JPH0445406B2 - - Google Patents

Description

[Detailed description of the invention]

INDUSTRIAL APPLICATION FIELD The present invention relates to movable shelf equipment having electrically movable shelves. Prior Art This type of movable shelf equipment in which a plurality of movable shelves are provided on a straight track is disclosed in Japanese Utility Model Application Publication No. 62-68904, and its outline is shown in Figs. 4 to 6. has been done. That is, a plurality of movable shelves 4 are arranged on the linear track 3 between the first fixed shelf 1 and the second fixed shelf 2. A plurality of divided storage spaces 5 are provided in the first and second fixed shelves 1 and 2 and the movable shelf 4. The movable shelves 4 are placed on the linear track 3 via wheels 6, and motors 7 mounted on each
Each can be moved separately by driving the wheels 6. moreover,
Each movable shelf 4 is provided with a drive device 8 for movement control, and between adjacent drive devices 8 and between the end drive device 8 and the first and second fixed shelves 1 and 2. , a power supply cable 9 is wired. Both ends of each cable 9 are connected to the first and second fixed shelves 1 and 2.
and is fixed to the upper end of the side part of the movable shelf 4 with a fixture 10. Reference numeral 11 denotes a wall surface 12 of the building in which the movable shelving equipment is installed, which is a work space in which goods are loaded into and taken out of the compartment storage space 5 by a forklift vehicle or the like. Furthermore, an approach detector 13 for detecting the approach of the movable shelf 4, an intrusion detection device 14, and a bumper switch 15 are provided. Intrusion detection device 14
is to detect when a worker or the like has entered the space 12 while the movable shelf 4 is being moved.It is installed at a height of several tens of centimeters from the floor to prevent workers from stepping over it. The drive device 8 stops moving the movable shelf 4 based on the operation signal from the detection device 14.
Measures the safety of workers. bumper switch 1
5 is a bumper switch that detects when a load is placed in the moving direction of the movable shelf 4 by contacting the load and prevents the load from being caught in the movable shelf 4 or becoming locked. The drive device 8 stops moving the movable shelf 4 in response to the operation signal No. 15. Between the driving devices 8 of adjacent movable shelves 4, the right-hand command signal output by operating the open command switch or the right-hand command signal input from the shelf on the left side of the shelf is transmitted to the shelf. The left side of the shelf is transmitted to the shelf on the right side, and the left side of that shelf receives the left side command signal output by operating the open command switch or the left side command signal input from the shelf on the right side of that shelf. The crocodile is meant to be transmitted to a certain shelf. Also, between the driving devices 8 of adjacent movable shelves 4, a stop signal generated on that shelf or inputted from the left shelf is transmitted to the right shelf, and a stop signal generated on that shelf or inputted from the left shelf is transmitted to the right shelf. A stop signal input from the shelf is transmitted to the left shelf. Such transmission and reception of signals between adjacent shelves is performed by optical signal transmission means consisting of a light emitting section and a light receiving section. FIG. 6 shows an example of optical signal transmission means,
Optical signal transmitting means is constituted by a light emitting element 16 and a light receiving element 17 arranged vertically on the frontage surface side of the side plate 4A of the movable shelf 4. Each light emitting element 16 on one shelf and the light receiving element 17 on the other adjacent shelf face each other, and a predetermined signal is transmitted to the adjacent shelf by turning on and off the light emitting element 16. . The drive device 8 includes a light-receiving element 17A that receives a left-hand command signal sent as an optical signal from the right-hand shelf, a light-emitting element 16A that outputs a right-hand command signal as an optical signal to the right-hand shelf, and a light-receiving element 16A that outputs a right-hand command signal as an optical signal to the right shelf. A light-receiving element 17B for the stop signal sent by the 17B is connected to a light-emitting element 16B that outputs a stop signal as an optical signal to the right-hand shelf, and a light-emitting element 16B that outputs a left-hand command signal as an optical signal to the left-hand shelf. 16C, a light-receiving element 17C for the right-row signal sent as an optical signal from the left shelf, and a light-emitting element 16D for outputting a stop signal as an optical signal to the left shelf.
A light receiving element 17D for a stop signal sent as an optical signal from the left shelf is connected. With the above configuration, the rightward command signal and the leftward command signal output from the desired drive device 8 by operating the open command switch are transmitted to the light emitting element 16 and the light emitting element 1.
The signal is converted into an optical signal through the optical signal transmission means 7 and transmitted to the right shelf and the left shelf, respectively. For a shelf to which a right-hand command signal or a left-hand command signal is input, the drive device 8 determines whether there is enough room to move to the right when the right-hand command signal is input or to the left when a left-hand command is input. Based on the input signal of the approach detector 13, it is determined whether there is enough room to move to the first fixed shelf 1, and based on this determination, the movable shelf 4 is directed toward the first fixed shelf 1 by the motor 7, as shown in FIG. constant speed
When the proximity detector 13 detects that the vehicle is traveling at V ₁ and approaching the required deceleration distance L ₁ , the drive device 8 stops the motor 7 and runs at deceleration V ₂ to achieve the desired stop without causing a collision. It is stopped at position S, and a work space 12 is formed at a position corresponding to the operated opening command switch. Problems to be Solved by the Invention However, in the conventional configuration, the necessary work space 12 is formed using the proximity detector 13, and the work space 12 is not required, for example, in a refrigerated warehouse. In this case, since the fixed shelves 1 and 2 and the movable shelves 4 and the movable shelves 4 do not have the function of opening them at equal intervals, that is, the opening control function, the divided storage space 5
It was not possible to cool the cargo stored evenly and efficiently. The present invention is intended to solve the above-mentioned problems, and aims to provide a movable shelf facility in which signals are sent and received using a photoelectric device and has an unfolding control function. Means for Solving the Problems In order to solve the above problems, the present invention provides a plurality of movable shelves that reciprocate on a track, and an opening switch that spreads out the movable shelves at equal intervals. , The movable shelf is forcibly moved to the left (rightward) in response to the operation signal of the spread switch, and when the leftward movement (rightward movement) is completed, the movable shelf is moved to the right (leftward) for a certain period of time determined for each movable shelf. The device is characterized in that it is provided with a control means for moving it to positions at equal intervals. Effect According to the above configuration, all the movable shelves move to the left (right) by the forced leftward (rightward) signal output from the movable shelf provided with the spread switch by operating the spread switch, and then temporarily move to the left. The movable shelves gather close to the fixed shelves on the right side, and then the movable shelves move to the right (left) for a certain period of time set for each movable shelf to maintain a constant distance between the fixed shelves and movable shelves and between each movable shelf. Keep it in place and spread out. Embodiment An embodiment of the present invention will be described below based on the drawings. Note that the same components as in FIGS. 4 to 6 of the conventional example are given the same reference numerals, and explanations thereof will be omitted. FIG. 1 is a schematic diagram showing the control equipment of the movable shelf equipment of the present invention and its arrangement. In the present invention, as in the conventional example, the first fixed shelf 1 and the second fixed shelf 2 are
A plurality of movable shelves 4 (left rack 4A, intermediate racks 4B, 4C, 4D, right rack 4E) are arranged on a straight track 3 between the first and second fixed shelves 1, 2. The movable shelf 4 is provided with a plurality of compartment storage spaces 5, and the movable shelf 4 is placed on a straight track 3 via wheels 6, and the wheels 6 are driven by a motor 7 mounted on each movable shelf 4. It is structured so that each can be done separately. In FIG. 1, 21 is a start push button switch (hereinafter abbreviated as start Pb) operated to form a work space 12 on the right side of the movable shelf 4, and 22 is a stop push button switch (hereinafter referred to as stop switch).
(abbreviated as Pb), and as shown in FIG. 2, it is input to a control device 23 which is a driving means consisting of a microcomputer, and the switches 21 and 22 each have a built-in start lamp 24 and a stop lamp 25. The second activation Pb 21A provided on the left rack 4A is a button switch for forming the work space 12 on the left side of the left rack 4A. 3
8 is provided on the left rack 4A, and is a spread push button switch (hereinafter referred to as spread Pb) for commanding spread control.
), which is also input to the control device 23 of the left rack 4A. 26 and 27 are photoelectric switches for transmission and reception, which are communication means provided on the left and right sides of the movable shelf 4, facing between the movable shelves 4;
The photoelectric switches installed on the front side (front side) of the left and right sides are on the right side, the main photoelectric switches 26A, 26B, 27A, 27B for transmission and reception are on the left side, and the photoelectric switches installed on the rear side (back side) are on the right side. Transmission and reception photoelectric switches 26C, 26D, 27 on the left
It is called C, 27D. Reception signals a ₁ , b ₁ of the right receiving main photoelectric switch 26B and secondary photoelectric switch 26D
The received signals a ₂ and b ₂ of the main photoelectric switch 27B and secondary photoelectric switch 27D on the left side are sent to the control device 2.
3, and the movable shelf 4 on the right side of the control device 23
The signals k ₁ , l ₁ to the right transmitting main photoelectric switch 2
6A and photoelectric switch 26C, movable shelf 4 on the left
The signals k ₂ , l ₂ to the left transmitting main photoelectric switch 2
7A and is output to the slave photoelectric switch 27C. 28
is a proximity detector which is a means for detecting the proximity of shelves to each other; only the approach detector 28A of the left rack 4A detects the approach to the first fixed shelf 1 on the left side, and the other approach detectors 28 Shelf 4 or second fixed shelf 2
The output signal C of the approach detector 28 is also input to the control device 23. Further, 29 is an intrusion detector that detects intrusion between the first and second fixed shelves 1 and 2 and the left rack 4A or right rack 4E, and is installed in the left rack 4A and right rack 4E, respectively. The output signal d is input to each of the control devices 23 of 4. Power to the movable shelf 4 is sent to each distribution box 31 via a power-only cable 30. FIG. 2 shows a block diagram of the control device 23. The control device 23 includes signal determination units 32A, 32B for the right and left photoelectric switch reception signals a ₁ , b ₁ , a ₂ , b ₂ ,
It is comprised of an interlock section 33, a control section 34, signal transmitting sections 35A and 35B that output right and left photoelectric switch transmission signals k ₁ , l ₁ , k ₂ , and l ₂ , and a motor drive section 36 . Interlock section 3
3, the output signal e of the bumper switch 15, the operation signal f of a thermal relay (not shown) attached to the main circuit of the motor 7, and the left rack 4A or right rack 4E adjacent to the fixed shelves 1 and 2. The output signal d of the intrusion detector 28 is input,
When any of the signals e, f, and d is on, a motor stop signal g is output to the control section 34. Also,
Motor stop signal g of this interlock section 33
is reset by stop Pb22 when all signals e, f, and d are off. The signal determination units 32A and 32B determine the signal contents shown in Table 1 from the main photoelectric switch reception signals a ₁ and a ₂ and the secondary photoelectric switch reception signals b ₁ and b _{2 and} generate respective determination signals.
h ₁ and h ₂ are output to the control section 34, and the signal transmission section 3
5A and 35B are that

【table】

[Table] By inputting the transmission instruction signals j ₁ and j ₂ from the control unit 34, the main photoelectric switch transmission signals k ₁ and k ₂ and the sub-photoelectric switch transmission signal are determined based on the signal contents shown in Table 1.
Outputs l ₁ and l ₂ . Further, the motor drive section 36 is
It receives a forward or reverse motor speed signal m from the control section 34 and outputs an analog speed signal n to the inverter 37. Inverter 37 controls motor 7 using speed signal n. Incidentally, the intrusion of a worker between the movable shelves 4 is usually detected by turning off the input to the main photoelectric switches 26B and 27B, which receive pulses. The operation of the control unit 34 that controls the movable shelf 4 is
This will be explained according to the flowcharts shown in FIGS. A to 3E. In FIG. 3A, it is determined whether the ON state of the starting Pb21 is detected (step 41), and the starting Pb21
If ON is not detected, a left direction instruction signal is input using the judgment signal _h2 of the left signal judgment unit 32B, or the left rack 4A is opened.
It is determined whether the ON state of Pb 38 is detected (step 42), and if it is input or detected, the right side movable shelf 4 is instructed to go left by sending a transmission instruction signal _j1 to the right side signal transmitter 35A. Enter the flowchart on the left (Figure 3 B) (Step 43). If the opening control signal is not input and detected at step 42, it is determined by the determination signal _h2 whether the opening control signal is not being input or whether the opening control instruction is being issued for the left rack 4A (step 44); If it has been determined, an unfolding control instruction is given to the right side movable shelf 4 using the transmission instruction signal _j1 , the timer in the control unit 34 is reset, and the flowchart to the right of unfolding (Fig. 3 D) is entered. (Step 46). step 44
If the judgment is not made in the right side signal judgment section 3
When a movement instruction signal is input at the judgment signal _h1 of 2A (step 47), the flowchart on the left (3rd
Figure B>, a movement instruction signal is input as the judgment signal _h2 of the left signal judgment unit 32B (step
48) and enter the flowchart 《Figure 3 C》 which performs the normal right-hand row. When the activation of the activation Pb21 is detected, the transmission instruction signals j ₁ and j ₂ send a movement instruction signal to the right side,
The signals are sent to the left side signal transmitters 35A and 35B to instruct the adjacent movable shelf 4 to move (step 49), and when a move instruction is input with the judgment signal _h1 , the left side movable shelf is sent with a transmission instruction signal _j2 . Instructs the shelf 4 to move (step 50), determines whether the output signal C of the proximity detector 28 is on in FIG. 3B (step 51),
When the output signal C is on, an approach detection signal is sent to the right movable shelf 4 using the transmission instruction signal _j1 (step
52). When a movement instruction is input using the judgment signal _h2 , a movement instruction is given to the right movable shelf 4 using the transmission instruction signal _j1 (step 53), and steps 51 and 52 are performed at steps 54 and 55 in FIG. 3C. Similarly, the output signal C of the approach detector 28 is determined, and if it is on, an approach detection signal is sent to the right movable shelf 4 using the transmission instruction signal _j1 . If there is no instruction at steps 47 and 48, the motor speed signal m to the motor drive unit 36 is turned off (step 56) in FIG. 3E, and the stop lamp 2 is turned off.
5 is lit (step 57), and the process ends. The left-hand flowchart following step 52 in FIG. 3B will first be described. A full stop signal (step 58) is input with the judgment signal _h1 , a full stop signal is input with the judgment signal _h2 (step 59), and a motor stop signal g (step 60) from the interlock section 33 is input, but the motor does not stop. When Pb22 is detected to be on (step 61),
The transmission instruction signal j ₂ instructs the left movable shelf 4 to fully stop (step 62), and the transmission instruction signal j ₁ instructs the right movable shelf 4 to fully stop (step 62).
63), return to step 56 and stop the motor 7.
When the detection of leftward intrusion is inputted by the judgment signal _h2 (step 64), a complete stop of the right movable shelf 4 is instructed in step 63. Next, it is determined whether the judgment signal _h2 indicates that the execution has been completed (step 65), and if the judgment signal _h2 is that the execution has been completed, it is determined whether or not the judgment signal _h2 is an approach detection instruction (step 66). If so, the transmission instruction signal j ₁ outputs execution completion to the right movable shelf 4 (step 67), the transmission instruction signal j ₂ outputs execution completion to the left movable shelf 4 (step 68), and the left rack is In the case of movable shelves 4 other than 4A, the process returns to step 56, and as shown in FIG.
69), confirming that the execution is complete with the judgment signal _h1 from the right intermediate rack 4B (step 70),
After a certain period of time, a spreading instruction signal is output from the right signal transmitter 35A to the right intermediate rack 4B (step 71), and the process returns to step 56. Steps in Figure 3B
If there is no approach detection in step 66, or step 65
If the judgment signal h ₂ is not completed, the left motor speed signal m is output to the motor drive section 36, and the motor drive section 36 outputs the speed signal n to the inverter 37, which drives the motor 7 to make it movable. Shelf 4 moves to the left (step 72). At the same time, a transmission instruction signal j ₁ is sent to the right movable shelf 4 to indicate that it is being executed (step 73), the start lamp 24 is turned on (step 74), and the process returns to step 51 to execute the flowchart on the left. do. Next, referring to FIG. 3C, the normal right-hand flowchart following step 55 will be described. Judgment signal h ₁ signals full stop (step 75), judgment signal h ₂ signals full stop (step 76), interlock section 33
motor stop signal g (step 77) is input, or stop Pb22 is detected to be turned on (step 77).
78), the right side movable shelf 4 is instructed to fully stop using the transmission instruction signal _j1 (step 79), and the transmission instruction signal
At _{step j2} , the left movable shelf 4 is instructed to completely stop (step 80), and at step 56, the motor 7 is stopped. When the judgment signal _h1 right-row intrusion detection is input (step 81), a complete stop of the left movable shelf 4 is instructed in step 80. Next, it is determined whether the judgment signal _h1 indicates completion of execution (step 82), and if the judgment signal _h1 indicates completion, it is judged whether the output signal C of the proximity detector 28 is on (step 83), and whether or not the execution is on is determined. If so, an execution completion signal is output to the left movable shelf 4 using the transmission instruction signal _j2 (step 84), and the process returns to step 56. If it is not on, or if the judgment signal _h1 is not completed, the right motor speed signal m is output to the motor drive unit 36, and the motor drive unit 36 outputs the speed signal n to the inverter 37 to drive the motor 7. Then, the movable shelf 4 moves to the right (step 85). At the same time, a transmission instruction signal j ₂ is sent to the left movable shelf 4 to indicate that it is being executed (step 86), the start lamp 24 is turned on (step 87), and the process returns to step 54 to execute the flowchart on the right. do. Next, referring to FIG. 3D, a rightward flowchart of the spread control following step 46 will be explained. Steps 88 to 95 and 100 to 102 are the steps in the normal right-hand flowchart (Figure 3C).
54, 55, step 75 to step 81 and step
This is the same as steps 85 to 87, so the explanation will be omitted. If no intrusion is detected based on the judgment signal _h1 in step 96, the timer in the control section 34 is counted (step 97), and the count value of the timer is set for a certain period of time T _N set for each movable shelf 4. Determine whether it is greater than or equal to (step 98), and if it is greater or equal, output an execution completion signal to the left movable shelf 4 using transmission instruction signal _j2 (step 99), return to step 56, and if it is smaller, Perform the right row at step 100.
The right row will be performed for a certain period of time T _N. In addition, in FIGS. 3A to 3E, the broken line indicates that in the case of left rack 4A, there is no judgment signal h ₂ and transmission instruction signal j ₂ on the left side, and the spread Pb 38 and approach detector 2 are not present.
In the case of right rack 4E, the portions that are bypassed or changed due to the presence of 8A are shown, and the dash-dotted line is bypassed or changed due to the absence of the judgment signal _h1 and transmission instruction signal _j1 on the right side in the case of right rack 4E. Show the location. Next, the movable shelf 4 which was stationary in the position shown in Fig. 1 when the spreader Pb 38 of the left rack 4A was pressed.
The operation will be explained in detail. Left rack 4A is spread out
When Pb38 is pressed, step 42 of FIG.
As shown in Fig. 43, a leftward direction instruction is output to the right intermediate rack 4B to enter the leftward flowchart, and as shown in steps 66 and 67 of Fig. 3B, since the approach detector 28A is on, the right intermediate rack 4B is outputted. Output execution completion. Intermediate rack 4B receives judgment signal h ₂ from left rack
The left direction instruction is received at step 42 of FIG. 3A,
As shown in 43, output the left direction instruction to intermediate rack 4C,
As per steps 65, 66, 67, and 68 of the left-hand flowchart, enter the execution completion of left rack 4A on the left side,
Enter the approach detection instruction, so click on the middle rack 4 on the right.
Outputs execution completion to C and left rack 4A. The intermediate racks 4C and 4D operate in the same manner as the intermediate racks 4B. The right rack 4E receives the leftward direction instruction signal from the intermediate rack 4D, and enters the leftward flowchart in step 42, and as shown in step 66 of FIG. 3B, if the approach is not detected by the judgment signal _h2 , Move to the left and stop when approaching is detected. As a result of the above, all the movable shelves 4 gather on the first fixed shelf 1 side. After step 68, the left rack 4A is under unfolding control in steps 69, 70, and 71 of FIG. 3E,
When the right intermediate rack 4B confirms that the execution has been completed using the determination signal _h1 , after a certain period of time it transmits an unfolding instruction signal to the right intermediate rack 4B using the transmission instruction signal _j1 of the right signal transmitter 35A. Intermediate rack 4
B, 4C, 4D, and right rack 4E determine and transmit the unfolding instruction signal in steps 44 and 45 of FIG. 95, it moves to the right for a certain period of time T _N set respectively. 1st, 2nd
The distance between the fixed shelves 1 and 2 (the length of the linear trajectory) is L, the number of movable shelves 4 is N (N = 5 in this example), the width of the movable shelves 4 in the running direction is W, and the movable shelves 4 When _the average traveling speed _of When the time movable shelf 4 of T _N (n) moves to the right, the interval s=
Spread out at a distance of L-NW/N+1. For example, if L = 16m, W = 2m, N = 5, v = 5m/min, s = 16-5 x 2/5 + 1 = 1m, T _N (n) = 1/5・n
= 0.2n minutes, and for example, if the left rack 4A is moved to the right for a certain period of time, Tn (1) = 0.2 minutes, and the right rack 4E is moved to the right for a certain period of time, Tn (5) = 1 minute, all movable shelves 4 will unfold with an interval of 1 m. can. In this way, by moving all the movable shelves 4 to the left and gathering them on the side of the first fixed shelf 1, and moving all the movable shelves 4 to the right for a set period of time T _N , the first and second fixed Movable shelves 4 can be spread out at equal intervals between the shelves 1 and 2. In this embodiment, photoelectric switches 26 and 27 are used as communication means, but it goes without saying that a communication cable may be used for communication. Effects of the Invention As described above, according to the present invention, all the movable shelves are moved to the left (right) and collected by operating the spread switch, and then moved to the right for a certain period of time set for each movable shelf. (left row), even if the positions of multiple movable shelves vary, you can easily and accurately determine the distance between fixed shelves and movable shelves, and between each movable shelf. For example, in movable shelving equipment installed in a refrigerated warehouse, cold air can be circulated evenly over the loads stored on fixed shelves and movable shelves, thereby efficiently cooling the loads.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing the control equipment of a movable shelving facility according to an embodiment of the present invention, FIG. 2 is a block diagram of the control device of the movable shelving facility, and FIGS. 3A to 3E are A flowchart diagram explaining the operation of the control unit of the control device of the movable shelving equipment, Fig. 4 is a front view of the conventional movable shelving equipment, Fig. 5 is a plan view of the conventional movable shelving equipment, and Fig. 6 is the conventional movable shelving equipment. FIG. 7 is a perspective view of the photoelectric device section of the movable shelving equipment of 2005, and FIG. 7 is an explanatory diagram of the deceleration state of the conventional movable shelving equipment. 1, 2... fixed shelf, 3... track, 4... movable shelf (4A... left rack, 4B, 4C, 4D... intermediate rack, 4E... right rack), 6... wheel, 7...
...Motor, 21...Start push button switch, 2
3... Control device (driving means), 26, 27... Photoelectric switch (communication means), 28... Approach detector (approach detection means), 32A, 32B... Signal determination section, 34... Control section, 35A , 35B... Signal transmitter, 38... Spread push button switch, h ₁ , h ₂
...Judgment signal, j ₁ , j ₂ ...Transmission instruction signal.

Claims (1)

[Scope of Claims] 1. A plurality of movable shelves that reciprocate on a track and an opening switch that unfolds the movable shelves at equal intervals are provided, and the movable shelves are arranged in accordance with an operation signal of the unfolding switch. A control means is provided for forcibly moving the movable shelf to the left (right) and moving the movable shelf to equally spaced positions by moving the movable shelf to the right (left) for a certain period of time determined for each movable shelf when the left (right) movement is completed. Mobile shelf equipment featuring: 2. If the length of the track is L, the number of movable shelves is N, the width of the movable shelf in the running direction is W, and the average running speed of the movable shelf is V, then the right row of the nth movable shelf from the left (right side) The movable shelf equipment according to claim 1, wherein the fixed time t(n) for the left row) is as follows: t(n)={(L-N×W)/(N+1)}×n/V.