JPH0659928B2 - Interlocking control device for double-row mobile shelf equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention has a plurality of moving rack running paths arranged side by side, and each moving rack running path supports a plurality of moving racks each equipped with a travel drive means. In a double-row type movable rack equipment configured as described above, the present invention relates to an interlocking control device for synchronously driving and driving a plurality of movable racks arranged in the transverse direction of the traveling route.

(Prior Art and Problems Thereof) In this type of double-row movable rack equipment, in order to synchronously control traveling of a plurality of movable shelves lined up in the transverse direction of the traveling route, a plurality of synchronously driven movable shelves are installed. It is necessary to detect the displacement in the traveling direction that occurs between the moving shelves and control the traveling of the moving shelves based on this detection result so as to eliminate the displacement. The displacement of the vehicle in the traveling direction was detected by contact through a link mechanism or the like spanning between the two movable shelves. Therefore, not only is there a restriction on the distance between the two moving shelves, but it is a condition that there are no obstacles such as pillars between the traveling paths of the two moving shelves that are controlled synchronously.
There was a drawback that the installation location was restricted.

(Means for Solving the Problems) In order to solve the above-mentioned conventional problems, the present invention provides
Of the two movable shelves that are driven synchronously, one movable rack is provided with two light-reflecting surfaces at appropriate distances in the traveling direction, and the other movable rack has two light-reflecting surfaces corresponding to the respective light-reflecting surfaces. Optoelectronic switches SW-L1, SW-R1 and SW-L2, SW-R2 are arranged so that both ends in the traveling direction of the respective light reflecting surfaces can be detected at the same time, and the front and rear same-side ends of different light reflecting surfaces are arranged. 2 corresponding to
Output P of detection output of two photoelectric switches SW-L1 and SW-R1
1 and OR output of detection output of photoelectric switch SW-L2, SW-R2
A means for obtaining P2 is provided, and the traveling drive means of both moving shelves are operated under the same condition only when the both OR outputs P1 and P2 are in the same state, and when both OR outputs P1 and P2 are in different states. The present invention proposes an interlocking control device for double-row mobile rack equipment, which is provided with a control device for releasing or decelerating the drive of the preceding mobile rack.

(Operation of the invention) Even if there is an obstacle such as a pillar between the traveling paths of the movable racks,
Synchronous driving is performed by setting the distance between the two light-reflecting surfaces so that the obstacle does not simultaneously block the optical lines of three photoelectric switches adjacent to each other among the four photoelectric switches. When there is no displacement in the traveling direction between the plurality of movable shelves, or when the amount of displacement is within the allowable range, the OR outputs P1 and P2 are in the same state. If one movable rack is delayed (or advanced) for some reason, and the amount of positional deviation in the traveling direction from the other movable rack exceeds the permissible range, then both OR outputs
The states of P1 and P2 are different. As a result, the drive of the moving rack on the preceding side is released or decelerated,
When the amount of positional deviation in the traveling direction between the two moving shelves decreases and the two moving shelves are in a state of being juxtaposed side by side, the states of both OR outputs P1 and P2 are the same as described above. The moving rack is driven to run under the same conditions.

That is, according to the above configuration, even if there is an obstacle such as a pillar between the traveling paths of the movable shelves, the distance between the two light-reflecting surfaces is set to the width in the traveling direction of the movable shelves as described above. Even if the obstacle is located between both moving shelves, two photoelectric switches SW-L1, SW-R1 or SW-L2, SW corresponding to either one of the light reflecting surfaces can be simply set according to the setting. -Use R2 or two photoelectric switches SW-L1, SW-R2 or SW-L2, SW-R1 corresponding to different front and back ends of different light reflection surfaces to ensure positional displacement of both movable shelves Therefore, the synchronous drive control can be performed without any trouble.

(Example) Hereinafter, one example of the present invention will be described with reference to the accompanying drawings.

In FIG. 1, (1) and (2) are movable rack traveling paths arranged in parallel, and three traveling shelves (3A) to (5A) are provided on each traveling path (1) and (2).
(3B) to (5B) are movably supported. However, the two moving shelves (3A) (3A) lined up in the direction crossing the travel route (1) (2)
B), (4A), (4B), (5A) and (5B) are synchronously driven. (6)
Is an obstacle such as a pillar that is erected between the two traveling routes (1) and (2).

Each of the movable shelves (3A) to (5A) (3B) to (5B) rolls on the guide rails (7) and (8) laid on the traveling routes (1) and (2) as shown in FIG. Driving wheel (9), a motor (10) for driving the driving wheel (9), and control means (11) for controlling the motor (10)
And two moving shelves (3A) (3B), (4A) (4B)
Among the (5A) and (5B), the operation panel (12) is attached to the front side moving shelves (3A), (4A) and (5A).

Of the two moving shelves (3A) (3B), (4A) (4B), (5A) (5B) that make up each pair, the moving shelves (3B) (4B) (5B) on the back side are in front. Side moving shelves (3
Two light reflecting surfaces (13) and (14) are attached to A) (4A) and (5A) at appropriate intervals in the traveling direction, and the front side moving shelf (3A)
(4A), (5A), facing each of the light-reflecting surface (13) (14), so that both ends of each light-reflecting surface (13) (14) in the moving shelf traveling direction can be detected at the same time. Two retroreflective photoelectric switches SW-L1, SW-R1 and SW-L2, SW-R2 are arranged side by side.
(15) (16) is an OR circuit, the OR circuit (15) is the photoelectric switch SW-L1 corresponding to the front end side of the light reflection surface (13) and the front end side of the light reflection surface (14). Corresponding photoelectric switch SW-R1
Is to obtain the logical sum output P1 of the detection output of the logical sum circuit (16), and the photoelectric switch SW-L2 corresponding to the rear end side of the light reflection surface (13) and the rear end of the light reflection surface (14). This is to obtain the logical sum output P2 of the detection outputs of the photoelectric switch SW-R2 corresponding to the side.

The distance between the light reflecting surfaces (13) and (14) in the moving rack running direction is set sufficiently larger than the width of the obstacle (6) in the moving rack running direction, and three photoelectric switches arranged next to each other are arranged. SW-L
1, SW-R2, SW-R1 or SW-L2, SW-L1, SW-R2 optical line is an obstacle
(6) does not shut off at the same time.

The control means (11) is programmed so that the control shown in the flowchart of FIG. 3 is performed. That is, in the state shown in FIG. 1, between the moving shelves (4A) and (5A) and (4B).
A work passage is formed between (5B), but the moving shelves (3A) (4A)
Moving shelves to form a working aisle between and between (3B) and (4B)
Taking the case where the (4A) and (4B) are moved to the right with the moving shelves (5A) and (5B) as an example, the right-hand start operation is performed on the operation panel (12) of the moving shelves (4A). At this time, both moving shelves (4A) (4
Since (B) is stopped in the traveling direction without displacement, it is a moving rack.
Four photoelectric switches SW-L1 to SW-R2 on the (4A) side are mobile shelves (4B)
Since both end portions in the traveling direction of the light reflection surface (13) (14) on the side are simultaneously detected and both are in the ON state, both OR circuits (1
5) The logical sum outputs P1 and P2 of (16) are both at the H level. Therefore, the control means (11) of both movable shelves (4A) (4B) is
The drive wheels (9) are rotationally driven in the right direction at the same speed via 0), and the two movable shelves (4A) and (4B) travel in the right direction at the same speed. When the right travel limit is reached, the control means (1
In 1), the motor (10) is stopped and the drive wheels (9) are braked, and both moving shelves (4A) and (4B) are automatically stopped at the right stroke limit.

While the mobile racks (4A) and (4B) are traveling, the obstacle (6) relatively passes between the mobile racks (4A) and (4B), but as shown in FIG. Since the optical line of three photoelectric switches SW-L1, SW-R2, SW-R1 or SW-L2, SW-L1, SW-R2 that are lined up next to each other is not blocked by the obstacle (6) at the same time. As described above, as long as both moving shelves (4A) and (4B) are traveling in a state where they do not shift in the traveling direction, at least one light reflecting surface (13)
Or photoelectric switch SW-L1, SW-L2 or SW-R corresponding to (14)
1, SW-R2 are all in the ON state, or photoelectric switches SW-L2, SW-R1 on both ends outside of the four photoelectric switches
Is turned on, the output P of both OR circuits (15) (16)
The state where both 1 and P2 are at the H level is maintained.

If the moving rack (4A) (4B) is traveling to the right, the moving rack (4B)
Is delayed for some reason and the positional deviation amount in the traveling direction between the movable shelves (4A) and (4B) exceeds a certain amount (allowable range), the fourth
As shown in the figure, among the pair of photoelectric switches SW-L1, SW-L2 and SW-R1, SW-R2 on the preceding moving shelf (4A) side, the photoelectric switches SW-L1 and SW-R1 on the right side are It is turned off, and the left photoelectric switches SW-L2 and SW-R2 are turned on. As a result, only the output P2 of the logical sum circuit (16) becomes the H level, and the preceding control means (11) on the moving rack (4A) side cuts off the power supply to the motor (10) of the moving rack (4A), The drive of the movable rack (4A) is released. Therefore, since only the moving rack (4B) that is delayed is driven to the right, the moving rack (4B) eventually catches up with the moving rack (4A), and the displacement in the traveling direction between both moving racks (4A) (4B). When the amount becomes smaller than a certain amount (allowable range), all photoelectric switches SW-L1 to SW-R2 are turned on again as shown in FIG. 2, and both OR outputs P1 and P2 become H level. Since the level is reached, both movable shelves (4A) and (4B) are driven to the right at the same speed as before.

If the mobile shelf (4A) is delayed, the left photoelectric switches SW-L2 and SW-R2 are turned off, and only the right photoelectric switches SW-L1 and SW-R1 are turned on. Become. Therefore, only the output P1 of the logical sum circuit (15) becomes H level, and the control means (11) on the side of the preceding moving rack (4B) cuts off the power supply to the motor (10) of the moving rack (4B), and the moving The drive of the shelf (4B) is released.

If the obstacle (6) relatively passes between the two moving shelves (4A) and (4B) at the stage where the displacement in the traveling direction occurs between the two moving shelves (4A) and (4B) as described above. , The optical switch SW-L2, SW-R2 or SW-L1, SW-R1 should not be blocked by an obstacle, so the photoelectric switch SW should be in the ON state. -One of L2, SW-R2 or one of photoelectric switch SW-L1, SW-R1 is always on, so only the OR output P2 or P1 becomes H level. The state is maintained, and the above-described positional deviation elimination control is performed without error.

When the moving shelves (4A) (4B) are driven to the left, or when the other moving shelves (3A) (3B) or (5A) (5B) are also driven to move,
Similar to the above, the traveling direction between the two moving shelves (3A) (3B), (4A) (4B), (5A) (5B) from the state of the outputs P1 and P2 of both OR circuits (15) (16) Is detected and the drive for the moving shelf on the preceding side is released. Further, as shown in the flow chart of FIG. 3, if the displacement does not disappear within a set time after the driving of the moving rack on the preceding side is released based on the detection of the displacement, it will You can also take emergency stop measures to force stop. Of course, as shown in FIG. 5, when the displacement amount in the traveling direction between the two movable shelves becomes large and all of the photoelectric switches SW-L1 to SW-R2 are turned off, that is, both photoelectric switches SW-L1 to SW-R2 are turned off. Output P1, P of OR circuit (15) (16)
Even when both of 2 become L level, it is possible to take an emergency stop action to forcibly stop both moving shelves.
In this way, when both mobile shelves are brought to an emergency stop, the administrator (operator) can be informed of the emergency stop situation by using a buzzer, a lamp, or the like.

Further, although the driving of the moving rack on the preceding side is canceled based on the detection of the positional deviation, the moving rack on the preceding side may be decelerated to run at a low speed.

(Effects of the Invention) As described above, according to the interlocking control device for a double-row mobile shelf facility of the present invention, it is allowed between a plurality of mobile shelves that are adjacent to each other in the transverse direction of the travel path and are synchronously driven. When a displacement in the traveling direction that exceeds the range occurs, the preceding movable rack can be automatically controlled so as to eliminate the displacement by deactivating or decelerating the preceding moving rack, so that the amount of displacement can be unduly increased. This can be prevented in advance, and work between moving shelves on the same travel route, such as when the preceding moving shelving also stops the moving shelving on the side that is delayed when it reaches the stroke limit The inconvenience of narrowing the passage can be avoided.

Moreover, according to the configuration of the present invention, not only is the space between the moving shelves adjacent to each other in the transverse direction of the moving shelves traveling route not restricted so much, but also there is an obstacle such as a pillar between the traveling routes of the moving shelves. However, the intended purpose can be achieved without any hindrance.

[Brief description of drawings]

FIG. 1 is a plan view for explaining the entire double row type moving rack facility, FIG. 2 is a schematic plan view for explaining the configuration of two moving racks that are driven in synchronization, and FIG. 3 is a flowchart for explaining a control procedure. FIG. 4 and FIG. 5 are plan views for explaining the positional deviation between the two movable shelves that are synchronously driven. (1) (2) ... moving rack travel route, (3A)-(5A) (3B)-(5B) ... moving rack, (6) ... obstacles such as pillars, (7) (8) ... guide rails, (9) ...
Drive wheel, (10) ... motor, (11) ... control means, (12) ... operation panel, (13) (14) ... light reflecting surface, (15) (16) ... OR circuit,
SW-L1 to SW-R2 ... Retroreflective photoelectric switch.

Claims (1)

[Claims] 1. A plurality of moving shelves are provided in parallel, each moving shelf traveling route is made to support a plurality of moving shelves each provided with a traveling drive means, and a plurality of moving shelves arranged in a transverse direction of the traveling route. In a double-row movable rack facility that is driven and driven in synchronism with each other, two light reflecting surfaces are provided on one of the movable racks adjacent to each other in the transverse direction at an appropriate distance in the traveling direction,
On the other movable shelf, two photoelectric switches SW-L1, SW-R1 and SW-L2, SW-R2 are provided corresponding to the respective light reflecting surfaces, and both ends of the respective light reflecting surfaces in the traveling direction are simultaneously. The logical sum output P1 of the detection outputs of the two photoelectric switches SW-L1, SW-R1 and the photoelectric switches SW-L2, SW- that are arranged so that they can be detected A means for obtaining the logical sum output P2 of the detection output of R2 is provided,
Only when P1 and P2 are in the same state, the traveling drive means of both moving shelves are operated under the same condition, and when both OR outputs P1 and P2 are in different states, the drive of the preceding moving shelf is released or decelerated. An interlocking control device for a double-row mobile shelf facility provided with control means.