KR101453230B1 - Roll body conveying device - Google Patents

Abstract

The roll transporting unmanned return carriage 100 is provided with a mounting table 102 which is in contact with a body portion of a roll supported in the air by a turret in a vertical direction from below, a load (load) for detecting a load applied to the mounting table 102 And a load adjusting unit for adjusting a force to push the table 102 against the roll based on the load detected by the load detecting unit. The load adjusting section adjusts the force that the mount table 102 pushes the roll body so that the load detected by the load detecting section approaches the weight of the roll body.

Description

[0001] The present invention relates to a roll body conveying device,

The present invention relates to a device for transporting a roll body.

The roll body is formed by winding a belt-like or sheet-like material around the core. The material is, for example, a film or a paper. The film has many uses such as being used for the production of liquid crystals and batteries, or for packaging food. In the production process of such a film or paper, first a long film or paper is formed in a roll shape. In many factories handling this roll, a tracked or trackless unmanned conveyance truck (see, for example, Patent Document 1 (Japanese Patent Application Laid-Open ) Has been used. The bogie receives the roll from the storage place of the roll, for example, and brings it into the turret of the producing machine.

Japanese Patent Application Laid-Open No. 2008-222109

When the truck receives the roll from the turret, the position of the mount of the roll is usually positioned at a predetermined receiving position by using a lifter of a truck. Thereafter, a process of separating the roll body from the turret side is performed.

However, in such position control, there are many cases that the receipt is not performed smoothly due to the deviation of the stop position of the turret or the deviation of the stop position of the bogie. Particularly, if the roll body to be received is shifted in the vertical direction from the roll body, the roll body is in a state of "dropping", and the impact is applied to the roll body.

In the conveying of the roll body, there are a body supporting conveying for supporting and conveying the body of the roll body and a core supporting conveying for supporting and conveying the core of the roll body. In the core supporting conveying, Is limited. However, in the body supporting / conveying, since the impact is directly applied to the body portion, there is a possibility that the material is damaged.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide a roll body transporting apparatus capable of smoothly receiving a roll body.

One aspect of the present invention relates to a roll transporting apparatus. The roll-body conveying apparatus includes a loading base which is in contact with a body portion of a rolled body supported in the air by a roll supporting device in a vertical direction from below, a load detecting portion that detects a load applied to the loading base, And a load adjusting section for adjusting a force for pushing the placement roll to the roll based on the load detected by the load detection section.

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

Another aspect of the present invention is also a roll body transportation device. This apparatus includes a loading table which is in contact with the body of the rolled body supported in the air by the roll supporting device in the vertical direction with respect to the vertical direction from the lower side and a load detector which detects a load applied to the loading table, And a load adjusting section for stopping the control for increasing the load when the load detected by the load detecting section becomes substantially unchanged.

Still another aspect of the present invention relates to a roll-body transporting apparatus. This roll-body conveying apparatus comprises a detection unit for detecting a position of a placement table for a device on which a roll body is to be placed and a device for transferring a rolled body between the roll body conveying apparatus and the roll- Moving means for moving the table in a non-vertical direction based on the detection result by the detecting means when the main body of the apparatus is stopped for the transfer of the rolled body, And rotating means for rotating the table based on the detection result by the detecting means when the apparatus is stopped for the purpose of stopping the apparatus.

According to this aspect, it is possible to adjust the position of the mounting table when the main body of the roll-body transporting apparatus is stopped for receiving the roll body.

It is to be understood that any combination of the above elements or the elements and expressions of the present invention may be interchanged between apparatuses, methods, systems, computer programs, recording media storing computer programs, etc., Valid.

According to the present invention, the receiving of the roll can be performed more smoothly.

In Fig. 1, (a) and (b) of Fig. 1 are schematic diagrams for explaining a roll body to be transported.
2 is a perspective view of the turret on the production machine side.
3, (a) to (d) of FIG. 3 are schematic diagrams showing a roll carrier unmanned transport vehicle according to the first embodiment.
Fig. 4 is a block diagram showing the function and configuration of the control section of the unmanned conveyance vehicle for raft transport shown in Fig. 3 (b).
5 (a) to 5 (c) are explanatory diagrams for explaining load control when the roll-body unmanned conveying vehicle of FIG. 3 (b) receives a roll from the turret.
6, (a) to (c) of FIG. 6 are explanatory diagrams for explaining another load control when the roll-body unmanned conveying vehicle of FIG. 3 (b) receives a roll from the turret.
7 (a) and 7 (b) are schematic diagrams showing a state in which the roll-body unmanned conveying vehicle shown in Fig. 3 (b) receives a roll from the production machine.
8 is an explanatory view for explaining the movement of the inclined rail and the contact portion when the placement table in Fig. 3 (b) rotates around the cross roller.
In Fig. 9, (a) and (b) of Fig. 9 are schematic diagrams for explaining a roll body to be transported.
10, (a) to (d) of FIG. 10 are schematic views showing a roll-body unmanned conveyance vehicle according to the second embodiment.
In Fig. 11, Figs. 11A and 11B are schematic diagrams showing a state in which the roll-body unmanned conveying vehicle receives a roll from the producing machine.
12 is an explanatory view for explaining the movement of the inclined rail and the contact portion when the mounting table rotates around the cross roller.

Hereinafter, the same or equivalent components or members shown in the drawings are denoted by the same reference numerals, and redundant explanations thereof are omitted. The dimensions of the members in the drawings are appropriately enlarged and reduced in order to facilitate understanding. In the drawings, some of the members which are not important in explaining the embodiments are omitted.

(First Embodiment)

1 (a) and 1 (b) are schematic diagrams for explaining the roll body 2 to be transported. Fig. 1 (a) is a perspective view of the roll body 2. Fig. The roll body (2) is formed by winding a belt-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) at the radial center, which extends along the winding axis (M). The core (6) becomes the base when the material (4) is wound.

Fig. 1 (b) is a side view showing the roll body 2 mounted on the mounting table 102 of the automatic guided vehicle for carrying the roll body according to the first embodiment. The roll body 2 is placed on the mounting table 102 by contacting its outer circumferential surface 2a, that is, the body portion, to the mounting table 102. The mounting table 102 has a V-shaped cross section so that the roll body 2 is not rolled during transportation.

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, in contact with the bottom 26 of the factory. The turret 20 includes a frame 22 erected on the floor 26 of the factory and a turret arm 24 rotatably supported about a first rotation axis J parallel to the horizontal plane by the frame 22, .

A pair of chucks (not shown in Fig. 2) capable of advancing and retreating in the direction of the first rotation axis J of the turret arm 24 are provided at one end 24a of the turret arm 24. [ The same pair of chucks is also provided at the other end 24b of the turret arm 24. [

The pair of chucks provided on the turret arm 24 are arranged between a plurality of stop positions including a delivery stop position for carrying out the delivery of the roll body 2 to and from the idle transport vehicle for carrying the roll body according to the present embodiment Move. The turret 20 realizes movement between the stop positions by rotating the turret arm 24 using a motor (not shown). However, the stop position for receiving the supply of the roll from the roll transport unmanned transport vehicle may be different from the stop position for delivering the roll to the roll transport unmanned transport vehicle.

The automatic guided vehicle for AGV according to the present embodiment is an AGV (Automatic Guided Vehicle) that moves in a factory in a non-orbital manner and supports the roll body 2 as a body part and carries the roll body 2 to the turret 20 of the production machine , And the roll body 2 is taken out from the turret 20 of the production machine.

In the present embodiment, the case of carrying and supporting the body will be described. Since the body-supporting and conveying, the roll-body transporting unmanned conveying car according to the present embodiment has a mounting table 102 for supporting the body portion of the roll body 2. [ The size of the mounting table 102 needs to be sufficient to support the body portion of the roll body 2.

In the idler carriage for carrying the roll body according to the present embodiment, the table 102 is supported by two support portions at two places, and the table 102 is moved by the movement of the two support portions. Since the movement of one of the support portions may affect the movement of the other support portion through the mount table 102, the unladen carriage for the roll body transport according to the present embodiment has a configuration considering this. On the other hand, in the core support conveyance, the two arms for supporting the core can basically be independently controlled. Therefore, it is understood by those skilled in the art that the control technique of the mount stand and the support portion in this embodiment is different from the control technique of the arm in the core support conveyance.

The roll-body transporting unmanned conveying car according to the present embodiment carries out load control based on the load applied to the placement table 102 when the roll body 2 is received from the turret 20. As a result, the roll body 2 can be smoothly received.

Figs. 3 (a) to 3 (d) are schematic diagrams showing the roll transporting unmanned transport vehicle 100 according to the present embodiment. The roll transporting unmanned return carriage 100 is provided with a mounting table 102, a mounting stand support means, a first position detector 138, a second position detector 140, a first support portion 124, A second y-direction driving unit 150, a second y-direction driving unit 160, an x-direction moving mounting slide 162, and a main body 168. [

The main body 168 includes a lifter 164, a carriage 166, and a control unit 50.

Hereinafter, x-direction, y-direction, and z-direction orthogonal to each other will be described. z direction is set as the direction of gravity applied to the roll body when the roll body is placed in the vertical direction, that is, on the table 102. The x-direction and the y-direction are directions that intersect the non-vertical direction, that is, the vertical direction, and are particularly perpendicular 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.

3 (a) is a top view of the roll transporting unmanned transport vehicle 100.

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 2 mounted on the mounting table 102.

The table supporting 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, a third load cell 132, a fourth load cell 123, a pedestal frame 104, a slope rail 126, and a pole supporting unit 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 pedestal frame 104 and the four corners of the pedestal 102 The second guide hole 108, the third guide hole 110, and the fourth guide hole 112 formed in the first guide hole 106, the first guide hole 106, the second guide hole 108, the third guide hole 110, The pedestal frame 104 is fixed to the main body 168 at least while the main body 168 of the idler truck 100 for moving the roll body is moving. The mounting table 102 is positioned in the horizontal plane with respect to the roll carrier for automatic guided vehicle 100 by loosely fitting the guide pin into the guide hole.

Each load cell is fixed to the pedestal frame 104 and supports the pedestal 102 at its four corners. The first load cell 122 and the second load cell 130 are installed along a long side of one side of the table 102. The third load cell 132 and the fourth load cell 123 are installed along the other long side of the placement 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 on the mounting table 102 in a plan view, And is arranged so as to sandwich the winding axis M therebetween.

The width of the mounting table 102 in the short side direction becomes relatively large in the case of the body supporting and conveying as compared with the case of the core supporting and conveying. Therefore, by arranging the plurality of load cells so that the winding axis M of the roll body 2 is interposed therebetween, the roll body 2 can be supported in a more balanced manner. Further, by arranging a plurality of load cells on each side of the long side of one side and the long side of the other side of the mounting table 102, balance can be further strengthened.

The inclined rail 126 and the pole supporting portion 134 are fixed to the lower surface of the pedestal frame 104. The inclined rail 126 is a rail extending in the y direction. The pole supporting portion 134 is a cup-shaped member opened downward.

Fig. 3 (b) is a side view of the roll transporting unmanned transport vehicle 100. Fig.

The first position detector 138 and the second position detector 140 are mounted at one end and the other end in the x direction of the pedestal frame 104 to detect the position and direction of the mount table 102 with respect to the turret 20, . The direction of the mounting table 102 may be the direction of the normal when the mounting table 102 is viewed from a substantially flat surface. The first position detector 138 and the second position detector 140 transmit the detection result of the position and the direction to the control unit 50.

The first support portion 124 and the second support portion rotatably support the pedestal frame 104 by rotatably supporting the pedestal frame 104 at mutually different positions. The first support portion 124 includes a rotation pin 146 and a cross roller 148.

The rotation pin 146 is a pin whose one end is attached to a member on the pedestal frame 104 side and the other end is attached to a member on the cross roller 148 side. The rotation pin 146 becomes the center of rotation when the mounting table 102 is rotated about the second rotation axis orthogonal to the z direction, that is, when the mounting table 102 is inclined with respect to the horizontal plane.

The cross roller 148 rotatably supports the rotation pin 146 around the third rotation axis along the z direction. The cross roller 148 serves as a center of rotation of the mounting table 102 when the table 102 rotates around the third rotational shaft.

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 driving part 160 moves the second supporting part in the y-direction with respect to the main body 168. The first y-direction driving unit 150 and the second y-direction driving unit 160 are both fixed to the upper surface of the x-direction moving mounting slide 162.

When the first y-direction driving part 150 and the second y-direction driving part 160 move the corresponding supporting parts with the same displacement, the mounting table 102 is linearly moved in the y-direction. When the first y-direction driving part 150 and the second y-direction driving part 160 move the corresponding supporting parts with different displacements, the movement of the mounting table 102 causes the rotation component about the cross roller 148, In some cases, it has a linear motion component along the y direction.

The second support portion includes a tilt adjustment portion 152, a pawl 136, and an arc retraction slide 158. The second support portion is provided so as to allow the contact position of the second support portion and the inclined rail 126 to move in the x direction when the mount table 102 is rotated about the cross roller 148, .

The inclination adjuster 152 has a contact portion 128 in contact with the inclined rail 126. The inclination adjusting section 152 slides the contact section 128 with respect to the inclined rail 126 based on the control signal from the control section 50. [ The inclination adjuster 152 is composed of a linear guide, a motor, a ball screw, or the like.

One end of the pawl 136 is mounted on the arc retract slide 158 and the other end is inserted into the inside of the pawl support 134. The pawl 136 pushes the pawl support 134 in the y direction so that when the first y-direction drive 150 and the second y-direction drive 160 move the corresponding support with different displacements, Rotates about the cross roller 148 as a center. At this time, the pole supporting portion 134 moves in the x direction, and the pawl 136 also moves in the x direction as the pole supporting portion 134 moves. As a result, the arc retraction slide 158 also follows and moves in the x direction.

The arc retraction slide 158 is constituted by a linear guide or the like so that the contact portion 128 of the inclination adjusting portion 152 can be moved in the x direction in accordance with the movement of the pawl 136 in the x direction.

the x direction moving mounting slide 162 moves the first support portion 124 and the second support portion in the x direction relative to the main body 168 based on the control signal from the control portion 50, . The x-direction moving mounting slide 162 is fixed to the upper surface of the lifter 164.

The lifter 164 is a pantograph type electric lifter, and moves the mount table 102 in the z direction by moving the x-direction moving mount slide 162 up and down.

The bogie portion 166 includes a driven wheel 170 and a drive wheel 172, and mounts the lifter 164. The bogie portion 166 moves the roll-body transporting unmanned conveyance vehicle 100 in the factory.

3 (c) is a schematic view showing a state in which the sliding contact of the contact portion 128 with respect to the slant rail 126 is viewed from the direction indicated by the arrow B in Fig. 3 (b). The lower surface of the inclined rail 126 is inclined along the direction in which the inclined rail 126 extends. The movement of the oblique rail 126 in the y direction with respect to the arc retraction slide 158 is restricted by the arc retraction slide 158, the pawl 136 and the pole supporting portion 134, When the slope rail 126 is moved in the extending direction by the adjustment portion 152, the contact portion 128 slides on the slope rail 126. Then, the base frame 104 rotates about the rotation pin 146 by the inclination of the slope rail 126, so that the base 102 rotates about the rotation pin 146, .

3 (d) is a sectional view taken along the line A-A in Fig. 3 (a). In Fig. 3 (d), the mounting table 102 and the mounting table support means are shown, and the other members are not shown. The third guide pin 118 is loosely fitted in the fourth guide hole 112. The same is true for the fourth guide pin 120.

4 is a block diagram showing the functions and configuration of the control unit 50 of the roll-on unmanned carry-on truck 100 according to the present embodiment. Each of the blocks shown here can be realized by a hardware or a device including a CPU of a computer or a mechanical device and is implemented by a computer program in software or the like. have. Accordingly, it will be understood by those skilled in the art that these functional blocks are realized in various forms by a combination of hardware and software.

The control unit 50 includes an interface unit 52, a main body stop unit 54, a precharge control unit 56, a mount standup unit 58, a total load control unit 60, And a control unit 62. The interface unit 52 transmits and receives signals to and from the respective members of the roll carrier for automatic guided vehicle 100. The interface unit 52 also acquires information representing the weight of the roll body 2 to be received from the outside by radio communication means such as optical communication.

The main body 168 of the roll transporting unmanned transport vehicle 100 is installed on the turret arm 24 when the roll transporting unmanned transport vehicle 100 carries out the roll body 2 with the turret 20. [ And stops at a predetermined body stop position on the lower side in the vertical direction of the feed stop positions of the pair of chucks. The main body stopper 54 controls the main stopper 166 so that the main body 168 stops at the main body stop position. The main body stopper 54 outputs a control signal for stopping the bogie 166 to the interface unit 52 to the bogie unit 166 when it is detected that the main body 168 is brought to the main body stop position by a sensor Lt; / RTI >

When the main body 168 stops at the main body stop position, the ascending prefix adjusting unit 56 acquires information transmitted from the first position detector 138 and the second position detector 140 via the interface unit 52 do. The information thus acquired includes the detection result of the position and the direction of the table 102 with respect to the turret 20. The preliminary ascertainment controlling unit 56 controls the first y-direction driving unit 150, the second y-direction driving unit 160, the x-direction moving mounting slide 160, (162), and the inclination adjusting unit (152). The ascending prefix adjusting unit 56 sets the amount of displacement to each of the first y-direction driving unit 150, the second y-direction driving unit 160, the x-direction moving mounting slide 162 and the tilt adjusting unit 152 Via the interface unit 52. The control unit 52 is a control unit that controls the operation of the control unit.

The lifting and lowering portion 58 controls the lifter 164 to lift the loading table 102 after adjusting the position and direction of the loading table 102 by the pre- The mount table lifting section 58 transmits, via the interface section 52, a control signal for designating the lifting amount to the lifter 164, for example. The same is true for the descent of the mounting table 102.

5A to 5C are explanatory diagrams for explaining load control when the roll body conveyance unmanned conveyance vehicle 100 receives the roll body 2 from the turret 20. Fig. Hereinafter, the total load control unit 60 and the partial load control unit 62 will be described with reference to FIGS. 4 and 5 (a) to 5 (c).

5A is a view showing a state in which the roll body conveyance unmanned conveyance vehicle 100 is moved in the direction of the arrow A in order to receive the roll body 2 supported in the air by the pair of chucks 28a and 28b mounted on the turret arm 24 Is a front view showing a state in which the empty mount table 102 is being raised. One of the chucks 28a enters one end 8a of the hollow portion of the roll body 2 and the other chuck 28b enters the other end 8b of the hollow portion of the roll body 2. [ Whereby 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 stop position.

The lifter 164, which receives the control signal from the standup table lifting unit 58, raises the empty table 102 toward the roll body 2. [ The mounting table 102 is in contact with the body of the roll body 2 from below in the vertical direction.

5 (b) is a front view showing a state after the mounting table 102 has contacted the roll body 2. Fig. The force in the vertical direction acting on the roll body 2 is the sum of the gravity F 1 of the roll 2 and the force F 2 exerted from the mount table 102 and the force F 3 And the force F4 exerted from the other chuck 28b. These forces are balanced as long as the roll body 2 does not move in the vertical direction. That is, the sum of the forces in the vertical direction (F1 + F2 + F3 + F4) acting on the roll 2 is zero.

The force in the vertical direction acting on the mounting table 102 is determined by the weight F5 of the mounting table 102 and the load F5 applied to the mounting table 102 A force F7 applied from the first load cell 122 and the fourth load cell 123 and a force F8 applied from the second load cell 130 and the third load cell 132. [ These forces are balanced as long as the mounting table 102 does not move in the vertical direction. That is, the sum of the forces in the vertical direction (F5 + F6 + F7 + F8) acting on the mounting table 102 is zero.

The total load controller 60 transmits 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 to the interface unit (52). The total 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 sum of the loads applied to the four load cells F7 + . In the present embodiment, the first load cell 122, the second load cell 130, the third load cell 132, the fourth load cell 123, (102) constitutes a load detecting section that detects a load applied to the mounting table (102).

However, from the law of action reaction, F2 and F6 have the same size and opposite direction. Therefore, the load calculated by the total load control unit 60 is equivalent to the force that the mounting table 102 pushes the roll body 2 in the vertical direction.

The total load control unit 60 controls the lifter 164 such that the calculated load F6 approaches the weight F1 of the roll 2 received. When the load F6 is smaller than the weight F1, the total load control unit 60 transmits a control signal to the lifter 164 to make the driving force for raising the mounting table 102 stronger. As a result, the force F2, i.e., the load F6, which the mounting table 102 pushes the roll body 2 in the vertical direction increases, and the load F6 approaches the weight F1. The opposite is true. Therefore, in the present embodiment, the total load control unit 60 and the lifter 164 are arranged so that the load base 102 is displaced by a force F2 pushing the roll body 2 in the vertical direction based on the load detected by the load detection unit, A load adjusting unit for adjusting the load.

The partial load control unit 62 controls the inclination of the placement table 102 so that the load applied to the placement table 102 is uniform along the winding axis M of the roll body 2. [ The partial load control unit 62 calculates the sum of the load applied to the first load cell 122 and the load applied to the fourth load cell 123 (= F7). 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 disposed at the end 8a side of the hollow portion (hereinafter referred to as the left side), the value obtained by subtraction is the load applied to the left side of the placement table 102 (F9) (not shown).

The partial load control unit 62 calculates the sum of the load applied to the second load cell 130 and the load applied to the third load cell 132 (= F8). 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 disposed at the other end 8b side (hereinafter referred to as the right side) of the hollow portion, the value obtained by subtraction is smaller than the load applied to the right side of the placement table 102 (F10) (not shown).

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 when the rod body 2 is not placed on the mounting table 102 The sum of the losing load and the load applied to the third load cell 132 may be determined and the coefficient X1 and the coefficient X2 may be determined based on the sum of these loads.

The partial load control unit 62 controls the partial load control unit 62 such that the ratio of the load F9 applied to the left side of the mounting table 102 to the load F10 applied to the right side is a predetermined ratio depending on the arrangement of the four load cells, Adjust the slope of the stand 102. The partial load control unit 62 adjusts the inclination of the placement table 102 by transmitting a control signal for designating the amount of displacement of the contact unit 128 to the inclination adjustment unit 152. [ The load F9 applied to the left side of the mounting table 102 increases and the load F10 applied to the right side increases as compared with the left side of the mounting table 102 as a result of the displacement of the contact portion 128. [ Lt; / RTI > The opposite is true.

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

FIG. 5C is a front view showing a state when a pair of chucks 28a and 28b are pulled out. The control unit 50 determines that the load detected by the load detecting unit falls within a predetermined error range set on the basis of the weight of the roll body 2 and the load F9 applied to the left side of the mounting table 102 and the load (Not shown) of the pair of chucks 28a and 28b, via the interface part 52, a control signal for permitting the chuck to be drawn out, when the ratio of the load F10 applied to the chucks 28a and 28b is sufficiently close to a predetermined ratio . Upon receiving the control signal, the driving unit draws a pair of chucks 28a and 28b 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 obtained in advance and the target value is set as a target value, the total load control section 60 has another mode in which it is not necessary to previously acquire the weight of the roll body 2. [ In this other mode, the timing of drawing out the pair of chucks 28a, 28b from the mode of change of the load applied to the mounting table 102 is determined.

6A to 6C are explanatory diagrams for explaining another load control when the roll body transfer unmanned carrying truck 100 receives the roll body 2 from the turret 20. Fig. 6A is a side view showing a state in which the roll body 2 for unloading the roll body 100 is opened to receive the roll body 2 supported in the air by the pair of chucks 28a, 28b of the turret arm 24. [ Fig. 10 is a side view showing a state in which the mounting table 102 is raised. Fig. Here, it is assumed that the pair of chucks 28a, 28b support the roll body 2 with sufficient clearance in the vertical direction. The diameter D1 of the hollow portion 8 is larger than the outer diameter D2 of one of the chucks 28a and the core 6 is suspended on the pair of chucks 28a and 28b. In other words, the core 6 is only held on the pair of chucks 28a, 28b, and is not fixed to the pair of chucks 28a, 28b. Therefore, the roll body 2 can swing around the pair of chucks 28a, 28b.

For example, when the pair of chucks 28a and 28b close the tip end (claw) to release the fixing of the core 6, the state is as shown in Fig. 6 (a).

The lifter 164, which receives the control signal from the standup table lifting unit 58, raises the empty table 102 toward the roll body 2. [ The mounting table 102 is in contact with the body of the roll body 2 from below in the vertical direction.

6 (b) is a side view showing a state in which the mounting table 102 is balanced between the force of pushing the roll body 2 and the weight of the roll body 2. Fig. The force by which the mounting table 102 pushes the roll body 2 increases due to the action of the lifter 164 after the mounting table 102 contacts the body portion of the roll body 2. [ And ideally, when the magnitude of the force becomes equal to the weight of the roll body 2, the core 6 is separated from the pair of chucks 28a, 28b and starts rising. When the core 6, that is, the roll 2 is raised sufficiently slowly, the load applied to the mounting table 102 becomes constant during the rise.

6C is a side view showing a state in which the mounting table 102 rises and the lower portion of the core 6 is in contact with the pair of chucks 28a and 28b. When the lower portion of the core 6 contacts the pair of chucks 28a, 28b, the rise of the roll body 2 is stopped. When the lifter 164 is further controlled to raise the mount table 102 from this position, the load applied to the mount table 102 increases beyond the weight of the roll body 2. [

The total load control unit 60 controls the lifter 164 to increase the force pressing the table 2 against the table 2 when the table 102 comes into contact with the body of the rolled body 2. [ The total load control unit 60 monitors the load detected by the load detection unit and stops the control to increase the force at a time point at which the load increased with the lapse of time does not substantially change. Then, as shown in Fig. 6 (b), the contact force of the core 6 is small even when the core 6 is not in contact with or contacted with the pair of chucks 28a and 28b. Therefore, the pair of chucks 28a, 28b can be drawn more smoothly.

The operation of the automatic guided vehicle 100 for carrying the roll body constructed as described above will be described.

The roll transporting unmanned return carriage 100 is once stopped when it is moved to the turret 20 of the production machine in which the roll body 2 is carried out with the roll transport body. The roll body transporting automatic guided vehicle 100 is moved from the mount table 102 to the mount position on the basis of the position detection signal from the first position detector 138 and the second position detector 140, Adjust the position and direction of the lens as necessary.

The roll transporting unmanned transport vehicle 100 then lifts the pallet 102 in the vertical direction by the lifter 164 to transport the roll body 2. In particular, when the roll body 2 is received, load control is performed.

Figs. 7A and 7B are schematic diagrams showing a state in which the roll-body transporting unmanned conveyance vehicle 100 receives the roll body 176 from the producing machine 174. Fig. Fig. 7A is a top view of the production machine 174 and the roll transporting unmanned transport vehicle 100, and Fig. 7B is a side view.

In this case, the cutout amount L in which the roll transporting unmanned transporting carriage 100 can infiltrate is not sufficient in the production machine 174, so that even when the roll transporting unmanned transporting carriage 100 intrudes the maximum amount The position in the y direction of the center R1 of the main body 168 of the roll transporting unmanned carrying truck 100 does not reach the position in the y direction of the center R2 of the roll body 176 mounted on the producing machine 174. [

When the roll transporting unmanned return carriage 100 reaches the production machine 174 as much as possible and stops, the driving unit 178 including the first y-direction driving unit 150 and the second y- The support portion 180 supporting the base 102 is moved to the side of the producer. In this way, the center of the table 102 is aligned with the center R2 of the roll 176 mounted on the production machine 174. The lifting base 102 is lifted by the lifter 164 included in the driving unit 178 to receive the roll body 176 from the producing machine 174. [

8 is an explanatory view 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. As shown in Fig. Rotation of the mounting table 102 about the cross roller 148 occurs when the first support portion 124 and the second support portion are moved in the y direction at different displacements. 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 portion does not have a clearance in the x direction, the contact portion 128 can be moved to the position 182 indicated by the broken line circle in Fig. 8 and can be released from the inclined rail 126 after rotation. However, in the present embodiment, the second supporting portion has a clearance in the x direction, so that even if the position where the contact portion 128 should be present is shifted in the x direction according to the rotation of the mounting table 102, the displacement can be absorbed. That is, following the rotation of the mounting table 102, the contact portion 128 is also moved in the x direction. As a result, the positional relationship between the inclined rail 126 and the contact portion 128 is substantially maintained before and after the rotation.

When the roll body 2 is received from the turret 20 in the body supporting and conveying operation, the load-carrying control based on the load applied to the mounting table 102 Is performed. Therefore, it is possible to reduce the probability of failure of receipt of the roll 2, for example, as compared with the case of receipt by the absolute position.

In the automotive idler truck 100 for carrying the roll body according to the present embodiment, the load is controlled such that the load applied to the mounting table 102 becomes close to the weight of the object 2 to be received. Then, when they are close enough, the roll body 2 is delivered from the turret 20 to the roll-to-roll unmanned conveying vehicle 100. When the chuck of the turret 20 is detached from the roll body 2, the entire weight of the roll body 2 is applied to the placement table 102. At this time, a shock due to a difference between the load applied to the mounting table 102 and the weight of the roll body 2 is applied to the body of the roll body 2 before the chuck is separated. In this embodiment, since the difference is smaller, the impact applied to the body portion of the roll body 2 can be reduced. As a result, it is possible to reduce the possibility that the material 4 is damaged by the impact at the time of receiving.

If the contact force between the core 6 and the chuck when separating the chuck from the roll body 2 is relatively large, there is a possibility that the core 6, that is, the roll body 2 is pulled out in the chuck out direction. Therefore, in this embodiment, the difference between the load applied to the mounting table 102 and the weight of the roll body 2 is reduced before the chuck is removed. 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.

A relatively large force may be applied to the chuck even if the load applied to the mounting table 102 and the weight of the roll body 2 are balanced. This is the case, for example, when the winding axis of the roll body is inclined with respect to the chuck shaft. If the chuck is pulled out in such a state, there is a possibility that a shock or drag may occur. Therefore, in the roll transporting unmanned carrying truck 100 according to the present embodiment, each of the pair of chucks 28a, 28b balances the force of supporting the roll body 2. [ Thereby, when the load applied to the mounting table 102 and the weight of the roll 2 form a quasi-shape, the load applied to each of the pair of chucks 28a, 28b can be reduced. As a result, it is possible to reduce the possibility of occurrence of shock or drag.

The idle transport vehicle 100 for the roll transport according to the present embodiment stops at the stop position of the main body in the vicinity of the turret 20 of the production machine for the transportation of the roll body 2. [ The roll transporting unmanned return carriage 100 is provided with means for further adjusting the position of the mounting table 102 in the horizontal plane when the main body 168 is stopped for transferring the roll body 2, 102) around the second rotation axis. Thereby, even if the actual stop position or direction of the main body 168 of the roll carrier for automatic guided vehicle 100 is shifted from the main body stop position or the predetermined direction, the shift can be compensated without moving the main body 168 have. This makes it possible to further improve the accuracy of positioning of the roll body 2 at the time of its use.

The stop position of the main body 168 of the roll transporting unmanned transport vehicle 100 is shifted from the stop position of the main body or the direction of the mount stand 102 The position and orientation of the mounting table 102 with respect to the turret 20 can be adjusted as desired while the main body 168 is stopped. This makes it possible to further improve the positioning accuracy of the table 102 with respect to the turret 20 at the time of disposing of the roll body 2. [ As a result, the delivery of the roll body 2 is performed more smoothly, and the probability of occurrence of the delivery failure can be reduced.

Particularly, since the AGV moves in the orbit, it is likely to cause a deviation in the stop position as compared with moving along the orbit. Therefore, the roll transporting unmanned conveying vehicle 100 according to the present embodiment is more suitable as an AGV for transporting the roll body 2 in a non-orbital manner.

Even if the main body 168 stops accurately at the stop position of the main body, since the bottom accuracy is poor, the position of the mount table 102 relative to the turret 20 may need to be further finely adjusted. In the conventional outrigger system, since the mounting table is positioned based on the cone installed on the floor, there is a possibility that the accuracy is deteriorated by abrasion of the cone or the like. However, in the roll carrier transporting unmanned vehicle 100 according to the present embodiment, adjustment is performed using the position detector, so that even if the bottom accuracy is poor, the accuracy of the position of the mount table 102 relative to the turret 20 can be kept high .

However, in some cases, it is difficult for the heavy AGV itself to move a heavy AGV precisely as much as a small distance, and even if it is realized, And a body driving mechanism of the body. On the other hand, the roll-body transporting vehicle 100 according to the present embodiment realizes adjustment of the position and orientation of the mounting table 102 more easily and at a lower cost.

In addition, compared with the conventional outrigger system, the fact that a factory using the automobile idle conveying car 100 for railing transport according to the present embodiment does not require a cone can make the floor more flat.

Further, in the conventional outrigger system, there is generated dust corresponding to the outrigger when it comes in contact with the cone, so that it is not suitable for use in a clean environment. On the other hand, in the roll transporting unmanned vehicle 100 according to the present embodiment, such dust is not generated, and therefore, it is more suitable for use in an environment requiring cleanliness.

The idle transport vehicle 100 for raft transport according to the present embodiment is configured such that after the main body 168 is stopped, the first and second y-direction drive portions 150 and 160 are used to drive the mount table 102, Can be moved in the y direction. Thus, even if the situation as shown in Figs. 7 (a) and 7 (b), that is, the cut-off amount of the production machine is not sufficient, the roll body 2 can be exchanged with the production machine. In other words, the amount of cut required on the production machine side is reduced, and the degree of freedom in designing the production machine is improved.

The idle transport vehicle 100 according to the present embodiment can rotate the mounting table 102 about the second rotation axis orthogonal to the z direction after the main body 168 stops. This makes it possible to return the mounting table 102 to the horizontal position even when the mounting table 102 is tilted after the main body 168 is stopped, for example, when the bottom is inclined.

Further, in the roll transporting unmanned return carriage 100 according to the present embodiment, the second supporting portion has a margin in the x direction. Therefore, even when the mounting table 102 rotates about the cross roller 148, the positional relationship between the slope rail 126 and the contact portion 128 can be maintained.

The structure and operation of the roll-on unmanned return carriage 100 according to the first embodiment have been described above. It is to be understood by those skilled in the art that these embodiments are illustrative and that various modifications are possible in the combinations of the respective constituent elements, and such modifications are also within the scope of the present invention.

In the first embodiment, the case where the position and direction of the table 102 are detected by the first position detector 138 and the second position detector 140 has been described. As the detector, A set of a light source such as a laser may be provided, or a camera and a mark may be used.

In the first embodiment, the second support portion has a margin in the x direction. However, the present invention is not limited to this. For example, the width of the oblique rail may be increased instead of forming the clearance.

In the first embodiment, four load cells are used. However, the number and arrangement of the load cells are not limited thereto. For example, in the case where two load cells are arranged, it is preferable to arrange two load cells in the vicinity of the center in the short side direction of the mounting table 102, one for each of the left and right sides of the mounting table 102.

In the first embodiment, an example in which the AGV for moving the roll-body unmanned returning vehicle is performed is described. However, the present invention is not limited to this, and the roll-for-unmanned returning vehicle may be an oil rail track.

(Second Embodiment)

The second embodiment relates to an apparatus for transporting a rolled body.

BACKGROUND ART [0002] In many factories handling rolls such as film rolls, unmanned trucks are used to carry a roll body into or out of a device for producing or processing a roll body (hereinafter referred to as a production machine). This bogie receives the roll body from a storage place of the roll body, for example, runs on a track of a track or a mullion, and carries the roll body to the chucking device of the production machine.

When the roll body is transferred between the bogie and the production machine, it is necessary to position the bogie with respect to the production machine. As an example of this positioning method, an outrigger method as disclosed in Japanese Patent Application Laid-Open No. 2008-222109 has been proposed.

In the outrigger system, a cone is installed on the ground, an outrigger is provided on the AGV side, and the concave portion of the outrigger is inserted into the cone to increase the positioning accuracy. However, there is a possibility that dust or dust may be generated at the time of fitting the concave portion and the cone. Therefore, this method tends to cause trouble in an environment requiring cleanliness. Further, since the cone is provided on the floor near the production machine, it is difficult to flatten the floor.

The second embodiment is made in consideration of this situation, and an object of the present invention is to provide a roll body transport apparatus capable of more appropriately positioning the roll body at the time of its occurrence.

Figs. 9A and 9B are schematic diagrams for explaining a roll body 1002 to be conveyed. Fig. 9 (a) is a perspective view of the roll body 1002. Fig. The roll 1002 is formed by winding a belt-shaped or sheet-like material 1004, such as a film or paper, on the core 1006. The core 1006 has a hollow portion 1008 at the radial center. The core 1006 becomes the base when the material 1004 is wound.

Fig. 9B is a side view showing the roll body 1002 mounted on the mounting table 1102 of the idler truck for carrying the roll body according to the second embodiment. The roll body 1002 is placed on the placement table 1102 by abutting the outer peripheral surface 1002a of the roll body 1002, that is, the body, on the placement table 1102. The mounting table 1102 has a V-shaped cross section so that the roll body 1002 does not roll during transportation.

The AGV according to the present embodiment is an AGV that moves in a factory in a non-orbital manner, and supports the roll body as a body portion to carry the roll body into or out of the production machine. From the viewpoint of transporting the roll body, the production machine is a device for transferring the roll body to and from the unmanned transport vehicle for transporting the roll body.

The carrying of the roll body includes a body supporting conveying for supporting and conveying the body of the roll body and a core supporting conveying for supporting and conveying the core of the roll body. Since the body supporting and conveying, the roll-body transporting unmanned conveying car according to the present embodiment has a table for supporting the body of the rolled body. The size of this mount needs to be sufficient to support the body portion of the roll body.

In the idler carriage for carrying the roll body according to the present embodiment, the table is supported by two support portions at two places, and the table is moved by the movement of the two support portions. Since the movement of one of the support portions may affect the movement of the other support portion through the placement table, the roll body transport unmanned conveying vehicle according to the present embodiment has a configuration considering this. On the other hand, in the core support conveyance, the two arms for supporting the core can basically be independently controlled. Therefore, it is understood by those skilled in the art that the control technique of the mount stand and the support portion in this embodiment is different from the control technique of the arm in the core support conveyance.

The unmanned return carriage for a roll body according to the present embodiment stops at a predetermined stop position in the vicinity of the production machine for transferring the roll body. The roll-body transporting unmanned conveying car has means for further adjusting the position of the placement table in the horizontal plane when the main body is stopped for transferring the roll, and means for rotating the placement table about a predetermined rotation axis. As a result, even if the actual stop position or direction of the main body of the idler truck for carrying the roll is shifted from the predetermined stop position or the predetermined direction, the shift can be compensated without moving the main body. This makes it possible to further improve the accuracy of positioning at the time of rolling.

10 (a) to 10 (d) are schematic diagrams showing a roll-body unmanned conveyance vehicle 1100 according to the present embodiment. The roll body conveyance unmanned conveyance vehicle 1100 includes a mounting table 1102, a mounting table supporting means, a first position detector 1138, a second position detector 1140, a first supporting portion 1124, A second y-direction driving portion 1150, a second y-direction driving portion 1160, an x-direction moving mounting slide 1162, and a main body 1168. [

The main body 1168 includes a lifter 1164 and a carriage 1166. [

Hereinafter, x-direction, y-direction, and z-direction orthogonal to each other will be described. z direction is set as the direction of gravity applied to the roll body when the roll body is placed in the vertical direction, that is, on the table 1102. The x-direction and the y-direction are directions that intersect the non-vertical direction, that is, the vertical direction, and are particularly perpendicular to each other in the horizontal plane. The direction in which the core of the roll body extends when the roll body is placed on the mounting table 1102 is defined as the x direction.

Fig. 10 (a) is a top view of the roll transporting unmanned transport vehicle 1100. Fig.

The table supporting means includes a first guide pin 1114, a second guide pin 1116, a third guide pin 1118, a fourth guide pin 1120, a first load cell 1122, A second load cell 1130, a third load cell 1132, a pedestal frame 1104, a slope rail 1126, and a pole support 1134. [

The first guide pin 1114, the second guide pin 1116, the third guide pin 1118 and the fourth guide pin 1120 are fixed to the pedestal frame 1104 and the four corners of the pedestal 1102 The second guide hole 1108, the third guide hole 1110, and the fourth guide hole 1112 that are formed in the first guide hole 1106, The pedestal frame 1104 is fixed with respect to the main body 1168 at least while the main body 1168 of the roll carrier for automatic guided vehicle 1100 is moving. The mount table 1102 is positioned in the horizontal plane with respect to the roll body conveyance unmanned conveyance vehicle 1100 by loosely fitting the guide pin into the guide hole.

The first load cell 1122, the second load cell 1130 and the third load cell 1132 are connected between the third guide pin 1118 and the fourth guide pin 1120, the first guide pin 1114, Between the guide pins 1120 and between the second guide pin 1116 and the third guide pin 1118. Each load cell is fixed to the pedestal frame 1104, and supports the pedestal 1102 in the z direction.

When the roll transporting unmanned conveying vehicle 1100 receives the roll from the production machine, the load control by the load cell is performed. The roll body conveyance unmanned conveyance vehicle 1100 includes a control unit (not shown), and the weight of the received roll body is input to the control unit in advance. The control unit compares the weight indicated by the signal from the load cell with the input weight at the time of receiving the roll body, controls the lifter 1164 until the electrons reach the latter, or adjusts the inclination adjusting unit 1152, 1 y-direction driving unit 1150, the second y-direction driving unit 1160, and the x-direction moving mounting slide 1162. [

The inclined rail 1126 and the pole supporting portion 1134 are fixed to the lower surface of the pedestal frame 1104. The inclined rail 1126 is a rail extending in the y direction. The pole supporting portion 1134 is a cup-shaped member opened downward.

10 (b) is a side view of the roll transporting unmanned conveying vehicle 1100. Fig.

The first position detector 1138 and the second position detector 1140 are mounted at one end and the other end in the x direction of the pedestal frame 1104 and detect the position and direction of the placement table 1102 with respect to the production machine. The direction of the placement table 1102 may be the direction of the normal line when the placement table 1102 is viewed from a substantially flat view.

The first position detector 1138 and the second position detector 1140 transmit the detection result of the position to the control unit. When the main body 1168 stops, the control unit controls the first y-direction driving unit 1150 and the second y-direction driving unit 1150 so that the position and direction of the mounting table 1102, which is indicated by the detection result from the position detector, 1160, the x-direction moving mounting slide 1162, and the tilt adjusting unit 1152. [ The control unit sends a control signal for specifying a displacement amount to each of the first y-direction driving unit 1150, the second y-direction driving unit 1160, the x-direction moving mounting slide 1162 and the tilt adjusting unit 1152, for example.

The first support portion 1124 and the second support portion rotatably support the pedestal frame 1104, and therefore the placement table 1102, at mutually different positions. The first support portion 1124 includes a rotation pin 1146 and a cross roller 1148.

The rotation pin 1146 is a pin whose one end is attached to a member on the pedestal frame 1104 side and the other end is attached to a member on the cross roller 1148 side. The rotation pin 1146 is the center of rotation when the mounting table 1102 is inclined with respect to the horizontal plane, that is, when the mounting table 1102 rotates about the rotation axis orthogonal to the z direction.

The cross roller 1148 rotatably supports the rotation pin 1146 around the rotation axis along the z direction. The cross roller 1148 becomes the center of rotation when the mounting table 1102 rotates around the rotation axis along the z direction.

The first y-direction driving section 1150 linearly moves the first supporting section 1124 in the y-direction with respect to the main body 1168 based on a control signal from the control section. The first y-direction driver 1150 is configured by appropriately combining a linear guide such as an LM guide (Linear Motion Guide) and a motor. Similarly, the second y-direction driving unit 1160 moves the second supporting unit in the y-direction with respect to the main body 1168. The first y-direction driving portion 1150 and the second y-direction driving portion 1160 are both fixed to the upper surface of the x-direction moving mounting slide 1162.

When the first y-direction driving portion 1150 and the second y-direction driving portion 1160 move the corresponding supporting portion with the same displacement, the mounting table 1102 is linearly moved in the y-direction. When the first y-direction driving portion 1150 and the second y-direction driving portion 1160 move the corresponding supporting portions with different displacements, the movement of the mounting table 1102 causes the rotation component around the cross roller 1148, In some cases, it has a linear motion component along the y direction.

The second support portion is provided so as to allow the contact position of the second support portion and the oblique rail 1126 to move in the x direction when the placement table 1102 rotates about the cross roller 1148, . The second support portion includes a tilt adjustment portion 1152, a pawl 1136, and an arc retraction slide 1158.

The inclination adjustment portion 1152 has a contact portion 1128 which contacts the inclined rail 1126. [ The inclination adjusting section 1152 slides the contact section 1128 with respect to the inclined rail 1126 based on a control signal from the control section. The inclination adjuster 1152 is composed of a linear guide, a motor, a ball screw, or the like.

One end of the pawl 1136 is mounted on the arc withdrawal slide 1158 and the other end is inserted into the inside of the pole support portion 1134. [ When the mounting table 1102 rotates about the cross roller 1148, the pawl 1136 moves in such a form that a force is applied from the pole supporting portion 1134. As a result, the arc retraction slide 1158 moves in accordance with the movement.

The arc retraction slide 1158 is constituted by a linear guide or the like so that the contact portion 1128 of the inclination adjusting portion 1152 can be moved in the x direction in accordance with the movement of the pawl 1136.

The x-direction moving mounting slide 1162 moves the first supporting portion 1124 and the second supporting portion in the x direction with respect to the main body 1168 and thus the mounting base 1102 based on the control signal from the control portion. The x-direction moving mount slide 1162 is fixed to the upper surface of the lifter 1164.

The lifter 1164 is a pantograph type electric lifter and moves the mount table 1162 in the x direction and accordingly moves the mount table 1102 in the z direction.

The bogie portion 1166 includes a driven wheel 1170 and a driving wheel 1172, and mounts the lifter 1164. The bogie portion 1166 moves the roll-body transfer unmanned conveyance vehicle 1100 in the factory.

10 (c) is a schematic view showing a state in which the sliding contact of the contact portion 1128 with respect to the slant rail 1126 is viewed from the direction indicated by an arrow B in Fig. 10 (b). The lower surface of the inclined rail 1126 is inclined along the direction in which the inclined rail 1126 extends. Movement of the oblique rail 1126 in the y direction with respect to the arc retraction slide 1158 is restricted by the arc retraction slide 1158, the pawl 1136 and the pole supporting portion 1134, so that the contact portion 1128 is inclined The contact portion 1128 slides on the slope rail 1126 when the slope rail 1126 moves in the extending direction by the adjustment portion 1152. [ Then, the inclination of the inclined rail 1126 causes the pedestal frame 1104 to be rotated about the rotary pin 1146, or inclined with respect to the horizontal plane.

10 (d) is a sectional view taken along the line B-B in FIG. 10 (a). In Fig. 10D, the mounting table 1102 and the mounting table support means are shown, and the other members are not shown. The third guide pin 1118 is loosely fitted in the fourth guide hole 1112. This also applies to the fourth guide pin 1120. The first load cell 1122 supports the mounting table 1102 in the z direction.

The operation of the automatic guided vehicle 1100 for carrying the roll body will be described.

The roll-body transporting unmanned conveying vehicle 1100 temporarily stops when it moves to a production machine in which the roll body is carried out with the roll-to-roll operation. The roll body conveyance unmanned conveyance vehicle 1100 is placed on the placement table 1102 based on the position detection signals from the first position detector 1138 and the second position detector 1140 while the main body 1168 is stopped, Adjust the position and direction of the lens as necessary.

The roll body conveyance unattended conveyance car 1100 then lifts the placement table 1102 vertically upward by the lifter 1164 to carry out the roll body.

11A and 11B are schematic diagrams showing a state in which the roll body conveyance unattended conveyance vehicle 1100 supports the roll body 1176 from the production machine 1174. Fig. 11 (a) is a top view of the production machine 1174 and the roll-transporting unmanned conveyance vehicle 1100, and Fig. 11 (b) is a side view.

In this case, the cut-off amount L in which the roll-body transporting unmanned conveying vehicle 1100 can infiltrate is insufficient in the production machine 1174, and even if the roll-body transporting unmanned conveying vehicle 1100 intrudes the maximum, The y-direction position of the center R3 of the main body 1168 of the conveyance car 1100 does not reach the y-direction position of the center R4 of the roll body 1176 mounted on the production machine 1174. [

When the roll transporting unmanned return carriage 1100 enters the production machine 1174 to the maximum extent and stops, the driving unit 1178 including the first y-direction driving unit 1150 and the second y- The supporting portion 1180 supporting the base 1102 is moved to the y direction producing side. In this way, the center of the placement table 1102 is aligned with the center R4 of the roll body 1176 mounted on the production machine 1174. Thereafter, the lifting base 1102 is elevated by the lifter 1164 included in the driving unit 1178 to receive the roll body 1176 from the production machine 1174.

12 is an explanatory view for explaining the movement of the inclined rail 1126 and the contact portion 1128 when the mounting table 1102 rotates around the cross roller 1148. As shown in Fig. Rotation of the placement table 1102 about the cross roller 1148 occurs when the first support portion 1124 and the second support portion are moved in the y direction at different displacements. During this rotation, the contact portion 1128 moves in the y direction in accordance with the movement of the second support portion in the y direction. Here, when the second support portion does not have the clearance in the x direction, the contact portion 1128 can be moved to the position 1182 indicated by the broken line circle in Fig. 12, and can escape from the inclined rail 1126 after the rotation. However, in the present embodiment, the second support portion has a clearance in the x direction, so that even if the position where the contact portion 1128 should be present is shifted in the x direction in accordance with the rotation of the mounting table 1102, the shift can be absorbed. In other words, the contact portion 1128 is moved in the x direction following the rotation of the mounting table 1102. As a result, the positional relationship between the inclined rail 1126 and the contact portion 1128 is substantially maintained before and after the rotation.

The stop position of the main body 1168 of the idler conveyance car 1100 for skidding is shifted from the desired position or the direction of the placement table 1102 is desired The position and direction of the placement table 1102 with respect to the producer can be adjusted as desired while the main body 1168 is stopped. This makes it possible to further improve the positioning accuracy of the placement table 1102 with respect to the production machine at the time of feeding the roll body. As a result, it is possible to smoothly carry out the roll body and reduce the probability of occurrence of the failure.

Particularly, since the AGV moves in the orbit, it is likely to cause a deviation in the stop position as compared with moving along the orbit. Therefore, the roll transporting unmanned conveying vehicle 1100 according to the present embodiment is more suitable as an AGV for transporting the roll body in a martial.

Even if the main body 1168 stops at a desired position precisely, since the bottom accuracy is poor, it may be necessary to finely adjust the position of the placement table 1102 with respect to the production machine. In the conventional outrigger system, since the placement table is positioned based on the cone installed on the floor, it is difficult to cope with the case where the accuracy of the bottom itself is poor. However, in the roll-body transporting automatic guided vehicle 1100 according to the present embodiment, since the position detector is used to perform the adjustment after stopping the main body 1168 based on the absolute position of the mount table 1102 in the factory, The accuracy of the position of the placement table 1102 relative to the production machine can be maintained at a high level.

However, in some cases, it is difficult to move the heavy AGV precisely by a minute distance even when the heavy roll body is loaded, and even if it is realized, A mechanism and the like are required. On the other hand, the roll-body transporting automatic for-transfer vehicle 1100 according to the present embodiment realizes adjustment of the position and orientation of the placement table 1102 more easily and at a lower cost.

Further, in particular, when the roll body is received from the production machine, the stop position of the chuck of the production machine sometimes deviates from the desired position. In the roll carrier conveyance unmanned transporter 1100 according to the present embodiment, the control of the first y-direction driving portion 1150, the second y-direction driving portion 1160, the x-direction moving mounting slide 1162 and the inclination adjusting portion 1152 The position and direction of the placement table 1102 can be adjusted so as to compensate for the shift of the stop position of the chuck while the lifter 1164 is driven. As a result, the delivery of the roll body can be realized more smoothly with less mistakes.

In addition, compared with the conventional outrigger system, in a factory using the roll-carrier unmanned conveyance vehicle 1100 according to the present embodiment, it is not necessary to provide a cone, so that the floor can be made more flat.

Further, in the conventional outrigger system, there is a corresponding dust generation when the outrigger makes contact with the cone, which is not suitable for use in a clean environment. On the other hand, in the roll transporting unmanned conveying vehicle 1100 according to the present embodiment, since such dust is not generated, it is more suitable for use in an environment requiring cleanliness.

After the main body 1168 is stopped, the roll transporting idler transporting car 1100 according to the present embodiment is rotated by the first y-direction driving portion 1150 and the second y- Can be moved in the y direction. Thus, even in a situation as shown in Fig. 11, that is, even when the cut amount of the production machine is not sufficient, the roll body can be exchanged with the production machine. In other words, the amount of cut required on the production machine side is reduced, and the degree of freedom in designing the production machine is improved.

Further, after the main body 1168 is stopped, the roll-body transporting automatic teller 1100 according to the present embodiment can rotate the placing table 1102 about the rotational axis orthogonal to the z-direction. Thereby, even after the main body 1168 is stopped, for example, when the base 1102 is inclined due to inclination of the floor, the base 1102 can be returned to the horizontal position.

Further, in the roll transporting unmanned transporter 1100 according to the present embodiment, the second supporting portion has a margin in the x direction. Therefore, even when the mounting table 1102 rotates about the cross roller 1148, the positional relationship between the tilting rail 1126 and the contact portion 1128 can be maintained.

In the roll carrier conveyance unmanned conveyance vehicle 1100 according to the present embodiment, the placement table 1102 is supported in the z direction through the load cell, and load control is performed using a signal from the load cell at the time of receiving the roll body All. As a result, the receipt of the roll body becomes smoother and the receiving mistake of the roll body caused by the weight of the roll body itself is reduced.

The structure and operation of the roll-body transporting automatic guided vehicle 1100 according to the second embodiment have been described above. It is to be understood by those skilled in the art that these embodiments are illustrative and that various modifications can be made to the combinations of the respective components and that such modifications are also within the scope of the present invention.

In the second embodiment, the case where the position and direction of the placement table 1102 relative to the production machine are detected by the first position detector 1138 and the second position detector 1140 has been described. However, Or a set of light sources such as light or laser, or a camera and a mark may be used.

In the second embodiment, the second support portion has a margin in the x direction. However, the present invention is not limited to this. For example, the width of the oblique rail may be increased instead of forming the clearance.

In the second embodiment, the case where three load cells are used has been described. However, if the load cell is provided at four corners, the roll can be received more reliably.

According to the present invention, it is possible to smoothly take out the roll body.

2 roll body
50 control unit
100 Unmanned conveyor for transporting rolls
102 Wrist strap
124 first support portion
126 Sloped rails
138 first position detector
140 second position detector
150 first y-
152 inclination adjusting section
158 arc retraction slide
160 second y-direction driving portion
162 x-direction moving slide
164 lifters
166
168 body

Claims (10)

A mounting table which is in contact with the body portion of the roll supported in the air by the roll supporting device from below in the vertical direction,
A load detector for detecting a load applied to the table,
A load adjusting unit for adjusting a force for pushing the target roll on the basis of the load detected by the load detecting unit,
And,
Wherein the load adjusting unit adjusts a force to push the load to the load so that the load detected by the load detecting unit approaches the weight of the load,
The roll supporting device supports one end and the other end of the roll,
The load adjusting section adjusts the inclination of the table so that the load supporting the one end of the roll supporting device and the supporting force of the other supporting end of the roll supporting device are balanced
And the roll body conveying device. The method according to claim 1,
Wherein the load detecting unit includes a plurality of load cells arranged so as to sandwich a winding axis of a roll in contact with the placing table
And the roll body conveying device. A mounting table on which the body portion of the roll body is to be placed,
Detection means for detecting a position of the placement table with respect to a device that carries the rolled body between the roll-type transportation device and the roll-
Moving means for moving the table in a non-vertical direction based on a result of detection by the detecting means when the main body of the present rolloff conveying apparatus is stopped for conveyance of the rolled body,
And a rotating means for rotating the table based on a result of detection by the detecting means when the main body of the present rolloff conveying apparatus is stopping for the transfer of the rolled body
And the roll body transporting device. The method of claim 3,
The moving means is a means for moving the table in a direction substantially perpendicular to both the vertical direction and the central axis of the roll
And the roll body conveying device. The method according to claim 3 or 4,
Wherein the rotating means is a means for rotating the table about an axis substantially perpendicular to the vertical direction
And the roll body conveying device. The method according to claim 3 or 4,
Wherein said moving means and said rotating means comprise:
Two support portions rotatably supporting the table at different positions from each other,
A driving part for moving the two supporting parts in the non-
Lt; / RTI &
Wherein one of the two support portions is movable in a direction intersecting both the direction in which the two support portions are moved and the vertical direction
And the roll body conveying device. The method according to claim 3 or 4,
The table is positioned in a horizontal plane with respect to the present rolloff conveying apparatus by loosely fitting a guide pin fixed to the main body of the present rolloff conveying apparatus into guide holes formed in at least two places thereof,
The placing table is supported in the vertical direction through the load converting means
And the roll body conveying device. delete delete delete

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