JP2012166877A - Roll body conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suitably perform positioning in transfer of a roll body.SOLUTION: An unmanned conveying vehicle 100 for conveying the roll body includes: a placement base 102 on which a body of the roll body is to be placed; a detection means for detecting a position of the placement base 102 with respect to a production machine; a movement means for moving the placement base 102 in a non-vertical direction on the basis of the result of detection by the detection means, when a body 168 of the unmanned conveying vehicle 100 for conveying the roll body is stopped for the transfer of the roll body; and a rotating means for rotating the placement base 102 on the basis of the result of the detection by the detection means, when the body 168 of the unmanned conveying vehicle 100 for conveying the roll body is stopped for the transfer of the roll body.

Description

  The present invention relates to an apparatus for conveying a roll body.

  In many factories that handle roll bodies such as film rolls, in order to carry roll bodies into and out of production machines (hereinafter referred to as production machines) that produce and process roll bodies In addition, unmanned carts are used. The carriage receives the roll body from, for example, the storage location of the roll body, travels on a track or a non-tracked conveyance path, and carries the roll body into the chucking device of the production machine.

  When transferring the roll body between the carriage and the production machine, it is necessary to position the carriage with respect to the production machine. Conventionally, for example, an outrigger system as described in Patent Document 1 has been proposed as a positioning system.

JP 2008-222109 A

  In the outrigger method, a cone is provided on the ground, an outrigger is provided on the AGV side, and a concave portion of the outrigger is fitted into the cone to improve positioning accuracy. However, this method tends to be avoided in an environment where cleanliness is required because dust or dust may be generated when the recess and the cone are fitted. In addition, since the cone is provided on the floor near the production machine, it is difficult to flatten the floor.

  This invention is made | formed in view of such a condition, The objective is to provide the roll body conveying apparatus which can perform the positioning in the case of delivery of a roll body more suitably.

  An embodiment of the present invention relates to a roll body conveyance device. The roll body transport device includes a mounting table on which the body of the roll body is to be mounted, and a detecting unit that detects a position of the mounting table with respect to an apparatus in which the roll body is transferred to and from the roll body transport device. A moving means for moving the mounting table in a non-vertical direction based on a detection result by the detecting means when the main body of the roll body conveying apparatus is stopped for delivery of the roll body, and a main body of the roll body conveying apparatus Rotating means for rotating the mounting table based on the detection result of the detecting means when the roll body is stopped for delivery of the roll body.

  According to this aspect, when the main body of the roll body transport device is stopped for delivery of the roll body, the position of the mounting table can be adjusted.

  Note that any combination of the above-described constituent elements, and those obtained by replacing the constituent elements and expressions of the present invention with each other among methods, apparatuses, systems, etc. are also effective as an aspect of the present invention.

  According to the present invention, positioning at the time of delivery of a roll body can be performed more suitably.

FIGS. 1A and 1B are schematic views for explaining a roll body to be transported. Drawing 2 (a)-(d) is a mimetic diagram showing the automatic guided vehicle for roll body conveyance concerning an embodiment. FIGS. 3A and 3B are schematic views showing a state where the automatic guided vehicle for transporting a roll body receives the roll body from the production machine. It is explanatory drawing for demonstrating the motion of an inclination rail and a contact part when a mounting base rotates centering on a cross roller.

  The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components and members shown in the drawings are denoted by the same reference numerals, and repeated descriptions are appropriately omitted. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

  1A and 1B are schematic views for explaining a roll body 2 to be transported. FIG. 1A is a perspective view of the roll body 2. The roll body 2 is formed by winding a strip-like or sheet-like material 4, such as a film or paper, around a core 6. The core 6 has a hollow portion 8 in the center in the radial direction. The core 6 becomes a base when the material 4 is wound.

  FIG.1 (b) is a side view which shows the roll body 2 mounted in the mounting base 102 of the automatic guided vehicle for roll body conveyance which concerns on embodiment. The roll body 2 is mounted on the mounting table 102 when its outer peripheral surface 2 a, that is, the body portion is in contact with the mounting table 102. The mounting table 102 has a V-shaped cross section so that the roll body 2 does not roll during conveyance.

  The unmanned guided vehicle for transporting a roll body according to the present embodiment is an AGV that moves in a factory without a track, and supports the roll body with a body portion, and loads the roll body into the production machine or removes the roll body from the production machine. Or carry it out. From the viewpoint of transporting the roll body, the production machine is an apparatus that transfers the roll body to and from an automated guided vehicle for transporting the roll body.

  There are two types of roll body conveyance: a cylinder receiver conveyance that supports and conveys the body of the roll body, and a core receiver conveyance that supports and conveys the core of the roll body. Explain the case. Because it is the case receiving conveyance, the automatic guided vehicle for conveying the roll according to the present embodiment has a mounting table for receiving the trunk of the roll. The size of the mounting table needs to be sufficient to support the body of the roll body.

  In the automatic guided vehicle for transporting a roll body according to the present embodiment, the mounting table is supported at two places by two support portions, and the mounting table moves by moving these two support portions. Since the movement of one support part can affect the movement of the other support part via the mounting table, the automatic guided vehicle for conveying a roll according to the present embodiment has a configuration in consideration thereof. On the other hand, in the core receiving and conveying, the two arms for receiving the core can be basically controlled independently. Therefore, those skilled in the art will understand that the technology for controlling the mounting table and the support portion in the present embodiment is different from the technology for controlling the arm in the core receiving conveyance.

  The automatic guided vehicle for transporting a roll body according to the present embodiment stops at a predetermined stop position near the production machine for delivery of the roll body. The automatic guided vehicle for transporting a roll body rotates means about a predetermined rotation axis with means for further adjusting the position of the mounting table in a horizontal plane when the main body is stopped for delivery of the roll body. Means. Thereby, even when the actual stop position and orientation of the main body of the automatic guided vehicle for transporting a roll body deviate from the predetermined stop position and predetermined direction, the deviation can be compensated without moving the main body. Thereby, the precision of positioning at the time of delivery of a roll body can be raised more.

FIGS. 2A to 2D are schematic views showing an automatic guided vehicle 100 for transporting a roll body according to the present embodiment. An automated guided vehicle 100 for transporting a roll body includes a mounting table 102, a mounting table support unit, a first position detector 138, a second position detector 140, a first support unit 124, a second support unit, A first y-direction drive unit 150, a second y-direction drive unit 160, an x-direction transfer slide 162, and a main body 168 are provided.
The main body 168 includes a lifter 164 and a carriage unit 166.

  Hereinafter, the x direction, the y direction, and the z direction orthogonal to each other will be introduced and described. The z direction is the vertical direction, that is, the direction of gravity applied to the roll body when the roll body is placed on the placement table 102. The x direction and the y direction are non-vertical directions, that is, directions intersecting the vertical direction, and are directions orthogonal to each other in the horizontal plane. The direction in which the core of the roll body extends when the roll body is placed on the mounting table 102 is defined as the x direction.

FIG. 2A is a top view of the automatic guided vehicle 100 for transporting a roll body.
The mounting table support means includes a first guide pin 114, a second guide pin 116, a third guide pin 118, a fourth guide pin 120, a first load cell 122, a second load cell 130, and a third load cell 132. And the base frame 104, the inclined rail 126, and the pole holding part 134.

  The first guide pin 114, the second guide pin 116, the third guide pin 118, and the fourth guide pin 120 are fixed to the base frame 104, and the first guide hole 106 and the second guide provided at the four corners of the mounting table 102, respectively. The hole 108, the third guide hole 110, and the fourth guide hole 112 are loosely fitted. The base frame 104 is fixed to the main body 168 at least while the main body 168 of the automatic guided vehicle 100 for transporting a roll body is moving. The mounting table 102 is positioned in the horizontal plane with respect to the automatic guided vehicle 100 for transferring a roll body by loosely fitting the guide pins into the guide holes in this way.

  The first load cell 122, the second load cell 130, and the third load cell 132 are respectively arranged between the third guide pin 118 and the fourth guide pin 120, between the first guide pin 114 and the fourth guide pin 120, and the second guide. Provided between the pin 116 and the third guide pin 118. Each load cell is fixed to the table frame 104 and supports the mounting table 102 in the z direction.

  When the automatic guided vehicle 100 for transporting a roll body receives a roll body from a production machine, load control by a load cell is performed. The roll transport automatic guided vehicle 100 includes a control unit (not shown), and the weight of the received roll body is input to the control unit in advance. When receiving the roll body, the control unit compares the weight indicated by the signal from the load cell with the input weight, and controls the lifter 164 until the former reaches the latter or adjusts the inclination so that the load is equalized. The unit 152, the first y-direction drive unit 150, the second y-direction drive unit 160, and the x-direction transfer slide 162 are controlled.

  The inclined rail 126 and the pole holding part 134 are fixed to the lower surface of the base frame 104. The inclined rail 126 is a rail extending in the y direction. The pole holding portion 134 is a cup-shaped member that opens downward.

FIG. 2B is a side view of the automatic guided vehicle 100 for transporting a roll body.
The first position detector 138 and the second position detector 140 are respectively attached to one end and the other end of the base frame 104 in the x direction, and detect the position and orientation of the mounting table 102 with respect to the production machine. The orientation of the mounting table 102 may be a normal direction when the mounting table 102 is viewed as a substantially flat surface.

  The first position detector 138 and the second position detector 140 transmit the position detection result to the control unit. When the main body 168 stops, the control unit causes the first y-direction drive unit 150 and the second y-direction drive unit 160 so that the position and orientation of the mounting table 102 indicated by the detection result from the position detector become a desired position and orientation. The x-direction transfer slide 162 and the tilt adjustment unit 152 are controlled. The control unit sends, for example, a control signal designating a displacement amount to each of the first y-direction drive unit 150, the second y-direction drive unit 160, the x-direction transfer slide 162, and the tilt adjustment unit 152.

The first support portion 124 and the second support portion rotatably support the base frame 104 and thus the mounting table 102 at different positions. The first support part 124 includes a rotation pin 146 and a cross roller 148.
The rotation pin 146 is a pin having one end attached to a member on the table frame 104 side and the other end attached to a member on the cross roller 148 side. The rotation pin 146 becomes the center of rotation when the mounting table 102 is tilted with respect to the horizontal plane, that is, when the mounting table 102 rotates around a rotation axis orthogonal to the z direction.
The cross roller 148 supports the rotation pin 146 so as to be rotatable around a rotation axis along the z direction. The cross roller 148 becomes the center of rotation when the mounting table 102 rotates around the rotation axis along the z direction.

  The first y-direction drive unit 150 linearly moves the first support unit 124 in the y direction with respect to the main body 168 based on a control signal from the control unit. The first y-direction drive unit 150 is configured by appropriately combining a linear guide such as an LM guide (Linear Motion Guide) and a motor. Similarly, the second y-direction drive unit 160 moves the second support unit in the y direction with respect to the main body 168. Both the first y-direction drive unit 150 and the second y-direction drive unit 160 are fixed to the upper surface of the x-direction transfer slide 162.

  When the first y-direction drive unit 150 and the second y-direction drive unit 160 move the corresponding support units with the same displacement, the mounting table 102 is linearly moved in the y direction. When the first y-direction drive unit 150 and the second y-direction drive unit 160 move corresponding support units with different displacements, the movement of the mounting table 102 is caused by a rotational component around the cross roller 148 and, in some cases, along the y direction. A linear motion component.

  The second support portion is free to play in the x direction in order to allow the contact position between the second support portion and the inclined rail 126 to move in the x direction when the mounting table 102 rotates around the cross roller 148. Have The second support part includes an inclination adjusting part 152, a pole 136, and an arc escape slide 158.

  The inclination adjusting unit 152 has a contact point 128 that contacts the inclined rail 126. The tilt adjustment unit 152 slides the contact point 128 with respect to the tilt rail 126 based on a control signal from the control unit. The inclination adjusting unit 152 includes a linear guide, a motor, a ball screw, and the like.

One end of the pole 136 is attached to the arc escape slide 158, and the other end is inserted inside the pole holding portion 134. When the mounting table 102 rotates around the cross roller 148, the pole 136 moves in a form in which a force is applied from the pole holder 134. As a result, the arc escape slide 158 also moves following.
The arc escape slide 158 is configured by a linear guide or the like so that the contact part 128 of the inclination adjusting part 152 can be moved in the x direction in accordance with the movement of the pole 136.

  The x-direction transfer slide 162 moves the first support portion 124 and the second support portion in the x direction with respect to the main body 168 and thus the mounting table 102 based on a control signal from the control portion. The x-direction transfer slide 162 is fixed to the upper surface of the lifter 164.

The lifter 164 is a panter type electric lifter, and moves or lifts the x-direction transfer slide 162 and thus the mounting table 102 in the z-direction.
The carriage unit 166 includes a driven wheel 170 and a driving wheel 172 and is equipped with a lifter 164. The cart unit 166 moves the automatic guided vehicle 100 for transporting the roll body within the factory.

  FIG. 2C is a schematic view of the sliding state of the contact point 128 with respect to the inclined rail 126 as seen from the direction indicated by the arrow B in FIG. The lower surface of the inclined rail 126 is inclined along the direction in which the inclined rail 126 extends. Since the movement of the inclined rail 126 in the y direction with respect to the circular arc escape slide 158 is restricted by the arc escape slide 158, the pole 136 and the pole holding portion 134, the contact rail 128 is extended by the inclination adjustment portion 152. When moved in the direction, the contact point 128 slides on the inclined rail 126. Then, due to the inclination of the inclined rail 126, the table frame 104, and thus the mounting table 102 rotates around the rotation pin 146, or is inclined with respect to the horizontal plane.

  FIG. 2D is a cross-sectional view taken along line AA in FIG. In FIG. 2D, the mounting table 102 and the mounting table support means are shown, and the other members are not shown. The third guide pin 118 is loosely fitted in the fourth guide hole 112. The same applies to the fourth guide pin 120. The first load cell 122 supports the mounting table 102 in the z direction.

Operation | movement of the automatic guided vehicle 100 for roll body conveyance comprised as mentioned above is demonstrated.
The automatic guided vehicle 100 for transporting the roll body stops once when it moves to the production machine where the roll body is transferred to and from it. The automatic guided vehicle 100 for transferring the roll body needs the position and orientation of the mounting table 102 based on the position detection signals from the first position detector 138 and the second position detector 140 while the main body 168 is stopped. Adjust as much as possible.
The automatic guided vehicle 100 for transporting the roll body then transfers the roll body by raising the mounting table 102 vertically upward by the lifter 164.

FIGS. 3A and 3B are schematic views showing a state where the roll guided automatic guided vehicle 100 receives the roll body 176 from the production machine 174. FIG. 3A is a top view of the production machine 174 and the automatic guided vehicle 100 for transporting a roll body, and FIG. 3B is a side view.
In this case, in the production machine 174, the cutout amount L into which the roll transport unmanned transport vehicle 100 can enter is not sufficient, and the roll transport unmanned transport vehicle 100 even if the roll transport unmanned transport vehicle 100 enters as much as possible. The y-direction position of the center R1 of the main body 168 does not reach the y-direction position of the center R2 of the roll body 176 attached to the production machine 174.

  When the automatic guided vehicle 100 for transporting the roll body enters the production machine 174 and stops, the driving unit 178 including the first y-direction driving unit 150 and the second y-direction driving unit 160 is used to support the mounting table 102. The support part 180 is moved to the y direction production machine side. In this way, the center of the mounting table 102 and the center R2 of the roll body 176 attached to the production machine 174 are aligned. Thereafter, the mounting table 102 is raised by the lifter 164 included in the driving unit 178 to receive the roll body 176 from the production machine 174.

  FIG. 4 is an explanatory diagram for explaining the movement of the inclined rail 126 and the contact portion 128 when the mounting table 102 rotates around the cross roller 148. When the first support portion 124 and the second support portion are moved in the y direction with different displacements, the mounting table 102 rotates around the cross roller 148. During this rotation, the contact portion 128 moves in the y direction in accordance with the movement of the second support portion in the y direction. Here, when the second support portion does not have play in the x direction, the contact portion 128 can be moved to the position 182 indicated by the broken-line circle in FIG. However, in the present embodiment, since the second support portion has play in the x direction, even if the position where the contact portion 128 should be shifted in the x direction as the mounting table 102 rotates, the shift can be absorbed. That is, the contact portion 128 is moved in the x direction following the rotation of the mounting table 102. As a result, the positional relationship between the inclined rail 126 and the contact portion 128 is substantially maintained before and after the rotation.

  According to unmanned transport vehicle 100 for conveying a roll body according to the present embodiment, the stop position of main body 168 of unmanned transport vehicle 100 for transporting a roll body is shifted from a desired position, or the orientation of mounting table 102 is a desired orientation. Even if they are different, the position and orientation of the mounting table 102 with respect to the production machine can be adjusted as desired while the main body 168 is stopped. Thereby, the precision of positioning of the mounting base 102 with respect to the production machine at the time of delivery of a roll body can be improved more. As a result, the delivery of the roll body is performed more smoothly, and the probability that a delivery failure occurs can be reduced.

  In particular, since the AGV moves without a track, the stop position is likely to vary as compared with those that move along the track. Therefore, the automatic guided vehicle 100 for transporting a roll body according to the present embodiment is more suitable as an AGV that transports the roll body without a track.

  Further, even if the main body 168 is accurately stopped at a desired position, the floor accuracy is poor, and therefore the position of the mounting table 102 relative to the production machine may need to be further finely adjusted. In the conventional outrigger method, since the mounting table is positioned with reference to a cone provided on the floor, it is difficult to cope with the case where the accuracy of the floor itself is poor. However, the automatic guided vehicle 100 for transporting a roll body according to the present embodiment uses a position detector and performs adjustment after stopping the main body 168 based on the absolute position of the mounting table 102 in the factory, so that the floor accuracy is poor. Even in this case, the accuracy of the position of the mounting table 102 relative to the production machine can be kept high.

  Although it may be possible to finely adjust the position of the mounting table by moving the main body, in some cases it is difficult to accurately move a heavy AGV by a very small distance by itself. Even so, a more expensive main body drive mechanism or the like is required. On the other hand, the automatic guided vehicle 100 for transporting a roll body according to the present embodiment can easily adjust the position / orientation of the mounting table 102 at a lower cost.

  In particular, when the roll body is received from the production machine, the stop position of the chuck of the production machine may deviate from a desired position. In the automatic guided vehicle 100 for transporting a roll body according to the present embodiment, the control of the first y-direction drive unit 150, the second y-direction drive unit 160, the x-direction transfer slide 162 and the inclination adjustment unit 152 and the load control are linked. Thus, the position and orientation of the mounting table 102 can be adjusted so as to compensate for the deviation of the chuck stop position while the lifter 164 is driven. Thereby, the delivery of the roll body with smoother and less receiving errors is realized.

  Further, as compared with the conventional outrigger method, the floor using the automatic guided vehicle 100 for conveying a roll body according to the present embodiment does not need to be provided with a cone, so that the floor can be flattened.

  In addition, the conventional outrigger method has a corresponding dust generation when the outrigger comes into contact with the cone, and is not very suitable for use in a clean environment. On the other hand, the automatic guided vehicle for transporting a roll body 100 according to the present embodiment is more suitable for use in an environment where cleanliness is required because there is no such dust generation.

  Moreover, the automatic guided vehicle 100 for roll body conveyance which concerns on this Embodiment can move the mounting base 102 to ay direction with the 1st y direction drive part 150 and the 2nd y direction drive part 160 after the main body 168 stops. Thereby, for example, even in the situation shown in FIG. 3, that is, when the cutout amount of the production machine is not sufficient, the roll body can be transferred to and from the production machine. In other words, the notch amount required on the production machine side is reduced, and the degree of freedom in designing the production machine is improved.

  Moreover, the automatic guided vehicle 100 for roll body conveyance which concerns on this Embodiment can rotate the mounting base 102 centering on the rotating shaft orthogonal to az direction after the main body 168 stops. Thereby, after the main body 168 is stopped, the mounting table 102 can be returned to the horizontal position even when the mounting table 102 is tilted due to, for example, the floor being tilted.

  Moreover, in the automatic guided vehicle 100 for transporting a roll body according to the present embodiment, the second support portion has play in the x direction. Therefore, even when the mounting table 102 rotates around the cross roller 148, the positional relationship between the inclined rail 126 and the contact portion 128 can be maintained.

  Moreover, in the automated guided vehicle 100 for transporting a roll body according to the present embodiment, the mounting table 102 is supported in the z direction via the load cell, and load control using a signal from the load cell is received when the roll body is received. Is done. Thereby, receiving of a roll body becomes smoother and the mistake of receiving of a roll body resulting from the weight of roll body itself is reduced.

  In the above, the structure and operation | movement of the automatic guided vehicle 100 for roll body conveyance which concern on embodiment were demonstrated. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements, and such modifications are also within the scope of the present invention.

  In the embodiment, the case where the position and orientation of the mounting table 102 with respect to the production machine are detected by the first position detector 138 and the second position detector 140 has been described. A set of light sources such as a laser may be provided, or a camera and mark may be used.

In the embodiment, the case where the second support portion has play in the x direction has been described. However, the present invention is not limited to this. For example, instead of providing play, the width of the inclined rail may be increased.
In the embodiment, the case where three load cells are used has been described. However, if the load cells are provided at the four corners, the roll can be transferred more reliably.

  2 roll body, 100 automatic guided vehicle for roll body transportation, 102 mounting table, 124 first support section, 126 inclined rail, 138 first position detector, 140 second position detector, 150 first y-direction drive section, 152 inclination Adjustment part, 158 arc escape slide, 160 2nd y direction drive part, 162 x direction transfer slide, 164 lifter, 166 dolly part, 168 body.

Claims (5)

A mounting table on which the body of the roll body is to be mounted;
Detecting means for detecting the position of the mounting table with respect to the apparatus for transferring the roll body to and from the roll body conveying apparatus;
A moving means for moving the mounting table in a non-vertical direction based on a detection result by the detecting means when the main body of the roll body conveying device is stopped for delivery of the roll body;
A roll body, comprising: a rotating unit that rotates the mounting table based on a detection result of the detection unit when the main body of the roll body transport device is stopped for delivery of the roll body. Conveying device.   2. The roll body conveying apparatus according to claim 1, wherein the moving unit moves the mounting table in a direction substantially orthogonal to both the vertical direction and the central axis of the roll body.   3. The roll body conveying apparatus according to claim 1, wherein the rotating unit rotates the mounting table about an axis substantially orthogonal to the vertical direction. The moving means and the rotating means are:
Two support portions for rotatably supporting the mounting table at different positions;
A drive unit that moves the two support units in a non-vertical direction,
The one of the two support parts is movable in a direction intersecting both the direction in which the drive part moves the two support parts and the vertical direction. Roll body transport device. In the mounting table, guide pins fixed to the main body of the roll body transporting device are loosely fitted in guide holes provided in at least two places thereof, so that the mounting base is within the horizontal plane. Is positioned at
The roll transport apparatus according to any one of claims 1 to 4, wherein the mounting table is supported in a vertical direction via a load converting means.

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