JP2009132489A - Mobile rack facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile rack facility capable of solving width displacement in a direction perpendicular to a travelling pathway direction by simple operation. <P>SOLUTION: An operation panel 40 of each mobile rack 11 is provided with an HP movement pushbutton switch 54 for giving a command to move the mobile rack 11 by width set in advance in one direction of right and left directions perpendicular to the travelling pathway direction, and an OP movement pushbutton switch 55 for giving a command to move the mobile rack 11 by width set in advance in the other direction of the right and left directions. When the HP movement pushbutton switch 54 is operated, the rotational speed of each driving motor is controlled to accord with a travelling track in one direction set in advance, thereby moving the rack by the width set in advance. When the OP movement pushbutton switch 55 is operated, the rotational speed of each driving motor is controlled to accord with a travelling track in the other direction set in advance, thereby moving the rack by the width set in advance. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention is guided by, for example, a moving shelf facility installed in a narrow space in a warehouse, that is, a moving shelf facility in which a plurality of movable shelves that can reciprocate on a traveling route are disposed via wheels, particularly a rail. The present invention relates to a moving shelf facility that can be reciprocated without a rail (no rail).

An example of a conventional moving shelf facility that is freely reciprocating with no rails is disclosed in Patent Document 1.
That is, a plurality of movable shelves that can reciprocate on a traveling route (no rails) via wheels are disposed between the fixed shelves, and by traveling these movable shelves, between adjacent fixed shelves and the movable shelves, or A facility is disclosed in which a passage is opened between adjacent moving shelves, and goods are loaded and unloaded through the passages with respect to a fixed shelf or a moving shelf facing the passage.

  Further, the wheels located on both sides in the left-right direction perpendicular to the travel path direction of each movable shelf are each configured as a drive wheel provided with a drive motor, and further, pulse encoders are disposed on both sides, respectively. There is also provided a moving shelf controller that controls the amount of drive rotation of both drive motors.

  This moving shelf controller obtains the travel distance by each drive wheel on both sides by counting the pulses of each pulse encoder, finds the deviation of the travel distance and the change of the travel distance, the deviation of the travel distance, and the travel distance By controlling the speed (drive rotation amount) of each drive motor so as to eliminate the predicted travel distance deviation predicted from the change in position, the posture is maintained so that the movable shelf does not tilt during travel (posture Control).

  In this way, the posture control is executed when the traveling shelf controller reciprocates along the traveling path, and even if the rail is unrailed, the traveling shelf is tilted during traveling, and the formed path is narrowed. We are trying not to interfere with loading and unloading.

  Further, a width deviation detecting means for detecting a deviation (width deviation) in the left-right direction of the movable shelf by laying a detected object in the form of a seat rail on the floor surface along the traveling route and detecting the detected object. When the detected width deviation exceeds a predetermined value, the movable shelf controller controls the speed (drive rotation amount) of each drive motor so as to eliminate the width deviation, so that the movable shelf does not shift in the left-right direction. (Width deviation control is performed).

Patent Document 2 discloses means for correcting the posture when the posture control cannot be normally performed.
That is, the control panel of each moving shelf includes a first changeover switch for switching the movement control of the moving shelf between the automatic mode and the manual mode, and a second changeover switch for changing the traveling method of the moving shelf between the parallel running and the corrected running. A main switch (power switch) is provided for rotating each motor in either the forward or backward direction in order to run the movable shelf in either the forward or backward direction. When the movable shelf is tilted as the movable shelf travels, the first changeover switch is switched to the manual mode, the second changeover switch is changed to the correction travel, and further, the main switch is operated to move. The number of rotations of one of the left and right motors of the shelf is increased, the one motor side moves in advance, and the inclination of the moving shelf is corrected.
Japanese Patent No. 3804462 Japanese Patent No. 3509626

  However, as disclosed in Patent Document 2, there is provided means for correcting the posture when the posture control of the movable shelf cannot be normally performed. By using this means, it is possible to eliminate the width shift of the movable shelf in the width direction perpendicular to the traveling path direction. In other words, if the first main switch is operated, for example, the right side is advanced and tilted, and then the left side is advanced by the second main switch, the width of the movable shelf is shifted to the right. . By utilizing this operation for generating the width shift, the width shift can be eliminated.

However, it is difficult to return the width shift of the movable shelf to normal by manual operation of the main switch.
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a moving shelf facility that can eliminate a width shift in a direction perpendicular to a traveling route direction with a simple operation.

In order to achieve the above-described object, the invention according to claim 1 of the present invention is provided with a plurality of movable shelves that are capable of reciprocating on a travel route via wheels, and both sides of the travel route in the width direction. The wheels positioned in the part are each a moving shelf facility provided with a driving motor and configured as a driving wheel, and provided with a control means for driving each driving motor of the moving shelf to control the traveling of the moving shelf. ,
In each of the moving shelves, the moving shelves are preset in one direction in the left-right direction perpendicular to the travel route, a first switch that commands movement, and the moving shelves in the other direction in the left-right direction. A second switch for instructing movement with a preset width is provided, and the control means is preset with the preset width in each of the one direction and the other direction, and the travel locus of the moving shelf to be moved, When the first switch is operated, the control means controls the rotation speed of each drive motor along the one-way travel locus, and when the second switch is operated, the other-direction travel locus. The rotational speed of each drive motor is controlled so as to follow the above.

  According to the above configuration, when the first switch is operated, the rotational speed of each drive motor is controlled by the moving shelf control means so as to follow the traveling locus in one direction, and the moving shelf is previously set in one direction in the left-right direction. Moved by the set width. When the second switch is operated, the rotational speed of each drive motor is controlled by the moving shelf control means along the traveling locus in the other direction, and the moving shelf has a preset width in the other direction in the left-right direction, Moved.

  The invention according to claim 2 is the invention according to claim 1, wherein when the first switch or the second switch is operated, the control means forms a passage when the movable shelf moves. It is made to move to the direction currently performed.

The operation of the first switch or the second switch is premised on that a passage is open on one side of the moving shelf.
According to the said structure, a moving shelf is moved to the predetermined | prescribed width and the left-right direction (width direction), driving | running | working to the formed channel | path side.

  The invention according to claim 3 is the invention according to claim 2, wherein the width moved by one operation of the first switch or the second switch is such that the moving shelf moves the distance of the passage. The width is sometimes set to a correctable width.

  According to the above configuration, when the moving shelf travels to the formed passage side, the moving shelf is moved by a predetermined width, and this predetermined width is physically corrected while moving along the passage. The predetermined width is set.

  The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the control means is based on an operation of one of the first switch or the second switch. When the moving shelf is moving, the operation of the other second switch or the first switch is invalidated.

  According to the above configuration, when the moving shelf is moved based on the operation of one of the first switch or the second switch, the operation of the other second switch or the first switch is invalidated and operated first. The switch operation is given priority.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein a detected object is provided at a stop position of each moving shelf on the floor surface, and each of the movements is performed. The shelf is provided with detection means for detecting the detected object, and the control means operates the first switch or the second switch when the detection means cannot detect the detected object when the traveling is stopped. It is characterized by issuing a warning warning.

  According to the above configuration, when the traveling shelf is stopped, if the detected object cannot be detected, the moving shelf control means determines that a width shift has occurred without automatic correction, and the first switch or the second switch An alarm to prompt operation is issued. The operator confirms the width shift direction of the moving shelf by this alarm and operates the first switch or the second switch.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the travel amount of each drive wheel in each of the both side portions is detected on each movable shelf. A travel amount detection means is provided, and the control means is a drive rotation amount by each drive motor so as to eliminate a deviation of the travel amounts of the two drive wheels based on the travel amounts of the drive wheels detected by the travel amount detection means. It is characterized in that a moving shelf posture correction control is performed to correct and control.

  According to the above configuration, the movable shelf control means eliminates the deviation of the travel amounts of the two drive wheels based on the travel amounts of the drive wheels detected by the two travel amount detection means on both sides when the movable shelf is traveling. As described above, the drive rotation amount by each drive motor is corrected and controlled, and travel control is executed so that the posture of the movable shelf does not tilt.

  In the mobile shelf equipment of the present invention, when the first switch is operated, the rotational speed of each drive motor is controlled along the traveling locus in one direction by the control means of the mobile shelf, and the mobile shelf is in one direction in the left-right direction. When the second switch is operated, the rotation speed of each drive motor is controlled by the moving shelf control means so as to follow the traveling locus in the other direction. By shifting the preset width in the other direction, the operator can easily eliminate the width deviation that is difficult to eliminate even by driving each drive motor directly by operating the switch. Has the effect of being able to.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1 and FIG. 3, the movable shelf equipment in the embodiment is arranged at six positions (one example of a plurality) of movable shelves 11 and at both ends of the travel route 10 of these movable shelves 11 groups. The six movable shelves 11 are disposed between the pair of fixed shelves 3 so as to be capable of reciprocating in the traveling path direction A, and are loaded on the movable shelves 11 or the fixed shelves 3. In order to perform delivery, a work path S is formed between the movable shelves 11 or between the movable shelf 11 and the fixed shelf 3. In the present embodiment, the width of the work path S in the travel path direction A is the width of the travel shelf 11 in the travel path direction A.

Hereinafter, a direction perpendicular to the travel path direction (front-rear direction) A of the movable shelf 11 is referred to as a width direction (left-right direction) B. Further, with the surface of the movable shelf 11 provided with the control panel 20 (details will be described later) as the front, the right direction is the forward direction (FW), the moving direction is the forward direction, and the left direction is the rear direction (RE). The direction of movement is the reverse direction. Further, one side (back side) of the movable shelf 11 in the width direction (left-right direction) B is referred to as HP side, and the other side (front side) in the width direction B is referred to as OP side. The reverse side is the RV stop position and the forward side is the FW stop position at the position where the movable shelf 11 travels and stops to form the work path S.
[Fixed shelf]
The fixed shelf 3 includes a lower frame body 4 that is placed and fixed on the floor surface 1a, and a shelf portion 5 that is installed on the lower frame body 4. The shelf 5 is formed with a plurality of compartment storage spaces 5a in the vertical direction and in the horizontal direction.

  A photoelectric sensor 6 for detecting an obstacle is provided between the lower portions of the two fixed shelves 5. A plurality of photoelectric sensors 6 are provided in the width direction B at appropriate intervals. Here, the photoelectric sensor 6 is a transmission type photoelectric switch in which the projector 7 and the light receiver 8 are arranged to face each other, and the detection light beam 7a from each projector 7 is transmitted to the lower frame body 12 in the movable shelf 11 group. It passes through the space between the bottom surface (to be described later) and the floor surface 1a, and is configured to be received by the light receiver 8 at the opposite position.

  By providing the pair of fixed shelves 3 in this manner, it is possible to store loads that effectively use the installation space. In addition, by adopting the photoelectric sensor 6, even if an attempt is made to move the movable shelf 11 in a state where an operator is in the work path S, the detection can be detected by the detection light beam 7a crossing the work path S. Thus, control such as stopping the movement of the movable shelf 11 can be performed. Since the detection light beam 7a is set at a low level from the floor surface 1a, the working path is not only from the worker but also from the shelf portion 5 of the fixed shelf 3 or the shelf portion 13 (described later) of the movable shelf 11. Even a small foreign matter falling into S can be detected in a non-contact manner.

As another object detection method, a photoelectric sensor may be arranged on the front and rear surfaces of the movable shelf 11 so that the detection light beams are arranged in the width direction B. A type in which a bumper is arranged may be used.
[Moving shelf]
As shown in FIGS. 1 to 7, a plurality of movable shelves 11 are disposed on a travel route 10 via a travel wheel (travel support device; an example of a wheel) 14 so as to be able to reciprocate. These movable shelves 11 are composed of a lower frame body 12, a shelf portion 13 installed on the lower frame body 12, and the like.

  The lower frame body 12 includes a side lower frame 12a located on both sides in the width direction (left-right direction) B, an intermediate lower frame 12b located at five inner locations (a plurality of locations), and these side lower frames 12a. A connecting member 12c in the width direction (left-right direction) B connected to the middle lower frame 12b, a front-rear direction connecting member 12d disposed at a plurality of locations between the connecting members 12c, a plurality of braces 12e, and the like Thus, it is formed in a rectangular frame shape.

  The side lower frame 12a and the intermediate lower frame 12b are each formed into a gate-shaped material with an open lower surface by a pair of side plate portions and an upper plate portion provided between upper ends of both side plate portions. . Further, the connecting member 12c and the transfer member 12d are formed in a cylindrical shape having a rectangular cross section.

  The shelf 13 is formed in a frame shape by a truss 13a, a beam 13b, a sub beam 13c, a brace 13d and the like standing from the side lower frame 12a and the intermediate lower frame 12b, and is thus a section opened in the travel path direction A. A plurality of storage spaces 13e are formed in the vertical direction and the width direction B. The uppermost compartment storage space 13e is also opened upward.

<Wheel>
In the side lower frame 12a and the intermediate lower frame 12b, a pair of front and rear traveling wheels 14 are provided via a wheel shaft 15, respectively. These traveling wheels 14 are constituted by an inner ring body 14a made of metal and an outer ring body 14b made of hard urethane rubber, and are rotated on the floor surface 1a of the floor 1 made of concrete, for example, via the outer ring body 14b. It is configured to move freely. That is, the traveling wheels 14 are respectively provided at seven places (plural places) in the width direction B of the traveling path 10 and at two places (plural places) in the traveling path direction A.

  The traveling wheels 14 positioned on both side portions of the traveling path 10 in the width direction B are respectively configured as driving wheels (driving traveling support devices) 14A provided with rotational driving means. That is, among the traveling wheels 14 group supported by the lower side frame 12a that is both sides of the traveling path 10 in the width direction B, the traveling wheel on one end side (at least one) in the traveling path direction A is a drive wheel shaft. The drive wheel 14A is configured by being provided via 15A.

  At that time, the drive wheels 14 </ b> A provided on both side portions in the width direction B are disposed at two positions in a linear position facing the rectangular frame-shaped lower frame body 12 in the width direction B. Further, the driving wheel shaft 15A extends inward in the width direction B, and the traveling wheel supported by the adjacent intermediate lower frame 12b is attached to the inner end portion thereof, so that the traveling wheel is also configured as the driving wheel 14A. Yes. The drive wheel shafts 15A are each coupled with an induction electric drive motor (an example of a rotational drive means) 16 with a speed reducer, and these drive motors 16 are attached to the intermediate lower frame 12b.

A rubber cylindrical stopper body 17 is provided at the upper part of the front and rear ends of the lower side frame 12a.
An example of the movable shelf 11 that can reciprocate on the travel route 10 is configured by the above 12 to 17 and the like.
[Pulse encoder]
Further, the moving shelf 11 is provided with pulse encoders (an example of travel amount detection means) 21 near inner drive wheels (drive-type travel support devices) 14A that are both side portions in the width direction B. Is connected to a control panel 20 provided on the side surface of the movable shelf 11.

  That is, the pulse encoder 21 includes a support frame body 24 provided on the bracket 22 from the lower frame body 12 side through a horizontal shaft 23 along the width direction B so as to be swingable up and down, and a bearing on the support frame body 24. 25, a detection wheel 27 on which the wheel body shaft 26 is supported in a freely rotating manner via 25, a rotating body 28 attached to the wheel body shaft 26, and slit portions 28a and 28b formed in the rotating body 28. And a photoelectric switch 29 provided on the support frame 24 side.

  Here, the rotary body 28 is formed with a recessed outer slit portion 28a and a square hole-shaped inner slit portion 28b, each at a set angle. At this time, the outer slit portion 28a and the inner slit portion 28b are , They are shifted relatively in the circumferential direction by half the set angle. The photoelectric switch 29 includes an outer photoelectric switch 29a that faces the outer slit portion 28a and an inner photoelectric switch 29b that faces the inner slit portion 28b. Both photoelectric switches 29 a and 29 b are connected to the control panel 20.

  Note that the pressure contact of the detection wheel 27 to the floor surface 1a is performed by lowering the support frame 24 side by its own weight, which is supported by an urging member (such as a compression coil spring or a leaf spring). The frame body 24 may be biased downward.

An example of the pulse encoder 21 is configured by the above 22 to 29 and the like.
[Width deviation detection]
On the floor 1, for each moving shelf 11, circular magnets (an example of an object to be detected) 31 that indicate RV stop positions are embedded in two locations on the HP side and the OP side, and further, in the traveling path direction (front and rear) Direction) A circular magnet (an example of an object to be detected) 31 that indicates the FW stop position is arranged in two locations on the HP side and the OP side by changing the position to A. Each movable shelf 11 is provided with a magnetic sensor 35 that is used as a width shift detecting unit that detects the magnet 31 at the HP position and the OP position and detects a width shift of the movable shelf 11. That is, a bracket 36 that is close to the floor 1 in the width direction B is attached to the pair of connecting members 12C in the center, and the three magnetic sensors 35a (HP side) in the width direction (left-right direction) B are attached to the bracket 36. , 35b (center), 35c (OP side). Among these magnetic sensors 35a, 35b, and 35c, the central magnetic sensor 35b is disposed so as to face the magnet 31 when the movable shelf 11 is not displaced in the width direction B. These two sets of magnetic sensors 35a, 35b, and 35c are connected to the control panel 20.
[Approach detection]
The front and rear surfaces of the lower frame body 12 of the movable shelf 11 are respectively an approach sensor 37a that detects that the adjacent moving shelf 11 on the front side has approached, and an approach that detects that the adjacent moving shelf 11 on the rear side has approached. A sensor 37 b is provided, and these proximity sensors 37 a and 37 b are connected to the control panel 20. The proximity sensors 37a and 37b are formed by a magnetic sensor, a reflective photoelectric switch, an ultrasonic sensor, or the like.
[Main control panel]
The control panel 20 provided on each movable shelf 11 is connected to the main control panel 38. The main control panel 38 controls the entire movable shelf facility, and is provided with, for example, an on / off switch for the movable shelf facility, a traveling operation unit (button) for each movable shelf 11, and the like. Then, a traveling direction signal is given as a traveling command to the control panel 20 of the movable shelf 11 to be moved by the operation of the traveling operation unit. For example, when the movable shelf 11 stopped at the stop position (e) in FIGS. 1 to 3 is traveled on the travel route 10 and then stopped at the stop position (f), the main control panel 40 is first operated. The travel command signal (travel direction signal) is given to the control panel 20 of the movable shelf 11 stopped at the stop position (e).

Further, the main control panel 38 is configured to perform control to sequentially start (start) after a set time (2 to 3 seconds) when the plurality of movable shelves 11 are traveled simultaneously. In addition, when the travel direction signal is given, when there is a movable shelf 11 that performs width displacement control, which will be described later, in the traveling direction, a width displacement control presence signal indicating that there is a movable shelf that performs width displacement control is provided.
[Moving shelf control panel]
As shown in FIG. 11, the control panel 20 of each movable shelf 11 includes an operation panel 40 (FIG. 9), a movable shelf controller (an example of a control means) 41 composed of a computer, and the movable shelf controller 41. Vector control inverters 42a and 42b for controlling torque vectors of the respective drive motors 16 provided in the width direction B (left and right direction) according to the output speed command value are provided, and the surface of the control panel 20 of each movable shelf 11 is provided. In addition, an alarm lamp 43 that is turned on when a shift in the width direction B (referred to as a width shift) cannot be resolved automatically, and a caution lamp 44 that is turned on when a width shift frequently occurs in the movable shelf 11. Is provided. Each of the vector control inverters 42a and 42b is configured so that a high-speed computing unit (CPU) calculates and outputs an output corresponding to a load state, optimally controls a voltage / current vector, and increases a starting torque. By performing torque vector control using these vector control inverters 42a and 42b, it is possible to perform rotational driving with little influence on load fluctuations, and to unbalance the load distribution of the load stored in the movable shelf 11. The skew due to is minimized.

<Operation panel>
When the movable shelf 11 is shifted in the width direction B by the transfer shelf controller 41. Correction control (width shift control) for eliminating this width shift is automatically executed (details will be described later), but an operation panel 40 for performing a manual operation is provided in case this correction is not applied. On the operation panel 40, as shown in FIG.
An automatic-forced selection switch 51 for selecting whether the movable shelf 11 is automatically operated or forcibly moved by a switch described later;
An HP rotation switch (a switch for manually operating one drive wheel 14A) 52 for driving the drive wheel 14A to the side where the switch is tilted with respect to the drive motor 16 coupled to the HP side drive wheel 14A;
An OP rotation switch (a switch for manually operating the other drive wheel 14A) 53 for driving the drive wheel 14A to the side where the switch is tilted with respect to the drive motor 16 coupled to the OP side drive wheel 14A;
HP moving push button switch for commanding movement of the movable shelf 11 in a width direction (left and right direction) set in advance in the width direction (left and right direction) on the HP side (an example of a first switch that corrects a fixed distance on the HP side semi-automatically) 54)
An example of an OP movement push button switch that commands the movement of the movable shelf 11 in the width direction (left and right direction) on the OP side in advance (for example, 10 mm). 55
Is provided.

<Moving shelf controller 41>
As shown in FIG. 11, the moving shelf controller 41 includes a main control panel 38, an operation panel 40, HP and OP pulse encoders 21 (photoelectric switches 29a and 29b), HP and OP magnetic sensors 35a, 35b and 35c, Further, front and rear approach sensors 37a and 37b, HP and OP vector control inverters 42a and 42b, an alarm lamp 43, and a caution lamp 44 are connected. The moving shelf controller 41 is configured as follows. That is,
Forced travel control unit 61 (details will be described later);
By adding the magnetic sensitivities detected by the magnetic sensors 35a, 35b, and 35c of the HP to obtain the magnetic sensitivity at the HP position, and comparing the magnetic sensitivities of the HP-side magnetic sensor 35a and the OP-side magnetic sensor 35c. An HP sensitivity detector 62a for detecting the direction of width shift of the movable shelf 11 (whether it is shifted to the HP side or the OP side);
An OP sensitivity detector 62b that obtains the magnetic sensitivity at the OP position by adding the magnetic sensitivities detected by the OP magnetic sensors 35a, 35b, and 35c;
An automatic travel determination unit 63 (details will be described later);
A travel reset unit 64 that outputs a travel start signal for one pulse when the travel command output from the automatic travel determination unit 63 is switched to a forward command or a reverse command;
When a reset signal (to be described later) is input and a forward command is output from the automatic travel determination unit 63, the reset is performed. The pulses output from the left pulse encoder 21 are counted, and the movement amount per pulse (learns in advance). ) To measure the travel distance (an example of travel distance) of the left drive wheel 14A,
A reset signal (to be described later) is input and reset when a forward command is output from the automatic travel determination unit 63. The pulses output from the right pulse encoder 21 are counted, and the amount of movement per pulse (learned in advance) ) To measure the travel distance (an example of travel distance) of the right drive wheel 14A,
It is reset by the travel start pulse signal output from the travel reset unit 64, counts the number of pulses respectively output from the left and right pulse encoders 21, detects the difference between the two pulses, and the difference is a set value ( A pulse error determination unit 67 that outputs a predictive control execution signal (turns on) if the setting change is possible), and turns off the predictive control execution signal when the difference in the number of pulses returns to almost zero,
A first differentiator 68 for differentiating the travel distance of the left drive wheel 14A detected by the first counter 65, and multiplying a coefficient which will be described later to obtain a (travel) travel distance for a fixed time by the left drive wheel 14A;
Prediction after a certain time by adding the travel distance of a certain time (advance) by the left drive wheel 14A obtained by the first differentiator 68 to the travel distance of the left drive wheel 14A detected by the first counter 65 A first adder 69 for obtaining a travel distance (predicted travel distance);
A second differentiator 70 for differentiating the travel distance of the right drive wheel 14A detected by the second counter 66 and multiplying a coefficient described later to obtain the travel distance of a certain time (advance) by the right drive wheel 14A;
Prediction after a certain time by adding the travel distance of the right drive wheel 14A determined by the second differentiator 70 to the travel distance of the right drive wheel 14A detected by the second counter 66 by a certain time (advance) travel distance. A second adder 71 for determining a travel distance (predicted travel distance);
The travel distance deviation of the left and right drive wheels 14A is obtained by subtracting the travel distance of the right drive wheel 14A detected by the second counter 66 from the travel distance of the left drive wheel 14A detected by the first counter 65. 1 subtractor 72;
The predicted travel distance after a certain time by the right drive wheel 14A obtained by the second adder 71 is subtracted from the predicted travel distance after the certain time by the left drive wheel 14A obtained by the first adder 69. A second subtractor 73 for obtaining a predicted travel distance deviation of the left and right drive wheels 14A;
Time counting is started by the travel start pulse signal output from the travel reset unit 64, and the time count is stopped by the prediction control execution signal output from the pulse error determination unit 67, and exceeds the set value from the travel start. Measure the time until the difference in the number of pulses occurs, and output the above coefficient that is inversely proportional to this measurement time, that is, the coefficient based on the tendency until the difference in the number of pulses exceeds the set value (the deviation in travel distance). Timer 74 to
The speed control unit 75 (details will be described later).

<Forced travel control unit 61>
As shown in FIG. 12, the forced travel control unit 61 receives the operation signals of the switches 51 to 55 of the operation panel 40 and the front and rear approach signals detected by the front and rear approach sensors 37a and 37b. When “forced” is selected by the selection switch 51, a forced selection signal is output to the speed control unit 75, and when “automatic” is selected, an automatic selection signal is output to the speed control unit 75.

  Further, when “forced” is selected by the auto-forced selection switch 51, the HP motor front side drive is operated for a time during which the HP rotation switch 52 is operated (operated) to the forward side (FW side). The signal is output to the speed control unit 75, and the HP motor rear side drive signal is output to the speed control unit 75 for the time during which it is operated (operated) to the reverse side (RE side). When the operation switch 53 is tilted (operated) to the forward side (FW side), the OP motor front side drive signal is output to the speed control unit 75 for the duration of operation, and is tilted to the reverse side (RE side) ( The OP motor rear side drive signal is output to the speed control unit 75 during the operation time.

  Further, when “forced” is selected by the automatic-forced selection switch 51, when the HP movement pushbutton switch 54 is pressed (operated), when the approach signal of the front-side proximity sensor 37a is on, it moves to the rear side. A rear-side forced HP width deviation command signal, which is a command for traveling and forcibly canceling the width deviation to the HP side, is set and output to the speed control unit 75. When the approach signal of the rear-side proximity sensor 37b is on The front side forced HP width deviation command signal, which is a command for traveling to the front side and forcibly eliminating the width deviation to the HP side, is set and output to the speed control unit 75.

  Note that if a rear-side forced OP width deviation command signal or a front-side forced OP width deviation command signal, which will be described later, is set, the operation of the HP movement pushbutton switch 54 is not accepted, and the operation of the OP movement pushbutton switch 55 that has been operated earlier is not accepted. The operation has priority.

  Further, when “forced” is selected by the auto-forced selection switch 51, when the OP movement pushbutton switch 55 is pushed (operated), when the approach signal of the front approach sensor 37a is on, the rear side is moved. A rear-side forced OP width deviation command signal, which is a command for traveling and forcibly canceling the width deviation to the OP side, is set and output to the speed control unit 75. When the approach signal of the rear-side proximity sensor 37b is on The front side forced OP width deviation command signal, which is a command for traveling to the front side and forcibly eliminating the width deviation to the OP side, is set and output to the speed control unit 75.

  If the rear side forced HP width deviation command signal or the front side forced HP width deviation command signal is set, the operation of the OP movement push button switch 55 is not accepted, and the operation of the previously operated HP movement push button switch 54 has priority. Is done.

  Further, the rear side forced HP width deviation command signal and the rear side forced OP width deviation command signal are reset when the approach signal of the rear side proximity sensor 37b is turned on, and the front side forced HP width deviation command signal and the front side forced OP width deviation. The command signal is reset when the approach signal from the front approach sensor 37a is turned on.

<Automatic traveling determination unit 63>
The travel direction signal and the width deviation control presence signal are input from the main control panel 38, the magnetic sensitivity at the HP position is input from the HP sensitivity detection unit 62a, and the magnetic sensitivity at the OP position is input from the OP sensitivity detection unit 62b. When the proximity sensor 37a, 37b of the adjacent movement shelf 11 is input, the traveling direction signal is used to determine whether the movement shelf 11 is moved forward or backward, and when there is a width deviation control presence signal. A forward command or a reverse command is output with a time delay, and a stop command is output based on an approach signal of the approach sensor 37a or 37b in the traveling direction, magnetic sensitivity detection at the HP position, or magnetic sensitivity detection at the OP position. Although not shown, a stop command is output when the photoelectric sensor 6 operates.

<Speed control unit 75>
The speed control unit 75 includes a forced travel command signal from the forced travel control unit 61, a travel determination signal from the automatic travel determination unit 63, a travel distance deviation between the left and right drive wheels 14A obtained by the first subtractor 72, and a second subtraction. Predicted travel distance deviation of the left and right drive wheels 14A obtained by the device 73, a predicted control execution signal output from the pulse error determination unit 67, the magnetic sensitivity and width deviation direction of the HP position obtained by the HP sensitivity detection unit 62a, and Based on the magnetic sensitivity at the OP position obtained by the OP sensitivity detector 62b, the speed command values of the left and right vector control inverters 42a, 42b (corresponding to the drive rotation amount by the rotation drive means) are obtained and output, and the alarm lamp 43 1 is output, a warning signal is output to the attention lamp 44, and a width deviation control execution signal is output to the main control panel 38. FIG. As shown in, a forced driving unit 77, a semi-automatic widthwise shift control unit 78, an automatic posture control unit 79, and a automatic widthwise shift control unit 80.

  As shown in FIG. 12, the relay RY-FOR operated (excited) by the forced selection signal output from the forced traveling control unit 61 and the relay operated by the automatic selection signal output from the forced traveling control unit 61. RY-AUTO is provided, and as shown in FIG. 16, it is operated when the relay RY-W-OP or relay RY-W-HP is turned on, which is output from the automatic width deviation control unit 80 described later. Relay RY-W is provided.

"Forced drive 77"
As shown in FIG. 12, the forced drive unit 77 includes a relay RY-HP-FW that operates when an HP motor front drive signal of the forced travel control unit 61 is input, and an HP motor rear side of the forced travel control unit 61. Relay RY-HP-RE that operates when a drive signal is input, Relay RY-OP-FW that operates when an OP motor front side drive signal of the forced travel control unit 61 is input, and OP of the forced travel control unit 61 A relay RY-OP-RE is provided that operates when a motor rear drive signal is input.

  As shown in FIG. 13, the forced drive unit 77 has an HP speed setter 81 in which the speed command value of the HP drive wheel 14A during manual operation is set, and the speed of the OP drive wheel 14A during manual operation. An OP speed setter 82 in which the command value is set is provided.

  The speed command value of the HP drive wheel 14A set in the HP speed setter 81 is output by the operation of the relay RY-HP-FW, and a value obtained by subtracting the speed command value of the HP drive wheel 14A from the relay RY- It is output by the operation of HP-RE.

  The speed command value of the OP drive wheel 14A set in the OP speed setter 82 is output by the operation of the relay RY-OP-FW, and a value obtained by subtracting the speed command value of the OP drive wheel 14A from the relay RY- It is output by the operation of OP-RE.

The speed command value indicates a forward speed command value when positive, and a reverse speed command value when negative.
The effect | action by the structure of such a forced drive part 77 is demonstrated.

  When “forced” is selected by the auto-forced selection switch 51, when the HP rotation switch 52 is tilted (operated) to the forward side (FW side), the operated time, relay RY-HP -FW operates to output the speed command value (forward) of the positive HP drive wheel 14A set in the HP speed setter 81, and the HP drive motor 16 moves the HP drive wheel 14A forward. Driven. When the HP rotation switch 52 is tilted (operated) to the reverse side (RE side), the relay RY-HP-RE is operated while being tilted, and the speed set in the HP speed setting unit 81 is set. A speed command value (reverse) of the HP drive wheel 14A with a negative command value is output, and the HP drive motor 16 drives the HP drive wheel 14A to the reverse side.

  Further, when “forced” is selected by the automatic-forced selection switch 51, when the OP rotation switch 53 is tilted (operated) to the forward side (FW side), the operated time, the relay RY-OP. -FW is operated to output the speed command value (forward) of the positive OP drive wheel 14A set in the OP speed setter 82, and the OP drive wheel 14A is moved forward by the OP side drive motor 16. Driven. Further, when the OP rotation switch 53 is tilted (operated) to the reverse side (RE side), the relay RY-OP-RE operates for the operating time, and the speed set in the OP speed setting unit 82 is reached. A speed command value (reverse) of the OP drive wheel 14A with a negative command value is output, and the OP drive wheel 14A is driven backward by the OP side drive motor 16.

  By operating the HP rotation switch 52 and the OP rotation switch 53 as described above, the movable shelf 11 can be rotated as shown in FIGS. That is, when “forced” is selected by the automatic-forced selection switch 51, as shown in FIG. 10A, the HP rotation switch 52 is moved forward (FW side) and the OP rotation switch 53 is moved backward. When tilted (operated) to the (RE side), the HP side drive motor 16 is directly driven during the operation time, the HP side drive wheel 14A is driven forward, and the OP side drive motor 16 is directly driven. When driven, the OP-side drive wheel 14A is driven backward, so that the movable shelf 11 is tilted toward the HP side. Conversely, as shown in FIG. 10B, when the HP rotation switch 52 is tilted (operated) to the reverse side (RE side) and the OP rotation switch 53 is set to the forward side (FW side), the movable shelf 11 is Tilt to the OP side.

“Semi-automatic width shift control unit 78”
As shown in FIG. 12, the semi-automatic width deviation control unit 78 includes a relay RY-WS-HP-RE that operates when a rear side forced HP width deviation command signal is input, and a forced running control. The relay RY-WS-HP-FW that operates when the front side forced HP width deviation command signal of the unit 61 is input, and the relay RY that operates when the rear side forced OP width deviation command signal of the forced travel control unit 61 is input. -WS-OP-RE and relay RY-WS-OP-FW that operates when a front side forced OP width deviation command signal of the forced traveling control unit 61 is input are provided.

  In addition, as shown in FIG. 14, the semi-automatic width shift control unit 78 includes a relay RY-WS-HP-RE, a relay RY-WS-HP-FW, or a relay RY-WS-. A relay RY-WS is provided that operates when OP-RE operates or when relay RY-WS-OP-FW operates. Further, the semi-automatic width deviation control unit 78 starts execution when the relay RY-WS is operated, and outputs a first speed command unit 83 that outputs a preset speed command value of one drive wheel 14A, Execution is started when the RY-WS is operated, and a second speed command unit 84 is provided that outputs a preset speed command value of the other drive wheel 14A.

  When the relay RY-WS-OP-FW is on, the speed command value output from the first speed command unit 83 is supplied to the HP vector control inverter 42a. When the relay RY-WS-HP-FW is on, the second speed is supplied to the HP vector control inverter 42a. Speed command value output from command section 84, negative speed command value output from first speed command section 83 when relay RY-WS-OP-RE is on, relay RY-WS-HP-RE is on At this time, a negative speed command value output from the second speed command unit 84 is output.

  To the OP vector control inverter 42b, the speed command value output from the second speed command unit 84 when the relay RY-WS-OP-FW is on, the first speed when the relay RY-WS-HP-FW is on. Speed command value output from command unit 83, negative speed command value output from second speed command unit 84 when relay RY-WS-OP-RE is on, relay RY-WS-HP-RE is on At that time, a negative speed command value output from the first speed command unit 83 is output.

The speed command value indicates a forward speed command value when positive, and a reverse speed command value when negative.
The speed command values output from the first speed command unit 83 and the second speed command unit 84 will be described.

  As shown in FIG. 17A, if a width shift occurs in the movable shelf 11x, as shown in FIG. 17B, the width of the work passage S (in the front-rear direction), for example, 2 m, is moved. The width deviation of the preset width is eliminated (an example of reducing the width deviation). A travel locus (trajectory correction locus) of the movable shelf 11 is set, and this travel locus is realized as shown in FIG. Rotational speeds (speed command values) of the HP side drive motor 16 and the OP side drive motor 16 to be calculated are calculated, and the first speed command unit 83 receives the one side (HP side in the embodiment) drive motor. The rotation speed (speed command value) is set to 16 every hour, and the second speed command section 84 is set to the rotation speed (speed command value) of the drive motor 16 on the other side (OP side in the embodiment). It is set. The preset width is not more than a width that can be physically corrected by the rotational speed and acceleration / deceleration that the drive motor 16 can output when the movable shelf 11 moves through the width of the work passage S.

  The travel trajectory initially moves the movable shelf 11 in parallel, that is, at a rotational speed equal to or higher than the same predetermined rotational speed (the rotational speed at which the HP and OP drive wheels 14A do not slide together) simultaneously. After starting, as shown in FIG. 17C, the moving shelf 11 is tilted so as to bend in the direction of eliminating the width shift while moving the movable shelf 11, that is, driven by providing a difference in the rotational speeds of the two drive motors 16. Subsequently, the moving shelf 11 is moved while being tilted so that the tilt angle is set to “0” (to return the posture), that is, the rotational speed of both the drive motors 16 is driven with a difference in the “reverse” direction, Finally, the moving shelf 11 is moved in parallel, that is, the trajectory is finished by moving both the drive motors 16 simultaneously at the same rotational speed.

  As described above, the travel locus of the movable shelf 11 set in advance is realized by changing the speed command value with time after the start of traveling. In the present embodiment, the width deviation that can be eliminated by one operation of the HP movement pushbutton switch 54 and the OP movement pushbutton switch 55 is corrected when the movement, that is, the width of the working passage S is moved. It is set to half the possible width (maximum width), and the maximum width can be eliminated by two operations.

The effect | action by the structure of such a semiautomatic width shift control part 78 is demonstrated.
When “forced” is selected by the auto-forced selection switch 51, when the HP movement pushbutton switch 54 is pressed (operated), the approach detected by the approach sensors 37a and 37b as shown in FIG. Based on the signal, the side on which the movable shelf 11 is opened (the side on which the working path S is formed and the movable shelf 11 can be moved alone) is determined, and the front or rear side forced HP width deviation command is formed, The relay RY-WS-HP-FW or the relay RY-WS-HP-RE is operated.

  When the relay RY-WS-HP-FW is operated, a speed command value is output from the second speed command unit 84 to the HP vector control inverter 42a in accordance with the travel locus, and the first speed command unit is output to the OP vector control inverter 42b. As shown in FIG. 10C, a speed command value is output from 83 according to the travel path, and the HP side and OP side drive motors 16 are driven according to these speed command values, and the movable shelf 11 moves forward. The moving shelf 11 moves in a direction set on the HP side by a predetermined width.

  When the relay RY-WS-HP-RE is operated, a negative (reverse direction) speed command value is output from the second speed command unit 83 to the HP vector control inverter 42a in accordance with the travel locus, and the OP vector control inverter. A negative (reverse direction) speed command value is output from the second speed command section 84 to the traveling path to 42b, and the HP side and OP side drive motors 16 are driven in accordance with these speed command values, and the movable shelf 11 is moved. As the vehicle moves backward, the movable shelf 11 moves in the direction of the HP side by a predetermined width along the traveling locus in the direction opposite to the front-rear direction A from the traveling locus shown in FIG.

  When “forced” is selected by the automatic-forced selection switch 51 as described above, when the HP movement pushbutton switch 54 is pressed, the movable shelf 11 is set in advance on the HP side while traveling on the work path S side. Move the specified width.

  Further, when “forced” is selected by the auto-forced selection switch 51, when the OP movement pushbutton switch 55 is pressed (operated), it is detected by the proximity sensors 37a and 37b as shown in FIG. Based on the approach signal, the side on which the movable shelf 11 is opened (the side on which the working path S is formed and the movable shelf 11 can be moved independently) is determined, and the front or rear forced HP width deviation command is formed. , Relay RY-WS-OP-FW or relay RY-WS-OP-RE is operated.

  When the relay RY-WS-OP-FW is operated, a speed command value is output from the first speed command unit 83 to the HP vector control inverter 42a in accordance with the travel locus, and the second speed command unit is output to the OP vector control inverter 42b. A speed command value is output from 84 in accordance with the travel locus, the HP side and OP side drive motors 16 are driven according to these speed command values, and the movable shelf 11 moves forward, and the travel locus shown in FIG. 10 (d). As described above, the movable shelf 11 moves by a preset width in the OP side direction.

  When the relay RY-WS-OP-RE is operated, a negative speed command value is output from the first speed command unit 83 to the HP vector control inverter 42a in accordance with the travel locus, and the second vector command inverter 42b receives the second value. A negative speed command value is output from the speed command section 84 in accordance with the travel locus, and the HP side and OP side drive motors 16 are driven in accordance with these speed command values, and the movable shelf 11 moves backward, as shown in FIG. ), The moving shelf 11 moves by a preset width in the OP-side direction along the traveling locus in a direction opposite to the front-rear direction A.

  When “forced” is selected by the auto-forced selection switch 51 as described above, when the OP movement pushbutton switch 55 is pressed, the movable shelf 11 is set in advance on the OP side while traveling on the work path S side. Move the specified width.

“Automatic attitude control unit 79”
As shown in FIG. 15, the automatic attitude control unit 79 operates when the travel command signal of the automatic travel determination unit 63 is a forward command (output when the width deviation control is present is delayed). Relay RY-F, relay RY-B that operates when a reverse command is issued (when there is a width deviation control signal, it is output after a delay), relay RY-S that operates when a stop command is issued, A relay RY-M that operates when the prediction control execution signal of the pulse error determination unit 67 is on is provided.

  Furthermore, a speed setter 85 in which a predetermined traveling speed of the moving shelf 11 is set is provided. Further, the operation of the relay RY-M is configured such that the travel distance deviation is selected when the prediction control execution signal is not on, and the predicted travel distance deviation is selected when the prediction control execution signal is on, and further selected. A first function unit 86 for obtaining the speed correction amount of the HP driving wheel 14A based on the deviation and a second function unit 87 for obtaining the speed correction amount of the OP driving wheel 14A are provided. When the deviation exceeds a predetermined positive amount (dead band) and becomes positive, the first function unit 86 outputs a positive speed correction amount proportionally, and the second function unit 87 outputs a predetermined amount of negative deviation ( When it becomes negative over the dead band), a positive speed correction amount is output in proportion. When the selected deviation exceeds a predetermined plus or minus amount (dead band), the speed correction amount is output from the first function unit 86 or the second function unit 87, and the moving shelf posture correction control (tilt correction control) is output. Is executed.

  Further, the positive speed correction amount output from the first function unit 86 is subtracted from the predetermined traveling speed of the movable shelf 11 set in the speed setting unit 85 to obtain a third speed command value for the HP driving wheel 14A. A subtractor 88 and a first lower limiter 89 that limits the lower limit of the speed command value of the HP driving wheel 14A obtained by the third subtractor 88 and ensures the minimum speed are provided, and the operation of the relay RY-F ( The speed command value of the HP drive wheel 14A whose lower limit is limited by the forward command is selected, and the HP drive wheel 14A whose lower limit is limited by the operation of the relay RY-B (ON by the reverse command). A value in which the speed command value is negative is selected, and the speed command value “0” of the driving wheel 14A of the HP is selected by the operation of the relay RY-S (ON by the stop command), and the HP vector control inverse And is configured to output a speed command value to 42a.

  Further, a fourth subtractor for subtracting the speed correction amount output from the second function unit 87 from the predetermined traveling speed of the movable shelf 11 set in the speed setter 85 to obtain the speed command value of the OP drive wheel 14A. 90 and a second lower limiter 91 for limiting the lower limit of the speed command value of the right drive wheel 14A obtained by the fourth subtractor 90 and ensuring the minimum speed, and the operation of the relay RY-F (forward command) The speed command value of the OP drive wheel 14A whose lower limit is restricted by the ON) is selected, and the speed command value of the OP drive wheel 14A whose lower limit is restricted by the operation of the relay RY-B (turned on by the reverse travel command). A value with a negative value is selected, and the speed command value “0” of the OP drive wheel 14A is selected by the operation of the relay RY-S (turned on by the stop command), to the OP vector control inverter 42b. And it is configured to output a degree command value.

The effect | action by the structure of such an automatic attitude | position control part 79 is demonstrated.
When a forward command or a reverse command is input from the main control panel 38, a positive speed command value is output from the speed setter 85 during forward travel, and a negative speed command value during reverse travel. The vector control of the HP vector control inverters 42a and OP is performed. The output is output to the inverter 42b, and the movable shelf 11 travels. When a stop command is input from the main control panel 38, a speed command value of “0” is output to the HP vector control inverter 42a and the OP vector control inverter 42b, and the movable shelf 11 is stopped.
Further, when the movable shelf 11 travels, the deviation of the travel amount of both drive wheels 14A is obtained and inputted based on the travel amount of the drive wheels 14A detected by the counters 65 and 66 by the two pulse encoders 21 on both sides. The speed command value output from the speed setter 85 is corrected so as to eliminate this deviation, and the difference speed command value is output to the HP vector control inverter 42a and the OP vector control inverter 42b. The drive rotation amount by the drive motor 16 is corrected and controlled, and the attitude of the movable shelf 11 is controlled.

  When the deviation of the travel amount of both drive wheels 14A exceeds the set value from the start of movement, the predicted travel distance is obtained according to the travel distance and the time from the start of movement until the pulse difference exceeding the set value occurs. A control signal is issued to the vector control inverter 42a or 42b of the drive motor 16 linked to the drive wheel 14A on the side where the travel distance is advanced so as to reduce the drive rotation amount. As a result, the amount of drive rotation of the drive motor 16 on the advancing side falls, and the advancing side proceeds at a low speed relative to the lagging side, and the inclination is advanced according to the predicted travel distance. It can be resolved by gradually correcting the posture. By this predictive control, the deviation overshoots in the control of only the travel distance deviation, whereas the overshoot can be eliminated and stable travel control can be performed.

  As described above, the automatic attitude control unit 79 corrects and controls the drive rotation amount by each drive motor 16 so as to eliminate the deviation of the travel amount of the both drive wheels 14A based on the detected travel amount of the both drive wheels 14A. Posture correction control of the movable shelf 11 is executed.

"Automatic width shift control unit 80"
As shown in FIG. 16, the automatic width deviation control unit 80 adds the magnetic sensitivity at the HP position obtained by the HP sensitivity detection unit 62a and the magnetic sensitivity at the OP position obtained by the OP sensitivity detection unit 62b to obtain the total magnetic sensitivity. A third adder 92 for obtaining a value, and a previous time for storing the total porcelain sensitivity value obtained by the third adder 92 after a certain period of time has elapsed at the time of relay RY-S on when the travel is stopped. A sensitivity storage unit 93 is provided.

  A first comparator 94 that detects the presence or absence of the magnetic sensitivity at the HP position obtained by the HP sensitivity detection unit 62a, and a second comparator 95 that detects the presence or absence of the magnetic sensitivity at the OP position obtained by the OP sensitivity detection unit 62b. When the relay RY-S (stop command) is on and the first comparator 94 or the second comparator 95 detects no magnetic sensitivity, an alarm signal is output to the alarm lamp 43, and the relay When the presence of magnetic sensitivity is detected by the first comparator 94 and the second comparator 95 when RY-S (stop command) is on, the reset signal is output.

  When the relay RY-S (stop command) is turned on, the deviation between the total magnetic sensitivity value calculated by the third adder 92 and the previous total magnetic sensitivity value stored in the previous sensitivity storage unit 93 is calculated. The width deviation in the width direction B of the travel route 10 generated by the current travel is obtained (the deviation of the magnetic sensitivity total value is converted into the width deviation), and whether the obtained width deviation is equal to or larger than the preset width deviation. If the HP sensitivity detection unit 62a detects a width shift to the HP side when the width difference is equal to or greater than the set width shift, a width shift correction signal is output to the OP side, and the HP sensitivity detection unit 62a outputs the OP When a width shift to the side is detected, a width shift detection unit 96 that outputs a width shift correction signal to the HP side is provided. Also, a relay RY-W-OP that operates in response to a width shift correction signal to the OP side is provided, and a relay RY-W-HP that operates in response to a width shift correction signal to the HP side is provided.

  Also, execution is started in advance when relay RY-W-OP or relay RY-W-HP operates and relay RY-F (forward command) or relay RY-B (reverse command) operates. A third speed command unit 97 that outputs the speed command value of the other drive wheel 14A and a fourth speed command unit 98 that outputs a preset speed command value of the drive wheel 14A are provided.

  The speed command value to the HP vector control inverter 42a is output as follows. The speed command value output from the third speed command unit 97 when the relay RY-W-OP is on, and the speed command value output from the fourth speed command unit 98 when the relay RY-W-HP is on. The speed command value is selected by relay RY-F (forward command), and a value obtained by subtracting this speed command value is selected by relay RY-B (reverse command), and relay RY-S (stop command). As a result, the speed command value “0” is selected and output.

  The speed command value to the OP vector control inverter 42b is output as follows. The speed command value output from the fourth speed command unit 98 when the relay RY-W-OP is on, and the speed command value output from the third speed command unit 97 when the relay RY-W-HP is on. The speed command value is selected by relay RY-F (forward command), and a value obtained by subtracting this speed command value is selected by relay RY-B (reverse command), and relay RY-S (stop command). As a result, the speed command value “0” is selected and output.

  Also, the number of times the relay RY-W-OP or relay RY-W-HP has been operated is counted, that is, the frequency of running that reduces the width deviation is obtained, and when the frequency exceeds a predetermined frequency, a caution signal is displayed. A frequency detection unit 99 for outputting to the lamp 44 is provided. Note that the frequency detection unit 99 may obtain the number of times of running that reduces the width deviation and output a caution signal when the number of times becomes greater than a predetermined number.

  The setting method of the speed command value output from the third speed command unit 97 and the fourth speed command unit 98 is output from the first speed command unit 83 and the second speed command unit 84 of the semi-automatic width deviation control unit 78. Although it is the same as the setting method of the speed command value, the automatic width deviation control unit 80 can correct the setting of the width deviation that can be eliminated by one movement, that is, a width that can be corrected when moving the width of the working path S (maximum The deviation of the total magnetic sensitivity value for obtaining the width deviation in the width direction B of the travel route 10 is set in accordance with the set maximum width.

  In the automatic width deviation control unit 80, the setting of the width deviation that can be eliminated by a single movement is set to the maximum width that can be corrected. However, like the semi-automatic width deviation control unit 78, the width deviation may be halved. In this case, the width deviation control may be executed at the next time and at the next time, and the width deviation may be eliminated by two movements. Further, it is also possible to eliminate the width deviation by moving the vehicle three times or more by overlapping the traveling.

The effect | action by the structure of such an automatic width shift control part 80 is demonstrated.
When the movable shelf 11 stops traveling, the magnets 31 are detected by the HP and OP magnetic sensors 35, and a deviation between the detected magnetic sensitivity total value and the magnetic sensitivity total value stored at the previous stop of traveling is predetermined. If the value exceeds the value, that is, if a width deviation larger than the predetermined value is detected, the relay RY-W-OP is driven and correction to the HP side is performed if it is determined that correction to the OP side is necessary according to the direction of the width deviation. If determined to be necessary, the relay RY-W-HP is driven. When a width deviation occurs, a width deviation control execution signal is output to the main control panel 38, and the occurrence of the width deviation is counted, and when the frequency deviation exceeds a certain frequency, the width deviation frequently occurs in the movable shelf 11. Is determined, a caution signal is output, and the caution lamp 44 is turned on. If the sensitivity of any of the HP and OP magnetic sensors 35 is lost, that is, if the magnet 31 cannot be detected, it is determined that a width shift that cannot be resolved automatically occurs due to a problem in automatic width shift control. A warning signal for prompting the 54 or OP movement push button switch 55 is output, and the warning lamp 43 is turned on.

  When the relay RY-W-OP or the relay RY-W-HP is operated in this way and the relay RY-F (forward command) or the relay RY-B (reverse command) is operated by the next travel command, the third speed command A speed command value is output from the unit 97 and the fourth speed command unit 98.

  When the relay RY-W-OP is operating and the relay RY-F (forward command) is operating, a positive speed command output from the third speed command unit 97 to the HP vector control inverter 42a. A value is output, and a positive speed command value output from the fourth speed command unit 98 is output to the OP vector control inverter 42b, and the HP side and OP side drive motors 16 are driven according to these speed command values. The movable shelf 11 moves forward, and the movable shelf 11 is controlled by the movable shelf controller 41 so as to move by a preset width in the OP side direction. When the relay RY-B (reverse drive command) is operating, a negative speed command value output from the third speed command unit 97 is output to the HP vector control inverter 42a, and the OP vector control inverter 42b receives the second speed command value. The negative speed command value output from the 4-speed command unit 98 is output, and the HP side and OP side drive motors 16 are driven in accordance with these speed command values, so that the movable shelf 11 moves backward and the movable shelf 11 is OP. It is controlled by the moving shelf controller 41 so as to move by a preset width in the side direction.

  Further, when the relay RY-W-HP is operating and the relay RY-F (forward command) is operating, the positive speed output from the fourth speed command unit 98 to the HP vector control inverter 42a. The command value is output, the positive speed command value output from the third speed command unit 97 is output to the OP vector control inverter 42b, and the HP side and OP side drive motors 16 are driven according to these speed command values. Thus, the movable shelf 11 moves forward, and the movable shelf 11 is controlled by the movable shelf controller 41 so as to move by a preset width in the HP side direction. When the relay RY-B (reverse command) is operating, a negative speed command value output from the fourth speed command unit 98 is output to the HP vector control inverter 42a, and the OP vector control inverter 42b receives the second speed command value. 3 A negative speed command value output from the speed command unit 97 is output, and the drive motors 16 on the HP side and the OP side are driven according to these speed command values, the moving shelf 11 moves backward, and the moving shelf 11 moves to the HP. It is controlled by the moving shelf controller 41 so as to move by a preset width in the side direction.

  When the relay RY-S (stop command) is input, the speed command value output to the HP vector control inverter 42 a and the OP vector control inverter 42 b is set to “0”, and the movable shelf 11 is stopped.

"Output from speed controller 75"
Then, the speed control unit 75 outputs a speed command value to the vector control inverter 42a of each HP output from each of the forced drive units 77, the semi-automatic width shift control unit 78, the automatic attitude control unit 79, and the automatic width shift control unit 80. And OP, the speed command value to the vector control inverter 42b is switched and output by relay RY-FOR (forced selection), relay RY-AUTO (automatic selection), and relay RY-W (during width deviation control).

In other words, the output signals of the forced drive unit 77 and the semi-automatic width deviation control unit 78 are output when the relay RY-FOR is operating, and the output signal of the automatic attitude control unit 79 is the relay RY-AUTO operating. Output when the RY-W is not operating, and the output signal of the automatic width deviation control unit 80 is output when the relay RY-AUTO is operating and the relay RY-W is operating.
[Overall action]
The operation in the above embodiment will be described below.

  As shown in FIG. 1 and FIG. 3, by moving one or a plurality of movable shelves 11 on the travel route 10, a work path S can be formed in front of the target movable shelf 11, The load can be taken in and out of the target compartment storage space 13e from the use passage S. This loading / unloading is performed through a pallet by running a forklift in the working path S, for example.

  At that time, the magnet 31 is embedded on the floor surface 1a in the work passage S, and there is nothing on the floor surface 1a on both sides of the work passage S. The traveling can be performed in a free direction by allowing traveling in one direction in the working path S. Thereby, work using the work path S such as loading and unloading can be performed quickly and smoothly.

  For example, when the movable shelf 11 stopped at the stop position (e) in FIGS. 1 and 3 is traveled on the travel route 10 and then stopped at the stop position (f), the main control panel 38 is first operated. . Thereby, a travel command signal (travel direction signal) is given to the control panel 20 of the movable shelf 11 stopped at the stop position (e).

  Then, a pair of HP and OP drive motors 16 are activated, and the drive wheels 14A are driven and rotated. As a result, a traveling force can be applied to the movable shelf 11, so that the movable shelf 11 can travel on the traveling route 10 while the remaining traveling wheels 14 are rotated following (swing). And by the detection control by the proximity sensor 37a provided between the movable shelves 11 and the like, the movable shelf 11 does not collide with the movable shelf 11 stopped at the stop position (g), and the desired stop position ( F) You can stop.

  When traveling on the movable shelf 11 as described above, the uneven load of the stored load, the flat (uneven) state of the floor surface 1a, the slip of the driving wheel 14A with respect to the floor surface 1a, the wear of the outer ring body 14b on the driving wheel 14A For example, the travel of the movable shelf 11 is not performed while maintaining a right-angled posture with respect to the travel route 10. For example, as shown by the phantom line in FIG. 1, one side portion is advanced and the other side portion is delayed. Sometimes done in a tilted position.

  In such a case, the travel distance is detected by the pulse encoders 21 provided on both sides in the width direction B, and the drive rotation amount by the drive motor 16 is controlled by the control panel 20 based on this detection. That is, as the movable shelf 11 travels, the detection wheel 27 that is in pressure contact with the floor surface 1a rolls frictionally. As the detection wheel 27 rolls, the rotating body 28 is rotated via the wheel shaft 26.

  Then, by the rotation of the rotating body 28, the number of movements (passing number) of the slit portions 28a and 28b formed in the rotating body 28 can be counted by the photoelectric switches 29a and 29b and input to the control panel 20. In this control panel 20, the driving distances by the driving wheels 14A are obtained and compared by counting the pulses output from both pulse encoders 21, and in this case, the driving distance by the driving wheels 14A on the HP side is large. (Advance), and the travel distance by the OP-side drive wheel 14A is small (delayed).

  Based on this comparison, from the control panel 20 to the drive motor 16 linked to the drive wheel 14A on the side where the travel distance is advanced, that is, to the vector control inverter 42a of the drive motor 16 linked to the drive wheel 14A on the HP side. On the other hand, a control signal is issued so as to reduce the drive rotation amount. As a result, the drive rotation amount of the drive motor 16 on the HP side decreases, and this HP side advances at a low speed relative to the other side portion side, so that the inclination posture described above is gradually corrected and eliminated. obtain.

  Further, in the control panel 20, if a pulse difference exceeds the set value from the start of movement in the pulses output from both pulse encoders 21, the travel time and the time from the start of movement until the pulse difference exceeding the set value occurs. In accordance with the predicted travel distance, a control signal is sent to the vector control inverter 42a or 42b of the drive motor 16 linked to the drive wheel 14A on the side where the predicted travel distance is advanced so as to reduce the drive rotation amount. Is issued. As a result, the drive rotation amount of the drive motor 16 on the advancing side decreases, and the advancing side proceeds at a lower speed than the lagging side, and the inclination posture is gradually corrected in advance according to the predicted travel distance. It can be resolved. By this predictive control, the deviation overshoots in the control of only the travel distance deviation, whereas the overshoot can be eliminated and stable travel control can be performed.

By performing the control through the control panel 20 in this way, the traveling of the movable shelf 11 can be performed at a right angle with respect to the traveling route 10.
When the traveling is stopped, the magnet 31 is detected by the magnetic sensor 35 for the HP and OP, and a deviation occurs between the total magnetic sensitivity value of the HP and OP magnetic sensor 35 and the previous total magnetic sensitivity value. A control signal that recognizes the occurrence of a width deviation and gives a difference in the amount of drive rotation to the vector control inverter 42a or 42b of the drive motor 16 interlocked with the drive wheel 14A so as to eliminate the width deviation during the next run. Is issued. As a result, the width deviation is eliminated while moving by the working passage S. Further, at this time, the movement is started with a predetermined time delay to the moving shelf 11 that travels following the moving shelf 11 that executes the width deviation control. If the sensitivity of any of the HP and OP magnetic sensors 35 is lost, that is, if the magnet 31 cannot be detected, it is determined that a width shift that cannot be resolved automatically occurs due to a problem in automatic width shift control. The alarm lamp 43 for urging the 54 or OP movement push button switch 55 is turned on. When the frequency of width deviation control exceeds a predetermined value, the caution lamp 44 is turned on.

Further, the operator can forcibly move the movable shelf 11 by using the operation panel 40.
As shown in FIG. 10A, the HP-rotation switch 52 is set to the forward side (FW side), and the OP-rotation switch 53 is set to the reverse side (RE side). By tilting (operating), the HP-side drive motor 16 is directly driven, the HP-side drive wheel 14A is driven forward, the OP-side drive motor 16 is directly driven, and the OP-side drive wheel 14A is driven. Is driven backward, so that the movable shelf 11 is tilted to the HP side. On the other hand, as shown in FIG. 10B, the movable shelf 11 is moved by tilting (operating) the HP rotation switch 52 backward (RE side) and the OP rotation switch 53 forward (FW side). Tilt to the OP side.

  Further, by selecting “forced” by the auto-forced selection switch 51 and pressing (operating) the HP movement push button switch 54 as shown in FIG. 10C, the movable shelf 11 is preset on the HP side. When the OP movement pushbutton switch 55 is pressed (operated) as shown in FIG. 10D, the movable shelf 11 is moved to the OP side by a preset width.

  As described above, according to the present embodiment, when the HP movement pushbutton switch 54 is operated, the traveling shelf controller 41 of the movable shelf 11 follows the traveling locus set so that the width deviation is reduced in the HP direction. Thus, when the rotational speed of each drive motor 16 is controlled, the movable shelf 11 is moved by a preset width in the HP direction of the width direction B, and when the OP movement pushbutton switch 55 is operated, the movement of the movable shelf 11 is moved. The rotation speed of each drive motor 16 is controlled by the shelf controller 41 so as to follow the travel locus set so that the width deviation is reduced in the OP direction, and the movable shelf 11 is moved by a preset width in the OP direction. Thus, it is difficult for the operator to solve the problem only by operating the HP movement push button switch 54 or the OP movement push button switch 55 and by operating the HP rotation switch 52 and the OP rotation switch 53. The deviation can be easily eliminated, it is possible to improve the operability.

  Further, when traveling in response to the operation of the HP movement push button switch 54 or the OP movement push button switch 55, traveling to the work path S side facing the movable shelf 11 can surely eliminate the width deviation.

  Further, according to the present embodiment, the width of the width deviation that can be eliminated by the operation of the HP movement push button switch 54 or the OP movement push button switch 55 is set within a predetermined width that can be corrected while moving the work path S. By doing so, it is possible to prevent the moving shelf 11 in the traveling direction from being detected and stopped during the width deviation correction, and to prevent the posture from being inclined and stopped. Thus, when the attitude | position of the movement shelf 11 inclines, the width | variety of the front-back direction A of the working path S will become narrow, and the delivery operation | work of a load will become difficult.

  Further, according to the present embodiment, when the movable shelf 11 is moved based on the operation of one HP movement pushbutton switch 54 or OP movement pushbutton switch 55, the other OP movement pushbutton switch 55 or HP movement pushbutton switch 54 is moved. By disabling the above operation, it is possible to avoid that the semi-automatic width shift control is interrupted and the posture is inclined and stopped.

  Further, according to the present embodiment, when the traveling is stopped, if the magnet 31 cannot be detected, it is determined that the automatic width deviation control has failed and a width deviation that cannot be resolved automatically has occurred, and the alarm lamp 43 is turned on. . This warning allows the operator to confirm the width shift direction of the moving shelf, and is prompted to operate the HP movement push button switch 54 or the OP movement push button switch 55.

  According to the present embodiment, when the movable shelf 11 stops traveling, the magnetic sensor 35 detects the HP and OP magnets 31, and a width deviation exceeding a predetermined value is detected based on the total value of these magnetic sensitivities. As a result, the travel locus of the movable shelf that eliminates the width deviation is obtained, and the rotational speed of each drive motor 16 is controlled to follow the travel locus during the next run, and the width deviation of the movable shelf 11 is corrected. Accordingly, it is possible to eliminate the necessity of laying a seat rail-shaped object to be detected along the traveling route 10 as in the conventional case, and it is possible to eliminate problems associated with laying.

  Further, according to the present embodiment, when one moving shelf 11 executes traveling for eliminating the width deviation, the other moving shelves 11 that follow follow the traveling for a certain period of time to start traveling so that the traveling for eliminating the width deviation is performed. Therefore, when one moving shelf 11 bends and tilts in a direction to eliminate the width shift, it is possible to avoid the rear end of the inclined moving shelf 11 from contacting the subsequent moving shelf 11.

  Further, according to the present embodiment, when the HP and OP drive motors 16 are driven in order to eliminate the width shift, both the drive motors 16 are activated at a predetermined rotational speed or higher, so that one of the drive wheels 14A is When the other driving wheel 14A is moved as the center after stopping, the problem that the one driving wheel 14A is dragged and moves freely can be solved, and the problem that the vehicle cannot travel along the traveling locus can be solved.

  Further, according to the present embodiment, when the frequency (or the number of times) of width shift control of the movable shelf 11 is increased, the caution lamp 44 is turned on, and the operator frequently shifts the width of the movable shelf 11. And the relearning of the movement amount per pulse set in the first counter 65 and the second counter 66 can be promoted.

  In addition, according to the present embodiment, the width deviation control of the movable shelf 11 is executed by detecting the magnet 31 disposed at each stop position of the movable shelf 11 by the magnetic sensor 35, thereby The magnet 31 may be disposed at the stop position, and the construction can be simplified as compared with the construction in which a seat rail-like object to be detected is laid as in the prior art.

  Further, according to the present embodiment, the posture control is executed when the movable shelf 11 is traveling by the movable shelf controller 41, so that it is possible to avoid the movable shelf 11 from being inclined and stopped when stopped.

  In the present embodiment, as the movable shelf 11 and the fixed shelf 3, a form including the lower frame bodies 12 and 4 and the shelf portions 13 and 5 is shown, but the shelf portions 13 and 5 are omitted. It may be a cart-type movable shelf 11 or a stand-type fixed shelf 3.

  Further, in the present embodiment, as the movable shelf 11 and the fixed shelf 3, a form in which the uppermost partition storage spaces 13e and 5a are opened upward is shown, but this is a movement in which a roof body is provided on the upper part. The shelf 11 or the fixed shelf 3 may be used.

Further, in the present embodiment, the magnet 31 is shown in an embedded form, but it may be in a form in which a thin magnet 31 capable of getting over the vehicle is arranged on the floor surface 1a.
In the present embodiment, the pair of (two) drive wheels 14A are driven by the drive motor 16, but this may be of a type in which one drive wheel 14A is driven by the drive motor 16, Further, a direct drive type in which a speed reducer is directly connected to one end portion of a drive shaft of one drive wheel 14A and a drive motor 16 is directly connected to the speed reducer may be employed.

  In the present embodiment, the traveling wheel 14 is shown as the traveling support device, but this may be a roller chain type (caterpillar type) or the like. In this case, the roller chain or the like is provided on both sides in the width direction B of the movable shelf 11 in a single length over the entire length in the travel path direction A, and is divided into a plurality over the entire length in the travel path direction A. Is provided.

  Further, in the present embodiment, the pulse encoder 21 is employed as the travel amount detection means, and the outer slit switch 28a and the inner slit portion 28b are formed in the rotating body 28, and the outer photoelectric switch opposed to the outer slit portion 28a. 29a and an inner photoelectric switch 29b opposed to the inner slit portion 28b are shown as a two-set detection format. This is a one-set detection format or two or more sets of multiple-detection formats. Also good.

  Further, in the present embodiment, the pulse encoder 21 having the detection wheel 27 or the like is shown as the travel amount detection means, but this may be a form for measuring the drive rotation amount of the drive wheel 14A. Further, the pulse encoder 21 detects the rotation of the detection wheel 27, but is connected to the rotation shaft of the drive motor (an example of the rotation drive means) 16 to detect the travel amount of the movable shelf 11. Good.

  Further, in the present embodiment, the magnetic sensor 35 is used as the width deviation detecting means, but a plurality of retroreflective optical sensors are installed on the front and back side surfaces of the movable shelf 11 toward the opposed movable shelf 11, The opposing movable shelf 11 may be configured to be provided with a reflector facing the optical sensor, so that the optical sensor is turned off when the movable shelves 11 are displaced from each other so that the width deviation can be detected. .

  In the present embodiment, when a plurality of mobile shelves 11 are run simultaneously, the mobile shelves 11 are sequentially started (started) after a set time. This is because the plurality of mobile shelves 11 are simultaneously started (started). You may let them.

In the present embodiment, the magnet 31 is disposed within the width of the movable shelf 11, but this may be a form in which the magnet 31 is positioned outside the width of the movable shelf 11.
In the present embodiment, loading and storage are performed via the pallet in the compartment storage space 13e of the movable shelf 11 and the compartment storage space 5a of the fixed shelf 3, but this is done by mounting a box container. It may be in the form of storage and storage.

It is a top view of the movement shelf installation in an embodiment of the invention. It is a top view which shows arrangement | positioning of the magnet of the movement shelf installation. It is a side view of the movement shelf equipment. It is a partially cutaway top view of the principal part of the movement shelf in the movement shelf equipment. It is a vertical side view of the rotation drive means and travel amount detection means part of the movement shelf in the movement shelf equipment. It is a vertical side view of the width | variety deviation detection means part of the movement shelf in the movement shelf installation. It is a vertical front view of the travel amount detection means and width deviation detection means part of the movement shelf in the same movement shelf equipment. It is a vertical side view of the traveling wheel of the movement shelf in the movement shelf equipment. It is a switch arrangement figure of the control panel of the movement shelf in the movement shelf equipment. It is explanatory drawing explaining the effect | action by the switch of the control panel of the movement shelf in the movement shelf installation. It is a control block diagram of the movement shelf in the movement shelf facility. It is a block diagram of the forced running control part of the movement shelf controller in the movement shelf equipment. It is a block diagram of the forced drive part of the movement shelf controller in the movement shelf equipment. It is a block diagram of the semiautomatic width shift control part of the movement shelf controller in the movement shelf equipment. It is a block diagram of the automatic attitude | position control part of the movement shelf controller in the movement shelf equipment. It is a block diagram of the automatic width shift control part of the movement shelf controller in the movement shelf equipment. It is explanatory drawing which forms the speed command value set to the speed command part of the semiautomatic width deviation control part of the movement shelf controller in the movement shelf equipment, and an automatic width deviation control part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Floor 3 Fixed shelf 4 Lower frame body 5 Shelf part 5a Compartment storage space 10 Travel path 11 Moving shelf 12 Lower frame body 13 Shelf part 13e Compartment storage space 14 Traveling wheel (travel support device)
14A Drive wheel (drive-type travel support device)
15 Wheel shaft 15A Drive wheel shaft 16 Drive motor (rotation drive means)
20 Control panel (control means)
21 Pulse encoder (travel amount detection means)
31 Magnet (object to be detected)
35 Magnetic sensor (width deviation detection means)
37a, 37b proximity sensor 38 main control panel 40 operation panel 41 moving shelf controller 42a, 42b vector control inverter 43 alarm lamp 44 caution lamp 51 auto-force selection switch 52 HP rotation switch 53 OP rotation switch 54 HP movement pushbutton switch 55 OP movement push button switch 61 Forced travel control unit 62a HP sensitivity detection unit 62b OP sensitivity detection unit 63 Automatic travel determination unit 67 Pulse error determination unit 75 Speed control unit 77 Forced drive unit 78 Semi-automatic width deviation control unit 79 Automatic attitude control unit 80 Automatic Width deviation control unit 81 HP speed setting unit 82 OP speed setting unit 83 First speed command unit 84 Second speed command unit 96 Width deviation detection unit 97 Third speed command unit 98 Fourth speed command unit 99 Frequency detection unit A Traveling route Direction (front-rear direction)
B width direction (width direction)
S Work passage

Claims (6)

A plurality of movable shelves that are capable of reciprocating on the travel route via the wheels are disposed, and the wheels positioned on both sides in the width direction of the travel route are each provided with a drive motor and configured as a drive wheel, A mobile shelf facility provided with a control means for controlling the travel of the mobile shelf by driving each drive motor of the mobile shelf,
On each of the moving shelves,
A first switch that commands movement of the movable shelf in a predetermined width in one horizontal direction perpendicular to the travel route; and
A second switch for commanding movement of the movable shelf in a predetermined width in the other direction of the left-right direction;
The control means is preset with the preset width in each of the one direction and the other direction, and a travel locus of the moving shelf to be moved,
When the first switch is operated, the control means controls the rotational speed of each drive motor along the one-way travel locus, and when the second switch is operated, the other direction travels. A moving shelf facility that controls the rotational speed of each drive motor along a trajectory. 2. The moving shelf equipment according to claim 1, wherein when the first switch or the second switch is operated, the control means moves the moving shelf in a direction in which a passage is formed. 3. . The width of movement by one operation of the first switch or the second switch is set to a width that can be corrected when the moving shelf moves the distance of the passage. Moving shelf equipment. The control means disables the operation of the other second switch or the first switch when the moving shelf is moved based on the operation of the one of the first switch or the second switch. The moving shelf equipment of any one of Claims 1-3. At the stop position of each moving shelf on the floor, a detected object is provided,
Each moving shelf is provided with detection means for detecting the detected object,
The said control means issues the alarm which urges | urges operation of a said 1st switch or a 2nd switch, when the said detection object cannot be detected by the said detection means when driving | running | working is stopped. 5. The moving shelf facility according to any one of 4 above. Each travel shelf is provided with travel amount detection means for detecting the travel amount of each drive wheel on each side portion,
The control means corrects and controls the amount of drive rotation by each drive motor so as to eliminate the deviation of the travel distance between the two drive wheels based on the travel distance of the drive wheels detected by the travel distance detection means. Correction shelf control is performed, The moving shelf installation of any one of Claims 1-5 characterized by the above-mentioned.

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