JP2700494B2 - Retrieval run control device of automatic chair laying machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention controls the traveling of a trolley at the time of collection in an automatic chair laying machine that lays and collects a large number of chairs by automatic traveling of a trolley in a conference hall, a gymnasium, or the like. The present invention relates to a collection traveling 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 JP-A-1-150633, a large number of chairs can be collected on a cart without manual operation, and the collected 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.

Accordingly, the applicant of the present invention can apply the same date application to variously externally set the pitch or the laying position between the chairs when laying the chairs, and automatically lay the chairs according to the setting contents. The device was proposed. Thereby, complete automation of the device is realized.

On the other hand, when the chairs arranged in this way are collected while running automatically, if the arrangement is greatly disturbed during use, the chairs may not be collected. In such a case,
On the other hand, if full automation is used, there is a problem that the recovery time of the collection failure becomes longer.

Accordingly, an object of the present invention is to provide a collection and travel control device of an automatic chair laying machine that can reduce the time for repairing a collection failure.

[Means for solving the problem]

In order to achieve this object, the present invention provides, as shown in FIG. 1, a storage means 5 for storing a travel pitch of a set travel section and an allowable error distance α of the travel pitch, and a rotation amount of a bogie wheel. And the traveling pitch corresponding to the detection signal of the wheel rotation sensor 6 in each traveling section is determined by setting the reference traveling pitch based on the associated set traveling pitch read from the storage means to the allowable error distance α. If the detection signal of the chair detection sensor 7 does not occur even if the vehicle travels just above the vehicle, the traveling pitch determination means 8 that outputs an emergency traveling stop signal constitutes a collection traveling control device.

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. In the former case, the distance error of each travel section is calculated, and the set travel pitch of the next travel section is corrected, whereby the reference travel pitch is calculated by the calculation / correction means 8a for setting the reference travel pitch.

[Action]

At the time of chair recovery, a preset traveling pitch and allowable error distance α of each traveling section are read from the storage means 5. Then, the traveling pitch determination means 8 determines the reference traveling pitch based on the stored traveling pitch belonging to each traveling section corresponding to the separation arrangement of the chair, and the actual rotation amount corresponding to the rotation amount detected by the wheel rotation amount sensor 6. If the detection signal of the chair detection sensor 7 does not occur even when the traveling pitch exceeds α by comparing the traveling pitches (if all of them are not present in a plurality of cases), an emergency traveling stop signal is output. As a result, the bogie is brought to an emergency stop, and the chair arrangement is manually repaired.

If the detection signal of the chair detection sensor is generated before the value exceeds α, automatic collection is performed as usual.

〔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 also 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, the motor 22 is lifted in response to a chair detection signal generated when all of the operation levers 25a of the four limit switches 25 abut on the horizontal bar 1e, and the lever 20 is fixed at a predetermined angle for locking the horizontal bar. At the time when the four limit switches 26 generate all the lowest chair detection signals in response to the respective locks, the motor 16 moves the lift chain 14 by one link section, Next, the lifting lever 20 is reversely rotated to return to the standby position. 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 before collecting the chair in each traveling section is within 10 cm after the allowable error distance α during the collection traveling, and calculates the actual error distance β. Then, 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 or subtracts β from the pitch of the next running section (subtracts β if it goes too far, adds it if it is too close) so that the next stop position does not move by β. To 43 is a running pitch determining means, and 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 the arrangement is abnormal 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.

At the time of chair recovery, the power key 30d is operated on the operation panel 30 with the six carts 10 positioned at the operation start position B in FIG.
Was turned on, by operating the recovery key 30f, to confirm that the uppermost and lowermost chair detection signal is not both occur, based on the running pitch P ₈ during laying which is set in advance from the reference position B Perform preliminary reverse while monitoring the mileage.
Then, insert the leg guide 11 between the legs 1a and 1b of the chair 1,
When all the limit switches 25 detect the horizontal bar 1e, they stop, and the lifting lever 20 (indicated by the dashed line in FIG. 2) operates to lift the horizontal bar 1e, and the lower end of the front leg 1a is
(The lifting lever 20 is in the position of the solid line in FIG. 2), and the horizontal bar 1e is pressed into 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 beta between running pitch P ₈ are set as the actual running pitch at the time of stopping, it calculates a reference travel 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 reference 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. On this occasion,
The turbulence of the chair is corrected, and the chair is placed on the lifting lever 20 to resume the operation. Thereafter, when the vehicle is collected in this manner and the vehicle travels in the traveling section No. 2, an uppermost 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 last reference traveling pitch P ₁ -β and stops at the start position A.

At the time of laying, when the power key 30d is turned on with the operation panel 30 and the laying key 30e is operated while being located at the operation start position A, it is confirmed that both the uppermost and lowermost chair detection signals are generated. Te outputs a forward signal, is stopped by generating a stop signal by performing a preliminary running of the running pitch P _1. Next, the lifting lever 20 is opened to the standby position and the lift chain 14 is rotated in the reverse direction by one link section to simultaneously slide the leg mounting rails 12 in six rows, and further laid along the lifting lever 20. Subsequently, it outputs a forward signal in response to the least significant chair detection signal newly generated by the reverse rotation of the lift chain 14, running pitch P ₂ a travel route No2
And laying travels only travels only running pitch P ₅ widely spaced for the emergency exit in the travel route No5. Running section No7
In the running pitch P ₇ only travel to consumption reduction of the lowest chair detection signal in the stop position, that is, to check recovery chair performs running after laying pitch P ₈ in the next traveling section No8,
The operation of the lifting lever 20 is not performed.

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 during collection, it is not necessary to correct β in the next traveling section.

〔The invention's effect〕

As described above, according to the present invention, when a chair is not detected within an allowable error distance from a predetermined arrangement position at the time of collection of a chair, a quick countermeasure is carried out for emergency stop of the bogie, and recovery time of collection failure is restored. Be shortened. Therefore, deformation of the chair or failure of the device can be prevented. Even when chairs are laid at various pitches, smooth collection is possible.

[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 traveling control unit of the embodiment, FIG. 5 is a diagram showing a chair arrangement state by an automatic laying machine according to the embodiment, and FIG. 6 is a diagram illustrating an operation of a wheel control unit at the time of collection. Functional block diagram,
FIG. 7 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
... Lifting lever, 25-27 ... Limit switch, 28
…… Drive wheel motor, 32 …… Microcomputer.

Claims (1)

(57) [Claims] A plurality of chairs collected on a trolley are automatically laid on the floor, and one or more rows are simultaneously collected on the trolley each time the carriage automatically stops traveling and stops in response to a chair detection signal. The collection traveling control device for monitoring the traveling pitch of each bogie traveling section until the chair detection signal is detected in the automatic chair laying machine having the above configuration, comprising: Storage means for storing an allowable error distance α, a wheel rotation sensor for detecting the rotation amount of the bogie wheel, and a running pitch corresponding to a detection signal of the wheel rotation sensor in each running section is read from the storage means. Travel detection means for outputting an emergency travel stop signal, when the detection signal of the chair detection sensor is not generated even when the reference travel pitch based on the set travel pitch of A collection and travel control device for an automatic chair laying machine, comprising: