JP2011184148A - Automatic carrying vehicle for roll body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic carrying vehicle for a roll body capable of preventing the roll body from moving in an axial direction or from being changed in a bamboo shoot shape while traveling. <P>SOLUTION: Each of a pair of support bodies 13 of a support means 8 for loading and supporting the roll body comprises a contact surface which movably loads and supports a core a in the axial direction and which is positioned along the side surface of the sheet member b of the roll body supported by the support means 8. By operating the pair of support bodies 13 so as to be moved away from and close to each other by a drive means while the supporting member 8 supports the roll body, the support means can be changed over between a separated state in which the side surfaces of the sheet members b are separated from the contact surfaces of the pair of support bodies 13, respectively, and a contact state in which the side surfaces of the sheet members b are brought into contact with the contact surfaces of the pair of support bodies 13, respectively. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention provides a pair of supports in which a supporting means for placing and supporting a roll body in which a sheet material is wound around a rod-like core places and supports the outer peripheral surfaces of both ends of the core protruding from the sheet material on both sides. The present invention relates to an automatic transport vehicle for a roll body that is configured to include a body and is provided with driving means for moving the pair of support bodies toward and away from each other.

  Such an automatic transport vehicle for a roll body is configured to travel in a state where a roll body in which a sheet material such as a printing base paper or a film raw material is wound around a rod-shaped core is supported by a support means, and the support means By adjusting the distance between the pair of supports, the roll body can be received from a production machine or the like that performs printing or coating on the surface of a printing base paper or various film raw fabrics.

  And in the conventional example of such an automatic transport vehicle for a roll body, when receiving the roll body from a production machine or the like, the interval between the pair of support bodies is set so that the sheet material of the roll body does not contact the support body. The roll body is placed on the support means in a state where the distance is wider than the length in the axial direction, and the distance between the pair of support bodies is maintained at a distance wider than the length in the axial direction of the sheet material. An automated guided vehicle was running (see, for example, Patent Document 1).

JP 2008-063117 A

  However, in the above-described conventional automatic carrier for a roll body, the distance between the pair of support bodies when traveling is wider than the length in the axial direction of the sheet material, and the side surface of the sheet material and the pair of support bodies The vehicle is running in a state where it is separated from the contact surface. Therefore, there is a problem that the roll body moves in the axial direction together with the core on the support means by turning, and there is a problem that only the outer peripheral edge portion of the sheet material moves in the axial direction and the roll body becomes a bamboo shoot.

  The present invention has been made in view of the above circumstances, and its purpose is to provide an automatic transport vehicle for a roll body that can prevent the roll body from moving in the axial direction or becoming a bamboo shoot when traveling. Is to provide

In the automatic carrier for a roll body according to the present invention, the support means for placing and supporting the roll body in which the sheet material is wound around the rod-shaped core has outer peripheral surfaces of both end portions of the core protruding from the sheet material on both sides. Comprising a pair of supports for mounting and supporting, and provided with driving means for moving the pair of supports away from each other,
The first characteristic configuration is that the side surfaces of the sheet material of the roll body in which each of the pair of support bodies is mounted and supported so as to be movable along the axial direction of the core and supported by the support means. And the support means is operated to move the pair of support members in the distance from each other by the drive means while supporting the roll body. It is configured to be switched between a separated state in which the contact surfaces of the pair of supports are separated from each other and a contact state in which the side surfaces of the sheet material and the contact surfaces of the pair of supports are in contact with each other. .

  That is, since each of the pair of support members is configured to place and support the core in the axial direction, the pair of support members are mutually connected by the drive unit while the roll member is supported by the support unit. It is possible to operate the distance movement. Therefore, the contact surface of the pair of support members is changed to the side surface of the sheet material by moving the pair of support members so as to approach each other while the roll member is supported by the support device and switching the support means to the contact state. The contact surfaces of the pair of support bodies can be brought into contact with each other by moving the pair of support bodies so that they are separated from each other while the roll body is supported by the support means. Can be separated from the side surface of the sheet material.

  That is, when receiving a roll body from a production machine or the like, the roll body can be placed on the support means without contacting the sheet material with the support means by switching the support means to the separated state. By switching the support means from the separated state to the contact state while the roll body is supported by the support means while being placed on the support means, the contact surfaces of the pair of support bodies are sheeted while the roll body is supported by the support means. Surface contact can be made with the side of the material. In this way, by causing the roll body automatic transport vehicle to run with the support body switched to the contact state, the contact surfaces of the pair of support bodies are in surface contact with the side surfaces of the roll body. It can prevent moving to a heart direction and a roll body becoming bamboo shoot-like.

  Accordingly, it has been possible to provide an automatic transport vehicle for a roll body that can prevent the roll body from moving in the axial direction and the roll body from becoming a bamboo shoot.

  By the way, the mechanism for moving the pair of support bodies in the distance from each other by the driving means is a mechanism that is conventionally provided in advance so as to support a plurality of types of roll bodies having different lengths in the axial direction of the core, By using the mechanism provided in advance as a mechanism for preventing the roll body from moving in the axial direction and preventing the roll body from becoming a bamboo shoot, the roll body can be moved in the axial direction or the roll body. An automatic transport vehicle for a roll body that can prevent the formation of a bamboo shoot can be constructed at a low cost.

  According to a second feature of the automatic carrier for a roll body according to the present invention, in the first feature configuration, a support detection means for detecting that the roll body is supported by the support means, and the support means in the separated state. And a control means for controlling the operation of the drive means based on detection information of the support detection means in order to switch the support means to the contact state after the roll body is placed on .

  In other words, when the control unit detects that the roll body is placed on the support unit in the separated state and the support detection unit detects that the roll body is supported by the support unit, the control unit should switch the support unit from the separated state to the contact state. Control the operation of the drive means. Therefore, as the roll body is supported by the support means, the support means can be automatically switched from the separated state to the contact state, so that the roll body moves in the axial direction during traveling or the roll body becomes bamboo-like. Can be prevented accurately.

  According to a third feature of the automatic carrier for a roll body according to the present invention, in the first or second feature, each of the pair of supports moves the core that is placed and supported along the axial direction. It is in the point which is provided with the rotatable rotating body which supports freely.

  That is, when the support means is placed and supported on the support means and the support means is switched from the separated state to the contact state, the core rotates smoothly along the axial direction with respect to the support body by rotating the rotating body. Therefore, the support means that supports the roll body can be smoothly switched between the separated state and the contact state.

  According to a fourth feature configuration of the automatic transport vehicle for a roll body according to the present invention, in the third feature configuration, each of the pair of support bodies is arranged in the circumferential direction of the core in the roll body supported by the support means. Along with this, a plurality of the rotating bodies are provided.

  That is, by supporting the core with a plurality of rotating bodies, the load related to the core can be distributed in the circumferential direction, and the load related to the rotating body can be distributed to the plurality of rotating bodies. , Avoiding concentration of load.

  According to a fifth feature configuration of the automatic transport vehicle for a roll body according to the present invention, in any one of the first to fourth feature configurations, the contact surface of each of the pair of supports is the side surface of the sheet material. It is in the point formed in the magnitude | size which contacts from the inner periphery to the whole outer periphery.

  That is, the contact surface of the support body moves in the axial direction from the inner peripheral edge to the entire outer peripheral edge of the sheet material by contacting from the inner peripheral edge to the entire outer peripheral edge of the side surface of the sheet material. In particular, since it is possible to prevent the outer peripheral edge portion of the sheet material from moving in the axial direction, it is possible to appropriately prevent the sheet material from becoming a bamboo shoot.

  According to a sixth feature of the automatic transport vehicle for a roll body according to the present invention, in any one of the first to fifth feature configurations, a contact material made of synthetic fiber is affixed to each of the pair of supports. And the contact surface is formed on the outer surface of the contact material.

  That is, since the contact surface is formed on the outer surface of the contact material affixed to each of the pair of supports, when the support means is switched to the contact state, each of the pair of supports is provided on the side surface of the sheet material. Contact material in contact.

  Therefore, in the case of a roll body in which an optical film as a sheet material is wound around a core, depending on the material of the pair of support members, it may be necessary to avoid the sheet material from contacting the support member. In the state where the contact state is switched to the contact state, the synthetic fiber contact material in the support comes into contact with the side surface of the sheet material, so that the support can be brought into contact with the sheet material without any problem.

  A seventh feature configuration of the automatic transport vehicle for a roll body according to the present invention is that, in any one of the first to sixth feature configurations, the drive means is configured by a servo motor.

  That is, since the drive means for moving the pair of support members to and away from each other is constituted by a servo motor, the control means performs torque control on the servo motor, so that when the support means is switched to the contact state, Since it is possible to prevent the sheet material from being pressed with an unnecessarily large pressing force by the support body, it is possible to prevent the sheet material from being damaged due to the pair of support bodies being pressed against the sheet material. . In addition, since the control means controls the position of the servo motor, the support means can be accurately held in the contact state when the support means is switched to the contact state. It is possible to reliably prevent the roll body from moving in the axial direction.

Perspective view of transport cart Side view of transport cart Front view of transport cart The figure which shows the upper end part of a support body Roll body receiving operation diagram in the first embodiment Control block diagram Flow chart of reception control in the first embodiment Roll body delivery operation diagram in the second embodiment Flow chart of delivery control in the second embodiment

[First Embodiment]
Hereinafter, a first embodiment of an automatic guided vehicle for a roll body according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, a roll body automatic transport vehicle 1 is produced so as to receive a roll body A from a chucking device 2 provided in a production machine or the like that performs printing or coating on the surface of printing base paper or various film raw fabrics. It is installed in the facility, and automatically travels along the guide line (not shown) laid on the floor to the transfer location (the location where the roll automatic guided vehicle 1 is stopped in FIG. 1B). The roll body A is received from the chucking device 2 at the transfer location.
Incidentally, the roll body A is composed of a cylindrical rod-shaped core a and a sheet material b such as paper or film wound around the core a, and the core a located at the center of the roll body A is a sheet. It protrudes from the material b on both sides in the axial direction.

Before describing the automatic carrier 1 for a roll body, first, a chucking device 2 for production equipment will be described.
As shown in FIGS. 1 and 2, a chucking device 2 of a production facility includes a pair of rotating arms 4 that are rotatable around a rotation axis located at the center in the longitudinal direction, and a rotating arm supported by the rotating arms 4. 4 and a support tool 5 that rotates and moves integrally. The support 5 includes a pair of support pins 6 supported at the longitudinal ends of each of the pair of rotating arms 4, and by supporting the both ends of the core a separately by the pair of support pins 6. The roll body A is configured to be supported.

  Further, the support 5 (the pair of support pins 6) is rotated and stopped with the pair of rotating arms 4 in a state where the rotation phases coincide with each other, so that the processing position (upper right of the rotation axis of the rotating arm 4 in FIG. ) And a transfer position (a lower left position of the rotation axis of the rotary arm 4 in FIG. 2). In the state in which the support tool 5 is located at the processing position, the sheet material b that has been subjected to processing such as printing and coating by the production machine is wound around the core a supported by the pair of support pins 6. The roll body A is delivered to the roll body automatic transport vehicle 1 in a state where is positioned at the transfer position. Support pins 6 are provided at both ends of the rotary arm 4 in the longitudinal direction, and the support 5 is in the state where one support 5 is positioned at the receiving position. A pair is provided so as to be located at the center.

  The pair of support pins 6 are supported by the rotary arm 4 so as to move away from each other by the operation of an electric motor (not shown), and each of the pair of support pins 6 has an outer diameter at its tip. It is formed in a cylindrical shape smaller in diameter than the inner diameter of the core a. Then, by bringing the pair of support pins 6 close to each other in a state where the support tool 5 is located at the transfer position, the respective distal end portions of the pair of support pins 6 are inserted into the core a (see FIG. 3). By separating the support pins 6 from each other, the tip ends of the pair of support pins 6 are extracted from the core a (see FIG. 4).

  And although illustration is abbreviate | omitted, each of a pair of support pins 6 is comprised so that the front-end | tip part may be enlarged from a cylindrical shape with a small diameter, and a front-end | tip part in the state which inserted the front-end | tip part into the core a The core a can be held by increasing the diameter. That is, the support 5 is configured to support the inner peripheral surfaces of both ends of the core a by increasing the diameter of the tip ends of the pair of support pins 6.

Next, the roll automatic transport vehicle 1 will be described.
As shown in FIGS. 1 to 3, the automatic carrier 1 for a roll body includes a support means 8 for placing and supporting the roll body A, a slide table 9 for moving and operating the support means 8, and a support for the chucking device 2. An image pickup device 10 for picking up an image of the pin 6, a control device H as a control means for controlling the operation of the slide table 9 based on image pickup information and the like picked up by the image pickup device 10, and a carriage traveling on the floor surface The main body 11 is provided. Incidentally, the support means 8, the slide table 9, the imaging device 10, and the control device H are supported by the carriage body 11.

  The support means 8 includes a pair of supports 13 that place and support the outer peripheral surfaces of both ends of the core a protruding from the sheet material b on both sides, and the slide table 9 includes the pair of supports 13. A pair is provided side by side in the left-right direction of the vehicle body so as to be supported separately, and is configured to be movable individually on the carriage main body 11 in the longitudinal direction of the vehicle body and in the lateral width direction of the vehicle body. That is, in the support means 8, the pair of support bodies 13 are moved and operated in the longitudinal direction of the vehicle body by the pair of slide tables 9, and the pair of support bodies 13 are moved and operated in the lateral direction of the vehicle body by the pair of slide tables 9. It is comprised so that.

  Further, each of the pair of supports 13 has a contact surface along the side surface of the sheet material b of the roll body A that supports the core a so as to be movable along the axial direction and is supported by the support means 8. It is prepared for. The support means 8 is configured so that the pair of support bodies 13 can be operated to move from each other by moving the pair of support bodies 13 in different directions in the lateral width direction of the vehicle body by the pair of slide tables 9. ing. That is, the support means 8 is configured such that the pair of support bodies 13 are moved to and away from each other on the slide table 9 while the roll body A is supported, whereby the side surfaces of the sheet material b and the contact surfaces of the pair of support bodies 13 Is switched between a separated state (see FIGS. 3 and 5A) and a contact state in which the side surface of the sheet material b and the side surfaces of the pair of contact bodies 13 are in contact (see FIG. 5B). It is configured.

  As shown in FIG. 6, each of the pair of slide tables 9 includes a longitudinally moving servo motor 9a for sliding the slide table 9 in the longitudinal direction of the vehicle, and a lateral movement for sliding the slide table 9 in the lateral direction of the vehicle. The moving servo motor 9b is provided. The slide table 9 is moved in the vehicle longitudinal direction by the operation of the longitudinal moving servo motor 9a, and the slide table 9 is moved in the vehicle lateral direction by the operation of the lateral moving servo motor 9b. Is configured to do. Note that the lateral movement servomotor 9b corresponds to the driving means D that is constituted by a servomotor and moves the pair of support members 13 toward and away from each other. Further, each of the pair of slide tables 9 is provided with an up-and-down moving servo motor 9c for moving the supporting support 13 up and down, and the support 13 is moved up and down by the operation of the up-and-down moving servo motor 9c. It is configured to let you.

Next, the support 13 will be described.
Each of the pair of supports 13 is formed in a plate shape, and is supported by the slide table 9 so as to be positioned on the inner side in the vehicle width direction of the slide table 9 in a posture along the vertical direction and the vehicle body longitudinal direction. .

  As shown in FIG. 4, a rotating roller as a rotatable rotating body that supports the core a placed and supported on the upper end portions of the pair of supporting bodies 13 movably along the axial direction. 14 is provided. A pair of the rotating rollers 14 are provided so as to be positioned on both sides in the vehicle front-rear direction with respect to the axis of the core a that is placed and supported. The rotating roller 14 positioned on the front side has an axis of the core a. The existing rear side is provided with an inclined posture positioned below, and the rotating roller 14 located on the front side is provided with an inclined posture positioned lower on the front side where the axis of the core a exists. In this way, the pair of rotating rollers 14 arranged in a V shape in a side view is provided along the circumferential direction of the core a in the roll body A supported by the support means 8.

  In other words, each of the pair of support bodies 13 is provided with a pair of rotating rollers 14 in a V shape in a side view, thereby preventing the core a to be mounted and supported from moving in the vehicle front-rear direction, and a pair of rotations. The outer peripheral surface of the core a is placed and supported by the pair of rotating rollers 14 in a state in which the roller 14 is rotated and allowed to move in the vehicle lateral width direction (axial center direction of the placed and supported core a). It is configured as follows.

  Each of the pair of supports 13 is formed with a flat inner surface in the lateral direction of the vehicle and a contact surface along the side surface of the sheet material b. Specifically, the pair of support bodies 13 has a pair of support bodies 13 at the same height in the vertical direction and at the same position in the longitudinal direction of the vehicle body. The surface is formed on a contact surface orthogonal to the axis of the roll body A supported by the support means 8, and is thus supported by the pair of supports 13 in the state described above by forming the contact surface in this way. The roll body A has a shape along the side surface of the sheet material b.

  In addition, each of the pair of support bodies 13 has a length in the vertical direction so that the lower end thereof is positioned below the lower end of the largest roll body A assumed to be supported by the support means 8. The contact surfaces of the pair of supports 13 are formed in such a size as to contact from the inner peripheral edge to the entire outer peripheral edge of the side surface of the sheet material b. Each of the pair of supports 13 is formed so that the width in the longitudinal direction of the vehicle body is wider than the diameter of the core a of the largest roll body A described above, and the lateral width of the contact surface in the pair of supports 13 is It is formed larger than the diameter of the core a and smaller than the diameter of the sheet material b.

  A nylon contact material 15 as a synthetic fiber contact material is affixed to each of the pair of supports 13 on the inner side in the lateral direction of the vehicle, and on the outer surface of the affixed contact material 15. A contact surface that contacts the side surface of the sheet material b is formed. That is, when the support means 8 is switched to the contact state, the contact material 15 affixed to each of the pair of support bodies 13 is configured to contact the side surface of the sheet material b.

The imaging device 10 includes a support pin 6 in the support tool 5 located at the transfer position and a core in the roll body A supported by the support tool 5 in a state in which the automatic transport vehicle for roll body 1 is stopped at the transfer position. The roll body automatic transport vehicle 1 is provided so that a single imaging device 10 can simultaneously capture and image a within a single imaging range.
Then, as the imaging device 10, a pair of imaging devices 10 are provided to take an image of one of the pair of support pins 6 and one end of the core a in a state where the roll automatic transport vehicle 1 is stopped at the transfer location. The pair of imaging devices 10 are provided in a state where the imaging directions intersect when viewed in the lateral direction of the vehicle. A pair of imaging devices 10 are also provided for imaging the other of the pair of support pins 6 and the other end of the core a in a state in which the automatic conveyance vehicle 1 for the roll body is stopped at the receiving and receiving position. The imaging device 10 is also provided in a state where the imaging directions intersect when viewed in the vehicle lateral direction. Each of the four image pickup devices 10 is supported on the upper end portion of a support bar 17 erected in a fixed state on the cart body 11 so as to be adjustable in height and orientation.

  As shown in FIG. 6, the control device H travels along the guidance line to cause the roll body automatic transport vehicle 1 to travel to the transfer location, or the roll body automatic transport vehicle 1 travels along the guide line from the transfer location. The roll body A is received from the chucking device 2 with the travel control for controlling the operation of the travel motor 11a provided in the carriage main body 11 to travel and the automatic transport vehicle 1 for the roll body being stopped at the transfer position. Accordingly, it is configured to perform reception control for controlling the operation of the servo motor 9a for back and forth movement, the servo motor 9b for horizontal movement, and the servo motor 9c for vertical movement provided on the slide table 9. By the way, when the roll-type automatic transport vehicle 1 travels to the delivery location, the roll body A is not supported by the support means 8, and the pair of support bodies 13 are moved to the lowest position in the up-and-down movement range. ing.

  Next, the reception control of the control device H will be described based on the flowchart of FIG. In this reception control, the positions of both ends of the core a in the roll body A are determined based on the imaging information imaged by the imaging device 10, and the both ends of the core a are placed and supported by the pair of supports 13. Therefore, the operation of the slide table 9 is controlled.

  That is, first, the control device H executes a core position determination process for determining the positions of both end portions of the core a in the roll body A with respect to the cart body 11 from the imaging information captured by the four imaging devices 10 (S1). Then, the pair of support bodies 13 and the pair of slide tables 9 are moved in the vehicle longitudinal direction and the vehicle body width direction with respect to the carriage body 11 so that the pair of support bodies 13 are positioned directly below both ends of the core a ( Therefore, a downward movement process for controlling the operation of the servo motor 9a for back and forth movement and the servo motor 9b for horizontal movement provided in the slide table 9 is executed (S2). When the downward movement process is performed in this way, each of the pair of support bodies 13 is positioned on the inner side in the vehicle lateral width direction by a set distance from the end of the core a, and the distance between the pair of support bodies 13 is The interval is shorter than the length of the core a. The set distance is set to be shorter than the length of the end portion of the core a (the length of the portion protruding from the sheet material b in the core a), and each of the pair of support bodies 13 is the end of the core a. In a state where it is located on the inner side in the vehicle width direction by a set distance, it is separated from the side surface of the sheet material b. That is, the support means 8 is switched to a separated state in which the side surface of the sheet material b and the contact surfaces of the pair of support bodies 13 are separated from each other.

  Next, the control device H moves the pair of supports 13 to the slide table 9 so as to move up and move the pair of supports 13 so that both ends of the core a are placed and supported by the pair of supports 13 (see FIG. 5A). The operation of the ascending / descending movement servo motor 9c is controlled to execute ascending movement processing (S3), and then a reception completion signal is transmitted to the chucking device 2 by communication means (not shown) (S4). Incidentally, when receiving the reception completion signal, the chucking device 2 reduces the diameter of each tip of the pair of support pins 6, separates the pair of support pins 6, and removes the pair of support pins 6 from the core a. Then, after the roll body A is delivered to the roll body automatic transport vehicle 1, a delivery completion signal is transmitted to the roll body automatic transport vehicle 1 by communication means (not shown).

  The control device H determines that the roll body A is supported by the support means 8 from the imaging information captured by the four imaging devices 10, and receives a delivery completion signal from the chucking device 2 (S5). ), And the pair of support bodies 13 and the pair of slide tables 9 are brought close to each other to switch the support means 8 from the separated state to the contact state (see FIG. 5B). A contact movement process for controlling the operation of the servo motor 9b is executed (S6). When the contact movement process is performed in this manner, the outer peripheral surface of the core a is placed and supported by the pair of support bodies 13 and the sheet material b is held in the vehicle lateral width direction by the pair of support bodies 13. The roll body A is supported by the support means 8.

  In this way, the control device H, after the roll body A is placed on the support member 8 in the separated state, the servomotor 9b for lateral movement based on the imaging information of the image pickup unit 16 in order to switch the support unit 8 to the contact state. It is comprised so that the action | operation of may be controlled. Then, in a state in which the pair of support bodies 13 are lifted and moved so that both ends of the core a are placed and supported by the pair of support bodies 13, the roll body A is based on the imaging information of the four imaging devices 10. It is configured to determine whether or not it is supported by the support unit 8, and the imaging device 10 corresponds to a support detection unit that detects that the roll body A is supported by the support unit 8.

  When the control of the operation of the lateral movement servomotor 9b by the control means H in the switching of the support means 8 to the contact state is described, torque control is performed so that the torque for the lateral movement servomotor 9b is maintained at a constant value. To move the pair of supports 13 close to each other. Then, even after the pair of supports 13 abut against the sheet material b and the support means 8 is switched from the separated state to the contact state, the lateral movement servo motor 9b is maintained so as to maintain a constant torque. By performing torque control on the servo motor 9b, each of the pair of supports 13 is pressed against the sheet material b, and the pair of supports 13 holds the sheet material b in the axial direction. Has been.

  In this way, when the roll body automatic transport vehicle 1 receives the roll body A from the chucking device 2, the support means 8 is brought into a contact state so that the contact surfaces of the pair of support bodies 13 are brought into contact with the side surfaces of the sheet material b. Since switching is performed, the roll body A supported by the support means 8 can be prevented from shifting in the lateral direction of the vehicle or the roll body A from a bamboo shoot when the roll body automatic transport vehicle 1 travels. Yes.

[Second Embodiment]
Next, a second embodiment of the automatic vehicle for a roll body according to the present invention will be described with reference to the drawings. The same components as those in the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted. A configuration different from that of the first embodiment will be described. Incidentally, in the first embodiment, the case where the roll body automatic transport vehicle 1 receives the roll body A from the chucking device 2 has been described. However, in the second embodiment, the roll body automatic transport vehicle 1 receives the roll body A from the chuck body device 1. The case where the roll body A is delivered to 2 will be described.

  As shown in FIG. 8, one of the pair of rotating arms 4 (the right rotating arm 4 in FIG. 8) in the chucking device 2 of the production facility is stopped in the axial direction of the supporting roll body A The roll body automatic conveyance vehicle 1 is configured to be movable along the same direction as the vehicle lateral width direction. That is, in the second embodiment, each of the pair of support pins 6 is fixed to the rotating arm 4 and is not supported so as to be freely withdrawn and retracted. Instead, one of the pair of rotating arms 4 moves along the axial direction of the roll body A to be supported so that one of the support pins 6 moves far and away relative to the other support pin 6. It is configured. Hereinafter, of the pair of rotating arms 4, one rotating arm 4 that moves in the axial direction of the roll body A is referred to as a movable rotating arm 4a, and the other rotating arm 4 that does not move is referred to as a fixed rotating arm 4b. The support pin 6 supported by the movable rotation pin 6a and the support pin 6 supported by the fixed rotation arm 4b will be referred to as a fixed support pin 6b.

  The controller H is a servo motor 9a for back-and-forth movement provided in the slide table 9 to move the roll body A to the chucking device 2 in a state where the roll body automatic transport vehicle 1 is stopped at the receiving and receiving position. It is comprised so that delivery control which controls the action | operation of the servomotor 9b for an operation and the servomotor 9c for an up-and-down movement may be performed. Incidentally, when the roll-type automatic transport vehicle 1 travels to the delivery location, the roll body A is supported by the support means 8, and the support means 8 is switched to the contact state.

  The delivery control of the control device H will be described with reference to the flowchart of FIG. 9. In this delivery control, first, the control device H first supports a pair of supports for the carriage body 11 from the imaging information captured by the four imaging devices 10. A pin position discriminating process for discriminating the position of the pin 6 is executed (S11), and a pair of supports are arranged so that the core a of the roll body A supported by the pair of support bodies 13 is aligned with the pair of support pins 6. In order to move the body 13 and the pair of slide tables 9 in the longitudinal direction of the vehicle body and in the lateral direction of the vehicle body with respect to the carriage main body 11, the longitudinal movement servo motor 9a, the lateral movement servo motor 9b, and the vertical movement provided in the slide table 9 are provided. A roll body movement process for controlling the operation of the servo motor 9c is executed (S12).

  Next, the control device H moves the pair of supports 13 to the side where the fixed support pins 6b in the vehicle lateral direction are positioned so that the fixed support pins 6b of the fixed rotating arm 4b are inserted into the end portions of the core a ( As shown in FIG. 8 (a), a slide movement process for controlling the operation of the lateral movement servo motor 9b provided in the slide table 9 is executed (S13). Is transmitted to the chucking device 2 (S14). Incidentally, when receiving the reception completion signal, the chucking device 2 moves the movable rotating arm 4a to the side where the fixed rotating arm 4b in the lateral direction of the vehicle exists and inserts the movable support pin 6a into the core a (FIG. 8). (See (b)), the diameter of the tip of each of the movable support pin 6a and the fixed support pin 6b is increased, and the roll body A is received from the automatic transport vehicle 1 for the roll body and then received by the communication means (not shown). A completion signal is configured to be transmitted to the roll automatic transport vehicle 1.

  When receiving a reception completion signal from the chucking device 2 (S15), the control device H separates the pair of support members 13 and the pair of slide tables 9 from each other to switch the support means 8 from the contact state to the separation state. After the separation movement process for controlling the operation of the servo motor 9b for lateral movement provided in the slide table 9 is executed (S16), the vertical movement provided in the slide table 9 is moved in order to move the pair of supports 13 downward. The lowering movement process (S17) for controlling the operation of the servo motor 9c is executed.

  That is, each of the pair of support bodies 13 is configured to be simultaneously movable in the same direction along the axial direction of the core a to be supported (the vehicle lateral direction and the arrangement direction of the pair of support bodies 13). The core a to be supported can be moved in the axial direction by moving each of the pair of supports 13 in the same direction along the axial direction of the core a to be supported. Then, the pair of supports 13 are moved to the side where the fixed rotation arm 4b is present in the arrangement direction, and the fixed support pins 6b that are immovable in the vehicle lateral width direction are inserted, and the movable support pins that are movable in the vehicle lateral width direction. The roll body A is delivered from the roll body automatic transport vehicle 1 to the chucking device 2 by moving the 6a to the side where the core a in the lateral direction of the vehicle exists and inserting the movable support pin 6 into the core a. It is configured. In this way, by transferring the roll body A from the automatic transport vehicle for roll body 1 to the chucking device 2, only one of the pair of support pins 6 in the chucking device 2 can be moved in the lateral direction of the vehicle. Therefore, the configuration of the chucking device 2 can be simplified.

[Another embodiment]
(1) In the first and second embodiments, the imaging device 10 is provided as a support detection unit. However, as a support detection unit, a load sensor, a photoelectric sensor, or the like that detects the presence or absence of the core a on the pair of supports 13. Various sensors may be provided. Moreover, although the support detection means was provided in the automatic conveyance vehicle 1 for roll bodies, you may provide a support detection means in the installation side in which the chucking apparatus 2 was provided.

(2) In the first and second embodiments, the rotary roller 14 that rotatably supports the core a on which the support 13 is placed and supported is movably supported in the axial direction. When the core a can be directly supported by the pair of supports 13 so as to be movable in the axial direction, the core a may be configured to be placed and supported directly on each of the pair of supports 13. Moreover, in the said 1st and 2nd embodiment, although the rotary body was comprised with the rotation roller 14, you may comprise a rotary body with a rotation ball.

(3) In the said 1st and 2nd embodiment, although the contact surface in a pair of support body 13 was formed in the magnitude | size which contacts the whole radial direction of an outer periphery from the inner periphery of the side surface in the sheet | seat material b. By forming the pair of support bodies 13 short in the vertical direction, the contact surfaces of the pair of support bodies 13 are formed to have a size that contacts the inner peripheral edge of the side surface of the sheet material b and the vicinity thereof. You may form the contact surface in the support body 13 in the magnitude | size which contacts a part of radial direction of the outer periphery from the inner periphery of the side surface in the sheet | seat material b.

(4) In the first and second embodiments, the nylon contact material 15 is provided as the synthetic fiber contact material 15, but other synthetic fiber contact materials such as polyester may be provided. A synthetic resin contact material may be provided in addition to the fiber contact material. Further, in the case where there is no problem even if the pair of support bodies 13 are made of stainless steel or the like and directly contact the sheet material b, the contact material 15 may not be attached to each of the pair of support bodies 13. .

(5) In the first and second embodiments, the drive unit is configured by a servo motor. However, the drive unit may be configured by another actuator such as a stepping motor or an electric cylinder. In the first and second embodiments, torque control is performed on the lateral movement servomotor 9b with the support means 8 switched to the contact state. However, the support means 8 is switched to the contact state. In this state, position control may be performed on the lateral movement servomotor 9b, or both torque control and position control may be performed.

(6) In the second embodiment, the pair of supports 13 is moved to the side where the fixed support pin 6b in the vehicle lateral direction is positioned in a state where the support means 8 is switched to the contact state, and the roll body automatic transport vehicle. Although the roll body A is delivered from 1 to the chucking device 2, the pair of support bodies 13 are moved to the side where the fixed support pins 6b in the lateral direction of the vehicle are located with the support means 8 switched to the separated state. Then, the roll body A may be delivered from the roll body automatic transport vehicle 1 to the chucking device 2. Incidentally, in this case, the pair of supports 13 are moved to the side where the fixed support pins 6b in the lateral direction of the vehicle are located in a state where the core a is prevented from moving in the axial direction by braking the rotating roller 14 or the like. You may comprise as follows.

(7) In the second embodiment, the movable support arm 6a is moved in the lateral direction of the vehicle so that the movable support pin 6a supported by the movable rotational arm 4a is moved in the lateral direction of the vehicle. May be configured to be moved in the lateral direction of the vehicle by moving the movable support pin 6a with respect to the rotating arm 4 so that the movable supporting pin 6a is moved in and out of the rotating arm 4.

DESCRIPTION OF SYMBOLS 1 Automatic conveyance vehicle for roll bodies 8 Support means 9b Drive means (servo motor)
DESCRIPTION OF SYMBOLS 10 Support detection means 13 Support body 14 Rotating body 15 Contact material A Roll body a Core b Sheet material H Control means

Claims (7)

The support means for mounting and supporting the roll body in which the sheet material is wound around the rod-shaped core includes a pair of support bodies for mounting and supporting the outer peripheral surfaces of both ends of the core protruding from the sheet material on both sides. Configured,
An automatic transport vehicle for a roll body provided with a drive means for moving the pair of support bodies in the distance from each other,
Each of the pair of supports includes a contact surface along the side surface of the sheet material of the roll body that supports the core so as to be movable along the axial direction of the core and is supported by the support means. Configured,
With the support means supporting the roll body, the pair of support bodies are operated to move to and away from each other by the driving means, whereby the side surfaces of the sheet material and the contact surfaces of the pair of support bodies are An automatic transport vehicle for a roll body configured to be switched between a separated state in which the sheet material is separated and a contact state in which a side surface of the sheet material and the contact surfaces of the pair of support members are in contact with each other. Support detection means for detecting that the roll body is supported by the support means;
Control means for controlling the operation of the drive means based on detection information of the support detection means so as to switch the support means to the contact state after the roll body is placed on the support means in the separated state; The automatic conveyance vehicle for roll bodies of Claim 1 provided.   3. The roll body according to claim 1, wherein each of the pair of support bodies includes a rotatable rotating body that supports the placed and supported cores movably along an axial direction thereof. Automated transport vehicle.   4. The automatic roll body according to claim 3, wherein each of the pair of support bodies includes a plurality of the rotating bodies along a circumferential direction of the core in the roll body supported by the support means. Transport vehicle.   5. The method according to claim 1, wherein the contact surface of each of the pair of supports is formed to have a size that contacts the entire inner periphery from the inner periphery of the side surface of the sheet material. The automatic conveyance vehicle for roll bodies as described. A synthetic fiber contact material is affixed to each of the pair of supports,
The automatic conveyance vehicle for roll bodies according to any one of claims 1 to 5, wherein the contact surface is formed on an outer surface of the contact material.   The automatic conveyance vehicle for roll bodies according to any one of claims 1 to 6, wherein the driving means is constituted by a servo motor.

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