JP2015205765A - Article receiving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article receiving device which facilitates stopping of an upward/downward movement of a support in a state where an article is mounted and supported only by the support when an article is received from a holder device by moving the support upward and downward.SOLUTION: An upward movement control of controlling the operation of an ascent/descent drive in such a way as to stop an upward movement of a support, when the support is moved upward and a load detected in a load detection part becomes equal to or greater than a preset value, and a downward movement control of controlling the operation of the ascent/descent drive in such a way as to cause the support to move downward by a present distance after execution of the upward movement control.

Description

  The present invention relates to an article receiving apparatus that receives an article including a pair of inserted portions that are opened in opposite directions and are arranged in a horizontal direction from a holding device.

Such an article receiving apparatus is provided, for example, in a production facility that processes an article to produce a product. There are a plurality of types of articles having different sizes in the articles handled in the production facility, and the article receiving device is used when receiving a plurality of types of articles from a holding device that holds the articles provided in the production facility. .
In addition, the holding device includes a pair of insertion supports that are inserted into the insertion target portion of the article. Then, when holding the article, the holding device inserts the pair of insertion support bodies into the pair of inserted portions, and increases the shape of the inserted insertion support body in the up-down direction. Is configured to hold.

  And as a conventional example of the article receiving apparatus, a support body for placing and supporting a supported part of the article, an elevating drive apparatus for moving the support body up and down in a vertical direction, a control apparatus for controlling the operation of the elevating drive apparatus, A change in the load acting on the support when the support is lifted and moved from the state where the support is located below the supported portion of the article held by the holding device. There is a configuration in which an article is received by placing and supporting the article on the support by stopping the ascending movement of the support (for example, see Patent Document 1).

JP 2009-012937 A

In the conventional article receiving apparatus described above, a change in load acting on the support when the article is lifted by the support, specifically, a state in which the support does not place and support the article, Acts on the support as the state in which the support is placed and supported by the support together with the holding device, the state in which the article is placed and supported only by the support, and the state in which the article is supported by the support changes. Based on the change in load, when the article is placed and supported only by the support, the ascending movement of the support is stopped and the article is received.
However, when the weight of the article is light or when the lifting speed of the support is high, there is a possibility that the change in the load acting on the support as described above may not be detected properly. It was difficult to stop the raising and lowering of the support in a state where it was placed and supported alone.

  The present invention has been made in view of the above circumstances, and its purpose is to support a state in which the article is placed and supported only by the support when the support is moved up and down to receive the article from the holding device. The object is to provide an article receiving apparatus that can easily stop the lifting and lowering of the body.

An article receiving apparatus according to the present invention is configured to receive an article having a pair of inserted portions that are open in opposite directions and are aligned in a horizontal direction from a holding apparatus. One feature configuration is
A support for placing and supporting a supported portion of the article, an elevating drive device for moving the support up and down, a load detecting unit for detecting a load acting on the support, and controlling the operation of the elevating drive device A control device, and the holding device adjusts the distance between the pair of insertion support members inserted into the pair of inserted portions and the pair of insertion support members with respect to the article of the holding device. A holding state changing mechanism that changes a holding state; and a support body deformation mechanism that deforms the shape of the pair of insertion support bodies, wherein the holding state change mechanism inserts or removes both or one of the pair of insertion support bodies. The holding device is moved along a direction to insert the pair of insertion support members into the pair of inserted portions, and the pair of insertion support members are removed from the pair of inserted portions. The held release state, The support deformation mechanism is configured to hold the position of the inserted portion relative to the insertion support by increasing the size of the insertion support in the vertical direction, and the upper and lower of the insertion support. The holding device is configured to switch to a holding release shape that is downsized in a direction and allows the insertion support to move vertically in the inserted portion, and the control device holds the article. In a state where the apparatus is changed to the insertion state and the pair of insertion support bodies are in the holding release shape, the support body is positioned below the supported portion in the article supported by the holding apparatus. When the support is moved up and the load detected by the load detection unit becomes equal to or higher than a preset value, the operation of the elevating drive device is controlled so as to stop the lift of the support. And executing the ascending movement control and the descending movement control for controlling the operation of the ascending / descending drive device so as to move the support downward by a preset distance after the ascending movement control is executed. And the set value is set to a value larger than a load acting on the support when the support on which the article is placed and supported is moved upward, and the set distance is the insertion support of the holding release shape. The body is set to a distance shorter than the distance in which the body can move in the vertical direction within the inserted portion.

That is, when the control device performs the upward movement control and the downward movement control, the holding device is in an insertion state in which the pair of insertion supports are inserted into the insertion portion of the article, and the pair of insertion supports of the holding device. Since it is a holding release shape, the article held by the holding device can move upward.
The set value is set to a value larger than the load acting on the support when the support on which the article is placed and supported moves up. For this reason, the load detected by the load detection unit does not exceed the set value only when the support that is moved upward by the upward movement control comes into contact with the supported body of the article. Lift the article. And the load detected in a load detection part becomes more than a setting value because the load which the lifting article contacts the insertion support body in a to-be-inserted part, and acts on a support body increases. Therefore, by executing the upward movement control, the lower end of the inner surface of the inserted portion in the article comes into contact with the lower end of the insertion support in the holding device, and there is a gap between the upper end of the insertion support and the upper end of the inner surface of the inserted portion. It can be in the formed state.

  Next to the upward movement control, the downward movement control is executed. In this downward movement control, the support is moved downward by a preset set distance, but this set distance is set to a distance shorter than the distance that the holding release-shaped insertion support can move in the vertical direction within the insertion portion. ing. Therefore, by lowering the article together with the support by executing the re-lowering process, the lower end of the inner surface of the inserted portion of the article does not contact the lower end of the inserted support, and the upper end of the inner surface of the inserted portion is inserted. A gap can be formed between the two, and the article is supported only by the support of the article receiving apparatus.

  In this way, when the article is placed and supported only by the support of the article receiving apparatus, it is only necessary to descend the support by a predetermined distance, so that the support is moved up and down. When receiving an article from the apparatus, it is easy to stop the lifting and lowering movement of the support in a state where the article is placed and supported only by the support.

  According to a second characteristic configuration of the article receiving apparatus according to the present invention, in the first characteristic configuration, the holding device is pressed against the article and grips the article in the insertion / extraction direction of the pair of insertion supports. The holding state changing mechanism moves the insertion support body and the gripping body located on the same side in the insertion / extraction direction integrally along the insertion / extraction direction, and the holding device An insertion gripping state in which the pair of insertion supports are inserted into the pair of inserted portions and an article is gripped by the pair of gripping bodies, and the pair of insertion supports are inserted into the pair of inserted portions. And the inserted state in which the gripping of the article by the pair of gripping bodies is released, and the pair of insertion support bodies are extracted from the pair of inserted portions and the gripping of the article by the pair of gripping bodies is released. Protection A release state, in that it is configured to switch to.

  That is, the holding device inserts the pair of insertion supports into the pair of inserted portions, holds the article with the pair of holding bodies, and increases the shape of the insertion support in the vertical direction. Even when the holding device is switched to the inserted state and the gripping of the article by the pair of gripping bodies is released, the ascending movement control and the descending movement control are executed, When the movement control or the downward movement control is executed, the article can be moved up and down.

  A third characteristic configuration of the article receiving apparatus according to the present invention is the first or second characteristic configuration, wherein the article is a roll body in which a sheet material is wound around a cylindrical shaft portion, and both end portions of the shaft portion. Then, the pair of inserted portions is formed.

  In other words, when the roll body is to be placed and supported only by the support of the article receiving apparatus, it is only necessary to lower the downward movement of the support body by a preset set distance. It is easy to stop the raising and lowering of the support in a state where the support is placed and supported only by the support.

Side view of article transport vehicle and holding device Front view of goods transport vehicle Plan view of article transport vehicle and holding device The figure which shows the (a) holding | maintenance cancellation | release state and (b) insertion holding state of a holding device The figure which shows (a) holding release shape and (b) holding shape of a small diameter part Control block diagram The figure which shows the holding state with respect to a roll body, and the position of a support body The figure which shows the holding state with respect to a roll body, and the position of a support body The figure which shows the holding state with respect to a roll body, and the position of a support body The figure which shows the holding state with respect to a roll body, and the position of a support body The figure which shows the holding state with respect to a roll body, and the position of a support body The figure which shows the holding state with respect to a roll body, and the position of a support body The figure which shows the holding state with respect to a roll body, and the position of a support body Receipt control flowchart Ascent control flow chart Descent control flowchart Flow chart of re-rise control Flow chart of re-lowering control

Hereinafter, embodiments of the article receiving apparatus of the present invention will be described based on the drawings when the article receiving apparatus is provided in an article transporting vehicle.
As shown in FIG. 1, the article transport vehicle 1 is disposed in a production facility together with a processing machine that performs processing such as printing or coating on the surface of a printing base paper or various film raw fabrics. And the article conveyance vehicle 1 is comprised so that the roll body A may be received from the holding | maintenance apparatus 2 provided in the processing machine.

  The roll body A is composed of a cylindrical core a and a sheet material b such as paper or film wound around the core a. The core a located at the center of the roll body A is formed from the sheet material b. It protrudes on both sides in the axial direction. The roll body A in which the sheet material b is wound around the core a corresponds to the article of the present invention, and the core a corresponds to the shaft portion of the present invention. Then, at both end portions of the core a, they are placed and supported by a pair of inserted portions that are opened in opposite directions and aligned along the horizontal direction, and a pair of supports 13 of the article transport vehicle 1. A pair of supported parts are formed. In this way, the roll body A is provided with a pair of insertion portions and a pair of placement portions.

Before describing the article transport vehicle 1, first, the production facility holding device 2 that transfers the roll body A to and from the article transport vehicle 1 will be described.
The holding device 2 is in contact with a pair of small-diameter portions 4 that are inserted separately at both ends of the core a, while being pressed against the roll body A, and a pair of large pieces that grip the roll body A in the insertion / extraction direction. A diameter portion 5 and a holding state changing mechanism 6 that changes the holding state with respect to the holding device 2 by adjusting the distance between the pair of small diameter portions 4 and the pair of large diameter portions 5 are provided.

The small-diameter portion 4 and the large-diameter portion 5 constitute a support pin 3, and the holding device 2 is provided with a pair of support pins 3. By moving the support pin 3 in the insertion / extraction direction, the small diameter portion 4 and the large diameter portion 5 located on the same side in the insertion / extraction direction are moved integrally along the insertion / extraction direction.
In addition, the holding device 2 includes an electric motor 7 that moves and moves one support pin 3 of the pair of support pins 3 in the insertion / extraction direction, and the other support pin 3 of the pair of support pins 3. And an air cylinder 8 that is moved along the direction. The electric motor 7 and the air cylinder 8 constitute a holding state changing mechanism 6.
In addition, a pair of small diameter part 4 is equivalent to a pair of insertion support body of this invention, and a pair of large diameter part 5 is equivalent to a pair of holding body of this invention. The electric motor 7 is configured by a servo motor.

  The holding state changing mechanism 6 moves one or both of the pair of support pins 3 along the insertion / extraction direction to insert the holding device 2 into the both ends of the core a and the pair of small diameter portions 4. An insertion gripping state in which the core a is gripped by the large diameter portion 5 (see FIG. 4B), a pair of small diameter portions 4 are inserted into both ends of the core a, and the pair of large diameter portions 5 are separated from the core a. The inserted state (see FIG. 10) in which the grip on the core a by the pair of large diameter portions 5 is released, and the pair of small diameter portions 4 are extracted from both ends of the core a and the core a by the pair of large diameter portions 5 It is configured to switch to a holding release state (see FIG. 4A) in which the grip is released.

  Further, the holding device 2 is provided with a support deformation mechanism 9 that deforms the shape of the pair of small diameter portions 4. The support deforming mechanism 9 increases the diameter of the small-diameter portion 4 to increase the size of the small-diameter portion 4 in the vertical direction and holds the position of the end of the core a with respect to the small-diameter portion 4 (FIG. 5B )), And by reducing the diameter of the small-diameter portion 4, the small-diameter portion 4 is downsized in the vertical direction, and the small-diameter portion 4 is allowed to move in the vertical direction within the end portion of the core a (FIG. 5). (See (a)). Incidentally, the support body deformation mechanism 9 is configured to switch the shape of the small diameter portion 4 between a holding shape and a holding release shape by supplying and discharging air to and from the small diameter portion 4.

  Then, as shown in FIG. 7, the holding device 2 switches the holding state to the insertion gripping state by the holding state changing mechanism 6 to insert the pair of small diameter portions 4 into both end portions of the core a and the pair of large diameters. The roll body A is held while the core a is gripped by the portion 5 and the small diameter portion 4 is switched to the holding shape by the support deformation mechanism 9.

Next, the article transport vehicle 1 will be described.
As shown in FIGS. 1 to 3, the article transport vehicle 1 includes a cart body 11 that can run freely, and an article transfer device 12 that serves as an article receiving device supported by the cart body 11. Then, the article transport vehicle 1 automatically travels to a set stop position for transfer along a guide line (not shown) laid on the floor surface by traveling of the cart body 11, By operation, the roll body A is received from the holding device 2 while being stopped at the set stop position.
Incidentally, in FIG. 3, the state which the goods conveyance vehicle 1 has stopped in the setting stop position is shown with the virtual line. The article transport vehicle 1 travels and moves as shown by the arrow in FIG. 3, and travels to the set stop position by lateral movement.

  As shown in FIGS. 1 and 3, the article transfer device 12 of the article transport vehicle 1 is provided with a pair of supports 13 that place and support both ends of the core a in the roll body A. The pair of supports 13 are provided in a state of being aligned in the front-rear direction of the article transport vehicle 1, and the roll body A is supported in a horizontal posture by the front-rear direction of the article transport vehicle 1 and the pair of supports 13. The direction of the axis and the insertion / extraction direction of the pair of small diameter portions 4 are the same direction.

Next, a specific configuration of the article transfer device 12 will be described.
As shown in FIGS. 3 and 4, the article transfer device 12 includes a support body 13 for placing and supporting the end of the core a in the roll body A, and a horizontal direction with respect to the carriage body 11 (of the carriage body 11. The horizontal movement unit 14 that horizontally moves in the front-rear direction and the left-right direction, the up-and-down movement unit 15 that is supported by the horizontal movement unit 14 and moves up and down with respect to the horizontal movement unit 14, and the horizontal movement unit 14 is moved horizontally. The horizontal driving device 16 to be moved, the lifting and lowering driving device 17 for moving the lifting and lowering moving portion 15 up and down, the communication device 18 (see FIG. 6) for transmitting and receiving information to and from the holding device 2, and the horizontal driving device 16 and the lifting and lowering driving. A control device H (see FIG. 6) that controls the operation of the device 17 and the communication device 18 is provided.

The support 13 is provided at the upper end of the up-and-down moving unit 15. Therefore, the up-and-down moving unit 15 is moved up and down by the up-and-down driving device 17 so that the support 13 is also moved up and down. Further, the up-and-down moving unit 15 is supported by the horizontal moving unit 14 so as to move up and down. Therefore, the horizontal moving unit 14 is horizontally moved by the horizontal driving device 16, so that the support 13 is moved horizontally along with the lifting / lowering moving unit 15.
Similarly to the support 13, a pair of the horizontal movement unit 14, the vertical movement unit 15, the horizontal driving device 16, and the vertical driving device 17 is also provided.

As shown in FIG. 2, each of the pair of support bodies 13 has an upper end formed in a V shape when viewed in the front-rear direction, and in a state where the core a is placed and supported, the pair of support bodies 13 formed in a V shape. The core a is placed and supported over the inclined surfaces.
The article transfer device 12 is provided with a stock sensor 19 as a detection device that detects an approaching state in which the support 13 approaches the set distance in the vertical direction with respect to the core a in the roll body A. The load sensor 19 is supported by each of the pair of supports 13 and can detect the load acting on the pair of supports 13 separately.

Each of the pair of lift drive devices 17 is constituted by a servo motor, which is driven by power supply from the servo amplifier 20, and is based on a pulse signal from the built-in encoder and a torque based on a current value supplied to the servo motor. Information is transmitted to the servo amplifier 20.
The control device H determines the position of the support 13 in the vertical direction based on the pulse signal from the servo amplifier 20 and determines the load acting on the support 13 based on the torque information from the servo amplifier 20. It is configured. The control device H includes a load detection unit 21 that detects a load acting on the support 13 in a program format.
The communication device 18 is configured to transmit and receive information to and from a communication device (not shown) provided in the holding device 2.

  As shown in FIG. 6, the control device H is configured to travel the article transport vehicle 1 to a set stop position set for the holding device 2 based on transport information from a host controller (not shown). It is comprised so that the traveling control which controls the action | operation of the trolley | bogie main body 11 may be performed. In this way, in the state where the article transport vehicle 1 is moved to the set stop position by executing the traveling control, each of the pair of supports 13 is held by the holding device 2 as shown in FIG. The roll body A is positioned below both ends of the core a.

  As described above, the control device H performs reception control in a state where the article transport vehicle 1 is located at the set stop position. Next, the reception control will be described based on the drawing showing the holding state of the roll body A and the position of the support 13 shown in FIGS. 7 to 13 and the flowcharts shown in FIGS.

In the state where the article transport vehicle 1 is moved to the set stop position, as shown in FIG. 7, the holding device 2 holding the roll body A is in the insertion gripping state, and the pair of small diameter portions 4 are in the holding shape. The support 13 is positioned below the end of the core a in the roll body A held by the holding device 2.
Then, as shown in FIG. 14, after the travel control is completed, the control device H first controls the operation of the elevating drive device 17 so as to execute the ascent control (S1). In this ascent control, as shown in FIG. 15, it is assumed that the pair of supports 13 are moved up at a normal ascent rate, and the support 13 in which the core a is detected by the occupancy sensor 19 is detected as an approaching state. The support 13 is stopped (S11 to S13). After both the pair of supports 13 are stopped, when the pair of supports 13 are moved upward at a low speed and the load detected by the load detector 21 is equal to or higher than a preset first set value, FIG. As shown in FIG. 8, the ascending movement of the support 13 that is equal to or higher than the first set value is stopped (S14 to S16).
In this embodiment, the low speed increase rate is set to a speed that is half or less of the normal increase speed. Specifically, the low speed increase speed is set to 100 mm / min, and the normal increase speed is 300 mm / min. Is set to

  The first set value is set to a value higher than the load acting on the support body 13 when the support body 13 that does not place and support the core a is moved upward at a normal ascent speed. For this reason, as described above, when the support 13 is moved upward at the normal and low speeds by the upward control, the load detected by the load detector 21 is less than the first set value, and the upward movement is performed. The load detected by the load detection unit 21 is equal to or higher than the first set value by increasing the load acting on the support 13 when the supported support 13 contacts the core a. Therefore, by executing the ascent control, the support 13 stops in contact with the end of the core a as shown in FIG.

As illustrated in FIG. 14, the control device H transmits temporary support information to the holding device 2 that the roll body A is temporarily supported by the pair of support bodies 13 in the communication device 18 after the ascent control is completed. Therefore, the operation of the communication device 18 is controlled (S2).
When the holding device 2 receives the temporary support information, as shown in FIG. 9, the holding device 2 switches the pair of small diameter portions 4 to the holding release shape, and then, as shown by the arrows in FIG. By moving only one support pin 3 along the axial direction, the holding device 2 is switched to the inserted state, and thereafter, grip release information is transmitted to the article transport vehicle 1.

As illustrated in FIG. 14, when receiving the grip release information, the control device H performs horizontal movement control based on the pre-registered holding device information (S3 to S5). Incidentally, depending on the holding device 2, there is a case where both of the pair of support pins 3 are moved along the axial direction to switch the holding device 2 to the inserted state, and when the roll body A is received from such a holding device 2 The horizontal movement control is not executed. The control device H determines whether the holding device 2 that moves one of the pair of support pins 3 or the holding device 2 that moves both the pair of support pins 3 based on the holding device information.
As shown in FIG. 10, in the horizontal movement process, the operation of the horizontal driving device 16 is controlled so that the pair of support bodies 13 are moved in the same direction as the direction in which the support pins 3 are moved by a preset horizontal distance. . The set horizontal distance is shorter than the movement distance of the moved support pin 3 and is set to half the movement distance of the moved support pin 3.

  Then, as shown in FIG. 10, after the raising control is executed, the holding device 2 is switched to the insertion state and the small diameter portion 4 is switched to the holding release shape, and before the lowering control is executed. The load acting on the support 13 is detected by the load detection unit 21 for each of the pair of supports 13, and a value obtained by adding a preset addition value to the detection value detected thereby is set to the second setting. A value (corresponding to a set value) is set, and the second set value is stored in the control device H (S6). Thus, the second setting value is set to a value larger than the detection value detected in the above situation. The second set value corresponds to the set value of the present invention.

  After the ascent control is performed (after the horizontal movement process is performed as necessary), the holding device 2 is switched to the insertion state and the small diameter portion 4 is switched to the holding release shape as shown in FIG. From such a state, the descending control, the re-raising control, and the re-lowering control are sequentially executed (S7 to S9). The re-rise control corresponds to the upward movement control of the present invention, and the re-lowering control corresponds to the downward movement control of the present invention.

As shown in FIG. 16, in the lowering control, the pair of support bodies 13 are moved downward at the normal lowering speed, and as soon as the core a is no longer detected by the occupancy sensor 19, the lowering movement of the corresponding support body 13 is stopped. Therefore, the operation of the lift drive device 17 is controlled (S21 to S23). The normal lowering speed is the same speed as the normal rising speed.
By performing the lowering control, the support body 13 is separated downward from the core a in the roll body A, and the roll body A is supported only by the pair of support pins 3 as shown in FIG.

As shown in FIG. 17, in the re-raising control, after executing the lowering control, the pair of supports 13 are moved up at a low speed, and the load detected by the control device H is set in advance to a second setting. About the support body 13 which became more than a value, in order to stop the raise movement of the support body 13, the action | operation of the raising / lowering drive device 17 is controlled (S31-S33).
The second set value is set to a value larger than the load acting on the support body 13 when the roll body A is supported by the support body 13 in a stationary state, and the core a is placed and supported by the re-rise control. The value is set to a value larger than the load detected by the load detection unit 21 when the supporting member 13 is moved upward at a low speed. Therefore, the load detected by the load detection unit 21 does not exceed the second set value only by lifting the core a when the support 13 that has been moved upward by the re-raising control is brought into contact with the core a and lifted. The load detected by the load detection unit 21 is equal to or higher than the second set value by increasing the load acting on the support 13 when the lower end of the inner surface of the core a contacts the lower end of the small diameter portion 4. .

  Therefore, by executing the re-raising control, as shown in FIG. 12, the lower end of the small diameter portion 4 comes into contact with the lower end of the inner surface of the core a, and there is a gap between the upper end of the small diameter portion 4 and the upper end of the inner surface of the core a. Is formed.

As shown in FIG. 18, in the re-lowering control, after the re-raising control is executed, the operation of the elevating drive device 17 is controlled so as to move the pair of support members 13 downward by a preset distance (S41 to S41). S43).
The set distance is set to a distance shorter than the distance in which the small diameter portion 4 in the release state can move vertically in the core a. In other words, the set distance is set to a value that is half the difference between the minimum inner diameter assumed as the core a of the roll body A received from the holding device 2 and the outer diameter of the small diameter portion 4 of the holding release shape. .
Therefore, by executing the re-lowering control, the gap between the upper end of the small diameter portion 4 and the upper end of the inner surface of the core a is maintained, and the lower end of the small diameter portion 4 and the lower end of the inner surface of the core a are maintained. A gap is also formed between them. Therefore, the pair of support pins 3 is not in contact with the core a of the roll body A, and the roll body A is placed and supported only by the pair of support bodies 13.

As shown in FIG. 14, after completing the re-lowering control, the control device H sends the support information to the holding device 2 that the communication device 18 has supported the roll body A with the pair of support bodies 13. Therefore, the operation of the communication device 18 is controlled (S10).
When the holding device 2 receives the support information, the holding device 2 switches the holding device 2 to the holding release state (see FIG. 4), and then transmits the holding release information to the article transport vehicle 1.
When receiving the release information, the control device H ends the reception control.

[Another embodiment]
(1) In the above embodiment, after the ascent control is executed, the holding device 2 is switched to the insertion state and the insertion support is switched to the holding release shape, and then the descending control, the ascending movement control, and the descending movement control are performed. However, without performing the raising control, the holding device 2 may be switched to the insertion state and the insertion support body may be switched to the holding release shape, and then the raising movement control and the lowering movement control may be executed.

(2) In the above embodiment, the lowering speed of the pair of support bodies 13 in the lowering control is the normal lowering speed that is the same speed as the normal ascent speed, but the lowering speed of the pair of support bodies 13 in the lowering control is A speed slower than the ascent speed (for example, the same speed as the low speed ascent speed) or a speed faster than the normal ascent speed may be used.
In the above embodiment, in the lowering control, the operation of the elevating drive device 17 is controlled to stop the lowering movement of the support 13 as the core a is detected by the occupancy sensor 19, but in the lowering control, The operation of the elevating drive device 17 may be controlled so as to move the support 13 downward by a preset downward movement distance.

(3) In the above-described embodiment, the article receiving apparatus is provided in the article transporting vehicle 1, and the article receiving apparatus is moved by the traveling of the article transporting vehicle 1, but the article receiving apparatus is placed on the conveyor, and the conveyor The article receiving apparatus may be moved by the transport operation.

(4) In the above-described embodiment, the article is the roll body A. However, the article may be anything provided with a pair of inserted portions that open in opposite directions and are aligned in the horizontal direction. A container for transportation such as a container having a pair of inserted portions may be used.

DESCRIPTION OF SYMBOLS 2 Holding apparatus 4 Insertion support body 5 Grip body 6 Holding state change mechanism 9 Support body deformation | transformation mechanism 12 Article receiving apparatus 13 Support body 17 Lifting drive apparatus 21 Load detection part A Article (roll body)
H Control device

Claims (3)

An article receiving apparatus that receives an article having a pair of inserted portions that are opened in opposite directions and arranged in a horizontal direction from a holding device,
A support for placing and supporting a supported portion of the article, an elevating drive device for moving the support up and down, a load detecting unit for detecting a load acting on the support, and controlling the operation of the elevating drive device And a control device,
A holding state change in which the holding device changes a support state of the holding device with respect to the article by adjusting a distance between the pair of insertion support members inserted into the pair of inserted portions and the pair of insertion support members. A mechanism, and a support deformation mechanism that deforms the shape of the pair of insertion supports,
The holding state changing mechanism is configured to move both or one of the pair of insertion supports along the insertion / removal direction, and insert the holding device into the pair of inserted portions. Configured to switch between a state and a holding release state in which the pair of insertion supports are removed from the pair of inserted portions,
The support deformation mechanism includes a holding shape that enlarges the insertion support in the vertical direction to hold the position of the inserted portion with respect to the insertion support, and downsizes the insertion support in the vertical direction. It is configured to switch to a holding release shape that allows the insertion support to move in the vertical direction in the inserted portion,
The supported device in the article supported by the holding device in a state where the holding device holding the article is changed to the inserted state and the pair of insertion supports are in the holding release shape. In order to stop the ascending movement of the support when the load detected by the load detection unit exceeds a preset value, the support is moved upward from a state where the support is located below the part. , An ascending movement control for controlling the operation of the elevating drive device;
After performing the ascending movement control, it is configured to execute a descending movement control for controlling the operation of the elevating drive device so as to move the support body downward by a preset set distance,
The set value is set to a value greater than the load acting on the support when the support that has placed and supported the article is moved up;
The article receiving apparatus, wherein the set distance is set to a distance shorter than a distance in which the insertion support body having the holding release shape can move in the vertical direction in the inserted portion. The holding device includes a pair of gripping bodies that contact the article in a pressed state and grip the article in the insertion / extraction direction of the pair of insertion support bodies,
The holding state changing mechanism moves the insertion support and the gripping body, which are located on the same side in the insertion / extraction direction, along the insertion / extraction direction so that the holding device is moved to the pair of insertion supports. Is inserted into the pair of inserted parts and an article is held by the pair of gripping bodies, and the pair of insertion supports are inserted into the pair of inserted parts and the pair of gripping bodies. Switching between the insertion state in which the grip on the article is released and the holding release state in which the pair of insertion support bodies are extracted from the pair of inserted portions and the grip on the article by the pair of grip bodies is released. The article receiving apparatus according to claim 1, wherein the article receiving apparatus is configured as follows. The article is a roll body in which a sheet material is wound around a cylindrical shaft portion,
The article receiving apparatus according to claim 1 or 2, wherein the pair of inserted portions are formed at both ends of the shaft portion.

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