JP6880693B2 - Roll carrier - Google Patents

Description

The present invention relates to a roll body carrier that delivers a roll body to a roll body support device.

A conventional example of such a roll body carrier is described in Japanese Patent Application Laid-Open No. 4-34272 (Patent Document 1). The carrier for a roll body of Patent Document 1 includes a second shaft portion (peg cylinder 11) that supports the roll body in a state of being inserted into a through hole of the roll body, and spins and winds as a roll body support device. The machine is provided with a first shaft portion (with a bobbin holder BH). Then, in the roll body carrier, the second shaft portion is moved so as to fit the tip portion of the second shaft portion to the tip portion of the first shaft portion, and the tip portion of the second shaft portion is moved to the first shaft portion. It is configured to deliver the roll body supported by the second shaft portion to the first shaft portion in a state of being fitted to the tip portion of the portion.

Then, in order to deliver the roll body supported by the second shaft portion to the first shaft portion, the set stop position for stopping the transport vehicle for the roll body and the preparation position for the bogie main body of the second shaft portion are set. It is preset. Then, with the roll body carrier stopped at the set stop position, the second shaft portion is moved in the vertical direction and the front-rear direction to stop at the preparation position, and the axis of the second shaft portion is the first shaft portion. The second shaft portion is moved in the left-right direction so that the tip portion of the second shaft portion is fitted to the tip portion of the first shaft portion.

Jikkenhei 4-34272 Gazette

However, in the transport vehicle for a roll body of Patent Document 1, the setting is stopped when the bogie body is deviated from the set stop position due to a stop error of the bogie body or because the traveling surface of the bogie body is uneven. When the dolly body stopped at the position is tilted, the tip of the second shaft is aligned with the tip of the first shaft with the second shaft moved to the preparatory position. It may not be. In such a state, even if the second shaft portion is moved toward the device and the tip end portion of the second shaft portion is fitted to the tip end portion of the first shaft portion, it may not be properly fitted.

Therefore, it is desired to realize a transport vehicle for a roll body in which the second shaft portion can be easily fitted to the first shaft portion.

In view of the above, the characteristic configuration of the roll body carrier is a support that supports the roll body in which a sheet material is wound around a cylindrical shaft portion, and a support that supports the support and moves along the horizontal direction. A roll body carrier that is provided with a dolly body, a support body, and a control unit that controls the dolly body, and delivers the roll body to a roll body support device.
The shaft portion of the roll body has a circular through hole penetrating along the axial direction thereof, and the roll body support device inserts the roll body into the through hole of the roll body. The support has a first shaft portion to support, and the support has a second shaft portion that supports the roll body in a state of being inserted into the through hole of the roll body, and a shaft operation portion that moves the second shaft portion. The direction along which the axis of the second shaft portion of the reference posture is along is defined as the first direction, the direction orthogonal to the first direction is defined as the second direction, and the first direction and the second direction are provided. With the direction orthogonal to the third direction as the third direction, the shaft operation unit moves the second shaft portion in the second direction and the third direction, and moves the second shaft portion in the second direction and the third direction. is swung in the third direction, to those said roll body for transport vehicles, comprising a fitting operation unit for moving the second shaft portion along a relatively said first direction with respect to the first shaft portion, the fitting operation unit moves the front Stories second shaft portion along a relatively said first direction said second shaft portion relative to said first shaft section by moving in the first direction, before SL distal end of the second shaft portion provided with a second fitting portion to be fitted from one of the first direction with respect to the first fitting portion formed on the distal end of the first shaft portion A load sensor for detecting the magnitude and direction of the load when the second fitting portion comes into contact with the first fitting portion is provided, and the control unit attaches the second fitting portion to the first fitting portion. The point is to control the shaft operating portion so that the load in each direction orthogonal to the first direction detected by the load sensor is evenly approached when the portion is fitted.

According to these feature configurations, when the second fitting portion is fitted to the first fitting portion, if the second fitting portion is not properly fitted to the first fitting portion, the second fitting portion is second. The position where the first fitting portion contacts the second fitting portion is different from the case where the fitting portion is properly fitted to the first fitting portion. Therefore, when the second fitting portion comes into contact with the first fitting portion, the load in each direction orthogonal to the first direction detected by the load sensor collapses from an even state. Further, the direction of the load detected by the contact sensor differs depending on the position where the first fitting portion contacts the second fitting portion.
Taking advantage of this, when the control unit fits the second fitting part to the first fitting part, the load in each direction orthogonal to the first direction detected by the load sensor is equal. When it is collapsed, the second fitting portion of the second shaft portion is moved by moving the first shaft portion so that the load in each direction orthogonal to the first direction, which is detected by the load sensor, is evenly approached. It can be appropriately fitted to the first fitting portion of the first shaft portion.

Perspective view of a roll carrier Perspective view of the support Top view showing a roll body carrier and a roll body support device Front view showing a roll body carrier and a roll body support device Front view showing a state in which the second shaft portion of the roll body carrier and the first shaft portion of the roll body support device are connected. Top view showing a state in which a roll body is delivered from a roll body carrier to a roll body support device. Control block diagram Flowchart of transfer control The figure which shows the state which the axis of the 1st axis and the axis of the 2nd axis are located on the same axis. The figure which shows the state which the small-diameter shaft part is in contact with a small-diameter cylinder part Diagram showing the state after executing the correction process The figure which shows the state in the process of fitting the 1st fitting part and the 2nd fitting part. The figure which shows the state which the 1st fitting part and the 2nd fitting part are fitted. The figure which shows the state which the small diameter shaft part in another embodiment (1) came into contact with a small diameter cylinder part The figure which shows the state which the 1st fitting part and the 2nd fitting part are fitted in another embodiment (1). The figure which shows the state regulated by the regulation mechanism in another embodiment (1).

1. 1. Embodiment An embodiment of a transport vehicle for a roll body will be described with reference to the drawings.
As shown in FIG. 1, the roll body carrier 1 includes a support body 2 that supports the roll body R, and a carriage body 3 that supports the support body 2 and travels on the floor surface. The roll body R is configured to be delivered to the support device 4 (see FIGS. 4 to 7). The roll body carrier 1 travels to the set stop position by traveling the bogie body 3, and in a state of being stopped at the set stop position, the roll body support device from the support body 2 is operated by the operation of the bogie body 3 and the operation of the support body 2. Hand over the roll body R to 4. Incidentally, FIGS. 3 and 4 show a state in which the roll body carrier 1 is stopped at the set stop position.

As shown in FIG. 1, the roll body R is composed of a cylindrical core C and a sheet material S such as paper or film wound around the core C. The core C located at the center of the roll body R is formed with a circular through hole penetrating along the axial direction thereof. Further, the core C projects from the sheet material S on both sides in the axial direction. The core C corresponds to the shaft portion.
As shown in FIGS. 4 to 7, the roll body support device 4 is a device that supports the first shaft portion 5 that supports the roll body R in a state of being inserted into the through hole of the roll body R, and a device that supports the first shaft portion 5. It has a main body 6. The first shaft portion 5 is fixed to the device main body 6 in a cantilever state in which one end portion, which is the base end portion, is fixed to the device main body 6, and the other end portion, which is the tip end portion, is not fixed. ..

Next, each configuration of the roll body carrier 1 will be described. When the roll body carrier 1 travels straight, the directions in which the roll body carrier 1 travels are viewed in the front-rear direction X and the vertical direction Z. The direction orthogonal to the front-rear direction X will be referred to as the left-right direction Y. Further, one direction of the left-right direction Y is the carriage direction Y1, and the direction opposite to the carriage direction Y1 is the device direction Y2. That is, in the state where the roll body carrier 1 is stopped at the set stop position, the roll body carrier 1 is stopped in the carriage direction Y1 with respect to the roll body support device 4. Further, in the first shaft portion 5, the base end portion, which is the end portion in the device direction Y2, is fixed to the device main body 6.
The support body 2 includes a second shaft portion 10 that supports the roll body R in a state of being inserted into the through hole of the roll body R. The posture in which the axis of the second shaft portion 10 is along the left-right direction Y is used as a reference posture. Specifically, the second shaft portion 10 in the reference posture is in a posture in which the axis thereof is parallel to the left-right direction Y. The horizontal direction Y corresponds to the first direction, the front-rear direction X corresponds to the second direction, and the vertical direction Z corresponds to the third direction.

As shown in FIGS. 1 to 4, the carriage main body 3 includes traveling wheels 3A, and travels on the floor surface B by rotating the traveling wheels 3A. The floor surface B is formed horizontally, and the carriage body 3 moves along the horizontal direction by traveling on the floor surface. Further, the bogie main body 3 includes a left-right guide rail 11 that guides the support body 2 in the left-right direction Y, and a first drive unit 12 (see FIG. 7) that moves the support body 2 in the left-right direction Y. The first drive unit 12 moves the transmission belt 13 connected to the support 2 in the longitudinal direction thereof. By moving the transmission belt 13 by the first drive unit 12, the entire support 2 is moved in the left-right direction Y, and the second shaft portion 10 provided on the support 2 is moved in the left-right direction Y. That is, in a state where the roll body carrier 1 is stopped at the set stop position, the support 2 is moved in the left-right direction Y by the first drive unit 12, so that the second shaft portion 10 moves in the left-right direction Y. It moves in the perspective direction with respect to the first shaft portion 5.
The first drive unit 12 corresponds to a fitting operation unit that moves the second shaft unit 10 relative to the first shaft unit 5 along the first direction.

As shown in FIGS. 1, 2 and 7, the support 2 includes a base portion 14, an elevating portion 15, a shaft support portion 16, a second drive portion 17, a third drive portion 18, and a fourth. A drive unit 19 and a fifth drive unit 20 are provided.
As shown in FIG. 1, the base portion 14 is movably supported by the carriage body 3 in the left-right direction Y, and is moved in the left-right direction Y by being driven by the first drive unit 12. To add an explanation, the base portion 14 is front and rear with a first base portion 14A movably supported by the bogie body 3 in the left-right direction Y and a second base portion 14B provided with a vertical guide rail 22. It is formed in an L shape when viewed in the direction X.
The width of the first base portion 14A in the left-right direction Y is smaller than the width of the dolly body 3 in the left-right direction Y, and in the present embodiment, it is about half to one-third of the width of the dolly body 3 in the left-right direction Y. .. The base portion 14 moves in the left-right direction Y along the left-right guide rail 11 by being driven by the first drive portion 12. The base portion 14 moves in the left-right direction Y within a range in which the first base portion 14A fits within the width of the trolley main body 3 in the left-right direction Y.
The second base portion 14B is erected in a portion of the first base portion 14A on the side of the trolley direction Y1 from the center of the left-right direction Y. A vertical guide rail 22 is provided on the surface of the second base portion 14B facing the device direction Y2. Further, the second base portion 14B includes a second drive portion 17 that moves the elevating portion 15 in the vertical direction Z. The second drive unit 17 moves the elevating portion 15 in the vertical direction Z by rotating the ball screw 23 screwed into the elevating portion 15, and the shaft supporting portion 16 and the second shaft supported by the elevating portion 15 The portion 10 is moved in the vertical direction Z.

The elevating portion 15 is movably supported by the base portion 14 in the vertical direction Z, and is moved in the vertical direction Z along the vertical guide rail 22 by being driven by the second driving portion 17. To add an explanation, the elevating portion 15 is supported by the base portion 14 so as to be located above the first base portion 14A and in the device direction Y2 with respect to the second base portion 14B. There is.

The shaft support portion 16 is movably supported by the elevating portion 15 in the front-rear direction X, and is moved in the front-rear direction X by being driven by the third drive portion 18.
The shaft support portion 16 supports the base end portion of the second shaft portion 10 (the end portion of the second shaft portion 10 in the carriage direction Y1), and supports the second shaft portion 10 in a cantilevered state. The shaft support portion 16 is provided with a fourth drive portion 19, and the second shaft portion 10 is swung in the vertical direction Z and the second shaft portion 10 is swung in the front-rear direction X from the fourth drive unit 19. Move. To add an explanation, the fourth drive unit 19 rotates the base end portion of the second shaft portion 10 around the axis along the front-rear direction X, and the tip end portion of the second shaft portion 10 moves in the vertical direction Z. The second shaft portion 10 is swung in the vertical direction Z as described above. Further, the fourth drive unit 19 rotates the base end portion of the second shaft portion 10 around the axis along the vertical direction Z so that the tip end portion of the second shaft portion 10 moves in the front-rear direction X. The biaxial portion 10 is swung in the front-rear direction X.

As described above, the support 2 includes the second drive unit 17, the third drive unit 18, and the fourth drive unit 19. The second drive unit 17, the third drive unit 18, and the fourth drive unit 19 move the second shaft unit 10 in the front-rear direction X and the vertical direction Z, and move the second shaft unit 10 in the front-rear direction X and the vertical direction. A shaft operation unit 21 that swings to Z is configured. That is, the support 2 is provided with a shaft operation unit 21.

Further, the shaft support portion 16 is provided with a fifth drive portion 20, and the fifth drive portion 20 moves the claw 24 in the left-right direction Y. To add a description, the claw 24 is provided so as to project outward from the outer peripheral surface of the second shaft portion 10, and the claw 24 is provided at the axial center of the second shaft portion 10 by the fifth drive unit 20. Move along. In a state where the roll body R is supported by the second shaft portion 10, the claw 24 is located in the carriage direction Y1 with respect to the roll body R. Then, while the roll body R is supported by the second shaft portion 10, the claw 24 is moved in the device direction Y2 by the fifth drive unit 20, so that the roll body R is pushed in the device direction Y2 by the claw 24. .. Further, in a state where the second shaft portion 10 is connected to the first shaft portion 5, the roll body R is moved from the second shaft portion 10 to the second by moving the claw 24 in the device direction Y2 by the fifth drive unit 20. It is transferred to the 1-axis portion 5.

Next, the first shaft portion 5 and the second shaft portion 10 will be described.
As shown in FIG. 9, a first fitting portion 26 is provided at the tip end portion of the first shaft portion 5 (the end portion of the first shaft portion 5 in the carriage direction Y1). A second fitting portion 27 is provided at the tip end portion of the second shaft portion 10 (the end portion of the second shaft portion 10 in the device direction Y2). The first fitting portion 26 is formed in a shape that is recessed in the device direction Y2, the second fitting portion 27 is formed in a shape that protrudes in the device direction Y2, and the second fitting portion 27 is a second fitting portion 27. 1 Fits the fitting portion 26 from the carriage direction Y1. Further, a load sensor 28 for detecting the magnitude and direction of the load when the second fitting portion 27 comes into contact with the first fitting portion 26 is provided at the tip end portion of the second fitting portion 27.

The second fitting portion 27 will be described.
As shown in FIG. 9, the second fitting portion 27 has a cylindrical large-diameter shaft portion 27A, a medium-diameter shaft portion 27B having a smaller diameter than the large-diameter shaft portion 27A, and a medium-diameter shaft portion 27B having a smaller diameter than the medium-diameter shaft portion 27B. It is provided with a small diameter shaft portion 27C. The large-diameter shaft portion 27A, the medium-diameter shaft portion 27B, and the small-diameter shaft portion 27C are formed so that their axes are located on the same axis. The medium-diameter shaft portion 27B is provided on the second shaft portion 10 in a state of being continuous with the large-diameter shaft portion 27A in the left-right direction Y so as to project from the large-diameter shaft portion 27A in the device direction Y2. The small diameter shaft portion 27C is located in the device direction Y2 with respect to the medium diameter shaft portion 27B, and the load sensor 28 is interposed between the small diameter shaft portion 27C and the medium diameter shaft portion 27B. The load sensor 28 has a cylindrical shape, and the small diameter shaft portion 27C (parallel portion of the small diameter shaft portion 27C) is formed to have the same diameter as the load sensor 28. Considering the load sensor 28 as a part of the small-diameter shaft portion 27C, the small-diameter shaft portion 27C is continuous with the medium-diameter shaft portion 27B in the left-right direction Y so as to project from the medium-diameter shaft portion 27B in the device direction Y2. The two shafts 10 are provided.

A chamfered inclined surface F2 is formed at the axial tip portion of the fitting surface F1 along the axial direction of the second shaft portion 10 in the second fitting portion 27. To add an explanation, the fitting surface F1 is formed by an outer peripheral surface F3 of the large diameter shaft portion 27A, an outer peripheral surface F4 of the medium diameter shaft portion 27B, and an outer peripheral surface F5 of the small diameter shaft portion 27C. The medium-diameter shaft portion 27B includes a first parallel portion whose outer peripheral surface F4 is parallel to the axis, and a first inclined portion whose outer diameter is smaller in the device direction Y2 as well as extending from the first parallel portion in the device direction Y2. , Is equipped. Further, the small-diameter shaft portion 27C has a second parallel portion whose outer peripheral surface F5 is parallel to the axis, and a second inclined portion whose outer peripheral surface F5 extends in the device direction Y2 from the second parallel portion and has a smaller diameter toward the device direction Y2. It has. The inclined surface F2 is formed by the outer peripheral surface of the first inclined portion of the medium-diameter shaft portion 27B and the outer peripheral surface of the second inclined portion of the small-diameter shaft portion 27C.

The first fitting portion 26 will be described.
As shown in FIGS. 9 and 10, the first fitting portion 26 includes a cylindrical large-diameter tubular portion 26A and a small-diameter tubular portion 26B having an inner diameter smaller than that of the large-diameter tubular portion 26A. The outer diameter of the large diameter cylinder portion 26A and the outer diameter of the small diameter cylinder portion 26B are the same size. The large-diameter cylinder portion 26A and the small-diameter cylinder portion 26B are formed so that their axes are located on the coaxial center, and the large-diameter cylinder portion 26A projects from the small-diameter cylinder portion 26B in the carriage direction Y1. The first shaft portion 5 is provided in a state of being continuous with the small diameter tubular portion 26B in the left-right direction Y. Then, the small-diameter shaft portion 27C of the second fitting portion 27 fits inside the small-diameter tubular portion 26B of the first fitting portion 26, and the medium-diameter shaft portion 27B of the second fitting portion 27 fits into the first fitting portion 26. As shown in FIG. 13, the second fitting portion 27 is fitted into the first fitting portion 26 by fitting into the large-diameter tubular portion 26A of the above.

As shown in FIG. 13, the outer diameter of the second parallel portion and the small diameter cylinder of the small diameter shaft portion 27C are compared with the difference between the outer diameter of the first parallel portion of the medium diameter shaft portion 27B and the inner diameter of the large diameter cylinder portion 26A. The difference in the inner diameter of the portion 26B is small. Therefore, in a state where the second fitting portion 27 is fitted and fitted to the first fitting portion 26, the difference between the outer diameter of the first parallel portion in the medium diameter shaft portion 27B and the inner diameter of the large diameter tubular portion 26A. The gap formed between the second parallel portion of the small diameter shaft portion 27C and the small diameter cylinder portion 26B is the gap formed between the second parallel portion of the small diameter shaft portion 27C and the small diameter cylinder portion 26B. Becomes smaller. Therefore, in a state where the second fitting portion 27 is fitted to the first fitting portion 26, the first fitting portion 26 and the second fitting portion 26 and the second fitting portion 26 are fitted by the load of the roll body R when the roll body R is transferred. Even when the joint portion 27 and the joint portion 27 are relatively displaced in the vertical direction Z, the outer peripheral surface of the medium diameter shaft portion 27B comes into contact with the inner peripheral surface of the large diameter tubular portion 26A, so that the outer peripheral surface of the small diameter shaft portion 27C Avoids contacting the inner peripheral surface of the small diameter tubular portion 26B.
Further, the shapes of the first fitting portion 26 and the second fitting portion 27 have a large inclined surface F2 of the medium diameter shaft portion 27B when the second fitting portion 27 is fitted to the first fitting portion 26. The inclined surface F2 of the small diameter shaft portion 27C is formed so as to come into contact with the small diameter cylinder portion 26B before contacting the diameter cylinder portion 26A.

The load sensor 28 exerts on itself the loads and their magnitudes in the front-rear direction X, the left-right direction Y, and the up-down direction Z, and around the axis along the front-rear direction X, around the axis along the left-right direction Y, and up and down. The magnitude and direction of the load around the axis along the direction Z are detected. A small diameter shaft portion 27C is fixed to the load sensor 28, and the load sensor 28 can detect the magnitude and direction of the load when the small diameter shaft portion 27C comes into contact with the small diameter cylinder portion 26B. ing. In each direction, the state detected by the load sensor 28 when the second shaft portion 10 is in the reference posture and the first shaft portion 5 is not in contact with the small diameter shaft portion 27C of the second shaft portion 10. The load is even. Incidentally, a force sensor is used as the load sensor 28.

As shown in FIG. 7, the roll body carrier 1 is provided with a control unit H that controls the support body 2 and the carriage body 3. The control unit H stores information indicating the traveling stop position and information indicating the fitting preparation position. The traveling stop position is a position where the carriage body 3 is stopped when the roll body R is handed over from the support body 2 to the roll support device A. The fitting preparation position is a position separated from the first shaft portion 5 by a set distance on the Y1 side in the bogie direction in a state where the bogie main body 3 is stopped at the traveling stop position, and the axis of the second shaft portion 10 is. It is a position located on a straight line with the axis of the first shaft portion 5. The fitting preparation positions are the position of the support 2 in the left-right direction Y with respect to the carriage body 3, the position of the elevating portion 15 in the vertical direction Z with respect to the support body 2, and the position of the shaft support portion 16 in the front-rear direction X with respect to the elevating portion 15. It is determined by the angle of the second shaft portion 10 with respect to the shaft support portion 16.
The control unit H controls the traveling of the roll body carrier 1 to stop at the set stop position, and moves the roll body R from the second shaft portion 10 in a state where the roll body carrier 1 is stopped at the set stop position. The transfer control to be passed to the first shaft portion 5 is executed.
In the traveling control, the carriage body 3 is controlled so that the roll body transport vehicle 1 travels toward the set stop position and the roll body transport vehicle 1 stops at the set stop position.

As shown in the flowchart of FIG. 8, in the transfer control, the alignment control, the fitting control, and the transfer control are executed in the order of description.
In the alignment control, the first drive unit 12, the second drive unit 17, and the third drive unit 18 are arranged so that the second shaft portion 10 is located at the fitting preparation position according to the information indicating the fitting preparation position. It controls the fourth drive unit 19.
After the alignment control is completed, the fitting control is executed. As shown in FIGS. 11 and 12, the fitting control is performed so that the second shaft portion 10 is moved in the device direction Y2 and the second fitting portion 27 is fitted to the first fitting portion 26. The drive unit 12 is controlled. To add an explanation, when the fitting control is started, the movement of the second shaft portion 10 in the device direction Y2 is started by the control of the first driving unit 12, and the first fitting portion of the second fitting portion 27 is started. As the fitting to the 26 is completed, the movement of the second shaft portion 10 in the device direction Y2 is stopped by the control of the first drive unit 12, and the fitting control is completed.
After the fitting control is completed, the transfer control is executed. In the transfer control, the first drive unit 12 and the fifth drive unit 20 are controlled so that the claw 24 is moved in the device direction Y2 and the roll body R is moved from the second shaft portion 10 to the first shaft portion 5. To do.

Further, in the transfer control, as shown in FIG. 8, when the small diameter shaft portion 27C comes into contact with the small diameter cylinder portion 26B during the execution of the fitting control, the fitting control is interrupted and the correction control is executed. In addition, in the transfer control, when the second shaft portion 10 is moved in the device direction Y2 by executing the fitting control, the load in each direction orthogonal to the left-right direction Y detected by the load sensor 28 If the value changes by more than the set value from the uniform state, it is determined that the contact of the small diameter shaft portion 27C with the small diameter cylinder portion 26B is detected, the fitting control is interrupted, and the second shaft portion 10 moves to the device direction Y2. Stop the movement and execute the correction control. In this way, when the second fitting portion 27 is fitted to the first fitting portion 26, the axis operation is performed so that the load in each direction orthogonal to the left-right direction Y detected by the load sensor 28 is evenly approached. The correction control for controlling the unit 21 is executed.

To add a description of the correction control, in the correction control, the second shaft portion 10 with respect to the axis of the first shaft portion 5 is based on the components of the load detected by the load sensor 28 in the front-rear direction X and the vertical direction Z. The shaft operation unit 21 is moved so as to determine the direction in which the axis is deviated (front-back direction X or vertical direction Z) and move the second axis portion 10 by a set amount in the direction opposite to the deviated direction. Control. Further, based on the component of the load detected by the load sensor 28 in the left-right direction Y, the direction in which the axis of the second shaft portion 10 is tilted with respect to the axis of the first shaft portion 5 is determined, and the tilt is determined. The shaft operation unit 21 is controlled so that the second shaft unit 10 swings by a set angle in the direction opposite to the direction in which the shaft operates. In the correction control, the shaft operation unit 21 is controlled so that the load detected by the load sensor 28 is evenly approached based on the detection information of the load sensor 28. Then, after the correction control is completed, the fitting control is restarted.

In this way, the roll body carrier 1 executes the alignment control, the fitting control, the transfer control, and the correction control by the control unit H, so that the second fitting portion 27 of the second shaft portion 10 is pressed. The roll body R is transferred from the second shaft portion 10 to the first shaft portion 5 in a state where the roll body R is properly fitted to the first fitting portion 26 of the first shaft portion 5, and the roll body R is used as a roll body support device. Can be handed over to 4.

2. Other Embodiments Next, other embodiments of the roll body carrier will be described.

(1) In the above embodiment, the roll body R is transferred from the second shaft portion 10 to the first shaft portion 5 in a state where the second fitting portion 27 is fitted to the first fitting portion 26. In addition to fitting the second fitting portion 27 to the first fitting portion 26, the second shaft portion is in a state where the relative movement between the first shaft portion 5 and the second shaft portion 10 is restricted by the regulation mechanism. The roll body R may be transferred from 10 to the first shaft portion 5. Specifically, as shown in FIGS. 14 to 16, the medium-diameter shaft portion 27B of the second shaft portion 10 is provided with a mechanism for partially or wholly increasing the diameter, and the medium-diameter shaft portion 27B is regulated. It may have the function of a mechanism.

To add an explanation, the medium diameter shaft portion 27B can be freely switched between a small diameter state (state shown in FIGS. 14 and 15) and a large diameter state larger than this small diameter state (state shown by a virtual line in FIG. 16). When the fitting control and the correction control are executed, the diameter is switched to the small diameter state, and as shown in FIG. 16, the diameter is switched to the large diameter state after the fitting control is completed. .. In this way, with the second fitting portion 27 fitted to the first fitting portion 26, the first shaft portion 5 and the second shaft portion are provided by the medium diameter shaft portion 27B (regulatory mechanism) in the large diameter state. Regulate relative movement with 10.

(2) In the above embodiment, of the tip of the first shaft portion 5 and the tip of the second shaft portion 10, the inclined surface F2 is provided only at the tip of the second shaft portion 10, but the first shaft An inclined surface F2 may be provided on both the tip end portion of the portion 5 and the tip end portion of the second shaft portion 10.

(3) In the above embodiment, only the roll body transport vehicle 1 of the roll body transport vehicle 1 and the roll body support device 4 is provided with the first drive unit 12, and the second shaft unit 10 is oriented in the left-right direction Y. By moving the second shaft portion 10 with respect to the first shaft portion 5, the second shaft portion 10 was moved along the left-right direction Y relative to the first shaft portion 5. However, only the roll body support device 4 of the roll body carrier 1 and the roll body support device 4 is provided with the first drive unit 12, and the first shaft unit 5 is moved in the left-right direction Y to cause the second shaft. The unit 10 may be moved along the left-right direction Y relative to the first shaft unit 5, and the first drive unit 12 may be provided on both the roll body carrier 1 and the roll body support device 4. Even if the first shaft portion 5 and the second shaft portion 10 are moved in the left-right direction Y so that the second shaft portion 10 is moved relative to the first shaft portion 5 in the left-right direction Y. Good.

(4) In the above embodiment, when the second shaft portion 10 is swung in the vertical direction Z, the base end portion of the second shaft portion 10 is rotated around the axis along the front-rear direction X, so that the second shaft portion 10 is second. The second shaft portion 10 was swung in the vertical direction Z by moving the tip portion of the shaft portion 10 in the vertical direction Z, but the second shaft portion 10 was swung in the vertical direction Z as follows. You may let me. That is, the base end portion of the second shaft portion 10 is rotated around the axis along the front-rear direction X, the elevating portion 15 is moved in the vertical direction Z, and the tip portion of the second shaft portion 10 is moved in the vertical direction Z. By moving the base end portion of the second shaft portion 10 in the vertical direction Z without causing the second shaft portion 10, the second shaft portion 10 may be swung in the vertical direction Z.

(5) The configurations disclosed in each of the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. With respect to other configurations, the embodiments disclosed herein are merely exemplary in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

3. 3. Outline of the above-described embodiment The outline of the roll body carrier described above will be described below.

The roll body carrier includes a support body that supports the roll body in which a sheet material is wound around a cylindrical shaft portion, a trolley body that supports the support body and moves along the horizontal direction, and the support body. A roll body carrier that is provided with a control unit that controls the bogie body and delivers the roll body to the roll body support device.
The shaft portion of the roll body has a circular through hole penetrating along the axial direction thereof, and the roll body support device inserts the roll body into the through hole of the roll body. The support has a first shaft portion to support, and the support has a second shaft portion that supports the roll body in a state of being inserted into the through hole of the roll body, and a shaft operation portion that moves the second shaft portion. The direction along which the axis of the second shaft portion of the reference posture is along is defined as the first direction, the direction orthogonal to the first direction is defined as the second direction, and the first direction and the second direction are provided. With the direction orthogonal to the third direction as the third direction, the shaft operation unit moves the second shaft portion in the second direction and the third direction, and moves the second shaft portion in the second direction and the third direction. is swung in the third direction, to those said roll body for transport vehicles, comprising a fitting operation unit for moving the second shaft portion along a relatively said first direction with respect to the first shaft portion, the fitting operation unit moves the front Stories second shaft portion along a relatively said first direction said second shaft portion relative to said first shaft section by moving in the first direction, before SL distal end of the second shaft portion provided with a second fitting portion to be fitted from one of the first direction with respect to the first fitting portion formed on the distal end of the first shaft portion The control unit includes a load sensor that detects the magnitude and direction of the load when the second fitting portion comes into contact with the first fitting portion, and the control unit attaches the second fitting portion to the first fitting portion. The shaft operation unit is controlled so that the load in each direction orthogonal to the first direction detected by the load sensor is evenly approached when the unit is fitted to the unit.

With such a configuration, when the second fitting portion is fitted to the first fitting portion, if the second fitting portion is not properly fitted to the first fitting portion, the second fitting portion is fitted. The position where the first fitting portion contacts the second fitting portion is different from the case where the portion is properly fitted to the first fitting portion. Therefore, when the second fitting portion comes into contact with the first fitting portion, the load in each direction orthogonal to the first direction detected by the load sensor collapses from an even state. Further, the direction of the load detected by the contact sensor differs depending on the position where the first fitting portion contacts the second fitting portion.
Taking advantage of this, when the control unit fits the second fitting part to the first fitting part, the load in each direction orthogonal to the first direction detected by the load sensor is equal. When it is collapsed, the second fitting portion of the second shaft portion is moved by moving the first shaft portion so that the load in each direction orthogonal to the first direction, which is detected by the load sensor, is evenly approached. It can be appropriately fitted to the first fitting portion of the first shaft portion.

Here, the axial tip portion of the fitting surface along the axial direction of the first shaft portion in the first fitting portion and the fitting along the axial direction of the second shaft portion in the second fitting portion. It is preferable that a chamfered inclined surface is formed on at least one of the axial tip portions of the surface.

According to this configuration, since the chamfered inclined surface is formed, even if the axis of the first shaft portion and the axis of the second shaft portion are slightly deviated from each other in the second direction or the third direction. The first axis is such that the shaft portion having the inclined surface comes into contact with the tip end portion of the other shaft portion, and the axis portion of the first axis portion and the second axis portion are on the same axis due to the inclined surface. Since the portion and the second shaft portion are guided to each other, it is easy to position the axis of the second shaft portion so as to be aligned with the axis of the first shaft portion.
Further, when the axis of the first axis and the axis of the second axis are deviated from each other in the second direction or the third direction, the axis of the first axis and the axis of the second axis are deviated from each other. Since the load acts in the direction corresponding to the positional relationship with, the load can be detected by the load sensor.

Further, the relative movement between the first shaft portion and the second shaft portion is restricted in a state where the second fitting portion and the first fitting portion are fitted to the tip portion of the second shaft portion. It is preferable to have a regulatory mechanism for this purpose.

According to this configuration, when the second fitting portion and the first fitting portion are fitted, the relative movement between the first shaft portion and the second shaft portion is restricted by the regulating mechanism. Therefore, in a state where the second fitting portion and the first fitting portion are fitted, the second shaft portion moves relative to the first shaft portion, so that a load more than necessary acts on the load sensor. You can avoid that.

Further, in a state where the axis of the first shaft portion and the axis of the second shaft portion are aligned in a straight line, the direction in which the first shaft portion exists with respect to the second shaft portion is set as the device direction. It is preferable that the first fitting portion is formed in a shape recessed in the device direction, and the second fitting portion is formed in a shape protruding in the device direction.

According to this configuration, when a cylindrical or square column-shaped load sensor is used, the load sensor can be easily installed at the protruding portion of the second fitting portion, and the load sensor can be mounted on the tip of the second shaft portion. It becomes easy to install in the part.

Further, the fitting operation section, that are equipped to the roll body for the transport vehicle.

According to this configuration, the fitting operation portion is provided on the roll body carrier provided with the shaft operation portion. Therefore, when the second shaft portion is fitted to the first shaft portion, the first shaft portion is provided. The second shaft portion can be fitted to the first shaft portion by moving only the first shaft portion of the second shaft portion and the second shaft portion. Therefore, the control for fitting the second shaft portion to the first shaft portion can be simplified as compared with the case where both the first shaft portion and the second shaft portion are moved.

The technique according to the present disclosure can be used for a roll body carrier that delivers a roll body to a roll body support device.

1: Roll body carrier 2: Support body 3: Cart body 4: Roll body support device 5: 1st shaft part 10: 2nd shaft part 12: 1st drive part (fitting operation part)
21: Shaft operation part 26: First fitting part 27: Second fitting part 28: Load sensor C: Core (shaft part)
F1: Fitting surface F2: Inclined surface F5: Outer peripheral surface (peripheral surface)
H: Control unit R: Roll body S: Sheet material X: Front-rear direction (second direction)
Y: Left-right direction (first direction)
Y2: Device direction Z: Vertical direction (third direction)

Claims (4)

It controls a support body that supports a roll body in which a sheet material is wound around a cylindrical shaft portion, a bogie body that supports the support body and moves in a horizontal direction, and the support body and the bogie body. A roll body carrier that is provided with a control unit and delivers the roll body to the roll body support device.
The shaft portion of the roll body has a circular through hole penetrating along the axial direction thereof.
The roll body support device includes a first shaft portion that supports the roll body in a state of being inserted into the through hole of the roll body.
The support includes a second shaft portion that supports the roll body in a state of being inserted into the through hole of the roll body, and a shaft operating portion that moves the second shaft portion.
The direction along the axis of the second axis portion of the reference posture is defined as the first direction, the direction orthogonal to the first direction is defined as the second direction, and the direction orthogonal to the first direction and the second direction is orthogonal to the first direction and the second direction. With the direction as the third direction
The shaft operation unit moves the second shaft portion in the second direction and the third direction, and swings the second shaft portion in the second direction and the third direction.
To those the roll body for a transport vehicle, comprising a fitting operation unit for moving the second shaft portion along a relatively said first direction with respect to the first shaft portion,
The fitting operation unit moves the front Stories second shaft portion along a relatively said first direction said second shaft portion relative to said first shaft section by moving in the first direction,
The tip of the second shaft portion is provided with a second fitting portion that fits from one direction in the first direction with respect to the first fitting portion formed at the tip of the first shaft portion. A load sensor for detecting the magnitude and direction of the load when the second fitting portion comes into contact with the first fitting portion is provided.
When the second fitting portion is fitted to the first fitting portion, the control unit evenly approaches the load in each direction orthogonal to the first direction detected by the load sensor. A roll body carrier that controls the shaft operation unit. The axial tip of the fitting surface along the axial direction of the first shaft portion in the first fitting portion, and the shaft of the fitting surface along the axial direction of the second shaft portion in the second fitting portion. The carrier for a roll body according to claim 1, wherein a chamfered inclined surface is formed on at least one of the tip portions in the direction. Regulation that regulates the relative movement of the first shaft portion and the second shaft portion in a state where the second fitting portion and the first fitting portion are fitted to the tip end portion of the second shaft portion. The roll body carrier according to claim 1 or 2, further comprising a mechanism. In a state where the axis of the first shaft portion and the axis of the second shaft portion are aligned in a straight line, the direction in which the first shaft portion exists with respect to the second shaft portion is set as the device direction.
The first fitting portion is formed so as to be recessed in the direction of the device.
The roll body carrier according to any one of claims 1 to 3, wherein the second fitting portion is formed in a shape protruding toward the device.

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