JP5762347B2 - Roll body transport device - Google Patents

Description

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

  The roll body is formed by winding a strip-shaped or sheet-shaped material around a core. The material is, for example, a film or paper. Films have many uses such as liquid crystal and battery manufacturing, and food packaging. In such a film or paper production process, a long film or paper is first formed into a roll. In many factories that handle this roll body, in order to carry the roll body into and out of the production machine (hereinafter referred to as a production machine) An automatic or trackless automatic guided vehicle (see, for example, Patent Document 1) is used. This cart receives, for example, a roll body from a storage location of the roll body and carries it into a turret of a production machine.

JP 2008-222109 A

  When the carriage receives the roll body from the turret, the roll body mounting table is usually positioned at a predetermined reception position using a lifter or the like of the carriage. Thereafter, the roll body is separated on the turret side.

  However, such position control often does not receive smoothly due to variations in the turret stop position, trolley stop position, and the like. In particular, when the roll body to be received and the mounting table are displaced in the vertical direction, the roll body is in a “dropped” state, and an impact is applied to the roll body.

  There are two types of roll body conveyance: a cylinder receiver conveyance that supports and conveys the body of the roll body, and a core receiver conveyance that supports and conveys the core of the roll body. This impact is limited because it is generally applied to the core. However, since the impact is directly applied to the body portion in the case of the case support, the material may be damaged.

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

  An embodiment of the present invention relates to a roll body conveyance device. The roll body transport device includes a mounting table that comes into contact with the body of the roll body that is supported in the air by the roll body support device from the lower side in the vertical direction, a load detection unit that detects a load applied to the mounting table, and a load detection unit. A load adjusting unit that adjusts the force with which the mounting table presses the roll body, based on the load detected by the unit.

  According to this aspect, a roll body can be received by load control.

  Another embodiment of the present invention is also a roll body conveyance device. The apparatus includes a mounting table that comes into contact with the body of the roll body that is supported by the roll body support device in the vertical direction in the vertical direction, and a load detection unit that detects a load applied to the mounting table. A load adjustment unit that increases the load applied to the mounting table and stops the control to increase the load when the load detected by the load detection unit does not substantially change.

  It should be noted that any combination of the above-described constituent elements, or those obtained by replacing the constituent elements and expressions of the present invention with each other between apparatuses, methods, systems, computer programs, recording media storing computer programs, and the like are also included in the present invention. It is effective as an embodiment of

  According to the present invention, the roll body can be received more smoothly.

FIGS. 1A and 1B are schematic views for explaining a roll body to be transported. It is a perspective view of the turret by the side of a production machine. FIGS. 3A to 3D are schematic views showing an automatic guided vehicle for transporting a roll body according to the present embodiment. It is a block diagram which shows the function and structure of a control part of the automatic guided vehicle for roll body conveyance of FIG.3 (b). FIGS. 5A to 5C are explanatory views for explaining load control when the automatic guided vehicle for transporting a roll body in FIG. 3B receives the roll body from the turret. FIGS. 6A to 6C are explanatory views for explaining another load control when the automatic guided vehicle for transporting a roll body in FIG. 3B receives the roll body from the turret. FIGS. 7A and 7B are schematic views showing a state when the automatic guided vehicle for transporting a roll body in FIG. 3B receives a roll body from a production machine. It is explanatory drawing for demonstrating the motion of an inclination rail and a contact part when the mounting base of FIG.3 (b) rotates centering on a cross roller.

  Hereinafter, the same or equivalent components and members shown in the respective drawings are denoted by the same reference numerals, and repeated descriptions thereof are omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

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

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

  FIG. 2 is a perspective view of the turret 20 on the production machine side. The turret 20 supports the roll body 2 in the air, that is, without contact with the factory floor 26. The turret 20 includes a frame 22 erected on a factory floor 26 and a turret arm 24 that is rotatably supported by the frame 22 around a first rotation axis J parallel to a horizontal plane.

  One end 24 a of the turret arm 24 is provided with a pair of chucks (not shown in FIG. 2) that can advance and retract in the direction of the first rotation axis J of the turret arm 24. A similar pair of chucks is also provided at the other end 24 b of the turret arm 24.

  The pair of chucks provided on the turret arm 24 move between a plurality of stop positions including a delivery stop position for delivering the roll body 2 to and from the automatic guided vehicle for roll body transportation according to the embodiment. To do. The turret 20 realizes such movement between the stop positions by rotating the turret arm 24 using a motor (not shown). In addition, the stop position for receiving the supply of the roll body from the automatic guided vehicle for roll body transport and the stop position for passing the roll body to the automatic transport vehicle for roll body transport may be different.

  The automatic guided vehicle for transporting a roll body according to the present embodiment is an AGV (Automatic Guided Vehicle) that moves in a factory without a track. The roll body 2 is supported by a trunk portion, and the roll body 2 is transferred to a turret 20 of a production machine. It carries in or carries out the roll body 2 from the turret 20 of the production machine.

  In this embodiment, the case of the case receiving conveyance will be described. Since it is the case receiving conveyance, the automatic guided vehicle for conveying the roll according to the present embodiment has a mounting table 102 for receiving the trunk of the roll 2. The size of the mounting table 102 needs to be sufficient to support the body of the roll body 2.

  In the automatic guided vehicle for transporting a roll body according to the present embodiment, the mounting table 102 is supported at two locations by two support portions, and the mounting table 102 moves as the two support portions move. Since the movement of one supporting part can affect the movement of the other supporting part via the mounting table 102, the automatic guided vehicle for transporting a roll body according to the present embodiment has a configuration in consideration thereof. On the other hand, in the core receiving and conveying, the two arms for receiving the core can be basically controlled independently. Therefore, those skilled in the art will understand that the technology for controlling the mounting table and the support portion in the present embodiment is different from the technology for controlling the arm in the core receiving conveyance.

  When the roll body transporting automatic guided vehicle according to the present embodiment receives the roll body 2 from the turret 20, it performs load control based on the load applied to the mounting table 102. Thereby, the roll body 2 can be received more smoothly.

FIGS. 3A to 3D are schematic views showing the automatic guided vehicle 100 for transporting a roll body according to the present embodiment. An automated guided vehicle 100 for transporting a roll body includes a mounting table 102, a mounting table support unit, a first position detector 138, a second position detector 140, a first support unit 124, a second support unit, A first y-direction drive unit 150, a second y-direction drive unit 160, an x-direction transfer slide 162, and a main body 168 are provided.
The main body 168 includes a lifter 164, a carriage unit 166, and a control unit 50.

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

FIG. 3A is a top view of the automatic guided vehicle 100 for transporting a roll body.
The mounting table 102 is substantially rectangular in plan view, and its longitudinal direction is substantially parallel to the winding axis M of the roll body 2 mounted on the mounting table 102.

  The mounting table support means includes a first guide pin 114, a second guide pin 116, a third guide pin 118, a fourth guide pin 120, a first load cell 122, a second load cell 130, and a third load cell 132. A fourth load cell 123, a base frame 104, an inclined rail 126, and a pole holding portion 134.

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

  Each load cell is fixed to the table frame 104 and supports the mounting table 102 at its four corners. The first load cell 122 and the second load cell 130 are provided at a position along one long side of the mounting table 102. The third load cell 132 and the fourth load cell 123 are provided at a position along the other long side of the mounting table 102. Therefore, the first load cell 122, the second load cell 130, the third load cell 132, and the fourth load cell 123 are arranged so as to sandwich the winding axis M of the roll body 2 placed on the placing table 102 in plan view. Has been.

  Compared to the case of core receiving conveyance, the width of the mounting table 102 in the short direction is relatively large in the case of cylinder receiving conveyance. Therefore, the roll body 2 can be supported in a more balanced manner by arranging the plurality of load cells so as to sandwich the winding axis M of the roll body 2. Furthermore, by maintaining a plurality of load cells on each of the one long side and the other long side of the mounting table 102, it is possible to further enhance balance maintenance.

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

FIG. 3B is a side view of the automatic guided vehicle 100 for transporting a roll body.
The first position detector 138 and the second position detector 140 are respectively attached to one end and the other end of the base frame 104 in the x direction, and detect the position and orientation of the mounting table 102 with respect to the turret 20. The orientation of the mounting table 102 may be a normal direction when the mounting table 102 is viewed as a substantially flat surface. The first position detector 138 and the second position detector 140 transmit the position and orientation detection results to the control unit 50.

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

  The first y-direction drive unit 150 linearly moves the first support unit 124 in the y direction with respect to the main body 168 based on a control signal from the control unit 50. The first y-direction drive unit 150 is configured by appropriately combining a linear guide such as an LM guide (Linear Motion Guide) and a motor. Similarly, the second y-direction drive unit 160 moves the second support unit in the y direction with respect to the main body 168. Both the first y-direction drive unit 150 and the second y-direction drive unit 160 are fixed to the upper surface of the x-direction transfer slide 162.

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

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

  The inclination adjusting unit 152 has a contact point 128 that contacts the inclined rail 126. The inclination adjusting unit 152 slides the contact point 128 with respect to the inclined rail 126 based on a control signal from the control unit 50. The inclination adjusting unit 152 includes a linear guide, a motor, a ball screw, and the like.

One end of the pole 136 is attached to the arc escape slide 158, and the other end is inserted inside the pole holding portion 134. When the first y-direction drive unit 150 and the second y-direction drive unit 160 move the corresponding support units with different displacements, the pole 136 pushes the pole holding unit 134 in the y direction, so that the mounting table 102 is centered on the cross roller 148. Rotate. At this time, the pole holding part 134 moves in the x direction, and the pole 136 also moves in the x direction along with the movement. As a result, the arc escape slide 158 also follows and moves in the x direction.
The arc escape slide 158 is configured by a linear guide or the like so that the contact portion 128 of the inclination adjusting unit 152 can be moved in the x direction in accordance with the movement of the pole 136 in the x direction.

  The x-direction transfer slide 162 moves the mounting table 102 by moving the first support portion 124 and the second support portion in the x direction with respect to the main body 168 based on a control signal from the control portion 50. The x-direction transfer slide 162 is fixed to the upper surface of the lifter 164.

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

  FIG. 3C is a schematic view of the sliding state of the contact point 128 with respect to the inclined rail 126 as seen from the direction indicated by the arrow B in FIG. The lower surface of the inclined rail 126 is inclined along the direction in which the inclined rail 126 extends. The movement of the inclined rail 126 in the y direction with respect to the circular arc escape slide 158 is restricted by the arc escape slide 158, the pole 136, and the pole holding portion 134, so that the inclination rail 126 extends by the contact portion 128 by the inclination adjustment portion 152. When moved in the direction, the contact point 128 slides on the inclined rail 126. Then, the table frame 104 rotates about the rotation pin 146 due to the inclination of the inclined rail 126, so that the mounting table 102 rotates about the rotation pin 146 or is inclined with respect to the horizontal plane.

  FIG. 3D is a cross-sectional view taken along line AA in FIG. FIG. 3D shows the mounting table 102 and mounting table support means, and the other members are not shown. The third guide pin 118 is loosely fitted in the fourth guide hole 112. The same applies to the fourth guide pin 120.

  FIG. 4 is a block diagram illustrating the function and configuration of the control unit 50 of the automatic guided vehicle 100 for conveying a roll according to the present embodiment. Each block shown here can be realized by hardware and other elements such as a computer CPU and a mechanical device, and software can be realized by a computer program or the like. Draw functional blocks. Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.

  The control unit 50 includes an interface unit 52, a main body stopping unit 54, a pre-lifting mounting table adjusting unit 56, a mounting table lifting / lowering unit 58, an overall load control unit 60, and a partial load control unit 62. The interface unit 52 transmits and receives signals to and from each member of the automated guided vehicle 100 for transporting a roll body. Further, the interface unit 52 acquires information indicating the weight of the roll body 2 to be received from the outside by wireless communication means such as optical communication.

  When the roll body unmanned transport vehicle 100 transfers the roll body 2 to and from the turret 20, the main body 168 of the roll body transport unmanned transport vehicle 100 is positioned to stop the transfer of the pair of chucks provided on the turret arm 24. Stops at a predetermined main body stop position on the lower side in the vertical direction. The main body stop unit 54 controls the carriage unit 166 so that the main body 168 stops at the main body stop position. When it is detected by a sensor (not shown) that the main body 168 has come to the main body stop position, the main body stop unit 54 transmits a control signal for stopping the cart unit 166 to the cart unit 166 via the interface unit 52.

  When the main body 168 stops at the main body stop position, the pre-uplift mounting table adjustment section 56 acquires information transmitted from the first position detector 138 and the second position detector 140 via the interface section 52. Information acquired in this way includes detection results of the position and orientation of the mounting table 102 with respect to the turret 20. The pre-uplift mounting table adjustment unit 56 includes a first y-direction driving unit 150, a second y-direction driving unit 160, an x-direction transfer slide 162, and an inclination adjustment so that the position and orientation of the mounting table 102 become a desired position and orientation. The unit 152 is controlled. The pre-uplift mounting table adjusting unit 56 sends a control signal for specifying, for example, a displacement amount to each of the first y-direction driving unit 150, the second y-direction driving unit 160, the x-direction transfer slide 162, and the tilt adjusting unit 152. Via 52.

  The mounting table raising / lowering unit 58 controls the lifter 164 to raise the mounting table 102 after adjusting the position and orientation of the mounting table 102 by the mounting table adjusting unit 56 before ascending. The mounting table elevating unit 58 transmits, for example, a control signal designating an ascending amount to the lifter 164 via the interface unit 52. The same applies to the lowering of the mounting table 102.

  FIGS. 5A to 5C are explanatory diagrams for explaining load control when the automatic guided vehicle for transporting a roll body 100 receives the roll body 2 from the turret 20. Hereinafter, the overall load control unit 60 and the partial load control unit 62 will be described with reference to FIGS. 4 and 5A to 5C.

  FIG. 5A shows an unmanned transport vehicle 100 for transporting a roll body ascending an empty mounting table 102 in order to receive the roll body 2 supported in the air by a pair of chucks 28 a and 28 b attached to the turret arm 24. It is a front view which shows the state made to do. One chuck 28 a enters one end 8 a of the hollow portion of the roll body 2, and the other chuck 28 b enters the other end 8 b of the hollow portion of the roll body 2. Thereby, the roll body 2 is supported at both ends of the core 6 at both ends. The pair of chucks 28a, 28b are stopped at the delivery stop position.

  The lifter 164 that has received the control signal from the mounting table elevating unit 58 raises the empty mounting table 102 toward the roll body 2. The mounting table 102 contacts the body of the roll body 2 from the lower side in the vertical direction.

  FIG. 5B is a front view showing a state after the mounting table 102 contacts the roll body 2. The vertical force acting on the roll body 2 includes the weight of the roll body 2, that is, the gravity F1, the force F2 exerted from the mounting table 102, the force F3 exerted from one chuck 28a, and the force exerted from the other chuck 28b. F4. These forces are balanced unless the roll body 2 moves in the vertical direction. That is, the total sum of the vertical forces acting on the roll body 2 (F1 + F2 + F3 + F4) is zero.

  The vertical force acting on the mounting table 102 is derived from the weight of the mounting table 102, that is, gravity F 5, the load (= force exerted from the roll body 2) F 6, the first load cell 122 and the fourth load cell 123. A force F7 exerted, and a force F8 exerted from the second load cell 130 and the third load cell 132. As long as the mounting table 102 does not move in the vertical direction, these forces are balanced. That is, the total sum of the vertical forces acting on the mounting table 102 (F5 + F6 + F7 + F8) is zero.

The overall load control unit 60 acquires information indicating the load applied to each of the first load cell 122, the second load cell 130, the third load cell 132, and the fourth load cell 123 via the interface unit 52. The overall load control unit 60 calculates the load (F6) applied to the mounting table 102 by subtracting the weight (F5) of the mounting table 102 itself from the total load (F7 + F8) applied to the four load cells. In the present embodiment, from the viewpoint of detecting the load applied to the mounting table 102, the first load cell 122, the second load cell 130, the third load cell 132, the fourth load cell 123, and the mounting table 102 receive the load applied to the mounting table 102. A load detection unit to be detected is configured.
From the law of action and reaction, F2 and F6 have the same size and opposite directions. Therefore, the load calculated by the overall load control unit 60 is equivalent to the force with which the mounting table 102 pushes the roll body 2 in the vertical direction.

  The overall load control unit 60 controls the lifter 164 so that the calculated load (F6) approaches the weight (F1) of the roll body 2 received. When the load (F6) is smaller than the weight (F1), the overall load control unit 60 transmits a control signal for increasing the driving force for raising the mounting table 102 to the lifter 164. As a result, the force (F2) that pushes the roll body 2 in the vertical direction, that is, the load (F6) increases, and the load (F6) approaches the weight (F1). The same applies to the reverse case. Therefore, in the present embodiment, the overall load control unit 60 and the lifter 164 are loads that adjust the force (F2) by which the mounting table 102 pushes the roll body 2 in the vertical direction based on the load detected by the load detection unit. The adjustment unit is configured.

  The partial load control unit 62 controls the inclination of the mounting table 102 so that the load applied to the mounting table 102 is equal along the winding axis M of the roll body 2. The partial load control unit 62 calculates the sum (= F7) of the load applied to the first load cell 122 and the load applied to the fourth load cell 123. The partial load control unit 62 subtracts a value obtained by multiplying the weight (F5) of the mounting table 102 itself by a predetermined coefficient X1 smaller than 1 from the calculated sum. Since the first load cell 122 and the fourth load cell 123 are arranged on one end 8a side (hereinafter referred to as the left side) of the hollow portion, the value obtained by subtraction is a load F9 (not shown) applied to the left side of the mounting table 102. It can be considered.

  The partial load control unit 62 calculates the sum (= F8) of the load applied to the second load cell 130 and the load applied to the third load cell 132. The partial load control unit 62 subtracts a value obtained by multiplying the weight (F5) of the mounting table 102 itself by a predetermined coefficient X2 smaller than 1 from the calculated sum. Since the second load cell 130 and the third load cell 132 are arranged on the other end 8b side (hereinafter referred to as the right side) of the hollow portion, the value obtained by subtraction is a load F10 (not shown) applied to the right side of the mounting table 102. Can be considered.

  When the roll body 2 is not mounted on the mounting table 102, the sum of the load applied to the first load cell 122 and the load applied to the fourth load cell 123, and the load applied to the second load cell 130 and the third load cell 132 are applied. A sum with the load may be obtained, and the coefficient X1 and the coefficient X2 may be determined based on the value of the sum.

  The partial load control unit 62 adjusts the inclination of the mounting table 102 so that the ratio of the load F9 applied to the left side of the mounting table 102 and the load F10 applied to the right side becomes a predetermined ratio depending on the arrangement of the four load cells. To do. The partial load control unit 62 adjusts the inclination of the mounting table 102 by transmitting a control signal designating the amount of displacement of the contact part 128 to the inclination adjusting unit 152. When the right side becomes lower than the left side of the mounting table 102 as a result of the displacement of the contact portion 128, the load F9 applied to the left side of the mounting table 102 increases and the load F10 applied to the right side decreases. The same applies to the reverse case.

  The predetermined ratio is determined so that the force with which one chuck 28a supports the roll body 2 (= F3) and the force with which the other chuck 28b supports the roll body 2 (= F4) are balanced. For example, when a plurality of load cells are arranged so as to be plane-symmetric with respect to a vertical plane passing through the center in the longitudinal direction of the mounting table 102 and parallel to the yz plane, the predetermined ratio is ideally 1: 1. It is.

  FIG. 5C is a front view showing a state when the pair of chucks 28a and 28b are pulled out. The control unit 50 includes a load F9 applied to the left side of the mounting table 102 and a load F10 applied to the right side of the mounting table 102 when the load detected by the load detection unit falls within a predetermined error range set based on the weight of the roll body 2. Is sufficiently close to the predetermined ratio, a control signal for permitting the chuck to be pulled out is transmitted to the drive units (not shown) of the pair of chucks 28a and 28b via the interface unit 52. When the drive unit receives the control signal, the drive unit pulls out the pair of chucks 28 a and 28 b from the hollow portion 8 of the core 6.

  Apart from the above-described target value control mode in which the weight of the roll body 2 is acquired in advance and the target value is set as the target value, the overall load control unit 60 has another mode in which the weight of the roll body 2 need not be acquired in advance. Have. In this other mode, the timing for pulling out the pair of chucks 28a, 28b is determined from the manner of change in the load applied to the mounting table 102.

FIGS. 6A to 6C are explanatory diagrams for explaining another load control when the automatic guided vehicle for transporting a roll body 100 receives the roll body 2 from the turret 20. FIG. 6 (a) shows that the unmanned transport vehicle 100 for transporting the roll body raises the empty mounting table 102 in order to receive the roll body 2 supported in the air by the pair of chucks 28a and 28b of the turret arm 24. It is a side view which shows the state which exists. Here, a case where the pair of chucks 28a and 28b supports the roll body 2 with play in the vertical direction is considered. That is, the diameter D1 of the hollow portion 8 is larger than the outer diameter D2 of one chuck 28a, and the core 6 is hung from the pair of chucks 28a and 28b. In other words, the core 6 is only mounted on the pair of chucks 28a and 28b and is not fixed to the pair of chucks 28a and 28b. Therefore, the roll body 2 can swing around the pair of chucks 28a and 28b.
For example, when the fixing of the core 6 is released by closing the claws by the pair of chucks 28a and 28b, the state shown in FIG.

  The lifter 164 that has received the control signal from the mounting table elevating unit 58 raises the empty mounting table 102 toward the roll body 2. The mounting table 102 contacts the body of the roll body 2 from the lower side in the vertical direction.

  FIG. 6B is a side view showing a state where the force with which the mounting table 102 presses the roll body 2 and the weight of the roll body 2 are balanced. After the mounting table 102 comes into contact with the body portion of the roll body 2, the force by which the mounting table 102 pushes the roll body 2 is increased by the action of the lifter 164. Ideally, when the magnitude of the force becomes equal to the weight of the roll body 2, the core 6 moves away from the pair of chucks 28a and 28b and starts to rise. When the core 6, that is, the roll body 2 rises sufficiently late, the load applied to the mounting table 102 becomes constant during the rise.

  FIG. 6C is a side view showing a state where the mounting table 102 is raised and the lower portion of the core 6 is in contact with the pair of chucks 28a and 28b. When the lower part of the core 6 contacts the pair of chucks 28a and 28b, the roll body 2 stops rising. When the lifter 164 is further controlled to raise the mounting table 102 from here, the load applied to the mounting table 102 increases beyond the weight of the roll body 2.

  When the mounting table 102 comes into contact with the body of the roll body 2, the overall load control unit 60 controls the lifter 164 to increase the force with which the mounting table 102 presses the roll body 2. The overall load control unit 60 monitors the load detected by the load detection unit, and stops the control to increase the force when the load that has increased with the passage of time does not substantially change. Then, as shown in FIG. 6B, even if the core 6 is not in contact with or in contact with the pair of chucks 28a and 28b, the contact force is small. Therefore, the pair of chucks 28a and 28b can be pulled out more smoothly.

Operation | movement of the automatic guided vehicle 100 for roll body conveyance comprised as mentioned above is demonstrated.
The automatic guided vehicle 100 for transporting the roll body stops once when it moves to the turret 20 of the production machine to which the roll body 2 is transferred. The automatic guided vehicle 100 for transferring the roll body needs the position and orientation of the mounting table 102 based on the position detection signals from the first position detector 138 and the second position detector 140 while the main body 168 is stopped. Adjust as much as possible.
The automatic guided vehicle 100 for transporting the roll body then transfers the roll body 2 by raising the mounting table 102 vertically upward by the lifter 164. Especially when the roll body 2 is received, load control is performed.

FIGS. 7A and 7B are schematic views showing a state where the roll body transporting automatic guided vehicle 100 receives the roll body 176 from the production machine 174. FIG. FIG. 7A is a top view of the production machine 174 and the automatic guided vehicle 100 for conveying a roll body, and FIG. 7B is a side view.
In this case, in the production machine 174, the cutout amount L into which the roll transport unmanned transport vehicle 100 can enter is not sufficient, and the roll transport unmanned transport vehicle 100 even if the roll transport unmanned transport vehicle 100 enters as much as possible. The y-direction position of the center R1 of the main body 168 does not reach the y-direction position of the center R2 of the roll body 176 attached to the production machine 174.

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

  FIG. 8 is an explanatory diagram for explaining the movement of the inclined rail 126 and the contact portion 128 when the mounting table 102 rotates around the cross roller 148. When the first support portion 124 and the second support portion are moved in the y direction with different displacements, the mounting table 102 rotates around the cross roller 148. During this rotation, the contact portion 128 moves in the y direction in accordance with the movement of the second support portion in the y direction. Here, when the second support part does not have play in the x direction, the contact part 128 can be moved to the position 182 indicated by the broken-line circle in FIG. However, in the present embodiment, since the second support portion has play in the x direction, even if the position where the contact portion 128 should be shifted in the x direction as the mounting table 102 rotates, the shift can be absorbed. That is, the contact portion 128 is moved in the x direction following the rotation of the mounting table 102. As a result, the positional relationship between the inclined rail 126 and the contact portion 128 is substantially maintained before and after the rotation.

  According to the automatic guided vehicle 100 for transporting a roll body according to the present embodiment, when the roll body 2 is received from the turret 20 in the trunk receiving transport, load control based on the load applied to the mounting table 102 is performed. Therefore, for example, the probability of failure in receiving the roll body 2 can be reduced as compared with the case of receiving by the absolute position.

  Further, in the roll transport automatic guided vehicle 100 according to the present embodiment, the load is controlled so that the load applied to the mounting table 102 approaches the weight of the roll body 2 to be received. And when they approached sufficiently, the roll body 2 is passed from the turret 20 to the automatic guided vehicle 100 for roll body conveyance. When the chuck of the turret 20 is removed from the roll body 2, the entire weight of the roll body 2 is applied to the mounting table 102. At this time, an impact corresponding to the difference between the load applied to the mounting table 102 before removing the chuck and the weight of the roll body 2 is applied to the body of the roll body 2. In this Embodiment, since the difference becomes smaller, the impact added to the trunk | drum of the roll body 2 can be reduced. As a result, it is possible to reduce the possibility of damage to the material 4 due to the impact at the time of receipt.

  Further, if the contact force between the core 6 and the chuck when the chuck is removed from the roll body 2 is relatively large, the core 6, that is, the roll body 2 may be dragged in the withdrawal direction of the chuck. Therefore, in the present embodiment, the difference between the load applied to the mounting table 102 and the weight of the roll body 2 is reduced before removing the chuck. Thereby, the contact force between the core 6 and the chuck can be further reduced, and the possibility of dragging of the roll body 2 can be reduced.

  Even if the load applied to the mounting table 102 and the weight of the roll body 2 are balanced, a relatively large force may be applied to the chuck. For example, this is the case when the winding axis of the roll body is inclined with respect to the chuck core. If the chuck is pulled out in such a state, an impact or drag may occur. Therefore, in the automatic guided vehicle 100 for transporting a roll body according to the present embodiment, each of the pair of chucks 28 a and 28 b balances the force for supporting the roll body 2. Thereby, when the load applied to the mounting table 102 and the weight of the roll body 2 are balanced, the load applied to each of the pair of chucks 28a and 28b can be reduced. As a result, the possibility of occurrence of impact and drag can be reduced.

  The automatic guided vehicle 100 for transporting a roll body according to the present embodiment stops at a main body stop position in the vicinity of the turret 20 of the production machine for delivery of the roll body 2. When the main body 168 is stopped for delivery of the roll body 2, the automatic guided vehicle for roll body transport 100 further adjusts the position of the mounting table 102 in the horizontal plane, and rotates the mounting table 102 in the second rotation. Means for rotating about an axis. As a result, even when the actual stop position and orientation of the main body 168 of the automatic guided vehicle for roll body transport 100 are deviated from the main body stop position or a predetermined direction, the deviation can be compensated without moving the main body 168. Thereby, the precision of positioning at the time of delivery of the roll body 2 can be improved more.

  According to unmanned transport vehicle 100 for conveying a roll body according to the present embodiment, the stop position of main body 168 of unmanned transport vehicle 100 for transporting a roll body is shifted from the main body stop position, or the orientation of mounting table 102 is a desired direction. Even if they are different, the position and orientation of the mounting table 102 relative to the turret 20 can be adjusted as desired while the main body 168 is stopped. Thereby, the precision of positioning of the mounting base 102 with respect to the turret 20 at the time of delivery of the roll body 2 can be improved more. As a result, the delivery of the roll body 2 is performed more smoothly, and the probability that a delivery failure occurs can be reduced.

  In particular, since the AGV moves without a track, the stop position is likely to vary as compared with those that move along the track. Therefore, the roll transport automatic guided vehicle 100 according to the present embodiment is more suitable as an AGV that transports the roll body 2 without a track.

  Further, even if the main body 168 is accurately stopped at the main body stop position, it may be necessary to further finely adjust the position of the mounting table 102 with respect to the turret 20 due to poor floor accuracy. In the conventional outrigger method, the mounting table is positioned with reference to a cone provided on the floor, and therefore there is a risk that accuracy may deteriorate due to wear of the cone. However, since the automatic guided vehicle 100 for conveying a roll according to the present embodiment performs adjustment using a position detector, the accuracy of the position of the mounting table 102 relative to the turret 20 can be kept high even when the floor accuracy is poor. .

  Although it may be possible to finely adjust the position of the mounting table by moving the main body, in some cases it is difficult to accurately move the heavy AGV by a very small distance by itself with the heavy roll body 2 loaded. Even if it is realized, a more expensive main body drive mechanism or the like is required. On the other hand, the automatic guided vehicle 100 for transporting a roll body according to the present embodiment can easily adjust the position / orientation of the mounting table 102 at a lower cost.

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

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

  Moreover, the automatic guided vehicle 100 for roll body conveyance which concerns on this Embodiment can move the mounting base 102 to ay direction with the 1st y direction drive part 150 and the 2nd y direction drive part 160 after the main body 168 stops. Thereby, for example, even when the situation shown in FIGS. 7A and 7B, that is, when the cutout amount of the production machine is not sufficient, the roll body 2 can be transferred to and from the production machine. In other words, the notch amount required on the production machine side is reduced, and the degree of freedom in designing the production machine is improved.

  Moreover, after the main body 168 stops, the automatic guided vehicle 100 for roll body conveyance according to the present embodiment can rotate the mounting table 102 around the second rotation axis orthogonal to the z direction. Thereby, after the main body 168 is stopped, the mounting table 102 can be returned to the horizontal position even when the mounting table 102 is tilted due to, for example, the floor being tilted.

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

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

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

  In the embodiment, the case where the second support portion has play in the x direction has been described. However, the present invention is not limited to this. For example, instead of providing play, the width of the inclined rail may be increased.

  Although the case where four load cells are used has been described in the embodiment, the number and arrangement of load cells are not limited to this. For example, when two load cells are disposed, it is preferable to dispose one load cell on each of the left and right sides of the mounting table 102 in the vicinity of the center of the mounting table 102 in the short direction.

  In the embodiment, the example in which the automatic guided vehicle for transporting a roll body is an AGV that moves without a track has been described. However, the present invention is not limited thereto, and the automatic guided vehicle for transporting a roll body may be a tracked carriage.

  2 Roll body, 50 Control unit, 100 Rolled body conveyance automatic guided vehicle, 102 Mounting table, 124 First support unit, 126 Inclined rail, 138 First position detector, 140 Second position detector, 150 First y direction drive Part, 152 inclination adjustment part, 158 arc escape slide, 160 second y direction drive part, 162 x direction transfer slide, 164 lifter, 166 carriage part, 168 body.

Claims (2)

A mounting table that comes into contact with the body of the roll body supported in the air by the roll body support device from below in the vertical direction;
A load detection unit for detecting a load applied to the mounting table;
A load adjusting unit that adjusts the force by which the mounting table pushes the roll body based on the load detected by the load detecting unit;
A plurality of the load detectors are arranged on the lower side of the mounting table so as to sandwich the winding axis of the roll body that contacts the mounting table ,
The plurality of load detection units support the mounting table,
The mounting table is provided with a guide hole,
The mounting table is by a fixed guide pin relative to the body of the roll body conveying device is loosely fitted in the guide hole, and wherein Rukoto positioned in a horizontal plane relative to the roll body conveying device Roll body transport device. The said load detection part supports the said mounting stand in the four corners, The roll body conveying apparatus of Claim 1 characterized by the above-mentioned.

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