIn the case of (step S05：
YES), due to not remaining enough electric power in electrical storage device 26, voltage changer 30 opens shutter 38, by
Electrical connection between voltage changer 30 and electrical storage device 26 is disconnected (step S06) by this.Then, henceforth, due to electric power storage
The electric power accumulated in device 26 is not supplied via voltage changer 30 to driving device 22, so, it is stored in electrical storage device 26
Long-pending electric power will not be further reduced.Here, lower voltage limit V as defined in so-calledLRefer to prespecified value, which is and conveying
Trolley 20 is never powered the value for starting running in section and reaching and is more than the comparable voltage of electricity needed for power supply section.
In the following, under which kind of situation by between voltage changer 30 and electrical storage device 26 electrical connection disconnect situation into
Row explanation.In article carrying apparatus 10 such, that there is more conveying carriers 20 shown in Fig. 1, under normal circumstances, using not
The management system of diagram controls the traveling of each conveying carrier 20.Management system carries out the entirety of article carrying apparatus 10
Monitoring, in order to safely and efficiently article 11 be conveyed and controlled the traveling of each conveying carrier 20.For example, management system control
The travel speed of each conveying carrier 20 is made, section (the curve section so that conveying carrier 20 is never powered in Time constant
18 or branching point 19) pass through or so that enter the same section that do not power when the conveying carrier 20 of two or more is different.Separately
Outside, in the case where being judged as that conveying carrier 20 can not drive safely, management system stops the traveling of conveying carrier 20.Example
Such as, when finding barrier on conveying 12, management system stops the traveling of the conveying carrier 20 near the barrier.
Here, when conveying carrier 20 stops in the section that do not power (curve section 18 or branching point 19), due to
Conveying carrier 20 is in the position detached with supply lines 14, so, the receiving voltage V of power receiving device 24 shown in Fig. 2RBecome
Zero.Therefore, voltage changer 30 performs action as booster, by the electric power accumulated in electrical storage device 26 to driving device 22
Supply.Even if being supplied electric power to driving device 22, but if factor management system is by the power between driving device 22 and wheel 11
It transmits disconnection etc. and conveying carrier 20 can not be travelled, although conveying carrier 20 keeps the state stopped constant, electric power storage dress
The electric power accumulated in 26 is put also to be consumed (electric discharge).If barrier is removed and conveying carrier 20 is safely gone
Sail, then managing system makes conveying carrier 20 start again at traveling, still, if in a period of so far electrical storage device 26 electricity
Power is persistently consumed, then does not remain the electric power that can travel conveying carrier 20 in electrical storage device 26 sometimes, thus can not profit
Travel conveying carrier 20 with electric power.In this case, operator must make conveying carrier 20 be moved to confession by manpower
Electric section needs to expend the time until traveling is started again at.Therefore, when conveying carrier 20 stops in the section that do not power
When, preferably remained in electrical storage device 26 make conveying carrier 20 do not power from this section be detached from needed for electric power.Therefore, when
It is remained in electrical storage device 26 and enables 20 automatic running of conveying carrier and the electric power for section disengaging of never powering, voltage transformation
Device 30 disconnects the electrical connection between voltage changer 30 and electrical storage device 26.
As previously mentioned, the accumulation voltage V of electrical storage device 26BIt is changed according to the electricity accumulated in electrical storage device 26.Electric power storage
Electricity, the accumulation voltage V with being exported from electrical storage device 26 accumulated in device 26BValue be in：According to the electricity of electrical storage device 26
Characteristic and determining fixed correspondence, therefore, if in accumulation voltage VBLess than lower voltage limit VLAt the time of by voltage transformation
Electrical connection between device 30 and electrical storage device 26 disconnects, then accumulation in electrical storage device 26 is kept to have and its lower voltage limit VLIt is corresponding
Electric power state it is constant.The electric energy never powered needed for the disengaging of section to make 20 automatic running of conveying carrier, quantitatively
By " the consumption electric power per unit time during automatic running " × " the spent time until disengaging finishes " that is, electricity
(WS, watt-second) represents.The user of article carrying apparatus 10 can the quality based on conveying carrier 20 and article 11, do not supply
The length in electric section and make situation that conveying carrier 20 travels with what speed etc. and required electricity is calculated in advance.
It starts running in section alternatively, user can essentially make conveying carrier 20 never power and reaches power supply section and at this time
Consume that how many electricity are measured.
In addition, in order to make conveying carrier 20 no matter never power section in any position start running can not occur
Power supply section is reached to problem, it can be by lower voltage limit VLIt is set as：So that conveying carrier 20 is in the longest section that do not power
Entrance stop in the case of needed for electricity that is, with the required maximum corresponding voltage value of electricity or the voltage value with
On voltage value.
As above, conveying carrier 20 according to the present embodiment, as the curve section 18 in the section that do not power and area of branch
Between in 19, although driving device 22 does not receive the electric power from main power source device that is, the supply of power receiving device 24, though
It does not power in section, conveying carrier 20 can also utilize the electric power accumulated in electrical storage device 26 and travel.It therefore, can be in curve
Section 18 and branching point 19 are not provided with supply lines 14, thus, it is possible to cut down in order to be laid with the operating cost needed for supply lines 14 with
And goods and materials cost.
In addition, even if in line interval 16, as long as supply lines 14 to be also only arranged to the conveying 12 of peripheral sideOUT
In addition, as long as the power receiving device 24 for receiving electric power from the supply lines 14 by non-contact power mode is only arranged at conveying
Peripheral side (the traveling if conveying carrier 20 is turned right in figure, for the left side relative to direction of travel in the left and right sides of trolley 20
Side), it is thus possible to enough cut down the goods and materials cost that power receiving device 24 is spent.
In addition, conveying carrier 20 according to the present embodiment, the energy accumulated in electrical storage device 26 becomes not powering
Automatic running in section and before being detached from below the electricity do not powered needed for section, by electrical storage device 26 and voltage changer 30
Connection disconnect.Thus, due to remaining enough electricity in electrical storage device 26, in conveying carrier 20 in non-service area
After interior stopping, when conveying carrier 20 starts again at when driving, conveying carrier 20 can utilize remaining in electrical storage device 26
Electric power is travelled and is detached from the section that never powers.Then, operator moves conveying carrier 20 without using manpower, because
This, will not expend longer time in order to which the conveying carrier stopped in the section that do not power 20 is made to start again at traveling, so as to,
The whole running efficiency of article carrying apparatus 10 can be remained higher.
In addition, conveying carrier 20 according to the present embodiment, due to being provided with as the accumulation voltage for making electrical storage device 26
VBIncrease and to driving device 22 supply booster and execution action voltage changer 30, therefore, it is possible to use being exported
Accumulation voltage VBLess than driving voltage VDVoltage low capacity accumulator or capacitor and be used as electrical storage device 26.Therefore,
Electrical storage device 26 may not be exported accumulation voltage VBReach the degree that can be directly driven to driving device 22
High voltage large capacity accumulator, the cost spent so as to electrical storage device 26 can reduce.Further, since the voltage transformation
Device 30 in order to determine boosting multiplying power and always to the accumulation voltage V of electrical storage device 26BIt is monitored, it is thus possible to enough carry out
Accumulate voltage VBWhether lower voltage limit V is less thanLJudgement.It is therefore not necessary in addition preparation is different from voltage changer 30, is used for
To accumulating voltage VBThe equipment monitored, so as to reduce the cost of manufacture of conveying carrier 20.
In addition, although the conveying carrier 20 of present embodiment is travelled along conveying 12, conveying of the invention
Trolley 20 is not limited thereto.For example, it can be such as lower structures：Supply lines is being embedded in floor along transport path
Equipment in, conveying carrier 20 in floor along the supply lines by travelling to move along transport path.
In addition, in the present embodiment, although the electric power accumulated in electrical storage device 26 in conveying carrier 20 in non-service area
It is interior to use when driving, but it is also possible to which electrical storage device 26 is used for other purposes.For example, it is produced in article carrying apparatus 10
In the case of the power failure of raw moment, although the power supply from supply lines 14 temporarily ceases, in article carrying apparatus 10 from stopping
In a period of electricity to recovery, the electric power accumulated in electrical storage device 26 can be utilized and travel conveying carrier 20.
In addition, in the present embodiment, although the power receiving device 24 of conveying carrier 20 is that mainly driving device 22 is carried out
The main power source device of power supply, still, main power source device may be other modes.For example, be not non-contact power mode, and
It is the mode using conveying carrier 20 with being directly connected to as the external power supply of main power source device.It can also be following manner：This is outer
Portion's power supply driving device 22 is powered and to electrical storage device 22 carry out electric power accumulation, conveying carrier 20 be moved to
External power supply separation position and temporarily do not receive the electric power supplied from external power supply in the case of, using in electrical storage device 26
The electric power of accumulation.
In addition, in the present embodiment, although the voltage that action is able to carry out used as booster and reducing transformer becomes
Parallel operation 30, but it is also possible to which the booster for performing boost action and the reducing transformer for performing decompression action are set as different equipment.
In this case, even if in storage voltage VBIn the case of relatively low, it can also keep what reducing transformer and electrical storage device 26 were electrically connected
State, as long as only disconnecting the connection between electrical storage device 26 and booster.
In addition, in the present embodiment, although the lower limiting value (lower voltage limit) of the electric power of electrical storage device 26 is and following electricity
Comparable voltage value is measured, which is：Conveying carrier 20 starts running out of power supply section and reaches the electricity needed for power supply section
Amount, still, it is not limited to this.For example, the inspection checked the state of conveying carrier 20 is provided in the section that do not power
It, can will be with being set in order to which conveying carrier 20 is made to be moved to the comparable voltage value of electricity needed for the checkpoint in the case of making an inventory of
For lower voltage limit.
In addition, in the present embodiment, although to be integrally formed as fillet long for the transport path travelled for conveying carrier 20
Rectangular shape, still, transport path can also be the arbitrary shapes such as round or polygon.Wherein, preferably by transport path
It is designed to：At the time of conveying carrier 20 enters and does not power section so that electrical storage device 26 is formed as the state being fully charged.
For example, being power supply section by the linear section sets in transport path and being not power by curvilinear section sets
In the case of section, 1 linear part can at least be configured between multiple curvilinear parts.In this way, it is preferred that
Transport path is designed to：Cause conveying carrier 20 from power supply section (linear part) by later in the section that do not power
Situation about being travelled in (curvilinear part) is at least realized once.
Claims (3)
1. a kind of conveying carrier, which is travelled using electric power and article is conveyed, the conveying carrier
It is characterized in that,
The conveying carrier has：
Driving device is driven due to the voltage being applied in more than prespecified driving voltage, so that described defeated
Trolley is sent to travel；
Main power source device supplies electric power the driving device；
Electrical storage device, to being accumulated from the electric power of the main power source unit feeding；And
Booster is connect with the driving device and the electrical storage device, makes the accumulation voltage liter exported from electrical storage device
Driving device described in Gao Bingxiang supplies the accumulation voltage,
The driving device, can be via the boosting in the case where not receiving from the electric power of the main power source unit feeding
Device receives the supply of electric power accumulated in the electrical storage device and is driven,
The booster monitors the accumulation voltage exported from the electrical storage device, is increased to the accumulation voltage described
Driving voltage simultaneously applies the driving device accumulation voltage, on the other hand, in the accumulation voltage less than prespecified
In the case of lower voltage limit, the connection of the booster and the electrical storage device is disconnected.
2. conveying carrier according to claim 1, which is characterized in that
The conveying carrier is travelled along guide rail, wherein, which is set along prespecified transport path,
It is provided in the guide rail：Power section, and the power supply section is provided with the confession to the main power source unit feeding electric power
Electric wire；And the section that do not power, in the section that do not power, the supply lines is not set,
In the conveying carrier during the power supply section travel, the driving device is utilized from the supply lines via institute
It states the electric power of main power source unit feeding and is driven, the electrical storage device stores the electric power supplied from the supply lines
Product,
In the conveying carrier during the section travel of not powering, the driving device receives institute via the booster
It states the supply for the electric power accumulated in electrical storage device and is driven.
3. conveying carrier according to claim 2, which is characterized in that
The lower voltage limit is to be with the value more than comparable voltage of following electricity, the electricity：Cause the conveying carrier from institute
State the electricity for starting running and being reached needed for the power supply section in the section that do not power.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-252183 | 2016-12-27 | ||
| JP2016252183A JP6776889B2 (en) | 2016-12-27 | 2016-12-27 | Transport trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108237921A true CN108237921A (en) | 2018-07-03 |
| CN108237921B CN108237921B (en) | 2022-11-11 |
Family
ID=62700380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711005184.0A Active CN108237921B (en) | 2016-12-27 | 2017-10-25 | Conveying trolley |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6776889B2 (en) |
| KR (1) | KR102398345B1 (en) |
| CN (1) | CN108237921B (en) |
| TW (1) | TWI731175B (en) |
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|---|---|---|---|---|
| CN113997794A (en) * | 2020-07-28 | 2022-02-01 | 细美事有限公司 | Device and method for managing electric power of article transport vehicle |
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| KR102637694B1 (en) * | 2019-08-29 | 2024-02-19 | 무라다기카이가부시끼가이샤 | driving car system |
| KR102173130B1 (en) * | 2020-05-20 | 2020-11-04 | (주)그린파워 | Automated guided vehicle system |
| KR102618817B1 (en) * | 2020-09-22 | 2023-12-27 | 세메스 주식회사 | Method for controlling transport vehicle in article transport system in fabrication facility and vehicle control apparatus thereof |
| WO2022158098A1 (en) * | 2021-01-20 | 2022-07-28 | 村田機械株式会社 | Transport cart system |
| WO2023223754A1 (en) * | 2022-05-18 | 2023-11-23 | パナソニックＩｐマネジメント株式会社 | Mobile robot and rail movement system |
| CN119401634B (en) * | 2024-12-31 | 2025-04-04 | 华芯(嘉兴)智能装备有限公司 | Crown block electricity taking and supplying method and device, crown block and electronic equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR102398345B1 (en) | 2022-05-16 |
| JP2018107907A (en) | 2018-07-05 |
| CN108237921B (en) | 2022-11-11 |
| TW201823061A (en) | 2018-07-01 |
| TWI731175B (en) | 2021-06-21 |
| JP6776889B2 (en) | 2020-10-28 |
| KR20180076283A (en) | 2018-07-05 |
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