JPS6322413A - Moving rack device - Google Patents

Abstract

PURPOSE:To enhance efficiency of cargo handling operations and increase the safety by installing a plurality of moving racks between two stationary racks, and allowing this set of racks to perform passage provision with a command given by radio from outside. CONSTITUTION:A plurality of moving racks 1 movable in the direction perpendicular to the incoming/outgoing port for objects, are placed between two stationary racks 1A. A control panel 2 for manual operation is installed on a panel 3 on one side of moving rack 1 and the stationary rack 1A, and light emitters 5A, 5B and light receivers 6A, 6B are installed on a panel 3 of stationary rack 1A to shut the light 7A when any person comes into the passage between the racks, for protection of the person. A signal receiver is installed within this set of racks so as to perform passage provision in response to a command given by radio from outside, which enables provision of a passage while the operator is riding on a fork lift etc.

Description

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

a plurality of movable shelves driven by a driving motor, arranged closely together and arranged side by side so as to form a working path between them;
The aisle selection switch provided corresponding to each aisle to be formed between the movable shelves, and 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, should be moved. 2. Description of the Related Art A movable shelf apparatus is already known which includes a discriminating circuit that discriminates a movable shelf and the direction of movement thereof, and a drive circuit that moves the movable shelf according to the determination of the discriminating circuit.

Loading and unloading of articles into and out of such a movable shelving device may be carried out using a forklift, etc. In that case, it would be convenient if the operator of the forklift could operate the forklift remotely by radio, and the movable shelving device If you can operate it remotely rather than directly manually at the store, you won't have to worry about being pinched between shelves, and you won't get hurt even if an item stored on a shelf falls on a lever. , which should be preferable from the point of view of safety.

An object of the present invention is to enable wireless remote control, for example, from a forklift, thereby streamlining the work of loading and unloading items. 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 Figures 1 and 2, shelves LA and IA are placed facing each other with an appropriate interval between them, and are movable in a direction perpendicular to the article entrance and exit, and their sides are located on the same plane. Multiple movable shelves are installed side by side. One side panel 3 of the stationary tank IA and the movable shelf 1 is provided with an operation panel 2 having a switch for direct manual operation.

Stationary tank IA, the side panel 3 of IA has a light emitting/light receiving post 4.
．． 4 is fixed, and a light emitter 5A is installed at an appropriate height position of the post 4.4, for example, at a height of about 1 m from the floor.
, 5B, and light receivers 6A and 6B that receive light 7A and 7B from these light emitters, respectively. - The set of light emitting device 5A and light receiver 6A is located outside of the other set of light emitting device 5B and light receiver 6B, and when a person or a forklift etc. enters the passage formed between the transoms, the light emitter 5A and light receiver 6A emit light. Vessel 5
After blocking the light 7A from A, the light 7B from the light emitter 5B
Conversely, when exiting from the passage, the light 7B is blocked and then the light 7A is blocked.

The lights 7A and 7B may be visible light, infrared light, ultraviolet light, or laser light, and a straight medium other than the first, such as ultrashort waves, may be used. This light emitting/light receiving device is used to protect people in the transom, as will be described later. Above-
A wireless receiving device is provided in the set of movable shelf devices, and receives a command signal from an external wireless transmitting device, and performs a passage forming operation based on this command signal. Details of this transmitting/receiving device and control device will be described later.

FIG. 3 shows a forklift truck 8 equipped with a transmitter 9, which sends a command signal to a movable shelf device. The forklift 8 can move in and out of the passage formed by 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 1).

Figure 4 shows an example of an unmanned transport vehicle.

This transport vehicle is controlled in various directions such as forward movement, backward movement, stop, traveling direction, loading and unloading of articles, etc. based on signals received via the antenna 10, and also forms a path for the movable shelf device via the transport vehicle. Remittance signals are now being emitted.

FIG. 5 shows an example in which something similar to the example shown in FIG. 4 is applied to a forklift.

6 to 9 show examples using cranes for unmanned cargo handling, and the examples in FIGS. 6 and 7 use overhead lanes. 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 arranged 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 to determine whether the crane is in the passageway between the transoms or not. is detected, and when a crane is in the aisle, the movable shelf 1 is restrained so that it cannot be moved. Each mobile shelf 1 has a side panel 16 as shown in FIG.
, an appropriate number of shelf boards 17 , an underframe 18 , and a safety bar that is provided in front of the shelf board 17 and the underframe 18 and is activated when a human body or other foreign object comes into contact with it to stop the movement of the shelf. 19, a shelf support 20, and an emergency stop switch 21 that is operated to stop the shelf in an emergency when danger approaches.

Figures 8 and 9 show an example using a gate-shaped lane, in which reference numeral 13 is a drive unit that controls the elevation of the fork part 14, 15 is an arm of a crane, and 15a is an arm that is used for moving shelves. This is an lock release switch that detects when the movable shelf is evacuated outside the movable area of No. 1 and unlocks the movable shelf.

Figures 10 to 12 show a light emitting system that detects whether a person or a forklift is in the passageway between the transoms.
The mounting of the receiver shows various examples of conditions. The example in FIG.
2 is provided with a first light emitting/light receiving device 43.43, and a second light emitting/light receiving device 44.44 is provided between the opposing shelves. In the example shown in FIG. 11, - sets of light emitting/receiving devices 43 and 43 are provided respectively on the wall of the room and on the posts provided on the outermost stationary shelf constituting the movable shelf device.

In the example shown in FIG. 12, two sets of light emitters and light receivers 43 are installed on poles or pillars 47 and 47 that are already installed on the sides of the row of movable shelves.
．． 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 IA 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 2; includes an individual operation panel 2 and a control circuit board 22.
is provided. An arm 4o is provided between the ceiling panels of each transom and swings in response to the opening and closing of the passage between the transoms to detect whether a passage is formed. A light emitter 5 and a light receiver 6 are installed on both side walls of the room where the row of shelves is arranged so that the light beam passes through the side of the row of shelves.
It is designed to detect the presence or absence of people in the passageway between the transoms.

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 has a digital switch 25 for setting the number of the passage to be formed between the transoms, and a remote control mode when turned on.
It has an on/off switch 26 that becomes a direct operation mode when turned off, an open/release switch 27 that outputs an inter-aisle signal and a release signal for that signal, and an emergency stop switch 28. The one in Fig. 15 uses a button 30 to set the passage number to be formed in the transom, an on/off switch 31 for setting the remote control mode, and a button for canceling the open signal and stopping. A switch 32 for outputting a signal, an open command switch 33. It has an emergency stop switch 34.

Next, an example of an electric circuit used in the present invention will be explained. 1st
In Figure 6, reference numeral 22 indicates a board for the control circuit provided in each column, and the left board 22 is for the board on the leftmost shelf, and the right board 22 is for the Nth leftmost shelf from the left end. Shows the board. The circuit configuration itself in each board 22 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 input/output signals such as right row signals, left row signals, and stop signals.Also, each circuit board is connected to an AC power source for power and a DC power source. 35 for circuit
DC power is supplied from.

In the same figure, the reference numeral 38 indicates a transmitter as shown in FIGS. 14 and 15, and various signals emitted from the transmitter (? The signal is now received by the receiving circuit 37 in the receiving board 23 described with reference to FIG. 13. This signal is transmitted and received as follows.
For example, after a discrimination counter pulse of a constant dJ, the first passage signal, second passage signal, Nth passage signal, on/off (tj number, open command) to switch between automatic operation by remote control or direct manual operation. Alternatively, the cancellation signal, emergency stop signal, etc. can be transmitted in sequence to the carrier wave repeatedly, and then received and detected by a receiving circuit.Such a transmission/reception method is already used in radio control equipment for models. The signals marked - received by the receiving circuit 37 are sent to the signal discrimination circuit 36, and the signal discrimination circuit 36 recognizes the first to Nth passage signals R□, R2, RN. Open command signal input terminal O0 of the circuit board 22 corresponding to each path signal is determined.
...It is designed to be input to ON. The signals inputted to the open command signal input terminals 04 . The signal discrimination circuit 36 also
It is determined whether automatic operation is performed by remote control or direct manual operation, and in the case of remote sensitization, when a release signal is input by remote control after a passage is formed based on the open command signal, a lock signal is generated. This lock signal Lo is input to all circuit boards through the leftmost circuit board 22. The lock signal is also output when an emergency stop signal or the like is input. The signal discrimination circuit 36 includes the main circuit board 22 at the left end.
An in-operation signal Dr indicating that the movable shelf is in operation is inputted from there. The signal discrimination circuit 36 includes:
Signals from the light receivers 6A and 6B are input, and the light receiver 6
^, Lock signal based on signal from 6B. It outputs or stops this, and also causes the counter to increment or subtract.

Next, the detailed configuration of the signal discrimination circuit 36 will be explained with reference to FIG. 17. The switches sw, , sw2 . sw,, sw4゜sw5.
sw,, sw7. sw8 can be considered as a relay contact provided at the end of the receiving circuit 37, and the switch SW1 is turned on when the remote control mode is selected, and the OR circuit 0□ in the signal discrimination circuit 36 (hereinafter referred to as the OR circuit) is turned on when the remote control mode is selected. Simply “O□”
(represented as "02") through a flip-flop circuit FF (hereinafter referred to as "flip-flop circuit" is simply rFF)
The rHJ signal is input to the set terminal S of FF7 (expressed as ``rFF2''), and the switch SW2 is turned on when the manual direct operation mode is selected, and the [H'' signal is input to the reset terminal R of FF7. I'm getting closer to you. The switch SW3 is turned on when the Nth path is selected, and inputs a signal to the AND circuit aa (hereinafter, the AND circuit is expressed as "a-J'a2J") via the differentiating circuit DIFIJ. The switch SW4 is the Nth
When the selection of the th path is canceled, it is turned on and a signal is input to a4.

1l-8W5 is turned on when the second path is selected and inputs a signal to a5 via the differentiating circuit DIF2.

The switch SW6 is turned on when the second path selection is canceled and inputs a signal to aG. The switch SW7 is turned on when the first path is selected, and a signal is input to a7 via the differential circuit DIF. The switch SW8 is turned on when the selection of the first path is canceled and inputs a signal to all.

The output of the output terminal Q of the FF is input to a3 to all. Therefore, if the remote control mode is not selected, the switch SW1 will not be turned on, so the gates of a3 to all is not allowed to be opened. The output of a3 is input to the set terminal S of FF4, and the output of a4 is input to the reset terminal R of FF4 via 03.
The output of a is input to the set terminal S of FF, the output of a is input to the reset terminal R of FF5 via 04, the output of a7 is input to the set terminal S of FFG, The output of aII is input to the reset terminal of FFG via 05. FF, terminal Q
The output signal is applied to one end of the relay coil LH via the product = 12 = minute path INTPJ and inverter IN7, and the output rH of the terminal Q of FF4
When the current reaches J, an exciting current flows through the relay coil L and its relay contact R is turned on, resulting in the same state as when the Nth path signal is input. Also, FF6
The output signal of the terminal Q of the integrator circuit INT2 and the inverter I
N, is added to one end of relay coil L2 via FF
When the output of terminal Q of No. 5 becomes rHJ, coil L2 is excited, relay contact R2 is turned on, and the same state as when the second path signal is input is created. Similarly, when the output of terminal Q of FFG becomes rHJ, this signal is applied to one end of the relay coil hole through the integrator circuit INT The state is the same as when the first path signal is input. FF4. F
The outputs of each terminal Q of FF6 and the output of the terminal Q of FF7 are input to a NOR circuit no2, and the output of the NOR circuit no2 is an inverter INt. through relay coil L
It can be added to one end of the .

Therefore, only when the remote control mode is switched and no path signal is input, the relay coil L is energized and its b contact is activated. is turned off, and the state is the same as if a lock signal was input in each column. The switch SW□ is linked to the power switch of the transmitter 37, so that when the power switch is turned on, the remote control mode is immediately set. 0□, 03.04.05
Also, an initial reset signal is applied to a reset terminal R of the 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 changeover switches, and the light receivers 6A and 6B connect r to the reset terminals R of FF1 and FF2, respectively, when receiving light from the light emitters.
By inputting the HJ signal and blocking the light from the light emitter, r is input to the set terminal S of FF and FF2, respectively.
The HJ signal is input. FF1 terminal Q
The output signal a of is applied to a□ and O2. The output signal of terminal Q of FF2 is the inverter ■, □
It is converted into an inverted signal C at the differential circuit DIF, and then converted into a differential signal d at the differential circuit DIF, which is then added to a.
After being made into a differential signal e, it is added to O2.

The output f of a□ is input to the set terminal of FF3, is converted into an inverted signal by an inverter IN3, and is converted into a differentiated signal i by a differentiating circuit DIF6, and then added to O4. On the other hand, the output g of O2 is input to the reset terminal of FF3, is made into an inverted signal j by an inverter Nq, is made into a differential signal by a differentiating circuit DIF7, and is then added to 01. The output Q of 0□ is the clock terminal C of the up/down counter CNT.
It can be added to LK. The output 0 from the terminal Q of the FF3 is input to the up/down switching terminal of the counter CNT. Signals P+'T+ r+S of count value output terminals Q1, O2, O3, O4 of counter CNT
are added to decoder CDC, respectively, and decoder CDC
After converting the above signals p, q, r, and s into signals necessary for digital display,
= 7 segments of display element 41 are added. The above signals p, q, r, s are also added to the NOR circuit no□, and the output m of the no circuit is the above-mentioned a3,
The signal is applied to O6 and O7, and is also inverted by an inverter IP12 and applied to al. In addition, the output m of no□ is converted into an inverted signal by the inverter Ns and inputted to O9, and also to O9. A signal Dr indicating that the moving shelf is being moved from the circuit board is sent to the inverter I.
It is inverted at y and input. The output of a is 06 and the inverter is □. It is adapted to be applied to one end of the relay coil L via the coil.

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

Now, assuming that remote control mode is selected in conjunction with turning on the power switch of the transmitter, switch SW □
is turned on, a set signal is input to FF via 02, terminal Q of FF7 becomes rHJ, and this rHJ signal is added to a3, O4, O5, a G + O7, all. At this time, assuming that no one or any working machinery such as a forklift is in the passageway, the output m of the NOR circuit nO1 is rHJ, as will be clear from the explanation below. This rHJ signal will be added to O3, O5, and O7. Therefore, when the first path is specified by operating the transmitter to form the first path, the switch SW7 in the receiver 37 is turned on, and the r differentiated to O7
HJ signal is input. Since the other input signal of O7 is rHJ as described above, the differential signal is applied to the set terminal of FF, and the terminal Q of FF6 becomes "T".

This rHJ signal is applied to the integrator circuit INT□ and the inverter output.

is then input as the rLJ signal to one end of the relay coil L□, and as a result, an excitation current flows through the coil L□, the relay contact R□ is turned on, and the first path formation command switch is operated. The result is the same, and the mobile shelf starts moving. When the shelf starts to move, a drive signal Dr is input from the shelf's circuit board. Since the drive signal Dr is inverted by the inverter 1 and applied to a, the output of a, ie, one of the inputs of 06, becomes rLJ. On the other hand, when the signal specifying the path to be formed is input as described above, one of the inputs of NOR circuit no2 becomes rHJ, and the output of Lo2, that is, the other input of 06 becomes rlJ. Therefore, the output of 06 becomes "L", and one end of the relay coil L becomes rHJ due to the inverter lNl0, so the coil L is not excited and a lock signal is generated. 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 is stopped.

In this state, the relay contact R□ remains on due to the signal from the terminal Q of the FF, 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 SW8 is turned on by operating the release switch, a signal is input to the reset terminal of FFG via as and 05, and the FF and beam are set.
Relay coil L0 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 of NOR circuit no2 are rLJ, its output is rHJ, and O5 and inverter I
N□. The relay coil L is energized through the relay, and the relay contact is activated. is turned off and a lock signal is output, and the movable shelf cannot be moved even if, for example, the open command switch provided in each column is manually operated directly. Then, when the transmitter is operated to output a command signal to open the second passage, the switch SW5 of the receiving circuit 37 is turned on, the output of a5 becomes rHJ, FF is set, and the terminal Q
Based on the rHJ signal, the relay coil L2 is now excited and its contact R2 is turned on, which is the same as manually inputting the second passage opening command signal, and the second passage forming operation is performed. become. At this time, as in the case described above, the output of NOR circuit no2 is "L" and the drive signal Dr
is rHJ, which is inverted to "L" by inverter IN++, resulting in a.

The output of , that is, the other input of 06 becomes rLJ, so the relay coil L is not excited and its contact Lo is turned on, the lock signal is released and the path forming operation becomes possible, and the second path is formed. Ru. 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 6B is blocked.
The light to the receiver is cut off, the switch of each receiver is turned once, and then the original state is restored. Therefore, FFi and FF2 to which the respective light receivers 6A and 6B are connected are once reversed and then returned to their original states, and the respective output signals a and b are as shown in FIG. 18, with signal a leading and signal However, the output is delayed. Signal a is added to al, a2,
The signal S is converted into an inverted signal C by an inverter I, and is converted into a differentiated signal d by a differentiating circuit DIF4, and is added to al.
In addition, the signal S is converted into a differential signal e by a differentiating circuit DIF, and a
Added to 2. Therefore, as shown in FIG. 18, the signal d is output at the rear end of the signal line, and the signal e is output at the front end of the signal line, so the signal g synchronized with the signal e is output from a2. However, the signal f from al is not output and remains at the rLJ level. Since the above signal g is input to the reset terminal R of FF3, FF3 is reset by the input of the signal g, and the output 0 of the terminal Q is inverted to rHJ, which is input to the up/down switching terminal of the counter CNT and the counter Switch to UP. On the other hand, signal g
is an inverter, and after being converted into an inverted signal j, a differentiating circuit D
It is made into a differential signal by IF7, and is input to the clock electronic CLK of the counter CNT as an output signal Ω of 0□ via 0□. Therefore, the counter CNT counts the signal Q in the addition direction, and inverts the signal S of the output signal P+qrI'g s to "H"'. The decoder CDC converts the signal PI qT rsS into a code and causes the digital display element 41 to display the number "1" to indicate that one person or one forklift is in the aisle.

Similarly, if a heavy worker or the like enters the passageway, the counter CNT adds one and sets the signal r to "H".
Other signal P+ qr S to rLJ, decoder CNC
The number "2" is displayed on the display element 41 via the display element 41. As mentioned above, if even one person is in the passage, the signal p+
Since one of q+ rL 8 becomes rHJ, the output m of NOR circuit no becomes r L J, which becomes a3,
It is added to a6 and a7, and the gates of a3a9 and a7 are closed. Therefore, if even one person is inside the passage, even if an open command is issued by remote control, the open command signal will be blocked, making it impossible to create a passage by remote control, thus ensuring safety. . Further, the signal m is inverted to rHJ by an inverter IMll and inputted to a. On the other hand, at this time, the shelf is stopped and the drive signal Dr is rLJ, so it is inverted to rHJ at inverter ■, Js and input to the other terminal of a, and the output of a9 is rHJ
becomes. This rHJ signal passes through 06 and inverter I
IJx. Since it is reversed to rLJ, the relay coil L is energized and the contact is made. is turned off and a lock signal is issued, and as long as there are people in the aisle, the shelves cannot be moved even by direct manual operation, ensuring the safety of workers in one aisle.

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. After the reversal, the output a of the FF is reversed. Therefore,
Even if the differential signal e synchronized with the rising edge of the signal S is input to a2, the a signal is rLJ at this point, and the output g of a2 remains rLJ. On the other hand, the output m of NOR circuit no1 at this point is rLJ as described above, and this inverted signal n is applied to one input terminal of a□, and a signal obtained by inverting the signal n and differentiating it d is 81
Since the signal a is applied to one input terminal of FF3 and the other input terminal of FF3, a signal f is output from a□ in synchronization with the falling edge of signal S (rising edge of signal C). It is input to the set terminal S of. As a result, the output 0 of the terminal d of FF3 is inverted to rHJ, and the counter CNT is switched down. On the other hand, the signal f is made into an inverted signal and a differential signal i, and is input into O□.

○ outputs the signal Q in synchronization with the signal i and inputs it to the clock terminal of the counter CNT, so the counter CNT
is subtracted each time signal Q 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 output 1'+q+r+S of the counter CNT becomes rLJ, and the display section 4
The display of 1 is rOJ, and the output m of NOR circuit no1 is r
Become HJ. Therefore, one of the inputs al, a6, and a7 becomes rHJ, and an open command signal can be issued under other conditions, that is, the remote control mode is selected. Also, the signal m that has become rHJ
is inverted to rHJ by inverter IIJs and input to a3, so the output of a becomes rLJ, but if the remote control mode is selected here and no open command is issued by remote control, then , the output of the NOR circuit no□ becomes rHJ, so the relay coil L is energized, a lock signal is issued, and each column is restrained from moving unless an open command is issued by remote control. 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 and the worker in the aisle will be prevented from moving. safety can be ensured. Further, the operation of outputting a lock signal and making the shelves immovable when a person or the like enters the passage is performed even while the passage is being formed. That is, even if the path is being formed, if the incidence of light to the light receivers 6A and 6B is blocked, the relay coil L is excited as described above and its contact is made. This is because it turns off. This results in
It will be more secure.

In the embodiment shown in Fig. 17, when the transmitter's power battery 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 has become. In other words, when the transmitter's power battery is exhausted, the transmitter cannot issue any commands, and SWl to SWg of the receiver 37, which can be seen as relay switches or other semiconductor switches, remain off. In this state, when the power switch of the signal discrimination circuit is turned on, the initial reset 1 to FF4 signals are activated.
．． This is because FF,, FFG are reset, FF7 is set, all inputs of NOR circuit no2 become rLJ, and its output becomes rHJ, relay L is excited 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 power supply battery is not exhausted, then issue a command to select the manual operation mode, and then receive the command. Machine 37 switch SW2
is turned on, which resets FF1 and connects terminal Q.
set the output of NOR circuit no.2 to
lJ, the relay L is demagnetized, and the output of the lock signal is stopped. Although it may seem inconvenient to perform such an operation, it is meaningful in order to prevent malfunctions and ensure safety while making it possible to select between remote control and manual direct control.

In addition, when trying to increase the number of passages, a.

to a11. It is sufficient to increase the circuit portions consisting of FF4 to FF6, SW3 to SW, 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, it is difficult to determine whether the passageway is being opened or narrowed. Regardless of the situation, the passage forming operation was stopped and a lock signal was 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, but only when a person attempts to enter a passage that is being narrowed. It is sufficient to activate the lock signal 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 set of light emitting/light receivers 43 and 43 disposed on the sides of a set of movable shelf devices as shown in FIG. The circuit is shown in such a way that when light entering the light receiver 43 is blocked, the flip-flop circuit FF included in the light receiver circuit 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 pair of light emitting/receiving devices 44.44 provided opposite to each other on adjacent shelves as shown in FIG. 1θ.
This figure shows the circuit of the light receiver facing the first path, and when the light to this light receiver 44a is blocked, 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 photoreceiver 44a is added to 07 and is also passed through inverter □-□1 to 0.
9 can be added.

The output of the second light receiver 44b is applied to 08 and 0□ via an inverter □2. can be added to. The output of the third light receiver 44c is applied to 08 and also to 01□ via an inverter IWia. A drive signal Dr introduced from the rotating board of the movable shelf while the shelf is moving is applied to ato, a□1, and a1□. ■■■ are the first. Second
, indicates a command signal to form a third passage,
The signal ■ goes to a□2, the signal ■ goes to art, and the signal ■ goes to a□.

can be added to. 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 rHJ, and in the example of FIG. 17, FF4. FF...
The output of FF6 can be considered to correspond to this.

a engineering. The output of is Og, and the output of a1□ is 0□. ni, a1
The output of □ is added to O□□, and 0. ,0□. ,01□
The output of is added to a13. a□3
The output of inverter INx 4 is inverted, and the output of inverter □ is added to, for example, 06 in Fig. 17, and the output of inverter □ becomes rHJ, so that a lock signal is output. ing. The output of O, is added to 07, and the output of 0□ is introduced into the circuit of FIG. 17 as the same signal as in FIG.

Now, a command to form the second passage has been issued and the second passage has been formed.
Assuming that the passage is being formed, the signal ■
becomes "H" and is input to a□□. If a person or the like enters the second path that is opening in this state, the light receiver 43 first performs a detection operation and outputs the signal a, and then the second light receiver 44b performs a detection operation and outputs the rHJ signal. On the other hand, for the passage formation command, the drive signal Dr becomes rHJ, so
Combined with this drive signal Dr and signal ■, the output of all becomes rHJ, but a□. , a12 remains rLJ. Therefore, even if the output of the photoreceiver 44b is rHJ and this is inverted to LJ by the inverter l4xz, the rHJ signal from a□1 is input to one input of 0□, so its output becomes rHJ. Even if the output rLJ of the other photoreceivers 44a and 44c is applied to one input terminal of the a13, it is inverted by the inverters □0, ■ρ, and 3 and input to 09.01□, so that the output rLJ of the other photodetectors 44a and 44c is inputted to 09.01□. The output of 0□ becomes rHJ, and since these become the other two inputs of a13, the output of a13 becomes "H", and is further inverted to rLJ by inverter IIN, so no lock signal is output. The operation of forming the second passage continues.

However, if a person enters the passage that is being narrowed, for example, the third passage, while the second passage is being formed as described above, the amount of the rHJ signal is output from the light receiver 44c, and the inverter 1. At J13, it is inverted to rLJ and is input to Ol. At this time, the signal ■, which is one input signal of a□2, is rLJ, so the output of a□2 is rLJ, and this rLJ signal is the other input of ○0, so O□□ The output of is "T," so the output of a□3 is also rLJ, which is inverter IN). De r
HJ is reversed and a lock signal is output, thereby preventing a worker or the like from being caught in the third passage where the movement of the movable shelf has stopped. In this way, according to the example shown in Fig. 20, safety is ensured by stopping movement only when a worker or the like enters a passageway that is being narrowed; It is possible to improve the efficiency of the passage forming operation by preventing the movement from stopping when the passage enters the passage. Depending on which signal a or b is output first, it is used to detect the number of people in the passage, as explained with reference to FIG. 17. Then, when a person enters the passageway that is opening, the counter CNT in FIG.
During the path formation, the drive signal Dr is rHJ, which is inverted to the inverter Ill5.
Since it is inverted to "L" and becomes another input of a9, a
The output of , is rLJ, and it will not be locked by a signal that does not know aS.

However, once the path forming operation is completed, the drive signal Dr is inverted, so the output of a is inverted to "I", and a lock signal is output. In addition, if a person, etc. enters a passage that is being narrowed, the time during which the light receiver signal is inverted to rHJ is short, and when the person passes through the light beam position, the light receiver signal changes to rLJ. Return. but,
Once the movement is stopped by the detection of the light receiver, the drive signal Dr is stopped, so the output of a becomes rHJ, and the lock signal continues to be output. Thereafter, when there are no more workers or the like in the passage, the passage forming operation based on the passage forming command becomes possible.

As described above, according to the present invention, it is possible to remotely control the movable shelf by wireless, so it is possible to form a passage remotely while riding on a forklift, for example, and work can be carried out efficiently. This is possible, and remote control also has the effect of freeing the user from dangers such as cargo collapse during cargo handling or cargo collapse. 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 unnecessarily form the passageway by manual direct operation. This eliminates the need for a remote-controllable movable shelf device with high safety. Furthermore, if the shelf is in wireless remote control mode and the shelf is moved by an opening command signal issued by remote control and then the opening command is released by remote control, a lock signal will be output to prevent mischief by manual operation. Since the shelves are prevented from moving, from this point of view as well, it is possible to provide a remote-operable movable shelf device with high safety.

[Brief explanation of the drawing]

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, and FIG.
The figure is a front view showing an example of one unit of movable shelf used in the present invention, FIG. 8 is a side view showing yet another example of the external appearance of the movable shelf device according to the present invention, and FIG. 9 is a plan view of the same as above. FIG. 10 is a plan view showing still another example of the external appearance of the movable shelf device according to the present invention, FIG. 11 is a side view showing still another example, and FIG.
2 is a plan view showing still another example, FIG. 13 is a side view showing another example, FIG. 14 is a front view showing an example of the remote control used in the present invention, and FIG. 15 is the same. FIG. 16 is a front view showing another example of the remote control section; FIG. 16 is a block diagram showing an example of the signal system used in the present invention; FIG.
The figure is a circuit diagram showing a specific example of the signal discrimination circuit part in the same signal system as above, FIGS. FIG. 7 is a circuit diagram showing another example of the circuit portion. 1...Moving shelf, 5.5A, 5B...Light emitter, 6.6
A, 6B... Light receiver, 43... Light emitting/light receiver, 44
...Emission/receiver, 36...Signal discrimination circuit, 37.
・Reception circuit, 38・°° transmitter, all a2t a
31 a4t as+ aGt act all a
91a10 + a 11 t a12 + 8118
1721 circuit・01, O,, o,, 04. Os,
O,,O,,O,,O,. 0ILIIO111+OR circuit, nol, no□'
”°Noah circuit, FF, FF□, FF2. FF3
．． FF4. FF5. FF,, FF,...Flip-flop circuit, CNT...Up/down counter. Light (It)
Zuse (Figure 9

Claims (1)

[Claims] a plurality of movable shelves that are driven by a driving motor, are arranged in close proximity to each other, and are arranged in parallel so that a working passage can be formed between them;
The movable shelf is moved based on the relationship between the passage selection switch provided corresponding to each passage to be formed between the movable shelves and the passage position specified by the selection operation of the passage selection switch and the position of the movable shelf at that time. In a movable shelf device comprising a discriminating circuit for discriminating the movable shelf to be moved and the direction of movement thereof, and a drive circuit for moving the movable shelf according to the discrimination of the discriminating circuit, a wireless remote operation mode and a manual direct operation mode are provided. a gate circuit that opens the gate only when the mode selector switch is switched to wireless remote control mode and allows an open operation command signal input remotely via wireless to pass; and this gate circuit. a signal transmitting means for inputting an opening operation command signal inputted through the terminal into the discriminating circuit, and the mode changeover switch is in the wireless remote operation mode, and after the shelf has been moved by the opening operation command signal issued by the remote control; A movable shelf device comprising: a gate circuit that outputs a lock signal to restrict movement of a movable shelf when an open operation command signal is released by remote control.