JP4749066B2 - Electric moving shelf device - Google Patents

Description

  The present invention relates to an improvement of an electric moving shelf apparatus that can move a moving shelf with a sense of pushing with a manual force while the drive source is an electric motor, and in particular, between any moving shelves, that is, at any position. The present invention is characterized in that a multi-passage system capable of forming an arbitrary number of work passages having an arbitrary width is realized and the maximum width of one work passage is limited.

  If a plurality of movable shelves that can move the storage racks by traveling wheels are arranged side by side, a work path can be formed only on the front surface of the storage racks where articles are to be taken in and out. Since they can be gathered together, there is an advantage that a limited space can be efficiently used as an article storage space.

  In general, as the drive type of the movable shelf, the rotational operation handle is manually rotated to transmit the rotational force to the traveling wheel via the power transmission mechanism having the speed reduction mechanism, and the traveling wheel is It can be roughly divided into a rotary operation handle type that is driven to rotate and an electric type that uses the driving force of the motor. The present invention belongs to the category of electric moving shelves, but unlike conventional electric moving shelves, the moving is made according to the intention of the operator, and the electric force is as if it supports driving by the operator. It can be said to be a power assist type electric moving shelf that operates. This type of electric movable shelf includes a traveling wheel, a motor that reciprocally moves the traveling wheel by rotating the traveling wheel forward and backward, an operation switch provided on both sides of the movement direction of the movable shelf, A power supply circuit for supplying power so that the motor is driven in one direction when operating one and the motor is driven in the opposite direction when operating the other of the operation switches. (For example, refer patent document 1).

  When a command to form a work path between specific movement shelves is issued, the conventional electric movable shelf is based on the relationship between the position where the work path should be formed and the position of the space where it can move, The moving shelf to be moved and its moving direction are determined, and based on this, the energization control of the motor and the rotation direction of each moving shelf are controlled. This complicates the control circuit or control software. Furthermore, it is necessary to detect and stop each moving shelf when there is no space to move. Also, if there are workers or obstacles in the moving space, it is necessary to detect and stop them. The width of the work path formed between the shelves is constant and cannot be an arbitrary width.

  In that respect, according to the power assist type electric moving shelf described in Patent Document 1, since the determination of movement control is left to humans, the circuit configuration is simplified and compared with the conventional electric moving shelf. Thus, it is possible to provide a low-cost moving shelf. In addition, by using a DC motor that can obtain the maximum torque at the time of startup as a drive source, it is possible to move quickly, shorten the waiting time when forming the passage, and improve work efficiency. it can. The width of the work path formed between the shelves can be any width according to the operator's intention.

  The present applicant also includes a traveling device, a motor that rotates the traveling device forward and backward to reciprocate the moving shelf, a rightward operation switch that outputs a rightward signal, and a leftward operation switch that outputs a leftward signal. The motor is driven so as to move the moving shelf to the right while the rightward signal is output, and the moving shelf is moved to the left while the leftward signal is output. Control means for driving and controlling the motor in the reverse direction, adjacent shelf detection means for detecting that at least one of the adjacent movement shelves, the other movement shelf adjacent to each other has approached a certain distance, and adjacent movement Entry detecting means for detecting an intruder entering a passage formed between the shelves, and the control means detects that the adjacent shelf is approaching a certain distance. When it is detected, when the adjacent shelf detection means detects and moves the moving shelf in the same direction as the movement direction of the adjacent movement shelf, and when the entry detection means detects an intruder By rejecting the drive of the movable shelf detected by the entry detection means, it is possible to form a work path at any position for each other movable shelf group with the movable shelf rejected as a boundary. A patent application was previously filed regarding the electric moving shelf (see Patent Document 2).

  According to the invention according to the above-mentioned prior application, when an operator or the like enters the formed work passage, the entry detection means detects this, and a so-called interlock is applied to the shelf, and a right signal or left signal is applied to the shelf. Even if an outbound signal is input, driving is rejected, so the work path remains formed, ensuring the safety of the worker in the work path and making the worker in the work path uneasy. I don't give it. In addition, since a multi-passage system can be realized, it is possible to perform an efficient article loading / unloading operation.

JP 2001-238738 A JP 2005-95332 A

The power assist type electric moving shelf moves the moving shelf according to the intention of the operator. If the operator knows that the worker is already in the already formed work passage, the operator can move. You can expect not to move the shelves.
Further, as in the invention described in Patent Document 2, even in a power assist type electric moving shelf, when a work passage is formed between arbitrary moving shelves and articles are taken in and out, another optional It is possible to realize a multi-passage system in which a work passage is formed at the position of this item so that goods can be taken in and out.

In a multi-passage type electric moving shelf, if it is attempted to form only one passage without requiring a multi-passage, the passage width becomes unnecessarily large. For example, assuming that the total of the plurality of passage widths is 3600 mm, when only one passage is formed, the width of the passage is 3600 mm, and the passage width becomes unnecessarily large. In addition, the following problems occur.
(1) Since the wiring connecting the movable shelves becomes long, the voltage drop becomes large, and the diameter of the wiring must be increased.
(2) A member such as an arm that supports the wiring becomes longer, and the structure needs to be strengthened to prevent the wiring and the supporting member from sagging. In addition, since the wiring and the support member are long, it is necessary to avoid interference with an illuminator, a ceiling, and the like, and the degree of design freedom is limited.
(3) When installing a means for detecting a person entering the passage or an obstacle in the passage, it is necessary to lengthen the detectable distance of the detection means, and it is necessary to use a high-performance detection means.
Further, in a conventional general multi-passage type electric moving shelf, the number of passages that can be formed is predetermined such as two or three, and other than the predetermined number of passages cannot be formed. .

The present invention makes it possible to use as a so-called multi-passage type moving shelf by making use of the characteristics of the power assist type electric moving shelf, and in addition to this, limits the maximum width of one passage. Accordingly, an object of the present invention is to provide an electric movable shelf apparatus that can prevent the wiring between the movable shelves and the supporting members thereof from becoming long and does not require high performance of the obstacle detection means in the passage. And
The present invention also enables a certain number of minimum number of passages to be formed, and allows any number of passages to be formed at any position within the above-mentioned maximum width and at any width. In some cases, an object is to provide an electric movable shelf apparatus that can form a passage between all movable shelves as if it were an open bookcase.

In order to achieve the above object, the present invention provides:
`` Electric mobile shelving devices in which a plurality of motorized mobile shelves are arranged so as to converge and be separated from each other.
A traveling device;
A motor that reciprocally moves the traveling shelf by rotating the traveling device forward and backward,
A right-handed operation switch that outputs a right-handed signal and a left-handed operation switch that outputs a left-handed signal;
The motor is driven so as to move the moving shelf to the right while the rightward signal is output, and the moving shelf is moved to the left while the leftward signal is output. Control means for driving the motor in the reverse direction;
Passage width measuring means for measuring a passage width formed between at least one of the moving shelves adjacent to each other and the other moving shelves adjacent to each other;
The maximum passage width that can be formed between adjacent shelves is preset,
The control means moves the electric moving shelf equipped with the control means to the right or left by operating the right-handed operation switch or the left-handed operation switch, and has an arbitrary width within the range of the maximum passage width. to form a passage, measured by the passage width measurement means to stop the movement of the rack to stop the driving of the motor shelf Rutoso to reach to the maximum passage width,
The control means also allows a passage to be formed at an arbitrary position by operating the right-handed operation switch or the left-handed operation switch , and always forms a plurality of passages ,
The total width of the plurality of passages are formed minimum number of passages which are formed between the shelf by greater than the maximum passage width is predetermined "
This is the main feature.

  According to the present invention, in the moving shelf in which the right-handed operation switch or the left-handed operation switch is operated, the drive circuit rotates the motor in the forward direction by the right-handed signal or the left-handed signal output while the operation switch is operated. Or it rotates backward and makes the movable shelf run to the right side or the left side. When the operation switch is released and the rightward signal or the leftward signal is interrupted, the traveling of the movable shelf is stopped. Further, the movement of the shelf is stopped when the measured value by the passage width measuring means reaches a preset maximum value. When the operator selects and moves an arbitrary movable shelf, an arbitrary number of work paths can be formed with an arbitrary width between arbitrary movable shelves, that is, at an arbitrary position. By setting the maximum passage width to be smaller than the total width of all passages, a multi-passage system can be realized, and the passage width between adjacent shelves is limited, so Thus, it is possible to prevent an increase in the length of the wiring and the supporting member thereof, and it is possible to obtain an electric movable shelf apparatus that does not require high performance of the obstacle detection means in the passage.

Hereinafter, embodiments of an electric moving shelf according to the present invention will be described with reference to the drawings.
In FIG. 1, reference numerals 1, 2, 3, 4, 5, and 6 indicate moving shelves, respectively. These movable shelves 1, 2, 3, 4, 5, and 6 each have a traveling wheel a before and after the traveling direction of the bottom portion, and a motor b that rotationally drives each traveling wheel a. Each traveling wheel a rotates on a rail laid on the floor, and is guided by the rail so that each moving shelf can move. However, the moving shelf according to the present invention is not limited to a moving shelf of a type that moves on a rail, and is a railless moving shelf that performs skew prevention control or adopts an endless track traveling device. Can be applied.

  In the example shown in FIG. 1, the front surface of each movable shelf, that is, the article loading / unloading surface is oriented in a direction perpendicular to the paper surface, and each movable shelf is moved in a direction perpendicular to the front surface (a horizontal direction parallel to the paper surface). It has become. In the present specification, the front surface of each movable shelf is defined as the right side surface or the left side surface, and the vertical surface perpendicular to the front surface and having the operation unit as shown in FIG. To do. This embodiment is configured so that at least two work paths can be formed at all times under the control of the control unit described later. In the example shown in FIG. 1, between the movable shelves 2 and 3 and the movable shelves 5 and 6. A passage having a width of 1200 mm is formed between the two.

  Each of the motors b is a direct current motor having a characteristic that a maximum torque can be obtained at the time of starting. Each motor b rotates forward and backward by switching the polarity of the DC power supply to be supplied, and can reciprocate the movable shelf by rotating each traveling wheel a forward and backward. Each moving shelf is provided with operation switches c1 and c2 on both sides in the moving direction. In the illustrated example, a side panel is attached to the front of each movable shelf, and operation switches c1 and c2 are provided on the front and rear ends of the side panel in the traveling direction of the movable shelf. The operation switch c1 is a right-handed operation switch that is pushed toward the right side when the movable shelf is to be moved to the right side, and the operation switch c2 is a left-side button that is pushed toward the left side when the movable shelf is to be moved to the left side. It is a going operation switch. In the present invention, the motor b as the drive source may be an AC motor.

  Next, an electrical circuit built in each movable shelf 2 will be described with reference to FIG. In FIG. 3, the code | symbol 20 has shown the circuit board built in each movable shelf. The circuit board 20 has terminals 22, 23, 24, 28, 29 connected to the circuit board 20 of the moving shelf adjacent to the left side, and the terminals 42 connected to the circuit board 20 of the moving shelf adjacent to the right side, 43, 44, 48, 49. Terminals 24 and 44 are ground terminals. The circuit board 20 includes a central processing unit (hereinafter referred to as “CPU”) d, a DC / DC converter 53, and a drive circuit 54. For example, DC 24V is introduced into the circuit board 20 from an appropriate DC power source. The drive circuit 54 supplies power to the motor b based on the control of the CPU d and drives the motor b in the forward and reverse directions. The DC / DC converter 53 converts the DC 24V power source into a voltage suitable as a power source for the CPUd and stably holds the voltage. The DC / DC converter 53 is supplied with 24V DC power from an AC / DC converter 55 that converts commercial AC power into DC.

  A rightward operation switch c1 and a leftward operation switch c2 shown in FIG. 1 are connected to the CPUd. An emergency stop switch 56 is also connected to the CPUd. The emergency stop switch 56 may be, for example, a switch that is manually operated in an emergency, or a switch that is installed on a front surface of a moving shelf and that operates when a human body or other obstacles come into contact with the emergency stop switch 56. Good. In the case of being installed on the frontage surface, it is installed on the frontage surface on both sides, the emergency stop switches 56 on both frontage surfaces are connected in parallel, and one of the emergency stop switches 56 operates to generate an emergency stop signal. It is output. The CPU d controls the drive circuit 54 by operating the right-handed operation switch c1, drives the motor b so that the movable shelf moves rightward, and outputs a right-handed signal at the same time. The rightward signal is introduced from the terminal 23 to the circuit board 20 of the moving shelf adjacent to the right side from the terminal 43. Further, the CPU d controls the drive circuit 54 by operating the leftward operation switch c2, drives the motor b so that the movable shelf moves leftward, and outputs a leftward signal at the same time. Yes. The leftward signal is introduced from the terminal 42 to the circuit board 20 of the moving shelf adjacent to the left side from the terminal 22.

  The CPU d also controls the drive circuit 54 when a left-handed signal is input from another moving shelf through the terminal 42, drives the motor b so that the moving shelf moves leftward, and outputs a left-handed signal. Then, the signal is transmitted from the terminal 22 to the moving shelf on the left side. Similarly, when a rightward signal is input from another movable shelf through the terminal 23, the CPU d controls the drive circuit 54 to drive the motor b so that the movable shelf moves to the right, and outputs the rightward signal. The data is output and transmitted from the terminal 43 to the moving shelf on the right side.

  Each moving shelf is provided with an entry detecting means for detecting when a person, a forklift or a cart enters a work path formed between adjacent moving shelves. The entry detection means is configured to detect advancing into a work path formed between a moving shelf adjacent to the left side and a work path formed between the left entry detection means 61 and a movement shelf adjacent to the right side. It comprises right entry detection means 62 for detecting advance. These intrusion detection means 61 and 62 may be of a known appropriate type. For example, at least a pair of light-emitting elements and light-receiving elements are arranged between the moving shelves 2 facing each other so that a light beam is emitted and received, and an operator or the like enters the work passage when the light beam is blocked. It is also possible to detect what is being detected. Or what used an infrared sensor, what detected the worker in a work path using the change of an electrostatic capacitance, etc. may be used.

  Each moving shelf also includes a left passage width detecting means 63 for detecting the width of the working passage formed between the moving shelf adjacent to the left side and a working passage formed between the moving shelf adjacent to the right side. A right passage width detecting means 64 for detecting the width is provided, and detection signals from these detecting means are inputted to the CPUs of the respective movable shelves. As the passage width detecting means 63 and 64, a known appropriate type may be used. For example, a method of measuring the time until an ultrasonic wave is emitted toward the opposite moving shelf and reflecting it, and converting it to a distance, and the opening angle of a swing arm passed between adjacent moving shelves. A method of measuring mechanically can be selected and used. The passage width detection means 63, 64 indicates that the interval between the work passages formed at least between the moving shelves adjacent to each other is, for example, a predetermined passage width necessary for an operator to enter and put in and out articles. Anything that can be detected is acceptable.

  Each moving shelf includes distance detecting means for measuring a distance from the other moving shelf adjacent to each other. The distance detection means includes a right distance detection means 65 that measures the distance to the moving shelf adjacent to the right side, and a left distance detection means 66 that measures the distance to the movement shelf adjacent to the left side. When the detection means 65 or 66 detects that the adjacent moving shelf has approached a certain distance according to the right-handed signal or the left-handed signal, the CPU d as the control means for each moving shelf determines the moving shelf. The program is configured to control the drive while moving in the same direction as the movement direction of the adjacent moving shelf and keeping the distance from the adjacent moving shelf close to each other. In the illustrated embodiment, the distance detecting means 65, 66 can detect the distance to the adjacent moving shelf in several stages, and as will be understood from the operation described later, the distance detecting means 65, The speed control of the moving shelf is performed according to the distance detected at 66. Further, the maximum passage width between adjacent shelves is preset and stored in the memory of the CPUd. When the maximum shelf width is reached by the movement of the moving shelf, the CPUd of the shelf moves the motor of the shelf. The drive is stopped and the movement of the shelf is stopped. Furthermore, any number of passages having any width can be formed at any position within the range of the maximum passage width. The total width of all the passages is larger than the maximum passage width. Therefore, a multi-passage type moving shelf apparatus capable of always forming a plurality of passages is realized. Further, a minimum number N of passages formed between the moving shelves is determined.

  1 and 2 show an outline of the operation of the movable shelf apparatus. The moving shelf apparatus in which six moving shelves 1, 2, 3, 4, 5, and 6 are arranged to be movable is a multi-passage type movement that can always form at least two working passages. It can be used as a shelf. In the example shown in FIG. 1, a work path is formed between the moving shelves 2 and 3 and between the moving shelves 5 and 6, and the other moving shelves are close to each other up to the limit position. . The width of the two passages is 1200 mm and cannot be opened any further. That is, the maximum passage width between adjacent shelves is preset to 1200 mm. The conventional multi-passage type electric movable shelf device has no limitation on the width of the passage that can be formed between the shelves, and if only one passage is formed, a large passage is formed unnecessarily. There was a problem like this. In the mobile shelf device according to the present invention as shown in FIG. 1, if the preset minimum number of passages is “2”, at least two passages are always formed, and the maximum width of each passage is also preset. Therefore, the passage width does not increase unnecessarily, and problems due to the passage width becoming unnecessarily large do not occur.

  As can be seen from FIG. 1, the total width of all the passages formed is 2400 mm. Another feature of the electric movable shelf apparatus according to the present invention is that the total width of all the passages can be distributed between arbitrary shelves. In the example of FIG. 1, five passages can be formed between the movable shelves 1, 2, 3, 4, 5, and 6, and there are also passages on the left side of the movable shelf 1 and the right side of the movable shelf 6. A total of seven passages can be formed, and the total width of 2400 mm of all the passages can be distributed to the seven passages. The width of each passage need not be the same. Since the electric movable shelf according to the present invention is moved by the operator's intention as described above, an arbitrary number of passages can be formed at arbitrary positions and at arbitrary widths.

  FIG. 2 shows a state in which the movable shelf 3 is moved 400 mm toward the left and the movable shelf 5 is moved 400 mm toward the right from the arrangement of the movable shelves shown in FIG. 1. As a result, an 800 mm path is formed between the moving shelves 2 and 3, and an 800 mm path is formed between the moving shelves 3 and 4. Furthermore, the movement shelf 5 is pushed right by the movement of the movement shelf 4, and the passage between the movement shelves 5 and 6 is narrowed to 800 mm. In this way, a total of three passages each having a width of 800 mm are formed.

  The distance detecting means 65 and 66 can be constituted by non-contact distance sensors using ultrasonic waves, for example. This ultrasonic distance sensor has a pulse transmitter / counter circuit. The pulse transmitter is a part that generates an ultrasonic signal, and radiates the generated ultrasonic wave from a sounding body corresponding to a speaker toward a reflector. A sound sensor corresponding to a microphone is connected to the counter circuit of the pulse transmitter / counter circuit. The sound sensing body is configured to receive the ultrasonic wave reflected by the reflector, convert it into an electric signal, and input the electric signal to the counter circuit. The sounding body and the sounding body are arranged on the same plane. The pulse transmitter / counter circuit counts the time from when an ultrasonic wave is emitted from the sounding body until the reflected wave is received by the sounding body. This count value is input to a microcomputer or a microprocessor including the control means d and processed, whereby the distance between the sounding body and the sound sensing body and the reflector can be measured. Since the distance sensor itself using such an ultrasonic wave is known, detailed description is omitted. The right distance detection means 65 may also serve as the right passage width detection means 64, and the left distance detection means 66 may also serve as the left passage detection means 63.

  The circuit board 20 built in each moving shelf has the same circuit configuration as shown in FIG. 3, and the terminals 22, 23, 24, 28, 29 are terminals 42, 23 of the moving shelf adjacent to the left side, 43, 44, 48, 49, and the terminals 42, 43, 44, 48, 49 are connected to the terminals 22, 23, 24, 28, 29 of the circuit board 20 of the moving shelf adjacent to the right side. Thus, when a rightward signal is generated by operating the rightward operation switch c1 of a certain moving shelf, the rightward signal is transmitted to the moving shelf located on the right side of the shelf via the circuit board 20. Is transmitted. In addition, when a leftward signal is generated by operating the leftward operation switch c2 of a certain moving shelf, the leftward signal is transmitted to the moving shelf located on the left side of the shelf via the circuit board 20. The That is, the circuit pattern of the right-handed signal and the left-handed signal formed on the circuit board 20 or this circuit board constitutes a right-handed signal and a left-handed signal transmission means. When a predetermined condition is satisfied in each moving shelf, the CPU d outputs an interlock signal to control the drive circuit 54 so as to reject the movement of the shelf, and sends the interlock signal through the terminal 49. The information is transmitted to the mobile shelf on the left side through the terminal 29 to the mobile shelf on the right side. In addition, the interlock signal is transmitted from the mobile shelf on the right side through the terminal 48 and from the mobile shelf on the left side through the terminal 28, and when the interlock signal is input from the adjacent mobile shelf, the CPUd Controls the drive circuit 54 to reject the movement of the shelf.

  The distance detecting means is installed on each moving shelf. When the distance detecting means uses ultrasonic waves, the sounding body and the sound sensing body are directed to the opposing surfaces of the adjacent moving shelves, and the sounding body and the sound sensing body are in front of the moving shelf ( Install so that it matches the frontage surface. A reflector is provided on the surface of the adjacent moving shelf facing the sounding body and the sound sensing body. The surface of the moving shelf itself may be a reflector. Since the distance detecting means detects the width or distance of one work path, at least one is provided in one work path, and therefore, at least one is provided on one of two movable shelves adjacent to each other. This detection signal may be transmitted to the other moving shelf. However, when used as a skew detection means for preventing the skew of the movable shelf, at least two distance detection means may be provided on at least one of the opposite movable shelves.

  Next, an operation example of the moving shelf control means according to the present invention will be described with reference to FIG. In the example of the control flow shown in FIG. 4, the operation steps are represented as “S11”, “S12”. An example of this control flow includes a parameter reading step S11, a distance measuring step S12, a control amount calculating step S13, a control output S14, a determination step S15 for determining whether the target position is reached, and a stopping step S16. When the operation is started, various parameters are first read (S11). One of the parameters is the interlocking distance. The interlocking distance is the predetermined distance when a plurality of movable shelves move in parallel while maintaining a predetermined distance. In other words, when the adjacent shelves approach, they move so as to escape while controlling the speed of the moving shelves. This is the distance between the moving shelves. The second parameter is the braking distance. The braking distance is the distance when the moving shelf approaches the distance measuring surface such as an adjacent moving shelf or a wall or an end stopper, reaches the moving limit, and starts to apply braking in order to slow down the moving speed of the moving shelf. . The third parameter is the stopping distance. The stop distance is a distance when the moving shelf reaches the moving limit and stops moving the moving shelf. Another parameter is the limit distance. The limit distance is the aforementioned maximum passage width that can be formed between adjacent shelves. These parameters are set in advance, and are read and stored in the memory. In the example shown in FIGS. 1 and 2, the maximum passage width is set to 1200 mm.

  Next, the distance to the adjacent movable shelf is measured (S12), and a specific driving speed is calculated based on the measurement result (S13). In this control amount calculation (S13), the moving speed of each moving shelf is calculated while referring to the various parameters read first, and further, whether or not the position to be braked has been reached is calculated. Based on the calculation result, a speed control signal is output (S14), the speed of the drive motor b is controlled via the drive circuit 54 in accordance with this control signal, and when a predetermined position to be braked is reached, each speed is controlled. The drive motor b is decelerated and braked. When the predetermined target position is reached (S15), the drive motor is stopped (S16) and the operation is terminated. The case where the “predetermined target position has been reached” corresponds to the case where the maximum passage width has been reached. If the operation of the rightward or leftward operation switch is stopped before reaching the maximum passage width, the drive of the motor b is stopped and the movement of the shelf is stopped.

  An example of the above-described operation, particularly an operation for stopping the travel of the movable shelf by stopping the drive motor at the maximum passage width will be described with reference to FIGS. In this example, when a certain moving shelf moves, a virtual wall W is assumed as the movement limit of the shelf in the CPU d as the control means. The position of the virtual wall W is obtained by calculation from the measured value of the passage width measuring means 63 or 64. As shown in FIG. 5, it is assumed that a path is formed between the moving shelf 2 and the moving shelf 3 while moving the moving shelf 3 toward the right side toward the moving shelf 4. If the measured value of the passage width between the moving shelf 3 and the moving shelf 2 by the left passage width detecting means 63 (see FIG. 3) is D, this D reaches the preset maximum passage width Dmax. The moving distance Dx to the right of the moving shelf 3 necessary for the calculation is calculated, and a virtual wall W is set at a position away from the right side of the moving shelf 3 by Dx to the right. When the movable shelf 3 is moved to the right side by the amount Dx, the control unit of the movable shelf stops driving the motor b and stops the movement of the movable shelf. FIG. 6 shows this state, and the passage width measurement value D between the movable shelves 2 and 3 stops in accordance with the maximum passage width Dmax. The passage width reaches the maximum passage width Dmax when the operator continues the rightward or leftward operation, and the operator performs the rightward or leftward operation before reaching the maximum passage width Dmax according to the operator's intention. Stop the mobile shelf on the spot.

  In the example shown in FIGS. 5 and 6, not only the control of the maximum passage width Dmax but also the braking is applied before the movable shelf reaches the maximum passage width Dmax, and the stop control is performed when the maximum passage width Dmax is reached. Finally, the movable shelf 3 is configured to stop at a position in contact with the virtual wall W. In FIG. 5, D2 indicates a braking distance that is a distance from the position where braking is started to the virtual wall W, and D1 indicates a stopping distance that is a distance from the position where the stop control is performed to the virtual wall W. The braking distance D2, the stopping distance D1, and the limit distance (maximum passage width) Dmax are stored in advance in the control unit as parameters as described above. By changing the value of the maximum passage width Dmax, the position of the virtual wall W is changed, and the stop position when the traveling operation of the movable shelf is continued is changed.

  7 and 8 show another example of the operation of stopping the drive shelf by stopping the drive motor at the maximum passage width. In this example, the movement of the movable shelf is stopped when the passage width measurement value D reaches the maximum passage width Dmax without setting a virtual wall. As shown in FIG. 7, it is assumed that the moving shelf 3 moves in a direction away from the moving shelf 2 (rightward), and the moving shelf 3 at that time is between the moving shelf 2 of the passage width measuring means 63 (see FIG. 3). Let D be the measured passage width. As shown in FIG. 8, when the measured value D reaches the maximum passage width Dmax, the control unit of the movable shelf 3 stops driving the motor b and stops the movement of the movable shelf. Also in this example, the braking distance D2 for applying braking before the measured value D reaches the maximum passage width Dmax is set in advance, and the measured value of the passage width measuring means 63 of the moving shelf 3 is (Dmax−D2). The brake is applied from the point of time when the pressure reaches, and is stopped when the value reaches Dmax. If the operator stops the traveling operation before reaching Dmax, the traveling of the movable shelf stops on the spot.

  For example, in the example shown in FIGS. 6 and 8, it is assumed that the movable shelf 4 is moved toward the left side. When the movable shelf 4 approaches the movable shelf 3 to a predetermined distance, the movable shelf 3 also moves to the left side with a certain distance from the movable shelf 4 by the detection operation of the distance detection means of the movable shelf 3, but eventually the movable shelf 3 3 reaches the movement limit. The movement limit means that a distance from a distance measuring surface such as an end stopper in a moving direction of the moving shelf or a distance from an adjacent moving shelf approaches a predetermined stop distance as viewed from each moving shelf. In the above operation, when the movable shelf 3 approaches the predetermined stop distance due to the distance from the movable shelf 2, it is determined that the control means has reached the movement limit from the detection output of the distance detecting means of the movable shelf 3. The moving shelf 3 is stopped. Even when the moving shelf 4 that has moved so as to follow the moving shelf 3 approaches a predetermined stop distance in relation to the distance to the moving shelf 3, the control means can move the movement limit from the detection output of the distance detecting means of the moving shelf 4. Therefore, the movable shelf 4 is stopped. In this way, when the distance detecting means of each moving shelf detects the moving limit of each moving shelf, the control means of each moving shelf is controlled by the drive source so that the moving shelf stops on the spot. Stop driving a motor.

  The left approach detection means 61 and the right approach detection means 62 shown in FIG. 3 will be described. In the power assist type electric movable shelf described so far, when an operator, a forklift or the like enters between work paths formed between the shelves, the entry detecting means 61 and 62 detect this. The right entry detection means 62 detects the left moving shelf with the work passage in between, and the left entry detection means 61 detects the right movement shelf. In the moving shelf having the entry detecting means that has performed the detection operation, that is, the moving shelf located on both sides of the work path, the CPU d (see FIG. 3) as the control means instructs the drive circuit 54 to reject the driving of the moving shelf. . Even if a rightward signal or a leftward signal is input to the drive circuit 54, the rejection command is to reject the driving of the motor b based on these signals, that is, to apply an interlock.

As described above, by interlocking the movable shelf that sandwiches the work path, even if another operator operates the operation switch to form the work path at another position, the movable shelf that sandwiches the work path moves. Therefore, the safety of workers in the work passage is ensured.
In the circuit example shown in FIG. 3, when an interlock is applied to the moving shelf on the left side of the formed passage, an interlock signal is transmitted from the terminal 49 to the moving shelf on the right side, and on the right side of the formed passage. When an interlock is applied to a certain mobile shelf, an interlock signal is transmitted from the terminal 29 to the mobile shelf adjacent to the left. Further, an interlock signal generated in the right adjacent moving shelf across the passage is introduced through the terminal 48, and an interlock signal generated in the left adjacent moving shelf is introduced through the terminal 28. By introducing such an interlock signal, the movable shelf can be interlocked.

  By using this interlock, a so-called multi-passage type moving shelf can be realized even in a power-assisted moving shelf. Specifically, each movable shelf is provided with a lock operation member including an operation switch for realizing a multi-passage system, and when the lock operation member is operated, the drive of the movable shelf is rejected. That is, the movable shelf is interlocked. By doing so, moving shelves that have been rejected to drive are rejected even if a right-handed signal or left-handed signal is input, and other moving shelves receive these signals by inputting a right-handed signal or left-handed signal. Can move according to. Therefore, it is possible to form a work path for each moving shelf group partitioned by the moving shelving rejected, and a so-called multi-passage type electric moving shelf is realized in the power assist type moving shelf. .

  Some conventional electric moving shelves can be made into multi-passage moving shelves. However, the width of the work passage that can be formed in the conventional multi-passage type electric movable shelf is a predetermined fixed width and cannot be set to an arbitrary width. In that respect, according to the embodiment of the electric moving shelf apparatus described so far, the width of the work passage formed between the moving shelves forms a passage having an arbitrary width within the range of the preset maximum passage width. be able to. It is also possible to interlock the movable shelves on both sides in a state where a work passage of an arbitrary width is formed, and one movable shelf group divided by the work passage of the arbitrary width and the other For each moving shelf group, a work passage having an arbitrary width can be formed within the range of the maximum passage width Dmax. Therefore, it is only necessary to determine the width of the passage according to various conditions such as the size of the article to be taken in and out, whether or not a forklift is used, whether or not a carriage is used, etc. can do. In addition, since it is not necessary to form a large working passage without darkness, it is possible to form working passages at more positions, and from this point, work efficiency can be improved.

  Since the maximum width of the passage formed between the moving shelves is predetermined and no further passage width can be formed, the length of the wire connecting the moving shelves can be shortened, and the voltage drop of the wire Therefore, there is no need to increase the thickness of the wire. Moreover, since it is not necessary to lengthen the support member which supports an electric wire, there is little hanging of an electric wire and its support member, there is also little interference with a lighting fixture, a ceiling, a wall, etc., and the freedom degree of design becomes high. In the case where a means for detecting a person entering the passage or an obstacle in the passage is installed, the distance that can be detected by the detection means can be shortened, so that it is not necessary to improve the performance of the detection means.

  According to the embodiment of the electric movable shelf apparatus according to the present invention, it is possible to form an arbitrary number of passages of arbitrary width and arbitrary positions within the range of the maximum passage width between adjacent shelves. Therefore, it is possible to form a passage between all the movable shelves, and it is possible to use the mobile shelf device as if an open-type fixed shelf is arranged. Moreover, by using in such a form, ventilation with respect to the articles | goods accommodated in each moving shelf can be improved.

  The electric movable shelf apparatus according to the present invention can form a plurality of passages between adjacent shelves. In addition, the maximum passage width between adjacent shelves is as follows. Although it is characterized in that it is set in advance, the maximum passage width need not be constant, and may be different for each passage. For example, when the minimum number of passages that can be formed is 2 and the total width of all passages is 2000 mm, the maximum width of one passage can be 1200 mm and the maximum width of the other passage can be 800 mm. Thus, by varying the maximum passage width, for example, the width of the passage through which the carriage enters may be 1200 mm, and the maximum width of the passage through which only the operator enters may be 800 mm.

  The electric mobile shelf according to the present invention is used as a document storage shelf in an office, as a library storage shelf in a library, as a storage shelf for materials and tools in a factory, as an article storage shelf in a distribution warehouse, and for storing all other items. Or it can be used as an arrangement shelf.

It is an external appearance front view which shows the Example of the electrically-driven movable shelf apparatus concerning this invention. It is an external appearance front view which shows the different operation | movement aspect of the said Example. It is a block diagram which shows the example of an electric circuit applicable to this invention. It is a flowchart which shows operation | movement of the said Example. It is an external appearance front view which shows another Example of the electrically-driven movable shelf apparatus concerning this invention. It is an external appearance front view which shows the different operation | movement aspect of the said another Example. It is an external appearance front view which shows another Example of the electrically-driven movable shelf apparatus concerning this invention. It is an external appearance front view which shows the different operation | movement aspect of the said further another Example.

Explanation of symbols

c1 Rightward operation switch c2 Leftward operation switch d CPU as control means
b motor 54 drive circuit 61 left approach detection means 62 right approach detection means 63 left passage width detection means 64 right passage width detection means 65 right distance detection means 66 left distance detection means

Claims (4)

A plurality of electric movable shelves are arranged so as to converge and be separated from each other, each electric movable shelf,
A traveling device;
A motor that reciprocally moves the traveling shelf by rotating the traveling device forward and backward,
A right-handed operation switch that outputs a right-handed signal and a left-handed operation switch that outputs a left-handed signal;
The motor is driven so as to move the moving shelf to the right while the rightward signal is output, and the moving shelf is moved to the left while the leftward signal is output. Control means for driving the motor in the reverse direction;
Passage width measuring means for measuring a passage width formed between at least one of the moving shelves adjacent to each other and the other moving shelves adjacent to each other;
The maximum passage width that can be formed between adjacent shelves is preset,
The control means moves the electric moving shelf equipped with the control means to the right or left by operating the right-handed operation switch or the left-handed operation switch, and has an arbitrary width within the range of the maximum passage width. to form a passage, measured by the passage width measurement means to stop the movement of the rack to stop the driving of the motor shelf Rutoso to reach to the maximum passage width,
The control means also allows a passage to be formed at an arbitrary position by operating the right-handed operation switch or the left-handed operation switch , and always forms a plurality of passages ,
The electric movable shelf apparatus characterized in that the minimum number of passages formed between the shelves is determined in advance because the total width of the plurality of passages formed is larger than the maximum passage width. There is an entry detecting means for detecting an intruder entering the passage formed between the moving shelves, and the control means stops driving the moving shelf across the passage when the entry detecting means detects the intruder. The electric movable shelf apparatus according to claim 1, wherein an interlock is applied. The control means assumes a position where a passage width formed between the moving shelf located in front of the moving shelf having the controlling means and the moving shelf positioned behind the moving shelf reaches the maximum width Dmax, and 3. The electric movable shelf apparatus according to claim 2, wherein when it is determined that the estimated position has been reached from the measurement value of the passage width measuring means of the movable shelf, the movement of the movable shelf is stopped. The control means is configured such that the passage width formed between the movable shelf having the control means and the movable shelf located rearward in the movement direction reaches the maximum width Dmax and the measured value by the passage width measuring means of the movable shelf. 3. The electric movable shelf apparatus according to claim 2, wherein the movement of the movable shelf is stopped when it is determined from the above.

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