JP2012188284A - Carrier for roll body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier for roll body capable of properly transferring a plurality of kinds of roll bodies having different outer diameter dimensions between a roll body holding device and the carrier for roll body.SOLUTION: When delivering a roll body to the roll body holding device, positioning processing for delivery for controlling the actuation of a movement operating means is executed on the basis of positional information of the outer circumferential surface on a shaft part obtained by an outer circumferential position obtaining means and outer diameter dimension information on the shaft part obtained by an outer diameter dimension obtaining means. When receiving the roll body from the roll body holding device, positioning processing for reception for controlling the actuation of the movement operating means is executed on the basis of the positional information of the outer circumferential surface on the shaft part obtained by the outer circumferential surface position obtaining means and outer diameter dimension information on the shaft part obtained by the outer diameter dimension obtaining means.

Description

  The present invention is for a roll body that transfers the roll body by delivering or receiving the roll body to or from a roll body holding device that holds a roll body around which a sheet material is wound around a cylindrical shaft portion. Concerning transport vehicles.

  The roll body transport vehicle travels on the floor surface of the facility where the roll body holding device is installed, travels to the vicinity of the roll body holding device, and is placed and supported by a pair of support bodies. When the roll body is transferred to or from the roll body holding device such that the roll body held by the roll body holding device is received by the pair of support bodies Is used.

As a conventional example of such a roll body transport vehicle, when the roll body is transferred to the roll body holding device, the carriage body is placed in the vicinity of the roll body holding device in a state where the roll body is placed and supported by the pair of support bodies. Based on the detection information of the outer peripheral surface position acquisition means for detecting the position of the outer peripheral surface of the shaft portion of the roll body that is mounted and supported by the pair of support members. Is positioned at the delivery target position set with respect to the pair of insertion portions, and a delivery alignment process for operating the moving operation means is executed.
When the roll body is received from the roll body holding device, the carriage body is moved to the vicinity of the roll body holding device without being placed and supported by the pair of support bodies and is held by the roll body holding device. Based on the detection information of the outer peripheral surface position detecting means for detecting the position of the outer peripheral surface in the shaft portion of the roll body being moved, the outer peripheral surface in the shaft portion of the roll body is moved to be placed and supported by the pair of support bodies A receiving alignment process for operating the operating means is performed (for example, see Patent Document 1).

JP 2010-159134 A

  By the way, the conventional roll body transport vehicle captures an image of a shaft portion with an imaging device, and acquires an axial center position of the shaft portion from a position of a radial end portion of the outer peripheral surface of the imaged shaft portion. The alignment processing is executed based on the axial center position in the shaft portion. However, when there are a plurality of types of roll bodies having different outer diameter dimensions of the shaft portion as a roll body to be transported by a roll body transport vehicle, the roll body is transferred to the roll body holding device or the roll body from the roll body holding device. There are the following problems when receiving.

  That is, when the roll body is delivered to the roll body holding device, if it is one type of roll body, by grasping the diameter of the shaft portion in advance, either end in the radial direction on the outer peripheral surface of the shaft portion As long as the position of the part can be discriminated, it is also possible to obtain the center position as a position shifted by a set amount in the radial direction from the position of the end part. However, when there are multiple types of outer diameter dimensions of the shaft portion, the distance between the radial end position on the outer peripheral surface of the shaft portion and the axial center position of the shaft portion is not constant. Even if the position of the end portion is determined, the center position of the shaft portion cannot be specified. Therefore, it is necessary to determine the positions of both end portions in the radial direction on the outer peripheral surface. For this reason, if one of the ends in the radial direction on the outer peripheral surface of the shaft portion cannot be identified, such as when a part of the shaft portion to be imaged is a shadow of illumination, the center position of the core is appropriately determined from the outer peripheral surface. Can not get to. As described above, when there are a plurality of types of shaft bodies having different outer diameters as the roll body to be transferred, the center position of the shaft portion may not be appropriately acquired, and the alignment process for delivery cannot be executed. there is a possibility.

  Further, when the roll body is transferred to the roll body holding device, the shaft portion is imaged by the imaging device, and the center position of the shaft portion is acquired from the positions of both ends in the radial direction of the outer peripheral surface of the imaged shaft portion. Thus, the receiving alignment process is executed based on the center position of the shaft portion. However, when there are a plurality of types of shafts having different outer diameters as the roll body to be transferred, as shown in FIGS. 13A to 13C, even when the center position of the shaft can be appropriately acquired. If the outer diameter of the roll body is different, the height of the pair of support bodies for mounting and supporting the shaft portion of the roll body is different even when the shaft center of the shaft portion is the same. It may not be possible.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to provide a roll transport vehicle capable of appropriately transferring a plurality of types of roll bodies having different outer diameter dimensions to and from the roll body holding device. Is to provide

A roll body transport vehicle according to the present invention transfers the roll body by transferring the roll body to and from a roll body holding device that holds a roll body in which a sheet material is wound around a cylindrical shaft portion. The first characteristic configuration is
As the roll body, a plurality of types of roll bodies having different outer diameter dimensions of the shaft portion are to be transferred, and the roll body holding device includes a pair of insertion portions that can be moved to and away from each other, and the pair of insertion portions. An insertion position in which the pair of insertion portions are inserted from both ends with respect to the shaft portion by moving the pair of the insertion portions away from each other, and the pair of insertion portions are moved away from each other to remove the pair of insertion portions from the shaft portion. The outer peripheral surfaces of both end portions of the shaft portion protruding from the sheet material on both sides in the axial direction of the roll body are placed on a movable carriage body that is configured to be movable at the extraction position to be removed. A pair of supports to be supported, a movement operation means for moving the pair of supports in a direction intersecting the axial direction with respect to the cart body, and a control means for controlling the operation of the movement operation means; The roll body to be transferred An outer peripheral surface position acquisition means for acquiring the position of the outer peripheral surface in the part, and an outer diameter dimension acquisition means for acquiring an outer diameter dimension in the shaft portion of the roll body to be transferred, the control means, When delivering the roll body to the roll body holding device, the axis set in the shaft portion of the roll body to be transferred supported by the pair of support bodies is set for the pair of insertion portions. Based on the position information of the outer peripheral surface in the shaft part acquired by the outer peripheral surface position acquisition means and the outer diameter dimension information in the shaft part acquired by the outer diameter dimension acquisition means to be positioned at the target position for use. Thus, it is configured to execute a positioning process for delivery for controlling the operation of the moving operation means.

That is, when the roll body is delivered to the roll body holding device, first, the position of the outer peripheral surface in the shaft portion of the roll body placed and supported by the pair of support bodies is acquired by the outer peripheral surface position acquisition means. Then, the outer diameter dimension acquisition means acquires the outer diameter dimension of the shaft portion.
Then, based on the position information of the outer peripheral surface in the shaft portion acquired by the outer peripheral surface position acquisition means and the outer diameter size information in the shaft portion acquired by the outer diameter size acquisition means, the operation of the moving operation means is controlled. By executing the transfer alignment process, the shaft center of the shaft part of the roll body to be transferred supported by the pair of support members is positioned at the transfer target position set for the pair of insertion parts. ing.

That is, since the distance between the position of the outer peripheral surface and the axial center position in the shaft portion of the roll body varies depending on the size of the outer diameter of the shaft portion, the position for delivery is based only on the position information of the outer peripheral surface of the shaft portion. If the alignment process is to be executed, the position of the shaft center of the shaft portion will deviate from the target position for delivery due to the size of the outer diameter of the shaft portion, but the position information of the outer peripheral surface of the shaft portion and the outer diameter of the shaft portion Based on the dimensions, the positioning process for delivery is executed, and the position of the outer peripheral surface of the shaft portion is positioned at a position corresponding to the outer diameter size of the shaft portion. Regardless, the shaft center of the shaft portion can be positioned at the delivery target position.
And by performing such a positioning process for delivery, for example, it is only necessary to have position information of one end portion in the radial direction of the shaft portion, up to position information of both end portions in the radial direction of the shaft portion. Since there is no necessity, a part of the shaft part to be imaged is a shadow of illumination, and even when the other end part in the radial direction on the outer peripheral surface of the shaft part cannot be discriminated, the alignment process for delivery is executed. be able to.
Therefore, when delivering a roll body to a roll body holding device, it is possible to provide a roll body transport vehicle capable of appropriately transferring a plurality of types of roll bodies having different outer diameter dimensions to and from the roll body holding device. It came to.

  The second feature configuration of the roll transport vehicle according to the present invention is the first feature configuration, wherein the imaging means and the control means for imaging the shaft portion are the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means. A position acquisition process is provided, wherein the control means acquires position information of the outer peripheral surface of the shaft portion based on imaging information of the imaging means, and outer diameter size acquisition that acquires outer diameter size information of the shaft portion. It is in the point comprised so that processing may be performed.

  In other words, the imaging unit picks up the shaft portion placed and supported on the pair of supports, and the control unit obtains position information of the outer peripheral surface of the shaft portion based on the imaging information picked up by the imaging unit. The position acquisition process to be executed is executed. In addition, the control means executes an outer diameter dimension acquisition process for acquiring outer diameter dimension information in the shaft portion based on the imaging information imaged by the imaging means.

  That is, the imaging means and the control means are provided as the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means, and are used both as the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means. Compared to the case where the outer diameter dimension acquisition means and the outer diameter dimension acquisition means are provided separately, the configuration can be simplified.

  A third feature configuration of the roll body transport vehicle according to the present invention is the second feature configuration, wherein the imaging unit is set as a position where the roll body is transferred to and from the roll body holding device. In the state where the carriage main body is stopped, the pair of support members are provided at positions where the insertion part of the roll body holding device and the shaft part of the roll body to be transferred are imaged. The imaging position of the end portion in the radial direction of the shaft portion that is placed and supported by the pair of supports in the image captured by the imaging means with the body positioned, and the outer diameter size of the shaft portion The relationship information for delivery indicating the relationship is stored in advance in the control means, and when the control means delivers the roll body to the roll body holding device, the pair of support bodies are positioned at a set position. The pair of supports in a state The shaft part of the roll body to be transferred that is placed and supported is imaged by the imaging means, and the transfer is performed based on the imaging position of the end portion in the radial direction of the shaft part imaged by the imaging means. The position acquisition process for acquiring the position information of the outer peripheral surface of the shaft portion of the target roll body is executed, and the imaging position of the end portion in the radial direction of the shaft portion imaged by the imaging means and the delivery The pair of supports is executed on the basis of the position information of the outer peripheral surface of the shaft portion and the outer diameter size information, and executes the outer diameter size acquisition processing for acquiring the outer diameter size information of the shaft portion from the relationship information. In order to move the shaft center of the shaft portion placed and supported at the transfer target position, the transfer alignment processing for controlling the operation of the moving operation means is executed. is there.

  That is, when the roll body is delivered to the roll body holding device, first, the axis of the roll body to be transferred that is placed and supported by the pair of support bodies in a state where the pair of support bodies is positioned at the set position. The image is picked up by the image pickup means, and the position information of the outer peripheral surface in the shaft portion of the roll body to be transferred is acquired based on the image pickup position of the radial end portion in the shaft portion imaged by the image pickup means. Execute position acquisition processing. In this position acquisition process, by imaging the shaft portion placed and supported on the pair of support members in a state where the pair of support members are positioned at the set positions, the radial end portions of the shaft portions are The position of the outer peripheral surface corresponding to the size of the outer diameter of the shaft portion can be acquired as position information.

  Next, an outer diameter dimension acquisition process is performed for acquiring outer diameter dimension information of the shaft portion from the imaging position of the end portion in the radial direction of the shaft portion captured by the imaging means and the transfer relation information. In this outer diameter dimension acquisition process, it is possible to acquire outer diameter dimension information of the shaft portion mounted and supported on the pair of support bodies from the imaging position of the end portion in the radial direction of the shaft portion and the transfer relation information. it can. In other words, the imaging position of the end of the outer peripheral surface of the shaft corresponds to the size of the outer diameter, and the transfer related information includes the imaging position and the axis of the end of the shaft in the radial direction. Since it is information indicating the relationship with the outer diameter dimension of the shaft portion, the outer diameter size information of the shaft portion can be acquired from the imaging position of the end portion in the radial direction of the shaft portion and the relationship information for transfer.

  After that, based on the position information of the outer peripheral surface of the shaft portion and the outer diameter dimension information, a transfer alignment process for controlling the operation of the moving operation means is executed. In this way, by executing the alignment process for delivery, the position of the outer peripheral surface of the shaft portion can be moved to a position corresponding to the outer diameter size of the shaft portion, and there are multiple types of external dimensions. Also, the shaft center of the shaft portion can be appropriately positioned at the delivery target position.

A roll body transport vehicle according to the present invention transfers the roll body by transferring the roll body to and from a roll body holding device that holds a roll body in which a sheet material is wound around a cylindrical shaft portion. The fourth feature configuration is
As the roll body, a plurality of types of roll bodies having different outer diameter dimensions of the shaft portion are to be transferred, and the roll body holding device includes a pair of insertion portions that can be moved to and away from each other, and the pair of insertion portions. An insertion position in which the pair of insertion portions are inserted from both ends with respect to the shaft portion by moving the pair of the insertion portions away from each other, and the pair of insertion portions are moved away from each other to remove the pair of insertion portions from the shaft portion. The outer peripheral surfaces of both end portions of the shaft portion protruding from the sheet material on both sides in the axial direction of the roll body are placed on a movable carriage body that is configured to be movable at the extraction position to be removed. A pair of supports to be supported, a movement operation means for moving the pair of supports in a direction intersecting the axial direction with respect to the cart body, and a control means for controlling the operation of the movement operation means; The roll body to be transferred An outer peripheral surface position acquisition means for acquiring the position of the outer peripheral surface in the part, and an outer diameter dimension acquisition means for acquiring an outer diameter dimension in the shaft portion of the roll body to be transferred, the control means, When receiving the roll body from the roll body holding device, the outer peripheral surface of the shaft portion of the roll body to be transferred held by the roll body holding device should be placed and supported by the pair of support bodies. Based on the position information of the outer peripheral surface in the shaft portion acquired by the outer peripheral surface position acquisition means and the outer diameter size information in the shaft portion acquired by the outer diameter size acquisition means, the movement operation means It is configured to execute a receiving alignment process for controlling the operation.

That is, when the roll body is received from the roll body holding device, first, the outer peripheral surface position acquisition unit acquires the position of the outer peripheral surface in the shaft portion of the roll body held by the roll body holding device, and the outer diameter The dimension acquisition means acquires the outer diameter dimension of the shaft portion.
Then, based on the position information of the outer peripheral surface in the shaft portion acquired by the outer peripheral surface position acquisition means and the outer diameter size information in the shaft portion acquired by the outer diameter size acquisition means, the operation of the moving operation means is controlled. By performing the receiving alignment process, the outer peripheral surface of the shaft portion of the roll body held by the roll body holding device is placed and supported by the pair of support bodies.

In other words, the position of the pair of supports that place and support the outer peripheral surface of the shaft portion of the roll body held by the roll body holding device varies depending on the size of the outer diameter of the shaft portion. When the alignment process for delivery is executed based only on the position information of the surface, the position of the pair of support members deviates from the position where the outer peripheral surface of the shaft portion is placed and supported due to the size of the outer diameter of the shaft portion. However, the receiving alignment processing is executed based on the position information of the outer peripheral surface of the shaft portion and the outer diameter size of the shaft portion, and the position of the pair of support bodies is set to a position corresponding to the outer diameter size of the shaft portion. By positioning, a pair of support bodies can be located in the position which mounts and supports the outer peripheral surface of a shaft part irrespective of the magnitude | size of the outer diameter dimension of a shaft part.
And by performing such a positioning process for delivery, it is possible to appropriately perform the positioning process for delivery even when transferring a plurality of types of roll bodies having different outer diameter dimensions of the shaft portion. it can.
Therefore, when receiving a roll body from a roll body holding device, it is possible to provide a roll body transport vehicle capable of appropriately transferring a plurality of types of roll bodies having different outer diameter dimensions to and from the roll body holding device. It came.

  A fifth feature configuration of the roll transport vehicle according to the present invention is the fourth feature configuration, wherein the imaging means for imaging the shaft portion and the control means are the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means. A position acquisition process is provided, wherein the control means acquires position information of the outer peripheral surface of the shaft portion based on imaging information of the imaging means, and outer diameter size acquisition that acquires outer diameter size information of the shaft portion. It is in the point comprised so that processing may be performed.

  That is, the position at which the shaft portion held by the roll body holding device is picked up by the image pickup means, and the control means acquires the position information of the outer peripheral surface of the shaft portion based on the image pickup information picked up by the image pickup means. Execute the acquisition process. In addition, the control means executes an outer diameter dimension acquisition process for acquiring outer diameter dimension information in the shaft portion based on the imaging information imaged by the imaging means.

  That is, the imaging means and the control means are provided as the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means, and are used both as the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means. Compared to the case where the outer diameter dimension acquisition means and the outer diameter dimension acquisition means are provided separately, the configuration can be simplified.

  The sixth feature configuration of the roll transport vehicle according to the present invention is the fifth feature configuration, wherein the insertion position is such that a distal end portion of the insertion portion is inserted into the shaft portion, and a proximal end portion of the insertion portion is The roll is set in a position where it is not inserted into the shaft, and the image pickup means stops the cart body at a set stop position set as a position where the roll body is transferred to and from the roll body holding device. In the state where the base end portion of the insertion portion of the body holding device and the shaft portion of the roll body to be transferred are imaged, the imaging means is in the state where the cart body is stopped at the set stop position. The difference between the radial position of the shaft portion in the captured image and the radial position of the proximal end portion of the insertion portion is defined as an end displacement amount, and the end displacement amount and the shaft Receiving the relationship with the outer diameter of the part When the related information is stored in advance in the control means and the control means receives the roll body from the roll body holding device, the imaging means picks up the image with the cart body stopped at the set stop position. Position information of the outer peripheral surface of the shaft portion and the base end portion based on the position of the radial end portion of the shaft portion and the position of the radial end portion of the base end portion of the insertion portion in the obtained image The position acquisition process for acquiring the position information of the outer peripheral surface of the shaft portion is executed, and the position information of the outer peripheral surface of the shaft portion, the position information of the outer peripheral surface of the insertion portion, and the receiving relation information are The outer diameter dimension acquisition process for acquiring the diameter dimension information is executed, and the pair of supports are held by the roll body holding device based on the position information of the outer peripheral surface of the shaft portion and the outer diameter dimension information. Position to place and support the outer peripheral surface of the core of the rolled body In order to move it to a position, the receiving positioning process for controlling the operation of the moving operation means is executed.

  That is, when the roll body is received by the roll body holding device, first, the roll body held by the roll body holding device in a state where the carriage main body is positioned at the set stop position and the base end portion of the roll body holding device. The outer peripheral surface of the shaft portion of the roll body to be transferred based on the image pickup position of the radial end portion in the shaft portion and the image pickup position of the radial end portion in the base end portion. And the position acquisition process which acquires the positional information on the outer peripheral surface of a base end part is performed.

  Next, an outer diameter dimension acquisition process for acquiring outer diameter dimension information of the shaft portion from the position information of the outer peripheral surface of the shaft portion, the position information of the outer peripheral surface of the base end portion, and the receiving relation information is executed. If an explanation is added, the amount of end shift, which is the difference between the position of the outer peripheral surface of the shaft portion and the position of the outer peripheral surface of the base end portion, differs depending on the size of the outer diameter of the shaft portion, Since the receiving relation information is information indicating the relationship between the end shift amount and the outer diameter dimension of the shaft portion, the positional information on the outer peripheral surface of the shaft portion, the positional information on the outer peripheral surface of the base end portion, and the receiving relation information Thus, the outer diameter dimension information of the shaft portion can be acquired.

  Thereafter, a receiving alignment process for controlling the operation of the moving operation means is executed based on the position information on the outer peripheral surface of the shaft portion and the outer diameter dimension information. By performing the receiving alignment process in this way, the pair of support bodies can be moved to positions corresponding to the outer diameter dimensions of the shaft portion, and the roll body can be retained even when there are multiple types of outer dimensions. The pair of supports can be positioned so that the outer peripheral surface of the shaft portion of the roll body held by the apparatus is appropriately placed and supported by the pair of supports.

Side view of roll body transport vehicle and roll body holding device Front view of roll carrier Plan view of roll body transport vehicle and roll body holding device The figure which shows the extraction position and insertion position of a pair of insertion part The figure which shows the small diameter state and large diameter state of an insertion part Control block diagram The figure which shows that the position of the outer peripheral surface in the edge part of a axial part respond | corresponds to the magnitude | size of an outer diameter dimension. The figure which shows that the imaging position of the outer peripheral surface in the edge part of an axial part respond | corresponds to the magnitude | size of an outer diameter dimension. The figure which shows the imaging position of the edge part of the axial direction of a axial part, and the outer-diameter dimension of an axial part The figure which shows the image which imaged the roll body holding | maintenance apparatus of a holding | maintenance cancellation | release state with a pair of imaging means The figure which shows the image which imaged the roll body holding | maintenance apparatus of the holding | maintenance state with a pair of imaging means flowchart The figure which shows that the support height of the roll body from which an outside diameter differs differs

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 3, the roll carrier 1 rolls between a roll holding 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. In order to transfer the roll body A by receiving and delivering the body A, it is arranged in the production facility. Then, the roll body transport vehicle 1 automatically travels to a set stop position along a guide line (not shown) laid on the floor surface, and with the roll body holding device 2 in a state of stopping at the set stop position. It is comprised so that the roll body A may be transferred between.
Incidentally, FIG. 1 shows a state in which the roll body transport vehicle 1 is stopped at the set stop position, and the set stop position is between the roll body transport vehicle 1 and the roll body holding device 2. A is a position set as a position to transfer. The roll body transport vehicle 1 travels as indicated by an arrow in FIG. 3 and travels to the set stop position by lateral movement. Incidentally, in FIG. 3, the roll body transport vehicle 1 stopped at the set stop position is indicated by a virtual line.

And the roll body A is comprised by the core a as a cylindrical axial part, and sheet materials b, such as paper and a film wound around the core a, and the core located in the center of the roll body A a protrudes from the sheet material b on both sides in the axial direction.
Further, as the roll body A, plural types of roll bodies A having different outer diameter dimensions of the core a are to be transferred.

Before describing the roll body transport vehicle 1, first, the roll body holding device 2 of the production facility for transferring the roll body A to and from the roll body transport vehicle 1 will be described.
As shown in FIGS. 1 and 3, the roll body holding device 2 includes a pair of support pins 4 as a pair of insertion parts that can move toward and away from each other. An insertion position (see FIG. 4B) in which the support pins 4 are moved closer to each other and the pair of support pins 4 are inserted into the core a from both sides, and the pair of support pins 4 are moved away from each other to move the pair of support pins 4 to the core a. It is configured to be movably provided at an extraction position (see FIG. 1 and FIG. 4A) to be extracted from. Incidentally, the pair of support pins 4 are provided so as to be positioned on both sides in the vehicle body front-rear direction of the roll-type transport vehicle 1 that stops at the set stop position.

As shown in FIGS. 1 and 3, the roll body holding device 2 includes an electric motor 7 that moves and operates one support pin 4 of the pair of support pins 4, and the other support of the pair of support pins 4. An air cylinder 8 for moving the pin 4 is provided.
The electric motor 7 moves one support pin 4 along the longitudinal direction of the vehicle body, and the air cylinder 8 moves the other support pin 4 along the longitudinal direction of the vehicle body. 4 is moved and moved to the insertion position and the extraction position by moving the 4 close and apart at the same time.

  A description will be given of each of the pair of support pins 4. Each of the pair of support pins 4 has a small-diameter portion 5 having a diameter smaller than the inner diameter of the core a at the tip, and a core a located at the base side from the small-diameter portion 5. And a large-diameter portion 6 having a larger diameter than the outer diameter. That is, in a state where the pair of support pins 4 are positioned at the insertion position, as shown in FIGS. 4B and 5A, the small diameter portion 5 of the support pin 4 is inserted into the core a, and the support pin 4 The large-diameter portion 6 in this is abutted against the end of the core a in the axial direction. Thus, the insertion position is set to a position where the small diameter portion 5 of the support pin 4 is inserted into the core a and the large diameter portion 6 of the support pin 4 is not inserted into the core a. The small diameter portion 5 corresponds to the distal end portion of the present invention, and the large diameter portion 6 corresponds to the proximal end portion of the present invention.

  Further, as shown in FIG. 5, each of the pair of support pins 4 has a small diameter state in which the small diameter portion 5 is made smaller than the inner diameter of the core a by supplying and discharging air by an air supply device (not shown). 5 (a)) and a large diameter state (see FIG. 5 (b)) in which the small diameter portion 5 is enlarged to the same diameter as the inner diameter of the core a.

  That is, the roll body holding device 2 moves the pair of support pins 4 close to each other to the insertion position and inserts the pair of small diameter portions 5 into both ends of the core a, and then sets each of the pair of small diameter portions 5 to the large diameter state. The holding state with a large diameter and the pair of small diameter portions 5 are made small in diameter, and then the pair of support pins 4 are moved away from each other to a separation position so that the pair of small diameter portions 5 are removed from both ends of the core a. The roll body A is configured to be switched to the held release state, and the roll body A is held in the switched state, and the roll body A is released from the holding state by switching to the release state. Yes.

Next, the roll carrier 1 will be described.
As shown in FIGS. 1 to 3, the transport vehicle 1 for a roll body includes a pair of support bodies 12 for placing and supporting the roll body A on a travelable carriage body 11, and a pair of support bodies 12. With respect to the vehicle body longitudinal direction, the vehicle body width direction and the vertical direction, the movement operation means 13 and the cart body 11 stopped at the set stop position, the support pins 4 of the roll body holding device 2 and the transfer target An imaging device 14 as an imaging means for imaging the core a of the roll body A, a control means H for controlling the operation of the movement operation means 13, and a communication device 15 for transmitting and receiving information between the roll body holding device 2 (FIG. 6).

The pair of support bodies 12 are provided in a state spaced from each other in the longitudinal direction of the vehicle body, and the outer circumferences of both ends of the core a projecting on both sides from the sheet material b in the roll body A by the pair of support bodies 12. The surface is placed and supported.
Since the core a is placed and supported by the pair of support bodies 12 arranged in the longitudinal direction of the vehicle body in such a manner that the axis is along the longitudinal direction of the vehicle body, the core a is placed and supported by the pair of support bodies 12. The axial direction of the roll body A (core a) and the longitudinal direction of the vehicle body are the same direction, and the vertical direction and the lateral direction of the vehicle body are directions that intersect the axial direction.

  Each of the pair of support bodies 12 has a pair of upper ends that are cut out in a V shape when viewed from the left-right direction of the vehicle body. The core a is placed and supported over the inclined surface.

The movement operation means 13 includes a slide table 16 that is movable in the longitudinal direction of the vehicle body and the lateral direction of the vehicle body with respect to the carriage body 11, and a pair of support bodies 12 supported by the slide table 16 in the vertical direction with respect to the slide table 16. And a support arm 17 as an elevating drive means for moving and operating.
A pair of slide tables 16 are juxtaposed in the longitudinal direction of the vehicle body so as to individually support the pair of support bodies 12, and each of the pair of slide tables 16 is in the longitudinal direction of the vehicle body and in the lateral direction of the vehicle body with respect to the carriage body 11. The support body 12 is supported by the carriage main body 11 in a freely movable state and supported by the support arm 17 so as to be movable up and down.
That is, the movement operation means 13 operates the pair of slide tables 16 separately to move the pair of support bodies 12 in the vehicle body front-rear direction and the vehicle body left-right direction, and also moves the pair of support arms 17 to the respective support arms 17. By operating separately, the pair of supports 12 are individually moved up and down. The control by the control means H of the moving operation means 13 is based on detection information of a position detection means (not shown) that detects the positions of the pair of support arms 17 in the longitudinal direction, the lateral direction, and the vertical direction of the vehicle body. Thus, feedback control is performed for each direction.

The imaging device 14 is configured to simultaneously set the support pin 4 of the roll body holding device 2 and the core a of the roll body A to be transferred 1 by one imaging device 14 in a state where the cart body 11 is stopped at the set stop position. The carriage main body 11 is provided so as to capture images within one imaging range.
In the case where the roll body A is transferred from the roll body transport vehicle 1 to the roll body holding device 2, the pair of supports of the roll body transport vehicle 1 is the transfer target roll body A imaged by the imaging device 14. When the roll body transport vehicle 1 receives the roll body A from the roll body holding device 2, the pair of support pins 4 of the roll body holding device 2 are used. It is the roll body A being held.

Then, as the image pickup device 14, the pair of image pickup devices 14 for picking up an image of one of the pair of support pins 4 and one end of the core a in a state where the cart main body 11 is stopped at the set stop position, and the set of the cart main body 11 is stopped. The cart body 11 is provided with a total of four imaging devices 14 including a pair of imaging devices 14 that image the other end of the pair of support pins 4 and the other end of the core a in a stopped state. The pair of imaging devices 14 are provided in a state where the imaging directions intersect when viewed in the vehicle longitudinal direction.
These four imaging devices 14 are supported on the upper end portion of a support bar 18 erected on the cart body 11 so that the height can be adjusted and the direction can be adjusted.

  The control means H is supported by a pair of supports 12 and a travel control process for controlling the operation of the cart body 11 so that the cart body 11 travels to the set stop position or the cart body 11 travels from the set stop position. A transfer alignment process for controlling the operation of the moving operation means 13 so that the axis of the core a of the roll body A to be transferred is positioned at the transfer target position set for the pair of support pins 4; Positioning for receiving which controls the operation of the moving operation means 13 so that the outer peripheral surface of the core a of the roll body A to be transferred held by the body holding device 2 is placed and supported by the pair of supports 12 And processing.

  Further, the control means H performs a position acquisition process for acquiring the position information of the outer peripheral surface of the core a based on the imaging information of the imaging device 14, and an outer diameter dimension acquisition process for acquiring the outer diameter dimension information of the core a. Is configured to run. Incidentally, in this embodiment, one of the control means H and the four imaging devices 14 is provided as the outer peripheral surface position acquisition means 21 for acquiring the position of the outer peripheral surface of the core a of the roll body A to be transferred. ing. Further, one of the control means H and the four imaging devices 14 is also provided as an outer diameter acquisition means 22 for acquiring the outer diameter of the core a of the roll body A to be transferred.

  Then, the control means H has the radial direction of the core a placed and supported by the support 12 in the image captured by the imaging device 14 with the support 12 positioned at a preset setting position. Information relating to the relationship between the imaging position of the end of the core and the outer diameter of the core a, and the core a in the image captured by the imaging device 14 with the carriage body 11 stopped at the set stop position. The difference between the imaging position of the end portion in the radial direction and the imaging position of the end portion in the radial direction of the large-diameter portion 6 of the support pin 4 is defined as an end shift amount G2, and the end shift amount G2 and the outer diameter dimension of the core a. Receiving relation information indicating the relation with the is stored in advance.

When the transfer related information is described, as shown in FIGS. 7 and 8, the core a placed and supported on the support 12 is imaged in a state where the support 12 is positioned at a preset setting position. In this case, the position of the end of the core a in the radial direction in the captured image corresponds to the size of the outer diameter of the core a.
Therefore, the control means H stores in advance the relationship information for delivery indicating the relationship between the position of the radial end of the core a in the image and the size of the outer diameter of the core a. The actual outer diameter information of the core a can be acquired from the relationship information and the position of the radial end of the core a in the image. Incidentally, FIG. 9 is a graph showing the relationship between the position of the end of the core a in the radial direction in the image and the size of the outer diameter of the core a.

  The receiving related information will be described. When the roll body A is received from the same roll body holding device 2, the outer diameter of the large diameter portion 6 of the support pin 4 of the roll body holding device 2 does not change. The difference between the imaging position at the radial end of a and the imaging position at the radial end of the large-diameter portion 6 of the support pin 4 is the size of the outer diameter of the core a to be held. Correspond. That is, the control means H stores the outer diameter of the large diameter portion 6 of the support pin 4 in advance, and subtracts the outer diameter of the large diameter portion 6 that is twice the end deviation. By acquiring the outer diameter dimension of the core a on the image, and multiplying the outer diameter dimension of the core a on the image by the correction value for conversion, the actual outer diameter dimension of the core a can be acquired. It is like that.

  Regarding the position of the outer peripheral surface of the core a, when the roll body A is delivered to the roll body holding device 2, the pair of support bodies 12 are placed and supported on the support body 12 in a state where the pair of support bodies 12 are positioned at the set positions. The core a is imaged, and the position of one end in the radial direction of the core a in the captured image is set as the position of the outer peripheral surface of the core a. Further, when the roll body A is received from the roll body holding device 2, the core a supported by the pair of support pins 4 in a state in which the cart body 11 is stopped at the set stop position is imaged. The position of one end in the radial direction of the core a is the position of the outer peripheral surface of the core a. That is, the control means H can acquire the position of the outer peripheral surface of the core a from the image picked up by the image pickup device 14 at any time when receiving it.

When acquiring the outer diameter dimension of the core a and the position of the outer peripheral surface of the core a, out of both ends in the radial direction of the core a in the captured image, from the support 12 in the both ends in the radial direction of the core a. The edge part located in the upper side which leaves | separates is used.
That is, since the upper part of the core a is illuminated by lighting or the like provided on the ceiling of the production facility and the lower part of the core a is shaded by itself, the core a is illuminated when the imaging device 14 takes an image. In the upper part of the core a, it is easy to discriminate the end by image processing, but in the lower part of the core a that becomes a shadow, it is difficult to discriminate the end by image processing. Further, the end position of the captured image in the upper part of the core a is greatly different from the end part in the lower part of the core a depending on the size of the outer diameter of the core a.
Therefore, when acquiring the outer diameter size of the core a and the position of the outer peripheral surface of the core a, the end portion located on the upper side away from the support body 12 is used out of both end portions in the radial direction of the core a. . Note that the large-diameter portion 6 of the support pin 4 also uses an end portion located on the upper side of both radial end portions.

The control of the control means H in the case where the roll body transport vehicle 1 exchanges the roll body A with the roll body holding device 2 will be described based on the flowchart shown in FIG.
First, the traveling control process is executed to cause the traveling carriage to travel to the set stop position (S1). Incidentally, when the roll body A is transferred to the roll body holding device 2, the roll body A is placed and supported by the pair of support bodies 12, and the roll body A is not held by the roll body holding apparatus 2. When the roll body A is received from the roll body holding apparatus 2, the roll body A is not placed and supported on the pair of support bodies 12, and the roll body A is supported by the pair of support pins of the roll body holding apparatus 2. Is held.

When transferring to the roll body A to the roll body holding device 2, first, the imaging device 14 sets the core a placed and supported by the pair of support bodies 12 in a state where the pair of support bodies 12 are positioned at the set positions. In the core a of the roll body A to be transferred based on the imaging position of the radial end of the core a imaged by the imaging device 14 The position information of the outer peripheral surface is acquired (S2, S3). Next, the outer diameter dimension acquisition process for delivery is executed, and the outer diameter dimension of the core a is obtained from the imaging position of the end in the radial direction of the core a imaged by the imaging device 14 and the relation information for delivery. (S4).
Incidentally, the position acquisition process and the outer diameter acquisition process when the roll body A is delivered are placed and supported by the pair of support bodies 12 before and during the execution of the travel control process. Can be executed while

  After that, based on the positional information and the outer diameter information of the outer peripheral surface of the core a obtained from the images picked up by the four imaging devices 14, the positioning for transfer that controls the operation of the moving operation means 13 is performed. A process is performed and the core a of the roll body A of the transfer object mounted and supported by the pair of support bodies 12 is moved to a position corresponding to the pair of support pins 4 (S5). The positions corresponding to the pair of support pins 4 are positions where the pair of support pins 4 can be inserted into the core a. Specifically, the axis of the core a of the roll body A is the pair of support pins 4. This is a position in which the distance between the pair of support pins 4 and both ends of the core a is evenly aligned. In this embodiment, the difference G1 (see FIG. 10) between the position of one end portion in the radial direction of the core a and the position of one end portion in the radial direction of the large diameter portion 6 is the outer diameter dimension of the core a. This is the position corresponding to the information.

After the transfer alignment process is performed and the core a of the roll A to be transferred is moved to a position corresponding to the pair of support pins 4, the communication device 15 holds a roll ready signal in the roll. When the operation of the communication device 15 is controlled to be transmitted to the device 2 and a holding completion signal is received from the roll body holding device 2, the delivery of the roll body A is completed (S6, S7).
By the way, when the roll body holding device 2 receives a signal for completion of delivery, the pair of support pins 4 is moved from the extraction position to the insertion position to insert the pair of support pins 4 into both ends of the core a. Thereafter, the small diameter portion 5 of the pair of support pins 4 is switched to the large diameter state, and the roll body A is held by the pair of support pins 4. When the holding of the roll body A is completed in this way, the roll body holding device 2 is configured to transmit a holding completion signal to the roll body transport vehicle 1 by a communication means (not shown).

  When the roll body A is received from the roll body holding device 2, first, the roll body A and the roll body holding device held by the roll body holding device 2 by the imaging device 14 in a state where the carriage main body 11 is stopped at the set stop position. The large-diameter portion 6 in 2 is imaged, the position acquisition process for reception is executed, and the position of the radial end of the core a and the radial end of the large-diameter portion 6 of the support pin 4 in the captured image The position information of the outer peripheral surface of the core a of the roll body A to be transferred and the position information of the radial end of the outer peripheral surface of the large-diameter portion 6 of the support pin 4 are acquired based on the position of the portion (S2, S8). Next, the end portion displacement amount G2 (see FIG. 11) between the position information of the outer peripheral surface of the core a and the position information of the outer peripheral surface of the large diameter portion 6 is acquired, and the outer diameter dimension acquisition process is executed. The outer diameter dimension information of the core a is acquired from the part shift amount G2 and the receiving relation information (S9).

  Thereafter, based on the positional information and the outer diameter information of the outer peripheral surface of the core a obtained from the images captured by the four imaging devices 14, the receiving alignment for controlling the operation of the moving operation means 13. A process is performed and the pair of support bodies 12 are moved to positions where the outer peripheral surface of the core a of the roll body A held by the roll body holding device 2 is placed and supported (S10). Incidentally, the position where the outer peripheral surface of the core a of the roll body A held by the roll body holding device 2 is placed and supported is that both the pair of inclined surfaces formed on the support body 12 are the core of the roll body A. It is a position which contacts the outer peripheral surface of a.

After the receiving alignment process is performed and the pair of supports 12 is moved to a position in contact with the outer peripheral surface of the core a of the roll body A held by the roll body holding device 2, the communication device 15 When the operation of the communication device 15 is controlled so as to transmit a reception preparation completion signal to the roll body holding device 2, and the holding release completion signal is received from the roll body holding device 2, the reception of the roll body A is completed (S11). , S12).
By the way, when the roll body holding device 2 receives a signal indicating completion of reception, the roll body holding device 2 moves the pair of support pins 4 from the insertion position to the extraction position after switching the small diameter portions 5 of the pair of support pins 4 to the small diameter state. Then, the pair of support pins 4 are pulled out from both ends of the core a to release the holding on the roll body A. When the release of the holding of the roll body A is completed as described above, the roll body holding device 2 is configured to transmit a holding release completion signal to the roll body transport vehicle 1 by a communication means (not shown).

  As described above, when the roll body A is delivered to the roll body holding device 2 by performing the alignment process based on the position information of the outer peripheral surface of the core a and the outer diameter dimension information in the core a, the roll body holding device In the case where the roll body A is received from 2, a plurality of types of roll bodies A having different outer diameter dimensions of the core a can be appropriately transferred.

[Another embodiment]
(1) In the embodiment described above, both the delivery of the roll body A to the roll body holding device 2 and the reception of the roll body A from the roll body holding device 2 were performed in the roll body transport vehicle 1. Only one of delivery and receipt of the roll body A may be performed.
Moreover, both the delivery of the roll body A and the receipt of the roll body A are performed as in the above embodiment, and in both cases, the position is based on the position information of the outer peripheral surface of the core a and the outer diameter dimension information of the core a. The alignment process is executed, but the alignment process is performed based on the position information of the outer peripheral surface of the core a and the outer diameter dimension information of the core a only in either case of receiving or receiving the roll body A. May be. Specifically, for example, when both ends of the outer peripheral surface of the core a can be discriminated, when the roll body A is delivered to the roll body holding device 2, the core is like a conventional roll body transport vehicle. When the alignment process for delivery is executed based on only the position information of the outer peripheral surface in a and the roll body A is received from the roll body holding device 2, the position information of the outer peripheral surface in the core a and the outer diameter dimension in the core a You may make it perform the position alignment process for reception based on information.

(2) In the above-described embodiment, the imaging device 14 and the control unit H are the outer peripheral surface position acquisition unit 21 and the outer diameter size acquisition unit 22. However, a sensor is separately provided as the outer peripheral surface position acquisition unit 21, or the outer diameter Of the outer peripheral surface position acquisition means 21 and the outer diameter dimension acquisition means 22, for example, by providing a communication means for communicating with an external device in which the relationship information for receiving and the relationship information for delivery are stored as the dimension acquisition means 22. One or both may be configured by means different from the imaging device 14 and the control means H.
Further, instead of using the receiving relation information and the transferring relation information, the outer diameter information of the core a is rolled from a device such as a host controller that grasps the outer diameter of the core a in the roll body A to be transferred. You may make it transmit to the receiver as the outer-diameter dimension acquisition means 22 with which the conveyance vehicle 1 was equipped.
In the above embodiment, one of the four imaging devices 14 is provided as the outer peripheral surface position acquisition unit 21 and the outer diameter acquisition unit 22, but two or more of the four imaging devices 14 are provided on the outer peripheral surface. The position acquisition unit 21 and the outer diameter acquisition unit 22 may be provided.

(3) In the above embodiment, when acquiring the outer diameter of the core a and the position of the outer peripheral surface of the core a, the end located on the upper side away from the support 12 in the both ends in the radial direction of the core a In the case where the end portion can be discriminated, the end portion located on the lower side close to the support 12 among the both ends in the radial direction of the core a may be used.

DESCRIPTION OF SYMBOLS 1 Roll body conveyance vehicle 2 Roll body holding | maintenance apparatus 4 Insertion part 5 Front-end | tip part 6 Base end part 12 Support body 13 Movement operation means 14 Imaging means 21 Outer peripheral surface position acquisition means 22 Outer diameter dimension acquisition means a Shaft part b Sheet material A Roll body H control means

Claims (6)

A roll body transport vehicle that transfers the roll body by transferring the roll body to and from a roll body holding device that holds a roll body around which a sheet material is wound around a cylindrical shaft portion,
As the roll body, a plurality of types of roll bodies having different outer diameter dimensions of the shaft portion are to be transferred,
An insertion in which the roll body holding device inserts the pair of insertion portions from both ends with respect to the shaft portion by moving the pair of insertion portions far and away from each other. A position and a pair of insertion portions that are moved away from each other so that the pair of insertion portions are extracted from the shaft portion.
In the cart body that can run freely,
A pair of supports for placing and supporting the outer peripheral surfaces of both ends of the shaft portion projecting from the sheet material on both sides in the axial direction of the roll body;
A moving operation means for moving the pair of supports in a direction intersecting the axial direction with respect to the cart body;
Control means for controlling the operation of the moving operation means;
Outer peripheral surface position acquisition means for acquiring the position of the outer peripheral surface of the shaft of the roll body to be transferred;
An outer diameter acquisition means for acquiring an outer diameter of the shaft of the roll body to be transferred is provided;
The control means is
When delivering the roll body to the roll body holding device, the shaft center of the shaft portion of the roll body to be transferred supported by the pair of support bodies is set for the pair of insertion portions. In order to be positioned at the target position for delivery, the position information of the outer peripheral surface in the shaft portion acquired by the outer peripheral surface position acquisition means and the outer diameter dimension information in the shaft portion acquired by the outer diameter size acquisition means. A roll transport vehicle configured to execute a delivery alignment process for controlling the operation of the moving operation unit. An imaging means for imaging the shaft portion and the control means are provided as the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means,
The control means is
A position acquisition process for acquiring position information of the outer peripheral surface of the shaft part and an outer diameter dimension acquisition process for acquiring outer diameter dimension information of the shaft part are executed based on the imaging information of the imaging means. The transport vehicle for a roll body according to claim 1. In the state where the cart body is stopped at a set stop position set as a position where the image pickup unit transfers the roll body to and from the roll body holding device, the insertion unit and transfer of the roll body holding device Provided at a position to image the shaft portion of the target roll body;
In a state where the pair of supports are positioned at preset positions, the radial end portions of the shaft portions mounted and supported by the pair of supports in the image captured by the imaging unit Passing relationship information indicating the relationship between the imaging position and the outer diameter of the shaft portion is stored in advance in the control means,
The control means is
When delivering the roll body to the roll body holding device,
In the state where the pair of supports are positioned at the set position, the shaft portion of the roll body to be transferred, which is placed and supported by the pair of supports, is imaged by the imaging means, and the imaging means Based on the imaged position of the end portion in the radial direction of the shaft portion that has been imaged, execute the position acquisition processing to acquire the position information of the outer peripheral surface of the shaft portion of the roll body to be transferred,
The outer diameter dimension acquisition process for acquiring outer diameter dimension information of the shaft portion from the positional information of the outer peripheral surface in the shaft portion and the transfer relation information,
Based on the position information of the outer peripheral surface of the shaft portion and the outer diameter size information, the moving operation is performed to move the shaft center of the shaft portion placed and supported by the pair of support bodies to a delivery target position. The roll transport vehicle according to claim 2, wherein the transfer body alignment vehicle is configured to execute the delivery alignment process for controlling the operation of the means. A roll body transport vehicle that receives the roll body and transfers the roll body to and from a roll body holding device that holds a roll body around which a sheet material is wound around a cylindrical shaft portion,
As the roll body, a plurality of types of roll bodies having different outer diameter dimensions of the shaft portion are to be transferred,
An insertion in which the roll body holding device inserts the pair of insertion portions from both ends with respect to the shaft portion by moving the pair of insertion portions far and away from each other. A position and a pair of insertion portions that are moved away from each other so that the pair of insertion portions are extracted from the shaft portion.
In the cart body that can run freely,
A pair of supports for placing and supporting the outer peripheral surfaces of both ends of the shaft portion projecting from the sheet material on both sides in the axial direction of the roll body;
A moving operation means for moving the pair of supports in a direction intersecting the axial direction with respect to the cart body;
Control means for controlling the operation of the moving operation means;
Outer peripheral surface position acquisition means for acquiring the position of the outer peripheral surface of the shaft of the roll body to be transferred;
An outer diameter acquisition means for acquiring an outer diameter of the shaft of the roll body to be transferred is provided;
The control means is
When receiving the roll body from the roll body holding device, the outer peripheral surface of the shaft portion of the roll body to be transferred held by the roll body holding device is placed and supported by the pair of support bodies. Therefore, based on the position information of the outer peripheral surface in the shaft part acquired by the outer peripheral surface position acquisition means and the outer diameter dimension information in the shaft part acquired by the outer diameter dimension acquisition means, the moving operation means A roll transport vehicle configured to execute a receiving alignment process for controlling the operation of the roll body. An imaging means for imaging the shaft portion and the control means are provided as the outer peripheral surface position acquisition means and the outer diameter dimension acquisition means,
The control means is
A position acquisition process for acquiring position information of the outer peripheral surface of the shaft part and an outer diameter dimension acquisition process for acquiring outer diameter dimension information of the shaft part are executed based on the imaging information of the imaging means. The roll transport vehicle according to claim 4. The insertion position is set to a position where a distal end portion of the insertion portion is inserted into the shaft portion and a proximal end portion of the insertion portion is not inserted into the shaft portion,
The base of the insertion portion of the roll body holding device in a state where the cart body stops at a set stop position set as a position where the roll body is transferred to and from the roll body holding device. Provided at a position for imaging the shaft portion of the roll body to be transferred and the end portion;
The position of the radial end portion of the shaft portion and the position of the radial end portion of the proximal end portion of the insertion portion in the image picked up by the image pickup means with the cart body stopped at the set stop position And the difference between the end portion and the receiving portion information indicating the relationship between the end portion displacement amount and the outer diameter of the shaft portion is stored in the control means in advance.
The control means is
When receiving the roll body from the roll body holding device,
The position of the radial end portion of the shaft portion and the position of the radial end portion of the proximal end portion of the insertion portion in the image picked up by the image pickup means with the cart body stopped at the set stop position Based on the above, the position acquisition process for acquiring the position information of the outer peripheral surface of the shaft portion of the roll body to be transferred and the position information of the outer peripheral surface of the base end portion of the insertion portion,
Executing the outer diameter dimension acquisition processing for acquiring outer diameter dimension information of the shaft portion from the positional information of the outer peripheral surface of the shaft portion, the position information of the outer peripheral surface of the base end portion, and the receiving relation information;
Based on the positional information on the outer peripheral surface of the shaft portion and the outer diameter dimension information, the pair of supports are moved to a position where the outer peripheral surface of the core of the roll body held by the roll body holding device is placed and supported. The roll body transport vehicle according to claim 5, wherein the receiving body alignment process is performed to control the operation of the moving operation means.

Images