JPH0578485B2 - - Google Patents

Description

[Detailed description of the invention]

INDUSTRIAL APPLICATION FIELD The present invention relates to movable shelf equipment having electrically movable shelves. Prior Art This type of movable shelf equipment in which a plurality of movable shelves are provided on a straight track is disclosed in Japanese Utility Model Application Publication No. 62-68904, and its outline is shown in Figs. 6 to 6. has been done. That is, a plurality of movable shelves 4 are arranged on the linear track 3 between the first fixed shelf 1 and the second fixed shelf 2. A plurality of divided storage spaces 5 are provided in the first and second fixed shelves 1 and 2 and the movable shelf 4. The movable shelves 4 are placed on the linear track 3 via wheels 6, and motors 7 mounted on each
Each can be moved separately by driving the wheels 6. moreover,
Each movable shelf 4 is provided with a drive device 8 for movement control, and between adjacent drive devices 8 and between the end drive device 8 and the first and second fixed shelves 1 and 2. , a power supply cable 9 is wired. Both ends of each cable 9 are connected to the first and second fixed shelves 1 and 2.
and is fixed to the upper end of the side part of the movable shelf 4 with a fixture 10. Reference numeral 11 indicates a wall surface of a building in which the movable shelving equipment is installed, and reference numeral 12 indicates a work space in which goods are loaded into and taken out of the divided storage space 5 by a forklift vehicle or the like. Furthermore, an approach detector 13 for detecting the approach of the movable shelf 4, an intrusion detection device 14, and a bumper switch 15 are provided. Intrusion detection device 1
4 detects when a worker or the like enters the space 12 while the movable shelf 4 is moving, and is installed at a height of several tens of centimeters from the floor to prevent workers from stepping over it. The drive device 8 stops moving the movable shelf 4 in response to the operation signal from the intrusion detection device 14, thereby ensuring the safety of the workers. The bumper switch 15 detects when a load or the like is placed in the traveling direction of the movable shelf 4 by contacting the load, and prevents the load from being caught in the movable shelf 4 or becoming locked. The drive device 8 stops moving the movable shelf 4 in response to the operation signal from the bumper switch 15. Between the drive devices 8 of adjacent movable shelves 4,
Transmits the right-hand command signal output by operating the open command switch or the right-hand command signal input from the shelf on the left side of that shelf to the shelf on the right side of that shelf, and also transmits the above-mentioned open command signal. A left-hand command signal output by operating the switch or a left-hand command signal input from a shelf on the right side of the shelf is transmitted to a shelf on the left side of the shelf. Also, between the driving devices 8 of adjacent movable shelves 4, a stop signal generated on that shelf or inputted from the left shelf is transmitted to the right shelf, and a stop signal generated on that shelf or inputted from the left shelf is transmitted to the right shelf. A stop signal input from the shelf is transmitted to the left shelf. Such transmission and reception of signals between adjacent shelves is performed by optical signal transmission means consisting of a light emitting section and a light receiving section. FIG. 8 shows an example of optical signal transmission means,
Optical signal transmitting means is constituted by a light emitting element 16 and a light receiving element 17 arranged vertically on the frontage surface side of the side plate 4A of the movable shelf 4. Each light emitting element 16 on one shelf and the light receiving element 17 on the other adjacent shelf face each other, and a predetermined signal is transmitted to the adjacent shelf by turning on and off the light emitting element 16. . The drive device 8 includes a light-receiving element 17A that receives a left-hand command signal sent as an optical signal from the right-hand shelf, a light-emitting element 16A that outputs a right-hand command signal as an optical signal to the right-hand shelf, and a light-receiving element 16A that outputs a right-hand command signal as an optical signal to the right shelf. A light-receiving element 17B for the stop signal sent by the 17B is connected to a light-emitting element 16B that outputs a stop signal as an optical signal to the right-hand shelf, and a light-emitting element 16B that outputs a left-hand command signal as an optical signal to the left-hand shelf. 16C, a light-receiving element 17C for the right-row signal sent as an optical signal from the left shelf, and a light-emitting element 16D for outputting a stop signal as an optical signal to the left shelf.
A light receiving element 17D for a stop signal sent as an optical signal from the left shelf is connected. With the above configuration, the rightward command signal and the leftward command signal output from the desired drive device 8 due to the operation of the open command switch are transmitted to the light emitting element 16 and the light emitting element 1.
The signal is converted into an optical signal through the optical signal transmission means 7 and transmitted to the right shelf and the left shelf, respectively.
For a shelf to which a right-hand command signal or a left-hand command signal is input, the drive device 8 determines whether there is enough room to move to the right when the right-hand command signal is input or to the left when a left-hand command is input. Based on the input signal of the approach detector 13, it is determined whether there is enough room to move to the first fixed shelf 1, and based on this determination, the movable shelf 4 is directed toward the first fixed shelf 1 by the motor 7, as shown in FIG. constant speed
When the proximity detector 13 detects that the vehicle is traveling at V ₁ and approaching the required deceleration distance L ₁ , the drive device 8 stops the motor 7 and runs at deceleration V ₂ to achieve the desired stop without causing a collision. It is stopped at position S, and a work space 12 is formed at a position corresponding to the operated opening command switch. Problems to be Solved by the Invention However, in conventional movable shelf equipment, the drive device 8 stops the motor 7 by the operation of the bumper switch 15 of the movable shelf 4, but due to the inertia of the movable shelf 4, the movable shelf 4 Because the truck did not stop suddenly, the bumper switch was damaged when the cargo placed on the track 3 was caught in it, and the bumper switch 15 was damaged due to a driving error of a forklift that was in the work space 12. and bumper switch 1
Since there is no means to detect and issue an alarm when the bumper switch 15 fails, it is impossible to know from the outside whether the bumper switch 15 has failed or which bumper switch 15 has failed. The present invention solves the above-mentioned problems, and aims to provide a movable shelf facility that can detect a bumper switch failure and notify which bumper switch is malfunctioning. Means for Solving the Problems In order to solve the above-mentioned problems, the present invention consists of a fixed shelf and a plurality of movable shelves that reciprocate on their own wheels on a track, and the movable shelves detect mutual approach. a motor for driving the wheels in a forward and reverse manner; a plurality of bumpers provided at the bottom of both sides; a plurality of bumper switches built in each of the bumpers for detecting the operation of the bumpers; Alarm means for detecting a failure, identifying the failed bumper switch, and giving an alarm; and driving means for driving the motor in response to a movement command signal and stopping driving the motor in response to an operation signal from the approach detection means or the bumper switch. It is equipped with the following. Effects According to the above configuration, the motor is driven by the driving means, and when the bumper rides on a load placed on the track while the movable shelf is moving, or when the forklift hits the bumper due to a driving error. Therefore, when the bumper switch malfunctions,
Detects bumper switch failure using alarm means,
Identify a faulty bumper switch and issue an alarm.
Therefore, it is possible to know the failure of the bumper switch, and it is possible to specify the failed bumper switch from among a plurality of bumper switches. Embodiment An embodiment of the present invention will be described below based on the drawings. Note that the same components as in FIGS. 6 to 8 of the conventional example are given the same reference numerals, and explanations thereof will be omitted. FIG. 1 is a schematic diagram showing the control equipment of the movable shelf equipment of the present invention and its arrangement. In the present invention, as in the conventional example, a first fixed shelf 1 and a second solid shelf 2 are provided.
A plurality of movable shelves 4 (left rack 4A, intermediate racks 4B, 4C, 4D, right rack 4E) are arranged on a straight track 3 between the first and second fixed shelves 1, 2. The movable shelf 4 is provided with a plurality of compartment storage spaces 5, and the movable shelf 4 is placed on a straight track 3 via wheels 6, and the wheels 6 are driven by a motor 7 mounted on each movable shelf 4. It is structured so that each can be done separately. In FIG. 1, 21 is a start push button switch (hereinafter abbreviated as start Pb) operated to form a work space 12 on the right side of the movable shelf 4, and 22 is a stop push button switch (hereinafter referred to as stop switch).
(abbreviated as Pb), and as shown in FIG. 2, it is input to a control device 23 which is a driving means consisting of a microcomputer, and the switches 21 and 22 each have a built-in start lamp 24 and a stop lamp 25. The second activation Pb 21A provided on the left rack 4A is a button switch for forming the work space 12 on the left side of the left rack 4A. 2
Reference numerals 6 and 27 denote photoelectric switches, which are photoelectric devices for transmitting and receiving, which are provided on the left and right sides of the movable shelf 4 facing between the movable shelves 4, and are located on the front side (front side) of the left and right sides.
The photoelectric switch installed on the right side, the left side transmits,
Main photoelectric switch for reception 26A, 26B, 27A2
7B and the photoelectric switch installed on the rear side (rear side) on the right side, and the left side transmitting and receiving secondary photoelectric switch 2.
They are called 6C, 26D, 27C, and 27D. Main photoelectric switch 26B and secondary photoelectric switch 26 on the right side
D received signals a ₁ , b ₁ and received signals of the left receiving main photoelectric switch 27B and secondary photoelectric switch 27D
a ₂ and b ₂ are input to the control device 23, and
Signals k ₁ and l ₁ to the movable shelf 4 on the right side are sent to the main photoelectric switch 26A and secondary photoelectric switch 26C on the right side.
The signals k ₂ and l ₂ to the left movable shelf 4 are sent to the left transmission main photoelectric switch 27A and secondary photoelectric switch 27C.
Output to. Reference numeral 28 denotes a proximity detector which is a means for detecting the mutual proximity of shelves, and only the approach detector 28A of the left rack 4A detects the approach to the first fixed shelf 1 on the left side, and the other approach detectors 28 detect the approach to the first fixed shelf 1 on the right side. Approach to the movable shelf 4 or the second fixed shelf 2 is detected, and the output signal C of the approach detector 28 is also input to the control device 23. Further, 29 is an intrusion detector that detects intrusion between the first and second fixed shelves 1 and 2 and the left rack 4A or right rack 4E, and is installed in the left rack 4A and right rack 4E, respectively. The output signal d is input to each of the control devices 23 of 4. The power supply to the movable shelf 4 is a power only cable 30.
is sent to each distribution box 31. In addition, as shown in FIG. 3, bumpers 38A and 38B are provided at the bottom of both sides of the movable shelf 4 to cushion collisions with obstacles.
are provided inside the bumpers 38A, 38B, as shown in FIG.
Bumper switches 15A and 15B consisting of limit switches for detecting the operation of B are provided, and output signals x and y of the bumper switches 15A and 15B, respectively, are input to a control device 23. Further, as shown in FIG. 2, a buzzer 39 for warning of a failure of the bumper switches 15A, 15B, which is driven by the control device 23, is provided on the movable shelf 4. FIG. 2 shows a block diagram of the control device 23. The control device 23 includes signal determination units 32A, 32B for the right and left photoelectric switch reception signals a ₁ , b ₁ , a ₂ , b ₂ ,
Interlock unit 33, control unit 34, signal transmitting units 35A, 35B that output right and left photoelectric switch transmission signals k ₁ , l ₁ , k ₂ , l ₂ , motor drive unit 36
and first and second timers 40 and 41. The interlock section 33 includes an OR signal e of the output signals x and y of the bumper switches 15A and 15B, an operation signal f of a thermal relay (not shown) attached to the main circuit of the motor 7, and a fixed shelf 1. , 2, the output signal d of the intrusion detector 28 is input to the left rack 4A or the right rack 4E adjacent to the racks 4A and 2, and when any of the signals e, f, d is on, a motor stop signal g is output to the control section 34. are doing. Further, the motor stop signal g of the interlock section 33 is reset by the stop Pb22 when all the signals e, f, and d are off. The signal determination units 32A, 32B determine the signal contents shown in Table 1 from the main photoelectric switch reception signals a ₁ , a ₂ and the secondary photoelectric switch reception signals b ₁ , b ₂ and generate determination signals h ₁ , h ₂ respectively. Output to the control unit 34,
In addition, the signal transmitter 35A,

[Table] 35B inputs the transmission instruction signals j ₁ and j ₂ from the control unit 34, and generates the main photoelectric switch transmission signals k ₁ and k ₂ and the sub-photoelectric switch transmission signals from the signal contents shown in Table 1. Outputs l ₁ and l ₂ . Further, the motor drive section 36 receives a forward or reverse motor speed signal m from the control section 34 and outputs an analog speed signal n to the inverter 37 . Inverter 37 controls motor 7 using speed signal n. The first timer 40 receives the output signal x of the right bumper switch 15A and the movable shelf 4 from the control section 34.
Counting is started with the AND signal of the left-row middle signal P, and if the damper switch 15A does not return within the timer setting time, an abnormality signal u of the bumper switch 15A is output to the control section 34. Similarly, the second timer 41 starts counting based on the AND signal of the output signal y of the left bumper switch 15B and the right row signal q of the movable shelf 4 from the control unit 34, and the timer set time is If the damper switch 15B does not return within a certain period of time, an abnormality signal v of the bumper switch 15B is output to the control section 34. Note that if a worker enters between the movable shelves 4, the main photoelectric switches 26B and 27, which normally receive pulses,
It is detected when the input to B is turned off. The control unit 34 normally starts Pb21 and stops Pb22.
, the determination signals h ₁ and h ₂ shown in Table 1 of the signal determination units 32A and 32B, and the output signal C of the proximity detector 28
and motor stop signal g of interlock section 33
A forward or reverse motor speed signal m is output to the motor drive unit 36, and the inverter 3
7 to control the motor 7, turn on the start lamp 24 or the stop lamp 25, and send instruction signals 35A, 35B to the signal transmitters 35A, 35B.
It outputs an instruction to the left and right movable shelves 4, outputs a left-going signal P while moving to the left, and outputs a right-going signal q while moving to the right. In addition, even though the motor stop signal g of the interlock section 33 is operating, the control section 34 is forced to release the left-hand motor when the start Pb 21 is pressed while the stop Pb 22 is pressed. When pressed again, the right motor speed signal m
It has the function of outputting a signal to move the movable shelf 4 and release the bumper 38 from contacting an obstacle, and also to turn on the stop lamp 25 at the abnormality signal u of the first timer 40, and turn on the start lamp. 24 flashes to indicate a failure of the right bumper switch 15A,
When the abnormality signal v from the second timer 41 is received, the start lamp 24 is turned on, the stop lamp 25 is made to blink, and a failure of the left bumper switch 15B is indicated. is driving. The alarm means includes first and second timers 40 and 41, a buzzer 39, a start lamp 24, a stop lamp 25, and some functions of the control section 34. With the above configuration, for example, even though the movable shelf 4 is moving to the left side due to forced activation (the left-moving signal P is on), the right bumper switch 15A, which is not supposed to operate, is operating (the output signal x is By turning on), it is possible to detect an abnormality in the right bumper switch 15A, and in response to the abnormality signal u, the buzzer 39 notifies the abnormality of the bumper switch 15 via the control unit 34, and also turns on the stop lamp 25 and turns on the start lamp 24. An abnormality in the right bumper switch 15A can be identified and displayed by blinking. Next, another embodiment in which the alarm means is provided separately from the control device 23 will be described based on FIG. 5. In addition,
It is assumed that the control device 23 outputs a left-row signal P and a right-row signal q. Bumper 38 is movable shelf 4
As bumper switches become longer and longer, multiple lamps may be installed on the left and right sides.
5 cannot be identified, the attempt is made to identify the bumper switch 15 by displaying the number of the failed bumper switch 15. In FIG. 5, reference numeral 42 denotes an alarm device which is an alarm means, and is composed of a plurality of timers 43, a display/buzzer drive circuit 44, a digital display 45, a buzzer 46, and the like. The output signals x1 to xN of the right bumper switches 15A1 to 15AN are ANDed with the left-row middle signal P from the control device 23, respectively, and input to the respective timers 43A1 to 43AN. The output signals y1 to yN of ~15BN are ANDed with the right row middle signal q from the control device 23, respectively, and input to the respective timers 43B1 to 43BN. The timer 43 then switches the right bumper switch 15A1 when each set time elapses.
~ Abnormal signal u1 ~ uN of 15AN, abnormal signal v1 ~ of left bumper switch 15B1 ~ 15BN
vN is output to the display/buzzer drive circuit 44. When any of the abnormal signals u1 to uN, v1 to vN are input, the display/buzzer drive circuit 44 drives the buzzer 46 and also outputs the abnormal signals u1 to uN, v1 to vN.
The numbers corresponding to uN, v1 to vN are output to the digital display 45 and displayed. In addition, the output signals x1 to xN and y1 to yN of bumper switches 15A1 to 15AN and 15B1 to 15BN are logical sums (OR).
is taken and output to the control device 23 as a bumper switch output signal e. In this way, even when there are a large number of bumper switches 45, a failed bumper switch 15 can be identified. In this embodiment, signals are sent and received using photoelectric switches 26 and 27, but it goes without saying that signal cables may also be used. Effects of the Invention As described above, according to the present invention, the failure of a bumper switch is detected by the alarm means, the failed bumper switch is specified, and an alarm is issued. A faulty bumper switch can be known from inside, there is no need to search for the faulty bumper switch among a plurality of bumper switches, the recovery time is shortened, and the efficiency of the movable shelf equipment can be improved.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing the installation of a control device for a movable shelving facility according to an embodiment of the present invention, FIG. 2 is a block diagram of a control device for the movable shelving facility, and FIG. FIG. 4 is a sectional view of the bumper portion of the movable shelving equipment, FIG. 5 is a block diagram of an alarm device for the movable shelving equipment showing another embodiment of the present invention.
The figure is a front view of a conventional movable shelving facility, FIG. 7 is a plan view of a conventional movable shelving facility, FIG. 8 is a perspective view of the photoelectric device section of a conventional movable shelving facility, and FIG. 9 is a conventional movable shelving facility. FIG. 3 is an explanatory diagram of a deceleration state. 1, 2... Fixed shelf, 3... Track, 4... Movable shelf, 4A... Left rack, 4B, 4C, 4D... Intermediate rack, 4E... Right rack, 6... Wheels, 7...
...Motor, 15...Bumper switch, 23...
Control device (driving means), 28... Approach detector (approach detection means), 38... Bumper, 39, 46...
...Buzzer, 40,41,43...Timer, 42
...Alarm device, 44...Display/buzzer drive circuit, 45...Digital display, x, y...Bumper switch operation signal, u, v...Bumper switch abnormal signal, P...Left travel signal, q...Right-bound signal.

Claims (1)

[Claims] 1 Consisting of a fixed shelf and a plurality of movable shelves that reciprocate on a track with their own wheels, the movable shelves have mutual approach detection means, a motor that drives the wheels in a forward and reverse manner, and a movable shelf on both sides. a plurality of bumpers provided on the bottom; a plurality of bumper switches built into each of the bumpers for detecting operation of the bumpers; and an alarm means for detecting a failure of the bumper switches, identifying the failed bumper switch, and issuing an alarm. . A movable shelf facility, comprising: drive means for driving the motor in response to a movement command signal, and stopping driving of the motor in response to an operation signal from the approach detection means or a bumper switch.