JP5618151B2 - Roller carrier - Google Patents

Description

  The present invention relates to a roll transport vehicle that receives a roll body with a roll body holding device that holds a roll body in which a sheet material is wound around a cylindrical shaft portion.

  Such a roll body transport vehicle travels on the floor surface of the facility where the roll body holding device is installed, travels to the vicinity of the roll body holding device, and receives the roll body from the roll body holding device. It is used when a roll body is received from the roll body holding device.

As a conventional example of such a transport body for a roll body, a pair of support bodies for mounting and supporting the outer peripheral surfaces of both end portions of the shaft portion on a movable carriage main body, and a moving operation for moving the pair of support bodies. Means, an image pickup means for picking up an insertion portion of the roll body holding device and a shaft portion of the roll body to be transferred, and a control means for controlling the operation of the moving operation means based on the imaging information of the image pickup means. There was a thing.
When the roll body transport vehicle receives the roll body from the roll body holding device, the roll body held by the roll body holding device in the holding state in a state where the cart body is stopped at the set stop position. In order to support the shaft portion with a pair of supports, alignment processing is performed for controlling the operation of the moving operation means based on the imaging information of the imaging means (see, for example, Patent Document 1).

  By the way, the roll body holding device that delivers the roll body to the roll body conveyance vehicle inserts the pair of insertion portions in a state where the pair of insertion portions are reduced in diameter after the roll body conveyance vehicle executes the alignment process. By moving away from the position to the extraction position and switching from the holding state to the holding release state, the pair of insertion portions are extracted from both end portions of the shaft portion to release the holding on the roll body, whereby the roll body transport vehicle The roll body is to be handed over.

JP 2010-159134 A

In the conventional roll body transport vehicle described above, the roll body transport vehicle performs alignment processing, thereby supporting the shaft portion of the roll body held by the roll body holding device with the pair of support bodies. However, in the state where the insertion part of the roll body holding device is enlarged, the load of the roll body is mainly applied to the insertion part of the roll body holding device, and the roll body holding device reduces the diameter of the insertion part. All of the load of the roll body is applied to the pair of supports.
However, since all of the load of the roll body is applied to the pair of support bodies, the carriage main body sinks and the roll body moves downward together with the pair of support bodies. There is a possibility of interference with the peripheral surface. If the roll body holding device moves the pair of insertion parts away from each other while the insertion part interferes with the inner peripheral surface of the shaft part, the insertion part is not pulled out from the shaft part and the roll body is dragged by the insertion part. Thus, there is a possibility that a large load is applied in the axial direction to the pair of supports that place and support the shaft portion of the roll body by moving along the axial direction, and the support portion may be damaged.
Therefore, after the roll body holding device reduces the diameter of the pair of insertion portions, a photoelectric sensor or the like is used to detect whether or not the pair of insertion portions are out of an allowable extraction range that does not interfere with the shaft portion of the roll body. It is conceivable to prevent the support body from being damaged by providing detection means and stopping the operation of the roll body holding device based on the detection information of the detection means. However, by newly providing detection means, The manufacturing cost of a conveyance vehicle will become high.

  The present invention has been made in view of the above circumstances, and the purpose thereof is a roll capable of detecting that the insertion portion interferes with the roll body in a state where the diameter of the insertion portion of the roll body holding device is reduced. It is in the point which provides the conveyance vehicle for bodies at low cost.

The transport vehicle for a roll body according to the present invention receives the roll body with a roll body holding device that holds a roll body in which a sheet material is wound around a cylindrical shaft portion. The first characteristic configuration is
After the roll body holding device has inserted a pair of insertion portions that can move to and away from each other, the pair of insertion portions are moved closer to each other and the pair of insertion portions are inserted from both ends with respect to the shaft portion. A holding state in which the diameter of the insertion portion is increased, and a holding state in which the pair of insertion portions are moved away from each other and the pair of insertion portions are extracted from the shaft portion after the diameter of the pair of insertion portions is reduced. It is configured to be switchable to a release state, and the outer peripheral surfaces of both end portions of the shaft portion projecting from the sheet material on both sides in the axial direction of the roll body are placed and supported on the cart body of the roll body conveyance vehicle. A pair of supports, a moving operation means for moving the pair of supports in a direction intersecting the axial direction with respect to the cart body, and a set stop position for receiving the roll body from the roll body holding device. The cart body stops In a state, the insertion portion of the roll body holding device, and an imaging means for imaging the shaft portion of the mounting supported the roll body to said support, said mobile based on the imaging information of the image pickup means Control means for controlling the operation of the operation means, and the control means is configured to increase the diameter of the pair of insertion portions in a state where the carriage main body is stopped at the set stop position. Receiving alignment for controlling the operation of the moving operation means based on the imaging information of the imaging means so that the shaft portion of the roll body held by the body holding device is supported by the pair of supports. processing is executed, and, wherein after the execution of the receipt for the registration process has been completed roll holding device is reduced in diameter the pair of insertion portions, then each said roll body holding device of the pair of insertion portions Prior to the separating movement together, in a state in which the set is stopped the carriage body at the stop position, the axis based on a positional relationship between the shaft portion and the pair of insertion portions obtained from the imaging information of the image pickup means It is determined whether or not the pair of insertion portions are out of an allowable extraction range where the pair of insertion portions do not interfere with each other, and if it is determined that the shaft portion is out of the extraction allowable range, the extraction of the shaft portion is performed. A position correction process for controlling the operation of the moving operation means to execute movement within an allowable range is performed.

That is, in a state where the carriage main body is stopped at the set stop position, the imaging unit images the insertion portion of the roll body holding device and the shaft portion of the roll body to be transferred, and the control unit is imaged by the imaging unit. By controlling the operation of the moving operation means based on the captured image information, the shaft portion of the roll body held by the roll body holding device can be supported by the pair of support portions.
When the roll body holding device is switched from the holding state to the holding release state by holding the shaft portion with the pair of support portions in this way, and the holding of the roll body by the roll body holding device is released, the roll body holding device is released. The transport vehicle can receive the roll body from the roll body holding device.
Then, the imaging means may be provided in the cart body so that the insertion portion of the roll body holding device can be imaged in a state where the cart body is stopped at the delivery position, and the work for installing the imaging means is performed on the roll body holding device side. Therefore, it is possible to simplify the work of disposing the roll body transport vehicle in the facility where the roll body holding device is installed.

Since the imaging means images the shaft portion of the roll body to be transferred and the insertion portion of the roll body holding device in a state where the cart body is stopped at the set stop position, the control means Based on the imaging information, the positional relationship between the shaft portion of the roll body and the insertion portion of the roll body holding device can be determined.
Therefore, after the carriage main body is stopped at the set stop position, the receiving alignment process is executed and the roll body holding device reduces the diameter of the pair of insertion portions. Before moving each of them apart from each other, the control means can determine the positional relationship between the shaft portion and the insertion portion.

  Then, the control means determines the positional relationship between the shaft portion and the insertion portion, and if it is determined that the shaft portion is out of the allowable extraction range that does not interfere with the pair of insertion portions, the control portion extracts the shaft portion. A position correction process for controlling the operation of the moving operation means to be moved within the allowable range is executed. By performing the position correction process in this way, the pair of shaft portions no longer interfere with the pair of insertion portions, and the roll body holding device moves the pair of insertion portions away from the extraction position to the insertion position, thereby causing the roll to move. The holding on the body can be released smoothly.

  And the detection of whether or not the insertion portion in the state where the insertion portion of the roll body holding device is reduced in diameter interferes with the roll body uses an imaging means used when performing the alignment process, Since it is not necessary to provide a new detection means for this detection, the insertion portion interferes with the roll body in a state where the diameter of the insertion portion of the roll body holding device is smaller than when a new detection means is provided. It is possible to provide a roll-type transport vehicle capable of detecting the presence of the product at low cost.

  The 2nd characteristic structure of the conveyance vehicle for roll bodies concerning this invention is a case where the said control means discriminate | determines that the said axial part has remove | deviated from the said extraction allowable range as the said position correction process in 1st characteristic structure. The imaging information imaged by the imaging means after the roll body holding device reduces the diameter of the pair of insertion portions and before the roll body holding device moves the pair of insertion portions apart from each other. Based on the above, the operation of the moving operation means is controlled so as to move the shaft portion within the allowable extraction range.

  That is, after the roll body holding device reduces the diameter of the pair of insertion portions and before the roll body holding device moves each of the pair of insertion portions away from each other, the imaging means uses the shaft portion and the insertion portion of the roll body. In order to control the operation of the moving operation means so as to move the pair of support members by a certain amount and move the shaft portion within the extraction allowable range. In comparison, the shaft portions supported by the pair of supports can be accurately moved within the allowable range for extraction.

Side view of roll body transport vehicle and roll body holding device Front view of roll carrier Plan view of roll body transport vehicle and roll body holding device The figure which shows the extraction position and insertion position of a pair of insertion part The figure which shows the small diameter state and large diameter state of an insertion part Operational diagram showing position correction processing after a pair of support pins have been reduced in diameter Control block diagram flowchart

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 3, the roll carrier 1 rolls between a roll holding device 2 provided in a production machine or the like that performs printing or coating on the surface of printing base paper or various film raw fabrics. In order to transfer the roll body A by receiving and delivering the body A, it is arranged in the production facility. Then, the roll body transport vehicle 1 automatically travels to a set stop position along a guide line (not shown) laid on the floor surface, and with the roll body holding device 2 in a state of stopping at the set stop position. It is comprised so that the roll body A may be transferred between.
Incidentally, FIG. 1 shows a state in which the roll body transport vehicle 1 is stopped at the set stop position, and the set stop position is between the roll body transport vehicle 1 and the roll body holding device 2. A is a position set as a position to transfer. The roll body transport vehicle 1 travels as indicated by an arrow in FIG. 3 and travels to the set stop position by lateral movement. Incidentally, in FIG. 3, the roll body transport vehicle 1 stopped at the set stop position is indicated by a virtual line.

  And the roll body A is comprised by the core a as a cylindrical axial part, and sheet materials b, such as paper and a film wound around the core a, and the core located in the center of the roll body A a protrudes from the sheet material b on both sides in the axial direction.

Before describing the roll body transport vehicle 1, first, the roll body holding device 2 of the production facility for transferring the roll body A to and from the roll body transport vehicle 1 will be described.
As shown in FIGS. 1 and 3, the roll body holding device 2 includes a pair of support pins 4 as a pair of insertion parts that can move toward and away from each other. An insertion position (see FIGS. 3 and 4B) in which the support pins 4 are moved closer to each other and the pair of support pins 4 are inserted into the core a from both sides, and a pair of the support pins 4 are moved away from each other. Is movably provided at an extraction position (see FIGS. 1 and 4 (a)) where the core is extracted from the core a. Incidentally, as shown in FIGS. 1 and 3, the pair of support pins 4 are provided so as to be positioned on both sides in the vehicle body longitudinal direction of the roll body transport vehicle 1 that stops at the set stop position.

As shown in FIGS. 1 and 3, the roll body holding device 2 includes an electric motor 7 that moves and operates one support pin 4 of the pair of support pins 4, and the other support of the pair of support pins 4. An air cylinder 8 for moving the pin 4 is provided.
The electric motor 7 moves one support pin 4 along the longitudinal direction of the vehicle body, and the air cylinder 8 moves the other support pin 4 along the longitudinal direction of the vehicle body. 4 is moved and moved to the insertion position and the extraction position by moving the 4 close and apart at the same time.

A description will be given of each of the pair of support pins 4. Each of the pair of support pins 4 has a small-diameter portion 5 having a diameter smaller than the inner diameter of the core a at the tip thereof, and a core a located on the base side from the small-diameter portion 5. And a large-diameter portion 6 having a larger diameter than the inner diameter. That is, in a state where the pair of support pins 4 are positioned at the insertion position, as shown in FIGS. 4A and 5B, the small diameter portion 5 of the support pin 4 is inserted into the core a, and the support pin 4 The large-diameter portion 6 in this is abutted against the end of the core a in the axial direction.
Further, as shown in FIG. 5, each of the pair of support pins 4 has a small diameter state in which the small diameter portion 5 is made smaller than the inner diameter of the core a by supplying and discharging air by an air supply device (not shown). 5 (a)) and a large diameter state (see FIG. 5 (b)) in which the small diameter portion 5 is enlarged to the same diameter as the inner diameter of the core a.

  That is, the roll body holding device 2 moves the pair of support pins 4 close to each other to the insertion position and inserts the pair of small diameter portions 5 into both ends of the core a, and then sets each of the pair of small diameter portions 5 to the large diameter state. The holding state with a large diameter and the pair of small diameter portions 5 are made small in diameter, and then the pair of support pins 4 are moved away from each other to a separation position so that the pair of small diameter portions 5 are removed from both ends of the core a. The roll body A is configured to be switched to the held release state, and the roll body A is held in the switched state, and the roll body A is released from the holding state by switching to the release state. Yes.

Next, the roll carrier 1 will be described.
As shown in FIGS. 1 to 3, the transport vehicle 1 for a roll body includes a pair of support bodies 12 for placing and supporting the roll body A on a travelable carriage body 11, and a pair of support bodies 12. With respect to the vehicle body longitudinal direction, the vehicle body width direction and the vertical direction, the movement operation means 13 and the cart body 11 stopped at the set stop position, the support pins 4 of the roll body holding device 2 and the transfer target An image pickup device 14 as an image pickup means for picking up an image of the core a of the roll body A, a control means H for controlling the operation of the moving operation means 13 based on image pickup information picked up by the image pickup device 14, and the roll body holding device 2 The communication apparatus 15 (refer FIG. 7) which transmits / receives information between is provided and comprised.

The pair of support bodies 12 are provided in a state spaced from each other in the longitudinal direction of the vehicle body, and the outer circumferences of both ends of the core a projecting on both sides from the sheet material b in the roll body A by the pair of support bodies 12. The surface is placed and supported.
Since the core a is placed and supported by the pair of support bodies 12 with the axis centering along the longitudinal direction of the vehicle body, the roll body A (core a) placed and supported by the pair of support bodies 12 is supported. The axial direction of the vehicle and the longitudinal direction of the vehicle body are the same direction, and the vertical direction and the horizontal direction of the vehicle body are directions intersecting the axial direction.

The movement operation means 13 is configured to move the slide table 16 as a moving unit that supports the pair of support bodies 12 and to move the slide table 16 in the vehicle body front-rear direction and the vehicle body left-right direction relative to the carriage main body 11. And a driving means 17 for moving and operating the slide table 16 in the vertical direction.
A pair of slide tables 16 are juxtaposed in the longitudinal direction of the vehicle body so as to individually support the pair of support bodies 12, and each of the pair of slide tables 16 is in the longitudinal direction of the vehicle body and in the lateral direction of the vehicle body with respect to the carriage body 11. It is supported by the carriage body 11 so as to be freely movable, and supports the support 12 so as to be movable in the vertical direction.

The imaging device 14 is configured to simultaneously set the support pin 4 of the roll body holding device 2 and the core a of the roll body A to be transferred 1 by one imaging device 14 in a state where the cart body 11 is stopped at the set stop position. The carriage main body 11 is provided so as to capture images within one imaging range.
In the case where the roll body A is transferred from the roll body transport vehicle 1 to the roll body holding device 2, the pair of supports of the roll body transport vehicle 1 is the transfer target roll body A imaged by the imaging device 14. When the roll body transport vehicle 1 receives the roll body A from the roll body holding device 2, the pair of support pins 4 of the roll body holding device 2 are used. It is the roll body A being held.

Then, as the image pickup device 14, the pair of image pickup devices 14 for picking up an image of one of the pair of support pins 4 and one end of the core a in a state where the cart main body 11 is stopped at the set stop position, and the set of the cart main body 11 is stopped. The cart body 11 is provided with a total of four imaging devices 14 including a pair of imaging devices 14 that image the other end of the pair of support pins 4 and the other end of the core a in a stopped state. The pair of imaging devices 14 are provided in a state where the imaging directions intersect when viewed in the vehicle left-right direction.
These four imaging devices 14 are supported on the upper end portion of a support bar 18 erected on the cart body 11 so that the height can be adjusted and the direction can be adjusted.

  The control means H includes a travel control process for controlling the operation of the cart body 11 so that the cart body 11 travels to the set stop position or the cart body 11 travels from the set stop position, and the cart body 11 stops at the set stop position. In the state, the moving operation means for moving the pair of support bodies 12 so that the core a is located at a position where the pair of support pins 4 can be inserted into or extracted from the core a based on the imaging information of the imaging device 14. And an alignment process for controlling 13 operations. As the alignment process, a delivery alignment process executed when the roll body A is delivered from the roll body transport vehicle 1 to the roll body holding device 2, and the roll body transport vehicle 1 is the roll body holding device 2. And receiving position alignment processing executed when receiving the roll body A.

Further, after the roll body holding device 2 reduces the diameter of the pair of support pins 4 after the roll body holding device 2 executes the receiving alignment process, the roll body holding device 2 separates each of the pair of support pins 4 from each other. Before moving, whether the core a is out of the allowable extraction range that does not interfere with the pair of support pins 4 based on the imaging information of the imaging device 14 with the carriage body 11 stopped at the set stop position. If it is determined that the core a is out of the extraction allowable range, a position correction process for controlling the operation of the moving operation means 13 is executed to move the core a into the extraction allowable range. Has been.
Incidentally, the core a shown in FIGS. 4 (b) and 6 (c) is located in the extraction allowable range without the inner peripheral surface of the core a interfering with the small diameter portion 5, but FIG. 6 (b). In the support pin 4 shown in FIG. 3, the inner peripheral surface of the core a interferes with the small diameter portion 5 and is out of the allowable extraction range.

Next, the control of the control means H when transferring from the roll body transport vehicle 1 to the roll body holding device 2 to the roll body A will be described based on the flowchart shown in FIG.
First, the control means H performs a travel control process to move the roll body transport vehicle 1 that supports the roll body A to the set stop position (S1). Thereafter, the control means H performs a delivery alignment process to move the core a to a position where the pair of support pins 4 can be inserted into the core a (S2, S3).

  In the delivery alignment process, the pair of support pins 4 and the pair of the roll body holding device 2 are paired based on the imaging information captured by the four imaging devices 14 in a state where the cart body 11 is stopped at the set stop position. The positional relationship with the core a of the roll body A placed and supported by the support body 12 is determined, and the axis of the core a of the roll body A is aligned with the axis of the pair of support pins 4 and The operation of the driving means 17 is controlled to move the pair of support bodies 12 so that the distance between the pair of support pins 4 is equal.

After the transfer alignment process is executed in this way, the communication device 15 transmits a transfer preparation completion signal to the roll body holding device 2, and the holding completion signal from the roll body holding device 2 is transmitted to the communication device 15. When it is received, the delivery of the roll body A is completed (S4, S5).
By the way, when the roll body holding device 2 receives a signal for completion of delivery, the pair of support pins 4 is moved from the extraction position to the insertion position to insert the pair of support pins 4 into both ends of the core a. Thereafter, the small diameter portion 5 of the pair of support pins 4 is switched to the large diameter state, and the roll body A is held by the pair of support pins 4. When the holding of the roll body A is completed in this way, the roll body holding device 2 is configured to transmit a holding completion signal to the roll body transport vehicle 1 by a communication means (not shown).

Next, the control of the control means H when the roll body transport vehicle 1 receives the roll body A from the roll body holding device 2 will be described based on the flowchart shown in FIG.
First, the control means H performs a travel control process to move the roll body transport vehicle 1 that does not support the roll body A to the set stop position (S1). Thereafter, the control means H performs the receiving alignment process, and operates the moving operation means 13 so that both ends of the core a held by the pair of support pins 4 are supported by the pair of support bodies 12. Are controlled (S2, S6).

  In this receiving alignment process, the carriage main body 11 is stopped at the set stop position, and is held by the pair of support pins 4 in the holding state based on the imaging information imaged by the four imaging devices 14. The operation of the driving means 17 is performed so that the core a of the roll body A held by the pair of support pins 4 in the holding state is supported by the pair of support bodies 12. To control.

After performing the receiving alignment process in this way, the communication device 15 controls the operation of the communication device 15 to transmit a reception preparation completion signal to the roll body holding device 2 (S7).
By the way, when the roll body holding device 2 receives the signal for completion of reception, the roll body holding device 2 switches the small diameter portion 5 of the pair of support pins 4 to the small diameter state, and after the switching of the small diameter portion 5 to the small diameter state is completed, The communication means is configured to transmit a signal of completion of the diameter reduction to the roll body transport vehicle 1.

Then, when the roll body transport vehicle 1 receives a signal of completion of the diameter reduction from the roll body holding device 2 by the communication device 15 (S8), the support pin 4 is located at the insertion position and the support pin 4 has the small diameter. On the basis of the imaging information of the imaging device 14 that has been imaged in a state of being converted, it is determined whether or not the core a is located in the extraction allowable range with respect to the support pin 4 (S9, S10), and the core a is supported When it is determined that the pin 4 is in the extraction allowable range, the communication device 15 controls the operation of the communication device 15 to transmit an appropriate position signal to the roll body holding device 2 (S11). When the communication device 15 receives a hold release completion signal from the holding device 2, the reception of the roll body A is completed (S12).
Incidentally, when the roll body holding device 2 receives an appropriate position signal, the roll body holding device 2 moves the pair of support pins 4 away from the insertion position to the extraction position to extract the pair of support pins 4 from the core a, and the pair of support pins 4 is released from the roll body A. When the release of the holding of the roll body A is completed as described above, the roll body holding device 2 is configured to transmit a holding release completion signal to the roll body transport vehicle 1 by a communication means (not shown).

If it is determined that the core a is out of the extraction allowable range with respect to the support pin 4, position correction processing is executed based on the imaging information (S13 to S15).
In the position correction process, when it is determined that the core a is out of the extraction allowable range with respect to the support pin 4, imaging is performed in a state where the support pin 4 is located at the insertion position and the support pin 4 is reduced in diameter. Based on the imaging information of the imaging device 14, the amount of deviation from the center of the allowable extraction range of the core a (the position where the axis of the core a of the roll A is aligned with the axis of the pair of support pins 4) is calculated. Measurement is performed, and the operation of the moving operation means 13 is controlled so as to move the core a to the center of the imaging allowable range according to the amount of deviation.

  Then, based on the imaging information of the imaging device 14 imaged after the movement operation means 13 is operated in this way, it is determined that the core a has moved to the extraction allowable range (S14, S15). After completing the correction process, the communication device 15 controls the operation of the communication device 15 so as to transmit an appropriate position signal to the roll body holding device 2 (S11). If it is received by the communication device 15, the reception of the roll body A is completed (S12).

  That is, when the roll body holding device 2 reduces the diameter of the pair of support pins 4 and then moves the pair of support pins 4 away from the insertion position to the extraction position, the roll body A is released. As shown in FIG. 6B, when the carriage body 11 sinks and the core a is out of the allowable extraction range and its inner peripheral surface is in contact with the support pin 4, it is dragged by the support pin 4 that moves away. As a result, the roll body A may move relative to the cart body 11. The control means H can determine whether or not the core a is out of the extraction allowable range based on the imaging information of the imaging device 14, and the core a is extracted as shown in FIG. When it is determined that it is out of the allowable range, as shown in FIG. 6C, the position correction process is executed to place the core a in the extraction allowable range, thereby inserting the pair of support pins 4 into the insertion position. It can be moved smoothly to the extraction position.

[Another embodiment]
(1) In the above embodiment, when it is determined that the core a is out of the allowable extraction range, the roll body holding device 2 is used after the roll body holding device 2 reduces the diameter of the pair of support pins 4. Based on the imaging information imaged by the imaging device 14 before moving each of the pair of support pins 4 away from each other, the operation of the moving operation means 13 was controlled to move the core a into the extraction allowable range. When it is determined that the core a is out of the allowable extraction range, the operation of the moving operation means 13 may be controlled so as to move the core a up and down by a preset amount.

(2) In the above-described embodiment, the roll body transport vehicle 1 performs both reception and transfer of the roll body A to the roll body holding device 2, but the roll body transport vehicle 1 holds the roll body. You may make it perform only reception of the roll body A with respect to the apparatus 2. FIG.
In the above embodiment, the pair of insertion portions 4 are moved simultaneously to the insertion position and the extraction position. However, the pair of insertion portions 4 are alternately moved to the insertion position and the extraction position. Also good.

(3) In the above-described embodiment, the pair of imaging devices 14 includes the imaging device 14 that captures images in the horizontal direction and the imaging device 14 that captures images in the inclined direction from obliquely below, and the imaging directions intersect in the vehicle longitudinal direction view. Although provided in the state, the pair of imaging devices 14 may include a pair of imaging devices 14 that capture images in an inclined direction from obliquely below, and may be provided in a state in which the imaging directions intersect when viewed in the vehicle front-rear direction.

DESCRIPTION OF SYMBOLS 1 Roll body conveyance vehicle 2 Roll body holding | maintenance apparatus 4 Insertion part 11 Bogie main body 12 Support body 13 Movement operation means 14 Imaging means A Roll body a Shaft part b Sheet material H Control means

Claims (2)

A roll body transport vehicle that receives the roll body with a roll body holding device that holds a roll body in which a sheet material is wound around a cylindrical shaft portion,
After the roll body holding device has inserted a pair of insertion portions that can move to and away from each other, the pair of insertion portions are moved closer to each other and the pair of insertion portions are inserted from both ends with respect to the shaft portion. A holding state in which the diameter of the insertion portion is increased, and a holding state in which the pair of insertion portions are moved away from each other and the pair of insertion portions are extracted from the shaft portion after the diameter of the pair of insertion portions is reduced. It is configured to be switchable to the release state,
In the bogie body of the roll carrier,
A pair of supports for placing and supporting the outer peripheral surfaces of both ends of the shaft portion projecting from the sheet material on both sides in the axial direction of the roll body;
A moving operation means for moving the pair of supports in a direction intersecting the axial direction with respect to the cart body;
In the state where the cart body is stopped at a set stop position for receiving the roll body from the roll body holding device, the insertion portion of the roll body holding device and the roll body placed and supported on the support body An imaging means for imaging the shaft portion;
Control means for controlling the operation of the moving operation means based on imaging information of the imaging means is provided,
The control means is
With the cart body stopped at the set stop position, the pair of the shaft portions of the roll body held by the roll body holding device in the holding state in which the diameter of the pair of insertion portions is increased. A receiving alignment process for controlling the operation of the moving operation means based on the imaging information of the imaging means to be supported by the support of the imaging means, and
After the execution of the receiving alignment process is completed, the roll body holding device reduces the diameter of the pair of insertion portions , and then the roll body holding device before moving each of the pair of insertion portions away from each other. The pair of insertion portions in the shaft portion based on the positional relationship between the pair of insertion portions and the shaft portion obtained from the imaging information of the imaging means in a state where the cart body is stopped at the set stop position. Is determined to be out of the allowable extraction range without interference, and if it is determined that the shaft portion is out of the allowable extraction range, the axial portion should be moved into the allowable extraction range. A roll transport vehicle configured to execute a position correction process for controlling the operation of the moving operation means. The control means is
When it is determined that the shaft part is out of the extraction allowable range as the position correction process, the roll body holding device is configured after the roll body holding device reduces the diameter of the pair of insertion portions. Based on the imaging information imaged by the imaging means before moving each of the pair of insertion portions away from each other, the operation of the moving operation means is controlled to move the shaft portion within the allowable extraction range. The roll vehicle carrier according to claim 1 configured as described above.

Images