JPH1087030A - Remote control type moving shelf - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow to stop the movement of a shelf rapidly when an emergency condition is generated, in a moving shelf remote-controlled by an operation device at hand. SOLUTION: In a remote control type moving shelf in which a shelf is moved by operating an operation device at hand, and a working space is formed at a designated position, a shelf movement starting part to move the shelf by operating the operation device at hand; and a transmitter 58 for stop signal transmission to transmit a stop signal by operating it, and to stop the moving shelf; are provided. The moving shelf may be stopped by using plural transmitters 58 for stop signal transmission, and by operating either one of the transmitters 58 for stop signal transmission. Furthermore, the moving shelf may be stopped by using plural operation devices at hand, combining plural transmitters 58 to the operation devices 58 respectively, and by operating either one of transmitters 58, or by operating either one of the operation devices at hand.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control type moving shelf, and particularly to a case where the movement of a shelf needs to be stopped urgently or a case where the movement of a shelf is to be stopped at an arbitrary position. It relates to a useful stopping device.

[0002]

2. Description of the Related Art A plurality of shelves are movably arranged so that articles can be freely taken in and out, as required, while effectively utilizing a limited space as an article storage space. There is a moving shelf device that moves all shelves together so that a work space is formed only in front of the shelves to be put in and taken out when goods are put in and taken out.

[0003] There is a case where the loading and unloading of articles to and from the above-mentioned moving shelf device is performed by a cargo handling device such as a forklift. In this case, it is convenient if the operator of the cargo handling device can remotely control the cargo handling device. In addition, the remote control is preferable from the viewpoint of safety because the operator is less likely to be erroneously pinched between the shelves and does not get injured even if articles stored in the shelves fall. Furthermore, as the size of the mobile shelf device increases, it is more efficient to load and unload the goods with a plurality of cargo handling devices. It is desirable to be able to control.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an operator of a cargo handling device can remotely control the movement of a movable shelf device by using a hand-operated device so that the operator of the cargo handling device can easily access the cargo handling device. In addition to being able to operate, while the moving shelf is moving, for example, the shelf is about to hit an operator or a cargo handling device, or the shelf is about to hit a dropped storage item In such cases, workers who have noticed that an emergency has occurred can immediately stop the movement of the shelves, ensuring the safety of workers and ensuring that cargo handling equipment and dropped items are crushed by the shelves. It is an object of the present invention to provide a remote control movable shelf that is not damaged. The present invention also makes anyone confused when it is necessary to stop the movement of the shelves urgently, as described above, by making the location of the transmitter for urgently stopping the shelves easy to know. It is an object of the present invention to provide a remote control movable shelf that can be immediately stopped without requiring any operation. The present invention further provides a remote-controlled moving shelf that enables loading and unloading of articles by using a plurality of cargo handling devices, and enables an emergency operation to be immediately performed without any confusion by anyone. The purpose is to provide.

[0005]

According to the first aspect of the present invention,
What is claimed is: 1. A remote control movable shelf capable of moving a shelf by operation of a hand operation device to form a work space at a designated position, comprising: a shelf movement start unit for moving the shelf by operation of the hand operation device; And a stop signal transmitting transmitter for transmitting a stop signal to stop the moving shelf.

According to the second aspect of the present invention, a plurality of stop signal transmitting transmitters may be used and one of the stop signal transmitting transmitters may be operated to stop the moving shelf. Good. As in the third aspect of the present invention, the stop signal transmitting transmitter may be connected to the hand control device, and the stop signal may be transmitted by operating the stop signal transmitting transmitter. As in the invention according to claim 4, a plurality of hand control devices are used, connected to each hand control device, and operated by any of the stop signal transmission transmitters or by any of the hand control devices. Alternatively, the moving shelf may be stopped.

According to a fifth aspect of the present invention, there are provided a plurality of shelves arranged in a freely movable manner, and a hand operation device, and the shelves are moved by operating the hand operation device to work at a designated position. A remote-controlled moving shelf capable of forming a space and forming a work space at another designated position while forming the work space, wherein the shelf is moved by operation of a hand operation device. It is characterized by having a movement start part and a stop signal transmitting transmitter for transmitting a stop signal by operating to stop the moving shelf.

According to a sixth aspect of the present invention, there is provided a remote control type movable shelf capable of forming a work space at another designated position while a work space is formed at a designated position. The moving shelf may be stopped by using a plurality of transmitters and operating one of the stop signal transmitting transmitters.
According to a seventh aspect of the present invention, there is provided a remote control-type movable shelf capable of forming a work space at another designated position while a work space is formed at a designated position. The stop signal may be transmitted by connecting to the hand operation device and operating the stop signal transmission transmitter. According to the invention as set forth in claim 8, a remote control-type movable shelf capable of forming a work space at another designated position while forming a work space at a designated position,
Using multiple hand control devices, connect to each hand control device,
The moving shelf may be stopped by operating any of the stop signal transmission transmitters or by operating any of the hand operation devices.

According to a ninth aspect of the present invention, there are provided a plurality of shelves arranged in a freely movable manner, and a hand operation device, and the shelves are moved by operating the hand operation device to work at a designated position. A remote control movable shelf capable of forming a space, the shelf having a shelf movement start unit for moving a shelf by operating a hand operation device, using a plurality of the hand operation devices, and a stop signal for each hand operation device. Is provided, and the moving shelf is stopped by operating even one of the specific operation members of each hand operation device. As in the invention according to claim 10, a remote control-type movable shelf that can form a work space at another designated position while forming a work space at a designated position, using a plurality of hand operation devices, Each hand operation device is provided with a specific operation member for transmitting a stop signal, and the moving shelf is stopped by operating even one of the specific operation members of each hand operation device. It may be.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a remote control movable shelf according to the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a shelf, and the leftmost shelf of the plurality of shelves 1 is fixed immovably on the floor, while the other shelves collectively converge together with the fixed shelf. And are movably arranged such that a work path can be formed between the shelves at a distance from each other. Each shelf 1 has a movable shelf control circuit board 22, and the fixed shelf at the left end has a general circuit board 23 including a circuit for receiving a signal transmitted by remote control, a circuit for determining a received signal, and the like. The side panel of each shelf 1 is provided with an operation panel 2 to which a passage formation command signal can be inputted by manual direct operation, and the left side fixed shelf side panel has a general operation panel 2a further having a power switch and the like. Is provided. The circled numbers in the figure indicate the passage numbers formed between the shelves.

FIG. 2 shows an example of a hand-held operation device (hereinafter, referred to as a "transmitter") for remotely controlling the movable shelf device as shown in FIG. Each of the transmitters A, B, and C is a position data input operation member (hereinafter, referred to as a "path selection switch") 25 for selecting a signal corresponding to a path number in the movable shelf device and generating position data, and It has a reset switch 26 for resetting data, a power switch 28, and a stop switch 30 for stopping the movement of the shelf while the shelf is moving. In the example of FIG. 1, since the work passage number is up to 7, it is sufficient to have seven passage select switches 25, but the work passage number may be two or more digits depending on the specifications of the moving shelf device. In the example of 2, the passage selection switch 25 is constituted by a ten key. A signal corresponding to the passage selection switch 25 may be immediately generated when the passage selection switch 25 is selected and pressed. However, the passage selection switch 25 selected by the transmission switch 29 after the passage selection switch 25 is selected and operated. May be emitted. Each of the transmitters A, B, and C may emit radio waves, light, or the like as a medium, or may be operated by a worker without being mounted on a cargo handling device. Each of the transmitters A, B, and C may be connected to the mobile shelf device by a cable.

Reference numeral 27 denotes a moving shelf group for selecting a moving shelf group to be remotely controlled in the case of a moving shelf device having a plurality of moving shelf groups in which a plurality of shelves are movably arranged. Shows a selection switch. In the case of a mobile shelf device comprising a single mobile shelf group as shown in FIG. 1, the mobile shelf group selection switch 27 is unnecessary. Here, the passage selection switch 25, the reset switch 26, the moving shelf group selection switch 27, the transmission switch 29, and the stop switch 30 provided on the transmitter are collectively referred to as an operation member.
The stop switch 30 is referred to as a stop operation member.

Next, an example of a circuit configuration used in the present invention will be described. In FIG. 3, reference numeral 22 denotes the movable shelf control circuit board provided on each shelf. Each circuit board 22
The moving shelf control circuit incorporated in the above can be appropriately selected from the circuits used in known electric moving shelves, for example, the circuit described in Japanese Utility Model Laid-Open No. 56-163944. it can. Each of the shelves is provided with a motor 40 for driving each of the shelves, and the forward and reverse rotation and stop of the motor 40 are controlled by respective moving shelves control circuits, and the respective shelves are driven and stopped in the forward and reverse directions. Can be A limit switch 41 is connected to each circuit board 22. The limit switch 41 shown in FIG.
Is operated when each of the shelves 1 shown in FIG. 1 approaches an adjacent shelf 1, but when the absolute position of each of the shelves 1 is constantly detected by an encoder or the like, and moves to a predetermined movement limit position, The limit signal may be output based on the value of the encoder.

In FIG. 3, receiving circuits 35a, 35b,
35c receives the signals transmitted from the transmitters A, B, and C shown in FIG. When using radio waves as a medium, each receiving circuit 3
Each of 5a, 35b, and 35c has a demodulation circuit, and extracts a signal modulated together with a carrier. Further, each receiving circuit 35a,
The signals received by 35b and 35c are
Central processing unit (hereinafter referred to as “CPU”) 37 through 6
Is input to The CPU 37 is connected to each of the circuit boards 22 via an interface 38. CPU37
Is based on data input from each of the receiving circuits 35a, 35b, and 35c, and detects the operating state of each limit switch 41, and outputs the forward / reverse rotation command signal and the stop command signal of each motor 40 to each moving shelf control. The work path is input to the circuit board 22, and the movement and stop of each shelf 1 in the forward and reverse directions are controlled to form a work passage at a position corresponding to the command signal.

The CPU 37 may be a microcomputer including a read-only memory or a random access memory, or a personal computer. In short, each of the shelves 1 based on various input signals.
Any device can be used as long as it can be programmed so as to control the drive motor 40. Further, the portion of the CPU 37 may be a sequencer, or may be configured by a logic circuit so as to perform the same operation as the operation described later.

The CPU 37 is programmed so that the mobile shelf device performs the operation shown in FIG. First,
The signal from the transmitters A, B, and C shown in FIG. 2 is received by the receiving operation, and the apparatus waits for the reception of the received data. When the received data is sent, it is determined whether or not the data is position data, that is, whether or not the path selection switch 25 of the transmitters A, B, and C in FIG. 2 has been selected, and waits until the position data is input. . When the position data is input, the transmitter is determined, that is, from which transmitter the signal is issued, and then the rotation of the drive motor 40 of each shelf is controlled to form a work passage at a position corresponding to the position data. To start moving the shelves. As described above, the CPU 37 has the shelf running start unit as a functional block.

[0017] Even after the movement of the shelf is started, the receiving operation is performed to determine whether or not there is received data. After the start of the movement of the shelf, there is received data before the shelf moves to a predetermined position and the limit switch 41 is operated, and the received data is stored in a specific operation such as the stop operation member 30 shown in FIG. If it is based on the operation of at least one of predetermined members of the member or the plurality of operating members provided in the transmitters A, B, and C, it is determined that an emergency stop signal has been input. The movement of the shelf 1 is stopped immediately on the spot. The emergency stop signal is output by operating the stop operation member 30 of at least one of the plurality of transmitters A, B, and C shown in FIG. As described above, the CPU 37 has the shelf movement stop unit as a functional block.

Because of the shelving stop, the worker is likely to be confined in a narrowing work passage, the cargo handling device is likely to be pinched, and articles falling from the shelf In the case where the shelf is likely to be caught, the stop operation member 30 of any one of the transmitters A, B, and C can be operated to stop the movement of the shelves in an emergency, thereby ensuring the safety of workers, It is possible to prevent the cargo handling device and the article from being damaged. Moreover, since the movement of the shelf stops even when the stop operation member 30 of any of the transmitters is operated, for example, when a worker in the work passage does not notice this when the work passage is narrowed, Even if the worker in the work passage does not notice that the article is falling inside, the other worker may operate the stop operation member 30 of the transmitter occupied by the other worker. Further, safety can be further improved, and breakage of the cargo handling device and the article can be more reliably prevented.
After the movement of the shelves is temporarily stopped as described above, the shelf is reset by operating the reset switch 26 of the transmitter or the like, and waits for the input of new position data.

After the shelf starts moving, in the step of determining whether there is received data, if there is any received data including an emergency stop signal, the movement of the shelf may be stopped. FIG. 5 shows an example. In FIG. 5, if it is determined that there is received data in the step of determining whether or not there is received data after the start of moving the shelf, the shelf is moved without going to the step of determining whether the received data is an emergency stop signal. To stop. In this way, in a case where the movement of the shelf must be stopped urgently, such as when the worker is likely to be trapped in the work passage, the worker can stop the operation member 30 of any of the transmitters.
When at least one operation member (excluding the power switch 28) is pressed, the movement of the shelf is stopped, and there is no need to select and operate the stop operation member 30, so that the movement of the shelf can be ensured even in an immediate case. There is an advantage that can be stopped.

In FIGS. 4 and 5, if there is no received data before the limit switch 41 operates after the shelf starts moving, the movement of the shelf is stopped when the limit switch 41 operates. As a result, a work space is formed at the designated position. When the shelf stops, the signal from the transmitters A, B, and C shown in FIG. 2 is received by the receiving operation, and the system waits for the reception of the received data. When the received data is sent, it is determined whether or not the data is a reset signal. If the received data is a reset signal, then it is determined whether or not the transmitter that transmitted the position data and the transmitter that transmitted the reset signal match. And reset only when they match. By resetting, the interlock is released and the shelf can be moved by the next position data input.

As described above, the interlock is released only when the transmitter that transmitted the position data and the transmitter that transmitted the reset signal coincide with each other in consideration of safety. That is,
One transmitter transmits position data to form a work path, and when entering the work path, another worker operates another transmitter to move to another position. Can be formed, the safety of the workers in the already formed working path is threatened. In the case of the above embodiment, the worker in the work passage formed by operating one transmitter may operate the reset switch of the one transmitter after exiting the work passage after the work is completed. Since the work passage cannot be formed at another position, the safety of the worker in the work passage is ensured. In the operation shown in FIG. 4, the step of determining the transmitter, that is, the step of determining which transmitter has transmitted the signal, and the step of determining whether the position data and the transmitter that has transmitted the reset signal match. Is not essential, and after forming a path by a signal from one transmitter, it may be reset by a reset signal from another transmitter.

In the embodiment described above, the shelf 1 is moved in a direction perpendicular to the front face as shown in FIG. 1, but as shown in FIG. 6, the rail 52 is laid on the floor. The shelf 51 is moved in parallel with the front surface along the same, and the rail 52 and the shelf 51 are arranged in parallel.
A so-called slide type moving shelf may be used. When goods are not taken in and out, all shelves 51 are moved to the left or right side as shown in FIG. 6 so as to be dense, and when goods are taken in and out, only the corresponding shelf 51 is moved to the other side. The frontage is exposed, and articles are taken in and out from the exposed frontage. A stopper is provided at the movement limit position of each shelf 51, and a limit signal is output at the movement limit position. Such movement of the sliding movable shelf can be remotely controlled by a plurality of transmitters as shown in FIG. 2, and the operations as shown in FIGS. 4 and 5 are performed by the circuit configuration as shown in FIG. Can be made.

As shown in FIG. 7, depending on the moving shelf device, a plurality of moving shelf groups each including a plurality of shelves 1 arranged movably are arranged, and the movement of the shelves 1 is controlled for each group so that a work passage is formed. There are some that can be formed. In FIG. 7, reference numerals a, b, and c indicate moving shelf groups, respectively. The mobile shelf devices divided into a plurality of groups can be remotely controlled by a plurality of transmitters as shown in FIG. 2, and a circuit configuration as shown in FIG. 3 can be applied. Moving shelf group selection switches 27 provided on the transmitters A, B, and C shown in FIG. 2 are for selecting a moving shelf group to be remotely controlled by each transmitter. Symbols a, b, and c written on each moving shelf group selection switch 27 correspond to the moving shelf groups a, b, and c.

FIG. 8 shows an example of the operation of the multi-group mobile shelf apparatus. In FIG. 8, signals from the transmitters A, B, and C shown in FIG. 2 are received by a receiving operation, and the system waits for received data to be sent. When the received data is sent,
It is determined which of the plurality of moving shelf groups a, b, and c is selected for the data, and which of the plurality of transmitters A, B, and C is transmitted from which of the plurality of moving shelf groups is selected. Determine. Next, whether it is position data, that is, the path selection switch 2 of the transmitters A, B, and C in FIG.
It is determined whether or not 5 has been selected. When the position data is input, the path number specified by the position data is determined, and each shelf is driven to form a work path at a position corresponding to the determined path number in the determined shelf group. The movement of the shelf is started by controlling the rotation of the motor 40.

The receiving operation is performed even after the movement of the shelf is started, and it is determined whether or not there is received data. After the start of the movement of the shelf, there is received data before the shelf moves to a predetermined position and the limit switch 41 is operated, and the received data is stored in a specific operation such as the stop operation member 30 shown in FIG. If the operation is based on at least one operation of a predetermined specific operation member among members or a plurality of operation members provided in the transmitters A, B, and C, the emergency stop signal is assumed to be input. The movement of each shelf 1 in the determined moving shelf group is stopped immediately on the spot. The emergency stop signal includes a plurality of transmitters A, B, and C shown in FIG.
Is output by operating the stop operation member 30 of at least one of the transmitters. In this example, the CPU 3
Reference numeral 7 denotes an operation signal of a stop operation member of at least one of the transmitters, and has, as a functional block, a shelf movement stop unit that stops the movement of the shelf in the group specified by the one transmitter.

Since the above-mentioned shelf movement stopping portion is provided, for example, when an operator is likely to be confined in a narrowing work path, a stop operation of any of the transmitters A, B, and C is performed. By operating the member 30, the movement of the shelves can be stopped urgently, whereby the safety of the worker can be ensured and the cargo handling device and the articles can be prevented from being damaged. Moreover, since the movement of the shelf stops even when the stop operation member 30 of any of the transmitters is operated, for example, when a worker in the work passage does not notice this when the work passage is narrowed, Even if the worker in the work passage does not notice that the article is falling inside, the other worker may operate the stop operation member 30 of the transmitter occupied by the other worker. Further, safety can be further improved, and breakage of the cargo handling device and the article can be more reliably prevented. After the movement of the shelves is temporarily stopped as described above, the shelf is reset by operating the reset switch 26 of the transmitter or the like, and waits for the input of new position data.

As shown in FIG. 9, when the shelf starts moving, there is received data, and in the step of determining whether the received data is an emergency stop signal, it is determined that the received data is an emergency stop signal. Alternatively, the movement of the shelves of not only the determined moving shelf group but also all the moving shelf groups may be stopped. In this example, the CPU 37 has, as a functional block, a shelf movement stop unit that stops the movement of shelves in all groups when there is an operation signal of the stop operation member of at least one transmitter.

In FIGS. 8 and 9, if there is no received data before the limit switch 41 operates after the shelf starts moving, the shelf movement is stopped when the limit switch 41 operates. Subsequent operations are the same as the operations shown in FIGS. 4 and 5, and a description thereof will be omitted. In the examples shown in FIGS. 8 and 9, the step of determining which transmitter has transmitted the signal and the step of determining whether the position data and the transmitter that transmitted the reset signal match are omitted. No problem.

In the examples shown in FIGS. 8 and 9, the operation after the reset signal is input may be changed to the operation shown in FIG. That is, when the reset signal is input, it is determined which moving shelf group is to be reset, and the group corresponding to the determined group is reset. This is to allow one transmitter or another transmitter to operate another mobile shelf group while one transmitter is operating one mobile shelf group. For example, during the formation of a path at a desired position by selecting a group by one transmitter, or after a path is formed, another group such as the b group is used by the one transmitter or another transmitter. Is selected so that a passage can be formed at a desired position. In the groups a and b, when the passage forming operation is completed, an interlock is applied, and the group cannot be moved unless it is released. Therefore,
Next, in order to enable the path forming operation again for the a group or the b group, the a group or the b group is selected by the one transmitter or another transmitter and a reset signal is transmitted. The moving shelf group determines which moving shelf group should be reset by the input reset signal, and releases the interlock of the corresponding moving shelf group. With respect to the mobile shelf group from which the interlock has been released, the path forming operation can be performed again by a signal from the one transmitter or another transmitter.

In order to perform such an operation, a reset signal can be separately transmitted from each transmitter for each moving shelf group. For example, when a push-button type group selection switch 27 as shown in FIG. 13 is provided and a reset switch 26 is provided, and a group is selected by the group selection switch 27 and then the reset switch 26 is operated, A distinct reset signal is issued.

As shown in FIG. 10, also in the multi-group type mobile shelf apparatus, as shown in FIG. 10, an emergency stop signal, passage number data, transmission The movement of the shelf may be stopped when any one of the data signals including the machine identification data, the moving shelf group identification data, and the like is input. In this case, the moving shelves of all the groups may be stopped as in the example of FIG. 9, or the moving shelves of the group determined as in the example of FIG. 8 may be stopped. In this example, the CPU 37 has, as a functional block, a shelf movement stop unit that stops the movement of the shelf with an operation signal of at least one operation member of at least one transmitter. In the case of transmitting a signal by light, the movement of shelves may be stopped in all moving shelf groups by input of a stop signal, or a stop signal by light may be sent to the moving shelf group to be stopped. It is also possible to fire and stop only the movement of the shelf of the group.

As shown in FIG. 11, a plurality of pairs of rails 52 are provided.
8 to 10 by means of a plurality of transmitters even if a plurality of groups of sliding movable shelves comprising a plurality of shelves 52 movable in the frontage direction along are arranged.
Can be controlled in the same manner as in the example shown in FIG. 1, and in the case of an emergency, the moving shelf can be stopped by operating any of the transmitters. In FIG. 11, reference numerals a, b, and c denote moving shelf groups, respectively.
b and c have substantially the same configuration as the movable shelf device shown in FIG.

In the example shown in FIG. 12, a transmitter 55 called a handy terminal is used, a signal is transmitted from the transmitter 55 to a personal computer 60 wirelessly or by wire, and a plurality of mobile shelf groups a and b are transmitted by the computer 60. It is intended to be controlled. The transmitter 55 includes a passage selection switch 25, a reset switch 26, a moving shelf group selection switch 27, a stop operation member 30, and the like, similarly to the transmitter shown in FIG. 2, and is input by operating these switches and operation members. And a display 56 for displaying the data. A plurality of transmitters 55 are used. The signal transmitted from the transmitter 55 is transmitted to the computer 60.
The computer 60 controls the mobile shelf based on the received signal, as described above. However, a receiver is provided for each of the moving shelf groups a and b, and only the stop signal by the operation of the stop operation member 30 is received by the receivers of both the moving shelf groups a and b to stop the movement of the shelves. Good.

In order to stop the moving shelf urgently or to stop it at an arbitrary position, it is sufficient to operate at least one operation member or stop operation member of each transmitter as described above. However, depending on the situation, it may not be possible to know where the transmitter is immediately, and the stoppage of the shelf may be delayed. Therefore, as shown in FIG.
A stop signal transmitting transmitter 58 provided with the stop operation member 30 is provided, and a stop signal is transmitted by operating the stop operation member 30 of the transmitter 58, and the shelf is stopped by the stop signal. Stop signal transmitting transmitter 58
It is desirable to make the color and shape of the material itself conspicuous, and to install it in a conspicuous position such as a cargo handling device.
The stop operation member 30 of the stop signal transmission transmitter 58 may be connected in parallel with the stop operation member 30 of the parent transmitter by a code 59, or directly emits a stop signal from the transmitter 58 wirelessly or by wire. You may do so. In addition, the transmitter 5
When 8 is connected to the parent transmitter, the stop operation member 30 may or may not be provided in the parent transmitter.

The transmitter as the hand control device shown in FIG. 13 has exactly the same configuration as the transmitter shown in FIG. 2, and a transmitter 58 for transmitting a stop signal as shown in FIG. May be connected to the respective transmitters.
In other words, a plurality of the stop signal transmitting transmitters 58 may be provided according to the number of transmitters as shown in FIG. Alternatively, a plurality of the stop signal transmitting transmitters 58 may be independently provided regardless of the transmitter as the hand operation device. The plurality of stop signal transmitting transmitters 58 are installed so as to be conspicuous at positions where anyone can see them. Then, by operating any of the stop signal transmitting transmitters 58, the moving shelf is stopped. In this way, when it is necessary to stop the vehicle urgently, someone can operate the stop signal transmitting transmitter 58 nearby,
This is more desirable for ensuring safety. In addition, a plurality of transmitters for transmitting a stop signal as shown in FIG.
8 is connected, any of the transmitters 5 for transmitting a stop signal
The moving shelf can be stopped either by the operation of FIG. 8 or by the operation of any of the hand operation devices, which is more desirable for ensuring safety.

[0036] The transmitter may be integral with the bar code reader. The barcode reader is capable of reading barcodes attached to articles taken in and out of the moving shelf and barcodes indicating the location of the shelf even when the distance is, for example, about 5 m, and inputs inventory management data through a transmitter. You can do it. The format of the barcode is not particularly limited, and is, for example, a barcode or a two-dimensional barcode in which data is recorded by dividing a plane into a grid pattern and painting each grid pattern with white and black. Or a stealth barcode that is invisible to the naked eye. A barcode reader that can handle these formats is used. A reading device for numbers and characters may be used instead of the barcode reader. Alternatively, the movement of the shelf may be stopped by reading a bar code indicating stop using a bar code reader. The barcode reader may transfer data wirelessly.

The moving shelf to which the stopping method and the stopping device according to the present invention are applied is not limited to a passage forming method. For example, when the position data is input, the first shelf to be moved starts moving first, and the subsequent shelves start moving sequentially, and all shelves to be moved start moving at the same time. There are a drive type, an eclectic type in which the next shelf starts moving at once after the first shelf to be moved starts moving, and the stopping method and the stopping device according to the present invention are applicable to any of these methods. , And can be applied to other types. Also,
As will be specifically described later, the present invention can also be applied to a multi-passage type moving shelf in which work passages can be formed at arbitrary plural places in a single moving shelf group.

An arbitrary signal input method by the hand operation device can be selected. For example, a signal may be input by voice. In this case, when inputting a signal by voice, a switch is operated so that the voice input signal is not interfered between a plurality of hand control devices, or a worker's voice is output in advance for each hand control device. It is desirable to take measures such as registering and not accepting voices of other workers. However, when it is necessary to stop the movement of the shelf urgently, one of the hand-held operation devices recognizes this by inputting a shout such as "to rare", "stop", "dangerous", or "key". Then, the movement of the shelves should be stopped immediately. Alternatively, the movement of the shelf may be stopped when a sound of a certain sound pressure level or higher is input, or a sound of a whistle, whistle, musical instrument, or the like is recognized. The input of a signal such as a voice or a whistle also corresponds to “operating the operation member” in the claims. The voice input device may be provided with a manual stop switch.

In addition, a signal may be input by recognizing a color. For example, colors are assigned to each work space, a work space is formed at a position defined by the color by reading a specific color with an optical reading device, and a color of a shelf is read by reading a color indicating stop. Stop moving. If such a color recognition, a signal input method based on the above-described voice recognition, or a signal input method using the barcode reader is used, even a physically handicapped person can easily operate and even a physically handicapped person can use it. There is an advantage that operation becomes easy.

[0040] Alternatively, a voice display may be used instead of the visual display or together with the visual display. Examples of what is displayed by sound include a buzzer, a chime, and a bell. These can indicate the discrimination of the transmitter or the passage number by continuous or intermittent sound. Also,
A synthesized voice may be emitted from a speaker using a voice synthesis IC or the like. The melody and timbre emitted from the speaker may be given meaning, so that the transmitter or the passage position may be distinguished. When sound is emitted from the speaker, a speaker having strong directivity may be used, and the sound may be emitted toward the operator while tracking the operator. In this case, there is an advantage that the information is transmitted only to the operator who needs the information, and an outsider cannot hear a harsh sound. As another means for transmitting information only to the operator, headphones or earphones (wireless ones are convenient) may be used. The audio display in this way is safe for people with poor vision, people with visual impairments, people with poor color vision, etc. Is transmitted,
Work efficiency can be improved. Further, instead of or in addition to the visual display or the sound display, the transmitter and the passage position may be distinguished by various scents.

In a mobile shelf that can be remotely controlled,
A mode switch for switching the operation mode between the remote control mode and the manual mode may be provided on the central control panel, for example, so that the movable shelf can be moved by directly operating the operation switch provided on the movable shelf directly. Conceivable. In this case, the moving shelf may be stopped by outputting a stop signal by manual operation during operation in the remote control mode, or a stop signal may be output by remote control during operation in the manual mode. May be stopped. It is also conceivable that the mobile shelf can be operated in both the remote control mode and the manual mode without providing the mode changeover switch as described above. In this case, regardless of the operation mode, the movement of the moving shelf is stopped when a stop signal is output during the movement of the moving shelf, or the movement of the moving shelf is stopped when any abnormal signal is output. It may be.

Each operation switch of the remote control transmitter or each operation switch provided on the movable shelf side may be a mechanical contact type switch or a touch panel type switch. In the case of a transmitter that emits a signal using radio waves as a medium, if the frequencies of the carrier waves of a plurality of transmitters are the same, interference occurs when signals are output from a plurality of transmitters at the same time, so different frequencies are used. It is generally conceivable.
However, since it is rare that each transmitter emits a signal at the same time, and there is rarely interference,
It is possible to use transmitters having the same frequency and the same specifications. If a signal is transmitted from a plurality of transmitters at the same time and interference occurs, the mobile shelf is prevented from moving, and if it is moving, the movement is stopped to ensure safety.

The moving shelf to which the present invention can be applied is as follows:
The number of shelves is not limited to a plurality of movable shelves. The moving shelf may have only one shelf, and therefore may have no support and only a flat underframe.

Next, a description will be given of an example in which the present invention is applied to a multi-passage type moving shelf in which work passages can be formed at arbitrary plural places in a single moving shelf group. FIG. 15 shows a plurality of moving shelf groups a, b, c, d.
Each of the moving shelf groups a, b, c, and d receives the position data transmitted from the plurality of transmitters (A), (B), and (C), and moves the work path (work space) to the designated position. ) Can be formed, and in each of the moving shelf groups a, b, c, and d, a work passage is formed at another designated position while a work passage is formed at the designated position. 1 shows an external appearance of an example of a so-called multi-passage type moving shelf in which a work passage can be formed at a plurality of locations. In the case of a so-called multi-passage type moving shelf, it means that a work passage can be formed at a plurality of locations within one moving shelf group, including a case where there is only one moving shelf group, and FIG. There are multiple moving shelf groups as in the example of
Also includes those in which a work passage can be formed at a plurality of locations within each moving shelf group. Further, some of the moving shelf groups among the plurality of moving shelf groups may be of the multi-passage type.

FIGS. 16 and 17 show an operation example in which the stopping method and the stopping device of the present invention are applied to the multi-passage type moving shelf. The example illustrated in FIG. 16 is substantially the same as the example illustrated in FIG. 8. Basically, the movement of the shelf is started in the determined moving shelf group based on the received position data. It is also determined whether there is received data, and if there is received data before the shelf moves to a predetermined position and the limit switch operates, and if the received data is emergency stop data, it is determined. This is for urgently stopping the movement of the shelves in the moving shelf group. The example shown in FIG. 16 is different from the example shown in FIG. 8 in that when the received data after the movement of the shelf is stopped by the operation of the limit switch is not reset, the process returns to the group determination step again and moves from the received data. The shelf group is determined, the transmitter is further determined, and if the received data is position data, the passage number is determined, and the movement of the shelf is started in the determined moving shelf group to form a work passage. It is a point. Therefore, in the example shown in FIG. 16, work passages can be formed at a plurality of locations within one moving shelf group.

In the example shown in FIG. 16 described above, when one work path is formed at a designated position and then a work path is formed at another position, it does not matter which transmitter the transmitter is. Therefore, for example, after forming a work passage at a designated position of the moving shelf group a using the transmitter (A),
Using the transmitter (C), another position of the moving shelf group a can be designated to form a work path. According to this method, a work path can be formed at an arbitrary position in an arbitrary moving shelf group using an arbitrary transmitter.
It can be said that this system focuses on streamlining the work of dispensing goods.
However, after one transmitter specifies one moving shelf group and forms a work passage, in the moving shelf group,
Only when position data is input from another transmitter, a work path can be formed at another position while the work path is formed. FIG. 17 shows an example of such a case. If the received data is not a reset signal after the movement of the shelf is stopped by the operation of the limit switch, whether the transmitters match, that is, the transmitter that transmitted the first position data, It is determined whether or not the transmitter and the transmitter that transmitted the next position data match. If not, the process returns to the group determination step again. Further, the transmitter is determined. The number is determined, and the movement of the shelf is started in the determined moving shelf group to form a work passage.

Contrary to the example shown in FIG. 17, after the movement of the shelf is stopped by the operation of the limit switch, if the received data is not a reset signal, it is determined whether or not the transmitters match, and the first position data is determined. Only when the transmitter that has transmitted and the transmitter that has transmitted the next position data returns to the group determination step again, further determines the transmitter, and if the received data is position data, determines the path number. Alternatively, the work path may be formed by starting the movement of the shelf in the determined movable shelf group.

In the multi-passage type moving shelf device described above, when a work passage is formed at one designated position, the work passage is maintained unless reset, and the work passage can be formed at another position. In addition, a movable shelf facing the work passage is interlocked to be immovable. Therefore, as shown in FIG. 15, an interlock indicator 85 is provided on the side surface of each movable shelf 1 constituting each group, and the interlock indicator 85 of the movable shelf that has been interlocked is turned on to interlock. It is desirable to be able to clearly recognize from the outside of the moving shelf on which the lighting is applied. Interlock indicator 8
The display method according to 5 is arbitrary, and may be a light-emitting display such as a lamp display or an LED display, a mechanical display, or a display by voice.

As described above, in the multi-passage type moving shelf apparatus, when a work passage is formed at one designated position, the movable shelf facing the work passage is interlocked immovably unless reset. The reset may be performed only by a reset command from the transmitter used to form the work path at the one designated position, or may be performed by a reset command from any transmitter. Is also good.

In the multi-passage type moving shelf apparatus, in order to form a working path at one designated position and then form a working path at another position, the moving shelf is automatically determined by judging a direction having a margin for transition. In such a case, the present invention can be applied to such a system.

The multi-passage type moving shelf described above also has a shelf moving start section and a shelf moving stop section. That is, when the received data is position data, the movement of the shelf is started by controlling the rotation of the drive motor of each shelf to form a work path at a position corresponding to the position data. The CPU 37 shown in FIG. 3 has a shelf running start unit as a functional block. If there is received data between the start of the movement of the shelf and the movement of the shelf to the predetermined position and the operation of the limit switch, and if the received data is an emergency stop signal, the movement of the shelf is stopped. An emergency stop is performed at the site. For example, the CPU 37 shown in FIG. 3 has a shelf movement stop unit as a functional block.

The emergency stop signal is output in the same manner as in the previously described embodiment. For example, a specific operation member such as the stop operation member 30 of at least one of the plurality of transmitters A, B, and C shown in FIG. The output may be performed by operating at least one of predetermined specific operation members among the operation members, or may be output by operating another operation member. Further, as described with reference to FIG. 13, a stop signal transmitting transmitter 58 for transmitting a stop signal by operating and stopping the moving shelf is provided, and the stop signal transmitting transmitter 58 is operated by operating the stop signal transmitting transmitter 58. May be stopped. This stop signal transmitting transmitter 5
8 may be connected to a transmitter as a hand-held operation device, or may be independent of the hand-held operation device. A plurality of the stop signal transmitting transmitters 58 may be provided, and the moving shelf may be stopped when any one of them is operated, or the plurality of transmitters A, B, and C, a stop signal transmitting transmitter 58 is connected to each of them. Even if any one of the stop signal transmitting transmitters 58 is operated,
The moving shelf may be stopped by operation of any one of the hand operation devices.

When a plurality of moving shelf groups are provided, the movement of the shelves of the determined group may be stopped or the movement of the shelves of all groups may be stopped by the output of the emergency stop signal. You may make it do.
In addition, an emergency stop operation similar to the emergency stop operation shown in FIGS. 4, 5, 8, 9, and 10 can be performed in a multi-passage type moving shelf.

In the case where an emergency stop signal is transmitted to each group in a mobile rack in which a plurality of groups of mobile racks are arranged, it has conventionally been considered that the main controller serially transmits the signal to each group. According to
Since an emergency stop signal can be sent to each moving shelf group at the same time in parallel, the moving shelves can be stopped all at once in an emergency, and the line is not blocked.
Reset after stopping is quick, and resumption of movement can be quickly performed.

[0055]

According to the first and fifth aspects of the present invention,
The remote control type moving shelf has a shelf moving start unit for moving the shelf by operating the hand control device, and a stop signal transmitting transmitter for transmitting a stop signal by operating the shelf to stop the moving shelf. Therefore, if the stop signal transmitting transmitter is installed in a prominent position at a prominent position, for example, while the moving shelf is moving, the shelf is likely to hit an operator or a cargo handling device. If a worker is aware of an emergency, such as when the shelf is about to hit a dropped object or when a shelf is about to fall, immediately operate the stop signal transmitter to stop the movement of the shelf. Therefore, it is possible to improve the safety in the case of an emergency and to reliably prevent the damage of the cargo handling device and the article.

According to the second and sixth aspects of the present invention, there are provided a plurality of stop signal transmitting transmitters for transmitting a stop signal when operated, and by operating one of the stop signal transmitting transmitters. In order to stop the moving shelves, the emergency stop signal transmitter can be operated in case of emergency, improving safety in the immediate case and preventing damage to cargo handling equipment and goods. It is even more effective.

According to the third and seventh aspects of the present invention, there is provided a stop signal transmitting transmitter which is connected to the local operation device, transmits a stop signal when operated, and stops the moving shelf. Therefore, when an emergency is required, the moving shelf can be stopped by operating the hand-operated operation device or the transmitter for sending a stop signal, whichever is closer to you. This is effective in improving the quality and preventing damage to cargo handling equipment and articles.

According to the fourth and eighth aspects of the present invention, there is provided a stop signal transmitting transmitter which is connected to each of the plurality of hand operation devices and transmits a stop signal by operating the stop operation device. The operation of the transmitter for
In addition, since the moving shelf is stopped by the operation of any of the hand control devices, when an emergency is required, a plurality of hand control devices and a plurality of stop signal transmitting transmitters are near. By operating the other, the moving shelves can be stopped, which is more effective in improving safety in the case of an emergency and preventing damage to the cargo handling equipment and articles.

According to the ninth aspect of the present invention, if any one of the specific operation members of any of the hand operation devices is operated while the shelf is moving, the moving shelf can be stopped. In the event of an emergency, operating a specific operating member of the hand-held operation device that is nearby can be used to stop the moving shelves in case of an emergency, thus ensuring safety in an emergency. This is effective in improving the quality and preventing damage to cargo handling equipment and articles. According to the tenth aspect of the present invention, in the multi-passage type remote control movable shelf, if any one of the specific operation members of any of the hand operation devices is operated while the shelf is moving, the movable shelf is moved. It is possible to stop a moving shelf by operating a specific operating member of a hand operating device that is close to the hand in a plurality of hand operating devices in an emergency, because the operating shelf can be stopped. It is effective for improving safety in case of emergency and preventing breakage of cargo handling equipment and articles.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of a movable shelf to which the present invention can be applied.

FIG. 2 is a front view showing an example of a hand operation device applicable to the present invention.

FIG. 3 is a block diagram illustrating a circuit example applicable to the present invention.

FIG. 4 is a flowchart showing an embodiment of the present invention.

FIG. 5 is a flowchart showing another embodiment of the present invention.

FIG. 6 is a side view showing another example of the movable shelf to which the present invention can be applied.

FIG. 7 is a side view showing still another example of the movable shelf to which the present invention can be applied.

FIG. 8 is a flowchart showing still another embodiment of the present invention.

FIG. 9 is a flowchart showing still another embodiment of the present invention.

FIG. 10 is a flowchart showing still another embodiment of the present invention.

FIG. 11 is a side view showing still another example of the movable shelf to which the present invention can be applied.

FIG. 12 is a front view showing still another embodiment of the present invention.

FIG. 13 is a front view showing an example of still another hand operation device applicable to the present invention.

FIG. 14 is a flowchart showing a main part of a modified example of the present invention.

FIG. 15 is a plan view showing still another example of a movable shelf to which the present invention can be applied.

FIG. 16 is a flowchart showing still another embodiment of the present invention.

FIG. 17 is a flowchart showing still another embodiment of the present invention.

[Description of Signs] 1 Shelf A, B, C Hand operation device 25, 26, 27 Operating member a, b, c Moving shelf group 30 Specific operating member 58 Stop signal transmitting transmitter

Claims (10)

[Claims] 1. A system comprising: a plurality of shelves movably arranged; and a hand operation device. The operation of the hand operation device moves the shelves to form a work space at a designated position. A remote control type movable shelf capable of moving a shelf by operating a hand control device, and a stop signal transmitting transmitter for transmitting a stop signal to stop the moving shelf by operating the shelf. And a remote control movable shelf. 2. A storage device comprising: a plurality of shelves movably arranged; and a hand operation device. The operation of the hand operation device moves the shelves to form a work space at a designated position. A remote control type movable shelf, comprising: a shelf movement start unit for moving the shelf by operating a hand operation device; and a plurality of stop signal transmitting transmitters for transmitting a stop signal by operating the shelf. By operating the transmitter for transmitting the stop signal of
A remote-controlled moving shelf that stops a moving shelf. 3. A storage device comprising: a plurality of shelves movably arranged; and a hand operation device, wherein the operation of the hand operation device moves the shelves to form a work space at a designated position. A remote control type movable shelf capable of moving a shelf by operating a hand control device, and a stop signal transmitted by operating the hand control device and transmitting a stop signal to operate the shelf. A remote control movable shelf, comprising a transmitter for transmitting a stop signal for stopping. 4. It has a plurality of shelves arbitrarily arranged and a hand operation device, and the shelves are moved by operation of the hand operation device to form a work space at a designated position. A remote control type movable shelf, wherein a plurality of the hand control devices are used, and a shelf movement start unit for moving the shelf by operating one hand control device; and each of the hand control devices is connected and operated. A stop signal transmitting transmitter for transmitting a stop signal, wherein the moving shelf is stopped by operation of any of the stop signal transmitting transmitters or by operation of any of the hand control devices. Characterized by a remote control movable shelf. 5. It has a plurality of shelves movably arranged and a hand operation device, and the shelves are moved by operating the hand operation device to form a work space at a designated position. A remote control movable shelf capable of forming a work space at another designated position while forming the work space, wherein a shelf movement start unit for moving the shelf by operating a local operation device; And a transmitter for transmitting a stop signal to stop the moving shelf. 6. It has a plurality of shelves movably arranged and a hand operation device, and the shelves are moved by operating the hand operation device to form a work space at a designated position. A remote control movable shelf capable of forming a work space at another designated position while forming the work space, wherein a shelf movement start unit for moving the shelf by operating a local operation device; A plurality of transmitters for transmitting a stop signal by transmitting a stop signal by operating any of the transmitters for transmitting a stop signal.
A remote-controlled moving shelf that stops a moving shelf. 7. It has a plurality of shelves movably arranged and a hand operation device, and the shelves are moved by operating the hand operation device to form a work space at a designated position. A remote control-type movable shelf capable of forming a work space at another designated position while forming the work space, wherein the shelf movement start unit moves the shelf by operation of a hand operation device; A remote control type mobile shelf, comprising: a stop signal transmitting transmitter that is connected to the hand operation device, emits a stop signal when operated, and stops the moving shelf. 8. It has a plurality of shelves movably arranged and a hand operation device, and the shelves are moved by operating the hand operation device to form a work space at a designated position. A remote control type mobile shelf capable of forming a work space at another designated position while forming the work space, wherein a plurality of the hand control devices are used, and a single hand control device is operated. A shelf movement start unit for moving a shelf; and a stop signal transmitting transmitter connected to each of the hand operation devices and transmitting a stop signal by operating the same, and operation of any of the stop signal transmitting transmitters And a moving shelf is stopped by the operation of any of the hand control devices. 9. It has a plurality of shelves movably arranged and a hand operation device, and the shelves are moved by operating the hand operation device to form a work space at a designated position. A remote control type movable shelf capable of moving a shelf by operating a hand operation device, a plurality of the hand operation devices, and a specification for transmitting a stop signal to each hand operation device. A remote control type movable shelf, wherein the moving shelf is stopped by operating one of the specific operating members of each hand-operated operating device. 10. A system comprising: a plurality of shelves movably arranged; and a hand operation device, wherein the shelves are moved by operating the hand operation device to form a work space at a designated position. A remote control movable shelf capable of forming a work space at another designated position while forming the work space, the shelf having a shelf movement start unit for moving the shelf by operation of a hand operation device. Using a plurality of the above-mentioned hand operation devices, each hand operation device is provided with a specific operation member for transmitting a stop signal, and one of the specific operation members of each hand operation device is operated. A remote-controlled moving shelf, wherein the moving shelf is stopped.