JPH0822683B2 - Mobile shelf equipment - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable rack facility having an electric movable rack and a fixed rack in the middle.

2. Description of the Related Art A conventional moving rack facility of this type will be described with reference to FIGS.

FIG. 5 shows a front view of a conventional mobile shelf installation, and FIG. 6 shows a plan view. In FIGS. 5 and 6, reference numeral 1 denotes fixed shelves on both sides, and a plurality of movable shelves 4 are provided on a linear track 3 between the first fixed shelves 1 on both sides and the second fixed shelves 2 in the middle. It is arranged. A plurality of compartment storage spaces 5 are provided in the first and second fixed shelves 1 and 2 and the movable shelves 4. The movable shelves 4 are mounted on the above-described linear tracks 3 via wheels 6, and the motors 7 mounted on the movable shelves 4 drive the wheels 6 to move them individually. Further, each movable shelf 4 has a drive device 8 for movement control.
Are provided, and a cable 9 for power supply and signals is wired between the adjacent drive devices 8 and between the end drive device 8 and the first and second fixed shelves 1 and 2. . Both ends of each cable 9 have first and second fixed shelves 1 and 2 and movable shelves 4
It is fixed to the upper end of the side of the device with a fixture 10. Reference numeral 11 is a wall surface of the building in which the moving shelf equipment is installed, and 12 is an operation space in which a load is put in and taken out from the compartment storage space 5 by a forklift truck or the like. Furthermore, the approach detector 13 for approach detection of the movable shelf 4, the intrusion detection device 14, and the bumper switch 15
Is provided. The intrusion detection device 14 detects that a worker or the like has entered the work space 12 while the movable shelf 4 is moving, and is installed at a height of several tens of centimeters from the floor surface so that the worker does not cross over. Intrusion detection device
The drive device 8 stops the movement of the movable shelf 4 by the operation signal of 14 and measures the safety of the worker. The bumper switch 15 detects that a load or the like is placed in the traveling direction of the movable shelf 4 by contact with the load, and prevents the load from being caught in the movable shelf 4 or locked. The drive device 8 stops the movement of the movable shelf 4 by the operation signal of the bumper switch 15.

Between the drive devices 8 of the adjacent movable shelves 4, the rightward command signal output by the operation of the open command switch (not shown) by the cable 9 or the right input from the shelf on the left side of the shelf. The line command signal is transmitted to the shelf on the right side of the shelf, and the left line command signal output by the operation of the open command switch or the left line command input from the shelf on the right side of the shelf. The signal is transmitted to the shelf on the left side of the shelf. Between the drive devices 8 of the movable shelves 4 adjacent to each other, a stop signal generated in the shelf or input from the left shelf is transmitted to the right shelf, and the stop signal generated in the shelf or the right shelf is transmitted. The stop signal input from is transmitted to the left shelf.

On the shelf to which the right or left command signal is input,
Whether the drive unit 8 has a margin for shifting to the right when a rightward command signal is input or has a margin for shifting to the left when a leftward command is input is determined by an input signal of the approach detector 13. discriminated, follow on the determination connexion, for example a movable shelf 4 as shown in FIG. 7 is running at aerodrome constant speed V ₁ to the fixed shelf 1 by connexion first motor 7, close to the deceleration required distance L ₁ When the approach detector 13 detects that this has been done, the drive device 8 stops the motor 7 to drive it at the deceleration V ₂ , stops at the desired stop position S without causing a collision, and operates the open command switch. A working space 12 is formed at a position corresponding to.

However, in the conventional configuration, the work area is divided by the second fixed shelf 2 as shown in FIG. The work amount of each work area may change from the time when the work is performed, and the work may concentrate on one work area, resulting in lower work efficiency.

It is an object of the present invention to provide a moving shelf facility that can prevent a decrease in work efficiency by changing a work area according to a work amount.

Means for Solving the Problems In order to solve the above problems, the present invention comprises a fixed shelf and a plurality of movable shelves that travel back and forth with their own wheels on a track,
The movable rack receives the approach detection means, the motor that drives the wheels so as to rotate forward and backward, and the operation signal from the approach detection means, and drives the motor according to a movement command signal of a start switch. Means and a signal transfer means between the movable shelves, wherein the movable shelf has a plurality of working spaces between the fixed shelves and the movable shelves or between the movable shelves, wherein the movable shelves are fixed shelves or movable shelves. A switching switch for selecting whether or not is provided, and the control means has a control unit for turning off the power of the motor when detecting that the fixed shelf is selected by the switching switch.

With the above configuration, the movable shelves are arbitrarily selected as the fixed shelves and the movable shelves by the switching switch provided in the movable shelves, and the plurality of work areas each having a work space are arbitrarily selected by the movable shelves selected as the fixed shelves. It is formed. Therefore, when the work concentrates on one movable shelf or work area, the fixed shelf can be changed to change the work area to improve the overall work efficiency.

Embodiment An embodiment of the present invention will be described below with reference to the drawings. The same components as those shown in FIGS. 5 to 7 of the conventional example are designated by the same reference numerals and the description thereof will be omitted.

FIG. 1 is a schematic diagram showing a control device of a mobile shelf facility of the present invention and its arrangement. Straight track 3 between the first fixed shelves 1
On top of the multiple movable shelves 4 (left rack 4A, intermediate racks 4B, 4C,
4D, 4E, 4F, right rack 4G) are arranged, a plurality of compartment storage spaces 5 are provided in the first fixed shelf 1 and the movable shelf 4, and the movable shelf 4 is provided with wheels 6 through wheels 6. The wheels 6 are mounted on the linear tracks 3, and the wheels 7 are driven by the motors 7 mounted on the respective tracks 3 to separate them. In FIG. 1, reference numeral 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 abbreviated as stop Pb). As shown in FIG. 2, a start signal a and a stop signal b are input to a control device 23, which is a control means including a micro computer, respectively.
2 includes a start lamp 24 and a stop lamp 25, respectively, which are turned on by a start lamp output signal c and a stop lamp output signal d from the control device 23. The second activation Pb21A 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. A switching switch 26 (hereinafter abbreviated as switching switch) 26 for selecting the movable shelf 4 as a fixed shelf or a moving shelf, the output of the switching switch 26 is input to the control device 23 as a switching mode signal e as shown in FIG. It 28 is an approach detector which is a means for detecting the approach between the shelves. 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 on the right side. The approach to the movable shelf 4 or the first fixed shelf 1 on the right side is detected, and the output signal f of the approach detector 28 is also input to the control device 23. Further, 29 is an intrusion detector that detects an intrusion of a worker or a forklift truck into the work space 12.
Only 29A detects the intrusion to the left side of the left rack 4A, the other intrusion detectors 29 detect the intrusion to the right side of the movable rack 4, and the output signal g of the intrusion detector 29 is also input to the control device 23. It A power cable 30 supplies power to the movable shelf 4, and a control cable 31 transmits a control signal between the movable shelves 4 to a control panel 32 including a control device 23.

FIG. 2 shows a block diagram of the control device 23. Controller 23
Is composed of an interlock unit 33, a control unit 34, a motor drive unit 35, and an inverter 36. The interlock unit 33 has an output signal g of the intrusion detector 29, an output signal h of the bumper switch 15, an operation signal j of a thermal relay (not shown) attached to the main circuit of the motor 7, and an abnormal signal of the inverter 36. k is input, and one of the signals g, h, j, k
The motor stop signal 1 is output to the control unit 34 when is ON. Further, the motor stop signal 1 of the interlock unit 33 is reset by the stop signal b of the stop Pb22 when any of the signals g, h, j, k is off.

The control unit 34 controls the start signal a of the start Pb21, the stop signal b of the stop Pb, the switching mode signal e of the switch SW26, the determination signal p which is a control signal from the left movable shelf 4, and the control from the right movable shelf 4. Judgment signal q which is a signal, output signal f of the approach detector 28
And the motor stop signal 1 of the interlock unit 33, and outputs the forward or reverse motor speed signal m to the motor drive unit 35, controls the motor 7 via the inverter 36, and outputs the start lamp 24 to the start lamp. The signal c or the stop lamp 25 is turned on by the stop lamp output signal d, and the transmission instruction signal r is output to the left movable shelf 4 and the transmission instruction signal s is output to the right movable shelf 4.

The operation of the control unit 34 for controlling the movable shelf 4 will be described in detail with reference to the flowchart of FIG.

The control unit 34 first confirms whether the changeover switch 26 is selected in the fixed shelf mode (step 41).

First, the flow chart when the fixed shelf mode is selected by the switch SW26 will be described. When the fixed shelf mode is selected by the changeover switch 26, the speed signal m for instructing the power off is output to the motor drive unit 35, and the step 42 and the right movable shelf 4 are output.
It is confirmed whether or not the movement instruction signal is input by the judgment signal q from (step 43). When the movement instruction signal is confirmed in step 43, it is confirmed whether the approach detector 28 is operating (step 44) or the intrusion detector 29 is operating (step 45), and both are operating. If there is not, the signal under execution which is as if going to the left is output as the transmission instruction signal s to the movable shelf 4 on the right (step 46), and if either one is also operating, the execution at the left is completed. Is output as the transmission instruction signal s (step 47). If the movement instruction is not input at step 43, it is confirmed whether or not the movement instruction signal is input by the determination signal p of the left movable shelf 4 (step 48). Then, the execution completion signal in the right row is output by the transmission instruction signal r (step 49), and if it is not confirmed, it is confirmed whether the activation Pb21 is detected to be on (step 50). When the activation Pb21 is detected to be on, a movement instruction is output to the right movable shelf 4 by the transmission instruction signal s so as to form the work space 12 on the right side (step
51), if start Pb21 is not detected, then stop Pb22
Check if ON is detected (step 52), then stop Pb
When 22 is turned on, the transmission instruction signal s is sent to the right movable shelf 4.
The stop instruction is output at (step 53).

Next, the flow chart when the mode of the moving rack is selected in step 41 will be described.

When the start-up Pb21 is detected (step 54) or the movement instruction signal is input by the right judgment signal q (step 55), the left row is detected, and the movement instruction signal is detected by the left judgment signal p. As you type (step 56), you enter the flow chart, which goes right. When the activation Pb21 is turned on, the transmission instruction signal s, r
Sends a signal for a move instruction to move to an adjacent movable shelf 4 (step 57), and when a move instruction is input with the determination signal q, the transmission instruction signal r moves to the left movable shelf 4. An instruction is given (step 58), it is judged whether or not the output signal f of the proximity detector 28 is on (step 59), and the output signal f
When is ON, a signal for approach detection is sent to the movable shelf 4 on the right side by the transmission instruction signal s (step 60), and it is determined whether the output signal g of the intrusion detector 29 is ON (step 61). When g is on, a transmission detection signal s is sent to the movable rack 4 on the right side to detect an intrusion (step 62). Judgment signal p
When a movement instruction is input at, the transmission instruction signal s is used to give an instruction to move to the movable shelf 4 on the right side (step 63), and step 64
Similarly to steps 59 to 62, the output signal f of the proximity detector 28 and the output signal g of the intrusion detector 29 are determined at steps 67 to 67, and when the signals are on, the transmission instruction signal s is used to detect the approach to the movable rack 4 on the right side. Send an intrusion detection signal. If there is no instruction, the motor speed signal m to the motor drive unit 35 is turned off (step 68) and the stop lamp 25 is turned on (step 69).
To do.

First, the left-side flow chart following step 62 will be described. The judgment signal q is used to input a signal of all stops (step 70), the judgment signal p is used to input a signal of all stops (step 71), the motor stop signal l of the interlock unit 33 (step 72), or the stop Pb22 When ON is detected (step 73), the transmission instruction signal r instructs the left movable shelf 4 to stop completely (step 74), and the transmission instruction signal s instructs the right movable shelf 4 to stop completely. (Step 75), the process returns to step 68 and the motor 7 is stopped. When the intrusion detection of the left row is inputted by the judgment signal p (step 76), the step 75 instructs the movable shelf 4 on the right side to be completely stopped. Next, it is determined whether the judgment signal p is completion of execution (step 77). If the judgment signal p is completion of execution, it is judged whether the judgment signal p is an approach detection instruction (step 78). In response to the instruction signal s, the execution completion is output to the movable shelf 4 on the right side (step 79), and the process returns to step 68. When the approach signal is not detected, or when the determination signal p is not completed, the motor speed signal m in the left row is output to the motor drive unit 35, and the motor drive unit 35 outputs the speed signal n.
To the inverter 36 to drive the motor 7 to move the movable shelf 4
Moves to the left (step 80). At the same time, the transmission instruction signal s outputs to the movable shelf 4 on the right side that execution is in progress (step 81), and the start lamp 24 is turned on (step 8).
2), return to step 59 and execute the flow chart on the left.

Next, the flow chart on the right side following step 67 will be described. The judgment signal q is used to input a signal for stopping all (step 83), the judgment signal p is used for inputting a signal for stopping all (step 84), and the motor stop signal l of the interlock unit 33 (step 85) is input. When ON is detected (step 86), the transmission instruction signal s is used to instruct the right movable shelf 4 to stop completely (step 87), and the transmission instruction signal r is used to instruct the left movable shelf 4 to be completely stopped. (Step 88), and the motor 7 is stopped at Step 68. When the right row intrusion detection is input by the judgment signal q (step 89), the step 88 instructs the stop of the left movable shelf 4 completely. Next, it is judged whether the judgment signal q is completion of execution (step 90). If the judgment signal q is completed, it is judged whether the output signal f of the proximity detector 28 is on (step 91). The completion of execution is output to the movable shelf 4 on the left side by the transmission instruction signal r (step 92), and the process returns to step 68. If it is not on or if the judgment signal q is not completed, the motor speed signal m on the right is output to the motor drive unit 35, and the motor drive unit 35 outputs the speed signal n to the inverter 36 to drive the motor 7. The movable shelf 4 moves to the right (step 93). At the same time, the transmission instruction signal r is output to the left movable shelf 4 (step 94), the start lamp 24 is turned on (step 95), the process returns to step 64 and the rightward flow chart is executed. .

In FIG. 3, a broken line shows a portion where the left judgment signal p and the transmission instruction signal r do not exist in the case of the left rack 4A and is bypassed or changed due to the presence of the approach detector 28A, and a one-dot chain line is shown. In the case of the right rack 4G, the judgment signal q and the transmission instruction signal s on the right side do not exist, and therefore the bypassing portion is shown.

Next, switch the intermediate rack 4D to the concrete overall movement.
First, an example will be described in which the start-up Pb21 of the intermediate rack 4B is pressed in the state of being designated as a fixed shelf at 26 and arranged as shown in FIG. A work space 12 is provided on the right side of the intermediate rack 4B.

When the start-up Pb21 of the intermediate rack 4B is pressed, it is not designated as the fixed rack, and therefore, as shown in step 57 of FIG. 3, a movement instruction is output to the left and right left racks 4A and the intermediate rack 4C. The left rack 4A outputs the execution completion to the intermediate rack 4B on the right side as the approach detector 28A is on at steps 78 and 79, and the intermediate rack 4B outputs the execution progress to the left rack 4A on steps 77,78,79. Since the execution completion is input and the approach detection instruction is input, the execution completion is output to the intermediate rack 4C on the right side, and eventually the left rack 4A and the intermediate rack 4B remain stationary and do not move. Also, an intermediate rack
4C outputs a movement instruction to the intermediate rack 4D on the right side as in step 63. Since the fixed rack mode is selected for the intermediate rack 4D, execution completion is output to the intermediate rack 4C on the left side of steps 48 and 49. Intermediate rack 4C is step 90,91,93,9
As shown in FIG. 4, the middle rack 4D on the right side has completed execution, but the proximity detector 28 is not turned on. Therefore, the middle rack 4B on the left side outputs to the middle rack 4B that it is executing and moves to the right side. When the approach detector 28 is turned on, the intermediate rack 4C outputs execution completion to the intermediate rack 4B on the left side and stops, and the working space 12 is formed on the right side of the intermediate rack 4B.

Next, a case will be described in which the intermediate rack 4D is instructed to the fixed rack by the switch SW26, and the start Pb21 of the intermediate rack 4D designated on the fixed rack is pushed in the state where the intermediate rack 4D is arranged as shown in FIG. A work space 12 is provided on the right side of the intermediate rack 4D.

When the start Pb21 of the intermediate rack 4D is pressed, the fixed rack mode is selected. Therefore, as shown in step 51 of FIG. 3, the movement instruction is output to the right intermediate rack 4E. The middle rack 4E outputs a movement instruction to the right middle rack 4F as in step 63, and the middle rack 4F also outputs a movement instruction to the right right rack 4G. Right rack 4G is as shown in steps 91 and 92 Approach detector 28
Since the output signal f of 1 is ON, execution completion is output to the intermediate rack 4F on the left side. Intermediate rack 4F is step 90,91,93,9
As shown in Fig. 4, the right rack 4G has completed execution, but the proximity detector 28
Since it is not on, it moves to the right while outputting that it is being executed to the intermediate rack 4E on the left. The intermediate rack 4E also moves to the right almost at the same time regardless of the state of the approach detector 28 in response to the execution of the intermediate rack 4F at steps 90, 93 and 94. When the approach detector 28 turns on, the intermediate rack 4F outputs execution completion to the left intermediate rack 4E and stops, and the intermediate rack 4E also stops when the approach detector 28 turns on. The intermediate racks 4E and 4F move to the right, and the working space 12 is formed on the right side of the intermediate rack 4D.

By designating the movable shelves 4 as fixed shelves in this way, the work area can be freely divided into two, and in FIG. 4 (A), for example, when the work concentrates on the intermediate rack 4B, When the intermediate rack 4C is fixed so that the work space 12 of the intermediate rack 4B is not blocked by the movement of the intermediate rack 4C as shown in B), and the work concentrates on the right rack 4G, FIG. 4 (C) By designating the intermediate rack 4F as a fixed shelf as shown in, and preventing the work space 12 of the right rack 4G from being blocked by the movement of the intermediate rack 4F, the state of waiting for work can be eliminated, It is possible to improve the work efficiency of the entire mobile shelf equipment.

By further increasing the working space 12, the number of movable shelves 4 designated as fixed shelves can be increased. Further, although the signal transmission / reception between the movable shelves 4 is performed via the control cable 31, it is also possible to perform the signal transmission / reception using an optical switch or the like.

As described above, according to the present invention, the movable shelf can be arbitrarily selected as the fixed shelf by the switching switch provided in the movable shelf, and the plurality of work areas can be selected by the movable shelf selected as the fixed shelf. Can be formed arbitrarily. Therefore, when work concentrates on a specific movable shelf or work area, the fixed shelf is changed to change the work area, and the work space of the specific movable shelf or work area is blocked by another movable shelf. It is possible to eliminate the situation of waiting for work and improve work efficiency.

[Brief description of drawings]

FIG. 1 is a schematic view showing the installation of a control device for mobile rack equipment showing an embodiment of the present invention, FIG. 2 is a block diagram of the control device for the mobile rack equipment, FIG. 3 (A) and FIG. (B), FIG. 3 (C) and FIG. 3 (D) are flow charts for explaining the operation of the control unit of the control device of the same moving rack facility, FIG. 4 (A) and FIG. 4 (B). And FIG. 4 (C) is an explanatory view for explaining the effects of the selection of fixed shelves and the construction of the work area of the same mobile shelf equipment, and FIG. 5 is a front view of the conventional mobile shelf equipment,
FIG. 6 is a plan view of a conventional moving rack facility, and FIG. 7 is an explanatory diagram of a decelerated state of the conventional moving rack facility. 1,2 ... Fixed shelf, 3 ... Track, 4 ... Movable shelf, 4A ... left rack, 4B, 4C, 4D, 4E, 4F ... intermediate rack, 4G ... right rack, 6 ... wheels, 7 ... motor, 21 ... starting push button switch, 23 ... control device (control means), 26 ... switching switch, 28 ... approach detector, 34 ... control section.

Claims (1)

[Claims] 1. A fixed shelf, and a plurality of movable shelves that travel on orbit by their own wheels. The movable shelves include mutual approach detection means, and a motor that drives the wheels so as to freely rotate forward and backward. , A control means for inputting an operation signal from the approach detection means and driving the motor by a movement command signal of a start switch, and a signal exchange means between the movable shelves, and between the fixed shelf and the movable shelf, Alternatively, in a movable rack facility having a plurality of work spaces between movable shelves, the movable shelf is provided with a switching switch for selecting a fixed shelf or a movable shelf, and the control means selects the fixed shelf by the switching switch. A mobile rack facility having a control unit for turning off the power of the motor when it is detected that the power is on.