JP4123604B2 - Three-dimensional storage equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional storage facility.
[0002]
[Prior art]
FIGS. 7 to 9 show an example of a conventional three-dimensional storage facility. This three-dimensional storage facility includes a plurality of frames 2 for storing articles arranged in parallel to the travel path 1 and a frame 2 that is in contact with the travel path 1 and is in contact with the travel path 1. Of each frame 2 are pivotally supported on the left and right sides of each frame 2 so that they can be moved close to and away from each other, a wheel drive mechanism 4 provided on each frame 2 so that the wheel 3 can be rotated, A guide rail 6 having a groove 5 extending over the entire length at the lower part and arranged horizontally along one side of the traveling path 1, and each frame 2 is pivoted via a bracket 7 so as to be fitted into the groove 5 of the guide rail 6. And a supported guide roller 8.
[0003]
Each frame 2 independently travels along the traveling path 1 when each wheel drive mechanism 4 is operated.
[0004]
Further, the total length L of the travel path 1, the longitudinal dimension E of the frame 2, and the number of frames 2 can form a gap S (see FIG. 7) in which an article transporter such as a forklift can enter and exit the travel path 1. Is set to
[0005]
In the three-dimensional storage facility shown in FIG. 7 to FIG. 9, when carrying in / out of goods, each frame 2 is sequentially moved, and the end surface of the frame 2 to be loaded and unloaded, and another frame 2 adjacent thereto. The above-mentioned gap S is formed between the end surfaces of the two.
[0006]
In this three-dimensional storage facility, each frame 2 is moved by the non-flange wheel 3, so that no protrusions or grooves are formed on the travel path 1, and the article transporter can easily enter the gap S.
[0007]
[Problems to be solved by the invention]
However, in the three-dimensional storage equipment shown in FIGS. 7 to 9, the outer diameters of the left wheel 3 and the right wheel 3 of the frame 2 are different due to wear or the like, When the unevenness is formed, skew that the frame 2 advances obliquely with respect to the traveling path 1 occurs.
[0008]
Further, if the skew angle increases with the movement of the frame 2, the bracket 7 or the like that pivotally supports the guide roller 8 may come into contact with the guide rail 6 and the frame 2 may not move.
[0009]
The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a three-dimensional storage facility that can prevent the skew of a frame.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, in the three-dimensional storage device of the present invention, a plurality of frames for storing articles arranged in parallel with the traveling road, and non-flange wheels pivotally supported on the left and right sides of each frame so as to be in contact with the traveling road A wheel drive mechanism provided on each frame and capable of rotating the left and right wheels separately, a guide rail having a groove extending over the entire length in the upper part or the lower part and arranged along one side of the traveling path, and each frame An arm fixed so as to protrude toward the guide rail, a rectangular parallelepiped movable piece pivotally supported by the arm and slidably fitted in a guide rail groove, and a relative angle of the arm to the movable piece is detected. a single angle detector, based on a signal from the angle detector, and a movement control unit for controlling the wheel drive mechanism so as to reduce the rotational speed of which is leading the Frame traveling direction of the left and right wheels Has .
[0011]
In the three-dimensional storage facility of the present invention, when the moving frame is going to be skewed, the relative angle of the arm to the moving piece changes.
[0012]
Further, the movement controller controls the wheel drive mechanism based on the signal from the angle detector so as to reduce the rotational speed of the wheel preceding in the frame traveling direction.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described based on illustrated examples.
[0014]
1 and 2 show an example of an embodiment of a three-dimensional storage facility according to the present invention. In the figure, the same reference numerals as those in FIGS. 7 to 9 denote the same parts.
[0015]
This three-dimensional storage equipment is arranged in parallel with the traveling road 1 and has a plurality of frames 2 having non-flange wheels 9 and 10 on both left and right sides, and a left side provided on each frame 2 so that the left wheel 9 can be rotated. A wheel drive mechanism 11, a right wheel drive mechanism 12 provided in each frame 2 so that the right wheel 10 can be rotated, a groove 13 extending over the entire length, and horizontally along one side of the traveling path 1 The guide rail 14 arranged, the arm 15 fixed to each frame 2 so as to protrude toward the guide rail 14, and the movable piece 16 pivotally supported by the arm 15 and slidably fitted in the groove 13 of the guide rail 14. And an angle detector 17 that detects the relative angle of the arm 15 with respect to the moving piece 16 and a movement that controls the left and right wheel drive mechanisms 11 and 12 based on an angle detection signal 18 from the angle detector 17. Controller And a 9.
[0016]
The movement controller 19 is based on a movement command signal 20 from an operation panel (not shown), and the left wheel driving mechanism 11 and the right wheel driving mechanism 12 so that the frame 2 moves in a direction corresponding to the movement command signal 20. Further, based on the angle detection signal 18 from the angle detector 17, it is determined whether or not the skew starts to occur in the frame 2, and according to the procedure shown in FIG. The wheel drive mechanism 12 is configured to be controlled.
[0017]
In the three-dimensional storage facility shown in FIG. 1 and FIG. 2, when carrying in / out of goods, the moving direction and amount of movement required by each frame 2 are transferred from the operation panel to the movement controller 19 of each frame 2. The adapted movement command signal 20 is output.
[0018]
When the movement command signal 20 is output, the movement controller 19 provided in each frame 2 instructs each frame 2 in the direction corresponding to the movement command signal 20 based on the movement command signal 20 output to each frame 2. It moves sequentially according to the moved amount.
[0019]
As a result, a gap S (see FIG. 7) through which an article transporter such as a forklift can enter and exit is formed between the end surface of the frame 2 to be loaded and unloaded and the end surface of the other frame 2 adjacent thereto.
[0020]
At this time, if the moving frame 2 tries to skew, the relative angle of the arm 15 with respect to the moving piece 16 provided on the frame 2 changes, and the angle detector 17 detects this change in angle. An angle detection signal 18 is output.
[0021]
When the angle detection signal 18 is output from the angle detector 17, the movement controller 19 precedes the frame 2 that is about to move obliquely toward the frame traveling direction based on the angle detection signal 18. The left wheel drive mechanism 11 (or right wheel drive mechanism 12) is controlled so as to reduce the rotation speed of the left wheel 9 (or right wheel 10), and the skew of the frame 2 is prevented.
[0022]
Next, the function of the movement controller 19 will be described with reference to the block diagram shown in FIG.
[0023]
After the start of the movement of the frame 2, when there is no angular deviation in the relative angle of the arm 15 with respect to the moving piece 16 during the frame movement, the process proceeds to the same rotational speed drive of the left and right wheels shown in FIG. The number of rotations is controlled to be the same, and as shown in FIG. 4, the frame 2 travels straight along the traveling path 1 regardless of whether the moving direction is the start side (B side in FIG. 4) or the end point side (A side in FIG. 4) Let
[0024]
When an angle deviation occurs, the process branches to the deviation direction check sequence shown in FIG. 3, and in the deviation direction check sequence, it is determined whether or not the deviation direction is the starting side.
[0025]
As shown in FIG. 5, when the deviation direction is the starting side (B side in FIG. 5) and the frame 2 is moving in the starting side direction (B side direction in FIG. 5), the left side (C side in FIG. 5). The left wheel drive mechanism 11 is controlled so as to reduce the number of rotations of the wheel 9 to correct the skew of the frame 2.
[0026]
Similarly, when the deviation direction is the starting point side (B side in FIG. 5) and the frame 2 is moving in the ending point direction (A side direction in FIG. 5), the right side (D side in FIG. 5) wheel 10 The right wheel drive mechanism 12 is controlled so as to reduce the rotational speed, and the skew of the frame 2 is corrected.
[0027]
Further, as shown in FIG. 6, when the deviation direction is the end point side (A side in FIG. 6) and the frame 2 is moving in the starting side direction (B side direction in FIG. 6), the right side (D in FIG. 6). The right wheel drive mechanism 12 is controlled so as to reduce the rotation speed of the wheel 10 on the side), and the skew of the frame 2 is corrected.
[0028]
Similarly, when the deviation direction is the end point side (A side in FIG. 6) and the frame 2 is moving in the end point side direction (A side direction in FIG. 6), the left side (C side in FIG. 6) wheel 9 The left wheel drive mechanism 11 is controlled so as to reduce the rotational speed, and the skew of the frame 2 is corrected.
[0029]
As described above, in the three-dimensional storage facility shown in FIGS. 1 and 2, when the moving frame 2 tries to skew, the relative angle of the arm 15 to the moving piece 16 changes, and the movement controller 19 detects the angle. The wheel drive mechanisms 11 and 12 are controlled based on the angle detection signal 18 of the unit 17 so as to reduce the rotation speed of the wheels 9 and 10 that are advanced in the frame traveling direction of the frame 2, which is caused by wear and the like. Thus, even if the outer diameters of the left wheel 9 and the right wheel 10 of the frame 2 are different from each other, or even if the traveling path 1 is formed with a gentle inclination or unevenness, the skew of the frame 2 can be prevented.
[0030]
Note that the three-dimensional storage facility of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.
[0031]
【The invention's effect】
As described above, according to the three-dimensional storage facility of the present invention, based on the signal from the angle detector, the movement controller reduces the rotational speed of the wheel that precedes the frame traveling direction. Since the drive mechanism is controlled, it is possible to reliably prevent the skew of a plurality of moving frames from being skewed, and it is possible to achieve an excellent effect of preventing an accident such as the frame from moving.
[Brief description of the drawings]
FIG. 1 is a perspective view of an example of an embodiment of a three-dimensional storage facility according to the present invention.
FIG. 2 is a side view of the angle detector portion associated with FIG.
FIG. 3 is a block diagram of a control system related to FIG. 1;
FIG. 4 is a plan view of the frame related to FIG. 1 without an angular deviation.
FIG. 5 is a plan view of the frame related to FIG. 1 on the deviation direction starting point side.
6 is a plan view of the frame related to FIG. 1 on the end side in the deviation direction. FIG.
FIG. 7 is an overall plan view of an example of a conventional three-dimensional storage facility.
8 is a perspective view of a frame related to FIG. 7. FIG.
FIG. 9 is a side view of a guide roller portion related to FIG. 7;
[Explanation of symbols]
1 Road 2 Frame 9 Left wheel (wheel)
10 Right wheel (wheel)
11 Left wheel drive mechanism (wheel drive mechanism)
12 Right wheel drive mechanism (wheel drive mechanism)
13 Groove 14 Guide rail 15 Arm 16 Moving piece 17 Angle detector 18 Angle detection signal (signal)
19 Movement controller

Claims (1)

Multiple frames for storing articles arranged in parallel on the road, flange-free wheels pivoted on the left and right sides of each frame so as to be in contact with the road, and the left and right wheels that are provided on each frame and rotate separately A wheel drive mechanism that can be made, a guide rail that has a groove extending over the entire length in the upper part or the lower part and is arranged along one side of the traveling path, an arm that is fixed to each frame so as to protrude toward the guide rail, and the arm A rectangular parallelepiped moving piece pivotally supported by the guide rail and slidably fitted in the groove of the guide rail, a single angle detector for detecting the relative angle of the arm with respect to the moving piece, and a signal from the angle detector And a movement controller for controlling the wheel drive mechanism so as to reduce the number of rotations of the left and right wheels that are preceded in the frame traveling direction .

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