JP3509626B2 - Railless mobile rack - Google Patents

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a rail (floor rail).
The present invention relates to a mobile rack of a type that does not include the above.

[0002]

2. Description of the Related Art In the mainstream of a moving rack, originally, a plurality of racks having wheels are provided side by side on a rail (floor rail), and the racks are movable in the directions toward and away from each other. (See Japanese Patent No. 2699776, etc.). However, this type of moving rack is a bottleneck due to the need to lay a rail on the floor surface, which requires large-scale and long-term construction at the time of new construction or relocation, and it is also considered as a multi-storey building. There were various problems such as the fact that construction could not be performed on the floor surface of the upper floor of the house.

Therefore, recently, a moving rack which does not require a rail has been developed. Since this railless type moving rack travels directly on the floor surface, it has wheels having wide treads formed of elastic material as wheels. Among such wheels, an appropriate number of wheels, which are arranged in a predetermined manner (for example, the four corners of the bottom surface) at the bottom of the rack, can be driven by respective separate drive mechanisms using a mounted motor or the like as a drive source. Even if the rail is not required, a side rail for locking and holding only one end of the rack is provided to ensure that the rack can reciprocate in a straight section. .

Even in such a railless type moving rack, its usage is almost the same as that of a moving rack having a rail, and a space through which a forklift or the like can pass is formed between specific racks. Also, this space is used by narrowing it when forming a new space between other racks.

[0005]

In the above-mentioned conventional railless type moving rack, in order to allow the rack to properly run on the side rail, the longitudinal direction of the rack should always be perpendicular to the side rail. It is necessary to move it while holding it. However, in reality, there is a difference in undulations on the floor surface, the load distribution is unevenly distributed between the two ends of the rack, or the drive mechanism installed near both ends of the rack has a motor characteristic. Due to variations in the output due to itself or the inverter characteristics, etc., the longer the rack travels, or the more the racks are moved, the more the side rails are affected. There is a case where the other end side around the stop is in a swinging state (a state in which it is oriented in an oblique direction) toward the front or the rear in the moving direction.

As shown in FIG. 18, a pair of widthwise guide wheels 103 are provided at one end in the longitudinal direction of the rack 102 as locking portions for engaging the side rails 101. It is conceivable to prevent tilting of the other end of the rack 102 with respect to the rail 101. However, when a load such as a swing tilt is applied to the rack 102 due to the above-mentioned difference in undulation of the floor surface, variations in the output balance of the drive mechanism, and other collisions with the outside, the guide wheel 103 is applied. And side rail 101
There was a squeeze between the two, which acted as a brake that hindered movement, and there was a danger that the brakes would cause luggage to fly out.
Further, since the rack 102 has a large left-right length with respect to its front-rear width (guide wheel mounting pitch), a large moment is applied to the side rail 101 and the guide wheel 103 when the above-mentioned brake is applied, There was a risk of damaging these.

The present invention has been made in view of the above circumstances, and is a trackless type moving rack capable of appropriately moving the rack with the longitudinal direction of the rack always at right angles to the side rails. The purpose is to provide.

[0008]

In order to achieve the above object, the present invention takes the following technical means. That is, the present invention relates to a railless movable rack in which a rack 3 provided with wheels 6 is movable in the width direction on a floor surface 2 while locking one end side in the longitudinal direction of the rack 3 to a side rail 4. Drive wheels 6A for driving the rack 3 are provided at both ends of the rack 3 in the longitudinal direction, and position detecting means 23 for detecting the positions of the both ends of the rack 6A in the moving direction are provided. By correcting the difference between the detection values at both ends of the rack 3 in the longitudinal direction , both detection values are the same.
The control means 37 is provided to adjust the output balance of the drive wheels 6A at both ends so that the difference between the two detection values becomes equal to or less than a predetermined value.

According to the present invention described above, the control means 37 compares the detection values output from the position detection means 23 provided at both ends in the longitudinal direction of the rack 3 so that the detection values become the same, or the same. Drive wheels 6 at both ends to correct the difference
Since the output balance of A is adjusted, the longitudinal direction of the rack 3 is controlled so that it is always perpendicular to the side rails 4. That is, for example, if any one of the drive wheels 6A at both ends in the longitudinal direction precedes in the moving direction (the width direction of the rack 3), the detected value of the position detecting means 23 on the drive wheel 6A side is Since it becomes larger than the detection value of the other position detection means 23, the control means 37 causes the preceding drive wheel so that these detection values become the same or the difference between the two detection values is corrected. The output of 6A is controlled to be relatively lower than the drive wheel 6A on the other side,
As a result, the longitudinal direction of the rack 3 is always the side rail 4
It becomes a right angle to.

The position detecting means 23 detects the number of rotations of the wheels 6 arranged at both ends of the rack 3 in the longitudinal direction, and the number of rotations detected by the detector 26 of the rack 3. It is recommended to include a calculation unit 27 for converting the travel distance. In this case, the detector 26 detects the number of rotations of the wheels 6 arranged at both ends of the rack 3 in the longitudinal direction, converts the traveling distance of the both ends of the rack 3 in the longitudinal direction from the number of revolutions, and the traveling distance is used to determine the both ends. Determine the position of the section. Then, the control means 37 compares the traveling distances of the respective end portions, and controls the output balance of the respective drive wheels 6A so that they are the same.

Here, when the wheel 6 whose rotation speed is detected by the detector 26 is a wheel 6C which comes into contact with the floor surface 2 and rolls due to the frictional force thereof, the wheel 6C follows the floor surface 2. It is preferable to provide the follow-up means 45 for making contact with each other. As a result, it is possible to prevent the wheel 6C from rising and slipping due to the undulations of the floor surface 2 and the like, and it becomes possible to accurately detect the number of revolutions. On the other hand, when the longitudinal direction of the rack 3 is inclined with respect to the side rails 4, the displacement (displacement) in the moving direction due to the inclination is most noticeable at the outermost side in the longitudinal direction of the rack 3.

Therefore, the wheels 6 and 6C whose traveling distances are detected by the above means are arranged on the outermost side in the longitudinal direction of the rack 3 so that the inclination degree of the rack 3 can be accurately detected. It will be. Further, in addition to the position detecting means 23 having the above structure, a detecting body 50 for detecting that each longitudinal end of the rack 3 has moved to the reference position X on the floor surface 2 is added, and as the control means 37. It is preferable to add a function of clearing the detection value of the position detecting means 23 at the end of the rack 3 on the side detected by the detection body 50.

In this case, for example, a slip or the like occurs on the wheels 6 while the rack 3 is moving, so that the difference between the detected values at both ends of the rack 3 by the position detecting means 23 and the difference between the actual positions of both ends of the rack 3 are detected. Even if something different occurs, the end portions of the rack 3 reach the reference position X on the floor surface 2 and the position detecting means 2 on the end portion side of the rack 3 is reached.
The value detected by 3 is cleared to 0, and the position detection means 23
Will newly detect the positions of both ends of the rack 3 with respect to the reference position X as detection values. That is, the positions of both ends in the longitudinal direction of the rack 3 are detected with the floor surface 2 as a reference, whereby the amount of inclination with respect to the side rails 4 which is in a fixed relationship with the floor surface 2 can also be accurately detected. .

Further, the position detecting means 2 according to the present invention.
3 is a detection member 50A provided at both ends of the rack 3 in the longitudinal direction, and the detection members 50A are simultaneously detected by the detection members 50A when the rack 3 is in a posture perpendicular to the side rails 4. It is assumed to have a detected member 50B provided at the reference position X on the floor surface 2 and a calculation means 51 for calculating the distance in the moving direction of each of the detection members 50A with respect to the detected member 50B. In this configuration, the position detection unit 23 calculates the distance in the moving direction of each detection member 50A with respect to the detection target member 50B by the calculation unit 51 after each detection member 50A detects the detection target member 50B, and the control unit 37. , Each detection member 50A
The output balance of the drive wheels 6A at both ends of the rack 3 is adjusted so that the distances are the same or the difference between the distances is corrected.

Here, the arithmetic means 51 is provided with a detector 26 for detecting the number of rotations of the wheels 6 (6C) of the rack as described above and an arithmetic unit 27 for converting the number of rotations into a travel distance. It is also possible to have the following configuration. That is, as the calculation means 51, one of the detection members 50A detects the detected member 50B and the other detects the detected member 5B.
A timer 57 that measures the time until 0B is detected,
Detection value by the position detection means 23 at both ends of the rack in the longitudinal direction
As a difference between the two, a calculation unit 58 for calculating the distance from the detected member 50B to the one detection member 50A from the measured value by the timer 56 and the moving speed of the rack 3 may be provided. it can.

In this case, after the detection member 50A provided at the end of the leading rack 3 detects the detected member 50B, the other detection member 50A (the detection member 50A provided at the end of the rack 3 on the delayed side). ) Measures the time until the detected member 50B is detected by the timer 57, and the calculation unit 58 multiplies the measured time by the moving speed of the rack 3 to detect the preceding detected member 50A and the detected member. The distance from 50B is calculated. That is, this distance indicates the distance difference in the moving direction between the respective detection members 50A, and thus this is directly detected as the amount of inclination of the rack 3.

In the present invention, when the stop position detectors 30 for detecting the positions at which the rack 3 is stopped are provided at both ends in the longitudinal direction of the rack 3, the control means 37 is provided with the stop position detectors 30. It is preferable to add a function of stopping only the drive wheel 6A on the side closer to the stop position detector that issued the stop signal when one of the two issues a stop signal. In this case, when the rack 4 comes into contact with or comes in contact with a stopper or the like while the longitudinal direction of the rack 3 is oblique with respect to the side rails 4, there is a time lag in the stop timing of both longitudinal ends of the rack 3. Therefore, when the movement is stopped, the rack 3 moves to the side rail 4
Even if the rack 3 is inclined with respect to, the inclination of the rack 3 is corrected so as to disappear.

On the other hand, if the inclination of the rack 3 becomes extremely large due to the rack 3 colliding with an obstacle during movement or making an emergency stop in an unbalanced state, the control means 37 automatically The control may also prevent the inclination of the rack 3 from being corrected. Therefore, according to the present invention, in order to cope with such an abnormal inclination of the rack 3, the changeover switch 3 for switching the drive wheels 6A to the manual mode in which the drive wheels 6A are manually operated.
9 is provided, and when the changeover switch 39 is in the manual mode, the control means 37 is provided with the number of rotations of the drive wheel 6A farther from the side rail 4 of the drive wheels 6A closer to the side rail 4. It is recommended to add a function to set the value higher than the rotation speed of the wheel 6A.

In this case, after the changeover switch 39 is changed over to the manual mode, the control means 37 causes the side rail 4 to move.
Since the rotation speed of the drive wheel 6A on the side farther from can be set to a value larger than the rotation speed of the drive wheel 6A on the side closer to the rail 4, drive the drive wheel 6A with another switch in this state. By running the rack 3, the side farther from the side rail 4 in the rack 3 moves earlier, and the abnormal inclination of the rack 3 can be corrected manually. Here, in the movable rack according to the present invention, a guide member that engages with the side rail 4 at one end side in the longitudinal direction of the rack 3 so as to allow swinging inclination at the other end side in the longitudinal direction of the rack 3. It is supposed to have 13.

As a result, even if an external force is applied to the rack 3 such that the rack 3 swings and tilts, such as when the rack 3 collides with an obstacle during movement, the space between the side rail 4 and the guide member 13 is increased. It is possible to prevent the occurrence of stumbling and the like, and it is possible to prevent the movement due to the squeezing from being hindered or the luggage from jumping out. On the other hand, the position detecting means 23, the stop position detecting means 30, the control The swing inclination is corrected by the means 37 or the like.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 8 show a first embodiment of the present invention, and a trackless mobile rack 1 according to the present embodiment has a floor 2 in a factory or the like as shown in FIGS. 2 and 3. The plurality of racks 3 are arranged in parallel with each other on the upper side, and one end of each rack 3 is locked to the side rail 4. As shown in FIG. 1, the bottom of each rack 3 has a plurality of wheels 6 that are rotatable in a direction that enables movement along the side rails 4.
(6A, 6B) are provided via the wheel frame 5. Since these wheels 6 run directly on the floor surface 2, at least the tread portion is made of an elastic material such as urethane rubber. Further, it is preferable that the tread portion has a solid structure, and it is wide to some extent.

Further, a drive mechanism 9 having a speed reducer 7, a motor 8 and the like is provided at four locations on the bottom of each rack 3 so as to be close to the four corners thereof. The drive mechanism 9 is provided with a drive shaft 10 projecting along the longitudinal direction of the rack 3, and by this drive shaft 10, three wheels per one (that is, per one drive mechanism 9). 6 can be rotationally driven as a drive wheel 6A. Therefore, each rack 3 can independently move independently, and each drive mechanism 9 in each rack 3 can be individually controlled.

Actually, a pair of drive mechanisms 9 adjacent to each other in the front-back direction of the moving direction are controlled by the control means 37, which will be described later. The traveling speed at each end of the rack 3 can be adjusted by controlling the above. On the other hand, in each rack 3, one end portion in the longitudinal direction (the upper side in FIGS. 1 and 2 and the left side in FIG. 3) is provided with the bracket 1
A single guide wheel (guide member) 13 is held via the shaft 2 so as to be horizontally rotatable around the vertical axis. The guide wheel 13 is rotatably fitted into the upwardly facing groove portion 4a of the side rail 4 formed of grooved steel or the like. Therefore, the moving direction of the rack 3 is regulated in a straight line along the longitudinal direction of the side rail 4 (width direction of the rack 3).

In the movable rack 1 of the illustrated example, three racks 3 are provided, and a pair of fixed racks 15 are provided on the outermost sides (close to both ends of the side rails 4) which are the moving ranges of these. A plurality of shelves 1 are provided vertically and horizontally on the front and rear sides of each movable rack 3, and on the opposite sides of the fixed rack 15.
6 is provided, and the luggage 18 can be freely taken in and out of each of the shelves 16 with or without the pallet 17.

As shown in FIG. 6, each movable rack 3 has a structure in which the racks 16 at the front and rear of the moving direction are independently supported by separate carriages 19, and the front and rear carriages 19 are linked 19a. Since they are connected with each other, the undulations of the floor surface 2 are flexibly followed to some extent so that a reliable grounding property can be obtained. Further, since the wheels 6 are arranged in two rows in the front and rear of the moving direction of each of the carriages 19, the individual shelf portions 1
The load distribution for 6 can be evenly distributed. All of these are useful items for enhancing the standing stability and traveling stability when viewed as one rack 3.

From the above, each rack 3 is movable in the direction of approaching / separating from each other in the site between the pair of front and rear fixed racks 15, and between the racks 3 and the fixed racks 15. Alternatively, a space 21 through which the forklift 20 or the like can pass can be formed between the racks 3. As shown in FIG. 1, among the wheels that are not driven (wheels that come into contact with the floor surface 2 and roll due to the frictional force thereof), each rack 3 is arranged on the outermost side in the longitudinal direction of the rack 3. Position detection means 23 is provided for detecting the positions in the moving direction of both ends of the rack 3 in the longitudinal direction, with the driven wheel 6B as the detection target.

As shown in FIGS. 4 and 5, the position detecting means 23 can count the rotation detecting body 25 provided on the axle 24 of the wheel 6B and the rotation angle (rotation number) of the rotation detecting body 25. The detector 26 and the arithmetic unit 27 that receives the detection signal from the detector 26 and converts the traveling distance of the rack 3. The rotation detector 25 is provided with a large number of notches 28 on the outer peripheral portion of the disc at equal intervals in the circumferential direction, and the detector 26 turns on / off the transmitted light through the notches 28. It is composed of a transmission type optical sensor for detecting. Then, the calculation unit 27 counts the number of times the transmitted light transmitted from the detector 26 is turned on and off, thereby calculating the rotation number and the rotation angle as a fraction thereof of the rotation detection body 25, which is used as the diameter of the wheel 6. It is converted into a mileage in relation to.

As described above, the number of the cutouts 28 formed in the rotation detecting body 25 governs the calculation accuracy as the traveling distance of the rack 3, so that it may be appropriately increased or decreased according to the desired accuracy. As described above, by using the axle 24 to which the rotation detecting body 25 is attached as the driven wheel 6B, the traveling distance obtained is accurate with little influence on disturbance such as slip and backlash. You can However, the rotation detection body 25 can be fixed to the axle for the drive wheels 6A.

A reflective optical sensor can be used for the detector 26, other contactless sensors using electromagnetic waves such as magnetism, ultrasonic waves, and lasers can be used, and various contact-type switches can be used. It is also possible to use a class. Further, for the rotation direction of the rotation detection body 25 (that is, the traveling direction of the rack 3), another detector (not shown) may be used. As shown in FIGS. 1 and 6, each rack 3
Is provided with stop position detectors 30 for detecting positions at which the rack 3 is stopped at both ends in the longitudinal direction and both front and rear sides in the moving direction (that is, a total of four places). The stop position detector 30 of the embodiment is a detector 3 including a contactor 32 that is swingably held, and a limit switch that detects the movement of the contactor 32 and is turned on / off.
3 and 3 are provided.

Therefore, as the rack 3 moves, the contact 3
When the two directly contact the adjacent rack 3 or the fixed rack 15 or appropriately contact the stopper member (not shown) or the counterpart stop position detector 30, etc., a stop signal is output from the detector 33. It is supposed to be emitted. In this stop position detector 30, the contact 32 is not provided, and the detector 33 is replaced with a contactless sensor such as a proximity switch, so that the stop position is stopped when the proximity distance to the other party becomes a predetermined distance or less. It can also be configured to emit a signal.

As shown in FIGS. 1 and 6, at the other longitudinal edge of each rack 3, there is provided a control panel 36 incorporating a microcomputer or a computer for controlling the running of the rack 3. . This microcomputer or computer is equipped with a control means 37 for automatically correcting the inclination of the rack 3 with respect to the side rails 4 based on the detection signals from the position detection means 23 and the stop position detector 30. As shown in FIG. 7, the control means 37 receives each detection signal from the detector 26 and converts each traveling distance of the rack 3 into each calculation section 27.
And the detection values from the respective calculation units 27 are compared with each other, and the difference is corrected to adjust the output balance of the motor 8 for driving the left and right drive wheels 6A so as to have the same value.
And are equipped with.

That is, when the rack 3 starts to move, the detected values (traveling distances) are input in real time from the respective position detecting means 23 arranged on both sides in the longitudinal direction to the control means 37, and the control section 35 thereof. The magnitude of the detected value is compared within. As a result, when there is no substantial difference between the left and right detection values, it is determined that the rack 3 is normal with its longitudinal direction perpendicular to the side rails 4, and the rotation speed of each motor 8 is maintained as it is. . On the other hand, when there is a substantial difference between the left and right detection values, it is determined that the rack 3 is inclined with respect to the side rail 4 and correction is necessary. That is, in this case, it means that the larger detected value precedes (faster) in the moving direction.

Therefore, when the determination result indicates that correction is necessary, the control unit 35 causes the drive mechanism 9 (motor 8) having a larger detection value to output the output to the drive wheel 6A relative to the other. The output of the motor 8 is adjusted until the detected values on the left and right become the same, depending on whether the detected values on the left and right are controlled independently or by increasing the smaller one independently and lowering the larger one independently. The output control of the drive mechanism 9 with respect to the motor 8 can be specifically performed by inverter control (frequency modulation) of the motor 8. In this way, each rack 3 is automatically controlled so that its longitudinal direction is always perpendicular to the side rails 4.

On the other hand, even if the position detecting means 23 is used for automatic control as described above, the rack 3 is inclined in its longitudinal direction with respect to the side rails 4 due to a sudden matter such as contact with the forklift 20. It cannot be said that there is no state. Therefore, in the present embodiment, each of the stop position detectors 30 is also connected to the control means 37, and the control means 37 is operated when any one of the stop position detectors 30 issues a stop signal. In addition, it has a function of stopping only the drive wheel 6A on the side closer to the stop position detector 30 which issued the stop signal.

That is, when the rack 3 is stopped, the control unit 35 is closer to the stop position detector 30 which first issued the stop signal (the leading end side. Now, temporarily, the lower side of FIG. 7). The drive mechanism 9 (motor 8) on both the front and rear sides of the stop detector 30 is stopped, and the one closer to the stop detector 30 that issued the stop signal (the end that is delayed). The driving mechanism 9 (motor 8) on both front and rear sides of the driving mechanism 9 is stopped. Therefore, due to this time shift, the rack 3 is corrected so that its longitudinal direction is perpendicular to the side rail 4 as shown in FIG. 8, and stops.

By the way, in the rack 3, one longitudinal end thereof is locked to the side rail 4 via one guide wheel 13, and the guide wheel 13 is horizontally rotatably locked to the side rail 4. Therefore, the swing tilt as described above can occur. Therefore, as in the conventional example shown in FIG. 10, when a guide rail is provided with two guide wheels, a slack between the side rail and the guide wheel and an unexpected brake due to the slack, a side rail, and a guide wheel are generated. It is possible to prevent damage and the like due to such moment, and after preventing them, the position detecting means 23, the stop position detector 30, the control means 37, etc., can correct the side rail 4 at a right angle. Of.

As shown in FIG. 6, the control panel 36 includes:
A first changeover switch 39 for changing over the movement control of the rack 3 between the automatic mode and the manual mode, a second changeover switch 40 for changing over the traveling method of the rack 3 to either parallel traveling or correction traveling, and whichever of the rack 3 is in the front-back direction. There is provided a main switch 41 for driving the vehicle in the forward direction, and the main switch 41 is a power switch for rotating each of the motors 8 in either the forward or backward direction.
Of these, the first changeover switch 39 is connected to the control unit 35 as shown in FIG. 7, and the output control of the motor 8 by the control unit 37 is performed either in the automatic control described above or in the manual control described later. It switches to crab.

On the other hand, the second changeover switch 40 is also shown in FIG.
As shown in FIG. 4, the motors 8 on the side farther from the side rails 4 are connected to the control unit 35, and the motors 8 on the side farther from the side rails 4 are set to the same speed. This is switched to the case of the correction traveling in which the value is set to a value larger than the rotation speed of the motor 8 on the side closer to. Therefore, if the first traveling switch 39 is switched to the manual mode and then the correction traveling is selected by the second traveling switch 40, the control means 37 causes the rotation speed of the drive wheels 6A far from the side rail 4 to be always the same. It is set to a value larger than the rotational speed of the drive wheel 6A on the side closer to 4. Therefore, in this state, when the drive wheels 6A are driven by the main switch 41 to drive the rack 3 to move, the side farther from the side rail 4 of the rack 3 moves earlier, so that the abnormal inclination of the rack 3 can be manually corrected. Become.

More specifically, the rated output is 1 at 60 Hz.
When using an inverter motor of 0 m / min, the frequency of the motor 8 on the side far from the side rail 4 is 25 Hz (about 4
m / min) and set the frequency of the motor 8 on the near side to 20H
It can be set to z (about 3 m / min). in this case,
Since the drive wheel 6A on the far side from the side rail 4 always travels at about 1.25 times the speed on the near side,
Even if the rack 3 is largely tilted, the abnormal tilt can be immediately corrected. FIG. 9 shows a second embodiment of the present invention. In this embodiment, as the position detecting means 23, as in the first embodiment, the floor surface 2 is brought into contact with and rolls due to the frictional force. The wheel (driven wheel) 6C is provided with a rotation detection body 25 provided on the axle 24, a detector 26, and a calculation unit 27. Further, the driven wheel 6C is always on the floor surface 2. It is provided with a follow-up means 45 for making the follow-up so as to make contact.

Specifically, the driven wheel 6C is rotatably supported by the mounting frame 46 via the axle 24, and the front and rear ends of the mounting frame 46 are the outermost wheel frame 5 of the rack 3.
On the other hand, it is swingably mounted via a pivot shaft 47. A biasing member 48 made of a compression coil spring is interposed between the end of the mounting frame 46 on the side opposite to the pivot shaft 47 and the bottom of the rack 3, and the driven wheel 6C is driven by the biasing member 48. Are urged to be pressed against the floor surface 2. Note that the wheels (driven wheels) 6C in the present embodiment do not directly receive the load of the rack 3 but simply make contact with the floor surface 2 and roll, and in this respect also It is different from the first embodiment.

Therefore, the follow-up means 45 has a structure for supporting the driven wheel 6C so as to be vertically movable and a structure for urging the driven wheel 6C downward, and when the floor surface 2 is vertically undulated. However, the driven wheel 6C can be surely brought into contact with the floor surface 2, and the driven wheel 6C can be prevented from slipping, rising, and the like, and the accurate rotation speed can be detected. The urging member 48 is not limited to a compression coil spring, and may be replaced with another elastic material such as a leaf spring or a twist coil type torsion coil spring fitted on the pivot shaft 47.
It is possible to omit the biasing member 48 and follow the floor surface 2 by the own weight of the mounting frame 46 and the driven wheel 6C, but by providing the biasing member 48, the floor surface 2 can be contacted more reliably. It is possible.

FIG. 10 shows a third embodiment of the present invention. This embodiment is similar to the above embodiment in that two carriages 19 are provided before and after the moving direction, but in the longitudinal direction. The wheel frames 5A arranged at both ends have a length extending over the front and rear bogies 19 and are of a two-wheel type in which wheels 6A are respectively provided at both front and rear ends thereof, and the other wheel frame 5B on the center side is arranged at the front and rear. It is divided into front and rear corresponding to each dolly 19 and is connected by a link 19a, and two front and rear wheels 6A, 6 are provided on each wheel frame 5B.
It is a four-wheel type having B.

Therefore, also in the present embodiment, the wheels 6A,
It is possible to increase the number of 6B and reduce the load on each wheel 6A, 6B to improve the durability. Also,
On the longitudinal center side of the rack 3, front and rear wheel frames 5
Since B is linked by the link 19a, the rack 3
While each wheel 6A, 6B can flexibly follow the ups and downs of the floor surface 2 through the distortion of the above, the front and rear bogies 19 are rigidly connected by the wheel frames 5A at both longitudinal ends. The rack 3 can be shaped as a whole,
It secures structural rigidity. The wheel frame 5A facilitates mounting the bracket 12 of the guide wheel 13 in the front and rear center.

In the present embodiment, the position detecting means 23 shown in FIG. 9 for the wheel frames 5A at both ends in the longitudinal direction.
The wheels 6C of the position detecting means 23 do not directly bear the load of the rack 3 so that each wheel 6A of the wheel frame 5A is surely grounded to the floor surface 2. Has become. 11 to 15 show a fourth embodiment of the present invention. In this embodiment, the longitudinal position of the rack 3 in the longitudinal direction is the reference position X on the floor surface 2 with respect to the position detecting means 23 described in the above embodiments.
The detection unit 50 for detecting the movement of the rack is added to the control unit 35 of the control unit 37, and the detector 26 at the end of the rack 3 on the side detected by the detection unit 50 is cleared. The function to do is added.

Here, the reference position X is shown as a straight line at a right angle to the side rail 4, and in this embodiment, the rack 3 has a space P which is substantially the same as the front-back width of the rack 3. A plurality of reference positions X are set in the moving direction, and when a passing space 21 for the forklift 20 or the like is formed between the racks 3, two reference positions X are arranged with respect to the space 21. Is set to.
As shown in FIGS. 12 and 13, the detection body 50 has a detection member 50 </ b> A composed of proximity sensors provided at both ends of the rack 3 in the longitudinal direction, and the rack 3 has a posture perpendicular to the side rails 4. The detection member 50B is provided on the reference position X of the floor surface 2 so as to be simultaneously detected by the detection members 50A.

Therefore, when the detecting member 50A at each longitudinal end of the rack 3 detects the corresponding detected member 50B, the control means 37 sets the detected value of the detector 26 on the detected side to 0. It has been cleared to. The respective detection members 50A are attached to the wheel frames 5 at the longitudinal ends or the bottom surface of the rack 3 via brackets or the like so that the distances from the front and rear side surfaces of the rack 3 are the same. On the other hand, the detected member 50B
Is formed of a metal member that can be detected by the detection member 50A, and the detection member 50A can be detected on the reference line (reference position) X.
A pair is provided corresponding to the lower position of the passage space of
Therefore, a pair of the detected members 50B is provided as a set, and a plurality of sets are provided at a predetermined interval P in the moving direction of the rack 3.

The detected member 50B is, for example, as shown in FIG.
As shown in (b), a plate-shaped member to be detected 50B is fitted into a recess 53 formed on the floor surface 2 and fixed with bolts 54, or as shown in FIG. Detection member 5
0B is housed in the recess 53 and fixed with an adhesive 55 or the like.
B is provided so as not to project from the floor surface 2. Therefore, when the forklift 20 or the like enters the space 21 between the racks 3, the tire of the forklift 20 or the like is detected by the detected member 50.
It prevents contact with B and hindering handling.

The method of controlling the moving rack according to this embodiment will be described below with reference to the flow charts of FIGS. 15 and 13 and 14. First, when the rack 3 starts to move along the side rails 4 in the direction of the arrow in FIG. 13, the detectors 26 at both ends in the longitudinal direction of the rack 3 of the rotation detector 25 are moved in the same manner as in the above-described embodiment. The number of rotations is detected and converted into a travel distance by the calculation unit 27. At this time, FIG.
When the rack 3 is inclined with respect to the side rails 4 as shown in FIG.
(The lower detection member 50A in the illustrated example) is the detected member 50B.
Then, the control unit 35 clears the detector 26 on the leading side (strokes A and B in FIG. 15), and by further movement, the rotation speed of the leading wheel 6B (or 6C) is detected again. Is converted to the traveled distance (the same process C).

Here, the rotation detector 25 and the detector 2
6. The calculation unit 27 constitutes a calculation unit 51 that calculates the distance in the moving direction of the detection member 50A with respect to the reference position X (member 50B to be detected). On the other hand, when the detection member 50A on the delay side detects the detected member 50B (the same process D), the control unit 35 clears the detector 26 on the delay side, and thereafter, the position detection means 23 on the preceding side. Detection value (that is, the distance traveled from the reference position X on the leading side)
And the detection value on the delay side (similarly, the travel distance from the reference position X on the delay side) are compared in the control unit 35 (stroke F).

As a result, if there is a difference in the detection values of the detectors 26, it is determined that correction is necessary, and the control units are arranged so that both detection values become the same (correct the difference L). In step 35, the correction process (process G) is performed. This correction processing is similar to that of the first embodiment, and is performed by making the output to the drive wheel 6A on the preceding side relatively smaller than the other, and in parallel with this correction processing, each position detection is performed. The value detected by the means 23 is input to the control unit 35 in real time (stroke H), and the control unit 35 compares the magnitudes at any time (stroke I).

Then, when the difference between the detection values of the respective position detecting means 23 disappears or becomes less than a predetermined value, the rack 3 is corrected to a posture perpendicular to the side rails 4, and the correction processing ends. Of. Therefore, in the present embodiment, an error occurs between the difference between the detected values of the position detecting means 23 and the actual difference between the positions of both ends of the rack 3 due to slipping of the wheels 6B during movement of the rack 3. Even after that, the error is eliminated by initializing the detection value of each position detecting means 23 based on the reference position X of the floor surface 2, and the traveling distance from the reference position X is newly set in the longitudinal direction of the rack 3. Accurate detection values can be obtained by detecting the positions of both ends.

Since the above control is performed,
With respect to the passing space 21 such as the forklift 20 formed between the racks 3, a plurality of detected members 50 in the moving direction are provided.
By providing B, the position detection accuracy is further improved. However, one set of detected members 50B may be provided in the passage space 21. 16 and 17 show a fifth embodiment of the present invention. This embodiment does not include the rotation detecting body 25, the detector 26, and the computing unit 27 shown in the fourth embodiment as the position detecting means 23, and the detecting member 50A and the detected member shown in the same embodiment. It is configured to include a detection body 50 made of 50B.

Further, one of the detection members 50A is the detected object 5
A timer 57 for measuring the time from the detection of 0B to the detection of the detected member 50B by the other detection member 50A.
And the relationship between the value measured by the timer 57 and the moving speed of the rack 3, the traveling distance L of the rack 3 during the measurement time.
And a calculation unit 51 having a calculation unit 58 for calculating The control means 37 is the calculation means 5
1 and a control unit 35, and the control unit 35 includes the calculation means 5
When the value obtained by 1 is different or more than a predetermined value, it is determined that the rack 3 is inclined with respect to the side rail 4, and the output to the drive wheels 6A on each end side is controlled, The one detection member 50A is the detected member 50.
It has a function of clearing the count of the timer 57 to 0 when B is detected.

That is, the flowchart shown in FIG.
Also, the control method of the rack 3 will be described with reference to FIG. 14 according to the fourth embodiment. When the detection member 50A on the leading side at one longitudinal end of the rack 3 detects the detected member 50B (stroke A), The timer 57 is cleared to 0 (stroke B), and when the rack 3 further moves, the timer 57 is counted from 0 (stroke C). Then, when the detection member 50A on the delay side detects the detected member 50B (stroke D), the measured value of the timer 57 and the rack 3 at that time.
The moving speed of the rack 3 is multiplied by the calculation unit 58, and this is calculated as the inclination amount (skew amount) L of the rack 3 and input to the control unit 35 (stroke E).

Therefore, the position of each end in the longitudinal direction of the rack 3 is judged as the distance to the reference position X of the floor surface 2. At this time, the distance on the lagging side becomes 0 and the distance on the leading side becomes the inclination amount L. Become. Next, when the inclination amount L input to the control unit 35 is equal to or larger than a predetermined value, it is determined that the rack 3 is inclined (stroke F), and a correction process is performed to correct the inclination amount L. Has become (stroke H). This correction process is the same as that in each of the above-described embodiments, and is performed by suppressing the output to the drive wheel 6A on the leading end side of the rack 3 relative to the output to the drive wheel 6B on the delay side. Prior to this correction processing, the control unit 35 calculates the time (correction time) for performing the correction processing (step G).

That is, the correction time is the inclination amount L
Is divided by the speed difference between the drive wheel 6A on the delay side and the drive wheel 6B on the preceding side during the correction processing (inclination amount L / speed difference).
By performing the correction process until the correction time has elapsed (stroke I), the rack 3 is corrected to a posture perpendicular to the side rail 4. Therefore, in the present embodiment as well, the same operational effects as the above-described fourth embodiment are exhibited, but there is also an advantage that the position detection means 23 can be structurally simplified compared to the fourth embodiment.

In FIG. 16, the stop position detector 30 and the first and second changeover switches 39 and 40 as shown in the first embodiment are omitted, but these are provided. Good. By the way, the present invention is not limited to the above embodiment. For example, fixed rack 1
The presence or absence of 5, the number of racks 3 installed, the number of wheels 6 (driving wheels 6A and driven wheels 6B), the configuration of the drive mechanism 9, and the detailed structure of the rack 3 are not particularly limited.

Further, the detailed structure of the position detecting means 23, the circuit configuration of the stop position detector 30 and the drive mechanism 9 (motor 8) and the like can be appropriately changed according to the embodiment. It is not limited whether or not each rack 3 and a control means (not shown) for controlling them are wired or wireless. Further, the present invention is directed to a forklift 2
The use of 0 is not limited.

[0059]

As described above, according to the present invention,
The rack can be moved in a state where the longitudinal direction of the rack is always at right angles to the side rails, and the rack can be appropriately run on the side rails without squeezing.

[Brief description of drawings]

FIG. 1 is a plan view showing a part of FIG. 2 in an enlarged manner.

FIG. 2 is a plan view showing an embodiment of a movable rack according to the present invention.

FIG. 3 is an enlarged view taken along the line AA of FIG.

FIG. 4 is an enlarged plan view showing a driven wheel provided with position detecting means.

5 is an enlarged view taken along the line BB of FIG.

FIG. 6 is an enlarged view taken along the line CC of FIG.

FIG. 7 is a block diagram of control means.

FIG. 8 is a schematic diagram showing a rack moving state.

FIG. 9 shows a position detecting means according to a second embodiment of the present invention, (a) is a side view thereof, and (b) is a bottom view thereof.

FIG. 10 is a bottom view of the rack according to the third embodiment of the present invention.

FIG. 11 is a plan view of a moving rack according to a fourth embodiment of the present invention.

FIG. 12A is a front view showing a detection body.
(B) (c) is an enlarged front sectional view of a detected member.

FIG. 13 is a plan view of the rack.

FIG. 14 is a plan view showing a state where the rack is inclined.

FIG. 15 is a flowchart showing a control procedure.

FIG. 16 is a block diagram of position detecting means and control means according to a fifth embodiment of the present invention.

FIG. 17 is a flowchart showing the same control procedure.

FIG. 18 is a plan view showing a conventional example.

[Explanation of symbols]

1 moving rack 3 racks 4 side rails 6 wheels 6A drive wheel 6B driven wheel 6C driven wheel 23 Position detecting means 26 detectors 27 Operation part 30 Stop position detector 37 Control means 39 First changeover switch 50 detector 51 computing means X reference position

Continuation of front page (56) Reference JP 2000-142923 (JP, A) JP 2000-142922 (JP, A) JP 2000-44019 (JP, A) JP 11-46888 (JP, A) JP-A-10-215958 (JP, A) JP-A-9-278124 (JP, A) JP-A-5-330610 (JP, A) JP-A-1-156210 (JP, A) JP-A-56-31711 (JP, A) JP-A-51-9957 (JP, A) JP-A-50-63672 (JP, A) Actual development 62-134433 (JP, U) (58) Fields investigated (Int.Cl. ⁷⁾ , DB name) B65G 1/10 A47B 53/02 501

Claims (10)

(57) [Claims] 1. A non-rail track in which a rack (3) having wheels (6) is movable in the width direction on a floor surface (2) while locking one end side in the longitudinal direction thereof to a side rail (4). In the mold moving rack, the rack (3) is provided at both longitudinal ends of the rack (3).
Drive wheels (6A) for driving the rack are provided, and position detection means (23) for detecting the position in the moving direction of both longitudinal ends of the rack (3) is provided, and the rack by the position detection means (23) is provided. Correct the difference between the detection values at both ends in the longitudinal direction of (3) so that both detection values are the same.
As the difference becomes so or both detection value is below a predetermined value,
A trackless mobile rack, characterized in that a control means (37) for adjusting the output balance of the drive wheels (6A) at both ends is provided. 2. The position detecting means (23) comprises a rack (3).
(26) for detecting the number of rotations of the wheels (6) arranged at both ends of the rack in the longitudinal direction, and the number of rotations detected by the detector (26) is converted into the travel distance of the rack (3). The trackless mobile rack according to claim 1, further comprising a computing unit (27). 3. The position detecting means (23) detects a rotational speed of a wheel (6C) which is in contact with the floor surface (2) and rolls due to the frictional force, and a detector (26) for detecting the rotational speed. An arithmetic unit (27) for converting the number of revolutions detected by the detector (26) into the traveling distance of the rack (3), and the wheel (6C).
Tracking means (45) for contacting the floor surface with the floor surface (2)
The trackless type moving rack according to claim 1 or 2, further comprising: 4. The wheels (6, 6C) whose traveling distance is detected by the position detecting means (23) are the racks (3).
The trackless type moving rack according to claim 2 or 3, which is arranged on the outermost side in the longitudinal direction. 5. A detection body (50) for detecting that each of the longitudinal ends of the rack (3) has moved to a reference position (X) on the floor surface (2) by the position detection means (23). The control means (37) has a function of clearing the detection value of the position detection means (23) at the end of the rack (3) on the side detected by the detection body (50). Item 5. The trackless mobile rack according to any one of Items 1 to 4. 6. The position detecting means (23) is a detecting member (50) provided at both longitudinal ends of the rack (3).
A) and a reference position on the floor surface (2) so that the racks (3) are simultaneously detected by the detection members (50A) when the rack (3) is in a posture perpendicular to the side rails (4). X), the detected member (50B), and the detection members (50) for the detected member (50B).
The trackless mobile rack according to claim 1, further comprising a calculating means (51) for calculating a distance in the moving direction of A). 7. The calculating means (51), wherein one of the detection members (50A) is the detected member (5).
0B), the other is the detected member (50B).
A timer (57) that measures the time until the detection of
Detection by the position detection means (23) at both ends of the rack in the longitudinal direction
As the difference between the output values, the detected member (50) is calculated from the measured value by the timer (57) and the moving speed of the rack (3).
The trackless mobile rack according to claim 6, further comprising a calculation unit (58) that calculates a distance in the moving direction of the one detection member (50A) with respect to B). 8. A stop position detector (30) for detecting a position at which the rack (3) is stopped is provided at both ends of the rack (3) in the longitudinal direction, and the control means (37) detects each stop position. The stop position detector (3) that issued the stop signal when any one of the devices (30) issued the stop signal.
The trackless mobile rack according to any one of claims 1 to 7, which has a function of stopping only the drive wheel (6A) close to (0). 9. A change-over switch (39) is provided for changing over to a manual mode in which each drive wheel (6A) is manually operated, and the control means (37) is arranged so that when the change-over switch (39) is in the manual mode. Each drive wheel (6
The drive wheels (6) on the side farther from the side rails (4) in (A)
The rotation speed of (A) is the drive wheel (6) close to the rail (4).
The trackless mobile rack according to any one of claims 1 to 8, which has a function of setting the rotation speed to a value higher than that of A). 10. A guide which is locked to the side rail (4) at one longitudinal end of the rack (3) so as to allow swinging inclination of the other longitudinal end of the rack (3). Trackless mobile rack according to any of claims 1 to 9, comprising a member (13).