WO2013035250A1 - Système de manipulation de corps de bobine, procédé d'apport de corps de bobine et dispositif de transport de corps de bobine - Google Patents

Système de manipulation de corps de bobine, procédé d'apport de corps de bobine et dispositif de transport de corps de bobine Download PDF

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Publication number
WO2013035250A1
WO2013035250A1 PCT/JP2012/005180 JP2012005180W WO2013035250A1 WO 2013035250 A1 WO2013035250 A1 WO 2013035250A1 JP 2012005180 W JP2012005180 W JP 2012005180W WO 2013035250 A1 WO2013035250 A1 WO 2013035250A1
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WO
WIPO (PCT)
Prior art keywords
roll body
unit
chuck
mounting table
roll
Prior art date
Application number
PCT/JP2012/005180
Other languages
English (en)
Japanese (ja)
Inventor
日野　克美
Original Assignee
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2011193301A external-priority patent/JP5379199B2/ja
Priority claimed from JP2012122068A external-priority patent/JP5150003B1/ja
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Publication of WO2013035250A1 publication Critical patent/WO2013035250A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/413—Supporting web roll
    • B65H2301/4134—Both ends type arrangement
    • B65H2301/41346—Both ends type arrangement separate elements engaging each end of the roll (e.g. chuck)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/40—Holders, supports for rolls
    • B65H2405/42—Supports for rolls fully removable from the handling machine
    • B65H2405/422—Trolley, cart, i.e. support movable on floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2408/00—Specific machines
    • B65H2408/20—Specific machines for handling web(s)
    • B65H2408/24—Specific machines for handling web(s) unwinding machines
    • B65H2408/241—Turret
    • B65H2408/2415—Turret specified by number of arms
    • B65H2408/24153—Turret specified by number of arms with two arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/41—Photoelectric detectors
    • B65H2553/412—Photoelectric detectors in barrier arrangements, i.e. emitter facing a receptor element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/175—Plastic
    • B65H2701/1752—Polymer film

Definitions

  • the present invention relates to a roll body handling system, a roll body supply method, and a roll body transport apparatus.
  • the roll body is formed by winding a strip or sheet material around a core.
  • the material is, for example, a film or paper.
  • Films have many uses such as liquid crystal and battery manufacturing, and food packaging.
  • a long film or paper is first formed into a roll.
  • An automatic or trackless automatic guided vehicle (see, for example, Patent Document 1) is used.
  • This cart receives, for example, a roll body from a storage location of the roll body and carries it into a turret of a production machine.
  • the roll body and the turret chuck are aligned by specifying the absolute position of the roll body, for example, the height from the floor of the factory.
  • the absolute position of the roll body for example, the height from the floor of the factory.
  • the roll body and the chuck may actually deviate.
  • the present invention has been made in view of such a situation, and an object thereof is to provide a roll body handling technique that allows the roll body receiving apparatus to receive the roll body more smoothly from the roll body conveying apparatus.
  • the roll body handling system includes a roll body transport device that transports a roll body having a hollow portion along a winding axis, a roll body receiving device that receives the roll body from the roll body transport device, and a roll body from the roll body transport device. And a control unit that controls movement of the roll body to the receiving device.
  • a roll body receiving apparatus includes: a chuck portion configured to be detachable from a hollow portion of the roll body; a detection unit configured to detect the hollow portion of the roll body, wherein a relative position between the chuck portion and the chuck portion is fixed; Is moved between a plurality of stop positions including a reception stop position for receiving the roll body.
  • the control section should move the roll body based on the detection result in the detection section and the positional relationship between the detection section and the chuck section. Calculate the quantity.
  • the relative position between the detection unit and the chuck unit is fixed.
  • a roll body supply method is a roll body supply method for transferring a roll body from a roll body transport apparatus that transports a roll body having a hollow portion along a winding axis to a roll body receiving apparatus.
  • a roll body receiving apparatus includes: a chuck portion configured to be detachable from a hollow portion of the roll body; a detection unit configured to detect the hollow portion of the roll body, wherein a relative position between the chuck portion and the chuck portion is fixed; Is moved between a plurality of stop positions including a reception stop position for receiving the roll body.
  • This method uses a roll body conveying device to move a roll body toward a position corresponding to a reception stop position, a detection result in the detection unit, and a positional relationship between the detection unit and the chuck unit. Calculating the amount that the body should move.
  • Still another aspect of the present invention is a roll body conveying device.
  • This apparatus is a roll body transporting apparatus that transports a roll body having a hollow portion along a winding axis to a roll body receiving apparatus.
  • a roll body receiving apparatus includes: a chuck portion configured to be detachable from a hollow portion of the roll body; a detection unit configured to detect the hollow portion of the roll body, wherein a relative position between the chuck portion and the chuck portion is fixed; Is moved between a plurality of stop positions including a reception stop position for receiving the roll body.
  • the roll body transport device includes a mounting table on which the roll body is mounted, a drive unit that moves the roll body mounted on the mounting table toward a position corresponding to the reception stop position, and the driving unit moves the roll body. And a control unit that calculates the amount of movement of the roll body based on the detection result in the detection unit and the positional relationship between the detection unit and the chuck unit.
  • the roll body transport device includes a mounting table on which the body of the roll body is mounted, a detection unit that detects a position of the mounting table with respect to a predetermined reference position, and a moving unit that moves the mounting table in a non-vertical direction.
  • the position of the mounting table detected by the detection unit approaches the reference position when the rotating unit that rotates the mounting table and the main body of the roll body transporting device are stopped to pass the roll body to the roll body receiving device.
  • a control unit that controls at least one of the moving unit and the rotating unit is provided.
  • the roll body receiving device can receive the roll body more smoothly from the roll body conveying device.
  • FIGS. 1A and 1B are schematic views for explaining a roll body to be transported. It is a perspective view of the turret contained in the roll body handling system concerning a 1st embodiment.
  • 3A and 3B are explanatory views showing a state when the pair of chucks provided on the turret arm in FIG. 2 are stopped at the horizontal delivery stop position.
  • FIGS. 4A and 4B are explanatory views showing a state when the pair of chucks provided on the turret arm according to the modification are stopped at the 45-degree delivery stop position.
  • FIGS. 5A to 5D are schematic views showing a roll body transporting automatic guided vehicle included in the roll body handling system according to the first embodiment.
  • FIGS. 7A to 7C are explanatory views for explaining the control of the height of the roll body when the roll body is supplied to the turret from the automatic guided vehicle for roll body conveyance shown in FIG. 5B.
  • FIGS. 8A and 8B are schematic views showing a state when the automatic guided vehicle for transporting a roll body in FIG. 5B receives a roll body from a production machine. It is explanatory drawing for demonstrating the motion of an inclination rail and a contact part when the mounting base of FIG.5 (b) rotates centering on a cross roller.
  • FIGS. 7A to 7C are explanatory views for explaining the control of the height of the roll body when the roll body is supplied to the turret from the automatic guided vehicle for roll body conveyance shown in FIG. 5B.
  • FIGS. 8A and 8B are schematic views showing a state when the automatic guided vehicle for transporting a roll body in FIG. 5B receives a roll body from a production machine. It is explanatory drawing for demonstrating the motion
  • FIGS. 10A and 10B are explanatory views showing a hollow portion detection sensor according to a modification. It is a mimetic diagram showing one chuck of a pair of chucks concerning a modification. It is a front view of the one end part of the turret arm to which two sensors for hollow part detection concerning a modification were attached.
  • FIGS. 13A and 13B are schematic views for explaining a roll body to be transported. It is a perspective view of the turret by the side of a production machine.
  • FIGS. 15A to 15D are schematic views showing an automatic guided vehicle for transporting a roll body according to a second embodiment. It is a block diagram which shows the function and structure of the control part of FIG.15 (b).
  • FIG.15 (b) It is a front view which shows the one end part of the automatic guided vehicle for roll body conveyance of FIG.15 (b) and the turret arm when the position of a mounting base is adjusted. It is a top view which shows the mounting base when the main body of the automatic guided vehicle for roll body conveyance of FIG.15 (b) has stopped in the main body stop position. It is a side view which shows the automatic guided vehicle for roll body conveyance and a turret arm when the main body of the automatic guided vehicle for roll body conveyance of FIG.15 (b) has stopped in the main body stop position. 20 (a) and 20 (b) are front views showing the unmanned transport vehicle for transporting a roll body when the main body of the unmanned transport vehicle for transporting the roll body of FIG.
  • FIGS. 21A and 21B are schematic views showing a state when the automatic guided vehicle for transporting a roll body in FIG. 15B receives a roll body from a production machine. It is explanatory drawing for demonstrating the motion of an inclination rail and a contact part when the mounting base of FIG.15 (b) rotates centering on a cross roller.
  • FIG. 1A and 1B are schematic views for explaining a roll body 2 to be transported.
  • FIG. 1A is a perspective view of the roll body 2.
  • the roll body 2 is formed by winding a strip-like or sheet-like material 4 around a core 6. Therefore, the core 6 extends along the winding axis M of the roll body 2.
  • the core 6 has a hollow portion 8 extending along the winding axis M at the center in the radial direction. The core 6 becomes a base when the material 4 is wound.
  • FIG.1 (b) is a side view which shows the roll body 2 mounted in the mounting base 102 of the automatic guided vehicle for roll body conveyance contained in the roll body handling system which concerns on 1st Embodiment.
  • the roll body 2 is mounted on the mounting table 102 when its outer peripheral surface 2 a, that is, the body portion is in contact with the mounting table 102.
  • the mounting table 102 has a V-shaped cross section so that the roll body 2 does not roll during conveyance.
  • FIG. 2 is a perspective view of the turret 20 on the production machine side.
  • Turret 20 is included in the roll handling system according to the present embodiment.
  • the turret 20 supports the roll body 2 in the air, that is, without contact with the factory floor 26.
  • the turret 20 includes a frame 22 erected on a factory floor 26 and a turret arm 24 that is rotatably supported by the frame 22 around a first rotation axis J parallel to a horizontal plane.
  • a pair of chucks capable of moving back and forth in the first rotation axis J direction of the turret arm 24, a sensor for detecting a hollow part (not shown in FIG. 2), Is provided.
  • a similar pair of chucks and a hollow portion detection sensor are also provided at the other end 24 b of the turret arm 24.
  • the pair of chucks provided on the turret arm 24 moves between a plurality of stop positions including a delivery stop position for delivering the roll body 2 to and from the automatic guided vehicle for roll body transportation.
  • the delivery stop position is, for example, the position of a pair of chucks when the turret arm 24 is substantially parallel to the horizontal plane (hereinafter referred to as a horizontal delivery stop position).
  • the turret 20 uses a motor (not shown) to rotate the turret arm 24 to realize movement between the stop positions of the pair of chucks.
  • the stop position for receiving the supply of the roll body from the automatic guided vehicle for roll body transport and the stop position for passing the roll body to the automatic transport vehicle for roll body transport may be different.
  • 3 (a) and 3 (b) are explanatory views showing a state when the pair of chucks 28a, 28b provided on the turret arm 24 are stopped at the horizontal delivery stop position.
  • 3A is a front view of one end 24a of the turret arm 24, and
  • FIG. 3B is a side view thereof.
  • the turret arm 24 includes two arms, that is, one arm 24c and the other arm 24d.
  • zipper 28a, 28b is comprised with the hollow part 8 of the roll body 2 so that attachment or detachment is possible.
  • One chuck 28a faces the other chuck 28b.
  • a chuck center line C connecting one chuck 28a and the other chuck 28b is substantially parallel to the first rotation axis J.
  • One chuck 28a is attached to one arm 24c so as to be able to advance and retract along the chuck center line C.
  • One chuck 28a is moved along the chuck center line C by a drive unit (not shown) attached to one arm 24c.
  • One chuck 28a is attached to and detached from the hollow portion 8 of the roll body 2 by moving in the direction along the chuck center line C with respect to the one arm 24c.
  • the one chuck 28a enters the end of the hollow portion 8 of the roll body 2 along the chuck center line C when supporting the roll body 2, and retreats along the chuck center line C when releasing the roll body 2. .
  • the light receiver 30 attached to one arm 24c and the projector 32 attached to the other arm 24d constitute a hollow portion detection sensor 34.
  • the relative positions of the hollow portion detection sensor 34 and the pair of chucks 28a and 28b are fixed.
  • the light receiver 30 is arranged on a vertical line passing through one chuck 28a stopped at the horizontal delivery stop position
  • the projector 32 is arranged on a vertical line E passing through the other chuck 28b stopped at the horizontal delivery stop position.
  • the distance between one chuck 28a and the light receiver 30 is substantially equal to the distance between the other chuck 28b and the projector 32.
  • this distance is referred to as D1.
  • the light projector 32 emits a laser beam LB parallel to the chuck center line C, and the light receiver 30 detects the laser beam LB.
  • the distance between the chuck center line C and the laser beam LB is the distance D1.
  • the hollow portion detection sensor 34 determines that there is no object between the light receiver 30 and the projector 32 when the light receiver 30 detects the laser light LB.
  • the hollow portion detection sensor 34 determines that an object exists between the light receiver 30 and the projector 32 when the light receiver 30 does not detect the laser light LB.
  • the light receiver 30 detects the laser light LB when the laser light LB passes through the hollow portion 8, and the light receiver 30 detects the laser light LB otherwise. do not do. Therefore, when the light receiver 30 detects the laser beam LB, it can be considered that the hollow portion detection sensor 34 has detected the hollow portion 8 at the position of the laser beam LB.
  • the hollow portion detection sensor 34 is configured to detect the hollow portion 8 of the roll body 2.
  • the delivery stop position may be set to, for example, a pair of chuck positions when the turret arm forms an angle of about 45 degrees with the horizontal plane (hereinafter referred to as a 45-degree delivery stop position).
  • a 45-degree delivery stop position a pair of chuck positions when the turret arm forms an angle of about 45 degrees with the horizontal plane
  • the arrangement of the sensor for detecting the hollow portion is changed according to the setting of the delivery stop position.
  • 4A and 4B are explanatory views showing a state when the pair of chucks 280a and 280b provided on the turret arm 240 are stopped at the 45-degree delivery stop position.
  • 4A is a front view of one end portion of the turret arm 240
  • FIG. 4B is a side view thereof.
  • the turret arm 240 includes two arms, that is, one arm 240c and the other arm 240d.
  • the light receiver 300 attached to one arm 240c and the projector 320 attached to the other arm 240d constitute a hollow portion detection sensor 340.
  • the laser beam LB2 emitted from the projector 320 is parallel to the chuck center line G of the pair of chucks 280a and 280b.
  • the light receiver 300 is arranged on a vertical line passing through one chuck 280a stopped at the 45-degree delivery stop position, and the light projector 320 is arranged on a vertical line F passing through the other chuck 280b stopped at the 45-degree delivery stop position.
  • the roll body handling system includes at least one unmanned transport vehicle for transporting the roll body 2, at least one turret 20 for receiving the roll body 2 from the unmanned transport vehicle for roll body transport, Is provided.
  • An automated guided vehicle for transporting a roll body is an AGV (Automatic Guided Vehicle) that moves without trajectory in a factory.
  • the roll body 2 is supported by the trunk, and the roll body 2 is carried into the turret 20 or from the turret 20. 2 is carried out.
  • the transport of the roll body 2 includes a body receiver transport that supports and transports the body of the roll body 2 and a core receiver transport that supports and transports the core 6 of the roll body 2.
  • a body receiver transport that supports and transports the body of the roll body 2
  • a core receiver transport that supports and transports the core 6 of the roll body 2.
  • the roll transport unmanned transport vehicle directs the roll body 2 to a position corresponding to the horizontal transfer stop position of the pair of chucks 28a and 28b. Move.
  • the position corresponding to the horizontal transfer stop position of the pair of chucks 28a, 28b is, for example, a space between the pair of chucks 28a, 28b stopped at the horizontal transfer stop position (hereinafter referred to as a target position of the roll body 2). is there.
  • a target position of the roll body 2 In order to smoothly transfer the roll body 2 from the roll transporting automatic guided vehicle to the turret 20, it is desirable to align the winding axis M of the roll body 2 and the chuck center line C at the target position.
  • the turret arm 24 is provided with a hollow portion detection sensor 34 for detecting the hollow portion 8 of the roll body 2. Positioning of the winding axis M of the roll body 2 and the chuck center line C is performed based on the detection result of the hollow portion detection sensor 34. In this case, even if the stop position of the turret arm 24 is shifted, the distance between the hollow portion detection sensor 34 and the pair of chucks 28a and 28b does not change. As a result, even when the accuracy of the stop position of the turret arm 24 is poor, the alignment between the winding axis M of the roll body 2 and the chuck center line C can be performed with higher accuracy.
  • FIGS. 5A to 5D are schematic views showing a roll body transporting automatic guided vehicle 100 included in the roll body handling system according to the present embodiment.
  • An automated guided vehicle 100 for transporting a roll body includes a mounting table 102, a mounting table support unit, a first position detector 138, a second position detector 140, a first support unit 124, a second support unit, A first y-direction drive unit 150, a second y-direction drive unit 160, an x-direction transfer slide 162, and a main body 168 are provided.
  • the main body 168 includes a lifter 164, a carriage unit 166, a control unit 50, and an optical receiving unit 90.
  • the z direction is the vertical direction, that is, the direction of gravity applied to the roll body 2 when the roll body 2 is placed on the placement table 102.
  • the x direction and the y direction are non-vertical directions, that is, directions intersecting the vertical direction, and are directions orthogonal to each other in the horizontal plane.
  • a direction parallel to the winding axis M of the roll body 2 when the roll body 2 is placed on the mounting table 102 is defined as an x direction.
  • FIG. 5A is a top view of the automatic guided vehicle 100 for transporting a roll body.
  • the mounting table support means includes a first guide pin 114, a second guide pin 116, a third guide pin 118, a fourth guide pin 120, a first load cell 122, a second load cell 130, and a third load cell 132.
  • the base frame 104, the inclined rail 126, and the pole holding part 134 are also included.
  • the first guide pin 114, the second guide pin 116, the third guide pin 118, and the fourth guide pin 120 are fixed to the base frame 104, and the first guide hole 106 and the second guide provided at the four corners of the mounting table 102, respectively.
  • the hole 108, the third guide hole 110, and the fourth guide hole 112 are loosely fitted.
  • the base frame 104 is fixed to the main body 168 at least while the main body 168 of the automatic guided vehicle 100 for transporting a roll body is moving.
  • the mounting table 102 is positioned in the horizontal plane with respect to the automatic guided vehicle 100 for transferring a roll body by loosely fitting the guide pins into the guide holes in this way.
  • the first load cell 122, the second load cell 130, and the third load cell 132 are respectively arranged between the third guide pin 118 and the fourth guide pin 120, between the first guide pin 114 and the fourth guide pin 120, and the second guide. Provided between the pin 116 and the third guide pin 118.
  • Each load cell is fixed to the table frame 104 and supports the mounting table 102 in the z direction.
  • the inclined rail 126 and the pole holding part 134 are fixed to the lower surface of the base frame 104.
  • the inclined rail 126 is a rail extending in the y direction.
  • the pole holding portion 134 is a cup-shaped member that opens downward.
  • FIG. 5B is a side view of the automatic guided vehicle 100 for transporting a roll body.
  • the first position detector 138 and the second position detector 140 are respectively attached to one end and the other end of the base frame 104 in the x direction, and detect the position and orientation of the mounting table 102 with respect to the turret 20.
  • the orientation of the mounting table 102 may be a normal direction when the mounting table 102 is viewed as a substantially flat surface.
  • the first position detector 138 and the second position detector 140 transmit the position and orientation detection results to the control unit 50.
  • the first support portion 124 and the second support portion support the mounting table 102 rotatably by supporting the table frame 104 rotatably at different positions.
  • the first support part 124 includes a rotation pin 146 and a cross roller 148.
  • the rotation pin 146 is a pin having one end attached to a member on the table frame 104 side and the other end attached to a member on the cross roller 148 side.
  • the rotation pin 146 is the center of rotation when the mounting table 102 is inclined with respect to the horizontal plane, that is, when the mounting table 102 rotates about the second rotation axis orthogonal to the z direction.
  • the cross roller 148 supports the rotation pin 146 so as to be rotatable around the third rotation axis along the z direction.
  • the cross roller 148 is the center of rotation when the mounting table 102 rotates around the third rotation axis.
  • the first y direction drive unit 150 linearly moves the first support unit 124 in the y direction with respect to the main body 168 based on a control signal from the control unit 50.
  • the first y-direction drive unit 150 is configured by appropriately combining a linear guide such as an LM guide (Linear Motion Guide) and a motor.
  • the second y-direction drive unit 160 moves the second support unit in the y direction with respect to the main body 168. Both the first y-direction drive unit 150 and the second y-direction drive unit 160 are fixed to the upper surface of the x-direction transfer slide 162.
  • the mounting table 102 is linearly moved in the y direction.
  • the movement of the mounting table 102 is caused by a rotational component around the cross roller 148 and, in some cases, along the y direction. A linear motion component.
  • the second support part includes an inclination adjusting part 152, a pole 136, and an arc escape slide 158.
  • the second support portion is free to play in the x direction in order to allow the contact position between the second support portion and the inclined rail 126 to move in the x direction when the mounting table 102 rotates around the cross roller 148.
  • the inclination adjusting unit 152 has a contact portion 128 that contacts the inclined rail 126.
  • the inclination adjusting unit 152 slides the contact point 128 with respect to the inclined rail 126 based on a control signal from the control unit 50.
  • the inclination adjusting unit 152 includes a linear guide, a motor, a ball screw, and the like.
  • One end of the pole 136 is attached to the arc escape slide 158, and the other end is inserted inside the pole holding portion 134.
  • the pole 136 pushes the pole holding unit 134 in the y direction, so that the mounting table 102 is centered on the cross roller 148. Rotate.
  • the pole holding part 134 moves in the x direction
  • the pole 136 also moves in the x direction along with the movement.
  • the arc escape slide 158 also follows and moves in the x direction.
  • the arc escape slide 158 is configured by a linear guide or the like so that the contact portion 128 of the inclination adjusting unit 152 can be moved in the x direction in accordance with the movement of the pole 136 in the x direction.
  • the x-direction transfer slide 162 moves the mounting table 102 by moving the first support portion 124 and the second support portion in the x direction with respect to the main body 168 based on a control signal from the control portion 50.
  • the x-direction transfer slide 162 is fixed to the upper surface of the lifter 164.
  • the lifter 164 is a pantter type electric lifter, and moves the mounting table 102 in the z direction or moves up and down by moving the x-direction transfer slide 162 up and down.
  • the carriage unit 166 includes a driven wheel 170 and a driving wheel 172 and is equipped with a lifter 164.
  • the cart unit 166 moves the automatic guided vehicle 100 for transporting the roll body within the factory.
  • the optical receiver 90 attached to the carriage unit 166 and the optical transmitter 92 attached to the lower part of the frame 22 constitute an optical communication unit.
  • the optical communication unit performs communication by exchanging light between the optical receiving unit 90 and the optical transmitting unit 92 wirelessly.
  • “Wireless” means that the light transmitting unit 92 emits light in the air and the light receiving unit 90 receives the light thus emitted in the air. In other words, it means that light is transmitted from the optical transmitter 92 to the optical receiver 90 without going through an optical communication cable such as an optical fiber.
  • the light transmission unit 92 is connected to the projector 32 and the light receiver 30 via wiring in the turret 20.
  • the light receiver 30 transmits an electrical signal indicating detection / non-detection of the laser beam LB to the optical transmission unit 92.
  • the optical transmitter 92 converts the electrical signal into light and emits the light toward the optical receiver 90.
  • the positional relationship between the light receiving unit 90 and the light transmitting unit 92 is such that the automatic guided vehicle for transporting a roll body 100 moves between the light receiving unit 90 and the light transmitting unit 92 when moving the roll body 2 toward the target position. It is determined so that optical communication is possible.
  • the main body 168 stops at a predetermined main body stop position below the target position of the roll body 2 in the vertical direction.
  • the optical receiver 90 and the optical transmitter 92 are arranged so that the optical receiver 90 enters an area where the light emitted from the optical transmitter 92 can be received when the main body 168 is stopped at the main body stop position. . More specifically, the optical receiver 90 and the optical transmitter 92 face each other when the main body 168 is stopped at the main body stop position.
  • FIG. 5 (c) is a schematic view of the sliding state of the contact point 128 with respect to the inclined rail 126 as seen from the direction indicated by the arrow B in FIG. 5 (b).
  • the lower surface of the inclined rail 126 is inclined along the direction in which the inclined rail 126 extends.
  • the movement of the inclined rail 126 in the y direction with respect to the circular arc escape slide 158 is restricted by the arc escape slide 158, the pole 136, and the pole holding portion 134.
  • the contact point 128 slides on the inclined rail 126.
  • the table frame 104 rotates around the rotation pin 146 due to the inclination of the inclined rail 126, so that the mounting table 102 rotates around the rotation pin 146 or is inclined with respect to the horizontal plane.
  • FIG. 5 (d) is a cross-sectional view taken along line AA of FIG. 5 (a).
  • FIG. 5D shows the mounting table 102 and mounting table support means, and the other members are not shown.
  • the third guide pin 118 is loosely fitted in the fourth guide hole 112. The same applies to the fourth guide pin 120.
  • the first load cell 122 supports the mounting table 102 in the z direction.
  • FIG. 6 is a block diagram showing the function and configuration of the control unit 50 of the automatic guided vehicle 100 for transporting a roll body.
  • Each block shown here can be realized by hardware and other elements such as a computer CPU and a mechanical device, and software can be realized by a computer program or the like.
  • Draw functional blocks Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.
  • the control unit 50 When supplying the roll body 2 to the turret 20 from the unmanned transport vehicle 100 for transporting the roll body, the control unit 50 detects the detection result in the hollow portion detection sensor 34 and the hollow portion detection sensor 34 and the pair of chucks 28a and 28b. Based on the positional relationship, the amount that the roll body 2 should move is calculated.
  • the control unit 50 includes an interface unit 52, a main body stopping unit 54, a pre-lifting table adjusting unit 56, a mounting table lifting unit 58, a centering unit 60, a parameter holding unit 62, a diameter calculating unit 64, A movement amount calculation unit 66 and a load control unit 68 are included.
  • the interface unit 52 transmits and receives signals to and from each member of the automated guided vehicle 100 for transporting a roll body. Further, the interface unit 52 acquires information about the detection / non-detection of the laser beam LB from the light receiver 30 via the optical communication unit.
  • the non-detection of the laser beam LB is interpreted as a portion of the roll body 2 other than the hollow portion 8 at the position of the laser beam LB, and the detection of the laser beam LB is performed when the entire roll body 2 is high in the laser beam LB. It is interpreted that it is higher or lower than the height level or the hollow portion detection sensor 34 has detected the hollow portion 8.
  • the parameter holding unit 62 holds a distance D1 between the chuck center line C and the laser beam LB.
  • the main body stop unit 54 controls the carriage unit 166 so that the main body 168 stops at the main body stop position. When it is detected by a sensor (not shown) that the main body 168 has come to the main body stop position, the main body stop unit 54 transmits a control signal for stopping the cart unit 166 to the cart unit 166 via the interface unit 52.
  • the pre-uplift mounting table adjustment section 56 acquires information transmitted from the first position detector 138 and the second position detector 140 via the interface section 52. Information acquired in this way includes detection results of the position and orientation of the mounting table 102 with respect to the turret 20.
  • the pre-uplift mounting table adjustment unit 56 includes a first y-direction driving unit 150, a second y-direction driving unit 160, an x-direction transfer slide 162, and an inclination adjustment so that the position and orientation of the mounting table 102 become a desired position and orientation.
  • the unit 152 is controlled.
  • the pre-uplift mounting table adjusting unit 56 sends a control signal for specifying, for example, a displacement amount to each of the first y-direction driving unit 150, the second y-direction driving unit 160, the x-direction transfer slide 162, and the tilt adjusting unit 152. Via 52.
  • the winding axis M of the roll body 2 mounted on the mounting table 102 is included.
  • the hollow portion 8 of the roll body 2 crosses the laser beam LB and is ideal.
  • the winding axis M of the roll body 2 is aligned with the chuck center line C at a certain height.
  • the winding axis M and the chuck center line C may not be aligned as they are due to variations in the stop position of the turret arm 24.
  • the mounting table elevating unit 58 controls the lifter 164 to raise the mounting table 102 after adjusting the position and orientation of the mounting table 102 by the pre-lifting mounting table adjusting unit 56.
  • the mounting table elevating unit 58 transmits, for example, a control signal designating an ascending amount to the lifter 164 via the interface unit 52. The same applies to the lowering of the mounting table 102.
  • the mounting table lifting / lowering unit 58 When the mounting table lifting / lowering unit 58 raises the mounting table 102 on which the roll body 2 is mounted, the mounting table lifting / lowering unit 58 detects the hollow portion 8 after the hollow portion detection sensor 34 detects the hollow portion 8 and then stops detecting the hollow portion 8. 102 is raised at a constant rising speed V. That is, the mounting table elevating unit 58 detects the detection result of the hollow portion detection sensor 34 (the entire roll body 2 is below the height level of the laser beam LB), and does not detect the laser beam LB from the roll body 2.
  • the roll body 2 is raised at a speed V while changing between detection (spotting on the material 4) and detection (detection of the hollow part 8), and then control is performed when the detection becomes non-detection (the laser beam LB comes off from the hollow part 8). Pass to part 64. At this time, the raising of the mounting table 102 may be stopped once.
  • FIGS. 7A to 7C are explanatory views for explaining the height control of the roll body 2 when the roll body 2 is supplied to the turret 20 from the roll body transporting automatic guided vehicle 100.
  • FIG. 7A to 7C correspond to FIG. 3B, respectively.
  • the mounting table elevating unit 58, the centering unit 60, the diameter calculating unit 64, and the movement amount calculating unit 66 will be described with reference to FIGS. 6 and 7A to 7C.
  • FIG. 7A is a side view showing a state in which the roll body 2 is rising at the rising speed V.
  • the hollow portion 8 of the roll body 2 is below the laser beam LB.
  • the laser beam LB emitted from the light projector 32 enters the light receiver 30 when the upper end of the roll body 2 is below the height level of the laser beam LB.
  • the light receiver 30 detects the laser beam LB thus incident.
  • the laser beam LB hits a portion other than the hollow portion 8 of the roll body 2, that is, the material 4. In this state, the light receiver 30 does not detect the laser beam LB.
  • the mounting table elevating unit 58 continues to raise the mounting table 102 at the rising speed V.
  • FIG. 7B is a side view showing a state in which the laser beam LB passes through the hollow portion 8.
  • the upper end of the hollow portion 8 becomes higher than the height level of the laser beam LB.
  • the laser beam LB passes through the hollow portion 8 and enters the light receiver 30.
  • the light receiver 30 detects the incident laser beam LB.
  • the mounting table elevating unit 58 continues to raise the mounting table 102 at the rising speed V.
  • FIG. 7C is a side view showing a state immediately after the lower end of the hollow portion 8 exceeds the height level of the laser beam LB.
  • the lower end of the hollow portion 8 becomes higher than the height level of the laser beam LB.
  • the laser beam LB again strikes the material 4 and the light receiver 30 does not detect the laser beam LB.
  • the mounting table elevating unit 58 passes control to the diameter calculation unit 64 when the detection result of the hollow portion detection sensor 34 changes from detection to non-detection.
  • the diameter calculation unit 64 acquires the length of the period during which the hollow part detection sensor 34 detects the hollow part 8 of the roll body 2, that is, the hollow part detection time ⁇ T.
  • the diameter calculation unit 64 obtains the time t1 when the detection result in the hollow portion detection sensor 34 has changed from non-detection to detection and the time t2 when the detection result has changed from detection to non-detection, and the difference t2-t1 is hollow. This is calculated as the part detection time ⁇ T.
  • the diameter calculation unit 64 calculates the diameter ⁇ of the hollow part 8 by multiplying the rising speed V of the roll body 2 by the calculated hollow part detection time ⁇ T.
  • the movement amount calculation unit 66 subtracts one-half of the diameter ⁇ calculated by the diameter calculation unit 64 from the distance D1 held in the parameter holding unit 62, that is, the amount that the roll body 2 should rise.
  • the amount of increase ⁇ H is calculated.
  • the winding axis M of the roll body 2 is aligned with the chuck center line C of the pair of chucks 28a, 28b.
  • the centering unit 60 raises and stops the roll body 2 by the amount of increase ⁇ H calculated by the movement amount calculation unit 66 from a state where the lower end of the hollow portion 8 is at the height level of the laser beam LB. Thereafter, the centering unit 60 transmits a control signal for permitting the insertion of the chuck to the drive units (not shown) of the pair of chucks 28a and 28b via the interface unit 52. When the drive unit receives the control signal, the drive unit inserts the pair of chucks 28 a and 28 b into the hollow portion 8 of the core 6.
  • the load control unit 68 compares the load calculated from the signal from the load cell with the weight held in the parameter holding unit 62.
  • the load control unit 68 controls the lifter 164 until the former reaches the latter, and the inclination adjusting unit 152, the first y-direction drive unit 150, the second y-direction drive unit 160, and the x-direction transfer slide so that the load is equalized. 162 is controlled.
  • the automatic guided vehicle 100 for transporting the roll body stops once when it moves to the turret 20 where the roll body is transferred to and from it.
  • the automatic guided vehicle 100 for transferring the roll body needs the position and orientation of the mounting table 102 based on the position detection signals from the first position detector 138 and the second position detector 140 while the main body 168 is stopped. Adjust as much as possible.
  • the automatic guided vehicle 100 for transporting the roll body then transfers the roll body 2 by raising the mounting table 102 vertically upward by the lifter 164.
  • FIGS. 8A and 8B are schematic views showing a state when the roll body transporting automatic guided vehicle 100 receives the roll body 176 from the production machine 174.
  • FIG. FIG. 8A is a top view of the production machine 174 and the automatic guided vehicle 100 for transporting a roll body
  • FIG. 8B is a side view.
  • the cutout amount L into which the roll transport unmanned transport vehicle 100 can enter is not sufficient, and the roll transport unmanned transport vehicle 100 even if the roll transport unmanned transport vehicle 100 enters as much as possible.
  • the y-direction position of the center R1 of the main body 168 does not reach the y-direction position of the center R2 of the roll body 176 attached to the production machine 174.
  • the driving unit 178 including the first y-direction driving unit 150 and the second y-direction driving unit 160 is used to support the mounting table 102.
  • the support part 180 is moved to the y direction production machine side. In this way, the center of the mounting table 102 and the center R2 of the roll body 176 attached to the production machine 174 are aligned. Thereafter, the mounting table 102 is raised by the lifter 164 included in the driving unit 178 to receive the roll body 176 from the production machine 174.
  • FIG. 9 is an explanatory diagram for explaining the movement of the inclined rail 126 and the contact portion 128 when the mounting table 102 rotates around the cross roller 148.
  • the mounting table 102 rotates around the cross roller 148.
  • the contact portion 128 moves in the y direction in accordance with the movement of the second support portion in the y direction.
  • the contact part 128 can be moved to the position 182 indicated by the broken-line circle in FIG.
  • the second support portion since the second support portion has play in the x direction, even if the position where the contact portion 128 should be shifted in the x direction as the mounting table 102 rotates, the shift can be absorbed. That is, the contact portion 128 is moved in the x direction following the rotation of the mounting table 102. As a result, the positional relationship between the inclined rail 126 and the contact portion 128 is substantially maintained before and after the rotation.
  • the pair of chucks 28a, 28b and the hollow portion detection sensor 34 are all attached to the turret arm 24, and their relative positions are fixed. In particular, the relative distance between the chuck center line C and the laser beam LB does not change regardless of the rotation of the turret arm 24.
  • the winding axis of the roll body 2 is determined based on the detection result of the hollow portion 8 in the hollow portion detection sensor 34 and the relative distance between the chuck center line C and the laser beam LB. M and the chuck center line C are aligned. Thereby, the winding axis M can be more reliably aligned with the chuck center line C regardless of the accuracy of the stop position of the turret arm 24. As a result, the probability of supply failure of the roll body 2 can be reduced.
  • the wiring for connecting the hollow portion detection sensor 34 and the light transmitting section 92 includes wiring portions laid on the turret arm 24, wiring portions laid on the frame 22, and those wirings even when the turret arm 24 rotates.
  • a contact portion configured to maintain an electrical connection between the portions.
  • the configuration of the contact portion is relatively complicated. From the experience as a person skilled in the art, the present inventor is more sure of the supply of the roll body by providing the sensor 34 for detecting the hollow part in the turret arm 24 than the influence of such complexity when viewed in the entire roll body handling system. We found that the profits from the improvement of sex were greater.
  • the diameter ⁇ of the hollow portion 8 is measured, and the roll body 2 is determined based on the diameter ⁇ and the relative distance between the chuck center line C and the laser beam LB. It is calculated whether it only needs to rise. Thereby, it becomes possible to cope with the roll body 2 in which the diameter ⁇ of the hollow portion 8 is different. That is, the winding axis M can be reliably aligned with the chuck center line C regardless of the diameter ⁇ of the hollow portion 8.
  • information is transmitted between the turret 20 and the automatic guided vehicle 100 for transporting the roll body by optical communication. It is not necessary to connect a cable for information transmission to the roll conveyance automatic guided vehicle 100, and communication at a speed higher than that of SS radio or the like is realized.
  • the unmanned guided vehicle 100 for transporting a roll body included in the roll body handling system stops near the turret 20 for delivery of the roll body 2.
  • the roll body transporting automatic guided vehicle 100 further adjusts the position of the mounting table 102 in the horizontal plane, and rotates the mounting table 102. And having. Thereby, even when the actual stop position of the main body 168 is deviated from the main body stop position, the deviation can be compensated without moving the main body 168. Thereby, the precision of positioning at the time of delivery of the roll body 2 can be improved more.
  • the stop position of the main body 168 of the unmanned transport vehicle for roll body transport 100 is shifted from the main body stop position, or the mounting table 102 Even if the orientation is different from the desired orientation, the position and orientation of the mounting table 102 relative to the turret 20 can be adjusted as desired while the main body 168 is stopped. Thereby, the precision of positioning of the mounting base 102 with respect to the turret 20 at the time of delivery of the roll body 2 can be improved more. As a result, the delivery of the roll body 2 is performed more smoothly, and the probability that a delivery failure occurs can be reduced.
  • unmanned transport vehicle 100 for transporting a roll body included in the roll body handling system according to the present embodiment is more suitable as an AGV that transports roll body 2 without a track.
  • the main body 168 is accurately stopped at the main body stop position, it may be necessary to further finely adjust the position of the mounting table 102 with respect to the turret 20 due to poor floor accuracy.
  • the mounting table is positioned with reference to a cone provided on the floor, it is difficult to cope with the case where the accuracy of the floor itself is poor.
  • the automatic guided vehicle 100 for carrying a roll body is adjusted using a position detector, the accuracy of the position of the mounting table 102 with respect to the turret 20 can be kept high even when the floor accuracy is poor.
  • the automatic guided vehicle 100 for transporting a roll body can easily adjust the position / orientation of the mounting table 102 at a lower cost.
  • the chuck stop position of the turret 20 may deviate from the delivery stop position.
  • the control of the first y-direction drive unit 150, the second y-direction drive unit 160, the x-direction transfer slide 162, and the inclination adjustment unit 152 and the load control are linked to each other.
  • the position and orientation of the mounting table 102 can be adjusted to compensate for the deviation of the chuck stop position during driving. Thereby, the receiving of the roll body 2 with smoother and less receiving errors is realized.
  • the factory using the automatic guided vehicle 100 for transporting a roll body does not need to be provided with a cone, so that the floor can be flattened.
  • the automatic guided vehicle 100 for transporting a roll body is more suitable for use in an environment where cleanliness is required because it does not generate such dust.
  • the automatic guided vehicle 100 for transporting a roll body can move the mounting table 102 in the y direction by the first y-direction drive unit 150 and the second y-direction drive unit 160 after the main body 168 is stopped.
  • the roll body can be transferred to and from the production machine.
  • the notch amount required on the production machine side is reduced, and the degree of freedom in designing the production machine is improved.
  • the automatic guided vehicle 100 for transporting the roll body can rotate the mounting table 102 around the second rotation axis orthogonal to the z direction after the main body 168 stops. Thereby, after the main body 168 is stopped, the mounting table 102 can be returned to the horizontal position even when the mounting table 102 is tilted due to, for example, the floor being tilted.
  • the second support portion has play in the x direction. Therefore, even when the mounting table 102 rotates around the cross roller 148, the positional relationship between the inclined rail 126 and the contact portion 128 can be maintained.
  • the configuration and operation of the roll body handling system according to the first embodiment and the automatic guided vehicle 100 for transporting a roll body included therein have been described above.
  • the first embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective components, and such modifications are also within the scope of the present invention.
  • the first position detector 138 and the second position detector 140 detect the position and orientation of the mounting table 102 with respect to the turret 20 has been described.
  • a position detector A pair of light sources such as light and laser may be provided, or a camera and a mark may be used.
  • the present invention is not limited to this.
  • the width of the inclined rail may be increased.
  • the case where three load cells are used has been described. However, if the load cells are provided at the four corners, the roll can be delivered more reliably.
  • the hollow portion detection sensor may be arranged so that the hollow portion can be detected when the roll transporting automatic guided vehicle 100 moves the roll body 2 toward the target position.
  • the hollow portion detection sensor 34 includes the light receiver 30 and the projector 32
  • the present invention is not limited thereto.
  • a sensor including a reflector such as a mirror on one side and a light projecting / receiving device on the other side may be used.
  • only one arm of the turret arm 24 may be provided with a sensor that captures reflection / non-reflection from the material 4.
  • the parameter holding unit 62 may hold a known value of the diameter ⁇ of the hollow portion 8 in advance.
  • the control unit 50 makes the first y-direction driving unit 150 and the second y-direction driving unit 160 so that they are equal.
  • the x-direction transfer slide 162 and the tilt adjustment unit 152 may be controlled. Thereby, the precision of alignment with the winding axis
  • FIGS. 10A and 10B are explanatory views showing a hollow portion detection sensor 200 according to a modification.
  • FIGS. 10A and 10B correspond to FIGS. 3A and 3B, respectively.
  • the hollow portion detection sensor 200 includes a light receiver 202 and a projector 204.
  • the light receiver 202 is attached to one arm 24c.
  • the projector 204 is attached to the other arm 24d.
  • the light projector 204 emits a first laser beam LB3 and a second laser beam LB4 parallel to the chuck center line C toward the light receiver 202.
  • the first laser beam LB3 and the second laser beam LB4 are separated by a distance D2 in the vertical direction. This distance D2 is set to a value slightly smaller than the diameter ⁇ of the assumed hollow portion 8. Since the projector 204 is attached to the other arm 24d, the distance D3 between the chuck center line C and the first laser beam LB3 is fixed and can be known.
  • the control unit starts from the state where the detection result of the hollow portion detection sensor 200 is (first laser beam LB3: non-detection, second laser beam LB4: detection) (first laser beam LB3: detection, second laser beam LB4:
  • first laser beam LB3: detection, second laser beam LB4: When the state changes to the (detection) state, the roll body 2 is raised from there by (distance D3 + 0.5 distance D2). Also in this case, the winding axis M of the roll body 2 and the chuck center line C can be more reliably aligned without depending on the accuracy of the stop position of the turret arm 24.
  • the hollow portion detection sensor 200 when the winding axis M is inclined with respect to the chuck center line C, or when the winding axis M does not pass through the first laser beam LB3 and the second laser beam LB4 (first laser beam). LB3: detection, second laser beam LB4: detection) may not occur. In this case, it is difficult to align the winding axis M and the chuck center line C. On the other hand, in the first embodiment, if the laser beam LB passes through the hollow portion 8, the subsequent alignment can be continued.
  • the automatic guided vehicle for transporting a roll body is an AGV that moves without a track
  • the invention is not limited thereto, and the automatic guided vehicle for transporting a roll body may be a tracked carriage.
  • the transport vehicle travels on a predetermined route. Therefore, instead of the light receiving unit 90 and the light transmitting unit 92 in the first embodiment, an optical communication such as an optical fiber is used.
  • a cable can be used.
  • the diameter calculator 64 determines the diameter ⁇ of the hollow portion 8 based on the length of the period in which the hollow portion detection sensor 34 detects the hollow portion 8 of the roll body 2 and the rising speed V of the roll body 2. Although the example which calculates is demonstrated, it is not restricted to this.
  • the diameter calculation unit 64 directly detects the distance that the roll body 2 moves up and down during the period when the hollow part detection sensor 34 detects the hollow part 8 of the roll body 2 by using an encoder or the like (not shown). ⁇ may be calculated.
  • FIG. 11 is a schematic diagram showing one chuck 402 of a pair of chucks according to a modification.
  • the chuck shaft 404 is movably and rotatably attached to the turret arm 24. Specifically, the chuck shaft 404 moves in the direction along the chuck center line C with respect to the turret arm 24. The chuck shaft 404 rotates about the chuck center line C with respect to the turret arm 24.
  • One chuck 402 and chuck shaft 404 are formed as separate bodies.
  • One chuck 402 is detachably attached to the end 404a of the chuck shaft 404 on the roll body side by an attaching / detaching mechanism such as a flange joint 406.
  • One chuck 402 may be an air capsule chuck or a mechanical chuck.
  • the end 404b of the chuck shaft 404 opposite to the roll body projects from the turret arm 24. That is, the chuck shaft 404 passes through the turret arm 24.
  • a cover 408 is attached to the turret arm 24 so as to cover the protruding end 404b.
  • the chuck shaft 404 moves away from the turret arm 24. Accordingly, one chuck 402 enters the one end of the hollow portion 8 of the roll body 2 along the chuck center line C.
  • the chuck shaft 404 moves in a direction approaching the turret arm 24. As a result, one chuck 402 retreats from the hollow portion 8 along the chuck center line C.
  • the chuck Since the chuck repeatedly contacts the core 6 of the roll body 2, the wear on the chuck surface increases as the number of uses increases. Therefore, usually, the chuck is periodically replaced.
  • the chuck and the shaft are integrally formed, it is necessary to remove the shaft from the turret arm at the time of replacement, so that the replacement work is relatively complicated and time-consuming.
  • one chuck 402 and the chuck shaft 404 are configured to be detachable, so one chuck 402 may be replaced at the time of replacement, and the chuck shaft 404 is attached to the turret arm 24. Can be left alone. Thereby, maintainability improves. Further, since the hollow portion detection sensor is disposed at a position away from one of the chucks 402, it does not easily interfere with the chuck replacement operation.
  • one hollow portion detection sensor 34 is provided for the pair of chucks 28a and 28b .
  • the present invention is not limited to this.
  • a plurality of hollow portion detection sensors may be provided.
  • another hollow portion detection sensor may be arranged on the opposite side of the hollow portion detection sensor 34 across the chuck center line C in the vertical direction.
  • FIG. 12 is a front view of one end portion 24a of the turret arm 24 to which two hollow portion detection sensors 502 and 504 according to a modification are attached.
  • the pair of chucks 28a, 28b provided on the turret arm 24 are stopped at the horizontal delivery stop position.
  • a first light receiver 506 and a second light receiver 508 are attached to one arm 24c.
  • a first projector 510 and a second projector 512 are attached to the other arm 24d.
  • the first light receiver 506 and the first light projector 510 constitute a first hollow portion detection sensor 502.
  • the second light receiver 508 and the second projector 512 constitute a second hollow portion detection sensor 504.
  • the relative positions of the first hollow portion detecting sensor 502 and the second hollow portion detecting sensor 504 and the pair of chucks 28a and 28b are fixed.
  • the first light receiver 506 is disposed vertically above one chuck 28a stopped at the horizontal delivery stop position
  • the second light receiver 508 is disposed vertically below one chuck 28a stopped at the horizontal delivery stop position. .
  • the first projector 510 is arranged vertically above the other chuck 28b stopped at the horizontal delivery stop position, and the second projector 512 is arranged vertically below the other chuck 28b stopped at the horizontal delivery stop position.
  • the distance between one chuck 28a and the first light receiver 506 is substantially equal to the distance between the other chuck 28b and the first projector 510.
  • this distance is referred to as D4.
  • the second hollow portion detection sensor 504 and the pair of chucks 28a and 28b are separated by a distance D5.
  • each of the first hollow portion detection sensor 502 and the second hollow portion detection sensor 504 is configured in the same manner as the hollow portion detection sensor 34.
  • the turret on the production machine side there is generally a request to make the height D6 from the floor of the pair of chucks as small as possible.
  • the height D6 of the pair of chucks is reduced, for example, the operator can easily work on the chucked roll body. Further, since the turning radius of the turret arm is relatively small, the entire apparatus can be made more compact.
  • a hollow portion 516 of the roll body 514 when the largest roll body 514 assumed is mounted on the unmanned transport vehicle 100 for transporting the roll body and the lifter 164 of the unmanned transport vehicle 100 for transporting the roll body is set to the lowest position.
  • the height from the floor is denoted as D7.
  • D6 The height from the floor
  • the hollow portion detection sensor is provided vertically below the pair of chucks 28a and 28b, there is a high possibility that the upper end of the hollow portion 516 cannot be detected.
  • the hollow portion detection sensor is provided vertically above the pair of chucks 28a and 28b.
  • the hollow portion 516 is raised to the level of the sensor for detecting the hollow portion provided vertically above, the diameter of the hollow portion 516 is measured, and the hollow portion 516 is lowered based on the result. Alignment with 28a and 28b is performed.
  • the sensor for detecting the hollow portion is provided only vertically above the pair of chucks 28a and 28b, even when a relatively small roll body 518 is chucked, the roll body 518 is a hollow provided vertically above. It is necessary to raise it to the level of the part detection sensor. Accordingly, a relatively large stroke length in the vertical direction is required for the automatic guided vehicle 100 for transporting a roll body. In order to realize a large stroke length, it is necessary to adopt a relatively large lifter 164, and the entire automatic guided vehicle 100 for conveying a roll body can be enlarged.
  • a first hollow portion detection sensor 502 is provided vertically above the pair of chucks 28a, 28b, and a second hollow portion detection sensor 504 is also provided vertically below.
  • the roll body is formed by winding a strip or sheet material around a core.
  • the material is, for example, a film or paper.
  • Films have many uses such as liquid crystal and battery manufacturing, and food packaging.
  • a long film or paper is first formed into a roll.
  • Automatic or trackless automated guided vehicles are used. This cart receives, for example, a roll body from a storage location of the roll body and carries it into a turret of a production machine.
  • a cone is provided on the ground, an outrigger is provided on the AGV side, and the concave portion of the outrigger is fitted into the cone to improve positioning accuracy.
  • this method tends to be avoided in an environment where cleanliness is required because dust or dust may be generated when the recess and the cone are fitted.
  • the cone is provided on the floor near the production machine, it is difficult to flatten the floor.
  • the second embodiment has been made in view of such a situation, and an object of the second embodiment is to provide a roll body transport apparatus that can more suitably perform positioning when the roll body is delivered.
  • FIGS. 13A and 13B are schematic views for explaining the roll body 1002 to be transported.
  • FIG. 13A is a perspective view of the roll body 1002.
  • the roll body 1002 is formed by winding a strip-shaped or sheet-shaped material 1004 around a core 1006. Accordingly, the core 1006 extends along the winding axis M2 of the roll body 1002.
  • the core 1006 has a hollow portion 1008 extending along the winding axis M2 in the center in the radial direction.
  • the core 1006 serves as a base when the material 1004 is wound.
  • FIG. 13B is a side view showing the roll body 1002 placed on the placement table 1102 of the automatic guided vehicle for roll body transportation according to the present embodiment.
  • the roll body 1002 is mounted on the mounting table 1102 when its outer peripheral surface 1002 a, that is, the body portion is in contact with the mounting table 1102.
  • the mounting table 1102 has a V-shaped cross section so that the roll body 1002 does not roll during conveyance.
  • FIG. 14 is a perspective view of the turret 1020 on the production machine side.
  • the turret 1020 supports the roll body 1002 in the air, that is, without contact with the factory floor 1026.
  • the turret 1020 includes a frame 1022 erected on a factory floor 1026 and a turret arm 1024 supported by the frame 1022 so as to be rotatable about a first rotation axis J2 parallel to a horizontal plane.
  • a pair of chucks (not shown in FIG. 14) that can advance and retract in the direction of the first rotation axis J2 of the turret arm 1024 are provided at one end 1024a of the turret arm 1024.
  • a similar pair of chucks is also provided at the other end 1024 b of the turret arm 1024.
  • a pair of chucks provided on the turret arm 1024 moves between a plurality of stop positions including a delivery stop position for delivering the roll body 1002 to and from a roll body automated guided vehicle.
  • the delivery stop position is, for example, the position of a pair of chucks when the turret arm 1024 is substantially parallel to the horizontal plane (hereinafter referred to as a horizontal delivery stop position).
  • the turret 1020 realizes movement between the stop positions of the pair of chucks by rotating the turret arm 1024 using a motor (not shown).
  • the stop position for receiving the supply of the roll body from the automatic guided vehicle for roll body transport and the stop position for passing the roll body to the automatic transport vehicle for roll body transport may be different.
  • the delivery stop position may be set to, for example, the position of a pair of chucks when the turret arm forms an angle of about 45 degrees with the horizontal plane.
  • the automatic guided vehicle for transporting a roll body is an AGV (AutomaticAutoGuided Vehicle) that moves in a factory without a track, and supports the roll body 1002 with a trunk portion, and carries the roll body 1002 into the turret 1020.
  • the roll body 1002 is unloaded from the turret 1020.
  • the turret 1020 is a roll body receiving apparatus that receives the roll body 1002 from the automatic guided vehicle for roll body conveyance.
  • the roll body 1002 can be transported into a body receiving transport that supports and transports the body of the roll body 1002 and a core receiver transport that supports and transports the core 1006 of the roll body 1002.
  • the case of the case receiving conveyance will be described. Since it is the case receiving conveyance, the automatic guided vehicle for conveying a roll according to the present embodiment has a mounting table 1102 for receiving the trunk of the roll 1002. The size of the mounting table 1102 needs to be sufficient to support the body of the roll body 1002.
  • the mounting table 1102 is supported at two places by two support portions, and the mounting table 1102 moves by moving these two support portions. Since the movement of one support part can affect the movement of the other support part via the mounting table 1102, the automatic guided vehicle for transporting a roll body according to the present embodiment has a configuration in consideration thereof.
  • the two arms for receiving the core can be basically controlled independently. Therefore, those skilled in the art will understand that the technology for controlling the mounting table and the support portion in the present embodiment is different from the technology for controlling the arm in the core receiving conveyance.
  • the roll body unmanned transport vehicle loaded with the roll body 1002 travels in the factory toward the target turret 1020.
  • the main body of the automatic guided vehicle for transporting the roll body stops at a predetermined main body stop position.
  • the unmanned transport vehicle 1100 for transporting the roll body moves the roll body 1002 toward the position corresponding to the horizontal transfer stop position of the pair of chucks while the main body is stopped.
  • the position corresponding to the horizontal transfer stop position is, for example, a space between a pair of chucks stopped at the horizontal transfer stop position (hereinafter referred to as a target position of the roll body 1002).
  • a line connecting one chuck and the other chuck is referred to as a chuck center line C2.
  • the automatic guided vehicle for transporting a roll body has a means for adjusting the position of the mounting table 1102 in the horizontal plane and the mounting table 1102 when the main body is stopped to pass the roll body 1002 to the turret 1020.
  • the position of the mounting table 1102 is adjusted using a means for rotating. Thereby, even when the actual stop position of the main body of the automatic guided vehicle for transporting the roll body deviates from the main body stop position, the deviation can be compensated without moving the main body.
  • the winding axis M2 of the roll body 1002 and the chuck center line C2 can be aligned with higher accuracy.
  • the “position of the mounting table” may include the spatial coordinates of the center of gravity of the mounting table and the direction of the mounting table.
  • the direction of the mounting table may be the direction of the normal of the mounting surface when the mounting surface on which the roll body 1002 is mounted is viewed as a substantially flat surface.
  • FIGS. 15A to 15D are schematic views showing an automatic guided vehicle 1100 for conveying a roll body according to the present embodiment.
  • An automated guided vehicle 1100 for transporting a roll body includes a mounting table 1102, a mounting table support unit, a first position detector 1138, a second position detector 1140, a first support unit 1124, a second support unit, A first y-direction drive unit 1150, a second y-direction drive unit 1160, an x-direction transfer slide 1162, and a main body 1168 are provided.
  • the main body 1168 includes a lifter 1164, a carriage unit 1166, and a control unit 1050.
  • the z direction is the vertical direction, that is, the direction of gravity applied to the roll body 1002 when the roll body 1002 is placed on the placement table 1102.
  • the x direction and the y direction are non-vertical directions, that is, directions intersecting the vertical direction, and are directions orthogonal to each other in the horizontal plane.
  • the mounting table 1102 is substantially rectangular in plan view, and the longitudinal direction of the mounting table 1102 is the x direction and the short direction is the y direction.
  • FIG. 15A is a top view of the automatic guided vehicle 1100 for conveying a roll body.
  • 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 1130, and a third load cell 1132.
  • the first guide pin 1114, the second guide pin 1116, the third guide pin 1118, and the fourth guide pin 1120 are respectively fixed to the base frame 1104, and the first guide holes 1106 and the second guides provided at the four corners of the mounting base 1102.
  • the holes 1108, the third guide holes 1110, and the fourth guide holes 1112 are loosely fitted.
  • the base frame 1104 is fixed to the main body 1168 at least while the main body 1168 of the automatic guided vehicle 1100 for transferring a roll body is moving.
  • the mounting table 1102 is positioned in the horizontal plane with respect to the automatic guided vehicle 1100 for conveying the roll body by loosely fitting the guide pins in the guide holes in this way.
  • the first load cell 1122, the second load cell 1130, and the third load cell 1132 are respectively provided between the third guide pin 1118 and the fourth guide pin 1120, between the first guide pin 1114 and the fourth guide pin 1120, and the second guide. Provided between the pin 1116 and the third guide pin 1118.
  • Each load cell is fixed to the base frame 1104 and supports the mounting base 1102 in the z direction.
  • the inclined rail 1126 and the pole holder 1134 are fixed to the lower surface of the base frame 1104.
  • the inclined rail 1126 is a rail extending in the y direction.
  • the pole holding portion 1134 is a cup-shaped member that opens downward.
  • FIG. 15B is a side view of the automatic guided vehicle 1100 for conveying a roll body.
  • the first position detector 1138 and the second position detector 1140 are attached to one end and the other end of the base frame 1104 in the x direction, respectively.
  • the first position detector 1138 is provided on one end side (hereinafter referred to as the right side) of the roll body 1002 in the winding axis M ⁇ b> 2 direction.
  • the position detector 1140 is provided on the other end side (hereinafter referred to as the left side).
  • the first light projecting unit 1090 and the second light projecting unit 1092 are fixed to the ground, that is, the floor 1026 of the factory, and emit the first laser beam LB3 and the second laser beam LB4.
  • the first position detector 1138 and the second position detector 1140 receive the first laser beam LB3 and the second laser beam LB4, respectively.
  • the first position detector 1138 detects the right end position of the mounting table 1102 with respect to the first laser light LB3 based on the light receiving position of the first laser light LB3 on the light receiving surface.
  • the second position detector 1140 detects the position of the left end of the mounting table 1102 with respect to the second laser light LB4 based on the light receiving position of the second laser light LB4 on the light receiving surface.
  • the first position detector 1138 and the second position detector 1140 together constitute a detector that detects the position of the mounting table 1102 relative to the factory floor 1026. Since the turret 1020 is provided on the factory floor 1026, the detection unit can detect the position of the mounting table 1102 with respect to the turret 1020.
  • the first position detector 1138 and the second position detector 1140 transmit the position detection result to the control unit 1050.
  • the first support portion 1124 and the second support portion support the mounting table 1102 by supporting the base frame 1104 at different positions.
  • the first support portion 1124 includes a rotation pin 1146 and a cross roller 1148.
  • the rotation pin 1146 is a pin having one end attached to a member on the base frame 1104 side and the other end attached to a member on the cross roller 1148 side.
  • the rotation pin 1146 is the center of rotation when the mounting table 1102 is tilted with respect to the horizontal plane, that is, when the mounting table 1102 rotates around the second rotation axis K2 orthogonal to the z direction.
  • the cross roller 1148 supports the rotation pin 1146 to be rotatable around the third rotation axis P2 along the z direction.
  • the cross roller 1148 is the center of rotation when the mounting table 1102 rotates around the third rotation axis P2.
  • the first y-direction drive unit 1150 linearly moves the first support unit 1124 in the y direction with respect to the main body 1168 based on a control signal from the control unit 1050.
  • the first y-direction drive unit 1150 is configured by appropriately combining a linear guide such as an LM guide (Linear Motion Guide) and a motor.
  • the second y-direction drive unit 1160 moves the second support unit in the y direction with respect to the main body 1168.
  • the first y-direction drive unit 1150 and the second y-direction drive unit 1160 are both fixed to the upper surface of the x-direction transfer slide 1162.
  • the mounting table 1102 is linearly moved in the y direction.
  • the movement of the mounting table 1102 is caused by the rotation component about the third rotation axis P2 and, in some cases, the y direction. And a linear motion component along.
  • the second support part includes an inclination adjusting part 1152, a pole 1136, and an arc escape slide 1158.
  • the second support portion is arranged in the x direction so that the contact position between the second support portion and the inclined rail 1126 can move in the x direction when the mounting table 1102 rotates around the third rotation axis P2. Have fun with.
  • the inclination adjusting unit 1152 has a contact portion 1128 that contacts the inclined rail 1126.
  • the inclination adjusting unit 1152 slides the contact portion 1128 with respect to the inclined rail 1126 based on a control signal from the control unit 1050.
  • the inclination adjusting unit 1152 includes a linear guide, a motor, a ball screw, and the like.
  • One end of the pole 1136 is attached to the arc escape slide 1158, and the other end is inserted inside the pole holding portion 1134.
  • the pole 1136 pushes the pole holding unit 1134 in the y direction, which causes the mounting table 1102 to move the third rotation axis P2. Rotates as the center.
  • the pole holder 1134 moves in the x direction
  • the pole 1136 also moves in the x direction along with the movement.
  • the arc escape slide 1158 also follows and moves in the x direction.
  • the arc relief slide 1158 is configured by a linear guide or the like so that the contact portion 1128 of the inclination adjusting portion 1152 can be moved in the x direction in accordance with the movement of the pole 1136 in the x direction.
  • the x-direction transfer slide 1162 moves the mounting table 1102 by moving the first support portion 1124 and the second support portion in the x direction with respect to the main body 1168 based on a control signal from the control portion 1050.
  • the x-direction transfer slide 1162 is fixed to the upper surface of the lifter 1164.
  • the lifter 1164 is a pantter type electric lifter, and moves the mounting table 1102 in the z direction or moves up and down by moving the x-direction transfer slide 1162 up and down.
  • the carriage unit 1166 includes a driven wheel 1170 and a drive wheel 1172, and is equipped with a lifter 1164.
  • the cart unit 1166 moves the automatic guided vehicle 1100 for conveying the roll body in the factory.
  • FIG. 15C is a schematic view of the sliding of the contact portion 1128 with respect to the inclined rail 1126 as seen from the direction indicated by the arrow B2 in FIG. 15B.
  • the lower surface of the inclined rail 1126 is inclined along the direction in which the inclined rail 1126 extends. Since the movement of the inclined rail 1126 in the y direction with respect to the arc escape slide 1158 is restricted by the arc relief slide 1158, the pole 1136, and the pole holding portion 1134, the contact rail portion 1128 is extended by the inclination adjustment portion 1152, and the inclination rail 1126 is extended. When moved in a direction, the contact 1128 slides on the inclined rail 1126. Then, due to the inclination of the inclined rail 1126, the base frame 1104, and thus the mounting base 1102 rotates about the second rotation axis K2, or is inclined relative to the horizontal plane.
  • FIG. 15 (d) is a cross-sectional view taken along line A2-A2 of FIG. 15 (a).
  • FIG. 15D shows the mounting table 1102 and the mounting table support means, and the other members are not shown.
  • the third guide pin 1118 is loosely fitted in the fourth guide hole 1112. The same applies to the fourth guide pin 1120.
  • the first load cell 1122 supports the mounting table 1102 in the z direction.
  • FIG. 16 is a block diagram showing the function and configuration of the control unit 1050.
  • Each block shown here can be realized by hardware and other elements such as a computer CPU and a mechanical device, and software can be realized by a computer program or the like.
  • Draw functional blocks Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.
  • the control unit 1050 drives the first y-direction drive unit 1150 and the second y-direction drive so that the position of the mounting table 1102 detected by the detection unit approaches a predetermined reference position. Controls at least one of the unit 1160, the x-direction transfer slide 1162, and the tilt adjustment unit 1152.
  • the control unit 1050 includes an interface unit 1052, a main body stopping unit 1054, a pre-lifting mounting table adjusting unit 1056, a mounting table lifting / lowering unit 1058, and a load control unit 1068.
  • the interface unit 1052 transmits / receives signals to / from each member of the automatic guided vehicle 1100 for conveying a roll body.
  • the main body stop unit 1054 controls the carriage unit 1166 so that the main body 1168 stops at the main body stop position. When it is detected by a sensor (not shown) that the main body 1168 has come to the main body stop position, the main body stop unit 1054 transmits a control signal for stopping the cart unit 1166 to the cart unit 1166 via the interface unit 1052.
  • FIG. 17 is a front view showing the automatic guided vehicle 1100 for conveying the roll body and the one end portion 1024a of the turret arm 1024 when the position of the mounting table 1102 is adjusted.
  • the pair of chucks 1028a and 1028b provided at one end 1024a of the turret arm 1024 are stopped at the horizontal delivery stop position, and the main body 1168 of the automatic guided vehicle 1100 for transferring the roll body is at the horizontal delivery stop position. It stops at the main body stop position vertically below.
  • the mounting table 1102 and the mounting table support means are collectively referred to as a mounting table unit 1103, and the first y-direction driving unit 1150, the second y-direction driving unit 1160, and the x-direction transfer slide 1162 are collectively referred to as the driving unit 1161. write.
  • the second support is indicated by reference numeral 1125.
  • the turret arm 1024 includes two arms, that is, one arm 1024c and the other arm 1024d.
  • Each of the pair of chucks 1028 a and 1028 b is configured to be detachable from the hollow portion 1008 of the roll body 1002.
  • One chuck 1028a faces the other chuck 1028b.
  • a chuck center line C2 connecting one chuck 1028a and the other chuck 1028b is substantially parallel to the first rotation axis J2.
  • One chuck 1028a is attached to one arm 1024c so as to be able to advance and retract along the chuck center line C2.
  • One chuck 1028a is moved along the chuck center line C2 by a chuck driving unit (not shown) attached to one arm 1024c.
  • One chuck 1028a enters along one end of the hollow portion 1008 of the roll body 1002 along the chuck center line C2 when supporting the roll body 1002, and retreats along the chuck center line C2 when releasing the roll body 1002. .
  • the first light projecting unit 1090 and the second light projecting unit 1092 are attached to the upper ends of the first pole 1094 and the second pole 1096 that are erected on the factory floor 1026, respectively. Both the first pole 1094 and the second pole 1096 are attached to a place with relatively good floor accuracy in the factory.
  • the first light projecting unit 1090 and the first pole 1094 are arranged so that the first laser beam LB3 is parallel to the chuck center line C2.
  • the second light projecting unit 1092 and the second pole 1096 are arranged so that the second laser beam LB4 is parallel to the chuck center line C2. Both the first laser beam LB3 and the second laser beam LB4 may or may not be in a vertical plane including the chuck center line C2.
  • the pre-lifting table adjustment unit 1056 acquires information transmitted from the first position detector 1138 and the second position detector 1140 via the interface unit 1052. To do.
  • the information acquired in this way includes a detection result of the position of the mounting table 1102 with respect to the turret 1020.
  • the pre-uplift mounting table adjustment unit 1056 is arranged so that the detected position of the mounting table 1102 approaches the reference position, the first y-direction drive unit 1150, the second y-direction drive unit 1160, the x-direction transfer slide 1162, and the tilt adjustment unit 1152. To control.
  • the pre-lifting table adjusting unit 1056 sends a control signal indicating, for example, a displacement amount to each of the first y-direction driving unit 1150, the second y-direction driving unit 1160, the x-direction transfer slide 1162, and the inclination adjusting unit 1152, and the interface unit 1052. To send through.
  • a vertical plane including the chuck center line C2 of the pair of chucks 1028a and 1028b stopped at the horizontal delivery stop position (hereinafter referred to as the chuck vertical plane).
  • the winding axis M2 of the roll body 1002 mounted on the mounting table 1102, and the winding axis M2 and the chuck center line C2 are substantially parallel.
  • the winding axis M2 of the roll body 1002 is ideally at a certain height so that the center axis of the chuck 1002 Aligned with C2.
  • the pre-lifting table adjustment unit 1056 includes a first rotation adjustment unit 1060, a parallel movement adjustment unit 1062, and a second rotation adjustment unit 1064.
  • FIG. 18 is a top view showing the mounting table 1102 when the main body 1168 of the automatic guided vehicle for roll body transport 1100 is stopped at the main body stop position.
  • a broken line indicates a state before the adjustment by the first rotation adjusting unit 1060
  • a solid line indicates a state after the adjustment.
  • the winding axis M2 of the roll body 1002 mounted on the mounting table 1102 is inclined at an angle ⁇ 1 with respect to the chuck center line C2 in the horizontal plane.
  • the first rotation adjustment unit 1060 obtains the angle ⁇ 1 by calculation or the like from the detection result of the position of the mounting table 1102.
  • the first rotation adjustment unit 1060 calculates the amount of displacement in the y direction of the second support unit 1125 such that the mounting table 1102 is rotated by the angle ⁇ 1 about the third rotation axis P2. During this calculation, it is assumed that the first y-direction drive unit 1150 does not move the first support unit 1124.
  • the first rotation adjustment unit 1060 calculates the amount of displacement in the y direction of the second support unit 1125 with the first support unit 1124 fixed.
  • the first rotation adjustment unit 1060 transmits a control signal indicating the calculated y-direction displacement amount to the second y-direction drive unit 1160 via the interface unit 1052.
  • the second y-direction drive unit 1160 moves the second support unit 1125 in the y direction by the y-direction displacement amount indicated by such a control signal.
  • the first y-direction drive unit 1150 does not move the first support unit 1124. That is, the driving unit 1161 moves the first support unit 1124 and the second support unit 1125 independently of each other.
  • the mounting table 1102 rotates about the third rotation axis P2 by an angle ⁇ 1, and the winding axis M2 of the roll body 1002 and the chuck center line C2 become substantially parallel.
  • the first rotation adjustment unit 1060 may calculate the y-direction displacement amount of the first support portion 1124 in a state where the second support portion 1125 is fixed, and the y-direction displacement amount of the first support portion 1124 and You may calculate both the y direction displacement amount of the 2nd support part 1125.
  • FIG. 1060 may calculate the y-direction displacement amount of the first support portion 1124 in a state where the second support portion 1125 is fixed, and the y-direction displacement amount of the first support portion 1124 and You may calculate both the y direction displacement amount of the 2nd support part 1125.
  • FIG. 19 is a side view showing the roll transport unmanned transport vehicle 1100 and the turret arm 1024 when the main body 1168 of the roll transport unmanned transport vehicle 1100 is stopped at the main body stop position.
  • the parallel movement adjustment unit 1062 Prior to adjustment by the parallel movement adjustment unit 1062, the chuck center line C2 and the winding axis M2 are shifted by a distance ⁇ L along the horizontal direction HR perpendicular to both the chuck center line C2 and the vertical direction. In other words, the chuck vertical surface CV and the vertical surface MV including the winding axis M2 are separated by a distance ⁇ L.
  • the parallel movement adjustment unit 1062 acquires the distance ⁇ L by calculation or the like from the detection result of the position of the mounting table 1102.
  • the parallel movement adjustment unit 1062 transmits a control signal indicating the acquired distance ⁇ L as the y-direction displacement amount to the first y-direction drive unit 1150 and the second y-direction drive unit 1160 via the interface unit 1052.
  • the first y-direction drive unit 1150 and the second y-direction drive unit 1160 move the first support unit 1124 and the second support unit 1125 in the y direction by the y-direction displacement amount indicated by such a control signal.
  • the mounting table 1103 is translated in the horizontal direction HR by the distance ⁇ L, and the winding axis M2 of the roll body 1002 is included in the chuck vertical surface CV.
  • FIG. 20 (a) and 20 (b) are front views showing the roll transport unmanned guided vehicle 1100 when the main body 1168 of the roll transport unmanned transport vehicle 1100 is stopped at the main body stop position.
  • FIG. 20A shows a state before adjustment by the second rotation adjusting unit 1064
  • FIG. 20B shows a state after adjustment.
  • the winding axis M2 before adjustment by the second rotation adjusting unit 1064 is inclined at an angle ⁇ 2 with respect to the chuck center line C2 in the vertical plane. Yes.
  • the second rotation adjustment unit 1064 obtains the angle ⁇ 2 by calculation or the like from the detection result of the position of the mounting table 1102.
  • the second rotation adjusting unit 1064 calculates the amount of displacement in the z direction of the second support unit 1125 such that the mounting table 1102 is rotated by the angle ⁇ 2 about the second rotation axis K2.
  • the second rotation adjustment unit 1064 transmits a control signal indicating the calculated z-direction displacement amount to the inclination adjustment unit 1152 via the interface unit 1052.
  • the inclination adjusting unit 1152 moves the second support unit 1125 in the z direction by the amount of displacement in the z direction indicated by such a control signal. Specifically, the inclination adjusting unit 1152 obtains a necessary z-direction displacement by sliding the contact point 1128 on the inclined rail 1126. As a result, the mounting table 1103 rotates about the second rotation axis K2 by an angle ⁇ 2, and the winding axis M2 of the roll body 1002 and the chuck center line C2 become substantially parallel.
  • the winding axis M2 When the winding axis M2 is inclined with respect to the chuck center line C2 and deviated in the horizontal direction HR, at least one of the first rotation adjustment unit 1060 and the second rotation adjustment unit 1064 is used. Then, the winding axis M2 and the chuck center line C2 may be substantially parallel, and then the winding axis M2 may be moved into the chuck vertical surface CV using the parallel movement adjustment unit 1062.
  • the pre-uplift mounting table adjustment unit 1056 fixes the second support unit 1124 while fixing the first support unit 1124 so that the first laser beam LB3 hits a predetermined position on the light receiving surface of the first position detector 1138. 1125 may be moved. Furthermore, the pre-lifting table adjustment unit 1056 fixes the first support 1124 while fixing the second support 1125 so that the second laser beam LB4 hits a predetermined position on the light receiving surface of the second position detector 1140. You may move it.
  • the mounting table elevating unit 1058 controls the lifter 1164 to raise the mounting table 1102 after adjusting the position of the mounting table 1102 by the pre-lifting mounting table adjusting unit 1056.
  • the mounting table elevating unit 1058 transmits a control signal indicating the amount of increase to the lifter 1164 via the interface unit 1052. The same applies to the lowering of the mounting table 1102.
  • the control unit 1050 transmits a control signal for permitting the insertion of the chuck to the chuck driving units (not shown) of the pair of chucks 1028a and 1028b via the interface unit 1052. To do.
  • the chuck driving unit receives the control signal, the chuck driving unit inserts the pair of chucks 1028 a and 1028 b into the hollow portion 1008 of the core 1006.
  • load control by the load cell is performed.
  • a holding unit (not shown) of the control unit 1050 holds the weight of the roll body 1002 to be received.
  • the load control unit 1068 compares the load calculated from the signal from the load cell with the weight held by the holding unit.
  • the load control unit 1068 controls the lifter 1164 until the former reaches the latter, and the inclination adjusting unit 1152, the first y-direction drive unit 1150, the second y-direction drive unit 1160, and the x-direction transfer slide so that the load becomes equal. 1162 is controlled.
  • the operation of the roll transport automatic guided vehicle 1100 configured as described above will be described.
  • the automatic guided vehicle 1100 for transporting the roll body stops once when it moves to the turret 1020 where the roll body 1002 is transferred to and from it.
  • the automatic guided vehicle 1100 for transferring the roll body only needs the position of the mounting table 1102 based on the position detection signals from the first position detector 1138 and the second position detector 1140 while the main body 1168 is stopped. adjust.
  • the automatic guided vehicle 1100 for transporting the roll body then transfers the roll body 1002 by raising the mounting table 1102 vertically upward by the lifter 1164.
  • FIGS. 21A and 21B are schematic diagrams illustrating a state where the roll body transfer automatic guided vehicle 1100 receives the roll body 1176 from the production machine 1174.
  • FIG. 21A is a top view of the production machine 1174 and the automatic guided vehicle 1100 for conveying a roll body
  • FIG. 21B is a side view.
  • the cutout amount L2 into which the roll transport unmanned transport vehicle 1100 can enter is not sufficient, and even if the roll transport unmanned transport vehicle 1100 enters the maximum, the roll transport unmanned transport vehicle 1100
  • the y-direction position of the center R3 of the main body 1168 does not reach the y-direction position of the center R4 of the roll body 1176 attached to the production machine 1174.
  • the driving unit 1178 including the first y direction driving unit 1150 and the second y direction driving unit 1160 is used to support the mounting table 1102.
  • the support part 1180 is moved to the y direction production machine side. In this way, the center of the mounting table 1102 and the center R4 of the roll body 1176 attached to the production machine 1174 are aligned. Thereafter, the mounting table 1102 is raised by the lifter 1164 included in the driving unit 1178 to receive the roll body 1176 from the production machine 1174.
  • FIG. 22 is an explanatory diagram for explaining the movement of the inclined rail 1126 and the contact portion 1128 when the mounting table 1102 rotates around the cross roller 1148.
  • the mounting table 1102 rotates around the cross roller 1148.
  • the contact portion 1128 moves in the y direction in accordance with the movement of the second support portion in the y direction.
  • the contact portion 1128 can be moved to a position 1182 indicated by a broken-line circle in FIG.
  • the second support portion since the second support portion has play in the x direction, even if the position where the contact portion 1128 should be shifted in the x direction as the mounting table 1102 rotates, the shift can be absorbed. That is, the contact portion 1128 is moved in the x direction following the rotation of the mounting table 1102. As a result, the positional relationship between the inclined rail 1126 and the contact portion 1128 is substantially maintained before and after the rotation.
  • the stop position of the main body 1168 of the roll body conveyance automatic guided vehicle 1100 deviates from the main body stop position, so that the position of the mounting table 1102 is desired. May deviate from the position. Even in such a case, according to the automatic guided vehicle 1100 for conveying a roll body according to the present embodiment, the position of the mounting table 1102 relative to the turret 1020 can be adjusted as desired while the main body 1168 is stopped.
  • the winding axis M2 of the roll body 1002 and the chuck center line C2 can be made substantially parallel, and the winding axis M2 is included in the chuck vertical surface CV. Can be. Therefore, when the roll body 1002 is lifted by the lifter 1164, the winding axis M2 and the chuck center line C2 can be more reliably aligned. As a result, the roll body 1002 can be supplied more smoothly and the probability of supply failure can be reduced.
  • unmanned transport vehicle 1100 for transporting a roll body according to the present embodiment is more suitable as an AGV that transports roll body 1002 without a track.
  • the floor accuracy around the turret 1020 may be poor, and the position of the mounting table 1102 relative to the turret 1020 may need to be further finely adjusted.
  • the mounting table is positioned with reference to a cone provided on the floor around the turret 1020, and therefore the accuracy may be deteriorated due to wear of the cone.
  • the first light projecting unit 1090 and the second light projecting unit 1092 are not limited to the vicinity of the turret 1020 but can be provided in a place with relatively high floor accuracy in the factory.
  • the automatic guided vehicle 1100 for transferring the roll body is adjusted by using such a position detector that detects the laser beam from the light projecting unit, the mounting table 1102 for the turret 1020 is poor even when the floor accuracy around the turret 1020 is poor.
  • the position accuracy can be kept high.
  • the automatic guided vehicle 1100 for transporting a roll body can easily adjust the position of the mounting table 1102 at a lower cost.
  • the chuck stop position of the turret 1020 may deviate from the delivery stop position.
  • the control of the first y-direction drive unit 1150, the second y-direction drive unit 1160, the x-direction transfer slide 1162 and the inclination adjustment unit 1152 is linked with the load control, so that the lifter 1164
  • the position and orientation of the mounting table 1102 can be adjusted to compensate for the deviation of the chuck stop position during driving. As a result, smoother receiving of the roll body 1002 with less receiving errors is realized.
  • a factory using the automatic guided vehicle 1100 for transporting a roll body does not need to provide a cone, so that the floor can be flattened.
  • the automatic guided vehicle 1100 for transporting a roll body is more suitable for use in an environment where cleanliness is required because it does not generate such dust.
  • the automatic guided vehicle 1100 for transporting a roll body can move the mounting table 1102 in the y direction by the first y-direction drive unit 1150 and the second y-direction drive unit 1160 after the main body 1168 stops.
  • the roll body can be transferred to and from the production machine. In other words, the notch amount required on the production machine side is reduced, and the degree of freedom in designing the production machine is improved.
  • the automatic guided vehicle 1100 for transporting the roll body can rotate the mounting table 1102 around the second rotation axis K2 after the main body 1168 stops. Accordingly, after the main body 1168 is stopped, the mounting table 1102 can be returned to the horizontal even when the mounting table 1102 is tilted due to, for example, the floor being tilted.
  • the second support portion has play in the x direction. Therefore, even when the mounting table 1102 rotates around the cross roller 1148, the positional relationship between the inclined rail 1126 and the contact portion 1128 can be maintained.
  • the present invention is not limited to this.
  • the width of the inclined rail may be increased.
  • the case where three load cells are used has been described. However, if the load cells are provided at the four corners, the roll can be delivered more reliably.
  • the present invention is not limited to this. Absent.
  • the positional relationship between the reference position and the transfer stop position of the turret arm is measured in advance, and after the mounting table 1102 is set to the reference position, the mounting table is moved based on this positional relationship, so that the reference position can be arbitrarily set. Can be set to position.
  • the roll body receiving device can receive the roll body more smoothly from the roll body conveying device.

Landscapes

  • Replacement Of Web Rolls (AREA)

Abstract

L'invention porte sur un véhicule de transport sans équipage (1100), lequel dispositif supporte une bobine (1002) sur une base (1103) et transporte la bobine (1002). Une tourelle installée sur un sol (1026) insère des mandrins (1028a, 1028b) dans le cœur (1006) de la bobine (1002) et reçoit la bobine (1002) à partir du véhicule de transport (1100). Des sections de saillie de faisceau (1090, 1092) installées sur le sol (1026) émettent des faisceaux laser (LB3, LB4), qui sont parallèles à la ligne centrale (C2) des mandrins. La base (1103) a des détecteurs (1138, 1140) qui reçoivent les faisceaux laser (LB3, LB4). Quand le véhicule de transport (1100) s'arrête sous les mandrins (1028a, 1028b), la position et l'orientation de la base (1103) sont calculées sur la base des sorties des détecteurs (1138, 1140). Ensuite, les sections de support (1124, 1125) du véhicule de transport (1100) déplacent ou font tourner la base (1103) de telle sorte que l'axe (M2) de la bobine (1002) sur la base (1103) est parallèle à la ligne centrale (C2) des mandrins et directement sous celle-ci.
PCT/JP2012/005180 2011-09-05 2012-08-17 Système de manipulation de corps de bobine, procédé d'apport de corps de bobine et dispositif de transport de corps de bobine WO2013035250A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2011193299 2011-09-05
JP2011-193301 2011-09-05
JP2011-193299 2011-09-05
JP2011193301A JP5379199B2 (ja) 2011-09-05 2011-09-05 ロール体搬送装置
JP2012-122068 2012-05-29
JP2012122068A JP5150003B1 (ja) 2011-09-05 2012-05-29 ロール体取扱システム、ロール体供給方法およびロール体搬送装置

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CN110921378A (zh) * 2019-11-26 2020-03-27 广东生益科技股份有限公司 卷材用上料装置与卷材的上料方法

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JPS6181863A (ja) * 1984-09-29 1986-04-25 株式会社東芝 荷物移載装置付き無人搬送車
JPH0248358A (ja) * 1988-07-04 1990-02-19 Kleinewefers Gmbh 特に印刷機用の紙ロール巻き出し装置およびロール芯へ固定ピボットを挿入する方法
WO2012108115A1 (fr) * 2011-02-10 2012-08-16 住友重機械工業株式会社 Système de manutention de corps de rouleau, procédé d'apport de corps de rouleau et dispositif de transport de corps de rouleau
WO2012108114A1 (fr) * 2011-02-10 2012-08-16 住友重機械工業株式会社 Dispositif de transport de corps de rouleau

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JPS6181863A (ja) * 1984-09-29 1986-04-25 株式会社東芝 荷物移載装置付き無人搬送車
JPH0248358A (ja) * 1988-07-04 1990-02-19 Kleinewefers Gmbh 特に印刷機用の紙ロール巻き出し装置およびロール芯へ固定ピボットを挿入する方法
WO2012108115A1 (fr) * 2011-02-10 2012-08-16 住友重機械工業株式会社 Système de manutention de corps de rouleau, procédé d'apport de corps de rouleau et dispositif de transport de corps de rouleau
WO2012108114A1 (fr) * 2011-02-10 2012-08-16 住友重機械工業株式会社 Dispositif de transport de corps de rouleau

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110921378A (zh) * 2019-11-26 2020-03-27 广东生益科技股份有限公司 卷材用上料装置与卷材的上料方法
CN110921378B (zh) * 2019-11-26 2022-02-11 广东生益科技股份有限公司 卷材用上料装置与卷材的上料方法

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