WO2022025352A1

WO2022025352A1 - Automatic guided carrier for winding roll transfer

Info

Publication number: WO2022025352A1
Application number: PCT/KR2020/015236
Authority: WO
Inventors: 이재환; 송민수; 장준영; 서동진
Original assignee: (주)코윈테크
Priority date: 2020-07-28
Filing date: 2020-11-03
Publication date: 2022-02-03
Also published as: KR102171473B1

Abstract

The present invention relates to an automatic guided carrier for winding roll transfer and, more specifically, to an automatic guided carrier for winding roll transfer, which is an automated guided means for transferring a winding roll between devices in roll-to-roll equipment, the automatic guided carrier adjusting the position of a roll transfer unit, on which a winding roll is placed, in real time in correspondence with the movement of a reception turret and thereby enabling stable transfer of the winding roll.

Description

Automatic guide vehicle for winding roll transfer

The present invention relates to an automatic guide transporter for transporting a winding roll, and more particularly, an automatic guide transporter, an unmanned transport means that transports the winding roll in a roll to roll equipment and transfers it between equipment, in which the winding roll is placed. It relates to an automatic guide transporter for transporting a take-up roll capable of stably transporting the take-up roll by adjusting the position of the rolled transfer material in real time in response to the movement of the supply and demand turret.

The automatic guide vehicle is equipment used to bring in, take out, and transport high-load parts and finished products in the automated production process of semiconductor production facilities, secondary batteries, solar panels, and automobiles, and is set to move a predetermined section. , while moving the set section, the parts necessary for the production equipment arranged in the automated production process are brought in or the assembled product is taken out.

Looking at the automated process of manufacturing secondary batteries as an example in which such an automatic guide vehicle is used, secondary batteries are manufactured by assembling parts of the positive electrode, negative electrode, electrolyte, and separator, and can be manufactured through various manufacturing methods, Among them, the lithium ion secondary battery manufacturing method is formed by stacking a separator, a negative electrode plate, and a positive electrode plate, winding them a plurality of times to form an electrode assembly, inserting the formed electrode assembly into a case, injecting an electrolyte into the case, and sealing it.

Here, the separator is supplied in the form of a rolled roll due to factors such as material characteristics and weight, and is used after mounting the winding roll on a rotatable rotating shaft during manufacture and drawing it out at a constant speed. Since the diameter must be taken into account, the winding roll cannot be formed beyond a predetermined size, and thus the winding roll has to be replaced periodically.

At this time, as a method of replacing the roll, the roll body wound with the separator in the form of a roll is mounted on an automatic guide carrier, then set to move the automatic guide carrier to the required production equipment, and automatically through the transport chuck placed in each production equipment. The roll body transported through the guide vehicle is moved to the supply turret.

It is very important to stably support the high-load roll body during the process of transporting the roll body and the chucking/unchucking process for such an automatic guide transporter. Stable transfer of the take-up roll was possible only when the position and the distance between the cones were kept constant.

In addition, the conventional supply turret moves left and right in the process of unwinding the previously installed take-up roll. Since there is no means to correct this in the conventional automatic guide vehicle, the operator manually corrects this or stops the supply turret and then installs a new winding roll. It had to be transported to a supply turret, and this had a problem in that the supply and demand rate of the automated process was lowered because the equipment had to be stopped.

In addition, the winding roll is unwound in either direction of right rotation or left rotation. There is a problem in that the roll cannot be mounted on an automatic guide carrier or transferred to a supply turret by setting the unwinding direction to be the same, in particular, FIG. 14 As shown in the conventional automatic guide vehicle, the guide guide for guiding the movement direction of the automatic guide vehicle and checking the presence or absence of obstacles disposed on the movement path is fixed to one side of the body of the automatic guide vehicle. Therefore, if the unwinding direction of the take-up roll is not the direction specified by the supply and demand turret, there is no way to solve it by the automatic guide transporter itself.

Subsequently, a problem occurred in which the automatic guide vehicle and the supply and demand turret collided in the process of entering and exiting the automatic guide vehicle to the supply and demand turret.

The present invention has been proposed to solve the above problems, and in response to the stable movement of the winding roll as well as the movement left and right during the operation of the supply turret receiving the winding roll, the roll transfer part on which the winding roll is placed is left and right. An object of the present invention is to provide an automatic guide carrier for transporting the take-up roll that enables stable transport of the take-up roll by moving it.

In addition, when the Y-axis of a pair of forks constituting the roll transfer part is changed at a preset position, the purpose is to provide an automatic guide carrier for transporting the take-up roll that can stably transport the take-up roll by correcting it through the theta-axis correction unit. have.

In addition, an obstacle detection unit for preventing a collision with the supply and demand turret in the process of entering and exiting the supply and demand turret is provided, and the obstacle detection unit is configured to enter and exit the inside of the base body to prevent falling and position displacement of the winding roll due to collision An object of the present invention is to provide an automatic guide transporter for transporting the take-up roll.

In order to achieve the above object, the present invention

It is for transferring the take-up roll with the core to the supply turret,

base body;

a roll transfer part including a support plate disposed on the upper surface of the base body, and a pair of forks symmetrically disposed at positions spaced apart from each other on the upper surface of the support plate and on which the winding roll is placed;

a movement guide unit disposed on the base body to guide a movement path of the base body;

an avoidance driving unit disposed on the base body to linearly move the movement guide to prevent contact with the supply and demand turret;

a gap maintaining unit for movably supporting the pair of forks to maintain a gap between the pair of forks and the supply and demand turret;

a tilting unit disposed on the base body and rotatably supporting the support plate from below to match the center of the winding roll mounted on the pair of forks and the center of the rotation shaft constituting the supply and demand turret;

a theta axis correction unit disposed on the base body to rotatably support the support plate to correct theta axis of the pair of forks;

and an obstacle detecting unit provided on the outer surface of the base body to prevent collision between the base body and the supply and demand turret when entering and exiting the supply and demand turret.

In addition, the avoidance driving unit includes an avoidance rail disposed on the base body, an avoidance block movably disposed on the avoidance rail and coupled to a lower end of the movement guide, and the avoidance block while operating by the applied power and signal. It is characterized in that it includes a driving sleeve for moving the.

In addition, the distance maintaining unit is disposed on the pair of forks, respectively, a pair of detection sensors, and an X-axis driving unit for horizontally moving the pair of forks while operating through the detection value detected by the detection sensor. The X-axis driving unit includes an X-axis driving means operated by the applied power and signals from the pair of detection sensors, an X-axis rod extending in the longitudinal direction and connected to the X-axis driving means, and the It is characterized in that it includes a power transmission body connecting the X-axis driving means and the X-axis rod, and an LM guide for X-axis movement that movably supports the pair of forks from below.

In addition, the tilting unit includes a pair of position detection sensors respectively disposed on the pair of forks to detect the position of the turret in real time, a tilting plate supporting the support plate from below, and moving the tilting plate up and down A tilting shaft for rotatably supporting and a tilting flange coupled to both ends in the longitudinal direction of the tilting shaft, and a tilting driving unit including a tilting rod operated by applied power and signal and coupled to one end of the tilting plate do.

In addition, the theta-axis correction unit corrects the Y-axis of the pair of forks so that the take-up roll and the supply turret mounted on the pair of forks form the same horizontal line, and is disposed on the base body and applied power and a theta driving means operated by a signal, a moving shaft that linearly moves by receiving power from the theta driving means, a coupling block disposed at an end of the moving shaft and coupled to the support plate, and the support plate It is characterized in that it comprises a rotation block for rotatably supporting the support plate is disposed in the longitudinal direction of the center.

In addition, the obstacle detection unit includes an avoidance groove formed in the base body, a rotation cover rotatably coupled to the avoidance groove, an obstacle detection sensor disposed on the rotation cover to detect an obstacle, and disposed in the avoidance groove It is characterized in that it includes an avoidance driving means for rotating the rotating cover to the inside or outside of the avoiding groove while operating by the applied power and signal.

The present invention made as described above, as well as stable movement of the take-up roll, can stably transfer the transported take-up roll to the supply turret while the previously installed take-up roll is unwound from the supply turret, so that the automated process continuously operates to reduce the supply-demand rate of the process There is an effect that can be maximized.

In addition, the present invention can prevent a collision accident due to a height difference by matching the centers of the winding roll placed in the roll transfer part and the supply and demand turret receiving the winding roll, and furthermore, the present invention provides when moving the winding roll in a state where it is placed In case the roll transfer part on which the take-up roll is seated is tilted to one side due to an impact or the flatness of the floor, it is corrected in real time to prevent the fall accident of the take-up roll and damage to the roll transfer part, thereby improving the safety of the process environment. It can be improved and has the effect of extending the life of the automatic guide vehicle.

Furthermore, the present invention provides a roll transfer unit, and when a pair of forks on which the winding roll is placed is moved or when the Y-axis is changed from a preset position during the retracting or withdrawing process and deviates from the center line of the rotation shaft constituting the supply and demand turret, this is performed in real time. In the process of moving the take-up roll to the rotation axis of the supply turret by compensating and simultaneously correcting the Y-axis of the pair of forks to form the center line of the take-up roll and the center line of the rotation shaft constituting the supply turret to have the same angle at the positions spaced apart from each other There is an effect of preventing the winding roll from falling.

In addition, there is an effect of preventing a collision with the supply-demand turret in the process of the base body entering and leaving the supply-demand turret to ensure stable operation of the supply-demand turret, and prevent damage to the base body and the supply-demand turret to extend the service life.

1 is an exemplary view showing an automatic guide carrier for transporting a winding roll according to the present invention.

Figures 2a and 2b is an exemplary view showing an automatic guide carrier for transporting the winding roll according to the present invention from different angles.

3 is an exemplary view showing a roll transfer member constituting the present invention.

Figure 4 is an exemplary view showing the movement guide and the avoidance driving unit constituting the present invention.

5 is a state diagram showing the displacement state of the movement guide part by the avoidance driving part constituting the present invention.

6 is an exemplary view showing a gap maintaining unit constituting the present invention.

7 is a state diagram showing the positional displacement of the roll transfer material by the gap maintaining part constituting the present invention.

8 is an exemplary view showing a tilting unit constituting the present invention.

9 is a state diagram showing the operating state of the tilting unit constituting the present invention.

10 is an exemplary view showing the theta axis correction unit constituting the present invention.

11 is a state diagram showing the positional displacement of the roll transfer member by the theta axis correction unit constituting the present invention.

12 is an exemplary view showing an obstacle detecting unit constituting the present invention.

13 is a state diagram showing the operating state of the obstacle detecting unit constituting the present invention.

14a and 14b are exemplary views showing a state in which the conventional automatic guide vehicle is drawn into the supply turret.

As shown in FIGS. 1 and 2, the automatic guide transporter 1 for transporting the winding roll according to the present invention is for transporting the winding roll having a core in the center to the supply turret, the base body 10 and; A support plate 21 disposed on the upper surface of the base body 10, and a pair of forks 22 symmetrically disposed at positions spaced apart from each other on the upper surface of the support plate 21 and on which the winding roll R is placed ) including a roll transfer part 20, a movement guide part 30 disposed on the base body 10 to guide a movement path of the base body 10, and a base body 10 disposed on An avoidance driving part 40 for preventing the movement guide part 30 from coming into contact with the supply and demand turret by linear movement, and the pair of forks 22 by movably supporting the pair of forks 22 and A gap maintaining part 50 for maintaining the distance between the supply and demand turrets, the center of the winding roll disposed on the base body 10 and placed on the pair of forks 22 and the rotation shaft constituting the supply and demand turret A tilting unit 60 for rotatably supporting the support plate 21 from below in order to align the center, and a tilting unit 60 disposed on the base body 10 to correct the theta axis of the pair of forks 22 In order to do this, the theta axis correction unit 70 for rotatably supporting the support plate 21 and the base body 10 are provided on the outer surface of the base body 10 to collide with the base body 10 and the supply turret when entering and exiting the supply and demand turret It includes an obstacle detection unit 80 for preventing the.

Hereinafter, in addition to the above object, other objects and features of the present invention will become apparent through the description of the embodiments with reference to the accompanying drawings.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, a preferred embodiment of the automatic guide transporter for transporting the winding roll according to the present invention will be described with reference to the accompanying drawings.

First, as shown in FIGS. 1 and 2, the automatic guide transporter 1 for transporting the winding roll according to the present invention is for transporting the winding roll having a core in the center to the supply turret, the base body 10 and , a support plate 21 disposed on the upper surface of the base body 10, and a pair of forks disposed symmetrically at positions spaced apart from each other on the upper surface of the support plate 21, on which the winding roll R is placed ( 22) including a roll transfer member 20, a movement guide portion 30 disposed on the base body 10 to guide a movement path of the base body 10, and disposed on the base body 10 The avoidance driving part 40 for preventing the movement guide part 30 from coming into contact with the supply and demand turret by moving the movement guide part 30 in a straight line, and the pair of forks 22 by movably supporting the pair of forks 22 . and a space maintaining part 50 for maintaining a distance between the supply and demand turret, and the center of the winding roll disposed on the base body 10 and mounted on the pair of forks 22 and a rotation shaft constituting the supply and demand turret A tilting unit 60 for rotatably supporting the support plate 21 from below in order to match the center of the The theta axis correction unit 70 for rotatably supporting the support plate 21 for correction is provided on the outer surface of the base body 10, and when entering and exiting the supply turret, the base body 10 and the supply turret It includes an obstacle detecting unit 80 for preventing a collision.

The base body 10 is made in the form of an empty housing inside, and a caster 11 for running is provided at the lower portion. A cable for connection between the power source means and each component is arranged.

And the base body 10 is configured to be movable to a preset position in the automated process line, and the external shape and size according to the field conditions of the automated process line are not limited to the shown shape, but can be changed.

In addition, according to the diameter, load, and volume of the winding roll to be transferred, the shape and size of the base body 10 are not limited to the illustrated shape and can of course be changed.

The roll transfer material 20 is disposed on the upper surface of the base body 10 to seat the winding roll R, and the roll transfer material 20 is, as shown in FIGS. 1 to 3 , the base It includes a support plate 21 in the form of an enclosure disposed on the upper surface of the body 10 and a pair of forks 22 movably disposed at positions spaced apart from each other in the support plate 21 .

The support plate 21 is made in the form of an empty housing, the upper and lower surfaces are each made flat, and a gap maintaining part 50 and theta axis correction unit 70 to be described later are disposed therein.

The pair of forks 22 includes a fork body 221 vertically disposed on the upper surface of the support plate 21 and a clamp 222 for chucking the winding roll R on the upper end of the fork body 221 . do.

Here, the pair of forks 22 should always maintain the same distance between each other, which means that the winding roll R mounted on the clamp 222 moves or the flatness or movement of the floor during the drawing-in or drawing-out process. This is to prevent the winding roll R from being separated from the clamp 222 by applying pressure to any one of the pair of forks 22 by inertia.

That is, when a pair of forks 22 maintain the same distance at all times, when pressure is generated to move the winding roll R to the fork 22 side on either side due to vibration and rolling, the fork 22 on the other side By moving in response to this, the fall of the winding roll R can be prevented.

To this end, the pair of forks 22 move in cooperation with each other through the interval maintaining unit 50 to be described later, and a detailed description of the structure and operational relationship of the interval maintaining unit 50 will be described later.

The movement guide unit 30 is disposed on the upper surface of the base body 10 to guide the movement path in the process of moving the base body 10 to a preset position and detect obstacles on the movement path at the same time, FIG. 4, it includes a vertical body 31 disposed on the upper surface of the base body 10 and a laser sensor 32 provided on the vertical body 31 to detect obstacles on the movement path.

The vertical body 31 is formed in the form of a housing extending in the longitudinal direction, and the lower end thereof is disposed on the base body 10 and is coupled to an avoidance driving part 40 to be described later so as to be movable in a linear direction.

The laser sensor 32 is disposed on the upper side of the vertical body 31 to sense the movement path and surroundings of the base body 10 in real time. A plurality of these laser sensors 32 are radially disposed on the upper side of the vertical body 31, or the upper side of the vertical body 31 on which the laser sensor 32 is disposed is divided into powder and then the power applied to the partitioned area And by arranging a motor operated by a signal, the laser sensor 32 may be configured to rotate the disposed powder.

In addition, in addition to the laser sensor 32, an image or image obtained by photographing the outside is compared with a pre-stored reference image or image to detect the presence of an obstacle and at the same time the movement process of the base body 10 may be configured to store

Meanwhile, the movement guide 30 is disposed on one side of the upper surface of the base body 10 as shown in the drawing, so that the unwinding direction of the take-up roll required by the supply turret T can be easily changed.

To explain this in more detail, in the conventional automatic guide vehicle, as shown in FIG. 14, the winding roll on the upper surface of the base body is disposed at a position spaced apart from the outer circumferential surface, so that the direction in which the automatic guide vehicle enters the supply and demand turret is fixed. .

Therefore, if the unwinding direction of the take-up roll is not the direction specified in the supply turret, take the take-up roll from the roll transfer part, switch the unwinding direction to re-enter the roll transfer material, or lift the take-up roll through a separate crane and remove it There was a problem in that it had to be rotated and transferred to the supply turret.

In this conventional method, there is a problem that not only increases the time for transporting the take-up roll, but also damages the take-up roll in the process of drawing in, withdrawing, and changing direction, as well as a high-load take-up roll falling, resulting in personnel accidents.

In the present invention, by arranging the movement guide 30 on one side of the width direction of the winding roll R in the base body 10, the movement direction of the base body can be changed. It is possible to enter the base body into the supply and demand turret.

At this time, if the movement guide 30 is fixed on the upper surface of the base body 10, a collision with the supply turret may occur in the process of entering the supply turret. An avoidance driving unit 40 for moving in a straight direction on the upper surface of the body 10 is provided.

4 and 5, the avoidance driving unit 40 is movably disposed on the avoidance rail 41 disposed on the base body 10 and the avoidance rail 41, and the movement guide part It includes an avoidance block 42 to which the lower end of the 30 is coupled, and a driving sleeve 43 for moving the avoidance block 42 while operating by the applied power and signal.

The avoiding rail 41 extends in the longitudinal direction and is disposed on the base body 10, and as shown in the drawing, a pair of rails 41 are disposed side by side at positions spaced apart from each other to improve movement stability, but is not limited thereto. to be.

The avoiding block 42 is movably disposed on the avoiding rail 41 , and the lower end of the movement guide 30 , that is, the lower end of the vertical body 31 is coupled.

In addition, the driving sleeve 43 is a transport sleeve extending in the longitudinal direction, and one end in the longitudinal direction is coupled to the avoidance block 42 and the other end is coupled to a power transmission means (not shown in the drawing) to provide the power. The vertical body 31 is moved by moving the avoiding block 42 along the avoiding rail 41 while operating by the power applied through the transmission means.

The avoidance driving unit 40 made as described above moves the vertical body 31 along the longitudinal direction of the avoiding rail 41 from the upper surface of the base body 10, so that the base body 10 is vertical in the process of entering the supply and demand turret. This is to prevent the body from colliding with the supply and demand turret.

The gap maintaining unit 50 maintains a constant distance between the pair of forks 22 constituting the roll transfer material 20 and moves the pair of forks 22 in the X-axis direction to provide a supply and demand turret (T) for adjusting the distance, as shown in Figs. 6 and 7, respectively disposed on the pair of forks 22, a pair of detection sensors 51, and the detection sensors 51 and an X-axis driving unit 52 for horizontally moving the pair of forks 22 while operating based on the sensed value detected in An X-axis driving means 521 operated by a signal from the detection sensor 51 of 521) and a power transmission body 523 connecting the X-axis rod 522, and an X-axis movement LM guide 524 for movably supporting the pair of forks 22 from below.

The pair of detection sensors 51 are respectively disposed on the pair of forks 22 to respectively monitor the outside of the fork 22 , and in particular, the base body 10 enters the supply turret T In one state, the distance between the supply turret T and the pair of forks 22 is sensed, and the detected value is transmitted to the X-axis driving unit 52 to adjust the positions of the pair of forks 22 let it be

The X-axis driving unit 52 simultaneously moves the pair of forks 22 in the X-axis direction while operating according to the detection value transmitted from the detection sensor 51 .

As a configuration for this, the X-axis driving means 521 is operated by the applied power and the sensed value transmitted from the pair of detection sensors 51, and as shown in the figure, is made of a bidirectional motor capable of turning left or right. It may be made of a cylinder including a body and a rod that exits from the body.

The X-axis rod 522 is in the form of a rod extending in the longitudinal direction and is coupled through the X-axis driving means 521 and the power transmission body 523 to receive power through the X-axis driving means 521 in the X-axis direction. Move.

And both ends in the longitudinal direction of the X-axis rod 522 are coupled to the LM block 524a constituting the LM guide 524 for the X-axis movement, respectively.

The power transmission body 523 connects the X-axis driving means 521 and the X-axis rod 522 and moves the X-axis rod 522 in the X-axis direction by using the power generated from the X-axis driving means 521. it is for

This power transmission body 523 is composed of a pinion gear 523b provided in the X-axis driving means 521 and a rack gear 523a provided in the X-axis rod 522, so that the X-axis driving means 521 is operated. While rotating the pinion gear 523b in the left or right direction, the X-axis rod 522 is moved to the left or right.

In the X-axis movement LM guide 524, a pair of LM blocks 524a and a pair of LM blocks 524a respectively coupled to the pair of forks 22 are movably arranged, respectively, and the support plate It consists of a pair of LM rails 524b disposed at 21, and the pair of LM blocks 524a are coupled to both ends of the X-axis rod 522 in the longitudinal direction.

The gap maintaining unit 50 made as described above moves the pair of forks 22 in the X-axis direction while simultaneously moving the pair of forks 22 in the X-axis direction while the X-axis driving unit 52 operates through the sensed value detected by the detection sensor 51. The pair of forks always move left or right, that is, in the X-axis direction while maintaining the same distance.

This gap maintaining unit 50 is for maintaining a constant position at which the winding roll previously installed on the supply turret is unwound when the supply turret is unwinding while the supply and demand turret is in operation. In general, the supply turret moves to the left or right. The movement of the turret solves the problem that the winding roll placed in the roll transfer part 20 cannot be transferred to the correct position when moving to the supply turret.

The tilting unit 60 is disposed on the base body 10 and rotatably supports the support plate 21 from below, so that the center of the winding roll placed on the fork 22 and the center of the rotation shaft constituting the supply and demand turret As shown in FIGS. 8 and 9, a pair of position detection sensors 61 that are respectively disposed on the pair of forks 22 to detect the position of the forks 22 in real time, and the A tilting plate 62 supporting the support plate 21 from below, a tilting shaft 63 supporting the tilting plate 62 rotatably up and down, and both ends in the longitudinal direction of the tilting shaft 63 are coupled It includes a tilting flange 64 and a tilting driving unit 65 including a tilting rod 651 that operates by the applied power and signal and is coupled to one end of the tilting plate 62 .

The position sensor 61 is disposed on each of the pair of forks 22 to detect the position of each fork 22 in real time, and the position sensor 61 enters the supply turret (T). By detecting the position of each fork 22 in the state, it is checked whether a pair of forks are located on the same horizontal line.

The position of the fork confirmed through the position sensor 61, that is, the position of the center of the winding roll placed on the fork 22 through the height, can also be confirmed, and the confirmed central height of the winding roll and the supply turret are arranged It can be checked whether the center height of the rotating shaft receiving the take-up roll is the same.

In the case of a conventional automatic guide carrier, when the center of the take-up roll mounted on the pair of forks 22 constituting the roll transfer unit does not coincide with the center of the rotating shaft that receives the take-up roll from the supply turret, that is, the height is different. In this case, in the process of transferring from the fork 22 to the supply turret, a collision between the take-up roll and the supply turret and a fall accident occurred.

According to the present invention, the center of the take-up roll mounted on the pair of forks and the center of the rotation shaft of the supply turret are aligned through the position sensor 61 to prevent accidents occurring during the transfer of the take-up roll.

The tilting plate 62 supports the support plate 21 from below, but the tilting plate 62 and the support plate 21 are integrally coupled through a plurality of coupling rods.

The tilting shaft 63 is formed in the form of a rod extending in the longitudinal direction and is disposed in the width direction from the longitudinal center of the tilting plate 62 , and the tilting flange 64 is disposed inside the base body 10 . Both ends in the longitudinal direction of the tilting shaft 63 are rotatably coupled. To this end, the tilting flange 64 may further include a bearing disposed to surround the tilting shaft 63 .

The tilting driving unit 65 is disposed inside the base body 10 and corrects the horizontality of the tilting plate 62 while pushing or pulling one end of the tilting plate 62 while operating by the applied power and signal. do.

To this end, the tilting driving unit 65 may be formed of a cylinder including a tilting rod 651 having a tip end coupled to one end of the tilting plate 62, which is a roll transfer unit delivered to the tilting plate 62 ( 20) and to support the load of the winding roll and form the power to move the support plate 21 up and down, it is made of a cylinder that has a small size compared to a driving means consisting of a motor and a gear and can form a high output Of course, it is preferred, but not limited thereto.

The tilting unit 60 made as described above adjusts the height of the roll transfer part so that the center of the winding roll placed in the roll transfer part coincides with the center of the rotation axis of the supply and demand turret receiving the same, and the flatness of the floor while the base body is running When a rolling phenomenon occurs in which the roll transfer part shakes from side to side due to the

To this end, the tilting unit 60 is further provided with a horizontal sensor (not shown in the drawing) for detecting the inclination of the tilting plate 62, or receives the detection value of the position detection sensor 61, the support plate It may be configured to operate the tilting driving unit 65 according to the calculated horizontality and the calculated result value.

The theta axis correction unit 70 is disposed on the base body 10 to rotatably support the support plate 21 to correct theta axis of the pair of forks 22 , The Y-axis of the pair of forks 22 is corrected so that the winding roll mounted on the pair of forks 22 and the supply and demand turret form the same horizontal line.

To this end, the theta axis correction unit 70 is disposed on the base body 10 as shown in FIGS. 10 and 11 and includes a theta driving means 71 operated by applied power and signals, and the theta A moving shaft rod 72 that linearly moves by receiving power from the soccer driving means 71, a coupling block 73 disposed at an end of the movable shaft rod 72 and coupled to the support plate 21, and the support and a rotation block 74 disposed at the center of the plate 21 in the longitudinal direction to rotatably support the support plate 21 .

The theta driving means 71 is disposed on the base body 10 and operated by applied power and signals, where the signal for driving the theta driving means 71 is transmitted to the fork 22 . The sensed value sensed by the disposed position detecting sensor 61 is used.

That is, after confirming the position of the fork 22 through the detection value detected by the position sensor 61 for the position of the pair of forks 22 in a state where the base body 10 enters the supply turret, the pair of Check whether the imaginary center line connecting both sides of the width of the winding roll placed on the fork 22 is the same angle with the center of the rotation axis of the supply and demand turret adjacent to each other. If the supply turret is different from the center of the rotation axis, the fork on which the winding roll is placed is rotated in the Y-axis direction to have the same angle as the rotation axis of the supply and demand turret.

The moving shaft rod 72 receives power from the theta driving means 71 to move in a straight line, and the coupling block 73 disposed at the distal end of the movable shaft rod 72 is coupled with the support plate 21 to move. The support plate 21 is moved according to the movement of the shaft rod 72 .

At this time, the rotation block 74 is disposed in the center of the longitudinal direction of the support plate 21, that is, between a pair of forks, and rotatably supports the support plate 21, the support plate 21. is made to rotate based on the rotation block 74 when it is moved by the movement of the moving shaft rod 72 .

The theta axis correction unit 70 made as described above matches the center line of the width direction of the winding roll mounted on the pair of forks 22 and the center line of the rotation axis of the supply turret to collide and fall in the process of moving the winding roll to the supply turret accidents can be prevented.

The present invention corrects the height and Y-axis of the roll transfer part on which the winding roll is placed through the tilting unit 60 and the theta axis correction unit 70 so that the rotation axis of the supply turret receiving the winding roll and the center line of the winding roll are the same In the process of maintaining and transporting the take-up roll, it is possible to prevent the collision between the take-up roll and the supply and demand turret and to prevent a fall accident. Furthermore, the time taken for transport because the take-up roll is transported with the same center line in the process of transporting the take-up roll can be minimized.

The obstacle detection unit 80 is provided on the outer surface of the base body 10 to prevent collision of the base body 10 and the supply turret when entering and exiting the supply and demand turret. For this purpose, the obstacle detection unit 80 12 and 13, the avoiding groove 81 formed in the base body 10, the rotation cover 82 rotatably coupled to the avoiding groove 81, and the rotation cover 82 ) disposed in the obstacle detection sensor 83 to detect an obstacle, and the rotation cover 82 while being disposed in the avoiding groove 81 and operating by the applied power and signal inside or outside the avoiding groove 81 It includes an avoidance driving means 84 for rotating it.

A plurality of the avoiding grooves 81 are formed at positions spaced apart from each other on the outer surface of the base body 10, and preferably, when the base body 10 is formed of a polygon, a pair of surfaces is formed at the corners in contact with each other. When the base body 10 is formed in a cylindrical shape, it is formed radially.

The rotating cover 82 is rotatably coupled to the avoiding groove 81 and arranged to enter and exit the avoiding groove 81, and has a shape and size corresponding to the open shape and size of the avoiding groove 81. and is rotatably coupled to the avoidance groove 81 by a hinge.

The obstacle detection sensor 83 is disposed on one side of the rotating cover 82 to detect an obstacle on the movement path of the base body 10, and in particular, when the base body 10 enters the supply turret, the position of the supply turret is detected. It detects and prevents the collision between the base body and the supply and demand turret.

At this time, the obstacle detection sensor 83 detects an obstacle in a state that it protrudes outwardly of the base body 10. Due to this, when entering the supply turret, the obstacle detection sensor 83 collides with the supply turret and is damaged. can

Therefore, damage to the obstacle detection sensor 83 is prevented by rotating the rotation cover 82 inside the avoidance groove 81 through the avoidance driving means 84 .

The avoidance driving means 84 is disposed in the avoidance groove 81 and operated by an applied power source and signal, and may be formed of a cylinder using a medium such as gas, air, or oil, but is not limited thereto. .

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

The automatic guide carrier for transporting the take-up roll according to the present invention can stably transport the take-up roll transferred to the supply turret in the process of unwinding the previously installed take-up roll from the supply turret as well as the stable movement of the winding roll, so that the automated process is continuously operated In this way, it is possible to maximize the supply and demand rate of the process,

In addition, the present invention can prevent a collision accident due to a difference in height by matching the center of the supply and demand turret that receives the winding roll with the winding roll placed in the roll transfer part, and furthermore, the present invention provides when moving the winding roll in a state where it is placed If the roll transfer part on which the take-up roll is seated is tilted to one side due to an impact or the flatness of the floor, it is corrected in real time to prevent the fall accident of the take-up roll and damage to the roll transfer part, thereby improving the safety of the process environment. It can be improved and has the effect of extending the life of the automatic guide vehicle, so it has sufficient industrial applicability.

Claims

It is for transferring the take-up roll with the core to the supply turret,

base body 10;

A support plate 21 disposed on the upper surface of the base body 10, and a pair of forks 22 symmetrically disposed at positions spaced apart from each other on the upper surface of the support plate 21 and on which the winding roll R is placed ), including a roll transfer member 20;

a movement guide unit 30 disposed on the base body 10 to guide a movement path of the base body 10;

an avoidance driving unit 40 disposed on the base body 10 to linearly move the movement guide unit 30 to prevent contact with the supply and demand turret;

a gap maintaining part 50 for movably supporting the pair of forks 22 to maintain a gap between the pair of forks 22 and the supply turret;

The support plate 21 is rotatably supported from below in order to match the center of the winding roll disposed on the base body 10 and mounted on the pair of forks 22 and the center of the rotation shaft constituting the supply turret. a tilting unit 60;

a theta axis correction unit 70 disposed on the base body 10 to rotatably support the support plate 21 in order to correct the theta axis of the pair of forks 22;

An obstacle detecting unit 80 provided on the outer surface of the base body 10 to prevent a collision between the base body 10 and the supply turret when entering and exiting the supply and demand turret; guide vehicle.
The method according to claim 1, The avoidance driving unit (40),

an avoidance rail 41 disposed on the base body 10;

an avoidance block 42 which is movably disposed on the avoidance rail 41 and to which a lower end of the movement guide part 30 is coupled;

An automatic guide vehicle for transporting a take-up roll, characterized in that it includes a driving sleeve (43) for moving the avoidance block (42) while operating by the applied power and signal.
The method according to claim 1, The gap maintaining part (50),

A pair of detection sensors 51 respectively disposed on the pair of forks 22;

and an X-axis driving unit 52 for horizontally moving the pair of forks 22 at the same time while operating through the detection value sensed by the detection sensor 51,

The X-axis drive unit 52,

X-axis driving means 521 operated by the applied power and the signal of the pair of detection sensors 51,

an X-axis rod 522 extending in the longitudinal direction and connected to the X-axis driving means 521;

a power transmission body 523 connecting the X-axis driving means 521 and the X-axis rod 522;

An automatic guide transporter for transporting the take-up roll, characterized in that it includes an LM guide (524) for X-axis movement that supports the pair of forks (22) movably from below.
The method according to claim 1, The tilting unit (60),

A pair of position detection sensors 61 respectively disposed on the pair of forks 22 to detect the position of the forks 22 in real time;

A tilting plate 62 for supporting the support plate 21 from below;

A tilting shaft 63 for rotatably supporting the tilting plate 62 up and down and a tilting flange 64 to which both ends of the tilting shaft 63 in the longitudinal direction are coupled;

An automatic guide transporter for transporting the take-up roll, characterized in that it operates by the applied power and signal and includes a tilting drive unit (65) including a tilting rod (651) coupled to one end of the tilting plate (62).
The method according to claim 1, The theta axis correction unit (70),

By correcting the Y-axis of the pair of forks 22 so that the winding roll placed on the pair of forks 22 and the supply and demand turret form the same horizontal line,

Theta driving means 71 disposed on the base body 10 and operated by applied power and signals;

A moving shaft rod 72 that linearly moves by receiving power from the theta driving means 71, and

a coupling block 73 disposed at the end of the movable shaft rod 72 and coupled to the support plate 21;

An automatic guide transporter for transporting the take-up roll, characterized in that it includes a rotation block (74) disposed at the center of the support plate (21) in the longitudinal direction to rotatably support the support plate (21).
The method according to claim 1, The obstacle detection unit (80),

an avoidance groove 81 formed in the base body 10;

a rotation cover 82 rotatably coupled to the avoidance groove 81;

an obstacle detection sensor 83 disposed on the rotating cover 82 to detect an obstacle;

Winding characterized in that it includes an avoidance driving means (84) disposed in the avoiding groove (81) and rotating the rotating cover (82) to the inside or outside of the avoiding groove (81) while operating by the applied power and signal. Automatic guided vehicle for roll transport.