To provide an unmanned carrier capable of effectively using regenerative electric power even when the braking-time regenerative electric power generated in a load mounted state cannot be stored in a power storage device.SOLUTION: This unmanned carrier is provided with: a carrier body that is provided with a liftable load-carrying platform and a driving wheel; a traveling motor that drives the driving wheel; a chargeable/dischargeable power storage device; a load-carrying platform lifting device that has a pump motor serving as a lifting motor for lifting the load-carrying platform; and a control device that controls the traveling motor and the pump motor. The control device calculates regenerative electric power generated in the traveling motor during deceleration in a load mounted state on the basis of the weight of a load mounted on the load-carrying platform and preset target deceleration during the deceleration in the load mounted state, calculates load-carrying platform raising power necessary for raising the load-carrying platform on which the load has been mounted on the basis of the weight of the load, calculates a raising amount of the load-carrying platform on the basis of extra regenerative electric power not stored in the power storage device and the load-carrying platform raising power, and raises the load-carrying platform through control of the pump motor by the extra regenerative electric power.SELECTED DRAWING: Figure 3
【課題】荷搭載状態において生じる制動時の回生電力が蓄電装置に蓄電できない場合であっても、回生電力を有効に活用することが可能な無人搬送車の提供にある。【解決手段】昇降可能な荷台および駆動輪を備えた車体と、駆動輪を駆動する走行モータと、充放電可能な蓄電装置と、荷台を昇降する昇降モータとしてのポンプモータを有する荷台昇降装置と、走行モータおよびポンプモータを制御する制御装置と、を備えた無人搬送車において、制御装置は、荷台に搭載される荷の重量と予め設定された荷搭載状態での減速時における目標減速度に基づいて、荷搭載状態での減速時に走行モータに生じる回生電力を算出し、荷の重量に基づき荷を搭載した荷台の上昇に必要な荷台上昇電力を算出し、蓄電装置に蓄電されない余剰回生電力と荷台上昇電力に基づき荷台の上昇量を算出し、余剰回生電力によりポンプモータを制御して荷台を上昇させる。【選択図】図3
UNMANNED CARRIER
無人搬送車
2018-12-27
Patent
Electronic Resource
Japanese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |