JPS5926286B2 - Electric mobile shelf control device - Google Patents

Description

[Detailed description of the invention] The present invention relates to a control device for an electric movable shelf.

Conventionally, in electric movable shelves that move a desired shelf to form a passage among a plurality of closely arranged movable shelves when in use, the electric motor that drives the movement is operated by an operator. Sequence control is adopted, which is controlled by mechanical switches such as switches and various limit switches, and it is necessary for the worker to visually confirm the position of the shelves, and to move multiple shelves to form a passage based on the worker's judgment. Therefore, complicated operations were required to form the passage.

Especially when forming multiple aisles between closely packed mobile shelves.
It is necessary to operate a switch for moving the movable shelf for each aisle, and multiple aisles cannot be formed at the same time by operation, and the width of the aisle cannot be set arbitrarily if it is set mechanically. There were drawbacks.

This invention was made to solve the above-mentioned drawbacks, and by processing and controlling the movement amount and position data of the movable shelf using a numerical control method, it facilitates the passage selection operation of the movable shelf. The purpose of the present invention is to provide a control device for an electric movable shelf that can improve movement accuracy, easily set passage width and form passages, and easily form a plurality of passages at the same time.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Fig. 1, the electric movable shelf has three driven wheels 7 and three driving wheels 2 attached to the lower part of the shelf to form a trolley 1, and is mounted on three parallel rails 3. It is configured so that it can be driven.

Reference numeral 4 denotes a reversible motor for traveling drive connected to the drive wheels 2 of the truck, and is controlled for starting, deceleration, stopping, etc. by a motor drive control circuit to be described later.

5 is a rotary encoder that converts the amount of movement of the movable shelf into the number of pulses (a disk with a slit is attached to the rotating shaft, the light receiving element detects the optical axis cut by the rotation of the slit, and outputs a pulse signal proportional to the number of rotations) (pulse oscillator) whose rotating shaft engages with a rack 6 laid parallel to the rail 3 via a spur gear, and whose main body is attached to the trolley 1.

A space selection switch 8, a reset switch 9, and an emergency stop switch 10 are still attached to one side of the movable shelf, and an adjacent switch 11 is attached to the side adjacent to another movable shelf to prevent the shelves from coming into contact with each other. ing.

The movable shelves configured in this way are densely arranged on the rail 3, and a space is created in a part for forming a passage.

The control device that controls the drive of these movable shelves is constructed as shown in the block diagram of Fig. 2, and is used by being incorporated into a separate control panel or by being incorporated into a control panel attached to a part of the movable shelf. Ru.

The control device uses the input circuit 17 to shape the output pulse signal proportional to the amount of movement of the movable shelf from the rotary encoder 5, and determines the forward/reverse rotation of the rotary encoder 5 based on the phase difference of the pulse signal, and then outputs the number of pulses. The target point of each movable shelf is determined based on data such as the space width, the movable shelf width, and the space selection position given by the counting circuit 12 and setting device 13, and the target value of movement to that target point is determined. A target value arithmetic processing device 14 that calculates target value data for each column by converting it into the number of pulses, and a motor drive control circuit that inputs the target value data for each movable shelf and compares it with the count number of the counting circuit 12. 16, a comparison calculation circuit 15 outputs a signal for driving the reversible motor 4.

Note that the counting circuit 12, the input circuit 17, the motor drive control circuit 16, and the comparison calculation circuit 15 are provided for each movable shelf.

The setting device 13 is an input device using a numeric keypad, and inputs various stored data, forming paths, etc. to the control device.

18 is a current value recorder 1 that stores the count number of the counting circuit 12.
19 is a space storage circuit that stores the space width data input from the setting device 13; 20 is a shelf width storage circuit that stores the width data of the movable shelf that is similarly input; A safety width memory circuit 22 that stores data on the required safety width between movable shelves is a reference position where each movable shelf is completely closed and no passage is formed, that is, from a certain reference point of each movable shelf in a fully closed state. These are reference value storage circuits that store distance data of , and are connected to the target value arithmetic processing device 14, respectively.

Reference numeral 23 denotes a safety width comparison circuit, which compares the set safety width with the interval between adjacent movable shelves, and provides a stop signal to the motor drive control circuit 16 if the adjacent interval is within the safety width.

The motor drive control circuit 16 includes circuits that perform slow start and flow down control when starting and stopping the reversible motor 4, respectively, and the reversible motor 4 is provided with protection devices such as a thermal relay and an overcurrent relay.

Next, the operation of the control device will be explained using six movable shelves from 1R to 6R with reference to FIGS. 3 to 5.

First, a space width storage circuit 19 built in the control device,
The space width shown in FIG. 3 is input from the setter 13 into the shelf width memory circuit 20, the safety width memory circuit 21, and the reference value memory circuit 22, and the space width shown in FIG. Data on a reference position, that is, a position at a distance M from the reference point A for the movable shelf 1R, and a position at a distance M+H from the reference point A for the movable shelf 2R, is input and stored there.

Here, this reference position is the current position of each movable shelf (the third mark).

Now, if a passage to be formed is inputted using the space selection switch 8 of the movable shelf 3R or 4R or the numeric keypad of the setting device 13 so as to create the passage space No. 3 between the movable shelves 3R and 4R, the current Aisle space L has 4 movable shelves
Since the movable shelves IR, 2R, 3R1 and 5R, 6R are formed between
Give target position data that is the same as the current position, and
Set the target position data of (4M+2N+L) on the movable shelf 4R, and calculate the current position data (4M+2N+L) from this target position data.
3N) and moves the movable shelf 4R by a distance of (L-(support)) in the positive direction, a signal is transmitted to the motor drive control circuit 16 via the comparison calculation circuit 15 of the movable shelf 4R, and the reversible motor 4 is started in the forward direction to move the movable shelf 4R in the direction of 5R.

As the movable shelf 4R moves, a number of pulse signals corresponding to the amount of movement are transmitted from the rotary encoder 5 to the counting circuit 12 via the input circuit 17, and are input to the comparison calculation circuit 15.

The comparison calculation circuit 15 compares the conversion signal of the distance to the target value given from the target value calculation processing device 14 with the code signal of the number of pulses from the rotary encoder 5, and when they match, the signal is sent via the motor drive control circuit 16. Stop the reversible motor 4.

By the above operation, the movable shelf moves from the state shown in FIG. 3 to the state shown in FIG. 4, and a passage No. 3 is formed between the movable shelves 3R and 4R.

Next, a case where two passages are formed at the same time will be explained.

First, the setter 13 changes the data L stored in the space width storage circuit 19 to L/2.

Then, the path No. 2 and No. 5 to be formed by the setting device 13 are input into the set waist rotation target value calculation processing device 14.

This target value calculation device 14 calculates movement target values for the movable shelves 1R to 6R, respectively, in order to form passages No. 2 and No. 5 based on the setting data.

The current position of each movable shelf is always held as data in the target value calculation processing device 14, but if the current position is the position shown in FIG. 4, when forming passages No. 2 and No. 5, IR.

Since it is not necessary to move the 2R and 5R shelves, these movable shelves are given the same target value as the current position, and the current position data is subtracted from the reference point, and the respective moving distances are calculated as zero. It is processed.

On the other hand, the current position of the movable shelf 3R is (3M+2
N), and the target value is (3M + L/2+N), so by subtraction it moves from the current position to (L/2-N).
) A signal for moving is transmitted to the comparison calculation circuit for the movable shelf 3R.

Similarly, the current position of the mobile shelf 4R is from the reference point A to (4M+
2N+L), the target value is from the reference point A (4M+2N+L/
2), a signal for moving the shelf 4R by a distance of (L/2) in the opposite direction (toward the reference point A) from the current position is transmitted to the comparison calculation circuit for the shelf 4R by subtraction.

Furthermore, the current position of mobile shelf 5R is (, 5M + 3N + L)
, since the target value is (5M+3N+L/2), a signal for moving the shelf by a distance of (L/2) in the opposite direction from the current position by subtraction is transmitted to the comparison calculation circuit 15 for the movable shelf 5R.

Then, each comparison calculation circuit 15 outputs a drive signal specifying a direction to the motor drive control circuit 16.

On the other hand, the safety margin comparison circuit 23 is connected to 3R, where the movement command was issued.
4R.

For each 5R movable shelf, if there is another movable shelf adjacent to the direction in which it is to be moved, calculate the distance from that shelf, compare this distance with the set safety width N, and determine whether the adjacent movable shelf is adjacent. If the interval is less than the safety margin, safety margin comparison circuit 2
3 outputs a stop command signal to the motor drive control circuit 16.

Therefore, drive signals are output to the motor drive control circuits 16 of the movable shelves 3R, 4R, and 5R almost simultaneously, and the reversible motor 4 is driven to move the movable shelf 3R in the forward direction.
R starts in the opposite direction, but for the movable shelf 5R, a stop command signal is input to its motor drive control circuit 16, and its start is stopped when the adjacent interval with the moving width 4R exceeds the safety width N, and the safety comparison circuit is activated. This is done when there is no longer a stop command signal from 23.

Collisions between adjacent movable shelves are thus avoided.

When the movable shelf starts moving in a predetermined direction, the rotary encoder 5 attached thereto outputs a number of pulse signals proportional to the distance traveled, and the number of pulses is counted by the counting circuit 12 via the input circuit 17. , comparison calculation circuit 15
Output to.

The comparison calculation circuit 15 compares the movement data converted into the number of pulses up to the target value transmitted from the target value calculation processing device, and when they match, outputs a drive stop signal to the motor drive control circuit 16 to stop the reversible motor 4. By stopping the
Stop each mobile shelf at the target point.

Through this operation, the movable shelf forms passages No. 2 and No. 5 almost simultaneously, as shown in FIG.

A plurality of passages can be formed simultaneously as described above, but if the passage space L is not very large, the number of passages that can be formed is limited because the space must be divided.

Therefore, if many passages are formed, multiple passages will be sequentially formed.

In the sequential multi-passage mode, a setting is made to form a plurality of passages at a time, and the passages are formed one by one in sequence using the reset switch 9 attached to each movable shelf, and is operated as follows.

First, use the setting device 13 to enter the desired passage number, for example,
No. 2, No. 4, and No. 5 are sequentially designated as multi-passage formation, and these are temporarily stored.

Then, by operating the reset switch 9 attached to each movable shelf or setting device, the reset circuit in the target value arithmetic processing device 14 is operated, and after forming the second passage,
Passage no. 4 and passage no. 5 are formed individually.

An adjacent switch 11 installed as a safety device for the movable shelf operates to stop the reversible motor 4 in the event that adjacent shelves approach each other to the point of contact.

The motor's thermal relay and overcurrent relay also stop the reversible motor in the event of an abnormality.

In addition, an emergency switch 10 can be installed to stop the movable shelf in an emergency, and a detector or switch can be installed to automatically stop the movement of the movable shelf when an object is caught in the passage.

In the above embodiment, a rotary encoder is used as the pulse oscillator, but a position detector using a pulse oscillator, potentiometer, etc. that generates an electric signal proportional to the amount of movement of the shelf may also be used.

Furthermore, the setting device that serves as the operation input section of the control device for this movable shelf is equipped with a numeric keypad and keyboard for inputting various storage items and setting aisle spaces, and the target value calculation processing device and storage device attached thereto are It can be configured by a so-called microcomputer.

As described above, the electric movable shelf control device according to the present invention includes a pulse oscillator that is attached to each movable shelf and outputs a number of pulse signals proportional to the amount of movement thereof, and a pulse oscillator that outputs a number of pulse signals proportional to the amount of movement of the movable shelf, and a pulse oscillator that outputs a number of pulse signals proportional to the amount of movement of the movable shelf, Based on the data provided by the counting circuit and the setting device, the target point for each movable shelf is determined, and the target value data is converted into the distance traveled to that point.

Equipped with a target value calculation processing device that calculates the target value data and a comparison calculation circuit that compares the target value data with the number of pulses of the counting circuit and then outputs a drive signal to the motor drive control circuit, and can be controlled by a numerical control method. Therefore, when forming a plurality of passages between closely packed movable shelves, the plurality of passages can be formed at the same time with a simple operation, and the plurality of passages can be formed individually in sequence by operating only the reset switch.

Moreover, it is possible to facilitate the passage selection operation and the setting of the passage space width, etc., and to improve the movement accuracy of the movable shelf.

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, in which Fig. 1 is a perspective view of a movable shelf, Fig. 2 is a block diagram of a control device for the movable shelf, and Figs. 3 to 5 are positions of passages formed in the movable shelf. FIG. 4... Reversible motor, 5... Rotary encoder, 12... Counting circuit, 13...
- Setting device, 14...Target value calculation processing device, 15
... Comparison calculation circuit, 16 ... Motor drive control circuit.

Claims (1)

[Claims] 1 A pulse oscillator that is attached to each movable shelf and outputs a number of pulse signals proportional to the amount of movement, a counting circuit that counts the number of pulses of the pulse signal, a width of the movable shelf, a space width between the movable shelves, and safety. A setting device to set the width value,
The movement target point of each movable shelf is determined based on a memory circuit that stores the values set by the setting device, the set movable shelf width, space width, safety width, and passage space selection position data. , a target value arithmetic processing device that calculates target value data corresponding to the moving distance to that point; a current value storage unit that stores current position data of each movable shelf; It is characterized by comprising a comparison calculation circuit that calculates the amount of movement of the shelf and outputs a signal to a control circuit of a motor for driving each movable shelf while comparing the number of pulses counted by the counting circuit with the amount of movement. A control device for electric movable shelves.