JPH0761292B2 - Control method of electric mobile shelf - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention is designed to move a plurality of movable shelves arranged in parallel in a direction orthogonal to a storage surface thereof so that a predetermined movable shelves and an adjacent movable shelves are provided. The present invention relates to a method for controlling an electric mobile shelf that forms a passage therebetween.

[Conventional technology]

FIG. 7 is a front view showing a schematic configuration of a conventional electric mobile shelf. The first to eleventh mobile shelves 1a to 1k are arranged in parallel on the floor 2 and provided on the respective mobile shelves 1a to 1k. By controlling the motor,
Move in the direction of the arrow in the figure that is orthogonal to the storage surface.

Further, an operation switch 3 for forming a passage and a stop switch 4 for stopping movement are provided on the front surface of each of the movable shelves 1a to 1k, and a limit switch that is operated by abutting the adjacent movable shelves on the lower part of the right side surface. 5 and a safety bar switch for worker safety in the aisle. Here, the operation switch 3 has a lighting display function with a built-in light emitting diode, and is turned on once when turned on and turned off when turned on again.

When a passage is formed between a desired moving rack and a moving rack adjacent to one side of the moving rack, the desired moving rack is selected and its operation switch is turned on to select the moving rack. The moving rack on one side or the other side moves sequentially from the end until the limit switch is actuated, and is used for working between the selected desired moving rack and the moving rack adjacent to one side of this moving rack. A passage is formed.

At this time, when the operation switch is turned on, the movable rack is interlocked so that it cannot move, and the formed passage becomes an interlock passage. When the operation switch of the movable rack is turned on from this interlocked state, the interlock is locked. When the movable rack is released, the interlock passage becomes a so-called free passage, and after the work is completed, the operation switch of the movable rack is normally turned on again to set the free passage. It

Next, a conventional procedure for forming a passage will be described.

As a conventional passage forming method, as described in, for example, Japanese Patent Laid-Open No. 61-243706, one of the left and right moving directions of a moving rack is set as a priority direction, and the selected moving rack is moved to the left and right sides. If there is a margin in the priority direction, if there is a margin to move to the priority direction side, the movement shelf on the priority direction side of the selected moving rack is moved in the priority direction, and if there is no transition margin in the priority direction side, the selected movement It is considered that the movable shelf on the side opposite to the priority direction of the shelf is moved in the direction opposite to the priority direction to form the passage.

This will be described more specifically with reference to FIGS. 7 and 8. Now, as shown in FIG. 7, the first and second movable shelves 1a, 1b.
And free passage F between the 8th and 9th movable racks 1h and 1i
When the operation switch 3 of the third movable shelf 1c is turned on when the operation interlock passage W is formed on the right side of the third movable shelf 1c in the state in which the right direction is the priority direction, Based on the ON / OFF state of each limit switch 5 and the state of the operation switch 3 by the control circuit provided in the first movable rack 1a, the presence or absence of the free passage F on both sides of the third movable rack 1c, that is, the transition margin. Presence / absence is determined.

In the case of FIG. 7, there are free passages F on both sides of the third movable rack 1c, and there is a transfer margin on the right side which is the priority direction side. Therefore, the fourth to eighth movable racks 1d to 1h are the eighth movable racks. It sequentially moves to the right from 1h, and as shown in FIG. 8, an interlock passage W is formed on the right side of the third moving rack 1c.

At this time, the fourth to eighth moving shafts 1d to 1h stop moving when the respective limit switches 5 are actuated and the motor stops.

[Problems to be Solved by the Invention]

However, in the conventional case, when the fourth to eleventh moving shelves 1d to 1k are focused on the right side of the interlock passage W as shown in FIG. 8, while the worker is working in the interlock passage W,
It becomes impossible to use the fourth to eleventh moving shelves 1d to 1k, and in order to use these moving shelves 1d to 1k, it is necessary to wait for the interlock passage W to change to the free passage F. If the moving shelf is moved with the priority direction set to 1, the number of moving racks that cannot be used will be increased depending on the formation state of the interlock passage W, and the use efficiency of the moving racks will decrease.

Therefore, the present invention reduces the number of mobile shelves that cannot be used,
The purpose is to improve the use efficiency of the mobile shelf.

[Means for Solving the Problems]

The control method of the electric movable rack according to the present invention controls the motors respectively provided on the plurality of movable racks, and the limit switches provided on the left side surface or the right side surface of each of the movable racks are connected to the adjacent movable racks. A method for controlling an electric movable rack, which moves the movable rack in a left-right direction until a rack is brought into contact with the movable rack to form a passage between the predetermined movable rack and the movable rack adjacent to the movable rack. , A control means is provided on each of the movable shelves, the presence or absence of a transition margin on both sides of each of the movable shelves is detected by each of the movable shelves, and among the operation switches provided on each of the movable shelves, a predetermined movable shelves When the operation switch is turned on, if there is a transfer margin on both sides of the predetermined movable rack, by the control means of the movable rack,
Detecting whether the moving rack is located on the left half side or the right half side of all moving racks, and if it is the left half side, sequentially move each moving rack on the left side of the moving rack to the left, On the right half side, each of the movable racks on the right side of the movable rack is sequentially moved to the right.

The second configuration of the method for controlling an electric mobile shelf of the present invention is the same as the first configuration described above. (A) Each operation is performed when the presence or absence of a transfer margin on both sides of each mobile shelf is detected. When there is no interlock by turning on the switch, each of the control means detects the state of the limit switch of each of the movable shelves, and (b) between the control means of the adjacent movable shelves, Communication data consisting of status and detection result of transition margin etc. is transmitted sequentially,
(C) Based on the state of the limit switch of the mobile rack and the communication data from the other control means of the other mobile racks, the control means respectively control the right and left sides of the respective mobile racks. The presence or absence of a transfer margin is detected.

[Action]

In the first configuration of the present invention, when there is a transition margin on both sides of the selected moving rack, it is detected whether the moving rack is located on the left half side or the right half side of all the moving racks. In order to determine the moving shelves to be moved and their moving directions, the moving shelves located on the moving direction side of the moving shelves cannot be used in the state where the working passages are formed, whereas the moving shelves on the opposite side to the moving direction cannot be used. Mobile shelves can be used, and the number of mobile shelves that cannot be used is always smaller than the number of mobile shelves that can be used. Is prevented.

Further, in the second configuration, when the transfer margins on both sides are detected, the presence or absence of the transfer margins is determined based on the communication data from the control means of the adjacent moving rack, so that the appropriate detection of the transfer margins is possible. Will be possible.

〔Example〕

FIG. 1 is a schematic view showing an embodiment of a control method of an electric movable rack of the present invention.

As shown in the figure, the first moving rack 1a is provided with a main control circuit 6 as a control means, and the second to eleventh moving racks 1b are also provided.
A sub-control circuit 7 as a control means is provided in 1k, the main control circuit 6 and the sub-control circuit 7 of the second movable rack 1d are connected by a communication line 8, and the second to eleventh movable racks are connected. 1b-1k
The sub-control circuits 7 are sequentially connected by the communication line 8, and the control circuits 6 and 7 are respectively connected to the power line 9.

Further, FIG. 2 shows a schematic configuration of the sub control circuit 7,
As shown in the figure, the sub-control circuit 7 includes an 8-bit microcomputer 10, and also includes a communication circuit for exchanging communication data with the adjacent control circuits 6 and 7.

Then, as described above, the states of the operation switch 3, the stop switch 4, the limit switch 5, and the safety bar switch provided in each of the movable shelves 1a to 1k are input to each sub control circuit 7, and each sub control circuit 7 is supplied. According to the state of each of these switches, a drive signal in the forward or reverse direction is output to the motor, and when the interlock passage W is formed, the fluorescent light provided on the upper part of each movable rack 1a to 1k. The light is turned on and the interlock passage W is certified.

Next, the operation will be described with reference to the flowcharts of FIGS. 3 and 4.

Now, when the operation switch 3 is turned on so as to form the work interlock passage W on the right side of the desired movable rack, each sub-control circuit 7 shifts both sides of the second to eleventh movable racks 1b to 1k. The presence / absence of a margin and the presence / absence of a transition margin on the right side of the first movable rack 1a are detected by the main control circuit 6 (step S1). The details will be described later, but the procedure is as shown in FIG.

Here, the detection of the transition margin is performed by using one of the operation switches 3
It is repeated regardless of whether it is turned on.

Then, as shown in FIG. 3, based on the detection result of the transfer margin, it is judged whether or not the transfer margin is only on one side, the left side or the right side of the selected moving rack (step S2),
If the determination is affirmative, the movable rack on the side with the transfer margin moves in the direction with the transfer margin (step S3).

On the other hand, if it is determined negatively that there is no transition margin on only one side, then it is determined whether or not there is a transition margin on both sides (step S4). If the result of the determination is negative, the moving rack is If it is not moved (step S5) and the result of the determination is affirmative, the sub-control circuit 7 of the selected mobile rack moves to 1/2 the number assigned to the mobile rack in advance and the total number T of mobile racks. Is compared with the value of (step S6).

Next, it is determined whether or not the number of the moving rack is larger than T / 2 (step S7), and it is detected whether the moving rack is located on the left half side or the right half side of all the moving racks. If the result of the determination is negative, it is determined that the moving rack is located on the left half side of all the moving racks, and the moving racks on the left side of the moving rack including the moving rack are numbered from the smallest number to the limit switch. It moves to the left one by one until 5 is turned on (step S
8).

If the result of the determination in step S7 is affirmative, it is determined that the movable rack is located on the right half side of all the movable racks, and the limit switch 5 is moved from the movable rack on the right side of the movable rack having a large number. Move to the right sequentially until it is turned on (step
S9), an interlock passage W is formed on the right side of the movable rack.

By the way, the operation of detecting the presence or absence of the transition margin will be described.

First, as shown in FIG. 4, the interlocks are checked by the control devices 6 and 7 based on the states of the operation switches 3 of the movable shelves 1a to 1k (step T1), and the passage formation of the operation switches 3 is confirmed. It is determined whether or not there is an interlock due to turning on (step T2), and if it is determined that there is an interlock, it is determined that there is no transfer margin on both sides of each movable rack (step T3).

On the other hand, if it is determined in step T2 that there is no interlock, the state of the limit switch 5 of each movable rack is checked (step T4), and it is determined whether the limit switch 5 is on (step T5). ), If the limit switch 5 is on, the presence or absence of a transfer margin is checked by the communication data from the sub-control circuit 7 of the moving shelf adjacent to the right side (step T6).

At this time, the communication data between the mobile shelves 1a to 1k is, for example, as shown in FIG. 5, composed of a predetermined format having a total data length of 1 byte, and at least bit data D _L indicating the state of the limit switch. , Bit data D _M indicating whether or not there is a transition margin, and “0” and “1” of the bit data D _L respectively correspond to turning off and on of the limit switch 5, and the bit data D _M “0” and “0” 1 "corresponds to the presence or absence of the transition margin, and the communication data in such a format is transmitted via the communication line 8.

Then, the bit data D _M of the communication data transfer margin is “1”.
Whether or not it is determined (step T7), the bit data D _M
Is "1", it is determined that there is a right-side shift margin as in the case where the limit switch 5 is determined to be off in step T5 (step T8).

On the other hand, if the bit data D _M is not “1”, it is determined that there is no right-side transfer margin (step T9), and the presence or absence of the right-side transfer margin of each of the movable shelves 1a to 1k is detected by the above flow. Then, the presence or absence of the left-side transition margin is detected by the same flow.

That is, the communication data from the control circuit 6, 7 of the mobile rack adjacent to the left side, is checked the state of the limit switch 5 (step T10), the bit data D _L is whether "1" of the communication data is determined If the bit data D _L is “1” (step T11), the presence / absence of a transition margin is checked by the bit data D _M of the communication data from the left side control circuits 6 and 7 as in the case of the above step T6. Done (step T1
2) Then, it is judged whether or not the bit data D _M is “1” (step T13), and if the bit data D _M is 1 ”, the bit data D _L is not the limit but“ 1 ”in step T11. Similar to the case where the switch 5 is determined to be off, it is determined that there is a left-side transition margin (step T14).

On the other hand, if the bit data D _M is not “1”, it is determined that there is no communication data transfer left margin (step T1).
5) According to the flow as described above, the presence or absence of the transfer margin on the left side of each of the movable shelves 1d to 1k is detected.

By the way, when the movable rack is actually moved by the above-mentioned procedure, as shown in FIG. 7, the free passage F is provided between the first and second movable racks 1a and 1b and between the eighth and ninth movable racks 1h and 1i. When the operation interlock passage W is formed on the right side of the third movable rack 1c from the state where the first movable rack 1c is formed, when the operation switch 3 of the third movable rack 1c is turned on, step S1 of the flowchart of FIG. Due to the flow of S2, S4, S6, it is judged that there is a margin for migration on both sides.
As a result of the comparison with the value of 1/2, the result of the determination in step S7 is negative, the process moves to step S8, and the second movable rack 1b on the left side including the third movable rack 1c moves to the left.

Then, the second movable rack 1b comes into contact with the limit switch 5 of the first movable rack 1a and the second movable rack 1b moves until the limit switch 5 is activated, and then the third movable rack 1c changes to the second movable rack. The third movable rack 1c moves until it comes into contact with the limit switch 5 of 1b and the limit switch 5 operates. As a result, as shown in FIG. 6, the third movable rack 1c moves between the third and fourth movable racks 1c, 1d. A lock passage W is formed.

At this time, since the free passage F remains between the eighth and ninth movable shelves 1h and 1i, unlike the case of FIG. 8, all the movable shelves 1d to 1k on the right side of the interlock passage W can be used. However, only the first and second movable shelves 1a and 1b cannot be used, and the use efficiency of each of the movable shelves 1a to 1k can be greatly improved compared to the conventional one.

By the way, if there is a transfer margin on only one side of the selected moving rack, the predetermined moving rack moves in the direction with the moving margin, and if there is no moving margin on both sides, the moving rack cannot move, so there is no movement. It will be maintained without any change.

Of course, the control means is not limited to the configuration of the above embodiment.

Further, in the above-mentioned embodiment, the number assigned to the selected moving rack is compared with the value of 1/2 of the total number of moving racks, and the moving rack is located on the left half side or the right half side of all the moving racks. It is detected whether the moving shelves are located on the left half side or the right half side of all the moving shelves in advance as data to each control means, and the left half side is based on this data. The right half side may be determined.

〔The invention's effect〕

As described above, according to the control method of the electric movable rack of the present invention, when there is a margin for transition on both sides of the selected movable rack, the movable rack is on the left half side and the right half side of all the movable racks. Depending on the position of the working aisles, a large number of unusable shelves cannot be used depending on how the working aisles are formed, because the moving aisles to be moved and the moving directions of these are determined by detecting where they are located. This can be prevented from occurring, and the use efficiency of the moving shelf can be improved.

Further, when the transfer margins on both sides are detected, the presence or absence of the transfer margins is determined based on the communication data from the control means of the adjacent moving racks, so that the transfer margins can be accurately detected.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of a method for controlling an electric movable rack of the present invention, FIG. 2 is a schematic view of a part of FIG. 1, and FIGS. 3 and 4 are the operations of FIG. 5 is a format diagram of communication data transmitted in the configuration of FIG. 1, FIG. 6 is a front view for explaining the operation of FIG. 1, and FIGS. 7 and 8 are conventional electric motors. It is a front view for explaining the control method of the movable rack. 1a to 1k ... 1st to 11th moving rack, 3 ... Operation switch, 5 ... Limit switch, 6 ... Main control circuit, 7 ... Sub control circuit

Claims (2)

[Claims] 1. Until a limit switch provided on a left side surface or a right side surface of each of the moving shelves is controlled by controlling a motor provided on each of the moving shelves, and the limit switch is actuated by abutting the adjacent moving shelves. , A method of controlling an electric mobile rack that moves the mobile rack in the left-right direction and forms a passage between a predetermined mobile rack and the mobile rack adjacent to the mobile rack. And detecting the presence or absence of a transfer margin on both sides of each of the movable shelves by the control means, and when the operation switch of a predetermined movable shelf among the operation switches provided on the movable shelf is turned on. In, if there is a transition margin on both sides of the predetermined moving rack, the control means of the moving rack detects whether the moving rack is located on the left half side or the right half side of all the moving racks, If it is on the left half side, Each of said movable rack side sequentially moves to the left, sequential movement control method for electric moving rack, which comprises if right half of the right side of the respective movable rack of the mobile rack to the right. 2. The method for controlling an electric movable rack according to claim 1, wherein when detecting whether or not there is a transition margin on both sides of each movable rack, (a) there is no interlock due to turning on of each operation switch. In this case, each of the control means detects the state of the limit switch of each of the movable shelves, and (b) the detection result of the state of the limit switch and the transfer margin between the control means of the adjacent movable shelves. (C) each of the moving means based on the state of the limit switch of the moving rack and the communication data from the other controlling means of the moving rack. A method for controlling an electric mobile shelf, which is characterized by detecting whether or not there is room to move to the right or left of each shelf.