JPH085526B2 - Mobile storage device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a mobile storage device in which a mobile storage line is provided in front of a fixed storage line to improve storage efficiency. is there.

[Prior Art] As a mobile storage device of this type, from a plurality of mobile storage devices equipped with a drive mechanism on the front side of a fixed storage container row in which a plurality of fixed storage devices are adjacent in the left-right direction. It is known that a plurality of rows of mobile storage cabinets are arranged close to each other, and the mobile storage cabinets can be moved in the left-right direction to open the front surface of a desired storage cabinet.

By the way, in the conventional system, the control for moving the mobile storage is generally performed as follows in accordance with the operation applied to the operation panel. That is,
In the conventional device, the current position of each mobile storage is confirmed by a position sensor, and the limit switches provided on the left and right of each mobile storage are used for reconfirmation, and the result is stored in the memory of the control device. Then, by comparing the desired position of movement of the mobile storage specified by the signal input from the operation panel with the current position, performing necessary calculations, or selecting a movement pattern stored in advance, The drive command signal is output to the mobile storage. As a result, the mobile storehouse travels to the position specified by the signal. Then, when the completion of the operation is confirmed by the position sensor and the left and right limit switches, the power supply to each mobile storage is stopped.

[Problems to be Solved by the Invention] However, in such a device, not only a large number of position sensors and limit switches are required, but also a memory for storing the current position of the mobile storage is attached to the control device. It is necessary to keep this in mind, and if this is replaced by a relay type sequencer, the circuit configuration becomes complicated.
Moreover, in the case where the stop position of each mobile storage is stored by a storage relay etc., the mobile storage is moved to use the fixed storage and the mobile storage in parallel. Basic program operation to
The basic program operation for moving other mobile storages to use each mobile storage will be totally different. Therefore, it is necessary to separately design and combine the control circuit for the fixed storage and the control circuit for the mobile storage, which complicates the design and complicates the circuit configuration. There is a problem that it is difficult to repair.

In the conventional type, the mobile storages selected by calculation, pattern selection, or a direct operation command to each mobile storage are activated simultaneously. There is also a problem that the peaks overlap and the power supply is temporarily burdened with a large load. Further, since the traveling speed of the mobile storage that has started to move varies, the subsequent storage collides with the previous storage, which prevents smooth movement.

Further, in such a case, if the mobile storage is stopped halfway due to some reason, the current position of the mobile storage cannot be confirmed, and the mobile storage may become inoperable.

Furthermore, in the case of the conventional type, when the position sensor etc. detects that the designated position has been reached, the drive command signal to the moving storage is deactivated, and the movement is moved until a new operation is performed. Generally, the motor of the storage is not supplied with power. However, in such a case, when the mobile storage box reaches the designated position and collides with the adjacent mobile storage box or the like and rebounds slightly and retreats, the mobile storage box stops at the retracted position. for that reason,
There is also a problem that it is difficult to bring a large number of mobile storage boxes into close contact with each other in an orderly and dense manner.

The present invention aims to solve such problems.

[Means for Solving the Problem] A mobile storage device according to the present invention is provided on the front side of a fixed storage line formed by adjoining three or more fixed storages in the left-right direction.
A row of mobile storage cabinets that are arranged in the left-right direction by one less than the number of fixed storage cabinets that have a deceleration drive mechanism and have substantially the same width dimension as each fixed storage cabinet Arranged in rows close to each other, the movable storages are moved in the left-right direction so that the front of the desired storage can be opened, and there is an open area in front of the fixed storage at the right end where the mobile storage does not exist. Move all the mobile storage to the left so that they are formed, or move all the mobile storage to the right so that an open area where no mobile storage exists is formed in front of the left fixed storage. A mobile storage device in which the moved position is defined as a reference pattern position, and a plurality of operation switches corresponding to each mobile storage device except the front row mobile storage device and all fixed storage devices are provided. , Of the operation switch When the shift is operated, the operation means for selecting the storage corresponding to the operation switch as the selected storage, and when the selected storage is the fixed storage, the selection storage at the reference pattern position For moving all the mobile storages to be located in front of the selected storages and all the mobile storages to be located closer to the open area side than the selected storages in the direction away from the reference pattern position. In addition to outputting the command signal, the basic program operation of outputting the drive command signal for returning all other mobile storages to the reference pattern position is executed, and if the selected storage is the mobile storage, A relay-type sequencer that outputs a drive command signal for returning the selected storage to the reference pattern position and executes the basic program operation; An external output circuit that supplies electric power to the motor of the deceleration drive mechanism of each mobile storage based on the driven drive command signal to operate each mobile storage to the right or left, and the right end of each mobile storage. And a right sensor that is provided respectively in each of the abutting objects that interfere with the rightward movement of the mobile storage cabinet, or outputs a stop signal indicating that the rightward movement of the mobile storage cabinet should be stopped when approaching it,
The left side, which is provided at the left end of each mobile storage, outputs a stop signal to stop the left movement of the mobile storage when it comes into contact with or approaches an object that obstructs the left movement of the mobile storage. And a sensor. When a stop signal is output from the right sensor of each mobile storage, the right movement of the corresponding mobile storage is stopped by prioritizing the drive command signal by the sequencer, and the left sensor of each mobile storage is When a stop signal is output from the above, the sequencer is configured to stop the left movement of the corresponding mobile storage by giving priority to the drive command signal from the sequencer, and the fact that the set time has elapsed after the operation by the timer means The drive command signal from the sequencer is deactivated at the time of detection, and power is supplied to the motor of the mobile storage even if the stop signal disappears until another operation is newly added to the operation means. The feature is that it is configured not to.

[Operation] With such a configuration, when a desired operation switch is operated and the fixed storage to be used is selected by the operating means, the fixed storage is to be positioned in front of this fixed storage at the reference pattern position. In the mobile storage cabinet and the reference pattern position, all the mobile storage cabinets located on the open area side of the fixed storage cabinet are given a drive command signal in a direction away from the reference pattern position, A drive command signal for returning to the reference pattern position is given to all the other mobile storages.

When a drive command signal is given, the external output circuit works to supply power to the motors in each mobile storage box and start moving in the direction corresponding to each drive command signal. Even if it enters, the right movement of the mobile storage where the stop signal is output from the right sensor is prohibited,
The leftward movement of the mobile storage with a stop signal from the left sensor is prohibited. Therefore, when the mobile storages are densely lined up, only the first mobile storage with no obstacles starts to move in the direction in which the mobile storages should move, and when the first mobile storage is separated from the next mobile storage. Then, the next mobile auxiliary storehouse starts to move. In this way, each mobile storage cabinet starts its operation after a little while, and finally there is no mobile storage cabinet in front of the fixed storage cabinet selected. When the mobile storage box is moving, if the connected mobile storage box collides with the preceding mobile storage box due to variations in traveling speed, the driving of the subsequent mobile storage box is temporarily stopped by the drive stop mechanism. Will be stopped. Therefore, each mobile storage box runs smoothly without causing a rear-end collision.

If the rightmost mobile storage box reaches the right end position and a stop signal is output from the right sensor of the mobile storage box,
Since the power supply to the mobile storage is cut off in priority to the drive command signal, the mobile storage is stopped. The mobile storage adjacent to the stopped mobile storage stops when a stop signal is output from the right-side sensor when it catches up with the stopped mobile storage. When the leftmost mobile storage reaches the left end position and a stop signal is output from the left sensor of the mobile storage, priority is given to the drive command signal and power supply to the mobile storage is cut off. Therefore, the mobile storage is stopped. The mobile storage box adjacent to the stopped mobile storage box also stops when the left sensor outputs a stop signal when it catches up with the stopped mobile storage box. The mobile storages operated in this way are stopped one after another, but if the mobile storages come into contact with the stopped mobile storages and bounce back,
The stop signal from the right or left sensor is temporarily lost. Therefore, the mobile storage box starts moving again in the desired direction, and finally settles in the position where it should be stopped. Therefore, the mobile storage can be stopped in an orderly and dense manner. Since the drive command signal itself is deenergized after the timer means detects that a certain period of time has passed after the operation, it is necessary to manually push the stopped moving storage to move it. Will also be possible.

If the selected storage is a mobile storage, in addition to the above operation, a drive command signal in the direction of the reference pattern position is also given to the selected storage. Each mobile storage will be moved until the mobile storage does not exist.

As described above, in the present invention, when the storage selected by the operation is the mobile storage, the mobile storage is unconditionally returned to the reference pattern position, and the other reference is made based on the reference pattern position. Since the drive command signal is output to the mobile storage, the basic program operation required to open the front of the fixed storage and the basic program operation required to open the front of the mobile storage are the same. It can be anything. Therefore, according to the present invention, although some waste may occur in the operation of the mobile storage as compared with the case where the mobile storage is moved directly from the current stop position to the required position, the circuit of the relay sequencer The structure can be simple and easy to design, and maintenance and inspection and repair of failures can be easily performed.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, this mobile storage device is provided with a speed reduction drive mechanism 13 on the front side of a fixed storage line 11 which is a plurality of fixed storages 1 to 4 that are adjacent to each other in the left-right direction. Two rows of mobile storage cabinets 12 ₁ and 12 ₂ composed of a plurality of mobile storage cabinets 5 to 10 are arranged close to each other, and the mobile storage cabinets 5 to 10 are moved in the left-right direction to obtain desired storage cabinets 1 to 7. It is configured so that the front surface can be opened.

More specifically, the fixed storages 1 to 4 are shown in FIGS.
As shown in the figure, it comprises a box-shaped storage cabinet body with an open front surface and a base part for supporting the storage cabinet body on the floor 14, which are arranged along the wall 15. A sliding door 16 is provided in the front opening.

As shown in FIG. 2, FIG. 3, and FIG. 4, the mobile storages 5 to 10 are a box-shaped storage main body having a double door 17 at the front opening, and wheels supporting the storage main body. A moving frame having 18 is provided, and its wheels 18 can roll on rails 19 ₁ and 19 ₂ laid on the floor 14. Then, to the mobile frame is provided with a reduction drive mechanism 13 which decelerates the output of the motor 21 _{5-21 10} transmitted to the wheel 18, respectively.

Then, as shown in FIG. 1, the deceleration drive mechanism 13 of each of the mobile storage boxes 5 to 10 is operated by an operation panel 23, an external input circuit 24, a relay type sequencer 25, and an external output circuit 26.
And are used for movement control.

Operation panel 23 includes a power switch 27, a plurality of operation switches 28 ₁ to 28 ₇ respectively corresponding to the stocker 1-7 which may front are hidden, a start switch 29, board and emergency stop switch 31 The internal wiring is as shown in FIG. 5 (a). Then, this operation panel
From 23, it corresponds to the operation of the operation switches 28 _{1 to} 28 ₇
A BCD code signal is output, and the code signal is transmitted by wire to the external input circuit 24 and input to the sequencer 25 via the external input circuit 24. The operation switches 28 _{1 to} 28 ₇ are arranged close to the corresponding positions of the storage boxes 1 to 7, and the numbers corresponding to the numbers assigned to the storage boxes 1 to 7 are provided in the vicinity thereof. Is displayed.

As shown in FIG. 5 (a), the external input circuit 24 includes code-corresponding relays I, II, IV, and VIII that switch in response to the BCD code signal sent from the operation panel 23, and a relay for automatic manual switching. AX, HX, and limit switches LSAR, LSAL, LSBR, LSBL, LSCR, LSCL, LSDR, LSDL, LS for each mobile storage 5-10
The limit switches LSAR, LSAL, LSBR, LSBL, LSCR, LSCL, ER, LSEL, LSFR, LSFL are connected so as to switch.
Drive stop relays LXAR, LXAL, LXBR, LXBL, LX that form drive stop means in cooperation with LSDR, LSDL, LSER, LSEL, LSFR, LSFL
CR, LXCL, LXDR, LXDL, LXER, LXEL, LXFR, LXFL, and a stop command relay MX that constitutes a stop command means that switches corresponding to the mat sensor 33 are provided. The mobile storage 5
Bumpers 34R and 34L are screwed to the right and left ends of the moving frame of so that their lower ends can rotate, and the bumpers 34R and 3L are
Holds 4L inward so that it can be elastically retracted. When the right bumper 34R abuts on an object that impedes movement and elastically retracts inward, the limit switch LSAR that is the right sensor
When the drive stop relay LXAR is excited and the left bumper 34L comes in contact with an object that obstructs movement and elastically retracts inward, the left sensor limit switch LSAL turns ON. As a result, the drive stop relay LXAL is excited. And other mobile storage 6-10
Right side sensor mounted limit switch LSBR, LSC
R, LSDR, LSER, LSFR and left sensor limit switch
Similarly, LXBL, LXCL, LXDL, LXEL, and LXFL are also switched, and the drive stop relays LXBL, LXCL, LXDL, LXEL, and LXFL are excited. Mat sensor 33 is a mobile storage line
On the floor corresponding to 12 ₁ 12 ₂ , specifically, the rails 19 ₁ , 1
9 ₂ are laid on the upper surface of the base plate of the rail unit 20 constituting the, are set to be in the ON when it is stepped on. When the mat sensor 33 is turned on, the stop command relay MX is excited. And
These relays I, II, IV, VIII, AX, HX, LXAR, LXAL,
LXBR, LXBL, LXCR, LXCL, LXDR, LXDL, LXER, LXEL, LXFR, LXF
L, MX contacts I a, II a, IV a, VIII a, AXa, HXa, LXAR
b, LXALb, LXBRb, LXBLb, LXCRb, LXCLb, LXDRb, LXDLb, LXERb,
LXELb, LXFRb, LXFLb, MXa (For the normally open contact, use the sign with a added to the sign of the corresponding relay, and for the normally closed contact, b
The code added is used. The same applies hereinafter) is inserted in the circuit of the sequencer 25.

The sequencer 25, as shown in FIG. 5 (b), includes relays I-1, II-1, IV-1, VIII-1 for decoding code signals.
And relays 101, 102, 103, 104, 10 for selecting the selective storage
5, 106, 107, relay 110 for start, relay for stop
ST, emergency stop relays 115 and 116, two-time selection prohibition relay 100, and drive command relays A1, A2, B1, B2, C1, C2, D1, D2 for outputting drive command signals, E1, E2, F1,
It is equipped with F2. Relay I- for decoding code signals
1, II-1, IV-1, and VIII-1 are the normally open contacts Ia, IIa, IVa, and VII of the cord-corresponding relays I, II, IV, and VIII.
It is connected to the power supply 150 via Ia and the normally-closed contact 100b of the relay 100 for prohibiting double selection. The relays 101 to 107 for selecting the selective storage are the code decoding relays I-1 and II-.
1, IV-1, VIII-1 contacts I-1a, I-1b, II-1a,
It is connected to the power supply 150 via II-1b, IV-1a, IV-1b, VIII-1a, VIII-1b, the contact STb of the stop relay ST, and the self-holding contacts 101a to 107a. The relay 110 for starting is
Normally closed contact STb of stop relay ST, code decoding relay I
-1, II-1, IV-1, VIII-1 contacts I-1a, II-1
It is connected to the power supply 150 via a, IV-1b, VIII-1a, and the contact 110a for self-holding. Then, the timer T1 is connected in parallel to the starting relay 110. This timer T1
Is, for example, at the stage where 10 seconds have passed after energization, the contact T1
It is set to close a. Relay ST for stop
Is connected to the power supply 150 via the contact T1a of the timer T1 and the contact 116a of the emergency stop relay 116. The emergency stop relay 115 includes code decoding relays I-1, II-1, I
Contact points I-1b, II-1b, IV-1a, VIII of V-1, VIII-1
The power source 150 is connected via -1a. On the other hand, the relay 116
Contact T2b of the second timer T2, contact 115a of the relay 115,
Normally open contact MX of the stop command relay MX related to the mat sensor 33
It is connected to the power source 150 via a and a contact 116a for self-holding. The second timer T2 is connected to the power supply 150 via the normally closed contact MXb of the stop command relay MX, the normally closed contact 115b of the emergency stop relay 115, and the normally open contact 116a of the relay 116. Reference numeral 36 is a melody voice generator that serves as an alarm means, and is connected to the power supply 150 via the normally open contact 116a of the relay 116. The two-time selection prohibition relay 100 is connected to the power supply 150 via the normally open contacts 101a to 107a of the selective storage specific relays 101 to 107 and the normally closed contacts AXb of the automatic relay AX. The drive command relay A1 that outputs a drive command signal to the right to the mobile storage box 5 is a normally closed contact of the stop command relay LXAR that switches in response to the limit switch LSAR mounted on the right side of the mobile storage box 5. Power supply 1 via LXARb, normally open contact 110a of start relay 110, normally open contact 101a of selective storage specific relay 101, and normally open contact HXa of manual relay HX
Connected to 50. The drive command relay A2 that outputs a drive command signal to the left to the mobile storage box 5 is
The normally closed contact LXALb of the stop command relay LXAL, which is switched in response to the limit switch LSAL mounted on the left side of the, the normally open contact 110a of the start relay 110, and the selective storage specific relays 102, 103, 104, 105 , 106, 107 normally open contacts 102a, 10
3a, 104a, 105a, 106a, 107a and the power supply 150 via the normally open contact HXa of the manual relay HX. Mobile storage 6
Drive command relay that outputs a drive command signal to the right
B1 is a normally closed contact LXBRb of a stop command relay LXBR that is switched in response to a limit switch LSBR mounted on the right side of the mobile storage box 6, and a normally open contact 110a of a start relay 110,
Normally-open contacts 101a, 102a of the selective storage storage specifying relays 101, 102
And the power supply 150 via the normally open contact HXa of the manual relay HX. The drive command relay B2 that outputs a drive command signal to the left to the mobile storage box 6 is a normally closed contact of the stop command relay LXBL that switches in response to the limit switch LSBL mounted on the left side of the mobile storage box 6. LXBLb, the normally open contact 110a of the start relay 110, and the selective storage specific relay 10
3, 104, 106, 107 normally open contacts 103a, 104a, 106a, 107a
And the power supply 150 via the normally open contact HXa of the manual relay HX. The drive command relay C1 that outputs a drive command signal to the right to the mobile storage 7 is a normally closed contact of the stop command relay LXCR that switches in response to the limit switch LSCR mounted on the right side of the mobile storage 7. LXCRb, the normally open contact 110a of the start relay 110, and the selective storage specific relay 10
It is connected to the electrode 150 via the normally open contacts 101a, 102a, 103a of 1, 102, 103 and the normally open contact HXa of the manual relay HX.
A drive command relay C2 that outputs a drive command signal to the left to the mobile storage 7 is a normally closed contact of a stop command relay LXCL that switches in response to a limit switch LSCL mounted on the left side of the mobile storage 7. Connect to the power supply 150 via LXCLb, the normally open contact 110a of the start relay 110, the normally open contacts 104a and 107a of the selective storage compartment specifying relays 104 and 107, and the normally open contact HXa of the manual relay HX. is there. The drive command relay D1 that outputs a drive command signal to the right to the mobile storage 8 is a normally closed contact of a stop command relay LXDR that switches in response to a limit switch LSDR mounted on the right side of the mobile storage 8. LXDR
b, the normally open contact 110a of the starting relay 110, the normally open contacts 105a and 106a of the selective storage compartment specifying relays 105 and 106, and the normally open contact HXa of the manual relay HX to connect to the power supply 150. is there.
The drive command relay D2 that outputs a drive command signal to the right to the mobile storage 8 is a normally closed contact of the stop command relay LXDL that switches in response to the limit switch LSDL mounted on the left side of the mobile storage 8. LXDLb, the normally open contact 110a of the starting relay 110, and the selective storage specifying relays 102, 103, 104, 1
06, 107 normally open contacts 102a, 103a, 104a, 106a, 107a,
It is connected to the power supply 150 via the normally open contact HXa of the manual relay HX. The drive command relay E1 that outputs a drive command signal to the right to the mobile storage 9 is a normally closed contact of the stop command relay LXER that switches in response to the limit switch LSER mounted on the right side of the mobile storage 9. LXERb and starting relay 1
10 normally open contacts 110a and relays 101, 10 for specifying the selective storage
It is connected to the power supply 150 via the normally open contacts 101a, 102a, 105a, 106a of 2, 105, 106 and the normally open contact HXa of the manual relay HX. The drive command relay E2 that outputs a drive command signal to the left to the mobile storage 9 is a normally closed contact of a stop command relay LXEL that switches in response to a limit switch LSEL mounted on the left side of the mobile storage 9. LXELb and starting relay 110
Normally open contact 110a and the selective storage storage specifying relays 103, 104,
It is connected to the power supply 150 via the normally open contacts 103a, 104a, 107a of 107 and the normally open contact HXa of the manual relay HX. The drive command relay F1 that outputs a drive command signal to the right to the mobile storage cabinet 10 is a stop command relay LX that switches in response to a limit switch LSFR mounted on the right side of the mobile storage cabinet 10.
FR normally closed contact LXFRb and start relay 110 normally open contact 110a
And the selective storage warehouse specifying relays 101, 102, 103, 105, 10
6, 107 normally open contacts 101a, 102a, 103a, 105a, 106a 107a
And the power supply 150 via the normally open contact HXa of the manual relay HX. The drive command relay F2 that outputs a drive command signal to the left to the mobile storage box 10 is a normally closed contact of the stop command relay LXFL that switches in response to the limit switch LSFL mounted on the left side of the mobile storage box 10. LXFLb, the normally open contact 110a of the start relay 110, and the selective storage specific relay 104
Is connected to the power supply 150 via the normally-open contact 104a and the normally-open contact HXa of the manual relay HX. Then, these drive command relays A1, A2, B1, B2, C1, C2, D1, D2, E1, E2,
Normally open contacts F1 and F2 A1a, A2a, B1a, B2a, C1a, C2a, D1
The external output circuit 26 includes a, D2a, E1a, E2a, F1a, and F2a.

The external output circuit 26 is a power relay 1F, 1R, 2F, 2R, 3 corresponding to the right and left directions of the mobile storages 5 to 10, respectively.
Equipped with F, 3R, 4F, 4R, 5F, 5R, 6F, 6R. And each of the power relays 1F, 1R, 2F, 2R, 3F, 3R, 4F, 4
R, 5F, 5R, 6F, 6R are the drive command relays A1, A
2, B1, B2, C1, C2, D1, D2, E1, E2, F1, F2 normally open contacts A1a, A2a, B1a, B2a, C1a, C2a, D1a, D2a, E1a, E2
It is connected to the DC constant voltage power supply 250 via a, F1a, and F2a, respectively. And each of these power relays 1F, 1R, 2F, 2
R, 3F, 3R, 4F, 4R, 5F, 5R, 6F, 6R contacts 1Fc, 1Rc, 2
Fc, 2Rc, 3Fc, 3Rc, 4Fc, 4Rc, 5Fc, 5Rc, 6Fc, 6Rc
Are the motors 21 ₅ to 2 mounted on the respective mobile storage boxes 5 to 10.
It is interposed in the feed circuit 37 _{5-37 10} 1 _10. That is, when the power supply relay 1F is energized, the motor 21 ₅ mobile depot 5 is rotating forward, the mobile depot 5 is moved in the right direction. When the power supply relay 1R is energized, it reversed the motor 21 ₅ mobile depot 5, the mobile depot 5 is moved in the left direction. When the power supply relay 2F is energized, the motor 21 ₆ of the mobile depot 6 is rotated forward, the mobile depot is moved to the right. When the power supply relay 2R is energized, and the motor 21 ₆ reversal of movement depot 6, the mobile depot 6 moves to the left. When the electric relay 3F is excited, the motor 217 of the mobile storage ₇ rotates in the forward direction, and the mobile storage 7 moves to the right. When the power relay 3R is excited, the motor 21 _{7 of the} mobile storage _{7 is}
Is reversed and the mobile storage 7 is moved to the left. When the power relay 4F is excited, the motor 218 of the mobile storage ₈ rotates in the forward direction and the mobile storage 8 moves to the right. When the power relay 4R is excited, the motor 218 of the mobile storage ₈ is reversed and the mobile storage 8 is moved leftward. When the power relay 5F is excited,
Motor 21 ₉ mobile depot 9 is rotated forward, the moving stocker 9
Moves to the right. When the power relay 5R is excited, the motor 219 of the mobile storage ₉ is rotated in the reverse direction to move the mobile storage 9 leftward. When the power relay 6F is excited, the motor 2110 of the mobile storage ₁₀ rotates in the forward direction, and the mobile storage 10 moves to the right. When the power relay 6R is excited, the motor 21 ₁₀
Is reversed and the mobile storage box 10 moves leftward. Incidentally, 38 is a switch for switching between automatic control and manual operation, which is normally set to the automatic control. S1 ~
S6 is a switch for manually moving each of the mobile storage boxes 5 to 10 to the right or left.

 Next, the operation of this embodiment will be described.

First, it is assumed that the mobile storages 5 to 10 are stopped at the predetermined reference pattern position. That is, in this embodiment, as shown in FIGS. 1, 3, and 6 (a), the state in which the mobile storage boxes 5 to 10 are located at the leftmost position is defined as the reference pattern position. . From that state, turn on the power and operate the switches corresponding to the storages 1-7 you want to use.
Pressing 28 _{1 to} 28 ₇ causes the operation switch 28 _{1 to} 28 _{7 to}
The relays 101 to 107 for specifying the selective storage corresponding to are selectively excited and self-held. In this case, for example, when the operation switch 28 ₁ corresponding to the first fixed storage case 1 is pressed, the first selective storage case specifying relay 101 is excited and self-held. As a result, all the normally open contacts 101a of the relay 101 provided in the sequencer 25 are closed. Then, when the start switch 29 is pressed, the start relay 110 is excited and self-held, and the sequencer 2
The normally open contact 110a of the relay 110 provided at 5 is also closed. In this case, if the limit switches LSAR to LSFL
Is released and turned off, drive command relay A
1, B1, C1, D1, E1, F1 are excited, each mobile storage 5-1
At 0, the drive command signal to the right should be output. However, at the reference pattern position where the mobile storages 5-10 are densely arranged, the mobile storages 5, 6,
The mobile storage box 6 adjacent to the bumper 34R on the right side of 8 and 9,
Limit switches LSAR, LSBR, LSDR, LSER that contact the left bumper 34L of 7, 9 and 10 and are elastically retracted inward.
Is turned on. Therefore, in reality, first, the drive command signal for the right is output only to the mobile storage boxes 7 and 10 in which there are no obstacles on the right side and the limit switches LSCR and LSFR are released. This allows the power relay corresponding to that signal
3F and 6F are excited, the motors 21 ₇ and 21 ₁₀ corresponding to the power relays 3F and 6F start forward rotation, and the first mobile storage box 7 and 1
0 starts moving to the right. Then, when the leading mobile storages 7, 10 travel a certain distance or more and the limit switches LSBR, LSER of the subsequent mobile storages 6, 9 are turned off,
Drive command relays corresponding to these mobile storage boxes 6 and 9
B1 and E1 are also excited, and a drive command signal to the right is also output to these mobile storage boxes 6 and 9. Then, the mobile storages 6 and 9 are moved to the right by a certain distance or more, and the limit switches LSAR of the subsequent mobile storages 5 and 8 are further moved.
When the LSDR is released, the drive command relays A1 and D1 corresponding to the mobile storages 5 and 8 are also excited, and the mobile storages 5 and 8 also start moving to the right. Then, when the leading mobile storages 7, 10 move to the right end, the right bumper 34R of the mobile storages comes into contact with one of the locking walls 20a protruding from both ends of the rail unit 20 and the right limit switch. LSCR and LCFR are turned on. As a result, the normally closed contact LXCR
b and LXFRb are opened, the excitation of the drive command relays C1 and F1 is stopped, and the power supply to the motors 21 ₇ and 21 _{10 of the} mobile storages ₇ and ₁₀ is cut off. And these mobile storages 7, 10
Is locked by a stopper (not shown) and stops at the right end. Next, when the subsequent mobile storage cabinets 6, 9 approach the stopped mobile storage cabinets 7, 10 for a certain amount or more, the bumpers 34R of the subsequent mobile storage cabinets 6, 9 are moved to the previous mobile storage cabinets 7, 9. The limit switch 34R on the right side of the movable storage cabinets 6 and 9 comes in contact with the bumper 34L of 10 and elastically retracts inward.
Turns on. As a result, the normally-closed contacts LXBRb and LXERb are opened, the excitation of the drive command relays B1 and E1 is stopped, and the power supply to the motors 21 ₆ and 21 9 of the mobile storages ₆ and ₉ is cut off. In this way, one after another, the mobile storages 7, 10, 6, 9,
5 and 8 stopped, and finally fixed storage 1 that was selected and operated
Will open the front face (see FIG. 6b). It should be noted that there are variations in the traveling speeds of the mobile storages 5 to 10, and the subsequent mobile storages 5, 6, 8 and 9 are the preceding mobile storages 6,
When it catches up with 7, 9 and 10, the right limit switch 34R of the subsequent mobile storage cabinets 5, 6, 8 and 9 is temporarily turned on, and the mobile storage cabinets 5, 6, 8 , 9 will be slowed down. Therefore, the mobile storages 5 to 10 can smoothly move at a certain distance or more without collision.

From this state, for example, when it becomes necessary to use the mobile storage box 6, the operation switch 286 corresponding to the mobile storage box ₆ is pressed, and then the start switch 2 is used.
When 9 is pressed, the operation according to the above is performed, and the selected mobile storage box 6 is driven in the reference pattern position direction, that is, the left direction, as shown by the arrow in FIG. 6 (b),
The mobile storages 5 and 8 located to the left of the mobile storage 6
Also moves to the left. The mobile storage 9 existing in front of the selected mobile storage 6 and the mobile storage 7 existing on the right,
10 is ready to output a drive command signal to the right, but in the case of the illustrated example, those mobile storages 7, 9,
In the case of 10, the right limit switches LSCR, LSER, and LSFR are each turned on, so that the 10 is not driven to the right. Then, finally, as shown in FIG. 6 (C), the entire surface of the selected mobile storage box 6 is opened.

As described above, even if any of the operation switches 28 _{1 to} 28 ₇ is operated, the fronts of the storage cabinets 1 to ₇ corresponding to the operation switches 28 _{1 to} 28 ₇ are opened, but they are moved and stored. When the emergency stop switch 31 is operated or the mat sensor 33 is stepped on while the cabinets 5 to 10 are operating, the emergency stop relay 116 of the sequencer 25 is excited and self-held. As a result, the stop command relay ST is excited, its normally closed contact STb is opened, and the excitation of the start relay 110 is stopped. Therefore, all drive command relays A1
~ F2 is de-energized and all mobile storage boxes 5-10 stop on the spot. Then, at that time, the melody voice generator 36 is energized, and an alarm sound (predetermined melody) indicating that the emergency stop is performed is emitted. When there is an obstacle at a position that cannot be detected by the mat sensor 33, the bumpers 34R and 34L of the mobile storage boxes 5 to 10 come into contact with the obstacle and the limit switches LSAR to LSFL are switched. so,
The driving of the mobile storages 5 to 10 is stopped.

As described above, in this mobile storage device, when the storage selected by the operation is the mobile storage 5 or 6 or 7, the mobile storage 5 or 6 or 7 is unconditionally set to the reference pattern position. That is, in this embodiment, it is returned to a position where an open area is formed in front of the fixed storage 4 at the right end, and a drive command signal is sent to the other moving / moving storages 5-10 with this reference pattern position as a reference. Since the output is made, the basic program operation required to open the front of the fixed storages 1, 2, 3, 4 and the basic program operation required to open the front of the mobile storages 5, 6, 7 are performed. And can be similar. Therefore, compared to when moving the mobile storage directly from the current stop position to the required position,
The circuit configuration of the relay-type sequencer can be made simple and easy to design, and maintenance / inspection and repair at the time of failure can be easily performed. Specifically, each mobile storage 5
10 is a drive command relay A1, B for moving to the right
1, C1, D1, E1, F1 or drive command relay for moving to the left A2, B2, C2, D2, E2, F2 is designed to start moving when energized, but these drive Command relay A
1, A2 ~ F1, F2 are the selected storage cabinet specific relay 101,
102, 103, 104, 105, 106, 107 normally open contacts 101a, 102a,
It is connected to the power supply 150 via 103a, 104a, 105a, 106a, 107a. Therefore, in designing, when the storages 1 to 7 to be used are specified, which mobile storages 5 to 10 are specified.
Is determined in the reference pattern position in which direction to move, in the power supply circuit of the start command relay A1, A2-F1, F2 corresponding to the mobile storage 5-10 to be moved,
The normally open contacts 101a, 102a, 103a, 104a, 105a, 106a, 10
All you have to do is install 7a. In this case, even when the mobile storages 5 to 10 are specified, it is sufficient to always consider the state returned to the reference pattern position as a reference.
The situation may be exactly the same as when specifying No. 4, and as shown in FIG. 5 (b), the normally open contacts 101a, 102a, 103a, 104a that are closed when the fixed storage cases 1 to 4 are also moved and stored. Normally open contacts 105a, 106a, which are closed when warehouses 5-7 are specified,
It is sufficient that 107a is also connected in parallel under exactly the same conditions and is provided in the power supply circuit of each drive command relay A1, A2 to F1, F2. In other words, there is no need for a circuit for storing the position of the mobile storage, or for determining which direction the mobile storage is to be operated based on the balance between the storage position and the command signal. Can be something.

By the way, this is a set time, that is, 10 seconds in this embodiment, when the start switch 29 is pressed and the movable storages 5 to 10 are actually operated.
The contact T1a of the timer T1 is closed and the stop command relay ST is excited. Therefore, the excitation of the start-up relay 110 is stopped, the drive command relays A1 to F2 are de-energized, and the drive command signal is deenergized. Therefore, until the next operation, even if the limit switch LSAR~LSFL is opened, the motor 21 _5-21 of each mobile stocker 5-10
Power supply to ₁₀ will not start. Therefore, even if the stop position of the mobile storage boxes 5 to 10 is changed by an external force, it is unlikely that the mobile storage boxes 5 to 10 will suddenly be energized and start moving.

It is needless to say that the number of stations of the fixed storage or the mobile storage or the number of rows of the mobile storage is not limited to that of the embodiment described above.

Further, the fixed storages do not have to be separable from each other and may be integrally continuous.

[Effect of the Invention] According to the present invention, when the storage selected by the operation is the mobile storage, the mobile storage is unconditionally returned to the reference pattern position, and the reference pattern position is used as a reference. Since the drive command signal is output to the other mobile storage, the basic program operation required to open the front of the fixed storage and the basic program operation required to open the front of the mobile storage. Can be similar. Therefore, the circuit configuration of the relay sequencer can be simpler and easier to design than when moving the mobile storage directly from the current stop position to the required position. It can be easily performed.

Moreover, according to the present invention, although it is possible to control the storage using a simple control means having no memory,
The most direct and intuitive operation of designating the storage to be used can open the front of the desired storage. Therefore, by arranging two rows of moving storage boxes in front of the fixed storage row, even if a large number of storage boxes are installed at high density, the storage boxes you want to use can be surely made available quickly without fail. You can

Moreover, according to the present invention, the right and left sensors work to cause the mobile storage to start moving after a time from the head storage, so when starting the motor of each mobile storage. It is possible to prevent the start-up current peaks of the same from overlapping. Therefore, the mobile storage can be moved without difficulty using the power supply device having a relatively small capacity. Further, according to such a configuration, when the mobile storage successively reaches the target position and a stop signal is output from the right sensor or the left sensor, the power supply to the motor of the mobile storage is stopped. If the mobile storage collides with the adjacent mobile storage and bounces back slightly, the stop signal is temporarily interrupted and the drive command signal becomes valid, so the mobile storage starts moving again. Will be done. Therefore, in the end, each mobile storage box can accurately reach the target position and can be stopped in an orderly manner. Moreover, in the present invention, the drive command signal itself is deenergized after detecting that a certain time has elapsed after the operation by the timer means, so that the stopped mobile storage cabinet is manually pressed. It is also possible to move it. Therefore, it is possible to safely and manually stop the mobile storage after a certain period of time, even though it can be stopped orderly and densely, and the usability can be improved.

[Brief description of drawings]

The drawings show one embodiment of the present invention. FIG. 1 is a schematic explanatory view of the whole, FIG. 2 is a front view, FIG. 3 is a plan view, FIG. 4 is an enlarged partial front view, and FIG. ), (B) and (c) are circuit explanatory diagrams, and FIGS. 6 (a), (b) and (c) are operational explanatory diagrams. 1-4: Fixed storage, 5-10 ... Mobile storage, 11 ...
Fixed storage line 12 ₁ , 12 ₂ …… Mobile storage line, 13 …… Deceleration drive mechanism 18 …… Wheels, 23 …… Operation panel (operating means) 25 …… Sequencer 26 …… External output circuit 28 _{1 to} 28 ₇ …… Operation switch, 29 …… Start switch T1 …… Timer LSAR, LSBR, LSCR, LSDR, LSER, LSFR …… Right side sensor (limit switch) LSAL, LSBL, LSCL, LSDL, LSEL, LSFL …… Left side sensor ( Limit switch)

Front page continued (72) Inventor Haruo Nakagawa 1497-4 Yamade, Ueno-shi, Mie (56) References JP-A-50-158467 (JP, A) JP-A-49-38758 (JP, A) JP-A Sho 52-94271 (JP, A) Actual Open Sho-56-163944 (JP, U) Actual Open Sho-58-73145 (JP, U) Japanese Patent Sho 52-49382 (JP, B2) Japanese Official Sho 52-50582 (JP, B2) Japanese Patent Publication Sho 53-27664 (JP, B2)

Claims (1)

[Claims] 1. A mobile storage box having three or more fixed storage boxes arranged side by side in the left-right direction and provided with a speed reduction drive mechanism on the front side of the fixed storage box and having substantially the same width dimension as each fixed storage box. The number of fixed storages is one less than the number of fixed storages in the left-right direction, and two rows of mobile storages are arranged close to each other in the front-rear direction. A position where all the mobile storage shelves are moved to the left side so that the front surface of the storage is configured to be openable, and an open area where the mobile storage does not exist in front of the fixed storage at the right end is formed, or A mobile storage device in which the position where all the mobile storages are moved to the right is defined as the reference pattern position so that an open area where the mobile storages do not exist is formed in front of the leftmost fixed storage. Each mobile storage except the mobile storage in the front row, and Equipped with a plurality of operation switches corresponding to each of all fixed storage, when any one of the operation switches is operated, the storage corresponding to the operation switch is selected as an operation storage, and a selection means. If the selected storage is a fixed storage, all the mobile storages that will be located in front of the selected storage at the reference pattern position, and the storage area located closer to the open area than the selected storage. It outputs a drive command signal for moving all the different mobile storages in the direction away from the reference pattern position, and outputs a drive command signal for returning all other mobile storages to the reference pattern position. When the basic program operation is executed and the selected storage is a mobile storage, a drive command signal for returning the selected storage to the reference pattern position is output. A relay type sequencer that executes the basic program operation together, and power is supplied to the motor of the deceleration drive mechanism of each mobile storage cabinet based on the drive command signal output from this sequencer, and each mobile storage cabinet is supplied to the right or , An external output circuit that operates in the left direction, and a right direction of the mobile storage when it comes in contact with or comes close to an object that is provided at the right end of each mobile storage and interferes with the right movement of the mobile storage. A right-side sensor that outputs a stop signal to the effect that movement should be stopped, and a mobile storage that is provided at the left end of each mobile storage, and that contacts or approaches an object that obstructs the left movement of the mobile storage. When the stop signal is output from the right sensor of each mobile storage, it is equipped with a left sensor that outputs a stop signal to stop the left movement of In addition to stopping the right movement of the corresponding mobile storage by giving priority to the motion command signal,
When a stop signal is output from the left sensor of each mobile storage, the sequencer is configured to stop the left movement of the corresponding mobile storage by giving priority to the drive command signal from the sequencer and after the operation by the timer means. The drive command signal from the sequencer is deenergized at the time of detecting that the set time has elapsed, and even if the stop signal disappears, the mobile storage is kept until another operation is newly added to the operation means. A mobile storage device characterized in that power is not supplied to the motor of the storage.