JP5323551B2 - Feeding automatic guided vehicle system - Google Patents

Description

  The present invention relates to a paper feeding automatic guided vehicle system (paper feeding AGV system) that unmanned transports newspaper webs between a storage location and a rotary press installation location using an automatic guided vehicle. The present invention relates to a sheet feeding automatic guided vehicle system using an automatic guided vehicle provided with a lifting unit that moves a newspaper web vertically in a vertical direction and mounts and collects it on a rotary press.

2. Description of the Related Art Conventionally, in a newspaper company or the like, an automatic guided vehicle is generally used to mount a new newspaper web on a rotary press or collect a newspaper web in use.
Newspaper webs are commonly used that have a length of 1626 mm, called volume A, a length of 1219 mm, called volume C, and a length of 813 mm, called volume D.

  For this reason, the automatic guided vehicle used in the conventional automatic guided vehicle feeding system is used for loading and holding a newspaper web slide in order to support loading and collecting newspaper webs of different lengths on a rotary press. A table is provided (see, for example, Patent Document 1).

Japanese Patent No. 3199232

However, in the conventional automatic guided vehicle system, when loading and collecting the newspaper web on the rotary press, the size of the loading table of the automatic guided vehicle is large in order to correspond to the size of the newspaper roll and the mounting position of the rotary press. It was necessary to have a slide stroke.
As a result, securing the slide amount has hindered the compactness of the automatic guided vehicle.

  Therefore, a technical problem to be solved by the present invention, that is, an object of the present invention is to provide a slide amount required for a loading table of an automatic guided vehicle so as to correspond to a size of a newspaper web and a mounting position of a rotary press. It is to provide a sheet feeding automatic guided vehicle system that realizes a compact automatic guided vehicle.

  First, the invention according to claim 1 is an automatic guided vehicle equipped with a loading table for holding and sliding a newspaper web in a newspaper web feeding area, and a fixed for mounting and collecting the newspaper web by the unmanned transport vehicle. A rotary press provided with an arm and a moving arm, a plurality of installations for the feed area of the rotary press, a guide line for guiding the automatic guided vehicle to the feed area of the rotary press, and a proximity of the rotary press A communication point before the rotary press, and when the automatic guided vehicle arrives at the communication point before the rotary press, the requested web data transmitted from the rotary press is compared with the loaded web data that the automatic guided vehicle has. The automatic guided vehicle system in which the automatic guided vehicle moves to the AGV approach position installed in the vicinity of the paper feed area of the rotary press when the two data match, and the AGV approach position is In one rotary press A plurality of the automatic guided vehicles receive a winding paper hook position signal from the rotary press and determine the AGV entry position based on the winding paper hook position signal and the loaded web data, thereby sliding the load table into the load table described above The above-mentioned problem is solved by shortening.

  The invention according to claim 2 is the automatic guided vehicle system according to claim 1, wherein one of the guide lines is installed in the center of the feed area of the rotary press, and the other guide line is The problem is further solved by being unevenly distributed in the paper feeding area on the fixed arm side of the rotary press.

  According to the automatic paper feeding system of the invention according to claim 1, the automatic guided vehicle equipped with the loading table for holding and sliding the newspaper web in the paper feeding area of the newspaper web, There are a rotary press equipped with a fixed arm and a moving arm for loading and collecting the web, and a guide line that is installed in the feed area of the rotary press and guides the automated guided vehicle to the feed area of the rotary press. By doing so, the amount of slide required for the loading table is shortened, so that the automatic guided vehicle can be miniaturized.

  Further, since the sliding amount of the loading table is shortened, wear of the guide mechanism portion of the loading table is reduced, so that the life of the automatic guided vehicle can be extended.

  Furthermore, since the cart trajectory range during travel is reduced by downsizing the automatic guided vehicle, the layout flexibility of the automatic guided vehicle system can be improved and the paper feed floor can be saved.

In addition, a communication point before the rotary press is installed in the vicinity of the rotary press, and when the automatic guided vehicle arrives at the communication point before the rotary press, the requested winding paper data transmitted from the rotary press and the loaded winding paper data that the automatic guided vehicle has, If the two data match, the automatic guided vehicle moves to the AGV entry position installed in the vicinity of the feed area of the rotary press, and the newspaper requested by the rotary press. Since it can be recognized before the automatic guided vehicle enters the rotary press whether or not the size of the wound paper and the size of the web loaded on the automatic guided vehicle are the same, the operation cycle can be shortened.
A plurality of AGV approach positions are installed for one rotary press, and the automatic guided vehicle receives the web catch position signal from the rotary press and determines the AGV approach position based on the web catch position signal and the stacked web data. By reducing the sliding amount of the loading table, the AGV approach position at which the loading table can be loaded / recovered on the rotary press with a shorter stroke is determined, thus further shortening the operation cycle. Can be realized.

  According to the second aspect of the present invention, in the automatic guided vehicle system according to the first aspect, one of the guide lines is installed at the center of the paper feed area of the rotary press and the other of the guide lines is fixed to the rotary press. Due to the uneven distribution in the paper feeding area on the arm side, for example, when a half-size newspaper web is fed to the rotary press, the automated guided vehicle is guided to the induction line and enters the paper feeding area of the rotary press. Since the approach approaches the fixed arm, the sliding amount of the loading table can be reduced as compared with the conventional sheet feeding automatic guided vehicle system.

The conceptual diagram of the paper-feed automatic guided vehicle system of a present Example. The conceptual diagram of the conventional paper feeding automatic guided vehicle system. The top view which shows the layout of the vicinity of the rotary press of the sheet feeding automatic guided vehicle system of a present Example. The flowchart which shows the operation | movement flow of the paper-feed automatic guided vehicle system of a present Example.

  The present invention includes an automatic guided vehicle equipped with a loading table for holding and sliding a newspaper web in a newspaper web feeding area, and a fixed arm and a moving arm for mounting and collecting the newspaper web using the automatic transport vehicle. There are a rotary press, a guidance line that guides the automated guided vehicle to the feed area of the rotary press, and a communication point before the rotary press that is installed near the rotary press. When the automatic guided vehicle arrives at the communication point before the rotary press, the requested web data transmitted from the rotary press is compared with the loaded web data of the automatic guided vehicle, and the two data match. And an automatic guided vehicle system in which the automatic guided vehicle moves to an AGV entry position installed in the vicinity of the paper feed area of the rotary press, and a plurality of AGV entrance positions are installed for one rotary press. , Automated guided vehicle The size of the newspaper web and the rotary press are reduced by receiving the web catching position signal from the rotary press and reducing the slide amount of the loading table by determining the AGV entry position based on the web catching location signal and the stacked web data. As long as the slide amount required for the loading table of the automatic guided vehicle is shortened to correspond to the mounting position of the automatic guided vehicle and the automatic guided vehicle is made compact, the specific embodiment thereof is any It doesn't matter what it is.

(Contrast between the automatic guided vehicle system of the present invention and the conventional product)
A sheet feeding automatic guided vehicle system 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.
Here, FIG. 1 is a conceptual diagram for explaining the basic principle of the sheet feeding automatic guided vehicle system 100 of the present embodiment, and FIG. 2 clearly shows the effect of the sheet feeding automatic guided vehicle system 100 of the present embodiment. It is a conceptual diagram of the conventional sheet feeding automatic guided vehicle system 200 shown to do.

First, a conventional sheet feeding automatic guided vehicle system 200 will be described with reference to FIG.
In the conventional sheet feeding automatic guided vehicle system 200, a guide line 240 is installed in the center of the sheet feeding area of the rotary press.

Then, as shown in FIG. 2A, when feeding a long-size A-roll newspaper roll to the rotary press, the automatic guided vehicle 220 is guided to the guide line 240 and is fed to the feed area of the rotary press. Enter the center.
At this time, the loading table 222 of the automatic guided vehicle 220 hardly slides.

Also, when feeding a half-size D-roll newspaper web onto the rotary press, the automatic guided vehicle 220 is guided to the guide line 240 and enters the center of the paper feed area of the rotary press.
Therefore, the slide amount S2 of the loading table 222 is increased in order to feed the newspaper web.
As a result, the width of the automatic guided vehicle 220 is increased.

On the other hand, the feeding automatic guided vehicle system 100 of the present embodiment is provided with two guide lines 142 and 144 for guiding the automatic guided vehicle 120 to the rotary press.
One guide line 142 is installed in the center of the paper feed area of the rotary press, and the other guide line 144 is installed in a distributed manner on the fixed arm 134 side of the paper feed area of the rotary press.

Then, as shown in FIG. 1A, when feeding a long-size A-roll newspaper roll to the rotary press, the automatic guided vehicle 120 is guided to the guide line 142 and is centered in the feed area of the rotary press. Enter.
At this time, the loading table 122 of the automatic guided vehicle 120 hardly slides.

On the other hand, when a half-size D-roll newspaper web is fed to the rotary press, the automatic guided vehicle 120 is guided by the guide line 144 and approaches the feed area of the rotary press by the fixed arm 134.
Therefore, the slide amount S1 of the loading table 122 is smaller than that of the conventional sheet-feed automatic guided vehicle system 200.
That is, as can be seen from the comparison between FIG. 1 and FIG. 2, S1 <S2.
As a result, the width of the automatic guided vehicle 120 can be reduced.

(Automated guided vehicle rotary press approach operation flow)
Next, an operation flow of the automatic guided vehicle (AGV) 120 entering the rotary press in the paper feeding automatic guided vehicle system 100 according to the present embodiment will be described with reference to FIGS. 3 and 4.
Here, FIG. 3 is a layout in the vicinity of the rotary press of the sheet feeding automatic guided vehicle system 100 of the present embodiment, and FIG. 4 shows the layout of the automatic guided vehicle 120 in the automatic feed cart system 100 of the present embodiment. It is the flowchart which showed the operation | movement flow which approachs to.

In the sheet feeding automatic guided vehicle system 100 of the present embodiment, as shown in FIG. 3, two guide lines are provided for one rotary press, and two AGV entry positions corresponding to these guide lines. Is set.
One AGV entry position is located approximately at the center of the sheet feeding area of the rotary press, and the other AGV entry position is located closer to the fixed arm 134 side of the rotary press.

  Further, a communication point before the rotary press for exchanging data relating to the newspaper web and data relating to the web winding position is provided in the vicinity of the rotary press.

In the sheet feeding automatic guided vehicle system 100 according to the present embodiment, the automatic guided vehicle 120 enters the sheet feeding area of the rotary press according to the flow shown in FIG.
Here, reference signs S0 to S12 shown in FIG. 4 indicate stages of steps described below.

First, when the operation flow is started (S0), the automatic guided vehicle 120 loads predetermined newspaper webs and acquires data (stacked web data) relating to the size of the loaded newspaper webs (S1).
Then, the automatic guided vehicle 120 is guided by a guide guide laid on the floor and arrives at a predetermined pre-rotary communication point (S2).
The automatic guided vehicle 120 acquires data (required web data) relating to the newspaper web requested by the rotary press, compares the requested web data with the previously obtained web data, and the two match. It is determined whether or not (S3).
When both do not correspond, it judges that it is abnormal and stops the approach operation to a rotary press (S4).

When the requested web data and the stacked web data match, a web paper position signal is received from the rotary press (S5).
Then, based on the acquired web winding position signal and the stacked web data, it is determined which of the two AGV entry positions has a smaller slide amount of the loading table, and one of the AGV entry positions is determined. (S6).
Then, the automatic guided vehicle 120 is moved to the determined AGV entry position (S7).
Then, based on the web winding position signal and the stacked web data, the loading table is driven to adjust the position of the newspaper web (S8).

When the adjustment of the position of the newspaper web is completed, the automatic guided vehicle 120 enters the paper feed area of the rotary press and attaches the newspaper roll to the rotary press (S9).
When the installation of the newspaper web is completed, the automatic guided vehicle 120 exits the rotary press (S10).
Then, the automatic guided vehicle 120 moves to the standby position and waits there (S11).
And a series of rotary press approach operation | movement flow is complete | finished.

In this embodiment, two AGV approach positions are provided for one rotary press, but the number of AGV approach positions is not limited to two, and may be three or more. good.
However, as described above, since there are usually three types of A, C, and D volumes used as the size of the newspaper web, two or three AGV entry positions are used.

  As described above, according to the sheet feeding automatic guided vehicle system 100 of the present invention, a plurality of guide lines for guiding the automatic guided vehicle 120 to the sheet feeding area of the rotary press are provided for one rotary press. Thus, the amount of slide required for the loading table 122 is shortened, so that the automatic guided vehicle 120 can be downsized.

  Moreover, since the wear of the guide mechanism part of the loading table 122 is reduced by reducing the sliding amount of the loading table 122, the life of the automatic guided vehicle 120 can be extended.

  Further, the downsizing of the automatic guided vehicle 120 reduces the range of the bogie trajectory at the time of traveling, so that the layout flexibility of the automatic guided vehicle system 100 is improved.

  In addition, when a pre-rotation communication point is installed in the vicinity of the rotary press and the automatic guided vehicle 120 arrives at the pre-rotary communication point, the requested winding paper data transmitted from the rotary press and the loaded web that the automatic guided vehicle 120 has. When the two data match, the automatic guided vehicle 120 moves to the AGV approach position close to the feeding area of the rotary press, and the newspaper requested by the rotary press. Since it can be recognized before the automatic guided vehicle 120 enters the rotary press whether the sizes of the web and the newspaper web loaded on the automatic guided vehicle 120 coincide with each other, the operation cycle can be shortened.

  A plurality of AGV entry positions are installed for one rotary press, and the automatic guided vehicle 120 receives the web catch position signal from the rotary press and enters the AGV approach based on the web catch position signal and the stacked web data. By determining the position, the AGV approach position where the loading table 122 can be loaded and collected on the rotary press with a shorter stroke is determined, so that the operation cycle can be further shortened.

100, 200 ... Feeding automatic guided vehicle system 120, 220 ... Automatic guided vehicles 122, 222 ... Loading tables 132, 232 ... Moving arms 134, 234 (of rotary press) ... ( Fixed arms 142, 144, 240 ... of the rotary press

Claims (2)

An automatic guided vehicle equipped with a loading table that holds and slides the newspaper web in the newspaper web feeding area, a rotary press equipped with a fixed arm and a moving arm for loading and collecting the newspaper web by the unmanned transport vehicle, A plurality of guide lines for guiding the automatic guided vehicle to the feed area of the rotary press and a communication point before the rotary press installed in the vicinity of the rotary press; When the automatic guided vehicle arrives at the communication point before the rotary press, the requested web data transmitted from the rotary press is compared with the loaded web data of the automatic guided vehicle, and the two data match. An automatic guided vehicle system in which the automatic guided vehicle moves to an AGV entry position installed in the vicinity of the paper feeding area of the rotary press,
A plurality of the AGV entry positions are installed for one rotary press, and the automatic guided vehicle receives the web catching position signal from the rotary press and determines the AGV approach position based on the web catching position signal and the stacked web data. By doing so, the sheet feeding automatic guided vehicle system is characterized in that the sliding amount of the cargo table is shortened. One of the guide lines is installed in the center of the paper feed area of the rotary press, and the other of the guide lines is installed unevenly in a paper feed area on the fixed arm side of the rotary press. Item 2. The automatic guided vehicle system according to Item 1.

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