JP4305679B2 - Shaft body entry / exit device - Google Patents

Description

  The present invention relates to a shaft body loading / unloading device for inserting a shaft body into a hollow core of a roll and storing the shaft body extracted from the hollow core.

  When a roll-like product formed by winding a film or the like around a hollow core is transported by an automatic guided vehicle, as shown in Patent Document 1, both ends of the hollow core are raised by the automatic guided vehicle. Hold. When storing a roll-shaped object in a warehouse, a shaft body is inserted into a hollow core, and both ends of the shaft body are hung on a hanger or the like. Moreover, when a roll-shaped thing is taken out from a warehouse, the shaft body inserted in the hollow core is collected. This shaft body is used again as described above when a roll-shaped object is newly stored in the warehouse.

  The shaft body is inserted and recovered as follows. That is, as shown in FIGS. 7A and 7B, the conventional apparatus 60 includes a gripping means 8 for detachably gripping the shaft body 5 and one opening portion of the hollow core 3 with the gripping means 8. 1 includes an advancing / retreating means 9 for advancing and retreating toward the position 1, a lifting / lowering means 10 for lifting and lowering the gripping means 8, and a lateral movement means 11 for moving the gripping means 8 in a lateral direction perpendicular to the axial direction of the shaft body 5.

  The direction in which the advancing / retracting means 9 advances / retreats the gripping means 8 coincides with the axial direction of the shaft body 5, the direction in which the gripping means 8 advances to the one opening 1 is an arrow F direction, and the gripping means 8 is one opening The direction backward from 1 is the direction of arrow R. The elevating means 10 connects the gripping means 8 to a slider 101 that is slidably engaged with the elevating guide rail 100, and follows the rotation of the upright feed screw, along with a ball nut screwed to this feed screw. 101 is moved up and down. The lateral movement means 11 connects the elevating means 10 to a slider 111 slidably engaged with the lateral guide rail 110, attaches a pinion to an output shaft of a rotating machine attached to the slider 111, and attaches the pinion to a frame 112. It is engaged with a rack fixed to the rack. As the pinion rotates, the gripping means 8 and the lifting / lowering means 10 move in the lateral direction together with the slider 111. The illustration of the obvious mechanical elements described here is omitted.

  When the shaft body 5 is inserted into the hollow core 3, the automatic guided vehicle 4 on which the roll-like object 24 is placed is stopped at a predetermined station, while the advancing / retreating means 9 retracts the gripping means 8 to a position indicated by a virtual line. The lifting / lowering means 10 lowers the gripping means 8. After the gripping means 8 grips the end portion 52 of the shaft body 5 placed on the gantry 70, the lifting / lowering means 10 raises the gripping means 8 until the height of the shaft body 5 matches the height of the hollow core 3. Monkey. Subsequently, the advancing / retreating means 9 advances the gripping means 8 so that the shaft body 5 is inserted into the hollow core 3 as shown in the figure.

  As described above, the distance by which the gripping means 8 is advanced is measured by an encoder or the like, and the advance / retreat means 9 stops when the shaft body 5 reaches a desired position based on this distance. The desired position is the position of the shaft body 5 with respect to the roll-like object 24, and means that the lengths at which the end portions 51 and 52 protrude from the openings 1 and 2 are equal to each other. Finally, the gripping means 8 releases the shaft body 5, and the advancing / retreating means 9 retracts the gripping means 8 to a position indicated by a virtual line.

On the contrary, when collecting the shaft body 5 from the automatic guided vehicle 4, the end 52 of the shaft body 5 inserted into the hollow core 3 is gripped by the gripping means 8, and the advancing / retreating means 9 moves the gripping means 8 to the shaft body. 5 and retract to the position represented by the phantom line. Then, the lifting means 10 lowers the gripping means 8, and when the shaft body 5 approaches the gantry 70, the gripping means 8 releases the shaft body 5.
JP 2006-56686 A

  However, in the process in which the automatic guided vehicle 4 transports the roll-like object 24 delivered from the warehouse to the station, the shaft 5 is attached to the hollow core 3 due to vibration accompanying the traveling of the automatic guided vehicle 4. May slide in the direction. At the time when the shaft body 5 is recovered, the relative position between the shaft body 5 and the gripping means 8 that grips the shaft body 5 is deviated as much as the shaft body 5 slips. In this state, when the automatic guided vehicle 4 is newly stopped at the station, and the shaft body 5 is inserted into the hollow core 3 of the roll-like object 24 placed on the station, the position of the shaft body 5 is the opening 1 or the opening. Will be biased to 2. For this reason, when the roll-shaped object 24 is transferred to a stacker crane or the like, the shaft body 5 may fall off the fork 25 of the crane.

  Accordingly, an object of the present invention is to provide a shaft body loading / unloading device capable of positioning a shaft body with respect to a hollow core of a roll-shaped object every time the shaft body is stored in a magazine.

In the shaft body loading / unloading device according to the present invention, the end of the shaft body is directed to one of the two ends of the hollow core. A gripping means for detachably gripping the shaft body, an advancing / retracting means for generating a driving force for advancing / retracting the gripping means to / from the hollow core, and gripped by the gripping means A magazine is installed in a range where the shaft body moves forward and backward together with the gripping means by the driving force, and a magazine that can store the shaft body, an abutting member that positions the end of the shaft body to the magazine, the gripping means, and the forward and backward movement interposed between the means, and a buffer means for the ends of the gripped shaft to the gripping means to allow the pushed back into the abutment member against the driving force, to said magazine Placed at a predetermined distance. It said hollow core, the positioning of the shaft is carried out, characterized in Rukoto.

  Furthermore, the advance / retreat means cuts off the driving force of the advance / retreat means based on the end of the shaft being pushed back by the contact member.

  Further, the buffering means is connected to the gripping means and is advanced / retracted and guided relative to the abutting member, and is interposed between the advancing / retracting member and the gripping means so that the gripping means is in contact with the gripping means. And an elastic body that urges the member toward the member.

  For example, if a roll-like object into which a shaft body is inserted is placed on an automatic guided vehicle and the automatic guided vehicle is stopped at a position that is separated from the magazine by a predetermined distance, the hollow core of the roll-like object is attached to the magazine. Can be positioned. According to the shaft body loading / unloading apparatus of the present invention, the shaft body inserted into the hollow core is gripped by the gripping means, and the shaft body end is used as the contact member in the process of storing the shaft body in the magazine. By abutting, the shaft body can be positioned in the magazine, and the shaft body stored in the magazine can be indirectly positioned with respect to the hollow core placed on the automatic guided vehicle.

  Therefore, according to the shaft body loading / unloading device, the deviation described above has occurred in the relative position between the shaft body and the gripping means when the gripping means grips the shaft body inserted into the hollow core. However, if the automatic guided vehicle is newly stopped at a position spaced apart from the magazine by a predetermined distance, the shaft body stored in the magazine can be positioned with respect to the hollow core placed on the automatic guided vehicle. it can. Also, if the end of the shaft body stored in the magazine is gripped by the gripping means, and the shaft body is inserted into the hollow core placed on the automatic guided vehicle, both ends of the shaft body are formed of the hollow core. Since the lengths protruding from the openings on both sides can be made equal to each other, when the roll-like object is transferred to a stacker crane or the like, the fork of the crane can be reliably hung on both ends of the shaft body.

  Further, when the end portion of the shaft body hits the contact member, the shaft body gripped by the gripping means receives the reaction force of the contact member. The buffer means allows the shaft body to be pushed back against the driving force of the advancing / retreating means together with the gripping means by the reaction force, and the shaft body can escape in the direction of retreating from the abutting member together with the gripping means. The impact received by the gripping means and the contact member can be reduced.

  Furthermore, according to the shaft body loading / unloading device according to the present invention, when the driving force of the advance / retreat means is cut off due to the end of the shaft body being pushed back by the contact member, the end of the shaft body abuts. The state positioned on the member can be maintained. In addition, since the end of the shaft body is pushed back, a time margin can be obtained compared to stopping the gripping means at the same time that the end of the shaft body abuts against the contact member. Is easy.

  Moreover, as the buffering means, the gripping means is urged toward the abutting member by an elastic body interposed between the gripping means and the advancing / retreating member supporting the gripping means, and the gripping means pushed back by the reaction force is used. The position can be returned with respect to the advance / retreat member. For this reason, since the movement of the gripping means can be performed regardless of the drive source, the shaft body entry / exit device has a small number of parts, a simple structure, and a low manufacturing cost.

  FIG. 1 shows an automatic guided vehicle 4 on which a hollow core 3 having openings 1 and 2 opened at both ends, a shaft body 5 inserted into the hollow core 3, and a shaft body loading / unloading device 6. ing. The shaft body loading / unloading device 6 includes a magazine 7 that can store a plurality of shaft bodies 5, a gripping means 8, an advancing / retreating means 9, an elevating means 10, a lateral movement means 11, and a buffering means described later.

  Elements that are the same as those in the conventional example are denoted by the same names or reference numerals in the following, and detailed descriptions or illustrations thereof are omitted. The drawings refer to FIGS. 2 to 4 unless otherwise specified. The gripping means 8 connects a pair of claws 84 to the piston rod 82 of the air cylinder 81 via a link 83, and rotates the pair of claws 84 in a direction to open and close each other according to the expansion and contraction of the piston rod 82. is there. Although one pin 85 appears in the figure, the pair of claws 84 rotate as described above with the two pins supported by the housing 86 as the respective fulcrums.

  The advancing / retreating means 9 is provided with two sprockets 92 spaced from each other in the axial direction of the shaft body 5 on a frame 91 connected to the slider of the elevating means 10, and attached to an endless chain 93 wound around these sprockets 92. The advance / retreat member 12 is connected via a metal fitting 94. An advance / retreat guide rail 13 extending in the axial direction is fixed to the frame 91.

  The advance / retreat member 12 is attached to a slider 14 engaged with the advance / retreat guide rail 13. Any one sprocket 92 in the figure is rotated by a rotating machine not shown in the figure, and the endless chain 93 travels in the arrow F direction or the arrow R direction to drive the gripping means 8 together with the advance / retreat member 12. Force is generated. The rotating machine of the advance / retreat means 9 may be any machine as long as it is controlled by a control device mainly composed of a computer or the like.

  A buffering means 15 is interposed between the gripping means 8 and the advance / retreat member 12. The buffer means 15 fixes the slide rail 16 extending in the axial direction to the advance / retreat member 12, attaches a movable member 18 connected to the grip means 8 to a slider 17 slidably engaged with the slide rail 16, and an elastic body 19. Thus, the movable member 18 urges the gripping means 8 in the direction of arrow F. The elastic body 19 is a compression coil spring having one end received by a spring seat 20 provided on the advance / retreat member 12 and the other end received by a spring seat 21 provided on the movable member 18.

  A proximity sensor 22 is fixed to the spring seat 20, and a detection piece 23 facing the proximity sensor 22 is fixed to the movable member 18. The advancing / retreating member 12, the slider 14, the slide rail 16, the spring seat 20, and the proximity sensor 22 are integrally coupled, and the gripping means 8, the slider 17, and the movable member 18 are attached to these doted elements. The detected piece 23 is urged in the direction of arrow F by the elastic body 19 of the buffer means 15. When the gripping means 8 receives an external force in the direction of arrow R, the gripping means 8 together with the slider 17 and the movable member 18 can retreat in the direction of arrow R with respect to the element to which dots are attached while compressing the elastic body 19. At the same time as the gripping means 8 moves backward, the detected piece 23 deviates from the front of the proximity sensor 22. As a result, the ON / OFF switching of the proximity sensor 22 is recognized as a stop signal by the control device, the rotating machine of the advance / retreat means 9 is stopped, and the driving force of the advance / retreat means 9 can be cut off.

  As shown in FIGS. 5A to 5C, the magazine 7 has a lower frame member 71, a plurality of vertical frame members 72 and 73 raised on both sides of the lower frame member 71, and a height in four stages. And a plurality of horizontal frame members 74 spanned between the vertical frame members 73 and a contact member 76 fixed to the vertical frame member 72. Each lateral frame member 74 is formed with four valley portions 75 that are separated from each other in the lateral direction, and the shaft body 5 can be received by these valley portions 75. The contact member 76 is a plate-like stopper that positions the end portion 51 of the shaft body 5 on the magazine 7.

  The operation of the shaft body entry / exit device 6 will be described below. The shaft body entry / exit device 6 is controlled by a control device. Reference numerals S1 to S6 correspond to the flowchart of FIG.

  First, the advancing / retreating means 9 retreats the gripping means 8 from the position shown in FIG. The lifting / lowering means 10 stands by the gripping means 8 at a height at which the height of the pair of claws 84 coincides with the hollow core 3. Further, the lateral position of the gripping means 8 is adjusted by the lateral movement means 11 so that the axial center of the hollow core 3 is located between the pair of claws 84. On the other hand, the automatic guided vehicle 4 on which the roll-like object 24 is placed is stopped at a position separated from the magazine 7 by a predetermined distance. At this time, the shaft body 5 is inserted into the hollow core 3 of the roll-like object 24.

  When the shaft body 5 is to be collected, the gripping means 8 first opens the pair of claws 84, and the advance / retreat means 9 advances the gripping means 8 (S1). When the end portion 52 of the shaft body 5 enters between the pair of claws 84, the advance / retreat means 9 stops, and the gripping means 8 closes the pair of claws 84 and grips the end portion 52 of the shaft body 5. Thereafter, the advancing / retreating means 9 retreats the gripping means 8 (S2), and the lifting / lowering means 10 transfers the shaft body 5 gripped by the gripping means 8 to a position indicated by a virtual line in FIG. 1 (S3). Further, the lateral movement means 11 sets the position of the gripping means 8 in the lateral direction so that the axial center of the shaft body 5 coincides with an empty valley shape portion among the plurality of valley shape portions 75 of the magazine 7. adjust.

  Subsequently, the advance / retreat means 9 advances the gripping means 8 until the end portion 51 of the shaft body 5 abuts against the contact member 76 (S4). Thereby, since the shaft body 5 can be positioned with respect to the magazine 7, even if the relative position between the shaft body 5 and the gripping means 8 has a deviation when the gripping means 8 grips the shaft body 5, The shaft body 5 stored in the magazine 7 can be indirectly positioned with respect to the hollow core 3 placed on the automatic guided vehicle 4. Thereafter, the automatic guided vehicle is newly stopped at a position separated from the magazine 7 by a predetermined distance, and the shaft body 5 is inserted into the hollow core 3 mounted on the automatic guided vehicle in the same manner as in the conventional example. For example, the lengths of the both ends 51 and 52 of the shaft body 5 protruding from the openings 1 and 2 on both sides of the hollow core 3 can be made equal to each other.

  As described above, when the shaft body 5 abuts against the contact member 76, the shaft body 5 gripped by the gripping means 8 receives the reaction force of the contact member 76. By this reaction force, the shaft body 5 is pushed back against the driving force of the advance / retreat means 9 and the gripping means 8 escapes in the direction of the arrow R, so that the impact received by the gripping means 8 and the contact member 76 is alleviated. can do.

  When the gripping means 8 is pushed back as described above, the detected piece 23 deviates from the front of the proximity sensor 22, so that the rotating machine of the advance / retreat means 9 stops based on the stop signal of the proximity sensor 22. At the same time, the gripping means 8 opens the pair of claws 84 (S5), and the shaft body 5 is released from the gripping means 8. In this state, the position of the gripping means 8 returns to the advance / retreat member 12 by the elastic force of the elastic body 19, and the detected piece 23 returns to the front of the proximity sensor 22. Finally, the advance / retreat means 9 moves the gripping means 8 backward (S6).

  Further, as compared with the case where the end portion 51 of the shaft body 5 is pushed back as described above, the gripping means 8 is stopped at the same time when the end portion 51 of the shaft body 5 abuts against the contact member 76. However, since the rotating machine of the advance / retreat means 9 may be stopped slowly, the advance / retreat means 9 can be easily controlled. Moreover, since the number of parts constituting the buffer means 15 is small and the structure is simple, the manufacturing cost of the shaft body loading / unloading device 6 can be kept low.

  It should be noted that the present invention can be implemented in variously modified, modified, or modified forms based on the knowledge of those skilled in the art without departing from the spirit of the present invention. For example, the magazine 7 may be in a range in which the advance / retreat means 9 moves the shaft body 5 forward and backward, and the elevating means 10 and the lateral movement means 11 are not essential. That is, when the magazine 7 is arranged on the right side of the hollow core 3 in FIG. 1 and the shafts 5 are stored in the magazine 7 at the same height as the hollow core 3, the lifting means 10 may be omitted. Alternatively, when the plurality of shaft bodies 5 are stored in the magazine 7 in a line in the vertical direction, the lateral movement means 11 may be omitted. Further, the end portion 52 of the shaft body 5 may be abutted against the contact member 76.

  The present invention is not limited to a shaft used for storing a roll-shaped article in an automatic warehouse or the like, and is a technique useful for accurately transferring any shaft to a desired position.

The front surface which shows the usage example of the shaft body input / output device which concerns on embodiment of this invention. The front view of the principal part of the shaft body loading / unloading apparatus which concerns on embodiment of this invention. AA line cross section of FIG. BB line cross section of FIG. (A) is a front view of the magazine applied to the shaft body loading / unloading apparatus according to the embodiment of the present invention, (b) is a side view taken along the line CC, and (c) is a sectional view taken along the line DD. The flowchart explaining operation | movement of the shaft body entrance / exit apparatus which concerns on embodiment of this invention. (A) is a front view which shows the apparatus of the prior art example which inserts and inserts a shaft body to a hollow core, (b) is the sectional drawing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 2: Opening part 3: Hollow core 5: Shaft body 6: Shaft body insertion / extraction apparatus 7: Magazine 8: Holding means 9: Advancement / retraction means 15: Buffer means 19: Elastic body 24: Roll-like object 51, 52: End Part 76: contact member

Claims (2)

A shaft body loading / unloading device for inserting / removing a shaft body into a hollow core of a roll-like material having openings at both ends thereof, with the end of the shaft body directed toward one of the both ends of the hollow core. There,
Gripping means for detachably gripping the shaft body;
Advancing and retracting means for generating a driving force for advancing and retracting the gripping means to and from the hollow core;
A magazine that is installed in a range in which the shaft body gripped by the gripping means advances and retreats together with the gripping means by the driving force;
A contact member for positioning the end of the shaft body on the magazine;
A buffering means interposed between the gripping means and the advancing / retracting means and permitting an end portion of the shaft body gripped by the gripping means to be pushed back by the abutting member against the driving force; Prepared,
The buffering means is connected to the gripping means and is guided forward and backward with respect to the abutting member, and is interposed between the advancing and retracting member and the gripping means, and the gripping means to the abutting member. An elastic body biasing toward the
Said hollow core is disposed in a position which separates a predetermined distance with respect to the magazine, the positioning of the shaft is performed shaft and out apparatus according to claim Rukoto.   2. The shaft body loading / unloading device according to claim 1, wherein the advance / retreat means cuts off a driving force of the advance / retreat means based on an end portion of the shaft body being pushed back by the contact member.

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