JP2001048314A - Movable shelf controlling method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the skew of a movable shelf by surely detecting the skew of the shelf. SOLUTION: In a movable shelf control device for controlling a movable shelf 21 traveling on a travel path 33, the path 33 is equipped with plural reflecting plates 36 provided along the path 33, and the shelf 21 is equipped with: a frame 22 for storing articles, two sets of travel wheels 23 and 24 pivotally supported on both the right and left sides of the frame 22, wheel drive mechanisms 25 provided on the right and left wheels 23 respectively, rotation angle detectors 26 provided on the right and left wheels 24 respectively to detect the rotation frequency of the wheels, position detecting sensors 29 provided on both the right and left sides of the frame 22 respectively to detect reflecting plates 36, and a movement controller 32 for detecting the skew of the shelf 21 by comparing the rotation frequencies of the right and left side wheels to a unit distance, and controlling the mechanisms 25.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving shelf control method and apparatus for preventing a moving shelf from skewing.

[0002]

2. Description of the Related Art Generally, as shown in FIGS. 4 and 5, a moving shelf includes a frame 1 for storing articles, and driving wheels 2 and rolling wheels 3 which are running wheels pivotally supported on both left and right sides of the frame 1. When,
A wheel drive mechanism 4 such as a motor for rotating the drive wheel 2,
An engaging member of a guide roller 7 pivotally supported via a bracket 5 is provided, and a plurality of movable shelves 9 are arranged in parallel on a running path 8 having a total length L.

[0003] A guide rail 10 is provided on one side of the traveling path 8 and disposed horizontally.
, The guide roller 7 of the movable shelf 9 is fitted.

[0004] In the traveling path 8, an interval S at which an article carrier such as a forklift can enter and exit the traveling path 8 is formed by adjusting the number of the moving shelves 9.

[0005] When articles are put in and taken out of the moving shelf 9, the moving shelf 9 is sequentially moved by operating the wheel drive mechanism 4 of the moving shelf 9, and the end face of the moving shelf 9 to which the loading / unloading operation is to be performed A space S is formed between the moving shelf 9 and an end surface of another moving shelf 9 adjacent to the moving shelf 9.

As described above, since the movable shelf 9 is moved by the traveling wheels, the traveling path 8 does not need any projections or grooves such as rails, and the article transporter can easily get into the gap.

However, there is a possibility that the movable shelf 9 may be inclined obliquely with respect to the traveling path 8 due to idling of the traveling wheels or the like. In some cases, the row angle becomes large, and the bracket 5 and the like that pivotally support the guide roller 7 cannot move in contact with the guide rail 10.

Therefore, the moving shelf 12 shown in FIG.
Drive wheels 14 and rolling wheels 15 which are running wheels, a left wheel drive mechanism 16 such as a motor for rotating the left drive wheel 14, and a right side such as a motor for rotating the right drive wheel 14 Wheel drive mechanism 16, a left rotation angle detector 17 such as a rotary encoder for detecting the rotation speed of the left rolling wheel 15, and a right rotation encoder or the like for detecting the rotation speed of the right rolling wheel 15. And a rotation angle detector 17.

The left and right wheel drive mechanisms 16 and the left and right rotation angle detectors 17 are based on the rotation angle detection signals 18 of the pulse numbers from the left and right rotation angle detectors 17, that is, the rotation speeds of the left and right rolling wheels 15. The left and right wheel drive mechanisms 16 are connected to a movement controller 19 so as to be controlled.

When the moving shelf 12 moves in a predetermined direction based on a movement command signal 20 from the outside, the movement controller 19 controls the left rotation angle detector 17 per unit time by the left rolling wheel 15. Rotation angle detection signal 18 and the right rotation angle detector 1 per unit time by the right rolling wheel 15
7 is compared with the rotation angle detection signal 18 of FIG. 7, and if there is no difference between the left and right rotation angle detection signals 18, it is determined that the moving shelf 12 is operating normally, and if there is a difference between the left and right rotation angle detection signals 18. For example, it is determined that the movable shelf 12 is running abnormally, that is, is skewed.

Therefore, when the moving shelf 12 is skewed, the movement controller 19 controls the left wheel driving mechanism 16 or the right wheel driving mechanism 16 based on the rotation angle detection signal 18 per unit time. By controlling, the rotation speeds of the left driving wheel 14 and the right driving wheel 14 are adjusted to eliminate the skew of the movable shelf 12.

[0012]

However, even if the movable shelf 12 shown in FIG. 6 is skewed due to the distortion of the traveling path of the traveling path 8, the moving shelf 12 per unit time of the right traveling wheel and the left traveling wheel can be used. If the number of rotations is the same, the movement controller 19
However, there is a problem that the skew of the movable shelf 12 cannot be reliably corrected because it is determined that there is no skew of the movable shelf 12.

The present invention has been made in view of the above circumstances, and has as its object to provide a moving shelf control method and apparatus capable of reliably detecting the skew of the moving shelf and correcting the skew of the moving shelf. I have.

[0014]

According to the moving shelf control method of the present invention, rotation angle detectors provided on both sides in the traveling direction of the moving shelf detect the rotational speeds of the left and right wheels and are provided on both sides of the moving shelf. The position detection sensor detects a predetermined reflector provided on the traveling path, and the movement controller uses the point at which the reflector is detected as a reference point of the left and right traveling wheels as the left wheel rotation speed per unit distance and the right. , The skew of the moving shelf is detected, and the left running wheel and the right running wheel are controlled to correct the skew of the moving shelf.

[0015] The moving shelf control device of the present invention is a moving shelf control device for controlling a moving shelf traveling on a traveling path, wherein the traveling path includes a guide rail disposed along one side, and the traveling path A plurality of reflectors provided along the moving shelf, wherein the movable shelf is provided on a frame for storing articles, running wheels pivotally supported on left and right sides of the frame, respectively, and left and right running wheels, respectively. A wheel drive mechanism, a rotation angle detector provided on each of the left and right running wheels to detect a wheel rotation speed, an engagement member projecting from the frame toward the guide rail and engaging with the guide rail, and a left and right side of the frame. A position detection sensor provided on both sides to detect the reflection plate, and the skew of the movable shelf by comparing the left wheel rotation speed and the right wheel rotation speed per unit distance with the point where the reflection plate is detected as a reference point. Detection and left and right wheel drive mechanism In which and a movement control unit for controlling.

When the movable shelf moves, rotation angle detectors provided on both sides of the movable shelf detect the rotational speeds of the left and right wheels, and a position detecting sensor detects a predetermined reflector provided on the traveling path. Then, the movement controller compares the left wheel rotation speed and the right wheel rotation speed per unit distance with the point at which the reflector is detected as a reference point for the left and right wheels. The movement controller determines that there is no skewing of the moving shelf when the difference between the left wheel rotating speed and the right wheel rotating speed per unit distance is within an allowable range, and moves the moving shelf normally. Drive. In addition, the movement controller determines that the moving shelf is skewed if the difference between the left wheel rotation speed and the right wheel rotation speed per unit distance is not within the allowable range, and Or the right wheel driving mechanism is controlled to adjust the rotation speeds of the left driving wheel and the right driving wheel to eliminate the skew of the moving shelf.

As described above, the reflection plate is provided on the traveling path, and the left and right wheel rotation speeds per unit distance are compared to determine the skew of the moving shelf. Can reliably detect the skew of the moving shelf, and reduce the wheel rotation speed of the traveling wheel ahead in the frame traveling direction based on the difference between the left and right wheel rotation speed per unit distance by the movement controller. Or increasing the number of rotations of the trailing traveling wheel, so that the skew of the moving shelf can be corrected reliably.

If at least two reflectors are arranged on the traveling path so as to pass while the movable shelf moves, the arrangement points of the reflectors, that is, the reference points of the movable shelf increase, so that the comparison by the movable shelf controller is detailed. , And the skew of the movable shelf can be reliably detected.

[0019]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 3 show an embodiment of a moving shelf control method and apparatus according to the present invention. In the drawings, the same reference numerals as those in FIGS. 4 to 6 denote the same parts. .

The moving shelf 21 has driving wheels 23 and rolling wheels 24, which are running wheels, on the left and right sides in the traveling direction of the frame 22.
A left wheel driving mechanism 25 such as a motor for rotating the left driving wheel 23, a right wheel driving mechanism 25 such as a motor for rotating the right driving wheel 23, and the wheel rotation speed of the left rolling wheel 24. A left rotation angle detector 26 such as a rotary encoder for detecting NL and a right rotation angle detector 26 such as a rotary encoder for detecting the wheel rotation speed NR of the right rolling wheel 24 are provided.

The frame 22 is provided with an engaging member for a guide roller 28 pivotally supported via a bracket 27.
A magnetic position detection sensor 29 is provided on each of the bottom surfaces on both left and right sides.

Further, the left and right wheel drive mechanisms 25, the left and right rotation angle detectors 26 and the position detection sensor 29 provide a rotation angle detection signal 3 of the pulse number from the left and right rotation angle detectors 26.
0, ie, the wheel rotation speeds NL and NR of the left and right rolling wheels 24
And the left and right wheel drive mechanisms 25 are controlled based on the position detection signal 31 of the position detection sensor 29 and the movement controller 32, respectively.

On the other hand, the traveling path 33 on which the movable shelf 21 travels is provided with a guide rail 34 horizontally arranged on one side of the traveling path 33, and the groove 35 of the guide rail 34 is A guide roller 28 is fitted. A plurality of reflectors 36 for reacting the position detection sensor 29 are provided on both sides of the traveling path 33 at predetermined intervals along the traveling direction of the moving shelf 21, specifically, while the moving shelf 21 moves. They are arranged at intervals that pass at least two.

The operation of the embodiment of the present invention will be described below.

The moving shelf 21 receives an external moving command signal 37.
When the vehicle moves in a predetermined direction based on the rotation angle, the left rotation angle detector 26 sets the wheel rotation speed NL of the left rolling wheel 24 as the rotation angle detection signal 30 and the right rotation angle detector 26 The rotation number NR of the rolling wheel 24 is used as the rotation angle detection signal 3
0, and when the position detection sensors 29 on both sides pass through the reflector 36 of the traveling path 33,
6 is detected.

The left and right rotation angle detection signals 30 and the left and right position detection signals 31 are sent to a movement controller 32,
Reference numeral 2 denotes a rotation angle detection signal 30 of the left and right rolling wheels 24 at a predetermined distance from the point at which the position detection sensor 29 detects the reflection plate 36, that is, the wheel rotation speeds NL and NR of the left and right rolling wheels 24 are measured. I do.

Here, there are three methods for determining the predetermined distance, and any method may be used.

The first method for determining the predetermined distance is as follows: when the moving distance from the point at which one position detection sensor 29 detects the reflector 36 to the point at which the next reflector 36 is detected is set to the predetermined distance; The method of determining the second predetermined distance is as follows.
Is skewed, the moving distance from the position where the position detection sensor 29 on one side of the movable shelf 21 detects the reflection plate 36 to the position detection sensor 29 on the other side detects the reflection plate 36 is a predetermined distance. And the third method of determining the predetermined distance may be that a predetermined distance from the point at which the position detection sensor 29 detects the reflector 36 is the predetermined distance.

When the movement controller 32 measures the rotation angle detection signals 30 of the left and right rolling wheels 24 at a predetermined distance of the moving shelf 21, the movement controller 32 calculates the rotation angle detection signals 30 of the left rotation angle detector 26 per unit distance. Is compared with the rotation angle detection signal 30 of the right rotation angle detector 26 per unit distance, and when the difference | NL−NR | between them is within an allowable range (allowable rotational speed difference) N, the moving shelf 21 is compared. Of the moving shelf 21
Is operated normally.

The movement controller 32 compares the rotation angle detection signal 30 of the left rotation angle detector 26 per unit distance with the rotation angle detection signal 30 of the right rotation angle detector 26 per unit distance. And the difference | NL−NR |
If not, it is determined that the moving shelf 21 is skewed, and the left wheel driving mechanism 25 or the right wheel driving mechanism 25 is controlled to control the number of rotations of the left driving wheel 23 and the right driving. The number of rotations of the wheels 23 is adjusted to eliminate the skew of the moving shelf 21.

As described above, the reflection plate 36 is provided on the traveling path 33, and the skew of the movable shelf 21 is determined by comparing the wheel rotation speeds NL and NR of the left and right rolling wheels 24 per unit distance. Even if the number of wheel rotations per time is the same, the skew of the movable shelf 21 can be reliably detected.
Difference between left and right wheel rotations per unit distance | NL-
Based on the NR |, the wheel rotation speed of the driving wheel 23 leading in the traveling direction of the frame 22 is decreased or the wheel rotation speed of the following driving wheel 23 is increased. 21 can be corrected.

When at least two reflectors 36 are arranged on the traveling path 33 while the movable shelf 21 is moving, the number of points at which the reflectors 36 are arranged, that is, the number of reference points of the movable shelf 21 is increased. 32 makes it possible to detect the skew of the movable shelf 21 reliably.

It should be noted that the moving shelf control method and apparatus of the present invention are not limited to only the above-described embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention.

[0035]

According to the moving shelf control method and apparatus of the present invention, the following various excellent effects can be obtained.

I) A reflector is provided on the traveling path, and the left and right wheel rotation speeds per unit distance are compared to determine the skew of the moving shelf. Whether the skew of the shelves can be detected reliably and whether the movement controller reduces the number of wheel rotations of the traveling wheel ahead in the frame traveling direction based on the difference between the number of left and right wheel rotations per unit distance. Alternatively, since the number of rotations of the trailing traveling wheel is increased, the skew of the moving shelf can be reliably corrected.

II) If at least two reflectors are arranged on the traveling path while the movable shelves are moving, the number of positions of the reflectors, that is, the number of reference points of the movable shelves is increased. Is detailed, and the skew of the movable shelf can be detected reliably.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an example of an embodiment of a moving shelf control device used for a moving shelf control method of the present invention.

FIG. 2 is an overall plan view showing the arrangement of movable plates of the present invention and the arrangement of a reflection plate and a position detection sensor.

FIG. 3 is a block diagram of a control system of the present invention.

FIG. 4 is a schematic perspective view of an example of a conventional moving shelf.

FIG. 5 is an overall plan view of an example of a conventional moving shelf.

FIG. 6 is a schematic perspective view showing an example of a conventional moving shelf control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 21 Moving shelf 22 Frame 23 Drive wheel (running wheel) 24 Rolling wheel (running wheel) 25 Wheel drive mechanism 26 Rotation angle detector 27 Bracket (engagement member) 28 Guide roller (engagement member) 29 Position detection sensor 32 Movement Controller 33 Runway 34 Guide rail 36 Reflector NL Wheel speed NR Wheel speed

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Koji Ohata 1-19-10 Mori, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Koto Office F-term (reference) 3F022 FF24 MM51 NN12 PP06 QQ03 QQ13 5H301 AA02 AA09 BB08 CC03 CC08 DD01 DD16 FF06 FF11 GG11 HH10

Claims (3)

[Claims] 1. Rotation angle detectors provided on both sides of the moving shelf in the traveling direction detect left and right wheel rotational speeds, and position detection sensors provided on both sides of the moving shelf have predetermined positions provided on a traveling path. The reflector is detected, and the movement controller uses the point where the reflector is detected as a reference point for the left and right running wheels, compares the left wheel rotation speed and the right wheel rotation speed per unit distance and skews the moving shelf. And controlling the left traveling wheel and the right traveling wheel so as to correct the skew of the moving shelf. 2. A moving shelf control device for controlling a moving shelf traveling on a traveling path, wherein the traveling path includes a guide rail disposed along one side and a plurality of guide rails disposed along the traveling path. Reflecting plate, the moving shelf, a frame for storing articles, traveling wheels pivotally supported on both left and right sides of the frame, and a wheel drive mechanism provided on each of the left and right traveling wheels,
A rotation angle detector provided on each of the left and right traveling wheels to detect a wheel rotation speed, an engagement member projecting from the frame to the guide rail side and engaging with the guide rail, and provided on both left and right sides of the frame. A position detection sensor for detecting the reflector, and detecting the skew of the movable shelf by comparing the left wheel rotation speed and the right wheel rotation speed per unit distance with the point at which the reflector is detected as a reference point; A moving shelf control device, comprising: a moving controller that controls a wheel driving mechanism. 3. The moving shelf control device according to claim 2, wherein at least two reflecting plates are arranged on the traveling path so that the moving shelf moves while the moving shelf moves.