JP2007176613A - Moving shelf device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stabilize detection action by a traveling control sensor in a moving shelf device while achieving reduction of cost. <P>SOLUTION: The moving shelf device is provided with a reflection type photoelectric sensor 5 for deceleration detecting that a distance of the moving shelf 2A with a shelf 1A at a side of traveling direction becomes a set distance L1 and switching it to low speed traveling; and a reflection type photoelectric sensor 6 for braking detecting that the distance with the shelf 1A at a side of the traveling direction becomes a set distance L2 shorter than the set distance L1 and braking to stop it. The two sensors 5, 6 are arranged in a bottom part frame 2a for supporting a shelf body 2b of one shelf 2A of the two adjacent shelves 1A, 2A relatively approaching/leaving and on an inner side of an opening 10 provided on the bottom part frame 2a such that optical axes 5a, 6a become parallel to a movement shelf traveling direction. On a bottom part frame 1a of the other shelf 1A, a reflection plate 7 is auxiliarily provided so as to be opposed to the reflection type photoelectric sensors 5, 6. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention provides a movable shelf device that can widen the interval between a plurality of shelves arranged side by side in a work path width by traveling of a movable shelf that can be laterally moved in the parallel direction of the shelves or can be narrowed so that the shelves are adjacent to each other, In particular, the present invention relates to the travel control device.

  As described above, the movable shelf device that can widen the interval between a plurality of shelves arranged side by side in the width of the work path by traveling of the movable shelf that can move in the parallel direction of the shelves or can be narrowed so that the shelves are adjacent to each other. Then, the width of the work path formed by widening the interval between the shelves must always be constant, and if this width narrows over time, it will adversely affect the loading and unloading work by forklifts etc. in the work path. Will occur. On the other hand, stop control of a traveling shelf that travels is performed after a certain period of time by stopping energization of the traveling drive motor when the distance between the traveling shelf and the shelf on the traveling direction side of the traveling shelf reaches a set distance. In this method, stop control starts because the running resistance of the moving shelf (wheel rotation resistance, friction resistance with the rail side, etc.) tends to increase over time. Thereafter, the moving distance due to the inertia until the moving shelf actually stops is gradually shortened, and as a result, the width of the work passage formed is reduced over time. In particular, in a large-scale mobile shelf device having a large number of mobile shelves, the above-mentioned secular change becomes remarkable.

Therefore, as a stop control method for the moving shelf that travels, for example, as described in Patent Document 1, a deceleration sensor that detects that the distance from the shelf on the traveling direction side of the moving shelf has become a set distance L1, A braking sensor for detecting that the distance from the shelf on the traveling direction side is a set distance L2 shorter than the set distance L1, and based on the detection operation of the deceleration sensor for a moving shelf traveling at high speed A method of decelerating to a set low speed and stopping the moving shelf running at a low speed based on the detection operation of the braking sensor, that is, inertia before the moving shelf is stopped using the deceleration sensor and the braking sensor. There has been considered a control method capable of shortening the moving distance due to.
JP-A-8-154751

  However, in the conventionally well-known configuration described in Patent Document 1, the deceleration sensor is located at the upper end of the shelf body of one of the two adjacent shelves that move relatively close to each other toward the other shelf. A proximity switch attached via a protruding bracket, and the proximity switch detects a dog to be detected attached to the upper end of the shelf body of the other shelf via a bracket protruding toward the other shelf. The braking sensor is composed of a contact detector attached to the lower front surface of the one shelf, and braking is performed when the contact detector detects a detected portion on the front surface of the counterpart shelf. The proximity switch and detection dog, which are deceleration sensors, are located near the top of the shelf, making maintenance difficult, and supporting the proximity switch and detection dog. Because the brackets that extend toward the other shelf are near the top of the shelf where the shaking is large during an earthquake, etc., when the earthquake occurs, the brackets on the shelves that are close to each other There was also a risk of deformation due to collision and the subsequent normal operation cannot be expected. In addition, since the deceleration sensor and the braking sensor are mounted at completely separate locations, assembly of wiring and the like is costly and there are many practical problems.

  An object of the present invention is to provide a movable shelf device that can solve the above-described conventional problems. The means is shown in parallel with reference numerals of embodiments to be described later. A movable shelf apparatus that can widen the interval between the plurality of shelves 1A, 2A to a working path width by traveling of the movable shelf 2A that can move laterally in the parallel direction of the shelves or narrow the shelves so that the shelves are adjacent to each other. The distance between the traveling shelf 2A and the shelf 1A on the travel direction side is the set distance L1, and the distance between the travel direction side shelf 1A and the set distance L1 is shorter than the set distance L1. The moving shelf 2 </ b> A includes a braking sensor 6 that detects that the vehicle has reached L <b> 2 and decelerates the moving shelf 2 </ b> A that is traveling at a high speed to a low speed that is set based on the detection operation of the deceleration sensor 5. 2A for detection operation of braking sensor 6 Accordingly, in the moving shelf apparatus for stopping braking, two reflective photoelectric sensors are used as the deceleration sensor 5 and the braking sensor 6, and the two reflective photoelectric sensors 5 and 6 are moved relatively close to and away from each other. Among the two adjacent shelves 1A and 2A, the optical axes 5a and 6a are moved inside the opening 10 provided in the bottom frame 2a in the bottom frame 2a that supports the shelf main bodies 2b and 2c of one shelf 2A. The reflector 7 is provided so as to face the reflective photoelectric sensors 5 and 6 on the bottom frame 1a of the other shelf 1A.

  In carrying out the present invention having the above-described configuration, specifically, as described in claim 2, the opening 10 is moved at an end in the shelf length direction of the frame material constituting the bottom frame 2a. The side frame member 8 parallel to the shelf traveling direction can be provided on the end face plate 11 in the moving shelf traveling direction.

  Further, as described in claim 3, the mounting portions 18a and 19a attached to the outer surface of the bottom frame 2a, and the connecting portions 18a and 19a are bent and connected from the opening 10 into the bottom frame 2a. Using the brackets 18 and 19 provided with the sensor mounting seats 18b and 19b to enter, the sensor mounting seats 18b and 19b to which the sensors 5 and 6 are mounted are inserted into the bottom frame 2a through the opening 10 and the mounting portion. 18a, 19a can be configured to be attached to the outer surface of the bottom frame 2a. In this case, as described in claim 4, the two sensors 5, 6 are arranged vertically in parallel inside one opening 10 provided in the bottom frame 2 a, and the brackets 18, 19 are The upper bracket 18 for attaching the upper sensor 5 is provided separately for each of the sensors 5 and 6. The upper bracket 18 is attached to the outer surface of the bottom frame 2 a and is bent from the lower side of the mounting portion 18 a so as to be connected to the opening. The lower bracket 19 to which the upper sensor 5 is attached and the lower sensor 6 is attached to the lower side of the sensor mounting seat 18b as an L shape having a sensor mounting seat 18b that enters the bottom frame 2a from the bottom frame 2a. A mounting portion 19a that is attached to the outer side surface of the frame, and a bottom frame 2 that is bent from the upper side of the mounting portion 19a. As an inverted L-shaped having a sensor mounting seat 19b entering within, it can be configured to attach the lower sensor 6 on the upper side of the sensor mounting seat 19b.

  Further, according to a fifth aspect of the present invention, the sensors 5 and 6 include the adjustment unit or the opening / closing lid 17 that covers the adjustment unit in a direction in which the light projecting unit 15 and the light receiving unit 16 are aligned in the horizontal direction. The bottom frame 2a is attached in a direction facing the lateral outer side plate part (side plate part 8a of the side frame member 8), and the sensor 5 is attached to the lateral outer side plate part (side plate part 8a of the side frame member 8) of the bottom frame 2a. , 6 or a window 22 for operating the opening / closing lid 17 from the outside.

  On the other hand, as described in claim 6, the reflecting plate 7 includes a mounting portion 7a attached to the lateral outer surface of the bottom frame 1a (side plate portion 8a of the side frame member 8), and a bent series from the mounting portion 7a. And a single reflecting plate 7 having a reflecting surface portion 7b having a width corresponding to the two sensors 5 and 6, as described in claim 7. can do. When adopting the configuration according to this seventh aspect, as described in the eighth aspect, the two sensors 5 and 6 are arranged vertically in parallel inside one opening 10 provided in the bottom frame 2a. In the reflecting plate 7, the optical axis 5a from the light projecting portion 15 of the deceleration sensor 5 passes through the approximate center of the reflecting surface portion 7b, and the optical axis 6a from the light projecting portion 15 of the braking sensor 6 is the reflecting surface portion 7b. It can be attached so as to pass through a position shifted vertically from the center.

Since the moving shelf apparatus according to the present invention having the above-described configuration can execute a control method that can shorten the moving distance due to inertia before stopping the moving shelf as much as possible using the deceleration sensor and the braking sensor. In particular, according to the configuration of the present invention,
1. Since both the deceleration sensor and the braking sensor, and the reflector that faces these sensors are attached to the bottom frame that supports the shelf body of the shelf, all of these sensors and the reflector are close to the floor. Therefore, maintenance for these can be performed very easily.
2. Both the deceleration sensor and the braking sensor are disposed in the bottom frame that supports the shelf body of one shelf, and do not protrude from the outer surface of the shelf. And since the reflecting plate only needs to face the sensor whose optical axis is parallel to the moving shelf traveling direction, it is not necessary to attach it directly to the front of the bottom frame of the shelf and project it to the passage side. Forklifts and workers moving back and forth in the work passage do not touch both sensors or reflectors and cause deformation or damage that adversely affects the detection operation by these sensors, and normal normal operation is always achieved. It can be done reliably.
3. Since reflective photoelectric sensors are used for both the deceleration sensor and braking sensor, it is possible to use the same reflector as the object to be detected by both sensors, reducing the overall cost. Can be planned.
Thus, it is possible to expect the effects such as.

  In addition, according to the structure of Claim 2, as a space which arrange | positions a sensor, it is the inner space of the side frame material in the edge of a shelf length direction and parallel to a moving shelf traveling direction, ie, a moving shelf traveling direction. The internal space of the side frame material with sufficient depth can be utilized, so that other frame materials, for example, long horizontal frame materials that connect side frame materials parallel to the moving shelf traveling direction, that is, movement Compared to the case where the sensor is arranged in a lateral frame member that is orthogonal to the shelf traveling direction, the sensor can be easily furnished and there is no risk of lowering the strength of the bottom frame due to the processing of the opening. .

  Further, according to the configuration of the third aspect, the sensor can be disposed inside the bottom frame using a bracket to which the sensor is previously attached. At this time, the bracket itself is attached to the bottom portion. It is not necessary to perform the operation on the inside of the frame, and it is only necessary to install the bracket mounting part on the outer surface of the bottom frame, so that the sensor can be easily installed and, moreover, the sensor can be easily removed for maintenance. it can. In this case, according to the configuration described in claim 4, it is sufficient to provide one opening, and the two sensors can be attached and detached separately using a dedicated bracket, so the shape of the bracket is also simple. Therefore, the structure as a whole is simple and can be implemented at low cost.

  Furthermore, according to the structure of Claim 5, two sensors are installed in the said side frame material of a bottom frame with narrow left-right width | variety up and down so that each light projection part and light-receiving part may be parallel to a horizontal direction. A window for operating the adjustment part of these sensors or the open / close lid that covers the adjustment part from the outside is provided in the lateral outer side plate part of the side frame member, and both these sensors can be installed in parallel. It is possible to easily perform the adjustment work for the adjustment unit. Therefore, it is desirable to implement the configuration according to claim 5 in combination with the configurations according to claims 2 and 4 described above.

  On the other hand, the reflector can be directly attached to the front surface of the bottom frame. However, according to the configuration of claim 6, a bolt head for attaching the reflector to the bottom frame, bending of the reflector by bolting, etc. Does not affect the reflective surface. Two reflectors can be provided corresponding to each of the two sensors. However, according to the configuration of claim 7, since the reflector can be constituted by one reflector, the number of parts and the number of mounting steps are reduced. Thus, the shake amount (error due to various factors) of the optical axis at the detection distance L1 of the decelerating sensor where the detection distance L1 becomes large is the error of the optical axis at the detection distance L2 of the braking sensor with a small detection distance L2. According to the configuration of claim 8, the braking sensor is also provided by using one reflecting plate having a reflecting surface having an area necessary for reliably operating the deceleration sensor. It is possible to operate reliably, and as a result, each of both sensors can be reliably operated using a single reflecting plate having the minimum necessary reflecting surface, and the total reflecting surface area of the reflecting plate is reduced. Thus, further cost reduction can be achieved.

  A specific embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, 1A and 1B are fixed shelves, and 2A to 2C are movable shelves supported so as to be laterally movable between the two fixed shelves 1A and 1B. It is. All of these shelves 1A to 2C are arranged in parallel so that the length direction thereof is orthogonal to the traveling direction of the movable shelves 2A to 2C, and the shelf bodies 1b, 2b, 2c are respectively placed on the bottom frames 1a, 2a. Is supported upright. The movable shelves 2A to 2C are supported by a plurality of rows of guide rails 3 laid on the floor surface through a required number of wheels 4 pivotally supported by the bottom frame 2a, and are not shown. However, as is known in the art, a specific wheel 4 among the wheels 4 is driven by an inverter-controlled variable speed motor with a brake that is mounted on the bottom frame 2a for each moving shelf 2A to 2C. Travel control is performed.

  As shown in FIG. 2, in order to control the travel of the movable shelves 2A to 2C, one of the two shelves that move relatively close to and away from each other, one of the shelves is provided with a reflective photoelectric sensor 5 for deceleration and a brake. The reflection type sensor 6 is attached as a set, and the reflection plate 7 is attached to the other shelf. Specifically, in this embodiment, since a plurality of movable shelves 2A to 2C are provided, the reflector 7 is attached to both the fixed shelves 1A and 1B, and the fixed shelves 1A are attached to the movable shelves 2A and 2B. A pair of sensors 5 and 6 is attached to the side near the side, and a reflector 7 is attached to the opposite side, and a pair of sensors is provided on each side of the traveling shelf 2C in the traveling direction. 5 and 6 are attached. Thus, when the traveling shelves 2A to 2C travel to the side where the pair of sensors 5 and 6 included in the traveling shelf itself are traveling, traveling control is performed based on the detection signals of the pair of sensors 5 and 6, When traveling on the side of the reflector 7 provided in the movable shelf itself, the counterpart (traveling direction side) movable shelves 2B and 2C provided with a pair of sensors 5 and 6 corresponding to the reflector 7 are provided. Travel control is performed based on the detection signals of the pair of sensors 5 and 6. Of course, a pair of sensors 5 and 6 for traveling control during rightward traveling and a pair of sensors 5 and 6 for traveling control during leftward traveling are provided on both sides in the traveling direction of all the movable shelves 2A to 2C. It is also possible to provide a reflector 7 corresponding to a set of sensors 5 and 6 adjacent to the other movable shelves 2A to 2C.

  The bottom frames 2a of the movable shelves 2A to 2C are side frames 8 that are parallel to the traveling direction and are arranged at appropriate intervals in the shelf length direction, and are long and perpendicular to the traveling direction that connects these side frame members 8. The wheel 4 is pivotally supported by the side frame material 8 at least at both ends in the shelf length direction. Thus, the pair of sensors 5 and 6 are arranged in two upper and lower stages inside one side frame member 8 among the side frame members 8 at both ends in the shelf length direction. The side frame member 8 is attached to the front surface of one of the side frame members 8 at both ends in the shelf length direction so as to face both of the pair of sensors 5 and 6. Reference numeral 10 denotes an opening provided in the end face plate 11 of the side frame member 8 in order to house a pair of sensors 5 and 6, and optical axes 5 a and 6 a parallel to the moving shelf traveling direction of the sensors 5 and 6 are respectively provided. It passes through the opening 10.

  All deceleration sensors 5 detect that the distance between the respective deceleration sensors 5 facing the shelves, i.e., the reflecting plate 7, has become the set distance L1, and all the braking sensors 6 A travel control method for detecting that the distance to the reflecting plate 7 has become a set distance L2 shorter than the set distance L1, and using the pair of sensors 5 and 6 and the reflecting plate 7 hereinafter. For example, as shown in FIGS. 1 and 2, the work path P formed between the fixed shelf 1A and the movable shelf 2A is closed to form a work path between the movable shelves 2A and 2B. 3 and FIG. 4, when a traveling direction that approaches the fixed shelf 1A and a travel start command are input to the movable shelf 2A, the movable shelf 2A approaches the fixed shelf 1A. After driving in the direction and reaching the set high speed Continuing the high-speed running while maintaining the speed (S1).

  When the deceleration sensor 5 of the movable shelf 2A detects the reflecting plate 7 on the fixed shelf 1A side, that is, the distance L1 set in the deceleration sensor 5 is the distance between the fixed shelf 1A and the movable shelf 2A. Is reached and the deceleration sensor 5 is turned on (S2), switching from high speed to low speed is performed (S3), the moving shelf 2A is decelerated, and after reaching the set low speed, that speed is reached. Keep low and drive at low speed. As a result of this low speed running, when the braking sensor 6 of the movable shelf 2A detects the reflecting plate 7 on the fixed shelf 1A side, that is, the distance between the fixed shelf 1A and the movable shelf 2A is set in the braking sensor 6. When the braking sensor 6 is turned on when the distance L2 is reached (S4), braking is applied to the moving shelf 2A traveling at a low speed (S5), and after that, the moving shelf 2A moves after a slight distance due to inertia. Stops. As a result, a distance slightly shorter than the distance L2 set in the braking sensor 6 is secured between the stopped moving shelf 2A and the fixed shelf 1A, and the moving shelf 2A and the moving shelf 2B at the original position are located. A work passage P having a predetermined width is formed between them.

  Even when the work path P is formed between the other movable shelves 2B and 2C or between the movable shelf 2C and the fixed shelf 1B, the movable shelves 2A to 2C may be moved in the above manner. At this time, when it is necessary to travel a plurality of movable shelves in the same direction, the distance to the traveling shelf on the traveling direction side becomes larger than the distance L1 set in the deceleration sensor 5, and Control may be made so that the traveling starts when both the sensor 5 and the braking sensor 6 are turned off. However, the plurality of movable shelves are simultaneously traveled in the same direction and are the same as the deceleration / braking control of the leading movable shelf. It is also possible to perform deceleration / braking control on the following moving shelf at the timing.

  Hereinafter, a specific mounting structure of the pair of sensors 5 and 6 and the reflection plate 7 will be described with reference to FIGS. 5 to 10. The side frame member 8 constituting the bottom frames 1 a and 2 a of the shelves 1 </ b> A to 2 </ b> C. Is composed of a section steel having a longitudinal section, and a vertically long rectangular end face plate 11 that closes openings at both front and rear ends thereof is attached to the mounting plate portions 11a to 11c that are bent inward from the left and right sides and the upper side. Is attached to the side frame material 8 by inserting each of the overlapping plate portions with bolts 12a to 12c so as to overlap the left and right side plate portions 8a, 8b and the top plate portion 8c of the side frame material 8. . A part of the bolt 12b fixes the lateral frame member 9 together with the side plate part 8b of the side frame member 8, and the bolt 12c is attached to the top plate part 8c of the side frame member 8 on the shelf main bodies 1b, 2b, The front column member 13 of 2c is fastened together. Reference numeral 14 denotes a rubber cylindrical bumper attached to the front surface near the lower end of the front column member 13.

  Of the end face plates 11 of each side frame member 8, the end face plates 11 of the side frame members 8 positioned at both ends in the shelf length direction are provided with vertically long rectangular openings 10. Each of the sensors 5 and 6 is a flat box type in which a light projecting unit 15 and a light receiving unit 16 are arranged in front, and an opening / closing lid 17 that covers the adjustment unit is provided on a side surface on the light receiving unit 16 side. Further, mounting screw holes are provided on both upper and lower side surfaces. The pair of sensors 5 and 6 are arranged via two upper and lower brackets 18 and 19 in a state where the deceleration sensor 5 is on and the light projecting unit 15 and the light receiving unit 16 of each sensor are arranged in parallel in the horizontal direction. Attached to the end face plate 11. In other words, the upper bracket 18 is an L-shaped one composed of a vertical mounting portion 18a and a sensor mounting seat 18b that is continuously bent at a right angle from the lower side of the mounting portion 18a. With one of the upper and lower side surfaces of the deceleration sensor 5 screwed, the sensor mounting seat 18b is inserted into the side frame member 8 from the opening 10 of the end surface plate 11 together with the deceleration sensor 5, and the mounting portion 18a is inserted into the end surface plate 11. It is attached to the outer side surface with bolts 20. The lower bracket 19 is L-shaped and includes a vertical mounting portion 19a and a sensor mounting seat 19b that is bent at right angles from the upper side of the mounting portion 19a. In a state where one of the upper and lower side surfaces of the sensor 6 is screwed, the sensor mounting seat 19b is inserted into the side frame member 8 from the opening 10 of the end plate 11 together with the braking sensor 6, and the mounting portion 19a is attached to the outside of the end plate 11. It is attached to the side surface with bolts 21.

  As described above, the upper deceleration sensor 5 and the lower braking sensor 6 attached to the end plate 11 by the brackets 18 and 19 respectively are inside the opening 10 of the end plate 11, that is, inside the side frame member 8. Thus, the light projecting portions 15 and the light receiving portions 16 of the sensors 5 and 6 are arranged in parallel in the horizontal direction, and the light projecting portions 15 and the light receiving portions 16 are adjacent to each other in the vertical direction. It will be in the state which adjoins the side plate part 8a used as the lateral outer side surface of the bottom frame 2a on the opposite side to the side plate part 8a, ie, the side where the horizontal frame material 9 is attached. The light projecting portions 15 adjacent to the upper and lower sides of the sensors 5 and 6 are positioned at the center position of the end face plate 11 in the left-right width direction (center position of the opening 10 in the left-right width direction). The side plates of the side frame member 8 are arranged at positions facing the opening / closing lids 17 of the upper and lower sensors 5, 6 so that the opening / closing lids 17 of the sensors 5, 6 can be opened / closed from the laterally outer side of the bottom frame 2a. A window 22 is provided by drilling a rectangular hole in the portion 8a and the mounting plate portion 11a of the end face plate 11 overlapping therewith. Therefore, when it becomes necessary to finely adjust the detection distance of each sensor 5, 6, the opening / closing lid 17 of each sensor 5, 6 is opened from the window 22 as indicated by a virtual line in FIG. The adjusting portions of the sensors 5 and 6 can be rotated from a laterally outer side by a tool such as a screwdriver.

  The reflecting plate 7 includes a mounting portion 7a, a reflecting surface portion 7b continuously bent at a right angle from a vertical front side of the mounting portion 7a, and a rectangular U-shape inward from the free side of the reflecting surface portion 7b. The side part which becomes the lateral outer side surface of the bottom frame 2a in a state in which the contact part 7c is in contact with one side of the front surface of the end face plate 11 The mounting portion 7a is applied to the side plate portion 8a of the frame member 8, and the side plate portion 8a and the mounting plate portion 11a of the end face plate 11 are fixed to the side frame member 8 together with a bolt 12a. The reflection surface portion 7b of the reflection plate 7 attached in this way is positioned at right angles to the optical axes 5a and 6a of the pair of sensors 5 and 6 facing the reflection surface portion 7b, but the detection distance L1 is The optical axis 5a of the long upper deceleration sensor 5 passes substantially the center of the reflecting surface portion 7b, and the optical axis 6a of the lower braking sensor 6 having a short detection distance L2 passes below the center of the reflecting surface portion 7b. It has become. The area of the reflecting surface portion 7b is projected in a situation where the deflection amount (error due to various factors) of the optical axis 5a at the detection distance L1 of the upper deceleration sensor 5 is an expected maximum value in each of the vertical and horizontal directions. The light area is set to such an extent that it does not come out of the reflection surface portion 7b. If this condition is satisfied, the predicted maximum shake amount (error due to various factors) of the optical axis 6a of the lower braking sensor 6 with a short detection distance L2 is larger than that of the upper deceleration sensor 5. Since it is small, the light projection area does not come off from the reflection surface portion 7b.

  In the illustrated embodiment, as the end face plate 11 of the side frame member 8 on the side to which the reflecting plate 7 is attached, the end face plate 11 of the side frame member 8 on the side to which the pair of sensors 5 and 6 are attached, that is, the opening. The end face plate 11 provided with 10 etc. is used as it is. Thus, the opening 10 of each end face plate 11 extends below a region necessary for light projection and reception of the pair of sensors 5 and 6, and the end face plate 11 to which the pair of sensors 5 and 6 are attached. Obstacle detection sensors separately attached to the front lower part and the front lower part of the end plate 11 to which the reflecting plate 7 is attached, that is, the moving shelf by the optical axis passing horizontally in the shelf length direction at the lower front part of each moving shelf 2A-2C. In order to introduce the wiring of the obstacle detection sensor 23 for detecting an obstacle on the floor side located in the lower front surface of 2A to 2C to the inside of the end face plate 11 (inside the side frame member 8), the lower part of the opening 10 is formed. It is configured so that it can be used. Further, since the adjacent shelves approaching within a certain distance is prevented by the contact of the cylindrical bumpers 14, the adjacent shelves approaching within a certain distance due to a failure of the control system or the like. The obstacle detection sensor 23 and the reflector 7 are not damaged.

  In addition, one of the upper and lower brackets 18 and 19 in the above embodiment, for example, the upper bracket 18 is omitted, and the side of the sensor mounting seat 19b of the lower bracket 19 corresponds to the sensor mounting seat 18b of the upper bracket 18. If the upper sensor mounting seats are connected in series, the sensors 5 and 6 can be mounted on the upper and lower sensor mounting seats of one bracket 19, respectively.

  Furthermore, the structure of the sensors 5 and 6 is not limited to that shown in the above embodiment. For example, the adjusting unit may be directly operated with a tool without the opening / closing lid 17, or the adjusting unit is provided on one of the upper and lower side surfaces of the flat box type sensors 5 and 6. May be. Basically, the deceleration sensor 5 and the braking sensor 6 can be separately provided at two locations in the shelf length direction of the bottom frame of the shelf. In this case, the reflecting plate 7 is separately provided as a reflecting plate facing the deceleration sensor 5 and a reflecting plate facing the braking sensor 6.

Fig. A is a side view showing the entire moving shelf device, and Fig. B is a plan view thereof. Fig. A is a side view of the main part showing a state in which the moving shelf adjacent to the fixed shelf is close to the deceleration distance, and Fig. B is a side view of the main part showing a state where two adjacent moving shelves are close to the braking distance. FIGS. C and C are plan views of the main part of FIG. A, and FIG. It is a graph which shows the relationship between the travel distance at the time of travel control, and travel speed. It is a flowchart explaining the procedure of traveling control. It is a vertical side view of the principal part which shows the detail of the attachment structure of a set of sensors and a reflecting plate. FIG. 6 is a transverse plan view of FIG. 5. It is a partial notch front view of the principal part which shows the detail of the attachment structure of a set of sensors. It is a partial notch front view of the principal part which shows the detail of the attachment structure of a reflecting plate. It is a disassembled perspective view of the principal part which shows the detail of the attachment structure of a set of sensors. It is a disassembled perspective view of the principal part which shows the detail of the attachment structure of a reflecting plate.

Explanation of symbols

1A, 1B Fixed shelf 1a, 2a Shelf bottom frame 1b, 2b, 2c Shelf shelf body 2A-2C Moving shelf 3 Moving shelf guide rail 4 Moving shelf wheel 5 Deceleration reflective photoelectric sensor 5a, 6a Optical axis 6 Reflective photoelectric sensor for braking 7 Reflecting plate 7a Mounting portion 7b Reflecting surface portion 8 Side frame material 10 of bottom frame Opening 11 End plate 15 of side frame material Light projecting portion 16 of each sensor Light receiving portion 17 of each sensor Adjustable part opening and closing lids 18 and 19 Each sensor mounting bracket L1 Detection distance of deceleration reflective photoelectric sensor L2 Detection distance of braking reflection photoelectric sensor

Claims (8)

  It is a mobile shelf device that can widen the space between multiple shelves arranged side by side in the work path width by traveling of the movable shelf that can move laterally in the parallel direction of the shelf or narrow so that the shelves are adjacent to each other. The deceleration sensor that detects that the distance between the shelf and the shelf on the traveling direction side has become the set distance L1, and the distance between the shelf on the traveling direction side and the shelf on the traveling direction side is set distance L2 that is shorter than the set distance L1. And a braking sensor for detecting, decelerating the moving shelf running at high speed to a low speed set based on the detection operation of the deceleration sensor, and detecting the moving shelf running at low speed based on the detection operation of the braking sensor. In the movable shelf apparatus for stopping braking, two reflective photoelectric sensors are used as the deceleration sensor and the braking sensor, and the two reflective photoelectric sensors are moved closer to and away from each other. Among the shelves, the bottom frame that supports the shelf main body of one shelf is arranged inside the opening provided in the bottom frame so that the optical axis is parallel to the moving shelf traveling direction, and the bottom of the other shelf A moving shelf device, wherein a reflective plate is attached to the frame so as to face the reflective photoelectric sensor.   The opening is provided at an end face plate in a moving shelf traveling direction of a side frame member at an end in a shelf length direction and parallel to the moving shelf traveling direction among the frame members constituting the bottom frame. The moving shelf apparatus according to 1.   The sensor to which a sensor is attached using a bracket including a mounting portion attached to the outer surface of the bottom frame and a sensor mounting seat that is bent from the mounting portion and enters the bottom frame from the opening. The movable shelf apparatus according to claim 1 or 2, wherein the mounting seat is inserted into the bottom frame through the opening and the mounting portion is mounted on an outer surface of the bottom frame.   The two sensors are vertically arranged inside one opening provided in the bottom frame, the bracket is provided separately for each of the two sensors, and the upper bracket to which the upper sensor is attached is provided on the bottom frame. An L-shaped sensor having a mounting portion that is attached to the outer surface and a sensor mounting seat that is bent from the lower side of the mounting portion and enters the bottom frame from the opening. The lower bracket for attaching the lower sensor is attached to the outer surface of the bottom frame, and the sensor mounting seat that is bent from the upper side of the attachment portion and enters the bottom frame from the opening. The movable shelf according to claim 3, wherein the lower sensor is mounted on the upper side of the sensor mounting seat. Location.     The sensor is attached in such a direction that the light projecting part and the light receiving part are parallel to each other in the horizontal direction and the adjustment part or the opening / closing lid that covers the adjustment part faces the lateral outer side plate part of the bottom frame. The movable shelf apparatus according to any one of claims 1 to 4, wherein a window for operating the adjustment unit or the opening / closing lid of the sensor from the outside is provided on a lateral outer side plate portion of the frame.   The said reflecting plate is comprised from the attaching part attached to the lateral outer side surface of the said bottom part flame | frame, and the reflective surface part provided by bending from this attaching part, It is any one of Claims 1-5. Moving shelf equipment.   The movable shelf apparatus according to any one of claims 1 to 6, wherein a single reflection plate having a reflection surface having a width corresponding to the two sensors is used as the reflection plate. The two sensors are arranged in parallel vertically inside one opening provided in the bottom frame, and the reflecting plate is braked so that the optical axis from the light projecting portion of the deceleration sensor passes through the approximate center of the reflecting surface. The moving shelf apparatus according to claim 7, wherein the moving shelf apparatus is attached so that an optical axis from a light projecting unit of the sensor for use passes through a position shifted vertically from the center of the reflecting surface.

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