201240902 六、發明說明： 【發明所屬之技術領域】 本申請主張基於2011年2月10日申請之日本專利申 請第2011-027716號及2011年9月5日申請之日本專利 申請第20 1 1 - 1 93 3 00號之優先權。其申請的全部內容藉由 參考援用於該說明書中。 本發·明係有關一種搬運卷材之裝置。 【先前技術】 卷材將帶狀或片狀原材料捲繞於軸芯上而成。原材料 例如爲膜或紙。膜具有使用於液晶或電池的製造或者利用 於食品的包裝等多種用途。在這種膜或紙的生產過程中， 首先長形膜或紙形成爲卷狀。在處理該卷材之大多工廠中 ’爲了向生產或加工卷材之裝置（以下稱爲生產機）搬入 卷材或從生產機搬出卷材，使用軌道式或無軌道式無人搬 運台車（例如參考專利文獻1 )。該台車例如從卷材的保 管處接收卷材並搬入生產機的轉台》 (先前技術文獻） (專利文獻） 專利文獻1 ··日本特開2008-2221 09號公報 【發明內容】 (本發明所欲解決之課題） -5- 201240902 當台車從轉台接收卷材時，通常使用台車的升降機等 將卷材的載置台定位在規定接收位置。之後在轉台側進行 隔開卷材之處理。 然而，在這種位置控制中，大多因轉台的停止位置的 偏差或台車的停止位置的偏差等而接收不是很順暢。尤其 若作爲接收對象的卷材與載置台偏離鉛垂方向，則卷材呈 “降落”狀態並對卷材施加衝擊。 卷材的搬運有支撐卷材的胴部來搬運之胴支承式搬運 和支撐卷材的軸芯來搬運之軸芯支承式搬運，但是在軸芯 支承式搬運中因卷材接收時的衝擊一般施加於軸芯，因此 其影容是有限的。然而，在胴支承式搬運中因衝擊直接施 加於胴部，因此有可能損害原材料。 本發明係鑒於這種情況而完成者，其目的在於提供一 種能夠更順利地進行卷材的接收之卷材搬運裝置。 (用以解決課題之手段） 本發明的一種態樣係有關卷材搬運裝置。該卷材搬運 裝置具備：載置台，從鉛垂方向下側接觸於藉由卷材支撐 裝置支撐於空中之卷材的胴部；荷載檢測部，檢測施加於 載置台之荷載；及荷載調整部，依藉由荷載檢測部檢測之 荷載調整載置台按壓卷材之力。 若依該態樣能夠藉由荷載控制接收卷材。 本發明的其他態樣亦係有關卷材搬運裝置。該裝置具 備：載置台，從鉛垂方向下側接觸於藉由卷材支撐裝置在 •6- 201240902 鉛垂方向上帶著遊隙支撐於空中之卷材的胴部；荷載檢測 部，檢測施加於載置台之荷載；及荷載調整部，增加載置 台按壓卷材之力，而在藉由荷載檢測部檢測之荷載實際上 無改變時停止增加荷載之控制。 本發明的另一態樣係有關卷材搬運裝置。該卷材搬運 裝置具備：載置台，應載置卷材的胴部；檢測手段，檢測 載置台相對於在與該卷材搬運裝置之間進行卷材的交接之 裝置之位置；移動手段，當該卷材搬運裝置的主體爲了交 接卷材而停止時，依基於檢測手段之檢測結果，向非鉛垂 方向移動載置台；及旋轉手段，當該卷材搬運裝置的主體 爲了交接卷材而停止時，依基於檢測手段之檢測結果，旋 轉載置台。 依該態樣’當卷材搬運裝置的主體爲了交接卷材而停 止時，能夠調整載置台的位置。 另外’在裝置、方法、系統、電腦程式、儲存電腦程 式之記錄介質等之間相互取代以上構成要件中任一組合或 本發明的構成要件或表現者亦作爲本發明的態樣有效。 (發明之效果） 依本發明，能夠更順利地進行卷材的接收。 【實施方式】 以下對各附圖所示之同一或同等構成要件、構件附加 同一符號’並適當省略重複之說明。並且，爲了易懂適當 201240902 放大、縮小各附圖中的構件的尺寸》並且，各附圖中省略 在說明實施方式方面不是很重要的構件的一部份而表示。 (第1實施方式） 第1圖（a) 、（b)係用於說明作爲搬運對象的卷材 2之示意圖。第1圖（a)爲卷材2的立體圖。卷材2將 帶狀或片狀原材料4捲繞於軸芯6上而成。因此，軸芯6 沿著卷材2的捲繞軸Μ延伸。軸芯6在半徑方向中央具 有沿著捲繞軸Μ延伸之空心部8。軸芯6在捲繞原材料4 時成爲其基礎。 第1圖（b)係表示在第1實施方式之卷材搬運用無 人搬運車的載置台1 02上載置之卷材2之側視圖。卷材2 藉由其外周面2a亦即胴部接觸於載置台1〇2來載置於載 置台102。載置台102的截面呈V字狀，以免卷材2在搬 運中轉動。 第2圖係生產機側的轉台20的立體圖。轉台20將卷 材2支撐於空中，亦即以與工廠的地面26非接觸的方式 支撐。轉台20包含立設於工廠的地面26之框架22和藉 由框架22圍繞與水平面平行之第1旋轉軸J旋轉自如地 支撐之轉台臂24。 轉台臂24的一端部24a上設置可向轉台臂24的第1 旋轉軸J方向進退的一對卡盤（第2圖中未圖示）。轉台 臂24的另一端部24b上亦設置相同的一對卡盤。 設置於轉台臂24之一對卡盤在複數個包含用於在本 -8 - 201240902 實施方式之卷材搬運用無人搬運車之間進行卷材2的交接 之交接停止位置之停止位置之間移動。轉台20藉由使用 未圖示的馬達旋轉轉台臂24來實現這種停止位置間的移 動。另外，用於從卷材搬運用無人搬運車接受卷材的供應 之停止位置與用於向卷材搬運用無人搬運車傳遞卷材之停 止位置可以不同。 本實施方式之卷材搬運用無人搬運車爲在工廠內以無 軌道方式移動之 AGV ( Automatic Guided Vehicle)，由 胴部支撐卷材2，並向生產機的轉台20搬入卷材2，或者 從生產機的轉台20搬出卷材2。 在本實施方式中說明胴支承式搬運的情況。由於爲胴 支承式搬運，因此本實施方式之卷材搬運用無人搬運車具 有用於接受卷材2的胴部之載置台102。需要使該載置台 102的大小爲了支撐卷材2的胴部而充份。 本實施方式之卷材搬運用無人搬運車中，載置台102 藉由2個支撐部支撐在2個部位，載置台102藉由該2個 支撐部移動而移動。由於其中一方的支撐部的移動透過載 置台102影響另一方的支撐部的移動，因此本實施方式之 卷材搬運用無人搬運車具有考慮該點之結構。相對於此， 在軸芯支承式搬運中，基本上能夠獨立控制用於接受軸芯 之2根臂。因此，本領域技術人員能夠理解本實施方式中 的載置台、支撐部的控制技術與軸芯支承式搬運中的臂的 控制技術不同。 本實施方式之卷材搬運用無人搬運車在從轉台20接 -9 - 201240902 收卷材2時進行依施加於載置台102之 由此，能夠更順利地進行卷材2的接收 第3圖（a)〜（d)係表示本實施 無人搬運車1〇〇之示意圖。卷材搬運用 備載置台102、載置台支撐手段、第1 第2位置檢測器14〇 '第1支撐部124 ly方向驅動部150、第2y方向驅動部 塊162及主體168。 主體168包含升降機164、台車部 以下，導入相互正交之X方向、y 行說明。將z方向設爲鉛垂方向，亦即 102時施加於其卷材之重力的方向。X 鉛垂方向，亦即與鉛垂方向正交之方向 內相互正交之方向。將在卷材載置於載 材的捲繞軸Μ之方向設爲X方向。 第3圖（a)係卷材搬運用無人搬Ϊ 〇 載置台102俯視時爲大致矩形，其 載置台102之卷材2的捲繞軸Μ大致平 載置台支撐手段包含第1導銷114 第3導銷118、第4導銷120、第1測；^ 測力傳感器1 3 0、第3測力傳感器1 3 2 123、座架1〇4、傾斜軌道126及桿保持 .第1導銷114、第2導銷116、第 荷載之荷載控制。 〇 方式之卷材搬運用 無人搬運車100具 位置檢測器1 3 8、 、第2支撐部、第 160、X方向移載滑 166及控制部50。 方向及ζ方向來進 卷材載置於載置台 方向、y方向爲非 ，尤其爲在水平面 置台102時沿其卷 墨車100的頂視圖 長邊方向與載置於 行。 、第2導銷116、 ]傳感器1 2 2、第2 、第4測力傳感器 部 1 3 4。 3導銷1 1 8及第 4 -10- 201240902 導銷1 2 0分別固定在座架1 04上，並留有間隙地嵌合於設 置在載置台102的四角之第1導孔106、第2導孔108、 第3導孔110及第4導孔112。座架104至少在卷材搬運 用無人搬運車100的主體168移動期間相對於主體168固 定。載置台1 02這樣藉由導銷留有間隙地嵌合於導孔來相 對於卷材搬運用無人搬運車1〇〇定位在水平面內。 各個測力傳感器固定在座架104上，並由其四角支撐 載置台102。第1測力傳感器122及第2測力傳感器13 0 設置於沿載置台1 02的其中一方的長邊之位置。第3測力 傳感器132及第4測力傳感器123設置於沿載置台102的 另一方的長邊之位置。因此，第1測力傳感器1 22、第2 測力傳感器1 3 0、第3測力傳感器1 3 2及第4測力傳感器 123配置成俯視時夾住載置於載置台102之狀態的卷材2 的捲繞軸Μ。 與軸芯支承式搬運時相比，胴支承式搬運時載置台 102的短邊方向的寬度較大。因此，能夠藉由將複數個測 力傳感器配置成夾住卷材2的捲繞軸Μ來更加均衡地支 撐卷材2。另外，能夠藉由分別在載置台102的其中一方 的長邊側及另一方的長邊側配置複數個測力傳感器來進一 步強化平衡的維持。 傾斜軌道126及桿保持部134固定在座架1〇4的下面 。傾斜軌道1 2 6爲向y方向延伸之軌道。桿保持部1 3 4爲 朝下開口之杯狀構件。 第3圖（b )係卷材搬運用無人搬運車1 〇〇的側視圖 -11 - 201240902 第1位置檢測器1 3 8及第2位置檢測器1 40分別安裝 於座架104的X方向的一端及另一端，檢測載置台1〇2相 對於轉台20之位置或朝向。載置台1 02的朝向可以爲將 載置台1 02看成大致平面時的法線的朝向。第1位置檢測 器1 3 8及第2位置檢測器1 40將位置或朝向的檢測結果發 送至控制部5 0。 第1支撐部124及第2支撐部藉由在互不相同之位置 可旋轉地支撐座架104來可旋轉地支撐載置台102。第1 支撐部124包含旋轉銷146和交叉滾子148。 旋轉銷1 46爲一端安裝於座架1 04側的構件、另一端 安裝於交叉滾子148側的構件之銷。旋轉銷146成爲載置 台1 02相對於水平面傾斜時，亦即載置台1 02以與z方向 正交之第2旋轉軸爲中心旋轉時的其旋轉的中心。 交叉滾子148可圍繞沿z方向之第3旋轉軸旋轉地支 撐旋轉銷146»交叉滾子148成爲載置台102圍繞第3旋 轉軸旋轉時的其旋轉的中心》 第ly方向驅動部150依來自控制部50的控制信號相 對於主體168向y方向直線移動第1支撐部124。第ly 方向驅動部150適當組合LM導軌（Linear Motion Guide )等直線導軌與馬達而構成。第2y方向驅動部1 60亦相 同地相對於主體168向y方向移動第2支撐部。第ly方 向驅動部150及第2y方向驅動部160均固定在X方向移 載滑塊162的上面。 -12- 201240902 當第ly方向驅動部150及第2y方向驅動部160以相 同變位移動對應之支撑部時，載置台102向y方向直線移 動。當第ly方向驅動部150及第2y方向驅動部160以不 同的變位移動對應之支撐部時，載置台102的移動具有以 交叉滾子1 48爲中心之旋轉成份和根據情況沿y方向之直 線運動成份。 第2支撐部包含傾斜調整部152、桿136及圓弧退避 滑塊158。當載置台102以交叉滾子148爲中心旋轉時， 由於能夠使第2支撐部與傾斜軌道126的接觸位置向 向移動，因此第2支撐部在X方向上具有遊隙。 傾斜調整部152具有與傾斜軌道126接觸之接點部 1 28。傾斜調整部1 52依來自控制部50的控制信號使接點 部128相對於傾斜軌道126滑動。傾斜調整部152包括直 線導軌或馬達或滾珠絲杠等。 桿136的一端安裝於圓弧退避滑塊158，另一端插入 到桿保持部134的內側。當第ly方向驅動部150及第2y 方向驅動部160以不同之變位移動對應之支撐部時，桿 136向y方向按壓桿保持部134，由此載置台102以交叉 滾子1 4 8爲中心旋轉。並且這時，桿保持部1 3 4向X方向 移動’伴隨其移動桿136亦向X方向移動。其結果，圓弧 退避滑塊158亦追隨向X方向移動。 圓弧退避滑塊1 58包括直線導軌等，以便能夠使傾斜 調整部152的接點部128隨著桿136的X方向的移動而向 X方向移動。 -13- 201240902 X方向移載滑塊1 62依來自控制部5 0的控制信號相 對於主體168向χ方向移動第1支撐部124及第2支撐部 ，由此移動載置台102»χ方向移載滑塊162固定在升降 機164的上面。 升降機164爲伸縮式電動升降機，藉由使乂方向移載 滑塊162昇降來向ζ方向移動或昇降載置台1〇2。 台車部166包含從動車輪170及驅動車輪172，並搭 載升降機164。台車部166使卷材搬運用無人搬運車1〇〇 在工廠內移動。 第3圖（c)係從第3圖（b)的Β箭頭所示之方向觀 察接點部1 28相對於傾斜軌道1 26之滑動樣子之示意圖。 傾斜軌道1 26的下面沿傾斜軌道1 26所延伸之方向傾斜。 由於藉由圓弧退避滑塊158、桿136及桿保持部134限制 相對於傾斜軌道126的圓弧退避滑塊158之y方向的移動 ，因此當接點部128藉由傾斜調整部152向傾斜軌道126 所延伸之方向移動時，接點部1 28在傾斜軌道1 26上滑移 。於是座架104藉由傾斜軌道126的傾斜以旋轉銷146爲 中心旋轉，由此載置台1 02以旋轉銷1 46爲中心旋轉，或 者相對於水平面傾斜。 第3圖（d)係第3圖（a)的A-A線截面圖。第3 圖（d)中表示載置台〗02及載置台支撐手段，其他構件 省略圖示。第3導銷1 1 8留有間隙地嵌合於第4導孔1 1 2 。關於第4導銷120亦相同。 第4圖係表示本實施方式之卷材搬運用無人搬運車 -14- 201240902 1 00的控制部50的功能及結構之塊圖。在此表示之各 在硬體設備上能夠由以電腦的CPU爲代表之元件或設 裝置實現’在軟體設備中可藉由電腦程式等實現，但是 此描繪藉由它們的聯合實現之功能塊。因此，關於這些 能塊能夠藉由硬體設備、軟體設備的組合以各種形式實 這一點’對於與本說明書關聯之本領域技術人員來講是 夠理解的。 控制部50包含接口部52、主體停止部54'上昇前 置台調整部56、載置台昇降部58、整體荷載控制部60 部份荷載控制部62。接口部52與卷材搬運用無人搬運 100的各構件進行信號的發送接收。並且接口部52藉 光通信等無線通信手段從外部獲取表示作爲接收對象的 材2的重量之情報。 當卷材搬運用無人搬運車100在與轉台20之間進 卷材2的交接時，卷材搬運用無人搬運車1〇〇的主體！ 在設置於轉台臂24之一對卡盤的交接停止位置的鉛垂 向下側的規定的主體停止位置停止。主體停止部5 4控 台車部1 66，以便主體1 68在主體停止位置停止。若藉 未圖示的感測器檢測主體1 6 8到達主體停止位置，則主 停止部54透過接口部52向台車部166發送用於停止台 部166之控制信號。 若主體168在主體停止位置停止，則上昇前載置台 整部5 6透過接口部5 2獲取從第1位置檢測器1 3 8及第 位置檢測器1 40發送之情報。這樣獲取之情報包含載置 塊 備 在 功 現 能 載 及 車 由 卷 行 68 方 制 由 體 車 調 台 -15- 2 201240902 1 〇2相對於轉台20之位置或朝向的檢測結果。上昇 置台調整部56控制第ly方向驅動部150、第2y方 動部160 ' X方向移載滑塊162及傾斜調整部152， 載置台102的位置或朝向成爲所期望的位置或朝向。 前載置台調整部56透過接口部52分別向第ly方向 部丨5〇、第2y方向驅動部160、X方向移載滑塊162 斜調整部1 52發送例如指定變位量之控制信號。 載置台昇降部58基於上昇前載置台調整部56調 置台102的位置或朝向之後，控制升降機164使載 102上昇。載置台昇降部58透過接口部52向升降機 發送例如指定上昇量之控制信號。關於載置台1 02的 亦相同。 第5圖（a)〜（c)係用於說明卷材搬運用無人 車100從轉台20接收卷材2時的荷載控制之說明圖 下，參考第4圖及第5圖（a)〜（c)對整體荷載控 60及部份荷載控制部62進行說明。 第5圖（a)係表示卷材搬運用無人搬運車100 接收藉由安裝於轉台臂24之一對卡盤28a、28b支撐 中之卷材2而上昇空載置台102之狀態之主視圖。一 卡盤28a進入卷材2的空心部的一端8a，另一方的 2 8b進入卷材2的空心部的另一端8b。由此卷材2被 6的兩端雙支撐。一對卡盤28a、28b在交接停止位 停止。 接受來自載置台昇降部58的控制信號之升降機 則載 向驅 以便 上昇 驅動 及傾 整載 置台 1 64 下降 搬運 。以 制部 爲了 於空 方的 卡盤 軸芯 置上 -16 - 164 201240902 朝向卷材2上昇空載置台ι〇2β並且載置台ι〇2 向下側與卷材2的胴部接觸。 第5圖（b)係表示載置台1〇2接觸於卷材 狀態之主視圖。作用於卷材2之鉛垂方向的力爲 重量亦即重力F1'受載置台1〇2的影響之力F2 —方的卡盤28a的影響之力F3、受另一方的卡！ 影響之力F4。只要卷材2不向鉛垂方向移動， 就會平衡。亦即，作用於卷材2之鉛垂方向的力 F1+F2 + F3 + F4 )爲零。 作用於載置台102之鉛垂方向的力爲載置台 量亦即重力F5、施加於載置台1〇2之荷載（=受 影響之力）F6、受第1測力傳感器122及第4測 123的影響之力F7及受第2測力傳感器130及: 傳感器132的影響之力F8。只要載置台102不 向移動，則這些力就會平衡。亦即，作用於載置 鉛垂方向的力的總和（F5 + F6 + F7 + F8)爲零。 整體荷載控制部60透過接口部52分別從第 感器122、第2測力傳感器130、第3測力傳感: 第4測力傳感器123獲取表示施加於其各自之荷 。整體荷載控制部60藉由施加於4個測力傳感 的總和（F7 + F8)減去載置台102本身的重量（ 算施加於載置台1 02之荷載（F6 )。從檢測施加 1 02之荷載的觀點考慮，在本實施方式中，第1 器1 2 2、第2測力傳感器1 3 0 '第3測力傳感器1 從鉛垂方 2之後的 卷材2的 、受其中 接28b的 則這些力 的總和（ 1 02的重 卷材2的 力傳感器 第3測力 向錯垂方 台102之 1測力傳 器132及 載之情報 器之荷載 F5 )來運 於載置台 測力傳感 【32 、第4 -17- 201240902 測力傳感器123及載置台l〇2構成檢測施加於載置台i〇2 之荷載之荷載檢測部。 另外’從作用反作用的法則考慮，F2與F6的大小相 同且朝向相反。因此，藉由整體荷載控制部60運算之荷 載與載置台102向鉛垂方向按壓卷材2之力相等。 整體荷載控制部60控制升降機164，以使運算之荷 載（F6)接近接收之卷材2的重量（F1)。當荷載（F6) 小於重量（F1)時，整體荷載控制部60向升降機164發 送用於增強使載置台102上昇之驅動力之控制信號。其結 果’載置台102向鉛垂方向按壓卷材2之力（F2)亦即荷 載（F6 )增加，荷載（F6 )接近重量（F1 )。相反的情況 亦相同。因此，在本實施方式中，整體荷載控制部60及 升降機164構成依藉由荷載檢測部檢測之荷載調整載置台 102向鉛垂方向按壓卷材2之力（F2)之荷載調整部。 部份荷載控制部62控制載置台1 02的傾斜度，以便 施加於載置台102之荷載沿卷材2的捲繞軸Μ變得均等 。部份荷載控制部62運算施加於第1測力傳感器1 22之 荷載與施加於第4測力傳感器123之荷載的和（=F7)。 部份荷載控制部62從運算之和減去載置台102本身的重 量（F5 )乘以小於1之規定的係數XI而獲得之値。由於 第1測力傳感器1 22及第4測力傳感器1 23配置於空心部 的一端8 a側（以下稱爲左側），因此藉由減法獲得之値 可以看作施加於載置台1 02的左側之荷載F9 (未圖示） -18- 201240902 部份荷載控制部62運算施加於第2測力傳感器 之荷載與施加於第3測力傳感器1 3 2之荷載的和（= 。部份荷載控制部62從運算之和減去載置台102本 重量（F5 )乘以小於1之規定的係數X2而獲得之値 於第2測力傳感器130及第3測力傳感器132配置於 部的另一端8b側（以下稱爲右側），因此藉由減法 之値可以看作施加於載置台1 0 2的右側之荷載F 1 0 ( 示）。 當在載置台102上未載置卷材2時，可以求出施 第1測力傳感器1 22之荷載與施加於第4測力傳感器 之荷載的和及施加於第2測力傳感器1 3 0之荷載與施 第3測力傳感器132之荷載的和，並依這些和値規定 X 1及係數X 2。 部份荷載控制部62調整載置台1 02的傾斜度， 施加於載置台1 02的左側之荷載F9與施加於右側之 F 1 0的比率成爲依賴於4個測力傳感器的配置之規定 率。部份荷載控制部62藉由向傾斜調整部152發送 接點部128的變位量之控制信號來調整載置台1〇2的 度。當接點部1 28變位的結果載置台1 〇2的右側相對 側變低時，施加於載置台1 0 2的左側之荷載F 9增力口 加於右側之荷載F 1 0減少。相反的情況亦相同。 規定的比率規定成一方的卡盤28a支撐卷材2之 = F3)與另一方的卡盤28b支撐卷材2之力（=F4) 衡。例如，當複數個測力傳感器配置成相對於經過載 1 30 F8 ) 身的 。由 空心 獲得 未圖 加於 123 加於 係數 以便 荷載 的比 指定 傾斜 於左 ，施 力（ 相平 置台 -19- 201240902 102的長邊方向的中心並與yz平面平行的鉛垂面 稱時，規定的比率爲1: 1爲理想。 第5圖（c)係表示拔出一對卡盤28a、28b時 之主視圖。當藉由荷載檢測部檢測之荷載在以卷材 量爲標準設定之規定的誤差範圍內，並且施加於 102的左側之荷載F9與施加於右側之荷載F10的 分接近規定的比率時，控制部50透過接口部52向 盤2 8a、28b的驅動部（未圖示）發送容許卡盤拔 制信號。若驅動部接收其控制信號，則從軸芯6的 8拔出一對卡盤28a、28b。 除了預先獲取卷材2的重量並以此爲目標値之 標値控制模式之外，整體荷載控制部60還具有無 獲取卷材2的重量之其他模式。在該其他模式中， 於載置台1 02之荷載的變化態樣決定拔出一對卡盤 28b之時刻。 第6圖（a)〜（c)係用於說明卷材搬運用無 車100從轉台20接收卷材2時的其他荷載控制之 。第6圖（a)係表示卷材搬運用無人搬運車i 〇〇 收藉由轉台臂24的一對卡盤28a、28b支撐於空中 2而上昇空載置台1 02之狀態之側視圖。在此，考 卡盤28a、28b在鉛垂方向上帶著遊隙支撐卷材2 。亦即’空心部8的直徑D1大於其中一方的卡盤 外徑D2，軸芯6懸在一對卡盤28a、28b上。換言 芯6並不僅僅藉由載於一對卡盤28a、28b來相對 呈面對 的狀態 2的重 載置台 比率十 一對卡 出之控 空心部 上述目 需預先 從施加 28a > 人搬運 說明圖 爲了接 之卷材 慮一對 之情況 28a的 之，軸 於一對 -20- 201240902 卡盤28a、2 8b固定。因此，卷材2可圍繞一對卡盤28a 、28b擺動。 例如，若一對卡盤28a、28b藉由關閉爪等來解除軸 芯6的固定，則呈如第6圖（a )的狀態。 接受來自載置台昇降部58的控制信號之升降機164 使空載置台102朝向卷材2上昇。並且，載置台1〇2從鉛 垂方向下側與卷材2的胴部接觸。 第6圖（b)係表示載置台102按壓卷材2之力與卷 材2的重量平衡之狀態之側視圖。當載置台1 〇 2接觸於卷 材2的胴部之後，載置台102按壓卷材2之力藉由升降機 164的作用逐漸增加。並且，軸芯6在其力大小與卷材2 的重量相同時遠離一對卡盤28a、28b並開始上昇爲理想 。當軸芯6亦即卷材2十分緩慢地上昇時，施加於載置台 102之荷載在上昇過程中恆定。 第6圖（c)係表示載置台1〇2上昇且軸芯6的下部 與一對卡盤28a、28b接觸之狀態之側視圖。在軸芯6的 下部與一對卡盤28a、28b接觸時停止卷材2的上昇。當 控制升降機1 64以使載置台1 02從此處進一步上昇時，施 加於載置台102之荷載超過卷材2的重量而逐漸增加。 若載置台1 02與卷材2的胴部接觸，則整體荷載控制 部60控制升降機164，以使載置台102按壓卷材2之力 增加。整體荷載控制部60監視藉由荷載檢測部檢測之荷 載’在隨時間的經過而逐漸增加之荷載實際上無變化時停 止增加力之控制。於是，如第6圖（b )所示，軸芯6或 -21 - 201240902 者不與一對卡盤28a、2 8b接觸，或者即使接觸，其接觸 力亦較小。因此，能夠更順利地拔出一對卡盤28a、28b 對如以上構成之卷材搬運用無人搬運車100的動作進 行說明。 卷材搬運用無人搬運車100若移動至在與此之間進行 卷材2的交接之生產機的轉台20的位置，則暫時停止。 卷材搬運用無人搬運車100在主體168停止之狀態下，依 來自第1位置檢測器1 3 8及第2位置檢測器1 40的位置檢 測信號對載置台1 02的位置和朝向僅調整所需量。 之後，卷材搬運用無人搬運車1〇〇藉由升降機164使 載置台102朝向鉛垂上方向上昇來進行卷材2的交接。尤 其在接收卷材2時進行荷載控制。 第7圖（a) 、（b)係表示卷材搬運用無人搬運車 1〇〇從生產機174接收卷材176時的樣子之示意圖。第7 圖（a)係生產機174及卷材搬運用無人搬運車100的頂 視圖，第7圖（b )係側視圖。 此時，生產機174中卷材搬運用無人搬運車100能夠 進入之缺口量L不充份，即使卷材搬運用無人搬運車100 以最大限度進入，卷材搬運用無人搬運車1〇〇的主體168 的中心R1的y方向位置亦到達不了安裝於生產機174之 卷材176的中心R2的y方向位置。 若卷材搬運用無人搬運車100以最大限度進入生產機 174而停止，則使用包含第ly方向驅動部150及第2y方 -22- 201240902 向驅動部160之驅動部178，向生產機側移動支撐載置台 102之支撐部180。如此載置台102的中心與安裝於生產 機174之卷材176的中心R2被對位。之後，藉由驅動部 178所包含之升降機164上昇載置台102並從生產機174 接收卷材176。 第8圖係用於說明載置台1〇2以交叉滾子148爲中心 旋轉時的傾斜軌道126及接點部128的移動之說明圖。當 第1支撐部124及第2支撐部以不同之變位向y方向移動 時，產生以交叉滾子148爲中心之載置台102的旋轉。該 旋轉時，接點部128配合第2支撐部的y方向的移動而向 y方向移動。在此，當第2支撐部沒有X方向的遊隙時， 接點部128移動至以第8圖的虛線圓表示之位置182，並 有可能脫離旋轉後的傾斜軌道126。然而，在本實施方式 中，由於第2支撐部具有X方向的遊隙，因此即使接點部 128應在的位置隨著載置台1〇2的旋轉而向X方向偏離， 亦能夠吸收其偏離。亦即，接點部1 2 8亦追隨載置台1 02 的旋轉向X方向移動。其結果，可以在旋轉前後實質性地 確保傾斜軌道1 26與接點部1 28的位置關係。 依本實施方式之卷材搬運用無人搬運車100，胴支承 式搬運中’從轉台20接收卷材2時，進行依施加於載置 台1 02之荷載之荷載控制。因此，例如與基於絕對位置之 接收時相比’能夠降低產生接收卷材2失敗之槪率。 並且’在本實施方式之卷材搬運用無人搬運車100中 進行荷載控制’以使施加於載置台1 02之荷載接近接收作 -23- 201240902 爲對象的卷材2的重量。並且，在它們充份接近時，卷材 2從轉台20傳遞至卷材搬運用無人搬運車i 00。若從卷材 2卸下轉台20的卡盤，則卷材2的總重量施加於載置台 102。此時’相當於卸下卡盤之前施加於載置台丨02之荷 載與卷材2的重量之差之衝擊施加於卷材2的胴部。在本 實施方式中由於其差變得更小，因此能夠降低施加於卷材 2的胴部之衝擊。其結果，能夠降低因接收時的衝擊對原 材料4產生損傷之可能性。 並且，若從卷材2卸下卡盤時的軸芯6與卡盤的接觸 力比較大，則軸芯6亦即卷材2有可能被拖拽卡盤的進出 方向。因此’在本實施方式中使卸下卡盤之前施加於載置 台102之荷載與卷材2的重量的差變小。由此，能夠進一 步降低軸芯6與卡盤的接觸力，並能夠降低產生拖拽卷材 2之可能性。 即使施加於載置台102之荷載與卷材2的重量平衡， 亦有時對卡盤施加比較大的力。例如如卷材的捲繞軸相對 於卡盤芯傾斜的情況。若在這種狀態下拔出卡盤，則有可 能發生衝擊或拖拽。因此，在本實施方式之卷材搬運用無 人搬運車1〇〇中，使一對卡盤28a、28b各自支撐卷材2 之力平衡。由此，當施加於載置台102之荷載與卷材2的 重量平衡時，均能夠使分別施加於一對卡盤28a、28b之 荷載變小。其結果，能夠降低發生衝擊或拖拽的可能性。 本實施方式之卷材搬運用無人搬運車100爲了交接卷 材2而在生產機的轉台20.附近的主體停止位置停止。卷 -24- 201240902 材搬運用無人搬運車100具有其主體168爲了交接卷材2 而停止時在水平面內進一步調整載置台102的位置之手段 和以第2旋轉軸爲中心旋轉載置台102之手段。由此，即 使在卷材搬運用無人搬運車1〇〇的主體168的實際停止位 置或朝向偏離主體停止位置或規定的朝向時，亦能夠不移 動主體168而補償其偏離。由此，能夠進一步提高交接卷 材2時的定位精確度。 依本實施方式之卷材搬運用無人搬運車100，即使卷 材搬運用無人搬運車100的主體168的停止位置偏離主體 停止位置或者載置台102的朝向與所期望的朝向不同，亦 能夠在停止主體168的狀態下將載置台1〇2相對於轉台 20之位置或朝向調整爲所期望的位置或朝向。由此，能 夠進一步提高交接卷材2時的相對於轉台20之載置台 1 0 2的定位精確度。其結果，更加順利地進行卷材2的交 接，並能夠降低發生交接失敗之槪率。 尤其是AGV由於以無軌道方式移動，因此與沿著軌 道移動時相比停止位置容易產生偏差。因此，本實施方式 之卷材搬運用無人搬運車100更適合作爲以無軌道方式搬 運卷材2之AGV。 另外’即使主體1 68準確地停止在主體停止位置，因 地面精確度較差，所以有時需要進一步微調載置台102相 對於轉台20之位置。在習知之支架方式中由於以設置於 而人 等無 損用 磨運 的搬 體材 錐卷 因之 有式 此方 因施 , 實 台本 置在 載’ 位而 定然 準。 基虞 爲之 體化 錐惡 之度 面確 地精 -25- 201240902 搬運車1 0 0中由於使用位置檢測器進行調整，因此即使 面精確度較差時，亦能夠將載置台102相對於轉台20 位置的精確度確保得較高。 另外，還可以考慮藉由移動主體來微調載置台的位 ，但是根據情況積載沉重的卷材2之其本身亦很難使沉 的AGV正確地僅移動微小距離，即使實現亦需要更昂 的主體驅動機構等。相對於此，本實施方式之卷材搬運 無人搬運車1〇〇以更輕鬆且更低的成本實現載置台102 位置或朝向的調整。 並且，與習知之支架方式相比，在使用本實施方式 卷材搬運用無人搬運車.100之工廠中由於無需設置錐體 因此能夠使地面更平坦化。 並且，在習知之支架方式中當支架與錐體接觸時發 相應的起塵，因此不太適合在環保環境中的使用。相對 此，本實施方式之卷材搬運用無人搬運車1〇〇中由於無 種起塵，因此更適合在需要環保性的環境中使用。 並且，本實施方式之卷材搬運用無人搬運車1〇〇在 止主體168之後，能夠藉由第ly方向驅動部150及第 方向驅動部160向y方向移動載置台102。由此，即使 如如上述第7圖（a) 、（b)的情況即生產機的缺口量 充份時，亦可與生產機之間交接卷材2。換言之，降低 產機側所要求之缺口量，提高生產機的設計自由度。 並且，本實施方式之卷材搬運用無人搬運車1〇〇在 止主體168之後，能夠以與Z方向正交之第2旋轉軸爲 地 之 置 重 貴 用 的 之 生 於 這 停 2y 例 不 生 停 中 -26- 201240902 心旋轉載置台102。由此，在停止主體168之後， 置台1 02例如因地面傾斜而傾斜時，亦能夠使載置 恢復水平。 並且，在本實施方式之卷材搬運用無人搬運車 ，第2支撐部在X方向上具有遊隙。因此，即使 1 02以交叉滾子1 48爲中心旋轉時，亦能夠維持傾 126與接點部128的位置關係。 以上，對第1實施方式之卷材搬運用無人搬運 的結構和動作進行說明。該實施方式僅爲例示，可 些各構成要件的組合加以各種變形例，並且這種變 在本發明範圍內這一點對本領域技術人員來講應該 解。 在第1實施方式中，對藉由第1位置檢測器13 2位置檢測器1 40檢測載置台1 02的位置或朝向之 行了說明，但是作爲該檢測器可設置位置檢測器與 射等光源的組，或者還可使用照相機及標誌。 在第1實施方式中，對第2支撐部在X方向上 隙之情況進行了說明，但是不限於此，例如可使傾 的寬度變大來代替設置遊隙。 在第1實施方式中，對利用4個測力傳感器之 行了說明，但是測力傳感器的數量或配置不限於此 ，配置2個測力傳感器時，載置台1 02的左右各爲 配置於載置台1 0 2的短邊方向的中心附近爲較佳。 在第1實施方式中，對作爲卷材搬運用無人搬 即使載 台102 100中 載置台 斜軌道 車 100 以對這 形例亦 可以理 及第 情況進 光或鐳 具有遊 斜軌道 情況進 。例如 1個， 運車以 -27- 201240902 無軌道方式移動之AGV之例子進行了說明，但是不限於 此，卷材搬運用無人搬運車可以爲有軌道台車。 置 裝 之 材 卷 Qnll 運 搬 關 有 係 )式 式方 方施 施實 實 2 2 第 第 在處理膜輥等卷材之大多工廠中，爲了向生產或加工 卷材之裝置（以下稱爲生產機）搬入卷材或從生產機搬出 卷材而使用無人行走式台車》該台車例如從卷材的保管處 接收卷材，行走在軌道或無軌道的搬運路向生產機的夾緊 裝置搬入卷材。 當台車與生產機之間交接卷材時，需要對生產機定位 台車。作爲該定位方式，以往提出有例如如日本特開 2008-222109號公報所記載之支架方式。 在支架方式中，藉由在地上設置錐體、在AGV側設 置支架、將支架的凹部嵌入錐體來提高定位的精確度。然 而，嵌合凹部與錐體時有可能產生灰塵或塵埃，因此在需 環保性之環境中常常迴避該方式。並且，由於在生產機附 近的地面設置錐體，因此難以使地面平坦化。 第2實施方式係鑒於這種狀況而完成者，其目的在於 提供一種能夠更適合進行交接卷材時的定位之卷材搬運裝 置。 第9圖（a) 、（b)係用於說明作爲搬運對象的卷材 1002之示意圖。第9圖（a)係卷材1002的立體圖。卷 材1 002將帶狀或片狀原材料1 004，例如膜或紙捲繞於軸 -28- 201240902 芯 1006而成。軸芯 1006在半徑方向中央具有空心部 1008。軸芯1006在捲繞原材料1〇〇4時成爲其基礎。 第9圖（b)係表示載置於第2實施方式之卷材搬運 用無人搬運車的載置台1102之卷材10 02之側視圖。卷材 1002藉由其外周面l〇〇2a亦即胴部接觸載置台11〇2來載 置於載置台1102。載置台11〇2的截面呈V字狀，以免卷 材1002在搬運中轉動。 本實施方式之卷材搬運用無人搬運車爲以無軌道方式 移動在工廠內之AGV，由胴部支撐卷材，向生產機搬入 卷材，或者從生產機搬出卷材。若從搬運卷材的觀點考慮 ，生產機爲在與卷材搬運用無人搬運車之間進行卷材的交 接之裝置。 卷材的搬運有支撐卷材的胴部來搬運之胴支承式搬運 和支撐卷材的軸芯來搬運之軸芯支承式搬運，但是在本實 施方式中尤其對胴支承式搬運的情況進行說明。由於爲胴 支承式搬運，因此本實施方式之卷材搬運用無人搬運車具 有用於接受卷材的胴部之載置台。需要使該載置台的大小 爲了支撐卷材的胴部而充份。 在本實施方式之卷材搬運用無人搬運車中，藉由2個 支撐部在2個部位支撐載置台，載置台藉由該2個支撐部 的移動而移動。由於其中一方的支撐部的移動透過載置台 影響另一方的支撐部的移動，因此本實施方式之卷材搬運 用無人搬運車具有考慮該點之結構。相對於此’在軸芯支 承式搬運中，基本上能夠獨立控制用於接受軸芯之2根臂 -29- 201240902 。因此，本實施方式中的載置台、支撐部的控制技術與軸 芯支承式搬運中的臂的控制技術有所不同這一點對於本領 域技術人員來講是可以理解的。 本實施方式之卷材搬運用無人搬運車爲了交接卷材而 在生產機附近的規定停止位置停止。卷材搬運用無人搬運 車具有在其主體爲了交接卷材而停止時，在水平面內進一 步調整載置台的位置之手段和以規定旋轉軸爲中心旋轉載 置台之手段。由此，即使卷材搬運用無人搬運車的主體的 實際停止位置或朝向偏離規定的停止位置或規定的朝向時 ’亦能夠不移動主體而補償其偏離。由此，能夠進一步提 闻交接卷材時的定位的精確度。 第10圖（a)〜（d)係表示本實施方式之卷材搬運 用無人搬運車1100之示意圖。卷材搬運用無人搬運車 】1〇〇具備載置台1102、載置台支撐手段、第1位置檢測 器1138、第2位置檢測器1140、第1支撐部1124、第2 支撐部、第ly方向驅動部115〇、第2y方向驅動部1160 、X方向移載滑塊1162及主體1168。 主體1168包含升降機1164和台車部1166。 以下’導入相互正交之X方向、y方向及z方向來進 行說明。將z方向設爲鉛垂方向，亦即當卷材載置於載置 台1102時施加於其卷材之重力的方向。X方向、y方向爲 非鉛垂方向，亦即與鉛垂方向交叉之方向，尤其爲在水平 面內相互正交之方向。將卷材載置於載置台1102時其卷 材的軸芯延伸之方向設爲X方向。 -30- 201240902 第10圖（a)係卷材搬運用無人搬運車1100的頂視 圖。 載置台支撐手段包含第1導銷1114、第2導銷1116 、第3導銷1118、第4導銷1120、第1測力傳感器1122 、第2測力傳感器113〇、第3測力傳感器1132、座架 1 104、傾斜軌道1 126及桿保持部1 134。 第1導銷11〗4、第2導銷1116、第3導銷1118及第 4導銷1 1 20分別固定在座架1 1 04上，留有間隙地嵌合於 設置在載置台1102的四角之第1導孔1106、第2導孔 1108、第3導孔1110及第4導孔1112。座架1104至少 在卷材搬運用無人搬運車1100的主體1168移動期間相對 於主體1 168固定。載置台U02這樣藉由導銷留有間隙地 嵌合於導孔來相對於卷材搬運用無人搬運車1100定位在 水平面內。 第1測力傳感器1122、第2測力傳感器1 1 30及第3 測力傳感器U 3 2分別設置於第3導銷1 1 1 8與第4導銷 1120之間、第1導銷1114與第4導銷1120之間及第2 導銷1 1 1 6與第3導銷1 1 1 8之間。各個測力傳感器固定在 座架1104上，並在z方向上支撐載置台1102。 當卷材搬運用無人搬運車1100從生產機接收卷材時 ’進行基於測力傳感器之荷載控制。卷材搬運用無人搬運 車1100具備未圖示的控制部，接收之卷材的重量預先輸 入到其控制部。當接收卷材時，控制部比較來自測力傳感 器的信號所表示之重量與輸入之重量，將升降機1164控 -31 - 201240902 制至前者到達後者，或者控制傾斜調整部1 1 5 2、第 向驅動部1 150、第2y方向驅動部1 160及X方向 塊1 1 62，以便荷載變得均等。 傾斜軌道1 126及桿保持部U34固定在座架】 下面。傾斜軌道1126爲向y方向延伸之軌道。桿 1 1 3 4爲朝下開口之杯狀構件。 第10圖（b)係卷材搬運用無人搬運車1100 圖。 第1位置檢測器1 1 3 8及第2位置檢測器1 1 40 裝於座架1104的 X方向的一端及另一端，檢測 1102相對於生產機之位置或朝向。載置.台1102的 以爲將載置台1〗〇2看成大致平面時的法線的朝向。 第]位置檢測器1 1 3 8及第2位置檢測器1 1 40 的檢測結果發送至控制部。若主體1 1 6 8停止，則 控制第ly方向驅動部1150、第2y方向驅動部1 方向移載滑塊1162及傾斜調整部1152，以便來自 測器的檢測結果所示之載置台1 1 02的位置或朝向 期望的位置或朝向。控制部分別向第ly方向驅動3 、第2y方向驅動部1160、X方向移載滑塊1162及 整部1 1 52發送例如指定變位量之控制信號。 第1支撐部1124及第2支撐部藉由在互不相 置可旋轉地支撐座架1104來可旋轉地支撐載置台 第1支撐部1124包含旋轉銷1146和交叉滾子1148 旋轉銷1 1 46爲一端安裝於座架1 1 〇4側的構件 ;iy方 移載滑 .104 的 保持部 的側視 分別安 載置台 朝向可 將位置 控制部 1 60、X 位置檢 成爲所 15 1150 傾斜調 同之位 1102° 〇 、另一 -32- 201240902 端安裝於交叉滾子U 48側的構件之銷。旋轉銷1146成爲 載置台1 1 02相對於水平面傾斜時，亦即載置台1 1 02以與 z方向正交之旋轉軸爲中心旋轉時的其旋轉的中心。 交叉滾子1 1 48可圍繞沿z方向之旋轉軸旋轉地支撐 旋轉銷1146。交叉滾子1148成爲載置台1102圍繞沿z 方向之旋轉軸旋轉時的其旋轉的中心。 第1 y方向驅動部1 1 5 0依來自控制部之控制信號相對 於主體1168向y方向直線移動第1支撐部1124。第ly 方向驅動部 1150適當組合 LM導軌（Linear Motion Guide )等直線導軌與馬達而構成。第 2y方向驅動部 1160亦相同地相對於主體1168向y方向移動第2支撐部 。第ly方向驅動部1150及第2y方向驅動部1160均固定 在X方向移載滑塊11 62的上面。 當第ly方向驅動部1150及第2y方向驅動部1160以 相同變位移動對應之支撐部時，載置台Π02向y方向直 線移動。當第ly方向驅動部1 150及第2y方向驅動部 1160以不同的變位移動對應之支撐部時，載置台1102的 移動具有以交叉滾子1 1 4 8爲中心之旋轉成份和根據情況 沿y方向之直線運動成份。 爲了在載置台1 102以交叉滾子1 148爲中心旋轉時能 夠使第2支撐部與傾斜軌道π 26的接觸位置向X方向移 動，第2支撐部在X方向上具有遊隙。第2支撐部包含傾 斜調整部1152、桿1136及圓弧退避滑塊1158» 傾斜調整部Π52具有與傾斜軌道1 126接觸之接點部 -33- 201240902 1 1 2 8。傾斜調整部1 1 5 2依來自控制部 部1 128相對於傾斜軌道1 126滑動。ftj 括直線導軌或馬達或滾珠絲杠等。 桿1136的一端安裝於圓弧退避滑j 入到桿保持部1 1 3 4的內側。若載置台 1148爲中心旋轉，則桿1136以從桿保 形態移動》其結果，圓弧退避滑塊1 1 5 { 圓弧退避滑塊Π58包括直線導軌 斜調整部1 1 5 2的接點部1 1 2 8隨著桿 方向移動。 X方向移載滑塊1162依來自控制 於主體1168向X方向移動第1支撐部 ，由此移動載置台1102。X方向移載滑 降機1 164的上面。 升降機1164爲伸縮式電動升降機 載滑塊1162昇降來向z方向移動或昇降 台車部1166包含從動車輪11702 並搭載升降機1164。台車部1166使卷 車1100在工廠內移動。 第10圖（c)係從第1〇圖（b)的 觀察接點部1128相對於傾斜軌道1126 圖。傾斜軌道1 1 26的下面沿傾斜軌道】 傾斜。由於藉由圓弧退避滑塊1 1 5 8、桿 1 1 3 4限制相對於傾斜軌道1 1 2 6的圓弧丄 的控制信號使接點 I斜調整部1 1 5 2包 鬼1 1 5 8，另一端插 1 102以交叉滾子 :持部1 134受力之 ;亦追隨移動。 等，以便能夠使傾 1136的移動而向X 部的控制信號相對 Π24及第2支撐部 塊1 162固定在升 ，藉由使X方向移 ¥載置台1 102。 乏驅動車輪1 172， 材搬運用無人搬運 B箭頭所示之方向 之滑動樣子之示意 .1 2 6所延伸之方向 1136及桿保持部 邑避滑塊1 1 5 8之y -34- 201240902 方向的移動，因此當接點部1128藉由傾斜調整部] 傾斜軌道1 1 26所延伸之方向移動時，接點部1 1 28 軌道1 126上滑移。於是座架1 104藉由傾斜軌道1 傾斜以旋轉銷1 1 46爲中心旋轉，由此載置台1 1 〇2 銷1 1 46爲中心旋轉，或者相對於水平面傾斜。 第10圖（d)係第10圖（a)的B-B線截面 10圖（d)中表示載置台1102及載置台支撐手段 構件省略圖示。第3導銷1 1 1 8留有間隙地嵌合於) 孔1 1 12 »關於第4導銷1 120亦相同。第1測力 1122在z方向上支撐載置台1102。 對如以上構成之卷材搬運用無人搬運車1100 進行說明。 卷材搬運用無人搬運車1100若移動至在與此 行卷材的交接之生產機的位置，則暫時停止。卷材 無人搬運車1100在主體1168停止的狀態下，依來 位置檢測器1 1 3 8及第2位置檢測器1 1 40的位置檢 對載置台1102的位置和朝向僅調整所需量。 之後’卷材搬運用無人搬運車1100藉由升降卷 使載置台1102朝向鉛垂上方向上昇來進行卷材的交 第11圖（a) 、（b)係表示卷材搬運用無人 1100從生產機1174接收卷材1176時的樣子之示 第11圖（a)係生產機1174及卷材搬運用無人 1 1 00的頂視圖，第1】圖（b )係側視圖》 此時，生產機1174中卷材搬運用無人搬運車1 I 1 52 向 在傾斜 1 26的 以旋轉 圖。第 ，其他 第4導 傳感器 的動作 之間進 搬運用 自第1 測信號 | 1164 :接。 搬運車 意圖。 搬運車 100能 -35- 201240902 夠進入之缺口量L不充份，即使卷材搬運用無人搬運車 1100以最大限進入，卷材搬運用無人搬運車1100的主體 1 168的中心R3的y方向位置亦到達不了安裝於生產機 1 174之卷材1 176的中心R4的y方向位置。 若卷材搬運用無人搬運車1100以最大限進入生產機 1174而停止，則使用包含第ly方向驅動部1150及第2y 方向驅動部1160之驅動部1178，向y方向生產機側移動 支撐載置台1102之支撐部1180。如此載置台11〇2的中 心與安裝於生產機1 174之卷材1 1"76的中心R4被對位。 之後，藉由驅動部1178所含之升降機1164上昇載置台 1102並從生產機1174接收卷材1176。 第12圖係用於說明載置台1102以交叉滾子1148爲 中心旋轉時的傾斜軌道1 1 2 6及接點部1 1 2 8的移動之說明 圖。當第1支撐部1124及第2支撐部以不同之變位向y 方向移動時，產生以交叉滾子1M8爲中心之載置台11〇2 的旋轉。該旋轉時，接點部1128隨著第2支擦部向y方 向的移動而向y方向移動。在此，當第2支撐部沒有X方 向的遊隙時’接點部1 1 28移動至以第1 2圖的虛線圓表示 之位置1182’並有可能脫離旋轉後的傾斜軌道1126。然 而，在本實施方式中，由於第2支撐部具有x方向的遊隙 ，因此即使接點部1 1 28應在的位置隨著載置台1丨02的旋 轉而向X方向偏離’亦能夠吸收其偏離。亦即，接點部 1 128亦追隨載置台1 102的旋轉向X方向移動。其結果， 可以在旋轉前後實質性地確保傾斜軌道丨！ 26與接點部 -36- 201240902 1 1 2 8的位置關係。 依本實施方式之卷材搬運用無人搬運車1100，即使 卷材搬運用無人搬運車1100的主體1168的停止位置偏離 所期望的位置或者載置台1102的朝向與所期望的朝向不 同，亦能夠在停止主體1 1 68的狀態下將載置台1 1 02相對 於生產機之位置或朝向調整爲所期望的位置或朝向。由此 ，能夠進一步提高交接卷材時載置台1102相對於生產機 之定位精確度。其結果，更加順利地進行卷材的交接，並 能夠降低發生交接失敗之槪率。 尤其是AGV由於以無軌道移動，因此與沿著軌道移 動時相比停止位置容易產生偏差。因此，本實施方式之卷 材搬運用無人搬運車1100更適合作爲以無軌道搬運卷材 之 AGV。 另外，即使主體1168準確地停止在所期望的位置， 因地面精確度較差，所以有時需要進一步微調載置台 1102相對於生產機之位置。在習知之支架方式中由於以 設置於地面之錐體爲基準定位載置台，因此在地面其本身 的精確度較差時難以對應。然而，在本實施方式之卷材搬 運用無人搬運車1100中使用位置檢測器，並依載置台 1 1 02在工廠內的絕對位置進行主體Π 68停止後的調整， 因此即使地面精確度較差，亦能夠將載置台1 1 0 2相對於 生產機之位置的精確度確保得較高。 另外’還可以考慮藉由移動主體來微調載置台的位置 ，但是根據情況積載沉重的卷材之其本身亦很難使沉重的 -37- 201240902 AGV正確地僅移動微小距離，即使實現亦需要更昂貴的 主體驅動機構等。相對於此，本實施方式之卷材搬運用無 人搬運車1 100更輕鬆且更低的成本實現載置台1 102的位 置或朝向的調整。 並且，尤其從生產機接收卷材時，生產機的卡盤的停 止位置有時偏離所期望的位置。在本實施方式之卷材搬運 用無人搬運車1 1〇〇中，能夠藉由使第ly方向驅動部 1150、第2y方向驅動部1160、X方向移載滑塊1162及傾 斜調整部1152的控制與荷載控制聯動來調整載置台1102 的位置、朝向，以便補償在升降機1164的驅動中卡盤停 止位置的偏離。由此，實現更順利且接收失誤較少之卷材 的交接，。 並且，與習知之支架方式相比，在使用本實施方式之 卷材搬運用無人搬運車Π00之工廠中由於無需設置錐體 ，因此能夠使地面更平坦化。 並且，在習知之支架方式中當支架與錐體接觸時發生 相應的起塵，不太適合在環保環境中使用。相對於此，本 實施方式之卷材搬運用無人搬運車1100中由於無這種起 塵，因此更適合在需環保性之環境中使用。 並且，本實施方式之卷材搬運用無人搬運車1100在 停止主體1168之後，能夠藉由第ly方向驅動部1150及 第2y方向驅動部1160向y方向移動載置台1102。由此 ，即使在例如如上述第1 1圖的情況，亦即生產機的缺口 量不充份時，亦可在與生產機之間交接卷材。換言之，可 -38- 201240902 以降低生產機側所要求之缺口量，並提高生產機的設計自 由度。 並且，本實施方式之卷材搬運用無人搬運車1100在 停止主體1168之後，能夠以與Z方向正交之旋轉軸爲中 心旋轉載置台1 1 02。由此，停止主體1 1 6 8之後，即使例 如在載置台1 1 02因地面傾斜而傾斜時，亦能夠將載置台 1 102恢復成水平。 並且，在本實施方式之卷材搬運用無人搬運車1100 中，第2支撐部在X方向上具有遊隙。因此，即使在載置 台1 1 02以交叉滾子1 1 48爲中心旋轉時，亦能夠維持傾斜 軌道1 126與接點部1 128的位置關係。 並且，在本實施方式之卷材搬運用無人搬運車1100 中，載置台1102透過測力傳感器在z方向上支撐，接收 卷材時進行利用來自其測力傳感器的信號之荷載控制。由 此，卷材的接收變得更順利，並可減輕起因於卷材本身重 量之卷材的接收失誤。 以上，對第2實施方式之卷材搬運用無人搬運車 1 1 〇〇的結構和動作進行了說明。該實施方式僅爲例示， 可以對這些各構成要件的組合進行各種變形例，並且這種 變形例亦在本發明範圍內這一點對本領域技術人員來講是 可以理解的。 在第2實施方式中，對藉由第1位置檢測器1 1 3 8及 第2位置檢測器1 1 40檢測載置台1 1 02相對於生產機之位 置或朝向之情況進行了說明’但是作爲該檢測器可設置位 -39- 201240902 置檢測器與光或鐳射等光源的組，或者還可使用照相機和 標誌。 在第2實施方式中，對第2支撐部在X方向上具有遊 隙之情況進行了說明，但是不限於此，例如可使傾斜軌道 的寬度變大來代替設置遊隙。 在第2實施方式中，對利用3個測力傳感器之情況進 行說明，但是若將測力傳感器設置於4角，則能夠更可靠 地交接輥。 [產業上的可利用性] 藉由本發明能夠更順利地進行接收卷材。 【圖式簡單說明】 第1圖（a) 、（b)係用於說明作爲搬運對象的卷材 之示意圖》 第2圖係生產機側的轉台的立體圖。 第3圖（a)〜（d)係表示第1實施方式之卷材搬運 用無人搬運車之示意圖。 第4圖係表示第3圖（b)的卷材搬運用無人搬運車 的控制部的功能及結構之塊圖。 第5圖（〇〜（c)係用於說明第3圖（b)的卷材 搬運用無人搬運車從轉台接收卷材時的荷載控制之說明圖 〇 第6圖（a)〜（c)係用於說明第3圖（b)的卷材 -40- 201240902 搬運用無人搬運車從轉台接收卷材時的其他荷載控制之說 明圖。 第7圖（a) 、（b)係表示第3圖（b)的卷材搬運 用無人搬運車從生產機接收卷材時的樣子之示意圖。 第8圖係用於說明第3圖（b)的載置台以交叉滾子 爲中心旋轉時的傾斜軌道及接點部的移動之說明圖。 第9圖（a) 、（b)係用於說明作爲搬運對象的卷材 之示意圖。 第10圖（a)〜（d)係表示第2實施方式之卷材搬 運用無人搬運車之示意圖。 第11圖（a) 、（b)係表示卷材搬運用無人搬運車 從生產機接收卷材時的樣子之示意圖。 第12圖係用於說明載置台以交叉滾子爲中心旋轉時 的傾斜軌道及接點部的移動之說明圖。 【主要元件符號説明】 2 :卷材 5〇 :控制部 1〇〇 :卷材搬運用無人搬運車 1〇2 :載置台 124 :第丨支撐部 126 :傾斜軌道 1 3 8 :第1位置檢測器 140 :第2位置檢測器 • 41 - 201240902 150:第ly方向驅動部 152 :傾斜調整部 1 5 8 :圓弧退避滑塊 160:第2y方向驅動部 162: X方向移載滑塊 164 :升降機 1 66 :台車部 1 68 :主體 -42201240902 VI. Description of the Invention: [Technical Field of the Invention] This application claims Japanese Patent Application No. 2011-027716, filed on Feb. 10, 2011, and Japanese Patent Application No. 20 1 1 - Priority of 1 93 3 00. The entire contents of the application are hereby incorporated by reference. The present invention relates to a device for transporting a coil. [Prior Art] The coil material is obtained by winding a strip or sheet material on a core. The raw material is, for example, a film or paper. The film has various uses such as use in the production of liquid crystals or batteries or packaging for foods. In the production of such a film or paper, the elongated film or paper is first formed into a roll shape. In many factories that process this coil, 'in order to load or unwind the coil from the production or processing of the coil (hereinafter referred to as the production machine), orbital or non-orbital unmanned trolleys (for example, reference patents) Literature 1). In the present invention, for example, the present invention is directed to a turret that receives a coil from a storage area of a coil and carries it into a turret of a production machine. (Patent Document) Patent Document 1 Japanese Patent Application Publication No. 2008-2221 09 Problem to be solved) -5- 201240902 When the trolley receives the coil from the turntable, the pallet of the coil is usually positioned at the predetermined receiving position using a lift of the trolley. The separation of the coils is then carried out on the turntable side. However, in such position control, the reception is often not very smooth due to the deviation of the stop position of the turntable or the deviation of the stop position of the carriage. In particular, if the web to be received is displaced from the mounting table in the vertical direction, the web is "dropped" and an impact is applied to the web. The conveyance of the coiled material is carried by the weir portion that supports the coil, and the shaft-supported conveyance that conveys the core of the coil and supports the coil, but the impact during the receiving of the coil is generally caused by the core-supported conveyance. Applied to the core, so its shadow is limited. However, in the stern-supported conveyance, the impact is directly applied to the crotch portion, so that the raw material may be damaged. The present invention has been made in view of such circumstances, and an object thereof is to provide a web conveying apparatus capable of more smoothly receiving a web. (Means for Solving the Problem) One aspect of the present invention relates to a coil conveying device. The coil conveying device includes a mounting table that contacts the crotch portion of the coil supported by the coil supporting device in the air from the lower side in the vertical direction, a load detecting portion that detects the load applied to the mounting table, and a load adjusting portion. The force of pressing the web by the mounting table is adjusted by the load detected by the load detecting unit. According to this aspect, the coil can be received by load control. Other aspects of the invention are also related to coil handling devices. The device includes a mounting table that is in contact with a lower portion of the coil supporting the air in the vertical direction of the winding support device in the vertical direction by the coil supporting device, and a load detecting portion for detecting and applying The load on the mounting table and the load adjusting portion increase the force of pressing the web by the mounting table, and stop the control of increasing the load when the load detected by the load detecting portion does not substantially change. Another aspect of the invention relates to a web handling device. The coil conveying device includes: a mounting table on which a flange portion of the coil is to be placed; and a detecting means for detecting a position of the mounting table with respect to a device for transferring the web between the web conveying device; When the main body of the coil conveying device is stopped to transfer the coil, the mounting table is moved in a non-vertical direction based on the detection result by the detecting means, and the rotating means stops the main body of the coil conveying device for transferring the coil. At the time, the stage is rotated according to the detection result based on the detection means. According to this aspect, when the main body of the coil conveying device stops to transfer the web, the position of the mounting table can be adjusted. Further, any combination of the above constituent elements or the constituent elements or expressions of the present invention between devices, methods, systems, computer programs, recording mediums for storing computer programs, and the like is also effective as an aspect of the present invention. (Effect of the Invention) According to the present invention, the receiving of the web can be performed more smoothly. [Embodiment] Hereinafter, the same or equivalent constituent elements and members will be denoted by the same reference numerals, and the description thereof will be omitted as appropriate. Further, the size of the members in the respective drawings is enlarged and reduced for the sake of easy understanding. In the drawings, a part of the members which are not important in explaining the embodiments is omitted. (First embodiment) Figs. 1(a) and 1(b) are schematic views for explaining a coil 2 to be transported. Fig. 1(a) is a perspective view of the coil 2. The web 2 is formed by winding a strip-shaped or sheet-like raw material 4 on a shaft core 6. Therefore, the core 6 extends along the winding axis of the web 2. The shaft core 6 has a hollow portion 8 extending in the center in the radial direction along the winding axis. The shaft core 6 becomes the basis when the raw material 4 is wound. Fig. 1(b) is a side view showing the web 2 placed on the mounting table 102 of the unmanned transport vehicle for coil conveyance according to the first embodiment. The coil 2 is placed on the mounting table 102 by the outer peripheral surface 2a, that is, the crotch portion, in contact with the mounting table 1〇2. The mounting table 102 has a V-shaped cross section to prevent the coil 2 from rotating during transportation. Fig. 2 is a perspective view of the turntable 20 on the production machine side. The turntable 20 supports the web 2 in the air, i.e., in a non-contact manner with the floor 26 of the factory. The turntable 20 includes a frame 22 that is erected on the floor 26 of the factory, and a turret arm 24 that is rotatably supported by the frame 22 around a first rotation axis J parallel to the horizontal plane. The one end portion 24a of the turntable arm 24 is provided with a pair of chucks (not shown in Fig. 2) that can advance and retreat in the direction of the first rotation axis J of the turntable arm 24. The same pair of chucks are also disposed on the other end portion 24b of the turntable arm 24. One of the pair of turret arms 24 is moved between the stop positions of the transfer stop positions including the transfer of the web 2 between the unloading carts for transporting the webs of the present embodiment -8 - 201240902. . The turntable 20 realizes the movement between the stop positions by rotating the turret arm 24 using a motor (not shown). Further, the stop position for receiving the supply of the coil from the unloading cart for conveying the coil may be different from the stop position for transferring the coil to the unloading cart for the coil conveyance. In the AGV (Automatic Guided Vehicle) that moves in the factory in a non-orbital manner in the factory, the coil 2 is supported by the crotch portion, and the coil 2 is carried into the turntable 20 of the production machine, or is produced from the production. The turntable 20 of the machine carries out the web 2. In the present embodiment, the case of the squat-supporting conveyance will be described. Because of the 支承-supported transport, the unmanned transport vehicle for coil transport of the present embodiment has a mounting table 102 for receiving the crotch portion of the coil 2. It is necessary to make the size of the mounting table 102 sufficient to support the crotch portion of the coil 2. In the unmanned transport vehicle for coil conveyance according to the present embodiment, the mounting table 102 is supported at two locations by two support portions, and the mounting table 102 is moved by the movement of the two support portions. Since the movement of the support portion of one of the units passes through the mounting table 102 and affects the movement of the other support portion, the unloading conveyance unit for coil conveyance according to the present embodiment has a configuration in consideration of this point. On the other hand, in the core-supported conveyance, it is basically possible to independently control the two arms for receiving the shaft core. Therefore, those skilled in the art can understand that the control technique of the mounting table and the support portion in the present embodiment is different from the control technique of the arm in the shaft-supported transport. In the unmanned transport vehicle for transporting a coil according to the present embodiment, when the winding material 2 is connected to the turntable 20, the winding material 2 is applied to the mounting table 102, whereby the winding of the web 2 can be performed more smoothly. a) to (d) show a schematic diagram of the unmanned transport vehicle of the present embodiment. The stock conveying table 102, the stage supporting means, the first second position detector 14'', the first support portion 124, the ly direction drive unit 150, the second y direction drive unit 162, and the main body 168. The main body 168 includes an elevator 164 and a carriage portion, and is introduced in the X direction and the y-row which are orthogonal to each other. The z direction is set to the vertical direction, that is, the direction of gravity applied to the web at 102 o'clock. X The vertical direction, that is, the direction orthogonal to the direction perpendicular to the vertical direction. The direction in which the coil is placed on the winding axis of the carrier is set to the X direction. Fig. 3(a) is an unmanned transport for coil conveyance. The stacking table 102 is substantially rectangular in plan view, and the winding shaft of the web 2 of the mounting table 102 is substantially flat. The support means includes the first guide pin 114. 3 guide pin 118, fourth guide pin 120, first measurement; ^ load cell 1 3 0, third load cell 1 3 2 123, mount 1〇4, inclined rail 126 and rod hold. The first guide pin 114, the second guide pin 116, and the load control of the first load.卷 Method for transporting the coils 100 sets of the position detector 1 3 8 , the second support unit, the 160th, the X-direction transfer slide 166, and the control unit 50. Direction and direction of the feed The web is placed in the direction of the stage, and the y direction is not, especially when placed in the horizontal plane 102 along the top side of the ink cart 100 in the longitudinal direction and placed on the line. The second guide pin 116, the sensor 1 2 2, the second and fourth load cell portions 1 3 4 . The third guide pin 1 1 8 and the fourth -10- 201240902 guide pin 1 2 0 are fixed to the mount 408, respectively, and are fitted to the first guide hole 106 provided at the four corners of the mount 102, and the second The guide hole 108, the third guide hole 110 and the fourth guide hole 112. The mount 104 is fixed relative to the main body 168 at least during movement of the main body 168 of the unloading transport vehicle 100. The mounting table 102 is fitted in the guide hole by the guide pin with a gap therebetween, and is positioned in the horizontal plane with respect to the unloading transport vehicle 1〇〇. Each load cell is fixed to the mount 104 and supports the mount 102 from its four corners. The first load cell 122 and the second load cell 13 0 are disposed at positions along the long side of one of the mounting stages 102. The third load cell sensor 132 and the fourth load cell 123 are disposed at the position along the other long side of the mounting table 102. Therefore, the first load cell 1 22, the second load cell 1 130, the third load cell 1 3 2, and the fourth load cell 123 are arranged to sandwich the roll placed on the stage 102 in plan view. The winding axis of the material 2. The width of the mounting table 102 in the short-side direction is larger than that in the case of the core-supported conveyance. Therefore, the web 2 can be more evenly supported by arranging a plurality of load cells to sandwich the winding axis of the web 2. Further, it is possible to further enhance the maintenance of the balance by arranging a plurality of load cells on the long side and the other long side of one of the mounting bases 102, respectively. The inclined rail 126 and the rod holding portion 134 are fixed to the lower surface of the mount 1〇4. The inclined track 1 26 is a track extending in the y direction. The rod holding portion 1 3 4 is a cup-shaped member that opens downward. Fig. 3(b) is a side view of the unloading vehicle 1 for coil conveyance -11 - 201240902 The first position detector 1 3 8 and the second position detector 1 40 are attached to the X direction of the mount 104, respectively. One end and the other end detect the position or orientation of the mounting table 1〇2 with respect to the turntable 20. The orientation of the mounting table 102 may be the orientation of the normal line when the mounting table 102 is viewed as a substantially flat surface. The first position detector 1 38 and the second position detector 140 transmit the detection result of the position or orientation to the control unit 50. The first support portion 124 and the second support portion rotatably support the mounting table 102 by rotatably supporting the mount 104 at positions different from each other. The first support portion 124 includes a rotation pin 146 and a cross roller 148. The rotation pin 1 46 is a pin having a member attached to the seat 104 side at one end and a member attached to the side of the cross roller 148 at the other end. When the rotation pin 146 is inclined with respect to the horizontal plane, that is, the center of rotation of the mounting table 102 when the second rotation axis orthogonal to the z direction is rotated. The cross roller 148 rotatably supports the rotation pin 146 around the third rotation axis in the z direction. The cross roller 148 is the center of the rotation of the stage 102 when the rotation of the stage 102 is rotated around the third rotation axis. The control signal of the control unit 50 linearly moves the first support portion 124 in the y direction with respect to the main body 168. The first ly-direction driving unit 150 is configured by appropriately combining a linear guide such as an LM guide (Linear Motion Guide) and a motor. The second y-direction driving unit 1 60 also moves the second supporting portion in the y direction with respect to the main body 168 in the same manner. The first ly direction driving unit 150 and the second y direction driving unit 160 are both fixed to the upper surface of the X-direction transfer slider 162. -12-201240902 When the ly-direction driving unit 150 and the second y-direction driving unit 160 move the corresponding supporting portions with the same displacement, the mounting table 102 linearly moves in the y direction. When the ly-direction drive unit 150 and the second y-direction drive unit 160 move the corresponding support portions with different displacements, the movement of the mounting table 102 has a rotation component centered on the cross roller 1 48 and, depending on the situation, the y direction. Linear motion components. The second support portion includes a tilt adjustment portion 152, a lever 136, and an arc retracting slider 158. When the mounting table 102 is rotated about the cross roller 148, the contact position between the second support portion and the inclined rail 126 can be moved, so that the second support portion has a play in the X direction. The tilt adjusting portion 152 has a contact portion 1 28 that is in contact with the inclined rail 126. The tilt adjustment unit 1 52 slides the contact portion 128 with respect to the tilt rail 126 in accordance with a control signal from the control unit 50. The tilt adjusting portion 152 includes a linear guide or a motor or a ball screw or the like. One end of the rod 136 is attached to the arc retracting slider 158, and the other end is inserted into the inside of the rod holding portion 134. When the ly-direction driving unit 150 and the second y-direction driving unit 160 move the corresponding supporting portions with different displacements, the lever 136 presses the lever holding portion 134 in the y direction, whereby the mounting table 102 has the crossed roller 1 4 8 as Center rotation. At this time, the lever holding portion 134 moves in the X direction, and the moving lever 136 also moves in the X direction. As a result, the arc retracting slider 158 also follows the movement in the X direction. The arc retracting slider 1 58 includes a linear guide or the like so that the contact portion 128 of the tilt adjusting portion 152 can move in the X direction in accordance with the movement of the lever 136 in the X direction. -13- 201240902 The X-direction transfer slider 1 62 moves the first support portion 124 and the second support portion in the x-direction with respect to the main body 168 in accordance with a control signal from the control unit 50, thereby moving the mounting table 102 to the direction of movement The carrier slider 162 is fixed to the upper surface of the elevator 164. The lifter 164 is a telescopic electric lifter that moves or lifts the mounting table 1〇2 in the ζ direction by raising and lowering the 乂 direction transfer slider 162. The carriage unit 166 includes a driven wheel 170 and a drive wheel 172, and mounts the elevator 164. The truck unit 166 moves the unloading transport vehicle 1〇〇 in the factory. Fig. 3(c) is a view showing the sliding state of the contact portion 1 28 with respect to the inclined rail 1 26 from the direction indicated by the arrow in Fig. 3(b). The lower side of the inclined rail 1 26 is inclined in the direction in which the inclined rail 1 26 extends. Since the arc retracting slider 158, the lever 136, and the lever holding portion 134 restrict the movement in the y direction with respect to the arc retracting slider 158 of the inclined rail 126, the contact portion 128 is inclined by the tilt adjusting portion 152. When the direction in which the track 126 extends is moved, the contact portion 1 28 slides on the inclined track 126. Then, the mount 104 is rotated about the rotation pin 146 by the inclination of the inclined rail 126, whereby the mounting table 102 rotates around the rotation pin 1 46 or is inclined with respect to the horizontal plane. Fig. 3(d) is a cross-sectional view taken along line A-A of Fig. 3(a). In the third diagram (d), the mounting table 02 and the mounting table supporting means are shown, and other members are not shown. The third guide pin 1 1 8 is fitted to the fourth guide hole 1 1 2 with a gap therebetween. The same applies to the fourth guide pin 120. Fig. 4 is a block diagram showing the function and configuration of the control unit 50 of the unmanned transport vehicle for coil transporting of the present embodiment -14-201240902100. Each of the hardware devices shown here can be realized by a component or device represented by a CPU of a computer. In a software device, it can be realized by a computer program or the like, but this is a functional block realized by a combination thereof. Therefore, it is understood that those energy blocks can be implemented in various forms by a combination of hardware devices and software devices, which will be understood by those skilled in the art to which the present specification is associated. The control unit 50 includes an interface unit 52, a main body stop unit 54' ascending front stage adjustment unit 56, a stage elevating unit 58, and an integral load control unit 60 partial load control unit 62. The interface unit 52 transmits and receives signals to and from each member of the unloading 100 for coil conveyance. Further, the interface unit 52 acquires information indicating the weight of the material 2 to be received from the outside by wireless communication means such as optical communication. When the unloading cart 100 for transporting the sheet conveys the web 2 to the turntable 20, the main body of the unloading cart 1 for the coil conveyance! It is stopped at a predetermined main body stop position which is provided on the lower side of the delivery stop position of one of the turret arms 24 to the chuck. The main body stopping portion 5 4 controls the carriage portion 1 66 so that the main body 1 68 is stopped at the main body stop position. When the main body 168 is detected by the sensor (not shown) to reach the main body stop position, the main stop unit 54 transmits a control signal for stopping the table unit 166 to the bogie unit 166 via the interface unit 52. When the main body 168 is stopped at the main body stop position, the pre-rising stage mounting unit 56 receives the information transmitted from the first position detector 1 38 and the first position detector 140 through the interface unit 52. The information thus obtained includes the results of the detection of the position or orientation of the mounting block in the power carrier and the vehicle-by-vehicle alignment of the car -15-2 201240902 1 〇2 relative to the turntable 20. The rising stage adjusting unit 56 controls the first ly direction driving unit 150 and the second y moving unit 160' in the X direction transfer slider 162 and the tilt adjusting unit 152, and the position or orientation of the stage 102 is a desired position or orientation. The front stage adjusting unit 56 transmits, for example, a control signal for specifying the amount of displacement to the first ly direction unit 丨5〇, the second y direction driving unit 160, and the X direction transfer slider 162 skew adjusting unit 152 via the interface unit 52. The stage lifting unit 58 controls the elevator 164 to raise the load 102 after the position or orientation of the stage 102 is adjusted based on the front mounting stage adjustment unit 56. The stage elevating unit 58 transmits a control signal for specifying the amount of rise to the elevator through the interface unit 52. The same applies to the mounting table 102. Fig. 5 (a) to (c) are explanatory diagrams for explaining the load control when the unloading vehicle 100 for the coil conveyance receives the coil 2 from the turntable 20, referring to Fig. 4 and Fig. 5(a)~( c) The overall load control 60 and the partial load control unit 62 will be described. Fig. 5(a) is a front elevational view showing a state in which the unloading cart 100 for coil conveyance receives the web 2 supported by the chucks 28a and 28b by one of the turret arms 24, and the vacant table 102 is raised. One chuck 28a enters one end 8a of the hollow portion of the web 2, and the other 28b enters the other end 8b of the hollow portion of the web 2. Thereby the web 2 is double supported by both ends of 6. The pair of chucks 28a, 28b are stopped at the transfer stop position. The elevator that receives the control signal from the stage elevating unit 58 carries the drive to the drive and the tilting table 1 64 to lower the transport. In order to place the chuck core for emptying -16 - 164 201240902, the empty loading table ι〇2β is raised toward the coil 2 and the mounting table ι〇2 is in contact with the crotch portion of the coil 2 to the lower side. Fig. 5(b) is a front view showing the state in which the mounting table 1〇2 is in contact with the web. The force acting in the vertical direction of the coil 2 is the force F3 which is the weight F1' which is affected by the mounting table 1〇2, the force F3 which is affected by the chuck 28a, and the card of the other side! The power of influence F4. As long as the web 2 does not move in the vertical direction, it will be balanced. That is, the force F1 + F2 + F3 + F4 ) acting in the vertical direction of the coil 2 is zero. The force acting in the vertical direction of the mounting table 102 is the amount of the mounting table, that is, the gravity F5, the load applied to the mounting table 1〇2 (=the affected force) F6, and the first load cell 122 and the fourth measurement 123. The force of influence F7 and the force F8 affected by the second load cell 130 and the sensor 132. As long as the mounting table 102 does not move, these forces are balanced. That is, the sum of the forces acting on the vertical direction (F5 + F6 + F7 + F8) is zero. The overall load control unit 60 receives, from the sensor unit 122, the second load cell 130, and the third load cell sensing: fourth load cell 123, the load applied to each of them via the interface unit 52. The overall load control unit 60 subtracts the weight of the mounting table 102 itself (the load applied to the mounting table 102 (F6) by applying the total of the four load sensing sensors (F7 + F8). From the viewpoint of the load, in the present embodiment, the first device 1 2 2, the second load cell 1 3 0 'the third load cell 1 receives the 28b from the web 2 after the vertical side 2 Then, the sum of these forces (the force sensor of the heavy coil 2 of 012, the third force to the load cell 132 of the wrong square 102 and the load F5 of the information carrier) are carried on the mounting table. Sense [32, 4th-17-201240902 The load cell 123 and the mounting table l2 constitute a load detecting unit that detects the load applied to the mounting table i〇2. In addition, the size of F2 and F6 is considered from the law of action reaction. Therefore, the load calculated by the overall load control unit 60 is equal to the force at which the mounting table 102 presses the coil 2 in the vertical direction. The overall load control unit 60 controls the elevator 164 to calculate the load (F6). Close to the weight of the received coil 2 (F1). When the load (F6) is less than the weight ( In F1), the overall load control unit 60 transmits a control signal for enhancing the driving force for raising the mounting table 102 to the elevator 164. As a result, the force (F2) of the mounting table 102 pressing the coil 2 in the vertical direction is the load. (F6) increases, and the load (F6) approaches the weight (F1). The opposite is also the case. Therefore, in the present embodiment, the overall load control unit 60 and the elevator 164 constitute a load adjustment stage that is detected by the load detecting unit. The load adjusting unit that presses the force (F2) of the coil 2 in the vertical direction. The partial load control unit 62 controls the inclination of the mounting table 102 so that the load applied to the mounting table 102 is along the winding axis of the web 2 The partial load control unit 62 calculates the sum of the load applied to the first load cell 1 22 and the load applied to the fourth load cell 123 (= F7). The partial load control unit 62 calculates the operation. And subtracting the weight (F5) of the mounting table 102 itself by a predetermined coefficient XI of less than 1. Since the first load cell 1 22 and the fourth load cell 1 23 are disposed at one end 8 a of the hollow portion Side (hereinafter referred to as the left side), so by subtraction The obtained load can be regarded as the load F9 (not shown) applied to the left side of the mounting table 102. -18-201240902 The partial load control unit 62 calculates the load applied to the second load cell and applies it to the third load cell. The sum of the loads of 1 3 2 (=) The partial load control unit 62 subtracts the calculated weight (F5) of the mounting table 102 by the predetermined coefficient X2 of less than 1, and obtains the second load cell 130. The third load cell 132 is disposed on the other end 8b side (hereinafter referred to as the right side) of the portion, and therefore can be regarded as a load F 1 0 (shown) applied to the right side of the mounting table 102 by subtraction. When the coil 2 is not placed on the mounting table 102, the sum of the load applied to the first load cell 1 22 and the load applied to the fourth load cell and the second load cell 1 3 0 can be obtained. The load is the sum of the loads applied to the third load cell 132, and X 1 and the coefficient X 2 are specified according to these sums. The partial load control unit 62 adjusts the inclination of the mounting table 102, and the ratio of the load F9 applied to the left side of the mounting table 102 to the F1 0 applied to the right side becomes a predetermined ratio depending on the arrangement of the four load cells. The partial load control unit 62 adjusts the degree of the stage 1〇2 by transmitting a control signal of the displacement amount of the contact unit 128 to the tilt adjustment unit 152. When the contact portion 1 28 is displaced and the opposite side of the right side of the mounting table 1 〇 2 is lowered, the load F 9 applied to the left side of the mounting table 1 0 2 is increased by the load F 1 0 applied to the right side. The opposite is also the case. The predetermined ratio is defined as the force (= F4) at which one of the chucks 28a supports the coil 2 = F3) and the other of the chucks 28b supports the coil 2. For example, when a plurality of load cells are configured to be opposite to the body carrying the load. The hollow is obtained by adding a factor of 123 to the coefficient so that the ratio of the load is inclined to the left, and the force is applied to the vertical plane of the center of the longitudinal direction of the -19-201240902 102 and parallel to the yz plane. The ratio of 1:1 is ideal. Fig. 5(c) is a front view showing when a pair of chucks 28a and 28b are pulled out. The load detected by the load detecting unit is set in accordance with the amount of the coil. In the error range, when the load F9 applied to the left side of 102 and the load F10 applied to the right side are close to a predetermined ratio, the control unit 50 transmits the drive unit (not shown) to the disks 28a and 28b through the interface unit 52. Sending the allowable chuck pull signal. If the drive unit receives its control signal, the pair of chucks 28a, 28b are pulled out from the shaft 6 8. The weight of the web 2 is obtained in advance and the target is used as a target. In addition to the control mode, the overall load control unit 60 has another mode in which the weight of the web 2 is not obtained. In this other mode, the change in the load on the stage 102 determines the timing at which the pair of chucks 28b are pulled out. Figure 6 (a) ~ (c) is used to say The other load control when the car-free 100 for receiving the coiled material receives the coil 2 from the turntable 20 is shown in Fig. 6(a), which shows that the unloading truck 1 for the coil conveyance receives a pair of cards by the turntable arm 24. A side view of the state in which the disks 28a, 28b are supported in the air 2 and the empty mounting table 102 is raised. Here, the test chucks 28a, 28b support the web 2 with a play in the vertical direction. That is, the hollow portion 8 The diameter D1 is larger than the outer diameter D2 of one of the chucks, and the core 6 is suspended on the pair of chucks 28a, 28b. In other words, the core 6 is not directly faced by being carried by the pair of chucks 28a, 28b. State 2 heavy-duty setting ratio eleven pairs of card-out control hollow part of the above-mentioned purpose needs to be applied from 28a > person handling explanatory diagram in order to connect the coil to consider a pair of cases 28a, the shaft is in a pair of -20- 201240902 The chucks 28a, 28b are fixed. Therefore, the web 2 can be swung around the pair of chucks 28a, 28b. For example, if the pair of chucks 28a, 28b are used to release the fixing of the shaft core 6 by closing the claws or the like, As shown in Fig. 6(a), the elevator 164 that receives the control signal from the stage elevating unit 58 causes the empty stage 102 to be placed. The mounting table 1〇2 is brought into contact with the crotch portion of the coil 2 from the lower side in the vertical direction. Fig. 6(b) shows the force of the mounting table 102 pressing the web 2 and the web 2 A side view of the state of the weight balance. After the mounting table 1 〇 2 contacts the crotch portion of the web 2, the force of the mounting table 102 pressing the web 2 is gradually increased by the action of the elevator 164. Moreover, the core 6 is at its force. When the size is the same as the weight of the web 2, it is desirable to move away from the pair of chucks 28a, 28b and start to rise. When the core 6, that is, the coil 2, rises very slowly, the load applied to the stage 102 is constant during the ascent. Fig. 6(c) is a side view showing a state in which the mounting table 1〇2 is raised and the lower portion of the shaft core 6 is in contact with the pair of chucks 28a and 28b. The rise of the web 2 is stopped when the lower portion of the core 6 comes into contact with the pair of chucks 28a, 28b. When the elevator 1 64 is controlled so that the mounting table 102 is further raised therefrom, the load applied to the mounting table 102 gradually increases beyond the weight of the coil 2. When the mounting table 102 comes into contact with the crotch portion of the coil 2, the integral load control unit 60 controls the elevator 164 to increase the force by which the mounting table 102 presses the web 2. The overall load control unit 60 monitors the load of the load detected by the load detecting unit to stop the increase of the force when the load gradually increased over time. Thus, as shown in Fig. 6(b), the core 6 or -21 - 201240902 does not come into contact with the pair of chucks 28a, 28b, or the contact force is small even if it is in contact. Therefore, the operation of the above-described unmanned transport vehicle 100 for coil conveyance configured as described above can be described with a smoother pull out of the pair of chucks 28a and 28b. When the unloading cart 100 for coil conveyance moves to the position of the turntable 20 of the production machine which carries out the conveyance of the web 2, it stops temporarily. In the state in which the main body 168 is stopped, the unmanned transport vehicle 100 for the web transport adjusts only the position and orientation of the mounting table 102 based on the position detection signals from the first position detector 138 and the second position detector 140. Demand. After that, the unloading cart 1 for the coil conveyance raises the web 2 by the lifter 164 so as to ascend the mounting table 102 in the vertical direction. In particular, load control is performed while receiving the coil 2. Fig. 7(a) and Fig. 7(b) are schematic diagrams showing the state in which the unloading cart for coil conveyance 1 receives the coil 176 from the production machine 174. Fig. 7(a) is a top view of the production machine 174 and the unloading cart 100 for coil conveyance, and Fig. 7(b) is a side view. In this case, the amount of the gap L that can be entered by the unloading cart 100 for the coil conveyance in the production machine 174 is not sufficient, and the unmanned transport vehicle 100 for the coil conveyance is maximized. The position of the center R1 of the main body 168 in the y direction also does not reach the position in the y direction of the center R2 of the web 176 attached to the production machine 174. When the unloading transport vehicle 100 for the coil conveyance stops at the maximum extent of entering the production machine 174, the drive unit 178 including the first ly direction drive unit 150 and the second y-22-201240902 to the drive unit 160 is used to move to the production machine side. The support portion 180 of the mounting table 102 is supported. The center of the stage 102 is aligned with the center R2 of the web 176 mounted on the machine 174. Thereafter, the stage 102 is raised by the elevator 164 included in the driving unit 178, and the coil 176 is received from the production machine 174. Fig. 8 is an explanatory view for explaining movement of the inclined rail 126 and the contact portion 128 when the mounting table 1 2 is rotated about the intersecting roller 148. When the first support portion 124 and the second support portion move in the y direction with different displacements, the rotation of the mounting table 102 around the cross roller 148 occurs. At the time of 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 has no play in the X direction, the contact portion 128 moves to the position 182 indicated by the broken line circle in Fig. 8, and may be separated from the inclined rail 126 after the rotation. However, in the present embodiment, since the second support portion has the clearance in the X direction, even if the position of the contact portion 128 is shifted in the X direction in accordance with the rotation of the mounting table 1〇2, the deviation can be absorbed. . That is, the contact portion 1 2 8 also moves in the X direction following the rotation of the mounting table 102. As a result, the positional relationship between the inclined rail 1 26 and the contact portion 1 28 can be substantially ensured before and after the rotation. According to the unmanned transport vehicle 100 for coil conveyance according to the present embodiment, when the web 2 is received from the turntable 20 during the squat-type conveyance, load control by the load applied to the mount 102 is performed. Therefore, for example, the rate of failure to generate the receiving web 2 can be reduced as compared with the case of receiving based on the absolute position. Further, the load control is performed in the unmanned transport vehicle 100 for transporting the coil of the present embodiment such that the load applied to the mounting table 102 is close to the weight of the web 2 for receiving the -23-201240902. Further, when they are sufficiently close, the coil 2 is transferred from the turntable 20 to the unloading cart i 00 for coil conveyance. When the chuck of the turntable 20 is detached from the web 2, the total weight of the web 2 is applied to the mounting table 102. At this time, the impact corresponding to the difference between the load applied to the mounting table 02 and the weight of the web 2 before the chuck is removed is applied to the crotch portion of the coil 2. In the present embodiment, since the difference is made smaller, the impact applied to the crotch portion of the coil 2 can be reduced. As a result, it is possible to reduce the possibility of damage to the original material 4 due to the impact at the time of reception. Further, when the contact force between the shaft core 6 and the chuck is relatively large when the chuck is removed from the web 2, the shaft core 6, that is, the coil 2, may be dragged in and out of the chuck. Therefore, in the present embodiment, the difference between the load applied to the stage 102 before the chuck is removed and the weight of the web 2 is made small. Thereby, the contact force between the shaft core 6 and the chuck can be further reduced, and the possibility of generating the trailing web 2 can be reduced. Even if the load applied to the mounting table 102 is balanced with the weight of the web 2, a relatively large force is sometimes applied to the chuck. For example, the winding axis of the web is inclined with respect to the chuck core. If the chuck is pulled out in this state, there is a possibility of impact or drag. Therefore, in the unmanned transport vehicle 1 for coil conveyance of the present embodiment, the force of each of the pair of chucks 28a and 28b supporting the web 2 is balanced. Thereby, when the load applied to the mounting table 102 and the weight of the web 2 are balanced, the load applied to the pair of chucks 28a and 28b can be reduced. As a result, the possibility of occurrence of impact or dragging can be reduced. The unloading cart 100 for conveying a coil of the present embodiment is placed on the turntable 20 of the production machine in order to transfer the web 2. The nearby body stop position stops.团-24-201240902 The material handling unmanned vehicle 100 has means for further adjusting the position of the mounting table 102 in the horizontal plane when the main body 168 is stopped to transfer the coil 2, and means for rotating the mounting table 102 around the second rotating shaft . Thereby, even when the actual stop position or orientation of the main body 168 of the unloading transport vehicle 1 偏离 is deviated from the main body stop position or a predetermined direction, the main body 168 can be compensated without shifting. Thereby, the positioning accuracy when the web 2 is transferred can be further improved. According to the unmanned transport vehicle 100 for coil conveyance according to the present embodiment, even if the stop position of the main body 168 of the unloading transport vehicle 100 is shifted from the main body stop position or the orientation of the mount 102 is different from the desired orientation, the stop can be stopped. In the state of the main body 168, the position or orientation of the mounting table 1 2 with respect to the turntable 20 is adjusted to a desired position or orientation. Thereby, the positioning accuracy with respect to the mounting table 102 of the turntable 20 at the time of transferring the web 2 can be further improved. As a result, the delivery of the coil 2 can be performed more smoothly, and the probability of occurrence of handover failure can be reduced. In particular, since the AGV moves in a non-track manner, the stop position is likely to be deviated as compared with when moving along the track. Therefore, the unloading cart 100 for coil conveyance of the present embodiment is more suitable as an AGV for transporting the web 2 in a non-track manner. Further, even if the main body 1 68 is accurately stopped at the main body stop position, since the accuracy of the ground is poor, it is sometimes necessary to further finely adjust the position of the stage 102 relative to the turntable 20. In the conventional bracket method, since the cone of the moving material that is installed and worn without damage is used, the actual position of the table is set to be in the position of the carrier. The base is the body of the cone, and the surface is confirmed by the position detector - 25, 201240902 By using the position detector, the position of the mounting table 102 relative to the turntable 20 can be adjusted even if the surface accuracy is poor. The accuracy is guaranteed to be higher. In addition, it is also conceivable to fine-tune the position of the mounting table by moving the main body, but it is difficult to make the sinking AGV move only a small distance correctly, depending on the situation, even if it is implemented, it requires a more substantial body. Drive mechanism, etc. On the other hand, in the coil conveyance automated transport vehicle 1 of the present embodiment, the position or orientation of the mounting table 102 is adjusted more easily and at a lower cost. Moreover, compared with the conventional bracket method, the present embodiment uses the unloading truck for coil handling. In the factory of 100, the ground can be flattened since no cones need to be provided. Moreover, in the conventional bracket mode, when the bracket is in contact with the cone, the corresponding dust is generated, so it is not suitable for use in an environmentally friendly environment. On the other hand, in the unmanned transport vehicle 1 for coil conveyance of the present embodiment, since there is no dust generation, it is more suitable for use in an environment where environmental protection is required. Further, after the main body 168 is stopped, the unloading vehicle 1 for coil conveyance of the present embodiment can move the mounting table 102 in the y direction by the first ly direction driving unit 150 and the first direction driving unit 160. Thereby, even if the amount of the gap of the production machine is sufficient as in the case of Fig. 7 (a) and (b), the web 2 can be transferred to the production machine. In other words, reduce the amount of gap required on the production side and increase the design freedom of the production machine. Further, in the unmanned transport vehicle 1 for transporting the coil of the present embodiment, after the main body 168 is stopped, the second rotating shaft orthogonal to the Z direction can be used for the purpose of being placed in the second place. Life stop -26- 201240902 The heart rotates the stage 102. Thereby, after the main body 168 is stopped, when the table 102 is tilted due to the inclination of the ground, for example, the placement level can be restored. Further, in the unmanned transport vehicle for coil conveyance according to the present embodiment, the second support portion has a play in the X direction. Therefore, even when 012 is rotated about the cross roller 1 48, the positional relationship between the inclination 126 and the contact portion 128 can be maintained. The configuration and operation of the unmanned transporting of the coil material according to the first embodiment will be described. This embodiment is merely illustrative, and various modifications may be made to the combination of the constituent elements, and such variations are within the scope of the invention. In the first embodiment, the position or orientation of the mounting table 102 is detected by the first position detector 13 2 position detector 140. However, as the detector, a position detector and a light source such as a light source can be provided. The group, or you can also use the camera and logo. In the first embodiment, the case where the second support portion is overlapped in the X direction has been described. However, the present invention is not limited thereto, and for example, the width of the tilt may be increased instead of providing the play. In the first embodiment, the four load cells are described. However, the number or arrangement of the load cells is not limited to this. When two load cells are arranged, the left and right of the mounting table 102 are arranged on the load. It is preferable to arrange the vicinity of the center of the short side direction of the 102. In the first embodiment, the slant rail vehicle 100 is placed in the unloading/unloading station 102 100 as a coil conveyance. In this case, it is also possible to understand that the illuminating or radium has an orbital trajectory. For example, one example of an AGV in which the vehicle is moved by the -27-201240902 without rail is described. However, the present invention is not limited thereto, and the unmanned transport vehicle for the coil conveyance may be a railed trolley. In the factory where most of the coils such as film rolls are processed, the equipment for producing or processing coils (hereinafter referred to as the production machine) is used for the processing of the coils. The unloaded trolley is used to carry the unloading of the coil or the coil from the production machine. The pallet receives the coil from the storage place of the coil, and carries the coil on the rail or the non-track conveyance path to the clamping device of the production machine. When the coil is transferred between the trolley and the production machine, the trolley needs to be positioned on the production machine. As the positioning method, for example, a bracket method as disclosed in Japanese Laid-Open Patent Publication No. 2008-222109 is proposed. In the bracket mode, the positioning accuracy is improved by providing a cone on the ground, a bracket on the AGV side, and a recess of the bracket in the cone. However, dust or dust may be generated when the recessed portion and the cone are fitted, so this method is often avoided in an environment where environmental protection is required. Also, since the cone is placed on the ground near the production machine, it is difficult to flatten the ground. The second embodiment is completed in view of such a situation, and an object of the invention is to provide a coil conveying device which is more suitable for positioning when a web is delivered. Fig. 9 (a) and (b) are schematic views for explaining a web 1002 to be transported. Fig. 9(a) is a perspective view of the coil 1002. Coil 1 002 is formed by winding a strip or sheet of material 1 004, such as a film or paper, onto a shaft -28-201240902 core 1006. The shaft core 1006 has a hollow portion 1008 at the center in the radial direction. The shaft core 1006 becomes the basis when the raw material 1〇〇4 is wound. Fig. 9(b) is a side view showing the web 010 placed on the mounting table 1102 of the unloading cart for coil conveyance according to the second embodiment. The coil 1002 is placed on the mounting table 1102 by the outer peripheral surface 10a, that is, the crotch portion contacting the mounting table 11〇2. The mounting table 11〇2 has a V-shaped cross section to prevent the coil 1002 from rotating during transportation. In the unmanned transport vehicle for transporting a coil according to the present embodiment, the AGV is moved in a factory without rails, and the coil is supported by the weir portion, and the coil is fed into the production machine or the coil is taken out from the production machine. From the viewpoint of transporting the coil material, the production machine is a device that performs the transfer of the coil material with the unmanned transport vehicle for coil conveyance. The conveyance of the coiled material is carried by the crucible portion that supports the web, and the crucible-supported conveyance and the shaft core that supports the coil are transported by the core-supported conveyance. However, in the present embodiment, the case of the crucible-supported conveyance will be described. . Because of the 支承-supported transport, the unmanned transport vehicle for coil transport of the present embodiment has a mounting table for receiving the crotch portion of the coil. It is necessary to make the size of the mounting table sufficient to support the crotch portion of the coil. In the unmanned transport vehicle for coil conveyance according to the present embodiment, the mounting table is supported at two locations by the two support portions, and the mounting table is moved by the movement of the two support portions. Since the movement of the support portion of one of the ones is transmitted through the mounting table to affect the movement of the other support portion, the unmanned transport vehicle for transporting the coil of the present embodiment has a configuration in consideration of this point. In contrast, in the core-supported conveyance, it is basically possible to independently control the two arms for receiving the core -29-201240902. Therefore, it will be understood by those skilled in the art that the control technique of the mounting table and the support portion in the present embodiment is different from the control technique of the arm in the core-supported transport. The unmanned transport vehicle for coil conveyance according to the present embodiment is stopped at a predetermined stop position in the vicinity of the production machine in order to transfer the coil. The unloading vehicle for coil conveyance has means for further adjusting the position of the stage in the horizontal plane when the main body is stopped to transfer the coil, and means for rotating the stage around the predetermined rotation axis. Therefore, even if the actual stop position or orientation of the main body of the unloading conveyance roller is shifted from the predetermined stop position or the predetermined orientation, the deviation can be compensated without moving the main body. Thereby, the accuracy of the positioning when the web is delivered can be further improved. Fig. 10 (a) to (d) are schematic views showing the unmanned transport vehicle 1100 for coil conveyance according to the present embodiment. The unloading vehicle for coil conveyance includes a mounting table 1102, a mounting table supporting means, a first position detector 1138, a second position detector 1140, a first support portion 1124, a second support portion, and a ly-direction drive. The portion 115A, the second y-direction driving unit 1160, the X-direction transfer slider 1162, and the main body 1168. The body 1168 includes an elevator 1164 and a trolley portion 1166. The following description will be made by introducing the X direction, the y direction, and the z direction orthogonal to each other. The z direction is set to the vertical direction, that is, the direction in which the weight applied to the web when the web is placed on the stage 1102. The X direction and the y direction are non-vertical directions, that is, directions crossing the vertical direction, especially in a direction orthogonal to each other in the horizontal plane. When the coil is placed on the mounting table 1102, the direction in which the core of the coil extends is set to the X direction. -30- 201240902 Fig. 10 (a) is a top view of the unmanned transport vehicle 1100 for coil conveyance. The mounting table support 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 113A, and a third load cell 1132. , a frame 1 104, an inclined rail 1 126, and a rod holding portion 1 134. The first guide pin 11 4, the second guide pin 1116, the third guide pin 1118, and the fourth guide pin 1 1 20 are respectively fixed to the mount 1 104, and are fitted to the four corners of the mount 1102 with a gap therebetween. The first via hole 1106, the second via hole 1108, the third via hole 1110, and the fourth via hole 1112. The mount 1104 is fixed to the main body 1 168 at least during the movement of the main body 1168 of the unloading transport vehicle 1100. The mounting table U02 is fitted to the guide hole with a gap by the guide pin, and is positioned in the horizontal plane with respect to the unloading cart 1100 for conveying the coil. The first load cell 1122, the second load cell 1 1 30, and the third load cell U 3 2 are respectively disposed between the third guide pin 1 1 18 and the fourth guide pin 1120, and the first guide pin 1114 and Between the fourth guide pins 1120 and between the second guide pins 1 1 16 and the third guide pins 1 1 1 8 . Each load cell is fixed to the mount 1104 and supports the mount 1102 in the z direction. When the web transport unmanned vehicle 1100 receives the coil from the production machine, load control based on the load cell is performed. The unloading vehicle 1100 for coil conveyance includes a control unit (not shown), and the weight of the received coil is previously input to the control unit. When receiving the coil, the control unit compares the weight indicated by the signal from the load cell with the weight of the input, and the elevator 1164 controls -31 - 201240902 to the former to reach the latter, or controls the tilt adjustment portion 1 1 5 2, the first direction The drive unit 1 150, the second y-direction drive unit 1 160, and the X-direction block 1 1 62 are provided so that the load becomes uniform. The inclined rail 1 126 and the rod holding portion U34 are fixed under the mount. The inclined track 1126 is a track that extends in the y direction. The rod 1 1 3 4 is a cup-shaped member that opens downward. Fig. 10(b) is a view of the unmanned transport vehicle 1100 for coil conveyance. The first position detector 1 1 3 8 and the second position detector 1 1 40 are attached to one end and the other end of the mount 1104 in the X direction, and detect the position or orientation of the 1102 with respect to the production machine. Placement. The stage 1102 is assumed to have the orientation of the normal line when the mounting table 1 is viewed as a substantially flat surface. The detection results of the first position detector 1 1 3 8 and the second position detector 1 1 40 are sent to the control unit. When the main body 1 1 6 8 is stopped, the ly direction driving unit 1150 and the second y direction driving unit 1 are controlled to transfer the slider 1162 and the tilt adjusting unit 1152 so that the mounting table 1 1 02 shown by the detection result from the detector is controlled. The position or orientation towards the desired location or orientation. The control unit transmits, for example, control signals for specifying the amount of displacement to the first ly direction drive 3, the second y direction drive unit 1160, the X direction transfer slider 1162, and the entire unit 1 1 52. The first support portion 1124 and the second support portion rotatably support the mounting table by supporting the mount 1104 so as not to be rotatably supported by each other. The first support portion 1124 includes a rotation pin 1146 and a cross roller 1148. The rotation pin 1 1 46 It is a member that is attached to the side of the mount 1 1 〇 4 at one end; The side of the holding portion of the holding portion of the 104 is mounted on the side of the mounting table, and the position control unit 1 60 and the X position are detected as the position of the 1 1150 tilting adjustment 1102° 〇, and the other -32-201240902 end is mounted on the cross roller U 48 The pin of the side member. The rotation pin 1146 is a center of rotation when the stage 1 102 is inclined with respect to the horizontal plane, that is, when the stage 1 102 is rotated about a rotation axis orthogonal to the z direction. The cross roller 1 1 48 rotatably supports the rotation pin 1146 about a rotation axis in the z direction. The cross roller 1148 becomes the center of the rotation of the stage 1102 when it is rotated about the rotation axis in the z direction. The first y-direction drive unit 1 1 50 directly moves the first support unit 1124 in the y direction with respect to the main body 1168 in accordance with a control signal from the control unit. The first ly direction driving unit 1150 is configured by appropriately combining a linear guide such as a LM guide (Linear Motion Guide) and a motor. Similarly, the second y-direction driving unit 1160 moves the second supporting portion in the y direction with respect to the main body 1168. The first ly direction driving unit 1150 and the second y direction driving unit 1160 are fixed to the upper surface of the X-direction transfer slider 117. When the ly-direction driving unit 1150 and the second y-direction driving unit 1160 move the corresponding supporting portions in the same displacement, the mounting table 02 moves linearly in the y direction. When the ly-direction driving unit 1 150 and the second y-direction driving unit 1160 move the corresponding supporting portions with different displacements, the movement of the mounting table 1102 has a rotation component centered on the cross roller 1 1 4 8 and depending on the situation. Linear motion component in the y direction. When the mounting table 1102 is rotated about the cross roller 1 148, the contact position of the second support portion and the inclined rail π 26 can be moved in the X direction, and the second support portion has a play in the X direction. The second support portion includes a tilt adjusting portion 1152, a lever 1136, and an arc retracting slider 1158. The tilt adjusting portion 52 has a contact portion -33 - 201240902 1 1 2 8 that is in contact with the inclined rail 1 126. The tilt adjusting portion 1 1 5 2 slides from the control portion 1 128 with respect to the inclined rail 1 126. Ftj includes linear guides or motors or ball screws. One end of the rod 1136 is attached to the inner side of the rod retaining portion 1 1 3 4 by the arc retracting slip j. When the mounting table 1148 is rotated centrally, the lever 1136 is moved from the lever guard mode. As a result, the arc retracting slider 1 1 5 {the arc retracting slider Π 58 includes the contact portion of the linear guide rail adjusting portion 1 1 5 2 1 1 2 8 moves in the direction of the rod. The X-direction transfer slider 1162 moves the mounting table 1102 by moving the first support portion in the X direction from the main body 1168. The X direction shifts the top of the slide 1 164. The elevator 1164 is a telescopic electric lifter that moves up and down the slider 1162 to move in the z direction or to lift. The carriage unit 1166 includes a driven wheel 11702 and is equipped with an elevator 1164. The truck unit 1166 moves the car 1100 in the factory. Fig. 10(c) is a view from the observation contact portion 1128 of the first figure (b) with respect to the inclined track 1126. The lower side of the inclined track 1 1 26 is inclined along the inclined track. Since the control signal of the arc 丄 relative to the inclined rail 1 1 2 6 is restricted by the arc retracting slider 1 1 5 8 and the rod 1 1 3 4, the joint I is inclined by the adjusting portion 1 1 5 2 to the ghost 1 1 5 8. The other end inserts 1 102 to cross the roller: the holding portion 1 134 is forced; it also follows the movement. In order to move the tilting 1136, the control signal to the X portion is fixed to the upper portion 24 and the second supporting portion 1 162, and the X direction is shifted by the mounting table 1102. Description of the sliding state of the direction of the direction of the arrow shown by the B arrow. 1 2 6 extending direction 1136 and the rod holding portion avoiding the movement of the slider 1 1 5 8 y -34- 201240902 direction, so when the contact portion 1128 is extended by the tilt adjustment portion] inclined rail 1 1 26 When the direction moves, the contact portion 1 1 28 slides on the track 1 126. Then, the mount 1 104 is rotated about the tilting rail 1 by the rotation pin 1 1 46, whereby the mount 1 1 〇 2 pin 1 1 46 is rotated centrally or inclined with respect to the horizontal plane. Fig. 10(d) is a cross section taken along the line B-B of Fig. 10(a). Fig. 10(d) shows the mounting table 1102 and the mounting table supporting means. The third guide pin 1 1 1 8 is fitted with a gap. The hole 1 1 12 » The same applies to the fourth guide pin 1 120. The first load 1122 supports the stage 1102 in the z direction. The unloading vehicle 1100 for coil conveyance configured as described above will be described. When the unloading cart 1100 for coil conveyance moves to the position of the production machine which is connected to this coil, it stops temporarily. Coil The unmanned vehicle 1100 adjusts only the required amount of the position and orientation of the position detecting table 1102 in the state where the main body 1168 is stopped, depending on the position detector 1 1 38 and the second position detector 1 1 40. After that, the unloading cart 1100 for the coil conveyance raises the web by raising and lowering the mounting table 1102 in the vertical direction. FIG. 11(a) and (b) show the unmanned 1100 for the coil conveyance. Fig. 11 (a) is a top view of the production machine 1174 and the unloading robot 1 1 00 for the coil conveyance 1174, and Fig. 1(b) is a side view. At this time, the production machine In 1174, the unloading cart 1 I 1 52 in the coil conveyance is rotated by 1-26. First, the other 4th sensor action between the transport from the first test signal | 1164: connect. Truck intention. The transport vehicle 100 can be -35-201240902 The amount of the gap L that is enough to enter is not sufficient, and even if the unloading cart 1100 for the coil conveyance enters at the maximum, the y direction of the center R3 of the main body 1 168 of the unloading transport vehicle 1100 for the coil conveyance The position is also not reached in the y-direction position of the center R4 of the web 1 176 of the production machine 1 174. When the unloading transport vehicle 1100 is stopped at the maximum extent and enters the production machine 1174, the drive unit 1178 including the first ly direction drive unit 1150 and the second y direction drive unit 1160 is used, and the production side of the production side is moved to the y direction. The support 1180 of 1102. The center of the stage 11〇2 is aligned with the center R4 of the web 1 1" 76 mounted on the production machine 1 174. Thereafter, the stage 1102 is raised by the elevator 1164 included in the drive unit 1178, and the web 1176 is received from the production machine 1174. Fig. 12 is an explanatory view for explaining movement of the inclined rail 1 1 2 6 and the contact portion 1 1 2 8 when the mounting table 1102 is rotated about the cross roller 1148. When the first support portion 1124 and the second support portion move in the y direction with different displacements, the rotation of the mounting table 11〇2 around the intersecting roller 1M8 occurs. At the time of this rotation, the contact portion 1128 moves in the y direction as the second wiper portion moves in the y direction. Here, when the second support portion has no play in the X direction, the contact portion 1 1 28 moves to the position 1182' indicated by the broken line circle in Fig. 2 and may be separated from the inclined track 1126 after the rotation. However, in the present embodiment, since the second support portion has the clearance in the x direction, it can be absorbed even if the contact portion 1 1 28 is displaced in the X direction with the rotation of the mounting table 1丨02. It deviates. That is, the contact portion 1 128 also moves in the X direction following the rotation of the mounting table 1102. As a result, it is possible to substantially ensure the inclined track 前后 before and after the rotation! 26 and the contact position -36- 201240902 1 1 2 8 positional relationship. According to the unmanned transport vehicle 1100 for coil conveyance according to the present embodiment, even if the stop position of the main body 1168 of the unloading transport vehicle 1100 is shifted from the desired position or the orientation of the mount 1102 is different from the desired orientation, The position of the mounting table 1 102 relative to the production machine is adjusted to a desired position or orientation in a state where the main body 1 1 68 is stopped. Thereby, the positioning accuracy of the mounting table 1102 with respect to the production machine at the time of transferring the web can be further improved. As a result, the delivery of the coil material can be performed more smoothly, and the probability of occurrence of handover failure can be reduced. In particular, since the AGV moves in the absence of a track, it is easy to cause a deviation from the stop position when moving along the track. Therefore, the unmanned transport vehicle 1100 for coil conveyance of the present embodiment is more suitable as an AGV for transporting a coil without rails. Further, even if the main body 1168 is accurately stopped at a desired position, since the accuracy of the ground is poor, it is sometimes necessary to further finely adjust the position of the mounting table 1102 with respect to the production machine. In the conventional bracket type, since the mounting table is positioned with reference to the cone provided on the ground, it is difficult to cope with the accuracy of the ground itself. However, in the unmanned transport vehicle 1100 for coil conveyance according to the present embodiment, the position detector is used, and the adjustment of the main body Π 68 is stopped at the absolute position in the factory according to the mounting table 1 102. Therefore, even if the accuracy of the ground is poor, It is also possible to ensure the accuracy of the position of the mounting table 1 1 2 2 relative to the production machine to be high. In addition, it is also conceivable to fine-tune the position of the mounting table by moving the main body, but it is difficult to make the heavy -37-201240902 AGV move only a small distance correctly, depending on the situation. Expensive body drive mechanism, etc. On the other hand, the unmanned transport vehicle 1100 for coil conveyance of the present embodiment realizes the adjustment of the position or orientation of the mounting table 1102 at a lower cost and at a lower cost. Also, particularly when the web is received from the production machine, the stop position of the chuck of the production machine sometimes deviates from the desired position. In the unloading transport vehicle 1 1 for coil conveyance according to the present embodiment, the control of the first ly direction drive unit 1150, the second y direction drive unit 1160, the X direction transfer slider 1162, and the tilt adjustment unit 1152 can be controlled. The position and orientation of the stage 1102 are adjusted in conjunction with the load control to compensate for the deviation of the chuck stop position in the driving of the elevator 1164. As a result, the delivery of a coil that is smoother and receives fewer errors is achieved. Further, in the factory using the unmanned transport vehicle Π00 for coil conveyance according to the present embodiment, since it is not necessary to provide a cone, the floor can be made flatter. Moreover, in the conventional bracket mode, when the bracket is in contact with the cone, corresponding dusting occurs, which is not suitable for use in an environmentally friendly environment. On the other hand, in the unmanned transport vehicle 1100 for coil conveyance according to the present embodiment, since there is no such dust generation, it is more suitable for use in an environment where environmental protection is required. Further, after the main body 1168 is stopped, the unloading vehicle 1100 for coil conveyance of the present embodiment can move the mounting table 1102 in the y direction by the first ly direction driving unit 1150 and the second y direction driving unit 1160. Therefore, even in the case of, for example, the above-described first aspect, that is, when the amount of notch of the production machine is insufficient, the coil can be transferred to and from the production machine. In other words, -38- 201240902 can reduce the amount of gap required on the production side and increase the design freedom of the production machine. Further, after the main body 1168 is stopped, the unloading cart 1100 for coil conveyance of the present embodiment can rotate the mounting table 1 102 from the rotation axis orthogonal to the Z direction. Thus, after the main body 1 1 6 8 is stopped, the mounting table 1 102 can be restored to a horizontal level even when the mounting table 1 102 is tilted due to the ground tilt. Further, in the unloading transport vehicle 1100 for coil conveyance according to the present embodiment, the second support portion has a play in the X direction. Therefore, even when the stage 1 102 is rotated about the cross roller 1 1 48, the positional relationship between the inclined track 1 126 and the contact portion 1 128 can be maintained. Further, in the unloading transport vehicle 1100 for coil conveyance according to the present embodiment, the mounting table 1102 is supported by the load cell in the z direction, and when the coil is received, load control using a signal from the load cell is performed. As a result, the receipt of the web becomes smoother and the reception failure of the web due to the weight of the web itself can be alleviated. The configuration and operation of the unloading transport vehicle 1 1 卷 of the second embodiment have been described above. This embodiment is merely illustrative, and various modifications can be made to the combination of these constituent elements, and such modifications are also within the scope of the invention, as will be understood by those skilled in the art. In the second embodiment, the first position detector 1 1 3 8 and the second position detector 1 1 40 are used to detect the position or orientation of the mounting table 1 102 with respect to the production machine. The detector can be set to -39- 201240902 to set the detector to a group of light sources such as light or laser, or to use cameras and markers. In the second embodiment, the case where the second support portion has the play in the X direction has been described. However, the present invention is not limited thereto, and for example, the width of the inclined track may be increased instead of providing the play. In the second embodiment, the case where three load cells are used will be described. However, if the load cells are provided at four corners, the rollers can be more reliably delivered. [Industrial Applicability] According to the present invention, the receiving coil can be more smoothly performed. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 (a) and (b) are schematic views for explaining a coil as a conveyance target. Fig. 2 is a perspective view of a turntable on the production machine side. Fig. 3 (a) to (d) are schematic views showing the unmanned transport vehicle for conveying a coil according to the first embodiment. Fig. 4 is a block diagram showing the function and configuration of a control unit of the unloading cart for coil conveyance in Fig. 3(b). Fig. 5 (〇~(c) is an explanatory diagram for explaining the load control when the unloading conveyance device for coil conveyance receives the coil from the turntable in Fig. 3(b). Fig. 6(a) to (c) It is used to explain the coil--40-201240902 of Fig. 3(b). An explanatory diagram of other load control when the transporting automated guided vehicle receives the coil from the turntable. Figure 7 (a) and (b) show the third. Fig. 8 is a schematic view showing a state in which the unloading conveyance unit for coil conveyance receives the coil from the production machine. Fig. 8 is a view for explaining the inclination when the mounting table of Fig. 3(b) is rotated about the cross roller. Fig. 9(a) and Fig. 9(b) are schematic views for explaining a web to be transported. Fig. 10(a) to (d) show a second embodiment. Fig. 11(a) and (b) are schematic views showing the state in which the unloading cart for coil conveyance receives the coil from the production machine. Fig. 12 is for illustration An explanatory diagram of the tilting track and the movement of the contact portion when the table is rotated around the cross roller. [Description of main component symbols] 2 : Material 5: Control unit 1〇〇: Unmanned transport vehicle 1卷2: Mounting table 124: Second support portion 126: Inclined track 1 3 8 : First position detector 140: Second position detector • 41 - 201240902 150: ly direction drive unit 152: inclination adjustment unit 1 5 8 : arc retraction slider 160: second y direction drive unit 162: X direction transfer slider 164: elevator 1 66 : carriage unit 1 68 : Main body-42