JP6163282B2 - Position confirmation device - Google Patents

Description

  The present invention relates to a position confirmation device that accurately aligns a gripping member with a gripping position of a transport target when the transport device that transports the transport target grips the transport target placed at a predetermined position.

  In factories that manufacture various products, distribution centers that deliver products, and the like, products to be transported (hereinafter referred to as “conveyance objects”) are temporarily placed at installation positions called stations. Many. A conveyance object placed at this station may be conveyed from the station to another position by the conveyance device.

  Here, the conveyance target object may be a scroll in which a thin sheet-like member is wound around a shaft. For example, a thin sheet-like member such as a resin sheet, a metal sheet, a metal foil, or a rubber sheet is wound around a shaft having a predetermined length and diameter. For example, in a factory where these resin sheets, metal sheets, metal foils, rubber sheets, etc. are manufactured, or in a factory where these resin sheets, metal sheets, metal foils, rubber sheets are processed, such a thin sheet shape A scroll around which the member is wound may be a conveyance object.

  Such a scroll is temporarily installed at the station by the exposed portions of the shaft remaining at both ends of the sheet-like member being installed at the bearing of the station. That is, in the bearing, the exposed portion with the shaft diameter remains on the bearing. Since the sheet-like member is wound outside the exposed portion of the shaft, the wound portion naturally has a diameter larger than the diameter of the exposed portion of the shaft. When viewed from each direction, the diameter of the exposed portion of the shaft is small, and the diameter of the portion other than the exposed portion is increased by winding a sheet-like member.

  The conveying device has a receiving portion for receiving the exposed portions of the shafts at both ends of the object to be conveyed which is such a scroll and is installed in the station. The conveying device can place the exposed portion of the shaft on the receiving portion by applying the receiving portion to the exposed portion of the shaft. The conveying device receives the object to be conveyed from the station and places the exposed portion of the shaft on the receiving portion, and conveys the object to a predetermined conveying destination.

  As described above, it is often performed in a factory or a distribution center that a conveyance object, which is a scroll temporarily installed in a station, is removed from the station and conveyed as it is. In addition, the transport device includes a sensor and often performs automatic traveling in a factory or a distribution center. In this automatic traveling, the receiving operation of the conveyance object installed in the station is also automatically performed.

  When the transport device automatically receives a transport object installed at the station, it is necessary to accurately align the exposed portion of the shaft of the transport object that is a scroll with the receiving portion of the transport device. is there. At this time, the exposed portion of the shaft is often small, and if the receiving portion cannot be accurately aligned with the exposed portion of the shaft, the supporting member of the transport device constituting the receiving portion or the receiving portion is wound around. It will collide with the sheet-like member which is.

  Here, when the wound sheet-like member is excellent in impact durability or is a member that does not have any problem even if it receives an impact, the receiving portion is accurately aligned with the exposed portion of the shaft. It may not be possible. For example, after the receiving portion and the support member of the receiving portion collide with the surface of the sheet-like member, alignment may be performed again.

  However, as described above, the sheet-like member is a resin sheet, a metal sheet, a metal foil, a rubber sheet, and the like, and it may be deformed or worn out by a collision. May cause adverse effects. For example, when a receiving part or a support member collides with a metal sheet, when the metal sheet is used for a very thin electrode of an electronic device, the metal sheet may not be used as an electrode material.

  In such a situation, techniques for positioning and position confirmation when a transfer device receives a transfer object installed in a station have been proposed (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3). .

JP 2008-63117 A JP 2001-97669 A JP 2009-73580 A

  In Patent Document 1, the AGV includes a vertical driving mechanism that drives a mounting portion on which a roll body is mounted in the vertical direction and a horizontal driving mechanism that drives in the horizontal direction. Further, a laser light source installed in the vicinity of a predetermined part and a detection means installed in the AGV and having a light receiving surface for receiving the laser light from the laser light source, and detecting the light receiving position of the laser light on the light receiving surface And a roll automatic supply device including a positioning control circuit that calculates a deviation amount of the detected light receiving position from the reference position and controls the vertical drive mechanism and the horizontal drive mechanism so as to eliminate the calculated deviation amount. Disclose.

  Patent Document 1 discloses a technique for performing positioning by laser light using an automatic traveling carriage called AGV. That is, a technique for controlling the position of an AGV with respect to a conveyance object or a handling object using a position detection function using a laser beam is disclosed.

  However, the position detection by the laser light is performed based on a difference in wavelength or the like between the laser light irradiated from the laser light irradiation unit and the reflected light that collides with the object to be transported and is reflected. For this reason, the properties of the laser light and the reflected light vary depending on the shape and material of the object to be transported, which makes it difficult to confirm the position accurately. In addition, the floor on which the conveying device such as AGV travels is not necessarily flat, and there is a possibility that the laser beam irradiated to the object to be conveyed cannot go straight. In this case, there is a problem that the difference between the laser light and the reflected light cannot be accurately detected, and the position cannot be accurately confirmed.

  In addition, when the object to be transported is a scroll in which a sheet-like member is wound around the shaft, the position of the object to be transported accurately corresponds to three parameters: the exposed portion of the shaft, the wound portion of the shaft, and the position of the transport device itself. Confirmation needs to be done. For this purpose, a large number of laser beam irradiation devices and detection devices are required, and there is a problem that the cost becomes very high because a plurality of expensive laser irradiation devices are used alone.

Patent Document 2 includes a light projecting unit 11a and a light receiving unit 11b, and includes a first laser sensor 11 disposed with an optical axis inclined with respect to the transparent web 13, a light projecting unit 12a, and a light receiving unit 12b. The second laser sensor 12 is arranged with the optical axis inclined with respect to the web 13 and arranged so as to intersect the optical axis of the first laser sensor 11 when viewed from the longitudinal direction of the web 13. Prepare. The angle θ1 formed by the optical axis of the first laser sensor 11 and the web 13 and the angle θ2 formed by the optical axis of the second laser sensor 12 and the web 13 are the same angle, and the light receiving portions of both sensors 11 and 12 are used. An edge detection device that detects the edge position of the web 13 based on the difference between the outputs α and β of 11b and 12b is disclosed.

  Similarly to Patent Document 1, Patent Document 2 discloses a technique for detecting the position of an object using laser light. With the technique of Patent Document 2, it is possible to develop the apparatus in a device for confirming the position of a conveyance object.

  However, the technique disclosed in Patent Document 2 also has problems such as inaccuracy of position confirmation and high cost due to the use of laser light as in Patent Document 1.

Although the technique of patent document 1 and patent document 2 using a laser beam can perform the position confirmation in non-contact with a conveyance target object, it has the following problem.
(Problem 1) Accurate position confirmation is difficult.
(Problem 2) Attempting to improve the accuracy of position confirmation results in a very expensive device.

  In Patent Document 3, the load storage unit 15 provided in the storage shelf includes a load receiving base 12 that supports the load W, an opening 24 through which the load W can be taken in and out, and prevents the load W from falling from the opening 24. In the luggage fall prevention device in the storage shelf provided with the fall prevention tool 18 as the luggage fall prevention means, the fall prevention tool 18 is a support arm that moves up and down about the support shaft 21 on the side of the load storage section 15. 19, a fall prevention member 20 provided at the front end of the support arm 19 that moves up and down as the support arm 19 swings, a control piece 23 provided in the support arm 19, and the support arm 19 with the support shaft 21 as a fulcrum. A weight 22 as an urging member for urging the load, and when the control piece 23 is pushed or released by the load W, an operation position where the fall prevention member 20 is positioned in front of the load W or Move to the non-operating position retracted upward. Possible discloses the anti-fall device of luggage provided.

  In Patent Document 3, the object can be confirmed by the movement of the arm. That is, a technique is disclosed in which an arm is directly brought into contact with an object whose position is to be confirmed, and the position of the object is confirmed based on the movement of the arm.

  However, the technique of Patent Document 3 detects contact with an object by moving the arm back and forth with a contact part that directly contacts the object and a weight provided at the opposite end. For this reason, when a conveyance apparatus advances to a target side after a contact part contacts a target object, it needs to oppose the load of the weight on the opposite side to a contact part. For this reason, a strong force is applied to the object in contact at the contact portion.

  If such a strong force is applied to the object in contact, there is a problem that the object is damaged. This is particularly a problem when the object is a thin sheet-like member as described above.

  There are various types of objects to be transported by the transport device, but as described above, there are many cases in which a thin sheet-like member is wound around a shaft. This thin sheet-like member is often vulnerable to impacts and the like. That is, the contact type position confirmation device as in Patent Document 3 has the following problems.

  (Problem 3) The contact pressure becomes high, and there is a high possibility that the conveyance object that is weak against the collision or the pressure is deformed or damaged.

Prior art position confirmation devices represented by Patent Documents 1 to 3 and techniques applicable thereto have the above-described problems 1 to 3. If these problems 1 to 3 are not solved, it is difficult to confirm the position or position of the transport device with respect to the transport object, which is a roll wound around a shaft with a member that is weak against collision or pressure.
An object of the present invention is to solve these problems and to provide a position confirmation device that can accurately confirm a position for a conveyance device to receive a conveyance object without deforming or wearing the conveyance object. To do.

  In view of the above problems, the position confirmation device of the present invention is a position confirmation device for a conveyance device that conveys a conveyance object installed at a predetermined installation position to receive the conveyance object. Is a support member that is pivotably attached to a connection position with the transport device, a contact portion that is provided on one side of the connection position on the support member and that can contact at least a part of the transport object, and a support member An electrical switch that is connected to or separated from a contact point of the transport device, the transport object has a shaft and a body member attached to the shaft, and the shaft is At both ends where the main body member is not attached, when the contact portion comes into contact with the main body member when the contact portion comes into contact with the main body member, the electric switch is separated from the contact point by rotating the support member. But If no contact with the body member, the support member is a gravity balance a fulcrum connection position, it maintains the connection between the electrical switch and the contacts.

  The position confirmation device of the present invention can confirm the shaft exposed portion of the conveyance object which is a scroll with a simple configuration. For this reason, positioning with respect to the conveyance target object of a conveying apparatus is realizable at low cost.

  Moreover, the position confirmation apparatus of this invention can confirm the position of the shaft exposure part of a conveyance target object reliably by a contact type. In addition, since the contact member is a seesaw type that is free of gravity, the pressure when contacting the main body portion of the object to be transported in position confirmation can be greatly reduced. As a result, in the position confirmation work, even when the contact portion contacts the main body portion, the main body portion is not deformed or worn.

It is a perspective view which shows the conveyance target object installed in Embodiment 1 of this invention. It is a side view of the conveying apparatus in Embodiment 1 of this invention. FIG. 3 is a front view of a transport device that includes the position confirmation device according to the first embodiment. It is a side view of a conveyance apparatus provided with the position confirmation apparatus in Embodiment 1 of this invention. It is the schematic diagram which looked at the approach to the conveyance target object of the conveying apparatus in Embodiment 1 of this invention from the top. It is the schematic diagram which looked at the approach to the conveyance target object of the conveying apparatus in Embodiment 1 of this invention from the top. It is a schematic diagram which shows the approach state of the conveying apparatus in Embodiment 1 of this invention from upper direction. It is a schematic diagram which shows the approach state of the conveying apparatus in Embodiment 1 of this invention from upper direction. It is a schematic diagram which shows the approach state of the conveying apparatus in Embodiment 1 of this invention from upper direction. It is a schematic diagram which shows the operation | movement in the state in which the position in Embodiment 1 of this invention shifted | deviated. It is a schematic diagram which shows the operation | movement in the state in which the position in Embodiment 1 of this invention shifted | deviated. It is a side view of a conveying apparatus provided with the position confirmation apparatus in Embodiment 2 of this invention. It is a front view of the conveying apparatus in Embodiment 2 of this invention. It is a side view of the conveying apparatus in Embodiment 2 of this invention.

  A position confirmation apparatus according to a first aspect of the present invention is a position confirmation apparatus for a conveyance apparatus that conveys a conveyance object installed at a predetermined installation position to receive the conveyance object. The apparatus includes a support member that is rotatably attached to a connection position with the transport device, a contact portion that is provided on one side of the connection position on the support member and that can contact at least a part of the transport object, and a support An electrical switch provided on the other side of the connection position in the member and connected to or separated from the contact of the transport device, the transport object has a shaft and a body member attached to the shaft, the shaft is When the contact part contacts the main body member at both ends where the main body member is not attached, and the contact part contacts the main body member, the electrical switch is separated from the contact by contacting the contact member. Part If no contact with the body member, the support member is a gravity balance a fulcrum connection position, it maintains the connection between the electrical switch and the contacts.

  With this configuration, the position confirmation device can prevent the receiving unit from colliding with the main body of the conveyance target in the conveyance device that enters and conveys the roll-shaped conveyance target having the exposed shaft.

  In the position confirmation device according to the second aspect of the present invention, in addition to the first aspect, the support member has a weight capable of adjusting a contact pressure when the contact portion comes into contact with the main body member. The contact pressure can be adjusted by changing the vertical position of the support member.

  With this configuration, the balance of the rotation of the support member by the contact portion can be adjusted.

  In the position confirmation device according to the third aspect of the present invention, in addition to the second aspect, the support member is connected to the contact point by the gravity balance due to the weight in a state where there is no contact object in the contact portion. maintain.

  With this configuration, when the contact pressure is not applied to the contact portion, the support member settles at a position where the electrical switch and the contact are connected. As a result, the operation of the transfer device is not stopped due to the position shift.

  In the position confirmation device according to the fourth aspect of the present invention, in addition to the second aspect, the support member is in a state where there is no contact object in the contact portion, and is in gravity balance due to the weight, and the contact portion is based on the connection position. As shown in FIG.

  With this configuration, the gravity balance of the support member is kept optimal.

  In the position confirmation device according to the fifth aspect of the present invention, in addition to any one of the first to fourth aspects, the main body member is formed by winding a sheet member around a shaft.

  With this configuration, the transport device can transport the transport object using the receiving unit.

  In the position confirmation device according to the sixth aspect of the present invention, in addition to the fifth aspect, the exposure shaft is a surplus part of the winding of the sheet member.

  With this configuration, exposed shafts are generated at both ends of the conveyance object, and the conveyance device including the receiving portion can be conveyed.

  In the position confirmation device according to the seventh aspect of the present invention, in addition to any one of the first to sixth aspects, the height of the contact portion corresponds to the position of the main body portion.

  With this configuration, the contact portion can contact the main body portion.

  In the position confirmation device according to the eighth aspect of the present invention, in addition to any of the first to seventh aspects, the contact portion protrudes from the outer periphery of the support member.

  With this configuration, the contact portion can more reliably obtain contact pressure due to contact with the main body portion. As a result, when there is a problem with the entry position, the transport device can be reliably stopped.

  In the position confirmation device according to the ninth aspect of the present invention, in addition to any of the first to eighth aspects of the invention, when the contact portion comes into contact with the main body member, the electrical switch is separated from the contact point. The device stops moving.

  With this configuration, when there is a shift in the entry position of the transport device, the position confirmation device can stop the transport device. As a result, damage to the object to be conveyed by the conveying device can be prevented.

  In the position confirmation device according to the tenth invention of the present invention, in addition to any of the first to ninth inventions, the conveying device includes a pair of receiving portions corresponding to the exposed shaft of the object to be conveyed, and a pair of receiving members. And a support member connected to each of the pair of structural members.

  With this configuration, the position confirmation device can confirm the entry position of the transfer device.

  In the position confirmation device according to the eleventh aspect of the present invention, in addition to the tenth aspect, the transport device includes a pair of structural members, and the support member is connected to each of the front and rear of the pair of structural members.

  With this configuration, the position confirmation device can confirm the position when the transport device moves either forward or backward.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  (Embodiment 1)

(Description of transport object)
First, a conveyance target object is demonstrated using FIG. 1, FIG. FIG. 1 is a perspective view showing a conveyance object installed in Embodiment 1 of the present invention. FIG. 2 is a side view of the transport apparatus according to Embodiment 1 of the present invention.

  The conveyance object 200 is installed in the installation tool 100. The installation tool 100 includes a column 101 and a beam 102. The installation object 100 is installed with the installation tool 100 as a predetermined installation position. Here, as an example of the conveyance object 200, a roll member formed by winding a sheet member around a shaft 110 is shown. For example, a sheet member made of a thin material such as paper, cloth, vinyl, a resin sheet, or a metal thin plate may be wound around the shaft 110 to be the conveyance object 200.

  For example, these papers, cloths, vinyls, resin sheets, and metal thin plates are manufactured in a paper factory or a material factory. Before manufacturing, during manufacturing, and after manufacturing, a large amount of these sheets of paper, cloth, vinyl, resin sheets, and metal thin plates that are in continuous sheet form may be wound around the shaft 110 to facilitate transport. . The roll-shaped transport object 200 formed by winding these sheet-shaped materials and members around the shaft 110 so that a large amount of sheet-shaped materials and members can be transported at a time can be used in various factories and deliveries. Used in the center.

  In the conveyance target object 200, a portion wound around the shaft 110 serves as the main body portion 201, and a portion that is not wound serves as the exposed shaft 111. That is, the exposed shaft 111 is a portion of the shaft 110 that remains without being wound with a sheet-like member. Of course, the shaft 110 exists inside the main body 201 around which the sheet-like member is wound.

  The conveyance target 200 is a roll-shaped object as described above, and includes the main body 201 and the exposed shafts 111 remaining at both ends thereof. The transport object 200 is installed on the installation tool 100 in a state where the exposed shaft 111 is hooked. In a factory, a distribution center, etc., a large number of conveyance objects 200 are installed on such an installation tool 100.

A transport apparatus 300 shown in FIG. 2 transports a roll-shaped transport target object 200 installed in the installation tool 100. At this time, the transport apparatus 300 transports the transport target object 200 in such a manner that the exposed shafts 111 exposed at both ends of the transport target object 200 are received.
The transport apparatus 300 includes a main body 301, a drive unit 303, and a V-shaped receiving unit 302. The transport apparatus 300 can move in the direction of the arrow shown in FIG. Depending on the combination of the rotation direction and the angle of the drive unit 303, the drive unit 303 can move in various directions in addition to the arrows.

  A pair of receiving portions 302 is provided above the main body portion 301. The receiving part 302 receives the exposed shaft 111 of the roll-shaped conveyance object 200 shown in FIG. The conveyance device 300 enters under the roll-shaped conveyance object 200 installed in the installation tool 100. When the receiving unit 302 enters under the transport target object 200, the transport apparatus 300 can easily place the transport target object 200 on the receiving unit 302.

  When the conveyance apparatus 300 places the conveyance object 200 on the receiving portion 302, the conveyance device 300 slightly raises the main body portion 301. By raising, the exposed shaft 111 on the installation tool 100 is lifted in a state where the receiving portion 302 receives the main body portion 201 of the conveyance target 200. When the exposure shaft 111 is lifted, the conveyance target 200 is removed from the installation tool 100. The exposed shaft 111 of the conveyance target 200 is placed on the receiving portion 302 as it is. The pair of receiving portions 302 can receive each of the exposed shafts 111 protruding from both ends of the main body portion 201 in the conveyance symmetrical object 200.

  The transport apparatus 300 transports the transport target object 200 to a predetermined place in a state where the exposed shaft 111 of the transport target object 200 removed from the installation tool 100 is placed on the receiving unit 302. As described above, the transport apparatus 300 can transport the roll-shaped transport target object 200 to a predetermined place after removing it from the installation tool 100.

  The position confirmation device according to the first embodiment is used for this transport device 300.

(Overview of position confirmation device)
FIG. 3 is a front view of a transport device including the position confirmation device according to the first embodiment. FIG. 3 shows a transfer apparatus 300 that is going to receive the transfer object 200 installed in the installation tool 100. The transport apparatus 300 receives the transport target object 200 so as to enter under the transport target object 200 installed in the installation tool 100. At this time, the receiving unit 302 receives the main body unit 201 of the conveyance target 200.

  Here, the receiving portion 302 has a depth to receive the main body portion 201 having a diameter. In addition, the receiving portion 302 receives the exposed shafts 111 at both ends of the main body portion 201. By receiving the exposure shaft 111, the receiving unit 302 can reliably receive the conveyance object 200.

  For this reason, the conveyance apparatus 300 needs to align the receiving part 302 with the exposed shaft 111 at both ends. That is, the transport apparatus 300 needs to align the receiving portion 302 so that the bottom surface of the main body 201 is received while aligning the end of the receiving portion 302 with the exposure shaft 111.

  The position confirmation device 1 confirms a position for aligning the receiving portion 302 and the exposure shaft 111.

  As shown in FIG. 4, the position confirmation device 1 includes a support member 2, a contact portion 3, and an electric switch 4. FIG. 4 is a side view of a transport device including the position confirmation device according to Embodiment 1 of the present invention. FIG. 3 shows a state in which the transfer device 300 enters the front side of the transfer target object 200, and FIG. 4 shows a state seen from the side of FIG.

  The position confirmation device 1 is provided on the transport device 300 on the side toward the transport target 200.

  The support member 2 forms the outer shape of the position confirmation device 1 and is attached to the transport device 300. The support member 2 is attached to the transport device 300 so as to be rotatable at the connection position 6. The rotation directions are the right side and the left side in FIG. That is, the support member 2 can be turned toward both the front and the rear of the transfer device 300 that enters the transfer target object 200.

Further, the support member 2 can be balanced by a gravity balance with the connection position 6 as a fulcrum.
The contact portion 3 is provided on one side of the support member 2 with respect to the connection position 6. In FIG. 4, the contact portion 3 is provided above the connection position 6. The contact part 3 can contact at least a part of the conveyance target 200. The contact unit 3 comes into contact with a part of the transport object 200 when the transport device 300 approaches the transport object 200. At this time, the position confirmation device 1 can confirm the position of the conveyance device 300 with respect to the conveyance object 200 depending on whether the contact unit 3 contacts the main body 201 of the conveyance object 200 or the exposure shaft 111. .

  The electrical switch 4 is provided on the side opposite to the contact portion 3 with respect to the connection position 6. The electric switch 4 is connected to or separated from the contact 5 of the transport device 300. By performing connection or separation with the contact 5, the electrical switch 4 can realize switching of electrical connection.

  The position confirmation device 1 confirms whether or not the receiving unit 302 has entered the position where the exposure shaft 111 can be accurately received when the conveyance device 300 enters forward so as to receive the bottom surface of the conveyance object 200. . The support member 2 is attached to positions corresponding to both ends of the receiving portion 302 of the transport device 300. The conveying apparatus 300 can receive the conveying object 200 accurately by the receiving unit 302 by aligning both ends of the receiving unit 302 with the exposure shaft 111. For this reason, the support member 2 can show both ends of the receiving portion 302.

  The contact portion 3 is provided at one end of the support member 2. For this reason, the position confirmation apparatus 1 can aim at the entry position of the receiving part 302 depending on whether the contact part 3 contacts the main body part 201 of the conveyance target 200 or the exposure shaft 111.

  When the conveyance device 300 enters the conveyance target object 200 and the contact portion 3 comes into contact with the main body portion 201, the support member 2 is rotated by the impact of the contact. This is because the main body 201 protrudes forward (to the conveying device 300 side) compared to the exposure shaft 111. As a result of this rotation, the contact member 3 of the support member 2 is tilted backward (opposite to the conveyance object 200). As a result, the electrical switch 4 on the opposite side with respect to the connection position 6 moves forward (on the conveyance object 200 side). The switch 4 is separated from the contact 5 by this forward movement. As a result, energization by the electric switch 4 is cut off.

  On the other hand, when the conveyance device 300 enters the conveyance target 200 and the contact portion 3 does not contact the main body portion 201, the receiving portion 302 is already positioned on the bottom surface of the main body portion 201. . For this reason, when the contact part 3 and the main-body part 201 do not contact, the strong contact pressure like the case where the contact part 3 contacts the main-body part 201 is not applied. As a result, the support member 2 does not rotate. The electrical switch 4 maintains the connection with the contact 5 when the support member 2 maintains its posture with gravity balance. For this reason, when the conveyance device 300 enters the conveyance object 200, the electrical switch 4 remains connected to the contact 5 unless the contact portion 3 comes into contact with the main body portion 201. That is, energization by the electric switch 4 is maintained.

  The electrical switch 4 is energized when connected to the contact 5. On the contrary, when the electrical switch 4 is separated from the contact 5, the energization is cut off. The conveyance device 300 or the position confirmation device 1 can detect the energized state or the cut-off state.

  At this time, the conveyance device 300 or the position confirmation device 1 can determine that the contact portion 3 is not in contact with the main body portion 201 in the energized state. In other words, the receiving portion 302 following the contact portion 3 does not contact the main body portion 201. In this state, each of the pair of receiving portions 302 can receive each of the exposure shafts 111 even if the transport device 300 enters as it is. For this reason, in the energized state, the transfer device 300 can continue to enter as it is, and can take out the transfer object 200 and transfer it through the necessary operations thereafter.

  On the other hand, in the cut-off state, it can be determined that the pair of receiving portions 302 cannot receive the exposure shaft 111 even if the transport device 300 enters as it is. When the exposure shaft 111 cannot be received, the transport apparatus 300 cannot properly transport the transport target object 200 but also causes a problem of dropping the transport target object 200 installed in the installation tool 100. .

  For this reason, when detecting the interruption | blocking state, the conveying apparatus 300 stops operation | movement. Then, the entrance angle and the entry position are changed, and the transfer device 300 restarts the entry toward the transfer target object 200 again.

  In this way, the position confirmation device 1 can confirm whether the pair of receiving portions 302 correspond to the exposure shaft 111 in the approach direction of the transport device 300. By being able to confirm, the conveyance apparatus 300 can prevent the problem which collides with the conveyance target object 200 and is damaged, or makes the conveyance target object 200 fall from the installation instrument 100.

  The conveyance target 200 is a roll-shaped member in which a sheet-shaped member is wound around the shaft 110. If the sheet-like member is damaged by a slight impact, it may become unusable in the next manufacturing process or may cause a problem in the manufacturing process.

  The position confirmation device 1 can prevent the transport device 300 from contacting or colliding with the main body 201 of the transport target 200. This prevention makes it difficult to cause damage to the above-mentioned sheet-like member and problems based thereon.

(Operation procedure)
Next, details of the operation procedure of the position confirmation device 1 will be described.

  First, the proper case and the improper case when the transfer device 300 enters the transfer target object 200 installed in the installation tool 100 will be described. FIG. 4 shows a state in which the transport device 300 enters the transport target object 200 from the side as described above. Although it is difficult to understand because it is from the side, the conveyance device 300 enters each of the pair of receiving portions 302 so as to match the exposed shafts 111 at both ends of the main body portion 201 of the conveyance target 200.

  5 and 6 show the state of FIG. 4 viewed from above. 5 and 6 are schematic views of the entry of the conveyance device into the conveyance object according to the first embodiment of the present invention from above.

  FIG. 5 shows a state in which the transport apparatus 300 is in the transport target object 200 at an appropriate position. The transport apparatus 300 includes a pair of receiving portions 302A and 302B. The receiving portion 302A receives the exposed shaft 111A, and the receiving portion 302B receives the exposed shaft 111B. Thus, if each of the pair of receiving portions 302A and 302B can receive the exposed shafts 111A and 111B protruding from both ends of the main body portion 201, the conveying device 300 can remove the roll-shaped conveying object 200. It can be removed from the installation tool 100 and transported.

  As shown in FIG. 5, the transport apparatus 300 enters the transport target object 200 from a certain position. At this time, as shown in FIG. 5, if each of the pair of receiving portions 302A and 302B is opposed to each of the exposure shafts 111A and 111B, the transfer device 300 can be transferred as an appropriate position. Of course, since the conveyance apparatus 300 does not collide a part with the main-body part 201, the sheet-like member which comprises the main-body part 201 is not damaged.

  On the other hand, as shown in FIG. 6, the position of the pair of receiving portions 302 </ b> A and 302 </ b> B may be shifted when the transport device 300 enters the transport target 200. In this case, if the transport device 300 continues to enter as it is, a part of the transport device 300 collides with the main body 201. FIG. 6 shows a state in which the transport device 300 collides with the main body 201 as a result of continuing to enter.

  Thus, when the conveying apparatus 300 collides with the main body 201, the sheet-like member constituting the main body 201 is naturally damaged, or the conveying object 200 is dropped from the installation tool 100.

  If the transport device 300 enters the transport target 200 as it is, a problem as shown in FIG. 6 may occur. In particular, when the transfer device 300 continues to enter with the position shifted as shown in FIG. 6, the most serious problem is that the transfer device 300 pierces the transfer object 200 as it is and falls. For this reason, before the conveyance apparatus 300 collides with the main-body part 201, it is necessary to be able to confirm the approach position.

  The position confirmation device 1 can confirm the entry position before the transport device 300 collides with the main body 201 without causing the problem shown in FIG.

(Operation procedure for the proper position)
The operation procedure when entering the appropriate position will be described with reference to FIGS. 7 to 9 are schematic views showing the approach state of the transport device according to the first embodiment of the present invention from above. As described with reference to FIG. 4, the position confirmation device 1 is provided in the entry direction of the transport device 300. In particular, it is provided in front of each of the receiving portions 302A and 302B.

  The transport apparatus 300 includes a pair of receiving portions 302A and 302B. Furthermore, a pair of structural members 320A and 320B that support the receiving portions 302A and 302B are provided. Although FIG. 7 is difficult to understand because the transfer device 300 is viewed from above, a pair of receiving portions 302A and 302B are provided in a form supported by the pair of structural members 320A and 320B.

  The support member 2 forming the outer shape of the position confirmation device 1 is provided so as to be positioned in front of each of the pair of receiving portions 302A and 302B. In addition, the support member 2 is connected to the structural members 320 </ b> A and 320 </ b> B at the connection position 6. The support member 2 is connected to each of the structural members 320 </ b> A and 320 </ b> B at the connection position 6, so that the support member 2 can rotate back and forth with respect to the transport device 300 (relative to the structural member 320).

  In the description from FIG. 7, each of the pair of position confirmation devices 1 </ b> A and 1 </ b> B is provided in front of each of the receiving portions 302 </ b> A and 302 </ b> B. That is, each of the support members 2A and 2B is provided in front of each of the receiving portions 302A and 302B.

  FIG. 8 shows a state in which the transport device 300 has advanced toward the transport target object 200 from the state of FIG. When the position at the time of entry of the conveyance device 300 is appropriate, the contact portions 3 of the position confirmation devices 1 </ b> A and 1 </ b> B enter without contacting the main body portion 201. Finally, in each of the position confirmation devices 1A and 1B, the receiving portions 302A and 302B reach below the exposure shafts 111A and 111B without contacting the main body portion 201, respectively. FIG. 8 shows this state.

  At this time, since no contact pressure is applied to the contact portion 3, the support members 2 </ b> A and 2 </ b> B do not rotate with respect to the connection position 6. For this reason, in the position confirmation devices 1 </ b> A and 1 </ b> B, the electrical switch 4 can maintain the connection with the contact 5. Since the connection is maintained, the energization by the connection between the electric switch 4 and the contact 5 is also maintained.

  Based on the fact that the energization is maintained, the conveyance device 300 enters the receiving portions 302A and 302B to positions where they receive the exposure shafts 111A and 111B, respectively. FIG. 9 shows this state from the side. Since no contact pressure is applied to the contact portion 3, the support member 1 maintains the connection between the electric switch 4 and the contact 5. In this state, the receiving portion 302 receives the exposure shaft 111.

  In this way, the position confirmation device 1 can confirm the entry position of the conveyance device 300 so that the receiving portion 302 provided in the conveyance device 300 can reliably receive the exposure shaft 111. Since the receiving portion 302 has a V shape as shown in FIG. 9, the exposed shaft 111 can be reliably received by the V shape. The position confirmation device 1 can confirm the entry position of the conveyance device 300 so that the exposure shaft 111 is aligned with the V-shaped receiving portion 302.

(When the position is shifted)
Next, the case where the position is shifted will be described with reference to FIGS. 10 and 11 are schematic diagrams showing the operation in the state where the position is shifted in the first embodiment of the present invention. In FIG. 10, as in FIG. 7, the conveyance device 300 is provided with position confirmation devices 1 </ b> A and 1 </ b> B in front of the pair of structural members 320 </ b> A and 320 </ b> B (on the conveyance object 200 side). FIG. 10 shows the entrance of the transfer device 300 from above.

  In the transport device 300 shown in FIG. When the conveyance device 300 enters in the direction of the arrow as it is, the contact portion 3 of the position confirmation device 1B comes into contact with the main body portion 201.

  When the contact portion 3 comes into contact with the main body portion 201, as shown in FIG. 11, the contact portion 3 of the support member 2 falls backward (conveying device 300 side) with the connection position 6 as a reference. In accordance with this, the electric switch 4 on the opposite side of the contact portion 3 and the connection position 6 falls forward (to the conveyance object 200 side). As a result, the electrical switch 4 is disconnected from the contact 5. That is, the electrical switch 4 is separated from the contact 5.

  If separated, the energization of the electrical switch 4 is cut off. The conveyance apparatus 300 grasps this interruption and stops entering toward the conveyance target object 200. Here, as shown in FIG. 3, the transfer device 300 can move the position of the receiving portion 302 up and down in order to deliver the exposure shaft 111. In FIG. 3, the case where the position of the receiving portion 302 is at the upper limit and the case where it is at the lower limit are collectively shown in the same diagram. Since the position of the receiving unit 302 can be moved up and down, the transfer apparatus 300 that receives the transfer object 200 by receiving the exposure shaft 111 can deliver the received transfer object 200 to and from other instruments.

  When the conveyance device 300 stops entering the conveyance target 200, the conveyance device 300 does not approach the conveyance target 200 any more. For this reason, it is prevented that it collides directly with respect to the main-body part 201 of the conveyance target object 200, or a stronger collision and a pressure are provided. As a result, the main body 201 is prevented from being damaged.

  Thus, the position confirmation device 1 can cut off the energization of the electric switch 4 only by contacting the main body 201 of the contact part 3. By this interruption, the transfer device 300 can be automatically stopped. As a result, the position confirmation device 1 does not damage the main body 201 of the conveyance target 200 or drop the conveyance target 200 from the installation tool 1. If it is determined by the position confirmation device 1 that the entry position is different, the transfer device 300 may re-acquire the position and resume entry. Alternatively, when the transfer device 300 is operated manually, an operator may re-operate the transfer device 300.

  If the conveyance device 300 later retracts from the state of FIG. 11, the support member 2 returns to the original due to the gravity balance. That is, it rotates like a seesaw with the connection position 6 as a reference. By this rotation, the contact portion 3 returns to the front from the state where the contact portion 3 has moved backward. If the contact part 3 returns to the front, the electric switch 4 on the opposite side returns to the rear and returns to the connection state with the contact 5.

  In the state where the contact pressure is not applied to the contact portion 3, the support member 2 can take a gravity balance with the connection position 6 as a fulcrum. With this gravity balance, the support member 2 can maintain the state where the electrical switch 4 is connected to the contact 5. If the electrical switch 4 is connected to the contact 5, the energization by the electrical switch 4 is maintained. If this energization is maintained, the operation of the transfer device 300 is not stopped. Therefore, the operation can be performed again.

  The main body 201 having a diameter larger than that of the exposure shaft 111 protrudes toward the transport device 300 from the exposure shaft 111. For this reason, in the case where the position confirmation device 1 provided on the entry side of the conveyance device 300 brings the contact portion 3 into contact with the main body portion 201 before the receiving portion 302 receives the exposure shaft 111, the conveyance is performed. The apparatus 300 cannot receive the conveyance target 200 at the receiving unit 302.

  As described above, the position confirmation device 1 can confirm the position at which the conveyance device 300 enters the conveyance target 200 by using the feature of the shape of the conveyance target 200. In particular, the position can be confirmed with an easy structure because it can be confirmed only by contact of the contact portion 3.

  As described above, the position confirmation device 1 according to the first embodiment can confirm the optimum entry position for receiving the conveyance object 200. As a result, it is possible to prevent the main body 201 of the conveyance target object 200 from being damaged or the conveyance target object 200 from being dropped from the installation tool 100.

  (Embodiment 2)

  Next, a second embodiment will be described. In the second embodiment, various ideas in the position confirmation device 1 and details and variations of each element will be described.

(Support member)
The support member 2 forms the outer shape of the position confirmation device 1. The support member 2 is connected to the conveying device 300 at the connection position 6, and the contact portion 3 is provided on one side of the connection position 6 and the electric switch 4 is provided on the other side. Using this connection position 6 as a fulcrum, the contact part 3 and the electric switch 4 are moved like a seesaw. Like the seesaw, when the support member 2 has the gravity balance, the gravity balance is maintained when the contact pressure is not applied to the contact portion 3 (when the contact portion 3 does not contact). By maintaining this gravity balance, the support member 2 can keep the electrical switch 4 connected to the contact 5.

  On the contrary, when the contact portion 3 comes into contact with something and receives contact pressure, the gravity balance is lost, and the support member 2 tilts like a seesaw with the connection position 6 as a reference. As a result of this inclination, the electrical switch 4 is separated from the contact. However, when the contact pressure applied to the contact portion 3 is eliminated, the support member 2 returns to the position where the support member 2 should be again by gravity balance. By returning to this position, the electric switch 4 is connected to the contact 5 again.

  Here, the support member 2 has a weight 7. The weight 7 assists the gravity balance of the support member 2. The gravity balance of the support member 2 can be changed and adjusted by at least one of the attachment position of the weight 7 on the support member 2 and its weight. For example, when it is desired to change the length of the support member 2 or when the connection position 6 is to be changed, the gravity balance may change. In this case, the weight balance can be optimally adjusted by the weight 7.

  The weight 7 can also be used when adjusting the separation or connection switching between the electrical switch 4 and the contact 5 by eliminating the contact pressure applied to the contact portion 3 or the contact pressure after the contact pressure is applied. The strength of connection and separation between the electric switch 4 and the contact 5 based on the contact pressure can be adjusted by at least one of the position and the weight of the weight 7.

  For example, after the contact part 3 contacts the main body part 201 of the conveyance target object 200, the conveyance apparatus 300 may retreat. If the conveying apparatus 300 is retracted, the contact of the contact part 3 with the main body part 201 is lost. If this contact is lost, it is desired that the support member 2 returns to its original state due to gravity balance. In particular, the support member 2 is desired to return to the state in which the electrical switch 4 is connected to the contact 5 by rotating with respect to the connection position 6 as the contact pressure to the contact portion 3 disappears.

  The rotation of the support member 2 in this situation is based on gravity balance. At this time, if the gravity balance deviates toward the contact portion 3 with respect to the connection position 6, it is difficult for the support member 2 to return the electrical switch 4 to the contact 5. In such a case, it is appropriate to tilt the deviation of the gravity balance toward the electric switch 4 by changing the position of the weight 7.

  Conversely, if the gravity balance deviates from the connection position 6 to the electrical switch 4, the support member 2 returns the electrical switch 4 to the contact 5 with a violent impact. In this case, problems such as damage to the electrical switch 4 and the contact 5 may occur. For this reason, by moving the weight 7, the gravity balance is deviated to the contact portion 3 side. In this way, the weight 7 can be adjusted so that the gravity balance of the support member 2 with respect to the connection position 6 is optimized.

  Furthermore, the weight 7 can adjust the contact pressure at the contact portion 3 by moving the support member 2 up and down. In particular, the contact pressure when the contact part 3 contacts the main body part 201 can be adjusted. When it is desired to increase the contact pressure (in response to a high contact pressure, the support member 2 rotates and the electric switch 4 is separated from the contact 5), or when it is desired to reduce the contact pressure (even with a weak contact pressure, the support member 2 The weight 7 can be adjusted in such a manner that the electric switch 4 is separated from the contact 5).

  The contact pressure at the contact portion 3 is required when the position confirmation device 1 confirms the entry position of the conveyance device 300 into the conveyance object 200. For this reason, if the support member 2 does not rotate unless the contact pressure of the contact portion 3 is very strong, the transport device 300 will be delayed in detecting the state where the entry position is deviated. On the contrary, if the support member 2 rotates even if the contact pressure of the contact portion 3 is very weak, the contact device 3 only comes into contact with other than the main body portion 201 or receives air resistance. 300 stops operation.

  For this reason, it is appropriate that the contact pressure required by the contact portion 3 is adjusted to an optimum value. The weight 7 can optimally adjust the contact pressure required by the contact portion 3.

  Under such a premise, it is appropriate that the support member 2 is gravity-balanced by the weight 7 and the contact portion 3 is inclined forward (outside) with respect to the transport device 300 with respect to the connection position 6. FIG. 12 illustrates this. FIG. 12 is a side view of a transport device including the position confirmation device according to Embodiment 2 of the present invention.

  As shown in FIG. 12, in a normal state (a state where the contact portion 3 does not touch the main body portion 201), it is appropriate that the support member 2 is bent forward. That is, the contact part 3 is inclined forward.

  When the support member 2 is in such a state in a normal state, the electric switch 4 can be easily separated from the contact 5 with an appropriate contact pressure in the contact at the contact portion 3. In addition, when the contact pressure to the contact portion 3 is eliminated, the support member 2 rotates and the electric switch 4 is easily connected to the contact 5.

  As described above, the support member 2 maintains an optimum gravity balance while using the weight 7.

(Contact part)
When the contact part 3 contacts the main body part 201 of the conveyance object 200, the contact part 3 interrupts | blocks electricity supply by the electric switch 4. FIG. Through this blocking, further entry by the transfer device 300 can be prevented.

  For this reason, it is preferable that the height of the contact portion 3 corresponds to the position of the main body portion 201 of the conveyance target 200. This is because the contact portion 3 can reliably contact the main body portion 201 at such a position. At this time, it is also preferable that the position of the contact portion 3 can be changed so as to cope with the difference in the height of the installation tool 100 and the diameter of the main body portion 201 in the conveyance target 200.

  It is also preferable that the contact portion 3 protrudes from the outer periphery of the support member 2. This is because, when protruding in this way, contact with the main body 201 is ensured.

  Thus, when the contact part 3 protrudes from the outer periphery of the support member 2, the position of the contact part 3 can be changed by moving the contact part 3 up and down on the support member 2. Alternatively, the position of the contact portion 3 may be changed by changing the connection position 6.

  Moreover, the contact part 3 contacts the main-body part 201 and receives a contact pressure. For this reason, in order to surely prevent damage to the main body 201, it is also preferable that the contact portion 3 is made of a flexible material. For example, a resin cover is provided on the outer periphery.

  As described above, the accuracy of position confirmation of the position confirmation device 1 can be improved by providing the contact portion 3 with various devices.

(Installation of position confirmation device)
The transport apparatus 300 includes a pair of structural members 320 in accordance with the pair of receiving portions 302. The transport device 300 includes the position confirmation device 1 in accordance with the structural member 320. For example, as illustrated in FIG. 7, the transport device 300 includes the position check device 1 </ b> A and the position check device 1 </ b> B in front of the structural members 320 </ b> A and 320 </ b> B (on the transport target object 200 side).

  Moreover, the moving direction of the conveying apparatus 300 can be either before or after. For this reason, as FIG. 13 shows, it is also suitable for the conveying apparatus 300 to be equipped with a total of four position confirmation apparatus 1A-1D in each before and behind a pair of structural member 320A, 320B.

  FIG. 13 is a front view of the transport apparatus according to Embodiment 2 of the present invention. FIG. 13 shows the transport device 300 as viewed from above. The transport apparatus 300 includes a pair of structural members 320A and 320B. Receiving portions 302A and 302B are provided on the upper portions of the structural members 320A and 320B, respectively.

  The conveyance device 300 connects the position confirmation devices 1A and 1C before and after the structural member 320A. In addition, the conveyance device 300 connects the position confirmation devices 1B and 1D before and after the structural member 320B. In this way, the entry position can be confirmed by the position confirmation devices 1 </ b> A to 1 </ b> D even when the transport device 300 moves in any direction.

  FIG. 14 is a side view of the transport apparatus according to Embodiment 2 of the present invention.

  FIG. 14 shows a state in which the transfer device 300 shown in FIG. 13 is viewed from the side. As is clear from FIG. 14, the position confirmation device 1 </ b> A to 1 </ b> D confirms the entry position of the transport device 300 even when traveling in any moving direction (entry direction) indicated by arrows X and Y.

  When proceeding to the arrow X, the transport apparatus 300 can confirm the approach position using the position confirmation apparatuses 1A and 1B. As described in the first and second embodiments, when at least one of the position confirmation devices 1A and 1B comes into contact with the main body 201 of the contact portion 3, the electrical switch 4 is separated. When energization is interrupted by the separation of the electrical switch 4, the drive unit 303 of the transport device 300 stops. Due to the stop of the drive unit 303, the transport device 300 stops entering.

  Conversely, when proceeding to the arrow Y, the transport apparatus 300 can confirm the entry position using the position confirmation apparatuses 1C and 1D. As described in the first and second embodiments, when at least one of the position confirmation devices 1C and 1D comes into contact with the main body 201 of the contact portion 3, the electrical switch 4 is separated. When energization is interrupted by the separation of the electrical switch 4, the drive unit 303 of the transport device 300 stops. Due to the stop of the drive unit 303, the transport device 300 stops entering.

  As described above, the conveyance device 300 includes the pair of position confirmation devices 1 </ b> A to 1 </ b> D at the front and rear, so that the position can be confirmed regardless of the entry direction of the conveyance device 300.

  In addition, the position confirmation apparatus demonstrated in Embodiment 1-2 is an example explaining the meaning of this invention, and includes the deformation | transformation and remodeling in the range which does not deviate from the meaning of this invention.

DESCRIPTION OF SYMBOLS 1 Position confirmation apparatus 2 Support member 3 Contact part 4 Electric switch 5 Contact 6 Connection position 7 Weight 100 Installation tool 110 Axis 111 Exposed axis 200 Conveyance object 201 Main body part 300 Conveyance apparatus

Claims (12)

A transport device that transports a transport object installed at a predetermined installation position is a position confirmation device for receiving the transport object,
The position confirmation device includes a support member attached in a rotatable state to a connection position with the transport device;
A contact portion provided on one side of the connection position in the support member and capable of contacting at least a part of the transport object;
An electrical switch provided on the other side of the connection position in the support member and connected to or separated from a contact of the transport device;
The transport object has a shaft and a main body member attached to the shaft, and the shaft has an exposed shaft that is exposed at both ends to which the main body member is not attached.
When the contact portion is in contact with the body member, the support member is rotated so that the electrical switch is separated from the contact,
When the contact portion does not come into contact with the main body member, the support member maintains a connection between the electrical switch and the contact with a gravity balance with the connection position as a fulcrum.   The support member has a weight capable of adjusting a contact pressure when the contact portion comes into contact with the main body member, and the weight can change the vertical position of the support member, thereby reducing the contact pressure. The position confirmation device according to claim 1, wherein the position confirmation device is adjustable.   The position confirmation device according to claim 2, wherein the support member is connected to the contact by the gravity balance by the weight in a state where there is no contact object in the contact portion.   3. The position according to claim 2, wherein the support member has a gravity balance due to the weight in a state where there is no contact object in the contact portion, and the contact portion is inclined outward from the transfer device with respect to the connection position. Confirmation device.   The position check device according to claim 1, wherein the main body member is formed by winding a sheet member around the shaft.   The position confirmation device according to claim 5, wherein the exposed shaft is a portion that remains due to winding of the sheet member.   The position confirmation device according to any one of claims 1 to 6, wherein a height of the contact portion corresponds to a position of the main body portion.   The position confirmation device according to claim 1, wherein the contact portion protrudes from an outer periphery of the support member.   The position confirmation device according to any one of claims 1 to 8, wherein when the electrical switch is separated from the contact point by the contact portion being in contact with the main body member, the transport device stops moving.   The conveying device includes a pair of receiving portions corresponding to the exposed shaft of the conveyance object and a pair of structural members that support the pair of receiving portions, and the supporting members are respectively the pair of structural members. The position confirmation device according to claim 1, wherein the position confirmation device is connected to the device.   The position confirmation device according to claim 10, wherein the transport device includes the pair of structural members, and the support member is connected to each of the front and rear of the pair of structural members. The position confirmation device according to any one of claims 1 to 11,
A travel drive that travels on the floor;
A receiving portion for receiving the exposed shaft of the conveyance object,
When the electrical switch is in contact with the contact, the travel drive unit is driven. When the electrical switch is separated from the contact, the travel drive unit is not driven.
The conveying apparatus which can convey the said conveyance target object by the said receiving part receiving the said exposure axis | shaft.