JPH06255721A - Movable rack device - Google Patents

Abstract

PURPOSE:To provide a movable rack device where the working efficiency is given the highest priority by forming plural passages. CONSTITUTION:This movable rack device is provided with a centralized operation board 31 equipped with a selective switch which selects passages (1)-(6) formed between fixed racks 1, 2 and respective movable racks 4A, 4B, 4C, 4D, 4E, controllers which are mounted in the centralized operation board 31 and set the traveling time of the respective movable racks 4A, 4B, 4C, 4D, 4E by selecting a passage by means of selective switch operation, output forced right movement signals to all the movable racks and transmit traveling time to the respective movable racks 4A, 4B, 4C, 4D, 4E after the right movement completion of all the movable racks, and controllers which forcingly-move the movable racks 4A, 4B, 4C, 4D, 4E to the right once according to an inputted forced right direction movement signal in the respective movable racks 4A, 4B, 4C, 4D, 4E and move them to the left by the inputted traveling time. After the movable racks are forcingly-moved to the right once, they are moved to the left by traveling time which is set according to passage selection, it is thus possible to form plural passages arbitrarily, and perform carrying-in/out work simultaneously at plural passages, providing improved the work efficiency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable rack facility having a plurality of movable racks and performing a spreading operation of the plurality of movable racks.

[0002]

2. Description of the Related Art A moving rack facility having a plurality of movable shelves on a straight track and performing a spreading operation of the plurality of movable shelves is disclosed in, for example, Japanese Examined Patent Publication No. 4-45406, and the spreading switch is operated. All the movable shelves are moved to the left side by the above and collected on the left fixed shelf side, and then the movable shelves are moved to the right side for a predetermined time set for each movable shelf, between the fixed shelf and the movable shelf, and each movable shelf. It is spread out to keep the distance between the shelves constant.

[0003]

However, since the moving rack equipment of the conventional structure is intended to reduce the installation area, it is used for loading and unloading between any fixed shelf and movable shelf or between each movable shelf. One passage is provided, and the movable shelves are arranged at equal intervals between the fixed shelves for the purpose of, for example, improving the cooling efficiency of the loads stored in the shelves. However, two or more entry / exit passages are formed. Since it is impossible to carry out the loading and unloading work at a plurality of locations at the same time, there is a problem that the loading and unloading work efficiency is poor.

The present invention solves the above problems, and an object of the present invention is to provide a moving rack facility in which two or more passages can be formed and work efficiency is prioritized. .

[0005]

In order to solve the above-mentioned problems, the movable shelf equipment of the present invention comprises a fixed shelf, a plurality of movable shelves that can travel back and forth on a track, and between the fixed shelf and the movable shelf. It consists of a centralized operation panel equipped with a selection switch that selects the passages provided between the movable shelves, and the movement time of each movable shelf is set on the centralized operation panel by selecting the passages by operating the selection switch and forced to all the movable shelves. A control means for outputting a left row (right row) signal and transmitting the moving time to each movable shelf upon completion of the left row (right row) of all the movable shelves is provided. The control means is provided to forcibly move the movable rack to the left (right) in response to the (right) signal and then right (left) the input moving time.

[0006]

According to the above construction, the control means for the centralized control panel is
Set the moving time of each movable shelf by selecting multiple aisles,
The forced left row (right row) signal is output to all the movable shelves, and the moving time is transmitted to each movable shelf when the left row (right row) of all the movable shelves is completed. Left line (right line)
After that, the line is moved to the right (left) for the input moving time. Therefore, an arbitrary position of each movable shelf is determined by the set movement time, and a plurality of passages are formed.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a control device of a mobile shelf facility of the present invention and its arrangement.

In FIG. 1, reference numerals 1 and 2 denote fixed shelves having a plurality of compartment storage spaces. A plurality of fixed shelves are provided between the first fixed shelves 1 and the second fixed shelves 2 as shown in FIG. A plurality of movable shelves 4 (left rack 4A, intermediate racks 4B, 4C, 4D, which each have a compartment storage space 5 and can freely travel back and forth on a straight track 3).
The right rack 4E) is provided. With this configuration, passages are set between the fixed shelves 1 and 2 and the movable shelves 4, and between the movable shelves 4. Further, each movable shelf 4 is provided with a control panel 6 for movement control, and between the control panel 6 of the adjacent movable shelf 4 and the control panel 6 of the left rack 4A at the end and the first fixed shelf 1. A cable 9 for communication is wired in the.

Further, as shown in FIG. 2, each movable shelf 4 is provided with an approach detector 11, an intrusion detection device 12, and a bumper switch 13. The proximity detector 11 is composed of a photoelectric switch and is provided between the movable shelves 4 or between the movable shelves 4 and the fixed shelves 1.
The approach detector 11A of the left rack 4A detects only the approach to the first fixed shelf 1 on the left side, and the other approach detectors 11 detect the approach between the two racks 4A and 2D. Of the fixed shelf 2 is detected. In addition, the intrusion detection device 12
Is a photoelectric switch formed by a light projector and a light receiver, and detects that a worker or the like has entered the aisle while the movable shelf 4 is moving. It is mounted at the height of a centimeter, and the movement of the movable shelf 4 is stopped by the operation signal of the intrusion detection device 12 to measure the safety of the worker. Also, the left rack 4A
Only the intrusion detector 12A of detects the intrusion to the left passage,
The other intrusion detector 12 detects an intrusion into the passage on the right side. The bumper switch 13 detects that a load or the like is placed in the traveling direction of the movable shelf 4 by detecting the contact with the load and moves the movable shelf 4
It is intended to prevent the load from being caught in the rack and the lock state, and the movable shelf 4 can be operated by the operation signal of the bumper switch 13.
Has stopped moving. Further, in FIG. 1, reference numeral 21 is a start push button switch (hereinafter abbreviated as start Pb) operated to form a passage on the right side of the movable shelf 4, 22 is a stop push button switch (hereinafter abbreviated as stop Pb), These switches 21 and 22 have a built-in start lamp 24 and stop lamp 25, respectively. The second start Pb21A and stop Pb22A provided on the left rack 4A are button switches for forming a passage on the left side of the left rack 4A.

Further, a centralized operation panel 31 is provided on the first fixed shelf 1, and as shown in FIG. 3, only one standard passage is provided on the surface of the centralized operation panel 31 as in the conventional case. Key switch 32 for selecting whether to provide a passage (multi-passage)
Six passage push button switches (hereinafter abbreviated as Pb) 33 for selecting passages, a start push button switch (hereinafter abbreviated as Pb) 34 operated to form a passage, and a stop push button switch (hereinafter stopped Pb) 35, a communication error display lamp 36 that lights up when an abnormality occurs, a reset switch (hereinafter abbreviated as reset Pb) 37 that resets selection of the passage Pb33 and resets when an abnormality occurs. aisle
Each Pb33 has a built-in lamp 38 for displaying a selection. Further, as shown in FIGS. 4 and 5, inside the centralized operation panel 31, the control circuit for the switches 32 to 35, 37, the control device 39, the control device 39 and the cable 7 are used to connect the left rack 4A. There is provided a master communication device 40 that controls the exchange of signals with the control panel 6.

The control circuit is a (hold) circuit for driving the relays 1 to 6 corresponding to the respective passages 1 to 6 by operating the respective passages Pb33, and when the standard is selected by the key switch 32, the respective passages are held. The operation of Pb33 releases the relay hold of the other passages, so that only one of the relays 1 to 6 is selected. When multiple passages are selected, the operation of each passage Pb33 causes the operation of multiple relays. 1 to 6 is selected, operation of reset Pb37, or a control device described later
The reset drive contact 41 of 39 is formed so that each of the relays 1 to 6 is reset, and further, the lamp of each passage Pb33.
38 is formed to be illuminated by each of the relays 1-6. Further, the display drive contact 42 of the control device 39 described later turns on the communication error display lamp 36.

Further, the control device 39 is connected with the standard selection contact of the key switch 32, the start Pb34, the stop Pb35, the reset Pb37, and the drive contacts of the relays 1 to 6 as input points.
The operation of the control device 39 will be described in detail with reference to the flowcharts of FIGS.

First, it is judged whether or not the ON signal of the reset Pb37 is inputted (step-1), and if it is inputted, the stop signals MT and ST which will be described later are reset (step-2), and the reset drive contact is made. 41 is turned off (step-3), the display drive contact 42 is turned off, the communication error display lamp 36 is turned off (step-4), and the process ends. If the ON signal of the reset Pb37 is not input in step-1, it is judged whether or not the ON signal of the stop Pb35 is input (step-5). If it is input, it is output from the central control panel 31. Stop signal M of movable shelf 4
T is set (MT = 1) (step-6), the reset drive contact 41 is turned on, the selection of all relays 1 to 6 is canceled (step-7), and the process is ended. In Step-5,
When the stop Pb35 ON signal is not input, it is judged whether or not the communication error signal is input from the master communication device 40 (step-8).
42 is turned on, the communication error display lamp 36 is turned on (step-9), and step-6 is executed. If the communication error signal is not input in step-8, it is determined whether or not the stop signal ST by the movable shelf 4 is set via the communication device 40 (step-10). The display drive contact 42 is turned on, the communication error display lamp 36 is turned on (step-11), and step-7 is executed.

Next, in step-10, the stop signal S
If T is not input, it is determined whether the standard is selected by the key switch 32 (step-12). If Standard is selected, it is determined whether the ON signal of the start Pb34 is input (step-12). -13), when the ON signal of the startup Pb34 is input, it is searched which contact of the relays 1 to 6 is input (step -14), and the input relays 1 to 6, that is, the passage number is searched. Set the passage open signal E (n) for n to {E (n) = 1} (step-
15), end. When the ON signal of the starting Pb 34 is not input in step -13, the set passage open signal E (n) is reset {E (n) = 0} (step -16), and the process ends.

When the standard is not selected in step-12, that is, when the multi-passage is selected, it is judged whether or not a start flag Q described later is set (Q = 1) (step-17). If it is not set, it is judged whether the ON signal of the startup Pb34 is input (step-18), and if the ON signal of the startup Pb34 is input,
Set the start flag Q (Q = 1) (step -19),
Which contact of the relays 1 to 6 is input (step-20), and the movement timer value of each movable shelf 4 is calculated from the input relays 1 to 6, that is, the passage number, by a formula described later ( In step-21), the right row instruction signal R _G (0) is set to the left rack 4A { _RG (0) = 1} (step-22). Next, the right row completion signal R of the left rack 4A
_R (1) is set _{R R (1) = 1} is either a determining that (step -23). Start in step-18
When the ON signal of Pb34 is not input, the spread instruction signal SP described later is reset (SP = 0) (step-2
4), end. If the right row completion signal R _R (1) is not set in step -23, the process ends.
If it is set, the rightward instruction signal R _G (0) is reset { _RG (0) = 0} (step-25), and the spread instruction signal SP is set (SP = 1) (step-26). , A t (r) signal in which the timer value calculated in step-21 is set to r for each movable rack 4 number (step-27), and the start flag Q is reset (Q = 0) (step-28),
finish. Movable shelf number r is 1 in order from left rack 4A
Set to ~ 5.

The calculation of the timer value t (r) of each movable shelf 4 in step-21 will be described with reference to Table 1 and FIG. First, the movable shelves 4 are separated into a plurality of groups based on the selected passage numbers. For example, as shown in Table 1, when an aisle is selected and two other aisles are selected, selection of the other aisles results in division into three groups of 10 ways. For example, when the other passage is, the first group is (left rack 4A, middle rack 4B), the second group is (middle rack 4C), and the third group is (middle rack 4D, right rack 4E).

Next, the number of passages (when relays 1 to 6 are turned on)
Number) A and maximum aisle width (when all movable shelves 4 converge to the right
From the first fixed shelf 1 of the mushroom and the left rack 4A) L,
Calculate the passage width Y for one passage with constant dispersion (Y = L / A), then
To the movement distance X of the first group₁To calculate (X₁= Y ・ B; B
Is B = A-1 if the passage is selected,
If not, B = A), this movement distance X₁From the first collection
Team set time (timer value) T₁Is calculated. for example
For example, as shown in FIG. 8, the constant velocity V is 10 m / min (16
7 mm / sec), acceleration time 6 sec (movement during this period)
Distance is 500 mm, deceleration time is 4 sec (during this period)
Is 333 mm), then T ₁= (X₁
-500 -333) / 167 +6 sec.

The set time (timer value) T ₂ of the second group is (T ₂ = T ₁ −Y / 167) sec, and the set time (timer value) T ₃ of the third group is (T ₃ = T ₂ −). Y / 167)
It becomes sec.

When ,, is selected as the passage, the timer values of the first group (left rack 4A, intermediate rack 4B) are set as t (1), t (2) = T _1, and the second group ( The timer value of the intermediate rack 4C) is set as t (3) = T _2, and the third group (intermediate rack 4D, right rack 4)
Timer value E) is t (4), t (5 ) = T 3 and is set is output.

Due to the operation of the control device 39, the stop signal MT is output to the movable shelf 4 due to the ON operation of the stop Pb 35 or the error of the master communication device 40, and also the communication device.
The communication error display lamp 36 is lit by the error 40 or the stop output ST from the movable shelf 4, and the selection of all the relays 1 to 6 is canceled by the ON output of the reset drive contact 41. Further, by turning on the reset Pb 37, the stop signals MT and ST are reset, the reset drive contact 41 is turned off, and the communication error display lamp 36 is turned off.

When the standard is selected by the key switch 32, the passage open signal E (n) having the passage number n selected by the operation of turning on the start Pb 34 is output, and the multi-passage is selected. When the start Pb34 is turned on, the timer value t (r) of each movable rack 4 is calculated from the operation-selected passage number, and the right row instruction signal R _G (0) is output to the left rack 4A. When the right row of the left rack 4A is completed, the spread instruction signal SP is output, and the timer value t (r) in which each movable rack 4 number is r is output.

As shown in FIG. 9, the control panel 6 of each movable shelf 4 includes a control device 51 and a master communication device 40 for the other movable shelves and the centralized control panel 31 via the control device 51 and the cable 7.
It is composed of a slave communication device 52 for transmitting and receiving signals to and from, and an inverter 54 for a movable shelf traveling drive motor 53.

In the following flow chart, the broken line indicates the bypass or change in the case of the left rack 4A due to the presence of the starting Pb 21A and the approach detector 11A, and the dashed line indicates the bypass or change in the case of the right rack 4E. Indicates the location where

The operation of the slave communication device 52 will be described in detail with reference to the flowcharts of FIGS. First, it is determined whether or not the stop signals ST and MT are set (steps-1 and 2). If they are set, the stop signals are output to the control device 51 (step-3). Next, the control device
It is judged whether the stop signal is output from 51 (step-4). If it is output, the stop signal ST of the movable shelf 4 is output.
Is set (ST = 1) (step-5), and then the right row instruction signal R _G (r-1) of the left movable shelf 4 is set to {R _G.
(R-1) = 1} is judged (step-
6) If it is set, a rightward signal is output to the control device 51 (step-7), and then R _G (r) is set {R _G (r) = 1} to move the right side. When the rightward instruction signal is transmitted to the shelf 4 (step-8) and the rightward instruction signal R _G (r-1) is not set in step-6,
In the control device 51, the rightward instruction flag R _G is set (R
_G = 1) is determined (step-9), if it is set, step-8 is executed, and if it is not set, R _G (r) is reset { _RG (r) =
0} (step-10). Next, the right row completion signal R _R (r + 1) of the movable shelf 4 on the right side is set {R _R (r + 1) =
1} is determined (step-11), and if it is set, a right-row completion signal is output to the control device 51 (step-12). Next, in the controller 51, it is judged whether the rightward completion flag R _R is set (R _R = 1) (step -13), and if it is set, R _R (r)
{R _R (r) = 1} (step -14), and if not set, reset R _R (r) {R
_R (r) = 0} is performed (step -15).

Next, the left row instruction signal L _G of the movable shelf 4 on the right side
It is determined whether (r + 1) is set {L _G (r + 1) = 1} (step -16), and if it is set,
To the control unit 51 outputs a left row signal (step -17), then set _{{R G (r) = 1} } and L _G (r), transmits the leftward instruction signal to the left of the shelves 4 (Step-18),
If the leftward instruction signal L _G (r + 1) is not set at step -16, the control device 51 determines whether or not the leftward instruction flag L _G is set (L _G = 1) (step -19). If set, step-
18 is executed, and if not set, L _G (r) is reset {L _G (r) = 0} (step -20). Next, it is judged whether or not the left row completion signal L _R (r-1) of the left movable shelf 4 is set { _LR (r-1) = 1} (step -21), and if it is set, A left-row completion signal is output to the controller 51 (step-22). Next, in the control device 51, it is judged whether or not the left-row completion flag L _R is set (L _R = 1) (step -23), and if it is set, L _R (r) is set {L _R ( r) = 1} (step -24), and if not set, L _R (r) is reset { _LR (r) = 0} (step -25).

Next, the approach flag K (r-
It is judged whether 1) is set {K (r-1) = 1} (step -26), and if it is set, the controller
An approach detection signal is output to 51 (step-27). Next, in the controller 51, it is judged whether or not the approach flag K is set (K = 1) (step -28), and if it is set, K (r) is set {K (r) = 1}. (Step-29) If not set, K (r) is reset {K (r) = 0} (step-30).

Next, the entry flag D (r-
1) is set {D (r-1) = 1} is judged (step-31), and if it is set, the control device
An intrusion detection signal is output to 51 (step-32). Next, in the control device 51, it is judged whether or not the intrusion flag D is set (D = 1) (step -33), and if it is set, D (r) is set {D (r) = 1}. (Step-34) If not set, D (r) is reset {D (r) = 0} (Step-35).

Next, the spread instruction signal SP is set (SP =
1) it is determined (step-36), and if it is set, a spread signal is output to the control device 51 (step-37), and the timer value t (of the number r of the movable shelf 4 to the control device 51 ( r) is the timer set value T _N {T _N = t (r)}
Is output as (step-38).

Next, it is judged whether the passage open signal E {n + 1 (= r)} having the passage number n is set {E (n + 1) = 1} (step -39). , Outputs a passage open signal (right) to the control device 51 (step -40), and ends. In the case of the left rack 4A, it is continuously judged whether or not the passage open signal E (1) is set {E (1) = 1}.
Outputs the passage open signal (left).

By the operation of the slave communication device 52, the slave communication device 52 of another movable shelf 4 via the cable 7
Signals are exchanged between the master communication device 40 and the control device 51 of the centralized control panel 31.

As shown in FIG. 9, the control device 51 for the movable shelf 4 comprises a control section 55, an interlock section 56, and a motor drive section 57 for the movable shelf traveling drive motor 53. Includes the operation signal a for start Pb21 and the operation signal b for stop Pb22.
, The output signal c of the approach detector 11, the output signal d of the intrusion detector 12, the operation signal a ′ of the start Pb21A and the operation signal b of the stop Pb2A in the left rack 4A adjacent to the fixed shelf 1. ', The output signal c'of the approach detector 11A, and the output signal d'of the intrusion detector 12A are input, and the interlock unit
56 is the output signal e of the bumper switch 13, the thermal relay mounted on the main circuit of the movable shelf traveling drive motor 53.
An operation signal f (not shown) is input, and a motor stop signal g is output to the controller 55 when either of the signals e and f is on. The motor stop signal g of the interlock unit 56 is reset by the stop Pb22, 22A when both signals e, f are off. In addition, the control unit 55
Turns on the start lamp 24, the stop lamp 25, and the start lamp 24A and the stop lamp 25A in the left rack 4A.

Further, the motor drive section 57 receives the forward or reverse motor drive signal m from the control section 34 and receives an inverter signal.
An analog speed signal n is output to 54. As shown in FIG. 8, the speed signal n increases from zero at a constant rate to soft-start the motor 53 by the inverter 54, and when it reaches a constant speed V, the speed signal n is maintained at this speed V. When the motor 53 is driven and the motor drive signal m is turned off, the motor 53 is stopped by softening and braking at a constant speed V or less.

The operation of the control unit 55 for controlling the movable shelf 4 is illustrated.
A more detailed description will be given according to the flowcharts of FIGS. First, whether the ON signal of the stop Pb22 is input (step-1), the motor stop signal g of the interlock unit 56 is input.
Is input (step-2), or an intrusion detection signal is input from the left movable shelf 4 and a flag L during execution of a left row, which will be described later, is set (L = 1) (step-3,
4), output a stop signal to the slave communication device 52 (step-5), turn off the motor drive signal m to the motor drive unit 57 (step-6), and turn off the start lamp 24 (step). -7), the stop lamp 25 is turned on (step -8), and the process ends.

Next, it is judged whether or not the detection signal d of the intrusion detector 12 is input (step-9), and if it is input, the intrusion flag D is set (D = 1) (step-
10), the flag R being executed in the right direction described later is set (R =
1) is determined (step-11), and if the flag R being executed in the right direction is set, step-5 is executed. In step-9, when the detection signal d is not input, the intrusion flag D is reset (D = 0)
(Step-12).

Next, it is judged whether or not a stop signal is input from the communication device 52 (step -13), and if it is input, step -6 is executed. Then, it is judged whether the detection signal c of the approach detector 11 is input (step -14), and if it is input, the approach flag K is set (K = 1) (step -15), and the detection signal is detected. If c is not entered,
The approach flag K is reset (K = 0) (step-
16).

Next, the flag L being executed on the left is set (L
= 1) is determined (step -17), and if not set, it is determined whether the communication device 52 inputs the passage open signal (right) (step -18), and the passage open signal (right). ) Is not input, it is judged whether the ON signal of the startup Pb21 is input (step -19), and the passage open signal (right) is input, or the ON signal of the startup Pb21 is input. In this case, the leftward instruction flag L _G is set (L
_G = 1) (step-20), the rightward instruction flag R _G is set ( _RG = 1) (step-21), and the left-row executing flag L is set (L = 1) (step- 22), reset the left row completion flag L _R (L _R = 0) (step-
twenty three). Further, in step -19, if the ON signal of the startup Pb21 is not inputted, it is judged whether or not the left row signal is inputted from the communication device 52 (step -24), and if it is inputted, step -22 is carried out. If you have run and have not typed
It is judged whether the spread flag S, which will be described later, is set (S = 1) (step -25), and if it is not set,
It is judged whether the spread signal is input from the communication device 52 (step-26), and if it is input, the spread flag S is set (S = 1) (step-27) and the timer M described later is set.
The count time t of is reset (t = 0) (step-
28), set the set time T of this timer M (T =
_TN ) (step-29). In Step-17,
If the left running flag L is set (L = 1), or after executing step -23, or step -25
In the case where the spread flag S is set (S = 1), or after step-29 is executed, the leftward flowchart is executed.

In step-26, when the spread signal is not input, it is judged whether the flag R in the right-row execution described later is set (R = 1) (step-3).
0) If it is not set, it is judged whether the right row signal is being input from the communication device 52 (step-31), and if it is being input, the right row executing flag R is set (R = 1).
Then, the rightward completion flag R _R is reset ( _RR = 0) (step 33), and the rightward flowchart is executed. Further, in step -31, if you do not enter the right row signal, a leftward instruction flag L _G is reset (L _G = 0) (step -34), rightward instruction flag R _G
Is reset ( _RG = 0) (step-35), and step-7 is executed. In the left rack 4A, after executing step-30, it is determined whether the aisle open signal (left) is input from the communication device 52. If the aisle open signal (left) is not input, the start Pb21A is started. When the ON signal is input, the passage open signal (left) is input, or when the start Pb21A ON signal is input, the right direction instruction flag R _G is set (R _G = 1) If the ON signal of the activation Pb21A is not input, step-31 is executed.

In the left-hand flow chart shown in FIG. 14, it is first judged whether or not the spread flag S is set (S = 1) (step -36).
From 52, it is judged whether the left line completion signal is input (step-37). If it is input, it is judged whether the approach detection signal is input (step-38). If the completion signal is not input, step-38
In the case where the approach detection signal is not input, the motor drive signal 57 is output to the left side motor drive signal m, and the motor drive unit 57 outputs the speed signal n to the inverter 54. , Motor 53
Drive the movable shelf 4 to the left (Step-3).
9). Then turn off the stop lamp 25 (step -40),
The start-up lamp 24 is turned on (step-41), and the process ends. When the approach detection signal is input in step-38, the left-row completion flag _LR is set ( _LR = 1) (step-42), and the left-row executing flag L is reset (L = 0) (step-43), and step-6 is executed. When the spread flag S is set (S = 1) in step-36, the timer M is counted (t = t + 1) (step-44), and the count t of the timer M is set to the set time T. (T ≧
T) is determined (step-45), if the set time has not come, step-39 is executed, and if the set time has come, the spread flag S is reset (S = 0) (step-
46), and execute step-6.

In the rightward flow chart shown in FIG. 15, it is judged whether or not the rightward completion signal is input from the communication device 52 (step -47), and when it is input, the detection signal c of the approach detector 11 is input. If the rightward completion signal is not input in step-47, or if the approach detection signal c is not input in step-48, the motor drive unit 57 is judged. Motor drive signal m on the right
And the motor drive unit 57 outputs the speed signal n to the inverter 54.
, And drives the motor 53 to move the movable shelf 4 to the right (step-49). Subsequently, the stop lamp 25 is turned off (step-50), and the start lamp 24 is turned on (step-5).
1), finish. If the approach detection signal c is input in step-48, the rightward completion flag R _R is set ( _RR = 1) (step-52), and the rightward running flag R is reset (R = 0) (step-53), and step-6 is executed.

A specific standard (one-passage) operation of the movable rack 4 having the above-described structure will be described when a passage is provided on the right side of the intermediate rack 4B in the arrangement of FIG. For the intermediate rack 4B, the start Pb21 is pressed, or the standard is selected by the key switch 32 on the central control panel 31,
When the passage Pb33 is selected and the activation Pb34 is operated, FIG.
In steps -18 to 21, the left rack instruction is output to the left rack 4A and the right row instruction is output to the intermediate rack 4C. Left rack 4
In step A-38, the approach detector 12A is on, so the completion signal is output to the intermediate rack 4B on the right side, and the intermediate rack 4B outputs the completion signal to the left rack 4A on the left side as in steps -37, 38, 42 and 43. Since the completion signal and the approach signal are input, the left row completion is output to the right intermediate rack 4C, and eventually the left rack 4A and the intermediate rack 4B are stopped and do not move.
Further, the intermediate rack 4C transmits a rightward instruction to the right intermediate rack 4D as in steps -6 to 8 in FIG. 10, and then the intermediate rack 4D also transmits a rightward instruction to the right right rack 4E. Since the output signal c of the approach detector 11 of the right rack 4E is on as in steps -48 and 52 of FIG. 15, the right rack 4E outputs the right-row completion to the left intermediate rack 4D. As for the intermediate rack 4D, as shown in steps -47 to 51, the execution of the right rack 4E is completed, but the approach detector 11 is not turned on, so the rack 4D moves to the right. Further, since the intermediate rack 4C does not input the completion signal at step -47, it moves to the right almost at the same time regardless of the state of the approach detector 11. When the approach detector 11 turns on, the intermediate rack 4D outputs a right-row completion signal to the left intermediate rack 4C and stops, and the intermediate rack 4C also approaches the approach detector 11.
Turns on and stops. The intermediate racks 4C and 4D move to the right, and a passage is formed on the right side of the intermediate rack 4B.

Next, a specific spreading operation of the movable shelf 4 will be described with reference to FIG. 16 in the case of providing a passage. In the centralized control panel 31, a multi-passage is selected by the key switch 32, and the passage Pb, the passage Pb, and the passage Pb are selected.
When 33 is selected and the start-up Pb 34 is operated, in steps -17 to 22 of FIG. 7, a right row instruction is output to the left rack 4A, and the left rack 4A moves to the right side as shown in steps -6 to 8 of FIG. The rightward instruction is transmitted to the intermediate rack 4B, and then the rightward instructions are transmitted to the intermediate racks 4C, 4D, 4E. Since the output signal c of the approach detector 11 of the right rack 4E is on as in steps -48 and 52 of FIG. 15, the right rack 4E outputs the right-row completion to the left intermediate rack 4D. As for the intermediate rack 4D, as shown in steps -47 to 51, the execution of the right rack 4E is completed, but the approach detector 11 is not turned on, so the rack 4D moves to the right. Intermediate rack 4C,
Since 4B and 4A have not input the completion signal at step -47, they move to the right almost at the same time regardless of the state of the approach detector 11. Then, when the approach detector 11 turns on, the intermediate rack 4D outputs rightward completion to the left intermediate rack 4C and stops, and the intermediate racks 4C, 4B, 4A similarly stop and turn on the approach detector 11, and FIG. As shown in (b), all the movable shelves 4 converge on the right side.

In the centralized control panel 31, the timer value t (r) of each movable shelf 4 is calculated according to the selected passage in step-21 of FIG. 7, and when the right row completion is input from the left rack 4A, the step is performed. In -23 to 27, the spread instruction SP and each timer value t (r) are output. In each movable shelf 4, FIG.
In steps -25 to 29, the timer value T is set, and as shown in steps -36, 44 to 46 and 39 to 41 in FIG. Then, when the timer set value T is reached, it stops, so
As shown in FIG. 16 (c), a passage and are formed.

In this way, by setting and activating multiple paths,
The movable shelves 4 are forced rightward once, and the moving time (timer time) of each movable shelf 4 is set according to the selection of the plurality of passages Pb33, and the moving time is transmitted to each movable shelf 4 together with the spread instruction signal. By moving each of the movable shelves 4 to the left for the movement time, the position of each of the movable shelves 4 according to the set movement time can be determined and a plurality of passages can be provided. By forming this multi-passage, it is possible to carry out the loading and unloading work on the plurality of fixed shelves 1 and 2 and the movable shelves 4 at the same time, and to improve the working efficiency. Further, as in the conventional case, one passage can be formed with the standard setting.

In this embodiment, the movable shelf 4 is once moved to the right and leftward is spread by the timer time, but the movable shelf 4 is moved leftward once and moved rightward by the timer time. You may

[0045]

[0046]

As described above, according to the present invention, the moving time of each movable shelf is set by selecting a plurality of aisles, and the moving shelf is temporarily forced to move to the left (right), and then the moving time is set. By transmitting to each movable shelf and moving it to the right (left) for the input moving time, it is possible to form multiple aisles arbitrarily, and it is possible to perform loading and unloading work simultaneously in multiple aisles. The work efficiency can be improved as compared with the conventional moving rack equipment in which only one passage can be formed between shelves or between a fixed shelf and a movable shelf.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the installation of control equipment for mobile shelf equipment showing an embodiment of the present invention.

FIG. 2 is a perspective view of a detection unit of the mobile shelf equipment.

FIG. 3 is a plan view of a centralized control panel of the mobile shelf equipment.

FIG. 4 is a control configuration diagram of a centralized operation panel of the mobile rack facility.

FIG. 5 is a circuit diagram of a centralized operation panel of the mobile rack facility.

FIG. 6 is a flowchart for explaining the operation of the control device for the centralized control panel of the movable rack facility.

FIG. 7 is a flowchart for explaining the operation of the control device for the centralized control panel of the movable rack equipment.

FIG. 8 is a travel characteristic diagram of the same mobile shelf equipment.

FIG. 9 is a control configuration diagram of a movable shelf of the same movable shelf equipment.

FIG. 10 is a flowchart for explaining the operation of the communication device of the movable shelf of the mobile shelf facility.

FIG. 11 is a flowchart for explaining the operation of the communication device of the movable shelf of the mobile shelf facility.

FIG. 12 is a flowchart for explaining the operation of the control unit of the control device for the movable shelves of the same moving shelving facility.

FIG. 13 is a flowchart illustrating the operation of the control unit of the control device for the movable shelf of the same movable shelf equipment.

FIG. 14 is a flowchart for explaining the operation of the control unit of the control device for the movable shelf of the same movable shelf equipment.

FIG. 15 is a flowchart for explaining the operation of the control unit of the control device for the movable shelf of the same movable shelf equipment.

FIG. 16 is an operation explanatory diagram of a movable shelf of the same movable shelf equipment.

[Explanation of symbols]

1, 2 fixed shelves 3 tracks 4 movable shelves (4A ... left rack, 4B, 4C, 4D ... middle rack, 4E ... right rack) 6 control panel 7 communication cable 11, 11A proximity detector 12, 12A intrusion detector 13 bumper Switch 21 Start push button switch (start Pb) 22 Stop push button switch (stop Pb) 31 Central control panel 32 Key switch 33 Passage push button switch (passage Pb) 34 Start push button switch (start Pb) 35 Stop push button switch ( Stop Pb) 36 Communication error display lamp 37 Reset switch (Reset Pb) 39 Centralized control panel control device 40 Master communication device 51 Mobile shelf control device 52 Slave communication device 53 Motor 54 Inverter

Claims (1)

[Claims] 1. A central control panel comprising a fixed shelf, a plurality of movable shelves that can travel back and forth on a track, and a selection switch for selecting a passage provided between the fixed shelf and the movable shelves and between the movable shelves. The moving time of each movable shelf is set on the central operation panel by selecting the passage by operating the selection switch, and the forced left row (right row) signal is output to all the movable shelves, and the left row (right row) of all the movable shelves is output. Control means for transmitting the moving time to each movable shelf upon completion of the line), and for each movable shelf, the movable shelf is once forced left row (right row) according to the input forced left row (right row) signal. The moving rack facility is provided with a control means for making a rightward movement (leftward movement) for the input movement time.