JP2002087518A - Mobile rack - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile rack movable without using a guide roller and a guide and capable of correcting an attitude angle and lateral deviation caused at moving. SOLUTION: This mobile rack 90 has a driving wheel unit 12 and a driven wheel unit 15 in a bottom part of a shelf body 11, and reciprocatively travels on a floor surface 18 by driving the driving unit 12 by placing these driving wheel unit 12 and driven wheel unit 15 on the floor surface 18, and is composed of an inclination detecting means 20 for detecting an inclination of the shelf body 11 at traveling of the moving shelf 90, a width dislocation detecting means 92 for detecting width directional dislocation of the shelf body 11 at traveling of the mobile rack 90 and a correcting means 94 for correcting an inclination of the mobile rack 90 by making the mobile rack 90 travel in a circular arc shape on the basis of inclination detecting information of the inclination detecting means 20 and correcting width dislocation of the mobile rack 90 by making the mobile rack 90 in an S shape on the basis of width dislocation detecting information of the width dislocation detecting means 92.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable shelf, and more particularly, to a movable shelf provided with a drive wheel and a driven wheel on a shelf body, and reciprocating on a floor by driving the drive wheel. .

[0002]

2. Description of the Related Art In recent years, for example, in a building in a factory, a moving shelf has been introduced to efficiently store parts and the like. The moving shelf 100 shown in FIG. 11 includes a driving wheel 102 and a driven wheel 103 on the bottom of the
102 and the driven wheel 102 are placed on the floor 104, and the shelf body 101
Is provided with a guide roller 106 at the back side thereof, and the guide roller 106 is arranged on the guide 107.

According to the movable shelf 100, by driving the driving wheels 102, the driving wheels 102 and the driven wheels 103 form a floor surface 104.
When traveling above, the guide roller 106 moves along the guide 107. Thereby, the movable shelf 100 can reciprocate between the left fixed shelf 110 and the right fixed shelf 111.

[0004]

By the way, the movable shelf 100 as described above tends to have an attitude angle due to unevenness, undulation, inclination, etc. of the floor surface 104, but is regulated by the guide rollers 106 and the guides 107. Therefore, shelf body 101, drive wheel 10
2. There is a problem that an excessive force is applied to the driven wheel 102, the guide roller 106 and the guide 107.

Therefore, the above-mentioned 107 is eliminated, and the moving shelf 100
The above-mentioned problem can be solved by allowing the user to move freely. However, in this state, a posture angle and a lateral shift occur, and good translation cannot be performed.

The present invention has been made to solve such a conventional problem, and has as its object to be able to move without using a guide roller and a guide, and to provide a posture angle and a lateral deviation generated during the movement. It is an object of the present invention to provide a moving shelf capable of correcting a shift.

[0007]

According to the present invention, in order to achieve the above object, a moving shelf according to claim 1 of the present invention comprises:
A driving wheel unit and a driven wheel unit are provided at the bottom of the shelf main body, and the driving wheel unit and the driven wheel unit are placed on the floor surface, and the driving wheel unit is driven to move the traveling shelf back and forth on the floor surface. A tilt detecting means for detecting the tilt of the shelf body during traveling, a width shift detecting means for detecting a shift in the width direction of the shelf body while the moving shelf is running, and a movable shelf based on the tilt detection information of the tilt detecting means. And correcting means for correcting the inclination of the movable shelf by running the arc and correcting the width deviation of the movable shelf by causing the movable shelf to travel in an S-shape based on the width deviation detection information of the width deviation detecting means. Features.

While the moving shelf is running, the tilt detecting means detects the tilt of the shelf main body, and the tilt correcting means makes the moving shelf run in an arc based on the tilt detection information of the tilt detecting means, thereby correcting the tilt of the moving shelf. I do. In addition, by detecting the width deviation of the shelf main body by the width deviation detecting means during traveling of the moving shelf, and by moving the movable shelf in an S-shaped arc by the width deviation correcting means based on the inclination detection information of the width deviation detecting means. Correct the width deviation of the moving shelf. Thereby, it is possible to prevent the moving shelf from deviating from the regular traveling route. For this reason, it is not necessary to guide the movable shelf with the guide rail as in the related art, and it is possible to prevent a burden on the guide rail when the movable shelf is tilted or shifted in width.

According to a second aspect of the present invention, in the movable shelf, the inclination detecting means includes a front side and a rear side of the shelf main body.
First and second tilt detection sensors are provided, respectively, and first and second tilt detection objects detected by the first and second tilt detection sensors are provided on a floor surface. The first and second tilt detection sensors are provided with a tilt detection unit that detects a time difference or a travel distance difference when the first and second tilt detection objects are detected.

[0010] First and second tilt detection sensors are provided on the front side and the rear side of the shelf main body, and the first and second tilt detection objects are provided on the floor surface to reduce the tilt of the movable shelf. Can be detected. For this reason, the inclination of the moving shelf can be detected with a simple configuration.

According to a third aspect of the present invention, in the movable shelf, the width deviation detecting means includes a first width deviation detecting sensor at a center of the shelf body, and a front side and a back side of the first width deviation detecting sensor. Adjacent to the side, a second and a third width deviation detecting sensor are provided, respectively, and a reference point detection object detected by the first to third width deviation detecting sensors is provided on a floor surface. .

By providing the first to third width deviation detecting sensors on the shelf main body and the reference point detection object on the floor surface, the width deviation of the movable shelf can be detected. For this reason, the width shift of the movable shelf can be detected with a simple configuration.

According to a fourth aspect of the present invention, in the movable shelf, the correction means comprises the drive wheel unit including a first drive wheel and a second drive wheel, and the drive wheel unit is provided on the near side and the back side of the shelf body, respectively. A first driving wheel and a second driving wheel, wherein the first and second driving wheels are controlled in rotation speed based on information from the inclination detecting means, and the first and second driving wheels are controlled based on information from the width deviation detecting means. And a control unit for controlling the rotation speed of the second drive wheel.

By controlling the rotation speeds of the first and second drive wheels, the inclination of the movable shelf is corrected. For this reason,
The inclination of the movable shelf can be corrected with a simple configuration.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a moving shelf 10 according to a first embodiment of the present invention. The movable shelf 10 includes a drive wheel unit 12 and a driven wheel unit 15 on the bottom of the shelf body 11, and the drive wheel unit 12 and the driven wheel unit 15 are placed on a floor surface 18 and the drive wheel unit 12 is driven to drive the floor. Reciprocating on the surface 18, and the shelf body
An inclination detecting means 20 for detecting the inclination of the movable shelf 10 and an inclination correcting means 50 for correcting the inclination of the movable shelf 10 by running the movable shelf 10 in an arc based on the inclination detection information of the inclination detecting means 20.
Consists of

The inclination detecting means 20 is provided on the front side 11 A of the shelf body 11.
The first and second inclination detecting sensors 21 and 22 are provided on the rear side and the rear side 11B, respectively.
First and second tilt detection objects 25 and 26 (shown in FIG. 2) which are detected by 1 and 22 are provided on the floor 18, and the first and second tilt detection objects 25 and 26 are moved while the moving shelf 10 is running.
An inclination detection unit 30 is provided for detecting a time difference or a travel distance difference when the first and second inclination detection objects 25 and 26 are detected by the second inclination detection sensors 21 and 22.

The first and second tilt detection sensors 21 and 22 correspond to, for example, an optical sensor or a magnetic sensor, but are not limited thereto. Note that the first and second tilt detection sensors 2
1 and 22 are arranged on a straight line 23 as shown in FIG. The first and second tilt detection objects 25 and 26 correspond to, but are not limited to, stainless steel plates which can be detected by an optical sensor or a magnetic sensor. The first and second tilt detection objects
25 and 26 are arranged on a straight line 27 as shown in FIG.

The tilt detector 30 includes first and second travel distance detectors on the front side 11A and the rear side 11B of the shelf body 11, respectively.
31 and 22 are provided. The first mileage detecting unit 31 attaches an arm 33 to the bottom of the shelf main body 11 via a pin 32 so as to swing freely, attaches a discarded wheel 34 to the tip of the arm 33, and attaches an encoder 35 coaxially with the discarded wheel 34. , A pressing member (not shown) that presses the discarded wheel 34 against the floor surface 18. As a result, when the movable shelf 10 travels, the discard wheel 34 is rotated, the rotation speed of the discard wheel 34 is detected by the encoder 35, and the traveling distance of the front side 11A of the shelf main body 11 is measured by the first counter 36 (see FIG. 2). Shown).

The second traveling distance detecting section 41 is constructed in the same manner as the first traveling distance detecting section 31 and discards wheels when the movable shelf 10 travels.
The shelf 34 is rotated, and the rotation speed of the discarding wheel 34 is detected by the encoder 35, and the traveling distance of the front side 11A of the shelf body 11 is measured by the second counter 46.
(Shown in FIG. 2).

The inclination correcting means 50 includes a pair of first driving wheels 51 on the front side 11A of the shelf body 11 and the drive wheel unit 12 and the shelf body.
11 is constituted by a pair of second drive wheels 55 on the back side 11B, and the pair of first drive wheels 51 and the pair of second drive wheels 55 are configured to be independently drivable, based on information from the inclination detecting means 20. Control unit 60 for controlling the rotation speed of the first and second drive wheels 51 and 55
(See FIG. 2).

A pair of first drive wheels 51 are rotatably supported on the bottom of the shelf body 11, and are connected to a drive shaft 53 via respective chains 52A. This drive shaft 53 has a chain
The first drive motor 54 is connected via 52B. Accordingly, by driving the first drive motor 54, a pair of first
The drive wheels 51 can be driven.

The pair of second drive wheels 55 are rotatably supported on the bottom of the shelf main body 11, and are connected to the drive shaft 57 via respective chains 56A. This drive shaft 57 has a chain
The second drive motor 58 is connected via 56B. Accordingly, by driving the second drive motor 58, a pair of second
The drive wheels 55 can be driven.

The driven wheel unit 15 comprises four driven wheels 16 rotatably provided at the bottom of the shelf body 11. This allows
By driving the first and second drive motors 54 and 58, the first and second drive wheels 51 and 55 are driven to move the movable shelf 10 "to the right".
It can be driven in the direction or "leftward" direction.

The moving shelf 10 has left and right running stop sensors 65 and 66 on the left and right walls. Left travel stop sensor
An optical sensor 65 corresponds to, for example, an optical sensor, and is a sensor for stopping the movable shelf 10 when the movable shelf 10 approaches a left fixed shelf 67 by a predetermined distance. The right traveling stop sensor 66 is, for example, an optical sensor, and is a sensor for stopping the moving shelf 10 when the moving shelf 10 approaches a right fixed shelf 68 by a predetermined distance.

Next, based on FIG. 3 and FIG.
Will be described with an example in which the moving shelf 10 moves from the left fixed shelf 67 to the right fixed shelf 68. In step (hereinafter, referred to as “ST”) 1, the first and second drive wheels 51 and 55 are driven by the first and second drive motors 54 and 58 to move the moving shelf 10 “to the right”.
Travel in the direction. Here, when the floor 18 on the front side of the moving shelf 10 has irregularities, undulations, or inclinations, the moving shelf 10 is inclined at an angle α even if the rotation speeds of the first and second drive wheels 51 and 55 are the same (FIG. 3). reference).

In step ST2, the second inclination detecting sensor 22
The tilt detection object 26 is detected, and at the same time, the travel distance L2 is obtained by the second counter 46 in ST3, the second counter 46 is reset, and information on the travel distance L2 is transmitted to the control unit 60.
On the other hand, in ST4, the first tilt detection sensor 21 detects the first tilt detection target 25, and at the same time, in ST5, the first counter
The traveling distance L1 is obtained at 36, the first counter 36 is reset, and information on the traveling distance L1 is transmitted to the control unit 60.

In ST6, the control unit 60 compares the travel distance L1 and the travel distance L2. Here, as shown in FIG.
Is inclined by the angle α, and the floor 18 on the front side of the movable shelf 10 has irregularities, undulations, or inclinations, so that L1> L2. In this case, the rotational speed n1 of the first drive wheel 51 and the rotational speed n2 of the second drive wheel 55 are corrected so as to correct the traveling distance difference of L1> L2 in ST7.
And n1 <n2. As a result, as shown in FIG. 3, the movable shelf 10 is caused to travel in a circular arc in the direction of the arrow, and the inclination of the angle α of the movable shelf 10 is corrected. That is, by controlling the traveling distance of the first counter 36 after reset and the traveling distance of the second counter 46 after reset, the moving shelf 10 is controlled.
Of the angle α is corrected.

In ST8, when the moving shelf 10 approaches the right fixed shelf 68 by a predetermined distance, the right traveling stop sensor 66 outputs the right fixed shelf 68.
68 is detected, and the first and second drive wheels 51,
Stop 55. As a result, the movable shelf 10 is stopped parallel to the right fixed shelf 68.

On the other hand, when the movable shelf 10 does not tilt and maintains the normal posture, L1 = L2 in ST6, and the rotation speed n1 of the first drive wheel 51 and the rotation speed of the second drive wheel 55 in ST9.
The relationship with n2 is defined as n1 = n2. Thereby, the movable shelf 10 can be run in a normal posture.

When the movable shelf 10 is inclined at an angle (-α), L1 <L2 in ST6, and L1 <L2 in ST10.
The rotation speed of the first drive wheel 51 is corrected so as to
The relationship between n1 and the rotation speed n2 of the second drive wheel 55 is n1> n2.
Thereby, the movable shelf 10 is caused to travel in an arc, and the inclination of the angle (−α) of the movable shelf 10 is corrected.

Next, a second embodiment and a third embodiment will be described. The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. FIG. 5 shows a movable shelf 70 according to a second embodiment of the present invention. The moving shelf 70 includes a drive wheel unit 12 and a driven wheel unit 15 at the bottom of the shelf body 11, and places the drive wheel unit 12 and the driven wheel unit 15 on a floor surface 18 to drive the drive wheel unit 12 to drive the floor. Reciprocating on the surface 18,
Width shift detecting means 72 for detecting a shift in the width direction of the shelf main body 11 while the movable shelf 70 is running, and moving the movable shelf 70 in an S-shape based on the width shift detection information of the width shift detecting means 72. And a width deviation correcting means 80 for correcting the width deviation of the shelf 70.

The width deviation detecting means 72 has a first width deviation detecting sensor 73 at the center of the shelf main body 11, and the first width deviation detecting sensor 73 is adjacent to the near side 11A and the back side 11B of the first width deviation detecting sensor 73, respectively. 2, a third width deviation detection sensor 74, 75, and a reference point detection object 76 detected by the first to third width deviation detection sensors 73 to 75 is provided on the floor surface 18; An inclination detecting unit 30 for detecting a distance is provided.

The first to third width deviation detecting sensors 73 to 75 are:
An example is an optical sensor or a magnetic sensor, but is not limited thereto. The first to third width deviation detection sensors 73 to 75 are arranged on a straight line 77. Reference point object
76 corresponds to a stainless steel plate that can be detected by an optical sensor or a magnetic sensor, but is not limited thereto. The reference point detection object 76 is arranged at a position corresponding to the center of the movable shelf 70.

The width deviation correcting means 80 comprises the drive wheel unit 12 comprising a pair of first drive wheels 51 on the front side 11A of the shelf body 11 and a pair of second drive wheels 55 on the back side 11B of the shelf body 11. The control unit 85 is configured so that the first drive wheel 51 and the second drive wheel 55 can be driven independently, and controls the rotation speeds of the first and second drive wheels 51 and 55 based on information from the width deviation detecting means 72. Is provided. Control unit
85 has a built-in memory 86.

Next, the moving shelf 70 will be described with reference to FIGS.
The operation of will be described. In ST20, the first and second drive wheels 51 and 55 are driven by the first and second drive motors 54 and 58 to drive the movable shelf 70 in the "leftward" direction from a position adjacent to the right fixed shelf 68. I do. In ST21, the first to third width deviation detection sensors 73
Any one of the width deviation detecting sensors 75 to 75 detects the reference position detected object 76, and stores the information in the memory of the control unit 85.
Record at 86.

Here, when the movable shelf 70 is shifted in width to the rear side due to unevenness, undulation, and inclination of the floor surface 18, the first width shift detecting sensor 73 detects the reference position detected object 76. on the other hand,
When the movable shelf 70 has shifted toward the front, the third width shift detecting sensor 75 detects the reference position detection object 76. And moving shelves
When the width does not shift, the second width detection sensor 73 detects the reference position detection object 76.

In ST22, when the moving shelf 70 approaches the left fixed shelf 67 by a predetermined distance, the left traveling stop sensor 65 detects the left fixed shelf 67, and outputs the first and second drive motors via the control unit 85. By stopping 54 and 58, the moving shelf 70 is stopped.
The moving shelf 70 is stationary at a position P1 shown in FIG.

In ST23, the first and second drive wheels 51, 55
Drives the moving shelf 70 in the “rightward” direction from P1. At the same time, the width deviation detection sensor recorded in the memory 86 in ST24 is read. When the read sensor is the second width deviation detecting sensor 74 (illustration in FIG. 6), in ST25, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is n1 <n2. I do. As a result, the movable shelf 70 is run counterclockwise to the position P2 by a predetermined posture angle. The predetermined attitude angle counterclockwise traveling distance is obtained by the first and second encoders 35 and 35 and the first and second counters 36 and 46.

In ST26, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
70 is driven to the position of P3 for a fixed distance. In ST27, the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55
And n1> n2. As a result, the moving shelf 70 is moved to P4.
The vehicle is driven to the right by a predetermined posture angle to the position of. The clockwise traveling distance of the predetermined posture angle is obtained by the first and second encoders 35 and 35 and the first and second counters 36 and 46.

In ST28, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
70 is run to the position of P5 for a fixed distance. In ST29, when the moving shelf 70 approaches the right fixed shelf 68 by a predetermined distance, the right traveling stop sensor 66 detects the right fixed shelf 68 and controls the first and second drive motors 54, 58 via the control unit 85. Stop. In this way, by moving the movable shelf 70 almost in an S-shape from the position P1 to the position P5, the movable shelf 70 can be stopped with respect to the right fixed shelf 68 without a width shift.

On the other hand, when the read sensor is the first width deviation detecting sensor 73, in ST30, the rotational speed of the first drive wheel 51 is determined.
The relationship between n1 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2, and the movable shelf 70 is run in this state. Moving shelf 70 in ST29
When the vehicle approaches the right fixed shelf 68 by a predetermined distance, the right traveling stop sensor 66 detects the right fixed shelf 68 and stops the first and second drive motors 54 and 58 via the control unit 85. This allows
The movable shelf 70 is stopped with respect to the right fixed shelf 68 without any width shift.

When the read sensor is the third width deviation detecting sensor 75, the number of rotations of the first drive wheel 51 is determined in ST31.
The relationship between n1 and the rotation speed n2 of the second drive wheel 55 is n1> n2.
As a result, the movable shelf 70 runs clockwise at a predetermined posture angle.
The clockwise traveling distance of the predetermined attitude angle is the first and second encoders
35, 35 and the first and second counters 36, 46.

In ST32, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
Run 70 for a certain distance. In ST33, the first drive wheel 51
The relationship between the rotation speed n1 of the second drive wheel 55 and the rotation speed n2 of the second drive wheel 55 is expressed as n1 <n2.
And As a result, the movable shelf 70 runs counterclockwise at the predetermined posture angle. The predetermined attitude angle counterclockwise traveling distance is obtained by the first and second encoders 35 and 35 and the first and second counters 36 and 46.

In ST34, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
Run 70 for a certain distance. In ST29, when the moving shelf 70 approaches the right fixed shelf 68 by a predetermined distance, the right traveling stop sensor 66
Detects the right fixed shelf 68 and sends the first and second
Drive motors 54 and 58 are stopped. Thus, the moving shelf 70
Is moved almost from the position P1 to the position P5, whereby the movable shelf 70 can be kept stationary with respect to the right fixed shelf 68 without a width shift.

Next, a third embodiment will be described.
FIG. 8 shows a moving shelf 90 according to a third embodiment of the present invention. The moving shelf 90 includes a drive wheel unit 12 and a driven wheel unit 15 at the bottom of the shelf body 11, and places the drive wheel unit 12 and the driven wheel unit 15 on a floor surface 18 and drives the drive wheel unit 12 to drive the floor. A slant detecting means 20 for detecting the inclination of the shelf main body 11 during traveling of the moving shelf 90;
A width shift detecting means 92 for detecting a shift in the width direction of the moving shelf 90, and a tilt of the moving shelf 90 is corrected by running the moving shelf 90 in an arc based on the tilt detection information of the tilt detecting means 20; And a correcting means 94 for correcting the width shift of the movable shelf 90 by causing the movable shelf 90 to travel in an S-shape based on the width shift detection information.

The width deviation detecting means 92 is obtained by omitting the inclination detecting section 30 from the width deviation detecting means 72 of the second embodiment.
A first width deviation detection sensor 73 is provided at the center of the first and second width deviation detection sensors 73, 75 adjacent to the front side 11A and the back side 11B of the first width deviation detection sensor 73, respectively. And a reference point detection object 76 to be detected by the first to third width deviation detection sensors 73 to 75 is provided on the floor 18.

The correcting means 94 connects the drive wheel unit 12 to the shelf main body.
11, a pair of first driving wheels 51 on the front side 11A and a pair of second driving wheels 55 on the rear side 11B of the shelf body 11, and the pair of first driving wheels 51 and the pair of second driving wheels 55 are respectively formed. It is configured to be capable of independent driving, controls the rotation speed of the first and second drive wheels 51 and 55 based on the information from the inclination detecting means 20, and controls the first and second driving wheels based on the information from the width deviation detecting means 92. Second drive wheel 5
The control unit 95 controls the number of rotations of 1,55. Control unit 95
Has a built-in memory 96.

Next, the operation of the moving shelf 90 will be described with reference to FIGS. 9, 10 and 6. In ST40, the first and second
The drive wheels 51 and 55 are driven to move the moving shelf 90 from the right fixed shelf 68 in the “leftward” direction. Here, when the floor surface 18 on the front side of the moving shelf 90 has irregularities, undulations, or inclinations, the moving shelf 90 is at the angle α even if the rotation speeds of the first and second drive wheels 51 and 55 are the same.
Tilt (see FIG. 9).

In ST41, the second inclination detecting sensor 22 detects the second
The tilt detection object 26 is detected, and at the same time, the travel distance L2 is obtained by the second counter 46 in ST42, the second counter 46 is reset, and information on the travel distance L2 is transmitted to the control unit 95.
On the other hand, in ST43, the first tilt detection sensor 21 detects the first tilt detection target 25, and at the same time, in ST45, the first counter
The traveling distance L1 is obtained at 36, the first counter 36 is reset, and information on the traveling distance L1 is transmitted to the control unit 95.

In ST46, the control unit 95 compares the travel distance L1 and the travel distance L2. Here, as shown in FIG.
Is inclined by the angle α, and the floor 18 on the front side of the moving shelf 90 has irregularities, undulations, or inclinations, so that L1> L2. In this case, the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 are corrected so that the difference in travel distance L1> L2 is corrected in ST47.
And n1 <n2. As a result, as shown in FIG. 9, the movable shelf 90 is caused to travel in an arc in the direction of the arrow to correct the inclination of the angle α of the movable shelf 90. That is, by controlling the traveling distance after the reset of the first counter 36 and the traveling distance after the reset of the second counter 46 to be equal, the moving shelf 90 is controlled.
Of the angle α is corrected.

When the moving shelf 90 approaches the left fixed shelf 67 by a predetermined distance in ST48, the left traveling stop sensor 65 sets the left fixed shelf 67 to the left fixed shelf 67.
67, and the first and second drive wheels 51,
Stop 55. Thereby, the moving shelf 90 is stopped in parallel with the left fixed shelf 67.

On the other hand, if the movable shelf 90 does not tilt and maintains the normal posture, L1 = L2 in ST46, and the rotation speed n1 of the first drive wheel 51 and the rotation speed of the second drive wheel 55 in ST49.
The relationship with n2 is defined as n1 = n2. Thus, the movable shelf 90 can be run in a normal posture.

When the moving shelf 90 is inclined at an angle (−α), L1 <L2 in ST46 and L1 <L2 in ST50.
The rotation speed of the first drive wheel 51 is corrected so as to
The relationship between n1 and the rotation speed n2 of the second drive wheel 55 is n1> n2.
Thus, the movable shelf 90 is caused to travel in an arc, and the inclination of the angle (−α) of the movable shelf 90 is corrected.

Here, the same step ST21 as in the second embodiment is performed between the time when the moving shelf 90 starts moving left in ST40 and the time when moving left stops in ST48. That is, in ST21, the first
Any one of the third to third width deviation detection sensors 73 to 75 detects the reference position detected object 76 and records the information in the memory 96 of the control unit 95.

Here, if the movable shelf 90 is shifted in width to the rear side due to unevenness, undulation, or inclination of the floor surface 18, the first width shift detecting sensor 73 detects the reference position object 76. on the other hand,
When the movable shelf 90 has shifted toward the front, the third width shift detecting sensor 75 detects the reference position detection object 76. And moving shelves
If the 90 does not shift, the second shift detecting sensor 73 detects the reference position detection object 76.

After stopping leftward in ST48, similarly to the second embodiment shown in FIG. 6, the first and second drive wheels 51,
By moving 55, the moving shelf 90 is moved "right" from P1.
Travel in the direction. At the same time, the width deviation detection sensor recorded in the memory 96 in ST24 is read. When the read sensor is the second width deviation detection sensor 74, the first
The relationship between the rotation speed n1 of the drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is defined as n1 <n2. As a result, the movable shelf 90 is run counterclockwise to the position P2 by a predetermined posture angle. The predetermined attitude angle counterclockwise traveling distance is obtained by the first and second encoders 35 and 35 and the first and second counters 36 and 46.

In ST26, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
90 is run to the position of P3 for a fixed distance. In ST27, the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55
And n1> n2. As a result, the moving shelf 90 is moved to P4.
The vehicle is driven to the right by a predetermined posture angle to the position of. The clockwise traveling distance of the predetermined posture angle is obtained by the first and second encoders 35 and 35 and the first and second counters 36 and 46.

In ST28, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
90 is driven to the position of P5 for a fixed distance. In ST29, when the moving shelf 90 approaches the right fixed shelf 68 by a predetermined distance, the right traveling stop sensor 66 detects the right fixed shelf 68, and controls the first and second drive motors 54, 58 via the control unit 85. Stop. As described above, by moving the movable shelf 70 almost in an S-shape from the position P1 to the position P5, the movable shelf 70 is stopped with respect to the right fixed shelf 68 without a width shift.

On the other hand, when the read sensor is the first width deviation detecting sensor 73 in ST24, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is determined in ST30.
With n1 = n2, the movable shelf 90 is caused to travel in this state, and the movable shelf 90 is stopped with respect to the right fixed shelf 68 without any width shift in ST29.

If the read sensor is the third width deviation detecting sensor 75 in ST24, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is determined in ST31.
Let n1> n2. As a result, the moving shelf 90 runs clockwise at a predetermined posture angle. The clockwise traveling distance of the predetermined attitude angle is determined by the first and second encoders 35 and 35 and the first and second counters 36 and 35.
Determined by 46.

In ST32, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
Run 90 a certain distance. In ST33, the first drive wheel 51
The relationship between the rotation speed n1 of the second drive wheel 55 and the rotation speed n2 of the second drive wheel 55 is expressed as n1 <n2.
As a result, the movable shelf 90 is run counterclockwise at the predetermined posture angle. The predetermined attitude angle counterclockwise traveling distance is obtained by the first and second encoders 35 and 35 and the first and second counters 36 and 46.

In ST34, the relationship between the rotation speed n1 of the first drive wheel 51 and the rotation speed n2 of the second drive wheel 55 is set to n1 = n2,
Run 90 a certain distance. In ST29, when the moving shelf 90 approaches the right fixed shelf 68 by a predetermined distance, the right traveling stop sensor 66
Detects the right fixed shelf 68 and sends the first and second
Drive motors 54 and 58 are stopped. Thus, the moving shelf 70
Is moved almost from the position P1 to the position P5 to make the movable shelf 70 stationary with respect to the right fixed shelf 68 without any width shift.

It should be noted that the present invention is not limited to the above-described embodiment, and that the present invention can be improved and implemented within a range that can achieve the present invention.
Modifications and the like are included in the present invention. For example, in the above embodiment, the drive wheels 51 and 55 are driven by a chain, but may be driven by a gear, for example. In addition, the drive wheels 51,
The example in which the drive wheels 55 and 55 are driven by the individual drive motors 54 and 58 has been described. However, the drive wheels 51 and 55 are driven by one drive motor.
It is also possible to control the number of revolutions of the drive wheels 51 and 55 with a clutch. Further, an example has been described in which the encoder 35 is used for detecting the inclination and the width deviation of the movable shelf. However, other means such as a timer may be used instead of the encoder 35. In addition, the shape, size, form, number, location, and the like of the driving wheels, the motor as the driving means, the counter, and the like described in each of the above embodiments are arbitrary and not limited as long as the present invention can be achieved.

[0064]

According to the moving shelf according to the first aspect of the present invention, the inclination of the shelf body is detected by the inclination detecting means while the moving shelf is running, and the inclination is detected based on the inclination detection information of the inclination detecting means. The inclination of the moving shelf is corrected by causing the moving shelf to run in an arc by the correcting means. In addition, the width deviation of the shelf body is detected by the width deviation detecting means while the moving shelf is traveling, and the moving deviation is corrected by the width deviation correcting means based on the inclination detection information of the width deviation detecting means.
The width deviation of the movable shelf is corrected by running the arc.
Thereby, it is possible to prevent the moving shelf from deviating from the regular traveling route. For this reason, it is not necessary to guide the movable shelf with the guide rail as in the related art, and it is possible to prevent a burden on the guide rail when the movable shelf is tilted or shifted in width. Therefore, the durability of the moving shelf can be further improved.

In the present invention, first and second tilt detection sensors are provided on the front and rear sides of the shelf main body, and the first and second tilt detection sensors are provided on the floor surface. By providing the body on the floor, the inclination of the movable shelf can be detected. For this reason, the inclination of the movable shelf can be detected with a simple configuration, so that the cost of the inclination detecting means can be reduced.

In the present invention, as described in claim 3, the shelf main body is provided with first to third width deviation detecting sensors,
By providing the reference point detection object on the floor surface, the width shift of the movable shelf can be detected. For this reason, the width shift of the movable shelf can be detected with a simple configuration, and the cost of the width shift detecting means can be reduced.

In the present invention, by controlling the number of revolutions of the first and second drive wheels as described in claim 4,
It is designed to correct the tilt of the moving shelf. For this reason, the inclination of the movable shelf can be corrected with a simple configuration, so that the cost of the inclination correcting means can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view of a first embodiment according to the present invention.

FIG. 2 is a plan view of the first embodiment according to the present invention.

FIG. 3 is a diagram illustrating the operation of the first embodiment according to the present invention.

FIG. 4 is a flowchart of the first embodiment according to the present invention.

FIG. 5 is a plan view of a second embodiment according to the present invention.

FIG. 6 is a diagram for explaining the operation of the second embodiment according to the present invention.

FIG. 7 is a flowchart of a second embodiment according to the present invention.

FIG. 8 is a plan view of a third embodiment according to the present invention.

FIG. 9 is a diagram illustrating the operation of the third embodiment according to the present invention.

FIG. 10 is a flowchart of a third embodiment according to the present invention.

FIG. 11 is a diagram illustrating the operation of a conventional moving shelf.

[Explanation of symbols]

 11 Shelf main body 11A Front side of shelf main body 11B Back side of shelf main body 12 Drive wheel unit 15 Follower wheel unit 18 Floor surface 20 Tilt detecting means 21 First tilt detecting sensor 22 Second tilt detecting sensor 25 First tilt detecting object 26 Second tilt detected object 30 Tilt detecting unit 51 First drive wheel 55 Second drive wheel 73 First width deviation detection sensor 74 Second width deviation detection sensor 75 Third width deviation detection sensor 76 Reference point detected object 90 Moving shelf 92 Width deviation detection means 94 Correction means 95 Control unit

Claims (4)

[Claims] 1. A moving shelf that includes a drive wheel unit and a driven wheel unit on the bottom of a shelf body, places the drive wheel unit and the driven wheel unit on a floor, and drives the drive wheel unit to reciprocate on the floor. In the inclination detection means for detecting the inclination of the shelf body during traveling of the moving shelf, the width deviation detecting means for detecting the displacement of the shelf body in the width direction while traveling the moving shelf, and the inclination detection information of the inclination detecting means Correcting means for correcting the inclination of the moving shelf by causing the moving shelf to travel in an arc based on the moving shelf and correcting the width shift of the moving shelf by moving the moving shelf in an S-shape based on the width shift detecting information of the width shift detecting means. A moving shelf consisting of 2. The tilt detecting means includes first and second tilt detecting sensors on the near side and the rear side of the shelf main body, respectively, and the first and second tilt detecting sensors detect the first and second tilt detecting sensors. A time difference or travel distance when the first and second tilt detection sensors detect the first and second tilt detection objects while the movable shelf is traveling, provided with the second tilt detection object on the floor surface. The moving shelf according to claim 1, further comprising an inclination detecting unit that detects a difference. 3. The width deviation detection means includes a first width deviation detection sensor at the center of the shelf main body, and a second width deviation sensor and a second width deviation detection sensor adjacent to the first width deviation detection sensor, respectively. 3
2. The movable shelf according to claim 1, further comprising: a reference point detection object to be detected by the first to third width deviation detection sensors. 4. The correction means comprises a drive wheel unit including a first drive wheel and a second drive wheel, and a first drive wheel and a second drive wheel on the near side and the back side of the shelf main body, respectively. , Based on information from the inclination detecting means,
2. A control unit for controlling the number of rotations of the second drive wheel and controlling the number of rotations of the first and second drive wheels based on information from the width deviation detecting means. Moving shelf described.