JP6217336B2 - Goods transport cart - Google Patents

Description

  The present invention comprises a carriage body that travels on a running surface, and an article support that is supported by the carriage body and supports articles, and the carriage body is stopped at a preset transfer stop position. The present invention relates to an article transport cart that receives or delivers articles to and from an external device.

  A conventional example of such an article transporting carriage is described in Japanese Patent No. 496769 (Patent Document 1). The article transport cart of Patent Document 1 includes a drive mechanism (a first y-direction drive unit 150, a second y-direction drive unit 160, an x-direction transfer slide 162, and a lifter) that moves the article support in the front-rear direction, the lateral width direction, and the vertical direction. 164), position detectors (first position detector 138 and second position detector 140) for detecting the position of the article support in the front-rear direction and the width direction, and driving based on detection information of the position detector A control device for controlling the operation of the mechanism is provided.

By the way, the article when the cart body is stopped at the transfer stop position due to the stop accuracy of the cart body with respect to the transfer stop position, the wear of the running wheels provided on the cart body, the unevenness of the running surface at the transfer stop position, etc. The posture and position of the support may be displaced.
Therefore, in the article transport cart of Patent Document 1 described above, when receiving or delivering an article to or from an external device such as a production machine, the position is detected in a state where the cart body is stopped at a preset transfer stop position. By adjusting the position of the article support relative to the cart body so that the article support is positioned at an appropriate support position with respect to the external device by driving the drive mechanism based on the detection information of the container, Goods can be received and delivered appropriately between the two.
That is, in the article transport carriage of Patent Document 1 described above, when delivering an article to an external device, the article support is raised by a set amount with respect to the carriage body while the carriage body is stopped at the transfer stop position. If the position of the main body of the carriage when it is stopped at the transfer stop position is not appropriate, the position of the article support is not appropriate. As a result, the position of the article to be delivered also shifts from the proper position, and it is difficult to properly deliver the article to the external device. Therefore, in the article transport cart of Patent Document 1 described above, in order to appropriately position the article support relative to the external device, the inclination of the article support is raised by raising the mounting table with respect to the cart body. .

Japanese Patent No. 4967069

  In the article transport cart of Patent Document 1 described above, the drive mechanism is driven based on the detection information of the position detector so that the article support is positioned at an appropriate support position with respect to the external device. Since it is necessary to provide a drive device for moving in the direction and a detector for detecting the position of the article support in the horizontal direction with respect to the external device, the construction of the article transport carriage is complicated. Furthermore, in Patent Document 1, when the posture of the article support is inclined with respect to an appropriate posture, the operation of the driving device is controlled to eliminate the inclination of the article support, and thus the control configuration becomes complicated. ing.

  Therefore, there is a demand for an article transport cart that can position the article support relative to the external device at an appropriate position while simplifying the configuration.

A characteristic configuration of an article transporting carriage according to the present invention includes a carriage main body that travels on a traveling surface, and an article support that is supported by the carriage main body and supports an article, and is provided with a preset transfer stop position. In the article transport cart that receives or delivers the article to and from an external device in a state where the cart body is stopped,
A lifting device that lifts and lowers the article support relative to the cart body; and the external device includes a device-side support that supports the article support, and the lifting device is located at the transfer stop position. The article support is configured to be transferred to the apparatus-side support by raising and lowering the article support in a state where the carriage body is stopped, and the article support is moved in the horizontal direction to the external device. A positioning unit for positioning the article support at a transfer support position that is preset in the horizontal direction with respect to the external device , and the lifting device has a traveling height when the cart body is traveled and moved. The article support is moved up and down to a lowering height lower than the running height, and the article support is lowered in a state where the cart body is stopped at the transfer stop position. The article support is configured to be delivered to the apparatus side support part in a form in which the apparatus side support part is received and supported by the apparatus side support part of the external device at a placement height between the lowering height and the apparatus side support part. The cart body is movable in a lateral direction perpendicular to the travel direction when the direction of travel of the cart body toward the transfer stop position is defined as a travel direction. The support body is supported, and the lateral width of the article support body is brought into contact with the article support body placed and supported on the carriage body when the carriage body travels to the transfer stop position as the positioning portion. A first guide portion that is operated to move in the direction, and when the article support body moves down to the placement height in a state where movement of the article support body in the lateral width direction is restricted by the first guide portion. In contact with the article support A second guide portion for moving operating the article support to the traveling direction Te lies in is provided.

According to this characteristic configuration, the article support is transferred from the carriage main body to the apparatus-side support section by moving the article support up and down while the carriage main body is stopped at the transfer stop position. And since the apparatus side support part to which this article support is delivered constitutes a part of the external device, the posture of the carriage body is not appropriate due to unevenness of the traveling surface, wear of the traveling wheels, etc. Even in this case, the position of the article support in the vertical direction can be positioned at an appropriate position with respect to the external device by delivering the article support to the apparatus side support section. Incidentally, the device-side support portion is preferably provided integrally with the other part of the external device, but may be provided on the floor surface in a state separated from the other part of the external device, for example.
Further, the article support is moved in the horizontal direction by the positioning portion and is positioned at a transfer support position preset in the horizontal direction with respect to the external device. Since the positioning unit for moving and operating the article support constitutes a part of the external device, the article support is positioned at the transfer support position by the positioning unit. The position in the horizontal direction can be positioned at an appropriate position with respect to the external device. Incidentally, the positioning portion is preferably provided integrally with the other part of the external device, but may be provided on the floor surface in a state separated from the other part of the external device, for example.

  In this way, the article support is moved up and down and delivered to the apparatus-side support section of the external device, and the article support is positioned at the transfer support position by the positioning section of the external apparatus, so that the article support is relative to the external apparatus. The carriage body can be positioned at an appropriate position, and a driving device for moving the article support in the horizontal direction and a detector for detecting the position of the article support in the horizontal direction with respect to the external device are provided in the cart body. Since it is not necessary to provide, the structure of an article conveyance cart can be simplified.

Then , the article support is received and supported by the apparatus-side support section only by lowering the article support by the lifting device, and the article support is delivered to the external device. Therefore, for example, when the article support is lifted by the lifting device and delivered to the external device, the receiving height is allowed while allowing the article support to rise to the receiving height in the apparatus-side support section. It is necessary to have a function to hold the article support that has been raised to the upper limit. However, when the article support is lowered and delivered to the apparatus side support section as described above, such a mechanism is supported on the apparatus side. The configuration of the external device can be simplified because it is not necessary to provide the unit.

Then , when the carriage body travels to the transfer stop position, the article support is moved and operated in contact with the first guide portion, and the position of the article support is an appropriate position in the lateral direction with respect to the transfer support position. Can be located. Further, when the article support moves down to the placement height, the article support comes into contact with the second guide portion and is moved, and the position of the article support is appropriate in the traveling direction with respect to the transfer support position. Can be positioned.
Using the movement of the article support when the carriage body travels and the movement of the article support when the article support moves down to the placement height, the article support is positioned at the transfer support position. Therefore, since it is not necessary to move the first guide part and the second guide part horizontally in order to position the article support at the transfer support position, the configuration of the external device can be simplified.

  Further, the article support is configured to support a columnar or cylindrical article in a sideways posture, and the article support includes a base portion supported by the device-side support portion and an outer peripheral surface of the article. It is preferable that an elevating support unit for mounting and supporting and an elevating drive unit for supporting unit for moving the elevating support unit up and down with respect to the base.

  According to this configuration, the lifting support unit can be moved up and down to a height corresponding to the thickness of the article by moving the lifting support unit up and down relative to the base by the support drive unit. In addition, since the lifting / lowering movement of the lifting / lowering support portion can be performed in a state where the article support is supported by the apparatus-side support portion, the vertical position of the article support is positioned at an appropriate position relative to the external device. By raising and lowering the raising / lowering support part in a state, the position of the article in the vertical direction can be easily positioned relative to the external device.

  The cylindrical article includes a through-hole penetrating along the axial direction, and the external device includes an insertion portion that supports the article in a state of being inserted into the through-hole, and the insertion portion through the insertion portion. An insertion portion drive unit that moves the insertion portion along the axial direction to an insertion position inserted into the hole and an extraction position where the insertion portion is extracted from the through hole, and the insertion portion is attached to the insertion portion And a reflecting plate that reflects the detection light, and projects the detection light onto the article support along the axial direction and receives the detection light that has passed through the through hole. And a detection elevating drive unit that moves the detection unit up and down, and a support control unit for controlling the operation of the elevating drive unit for support and the elevating drive unit for detection. In the delivery control unit, the article support is supported by the device-side support unit. In the state where the article is supported by the article support, one or both of the detection raising / lowering drive unit and the support raising / lowering drive unit are operated to move the detection unit relative to the article. A hole position determination process for determining the height of the through hole based on the presence or absence of the detection light received by the detection unit when moved; and the article support is supported by the apparatus-side support unit, and With the detection unit projecting the detection light into the through hole of the article supported by the article support, the detection raising / lowering drive unit and the support raising / lowering drive unit are operated to operate the detection unit. Based on the presence or absence of the detection light reflected by the reflecting plate received by the detection unit when the detection unit and the article support are integrally moved up and down, the insertion unit and the through hole are provided. Determine if it is at the corresponding height Relative to the height determination process, when configured to run is suitable.

According to this configuration, in the hole position determination process, one or both of the detection elevating drive unit and the support elevating drive unit are operated to move the detection unit relatively up and down with respect to the article. Can be determined.
In the relative height determination process, the detection unit projects detection light to the through hole of the article supported by the article support based on the height of the through hole determined by the hole position determination process. In the state where the detection unit projects the detection light into the through-hole of the article supported by the article support body, the detection raising and lowering drive unit and the support raising and lowering drive unit are operated to detect the detection unit and the article. By integrally moving the support up and down, it can be determined that the insertion portion and the through hole are in a corresponding height.
In other words, when handling articles with different cylindrical diameters, the relationship between the height of the insertion part of the external device relative to the through-hole in the article supported by the article support delivered to the apparatus side support part is the diameter of the article. Depending on it. Therefore, by executing the hole position determination process and the relative height determination process, it is possible to determine whether or not the through hole is positioned at a height corresponding to the insertion portion.
Then, by performing the hole position determination process and the relative height determination process as described above, one detection unit projects the detection light by the hole position determination process and the relative height determination process. Therefore, the configuration of the article transport carriage can be simplified as compared with the case where different detectors are used for the hole position determination process and the relative height determination process.

A load detecting unit that detects a load acting on the lifting support unit; and a receiving control unit that controls the operation of the lifting drive unit for the support unit, wherein the receiving control unit includes the article support body. Is placed on the apparatus side support part and the article is supported by the external apparatus, and the elevation support part is moved from the state where the elevation support part is positioned below the article supported by the external apparatus. When the load detected by the load detection unit becomes equal to or higher than a preset value, the operation of the lifting drive unit for the support unit is controlled to stop the lifting movement of the lifting support unit. It is preferable to be configured as follows.
According to this configuration, the elevating support unit is moved upward, and when the load detected by the load detection unit is equal to or higher than a preset value, the elevating support unit is stopped from moving up and supported by the external device. Regardless of the diameter of the cylindrical or columnar article, the lifting support portion can be raised to a height at which it comes into contact with the article. Therefore, the article transport carriage can appropriately receive a plurality of types of articles having different diameters from the external device.

A characteristic configuration of an article transporting carriage according to the present invention includes a carriage main body that travels on a traveling surface, and an article support that is supported by the carriage main body and supports an article, and is provided with a preset transfer stop position. In the article transport cart that receives or delivers the article to and from an external device in a state where the cart body is stopped,
A lifting device that lifts and lowers the article support relative to the cart body; and the external device includes a device-side support that supports the article support, and the lifting device is located at the transfer stop position. The article support is configured to be transferred to the apparatus-side support by raising and lowering the article support in a state where the carriage body is stopped, and the article support is moved in the horizontal direction to the external device. A positioning unit that positions the article support in a predetermined transfer support position in a horizontal direction with respect to the external device, and the article support supports a columnar or cylindrical article in a sideways posture. The article support is configured such that the article support includes a base part supported by the apparatus side support part, a lifting support part for placing and supporting the outer peripheral surface of the article, and the lifting support part moving up and down relative to the base part. Supporting part An elevating drive unit, and the cylindrical article includes a through-hole penetrating along the axial direction, and the external device is inserted into the through-hole, and an insertion unit that supports the article; An insertion portion driving portion that moves the insertion portion along the axial direction between an insertion position where the insertion portion is inserted into the through hole and an extraction position where the insertion portion is extracted from the through hole; And a reflector that is mounted on the insertion portion and reflects detection light, and projects the detection light along the axial direction on the article support and passes through the through-hole. A detection unit that receives the detection light, and a detection elevating drive unit that moves the detection unit up and down, and for controlling the operations of the support elevating drive unit and the detection elevating drive unit A control unit, and the delivery control unit is configured such that the article support is the device. In a state where the article is supported by the support and supported by the article support, one or both of the detection raising / lowering drive unit and the support raising / lowering drive unit are operated to detect the detection unit with respect to the article. Hole position determination processing for determining the height of the through hole based on the presence or absence of the detection light received by the detection unit when the detection unit is moved up and down relatively, and the article support is the device side support unit The detection lifting drive unit and the support lifting drive unit in a state where the detection unit projects the detection light into the through-hole of the article supported by the article support. When the detection unit and the article support are integrally moved up and down by operating the detection unit, the detection unit receives the detection light reflected by the reflection plate and receives the detection light. Relative height determination processing for determining the height of the through hole And is configured to execute.
According to this characteristic configuration, the article support is transferred from the carriage main body to the apparatus-side support section by moving the article support up and down while the carriage main body is stopped at the transfer stop position. And since the apparatus side support part to which this article support is delivered constitutes a part of the external device, the posture of the carriage body is not appropriate due to unevenness of the traveling surface, wear of the traveling wheels, etc. Even in this case, the position of the article support in the vertical direction can be positioned at an appropriate position with respect to the external device by delivering the article support to the apparatus side support section. Incidentally, the device-side support portion is preferably provided integrally with the other part of the external device, but may be provided on the floor surface in a state separated from the other part of the external device, for example.
Further, the article support is moved in the horizontal direction by the positioning portion and is positioned at a transfer support position preset in the horizontal direction with respect to the external device. Since the positioning unit for moving and operating the article support constitutes a part of the external device, the article support is positioned at the transfer support position by the positioning unit. The position in the horizontal direction can be positioned at an appropriate position with respect to the external device. Incidentally, the positioning portion is preferably provided integrally with the other part of the external device, but may be provided on the floor surface in a state separated from the other part of the external device, for example.
In this way, the article support is moved up and down and delivered to the apparatus-side support section of the external device, and the article support is positioned at the transfer support position by the positioning section of the external apparatus, so that the article support is relative to the external apparatus. The carriage body can be positioned at an appropriate position, and a driving device for moving the article support in the horizontal direction and a detector for detecting the position of the article support in the horizontal direction with respect to the external device are provided in the cart body. Since it is not necessary to provide, the structure of an article conveyance cart can be simplified.
And the raising / lowering support part can be raised / lowered to the height according to the thickness of the article | item by moving the raising / lowering support part up / down with respect to a base part by the raising / lowering drive part for support parts. In addition, since the lifting / lowering movement of the lifting / lowering support portion can be performed in a state where the article support is supported by the apparatus-side support portion, the vertical position of the article support is positioned at an appropriate position with respect to the external device. By raising and lowering the raising / lowering support part in a state, the position of the article in the vertical direction can be easily positioned relative to the external device.
In the hole position determination process, one or both of the detection elevating drive unit and the support elevating drive unit are operated to move the detection unit up and down relative to the article, thereby increasing the height of the through hole. Can be determined.
In the relative height determination process, the detection unit projects detection light to the through hole of the article supported by the article support based on the height of the through hole determined by the hole position determination process. In the state where the detection unit projects the detection light into the through-hole of the article supported by the article support body, the detection raising and lowering drive unit and the support raising and lowering drive unit are operated to detect the detection unit and the article. By integrally moving the support up and down, it can be determined that the insertion portion and the through hole are in a corresponding height.
In other words, when handling articles with different cylindrical diameters, the relationship between the height of the insertion part of the external device relative to the through-hole in the article supported by the article support delivered to the apparatus side support part is the diameter of the article. Depending on it. Therefore, by executing the hole position determination process and the relative height determination process, it is possible to determine whether or not the through hole is positioned at a height corresponding to the insertion portion.
Then, by performing the hole position determination process and the relative height determination process as described above, one detection unit projects the detection light by the hole position determination process and the relative height determination process. Therefore, the configuration of the article transport carriage can be simplified as compared with the case where different detectors are used for the hole position determination process and the relative height determination process.

Production equipment perspective view Front view of the article holding device Side view of the article holding device Front view of goods transport cart Side view of goods transport cart The figure which shows the conveyance height and mounting height of an article support body Operation explanatory diagram of hole position discrimination processing Relative height discrimination processing operation explanatory diagram Operation explanation diagram of receipt processing Control block diagram Plan view of relevant parts of production equipment in another embodiment Plan view of relevant parts of production equipment in another embodiment

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, an article transport carriage 1 is disposed in a production facility together with a processing machine that performs processing such as printing and coating on the surface of a printing base paper and various film raw fabrics, and a roll body A as an article. It is comprised so that it may convey.
Then, the article transport carriage 1 automatically travels to the transfer stop position along a guide line (not shown) laid on the floor surface F with the floor surface F as the travel surface, and stops at the article transfer position. Thus, the roll body A is exchanged with the article holding device 2.
Incidentally, the roll body A is composed of a core a in which a through-hole c is formed in a cylindrical shape, and a sheet material b such as paper or a film wound around the core a. This corresponds to a cylindrical article in which a through-hole c penetrating along the axial direction is formed. The article holding device 2 corresponds to an external device.
Hereinafter, the travel direction in which the article transport cart 1 (the cart body 4) travels toward the transfer stop position and the article transport cart 1 travels from the transfer stop position is referred to as a first direction X, and the first direction X The width direction orthogonal to the plane view will be referred to as a second direction Y for explanation.

[Goods carrier cart]
As shown in FIGS. 4 and 5, the article transport carriage 1 includes a carriage body 4 that travels on the floor surface F, and an article support body 5 that is supported by the carriage body 4 and supports the roll body A. The roll body A supported by the article support 5 is delivered to the article holding apparatus 2 and held by the article holding apparatus 2 in a state where the cart body 4 is stopped at the preset transfer stop position. The roll body A is received in a state of being supported by the article support 5. The article support 5 is placed and supported so as to be separable in the vertical direction with respect to the carriage main body 4. The carriage main body 4 and the article support 5 are supplied with power from the carriage main body 4 to the article support 5. Further, they are connected by wiring such as a communication line for transmitting a signal from the cart body 4 to the article support 5.

  The carriage body 4 includes a traveling unit 8 that includes a traveling wheel 7 that is rotationally driven by the traveling motor 6 and rolls on the floor surface F, and a traveling-side support unit 9 that supports and supports the article support 5. The first elevating drive unit 10 that moves the traveling side support unit 9 up and down relative to the traveling unit 8 is provided. The traveling side support unit 9 includes a plurality of support rollers 11 that are rotatable around an axis along the first direction X that supports the article support 5, a rotation state in which the plurality of support rollers 11 are rotatable, and a plurality of rotations. A switching device 12 (see FIG. 10) that switches to a restricted state in which the rotation of the support roller 11 is restricted is provided.

The first elevating drive unit 10 includes a first link mechanism 14 interposed between the traveling unit 8 and the traveling side support unit 9, and a first elevating electric motor 15 for driving the first link mechanism 14 to extend and contract. , Is composed of. And the 1st raising / lowering drive part 10 raises / lowers the driving | running | working side support part 9 with respect to the driving | running | working part 8 by extending / contracting the 1st link mechanism 14 with the 1st raising / lowering electric motor 15, and makes the cart main body 4 move. The article support 5 is moved up and down to a traveling height (see the solid line in FIG. 4) when traveling and moving, and a lowering height (see the phantom line in FIG. 4) lower than the traveling height.
When the article transport carriage 1 travels and moves, the first lifting / lowering drive unit 10 raises the article support 5 to the transport height, and moves the article support 5 in a state where the carriage main body 4 is stopped at the transfer stop position. By moving up and down, the article support 5 is configured to be transferred to the apparatus base 31.
Incidentally, the first lifting drive unit 10 corresponds to a lifting device that lifts and lowers the article support 5 with respect to the carriage body 4.

  Further, the cart body 4 is moved in the second direction Y by the frictional force generated between the plurality of support rollers 11 and the article support 5 by switching the plurality of support rollers 11 to the restricted state by the switching device 12. The article support 5 is placed and supported in a state where it is prevented, and the plurality of support rollers 11 are switched to a rotating state by the switching device 12, so that the article support 5 is placed in a state of being movable in the second direction Y. It comes to support.

The article support 5 is based on a base 17 supported by a device-side support 31a described later, an elevating support 18 for placing and supporting the sheet material b (the outer peripheral part of the article) of the roll A, and the base 17. And a second elevating drive unit 19 as a support elevating drive unit for moving the elevating support unit 18 up and down. The elevating support portion 18 is formed in a shape that is recessed downward in a V shape when viewed in the second direction, and supports the roll body A in a sideways posture in a state in which it is prevented from moving in the first direction X. It is configured as follows.
The second elevating drive unit 19 includes a second link mechanism 20 interposed between the base 17 and the elevating support unit 18 and a second elevating motor 21 for extending and contracting the second link mechanism 20. Has been. Then, the second elevating drive unit 19 is mounted on the travel side support unit 9 by causing the second elevating motor 21 to extend and retract the second link mechanism 20 and elevating the elevating support unit 18 with respect to the base unit 17. It is comprised so that the roll body A currently supported may be raised / lowered.

  Although a detailed description is omitted, the second elevating motor 21 is configured by a servo motor, and is configured to transmit torque information based on a current value supplied to the servo motor to the servo amplifier. And the control apparatus H is comprised so that the load which acts on the raising / lowering support part 18 based on the torque information from a servo amplifier may be discriminate | determined. A load detection unit 22 that detects a load acting on the elevating support unit 18 is provided in a program format in the control device H of the article transport carriage 1.

The article support 5 includes a photoelectric sensor 23 that projects and receives detection light, and a third lifting drive unit 24 that moves the photoelectric sensor 23 up and down with respect to the lifting support unit 18. . The photoelectric sensor 23 and the third elevating drive unit 24 are supported by the base 17, and the base 17 is moved up and down by driving the first elevating drive unit 10, so that the roll body is placed and supported by the elevating support unit 18. A, the photoelectric sensor 23 and the third elevating drive unit 24 are configured to move up and down integrally. Further, the photoelectric sensor 23 is moved up and down by the third lift drive unit 24 so that the photoelectric sensor 23 is moved up and down with respect to the roll body A placed and supported on the lift support unit 18.
Each of the photoelectric sensor 23 and the third elevating drive unit 24 is provided in a pair so as to be positioned on both sides in the second direction Y with respect to the roll body A placed and supported by the elevating support unit 18. The third elevating drive unit 24 is provided with a third elevating motor 25 that drives the photoelectric sensor 23 to elevate. The third lifting / lowering motor 25 is constituted by a servo motor, and the control device H detects the height of the photoelectric sensor 23 in the article support 5 based on the feedback pulse of the third lifting / lowering motor 25. Section (not shown) in a program format.

Each of the pair of photoelectric sensors 23 includes a light projecting unit that projects detection light horizontally along the second direction Y and a light receiving unit that receives the detection light.
And each of a pair of photoelectric sensor 23 is projected within the width | variety of the 1st direction X of the core a of the roll body A by which the light for a projection projected by the light projection part was mounted by the goods support body 5. The article support 5 is provided as described above. Therefore, the photoelectric sensor 23 is moved up and down so that the detection light projected from the light projecting unit is projected within the vertical width of the core a of the roll body A placed and supported on the article support 5. Thus, the detection light projected by the light projecting portion of the photoelectric sensor 23 passes through the core a.
In addition, by making the pair of photoelectric sensors 23 have the same height, the detection light projected from the light projecting portion of one photoelectric sensor 23 can be received by the light receiving portion of the other photoelectric sensor 23.

[Article holding device]
Next, the article holding device 2 will be described.
As shown in FIGS. 2 and 3, the article holding device 2 is installed on the floor surface. The article holding device 2 includes a device base 31 installed on the floor, a moving body 32 that moves on the device base 31 in the second direction Y, and a rotation axis along the second direction Y. And a rotating body 33 supported by the moving body 32 in a state of being rotationally driven by an external rotation driving device.
The rotating body 33 of the article holding device 2 has an insertion portion 34 that supports the roll body A in a state of being inserted into the through hole c of the roll body A, and an insertion position in which the insertion portion 34 is inserted into the through hole c. And an insertion portion drive portion 35 that moves the insertion portion 34 along the second direction Y to the extraction position where the insertion portion 34 is extracted from the through hole c, and the detection light that is attached to the insertion portion 34 and that is attached to the insertion portion 34. A reflecting plate 36 to be reflected is supported.

  Each of the device base 31, the moving body 32, and the rotating body 33 is provided in a pair in a state aligned in the second direction Y, and the insertion portion 34 is provided in each of the pair of rotating bodies 33 formed in a long shape. Holding the article with a pair of insertion portions 34 of the insertion portion 34 provided at one end of the pair of rotating bodies 33 and the insertion portion 34 provided at the other of the pair of rotating bodies 33. The apparatus 2 is provided with two sets of insertion portions 34.

The insertion portion 34 includes a small diameter portion 34a having a diameter smaller than that of the core a and a large diameter portion 34b having a diameter larger than that of the core a.
Then, in a state where the pair of insertion portions 34 are moved closer to each other and positioned at the insertion position by driving the insertion portion drive portion 35, each of the small diameter portions 34a of the pair of insertion portions 34 is inserted into the through hole c. The roll body A is held in a state in which the roll body A is sandwiched between the large diameter portions 34b of the pair of insertion portions 34 and the both ends of the roll body A are supported. When the small diameter portion 34a is inserted into the through hole c in this way, the small diameter portion 34a is enlarged by a mechanism outside the figure, whereby the roll body A is held from the inside by the small diameter portion 34a. ing.
In addition, in a state where the pair of insertion portions 34 that are paired with each other by driving the insertion portion drive portion 35 are moved away from each other and positioned at the extraction position, each of the small diameter portions 34a of the pair of insertion portions 34 is formed in the through hole c. The large diameter portion 34b in the pair of insertion portions 34 is separated from the roll body A, and the holding on the roll body A is released.

  By rotating and stopping in a state where the rotation phases of the pair of rotating bodies 33 coincide with each other, the pair of insertion portions 34 moves to the processing position (right position in FIG. 3) and the transfer position (left position in FIG. 3). To do. Incidentally, when one set of the insertion sections 34 of the two sets of insertion sections 34 is positioned at the processing position, the other set of the insertion sections 34 of the two sets of insertion sections 34 is positioned at the transfer position. become. The processing position and the delivery position are set to the same height, and the vertical center of the insertion portion 34 located at the processing position or the delivery position is the same height as the rotation axis around which the rotating body 33 rotates. .

The pair of device bases 31 are installed on the floor surface F with a space wider than the width in the second direction Y of the cart body 4, and the transfer stop is performed between the pair of device bases 31. The position is set. And the apparatus side support part 31a which mounts and supports the articles | goods support body 5 is formed in the part by which the stop position for transmission / reception of the 2nd direction Y in each of a pair of apparatus base 31 exists.
The upper surface of the apparatus side support portion 31a is lower than the lower end of the base portion 17 in the article support 5 having a conveying height and higher than the lower end of the base portion 17 in the article support 5 having a lowered height. Therefore, when the article transport cart 1 travels to the transfer stop position with the article support 5 at the transport height, the cart body 4 and the article support 5 are connected to the pair of device bases 31 (device-side support portions 31a). ) Is not touching. Further, by lowering the article support 5 from the conveyance height while the article conveyance carriage 1 is stopped at the transfer stop position, the apparatus side support is supported at the placement height between the traveling height and the lowered height. The article support 5 is received and supported by the portion 31a. Then, the cart body 4 is separated from the article support 5 by operating the first elevating drive unit 10 to the lowered height side while the article support 5 is supported by the apparatus side support 31a at the placement height. Will do.

  The pair of moving bodies 32 moves integrally in the second direction Y while maintaining the same distance as the lateral width of the article support 5. In a state where the article support 5 is located between the pair of moving bodies 32, the movement of the article support 5 in the second direction Y can be regulated by the pair of moving bodies 32. Incidentally, the support position for giving / receiving the article support 5 is determined according to the position of the one set of insertion portions 34 located at the send / receive position, and the pair of moving bodies 32 moves in the second direction Y to form one set. The position of the insertion portion 34 also moves in the second direction Y, so that the support position for transfer also moves in the second direction Y.

The article holding device 2 is provided with a positioning portion 38 for moving the article support 5 in the horizontal direction to position the article support 5 at a transfer support position preset in the horizontal direction with respect to the article holding device 2. Yes.
As the positioning unit 38, when the carriage body 4 travels to the transfer stop position, the article body 5 comes into contact with the article support 5 placed and supported on the carriage body 4 and moves in the second direction Y. The first guide part 38a to be operated and when the article support 5 moves down to the placement height in a state where the movement of the article support 5 in the second direction Y is restricted by the first guide part 38a. A second guide portion 38b that contacts the article support 5 and moves and operates the article support 5 in the first direction X.

The 1st guide part 38a is comprised by the some guide roll with which the end part by the side in which the transfer stop position of the 2nd direction Y in the mobile body 32 exists, This guide roll is 1st direction. X is arranged in parallel so as to be inclined toward the transfer stop position in the second direction Y toward the transfer stop position. And the 1st guide part 38a is the height which contacts the goods support body 5 even if the goods support body 5 is located in any height of the height for conveyance, the mounting height, and the height between these. Is provided.
As shown in FIGS. 4 and 5, the base 17 of the article support 5 has a flat plate-like support member for placing and supporting the second elevating drive unit 19, and a protrusion projecting downward from the support member and recessed at the lower end. And four leg members in which the insertion portions 39 are formed. Further, the base portion 17 is provided with a long contact member (not shown) along the first direction X between a pair of foot members arranged in the first direction X. The contact member is provided in a state where the outer surface in the second direction Y and the outer surface in the second direction Y of the foot member are flush with each other, and the article support 5 is used for conveyance. Even if it is located at any height among the height, the placement height, and the height between them, the upper and lower widths are in contact with the first guide portion 38a.

  The second guide portion 38b is formed in an inverted V shape when viewed in the second direction, and is provided in the device-side support portion 31a so as to protrude upward from the upper surface of the device-side support portion 31a. In addition, a recessed portion 39 is provided at the lower end of the base portion 17 of the article support 5 so as to be recessed upward in a V shape when viewed in the second direction.

When the article transport carriage 1 travels in the first direction X toward the delivery stop position, the article support 5 supported by the article delivery carriage 1 at the delivery height is located with respect to the delivery support position. When it shifts in the second direction Y, the side surface of the article support body 5 comes into contact with the first guide body so that the first guide portion 38a is in a proper position in the second direction Y with respect to the transfer support position. Guidance is operated. When the article support 5 is lowered from the transfer height to the placement height while the article transport carriage 1 is stopped at the transfer stop position, the first guide portion 38a causes the article support 5 to When the article support 5 descends in a state in which movement in the second direction Y is restricted and the descending article support 5 is displaced in the first direction X with respect to the transfer support position, the article support 5 is lowered. Thus, the fitting of the recessed portion 39 of the article support body 5 to the second guide section 38b causes the second guide while reducing the load of the article support body 5 on the plurality of support rollers 11 in the cart body 4. The portion 38b is guided to an appropriate position in the first direction X with respect to the transfer support position.
By positioning the article support 5 at the transfer support position, the article support 5 can be positioned at an appropriate position in the horizontal direction with respect to the article holding device 2. Since the article support 5 positioned at the transfer support position is placed and supported on the apparatus-side support portion 31a in this way, the article support 5 is positioned at an appropriate position in the vertical direction with respect to the article holding apparatus 2. Can be positioned.

  The article transport cart 1 includes a control device H that controls the operation of the cart body 4, the first lifting drive unit 10, the second lifting drive unit 19, and the third lifting drive unit 24, and a communication device (see FIG. And a cart side communication device 41 that communicates information with the cart. The control device H corresponds to a delivery control unit that controls the operation of the second lifting drive unit 19 and the third lifting drive unit 24 and a receiving control unit that controls the operation of the second lifting drive unit 19. .

  As shown in FIG. 10, the control device H causes the article transport carriage 1 supporting the roll body A to travel to the delivery stop position based on the transport information from the host controller (not shown). Delivery control for controlling the operations of the first elevating drive unit 10, the second elevating drive unit 19, and the third elevating drive unit 24 to deliver the roll body A supported by the transport carriage 1 to the article holding device 2, and rolls The first elevating drive unit 10 and the second elevating drive unit 10 and the second elevating drive unit 10 receive the roll body A held by the article holding device 2 by running the article transport carriage 1 that does not support the body A to the transfer stop position. It is configured to perform reception control for controlling the operation of the elevating drive unit 19.

In the delivery control, a traveling process for causing the article transport carriage 1 to travel to the delivery stop position, a placing process for placing the article support 5 on the apparatus-side support 31a, and a through-hole of the roll body A supported by the article support 5 hole position determination processing for determining the height of c, and relative height determination processing for determining the relative height between the through hole c of the roll body A supported by the article support 5 and the insertion portion 34 of the article holding device 2. Then, the processing is executed in the order of delivery processing for delivering the roll body A to the article holding device 2.
In the receiving process, the above-described traveling process, the above-described placing process, and the receiving process for receiving the roll body A from the article holding device 2 are executed in this order.

  In the traveling process, when the article transport carriage 1 travels, the article support 5 is moved by the first lifting / lowering drive section 10 so that the height of the article support 5 is raised to the transport height. Control the operation of In the traveling process, as shown by an arrow in FIG. 1, the article transport carriage 1 is traveled to travel the article transport carriage 1 to the transfer stop position. The travel process is performed by traversing the transfer stop position. The operation of the cart body 4 is controlled so that Further, at the beginning of traveling, the plurality of support rollers 11 are held in a restricted state, and when traversing toward the transfer stop position as described above, the switching device 12 is configured to switch the plurality of support rollers 11 to the rotation state. Control the operation.

Then, when the article transport carriage 1 is moved and moved along the first direction X by traversing toward the transfer stop position, the article support 5 placed and supported on the carriage main body 4 is the second of the article holding device 2. The article support 5 is contact-guided in the second direction Y by the one guide portion 38a, and is positioned at an appropriate position in the second direction Y with respect to the transfer support position.
Incidentally, when the running process is executed, the article support 5 is positioned at the conveying height, and the lifting support 18 and the pair of photoelectric sensors 23 are positioned at the lower limit of the lifting range. Further, when executing the traveling process of the delivery control, the article to be delivered is placed and supported on the article support body 5, and when executing the traveling process of the reception control, the roll body A to be received is held by the article. The roll body A is not placed and supported on the article support 5 which is held by the apparatus 2.

As shown in FIG. 5, in the placement process, the operation of the first elevating drive unit 10 is controlled to lower the article support 5 from the transport height to the lowered height. At this time, the article support 5 is actually received and supported by the apparatus-side support 31a at the placement height without being lowered to the lowered height.
Then, when the article support 5 is lowered from the conveying height to the placement height, the second guide is provided in a state where the movement of the article support 5 in the second direction Y is restricted by the first guide portion 38a. The article support 5 is contact-guided in the first direction X on the upper surface of the portion 38b, and the article support 5 is positioned at an appropriate position in both the first direction X and the second direction Y with respect to the transfer support position. To do. In addition, the article support 5 is placed and supported on the apparatus-side support 31a provided in the article holding apparatus 2, so that the article support 5 is positioned at an appropriate height with respect to the article holding apparatus 2 in the vertical direction. Can be made.

  In the hole position determination process, the third elevating drive unit 24 as a detection elevating drive unit in a state where the article support 5 is supported by the apparatus side support unit 31a and the roll body A is supported by the article support 5. And the height of the through hole c is determined based on the presence or absence of detection light received by the photoelectric sensor 23 when the photoelectric sensor 23 is moved up and down relative to the roll body A.

  In other words, in the hole position determination process, the pair of photoelectric sensors 23 are moved upward while maintaining the same height from the lower limit height of the lift range. Then, as shown in FIG. 7A, the detection light projected by the first photoelectric sensor 23a is shielded by the roll body A, and the first photoelectric sensor 23 is shielded from the light shielding state in which the detection light is not received. The lower end height at which the detection light projected by the photoelectric sensor 23a passes through the through hole c of the roll body A and the other photoelectric sensor 23 receives the detection light is shown in FIG. 7B. As described above, the upper end height at which the light receiving state is switched to the light blocking state is detected. And the detection information of the sensor height detection part when the lower end height of the through hole c is detected by the pair of photoelectric sensors 23, and the sensor height when the upper end height of the through hole c is detected by the pair of photoelectric sensors 23. The height of the through hole c is determined based on the detection information of the height detection unit. Specifically, the center height between the lower end height and the upper end height of the through hole c is calculated as the height of the through hole c.

  In the relative height discrimination process, as shown in FIG. 8A, the photoelectric sensor is inserted into the through-hole c of the roll body A supported by the apparatus-side support 31a and supported by the article support 5 as shown in FIG. As shown in FIG. 8 (b), the second elevating drive unit 19 and the third elevating drive unit 24 are actuated in a state in which the detection light is projected on the photoelectric sensor 23, the article support body 5, and the like. The insertion portion 34 and the through-hole c are positioned at corresponding heights based on the presence or absence of the detection light reflected by the reflection plate 36 received by the photoelectric sensor 23 when the sensor is moved up and down integrally. Determine that it is in a state. Incidentally, the state in which the insertion portion 34 and the through hole c are positioned at the corresponding heights means that the vertical width between the axial center of the insertion portion 34 and the axial center of the through hole c is a preset vertical width. It is in a state.

  In the relative height determination process, first, the first photoelectric sensor 23a is moved down so that the detection light is projected to the height of the through hole c determined in the hole position determination process. (2) The photoelectric sensor 23b is moved down to the lower limit height of the lift range. Incidentally, in the state where the first photoelectric sensor 23a in which the detection light is projected to the height of the through hole c is moved downward, the first photoelectric sensor 23a is configured so that the detection light passes through the through hole c. Light for detection is projected. The height of the projected detection light is lower than the height of the reflection plate 36 provided in the insertion portion 34, and the reflection plate 36 does not reflect the detection light. The one photoelectric sensor 23a does not receive the detection light.

And the 2nd raising / lowering drive part 19 and the 3rd raising / lowering drive part 24 are operated, and the 1st photoelectric sensor 23a and the goods support body 5 are moved up and down integrally. At this time, the state where the first photoelectric sensor 23a projects the detection light so that the detection light passes through the through hole c is maintained.
Then, when the detection light projected by the first photoelectric sensor 23a is reflected by the reflecting plate 36 and the reflected light is received by the first photoelectric sensor 23a, the rise of the first photoelectric sensor 23a and the article support 5 is increased. Stop. When the article support 5 is stopped in this manner, the axis of the insertion portion 34 is positioned above the axis of the through hole c by a set vertical width, so the insertion portion 34 and the through hole c Can be determined to be in a state of being located at a corresponding height.

In the delivery process, as shown in FIG. 8B, the elevating support portion 18 is moved up by the set vertical width so that the axis of the insertion portion 34 and the axis of the through hole c have the same height. Thereafter, information on completion of delivery preparation is transmitted to the article holding device 2 by the cart side communication device 41.
By the way, by attaching the reflector 36 so that the vertical width between the axis of the insertion portion 34 and the axis of the through hole c is 0 (the set vertical width is 0) when the relative height determination process is completed, In the delivery process, it is not necessary to raise and lower the elevating support 18 so that the axis of the insertion portion 34 and the axis of the through hole c have the same height.

  In the receiving process, as shown in FIG. 9, the article support 5 is supported by the article holding apparatus 2 in a state where the article support 5 is placed on the apparatus-side support 31 a and the roll body A is supported by the article holding apparatus 2. When the elevating support unit 18 is moved upward from the state where the elevating support unit 18 is positioned below the roll body A and the load detected by the load detecting unit 22 exceeds a preset value, the elevating support unit 18 In order to stop the ascending movement, the operation of the lifting drive unit for the support unit is controlled. Thereafter, information on completion of reception preparation is transmitted to the article holding device 2 by the cart side communication device 41.

  The article transport carriage 1 travels to the delivery position and then delivers the article support 5 to the apparatus-side support 31a, so that the article support 5 is received and received at the positioning section 38 of the apparatus-side support 31a. Since the article support 5 is placed and supported at the placement height by the apparatus-side support 31a, the position of the article support 5 is set to the first direction X, the second direction Y, and the vertical direction. In any of these directions, it is easy to position the article holding device 2 at an appropriate position. Therefore, it is easy to appropriately transfer the roll body A between the article transport carriage 1 and the article holding device 2.

[Another embodiment]
(1) In the above embodiment, when the carriage main body 4 travels to the transfer stop position, the article support 5 is moved in the lateral width direction by contacting the article support 5 placed and supported on the carriage main body 4. When the article support 5 is moved down to the placement height, the article support 5 is moved in the traveling direction by touching the article support 5. However, the article support 5 may be positioned as follows.
For example, the first guide portion 38a is configured to come into contact with the front end of the cart body 4 when the cart body 4 travels to the transfer stop position, and when the cart body 4 travels to the transfer stop position. Alternatively, the article support 5 may be moved and operated in the lateral width direction and the traveling direction by contacting the article support 5 placed and supported on the carriage body 4.
Further, for example, the second guide portion 38b is formed in a shape protruding in a conical shape, and the recessed portion 39 is formed in a shape recessed in a conical shape, so that the article support 5 moves downward to the placement height. Sometimes, the article support 5 may be moved in the lateral width direction and the traveling direction by contacting the article support 5.

Further, for example, after the article support 5 is transferred to the apparatus side support 31a, the positioning member is moved in the horizontal direction by the driving unit for movement so that the positioning member is brought into contact with the article support 5 and the article support. You may comprise so that 5 may be moved in the width direction and the traveling direction. In this case, the positioning unit 38 includes a positioning member and a moving drive unit.
Further, for example, the apparatus side support portion 31a is configured to move in the horizontal direction with respect to the insertion portion 34 by driving of the support portion drive section, and the article support 5 supported by the apparatus side support portion 31a is horizontal. A position detection device that detects a position in the direction, a movement control unit that controls the operation of the support drive unit to move the article support 5 to the transfer support position based on detection information of the position detection device, The article support 5 may be moved to the transfer support position by the positioning part 38 after the article support 5 is transferred to the apparatus side support 31a. In this case, the positioning unit 38 includes a device-side support unit 31a, a position detection device, a support unit drive unit, and a movement control unit.

(2) In the above embodiment, the cart body 4 is provided with the lifting device, and the cart body 4 extends and contracts in the vertical direction so that the article support 5 is raised and lowered to the conveying height and the descending height. The support body 5 may be provided with an elevating device, and the article support body 5 may be configured to move up and down to a conveying height and a descending height. In this case, the article support 5 is separated from the cart body 4 by operating the lifting device to the lowering height side while the article support 5 is supported by the apparatus side support portion 31a at the placement height. Become.

(3) In the above embodiment, as the hole position determination process, the height of the through-hole c is determined based on the presence or absence of detection light received by the detection unit when the detection lift drive unit is operated to move the detection unit up and down. However, the height of the through hole c may be determined based on the presence or absence of detection light received by the detection unit when the article is moved up and down by operating the support drive unit. Also, the through hole c is based on the presence or absence of the detection light received by the detection unit when the detection elevating drive unit and the support elevating drive unit are operated to move the article and the detection unit up and down in opposite directions. The height may be determined.

(4) In the above embodiment, a pair of photoelectric sensors 23 are provided, and the detection light from the first photoelectric sensor 23a is configured to pass through the through hole c and received by the second photoelectric sensor 23b. Instead of the photoelectric sensor 23b, a hole position reflecting plate is provided, and the detection light from the first photoelectric sensor 23a passes through the through hole c and is reflected by the hole position reflecting plate, and the reflected detection light is reflected. The first photoelectric sensor 23a may receive light through the through hole c.
Further, only the first photoelectric sensor 23a is provided so that the detection light projected by the first photoelectric sensor 23a is reflected by the side surface of the article, and the reflected detection light is received by the first photoelectric sensor 23a. You may comprise.

(5) In the above embodiment, in the relative height discrimination process, the photoelectric sensor 23 and the article support 5 are integrated with each other in a state where the photoelectric sensor 23 projects the detection light into the through hole c of the article. The height of the through hole c with respect to the insertion portion 34 is determined based on the presence or absence of detection light reflected by the reflection plate 36 received by the photoelectric sensor 23 when moved up and down. In the relative height determination processing, The photoelectric sensor in a state where the photoelectric sensor 23 does not project detection light into the through-hole c of the article (for example, a state in which the detection light is projected in the direction opposite to the above embodiment in the second direction Y). The height of the through hole c with respect to the insertion portion 34 may be determined based on the presence or absence of detection light reflected by the reflection plate 36 received by the photoelectric sensor 23 when the photoelectric sensor 23 is moved up and down.

(6) In the above embodiment, the traveling support 9 is provided with the support roller 11, and the article support 5 is supported by the traveling support 9 so as to be movable in the lateral width direction. A free ball caster or an elastic body that is elastically deformable in the horizontal direction may be provided, and the article support 5 may be supported by the traveling side support portion 9 so as to be movable in the traveling direction and the lateral width direction. Also, the traveling side support portion 9 of the carriage body 4 is divided into an upper portion and a lower portion, and a linear guide is interposed between the lower portion and the upper portion, and the upper portion is moved in the traveling direction and the width direction in the lower portion. The article support 5 can be freely moved in the running direction and the width direction by the running side support portion 9 in a state where the upper part moves together with the article support 5 that is mounted and supported and moves in the running direction and the width direction. You may support.
Moreover, in the said embodiment, although the article support body 5 mounted and supported by the traveling side support part 9 was prevented by restricting rotation of the support roller 11, the traveling side support part 9. The article support 5 is mounted on and supported by the traveling support 9 by engaging the engagement member with the article support 5. You may comprise so that the movement to one or both of a running direction and a horizontal width direction may be controlled. By the way, when the traveling support 9 is divided into an upper part and a lower part, the engaging member provided in one of the upper part and the lower part can be freely engaged with and disengaged from the other of the upper part and the lower part. You may prepare for.

(7) In the above embodiment, the article is the roll body A, but the article may be other things such as a pallet or a container.
Further, when the article is a roll body A, the core a of the roll body A may be protruded on both sides in the axial direction with respect to the sheet material b, and thus the core a is disposed on both sides of the sheet material b. When projecting, the article support 5 may be configured to place and support both ends of the core a.

(8) In the above embodiment, the article transport carriage 1 travels on the floor F with the travel surface as the floor F. However, the article transport carriage 1 travels on the rail with the travel surface as the upper surface of the rail. You may make it do.
As described above, when the article transport cart 1 is configured to travel on the rail, it is conceivable to configure the processing equipment as shown in FIGS. 11 and 12.

The processing facility shown in FIG. 11 will be described. The processing facility includes a storage shelf 46 that stores the roll body A, a stacker crane 47 that transports the roll body A, the article transport carriage 1, the article holding device 2, and Is provided.
The article transport cart 1 includes a first cart portion 1D that travels on the first rail 49 along the first direction X, and a second cart portion 1U that travels on the second rail 50 along the second direction Y. And is composed of. The moving rail portion 50a of the second rail 50 is supported by the first cart portion 1D. FIG. 11 shows a state where the first cart portion 1D is stopped at the standby position and the second cart portion 1U is stopped at the transfer position. In the state where the first cart portion 1D is stopped at the standby position, The moving rail portion 50a of the second rail 50 and the other fixed rail portion 50b are arranged in a line.

  When the roll body A stored in the storage shelf 46 is transported to the article holding device 2, first, the roll body A stored in the storage shelf 46 is taken out by the stacker crane 47 and stopped at the transfer position. Is transported onto the second cart portion 1U. Next, the second cart portion 1U that supports the roll body A travels to the upper side of the drawing in the second direction Y and travels to the first cart portion 1D. Thereafter, the first cart portion 1D that supports the second cart portion 1U travels to the right side of the drawing in the first direction X and travels to the transfer stop position, and rolls from the article transport cart 1 to the article holding device 2 A is delivered. In addition, when storing the roll body A currently hold | maintained at the article | item holding apparatus 2 in the storage shelf 46, it is performed by the reverse movement when conveying the roll body A to the article | item holding apparatus 2. FIG.

When the processing facility shown in FIG. 12 is described, the processing facility includes a storage shelf 46 for storing the roll body A, a stacker crane 47 for transporting the roll body A, the article transporting carriage 1, and the article holding device 2. And are provided. In the storage shelf 46 shown in FIG. 12, the roll body A is stored in a state different from the storage shelf 46 shown in FIG.
The article transport carriage 1 is configured to travel on the travel rail 51 along the first direction X and travel to the transfer position (the position stopped in FIG. 12) and the transfer stop position. .

  When the roll body A stored in the storage shelf 46 is transported to the article holding device 2, the roll body A stored in the storage shelf 46 is taken out by the stacker crane 47 and stopped at the transfer position. It is transported onto the article transport cart 1. The article transport carriage 1 that supports the roll body A travels to the upper side in the first direction X and travels to the transfer stop position, and the roll body A is delivered from the article transport carriage 1 to the article holding device 2. It is. In addition, when storing the roll body A currently hold | maintained at the article | item holding apparatus 2 in the storage shelf 46, it is performed by the reverse movement when conveying the roll body A to the article | item holding apparatus 2. FIG.

(9) In the above embodiment, the article transport carriage 1 and the article holding device 2 are arranged with the vertical center of the insertion portion 34 located at the transfer position and the rotation axis about which the rotating body 33 rotates positioned at the same height. In the state where the vertical center of the insertion portion 34 positioned at the transfer position and the rotation axis about which the rotating body 33 rotates are positioned at different heights, The roll body A may be exchanged with the article holding device 2.
In the above embodiment, the article holding device 2 includes the device base 31, the moving body 32, and the rotating body 33, but instead of the moving body 32, the device base cannot move in the second direction Y. A support may be provided that is erected on the table 31, and instead of the rotating body 33, a support that is connected and fixed to the moving body 32 (or the support) so as not to rotate around the rotation axis along the second direction Y. You may have a body.

(10) In the above embodiment, the article transport carriage 1 performs both reception and delivery of the roll body A with the article holding apparatus 2, but the article transport carriage 1 rolls with the article holding apparatus 2. Only one of reception and delivery of the body A may be performed.

(11) In the above embodiment, in the state where the article support 5 is transferred to the apparatus side support portion 31a, the load of the article support 5 is applied to the apparatus side support portion 31a so that the entire load of the article support 5 is applied to the apparatus side support portion 31a. Although only the side support part 31a is supported, the apparatus side support part 31a supports a part of the load of the article support body 5 in a state where the article support body 5 is transferred to the apparatus side support part 31a. You may provide the auxiliary | assistant support part which supports the remainder of the load of the body 5. FIG. As this auxiliary support part, the cart body 4 or the floor surface F may be used.
When the cart body 4 is used as the auxiliary support portion, the operation of the first elevating drive unit 10 is stopped when the article support body 5 is lowered to the placement height, and the article support by the traveling side support portion 9 of the carriage body 4 is supported. The article support 5 may be supported by the apparatus-side support 31a and the travel-side support 9 in a state where the support of the body 5 is continued and the article support 5 is transferred to the apparatus-side support 31a. .
When the floor surface F is used as the auxiliary support part, the article support 5 and the apparatus side support part 31a are shaped so that the article support 5 is supported by the apparatus side support part 31a. It is formed so as to be in contact with the floor surface F, and the article support body 5 is supported by the apparatus side support section 31a and the floor surface F in a state where the article support body 5 is transferred to the apparatus side support section 31a. Good.

(12) In the above embodiment, the device-side support 31a is configured by a part of the device base 31, but the device-side support 31a is provided on the floor surface F in a state of being separated from the device-side support 31a. May be. That is, the device-side support portion 31a provided in the external device may be configured integrally with other parts of the external device, or may be configured separately from other parts of the external device.
In addition, the movable body 32 includes the first guide portion 38a, and the apparatus base 31 includes the second guide portion 38b. However, one or both of the first guide portion 38a and the second guide portion 38b are moved to the movable body. You may provide on the floor surface F in the state isolate | separated from 32. FIG. That is, the positioning unit 38 provided in the external device may be configured integrally with other parts of the external device, or may be configured separately from the other parts of the external device.

(13) In the above-described embodiment, the first guide portion 38a is configured by a plurality of guide rolls arranged in parallel in the first direction X. However, the first guide portion 38a has a cross-sectional shape such as a circular shape or a triangular shape. You may comprise by the rod-shaped body extended in the 1 direction X, and the member provided with the perpendicular | vertical surface extended in the 1st direction X.

(14) In the above embodiment, the cart body 4 and the article support 5 are connected by a power supply line or a communication line. However, the cart body 4 and the article support 5 are not connected by a power supply line, and the article support is performed. The body 5 may be provided with a battery, and the cart body 4 and the article support body 5 are connected to the cart body 4 and the article support body 5 by wireless communication without connecting the cart body 4 and the article support body 5 with a communication line. You may do it.

1 goods transport cart 2 goods holding device (external device)
4 bogie body 5 article support 10 first elevating drive unit (elevating device)
17 Base 18 Lifting Support Unit 19 Second Lifting Drive Unit (Supporting Lifting Drive Unit)
23 Photoelectric sensor (detector)
24 3rd raising / lowering drive part (detection raising / lowering drive part)
31a Apparatus side support part 34 Insertion part 35 Insertion part drive part 36 Reflector plate 38 Positioning part A Article c Through-hole F Floor surface (travel surface)
H Control device (delivery control unit, receipt control unit, load detection unit)
X First direction (travel direction)
Y 2nd direction (width direction)

Claims (6)

A carriage main body that travels on a traveling surface; and an article support that is supported by the carriage main body and supports an article; and the external apparatus in a state where the carriage main body is stopped at a preset transfer stop position. An article transport cart that receives or delivers articles between
A lifting device that lifts and lowers the article support relative to the cart body;
The external device includes a device-side support unit that supports the article support,
The lifting device is configured to transfer the article support to the apparatus-side support by raising and lowering the article support in a state where the cart body is stopped at the transfer stop position.
The external device includes a positioning unit that moves the article support in a horizontal direction to position the article support in a transfer support position that is preset in the horizontal direction with respect to the external device ,
The elevating device raises and lowers the article support body at a traveling height when the cart body is traveled and moved and a lowering height lower than the traveling height, and the cart body stops at the transfer stop position. By lowering the article support in a state, the device-side support portion is received and supported by the device-side support portion of the external device at a placement height between the traveling height and the descending height. And is configured to deliver the article support to the device side support,
The cart body is movably supported in a lateral direction perpendicular to the travel direction in plan view, with the direction when the cart body travels toward the transfer stop position as the travel direction. Support the body,
As the positioning unit, when the carriage main body travels to the transfer stop position, the article support contacts the article support placed and supported on the carriage main body and moves the article support in the lateral width direction. When the article support is moved down to the placement height in a state where movement of the article support in the lateral width direction is restricted by the first guide and the first guide, the article support An article transporting carriage provided with a second guide portion that contacts and moves the article support in the traveling direction . As the first guide portion, the the transfer for one one side disposed on a side of the first guide portion of the lateral width direction with respect to the carriage main body traveling to the stop position, the installation has been the other side on the other side There is a first guide portion on one side of said gap between said first guide portion of the first guide portion and the other side, the article transport vehicle according to claim 1, wherein which is narrower toward the transfer for the stop position side . The article support is configured to support a columnar or cylindrical article in a sideways posture,
The article support includes a base part supported by the apparatus-side support part, a lifting support part for placing and supporting the outer peripheral surface of the article, and a lifting / lowering drive for the support part that moves the lifting support part up and down relative to the base part. claim 1 or 2 article transport vehicle according comprises a section, a. The cylindrical article includes a through-hole penetrating along the axial direction,
The external device includes an insertion portion that supports an article while being inserted into the through hole, an insertion position where the insertion portion is inserted into the through hole, and an extraction portion where the insertion portion is extracted from the through hole. An insertion portion drive unit that moves the insertion unit along the axial direction at a position, and a reflector that is mounted on the insertion unit and reflects detection light.
A detection unit that projects the detection light onto the article support along the axial direction and receives the detection light that has passed through the through hole, and a detection elevating drive that moves the detection unit up and down. And,
A delivery control unit for controlling the operation of the support drive unit and the detection drive unit;
The delivery control unit includes the detection raising / lowering driving unit and the support raising / lowering driving unit in a state where the article support is supported by the device-side support and the article is supported by the article support. A hole for determining the height of the through hole based on the presence or absence of the detection light received by the detection unit when the detection unit is moved up and down relative to the article by operating one or both of the Position
In another state, the detection unit is projecting the detection light into the through-hole of the article supported by the apparatus-side support and supported by the article support, When the detection raising / lowering drive unit and the support raising / lowering drive unit are operated to move the detection unit and the article support integrally up and down, the detection unit reflects the reflected light by the reflection plate. The article conveying carriage according to claim 3 , wherein the article conveying carriage is configured to execute a relative height determination process for determining a height of the through hole with respect to the insertion portion based on presence or absence of the detection light . A load detection unit for detecting a load acting on the elevating support unit;
A receiving control unit for controlling the operation of the lifting drive unit for the support unit,
The receiving control unit is configured to support the lifting under the article supported by the external device in a state where the article support is placed on the device-side support unit and the article is supported by the external device. When the load is detected by the load detection unit, the support unit is stopped in order to stop the movement of the lift support unit when the load detected by the load detection unit exceeds a preset value. The article transport cart according to claim 3 or 4 configured to control the operation of the part lifting drive unit . A carriage main body that travels on a traveling surface; and an article support that is supported by the carriage main body and supports an article; and the external apparatus in a state where the carriage main body is stopped at a preset transfer stop position. An article transport cart that receives or delivers articles between
A lifting device that lifts and lowers the article support relative to the cart body;
The external device includes a device-side support unit that supports the article support,
The lifting device is configured to transfer the article support to the apparatus-side support by raising and lowering the article support in a state where the cart body is stopped at the transfer stop position.
The external device includes a positioning unit that moves the article support in a horizontal direction to position the article support in a transfer support position that is preset in the horizontal direction with respect to the external device,
The article support is configured to support a columnar or cylindrical article in a sideways posture,
The article support includes a base part supported by the apparatus-side support part, a lifting support part for placing and supporting the outer peripheral surface of the article, and a lifting / lowering drive for the support part that moves the lifting support part up and down relative to the base part. And comprising
The cylindrical article includes a through-hole penetrating along the axial direction,
The external device includes an insertion portion that supports an article while being inserted into the through hole, an insertion position where the insertion portion is inserted into the through hole, and an extraction portion where the insertion portion is extracted from the through hole. An insertion portion drive unit that moves the insertion unit along the axial direction at a position, and a reflector that is mounted on the insertion unit and reflects detection light.
A detection unit that projects the detection light onto the article support along the axial direction and receives the detection light that has passed through the through hole, and a detection elevating drive that moves the detection unit up and down. And,
A delivery control unit for controlling the operation of the support drive unit and the detection drive unit;
The delivery control unit includes the detection raising / lowering driving unit and the support raising / lowering driving unit in a state where the article support is supported by the device-side support and the article is supported by the article support. A hole for determining the height of the through hole based on the presence or absence of the detection light received by the detection unit when the detection unit is moved up and down relative to the article by operating one or both of the In a state in which the detection unit is projecting the detection light into the through-hole of an article supported by the apparatus-side support unit and supported by the article support unit, in the position determination process. Reflecting by the reflection plate received by the detection unit when the detection unit and the article support are moved up and down integrally by operating the detection drive unit and the support drive unit Based on the presence or absence of the detected light. The article transport vehicle that is configured to perform a relative height determination process for determining the height of the through holes.

Images