JP2850625B2 - Control method of moving shelf equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a moving shelf facility in which a work passage is formed alternatively between parallel shelves by moving a horizontally movable shelf.

[0002]

2. Description of the Related Art In this type of movable shelf equipment, one work passage opened by moving a horizontally movable shelf is automatically interlocked, and when another passage is opened, the work passage is opened. The interlock release switch on the operation panel corresponding to the open work passage must be operated to release the interlock applied to the open work passage.

[0003] In such a conventional configuration, when an interlock release operation is performed on an open passage, which is performed prior to the opening operation of the closed passage, it is determined by the operator whether it is safe to close the open passage. There is no problem as long as this safety check is performed securely, but if the interlock release switch is operated without checking the safety of the open passageway The interlock is released even if a worker enters the passage. Therefore, when an operation of opening another passage is performed, a serious danger is imposed on a worker entering the passage that is closing.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and its features are indicated by reference numerals in the embodiments described later. In the control method of the moving shelf equipment according to the present invention, in the moving shelf equipment as described above, a number of sensors 7A to 7C for detecting an object in a non-contact manner are provided beside each of the working paths A to C. The working areas A, B, or C are arranged side by side at appropriate intervals in the direction of the passage so that the entire area of A to C becomes the detection area, and the open working paths A, B, or C are connected to the sensors 7A, 7B, or 7C arranged side by side. All are in the non-detection state and the interlock release switch 11A corresponding to the passage
Alternatively, it is characterized in that it can be closed under two conditions, that is, when 11B or 11C is operated.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the accompanying drawings.
Reference numeral 2 denotes a fixed shelf, and reference numerals 3 and 4 denote moving shelves movably supported on guide rails 5 laid between the fixed shelves 1 and 2. Thus, by moving the movable shelves 3 and 4 to the fixed shelf 2 side, a work passage A is formed between the fixed shelf 1 and the movable shelf 3 as shown in FIG. By moving the movable shelves 3 and 4 away from each other, a work path B is formed between the two movable shelves 3 and 4. Work passage C
Is formed.

An operation panel 6A corresponding to the work passage A is attached to the end surface of the movable shelf 3 on the passage entrance side, and an operation panel 6 corresponding to the work passage B is provided on the end surface of the movable shelf 4 on the passage entrance side.
B and an operation panel 6C corresponding to the work passage C are provided. In addition, a number of sensors 7A to 7C are arranged in parallel for each of the work passages A to C so that the entire area of each work passage is set as a detection area. Each of these sensors 7A to 7C is a reflection / return type photoelectric switch 8 in which a light emitter and a light receiver are juxtaposed and integrated.
And a light reflecting plate 9 disposed opposite to the switch 8.

The photoelectric switches 8 of the respective sensors 7A corresponding to the work passages A are arranged at appropriate intervals in the passage direction below the movable shelf 3 on the side adjacent to the work passages A, and the light reflecting plates of the respective sensors 7A are arranged in parallel. Reference numeral 9 is attached to the lower part of the fixed shelf 1 on the side adjacent to the work path A so as to face the photoelectric switches 8. Each sensor 7 corresponding to the work passage B
The photoelectric switch 8 of B is arranged in parallel at a proper distance in the direction of passage in the lower part of the movable shelf 4 adjacent to the work path B.
Is provided at the lower part on the side adjacent to the photoelectric switch 8 so as to face each of the photoelectric switches 8. The photoelectric switches 8 of the respective sensors 7C corresponding to the work passages C are arranged at appropriate intervals in the passage direction at the lower part of the movable shelf 4 adjacent to the work passages C, and the light reflecting plate 9 of each sensor 7C is , Fixed shelf 2
Is provided at a lower portion on the side adjacent to the work path C so as to face each of the photoelectric switches 8.

As shown in FIG. 2, the operation panels 6A to 6C corresponding to the work passages A to C are provided with push button switches 10A to 10C for opening passages and push button switches 11A to 11C for releasing interlocks. Others are not shown).
Signals from these passage opening push button switches 10A to 10C and interlock release push button switches 11A to 11C, signals from the sensors 7A to 7C (photoelectric switch 8), or a passage opening limit (not shown) The control means 12 which receives a signal from a detection sensor or the like as an input is provided with a drive wheel 13 for moving the moving shelves 3 and 4,
The motors 15 and 16 for driving the motor 14 to rotate in the forward and reverse directions are controlled via motor controllers 17 and 18 such as inverters.

As shown in FIG. 3, the control means 12 includes an interlock circuit 1 corresponding to each of the work paths A to C.
9Aa, 19Ab, 19Ba, 19Bb, and 19C
a, 19Cb are provided. The signal transmission system of the passage opening push button switch 10A of the work passage A includes an interlock circuit 19Ba, which operates when the work passages B and C are opened to disconnect the signal transmission system of the passage opening push button switch 10A. 19Ca is interposed, and the signal transmission system of the passage opening push button switch 10B of the work passage B is provided when the work passages A and C are opened. The interlock circuits 19Ab and 19Cb for disconnecting are interposed, and the signal transmission system of the push-button switch 10C for opening the work passage C is operated when the work passages A and B are opened, and the push-button for opening the work passage is provided. Interlock circuits 19Ab and 19Bb for separating the signal transmission system of the switch 10C are provided.

The interlock circuit 19Aa, 19Ab corresponding to the work passage A is released from the interlock function by the operation of the interlock release push button switch 11A corresponding to the work passage A. In the signal transmission system of the switch 11A, normally closed contacts of all the sensors 7A (photoelectric switches 8) corresponding to the work path A (the photoelectric switches 8 are receiving the reflected light from the light reflector 9, that is, the obstacles are not detected). When not detecting,
4 are interposed in series, and all the sensors 7A are in an obstacle non-detection state as shown in FIG. The interlock operation of the interlock circuits 19Aa and 19Ab is released by operating the button switch 11A.

The interlock circuits 19Ba and 19Bb corresponding to the work passage B are released from the interlock operation by operating the interlock release push button switch 11B corresponding to the work passage B. The normally closed contacts (same as the normally closed contacts of the sensor 7A) of all the sensors 7B (photoelectric switches 8) corresponding to the working path B are interposed in series in the signal transmission system of the switch 11B, and all of these sensors The interlock function of the interlock circuits 19Ba and 19Bb is released by operating the interlock release push button switch 11B only when each of the switches 7B is in the obstacle non-detection state and the normally closed contact is closed. Further, the interlock circuits 19Ca and 19Cb corresponding to the work passage C
Push button switch 11C for canceling interlock
The interlock operation is released by the operation of. However, all the sensors 7C corresponding to the work passage C are provided in the signal transmission system of the interlock release push button switch 11C.
The normally closed contacts (same as the normally closed contacts of the sensor 7A) of the (photoelectric switch 8) are interposed in series, and all the sensors 7C are in the obstacle non-detection state, and the normally closed contacts are closed. The interlock circuit 19C is operated only when the interlock release push button switch 11C is operated.
The interlock function of a and 19Cb is released.

When, for example, the work passage B is to be opened from the state in which the work passage A is open as shown in FIG. 1, first, the interlock release push button switch 11A of the operation panel 6A beside the entrance of the work passage A is operated. When the operator does not enter the open work passage A at this time, all the sensors 7A (photoelectric switches 8) corresponding to the work passage A are in the non-detection state (off state).
As shown in FIG. 4, the operation of the interlock release push button switch 11A causes the interlock circuits 19Aa and 19Aa to be operated.
The interlock function of Ab is released. After this, FIG.
As shown in the figure, the pushbutton switch 10B for opening the passage of the operation panel 6B on the side of the entrance of the work passage B to be opened is operated.

An interlock circuit 19Aa, 1 interposed in the operation transmission system of the passage opening push button switch 10B
Among the 9Cb, the interlock circuit 19Aa is released from the interlock operation by the operation of the interlock release push button switch 11A as described above, and the interlock circuit 19Cb is the one corresponding to the closed work passage C, , The passage opening command is output by operating the passage opening push button switch 10B. As a result, the control means 12 controls the motor controller 17
, The motor 15 of the movable shelf 3 is operated, the drive wheel 13 is driven to rotate forward to move the movable shelf 3 to the fixed shelf 1 side, and the work path A is closed and the work path B is opened.

As shown in FIG. 5, when the work passage B is completely opened, the lateral movement of the movable shelf 3 is automatically stopped, and at the same time, the interlock circuits 19Ba, 19B corresponding to the work passage B are provided.
b operates and the passage opening pushbutton switches 10A and 10C for opening the work passages A and C are not operated to output the opening commands for the passages A and B.

If the operator presses the interlock release push button switch 11A of the open work passage A as described above in order to open the work passage B, another worker enters the work passage A. Therefore, even if one of the sensors 7A is in the obstacle detection state (ON state, that is, the photoelectric switch 8
The interlock release push button switch 1 when the projected light beam from the light source is blocked by a worker's foot or the like and the light beam is not received from the corresponding light beam reflecting plate 9).
Interlock circuits 19Aa and 19A even if 1A is operated
The interlock function of b is not released. Accordingly, the push button switch 10 for opening the passages of the closed work passages B and C is provided.
B and 10C are separated from the control means 12, and even if the passage opening push button switch 10B is operated after the interlock release push button switch 11A is operated, the passage B
Command is not output.

As described above, when opening a closed work passage, the operator first goes to the operation panels 6A to 6C at the entrances and exits of the open work passage, and interlocks the interlock corresponding to the open work passage. Release button switch 11A
After operating ~ 11C, it is sufficient to go to the operation panels 6A ~ 6C on the side of the entrance of the work passage to be opened and operate the passage opening push button switches 10A ~ 10C.
There is no worker in the open work passage,
If all the sensors 7A to 7C corresponding to the passage are in the non-obstruction detection state (OFF state), the operated passage opening push button switches 10A to 10C output a target passage opening command, and the movable shelf 3 , 4 are driven in a predetermined direction to open a target passage. If there is a worker entering the open work passage and one of the sensors 7A to 7C corresponding to the passage is in the obstacle detection state (ON state), the passage opening push is performed. Even if the button switches 10A to 10C are operated, a command to open the target passage is not output.

The distance between the photoelectric switches 8 in the path direction is
No matter where the worker enters the work passage, 20-30 are set so that the foot of the worker can be reliably detected.
It is desirable to be about centimeters. When the interval between the photoelectric switches 8 is small, the light reflecting plate 9 facing the photoelectric switches 8 has a length capable of facing at least a plurality of the photoelectric switches 8, and may be continuous over the entire length of the shelf in some cases. It is also possible to use a belt-shaped plate of a predetermined length to simplify installation on a shelf. further,
Reflective return type photoelectric switch 8 as sensors 7A to 7C
Instead of the combination of the light source and the light reflector 9, a transmission type photoelectric switch in which a light emitter and a light receiver are arranged to face each other can be used. In this case, a light receiver can be mounted at the position where the photoelectric switch 8 is mounted, and a light projector can be mounted at the position where the light beam reflecting plate 9 is mounted.

The sensors 7A to 7C are not at the lower part (near the floor) of the shelves adjacent to the work passages A to C, but at an intermediate height which is not affected by the load mounted on the shelves, for example, the intermediate height of the shelves. In addition, it can be arranged on a beam that is erected horizontally. Furthermore, it is also possible to dispose it in a plurality of steps in the height direction, such as two places near the floor and at an intermediate height.

[0019]

As described above, according to the method for controlling the moving shelf equipment according to the present invention, the open work passage is
Since all sensors corresponding to the passage are in an obstacle non-detection state and the interlock release switch corresponding to the passage is operated, the door can be closed under two conditions. Even if the interlock release switch corresponding to the open work passage is operated to open the work passage, another worker may enter the open work passage and one of the sensors may be used. However, if an obstacle is detected, the interlock cannot be released. That is, even if the interlock release switch corresponding to the open work passage is operated, the open work passage cannot be closed, so that other work passages cannot be opened.

Therefore, even if a check that must be performed before opening a closed passage, that is, a safety check for the presence of an obstacle such as a worker entering the open passage is neglected, the open passage is not considered. There is no danger that a closed passage will be opened while a worker is in the room, and safety is improved. Moreover, as sensors provided for each work passage, a large number of sensors for detecting objects without contact are arranged side by side at appropriate intervals in the passage direction so that the entire area of each open work passage is a detection area. In addition to the use of visible light-based reflective / return-type photoelectric switches and transmissive-type photoelectric switches, which are safer and more reliable than infrared area sensors, the following special effects can be obtained. Can be expected. That is, as described in, for example, Japanese Patent Application Laid-Open No. 51-35078, in a sensor in which a projector and a light receiver are arranged outside both ends of each opened working passage, when the working passage is closed. Since the sensors detect the shelves, control means for operating only the sensors corresponding to the open work passages are required, and as described in the publication, A sensor installed at the entrance to detect the entry of a worker into the work passage holds the worker entry detection signal, and when the worker detects that the worker has exited from the work passage, the worker enters the work passage. A control means for canceling the detection signal is required, and even if such a control means is provided, a malfunction occurs when two workers enter one after another. In other words, if conventional sensors were applied as they were, complicated control circuits would be required to detect whether or not people were in the open working path, which not only increased costs, but also increased costs. However, since there was a risk of malfunction, the operator had to check the inside of the passage prior to the interlock release operation, but according to the present invention, such an inconvenience was solved. As described earlier, before opening a closed aisle, even if a worker enters the open aisle and fails to perform a safety check for obstacles, There is no danger that the closed passage will be opened in the presence of a person, and safety will be improved.

[Brief description of the drawings]

FIG. 1A is a schematic plan view showing an example of a moving shelf facility, and FIG. 1B is a front view of the main part.

FIG. 2 is a block diagram illustrating a configuration of a control system.

FIG. 3 is a block diagram illustrating an interlock circuit.

FIG. 4 is a flowchart illustrating a procedure of an interlock release operation.

FIG. 5 is a flowchart illustrating a procedure of drive control of a moving shelf;

[Explanation of symbols]

1, 2 ... fixed shelf, 3, 4: movable shelf, 6A-6C ... operation panel, 7A-7C ... obstacle detection sensor, 8 ... reflection / return type photoelectric switch, 9 ... light beam reflection plate, 10A-10C ... passage Open button switch, 11A to 11C: Interlock release push button switch, 12: Control means, 13, 14: Moving shelf drive wheel, 15, 16: Wheel drive motor, 17, 18: Motor controller, 19Aa ~ 19Cb ... interlock circuit.

Claims (2)

(57) [Claims] A work passage is alternately formed between parallel shelves by moving a horizontally movable shelf, and an operation provided near an entrance of each work passage corresponding to each work passage. In a mobile shelf facility equipped with an interlock release switch that allows the open work passage to be closed on the panel, a number of sensors that detect objects in a non-contact manner beside each work passage,
The open work passages are arranged side by side at appropriate intervals in the passage direction so that the entire area of each open work passage is a detection area.
All of the sensors arranged side by side of the passage are in a non-detection state, and the interlock release switch corresponding to the passage is operated so that the sensor can be closed under two conditions. Control method of moving shelf equipment. 2. A reflection / return type photoelectric switch, wherein the sensor is provided below a shelf on one side of a work path, and a light beam is provided on a lower part of a shelf on the other side of the work path so as to face the respective switches. 2. The method according to claim 1, comprising a reflector.