CN1616323A - Control method for moving racks - Google Patents

Abstract

The present invention relates to several embodiments of moveable partitions and controls that permit smooth operation and parallel movement even when they are trackless and that provide safety in operation in avoiding encounters with unexpected objects without unnecessarily stopping the operation when an object is not actually there.

Description

The control method of moving racks

Technical field

The present invention relates to the method for the motion that a control one movably separates, this separation has that at least one pair of is laterally spaced, the driver element of ground-engaging, so that separate along a parallel path movement.

Background technology

Movably separate and be used for many application, for example, one type separation is a storage storage rack of placing various article.Usually a plurality of these storage racks are positioned in the specific storage area.Yet in many application, the space that fixing storage rack requires is greater than receptible space.

Therefore, the someone proposes by means of wheel storage rack or separation to be installed in orbit, and when not needing passage to add article or taking out from given storage rack, they may be moved into is the relation of an adjacency, with vacating space.Then, when requiring passage, one or more storage racks are removable and form an enterable passageway.In fact, also the someone proposes this motion is provided with power to storage rack.

Yet the use track requires the zone of a special use and increases cost.Therefore, applicant's surrenderee has proposed to use the driving of a plurality of crawler belt shapes to bring supporting and moving to separate or storage rack, therefore, need not use guide track.Yet when storage rack had cooresponding width, requiring had a plurality of bands, and if they to add power and also attempt the motion of keeping parallelism, in them some must be driven at least.A structure like this is presented in cessionary's the common pending application serial number 10/248,686, and it was submitted on February 9th, 2003.

Yet there are such possibility in even then, storage rack: the track that can depart from its requirement owing to various reason storage racks.In order unfavorablely to reduce to minimum with the skew that requires the path with this, above-mentioned application comes all actuating devices synchronously by the common power shaft that all actuating devices of interconnection are provided.Yet, even do like this, after the crank motion of repetition, the micro displacement of the moving track that such factor causes, they can run up to a unacceptable level.Moreover, the error of the unbalanced loading of stored article or machinery can cause storage rack moving with respect to the moving direction run-off the straight that requires.

Such problem even can occur in by rail-guided moving racks.Factor such as the difference of the machinework precision of the part of the unbalanced loading of stored article, drive part can cause big load because of the friction between wheel and the track.This can cause moving along the inhomogeneous of track or impact.

Therefore, an object of the present invention is to provide a control method that is used for moving racks, this moving racks is can be after the crank motion that repeats mobile and do not have a displacement in its mobile route, although load, the machining error of unbalanced stored article are arranged, or suchlike factor, it can eliminate banking motion and wriggling movement.

Summary of the invention

The present invention relates to a method of movably separating and control its motion.Separate driver element, so that separate along a parallel path movement with at least one pair of lateral separation, ground engagement.

This method comprises that the path of detect separating motion and controlling and driving element are to keep all steps of a parallel motion path.

Separate and to have a controller, it detects the path of separating motion and controlling and driving element to keep a parallel motion path.

According to another characteristic of the invention, if the offset collimated direction of motion path, is then just operated the control that the structure of the above-mentioned type is come keeping parallelism greater than a predetermined amount.

According to another feature that also has of the present invention, said structure has a position transduser, and the object that is used for determining not require is between two separations, and the motion of separating is stopped, but only after the correction of the position of a separation has been finished.

Brief description of drawings

Fig. 1 is constructed according to the invention and the plan view from above of an end of a separation mounting seat of control.

Fig. 2 is the longitudinal cross-section figure of end shown in Figure 1.

Fig. 3 is a plan view from above of separating the core of mounting seat.

Fig. 4 is the longitudinal cross-section figure of part shown in Figure 3.

Fig. 5 is a plan view from above of separating the other end of mounting seat.

Fig. 6 is the longitudinal cross-section figure of end shown in Figure 5.

Fig. 7 is two view in transverse section of separating the mounting seat end.

Fig. 8 is a view in transverse section of separating the core of mounting seat end.

Fig. 9 is that direction of observation is identical with Fig. 2 and 5 by the section drawing of the amplification of the axis intercepting of base driving.

Figure 10 is used for sensor block diagram of the present invention.

Figure 11 is the plan view from above of a removable plate of the sensor of the use Figure 10 in a path of control.

Figure 12 is the plan view from above that is similar to Figure 11 partially, is illustrated in the removable plate in another path of control.

Figure 13 a, 13b and 13c are the plan view from above of signal, are illustrated in the various control situations that may exist in the plate motion.

Figure 14 is a chart, illustrates to be used for the various controls of keeping parallelism plate motion and to judge.

Figure 15 a, 15b and 15c partly are similar to Figure 13 a, 13b and 13c, and are the plan view from above of signal, are illustrated in the various control situations that may exist in the plate motion.

Figure 16 is a chart, illustrates how to determine controlled variable.

Figure 17 a, 17b and 17c partly are similar to Figure 13 a, 13b and 13c and Figure 15 a, 15b and 15c, and are the plan view from above of signal, are illustrated in other the control situation that may exist in the plate motion, and the structure of using a different sensor.

Figure 18 is a chart, illustrates how to determine controlled variable.

Figure 19 a, 19b and 19c partly are similar to Figure 17 a, 17b and 17c, and are the plan view from above of signal, are illustrated in other control situation that may exist in the plate motion, and the structure of using different sensors.

Figure 20 is a chart, illustrates how to determine controlled variable.

Figure 21 is the front elevation of the storage rack constructing according to another embodiment of the present invention and operate.

Figure 22 is the part block diagram of sensor construction shown in Figure 21.

Figure 23 is the front elevation that part is similar to Figure 21, and another embodiment that uses a contact type sensor is shown.

Figure 24 is the lateral plan of this embodiment, a plurality of storage racks is shown can how uses the present invention, and storage rack is shown relative to each other assembles.

Figure 25 is the plan view from above that the position of position transduser is shown.

Figure 26 is the front elevation that the amplification of position transduser is shown.

Figure 27 is the lateral plan that position transduser is shown.

Figure 28 is the view of another amplification of position transduser, with solid line its normal position is shown, and is shown in broken lines the position that it moves.

Figure 29 is an electric diagram, is used for explaining how position transduser provides an output signal.

Figure 30 is the plan view from above of the separating system constructing according to another embodiment of the present invention and operate.

Figure 31 is the view of the amplification in circle 31 zones of irising out among Figure 30.

Figure 32 is the view of the amplification in circle 32 zones of irising out among Figure 30.

Figure 33 is a plan view from above, and part is similar to Figure 30, and another embodiment is shown.

The specific embodiment

Now in detail with reference to all accompanying drawings, and at first with reference to Fig. 1-10, one is used for separating the movably driving base of (can comprise that stores storage rack 51) comprises a bedframe 52, and form by the suitable materials processing such as metal sheet, metal sheet is made by iron or suchlike metal, and curve the shape that the cross section is letter U or L, be assembled into the shape of a frame-like.Bedframe 52 comprises and supports the stack-mounted roller shaft, the driver train of their rotation etc., and they remain to be done hereinafter more detailed description.

Bedframe 52 has one and is in a ratio of quite long length with its width.What be bearing in its place, end and its core is the double-type saddle 53 that laterally extends, and watches them to form the shape of an inverted character " Ω " from the side.Bearing or pillow block 54 are fixed between the saddle 53.The bearing 54 axle journal ground supporting driving shafts 55 that the end is right.Be bearing on these double-type bearings 54 with being parallel to these axle drive shafts 55, driven shaft 56 axle journals.

At place, the outer end of bedframe 52, a drive wheel 57 be fixed on each axle drive shaft 55 between the double-type saddle 53 (as among Fig. 7 clearly shown in).For power being provided for each axle drive shaft 55, a gear 58 is fixed therein the outside of a saddle 53.One motorized motions motor 59 by a suitable supporting member be fixed on each gear near.One miniature gears 61 is fixed on the output shaft of motor 59, and miniature gears and gear 58 engagements are so that driven wheel 58 and drive wheel 57.Preferably motor 59 has the transmission device of the one of the velocity of rotation that is used for reducing motor 59, and the output of motor is also further slowed down by miniature gears 61 and gear 58, so that bigger driving power to be provided.

As shown in Figure 7, driven shaft 56 is parallel to that axle drive shaft 55 is provided with and along the moving direction of moving racks 51.One flower wheel 62 is fixed on the driven shaft 56 between the double-type saddle 53.Flower wheel 62 has the diameter identical with drive wheel 57.

One the band shape on-cycle orbital member 63 be looped around drive wheel 57 and flower wheel 62 around.On-cycle orbital member 63 contacts with 64 surfaces, floor of moving racks 51 supportings.Therefore, when drive motor 59 operations, by the operation of orbital member 63, band will 64 drivings separate 51 along the floor.

Although they do not give power, identical belt track spare 63 and bogie wheel are positioned at selected place together with bearing and axle along frame assembly 52, with the weight (shown in Fig. 3,4 and 8) of supporting separation between the flower wheel of locating in the end of frame assembly.Because structure is identical with driven member in addition, so, adopted identical label to represent identical part.Reason further describes these extra supporting structures and is considered to unnecessary for this reason.Be installed in an end place of frame assembly 52 just like control path shown in Fig. 1 and 2 and wiring board 65, so that control the operation of motor 59.To describe the method for this structure and this structure of operation below in detail.

Therefore, as mentioned above, on-cycle orbital member 63 be enclosed in drive wheel 57 and flower wheel 62 external peripheral surface around so that drive wheel 57 is connected with the orbital member 63 that flower wheel 62 is recycled.Drive wheel 57 driven by motor 59 and along forward and direction backward rotate, so moving racks 51 moves on floor 64.When moving racks 51 moves, shown in Fig. 3,4 and 8, do not have driven double-type flower wheel 62 and be enclosed in these flower wheels 62 on-cycle orbital member 63 on every side to rotate thus yet.

Preferably, be enclosed in drive wheel 57 and external peripheral surface driven and that do not have driven double-type flower wheel 62 on-cycle orbital member 63 on every side, it is the band of profile of tooth, to prevent slip on drive wheel 57 or flower wheel 62, and drive wheel 57 and flower wheel 62 are such wheels, and its tooth that respectively has orbital member 63 can be coupled to the groove of complementation wherein.Yet even so, on-cycle orbital member 63 may be with respect to drive wheel 57 and flower wheel 62 displacement in axial direction.Therefore, require to provide certain type the device that prevents displacement.This can be by providing many beads to be solved on the two edges of drive wheel 57 and flower wheel 62.Yet, on-cycle orbital member 63 as the present invention with system that floor surface contacts in, the overhang of bead must be less than the thickness of on-cycle orbital member 63.This may be not enough to prevent the longitudinal travel of on-cycle orbital member 63.

Therefore, preferably adopt as shown in Figure 9 structure prevents displacement as one of on-cycle orbital member 63 measure.As shown in the figure, the bottom side of the bedframe 52 of moving racks is the L shaped angle-shaped piece of fixing 66, and the side surface that the one edge on-cycle orbital member 63 extends vertically downward.Such angle-shaped piece 66 is fixing in couples, makes the side surface of one side of each these angle-shaped pieces 66 along on-cycle orbital member 63.Double-type angle-shaped piece 66 can move along the dual-side of drive wheel 57 and/or flower wheel 62.

Because on-cycle orbital member 63 causes mobile storage rack 51 to move along the direction of on-cycle orbital member 63, so the storage rack 51 that moves can be in a straight line along moving perpendicular to its fwd direction.Therefore, the storage rack 51 that moves can directly be placed on the floor surface, need not use the track of guiding.That is, realize a railless moving racks.Moreover, because the storage rack that moves 51 load own are applied to load on the mobile storage rack with the article that are stored in the moving racks, comprised that those do not have the rail mechanism that moves of driven parts to support, so, the load that is applied on the unit area of floor becomes less, like this, the storage rack that moves can be installed, and need not the reinforcement on floor.

Yet, can produce a problem, other factor (its example will be described below) can cause storage rack 51 to move on a parallel inadequately path, and makes its inclination that can become.For avoiding this point, in the commonly assigned application serial no of submitting on February 9th, 2,003 10/248,686, propose, all axle drive shafts are connected to each other, do not move along a straight line so that there is the track storage rack.Yet, because the error of part processing precision, the unbalanced loading of stored article etc., the storage rack that moves can be according to continuous motion displacement slightly, or the storage rack that moves tiltably or sinuously moves.

Therefore, in the present invention, the driver train and the on-cycle orbital member 63 that respectively have a drive wheel 57 are arranged on the both ends of mobile storage rack 51 independently.The displacement that the moving direction of the storage rack 51 mobile with respect to the edge extends with reference to body, detect by the sensor that is arranged on the mobile storage rack 51, and independent driver train, specifically, their drive motor 59 is controlled independently in response to the displacement that detects.It is reciprocating that the storage rack 51 that this permission is moved is followed a path of stipulating always.

Figure 10 illustrates one in the present invention as the example of the optical pickocff of a sensor.As shown in figure 10, guiding figure 68 sign on the surface on the storage rack that moves 51 floor mounted thereto, its as the displacement that is used for detecting mobile storage rack with reference to body.Guiding figure 68 is made by the material that the floor surface with respect to sign has a high contrast ratio, or makes by comparing to the material that floor surface has a high light reflective.Guiding figure 68 can indicate with lacquer, maybe can be one to be attached in the band on the floor.Perhaps, can use a steel plate or suchlike material.In any case, guiding figure 68 should have edge clearly on both sides.

One sensor unit 69 is arranged on guiding figure 68 tops with relative relation.Sensor unit 69 has a pair of light source 71 and 72, and they are suitable for illumination near its outer peripheral guiding figure 68.For example, light source 71 and 72 can be lamp, LED or suchlike light source.

Sensor unit 69 also has a pair of light receiving element 73 and 74.Light is accepted unit 73 and 74 and is accepted the reflected light that sends from the guiding figure 68 near its edge.Be provided with light source 71 and 72 respectively illumination light accept the light region of acceptance of unit 73 and 74.For light receiving element 73 and 74, can adopt optical diode, photosemiconductor, solar cell and other suitable photosensor.

Referring now to Figure 11 and 12, they schematically illustrate sensor 69 and are applied to have railless moving racks 51 as the structure of Fig. 1-9 shown type.As mentioned above, storage rack 51 is provided with on-cycle orbital member 63, and has the motor 59 of its drive source of conduct of operating independently in the at both ends portion.In order to survey along the edge of the guiding figure 68 of the moving direction sign of the storage rack 51 that moves, two sensor units 69 are arranged on the preceding and rear portion of mobile storage rack 51 along the moving direction of the storage rack 51 that moves.Each sensor unit 69 has light receiving element 73 and 74, so that survey the edge of guiding figure 68.Light receiving element 73 and 74 in this embodiment is types of surveying reflection light quantity.

As mentioned above, according to output along the sensor unit of moving direction on the front side of the storage rack 51 that moves, and the output of the sensor unit on rear side, control setup is controlled the motor 59 on a left side and the right independently.Control setup is included in the control circuit board 65 (do not give in above-mentioned figure and illustrating), and can be made of the circuit that comprises microcomputer, and described microcomputer is made up of microprocessor, ROM, RAM etc.The control operation of control setup will be described below.

This embodiment is characterised in that left and right drive motor 59 is the output of the sensor unit 69 of basis on the front side of the moving direction of the storage rack that moves basically, and the output of the sensor unit on rear side 69, controls independently.In the example shown in Figure 11 and 12, the ratio of the light quantity that the light quantity of accepting by a light receiving element 73 of surveying the sensor 69 on the front side of the moving direction of the storage rack 51 that moves is accepted for another light receiving element 74, a may command left side and right motor are so that the light quantity that a light receiving element 73 of the sensor 69 on the front side of the moving direction of the storage rack 51 that moves is accepted becomes 1 for the ratio of the light quantity of another light receiving element 74 acceptance.

Control method is done more specifically to explain together with Figure 14 with reference to Figure 13 a, 13b and 13c.At first, carry out control so that the light receiving element 73 of the sensor 69 on the front side of moving direction and 74 light quantities of accepting become equal.Here supposition: when the edge of guiding figure 68 crosses the center of light region of acceptance of light receiving element 73 and 74, set light receiving element 73 and 74 light quantities of accepting become equal.

For the sake of simplicity, in Figure 13 a, 13b and 13c and Figure 14, light receiving element 73 is expressed as " 1 ", and light receiving element 74 is expressed as " 2 ".Shown in Figure 13 a, if two edges of guiding figure 68 cross the center of the light region of acceptance of light receiving element 1,2, then the output of light receiving element 1,2 be medium, shown in the row of a among Figure 14, the control of left and right motor 59 need not be repaired, and therefore is judged as " OK ".Then, as shown in figure 11, the control of left and right motor 59 equates.

Yet, shown in Figure 13 b, if the light region of acceptance of light receiving element 1,2 is displaced to the right with respect to guiding figure 68, then the light receiving element 1 of on the left side (observing along moving direction) is accepted more reflected light from guiding figure 68, and light receiving element 2 is on the right accepted less reflected light from guiding figure 68, and then, the output of light receiving element 1 becomes " greatly ", the output of light receiving element becomes " little ", shown in the row of the b among Figure 14.Because this demonstrates 51 biasings of mobile storage rack and (observes along moving direction) to the right.This operation is shown among Figure 12.The storage rack 51 that moves moves to left, and reaches up to the situation shown in Figure 13 a, for example, by controlling the speed of a left side and right motor 59, or temporarily stops the driving of right motor 59.

On the other hand, if the light region of acceptance of light receiving element 1,2 is displaced to the left side (shown in Figure 13 c) with respect to guiding figure 68, then the output of light receiving element 1 becomes " little ", and the output of light receiving element 2 becomes " greatly ", shown in the row of the c among Figure 14.Because this demonstrates 51 biasings of mobile storage rack and (observes along moving direction) left, so the storage rack 51 that moves moves to right, reach up to the situation as shown in a row, for example, by controlling a left side and the speed of right motor 59, or temporarily stop the driving of left motor 59.

Like this, carry out control so that have a predetermined value in output along the light receiving element 1,2 of the sensor unit on the front side of moving direction, then, a control left side and right motor 59 independently are so that along the output of the light receiving element 1,2 of the sensor unit on the rear side of moving direction unanimity each other.In the situation shown in Figure 15 a, 15b and the 15c, the storage rack 51 that moves is controlled as described above along the position of side direction, and is consistent each other in the output along the light receiving element 1,2 of the sensor unit on the front side of moving direction.In the situation shown in Figure 15 a, also consistent each other in output along the double-type light receiving element 1,2 of the sensor unit on the rear side of moving direction, and the storage rack 51 that moves is positioned at a predetermined place, and like this, can judge does not have run-off the straight campaign or wriggling movement.Therefore, shown in the row of a among Figure 16, be judged as " OK ", the control of left and right motor 59 need not corrected.

On the contrary, shown in Figure 15 b, be displaced to the right (as along shown in the moving direction) with respect to guiding figure 68 at double-type light receiving element 1,2 along the sensor unit on the rear side of moving direction 69.In this case, shown in b row among Figure 16, the output that light is accepted unit 1 becomes greatly, and that the output of light receiving element 2 becomes is little, like this, can judge mobile storage rack and move to left obliquely.Then, the inclination of the storage rack 51 that correct to move up to the situation that reaches shown in Figure 15 a, for example, by controlling the speed of a left side and right motor 59, or temporarily stops the driving of right motor 59.

Shown in Figure 15 c, also suppose at double-type light receiving element 1,2 to be displaced to the left side (as along shown in the moving direction) with respect to guiding figure 68 along the sensor unit on the rear side of moving direction 69.In this case, shown in c row among Figure 16, the output that light is accepted unit 1 becomes little, and the output of light receiving element 2 becomes greatly, like this, can judge mobile storage rack and move to right obliquely.Then, the inclination of the storage rack 51 that correct to move up to the situation that reaches shown in Figure 15 a, for example, by controlling the speed of a left side and right motor 59, or temporarily stops the driving of left motor 59.

As mentioned above, if according to along the output of the sensor unit 69 of moving direction on a rear side control left side and right motor 59, then along the position of the sensor unit 69 of moving direction on the front side with respect to the figure displacement of leading.Therefore, the storage rack that control is moved reaches such situation, wherein, by repeatedly controlling according to the output of front sensor unit 69 with according to the output of back sensor unit 69, does not have the motion of run-off the straight.

The control of summarizing the storage rack 51 that moves, at first, the relatively left side on the front side and the output (unless they are consistent) of right light receiving element is controlled a left side and right drive motor 59, independently till reaching unanimity each other.Then, relatively along the left side of moving direction on rear side and the output of right light receiving element (unless they are consistent), further control a left side and right drive source independently, till reaching unanimity each other.Like this, by according to the output along the light receiving element of moving direction on preceding and rear side, control a left side and right drive source independently, improve the precision of control, its result prevents bevelled motion and sinuous motion.

These are controlled available suitable control setup and carry out, for example, control setup is made of a microcomputer, and this computing machine has the read-only memory (ROM) (ROM) of a central processing unit (CPU), a stored routine, the random access memory (RAM) of a storage data etc.In such control setup, CPU relatively or calculate the signal that detects from sensor designs program so that a left side and right drive source are controlled independently according to the result of CPU, till the output that sensor detects is consistent.

Now will describe the variable of sensor unit, and a control setup and uses the control method of the storage rack that variable is used to move.At first, with reference to Figure 17, the first and second light receiving element groups that are installed on the front side of mobile storage rack 51 are represented with label 75 and 76.Each light receiving element group 75 and 76 is made up of a pair of light receiving element.The light receiving element of the first light receiving element group 75 is expressed as 1,2, and the light receiving element of the second light receiving element group 76 is expressed as 3,4.The light region of acceptance of light receiving element 1,2 contacts transverse to each other.These light regions of acceptance are positioned near the left hand edge of guiding figure 68.On the other hand, the light region of acceptance of light receiving element 3,4 is also contact laterally each other, and these light regions of acceptance are positioned near the right hand edge of guiding figure 68.

Figure 18 illustrates the controlled variable that is used for native system and method.The a of Figure 18 row illustrate on the contact point of light region of acceptance of light receiving element 1,2 that left hand edge when guiding figure 68 is positioned at the first light receiving element group 75, and the left hand edge of guiding figure 68 is when being positioned on the contact point of light region of acceptance of light receiving element 3,4 of the second light receiving element group 76, the output of light receiving element 1,2,3,4 is shown in Figure 17 a.Here, whether the light quantity difference of acceptance is higher than certain level according to it, a medium level, or be lower than medium level and have nothing in common with each other.If higher, these outputs are represented with " zero ", and medium level is expressed as " △ ", if lower, is expressed as " * ".

Shown in the row of a among Figure 18, if the output of light receiving element 1,2,3,4 is expressed as " * zero zero * ", judge that then moving racks does not have the displacement of side direction, and do not need executing location to correct control.

On the other hand, shown in the row of the b among Figure 18, if the output of light receiving element 1,2,3,4 is expressed as " △ zero △ * ", then the storage rack 51 of Yi Donging is in such situation, wherein, it is displaced to along the left side (shown in Figure 17 b) at the place, front side of moving direction.Then, in control formerly, the storage rack 51 that moves moves to right, and up to a preposition that reaches shown in Figure 17 a, for example, by controlling the speed of a left side and right motor 59, or temporarily stops the driving of right motor 59.

On the other hand, shown in the c among Figure 18 row, be expressed as in the situation of " * △ zero △ " in the output of light receiving element 1,2,3,4, the storage rack that moves is in such situation, wherein, it is displaced to along the right (shown in Figure 17 c) at the place, front side of moving direction.Then, in control formerly, the storage rack 51 that moves moves to left, and up to the position that reaches the reference shown in Figure 17 a, for example, by controlling the speed of a left side and right motor 59, or temporarily stops the driving of left motor 59.

Referring now to Figure 19 a, 19b and 19c, two light receiving element groups 75 and 76 that have with previous sensor unit same structure are installed on the rear side of mobile storage rack 51.One first light receiving element group 75 has light receiving element 1,2, and one second light receiving element group 76 has light receiving element 3,4.The light region of acceptance of light receiving element 1,2 is contact laterally each other, and these light regions of acceptance are positioned near the left hand edge of guiding figure 68.The light region of acceptance of light receiving element 3,4 is also contact laterally each other, and these light regions of acceptance are positioned near the right hand edge of guiding figure 68.

Shown in Figure 19 a, if the left hand edge of guiding figure 68 is positioned on the contact point of light region of acceptance of light receiving element 1,2 of the first light receiving element group 75, and the right hand edge of guiding figure 68 is positioned on the contact point of light region of acceptance of light receiving element 3,4 of the second light receiving element group 76, then light receiving element group 75 on the rear side of the moving direction of the storage rack that moves and 76 output becomes identical with the output of light receiving element group 75 on the front side of the moving direction of mobile storage rack and 76.At this moment, shown in the row of a among Figure 20, output along the light receiving element 1,2,3,4 of the sensor unit on the rear side of moving direction 75 and 76 is expressed as " * zero zero * ", then judge moving racks to have an attitude and do not have bevelled motion, like this, left and right motor 59 need not corrected control.

On the other hand, shown in Figure 19 b, if the rear side along the moving racks of moving direction is displaced to the right with respect to moving direction, then shown in the row of the b among Figure 20, be expressed as " △ zero △ * " along the output of the light receiving element on the rear side of moving direction 1,2,3,4.Can judge from output, moving racks favours the left side.Then, carry out control, for example, by controlling the speed of a left side and right motor 59, or temporarily stop the driving of right motor 59, so that correct inclination up to the reference position that reaches shown in Figure 19 a.

On the other hand, shown in Figure 19 c,, then shown in the row of the c among Figure 20, be expressed as " * △ zero △ " along the output of the light receiving element on the rear side of moving direction 1,2,3,4 if be displaced to the left side along the rear side of the moving racks of moving direction.Can judge from output, moving racks favours the right.Then, carry out control, for example, by controlling the speed of a left side and right motor 59, or temporarily stop the driving of left motor 59, so that correct inclination up to the reference position that reaches shown in Figure 19 a.

Therefore, adopt present embodiment, by being controlled at a left side and the right motor 59 on the rear side, be formed in light receiving element group 75 on the front side of moving direction and 76 light receiving element 1,2,3,4, with respect to the guiding figure 68 from the reference position displacement, like this, the storage rack that moves is controlled to such situation, wherein, by carrying out repeated control according to the output of preceding light receiving element group 75 and 76, and carry out repeated control according to the output of back light receiving element group 75 and 76, there is not banking motion to take place.With regard to being used for carrying out the control setup of such control purpose, can use such as above-mentioned microcomputer.

Has control setup in control method and being used for as the no track moving racks of Figure 17 and light receiving element group 75 shown in Figure 19 and 76, owing to observe the edge of guiding figure 68 always, whether be positioned between the double-type light receiving element, so from detect from the difference the output of double-type light receiving element, may detect in addition trickle location on displacement.This allows a left side and right motor 59 that trickle control is arranged, thus, and the displacement in very little scope on the location of correction moving racks, bevelled motion and the motion of wriggling.

Guiding figure on the floor has so been described.Yet the guiding figure can be arranged on moving racks 51 tops, and its example is shown among Figure 21 and Figure 22.Figure 21 is actually first figure that shows the separation structure that is positioned at base 52 tops.Because except the position of sensor, the structure of base 52 is with previously described identical, so, will not remake description.

As Figure 21 and shown in Figure 22, sensor unit 77 is attached on the top board 78 of moving racks 51.The structure of sensor unit 77 can be with any one be identical in the foregoing description.Above sensor unit 77, fix, arrange a plurality of hangers 79 along the moving direction of moving racks, they are connected on top ceiling, beam, post or the relative wall, and on other suitable structure of moving racks 51 installable buildings.The one parts (not shown) that projects upwards from moving racks 51 engages with hanger 79 and moves along hanger 79, keeps straight up to guarantee moving racks 51.The bottom faces of hanger 79 is to sensor unit 77, and the guiding figure 80 of aforesaid any kind is placed on the bottom of hanger 79.

As shown in figure 22, sensor unit 77 has a smooth radiating portion 81 and a light is accepted part 82, and the former is used for towards guiding figure 80 emissive lighting light, and the latter is used for accepting the light of the illumination reflection of light that sends from guiding figure 80.Light is accepted part 82 and can be made up of certain type the light receiving element that is used for surveying from the light quantity of as shown in figure 10 guiding figure 80 reflections, or is made up of certain type light receiving element of a left side that is used for surveying guiding figure 80 as shown in figure 17 and right hand edge.

Now, describe one and use the embodiment of mechanical pick-up device as sensor with reference to Figure 23 to Figure 29.At first, with reference to Figure 23 and Figure 24, they illustrate the outside according to the moving racks of present embodiment, and this moving racks is still represented with label 51.Moving racks 51 has the mechanical sensor 83 that is attached on the top board 78, and this type sensor will be described hereinafter.Hanger receiver 84 is fixed on the direction of the degree of depth of moving racks 51, with covering sensor 83.Hanger receptor 84 is to have the channel-style parts that a cross section is a hat.

Hanger 85 extends through hanger receiver 84 along the parallel motion direction of moving racks 51.Hanger 85 is made by the pipe of a square-section, and is supported by suitable bearing set (not shown), for example, and between a pair of fixing storage rack, or by a wall, or the top ceiling of the building of moving racks 51 installations.Usually, a plurality of moving racks 51 are arranged on the public hanger 85, and like this, they can be shifters adjacent one another are as shown in figure 24, or separated from one another.Hanger 85 extends through the hanger receiver 84 of all moving racks 51 that constitute one unit.The travel mechanism of moving racks 51 or driver train have and the previous described structure identical construction shown in Fig. 1 to 9.In Figure 25 to Figure 27, a post of label 86 expression moving racks 51, and the side plate of label 87 expression moving racks 51.

To the structure of sensor 83 be described in more detail in particular with reference to Figure 25-27 below.One base plate 88 be fixed on the top board 78 of moving racks 51 and along level to extension.Being installed on the base plate 88 is the lower member 89 of hanger receiver, in the front and rear of moving racks 51, respectively bends to hat.The be draped front-end and back-end of device receiver 84 of the lower member 89 of these hanger receivers cover.The lower member 89 of hanger receiver and the left end and the right-hand member of hanger receiver 84 are fixed on the base plate 88 with suitable threaded fasteners.

The space of hanger 85 by surrounding by the lower member 89 of hanger receiver 84 and hanger receiver, and between the lower member 89 of hanger receiver 84 and hanger receiver, keep a gap.Moving racks 51 moves together with the lower member 89 of hanger receiver 84 and hanger receiver usually, and does not contact with hanger 85, because this structure is set mainly for purpose of safety, in case stop dropping.Yet, if the inclination but moving racks 51 becomes for a certain reason, just the lower member 89 of hanger receiver 84 or hanger receiver contact with hanger 85, so, prevent that moving racks 51 from falling.

In the position near front-end and back-end, fenestra 91 (Figure 27) is formed on the side of hanger receiver 84, and like this, the placement of mechanical sensor is not interrupted.For the layout of sensor 83, a pair of back plate 92 traverses each fenestra 91 and upwards lifts and face with each other.

One variable resistance 93 as sensor body is fixed on in the double-type back plate 92 one, and one of variable resistance 93 rotates actuating spindle 94 by another back plate 92 supportings, so that rotate.One rises towards a side of hanger 85 integratedly from rotating actuating spindle 94 upwardly extending levers 95.At the head or the top of lever 95, a flat roller 96 is installed, so that rotating lever 95.Rotate actuating spindle 94 and lever 95 and setovered, so that roller 96 is kept in touch with a side of hanger 85 all the time such as a spring or suchlike suitable bias unit.These back plates 92, variable resistance 93 and roller 96 partly are exposed to the outside of hanger receiver 84 by fenestra 91.Therefore, the component set-up mechanical sensor 83 that comprises back plate 92, variable resistance 93, roller 96 and lever 95.Sensor 83 is arranged on the front and rear of moving racks 51.

Because mechanical sensor 83 is constructed as described above, so if the relative position displacement laterally of 51 pairs of hangers 85 of moving racks, the variable in distance between the side of hanger 85 and the roller 96 then causes the pivoting action of lever 95.Therefore, 85 of hangers do one be used for detecting the moving racks displacement with reference to body.Figure 28 illustrates lever 95 and how can tilt along both direction.When moving racks 51 is positioned at a reference position with respect to hanger 85, adjust lever 95, so that lever 95 has just like the vertical attitude shown in Figure 28 solid line.If moving racks 51 departs from reference position towards the left side, then lever 95 the right in Figure 28 tilts, and if moving racks 51 departs from reference position towards the right, then the left side of lever 95 in Figure 28 tilts.Because the turned position of the rotation actuating spindle 94 of variable resistance 93, change according to the inclination of lever 95, so the resistance value of variable resistance 93 will change.

As shown in figure 29, certain voltage vcc is being applied between variable-resistance two terminals on the variable resistance 93, to form a potentiometer.In response to mobile position contacting, obtain an output voltage V o from variable outlet terminal.When moving racks 51 was positioned at a reference position, this output voltage V o was set at a reference value, if lever 95 favours a left side or the right shown in the dotted line among Figure 28, then output voltage V o from reference value change to one on the occasion of or negative value.Therefore, from the variation of output voltage V o, may detect the lateral of moving racks 51 displacements, and control independently in response to this signal that detects as the motor 59 of a left side and right drive source, make output voltage V o consistent with reference value, thus, eliminate the displacement or the bevelled motion of the location of moving racks 51.

So the embodiment that describes is such system, wherein, with respect to the displacement on the moving direction that is positioned at moving racks, survey by the sensor that is arranged on the storage rack with reference to body, and wherein, left and right drive source in response to the displacement that detects by sensor Be Controlled independently.In such control method, a left side and right side drive source are controlled independently, and like this, if storage rack moves obliquely, then sensor is surveyed the bevelled motion and sent an instruction and correct it.Therefore, storage rack moves with minimum or nonangular motion.Yet, owing to correct the control operation of banking motion, promptly be arranged on the speed control operation of the drive wheel on a storage rack left side and the right side independently, carry out discretely from start to finish, therefore, can imagine that storage rack may jolt in its motion, its left side and right side relative to each other and or front or rear moving.In order to eliminate this shortcoming, can preferably adopt the structure among the embodiment shown in following Figure 30-33.

The structure of this embodiment and the something in common of any one structure in the foregoing description are that drive wheel and its drive source are arranged on the left side and right side of storage rack independently.Something in common also is, with respect to the displacement of reference body, is surveyed by the sensor that is arranged on the moving racks.Yet sensor arrangement becomes to survey the degree of displacement with respect to the reference body, to detect the banking motion amount of moving racks.

According to this embodiment, become such as the control arrangement of CPU and the like: if the banking motion amount of being surveyed by sensor within the range of permission, then a left side is controlled with identical velocity of rotation in one " parallel motion pattern " independently with right drive source.Yet if the banking motion amount of being surveyed by sensor exceeds the scope of permission, a left side is controlled with different velocities of rotation in one " banking motion correction pattern " independently with right drive source, to eliminate the bevelled motion.

" parallel motion pattern " is such operation mode, and wherein, the drive source control rate ground that is arranged on independently on a left side and the right side drives a left side and right wheel, and two-wheeled speed each other equates so that moving racks moves abreast." banking motion correction pattern " is such operation mode, and wherein, the velocity of rotation of the drive wheel on the side of the moving racks that moves before moving direction reduces, or wherein, the velocity of rotation of the drive wheel on the side that moves behind the moving direction increases.

Now particularly with reference to Figure 30 to 33, two adjacent storage racks are respectively represented with identical label 101.In Figure 30, the storage rack 101 on the right side be arranged in perpendicular to its moving direction and without any the desirable attitude of banking motion.Yet the storage rack 101 on the left side moves obliquely or with respect to moving direction on the bias.Each moving racks 101 is provided with as mentioned above a driving 63 and a drive motor 59.Because above-mentioned all parts are identical with previous described parts, so, as before having used, use identical label to identify these parts.For the parallel motion of storage rack 101, motor 59 is that control rate ground drives, and by any suitable control setup it is rotated each other with identical speed.This operation mode promptly is above-mentioned " parallel motion pattern ".

Two storage racks 101 link to each other with reference to body 102 with two, extend with reference to the moving direction of body along storage rack 101, and the given spacing of being separated by parallel to each other.With reference to body 102 have with the foregoing description in reference to the body identical functions, and can be arranged on below the storage rack 101, that is, on moving racks floor mounted thereto, or above storage rack 101.Shown in example in, it is arranged on storage rack 101 tops.

Each storage rack 101 has and a pair ofly is used for detecting with respect to one of them sensor 103 and 104 with reference to the displacement of body 102.For the detection method of the sensor among this embodiment 103 and 104, use a mechanical sensor, its principle is identical with the mechanical sensor shown in Figure 24-29, but the present invention is not limited to this.

That is, shown in figure 32, with reference to one of them sensor 103, it has a connecting element 105 that is fixed on the storage rack 101, and a lever that rises, it is used for doing hunting motion from connecting element 105, and is biased and the roller 106 at top is contacted with a side surface with reference to body 102.Similarly, another sensor 104, it has a connecting element 107 that is fixed on the storage rack 101, and a lever that rises, and it is used for doing hunting motion from connecting element 107, and is biased and the roller 108 at top is contacted with a side surface with reference to body 102.

Double- type sensor 103 and 104 is arranged on the front and back of moving racks 101 with given spacing.These sensors 103 and 104 are similar to the mechanical sensor in the foregoing description, they have variable resistance, its resistance value changes in response to the angle of inclination of lever, and this constitutes a potentiometer, and it is configured to: output voltage changes in response to the angle of inclination of lever.

If a moving racks is similar to the storage rack 101 shown in Figure 30 and is positioned on the right side, it does not tilt perpendicular to reference body 102, then double- type sensor 103 and 104 attitudes that have as shown in figure 31, and the lever of sensor is vertically stood approx.Therefore, the output voltage difference between two sensors is approximately 0V.

On the other hand, if a moving racks is similar to the storage rack 101 shown in Figure 30 and is positioned on the left side, because its bevelled motion, it tilts with respect to reference body 102, and then double-type sensor 103 and two levers of 104 tilt along a certain direction shown in figure 32.Yet because double- type sensor 103 and 104 is provided with at interval at a certain distance along moving direction, the tilt quantity of double- type sensor 103 and 104 lever is different, causes the voltage output between two sensors 103 and 104 to have voltage difference.Then, if the output of one of them sensor deducts from the output of another sensor, then the direction of tilt of moving racks can be judged from the result who subtracts each other, and subtracts each other the result and can be plus or minus, and judge the voltage difference of the output of the big I of bevelled between two sensors.

Therefore, in this embodiment, the tilt quantity of moving racks can detect from the output of sensor, promptly, detect the banking motion amount, if detected banking motion amount within a scope that allows, then a left side and right drive source are controlled in above-mentioned " parallel motion pattern " independently.Moreover if the banking motion amount of surveying exceeds the scope of permission, then a left side and right drive source are controlled in above-mentioned " banking motion correction pattern " independently, to eliminate the bevelled motion.Specifically, control is arranged on a left side and the motor on the right side 59 of moving racks independently, so that mobile the moving faster than front face side of back side.Motor on the mobile in front side can slow down, and the motor on the mobile in the back side can quicken, or the speed of two motors can side by side be controlled.

In the above-described embodiment, when moving racks is driven,, and do not carry out the control on a left side and the right side of acceleration moving racks 101 because the maintenance of the velocity of rotation of motor is constant in " parallel motion pattern ", so moving racks 101 moves reposefully and does not jolt.If banking motion is within a scope that allows, then the storage rack of Yi Donging is still done a parallel motion, and the bevelled motion is remained within the scope that allows.

Even moving racks 101 is mobile obliquely because of the offset placed load after the crank motion that repeats, as long as but the banking motion amount that detects within certain allowed band, moving racks then is driven in " parallel motion pattern ".Up to the scope of banking motion amount above certain permission, " banking motion correction pattern " just carried out in control operation, to eliminate banking motion.

If banking motion is corrected within the scope of permission, then moving racks is driven in " parallel motion pattern " again.Here, be preferably, to the change point of " parallel motion pattern ", a sluggishness be set at change point and from " banking motion correction pattern " from " parallel motion pattern " to " banking motion correction pattern ".For example, be preferably, if banking motion surpasses certain allowed band, then control change is to " banking motion correction pattern ", and in " banking motion correction pattern ", when banking motion fell in the scope of permission, control did not transform to " parallel motion pattern " immediately, but when in fact banking motion is eliminated, may be shifted into " parallel motion pattern ".

Have in the moving racks of sensor of light access passage one, be preferably, execution transforms to the maxim of the banking motion amount of " banking motion correction pattern ", and the sensor that the banking motion amount should be set in the light access passage can be finished in the scope of its function therein.

Referring now to Figure 33, an example that makes with the sensor of light access passage shown in the figure moves between two adjacent separations to determine whether people or object.In such structure, in Figure 33, light radiating portion 111 is placed on the apparent surface of adjacent moving racks 101,101, to launch light beams from a moving racks 101 towards another moving racks 101.Be positioned on the opposite face of another moving racks 101 in the face of these light radiating portions 111, the light that is used for accepting light beam be set accept part 112.In the example of Figure 33, on one in the left side of moving racks 101 and right-hand member, light radiating portion 111 is set, and being set, light accepts part 112 on the other end.

If people or other obstacle enter the servicesubway that is formed between two moving racks 101,101, then light beam is stopped by people or other obstacle, thereby can detect entering of people or other obstacle.If all moving racks promptly stop in response to this signal that detects, then can guarantee safety.The sensor of so smooth access passage is widely known in the technical field of moving racks, therefore will omit detailed description.

For the sensor of the light access passage of finishing its function, requirement can be accepted part 112 by the light on another moving racks 101 from light radiating portion 111 emitted light beams on the moving racks 101 and accept.Yet if the banking motion quantitative change of moving racks is big, from the light shaft offset of light radiating portion 111 emitted light beams, and light is accepted part 112 and can not be accepted light beam.This produces as light beam identical result when being stopped by people or other obstacle, and what cause that moving racks moves promptly stops.

In addition, in order to turn back to normal condition from urgent halted state, the banking motion of moving racks need be repaired, and for example, by manpower, it is the work of a trouble.Therefore, according to another characteristic of the invention, set control like this: if accept to detect certain banking motion amount part 112 can not receive light beam from light radiating portion 111 before at light, then control change is to " banking motion correction pattern ".

The sensor of light access passage can be arranged to: light radiating portion and light are accepted part and only are arranged on the moving racks, by a specular reflection on another moving racks, and light receiving element mounted thereto is accepted beam reflected from light radiating portion emitted light beams.

Therefore, from above description, can easily understand, described embodiment provides and movably separates and control, they allow to operate reposefully and motion (even they are railless) abreast, and safety is provided in operation, avoid suffering from undesirable object, when in fact object does not exist, need not unnecessarily shut-down operation.Certainly, those skilled in the art will easily understand, described embodiment is the form of the admissible demonstration of the present invention, under the prerequisite that does not break away from the spirit and scope of the present invention that defined by appended claims, can make various variations and remodeling.

Claims (22)

1. one control the movably method of the motion of separation, separate driver element with at least one pair of lateral separation, ground engagement, so that separate along a parallel path movement, described method comprises and detects the path of separating motion and controlling and driving element to keep all steps of a parallel motion path.

2. the method for claim 1 is characterized in that, as long as motion path is parallel, all driver elements are driven with identical speed.

3. method as claimed in claim 2 is characterized in that, as long as the motion path parallel deviate is no more than a predetermined amount, all driver elements are driven with identical speed.

4. method as claimed in claim 3 is characterized in that, if the motion path parallel deviate surpasses a predetermined amount, then all driver elements are driven with different speed.

5. method as claimed in claim 2, it is characterized in that, one detector is set determines that a undesirable object is whether in the path of separating, and significantly survey discretely the controlling and driving element to separate to move in response to one, whether to observe this detection is the error that is caused by the orientation of separating, and after the predetermined correction of separating motion stopped, whether situation still existed.

6. one control the movably method of the motion of separation, separate driver element with at least one pair of lateral separation, ground engagement, so that separate along a parallel path movement, described method comprises following all steps: detect a undesirable object with optical means and when be moved in the path of separating motion, and significantly survey discretely the controlling and driving element to separate to move in response to one, whether to observe this detection is the error that is caused by the orientation of separating, and after the predetermined correction of separating motion stopped, whether situation still existed.

7. one movably separates, it has the driver element of at least one pair of lateral separation, ground-engaging, so that move described separation along a parallel path, one sensor is used for detecting the path of separating motion, and one controller differently operate described driver element in response to the output of described sensor so that the motion path of keeping parallelism.

8. as claimed in claim 7ly movably separate, it is characterized in that sensor comprises the sensor of an optics, its with respect to separation and the cooperation of fixed path guiding device.

9. as claimed in claim 7ly movably separate, it is characterized in that, the side-play amount in sensor parallel deviate path, and if side-play amount greater than a predetermined amount, just operate driver element discretely.

10. movably separation as claimed in claim 7 is characterized in that, an optical pickocff provides an indication one undesirable object to be positioned at the indication information in the path of separation, if detect an object, then stops this driver element.

11. movably separation as claimed in claim 10 is characterized in that controller is at first differently operated driver element, if this does not stop to survey, then driver element stops.

12. as claimed in claim 7ly movably separate, it is characterized in that sensor is a mechanically actuated position transduser, and the signal of an indication actual position be provided, and if side-play amount greater than a predetermined amount, just operate driver element discretely.

13. as claimed in claim 7ly movably separate, it is characterized in that separate and be bearing on the floor, and an overhead safe hanger is set, it does not support separates or disturb its operation, unless separate the overbalance and may falling of becoming.

14. as claimed in claim 13ly movably separate, it is characterized in that sensor is a mechanically actuated position transduser, and the signal of an indication actual position be provided, and if side-play amount greater than a predetermined amount, just operate driver element discretely.

15. movably separation as claimed in claim 14 is characterized in that mechanically actuated sensor has an element that engages with safe hanger.

16. movably separation as claimed in claim 15 is characterized in that mechanically actuated sensor is with respect to the actual position of safety hanger.

17. movably separation as claimed in claim 16 is characterized in that a pair of safe hanger is arranged, and the mechanically actuated sensor that links to each other with each safe hanger.

18. movably separation as claimed in claim 17 is characterized in that as long as the motion path parallel deviate is no more than a predetermined amount, all driver elements are driven with identical speed.

19. movably separation as claimed in claim 17 is characterized in that if the motion path parallel deviate surpasses a predetermined amount, then all driver elements are driven with different speed.

20. movably separation as claimed in claim 7 is characterized in that sensor comprises at least one pair of optical pickocff at interval.

21. movably separation as claimed in claim 20 is characterized in that double-type optical pickocff is opened along the width interval of separating.

22. movably separation as claimed in claim 20 is characterized in that double-type optical pickocff separates along compartment along the direction that it moves.

Images