JP2011079602A - Roll body supply device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a roll body supply device capable of accurately positioning and transferring a roll body to a roll body support device for supporting the roll body by a pair of chucks. <P>SOLUTION: The roll body supply device 10 has a carriage 20 for placing the roll body R, and carries the roll body R to the roll body support device 1 to be supported by making the pair of chucks 7 engaged with both ends of a core C. The carriage 20 includes moving parts DR and 30 for moving the roll body R in the X direction and the Z direction, detecting parts 40a and 40b for determining positions in the X direction of the pair of chucks 7 and detecting parts 47a and 47b for determining positions in the Z direction of the pair of chucks 7, and controls the moving parts DR and 30 based on detection results of the detecting parts 40a, 40b, 47a and 47b. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a roll body automatic supply device that automatically supplies a roll body placed on a carriage to a roll body support device.

  As a roll body supply device, a roll body horizontally supported on a carriage such as an AGV is transported to a roll body support device (for example, a rotary press) and positioned with high precision (center alignment) with respect to the chuck of the roll body support device. There is known an apparatus which can be used (see Patent Document 1).

The roll body supply device includes a roll body moving mechanism that moves a roll body supported on a carriage in the vertical direction and the horizontal direction, a detection unit that detects a relative position between the carriage and the roll body support device, and detection of the detection unit. And a control device for controlling the roll body moving mechanism so as to eliminate the amount of deviation from the reference position based on the result.
The detection unit is configured to install a light projecting unit that irradiates laser light in the vicinity of the chuck of the roll body support device, and on the other hand, by installing a light receiving unit that receives the laser light on the carriage, The relative position with the roll body on the carriage is detected.

Then, drive control is performed by a roll body moving mechanism that supports the core on the carriage so that both ends of the core arranged on the central axis of the roll body and the center of the chuck of the roll body support device coincide (center alignment).
Thereby, both ends of the core of the roll body are positioned with an accuracy of, for example, about ± 5 mm with respect to the center of the chuck.

JP 2008-63117 A

  By the way, in the roll body supply apparatus described in Patent Document 1, the roll body on the carriage is positioned with respect to chucks respectively fixed to a pair of support columns standing on the floor surface. That is, it is assumed that the chuck of the roll body support device is fixed (does not move).

For this reason, the roll body support device has a plurality of arm pairs each provided with a chuck at the tip thereof, and moves any of the arm pairs to the roll body transfer position to move the cart against the chuck of the arms. When positioning the upper roll body (see FIG. 1), there is a problem that a desired positioning accuracy cannot be achieved.
This is because the arm positioning accuracy is not necessarily high, and an error (positional deviation) occurs in the position of each chuck. For this reason, the laser beam from the light projecting unit provided on the arm (chuck) side cannot be received by the light receiving unit on the carriage side, and a problem that the roll body cannot be positioned / transferred with respect to the chuck occurs. .

In addition, it is necessary to provide each arm with a detection unit (light projecting unit), which not only makes wiring processing difficult, but also increases the number of detection units and increases costs.
Further, high accuracy (for example, within ± 2 mm) has been required for positioning the roll body with respect to an arbitrary chuck.

  The present invention has been made in view of the above-described circumstances, and a roll body supply apparatus that can accurately position and transfer a roll body with respect to a roll body support apparatus that supports the roll body with a pair of chucks. The purpose is to provide. In particular, an object of the present invention is to provide a roll body supply apparatus that can accurately position and transfer a roll body with respect to a roll body support apparatus in which the position of a chuck varies.

The roll body supply apparatus according to the present invention employs the following means in order to solve the above problems.
The roll body supply apparatus according to the present invention includes a carriage on which a roll body having a core disposed on a central axis is placed with the central axis horizontal, and a pair of chucks are engaged with both ends of the core to form the roll. A roll body supply device that transports the roll body to a roll body support device that supports the body, wherein the carriage moves the roll body in a first horizontal direction (X) orthogonal to a central axis. A horizontal movement unit, a vertical movement unit that moves the roll body in the vertical direction (Z), a first horizontal direction detection unit that obtains a first horizontal position of the pair of chucks with respect to a central axis of the roll body, An up-down direction detection unit that obtains vertical positions of the pair of chucks with respect to the central axis of the roll body, and the first horizontal based on the detection results of the first horizontal direction detection unit and the up-down direction detection unit Moving part and above And controlling the moving unit.

  The first horizontal movement unit and the vertical movement unit can move both ends of the core in a first horizontal direction (X) and a vertical direction (Z), respectively, and the horizontal direction detection unit and the vertical direction detection The unit is characterized in that the first horizontal direction (X) and the vertical direction (Z) of each of the pair of chucks are obtained.

  The carriage has a second horizontal moving portion that moves the roll body in a second horizontal direction (Y) parallel to a central axis, and a second horizontal direction of the pair of chucks with respect to both ends of the core of the roll body. A second horizontal direction detection unit for obtaining a position, and controlling the second horizontal movement unit based on a detection result of the second horizontal direction detection unit.

  In addition, the carriage includes a core outer diameter detection unit that obtains the outer diameter of the core, and obtains a vertical position of the central axis of the roll body with respect to the carriage based on a detection result of the core outer diameter detection unit. It is characterized by.

  The first horizontal direction detection unit includes a light projecting unit that outputs a belt-shaped detection light, and a light receiving unit that is disposed to face the light projecting unit and receives the detection light.

  The roll body support device includes a plurality of pairs of the pair of chucks, and can move any of the pair of chucks to a roll body placement position, and the cart is a pair at the roll body placement position. The roll body is conveyed with respect to the chuck.

  ADVANTAGE OF THE INVENTION According to this invention, a roll body can be accurately transferred with respect to a pair of chuck | zipper of a roll body support apparatus with a roll body supply apparatus, and can be transferred smoothly. Particularly, since the first horizontal direction detection unit and the vertical direction detection unit are all provided on the cart side of the roll body supply device without being provided on the roll body support device side, it is preferable even if the position of the chuck fluctuates. The roll body can be positioned and transferred. In addition, the number of detection units can be reduced, wiring processing is facilitated, and the cost of the roll body supply device can be reduced.

It is a perspective view of a roll body support apparatus. It is a front view which shows AGV of a roll body supply apparatus. It is a top view which shows the moving direction of AGV. It is a figure which shows positional relationship between the roll body mounted in AGV, and a roll body support apparatus. It is a figure which shows the relationship between the chuck | zipper of a roll body support apparatus, and the various sensors provided in AGV. It is explanatory drawing of the core detection method by a core outer diameter sensor.

  Hereinafter, an embodiment of a roll body supply apparatus 10 according to an embodiment of the present invention will be described with reference to the drawings.

(Roll body)
First, the roll body R which is a conveyance target of the roll body supply apparatus 10 will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the roll body R is obtained by winding sheet-like materials such as paper and various films around the outer periphery of a hollow cylindrical core C in a multi-core C manner. Therefore, the central axis A of the roll body R and the central axis of the core C substantially coincide.
The core C protrudes by a predetermined amount from both ends of the roll body R, and a chuck 7 of the roll body support device 1 described later and a roll body support portion 30 of the roll body supply device 10 are engaged with the protruding portions, The roll body R is supported.

(Roll body support device)
Next, the roll support apparatus 1 which is the conveyance destination (conveyance partner) of the roll body R by the roll body supply apparatus 10 will be described with reference to FIG.
The roll body support device 1 supports two columns 2a and 2b erected on both sides of a floor surface F across a conveyance path T on which an AGV 20 that will be described later travels, and can be rotated and indexed with respect to the columns 2a and 2b. The rotating shaft 4, the left and right three arms 6 extending in the radial direction at equal angles (120 degrees) from both ends of the rotating shaft 4, and the ends of the arms 6 toward the inside of the columns 2a and 2b, respectively. The chuck 7 is arranged.
Then, the roll body support device 1 rotates one of the left and right arms 6 with respect to the end point region (roll body placement position L) of the transport path T of the AGV 20 ( Configured to move).

And each chuck | zipper 7 of a pair of arm 6 rotationally indexed to the roll body mounting position L is fitted (engaged) with the both ends of the core C of the roll body R mounted in AGV20, A roll The body R is supported and transferred from the AGV 20.
The pair of chucks 7 includes a cylindrical housing 8 (8 a, 8 b) and a holder 9 disposed inward from the central axis E of the housing 8. Direction) and can be retracted or retracted. Then, the pair of opposing chucks 7 are protruded toward the inner sides of the columns 2a and 2b, respectively, so that they are fitted to both ends of the core C disposed on the central axis A of the roll body R, and the roll body R is sandwiched. And it comes to support.

(Roll body supply device)
Next, the roll body supply apparatus 10 will be described with reference to the drawings.
As shown in FIG. 2, the roll body supply device 10 places the roll body R on an AGV (Automated Guided Vehicle) 20 that automatically travels on the floor surface F, and conveys it to the roll body support device 1. It is a device to transfer. The AGV 20 supports the roll body R by the roll body support portion 30 (support columns 30a and 30b) provided on the upper surface thereof so that the central axis A thereof is horizontal.

  A base 22 is provided on the upper surface of the AGV 20, and on both sides in the Y direction on the base 22, a roll body support portion 30 (vertical moving portion, second horizontal moving portion) comprising a pair of support columns 30a and 30b. ) Is provided. The pair of support columns 30a and 30b are engaged with the lower side of the outer peripheral surface of the core C protruding from both ends of the roll body R to support both ends of the roll body R.

  Specifically, as shown in FIGS. 4 and 5 and the like, the core support portions 26 including a pair of core support rollers 26a and 26b arranged in the X direction are arranged at the upper ends of the support columns 30a and 30b, respectively. . The core support rollers 26a and 26b are in contact with the lower side of the outer peripheral surface of the core C protruding from both ends of the roll body R to support the roll body R.

  Each of the pair of support columns 30a and 30b includes a Y movement mechanism that moves in the Y direction with respect to the base 22 and a Z movement mechanism that moves in the vertical direction (Z direction). That is, the support columns 30a and 30b are independently controlled to move in the Y and Z directions.

The AGV 20 is travel-controlled toward the roll body transfer position L along the conveyance path T by a control unit (not shown). The AGV 20 is movement-controlled with a horizontal X direction (first horizontal direction) orthogonal to the central axis A of the roll body R placed horizontally as a main traveling direction.
The control unit (not shown) may be provided inside the AGV 20 or may be provided outside the AGV 20 to perform remote control.

As shown in FIG. 3, the lower surface of the AGV 20 is provided with a pair of driving rollers DR (first horizontal moving unit and second horizontal moving unit) and two casters CS arranged on both sides in the X direction. Yes.
Then, by driving the pair of driving rollers DR by the traveling motor M and the steering motor SM, the AGV 20 rotates around the Y direction (second horizontal direction) and the Z direction parallel to the central axis A of the roll body R in addition to the X direction. The movement can be freely controlled in the direction (γ direction).

  Therefore, the roll body supply device 10 controls the AGV 20 (driving roller DR) and the roll body support portion 30 (support columns 30a and 30b) to control the roll body R supported substantially horizontally in the β direction (around Y). : Can be moved and positioned accurately in the direction of 5 degrees of freedom excluding pitching). In other words, the roll body R is independently positioned and oriented in the X direction, the Y direction, the Z direction, the α direction (X rotation: rolling) and the γ direction (Z rotation: yawing) by the roll body supply device 10. Is adjusted.

Specifically, the position / posture of the roll body R in the X direction, the Y direction, and the γ direction are controlled and adjusted by the drive control of the AGV 20 (drive roller DR). Further, the position and posture of the roll body R in the Y direction, Z direction, and α direction are controlled and adjusted by driving the roll body support portion 30 (support columns 30a and 30b).
The position of the roll body R in the Y direction is controlled and adjusted by the AGV 20 functioning as a coarse movement mechanism and the roll body support portion 30 (support columns 30a and 30b) as a fine movement mechanism.

Returning to FIG. 2, the AGV 20 to the chuck 7 (roll body mounting position) from the AGV 20 to both ends of the base 22 of the AGV 20 in the Y direction, that is, outside the roll body support portion 30 (support columns 30a and 30b). A plurality of sensors are provided to detect the distance to the one (positioned at L).
Specifically, at both ends of the base 22 in the Y direction, a base 45 and a column 46 standing from the base 45 are provided, and a plurality of sensors are provided on the column 46.

Two struts 46 include X direction sensors (first horizontal direction detection units) 40a and 40b that detect (measure) the distance in the X direction to the pair of chucks 7, and a Z direction sensor that detects the distance in the Z direction. (Vertical direction detection units) 47a and 47b are provided.
The two columns 46 are also provided with Y-direction sensors (second horizontal direction detectors) 48a and 48b that detect the presence / absence (presence / absence) of the chuck 7 of the roll body support device 1 in the Y direction.

  The X direction sensors 40a and 40b (first horizontal direction detection units) measure the distance in the X direction from the AGV 20 to each of the pair of chucks 7 of the roll body support device 1, and rolls are detected based on the detection result. A relative position (deviation amount: ΔXa, ΔXb) in the X direction between the central axis A of the body R and the central axis E of the chuck 7 is obtained. ΔXa indicates a position error in the X direction on the housing 8a side, and ΔXb indicates a position error in the X direction on the housing 8b side.

Each of the X direction sensors 40 a and 40 b includes a light projecting unit 42 disposed below the support 46 and a light receiving unit 44 disposed at the upper end of the support 46 so as to face the light projecting unit 42. ing.
The X direction sensors 40a and 40b are, for example, CCD transmission type digital sensors, and project a belt-like laser beam (detection light) B in the + Z direction from the light projecting unit 42 toward the light receiving unit. The width direction of the strip-shaped laser beam B is arranged so as to coincide with the traveling direction (X direction) of the AGV 20.

Further, as shown in FIG. 4 and the like, the X direction sensors 40a and 40b are arranged so as to sandwich the chuck 7 which is the object to be measured in the vertical direction.
Therefore, when the AGV 20 travels in the X direction and moves toward the pair of chucks 7 that are indexed and positioned at the roll body placement position L, the object to be measured is between the light projecting unit 42 and the light receiving unit 44. The chuck 7 (housings 8a and 8b) enters and blocks (shields) a part of the laser beam B.

As shown in FIG. 5, the X-direction sensors 40a and 40b are formed by the laser beam B by the outer peripheral surfaces in the X direction of the housings 8a and 8b of the pair of chucks 7 that are indexed and positioned at the roll body mounting position L. The part is shielded from light. The outer peripheral surface (outer peripheral end) in the X direction of each of the housings 8a and 8b of the chuck 7 is detected based on the light shielding width (light shielding amount).
Specifically, the strip-shaped laser beam B having the width L1 emitted from the light projecting unit 42 is shielded by the outer circumferential surface (outer circumferential end) in the X direction of each housing 8a, 8b, and the laser beam B having the width L2. The light receiving unit 44 receives the light.
The X-direction mounting positions of the light projecting section 42 and the light receiving section 44 of the X-direction sensors 40a and 40b in the AGV 20 are known, and the placement position of the central axis A of the roll body R in the AGV 20 is also known. It is.
Therefore, the roll body is controlled by controlling the position and posture of the AGV 20 in the X and γ directions so that the width of the laser beam B blocked by the housings 8a and 8b, that is, L1−L2 = ΔL becomes a predetermined amount. The amount of deviation (ΔXa, ΔXb) in the X direction between the central axis A of R and the central axis E of the chuck 7 can be made zero. That is, the position / posture of the central axis A of the roll body R and the central axis E of the chuck 7 in the X and γ directions coincide (position).

The reason why the belt-like laser beam B is projected as the X direction sensors 40a and 40b is to reliably measure the outer peripheral end (outer peripheral surface) in the X direction of the chuck 7 (housings 8a and 8b).
That is, in order to detect the position in the X direction of the cylindrical chuck 7 (housing 8a, 8b), it is necessary to irradiate the laser beam B on the outer peripheral end (outer peripheral surface) in the X direction of the chuck 7 (housing 8a, 8b). There is. However, as described above, since the chuck 7 of the roll body supply device 10 is provided at the tip of the arm 6 that rotates, the position of the chuck 7 in the X direction and the Z direction is such that the arm 6 is placed on the roll body. There is a problem that the index position is changed every time the position L is indexed.
Therefore, the belt 7 is projected onto the chuck 7 (housings 8a and 8b), and the amount of light shielding (light shielding width) in the X direction is detected, so that the chuck 7 (housings 8a and 8b) in the Z direction. It is possible to reliably detect and measure the outer peripheral end (outer peripheral surface) in the X direction without being affected by the position.

  The Z direction sensors 47a and 47b (vertical direction detectors) roll the AGV 20 by projecting laser light on the Z direction outer peripheral ends (outer peripheral surfaces) of the chuck 7 (housings 8a and 8b) and receiving the reflected light. The distance in the Z direction to the chuck 7 of the body support device 1 is measured. Based on the detection result, the relative position (deviation amount: ΔZa, ΔZb) in the Z direction between the central axis A of the roll body R and the central axis E of the chuck 7 is obtained. ΔZa represents a position error in the Z direction on the housing 8a side, and ΔZb represents a position error in the Z direction on the housing 8b side.

  As shown in FIG. 4 and the like, the Z direction sensors 47a and 47b are attached to the tip of the arm 50 that extends horizontally in the + X direction from the lower end of the support column 46, and the center of the roll body R placed on the AGV 20 They are respectively arranged so as to be located immediately below the axis A.

The Z direction sensors 47a and 47b detect the outer peripheral end (outer peripheral surface) of the chuck 7 (housings 8a and 8b) in the Z direction after the positioning of the AGV 20 in the X direction is completed based on the detection of the X direction sensors 40a and 40b. To do.
That is, in the state where the center axis E of the pair of chucks 7 coincides with the center axis A of the roll body R in the X direction, the positions of the chucks 8a and 8b positioned immediately above in the Z direction are measured. Therefore, as the Z direction sensors 47a and 47b, it is not necessary to use a belt-like laser beam as in the X direction sensors 40a and 40b, and therefore inexpensive sensors can be used.

  Therefore, by controlling the roll body support portion 30 (support columns 30a and 30b) so that the detection results of the Z direction sensors 47a and 47b become a predetermined amount, the central axis A of the roll body R and the central axis of the chuck 7 are controlled. The amount of deviation of E in the X direction (ΔZa, ZXb) can be reduced to zero. That is, the position / posture of the central axis A of the roll body R and the central axis E of the chuck 7 in the Z direction and the α direction coincide (position).

  Thus, based on the detection results of the X direction sensors 40a and 40b and the Z direction sensors 47a and 47b, the AGV 20 and the roll body support 30 are controlled, and the X direction, Z direction, α direction and γ direction of the roll body R are controlled. By adjusting the position / posture, the both ends of the center axis A of the roll body R are positioned (centered) with high accuracy with respect to the center axis E of the pair of chucks 7 (housings 8a, 8b).

As shown in FIG. 2, the Y direction sensors 48a and 48b (second horizontal direction detection units) project laser beams onto the inner end surfaces in the Y direction of the chuck 7 (housings 8a and 8b) of the roll body support device 1. And the presence or absence of the chuck | zipper 7 (housing 8a, 8b) with respect to AGV20 in the Y direction is detected by receiving the reflected light.
The Y direction sensors 48a and 48b are attached to the tip of the arm 50 at the lower end of the support column 46, similarly to the Z direction sensors 47a and 47b.
The roll body R on the AGV 20 is positioned between the pair of chucks 7 based on the detection results of the Y direction sensors 48a and 48b.

As described above, the pair of chucks 7 project and move toward the roll body R so as to sandwich both ends of the roll body R. For this reason, the positioning of the roll body R in the Y direction with respect to the chuck 7 may be less accurate than the positioning in the other direction.
However, it goes without saying that it is preferable to position the roll body R on the AGV 20 in the middle of the pair of chucks 7 in the transfer operation of the roll body R.

Therefore, the presence or absence of the AGV 20 in the Y direction with respect to the pair of chucks 7 is determined by projecting laser light from the Z direction toward the inner end face in the Y direction of the chuck 7 (housings 8a and 8b) and receiving the reflected light. Presence / absence) is detected.
Specifically, as shown in FIG. 2, the AGV 20 is controlled so that the chuck 7 (housings 8a and 8b) exists immediately above both the Y-direction sensors 48a and 48b. That is, for example, when only the Y direction sensor 48a detects the chuck 7 (housing 8a), the AGV 20 is slightly moved in the + Y direction. Then, the AGV 20 is stopped at a position where the chuck 7 (housing 8a, 8b) is detected by both the Y direction sensors 48a, 48b.

As a result, the roll body R on the AGV 20 is positioned at a substantially intermediate position between the pair of chucks 7 (housings 8a and 8b).
The movement (positioning) of the roll body R in the Y direction using the Y direction sensors 48a, 48b and the AGV 20 is performed prior to the control of the position / posture of the roll body R in the X direction, Z direction, α direction, and γ direction. Is called.

(Core outer diameter detector)
The AGV 20 of the roll body supply apparatus 10 is further provided with a core outer diameter sensor 80 that detects the outer diameter of the core C of the roll body R.

As the core C disposed along the central axis A of the roll body R, there are a plurality of cores C1, C2, C3 having different diameters.
If the diameters of the cores C (C1 to C3) are different, the detection results obtained by the X direction sensors 40a and 40b and the Z direction sensors 47a and 47b described above are different, resulting in erroneous control.
Since the diameters of the cores C1, C2, and C3 are known, the roll body supply device 10 only needs to recognize whether the core C of the roll body R placed on the AGV 20 is the core C1, C2, or C3. . Therefore, the AGV 20 is provided with a core outer diameter sensor 80 that detects the outer diameter of the core C of the roll body R.

As shown in FIG. 6, the core outer diameter sensor 80 is one in which three detection sensors 80a, 80b, and 80c are integrally used, and a reflective sensor is used for each.
The three detection sensors 80a, 80b, and 80c are attached at a predetermined interval from the center side toward the outer side in the X direction only on the inner surface side of one support column 30a. Specifically, as shown in FIG. 6, the detection sensors 80a, 80b, and 80c are arranged at positions corresponding to the three cores C1, C2, and C3, respectively.

As shown in FIG. 6A, when the core C1 having the smallest diameter is placed on the core support portion 26 of the support column 30a, the reflected light is detected only by the inner detection sensor 80a.
As shown in FIG. 6B, in the case of the core C2 having a diameter larger than the core C1 and smaller than the core C3, reflected light is detected by the two detection sensors 80a and 80b.
Further, as shown in FIG. 6C, in the case of the core C3 having the largest diameter, reflected light is detected by all the three detection sensors 80a, 80b, and 80c.
Thus, since the number of core outer diameter sensors 80 from which reflected light is detected is determined according to the three cores C1, C2, and C3, the core C of the roll body R placed on the AGV 20 is the cores C1, C2. , C3 can be recognized.

  Since the diameters of the three cores C1, C2, C3 are known, the central axis of the roll body R from the upper surface of the roll body support portion 30 when placed on the roll body support portion 30 (core support portion 26). The height to A (distance between H1 and H3 described later) is also uniquely determined. The value is stored in a control unit (not shown).

Therefore, as shown in FIGS. 6A to 6C, when the upper surface of the base 22 of the AGV 20 is used as the reference plane K, the center axis A of the roll body R is set to a constant height H0 from the reference plane K. In order to position (center alignment), the roll body support portion 30 (support columns 30a and 30b) is driven and controlled as follows.
First, when the core C1 having the smallest diameter is detected, as shown in FIG. 6A, the positioning in the Z direction is controlled with the target of the position where the upper surface of the roll body support portion 30 is lowered from the position H0 by H1. To do.
Further, as shown in FIG. 6B, when the core C2 is detected, the positioning control is performed with the position where the upper surface of the roll support 30 is lowered by H2 from the position of H0.
Further, as shown in FIG. 6C, when the core C3 is detected, the upper surface of the roll body support portion 30 is positioned with the target lowered from the position H0 by H3.

Thus, when the roll body R is supported by the roll body support portion 30 (support columns 30a and 30b), the diameter of the core C (C1 to C3) is detected by the core outer diameter sensor 80, whereby the roll body is detected. The center axis A of R can be appropriately positioned (centered) in the Z direction with respect to the pair of chucks 7 (housings 8a and 8b) of the roll body support device 1.
The outer diameter detection of the core C using the core outer diameter sensor 80 is performed immediately after the roll body R is placed on the AGV 20.

As described above, the roll body supply device 10 controls the AGV 20 and the roll body support unit 30 on the basis of the detection results of the X direction sensors 40a and 40b and the Z direction sensors 47a and 47b. The supported roll body R can be accurately moved and positioned in the four degrees of freedom direction excluding the Y direction and the β direction.
Furthermore, by controlling the AGV 20 based on the detection results of the Y direction sensors 48a and 48b, the roll body R can be accurately moved and positioned in the five-degree-of-freedom direction excluding the β direction.

(Roll body transfer method)
The transfer of the roll body R with respect to the roll body support apparatus 1 is performed in the following steps.
First, the roll body R is placed on the AGV 20. When the type (C1 to C3) of the core C of the roll body R is unknown, the type of the core C is recognized based on the detection result of the core outer diameter sensor 80.

Next, the AGV 20 is caused to travel toward the roll body support device 1 and is stopped once before the roll body placement position L.
When the pair of chucks 7 are indexed and positioned at the roll body placement position L, the AGV 20 is moved at a low speed in the X direction and enters the roll body placement position L.

  And AGV20 moves between a pair of chuck | zipper 7 indexed and positioned by the roll body mounting position L, and stops once. Then, based on the detection results of the Y direction sensors 48a and 48b, the AGV 20 (drive roller DR) is controlled to adjust the position of the roll body R in the Y direction.

  When the AGV 20 moves between the pair of chucks 7 indexed and positioned at the roll body mounting position L, the chuck is interposed between the light projecting portion 42 and the light receiving portion 44 of the X direction sensors 40a and 40b provided in the AGV 20. 7 (housings 8a and 8b) enters, and a part of the laser beam B is blocked (shielded). From this state, the process proceeds to positioning control of the roll body R.

That is, based on the detection results of the X direction sensors 40a and 40b and the Z direction sensors 47a and 47b, the AGV 20 (drive roller DR) and the roll body support portion 30 (support columns 30a and 30b) are controlled, respectively. The position / posture in the X direction, Z direction, α direction, and γ direction are adjusted.
Thus, the center axis of the pair of chucks 7 (housings 8a and 8b) of the roll body support device 1 and the center axis A of the roll body R placed on the AGV 20 are aligned (centered).

Then, after the alignment (core alignment) of the roll body R is completed, the pair of chucks 7 are protruded toward the roll body R, and the holders are provided at both ends of the core C disposed on the central axis A of the roll body R. 9 is fitted and the roll body R is clamped and supported.
Furthermore, the transfer of the roll body R is completed by lowering the roll body support part 30 (support columns 30a and 30b) on the AGV 20.

  In addition, what is necessary is just to perform the process mentioned above in the reverse order, when transferring the roll body R from the roll body support apparatus 1 toward AGV20.

As described above, according to the roll body supply apparatus 10 according to the embodiment of the present invention, the roll body R is accurately positioned (centered) with respect to the pair of chucks 7 of the roll body support apparatus 1 to smoothly Can be transferred to.
In particular, the X direction sensors 40a and 40b, the Z direction sensors 47a and 47b, and the Y direction sensors 48a and 48b are all provided on the AGV 20 side of the roll body supply device 10 without being provided on the roll body support device 1 side. Even when the position of the chuck 7 fluctuates, the roll body R can be suitably positioned and transferred with respect to the roll body support apparatus 1.

  In particular, since it is not necessary to provide the various sensors described above on the arm 6 that is a movable part, wiring processing is easy. Further, since it is not necessary to provide various sensors on each arm 6, the number of various sensors is minimized, and the cost can be suppressed.

  Various shapes, combinations, and the like of the constituent members described in the above-described embodiments are merely examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

For example, although the roll support device 1 described above has been described as a configuration in which the chucks 7 are provided at the tips of the plurality of arms 6, the present invention is not limited thereto. That is, the roll body support device may include only a pair of chucks.
Moreover, although the roll body support apparatus 1 demonstrated the case where the several arm 6 was rotationally moved, the thing which employ | adopted another movement system may be used.

Moreover, although the case where a pair of chuck | zipper 7 fits into the both ends of the core C of the roll body R was demonstrated, it is not restricted to this. For example, it may be a case of gripping or may be a form of placing like the core support portion 26.
Further, the outer shape of the chuck 7 (housings 8a and 8b) is not limited to a cylindrical shape.
Further, the present invention is not limited to the case where the center axis A of the roll body R is aligned (centered) with the center axis E of the chuck 7. That is, it is only necessary to align the center axis A of the roll body R with a predetermined position of the chuck 7.

Although the case where the core C arranged (inserted) on the central axis A of the roll body R protrudes from both ends has been described, the present invention is not limited thereto.
Moreover, although the case where the core C was a hollow cylindrical shape was demonstrated, a cylindrical shape may be sufficient. Further, the cross-sectional shape of the core C is not necessarily circular, but may be a triangle or a quadrangle.

  Moreover, although the case where the length of the roll body R (core C) was fixed was demonstrated, the case where C1-C3 differs in the length of the central axis A direction, respectively, may be sufficient, for example. In this case, the roll bodies R (core C) having different lengths are supported by moving the support columns 30a and 30b in the Y direction.

  Moreover, although the case of AGV was demonstrated as a trolley | bogie which mounts a roll body, it is not restricted to this. For example, it may be a carriage that moves along a rail provided on the ceiling. Moreover, the trolley | bogie which lays a rail on the floor and moves along this rail may be sufficient. Moreover, the case where the driving | running | working of a trolley is driven manually may be sufficient.

Moreover, although the case where the roll body support portion (support column) moves only in the Y and Z directions has been described, it may be movable in the X direction. That is, the movement (positioning) of the roll body in the X direction may be performed by both the roll body support portion (fine movement) and the carriage (coarse movement).
Similarly, the movement of the roll body in the Z direction is not limited to being performed only by the roll body support portion 30 (support columns 30a and 30b), and other movement mechanisms (coarse movement mechanisms) may be used in combination.

  DESCRIPTION OF SYMBOLS 1 ... Roll body support apparatus, 8 ... Chuck, 10 ... Roll body supply apparatus, 20 ... AGV (cart), 30 ... Roll body support part (vertical movement part, 2nd horizontal movement part), 40a, 40b ... X direction sensor (First horizontal direction detection unit), 42 ... light projecting unit, 44 ... light receiving unit, 47a, 47b ... Z direction sensor (vertical direction detection unit), 48a, 48b ... Y direction sensor (second horizontal direction detection unit), 80 ... Core outer diameter sensor (core outer diameter detector), B ... Laser light (detection light), R ... Roll body, C, C1, C2, C3 ... Core, A ... Center axis, DR ... Drive roller (first) Horizontal moving part, second horizontal moving part), L ... Roll body placement position

Claims (6)

A roll body support device that has a cart on which a roll body having a core arranged on a central axis is placed with the central axis horizontal, and a pair of chucks engaged with both ends of the core to support the roll body. A roll body supply device for transporting the roll body,
The cart is
A first horizontal moving unit for moving the roll body in a first horizontal direction orthogonal to a central axis;
An up-and-down moving unit for moving the roll body in the up-and-down direction;
A first horizontal direction detection unit for obtaining a first horizontal position of the pair of chucks with respect to a central axis of the roll body;
An up-down direction detecting unit for obtaining a position in the up-down direction of the pair of chucks with respect to the central axis of the roll body,
A roll body supply device that controls the first horizontal movement unit and the vertical movement unit based on detection results of the first horizontal direction detection unit and the vertical direction detection unit. The first horizontal movement unit and the vertical movement unit are:
Each of both ends of the core is movable in the first horizontal direction and the up-down direction,
The roll body supply device according to claim 1, wherein the horizontal direction detection unit and the vertical direction detection unit obtain positions of the pair of chucks in the first horizontal direction and the vertical direction, respectively. The cart is
A second horizontal moving part for moving the roll body in a second horizontal direction parallel to the central axis;
A second horizontal direction detection unit for obtaining a second horizontal position of the pair of chucks with respect to both ends of the core of the roll body,
The roll body supply device according to claim 1, wherein the second horizontal movement unit is controlled based on a detection result of the second horizontal direction detection unit. The cart is
A core outer diameter detector for obtaining the outer diameter of the core;
The roll body supply according to any one of claims 1 to 3, wherein a position in a vertical direction of a central axis of the roll body with respect to the carriage is obtained based on a detection result of the core outer diameter detection unit. apparatus. The first horizontal direction detector
A light projecting unit that outputs a belt-shaped detection light;
A light receiving unit disposed opposite to the light projecting unit and receiving the detection light;
The roll body supply device according to any one of claims 1 to 4, wherein the roll body supply device is provided. The roll body support device includes a plurality of pairs of the pair of chucks, and can move any of the pair of chucks to a roll body mounting position.
The roll body supply device according to any one of claims 1 to 5, wherein the carriage transports the roll body to a pair of chucks at the roll body placement position.

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