JPH0640523A - Moving shelf device - Google Patents

Abstract

PURPOSE:To provide a moving shelf device capable of forming the working passages corresponding to all shelves at a correct and uniform interval respectively with easy actions. CONSTITUTION:The distance information that shelves 13-15 are moved from one convergence position to another convergence position on a rail 16 is determined, the interval information between the shelves 13-15 when the shelves 13-15 are arranged at a uniform interval on the rail 16 is determined based on the distance information, and the moving distance information of the shelves 13-15 until the shelves 13-15 are arranged at a uniform interval on the rail 16 from the convergence position on one side of the rail 16 is determined based on the interval information. The shelves 13-15 are converged on one side of the rail 16 in response to an external action, and the shelves 13-15 are moved by the distance corresponding to the moving distance information toward the other side of the rail 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improved moving rack device for controlling the movement of a plurality of shelves so that a working passage is optionally formed between the shelves.

[0002]

2. Description of the Related Art As is well known, in a shelving apparatus for storing a large number of articles, files, etc., a moving shelving apparatus such as the one mentioned above is often used in order to improve space efficiency. In addition, such a moving shelf device is generally one in which a work passage corresponding to a target work surface of the shelf is formed by manually driving the individual shelf. It becomes difficult to move it manually when it becomes large or when there are many shelves.

Therefore, conventionally, each shelf is automatically moved by operating a passage selection switch corresponding to the work passage to be formed by providing a self-propelled mechanism on each shelf. Various types of movable shelving devices have been developed in which a service passage is formed. That is, in this type of moving shelf device, a motor and a passage selecting switch are installed on each of a plurality of shelves set to be movable along a specified rail, and a passage selecting switch provided on an arbitrary shelf A. By operating the work passage a corresponding to the shelf A.
Each shelf is moved by the motor so that

A work passage a corresponding to the above shelf A
After the ridge is formed, the work passage a is automatically interlocked so as to be retained. This interlock state is maintained until the operator operates the reset switch installed on the shelf A, for example, when the worker leaves the work passage a.

By the way, in the moving rack device as described above, normally, one working passage is formed, and after the work there is completed, another working passage is formed so that one working passage is formed at a time. It is generally used to form aisles, but when performing inventory, testing, maintenance, inspection, or adjustment of mobile shelving equipment, for example, all the aisles for work corresponding to each shelf are equal. The shelves may be moved so as to open at various intervals, and workers may enter the plurality of work passages formed and work simultaneously.

However, conventionally, by moving each shelf one by one to an appropriate position, that is,
By sequentially repeating the operation of moving one shelf to a predetermined position and then the operation of moving another one shelf to a predetermined position, the work paths corresponding to all the shelves are respectively formed. Since they are formed at equal intervals, it is necessary to perform the operation for moving the shelves the number of times corresponding to the number of all the working passages, which causes a problem that the operation becomes very complicated.

[0007]

As described above, in the conventional moving rack device, when the work passages corresponding to all the shelves are formed at equal intervals, the number of times corresponding to the number of all the work passages is increased. It is necessary to perform an operation for moving the shelves, and there is a problem that the operation becomes very complicated.

Therefore, the present invention has been made in consideration of the above circumstances, and is a very good movable shelf in which the work passages corresponding to all the shelves can be accurately formed at equal intervals by an easy operation. The purpose is to provide a device.

[0009]

A movable shelving device according to the present invention comprises a plurality of shelves which are set so as to be movable along specified rails, and the shelves are controlled by motors respectively set on the plurality of shelves. Is controlled to move so as to selectively form a working passage between arbitrary shelves. Then, a plurality of shelves are placed on the rail based on distance information acquisition means for obtaining distance information for moving the shelves on the rail from one focusing position to the other focusing position, and distance information obtained by the distance information obtaining means. A plurality of shelves are bundled on one side of the rail based on the interval information obtaining means for obtaining the distance information between the shelves when they are arranged at equal intervals and the distance information obtained by the distance information obtaining means. Moving distance information obtaining means for obtaining moving distance information of each shelf from the position until the racks are arranged at equal intervals, and a focusing means for focusing a plurality of shelves on one side of the rail according to an external operation. , A moving means for moving the plurality of shelves toward the other side of the rail in a state where the plurality of shelves are converged on one side of the rail by this focusing means, and a plurality of shelves are moved to the other side of the rail by this moving means. Move towards In this state, the moving distance of each shelf is measured, and the measurement result is provided with a stopping means for stopping the movement of the shelf corresponding to the moving distance information obtained by the moving distance information acquiring means. .

[0010]

According to the above construction, the work passages corresponding to all the shelves can be automatically formed at equal intervals by a simple operation. Also, when an external operation is performed, all the shelves are once focused on one side and then moved so that they are arranged at equal intervals, so what kind of arrangement did each shelf have when the external operation was performed. Even in this case, an error is unlikely to occur in the measurement of the movement distance of each shelf, and it becomes possible to form the work passages accurately at equal intervals.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 shows the entire state of the movable shelf device. In this case, for convenience, the first to second fixed shelves 11 and 12 set at the left end and the right end in FIG. An example in which the third moving shelves 13, 14, 15 are set is shown. These moving shelves 13, 14, 15
Are set so as to be moved by wheels on a common rail 16, respectively.
Each of the 5 is equipped with a motor (not shown) for rotationally driving the wheels, and the movable shelves 13, 14, 15 are moved to the right or left in accordance with the rotation direction of these motors.

Here, the moving rack 13 controls movement and stop of all the moving racks 13, 14, 15 including itself.
A main control device S for managing is installed. The movable shelf 13 is adjacent to the main control device S and passage selection switches PB0 and PB1 for forming working passages between the fixed shelf 11 and the movable shelf 14 which are adjacent to each other. The deceleration detectors G0 and G1 that detect that the distances between the fixed shelves 11 and the movable shelves 14 have become shorter than a certain length, and reduce the moving speed of the movable shelves 13 and 14, and the fixed shelves 11 and the movements that are adjacent to each other. A stop detector PH0, PH1 for detecting that the distance to the shelf 14 has become shorter and stopping the movement of the moving shelves 13, 14 and a safety stop for stopping the movement of the moving shelves 13, 14 by touching. Bar SB1,
SB2 and are installed.

Further, the movable shelf 13 is attached to the main control unit S, and a focusing switch PBC for focusing all the movable shelves 13, 14, 15 to the left side in the figure, and all the fixed shelves 11, 1.
2 and the four shelves corresponding to the movable shelves 13, 14 and 15 at equal intervals PBA, and a mode switch for switching the movable shelves 13, 14 and 15 between the normal mode and the test mode. A switch MSW is installed.

On the other hand, on the movable rack 14, the main control unit S
A sub-control device S1 that controls and manages its own movement and stop based on a command from And mobile shelf 1
4, the distance between the passage selection switch PB2 for forming a working passage between the adjacent movable rack 15 and the adjacent movable rack 15 is shorter than a certain distance, in association with the sub-control device S1. It is detected that the distance between the deceleration detector G2 for decelerating the moving speed of the movable shelves 14 and 15 and the adjacent movable shelves 15 is further shortened, and the movable shelves 14 and 15 are detected. Detector PH2 for stopping the movement of the robot
And safety stop bars SB3, SB4 for stopping the movement of the movable shelves 13, 14, 15 by touching.

Further, on the movable rack 15, the main control unit S
A sub-control device S2 that controls and manages its own movement and stop based on a command from is installed. And mobile shelf 1
5, the distance between the adjacent fixed shelf 12 and the path selection switch PB3 for forming a working path between the adjacent fixed shelf 12 and the sub-control device S2 is shorter than a certain distance. The deceleration detector G3 for detecting that the moving speed of the moving shelf 15 is reduced, and the fixed shelf 12 adjacent thereto.
It is detected that the distance between
A stop detector PH3 for stopping the movement of 5 and safety stop bars SB5, SB6 for stopping the movement of the movable shelves 14, 15 by touching are installed.

Further, the main control device S and the sub control devices S1 and S2 installed on the movable shelves 13, 14 and 15 are
Moving shelves 13, 1 by means of a signal cable 17 including a power supply line
The cables 4 and 15 are connected so as not to hinder the movement thereof, and power is supplied and data is transmitted between them via the signal cable 17.

FIG. 2 shows the internal configuration of the main control device S and the sub control device S1. That is, the main controller S
Includes operation signals for the path selection switches PB0 and PB1, the equalizing switch PBA, the focusing switch PBC, the mode changeover switch MSW and the safety stop bars SB1 and SB2, and the stop detectors PH0 and PH1 and the deceleration detector G.
When the detection signals of 0 and G1 are supplied, arithmetic processing is performed based on the operation contents and the detection contents to generate a corresponding control signal and send it to the signal cable 17, and at the same time, via the inverter I, the movable rack 13 A main controller 18 for controlling a motor M for self-propelling is provided.

The sub-control unit S1 includes a main control unit S.
From the control signal transmitted from the signal cable 17 through the signal cable 17, the operation signals of the above-described path selection switch PB2 and the safety stop bars SB3 and SB4, and the detection signals of the stop detector PH2 and the deceleration detector G2 are supplied. By doing
A sub-control unit 19 is provided which performs a calculation process based on the control contents, the operation contents, and the detection contents and controls the motor M1 for causing the movable rack 14 to self-propell through the inverter I1. Note that the sub-control device S2 has a configuration similar to that of the sub-control device S1, and therefore description thereof will be omitted.

FIG. 3 shows the internal construction of the main controller 18. That is, the main control unit 18 includes a microcomputer 20, a ROM (read only memory) 21 in which an operation program of the microcomputer 20 is stored, and a RAM (random access) used during arithmetic processing of the microcomputer 20.・ Memory) 22
And a communication interface unit 23 for data transmission with the outside, operation signals of the path selection switches PB0 and PB1, the equalization switch PBA, the focusing switch PBC, the mode changeover switch MSW and the safety stop bars SB1 and SB2, and the stop. Detectors PH0 and PH1 and deceleration detector G
It is composed of an input interface section 24 for inputting detection signals of 0 and G1, and an output interface section 25 for sending out a signal for driving the motor M to the inverter I.

The movable shelf 13 is provided with a lamp for illuminating a work passage corresponding to the movable shelf 13 and a lamp for indicating an operating state of various switches. Control of turning on / off of these lamps is performed. Also, the microcomputer 20 gives an instruction, and the instruction signal is output to each lamp via the output interface section 25. And
The structure relating to such various lamps is similar to that of the other mobile rack 1.
The same applies to the sub-control devices S1 and S2.
Since each sub-control unit 19 has a configuration similar to that of the main control unit 18, the description thereof will be omitted.

The operation of the above arrangement will be described below. That is, FIG. 4 is a flowchart showing the operation of initial setting. First, start (step S1)
Then, in step S2, the worker turns on a power switch (not shown) to supply power to the main control device S and the sub control devices S1 and S2 of each of the movable shelves 13, 14, 15 and then, in step S3. The mode switch MSW is switched to the test mode side, and the focusing switch PBC is operated in step S4. Then, the main control device S of the moving shelf 13
Controls in step S5 so as to move all the movable shelves 13, 14, 15 to the right in FIG.

While the movable shelves 13, 14, 15 are being moved, the main control device S determines in step S6 whether or not any of the passage selection switches PB0 to PB3 and the equalization switch PBA is operated, and the operation is performed. If not (NO), in step S7, safety stop bars SB1 to SB
It is determined whether any one of 6 has been operated. here,
When it is determined that the operation is performed in step S6 (YES) or when it is determined that the operation is performed in step S7 (YES), the main control device S determines in step S8.
The movable shelves 13, 14 and 15 are brought to an emergency stop.

When it is determined in step S7 that the operation is not performed (NO), the main control device S determines in step S9 whether the stop detector PH3 of the movable rack 15 detects the stop position. If it is not detected (N
O), the movement of the movable shelves 13, 14, 15 to the right in FIG. 1 is continued until detected. When the stop detector PH3 of the moving rack 15 detects the stop position (YES), the main control device S moves the moving rack 13,
The movement of 14 and 15 in the right direction in FIG. 1 is stopped, and here,
All the moving shelves 13, 14, 15 are focused on the right side in FIG.

After that, the main controller S determines in step S11.
Then, after controlling all the moving shelves 13, 14, 15 to move to the left in FIG. 1, in step S12, the calculation of the moving distance of the moving shelf 13, which will be described in detail later, is started. While the movable shelves 13, 14, 15 are being moved, the main control device S, at step S13, selects the passage selection switch P.
It is determined whether or not any one of B0 to PB3 and the equalization switch PBA is operated, and if not operated (N
O), in step S14, safety stop bars SB1 to SB6
It is determined whether any of the above has been operated. Here, when it is determined that the operation has been performed in step S13 (YES) or when it has been determined that the operation has been performed in step S14 (YES), the main control device S determines in step S15.
Then, the calculation of the moving distance is stopped, and the moving shelves 13, 14, 15 are brought to an emergency stop in step S8.

When it is determined in step S14 that the operation is not performed (NO), the main control device S determines in step S16 whether the stop detector PH0 of the movable rack 13 detects the stop position. If it is not detected (NO), the movement of the movable shelves 13, 14, 15 in the left direction in FIG. 1 is continued until it is detected. Also, the main controller S
When the stop detector PH0 of the moving rack 13 detects the stop position (YES), the moving rack 1 is moved to the moving rack 1 in step S17.
The movement of 3, 14, 15 to the left in FIG. 1 is stopped, and all the moving shelves 13, 14, 15 are focused on the left side in FIG.

At this time, the main controller S determines in step S1.
In step S12, the calculation of the moving distance of the movable rack 13 started in step S12 is completed, and in step S19, the calculation result, that is, the state where the movable rack 13 is located on the rightmost side in FIG. The moving distance moved to the leftmost position is stored in the RAM 22, and the initial setting operation is ended here (step S20).

Here, FIG. 5 shows a series of speed control from the start of the movement of the movable rack 13 in the rightmost position in FIG. 1 to the stop at the leftmost position in FIG. It shows the situation. That is, when the movement is started, the moving rack 13 is accelerated by the acceleration α, and the high moving speed V1
When it reaches, it becomes a constant speed running state. Then, when the deceleration detector G0 detects the deceleration start position, the moving shelf 13 is decelerated at the deceleration β, and when the low speed traveling speed V2 is reached, the moving shelf 13 enters the constant speed traveling state, and then the stopping detector PH0 In the state where the stop position is detected, the vehicle is decelerated at the same deceleration β and stopped.

Since the high speed moving speed V1, the low speed running speed V2, the acceleration α and the deceleration β are fixed values set in advance in the inverter I of the moving rack 13, the main controller S determines that the moving rack is moving. The time t ₁ from the start of movement of 13 to the high speed moving speed V1, the time t _{2 during} which the moving rack 13 moves at the high moving speed V1, and the moving rack 13
Starts decelerating from the high-speed moving speed V1 and the low-speed traveling speed V2
And the time t ₃ to reach a movable rack 13 is moved and the time t ₄ at low traveling speed V2, the movable rack 13 is started decelerating from slow moving speed V2 and the time t ₅ to be stopped measured By doing so, the total movement distance L of the movable rack 13 can be calculated based on the following formula.

L = (1/2) αt ₁ ² + V1t ₂ + (V1 ² -V2 ² ) / 2β + V2t ₄ + (1/2) βt ₅ ²

All the fixed shelves 11 and 12 and the movable shelves 13, 14 and 1 in the state where the above-mentioned initial setting is performed.
The operation of forming work passages corresponding to No. 5 at equal intervals will be described with reference to the flowchart shown in FIG. First, when the operation is started (step S21), the worker, in step S22, selects the mode changeover switch MSW.
After switching to the normal mode side, in step S23, the equalizing switch PBA is operated. Then, in step S24, the main control device S of the movable rack 13 receives all the movable racks 13,
It controls to move 14 and 15 leftward in FIG.

While the movable shelves 13, 14, 15 are being moved, the main control device S determines in step S25 whether or not any one of the path selection switches PB0 to PB3 and the focusing switch PBC is operated, and the operation is performed. If not (NO), in steps S26, the safety stop bars SB1 to SB1
It is determined whether any of B6 has been operated. Here, if it is determined that the operation is performed in step S25 (YES), or if the operation is performed in step S26 (YE
If it is determined to be S), the main controller S causes the movable shelves 13, 14, 15 to make an emergency stop in step S27.

When it is determined in step S26 that the operation is not performed (NO), the main control device S determines in step S28 whether the stop detector PH0 of the movable rack 13 has detected the stop position. If it is not detected (NO), the movement of the movable shelves 13, 14, 15 in the left direction in FIG. 1 is continued until it is detected. Also, the main controller S
Is a detector PH0, P for stopping the movable shelves 13,14,15.
When H1 and PH2 detect the stop position (YES), in step S29, the movement of the movable shelves 13, 14, 15 to the left in FIG. 1 is stopped, and all the movable shelves 13, 14, 15 are focused on the left side in FIG.

After that, the main controller S determines in step S30.
Then, after controlling all the moving shelves 13, 14 and 15 to move to the right in FIG. 1, at step S31, any of the passage selecting switches PB0 to PB3, the equalizing switch PBA, and the safety stop bars SB1 to SB6. Is determined to have been operated. If it is determined to have been operated (YES), the moving shelves 13, 14, 15 are brought to an emergency stop in step S27.

When it is determined in step S31 that it is not operated (NO), the main control device S determines all fixed shelves 11 and 12 and the movable shelves 1 in step S32.
In order to form the work passages corresponding to 3, 14, 15 at equal intervals, the distances to move the movable shelves 13, 14, 15 are calculated respectively. In this case, the moving distance of each of the movable shelves 13, 14 and 15 is the total moving distance L of the movable shelf 13 calculated in the initial setting operation and stored in the RAM 22. 4)
The width L1 of one work passage is calculated by dividing by, and the distance L1 is assigned to the movable rack 13, the distance 2L1 is assigned to the movable rack 14, and the distance 3L1 is assigned to the movable rack 15, respectively.

After that, the main controller S proceeds to step S33.
Then, the moved distance of each movable rack 13, 14, 15 is measured from, for example, the rotational speed of the wheel, and the measured moved distance of each movable rack 13, 14, 15 is calculated in step S34. Moving distances of the moving shelves 13, 14, 15 (specifically, the moving distances of the moving shelves 13.14. It is determined whether or not the distance is equal to (distance obtained by subtracting the distance until 15 stops)). And
The main control device S has the same (YES) mobile racks 13, 1
In order from 4 and 15, in step S35, the movement is stopped, and the stopped moving shelves 13, 14 and 15 are brought into an interlock state, and all the fixed shelves 11 and 12 are placed here.
And the work passages corresponding to the movable shelves 13, 14, 15
They will be formed at equal intervals.

Then, in step S36, the worker enters the work passages and starts the work all at once.
When the work is completed at 37, a reset operation is performed on each of the movable shelves 13, 14, 15 to release the interlock at step S38. Then, in step S39, main controller S determines whether or not the interlocks of all movable shelves 13, 14, 15 are released, and the interlocks are released (Y
If ES), the process ends (step S40).

Therefore, according to the configuration of the above embodiment, the movable shelves 13, 14, 15 are automatically moved by an easy operation of operating the equalizing switch PBA,
The work passages corresponding to all the fixed shelves 11, 12 and the movable shelves 13, 14, 15 can be formed at equal intervals. Further, when the equalizing switch PBA is operated, all the moving shelves 13, 14, 15 are once focused on one side and then moved so as to be arranged at equal intervals. Each mobile shelf 1
No matter how the 3, 14, 15 are arranged, it is difficult for an error to occur in the measurement of the moving distance of each of the movable shelves 13, 14, 15, and the working passages are formed at exactly equal intervals. You can Furthermore, the initial setting operation only needs to be performed once, and the handling is convenient.

Here, forming the work passages corresponding to all the fixed shelves 11 and 12 and the movable shelves 13, 14 and 15 at equal intervals is an easy operation only by operating the equalizing switch PBA. Therefore, when it is used as a shelf for storing documents and books, for example, it is convenient to periodically circulate air to prevent the paper from being damaged by moisture. When used in a freezer, if the shelves are opened at even intervals when the door is closed, the stored items can be cooled efficiently. The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.

[0039]

As described above in detail, according to the present invention,
It is possible to provide a very good moving rack device that can form working passages corresponding to all the racks with an easy operation and at exactly equal intervals.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a movable shelf device according to the present invention.

FIG. 2 is a block configuration diagram showing details of a main control device and a sub control device of the embodiment.

FIG. 3 is a block configuration diagram showing details of a main control unit of the main control device.

FIG. 4 is a flow chart shown for explaining an initial setting operation of the embodiment.

FIG. 5 is a diagram for explaining a calculating unit of a moving distance of a movable rack in the initial setting.

FIG. 6 is a flowchart shown to explain the operation after the initial setting of the embodiment.

[Explanation of symbols]

11, 12 ... Fixed shelf, 13-15 ... Moving shelf, 16 ... Rail, 17 ... Signal cable, 18 ... Main control unit, 19 ... Sub control unit, 20 ... Microcomputer, 21 ... ROM, 2
2 ... RAM, 23 ... communication interface section, 24 ... input interface section, 25 ... output interface section.

Claims (1)

[Claims] 1. A plurality of shelves are set so as to be movable along specified rails, and the movement of the shelves is controlled by motors respectively set on the plurality of shelves, so that the shelves can be moved between arbitrary shelves. In a movable rack device that selectively forms a work passage, a distance information acquisition unit that obtains distance information for moving the rack on the rail from one focusing position to the other focusing position, and the distance information obtaining unit Distance information obtaining means for obtaining distance information between the shelves when the plurality of shelves are arranged at equal intervals on the rails based on the obtained distance information, and the distance information obtained by the distance information obtaining means. And a moving distance information acquiring unit that obtains moving distance information of each shelf from the position where the plurality of shelves are converged on one side of the rail to the arrangement on the rail at equal intervals, based on Focusing means for focusing the plurality of shelves on one side of the rail in accordance with an external operation, and the plurality of shelves in the state where the plurality of shelves are focused on one side of the rail by the focusing means. To the other side of the rail,
A moving unit that moves only a distance corresponding to the moving distance information of each shelf obtained by the moving distance information acquiring unit, and a state in which the plurality of shelves are moving toward the other side of the rail by this moving unit. And a stop means for measuring the moving distance of each shelf and stopping the movement of the shelf corresponding to the moving distance information obtained by the moving distance information obtaining means. Shelf equipment.