JP3204018B2 - Moving shelf equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile shelf facility which is installed in, for example, a warehouse or a factory and has a plurality of mobile shelves supported and guided by rails via wheels.

[0002]

2. Description of the Related Art Conventionally, as this kind of moving shelf equipment, for example, there is one shown in FIGS. That is, the wheel 61
A plurality of movable shelves 63 which are supported and guided by rails 62 through the rails so as to be able to reciprocate back and forth are provided, and these movable shelves 63 are provided with detection devices for detecting adjacent movable shelves 63.

[0005] That is, an emitter / receiver 66 of a photoelectric switch is attached to a side end of one of front and rear sides of the movable shelf 63. The light emitting / receiving device 66 forms an optical axis 67 toward the outside. Further, a detection plate 68 that blocks the optical axis 67 when the moving shelf 63 approaches is attached to the front and rear and other front side ends of the moving shelf 63.

According to this, when one of the movable shelves 63 is separated from the other movable shelf 63, the plate 68 to be detected is not
The optical axis 67 is not interrupted by the detection target plate 68 because the optical axis 67 is separated in front of 66. Therefore, the emitted light from the light emitting / receiving device 66 is not reflected by the detection target plate 68 and is not received by the light emitting / receiving device 66.

When one of the movable shelves 63 moves closer to the other movable shelf 63, the detected plate 68 cuts off the optical axis 67, and the light emitted from the projector / receiver 66 is transmitted by the detected plate 68. The light is reflected, and the reflected light is received by the emitter / receiver 66. Thereby, the approach of the moving shelf 63 is detected, and the moving shelf 63 is braked at the optimum position, so that one moving shelf 63 stops at a predetermined interval S with respect to the other moving shelf 63.

[0006]

However, in the above-mentioned conventional type, there is a case where a structure such as a column 71 of a factory is installed immediately beside the movable shelf 63 due to a limitation of an installation space of the movable shelf 63 or the like. . In such a case, as shown in FIG. 10, although one movable shelf 63a is separated from the other movable shelf 63b, the radiated light 69 from the emitter / receiver 66 is reflected on the support 71. The reflected light 70 is transmitted to the emitter / receiver 66
There is a possibility that erroneous detection that light is received at the camera may occur. The occurrence of such erroneous detection causes the moving shelf 63
Erroneous operation, which could hinder the loading / unloading work or cause an accident.

An object of the present invention is to solve the above-mentioned problem, and an object of the present invention is to provide a mobile shelf facility capable of accurately detecting the approach / separation movement of the mobile shelf even when foreign substances such as structures exist in the surroundings. Things.

[0008]

In order to solve the above-mentioned problems, the moving shelf equipment according to the first aspect of the present invention comprises a plurality of moving shelves which are supported and guided by rails via wheels and are reciprocally movable. The movable shelf is provided with a transmitter / receiver that emits a detection wave and receives the reflected detection wave, and a reflector positioned on the path of the detection wave, and the other movable shelf has A detection object inserted between the transmitter / receiver and the reflector by the approach to block the path of the detection wave is provided, and the detection wave emitted from the transmitter / receiver hits the detection object. A detection surface is formed, and one of the path of the detection wave and the detection surface is inclined from a direction orthogonal to the other.

In the moving shelf equipment according to the second aspect of the present invention, the object to be detected on the other moving shelf is protruded from the outer surface of one of the moving shelves so as to be overlapped, and the tip of the object to be detected is transmitted and received by the transmitter / receiver. A control device for decelerating and stopping the approaching moving shelf when it is detected is provided, and the distance from the tip of the detected object to the front of the other moving shelf is formed longer than the moving shelf deceleration stop distance.

The mobile shelf equipment according to the third aspect of the present invention uses light as a detection wave and uses a photoelectric switch as a transmitter / receiver.
It uses a light receiver. The moving shelf equipment according to the fourth aspect of the present invention uses ultrasonic waves as detection waves, and uses a transmitter / receiver of an ultrasonic sensor as a transmitter / receiver.

[0011]

According to the structure of the first aspect of the invention, for example, when one moving shelf is separated from the other moving shelf, the object to be detected is separated more forward than between the transmitter / receiver and the reflector. Therefore, the detection wave radiated from the transmitter / receiver is reflected by the reflector without being interrupted on the way, and the reflected detection wave is received by the transmitter / receiver. As described above, since the detection wave radiated from the transmitter / receiver is reflected by the reflector and received by the transmitter / receiver, an error caused by the detection wave being reflected by a foreign substance such as a building existing in the surroundings is generated. Detection can be prevented.

When one moving shelf approaches the other moving shelf, the object to be detected is inserted between the transmitter / receiver and the reflector to cut off the path of the detected wave. The detection wave radiated from the receiver hits the surface of the object to be detected and is reflected. At this time, since one of the path of the emitted detection wave and the surface to be detected is inclined from the direction orthogonal to the other, the detection wave reflected by the surface to be detected does not return to the original direction,
Cannot be received by transmitter / receiver. Thereby, the approach of the moving shelf is detected.

According to the configuration of the second aspect of the present invention, one movable shelf approaches and moves toward the other movable shelf, and the object to be detected is inserted between the transmitter / receiver and the reflector, whereby the object to be detected is moved. When the tip of the detection object is detected by the transmitter / receiver, the control device decelerates and stops the approaching moving shelf. Thereby, one moving shelf stops at a predetermined interval with respect to the other moving shelf.

According to the configuration of the third aspect of the present invention, for example, when one moving shelf is separated from the other moving shelf,
Light emitted from the light receiver is reflected by the reflector without being interrupted on the way, and the reflected light is received by the projector / light receiver. Thereby, it is possible to prevent erroneous detection caused by reflection of light on a foreign substance such as a building existing in the surroundings.

When one of the moving shelves approaches the other moving shelf, the object to be detected is inserted between the light emitter / receiver and the reflector to cut off the optical axis. The emitted light is reflected on the detection surface of the detection object. At this time, the light reflected on the surface to be detected does not return to the original direction, and is not received by the light emitting / receiving device. Thereby, the approach of the moving shelf is detected.

According to the configuration of the fourth aspect of the present invention, for example, when one moving shelf is separated from the other moving shelf, the transfer
The ultrasonic waves emitted from the receiver are reflected by the reflector without being interrupted on the way, and the reflected ultrasonic waves are received by the transmitter / receiver. As a result, it is possible to prevent erroneous detection caused by the reflection of the ultrasonic wave on a foreign substance such as a building existing in the surroundings.

When one moving shelf approaches the other moving shelf, the object to be detected is inserted between the transmitter / receiver and the reflector to cut off the path of the ultrasonic wave. The ultrasonic waves radiated from the receiver are reflected on the surface of the object to be detected.
At this time, the ultrasonic wave reflected on the surface to be detected does not return to the original direction and is not received by the transmitter / receiver. Thereby, the approach of the moving shelf is detected.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 5 and 6, reference numerals 1a and 1b denote a pair of front and rear fixed shelves, and a plurality of movable shelves 2 which can reciprocate in the direction between the fixed shelves are arranged between the fixed shelves 1a and 1b. . Each movable shelf 2 is composed of a lower frame 3 and a pair of front and rear shelves 4 installed on the lower frame 3.

As shown in FIG. 4, the lower frame 3
The lower lower frames 5a and 5b located on the left and right sides with respect to the traveling direction of the movable shelf 2, the lower intermediate frame 6 located inside, and the lower lower frames 5a and 5b and the lower intermediate frame 6 The connection member 7 is connected to form a square frame.

Wheels 9 are provided at both front and rear ends of each of the lower frames 5a and 5b and each of the intermediate lower frames 6, and a pair of front and rear wheels 9 is also provided at an intermediate portion of the intermediate lower frame 6. These wheels 9 run on a plurality of rails 10 laid on the floor. A drive shaft 11 connects between the wheels 9 at the front and rear ends of the two intermediate lower frames 6, and an electric motor 12 for rotating these wheels 9 is mounted on one intermediate lower frame 6.

Each of the shelves 4 of the movable shelf 2 is provided with a front-side vertical column standing upright at the front and rear ends of the lower frames 5a, 5b and 6.
14, a rear vertical column 15 erected in the middle of each of the lower frames 5 a, 5 b, 6, and a horizontal member (shown in the figure) connected between the front vertical column 14 and the rear vertical column 15. And a plurality of upper and lower load storage sections 17 as shown in FIG.

The movable shelf 2 is provided with a photoelectric switch that emits light (an example of a detection wave) and receives reflected light.
A light receiver 20 (an example of a transmitter / receiver) and a reflector positioned on an optical axis 21 which is a path of light emitted from the light emitter / receiver 20
22 and a detection target 23 which is inserted between the emitter / receiver 20 and the reflector 22 to block the optical axis 21 are provided.

As shown in FIGS. 1 and 2, the light emitter / receiver 20 and the reflector 22 are connected to one end of the lower frame 5a on one side via a plate-like bracket 24. It is attached to the upper part of the vertical column 14 located on the near side. The bracket 24 is detachably connected to the front vertical column 14 by a pair of upper and lower bolts 25 and nuts 26, and the emitter / receiver 20 is attached to the base end of the bracket 24.
The reflector 22 is attached to the tip of the.

As shown in FIGS. 1 and 3, the detected object 23 protrudes from the outer surface of the movable shelf 2 facing the same so as to be able to overlap, and is disposed on one side via a pair of front and rear brackets 27. Front vertical support located at the other front and rear ends of the lower frame 5a
Mounted on top of 14. Both brackets 27 are formed by a pair of upper and lower bolts 28 and nuts 29 so that
The detection target 23 is attached between the front ends of both brackets 27 in a detachable manner. The detected object 23 is formed in an angle shape by an upper horizontal plate portion 30 and a hanging plate portion 31 which is suspended from a side end of the upper horizontal plate portion 30 and faces the light emitting / receiving device 20. . The hanging plate part 31
The surface to be detected on which the light emitted from the light receiver 20 is reflected
32 are formed. As shown in FIG. 1, since the bracket 24 is connected to the front vertical column 14 in a state of being inclined upward, the optical axis 21 is inclined upward from the orthogonal direction with respect to the detection surface 32. It is formed.

As shown in FIG. 6, the fixed shelves 1a, 1b
Are a plurality of front vertical columns 35 standing on the floor 34, respectively.
And a vertical member 36 and a horizontal member 37 connected between the vertical members 35, 36, and a plurality of upper and lower load storage portions.
Has 38. As shown in FIG.
In a and 1b, a fixed detection object 39 that can be overlapped with one side surface of the adjacent movable shelf 2 is provided so as to protrude in the direction of the movable shelf 2. These fixed-side detected objects 39 have the same structure as the detected object 23 of the movable shelf 2 described above, and are similarly mounted on the upper portion of the front vertical support 35 via the bracket 27.

Further, as shown in FIGS. 5 and 6, the front vertical column 14 located at the other front and rear end of one side of the movable shelf 2 adjacent to the other fixed shelf 1b is provided with the above-mentioned fixed side detected object. A fixed shelf detecting projector / receiver 40 for detecting the body 39 and the reflector 22 are attached.

Further, as shown in FIG.
When the emitter / receiver 20 detects the tip of the detected object 23,
Control device for decelerating and stopping the moving speed of approaching moving shelf 2
42 are provided. The control device 42 of the movable shelf 2 adjacent to each of the fixed shelves 1a and 1b determines the moving speed of the movable shelf 2 approaching each of the fixed shelves 1a and 1b when detecting the tip of the fixed-side detected object 39. It also has the function of decelerating and stopping.
The distance L1 from the tip of the detection target 23 to the front of the movable shelf 2 (see FIG. 4) and the distance L2 from the tip of the fixed detection target 39 to the front of the fixed shelves 1a and 1b (see FIG. 8). )
Are set longer than the deceleration stop distance of the movable shelf 2. In addition, as shown in FIG. 5, a structure such as a column 44 of a factory is installed immediately beside the moving shelf equipment 43.

The operation of the above configuration will be described below.
As shown by a solid line in FIG. 7, for example, when one movable shelf 2a is separated from the other movable shelf 2b, as shown in FIG. 2, light emitted from the projector / receiver 20 of one movable shelf 2a is emitted. The light is reflected by the reflector 22 without being interrupted on the way, and the reflected light is received by the projector / light receiver 20. As a result, it is possible to prevent erroneous detection caused by reflection of light on foreign substances such as the pillars 44 existing in the surroundings.

In this way, a work passage 45 is formed between the one movable shelf 2a and the other movable shelf 2b, and a forklift 46 or the like enters the work passage 45 to carry in / out a load.

Thereafter, a work passage is provided in front of another moving shelf 2.
When one moving shelf 2a is moved closer to the other moving shelf 2b as shown by the imaginary line in FIG. 7 to form 45, as shown in FIG. Since the optical axis 21 is interrupted by being inserted between the projector / receiver 20 and the reflector 22 of the other movable shelf 2b, as shown in FIG.
The light emitted from 20 is reflected on the detection surface 32 of the detection object 23. At this time, since the optical axis 21 is inclined upward from the orthogonal direction with respect to the detection surface 32, the light reflected on the detection surface 32 does not return to the original direction, and is not received by the projector / light receiver 20. Thereby, the approach of the moving shelf 2a is detected. Thereafter, in order for the control device 42 to decelerate and stop the approaching moving shelf 2a, one moving shelf 2a is stopped at a predetermined interval S with respect to the other moving shelf 2b as shown by a virtual line in FIG.

Further, the moving shelf 2 is arranged with respect to one fixed shelf 1a.
Similarly, when the robot is moved closer,
The fixed side object 39 of one fixed shelf 1a is detected by 20, and the moving shelf 2 stops at a predetermined interval S with respect to the one fixed shelf 1a. Similarly, as shown by a virtual line in FIG.
Even when the movable shelf 2 is moved closer to the other fixed shelf 1b, the fixed-side detection object 39 of the other fixed shelf 1b is detected by the fixed shelf detecting projector / receiver 40 of the movable shelf 2; The moving shelf 2 stops at a predetermined interval S with respect to the other fixed shelf 1b.

In the above embodiment, light is used as a detection wave,
Although the transmitter / receiver uses the emitter / receiver 20 of the photoelectric switch, the ultrasonic wave may be used as the detection wave, and the transmitter / receiver of the ultrasonic sensor may be used as the transmitter / receiver.

In the above embodiment, as shown in FIG. 5, the case where the support 44 is installed immediately beside the moving shelf equipment 43 is shown, but the present invention is not limited to the support 44 but may be a wall or the like. In the above embodiment, since the light projecting / receiving device 20, the reflector 22, and the object 23 are provided on the upper portion of the vertical support 14, respectively, the light projecting / light receiving device 20, the reflector 22, and the object 23 are attached to the forklift 46.
There is an advantage that it is hard to hinder running.
Note that the projector / light receiver 20, the reflector 22, and the object 23 may be provided below the vertical support 14.

[0034]

As described above, according to the first aspect of the present invention, for example, when one moving shelf is separated from the other moving shelf,
Since the object to be detected is separated more forward than between the transmitter / receiver and the reflector, the detection wave radiated from the transmitter / receiver is reflected by the reflector without being interrupted on the way, The reflected detection wave is received by the transmitter / receiver. As described above, since the detection wave radiated from the transmitter / receiver is reflected by the reflector and received by the transmitter / receiver, an error caused by the detection wave being reflected by a foreign substance such as a building existing in the surroundings is generated. Detection can be prevented.

When one moving shelf approaches the other moving shelf, the object to be detected is inserted between the transmitter / receiver and the reflector to cut off the path of the detected wave. The detection wave radiated from the receiver hits the surface of the object to be detected and is reflected. At this time, since one of the path of the emitted detection wave and the surface to be detected is inclined from the direction orthogonal to the other, the detection wave reflected by the surface to be detected does not return to the original direction,
Cannot be received by transmitter / receiver. Thereby, the approach of the moving shelf is detected.

According to the second aspect of the invention, one of the movable shelves moves closer to the other movable shelf, and the object to be detected is inserted between the transmitter / receiver and the reflector. Is detected by the transmitter / receiver, the control device decelerates and stops the approaching moving shelf. Thereby, one moving shelf stops at a predetermined interval with respect to the other moving shelf.

According to the third aspect of the invention, for example, when one moving shelf is separated from the other moving shelf, the light emitted from the emitter / receiver is reflected by the reflector without being interrupted on the way. The reflected light is received by the projector / receiver. Thereby, it is possible to prevent erroneous detection caused by reflection of light on a foreign substance such as a building existing in the surroundings.

According to the fourth aspect of the invention, for example, when one moving shelf is separated from the other moving shelf, the ultrasonic waves radiated from the transmitter / receiver are not interrupted on the way by the reflector. The reflected and reflected ultrasonic waves are received by the transmitter / receiver. As a result, it is possible to prevent erroneous detection caused by the reflection of the ultrasonic wave on a foreign substance such as a building existing in the surroundings.

[Brief description of the drawings]

FIG. 1 is a front view of an emitter / receiver, a reflector, and an object to be detected in a moving shelf facility of the present invention.

FIG. 2 is a plan view of an emitter / receiver, a reflector, and an object to be detected when adjacent moving shelves are separated from each other.

FIG. 3 is a plan view of an emitter / receiver, a reflector, and a detected object when an adjacent moving shelf approaches;

FIG. 4 is a plan view of an upper cutout of a movable shelf;

FIG. 5 is a plan view of the moving shelf equipment.

FIG. 6 is a side view of the moving shelf equipment.

FIG. 7 is a schematic plan view for explaining detection of the other moving shelf moving closer to or away from one moving shelf.

FIG. 8 is a schematic plan view for explaining detection of a moving shelf moving toward and away from a fixed shelf.

FIG. 9 is a schematic plan view of a moving shelf facility in a conventional example.

FIG. 10 is a plan view of a main part of a moving shelf facility in a conventional example.

[Explanation of symbols]

 2 Moving shelf 9 Wheel 10 Rail 20 Emitter / receiver (transmitter / receiver) 22 Reflector 23 Detected object 32 Detected surface 42 Controller 43 Moving shelf equipment

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A47B 53/02 501-502 B65G 1/10 G01V 9/00 G01V 9/04 H03K 17/945

Claims (4)

(57) [Claims] 1. A plurality of movable shelves supported and guided by rails via wheels and reciprocally movable, and one of the movable shelves is provided with:
A transmitter that emits a detection wave and receives a reflected detection wave
A receiver and a reflector positioned on the path of the detection wave are provided, and the other movable shelf is inserted between the transmitter / receiver and the reflector by the approach of one movable shelf for detection. An object to be detected that blocks the path of the wave is provided, and a surface to be detected is formed on the object to be detected by the detection wave radiated from the transmitter / receiver, and either the path of the detected wave or the surface to be detected is formed. Moving shelf equipment characterized in that one is inclined from the direction perpendicular to the other. 2. The object to be detected on the other movable shelf is protruded from the outer surface of one of the movable shelves so as to be overlapped with each other, and when the tip of the object to be detected is detected by the transmitter / receiver, the moving object approaches. 2. The moving shelf according to claim 1, wherein a control device for decelerating and stopping the shelf is provided, and a distance from the tip of the detected object to the front of the other moving shelf is formed longer than a deceleration stop distance of the moving shelf. Facility. 3. The mobile shelf equipment according to claim 1, wherein light is used as a detection wave, and an emitter / receiver of a photoelectric switch is used as a transmitter / receiver. 4. The mobile shelf equipment according to claim 1, wherein an ultrasonic wave is used as a detection wave, and a transmitter / receiver of an ultrasonic sensor is used as a transmitter / receiver.