JP2000313504A - Trackless, movable rack - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a trackless, movable rack capable of properly moving, with its longitudinal direction constantly held perpendicular to a side rail. SOLUTION: On both end sides in the longitudinal direction of a rack 3, both a position detecting means 23 capable of detecting the travel distance and a driving wheel 6A are provided. The detection values obtained by the position detecting means 23 on both ends are compared with each other. If a speed difference is found, based on this data, an output difference acting for removal of the speed difference is given to the driving wheels 6A on both end sides.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a rail (floor rail).
The present invention relates to a type of mobile rack that does not include

[0002]

2. Description of the Related Art In general, a moving rack is mainly composed of a plurality of racks provided with wheels arranged side by side on rails (floor rails), each of which is movable in a mutually approaching / separating direction. (See Japanese Patent No. 2699776). However, in this type of mobile rack, rails must be laid on the floor surface, which is a bottleneck, requiring large-scale and long-term construction at the time of new construction or relocation, and it is also multi-storey. There are various problems, such as the construction cannot be performed on the floor on the upper floor side.

Therefore, recently, a moving rack that does not require a rail has been developed. Since this railless mobile rack travels directly on the floor surface, it has wheels with wide treads made of an elastic material. Among such wheels, an appropriate number of wheels arranged at a predetermined position (for example, four corners on the bottom surface) at the bottom of the rack can be driven by different drive mechanisms using a mounted motor or the like as a drive source. Although rails are not required, side rails are provided to lock and hold only one end of the rack in order to ensure that the rack can reciprocate in a straight section. .

[0004] In such a railless mobile rack, the method of use is substantially the same as that of a mobile rack provided with rails, and a space through which a forklift or the like can pass can be formed between specific racks. Also, this space is narrowed or used when forming a new space between different racks.

[0005]

In the conventional railless mobile rack described above, in order for the rack to run properly without squeaking on the side rails, the longitudinal direction of the rack must always be perpendicular to the side rails. It is necessary to move it while holding it. However, in practice, unevenness is generated on the floor surface, the load distribution of the load is deviated to one of the two ends of the rack, or the drive mechanism provided near both ends of the rack has motor characteristics. Due to variations in the output of the rack itself or the characteristics of the inverter, etc., the longer the rack travel distance, or the greater the number of rack movements, the more the engagement with the side rails. In some cases, the other end side of the stop portion was swung toward the front or rear in the moving direction (a state in which the oblique direction is directed).

As shown in FIG. 18, a pair of widthwise guide wheels 103 is provided at one longitudinal end of the rack 102 as a locking portion for engaging with the side rail 101. It is conceivable to prevent the other side of the rack 102 from swinging and tilting with respect to the rail 101. However, when a load that swings and tilts is applied to the rack 102 due to the unevenness of the floor surface, the variation in the output balance of the drive mechanism, and other collisions with the outside, the guide wheels 103 And side rail 101
There was also a turmoil between the two, which acted as a brake and hindered movement, and the brakes could cause luggage to fly out.
Further, since the rack 102 has a large left-right length with respect to its front-rear width (the mounting pitch of the guide wheels), a large moment is applied to the side rail 101 and the guide wheels 103 when the above-described brake is applied. There was also a risk of damaging them.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a railless moving rack capable of appropriately moving the rack with the longitudinal direction of the rack always perpendicular to the side rails. The purpose is to provide.

[0008]

According to the present invention, the following technical measures have been taken in order to achieve the above object. That is, the present invention relates to a railless moving rack in which a rack 3 equipped with wheels 6 is movable on a floor surface 2 in a width direction while one end in a longitudinal direction thereof is locked to a side rail 4. Drive wheels 6A for driving the rack 3 are provided at both ends in the longitudinal direction of the rack 3, and position detecting means 23 for detecting the positions of the rack 6A at both ends in the moving direction are provided. The drive wheels 6A at both ends of the rack 3 at the both ends in the longitudinal direction of the rack 3 so that the detected values are the same or the difference between the two detected values is corrected.
And a control means 37 for adjusting the output balance.

According to the present invention, the control means 37 compares the detection values output from the position detection means 23 provided at both ends in the longitudinal direction of the rack 3 so that the detection values become the same or the same. Each drive wheel 6 at the both ends so as to correct the difference
Since the output balance of A is adjusted, it is controlled that the longitudinal direction of the rack 3 is always perpendicular to the side rail 4. That is, for example, if one of the driving wheels 6A at both ends in the longitudinal direction precedes the moving direction (the width direction of the rack 3), the detection value of the position detecting means 23 on the driving wheel 6A side becomes Since the detected value is larger than the detected value of the other position detecting means 23, the control means 37 controls the preceding driving wheel so that the detected values are the same or the difference between the two detected values is corrected. The output of 6A is controlled to be relatively lower than that of the drive wheel 6A on the other side,
As a result, the longitudinal direction of the rack 3 is always
At right angles to

The position detecting means 23 includes a detector 26 for detecting the number of rotations of the wheels 6 disposed at both ends in the longitudinal direction of the rack 3, and a number of rotations detected by the detector 26. It is recommended to include a calculation unit 27 that converts the distance into a mileage. In this case, the detector 26 detects the number of rotations of the wheels 6 arranged at both ends in the longitudinal direction of the rack 3, and converts the running distance at both ends in the longitudinal direction of the rack 3 from this number of rotations. Determine the position of the part. Then, the control means 37 compares the traveling distances of the respective end portions, and controls the output balance of each driving wheel 6A so that the two are the same.

Here, when the wheel 6 whose rotation speed is detected by the detector 26 is a wheel 6C which comes into contact with the floor surface 2 and rolls by its frictional force, the wheel 6C follows the floor surface 2 It is preferable to provide a follow-up means 45 for making contact. As a result, it is possible to prevent the wheel 6C from lifting or slipping due to the undulation of the floor surface 2 or the like, and to accurately detect the number of revolutions. On the other hand, when the longitudinal direction of the rack 3 is inclined with respect to the side rails 4, the displacement (displacement) in the moving direction due to the inclination is most prominent at the outermost side of the rack 3 in the longitudinal direction.

Therefore, the wheels 6, 6C whose traveling distances are detected by the above means are arranged on the outermost side in the longitudinal direction of the rack 3, so that the degree of inclination of the rack 3 can be accurately detected. It becomes. Further, a configuration is provided in which a detection body 50 for detecting that each end of the rack 3 in the longitudinal direction has moved to the reference position X on the floor 2 is added to the position detection means 23 having the above-described configuration. Preferably, a function of clearing the detection value of the position detection means 23 at the end of the rack 3 on the side detected by the detection body 50 is preferably added.

In this case, for example, when the wheel 6 slips while the rack 3 is moving, the difference between the detected value of the both ends of the rack 3 by the position detecting means 23 and the difference between the actual positions of both ends of the rack 3 are detected. Even if such a situation occurs, each end of the rack 3 subsequently reaches the reference position X on the floor 2, and the position detection means 2 on each end side
3 is cleared to 0, and the position detecting means 23
Newly detects the positions of both ends of the rack 3 with respect to the reference position X as detection values. That is, the positions of both ends in the longitudinal direction of the rack 3 are detected with reference to the floor surface 2, whereby the amount of inclination with respect to the side rail 4 fixed to the floor surface 2 can be accurately detected. .

Further, the position detecting means 2 according to the present invention.
3 is a detection member provided at both ends in the longitudinal direction of the rack 3 and the detection members 50A are simultaneously detected by the detection members 50A when the rack 3 is in a posture perpendicular to the side rails 4. It has a detected member 50B provided at a reference position X on the floor surface 2 and a calculating means 51 for calculating the distance in the movement direction of each of the detecting members 50A from the detected member 50B. In this configuration, the position detecting means 23 calculates the distance in the moving direction of each detecting member 50A with respect to the detected member 50B by the calculating means 51 after each detecting member 50A detects the detected member 50B, and the control means 37 , Each detection member 50A
The output balance of each drive wheel 6A at both ends of the rack 3 is adjusted so that the distance between the drive wheels 6A is the same or the difference between the two distances is corrected.

Here, the configuration of the calculating means 51 includes a detector 26 for detecting the number of revolutions of the wheels 6 (6C) of the rack as described above and an arithmetic unit 27 for converting the number of revolutions into a traveling distance. And the following configuration is also possible. That is, as the calculating means 51, one of the detection members 50A detects the detected member 50B, and then the other detects the detected member 50B.
A timer 57 that measures the time until 0B is detected,
An arithmetic unit 58 for calculating the distance from the detected member 50B to the one detection member 50A based on the value measured by the timer 56 and the moving speed of the rack 3 can be provided.

In this case, after the detection member 50A provided at the end of the preceding rack 3 detects the detected member 50B, the other detection member 50A (the detection member 50A provided at the end of the lag side rack 3). ) Is measured by the timer 57 until the detected member 50B is detected, and the calculation unit 58 multiplies the measured time by the moving speed of the rack 3 to detect the preceding detection member 50A and the detected member 50B. The distance to 50B is calculated. That is, since this distance indicates the distance difference in the movement direction between the respective detection members 50A, this is directly detected as the inclination amount of the rack 3.

In the present invention, when the stop position detector 30 for detecting the position where the rack 3 is stopped is provided at both ends in the longitudinal direction of the rack 3, the control means 37 is provided with the stop position detectors 30. It is preferable to add a function to stop only the drive wheel 6A on the side closer to the stop position detector that has issued the stop signal when either one of them issues the stop signal. In this case, when the rack 4 comes into contact with or comes close to a stopper or the like while the longitudinal direction of the rack 3 is oblique to the side rails 4, a temporal shift occurs in the stop timing of both ends of the rack 3 in the longitudinal direction. Therefore, when the movement is stopped, the rack 3 is
, The rack 3 is corrected so that the inclination of the rack 3 is eliminated.

On the other hand, if the inclination of the rack 3 is significantly increased due to the collision of the rack 3 with an obstacle during the movement or the emergency stop in an unbalanced load state, the automatic control by the control means 37 is performed. Even with the control, the inclination of the rack 3 may not be corrected. In order to cope with such an abnormal inclination of the rack 3, the present invention provides a changeover switch 3 for switching to a manual mode in which each drive wheel 6A is manually operated.
9, the control means 37 controls the rotation speed of the drive wheel 6A, which is farther from the side rail 4, of the respective drive wheels 6A when the changeover switch 39 is in the manual mode. It is recommended to add a function of setting a value larger than the rotation speed of the wheel 6A.

In this case, after the changeover switch 39 is switched to the manual mode, the control means 37 sets the side rail 4
The rotation speed of the drive wheel 6A on the side farther from the rail 4 can be set to a value larger than the rotation speed of the drive wheel 6A on the side closer to the rail 4, and in this state, the drive wheel 6A is driven by another switch. By running the rack 3, the side of the rack 3 farther from the side rails 4 moves ahead, and the abnormal inclination of the rack 3 can be corrected manually. Here, in the moving rack according to the present invention, a guide member that engages with the side rail 4 at one end in the longitudinal direction of the rack 3 so as to allow swinging inclination at the other end in the longitudinal direction of the rack 3. 13 is provided.

Thus, even when an external force that swings and tilts the rack 3 is applied, such as when the rack 3 collides with an obstacle during the movement of the rack, the gap between the side rail 4 and the guide member 13 is maintained. The occurrence of stiffness and the like can be prevented, and the brakes due to the stiffness can prevent the movement and the luggage from jumping out. On the other hand, the position detection means 23, the stop position detection means 30, and the control The swinging inclination is corrected by the means 37 and the like.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 8 show a first embodiment of the present invention. As shown in FIGS. 2 and 3, a railless moving rack 1 according to this embodiment has a floor 2 in a factory or the like. A plurality of racks 3 are arranged in parallel with each other, and one end of each rack 3 is locked to a side rail 4. As shown in FIG. 1, a plurality of wheels 6 rotatable in a direction allowing movement along the side rails 4 are provided on the bottom of each rack 3.
(6A, 6B) are provided via the wheel frame 5. Since these wheels 6 travel directly on the floor surface 2, at least the tread portions are formed of an elastic material such as urethane rubber. Further, it is preferable that the tread portion has a solid structure, and the tread portion has a certain width.

At the bottom of each rack 3, four driving mechanisms 9 having a speed reducer 7, a motor 8, and the like are provided at four positions in a position near the four corners. The drive mechanism 9 is provided with a drive shaft 10 that protrudes along the longitudinal direction of the rack 3, and the drive shaft 10 provides three wheels per drive (that is, per drive mechanism 9). 6 is rotatable as a drive wheel 6A. Therefore, each rack 3 can independently run independently, and in each rack 3, each drive mechanism 9 can be individually controlled.

In practice, the driving mechanisms 9 adjacent to each other in the front and rear direction of movement are controlled as a set by a control means 37 which will be described later. , The traveling speed at each end of the rack 3 can be adjusted. On the other hand, in each rack 3, one end in the longitudinal direction (the upper side in FIGS. 1 and 2 and the left side in FIG. 3) has a bracket 1.
One guide wheel (guide member) 13 is horizontally rotatable about an axis in the vertical direction. The guide wheel 13 is rotatably fitted to a side rail 4 formed of a channel steel or the like into a groove 4a facing upward. Therefore, the moving direction of the rack 3 is regulated in a straight line along the longitudinal direction of the side rail 4 (the width direction of the rack 3).

In the moving rack 1 shown in the figure, three racks 3 are provided, and a pair of fixed racks 15 are provided on the outermost side (closer to both ends of the side rails 4) within the range of movement. A plurality of shelves 1 are arranged vertically and horizontally on the front and rear sides of each movable rack 3 and on the opposite sides of the fixed rack 15.
6 are provided, and luggage 18 can be freely put in and out of each of these shelves 16 with or without a pallet 17.

As shown in FIG. 6, each of the movable racks 3 has a structure in which the front and rear shelves 16 are independently supported by separate carriages 19, and the front and rear carriages 19 are linked by links 19a. , It follows the undulation of the floor surface 2 to some extent flexibly, so that a reliable grounding property can be obtained. Further, since the wheels 6 are arranged in two rows before and after in the moving direction of each carriage 19, each of the shelves 1
6 can be evenly distributed. Each of them is a useful matter for enhancing the standing stability and the running stability when viewed as one rack 3.

For this reason, each rack 3 is movable in the direction of approaching / separating from each other in the premises between the pair of front and rear fixed racks 15. Alternatively, a passable space 21 such as a forklift 20 can be formed between the racks 3. As shown in FIG. 1, among the non-driven wheels (wheels that contact the floor surface 2 and roll by the frictional force), each rack 3 is disposed on the outermost side in the longitudinal direction of the rack 3. With the driven wheel 6B as a detection target, there is provided a position detecting means 23 for detecting the position of the longitudinal end portions of the rack 3 in the moving direction.

As shown in FIGS. 4 and 5, the position detecting means 23 is capable of counting a rotation detector 25 provided on the axle 24 of the wheel 6B and a rotation angle (number of rotations) of the rotation detector 25. And a calculation unit 27 that receives the detection signal from the detector 26 and converts the travel distance of the rack 3. The rotation detector 25 is provided with a number of notches 28 at regular intervals in the circumferential direction on the outer periphery of the disk. The detector 26 turns on / off the transmitted light through the notches 28. And a transmission type optical sensor for detecting The calculation unit 27 calculates the number of rotations of the rotation detector 25 and the rotation angle as a fraction thereof by counting the number of on / off times of the transmitted light sent from the detector 26, and calculates the rotation angle as a fraction of the diameter of the wheel 6. Is converted to the running distance in relation to

As described above, the number of cutouts 28 provided in the rotation detecting body 25 governs the calculation accuracy of the travel distance of the rack 3 and may be appropriately increased or decreased according to the desired accuracy. By using the axle 24 to which the rotation detector 25 is attached for the driven wheel 6B as described above, the obtained traveling distance can be made accurate with little influence on disturbances such as slip and backlash. Can be. However, the rotation detecting body 25 can be fixed to the axle for the drive wheel 6A.

As the detector 26, a reflection type optical sensor can be used, other non-contact sensors using electromagnetic waves such as magnetism, ultrasonic waves, lasers, etc., or various contact type switches can be used. It is also possible to use types. As for the rotation direction of the rotation detector 25 (that is, the running direction of the rack 3), another detector (not shown) may be used. As shown in FIGS. 1 and 6, each rack 3
Is provided with stop position detectors 30 for detecting the position at which the rack 3 is stopped at both ends in the longitudinal direction and on both front and rear sides in the moving direction (that is, four places in total). The stop position detector 30 in the form includes a contact 32 held swingably and a detector 3 including a limit switch that detects the movement of the contact 32 and turns on and off.
3 is provided.

Therefore, as the rack 3 moves, the contact 3
The stop signal is output from the detector 33 when the second unit 2 directly contacts the adjacent rack 3 or the fixed rack 15, or appropriately contacts a stopper member (not shown) or the stop position detector 30 on the other side. It can be emitted. In the stop position detector 30, the contact 33 is not provided, and the detector 33 is replaced with a non-contact sensor such as a proximity switch, so that the stop is performed when the proximity distance with the other party becomes less than a predetermined distance. It can be configured to emit a signal.

As shown in FIGS. 1 and 6, at the other end of each rack 3 in the longitudinal direction, there is provided a control panel 36 containing a microcomputer or a computer for controlling the running of the rack 3. . The microcomputer or the processor is provided with control means 37 for automatically correcting the inclination of the rack 3 with respect to the side rails 4 based on detection signals from the position detection means 23 and the stop position detector 30. As shown in FIG. 7, the control means 37 receives the detection signal from the detector 26 and converts the travel distance of the rack 3
And a control unit 35 that compares the detection values from the respective calculation units 27, corrects these differences, and adjusts the output balance of the motor 8 that drives the left and right driving wheels 6A so as to have the same value.
And

That is, when the rack 3 starts moving, the detected value (travel distance) is input in real time from each of the position detecting means 23 arranged on both sides in the longitudinal direction to the control means 37, and the control unit 35 is provided. The magnitudes of the detected values are compared within. As a result, when there is no substantial difference between the left and right detection values, it is determined that the rack 3 is normal with its longitudinal direction perpendicular to the side rails 4, and the rotation speed of each motor 8 is maintained as it is. . On the other hand, when there is a substantial difference between the left and right detection values, it is determined that the rack 3 is inclined with respect to the side rail 4 and correction is necessary. That is, in this case, it means that a larger detection value is ahead (faster) in the moving direction.

Therefore, when the result of the determination indicates that correction is necessary, the control unit 35 outputs the output to the drive wheel 6A in the drive mechanism 9 (motor 8) having the larger detection value relative to the other. The output of the motor 8 is adjusted until the detected values on the left and right become the same, depending on whether the detection value is left or right, or whether the smaller one is higher or the larger one is lower alone. Such output control of the drive mechanism 9 with respect to the motor 8 can be specifically performed by inverter control (frequency modulation) of the motor 8. In this way, each rack 3 is automatically controlled so that its longitudinal direction is always perpendicular to the side rails 4.

On the other hand, even when the rack 3 is automatically controlled using the position detecting means 23 as described above, the longitudinal direction of the rack 3 is inclined with respect to the side rails 4 due to unexpected matters such as contact with the forklift 20. It cannot be said that there is no state. Therefore, in the present embodiment, each of the stop position detectors 30 is also connected to the control unit 37, and the control unit 37 determines whether one of the stop position detectors 30 issues a stop signal. Has a function of stopping only the drive wheel 6A on the side close to the stop position detector 30 that has issued the stop signal.

That is, when the rack 3 is stopped, the control unit 35 is closer to the stop position detector 30 that has issued the stop signal first (the front end side. 7), only the drive mechanisms 9 (motor 8) on both the front and rear sides are stopped, and the end closer to the stop detector 30 that has issued the stop signal (the end on the delayed side; the upper side in FIG. 7). In this case, the drive mechanisms 9 (motors 8) on both the front and rear sides are stopped. Therefore, due to this time shift, the rack 3 is corrected in its longitudinal direction to a state perpendicular to the side rails 4 as shown in FIG.

Incidentally, in the rack 3, one end in the longitudinal direction is locked to the side rail 4 via one guide wheel 13, and the guide wheel 13 is locked to the side rail 4 so as to be horizontally rotatable. Therefore, the above-described tilting of the head can occur. For this reason, as in the conventional example shown in FIG. 10, the inconvenience between the side rails and the guide wheels, which occurs when two guide wheels are provided, and unexpected braking due to the instability, the side rails and the guide wheels are not used. Damage or the like due to such a moment can be prevented, and after these are prevented, the position detection unit 23, the stop position detector 30, the control unit 37, and the like can correct the side rail 4 at a right angle. It is.

As shown in FIG. 6, the control panel 36 includes:
A first switch 39 for switching the movement control of the rack 3 between the automatic mode and the manual mode, a second switch 40 for switching the traveling method of the rack 3 between parallel traveling and corrected traveling, and A main switch 41 for driving the crab is provided, and the main switch 41 is a power switch for rotating each motor 8 in either forward or backward direction.
Among them, the first changeover switch 39 is connected to the control unit 35 as shown in FIG. 7, and the output control of the motor 8 by the control means 37 is performed in either the above-described automatic control or the manual control described later. It is switched to crab.

On the other hand, the second changeover switch 40 is also provided in FIG.
Is connected to the control unit 35 as shown in FIG. 2 and outputs parallel rotations of the left and right motors 8 at the same value. This is switched to the case of the corrected traveling in which the rotation speed is set to a value larger than the rotation speed of the motor 8 on the side closer to and output. For this reason, when the first traveling switch 39 is switched to the manual mode and then the correction traveling is selected by the second traveling switch 40, the control means 37 causes the rotation speed of the driving wheel 6A far from the side rail 4 to be always the same as the same rail. The rotation speed is set to a value larger than the rotation speed of the drive wheel 6A on the side closer to 4. Therefore, in this state, when the drive wheel 6A is driven by the main switch 41 and the rack 3 travels, the side of the rack 3 far from the side rails 4 moves ahead, and the abnormal inclination of the rack 3 can be corrected manually. Become.

More specifically, the rated output is 1 at 60 Hz.
When an inverter motor of 0 m / min is used, the frequency of the motor 8 farther from the side rail 4 is set to 25 Hz (about 4 Hz).
m / min) and set the frequency of the motor 8 on the near side to 20H
z (about 3 m / min). in this case,
Since the drive wheel 6A on the far side from the side rail 4 always travels at a speed of about 1.25 times as compared with the near side,
Even when the rack 3 tilts greatly, the abnormal tilt can be immediately corrected. FIG. 9 shows a second embodiment of the present invention. In this embodiment, the position detecting means 23 contacts the floor surface 2 and rolls by its frictional force, similarly to the first embodiment. A rotation detector 25 provided on the axle 24, a detector 26, and a calculation unit 27 are provided for the driven wheel (driven wheel) 6C, and the driven wheel 6C is always on the floor surface 2. It has a follow-up means 45 for following up so as to make contact.

More specifically, the driven wheel 6C is rotatably supported on the mounting frame 46 via the axle 24. One of the front and rear ends of the mounting frame 46 is the outermost wheel frame 5 on the rack 3.
Is mounted so as to be swingable up and down via a pivot shaft 47. An urging member 48 made of a compression coil spring is interposed between the end of the mounting frame 46 on the opposite side of the pivot shaft 47 and the bottom of the rack 3, and the driven wheel 6C is Are urged against the floor 2. The wheels (follower wheels) 6C in the present embodiment do not directly receive the load of the rack 3, but simply roll in contact with the floor surface 2; This is different from the first embodiment.

Accordingly, the following means 45 has a structure for supporting the driven wheel 6C so as to be able to move up and down and a structure for biasing the driven wheel 6C downward. However, the driven wheel 6C can be reliably brought into contact with the floor surface 2 to prevent the driven wheel 6C from slipping or floating, thereby enabling accurate detection of the rotation speed. The biasing member 48 is not limited to a compression coil spring, and can be replaced with another elastic material such as a leaf spring or a helical torsion coil spring fitted on the pivot 47.
Although it is possible to omit the urging member 48 and follow the floor surface 2 by its own weight of the mounting frame 46 and the driven wheel 6C, the provision of the urging member 48 allows the floor surface 2 to be more reliably contacted. It is possible.

FIG. 10 shows a third embodiment of the present invention. This embodiment is the same as the above embodiment in that two trolleys 19 are provided before and after the moving direction. The wheel frames 5A disposed at both ends have a length extending over the front and rear bogies 19, and are of a two-wheel type provided with wheels 6A at both front and rear ends thereof. Each of the trucks 19 is divided into front and rear portions and connected by links 19a, and two front and rear wheels 6A, 6 are attached to each wheel frame 5B.
B is a four-wheel type.

Therefore, also in this embodiment, the wheel 6A, the wheel 6A,
It is possible to increase the quantity of 6B, reduce the load borne by each wheel 6A, 6B, and improve the durability. Also,
At the longitudinal center of the rack 3, the front and rear wheel frames 5
B are connected by the link 19a.
While the wheels 6A and 6B can flexibly follow the undulation of the floor surface 2 to some extent through the distortion of the vehicle, the front and rear bogies 19 are rigidly connected by the wheel frames 5A at both ends in the longitudinal direction. The rack 3 can be preserved as a whole,
Structural rigidity is ensured. And the bracket 12 of the guide wheel 13 is easily attached to the front and rear center by the wheel frame 5A.

In this embodiment, the position detecting means 23 shown in FIG.
By not directly supporting the load of the rack 3 by the wheels 6C of the position detecting means 23, the wheels 6A of the wheel frame 5A can be surely grounded to the floor surface 2. Has become. 11 to 15 show a fourth embodiment of the present invention. The present embodiment is different from the position detecting means 23 described in the above embodiments in that both ends of the rack 3 in the longitudinal direction are the reference positions X on the floor 2.
In addition, a detection body 50 for detecting that the detection body 50 has been moved is added, and the control unit 35 of the control means 37 clears the detector 26 at the end of the rack 3 on the side detected by the detection body 50. It has the function of adding

Here, the reference position X is shown as a straight line perpendicular to the side rails 4. In the present embodiment, the reference position X of the rack 3 is set at an interval P substantially equal to the front-rear width of the rack 3. A plurality of reference positions X are set in the moving direction. Further, when a passage space 21 such as a forklift 20 is formed between the racks 3, two reference positions X are provided for the spaces 21. Is set to
As shown in FIGS. 12 and 13, the detection body 50 includes a detection member 50 </ b> A including proximity sensors provided at both ends in the longitudinal direction of the rack 3 and a posture in which the rack 3 is at right angles to the side rails 4. And a detected member 50B provided on a reference position X on the floor surface 2 so as to be simultaneously detected by the respective detecting members 50A.

Therefore, when the detecting member 50A at each end in the longitudinal direction of the rack 3 detects the corresponding detected member 50B, the control means 37 sets the detection value of the detector 26 on the detected side to 0. Is to be cleared. Each of the detection members 50A is attached via a bracket or the like to the wheel frames 5 at both ends in the longitudinal direction or the bottom surface of the rack 3 so that the distance from the front and rear side surfaces of the rack 3 is the same. On the other hand, the detected member 50B
Is formed of a metal member that can be detected by the detection member 50A, and on the reference line (reference position) X, the detection member 50A
A pair is provided corresponding to the lower position of the passing space of
Therefore, the pair of detected members 50 </ b> B constitute one set, and a plurality of sets are provided at a predetermined interval P in the moving direction of the rack 3.

The detected member 50B is, for example, as shown in FIG.
As shown in (b), a plate-shaped detection member 50B is fitted into a concave portion 53 formed on the floor surface 2 and fixed with bolts 54 or the like, or as shown in FIG. Detection member 5
0B is accommodated in the concave portion 53 and fixed by the adhesive 55 or the like.
B is provided so as not to protrude from the floor surface 2. Therefore, when the forklift 20 or the like enters the space 21 between the racks 3, the tire is moved to the detected member 50.
It prevents contact with B and hinders handling.

Hereinafter, a method for controlling the moving rack according to the present embodiment will be described with reference to FIG. 15 showing a flowchart and FIGS. 13 and 14. First, when the rack 3 starts to move along the side rail 4 in the direction of the arrow in FIG. 13, the detectors 26 at both ends in the longitudinal direction of the rack 3 The rotation speed is detected, and is converted into a traveling distance by the calculation unit 27. At this time, FIG.
When the rack 3 is inclined with respect to the side rail 4 as shown in FIG.
(In the illustrated example, the lower detection member 50A) is the detected member 50B.
Is detected, the control unit 35 clears the detector 26 on the leading side (strokes A and B in FIG. 15), and further moves to detect the rotational speed of the wheels 6B (or 6C) on the leading side again. Is converted to the traveling distance (the same process C).

Here, the rotation detector 25 and the detector 2
6. The calculation unit 27 constitutes calculation means 51 for calculating the distance in the movement direction of the detection member 50A from the reference position X (the detected member 50B). On the other hand, when the detection member 50A on the lag side detects the detected member 50B (the same process D), the control section 35 clears the detector 26 on the lag side, and thereafter, the control section 35 clears the position detection means 23 on the preceding side. Detected value (ie, traveling distance from reference position X on the leading side)
Is compared with the detected value on the delay side (similarly, the traveling distance from the reference position X on the delay side) in the control unit 35 (stroke F).

As a result, if there is a difference between the detection values of the respective detectors 26, it is determined that correction is necessary, and the control unit is set so that the two detection values become the same (to correct the difference L). At 35, a correction process (stroke G) is performed. This correction processing is the same as that of the first embodiment, and is performed by making the output to the driving wheel 6A on the preceding side relatively smaller than the other. Also, in parallel with this correction processing, each position detection is performed. The value detected by the means 23 is input to the control unit 35 in real time (stroke H), and the control unit 35 compares the magnitude as needed (stroke I).

When the difference between the values detected by the position detecting means 23 has disappeared, or when the difference has become equal to or less than a predetermined value, the rack 3 is corrected to a posture perpendicular to the side rails 4, and the correction processing ends. It is. Therefore, in the present embodiment, an error occurs between the difference between the values detected by the position detection means 23 and the actual difference between the positions of both ends of the rack 3 due to slippage of the wheels 6B while the rack 3 is moving. Thereafter, the error is eliminated by initializing the detection value of each position detecting means 23 based on the reference position X of the floor surface 2, and the traveling distance from the reference position X is newly set in the longitudinal direction of the rack 3. By detecting the positions of both ends, an accurate detection value can be obtained.

By performing the above control,
A plurality of detected members 50 in the moving direction are provided in the passage space 21 such as the forklift 20 formed between the racks 3.
By providing B, the accuracy of position detection is further improved. However, one set of the detected members 50B may be provided for the passage space 21. FIG. 16 and FIG. 17 show a fifth embodiment of the present invention. The present embodiment does not include the rotation detecting body 25, the detector 26, and the calculation unit 27 shown in the fourth embodiment as the position detecting means 23, and the detecting member 50A and the detected member shown in the fourth embodiment. The configuration is provided with a detection body 50 made of 50B.

Further, one of the detection members 50A is
A timer 57 that measures the time from when 0B is detected until the other detection member 50A detects the detected member 50B.
And the travel distance L of the rack 3 during the measurement time in the relationship between the value measured by the timer 57 and the moving speed of the rack 3.
And a calculation unit 51 having a calculation unit 58 that calculates The control means 37 is provided with the arithmetic means 5
1 and a control unit 35, and the control unit 35
When the value obtained by 1 is different or equal to or more than a predetermined value, it is determined that the rack 3 is inclined with respect to the side rail 4, and the output to the drive wheel 6A at each end is controlled. The one detection member 50A is
It has a function of clearing the count of the timer 57 to 0 when B is detected.

That is, a flowchart shown in FIG.
The control method of the rack 3 will be described with reference to FIG. 14 according to the fourth embodiment as well. When the leading detection member 50A at one longitudinal end of the rack 3 detects the detected member 50B (stroke A), The timer 57 is cleared to 0 (stroke B), and the timer 57 is counted from 0 by moving the rack 3 (stroke C). When the detection member 50A on the lag side detects the detected member 50B (stroke D), the measured value of the timer 57 and the rack 3
Is multiplied by the calculation unit 58, and this is calculated as the amount of inclination (skew amount) L of the rack 3 and input to the control unit 35 (stroke E).

Therefore, the position of each end in the longitudinal direction of the rack 3 is determined as a distance from the reference position X of the floor surface 2. At this time, the distance on the lag side is 0, and the distance on the leading side is equal to the inclination amount L. Become. Next, when the amount of inclination L input to the control unit 35 is equal to or more than a predetermined value, it is determined that the rack 3 is inclined (stroke F), and a correction process is performed so as to correct the amount of inclination L. (Process H). This correction process is the same as in the above embodiments, and is performed by relatively suppressing the output to the driving wheel 6A at the end of the preceding rack 3 relative to the output to the driving wheel 6B on the lag side. However, prior to this correction processing, the control unit 35 calculates the time for performing the correction processing (correction time) (step G).

That is, the correction time is determined by the inclination amount L
Divided by the speed difference between the lag side drive wheel 6A and the precedence side drive wheel 6B during the correction process (inclination amount L / speed difference).
By performing the correction process until the correction time elapses (stroke I), the rack 3 is corrected to a posture perpendicular to the side rail 4. Therefore, in the present embodiment, the same operation and effect as those of the fourth embodiment can be obtained, but there is an advantage that the position detecting means 23 can be structurally simplified as compared with the fourth embodiment.

In FIG. 16, the stop position detector 30 and the first and second changeover switches 39 and 40 as shown in the first embodiment are omitted, but they are provided. Is also good. Incidentally, the present invention is not limited to the above embodiment. For example, fixed rack 1
The presence or absence of 5, the number of racks 3, the number of wheels 6 (drive wheels 6A and driven wheels 6B), the configuration of the drive mechanism 9, and the detailed structure of the rack 3 are not limited at all.

Further, the detailed structure of the position detecting means 23 and the circuit configuration with the stop position detector 30 and the drive mechanism 9 (motor 8) can be appropriately changed according to the embodiment. There is no limitation on whether the connection between each rack 3 and a control means (not shown) for controlling the entire rack 3 is wired or wireless. Further, the present invention relates to a forklift 2
The use of 0 is not limited.

[0059]

As described above, according to the present invention,
The rack can be moved in a state where the longitudinal direction of the rack is always perpendicular to the side rail, and the rack can be appropriately run without squeaking on the side rail.

[Brief description of the drawings]

FIG. 1 is an enlarged plan view showing a part of FIG. 2;

FIG. 2 is a plan view showing an embodiment of the moving rack according to the present invention.

FIG. 3 is an enlarged view taken along line AA of FIG. 1;

FIG. 4 is an enlarged plan view showing a driven wheel provided with position detecting means.

FIG. 5 is an enlarged view taken on line BB of FIG. 4;

FIG. 6 is an enlarged view taken along line CC of FIG. 1;

FIG. 7 is a block diagram of a control unit.

FIG. 8 is a schematic diagram showing a moving state of a rack.

9A and 9B show a position detecting unit according to a second embodiment of the present invention, wherein FIG. 9A is a side view and FIG. 9B is a bottom view.

FIG. 10 is a bottom view of a rack according to a third embodiment of the present invention.

FIG. 11 is a plan view of a moving rack according to a fourth embodiment of the present invention.

FIG. 12A is a front view showing a detection body.
(B) (c) is an enlarged front sectional view of a detected member.

FIG. 13 is a plan view of a rack.

FIG. 14 is a plan view showing a state where a rack is inclined.

FIG. 15 is a flowchart showing a control procedure.

FIG. 16 is a block diagram of a position detection unit and a control unit according to a fifth embodiment of the present invention.

FIG. 17 is a flowchart showing the control procedure.

FIG. 18 is a plan view showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving rack 3 Rack 4 Side rail 6 Wheel 6A Drive wheel 6B Follower wheel 6C Follower wheel 23 Position detecting means 26 Detector 27 Calculation part 30 Stop position detector 37 Control means 39 First changeover switch 50 Detector 51 Calculation means X reference position

Claims (10)

[Claims] 1. A railless rail (3) having wheels (6), which is movable in the width direction on a floor (2) while one end of the rack (3) in the longitudinal direction is locked to a side rail (4). In the mold moving rack, the rack (3) is provided at both ends in the longitudinal direction of the rack (3).
A drive wheel (6A) for driving the rack; and a position detecting means (23) for detecting the position of the rack (3) in the moving direction at both ends in the longitudinal direction. The rack by the position detecting means (23) is provided. The drive wheels (6) at both ends in the longitudinal direction of (3) are adjusted so that the detected values at both ends in the longitudinal direction are the same or the difference between the two detected values is corrected.
A non-rail type mobile rack characterized by including a control means (37) for adjusting the output balance of (A). The position detecting means (23) includes a rack (3).
A detector (26) for detecting the number of rotations of the wheels (6) disposed at both ends in the longitudinal direction of the rack, and the number of rotations detected by the detector (26) is converted into a traveling distance of the rack (3). The railless mobile rack according to claim 1, further comprising a calculation unit (27). 3. A position detecting means (23) for detecting the number of rotations of a wheel (6C) contacting the floor surface (2) and rolling by its frictional force; A calculating unit (27) for converting the rotation speed detected by the detector (26) into a running distance of the rack (3); and the wheel (6C).
Means (45) for following the floor with the floor (2) and making contact therewith
The railless mobile rack according to claim 1 or 2, comprising: 4. The wheel (6, 6C) whose traveling distance is detected by the position detecting means (23) is mounted on the rack (3).
The railless moving rack according to claim 2 or 3, which is arranged on the outermost side in the longitudinal direction. 5. A detector (50) for detecting that each longitudinal end of the rack (3) has moved to a reference position (X) on a floor surface (2). And the control means (37) has a function of clearing a detection value of the position detection means (23) at the end of the rack (3) on the side detected by the detection body (50). Item 5. A railless moving rack according to any one of Items 1 to 4. 6. The position detecting means (23) includes detecting members (50) provided at both longitudinal ends of the rack (3).
A) and a reference position on the floor surface (2) such that each of the detection members (50A) is simultaneously detected when the rack (3) is in a posture perpendicular to the side rail (4). X) and the respective detection members (50B) with respect to the detected member (50B).
2. The railless moving rack according to claim 1, further comprising a calculating means (51) for calculating the distance in the moving direction of (A). 7. The arithmetic means (51) is configured such that one of the detection members (50A) is one of the detected members (50A).
A timer (57) for measuring the time from when B) is detected until the other detects the member to be detected (50B), and a timer (57) for measuring the time from the timer (57) and the moving speed of the rack (3). 7. The railless moving rack according to claim 6, further comprising: a calculating section (58) for calculating a distance in a moving direction of the one detecting member (50A) with respect to the detected member (50B). 8. A stop position detector (30) for detecting a position at which the rack (3) is stopped is provided at both ends in the longitudinal direction of the rack (3), and a control means (37) detects each stop position. A function having a function to stop only the drive wheel (6A) closer to the stop position detector (30) that issued the stop signal when one of the devices (30) issues a stop signal. 8. The railless moving rack according to any one of items 7 to 7. 9. A switch (39) for switching to a manual mode in which each drive wheel (6A) is manually operated is provided, and said control means (37) is adapted to operate when said switch (39) is in the manual mode. Each drive wheel (6
A) The driving wheel (6) on the side far from the side rail (4)
A) The rotation speed of the drive wheel (6) on the side closer to the rail (4)
9. The railless moving rack according to any one of claims 1 to 8, further comprising a function of setting the rotation speed to a value higher than the rotation speed of (A). 10. A guide that locks to the side rail (4) at one end in the longitudinal direction of the rack (3) so as to allow tilting of the other end of the rack (3) in the longitudinal direction. The railless mobile rack according to any of the preceding claims, comprising a member (13).