JP2700493B2 - Installation control device for automatic chair installation machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention controls a trolley running at the time of laying in an automatic chair laying machine that lays and collects a large number of chairs by automatic running of a trolley in a conference hall, a gymnasium, or the like. The present invention relates to a laying travel control device.

[Conventional technology]

An automatic chair laying machine of this type is disclosed in Japanese Patent Application Laid-Open No. 63-270006.
Alternatively, as disclosed in Japanese Patent Laid-Open No. 1-150633, a large number of chairs can be placed on a trolley without manual operation, and recovered chairs can be laid on the floor.

[Problems to be solved by the invention]

When actually laying the chairs, the pitch between the chairs may not be constant due to the passage formation at the venue, the position of the emergency exit, and the like. Further, there is a case where it is desired to change the layout in the same venue according to the purpose of use. However, the conventional automatic chair laying machine does not consider the automation corresponding to the layout when automatically laying the automatically collected chairs, and it was impossible to practically fully automate the chair.

Therefore, the present invention provides a laying travel control device of an automatic chair laying machine which can externally set a pitch or a laying position between chairs at the time of laying a chair in various manners and automatically lay the wires according to the setting contents. Aim.

[Means for solving the problem]

In order to achieve this object, the present invention provides, as shown in FIG. 1, a travel section setting key, a travel pitch setting key of a set travel section, a display of a set travel section and a travel pitch, and a display of the set travel section and travel pitch. An operation panel 5 on which at least a storage instruction key for instructing storage of a traveling section and a traveling pitch is arranged, storage means 6 for storing a set traveling section and a traveling pitch, and wheel rotation for detecting an amount of rotation of a bogie wheel. The running pitch is sequentially read into the amount sensor 7 and each running section set from the storage means when the chair is laid, and when the running pitch detected by the wheel rotation sensor 7 matches the running pitch, the chair laying operation is started. And a running pitch determining means 8 for generating a running stop signal for stopping the running of the bogie.

The travel pitch of each travel section may be set independently for each travel section, or may be set as an absolute position from a reference position added in order.

[Action]

The traveling section and the associated traveling pitch are set in advance in the storage means 6 by the operation panel 5 while checking on the display,
The pitch of each section is stored by operating the storage key. At the time of installation travel, the travel pitch of each travel section is sequentially read out, and a travel stop signal is output each time the rotation amount detected by the wheel rotation amount sensor 7 matches the set travel amount, thereby performing installation.

〔Example〕

2 to 8 show a six-row automatic chair laying machine according to an embodiment of the present invention. 2 and FIG. 3 show one unit, 10 is automatically driven by driving wheels 17, and FIG.
A trolley for stacking chairs 1. This chair 1
The distance between the front legs 1a is smaller than the distance between the rear legs 1b, and they are connected to each other at the bottom in the front-rear direction, so that the rear seat plate 1d can sink into the front seat plate 1d. A horizontal bar 1e is provided above the front legs 1a with a gap to the seat plate 1d.

A leg guide inserted between the legs 1a and 1b of the chair 1
11 is horizontally protruded, and two leg mounting rails 12 are mounted on both sides of the carriage 10 so that the front legs 1a are mounted and guided diagonally upward.
Are juxtaposed. Above this rail, a lift chain 14 is disposed in parallel, and is driven by a motor 16 via a speed reducer 16a, a chain 16b, and sprockets 16c, 16d. The drive wheels 17 are driven by a dedicated motor 28 with a reduction gear.

On both sides of the leading end of the carriage 10, there are provided lifting levers 20 for pulling the horizontal bar 1 e of the chair 1 approaching along the leg guide 11. The lifting lever is fixed to a support plate 21a fixed to the rotating shaft 21, and this support plate is
And the other side is also driven by a lever 22b connected to this link.

Horizontal bar 1e at an intermediate position between lift chains 14 on both sides
As shown in FIG. 3, the limit switch 2 includes a chair detection sensor, a lowest-order chair detection sensor collected at the lift chain 14, and a highest-order chair detection sensor.
5, 26 and 27 are arranged in order. The respective operating levers 25a, 26a, 27a which are elastically displaced are driven by the horizontal bar 1e.

The automatic chair laying machine has three such trolleys as one unit, and the middle one eliminates the drive motor 28, the leg guide 11 and the limit switches 25 to 27, and is connected to two units to form six units. I have. Correspondingly, the chair 1 is also connected in six rows.

FIG. 4 shows the configuration of the laying / collecting and traveling control device. The motor control circuit 29 attached to the motors 16 and 22; the motor control circuit 28a attached to the drive motor 28;
0, a microcomputer 32 and the like.

The operation panel 30 includes a numeric keypad 30a for setting a travel section and a travel pitch in cm units.A set content key 30b for setting any of these, a storage key 30c for instructing storage of the set content, and turning on the apparatus power. Power key 30d, installation key 30e to start installation, collection key 30 to start collection
f, Stop key 30g to stop automatic driving, truck 28
Left rotation key 30h to rotate left by controlling the rotation speed difference of
A trolley forward key 30i for moving the trolley forward, a trolley reverse key 30j for moving the trolley backward, a right rotation key 30k for rotating the trolley clockwise,
"1" is displayed when the setting content is the traveling section, and "2" is displayed when the setting is the traveling pitch.
An indicator 30m for displaying the o or three-digit running pitch is provided. Reference numeral 31 denotes a counter for counting the pulses output for each unit rotation amount of the rotation amount sensor 28b attached to any one of the motors 28, and is reset by a traveling stop signal generated in each traveling section.

The microcomputer 32 is configured to perform the following operations by the CPU 32a, the ROM 32b, the RAM 32c for storing the running section No. and the associated running pitch, the I / O port 32d for transmitting and receiving signals to and from the outside, and the like.

That is, in response to the chair detection signals of the four limit switches 25, the motor 22 is driven so that the lifting lever 20 rotates by a predetermined angle for locking the horizontal bar, and the four limit switches 26 When all of the lowest chair detection signals are generated in response to the respective locks, the lift chain 14 is moved by the motor 16 by one link section, and then the lifting lever 20 is reversed to return to the standby position. It is configured. In addition, at the time of laying, the lift lever 20 is rotated to the standby position after the bogie stops, and the lift chain 14 is rotated for one link section, and the horizontal bar 1e is slid along the lift lever 20 to lay the floor surface. And return to the locked position during the next running period.

Further, the microcomputer has a setting content key 30
With b set to “1”, use the numeric keypad 30a to
Set one of the travel section No1~8 shown, set the travel pitch P ₁ to P ₈ belong the numeric keys 30a to set the each time setting to "2" by pressing the memory key 30c The pitch of each section is stored. Further, if both the uppermost and lowermost chair detection signals are input at the start of the installation travel, it is determined that the vehicle is full and the preliminary travel, that is, travel section No. 1 is performed.
With reading of the travel pitch, and outputs a driving stop signal and outputs a forward signal matches the running pitch P ₁ is captures and count from the counter 31. Hereinafter, all of the limit switch 26 reads the running pitch P ₂ to P ₈ travel segment No2~8 outputs a forward signal every laying completion signal is input caused by re-turned on after turned off The running stop signal is output each time the count value matches. Running section No
In 7, and outputs a forward signal traveling pitch P ₈ reads sure that the uppermost and lowermost chair detection signal when laying completion is not inputted together.

Further, the microcomputer 32 determines whether or not the traveling pitch until the chair is collected in each traveling section is within the allowable error distance α, for example, within 10 cm, and calculates the actual error distance β during the collection traveling. The pitch of the next traveling section is programmed to be corrected by β. That is,
FIG. 6 is a functional block diagram showing this operation. Reference numeral 41 denotes an error distance calculating means. The set traveling pitch P of each section and the actually stopped four chair detection signals are all issued. Difference β from the running pitch when the signal was output
Is calculated. 42 is a running pitch correction means, which adds / subtracts β from the pitch of the next running section by this β (subtraction of β if it goes too far, addition of β if it is too close) so that the next stop position does not move by β. To Reference numeral 43 denotes a running pitch determination means. If all four chair detection signals are not generated until the corresponding count value from the counter 31 exceeds the running pitch P ± β + α, it is determined that there is an abnormal arrangement and an emergency running stop signal is generated. Output.

The motor control circuit 28a can further be operated manually by a stop key 30g, a left rotation key 30h, a trolley forward key 30i, a trolley reverse key 30j, and a right rotation key 30k on the operation panel 30.

Next, the operation will be described with reference to FIG. 5, FIG. 7, and FIG.

When the power key 30d is turned on on the operation panel 30 and the laying key 30e is operated while the six carts 10 are located at the operation start position A in FIG. 5, both the highest and lowest chair detection signals are generated. make sure that you, and outputs a forward signal, by performing a preliminary running of the running pitch P ₁ is stopped by generating a stop signal. Next, the lifting lever 20 is released to the standby position, and the lift chain 14 is rotated one link section in the reverse direction to simultaneously slide the leg mounting rails 12 in six rows.
Further, it is laid along the lifting lever 20. Subsequently, outputs a forward signal in response to the least significant chair detection signal newly generated by the reverse rotation of the lift chain 14, and laid traveling the travel route No2 only running pitch P _2, emergency exits in the travel section No5 only traveling traveling pitch P ₅ widely spaced as a passageway use. Disappearance of the lowest chair detection signal in the stop position by traveling only traveling section traveling pitch P ₇ In No7, that is, to check recovery chair performs laying after running pitch P ₈ in the next traveling section No8, The operation of the lifting lever 20 is not performed.

When the chair is collected, the power key 30d is also
It was turned on, the preliminary reverse while monitoring the reference position travel distance based on the running pitch P ₈ during laying which is set in advance from B by operating the recovery key 30f. And leg 1 of chair 1
Insert the leg guide 11 between a and 1b, stop when all limit switches 25 detect the horizontal bar 1e, and lift the lever.
20 (indicated by the dashed line in FIG. 2) is actuated to lift up the horizontal bar 1e, and the lower end of the front leg 1a strikes the tip of the leg mounting rail 12 and tilts (the lifting lever 20 is in the solid line position in FIG. 2). , Horizontal bar
1e is pressed against the gap between the hooked links 13. In this state, the lift chain 14 is rotated forward for one link section, and at that time, the limit switch 26 is turned on.

Then, calculates the error distance β between the traveling pitch P ₈ are set as the actual running pitch at the time of stopping, calculates a corrected running pitch P _7-beta of the next running section No7. In the next traveling section No. 7, the vehicle travels until four chair detection signals are generated using the corrected traveling pitch P ₇ ± β as monitoring data. If all of these detection signals do not occur before the permissible distance α is exceeded, an emergency stop signal is generated and stopped, and the next section is corrected with this α. At this time, the turbulence of the chair is corrected, and the chair is placed on the lifting lever 20 to resume the operation. Hereinafter, when the vehicle is collected and the vehicle travels in the traveling section No. 2, the highest chair detection signal is generated, thereby confirming that the chair is fully loaded and restricting the subsequent forward rotation of the lift chain 14. Then, the vehicle travels at the corrected final traveling pitch P ₁ ± β and stops at the start position A.

If the uppermost and lowermost chair detection signals are abnormal at the time of running after the installation or collection or at the time of the respective preliminary runnings, the intended operation is not performed and an inspection is required.

In the above-described embodiment, the traveling section is set for each section. However, the traveling section may be set as an absolute position from the reference position. In this case, the counter 31 performs counting without being reset immediately after the start at the reference position. In the case of this method, the setting on the operation panel also needs to be set as an absolute position to which the traveling pitch is sequentially added. However, when inspecting for over α at the time of collection, it is not necessary to correct β for the next traveling section.

〔The invention's effect〕

As described above, according to the present invention, it is possible to externally set the travel pitch at the time of laying suitable for the layout of chairs or the stand-by position of the trolley, the space of the hall, the entrance, the emergency exit, etc., and completely automate the laying of various chairs at the place of use. Can be realized.

[Brief description of the drawings]

FIG. 1 is a view for explaining the structure of the present invention, FIG. 2 is a side view of an automatic laying machine according to an embodiment of the present invention, FIG. 3 is a schematic plan view of the automatic laying machine according to the embodiment, FIG. FIG. 5 is a diagram showing a circuit configuration of a control unit of the embodiment, FIG. 5 is a diagram showing a chair arrangement state by the automatic laying machine according to the embodiment, and FIG. 6 is a function for explaining an operation of the wheel control unit at the time of collection. Block diagram, seventh
Fig. 8 is a flowchart for explaining the laying operation of the automatic chair laying machine according to the embodiment, and Fig. 8 is a flowchart for explaining the collecting operation. 1 ... chair, 14 ... lift chain, 17 ... drive wheel, 20 ... lift lever, 25-27 ... limit switch, 28 ... motor for drive wheel, 32 ... microcomputer.

Claims (1)

(57) [Claims] 1. A row or a plurality of rows are simultaneously laid on the floor automatically while sequentially running a number of chairs collected on a trolley,
A laying traveling control device for arbitrarily setting an automatic traveling pitch of a trolley for laying each chair in a chair automatic laying machine configured to automatically collect laid chairs on a trolley, At least a travel section setting key, a travel pitch setting key for the set travel section, a display of the set travel section and the travel pitch, and a storage instruction key for instructing the storage of the set travel section and the travel pitch are arranged. An operation panel, storage means for storing the set travel section and travel pitch, a wheel rotation amount sensor for detecting the rotation amount of the bogie wheel, and a travel pitch for each travel section set from the storage means when the chair is laid. Are sequentially read, and when the rotation amount detected by the wheel rotation amount sensor coincides with the traveling pitch, the traveling stop for stopping the carriage traveling for the chair laying operation. A running control device for an automatic chair laying machine, comprising: running pitch determining means for generating a signal.