JPH1199020A - Motor-driven type moving shelf device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve safety by detecting the collision with an obstacle of a shelf during movement by utilizing the change of traveling pulses while moving the shelf and stopping the movement of the shelf in a device for which a plurality of movable shelves are arrayed in a closely formed state and a passage for work is formed by moving the shelves at the time of taking articles in and out. SOLUTION: When a passage switch, S4 for instance, is pressed and a passage selecting operation is performed, the shelf B starts left movement by the operation of a motor M1 first and an uncontact/contact detection switch LS2 is turned ON accompanying the movement of the shelf B. Then, after the lapse of time set beforehand in a delay circuit, the motors M2 and M3 are operated and the shelves C and D also simultaneously start the left movement. At the time, when the obstacle is present within the passage 1, the obstacle is abutted to the shelf B and the moving speed of the shelf B is lowered during the movement of the shelf B, delay traveling pulses are generated from a traveling pulse generation means RC1. The cycle D of the delay traveling pulses is compared with a reference pulse cycle S, and in the case of not D<S, the motor M1 is stopped and the movement of the shelf B is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method in which a plurality of movable shelves are arranged in a dense state while leaving an extra space corresponding to a work passage, and the shelves are moved at the time of article delivery to form a work passage. Moving shelf device using a relatively small reversible motor for storing books, documents, small articles, etc., particularly in a closed passage that hinders running of the shelf while moving the shelf The present invention relates to an improvement of a safety device that can detect the presence of an obstacle on a shelf surface and immediately stop the vehicle when a traveling obstacle occurs.

[0002]

2. Description of the Related Art In a conventional electric movable shelf, a plurality of movable shelves are arranged densely while leaving a marginal space corresponding to a work passage. A working passage is formed between each other.
When these shelves are moving, the electrical interlock is released, and if an article, a wheelbarrow, or the like is left behind or a person is in the closed passage, the only way to detect these and stop the shelves is to stop them. As the stopping means, a safety bar device provided in a band along the storage surface of the shelf is widely used.

In the case of an object that does not touch the safety bar device, an obstacle cannot be detected, so that the object is caught between shelves, damaging the speed reducer, or restricting the reversible motor from rotating. After a certain period of time, the motor circuit is shut off using a timer or the like. Further, a method of detecting a load current of a reversible motor with a thermal relay, a current detector, or the like and shutting off a motor circuit has been used. However, even if such a method is used, the shelves cannot be stopped promptly. Therefore, as a secondary means, all the rows of the shelves are moved sequentially, and the traveling pressing force of the shelves received in the closed passage is reduced by one row. They try to reduce the risk by keeping it to a minimum.

[0004]

In the above-mentioned stopping means in the passage where the moving shelf is closed, it is essential that an obstacle comes into contact with the safety bar device.
In the case of a human body, it is necessary to intentionally activate the safety bar. In addition, although a stop device using a photoelectric sensor is also used, similar to the above-described safety bar device, since it is present only in a very limited part along the storage surface of the shelf, it cannot be detected depending on the shape of the obstacle. There were challenges.

Further, the safety bar device increases the cost and hinders the handling of the stored items. In many cases, the safety bar device is provided only on one side of the storage surface of the shelf. This has the disadvantage of not being able to do so. In addition, in order to detect a driving failure based on the load current of the motor, the motor capacity and the number of mounted motors, the used power supply voltage, the power supply frequency, and the like are different from each other, so that a uniform response cannot be taken. The small reversible motor has a problem that a current change value due to a change in load is small, and it is difficult to stop a shelf by quickly detecting a traveling obstacle during normal traveling.

Further, in the method of sequentially moving the shelves, since there is a space between the shelves, it takes time to open the passage if there are many moving shelves, and it is necessary to sequentially start the shelves. There has been a problem that shelf shake, noise, and the like are likely to occur.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and it is possible to detect obstacles and the like in a passage to be closed over a wide area of the storage surface of the shelf while keeping the traveling pressing force of the shelf at a minimum. In this way, while further securing the safety of the human body, shortening the passage opening / closing time, reducing shelf shaking and noise generation, a movable shelf with a small traveling pressing force does not require a safety bar device, And cost reduction,
Also, if an earthquake horizontal force occurs that could cause the moving shelves to be disturbed during the occurrence of an earthquake, the shelves should be stopped immediately if there is a situation that hinders the shelves, such as automatically stopping. It is an object of the present invention to provide a mobile shelf device.

[0008]

SUMMARY OF THE INVENTION According to the present invention, a plurality of traveling wheels rolling on rails are mounted on the bottom of the traveling wheels, and at least a part of the traveling wheels is provided on a reversible motor provided on each of the traveling wheels. A plurality of movable shelves, which are configured to rotate in conjunction with each other and have a separation / separation detection switch for detecting separation / separation between adjacent shelves, are arranged with a margin space corresponding to a work passage, and At the time of receipt and receipt, the movable shelf is moved by the operation of the passage selecting means, and in the electric movable shelf configured to form a work passage between the shelves where goods are to be delivered and received, in order to form the work passage, When the plurality of movable shelves between the passage selected by the passage selection means and the passage to be closed move, a row of movable shelves facing the closed passage starts moving first, and at a certain interval, The movable shelves in the second and subsequent rows are at the same time Control means for controlling to start the movement, travel pulse generating means provided for each of the movable shelves and generating a travel pulse in response to a movement speed of the movable shelf, and synchronized with the travel pulse, and Reference pulse cycle setting means for setting a reference pulse cycle slightly larger than the cycle of the traveling pulse generated during normal traveling of the movable shelf, and comparing the traveling pulse cycle with the reference pulse cycle, wherein the traveling pulse cycle is Pulse cycle comparison control means for issuing a stop signal when the reference pulse cycle is larger than the reference pulse cycle, wherein the traveling pulse of the movable shelf is moved during the movement of the movable shelf facing the closed passage so as to form the work passage. Means for stopping the movable shelf when the cycle exceeds the set reference pulse cycle, or a plurality of running wheels rolling on rails. And JikuSo in part,
At least a part of the traveling wheels is configured to be driven to rotate in conjunction with a reversible motor provided in each of the traveling wheels, and is provided with a disengagement detection switch for detecting disengagement between adjacent shelves. A plurality of shelves are arranged with a marginal space corresponding to a work passage, and at the time of article delivery, the movable shelf is moved by operation of a passage selecting means to form a work passage between the shelves where articles should be taken in and out. When the plurality of movable shelves between the passage selected by the passage selecting means and the closed passage move to form the work passage, the movable passage faces the closed passage. One row of movable shelves starts moving first, and after a certain interval,
Control means for controlling the movable shelves in the second and subsequent rows to start moving at the same time; traveling pulse generating means provided for each movable shelf and generating a traveling pulse in response to the moving speed of the movable shelf; A reference pulse width setting unit that sets a reference pulse width that is slightly larger than the width of the traveling pulse generated during normal traveling of the movable shelf, in synchronization with the traveling pulse, and the traveling pulse width and the reference pulse width. Compare,
Pulse width comparison control means for issuing a stop signal when the traveling pulse width is larger than the reference pulse width, wherein the movable shelf facing the closed passage is moved to form the work passage. The above problem is solved by adopting any one of means for stopping the movable shelf when the traveling pulse width of the movable shelf exceeds the set reference pulse width.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a front view showing an arrangement and appearance of shelves in a state in which a passage 1 serving as a spare space corresponding to a work passage is formed in the apparatus of the present invention, and is laid on a floor. The fixed shelves A and F are arranged at both ends of the rail R, and the movable shelves B and C are located between the fixed shelves A and F.
D and E are arranged on the rail R so as to be movable in the left-right direction via running wheels.

The fixed shelves A and F and the movable shelves B, C and D
Of the E, the fixed shelves A and F are arranged as necessary, but may not be provided or may be wall surfaces. In the embodiment of the present invention, fixed shelves A and F will be described for convenience of explanation.

[0011] Between the shelves A, B, C, D, E and F,
Passages 1, 2, 3, 4, and 5 can be formed between adjacent shelves, and in FIG. 1, the movable shelves B, C, D, and E are moved to the right side to be dense, and the passage 1 portion is maximized. It is widely opened and used as a passage for accounting work, so that accounting work can be performed smoothly.

Below the movable shelves B, C, D and E,
The self-propelled reversible motors M1, M2, M3, and M4 are mounted on the movable shelves B, C, D, and E, respectively. The driven traveling wheels W, which are mounted on the bottoms of the shelves B, C, D, and E, are driven and rotated in accordance with the rotation of the driving traveling wheels DW to travel on the rails R.

On the front side of each of the movable shelves B, C, D, E, a passage switch (passage selecting means) S1, S2, S2 ', S3, S3' for forming a work passage between desired shelves.
・ S4 ・ S4 ′ ・ S5 and each movable shelf B ・ C ・ D ・ E
Shelf control device CU1, CU2, CU for controlling the movement of
3 and CU4 are installed, and a separation detection switch LS1, LS2, LS3 for detecting separation or separation from an adjacent shelf is provided at a lower portion of the storage surface side of each of the movable shelves B, C, D, and E.
・ LS4 and LS5 are attached respectively.

The path switches S1, S2, S2 'and S
3, S3 ', S4, S4', S5 are switches for selecting a path between the shelves, of which S1 and S2 are movable shelves B
Are attached to both ends in front of the
Is a switch for selecting the path 1 between the fixed shelf A and the movable shelf B, and S2 is a switch for selecting the path 2 between the movable shelves B and C, respectively.
S2 'and S3 are respectively attached to both ends in the front of the movable shelf C. S2' selects the passage 2 between the movable shelves B and C, and S3 selects the passage 3 between the movable shelves C and D. Switch.

Further, S3 'and S4 are respectively attached to both ends in front of the movable shelf D, S3' is a passage 3 between the movable shelves C and D, and S4 is a passage 4 between the movable shelves D and E. Switches S4 'and S5 are respectively mounted at both ends in front of the movable shelf E, S4' is a passage 4 between the movable shelves DE and S5, and S5 is a switch between the movable shelf E and the fixed shelf F. These switches are used to select each of the paths 5 between them.

The separation / contact detection switches LS1, LS2, L
S3, LS4, and LS5 are detection switches for detecting whether adjacent shelves are separated or in contact with each other. Among them, LS1 and LS2 are attached to lower portions of both sides of the movable shelf B, respectively. The one-way separation / separation detection switch LS1 is a detection switch for detecting the separation / separation between the fixed shelf A and the movable shelf B, and the other-side separation / separation detection switch LS2 is a movable shelf B ·
This is a detection switch for detecting the connection and disconnection of C.

The separation / separation detection switch LS3 is connected to the movable shelf C.
Is a detection switch that is attached to the lower part of the other side surface of the movable shelf and detects whether the movable shelves C and D are connected or disconnected. Similarly, the separation / separation detection switch LS4 is attached to the lower part of the other side of the movable shelf D to detect the separation of the movable shelves D and E, and the separation / detection switch LS5 is attached to the lower part of the other side of the movable shelf E. Then, the separation and approach of the movable shelf E and the fixed shelf F is detected.

FIG. 2 is a bottom view of the traveling underframe of each movable shelf, and shows two traveling underframes 11 arranged in parallel at an interval.
In FIG. 2, two wheel frames 12 are connected and fixed at a right angle with a plurality of pairs (three pairs in FIG. 2) at intervals corresponding to the wheel width.

A single rotating shaft 13 is rotatably supported by each of the wheel frames 12 near one of the traveling frame frames 11 of the traveling frame frame 11. Driving wheels DW are fixed to the rotating shaft 13, and a reversible motor M is fixed to a wheel frame 12 located at the center, and the reversible motor M is connected to the rotating shaft via a reduction gear GH and a gear G. 13, the rotating shaft 13 is rotated by driving a reversible motor M,
The driving traveling wheel DW is configured to be rotationally driven.

Each of the driven traveling wheels W is rotatably mounted on a respective wheel frame 12 of the traveling underframe 11, which is closer to the traveling underframe 11 on the other side. It is mounted on the rail R together with the driving wheels DW, and the respective driving wheels DW are rotated by the driving of the reversible motor M, so that the racks are driven to rotate on the rails R and the shelves travel.

Each of the driven wheels W located at the center has a traveling pulse generated in response to the rotation speed of the driven wheels W which is proportional to the moving speed of the movable shelves BE. Means RC (RC1 to R in FIG. 1)
C4) are respectively attached.

FIG. 3 is an enlarged side view of a main part showing a mounted state of running pulse generating means RC (RC1 to RC4) attached to a wheel shaft interlocked with a driven running wheel W mounted on a movable shelf. FIG. 4 is a perspective view of the running pulse generating means RC.

As shown in FIG. 3, the driven traveling wheel W has a wheel shaft 15 rotatably supported by a wheel frame 12 via a bearing 16 and is mounted on a rail R. A running pulse generating means RC is attached to an outer portion of the wheel shaft 15 of W.

Although there is no particular limitation on the running pulse generating means RC, it is recommended to use those shown in FIGS. 3 and 4. That is, a rotation detection object 18 formed of a disk having a large number of through holes 17 formed in the circumferential direction at a fixed interval at a tip end of a wheel shaft 15 projecting outward from a bearing 16 of the driven traveling wheel W. In addition to being fixed, the lower part of the mounting plate 19 fixed to the traveling underframe 11 above the rotation detecting object 18 is vertically provided so as to sandwich the circumferential part of the rotation detecting object 18, and is provided in the through hole 17. A traveling pulse generating means RC is provided at a position facing the traveling pulse generating means 22 including a traveling pulse generating sensor 22 having a light emitting element 20 and a light receiving element 21 opposed to each other. In FIG. 4, the rotation detecting object 18 has a rectangular hole in the through hole 17, but may be a disk or a gear having a round hole.

With the rotation of the driven traveling wheel W, the rotation detecting object 18 also rotates, and light from the light emitting element 20 passes through the through hole 1.
7, the light from the light emitting element 20 is received by the light receiving element 21. When the light from the light emitting element 20 strikes the board between the through holes 17, the light does not reach the light receiving element 21 and is blocked. It is configured to generate a pulse.
In FIGS. 2 and 3, the rotation detection object 18 is provided on the wheel shaft 15 of the driven traveling wheel W, but may be provided on the rotation shaft 13 or the like that rotates in conjunction with the reversible motor M.

FIG. 5 is a block diagram of the moving shelf control device. The control device CU1 of the movable shelf B includes a passage switch S1.
A function of selectively forming the passages 1 and 2 by the operation signal of S2 is provided, and the operation of the reversible motor M1 is controlled by the detection signals of the separation / separation detection switches LS1 and LS2, so that the movable shelf B travels, and further, traveling pulse generating means. A control unit is provided for controlling the continuous movement or stop of the movable shelf B by inputting the detection signal of RC1.

The control unit CU2 of the movable shelf C has a function of selectively forming the passages 2.3 by operation signals of the passage switches S2 'and S3, and the separation / separation detection switches LS2 and LS3.
The control signal of the reversible motor M2 is controlled by the detection signal of the above, the movable shelf C is run, and the running pulse generating means RC2
Is provided, the controller controls the continuous movement or stop of the movable shelf C when the detection signal is input.

Further, the control device CU3 of the movable shelf D has a function of selectively forming the passages 3 and 4 by operating signals of the passage switches S3 'and S4, and the separation / separation detection switches LS3 and LS4.
Control of the reversible motor M3 based on the detection signal of step (3) to move the movable shelf D,
The control unit controls the continuous movement or stop of the movable shelf D when the detection signal is input.

Further, the control device CU4 of the movable shelf E is
It has a function of selectively forming the passages 4 and 5 in response to operation signals of the passage switches S4 'and S5.
The operation of the reversible motor M4 is controlled by the detection signal of S5, the movable shelf E travels, and the traveling pulse generating means R
A control unit is provided for controlling the continuous movement or stop of the movable shelf E by inputting the detection signal of C4.

Control units CU1 to CU for the movable shelves BE
4 are connected to each other. For example, when all of the movable shelves among the movable shelves B to E or a plurality of adjacent movable shelves move in the same direction, control of the movable shelf which moves to the top is performed. A function of outputting various information obtained by the device or commands according to various commands output by the control device of the movable shelf for moving the head to the movable shelf responsible for itself, and a movable shelf for moving the head. After the start of the traveling of the vehicle, there is also provided a delay circuit in which the other movable shelves simultaneously move at a fixed time.

The first embodiment of the present invention for detecting the presence or the like of an obstacle in the closed passage on the shelf surface, which inhibits the travel of the shelf during movement of the movable shelf facing the closed passage, is a movable shelf. A traveling pulse generating means for generating a traveling pulse in response to the traveling speed of the movable shelf; and a reference pulse period synchronized with the pulse generated by the traveling pulse generating means and slightly larger than a period of the traveling pulse generated during normal traveling of the movable shelf. A pulse cycle comparison control means for comparing the running pulse cycle with the reference pulse cycle, and when the running pulse cycle is longer than the reference pulse cycle, outputting a stop signal. This is a method of detecting the occurrence of a running obstacle periodically. In the second embodiment of the present invention, which detects the presence of an obstacle in the closed passage, which inhibits travel of the shelf during movement of the movable shelf facing the closed passage, on the shelf surface, A traveling pulse generating means for generating a traveling pulse in response to the traveling speed; and a reference pulse width synchronized with the pulse generated by the traveling pulse generating means and slightly larger than a width of the traveling pulse generated during normal traveling of the movable shelf. Reference pulse width setting means for setting, comparing the running pulse width with the reference pulse width, and when the running pulse width is larger than the reference pulse width, a pulse width comparison control means for issuing a stop signal, comprising: This is a method for detecting the occurrence of a driving obstacle. In the first embodiment, one cycle of the running pulse is compared with the reference pulse cycle. However, the same effect can be obtained by comparing a plurality of running pulse cycles with the reference pulse cycle.

FIG. 6 is a diagram showing a pulse waveform of the traveling pulse generating means on the movable shelf. In the figure, PC indicates a constant traveling pulse period (during normal traveling), and PH indicates a constant traveling pulse width (during normal traveling). Show. In addition, PC-D (PC-D ', PC-D
D ″,...) Is a delayed running pulse period when a running obstacle occurs, and PH-D is a delayed running pulse width when a running obstacle occurs. As shown in FIG. Since the moving speed is constant, the same pulse waveform is repeated regularly.The lower part is the pulse waveform at the time of occurrence of a traveling obstacle of the movable shelf, and the traveling of the shelf is hindered by the existence of obstacles, etc. Since the moving speed is reduced, the running pulse period and the running pulse width are both longer and longer than those in the upper stage.

FIG. 7 shows that the movable shelf B facing the passage (passage 1) which is closed by normal running starts from the state where the passage 1 shown in FIG. This is a flowchart in which the movable shelves C and D start moving at the same time to form the passage 4, and a process of detecting a traveling obstacle during normal traveling is omitted. First, when the power is turned on and the passage switch S4 is pressed to perform a passage selecting operation by the passage selecting means (step 51), the motor M1 rotates counterclockwise and the shelf B
Starts moving to the left (step 52), and the movement detection switch LS2 is turned on with the movement of the shelf B (step 53). Then, the switch LS2 is turned on.
Then (step 53), the delay circuit is activated (step 54), and after a lapse of a preset time in the delay circuit,
The motors M2 and M3 rotate counterclockwise, and the shelves CD start simultaneously moving to the left (step 55). Then, when the separation / separation detection switch LS1 of the shelf B, which has started moving earlier, comes into contact with the fixed shelf A, the switch is turned off (step 56), the motor M1 stops, and the shelf B stops (step 57). Thereafter, when shelves C and D, which have started moving simultaneously to the left, come into contact with shelf B, separation / separation detection switch LS2 is turned off (step 58), motors M2 and M3 are stopped, and shelves C and D are simultaneously moved. After stopping (step 59), the passage 4 is formed (step 60), and the accounting operation becomes possible.

The above-mentioned delay circuit is provided to allow an interval until the shelf facing the closed passage moves first and the second and subsequent rows start moving.
The shelves after the row do not stop rear-end collision. In addition,
The return point of the separation / contact detection switch is long, and the
This is unnecessary if rear-end collision does not occur even if the vehicle starts in the second row. Further, by moving one row of shelves facing the closed passage first, the traveling pressing force received in the closed passage can be minimized, and by moving the shelves in the second and subsequent rows simultaneously, The opening / closing time can be shortened, and the shelf can be prevented from shaking, thereby suppressing noise generation.

FIGS. 8 to 10 show the first embodiment in which the movable shelf is stopped by detecting the occurrence of a running obstacle in a pulse cycle. FIG. 8 is a block diagram showing a control unit for the running pulse cycle. 9 is a diagram showing a comparison of the pulse periods, and FIG. 10 is a flow chart for explaining an operation of stopping when a delayed running pulse period is generated.

As shown in FIG. 8, when the traveling pulse period is inputted from the traveling pulse output means and the traveling pulse generating means to the pulse input circuit, the traveling pulse period control units CU1 to CU4 output the output signals. The reference pulse period is input to the reference pulse period setting means, and a reference pulse period that is synchronous with the traveling pulse and slightly larger than the traveling pulse period generated during the normal traveling of the movable shelf is set. Then, the output signal is input to the pulse cycle comparison control means, and it is determined whether or not the running pulse cycle from the running pulse generating means is longer than the reference pulse cycle. A movable shelf control signal is input to the movable shelf control circuit to continuously move the movable shelf, and if the signal is longer than the reference pulse period, a stop signal for stopping the movable shelf is input to the movable shelf control circuit to stop the movable shelf. It is configured to be.

As shown in FIG. 9, the reference pulse period in the present invention is set by the reference pulse period setting means at a period slightly larger than the constant traveling pulse period. In the change of the cycle,
The movable shelf can be moved continuously.

FIG. 10 is a flowchart in which a traveling obstacle occurs when the passage 4 is formed from the state in which the passage 1 shown in FIG. 1 is opened, and the shelf stops at the occurrence of the delayed traveling pulse period. The operation will be described. First, when the power is turned on and the passage switch S4 is pressed to perform a passage selecting operation by the passage selecting means (step 61),
The motor M1 rotates left and the shelf B starts moving left (step 62), and the movement detection switch LS2 is turned on with the movement of the shelf B (step 63). Then, when the separation / contact detection switch LS2 is turned on (step 63),
The delay circuit is activated (step 64), and after a lapse of time set in advance by the delay circuit, the motors M2 and M3 rotate counterclockwise and the shelves CD start simultaneous movement to the left (step 6).
5).

During this time, when the shelf B normally travels (moves at a constant speed at the shelf B) (step 66), the traveling pulse generating means generates a constant traveling pulse (PC) (step 67) and the reference pulse cycle setting means. Synchronized reference pulse period (PC
-S) is set (step 68), and the period (PC) of the constant traveling pulse is compared with the reference pulse period (PC-S) by the pulse period comparison control means (step 69). In the case of S, the shelf B continuously moves (step 70).

During the continuous movement of the shelf B (step 70), there is an obstacle in the passage 1 or the worker presses the moving shelf. Abuts on the shelf B (step 71), and a traveling obstacle occurs and the moving speed of the shelf B decreases (step 7).
2) The delayed running pulse (PC-
D) occurs (step 73), the synchronized reference pulse cycle (PC-S) is set by the reference pulse cycle setting means (step 74), and the cycle of the delayed running pulse (PC-PC) is set by the pulse cycle comparison control means. D) is compared with the reference pulse period (PC-S) (step 75). If the pulse period is not PC-D <PC-S, the motor M1 stops and the shelf B stops (step 76). Then, when the shelves C and D, which are subsequently moving simultaneously at a certain interval, come into contact with the shelves B, the separation detection switch LS2 is turned off (step 77), the motors M2 and M3 are stopped, and the shelves C and D are stopped. D stops at the same time (step 78).

FIGS. 11 to 13 show the second embodiment in which the movable shelf is stopped by detecting the occurrence of a running obstacle based on the pulse width. FIG. 11 is a block diagram showing a running pulse width control unit. 12 is a diagram showing a comparison of the pulse widths, and FIG. 13 is a flow chart for explaining the operation of stopping when the delayed running pulse width is generated.

As shown in FIG. 11, when the traveling pulse width is supplied from the traveling pulse output means and the traveling pulse generating means to the pulse input circuit, the traveling pulse width control units CU1 to CU4 output the output signals. The reference pulse width is input to the reference pulse width setting means, and is set to a reference pulse width synchronized with the traveling pulse and slightly larger than the width of the traveling pulse generated during normal traveling of the movable shelf. Then, the output signal is input to the pulse width comparison control means, and it is determined whether or not the traveling pulse width from the traveling pulse generation means is larger than the reference pulse width. A movable shelf control signal is input to the movable shelf control circuit to continuously move the movable shelf, and if the signal is larger than the reference pulse width, a stop signal for stopping the movable shelf is input to the movable shelf control circuit to stop the movable shelf. It is configured to be.

As shown in FIG. 12, the reference pulse width in the present invention is set by the reference pulse width setting means so as to be slightly larger than the constant traveling pulse width. The change in width allows the movable shelf to be moved continuously.

FIG. 13 is a flowchart in which a traveling obstacle occurs when the passage 4 is formed from the state in which the passage 1 shown in FIG. 1 is opened, and the shelf stops due to the generation of the delayed traveling pulse width.
The operation will be described with reference to the flowchart. First, when the power is turned on and the passage switch S4 is pressed to perform a passage selecting operation by the passage selecting means (step 81), the motor M1 rotates left and the shelf B starts moving left (step 82). With the movement of B, the separation / contact detection switch LS2
Is turned ON (step 83). When the separation / separation detection switch LS2 is turned on (step 83), the delay circuit is activated (step 84), and after a lapse of a preset time in the delay circuit, the motors M2 and M3 are rotated counterclockwise to move the shelf. CD starts simultaneous movement to the left (step 85).

During this time, when the shelf B normally travels (moves at a constant speed at the shelf B) (step 86), a constant traveling pulse (PH) is generated from the traveling pulse generating means (step 87), and the reference pulse width setting means sets the pulse. Synchronized reference pulse width (PH-
S) is set (step 88), and the pulse width comparison control means compares the width (PH) of the constant running pulse with the reference pulse width (PH-S) (step 89), so that the pulse width is PH <PH-S. , The shelf B continues to move (step 90).

During the continuous movement of the shelf B (step 90), there is an obstacle in the passage 1 or an operator presses the moving shelf. Abuts on the shelf B (step 91), and a traveling obstacle occurs to reduce the moving speed of the shelf B (step 9).
2) The running pulse (PH-
D) occurs (step 93), the synchronized reference pulse width (PH-S) is set by the reference pulse width setting means (step 94), and the width (PH-) of the delayed running pulse is set by the pulse width comparison control means. D) and reference pulse width (PH-S)
Are compared (step 95), and if the pulse width is PH-D <P
If not HS, the motor M1 stops and the shelf B stops (step 96). Then, when the shelves C and D, which are subsequently moving at the same time after a certain interval, come into contact with the shelf B, the separation detection switch LS2 is turned off (step 97), the motors M2 and M3 are stopped, and the shelves C and D are stopped. D stops at the same time (step 98).

[0047]

According to the present invention having the above-described structure, the movable shelf facing the closed passage is moved first to form a work passage by operating the passage selecting means at the time of article delivery and unloading. During traveling, the traveling pulse generating means generates a traveling pulse in response to the traveling speed of the shelf, compares the traveling pulse with a reference pulse period slightly larger than the period of the constant traveling pulse when the shelf normally travels, Obstacles abut,
For example, when the shelf is held down by human power, the running resistance of the shelf increases and the moving speed of the shelf decreases, so that the cycle of the running pulse becomes large. Can be stopped, so that the electric moving shelf device is extremely safe for the cashier. Also, by detecting a decrease in the moving speed based on the width of the traveling pulse instead of the period of the traveling pulse, the same effect as in the case of detecting based on the traveling pulse period can be obtained.

[Brief description of the drawings]

FIG. 1 is a front view of an electric moving shelf device according to the present invention.

FIG. 2 is a bottom view of a traveling underframe of a movable shelf in the electric movable shelf device.

FIG. 3 is an enlarged side view showing a rotation detection object and a traveling pulse generating sensor which constitute traveling pulse generating means and are fixed to a wheel shaft interlocking with a driven traveling wheel of a movable shelf in the electric movable shelf device. .

FIG. 4 is a perspective view of a traveling pulse generating means in the electric moving shelf device.

FIG. 5 is a block diagram of a moving shelf control device in the electric moving shelf device.

FIG. 6 is a diagram showing a pulse waveform of a traveling pulse generating means in the electric moving shelf device.

FIG. 7 is a flowchart illustrating an operation when a work passage is formed in the electric moving shelf device.

FIG. 8 is a block diagram showing a control unit of the traveling pulse cycle when detecting a decrease in the traveling speed in the traveling pulse cycle in the electric movable shelf device.

FIG. 9 is a diagram showing a comparison of pulse periods when detecting a decrease in moving speed in a running pulse period in the electric moving shelf device.

FIG. 10 is a flowchart illustrating an operation of the electric moving shelf device, which stops when a delayed traveling pulse period is generated when a decrease in traveling speed is detected at the traveling pulse period.

FIG. 11 is a block diagram showing a control unit of the traveling pulse width when detecting a decrease in the traveling speed based on the traveling pulse width in the electric movable shelf device.

FIG. 12 is a diagram showing a comparison of pulse widths when detecting a decrease in moving speed based on a running pulse width in the electric moving shelf device.

FIG. 13 is a flowchart illustrating an operation of the electric movable shelf apparatus, which stops when a delayed traveling pulse width is generated when a decrease in traveling speed is detected based on a traveling pulse width.

[Explanation of symbols]

A / F fixed shelf, BE movable shelf, 1-5 passage formed between each shelf, S1-S5 / S2'-S4 'passage selecting means, CU1-CU4 movable shelf control device, LS
1 to LS5 Separation detection switch, M (M1 to M4)
Reversible motor, RC (RC1 to RC4) running pulse generating means, DW driven running wheel, W driven running wheel.

Claims (2)

[Claims] 1. A plurality of running wheels rolling on a rail are mounted on a bottom portion thereof, and at least a part of the running wheels is driven to rotate in conjunction with a reversible motor provided on each of the running wheels. In addition, a plurality of movable shelves having a separation / separation detection switch for detecting separation / separation between adjacent shelves are arranged with a spare space corresponding to a work passage, and at the time of article loading / unloading, operation of the passage selection means is performed. An electric movable shelf configured to move the movable shelf and form a work passage between the shelves where articles are to be stored and received; a passage selected by the passage selecting means to form the work passage; Movable shelf 1 facing the closed passage when the plurality of movable shelves between the movable shelf 1 and the closed passage move
Control means for controlling the rows so as to start moving first, and at a certain interval, moving the movable shelves in the second and subsequent rows at the same time; and the moving speed of the movable shelves provided for each of the movable shelves. A traveling pulse generating means for generating a traveling pulse in response to the reference pulse period, and a reference pulse period synchronous with the traveling pulse and setting a reference pulse period slightly larger than a period of the traveling pulse generated during normal traveling of the movable shelf. Setting means, comparing the running pulse cycle with the reference pulse cycle, and, when the running pulse cycle is greater than the reference pulse cycle, having a pulse cycle comparison control means for issuing a stop signal; Forming the movable shelf when the traveling pulse period of the movable shelf exceeds the set reference pulse period while the movable shelf facing the closed passage is moving; An electric moving shelf device, comprising: 2. A plurality of running wheels rolling on a rail are mounted on a bottom portion thereof, and at least a part of the running wheels is driven to rotate in conjunction with a reversible motor provided on each of the running wheels. In addition, a plurality of movable shelves having a separation / separation detection switch for detecting separation / separation between adjacent shelves are arranged with a spare space corresponding to a work passage, and at the time of article loading / unloading, operation of the passage selection means is performed. An electric movable shelf configured to move the movable shelf and form a work passage between the shelves where articles are to be stored and received; a passage selected by the passage selecting means to form the work passage; Movable shelf 1 facing the closed passage when the plurality of movable shelves between the movable shelf 1 and the closed passage move
Control means for controlling the rows so as to start moving first, and at a certain interval, moving the movable shelves in the second and subsequent rows at the same time; and the moving speed of the movable shelves provided for each of the movable shelves. And a reference pulse width for setting a reference pulse width synchronized with the travel pulse and slightly larger than the width of the travel pulse generated during normal travel of the movable shelf. Setting means, comparing the running pulse width with the reference pulse width, and, when the running pulse width is larger than the reference pulse width, having pulse width comparison control means for issuing a stop signal; Forming the movable shelf when the traveling pulse width of the movable shelf exceeds the set reference pulse width during the movement of the movable shelf facing the closed passage. Features and Electric moving shelf device.