JPH0219044B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a movable shelf device that can be remotely controlled by radio.

A plurality of movable shelves are driven by a driving motor and are arranged in parallel so that they are closely spaced and can form a working path between them, and each movable shelf is provided corresponding to the path that should be formed between the movable shelves. an aisle selection switch; a determination circuit that determines the movable shelf to be moved and the direction of movement thereof based on the relationship between the aisle position specified by the selection operation of the aisle selection switch and the position of the movable shelf at that time; A movable shelf device is already known which includes a drive circuit that moves the movable shelf according to the determination of the movable shelf.

Loading and unloading of articles to and from such movable shelving devices may be carried out using a forklift or the like, and in that case, it would be convenient if the operator of the forklift could operate the forklift remotely by radio from the top of the forklift. If the movable shelving system can be operated remotely rather than directly and manually, there will be no chance of accidentally getting caught between the shelves, and there will be less chance of injury if an item stored on the shelf falls on the lever. Since there is no such thing, it should be preferable from the point of view of safety.

An object of the present invention is to enable wireless remote control, for example, to enable operation from a forklift, thereby streamlining the work of loading and unloading goods, and to make it possible for shelves to move randomly when remote control is enabled. To provide a movable shelf device with improved safety by preventing accidents.

The present invention will be explained below with reference to illustrated embodiments.

First, various examples of external configurations of the movable shelf according to the present invention will be explained.

In FIGS. 1 and 2, shelves 1A and 1A are placed facing each other at appropriate intervals, and are movable in a direction perpendicular to the article entrance and exit, and are positioned so that their sides are on the same plane. Multiple movable shelves are installed in parallel. One side panel 3 of the stationary shelf 1A and the movable shelf 1 is provided with an operation panel 2 having a switch for direct manual operation. Light-emitting/light-receiving posts 4, 4 are fixed to the side panels 3 of the fixed shelves 1A, 1A, and a light emitting device is installed at an appropriate height position of the posts 4, 4, for example, at a height of about 1 m from the floor surface. 5A, 5B, and light receivers 6A, 6B that receive the lights 7A, 7B from these light emitters, respectively.
is provided. A set of light emitter 5A and light receiver 6
A is located outside of the other pair of light emitters 5B and light receivers 6B, and when a person or a forklift enters the passage formed between the shelves, the light emitters 5
After blocking the light 7A from A, the light 7B from the light emitter 5B is blocked, and conversely, when exiting from the passage, the light 7B
After blocking the light, the light 7A is blocked. The lights 7A and 7B may be visible light, infrared light, ultraviolet light, or laser light, and a rectilinear medium other than light, such as ultrashort waves, may be used. This light emitting/light receiving device is used to protect people between shelves, as will be described later. A wireless receiving device is provided in the set of movable shelf devices, and a command signal from an external wireless transmitting device is received, and a path forming operation is performed based on this command signal. There is. Details of this transmitting/receiving device and control device will be described later.

FIG. 3 shows a forklift 8 equipped with a transmitter 9 so that a command signal from the transmitter 9 is emitted toward a movable shelf device. The forklift 8 can move in and out of the passage formed according to commands from the transmitter 9. Radio waves are generally considered as the carrier medium for the command signal, but sound waves, sound, laser light, and other appropriate media may also be used.

FIG. 4 shows an example of an unmanned transport vehicle, which moves forward, backward, stops, travels direction, etc. based on signals received via the antenna 10.
Loading and unloading of articles is controlled, and a path formation command signal is issued to the movable shelf device via the transport vehicle. FIG. 5 shows an example in which something similar to the example in FIG. 4 is applied to a forklift.

6 to 9 show examples in which a crane is used to achieve unmanned cargo handling, and the examples in FIGS. 6 and 7 use an overhead traveling crane. Reference numeral 11 is an arm, 12 is a rail that guides the movement of the arm 11, and 13 is a drive unit that controls the movement of the arm 11 and the elevation of the fork portion 14. A light emitter 5 and a light receiver 6 are disposed on opposite walls of the room in which the movable shelf device is installed, and a part of the crane blocks the light beam 7 so that the crane can enter the passage between the shelves. If there is a crane in the passage, the movable shelf 1 is restrained so that it cannot be moved. As shown in FIG. 7, each movable shelf 1 is provided with a side panel 16, an appropriate number of shelf boards 17, and the front side of an underframe 18. It has a safety bar 19 that operates to stop the movement of the shelf, a shelf support 20, and an emergency stop switch 21 that is operated when the shelf is to be stopped in an emergency when danger approaches.

8 and 9 show an example using a gantry traveling crane, in which reference numeral 13 is a drive unit that controls the lifting and lowering of the fork part 14, 15 is an arm of the crane, and 15a is an arm connected to a movable shelf 1. This is a lock release switch that detects when the movable shelf has moved out of the moving range and unlocks the movable shelf.

10 to 12 show various examples of how the light emitting/receiving device is attached to detect whether a person or a forklift 8 is present in the passage between the shelves. In the example of FIG. 10, the first light emitting device is installed on opposite walls 42, 42 of the room in which the movable shelf device is installed.
Light receivers 43, 43 are provided, and second light emitting/light receivers 44, 44 are provided between opposing shelves, respectively. In the example shown in FIG. 11, a pair of light emitting/receiving devices 43, 43 are provided respectively on the wall of the room and on the post provided on the outermost stationary shelf of the movable shelf device. In the example shown in FIG. 12, the poles or pillars 47,
47 is provided with two sets of light emitting/receiving devices 43, 43.

FIG. 13 shows an example of installation of an operation board and a control board for direct manual operation provided on the side of the movable shelf device. The fixed shelf 1A arranged at the left end in FIG. 13 is provided with a main operation panel 2a, an individual operation panel 2, a control circuit board 22, and a receiving circuit board 23. ,
An individual operation panel 2 and a control circuit board 22 are provided. An arm 40 is provided between the ceiling plates between the shelves, and swings in response to the opening and closing of the passage between the shelves to detect whether or not a passage is formed. A light emitter 5 and a light receiver 6 are installed on both side walls of the room in which the rows of shelves are arranged so that the light beam passes through the sides of the row of shelves, and when a person or the like blocks the light beam, the passage between the shelves is blocked. It is designed to detect the presence or absence of people inside.

FIGS. 14 and 15 show an example of the external appearance of a transmitter for operating a movable shelf by remote control. The one in Fig. 14 includes a digital switch 25 for setting the number of the passage to be formed between the shelves, and an on/off switch 26 that sets the remote control mode when turned on and the direct control mode when turned off.
, an open/release switch 27 that outputs a passage open signal and a release signal for that signal, and an emergency stop switch 28 . The one in Fig. 15 uses the push button 30 to set the passage number to be formed between the shelves.
It has an on/off switch 31 for setting the remote control mode, a switch 32 for releasing an open signal and outputting a stop signal, an open command switch 33, and an emergency stop switch 34.

Next, an example of an electric circuit used in the present invention will be explained. In FIG. 16, reference numeral 22 indicates a control circuit board provided on each shelf, and the left board 22 is the board on the leftmost shelf, and the right board 22 is the board on the rightmost shelf that is Nth from the left end. Shows the board. Each board 2
The circuit configuration in 2 may be appropriately selected from those used in already known electric movable shelves, such as the circuit configuration described in Japanese Utility Model Application Publication No. 56-163944. Adjacent circuit boards are connected to each other for input/output of right row signals, left row signals, stop signals, etc.Also, each circuit board is connected to an AC power source for motive power and a DC power source. DC power is supplied from the circuit 35. In the same figure, the reference numeral 38 is shown in FIG.
This figure shows a transmitter as shown in FIG. 15, and various signals emitted from the transmitter 38 using radio waves or the like as a medium are transmitted by the receiving circuit 37 in the receiving board 23 described in connection with FIG. 13. It is starting to be received. The transmission and reception of this signal is performed, for example, after a discrimination counter pulse of a certain width, a first path signal, a second path signal, ... an Nth path signal, etc.
A sequence of on/off signals for switching automatic operation by remote control or direct manual operation, open command or release signal, emergency stop signal, etc. is repeatedly placed on a carrier wave, and this is received by a receiving circuit. This can be done by detecting waves. Such a transmission/reception method has already been adopted in radio control devices for models. Receiving circuit 37
The _{above -} mentioned _signals received at The open command signal is input to the corresponding circuit board 22's open command signal input terminal O1 _{... ON} .
The signals input to the open command signal input terminals O _{1 ,} . The signal discrimination circuit 36 also discriminates whether automatic operation is performed by remote control or direct manual operation, and in the case of remote control, when a release signal is input after the passage is formed based on the opening command signal, a lock signal is generated. This lock signal _L0 is output from the leftmost circuit board 22 _.
It is designed to be input to all circuit boards through. The lock signal _L0 is also output when an emergency stop signal or the like is input. The signal discrimination circuit 36 is configured to receive an in-operation signal D _r indicating that the movable shelf is in operation from the main circuit board 22 at the left end. The signal discrimination circuit 36 receives the signals from the light receivers 6A and 6B, and outputs or stops the lock signal _L0 based on the signals from the light receivers 6A and 6B, and also causes the counter to add and subtract. It's becoming like that.

Next, the detailed configuration of the signal discrimination circuit 36 will be explained with reference to FIG. 17. The switches SW ₁ , SW ₂ , SW ₃ , shown side by side at the bottom of FIG.
SW ₄ , SW ₅ , SW ₆ , SW ₇ , and SW ₈ can be thought of as relay contacts provided at the end of the receiving circuit 37, and switch SW ₁ is turned on when the remote control mode is selected to discriminate signals. The flip-flop circuit FF ₇ (hereinafter, the flip-flop circuit is simply referred to as "FF ₁ " and "FF ₂ ") via the OR circuit O ₂ (hereinafter, the OR circuit will be simply referred to as "O ₁ " and "O ₂ ") in the circuit 36. When the manual direct operation mode is selected, switch SW ₂ turns on and inputs the "H" signal to the reset terminal R of FF ₇ . I'm starting to do that. Switch _SW3 is turned on when the Nth path is selected, and sends a signal to AND circuit _a3 (hereinafter, AND circuits are expressed as " _a1 " and " _a2 ") via differential circuit DIF _N. It is now possible to input Switch _SW4 is turned on when the Nth path selection is canceled and inputs a signal to _a4 . SW ₅ is turned on when the second path is selected and inputs a signal to a ₅ via the differentiation circuit DIF ₂ . Switch SW ₆ is turned on when the second path is deselected and inputs a signal to a ₆ . Switch SW ₇ is turned on when the first path is selected, and the differential circuit
The signal is input to _A7 via DIF ₁ . Switch _SW8 is turned on when the first path selection is canceled and inputs a signal to _a8 . _FF7
The output of the output terminal Q of is inputted to _a3 to _a8 . Therefore, unless the remote control mode is selected, switch _SW1 will not be turned on, _so The gate at a ₈ cannot be opened. The output of a ₃ is input to the set terminal S of FF ₄ , the output of a ₄ is input to the reset terminal R of FF ₄ via O ₂ , the output of a ₅ is input to the set terminal S of FF ₅ , The output of _a6 is inputted to the reset terminal R of _FF5 via _O4 , the output of _a7 is inputted to the set terminal S of _FF6 , and the output of _a8 is inputted to the reset terminal via _O5 . It is becoming more and more like this. The output signal of terminal Q of FF ₄ is connected to the integrator circuit INT _N and the inverter.
I is added to one end of the relay coil L _N via _N7 ,
When the output of terminal Q of FF ₄ becomes "H", an excitation current flows through relay coil L _N and its relay contact R _N turns on, resulting in the same state as when the Nth path signal is input. ing. Also, the output signal of terminal Q of FF ₅ is connected to the integrator circuit INT ₂ and inverter I _N6.
is added to one end of relay coil L ₂ through FF ₅
When the output of the terminal Q becomes "H", the coil _L2 is energized, the relay contact _R2 is turned on, and the state is the same as when the second path signal is input. Similarly, when the output of terminal Q of FF ₆ becomes "H", this signal is applied to one end of relay coil L ₁ through integrator circuit INT ₁ and inverter I _N5 , coil L ₁ is energized, and relay contact R ₁ is activated. turned on,
The state is the same as when the first path signal is input. The output of each terminal Q of FF ₄ , FF ₅ , FF ₆ and the output of the terminal of FF ₇ are NOR circuit no ₂
The output of NOR circuit no ₂ is applied to one end of relay coil L via O ₆ and inverter _IN10 . Therefore, only when the mode is switched to remote control mode and no aisle signal is input, the relay coil L is energized, its b contact _L0 is turned off, and a lock signal is input to each shelf. It's starting to be the same as before. The switch SW ₁ is linked with the power switch of the transmitter 37, so that the remote control mode is immediately set when the power switch is turned on. O ₂ , O ₃ ,
An initial set signal is applied to O ₄ , O ₅ and a reset terminal R of a counter CNT which will be described in detail later.

Next, the circuit portion shown in the upper half of FIG. 17 will be explained. The light receivers 6A and 6B have a changeover switch, and the light receivers 6A and 6B switch to FF 1 and FF ₁ , respectively, by receiving the light from the light emitter.
The "H" signal is input to the reset terminal R of FF ₂ , and when the light from the light emitter is cut off, the "H" signal is input to the set terminal S of FF ₁ and FF ₂ , respectively. There is. The output signal a from the terminal Q of FF ₁ is added to a ₁ and a ₂ .
The output signal b at the terminal Q of FF ₂ is converted into an inverted signal c by the inverter I _N1 , and then converted into a differential signal d by the differentiating circuit DIF ₄ , which is then added to a ₁ .
After being made into a differential signal e at DIF ₅ , it is added to _a2 . The output f of a ₁ is input to the set terminal of FF ₃ , is converted into an inverted signal h by inverter I _N3 , and is converted into a differential signal i by differential circuit DIF ₆ .
It is now possible to add it to O ₁ after it is defined as .
On the other hand, the output g of _a2 is input to the reset terminal of _FF3 , and is inverted as an inverted signal j by the inverter _IN4 .
And after being made into differential signal k by differentiating circuit DIF ₇
It is ready to be added to O ₁ . O ₁ output l
is the clock terminal of up-down counter CNT
It is being added to CLK. The output o from the terminal Q of _FF3 is input to the up/down switching terminal of the counter CNT. counter
The signals p, q, r, and s of the count value output terminals Q ₁ , Q ₂ , Q ₃ , and Q ₄ of the CNT are respectively applied to the decoder CDC, and the decoder CDC digitally displays the signals p, q, r, and s. After the signal is code-converted into a signal necessary for this purpose, it is applied to a seven-segment display element 41 provided externally. The above signal p,
q, r, and s are also applied to the NOR circuit no ₁ , and the output m of no ₁ is applied to the a ₃ , a ₅ , and a ₇ , and the inverter I _N2 outputs an inverted signal n.
It has become possible to add it to a ₁ . In addition, the output m of no ₁ is converted into an inverted signal by inverter I _N8 and input to a ₉ , and a signal Dr indicating that the mobile shelf is being moved from the circuit board is also input to a ₉ by the inverter.
I It is designed to be inverted and input at _N9 .
The output of _a9 is applied to one end of the relay coil L via _O6 and inverter _IN10 .

Next, the operation of the signal discrimination circuit will be explained.

Now, if the remote control mode is selected in conjunction with turning on the power switch of the transmitter, switch SW ₁ will be turned on and FF ₇ will be activated via O ₂ .
The set signal is input to _FF7 , and the terminal Q of FF7 becomes “H”.
This "H" signal becomes a ₃ , a ₄ , a ₅ , a ₆ , a ₇ ,
Added to a ₈ . At this time, assuming that no one or any working machine such as a forklift is inside the passageway, the output m of the Noah circuit _no . ”, and this “H” signal will be added to a ₃ , a ₅ , and a ₇ . Therefore, when the first path is specified by operating the receiver to form the first path, the switch SW ₇ in the receiver 37 is activated.
is turned on, and the differential circuit of the signal discrimination circuit 36
A differentiated "H" signal is input to _a7 via _DIF1 . Since the other input signals of _a7 are at "H" as described above, the differential signal is applied to the set terminal of _FF6 , and the terminal Q of _FF6 becomes "H". This "H" signal is inputted as an "L" signal to one end of the relay coil _L1 via the integrating circuit _INT1 and the inverter _IN5 , and as a result, an exciting current flows through the coil _L1 , and the relay contact _R1 is turned on. The switch is turned on, resulting in the same result as when the first passage formation command switch is operated, and the movable shelf begins to move. When the shelf begins to move, a drive signal Dr is input from the shelf's circuit board. Since the drive signal Dr is inverted by the inverter _IN9 and applied to _a9 , the output of _a9 , that is, one of the inputs of _O6 becomes "L". On the other hand, if the signal specifying the path to be formed is input as described above, NOR circuit _no.
One of the inputs of O6 becomes "H" and the output of no ₂ , that is, the other input of _O6 becomes "L". Therefore, the output of _O6 becomes "L" and one end of the relay coil L becomes "H" by the inverter _IN10 , so the coil L is not excited and the lock signal _L0 is not output. When the shelf moves a predetermined distance to form a first passage having a predetermined width and the shelf stops running due to the operation of a limit switch (not shown), the drive signal Dr stops. In this state, relay contact _R1 remains on due to the signal from terminal Q of FF ₆ , and a lock signal is output in the circuit board of the movable shelf. The mobile shelf does not move even if it is output. However, when switch SW ₈ is turned on by operating the release switch, a signal is input to the reset terminal of FF ₆ via A ₈ and O ₅ , FF ₆ is reset, and relay coil L ₁
is demagnetized, contact _R1 is turned off, the open command signal is stopped, the lock signal on the circuit board of each movable shelf is stopped, and the next open command signal is awaited. However, since all inputs to NOR circuit no. ₂ become "L", its output becomes "H", relay coil L is excited via _O6 and inverter _IN10 , relay contact _L0 is turned off and locked. A signal is output, and the movable shelf cannot be moved even if, for example, an open command switch provided on each shelf is manually operated directly. Then, when the transmitter is operated to output a command signal to open the second passage, the receiving circuit 37
switch SW ₅ is turned on, and the output of a ₅ becomes "H"
As a result, FF ₅ is set, and its terminal Q becomes "H".
Based on the signal, relay coil L ₂ is energized and its contact R ₂ is turned on, which is the same as manually inputting the command signal to open the second passage, and the operation to form the second passage is performed. become. At this time, as in the case described above, the output of NOR circuit no. ₂ is "L", the drive signal Dr is "H", and this is the inverter.
The output of _a9 is inverted to "L" by I _N9 ,
That is, the other input of O ₆ becomes "L", and then,
The relay coil L is not energized and its contact _L0 is turned on, the lock signal is released, and the passage forming operation becomes possible.

By the way, if a worker, forklift, crane, etc. enters the passage formed as described above, the light to the outer light receiver 6A is first blocked by the worker, and then the light to the inner light receiver 6A is blocked. Vessel 6B
The light is cut off, each light receiver is switched once, and then returned to its original state. Therefore, the respective light receivers 6A and 6B were connected.
FF ₁ and FF ₂ are once inverted and then restored to their original states, and as shown in FIG. 18, the respective output signals a and b are outputted with the signal a leading and the signal b delayed. Signal a is added to a ₁ and a ₂ , signal b is inverted signal c by inverter I _N1 , and is applied to differentiating circuit DIF ₄
The differential signal d is added to a ₁ , and the signal b
is converted into a differential signal e by a differentiating circuit _DIF5 and added to _a2 . Therefore, as shown in FIG. 18, the signal d is output at the rear end of the signal b, and the signal e is output at the front end of the signal b, so the signal e is output from _a2 .
A signal g synchronized with is output, but the signal f from _a1 is not output and remains at the "L" level. Since the above signal g is input to the reset terminal R of FF ₃ , FF ₃ is reset by the input of the signal g, the output o of that terminal is inverted to "H", and the counter
It is input to the up/down switching terminal of CNT and switches the counter to up. On the other hand, the signal g is converted into an inverted signal j by the inverter I _N4 and then sent to the differentiating circuit.
It is made into a differential signal k at DIF ₇ , and is inputted to the clock terminal CLK of the counter CNT as the output signal l of O _{1 via O 1 .} Therefore, the counter CNT counts the signal l in the addition direction, and the output signals p, q, r,
s, the signal S is inverted to "H". decoder
The CDC converts the signals p, q, r, and s into codes and displays the number "1" on the digital display element 41 to indicate that one person or one forklift is in the passage. Similarly, if another worker enters the above passage, the counter
One CNT is added to set the signal r to "H" and the other signals p, q, and s to "L", and the number "2" is displayed on the display element 41 via the decoder CDC. As mentioned above, if even one person is in the passage, one of the signals p, q, r, and s becomes "H", so the output m of NOR circuit no. ₁ becomes "L", which causes _a3 ,
It is added to a ₅ and a ₇ , and the gates of a ₃ , a ₅ , and a ₇ are closed. Therefore, if even one person is inside the passageway, even if an opening command is issued by remote control, the opening command signal will be blocked, making it impossible to create a passageway by remote control, thereby ensuring safety. It turns out. Also, the above signal m is “H” at inverter I _N8 .
is reversed and input into _a9 . On the other hand, at this time, the shelf is stopped and the drive signal Dr is "L", so it is inverted to "H" by the inverter _IN8 and input to the other terminal of _a9 , and the output of _a9 is "H". becomes. This "H" signal passes through _O6 and is inverted to "L" by inverter _IN10 , so relay coil L is energized, contact _L0 is turned off, and a lock signal is issued, and then inside the passage. As long as there are people in the aisles, the shelves cannot be moved even by direct manual operation, ensuring the safety of workers in the aisles.

Next, consider a case where a worker or the like in the passage exits from the passage. In this case, first, the light to the light receiver 6B is blocked by a worker or the like, and then the light to the light receiver 6A is blocked, so as shown in FIG. 19, the output b of FF ₂ is first After the inversion, the output a of FF ₁ is inverted. Therefore, even if the differential signal e synchronized with the rise of the signal b is input to _a2 , the a signal is at "L" at this point, and the output g of _a2 remains at "L". On the other hand, the output m of NOR circuit no ₁ at this point is "L" as described above, and this inverted signal n is applied to one input terminal of a ₁ , inverting the signal b and differentiating it. Since _the signal _d , which is equal _to A signal f is outputted from the FF3 and inputted to the set terminal S of _FF3 . As a result, the output o of the FF ₃ terminal is inverted to "H", and the counter CNT
switch down. On the other hand, the signal f is converted into an inverted signal h and a differentiated signal i, and is input to _O1 . Since _O1 outputs the signal l in synchronization with the signal i and inputs this to the clock terminal of the counter CNT, the counter CNT subtracts each time the signal l is input. According to this subtraction, the display on the display section 41 is also subtracted. In this way, when there are no workers etc. in the passage, the outputs p, q,
r and s are all "L", the display on the display section 41 is "O", and the output m of NOR circuit no ₁ is "H"
become. Therefore, one of each input of _a3 , _a5 , and _a7 becomes "H", and it is possible to issue an open command signal under other conditions, that is, on the condition that the remote control mode is selected. become a state. Also, the signal m that has become "H" is inverted to "H" by the inverter I _N8 and input to _a9 , so the output of _a9 becomes "L", but the remote control mode is selected here. , and if no open command is issued by remote control, the output of NOR circuit no. ₂ will be "H", so
Relay coil L is energized and a lock signal is issued, unless an open command is issued by remote control.
Each shelf will be immovably restrained. In this way, if there is a person in the aisle, it is detected and the shelf is restrained so that it cannot be moved, so even if an open command signal is issued by mistake, the shelf will not move.
The safety of workers in the passage can be ensured.
Further, the operation of outputting a lock signal and making the shelves immovable when a person or the like enters the passageway is performed even while the passageway is being formed. That is, if the incidence of light to the light receivers 6A and 6B is blocked even during the passage formation, the relay coil L is excited and its contact _L0 is turned off as described above. This results in higher safety.

In the embodiment shown in Fig. 17, when the power supply battery of the transmitter is exhausted, a lock signal is automatically issued to lock the movable shelf so that it cannot be moved, thereby preventing malfunctions due to uncertain operation. It's summery. That is, when the power supply battery of the transmitter is exhausted, the transmitter cannot issue any commands, and SW ₁ to SW ₈ of the receiver 37, which can be seen as relay switches or other semiconductor switches, are all turned off. If you turn on the power switch of the signal discrimination circuit in this state, the initial reset signal will be activated.
FF ₄ , FF ₅ , FF ₆ are reset, FF ₇ is set,
This is because all inputs of NOR circuit no _{. 2} become "L" and its output becomes "H", relay L is energized and a lock signal is output. This operation is performed in the same way even if the main switch next to the transmitter remains off. Therefore, when attempting to directly perform the passage forming operation manually, turn on the power switch of the transmitter while the electrode battery of the transmitter is not exhausted, and then issue a command to select the manual operation mode. Switch SW ₂ of receiver 37 is turned on, thereby resetting FF ₇ and setting the terminal output to "H", which in turn sets the output of NOR circuit no. ₂ to "L", demagnetizing relay L and locking it. The output of the signal will be stopped. Although it may seem inconvenient to perform such an operation, it is meaningful in order to prevent malfunctions and ensure integrity while making it possible to choose between remote control and manual direct control.

In addition, when trying to increase the number of paths, it is sufficient to increase the circuit portions consisting of a ₃ to a ₈ , FF ₄ to FF ₆ , SW ₃ to SW ₈ , etc. with the same circuit configuration.

In the embodiment shown in FIG. 17, as mentioned earlier, if a person or the like tries to enter the passageway while the passageway is being formed, the passageway is either a passageway that is currently being opened, or
Regardless of whether the passage is being narrowed, the passage forming operation is stopped and a lock signal is issued. However, from a safety point of view, there is no need to stop the passage-forming operation if a person enters a passage that is being opened; it is only necessary to stop the passage-forming operation when a person attempts to enter a passage that is being narrowed. It is sufficient to stop the motor and issue a lock signal, thereby eliminating unnecessary stops and allowing efficient operation. The example shown in FIG. 20 is an example that has such a function.

In FIG. 20, a reference numeral 43 indicates a light receiver of a pair of light emitting/light receivers 43, 43 disposed on the sides of a set of movable shelf devices as shown in FIG. The circuit is shown, and this light emitting/receiving device 4
The flip-flop circuit FF included in the circuit of the receiver is blocked by the light incident on 3.
is set and an "H" signal is output. The output of this flip-flop circuit FF is introduced into the circuit of FIG. 17 as the same signal a as the signal a in FIG. Reference numeral 44a in FIG. 20 denotes a light receiver facing the first passage among a pair of light emitting/light receivers 44, 44 provided opposite to each other on adjacent shelves as shown in FIG. This shows the circuit of
By blocking the light to the light receiver 44a, an "H" signal is output. Reference numerals 44b and 44c are also light receivers configured similarly to the light receiver 44a, and are opposed to the second passage and the third passage, respectively. The output of the first light receiver 44a is applied to O ₇ and also to O ₉ via an inverter _IN11 . The output of the second optical receiver 44b is applied to _O8 and also to _O10 via an inverter _IN12 . The output of the third light receiver 44c is
added to O ₈ and via inverter I _N13
It is being added to O ₁₁ . The drive signal Dr introduced from the circuit board of the moving shelf while the shelf is moving
can be added to a ₁₀ , a ₁₁ , and a ₁₂ .
indicate command signals to form the first, second, and third passages, respectively, and the signals are a ₁₂
, the signal is applied to a ₁₁ and the signal is applied to a ₁₀ . Regardless of whether the signal is in remote operation mode or manual operation, when any passage is specified, the signal corresponding to that passage becomes "H"; in the example shown in Fig. 17, FF ₄ ,
The outputs of FF ₅ and FF ₆ can be considered to fall under this category. Output of a ₁₀ goes to O ₉ , output of a ₁₁ goes to O ₁₀ , a ₁₂
The output of is added to O ₁₁ , and the output of O ₉ , O ₁₀ , O ₁₁ is
a ₁₃ is being added. The output of a ₁₃ is inverted by inverter I _N14 , and the output of inverter I _N14 is added to O ₆ in Fig. 17, for example, so that a lock signal is output when the output of inverter I _N14 becomes "H". It's getting old. The output of _O8 is added to _O7 , and the output of _O7 is introduced into the circuit of FIG. 17 as the same as b in FIG.

Now, assuming that a command to form the second passage has been issued and the operation of forming the second passage is being performed, the signal becomes "H" and is input to _a11 . If a person, etc. enters the second passageway that is opening in this state, the light receiver 43 first performs a detection operation and outputs a signal a, and then the second light receiver 44b performs a detection operation and outputs an "H" signal. do. On the other hand, since the drive signal Dr becomes "H" during the path forming operation, the output of _a11 becomes "H" due to the drive signal Dr and the signal, but the outputs of _a10 and _a12 become "L". It remains as it is. Therefore, even if the output of the photoreceiver 44b is "H" and is inverted to "L" by the inverter I _N12 ,
Since the "H" signal is input from a ₁₁ to one input of O ₁₀ , its output becomes "H" and is applied to one input terminal of a ₁₃ , and is sent to the other optical receivers 44a, 44.
Even if the output of c is “L”, each inverter
Since I _N11 and I _N13 are inverted and input to O ₉ and O ₁₁ , the outputs of O ₉ and O ₁₁ become "H", and these are a ₁₃
The output of _a13 is "H" because it is the other two inputs of
This is further inverted to "L" by the inverter I _N14 , so the lock signal is not output and the operation of forming the second path continues.

However, if a person or the like enters the passage that is being narrowed, for example, the third passage, while the second passage is being formed as described above, "H" will be detected from the light receiver 44c.
The signal is output, inverted to "L" by the inverter _IN13 , and input to _O11 . At this time,
Since the signal that is one input signal of a ₁₂ is "L", the output of a ₁₂ is "L", and this "L" signal is the other input of O ₁₁ , so the output of O ₁₁ is is "L", so the output of _a13 also becomes "L", which is inverted to "H" by inverter I _N14 and a lock signal is output, stopping the movement of the movable shelf and moving it into the third aisle. prevent workers from getting caught in the Thus, according to the example in FIG.
Ensure safety by stopping movement only when a worker, etc. enters a passageway that is narrowing, and stop movement when a person, etc. enters an opening passageway that does not pose a safety problem. It is possible to improve the efficiency of the passage forming operation by eliminating the occurrence of such problems. In addition,
Depending on which of the signals a and b is output first, the signals a and b are used to detect the number of people in the passage, as explained with reference to FIG. 17. Then, when a person enters the opening passage, the counter CNT in Fig. 17 counts,
The output of NOR circuit no ₁ is inverted to "L", further inverted to "H" by inverter I _N8 , and inputted to _a9 , but while the path is being formed, the drive signal Dr is "H",
This is inverted to "L" by the inverter _IN9 and becomes another input of _a9 , so the output of _a9 is "L", and _a9 will not be locked by an unknown signal. However, once the path forming operation is completed, the drive signal Dr is inverted, so the output of _a9 is inverted to "H",
A lock signal will be input. In addition, when a person, etc. enters a passage that is being narrowed, the time that the signal of the light receiver is inverted to "H" is short, and when a person, etc. passes the light beam position, the signal of the light receiver changes to "H". Return to L. However, once the movement is stopped due to detection by the light receiver, the drive signal Dr is stopped, so the output of _a9 becomes "H", and the lock signal continues to be output. Thereafter, when there are no workers or the like in the passage, the passage forming operation becomes possible based on the passage forming command.

As described above, according to the present invention, it is possible to remotely control the movable shelf by wireless, so that it is possible to form a passage remotely while riding on a forklift, for example, and to perform the work efficiently. Furthermore, by remote control, there is also the effect of being freed from dangers such as collapse of cargo or collapse of cargo during cargo handling. In addition, since the passageway is formed only by inputting a remote opening command signal when the remote control mode is selected, it is possible for other workers to manipulate the passageway by hand. There is no need to worry about the process of forming the shelf, and a highly safe and remotely controllable movable shelf device can be provided.

[Brief explanation of drawings]

FIG. 1 is a plan view showing an example of the external appearance of a movable shelf device according to the present invention, FIG. 2 is a side view of the same, and FIGS. 3 to 5 are side views showing various examples of remote control means, and FIG. Fig. 6 is a side view showing another example of the external appearance of the movable shelf device according to the present invention, Fig. 7 is a front view showing an example of one unit of movable shelf used in the present invention, and Fig. 8 is a side view showing another example of the appearance of the movable shelf device according to the present invention. FIG. 9 is a side view showing still another example of the external appearance of the movable shelf device, FIG. 10 is a plan view showing still another example of the external appearance of the movable shelf device according to the present invention, and FIG. FIG. 12 is a plan view showing still another example; FIG. 13 is a side view showing still another example; FIG. 14 is a remote control unit used in the present invention. FIG. 15 is a front view showing another example of the remote control unit, FIG. 16 is a block diagram showing an example of the signal system used in the present invention, and FIG.
The figure is a circuit diagram showing a specific example of the signal discriminating circuit part in the above signal system, FIGS. 18 and 19 are timing charts for explaining the operation of the above signal discriminating circuit, and FIG. 20 is the same as that in FIG. FIG. 7 is a circuit diagram showing another example of a circuit portion that can be changed. 1...Moving shelf, 5,5A,5B...Light emitter,
6, 6A, 6B... Light receiver, 43... Light emitting/light receiver, 44... Light emitting/light receiver, 36... Signal discrimination circuit, 37... Receiving circuit, 38... Transmitter, a ₁ ,
a ₂ , a ₃ , a ₄ , a ₅ , a ₆ , a ₇ , a ₈ , a ₉ , a ₁₀ , a ₁₁ , a ₁₂ ,
a ₁₃ ...AND circuit, O ₁ , O ₂ , O ₃ , O ₄ , O ₅ , O ₆ ,
O ₇ , O ₈ , O ₉ , O ₁₀ , O ₁₁ ...OR circuit, no ₁ , no ₂
...Nor circuit, FF, FF ₁ , FF ₂ , FF ₃ , FF ₄ ,
FF ₅ , FF ₆ , FF ₇ ... flip-flop circuit,
CNT...Up-down counter.

Claims (1)

[Claims] 1 Driven by a driving motor and close to each other,
In addition, a plurality of movable shelves are arranged in parallel so that work passages can be formed between them, and a passage selection switch is provided corresponding to each passage to be formed between the movable shelves, and a selection operation of the passage selection switch is provided. a determination circuit that determines the movable shelf to be moved and the direction of movement thereof based on the relationship between the aisle position specified by and the position of the movable shelf at that time; and a discriminator that moves the movable shelf according to the determination by the discriminator circuit. A movable shelving device comprising a drive circuit, a mode changeover switch for switching between a wireless remote control mode and a manual direct operation mode, and a gate only when the mode changeover switch is switched to the wireless remote control mode. A mobile device comprising: a gate circuit that opens and allows an opening operation command signal inputted remotely by wireless to pass; and a signal transmission means that inputs the opening operation command signal inputted through the gate circuit to the discriminating circuit. shelving device.