Unmanned transport vehicle and manufacturing system

Abstract

The invention provides an unmanned transport vehicle and a manufacturing system, which can prevent a winding body from being damaged under the condition that a winding core is supplied to a sheet winding device and the like. An unmanned transport vehicle (20) is provided with: a wound body holding unit (22) for holding a wound body; a sensing unit (23) that acquires information about a wound body holding unit passage region (R1) including the passage position of the wound body holding unit (22) when the unmanned transport vehicle (20) advances; an illumination unit (24) that emits illumination light (L1) toward the wound body holding unit passage region (R1); and a traveling unit (25b) that is capable of traveling and holds the winding body holding unit (22), the sensing unit (23), and the illumination unit (24).

Description

Technical Field

[0001] The present invention relates to an unmanned transport vehicle and a manufacturing system. Background Art

[0002] In the past, there are known unmanned transport vehicles that have a winding body holding portion that holds a winding body and a core holding portion that holds a winding core having an adhesive on its surface. For example, Patent Document 1 discloses an unmanned transport vehicle that supplies a winding core to a sheet winding device and collects a winding body from the sheet winding device.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2004-91007

[0006] Here, if the unmanned conveyor enters the sheet winding device when the sheet is hanging down from the winding body provided in the sheet winding device, a part of the unmanned conveyor may contact and become entangled with the sheet hanging down from the winding body, and as a result, the winding body may be damaged. Summary of the invention

[0007] Problem that the invention aims to solve

[0008] An object of the present invention is to provide an unmanned conveyor that can prevent a winding body from being damaged when the unmanned conveyor enters a sheet winding device or the like.

[0009] Technical solutions to solve problems

[0010] The unmanned conveyor vehicle of the present invention is an unmanned conveyor vehicle comprising: a winding body holding portion for holding the winding body; a sensing portion for acquiring information on a winding body holding portion passing area including a passing position of the winding body holding portion when the unmanned conveyor vehicle moves forward; and a lighting portion for emitting lighting light toward the winding body holding portion passing area.

[0011] The unmanned transport vehicle of the present invention is an unmanned transport vehicle comprising: a core holding portion for holding a core having an adhesive on its surface; a sensing portion for acquiring information about a core passing area including a passing position of a core held by the core holding portion when the unmanned transport vehicle moves forward; and a lighting portion for emitting lighting light toward the core passing area.

[0012] Effects of the Invention

[0013] According to the present invention, it is possible to provide an unmanned conveyor vehicle and a manufacturing system that can prevent a winding body from being damaged when the unmanned conveyor vehicle enters a sheet winding device or the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram showing a manufacturing system including an automated guided vehicle according to an embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of the winding section according to the present embodiment as viewed from the front (downstream side in the conveyance direction).

[0016] Figure 3 It is a top view of the holding portion main body of the winding core holding portion according to the present embodiment.

[0017] Figure 4 This is a schematic diagram of the core holding portion when viewed from the front of the automated guided vehicle.

[0018] Figure 5 It is a schematic diagram showing the winding body holding portion passing region and the winding core passing region according to the present embodiment.

[0019] Figure 6 It is a schematic diagram showing the lifting and lowering operation of the winding core holding portion.

[0020] Figure 7 It is a schematic diagram showing the lifting and lowering operation of the wound body holding unit.

[0021] Figure 8 This is a block diagram showing the hardware configuration of the automated guided vehicle according to the present embodiment.

[0022] Fig. 9 This is a block diagram showing the functional structure of the automated guided vehicle control device according to the present embodiment.

[0023] Fig.10 This is a block diagram showing the hardware configuration of the ceramic green sheet molding apparatus according to the present embodiment.

[0024] Fig.11 It is a block diagram showing the functional structure of the control device according to the present embodiment.

[0025] Fig.12 This is a flowchart for explaining the flow of the wound body production process according to the present embodiment.

[0026] Fig.13 It is used to illustrate Fig.12 A flow chart of the process of a wound body winding step included in the wound body manufacturing process.

[0027] Fig.14 It is used to describe the continuous Fig.13 A flowchart of the process of the winding body disassembly process and the core setting process in the case of the winding body winding process.

[0028] Fig.15It is used to illustrate Fig.14 Schematic diagram of the first half of the winding body recovery action included in the core setting process.

[0029] Fig.16 It is used to illustrate Fig.14 Schematic diagram of the second half of the winding body recovery action included in the winding core setting process.

[0030] Fig.17 It is used to illustrate Fig.14 Schematic diagram of the first half of the core setting action included in the core setting process.

[0031] Fig.18 It is used to illustrate Fig.14 Schematic diagram of the second half of the core setting action included in the core setting process.

[0032] Fig.19 This is a flowchart for explaining the flow of the film sag sensing process according to the present embodiment.

[0033] Fig. 20 It is a schematic diagram for explaining the membrane sag sensing method according to the present embodiment.

[0034] Fig.21 is the equivalent of Figure 2 Schematic diagram of .

[0035] Fig. 22 is from Fig.21 Schematic diagram of the core retaining portion when viewed from the side.

[0036] Description of Reference Numerals

[0037] R1: winding body holding portion passing area;

[0038] L1: illumination light;

[0039] 20: Unmanned transport vehicle;

[0040] 22: winding body holding portion;

[0041] 23: sensing part;

[0042] 24: Lighting Department. DETAILED DESCRIPTION

[0043] Below, using Figure 1 , Figure 2 A manufacturing system S including the automated guided vehicle according to the present embodiment will be described. Figure 1 1 is a schematic diagram showing a manufacturing system S including an automated guided vehicle according to an embodiment of the present invention. Figure 2This is a schematic diagram of the winding section according to the present embodiment as viewed from the front (downstream side in the conveyance direction).

[0044] The manufacturing system S is a system for manufacturing a roll R wound with a green film G and conveying it to a subsequent process. The green film G is a semi-finished product in the manufacturing process of a laminated ceramic electronic component. As an example of a laminated ceramic electronic component, for example, a laminated ceramic capacitor can be cited.

[0045] In addition, the manufacturing system S is not limited to the green film G, and can be applied to a manufacturing system having a step of winding a sheet material around a winding core T to manufacture a wound body R.

[0046] like Figure 1 As shown, the manufacturing system S includes a ceramic green sheet molding apparatus 10, an unmanned conveyor vehicle 20, and a control device 30. The manufacturing system S also includes an unmanned conveyor vehicle control device 27 and the control device 30 as a control unit. This will be described in detail below.

[0047] <Ceramic Green Sheet Molding Apparatus>

[0048] use Figure 1 , Figure 2 The ceramic green sheet molding device 10 is described. The ceramic green sheet molding device 10 of the present embodiment is a device for molding ceramic green sheets on a carrier film C. In the following description, the carrier film C on which the ceramic green sheets are molded is combined and described as a green sheet film G. In addition, the ceramic green sheet molding device 10 continuously winds the green sheet film G as a sheet material onto the winding core T, thereby manufacturing a winding body R. That is, the winding body R is formed by winding the green sheet film G as a sheet material onto the winding core T.

[0049] Here, the core T is used to wind up the raw film G. The core T is a cylindrical member having a hollow portion formed therein for inserting a winding shaft described later. The core T has an adhesive on its surface. Therefore, when the raw film G is wound around the core T, one end of the raw film G can be easily adhered to the core T. In the present embodiment, the core T is a paper tube made of paper. However, the material of the core T is not limited thereto, and may be made of resin or metal.

[0050] like Figure 1As shown, the ceramic green sheet molding device 10 includes an unwinding section 11, an applying section 12, and a winding section 13 as a sheet winding device. In addition, the ceramic green sheet molding device 10 may also have a housing 10a. The housing 10a is a structure for covering the unwinding section 11, the applying section 12, and the winding section 13, and can protect the molded green sheet film G from the influence of the external environment such as changes in external temperature and dust. In addition, the housing 10a is formed with an opening for the unmanned transport vehicle 20 that transports the manufactured winding body R to enter and exit, and a gate 10b described later is provided at the opening.

[0051] like Figure 1 As shown, the unwinding unit 11 unwinds the carrier film C from the upper side of the roll body Rc wound with the carrier film C toward the application unit 12, and supplies the carrier film C to the application unit 12. As the carrier film C, for example, a light-transmitting plastic film can be used.

[0052] In addition, although the unwinding section 11 unwinds the carrier film C from the upper side of the roll body Rc on which the carrier film C is wound in the manufacturing system S according to the present embodiment, the present invention is not limited to this. For example, the unwinding section 11 may unwind the carrier film C from the lower side of the roll body Rc on which the carrier film C is wound. In the manufacturing system S according to the present embodiment, the rotation axis of the roll body Rc of the unwinding section 11 is set to rotate in conjunction with the winding section 13 described later. However, the setting of the rotation axis of the roll body Rc of the unwinding section 11 is not limited to this.

[0053] The coating unit 12 coats the carrier film C with a slurry containing a ceramic material and forms a ceramic green sheet on the carrier film C. In the present embodiment, the slurry containing a ceramic material is coated on the carrier film C by, for example, a doctor blade method. The green sheet film G on which the ceramic green sheet is formed on the carrier film C by the coating unit 12 is dried by a drying unit (not shown) and then conveyed to the winding unit 13.

[0054] like Figure 1 As shown, the winding unit 13 winds up the green sheet film G formed with the ceramic green sheet on the carrier film C from the upper side of the winding core T into a roll shape, thereby manufacturing the winding body R and recovering it. The winding unit 13 includes a pair of supporting parts 130 and a pair of clamping parts 131. In addition, although in the manufacturing system S involved in this embodiment, the winding unit 13 winds up the green sheet film G from the upper side of the winding core T into a roll shape, it is not limited to this. For example, the winding unit 13 may also wind up the green sheet film G from the lower side of the winding core T into a roll shape.

[0055] like Figure 1 , Figure 2 As shown, the support part 130 is a structure for supporting the clamping part 131. The support part 130 is configured to extend upward from the ground. However, the structure of the support part 130 is not limited thereto. For example, as long as it is a structure for supporting the clamping part 131, it can also extend horizontally from the equipment frame.

[0056] The clamping portion 131 is a structure for rotatably holding the winding core T. For example, the clamping portion 131 according to the present embodiment has Figure 2 The pair of winding shafts 131a shown, the pair of chuck portions 131b, and the Fig.10 The chuck driving unit 131c and the winding driving unit 131d are shown.

[0057] The pair of winding shafts 131a is a structure for clamping the winding core T and rotating it. In the present embodiment, one of the pair of winding shafts 131a is held by the support portion 130 so as to be able to slide along the mutually opposing directions of the pair of supporting portions 130, and is configured to slide in the opposing directions of the pair of winding shafts 131a by the drive of the chuck drive portion 131c. In addition, it is not limited to this, and it is also possible that both sides of the pair of winding shafts 131a are held so as to be able to slide along the mutually opposing directions, and are configured to slide in the opposing directions of the pair of winding shafts 131a by the drive of the chuck drive portion 131c.

[0058] The chuck driving unit 131c may use, for example, a cylinder, a motor, etc. as a driving source. The other of the pair of winding shafts 131a is fixed to the support unit 130. Therefore, one of the pair of winding shafts 131a slides by the driving of the chuck driving unit 131c, so that the gap between the pair of winding shafts 131a becomes narrower, thereby the pair of winding shafts 131a can move to a clamping position for clamping the winding core T. In addition, one of the pair of winding shafts 131a slides by the driving of the chuck driving unit 131c, so that the gap between the pair of winding shafts 131a becomes wider, thereby the pair of winding shafts 131a can move to a clamping release position for releasing the clamping of the winding core T.

[0059] In addition, a pair of chuck portions 131b is a structure for holding the winding core T. The chuck portion 131b is a truncated cone-shaped member, which is formed so that the diameter becomes smaller as it goes toward one side in the central axis direction, and is formed so that the diameter becomes larger as it goes toward the other side. More specifically, in the central axis direction, one side of the chuck portion 131b is formed smaller than the hollow portion of the winding core T. In addition, in the central axis direction, the other side of the chuck portion 131b is formed larger than the hollow portion of the winding core T. In addition, the shape of the chuck portion 131b is not limited to this.

[0060] In addition, the other side of the chuck portion 131b is provided at one end of the winding shaft 131a. Therefore, one side of the chuck portion 131b can be inserted into the hollow portion of the winding core T, and by pressing in, the peripheral surface of the chuck portion 131b can be pressed against the inner surface of the hollow portion and fit in. That is, a pair of chuck portions 131b can be pressed into the hollow portion of the winding core T from both sides by a pair of winding shafts 131a and fit in, thereby clamping.

[0061] One of the pair of chuck parts 131b is rotatably held at one end of one of the pair of winding shafts 131a. In addition, the other of the pair of chuck parts 131b is rotatably held at one end of the other of the pair of winding shafts 131a, and is configured to rotate by the drive of the winding drive part 131d. The winding drive part 131d may also use a motor as a driving source, for example. In addition, although the winding drive part 131d involved in this embodiment is only provided on the other side of the pair of chuck parts 131b, it is not limited to this, and may also be provided on both sides.

[0062] In this way, the winding core T is arranged between the pair of winding shafts 131a so that the center line of the pair of winding shafts 131a and the center line of the winding core T are roughly consistent. In this state, the clamping part 131 moves the pair of winding shafts 131a to the clamping position, thereby clamping the winding core T. In addition, the clamping part 131 can rotate the other of the pair of chuck parts 131b by driving the winding driving part 131d in the state of clamping the winding core T, thereby performing the winding action.

[0063] Therefore, in the winding section 13 , the core T provided in the clamping section 131 is rotationally driven by the winding driving section 131 d , so that the green film G formed on the carrier film C is wound around the core T, and a roll R is formed.

[0064] The winding section 13 of the manufacturing system S may include an air blowing section 132. For example, in the manufacturing system S according to the present embodiment, the air blowing section 132 is provided in an upper portion near the winding section 13 inside the housing 10a.

[0065] In addition, although the air blowing unit 132 is provided in the upper portion of the casing 10 a near the winding unit 13 in the present embodiment, the present invention is not limited thereto. For example, the air blowing unit 132 may be provided in the automated guided vehicle 20 .

[0066] like Figure 1 , Figure 5 As shown, when the light-transmitting film droops from the roll body provided in the winding unit 13, the air blowing unit 132 blows air W to shake the drooping light-transmitting film. The air blowing unit 132 may blow air directly to the light-transmitting film drooping from the roll body R, or may blow air through other components.

[0067] The air blowing unit 132 can blow air to the drooping green film G, and the light-transmitting film can be shaken efficiently. This improves the sensing efficiency of the light-transmitting film by the sensing unit.

[0068] In addition, if Figure 1 , Figure 2 , Figure 5As shown, the winding section 13 of the manufacturing system S may also be provided with a gate 10b that blocks the entry of the unmanned conveying vehicle 20. As an example of the gate 10b, for example, it includes a door body, a track that supports the door body and enables it to slide in the up-down direction, and a gate drive unit that slides the door body in the up-down direction. The gate 10b has an open state and a shielded state. The open state is a state in which the door body slides upward and moves to the uppermost part, allowing the entry of the unmanned conveying vehicle, and the shielded state is a state in which the door body slides downward and moves to the lowermost part, not allowing the entry of the unmanned conveying vehicle 20.

[0069] <Unmanned transport vehicle>

[0070] Next, use Figure 1 , Figure 3 to Figure 9 The automated guided vehicle 20 will be described. Figure 3 It is a plan view of the holding portion main body 210 of the core holding portion 21 according to the present embodiment. Figure 4 This is a schematic diagram of the core holding portion 2I when viewed from the front of the unmanned transport vehicle 20. Figure 4 In the figure, for the convenience of explanation, the roller 212 described later is omitted. Figure 5 It is a schematic diagram which shows the winding body holding|maintenance part passage area R1 and the winding core passage area R2 which concern on this embodiment. Figure 6 It is a schematic diagram showing the lifting and lowering operation of the core holding portion 21 . Figure 7 It is a schematic diagram showing the lifting and lowering operation of the wound body holding unit 22 . Figure 8 It is a block diagram showing the hardware configuration of the automated guided vehicle 20 according to the present embodiment. Fig. 9 It is a block diagram showing the functional structure of the automated guided vehicle control device 27 according to the present embodiment.

[0071] The unmanned conveyor 20 supplies the core T to the winding section 13 as a sheet winding device, and collects the roll body R from the winding section 13. More specifically, the unmanned conveyor 20 conveys the core T to the clamping section 131 of the winding section 13, thereby supplying the core T. In addition, the unmanned conveyor 20 collects the roll body R manufactured by winding the green sheet film G on the core T from the winding section 13, and conveys the collected roll body R to a predetermined location.

[0072] The unmanned guided vehicle 20 involved in this embodiment travels, for example, along a track pre-laid on a route specified as the travel route of the unmanned guided vehicle 20. In addition, the unmanned guided vehicle 20 may store the travel route information in the storage unit 277 described later, obtain its own position information, and travel on a given route based on the travel route information and the obtained position information.

[0073] like Figure 1 , Figure 3 to Figure 9As shown, the unmanned transport vehicle 20 includes a core holding portion 21 for holding a core T, a winding body holding portion 22 for holding a winding body, a stopper 213 as a movement limiting portion for limiting the movement of the core in the winding core axis direction, a sensor 23, a lighting portion 24, a vehicle body 25, a ground obstacle sensor 26, and Figure 8 The unmanned transport vehicle control device 27 shown in FIG. Figure 4 In addition, illustration of the stopper 213 is omitted.

[0074] (Core holding portion)

[0075] like Figure 3 , Figure 6 to Figure 9 As shown, the core holding portion 21 includes a lifting portion 211, a holding portion body 210, and a roller 212 as a rolling portion.

[0076] (Lifting unit)

[0077] like Figure 4 , Figure 6 to Figure 9 As shown, the lifting part 211 is a structure for lifting and lowering the holding part main body 210. For example, the lifting part 211 of the present embodiment includes a hydraulic mechanism not shown in the figure and a core lifter configured to be freely lifted and lowered by the hydraulic mechanism. The core lifter is freely and telescopically arranged in a hollow portion 25a1 of a trolley portion 25a described later formed in the vehicle body portion 25. The core lifter has, for example, a known telescopic mechanism such as a telescopic tube and a multi-section connecting rod mechanism, and is configured so that the core lifter extends when rising and contracts when descending. That is, the core lifter is lifted and lowered by being extended and retracted by the hydraulic mechanism. In addition, the driving source of the lifting mechanism is not limited to the hydraulic mechanism. For example, it can also be an electric motor.

[0078] (Main body of holding part)

[0079] The holding portion body 210 is a member for holding the winding core T. The holding portion body 210 has two surfaces facing the winding core T when the winding core T is placed on the roller 212. Figure 3 As shown in FIG. 1 , the holding portion main body 210 has two inclined surfaces 210 a that are V-shaped. In other words, the two surfaces 210 a are inclined so as to be separated from each other as they go upward.

[0080] The holding portion body 210 is made of, for example, stainless steel. However, the material of the holding portion body 210 is not limited to stainless steel. The holding portion body 210 is preferably made of a material having rigidity, for example, preferably made of metal. In this case, the surface of the holding portion body 210 is metal. In addition, the holding portion body 210 can also be made of a rubber such as a polyurethane rubber sheet arranged on the surface of a metal such as stainless steel.

[0081] The holding part body 210 is configured to be able to be raised and lowered. For example, the holding part body 210 is held by a winding core elevator of the lifting part 211 and is raised and lowered by the driving of the lifting part 211. The holding part body 210 is positionally controlled between the lowered position h1 and the raised position h2 by the lifting part 211. For example, the lowered position h1 is Figure 1 , Figure 4 , Figure 5 , Figure 7 The position of the holding portion body 210 shown in FIG. Figure 6 The position of the holding portion main body 210 is shown. In addition, the holding portion main body 210 may also include a detection unit such as a proximity sensor or a touch sensor for detecting whether the winding core T is held.

[0082] (Roller)

[0083] The roller 212 is a structure for placing the core T so that it can move in the core axis direction. The roller 212 is held so that it can roll relative to the holding portion body 210. In addition, the roller 212 is axially supported in a direction intersecting the core axis direction. Therefore, the roller 212 can place the core T so that it can move freely in the axis direction of the core T. The surface 212a of the roller 212 is formed of a high mold release surface having a higher mold release property than the surface 210a of the holding portion body 210.

[0084] Alternatively, at least the surface 212a of the roller 212 may be formed of a material containing a fluororesin. For example, the roller 212 may be formed of a fluororesin. Alternatively, a fluororesin-containing electroless nickel plating layer may be formed on the surface 212a of the roller 212. Alternatively, a fluororesin coating may be formed on the surface 212a of the roller 212. In addition, the surface 212a of the roller 212 may be subjected to a mold-releasing surface treatment. For example, the surface 212a of the roller 212 may be a mold-releasing surface formed with an uneven surface by sandblasting or the like, which reduces the contact area with the winding core T.

[0085] The core holding portion 21 has at least four rollers 212. For example, the core holding portion 21 has two or more rollers 212 on each of the two inclined surfaces of the holding portion body 210. In addition, although a cylindrical roller is used as the rolling portion in this embodiment, the rolling portion is not limited to a cylindrical roller. For example, a spherical ball roller may also be used.

[0086] <Blocker>

[0087] The unmanned transport vehicle 20 also has a stopper 213 as a movement limiting portion. When the holding portion main body 210 of the core holding portion 21 is set at the descending position h1, the stopper 213 limits the movement of the core T held by the holding portion main body 210 of the core holding portion 21 in the direction of the core axis. When the holding portion main body 210 of the core holding portion 21 is set at the ascending position h2, the stopper 213 exposes the end of the core T held by the holding portion main body 210 of the core holding portion 21.

[0088] like Figure 4 As shown in FIG. 1 , the stopper 213 is composed of a pair of plate-like members respectively arranged on the vehicle body 25 at both ends of the winding core axis direction of the holding portion main body 210. That is, the stopper 213 is set to be fixed on the vehicle body 25. Figure 4 As shown, when the holding portion body 210 is set at the lowered position h1, the plate-shaped member as the shielding portion shields both ends of the winding core T placed on the roller 212, thereby the stopper 213 restricts the movement of the winding core T in the winding core axis direction. In addition, when the holding portion body 210 is set at the raised position h2, the plate-shaped member as the shielding portion exposes both ends of the winding core T placed on the roller 212, thereby releasing the restriction on the movement of the winding core T in the winding core axis direction.

[0089] In addition, the pair of plate-like members are formed so as to become wider as they go upward. As a result, the lateral width when the winding core T is set becomes wider, so it becomes easier to set the winding core T to the holding portion body 210. In addition, when setting the winding core T, it is possible to guide the winding core T so that the position of the winding core axis direction is positioned at a suitable place of the holding portion body 210. After the winding core T is set in the holding portion body 210, the movement of the winding core T in the winding core axis direction is restricted.

[0090] (Wound body holding portion)

[0091] The roll holding section 22 collects and holds the roll R, which is a roll-shaped green sheet film G wound up by the winding section 13 of the ceramic green sheet forming device 10. Figures 5 to 9 As shown, the roll holding section 22 includes a roll lifting section 221 and a holding section main body 220 .

[0092] (Wound body lifting part)

[0093] The winding body lifting section 221 is a structure for lifting and lowering the holding section main body 220. For example, the winding body lifting section 221 of the present embodiment includes a hydraulic mechanism not shown in the figure and a winding body elevator configured to be freely lifted and lowered by the hydraulic mechanism. The winding body elevator is arranged in the hollow part of the trolley part 25a formed in the vehicle body part 25, similarly to the winding core elevator, and is lifted and lowered by the hydraulic mechanism. In addition, the driving source of the lifting mechanism is not limited to the hydraulic mechanism. For example, it can also be an electric motor.

[0094] (Wound body holding portion main body)

[0095] The surface of the holding portion body 220 holding the wound body R has a curved surface suitable for the size of the recovered wound body R. The curved surface is preferably a curved surface with a curvature radius slightly larger than that of the recovered wound body R. However, the surface of the holding portion body 220 holding the wound body R is not limited to a curved surface. For example, it may also have two inclined surfaces.

[0096] The holding part main body 220 is made of, for example, stainless steel. However, the material of the holding part main body 220 is not limited to stainless steel. The holding part main body 220 is preferably made of a material having rigidity, for example, preferably made of metal. In addition, the holding part main body 220 may also be made of a rubber such as a polyurethane rubber sheet arranged on the surface of a metal such as stainless steel. That is, the surface of the holding part main body 220 may also be rubber. Thereby, direct contact between the winding body and the metal surface can be prevented, and the winding body can be protected. In addition, by providing a rubber layer, the effect of dispersing pressure and absorbing impact when holding the winding body can be obtained.

[0097] The holding part body 220 is formed to be able to rise and fall. The holding part body 220 is positionally controlled between the lowered position H1 and the raised position H2 by the winding body lifting part 221. For example, the lowered position H1 is Figure 1 , Figure 5 , Figure 6 The position of the holding portion body 210 shown in FIG. Figure 7 The position of the holding portion main body 210 shown. In addition, the holding portion main body 220 may also include a detection unit such as a proximity sensor, a touch sensor, etc. for detecting whether the winding body R is held.

[0098] (Sensor for detecting ground obstacles)

[0099] like Figure 1 , Figure 5 , Figure 8 , Fig. 9 As shown in the figure, the unmanned guided vehicle 20 may also include a ground obstacle sensing unit 26 for sensing the presence or absence of obstacles on the ground on which the unmanned guided vehicle 20 is traveling. In addition, in this specification, the ground obstacle sensing unit 26 is sometimes omitted for convenience of description. The ground obstacle sensing unit 26 may also be provided in one direction of the forward direction of the unmanned guided vehicle 20 and in the other direction of the forward direction. For example, the ground obstacle sensing unit 26 may also be provided in front of the forward direction of the unmanned guided vehicle 20 and in the rear of the forward direction.

[0100] The ground obstacle sensing unit 26 may also be an image sensor, a laser scanner, an ultrasonic sensor or other non-contact sensor. For example, in the case of using a laser scanner, Figure 1 , Figure 5 As shown, the reflected light of the irradiated laser light L2 is detected while scanning, thereby sensing the plane direction and detecting obstacles located on the ground.

[0101] (Sensing unit)

[0102] The sensor unit 23 obtains information about the area through which the winding body holding unit passes. The sensor unit 23 of the present embodiment is a sheet droop sensor that senses the presence of the sheet HS drooping from the winding body R. During the winding of the winding body R, the winding end portion of the winding body R sometimes droops after the winding of the winding body R ends. Therefore, in the case where the sheet HS droops from the winding body R, if the unmanned conveyor 20 enters the winding section 13 as a sheet winding device, the unmanned conveyor 20 contacts the drooping sheet HS, and as a result, there is a possibility that an undesirable situation such as the winding body being damaged may occur.

[0103] More specifically, if the unmanned conveyor vehicle 20 enters the winding section 13 when the film is hanging down from the roll body R arranged in the winding section 13, the sheet HS hanging down from the roll body R contacts the holding part main body 220 and the roll body lifting part 221 of the roll body holding part 22 of the unmanned conveyor vehicle 20, resulting in that the roll body R is sometimes damaged.

[0104] Furthermore, if the unmanned conveyor vehicle 20 enters the winding section 13 while the film is sagging from the roll body R disposed in the winding section 13, the sheet HS sagging from the roll body R may be caught in the wheels of the traveling section 25b of the unmanned conveyor vehicle 20, resulting in the roll body R being damaged in some cases.

[0105] In addition, in the case where the unmanned conveyor 20 has a core holding portion 21, if the unmanned conveyor 20 enters the winding section 13 when the film is hanging down from the winding body R provided in the winding section 13, the core T held by the core holding portion 21 of the unmanned conveyor 20 and the film hanging down from the winding body R will stick together, resulting in that the winding body R may sometimes be damaged.

[0106] Therefore, the unmanned conveyor 20 of the present embodiment has a sensor 23 for sensing the presence of the sheet HS hanging down from the roll body R provided in the winding section 13. Furthermore, the unmanned conveyor control device 27 as a control section described later controls the unmanned conveyor 20 so that when there is a hanging sheet HS, the unmanned conveyor 20 does not contact the hanging sheet HS.

[0107] In addition, generally, the green film G is formed onto the carrier film C in the portion other than the winding start and winding end of the roll body R. Therefore, the winding start portion and the winding end portion of the roll body R are composed only of the carrier film C, and the green film G is not formed. In the present embodiment, the carrier film C is composed of a light-transmitting film. Therefore, the sheet HS hanging down from the roll body R is composed of a light-transmitting film.

[0108] like Figure 5 As shown, the sensor 23 acquires information on the roll holder passing region R1 including the position where the roll holder 22 passes when the automated guided vehicle 20 moves forward. Therefore, the sensor 23 can confirm that there is no obstacle on the path where the roll holder 22 passes.

[0109] In addition, if Figure 5 As shown, the sensor 23 of this embodiment acquires information of the core passing region R2 including the position through which the core T held by the core holding portion 21 passes when the automated guided vehicle 20 moves forward. Therefore, the sensor 23 can confirm that there is no obstacle in the path through which the core holding portion 21 passes.

[0110] The sensor unit 23 of this embodiment is an image sensor that obtains image information of at least one of the winding body holding portion passing region R1 and the core passing region R2. In this embodiment, the sensor unit 23 obtains information about the winding body holding portion passing region R1. In addition, the sensor unit 23 obtains information about the core passing region R2.

[0111] The sensor unit 23 according to the present embodiment acquires image information of the roll holding portion passing region R1 and the core passing region R2 at a plurality of timings corresponding to the emission timings of the illumination light L1 emitted by the illumination unit 24 described later.

[0112] In addition, the sensor unit 23 that obtains information on at least one of the winding body holding unit passing area R1 and the core passing area R2 may not sense the presence or absence of obstacles on the ground near the unmanned guided vehicle 20. The sensor unit 23 is preferably a sensor unit that obtains information on a sensing area above the sensing area of ​​the above-mentioned ground obstacle sensor 26.

[0113] In addition, the sensor 23 is preferably a sensor that acquires information about a wider area than the sensing area of ​​the ground obstacle sensor 26. More specifically, it is preferably a sensor that acquires information about a wider area in the height direction than the sensing area of ​​the ground obstacle sensor. Even in the case where the sheet HS hanging down from the winding body R does not reach the ground, the sensor 23 as the sheet hanging down sensor can sense the existence of the sheet HS that has not reached the ground.

[0114] (Lighting Department)

[0115] The lighting unit 24 is a structure for improving the sensing efficiency of the sensing unit 23. Figure 5 As shown, the lighting unit 24 emits the lighting light L1 toward the winding body holding unit passing region R1 including the position through which the winding body holding unit 22 passes when the unmanned guided vehicle 20 moves forward. In addition, the lighting unit 24 emits the lighting light L1 toward the core passing region R2 including the position through which the core T held by the core holding unit 21 passes when the unmanned guided vehicle 20 moves forward.

[0116] The lighting unit 24 may also be integrally formed with the sensor unit 23. The lighting unit 24 of the present embodiment emits flashes as the lighting light L1. The lighting unit 24 of the present embodiment is controlled to emit the lighting light L1 multiple times at intervals. For example, from the time the gate 10b is opened to the time the unmanned transport vehicle 20 reaches the winding body recovery position, the lighting unit 24 performs intermittent irradiation at intervals of less than 1 second.

[0117] (Body)

[0118] The vehicle body 25 includes a trolley portion 25a and a travel portion 25b. The trolley portion 25a is equipped with various structures of the unmanned transport vehicle 20. For example, the trolley portion 25a is equipped with a core holding portion 21, a winding body holding portion 22, a sensor portion 23, a lighting portion 24, and a ground obstacle sensor portion 26 for sensing ground obstacles. In addition, the travel portion 25b is a structure that movably supports the trolley portion 25a. The travel portion 25b includes, for example, a plurality of wheels rotatably provided on the trolley portion 25a and a drive portion that rotationally drives the plurality of wheels. In addition, the structure of the travel portion 25b is not limited to this.

[0119] [Automated guided vehicle control device]

[0120] Next, use Figure 8 An example of the unmanned guided vehicle control device 27 is described below. The unmanned guided vehicle control device 27 is a structure for performing various controls such as the winding body recovery action, the winding core setting action, the driving action control, and the film sag sensing process described later of the unmanned guided vehicle 20. The unmanned guided vehicle control device 27 has a processor, etc., and the processor performs calculation processing to realize the control of various actions. Figure 8 As shown, the automated guided vehicle control device 27 includes a processor 270, a ROM 271, a RAM 272, a bus 273, an input / output interface 274, an input unit 275, an output unit 276, a storage unit 277, a communication unit 278, and a power supply unit 279. The structure of the automated guided vehicle control device 27 is not limited to this.

[0121] The processor 270 performs various operations and controls required for the operation of the unmanned guided vehicle control device 27. The processor 270 is, for example, a CPU (Central Processing Unit), an MPU (MicroProcessing Unit), an SoC (System on a Chip), a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field-Programmable Gate Array), or a combination thereof. In addition, the processor 270 may be a processor in which a hardware accelerator or the like is combined with these processors.

[0122] The processor 270 controls various parts of the unmanned guided vehicle control device 27 for realizing various functions based on programs such as firmware, system software, and application software stored in the ROM 271 or the RAM 272. In addition, the processor 270 executes the processing described later based on the program. In addition, part or all of the program may also be embedded in the circuit of the processor 270.

[0123] The processor 270, ROM 271, and RAM 272 are connected to each other via a bus 273. An input / output interface 274 is connected to the bus 273. The input / output interface 274 is connected to an input unit 275, an output unit 276, a storage unit 277, a communication unit 278, and a power supply unit 279.

[0124] The input unit 275 and the output unit 276 are user interfaces electrically connected to an input / output interface (not shown) by wire or wireless. The input unit 275 is composed of, for example, operation buttons of the unmanned guided vehicle 20. The output unit 276 includes a monitor 276a that displays an image for operating the unmanned guided vehicle 20, a speaker 276b that amplifies sounds such as warning sounds, and the like. In addition, the input unit 275 and the output unit 276 may have a structure in which a display function and an input function are integrated, such as a touch panel.

[0125] The storage unit 277 includes, for example, a main storage device and an auxiliary storage device, the main storage device being composed of a ROM (Read Only Memory) as a non-volatile memory, a RAM (Random Access Memory) as a volatile memory, etc., and the auxiliary storage device being composed of a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, etc. The storage unit 277 involved in this embodiment stores the transport route information transported by the unmanned transport vehicle 20, the sound information emitted by the speaker 276b of the output unit 276, and various programs executed by the control unit 280.

[0126] The communication unit 278 is a device that communicates with other computers etc. wirelessly in a communication method based on the communication standard of BLE (Bluetooth (registered trademark) Low Energy) or Wi-Fi (Wireless Fidelity). However, this is not limited to this. For example, the communication unit 278 can also communicate with other computers etc. by wire via a network cable.

[0127] The power supply unit 279 is a battery for supplying power to the unmanned guided vehicle 20. The power supply unit 279 may be, for example, a well-known battery such as a lithium-ion secondary battery, or a primary battery such as a dry cell. In addition, the power supply unit 279 is not limited to a battery, and may be connected to an external power source via a power cable, etc., thereby supplying power to the unmanned guided vehicle 20.

[0128] (Control Module)

[0129] Next, use Fig. 9 The functional structure of the unmanned guided vehicle control device 27 is described. The control unit 280 that performs various controls on the unmanned guided vehicle 20 is implemented by executing a program on a processor that performs arithmetic processing. The control unit 280 of this embodiment includes an input control unit 281, an output control unit 282, a communication control unit 283, a transport management unit 284, a lighting control unit 285, an information acquisition unit 286, a determination unit 287, a travel control unit 288, a notification unit 289, a core holding unit lifting control unit 290, and a winding body holding unit lifting control unit 291.

[0130] The input control unit 281 executes a process of accepting an operation of the input unit 275 by a manager of the automated guided vehicle 20 or the like. For example, the input control unit 281 executes a process of accepting an operation of turning on the power of the automated guided vehicle 20 by a manager or the like.

[0131] The output control unit 282 executes processing for displaying an image on the monitor 276a of the output unit 276. For example, the output control unit 282 executes processing for outputting a menu screen for operating the automated guided vehicle 20 to the monitor 276a.

[0132] The communication control unit 283 executes a process for communicating with an external device via the communication unit 278. For example, the communication control unit 283 executes a process for receiving conveyance instruction information of the winding body R and the winding core T transmitted from the control device 30 via the communication unit 278.

[0133] The transport management unit 284 executes a process for managing the transport of the roll R and the like by the automatic transport vehicle 20 .

[0134] The illumination control unit 285 controls the driving of the illumination unit 24. For example, while the shutter 10b of the ceramic green sheet molding apparatus 10 is open, the illumination control unit 285 controls the illumination unit 24 to perform an illumination operation of emitting the illumination light L1 a plurality of times.

[0135] The information acquisition unit 286 acquires the information acquired by the sensor unit 23. In addition, the information acquisition unit 286 may also acquire the information acquired by the ground obstacle sensor unit 26.

[0136] The determination unit 287 determines whether there is a light-transmitting film sagging from the roll R provided in the winding unit 13 based on the information acquired by the information acquisition unit 286. For example, when performing the film sagging sensing process described later, the determination unit 287 of the control unit 280 determines whether there is a light-transmitting film as the sheet HS sagging from the roll R provided in the winding unit 13 based on the information of at least any one of the roll holding portion passing area R1 and the core passing area R2 acquired by the sensor unit 23.

[0137] In the present embodiment, the determination unit 287 determines whether or not there is a light-transmitting film as the sheet material HS sagging from the roll body R based on the information that the roll body holding portion passes through the region R1 obtained by the sensor unit 23. Furthermore, the determination unit 287 determines whether or not there is a light-transmitting film as the sheet material HS sagging from the roll body R based on the information that the core passes through the region R2 obtained by the sensor unit 23. The film sagging sensing process will be described in detail later.

[0138] The travel control unit 288 executes the winding body conveyance control, the winding body collection preparation control, the replacement core setting preparation control, and the film sag sensing process.

[0139] The wound body transport control is a control for causing the travel unit 25b to travel on a predetermined route. For example, a track may be laid on a predetermined route, and the unmanned transport vehicle 20 may be caused to travel along the track.

[0140] The winding body recovery preparation control is the following control, that is, as described later Fig.15 As shown in FIG. 1 , the travel section 25b is traveled so that the holding section main body 220 of the winding body holding section 22 moves to the winding body collecting position below the winding shaft 131a. The winding core setting preparation control is the following control, that is, as described later Fig.17 As shown, the travel unit 25b is driven to move the holding unit body 210 of the core holding unit 21 to the core setting position below the winding shaft 131a. In addition, sensors may be provided at given intervals on the track so that the control unit 280 can grasp the position of the unmanned transport vehicle 20.

[0141] When it is determined in the film sagging sensing process that there is a translucent film sagging from the roll R provided in the winding unit 13, the travel control unit 288 performs control for stopping the forward movement of the automated conveyor vehicle 20. For example, control is performed to stop the driving of the travel unit 25b of the automated conveyor vehicle 20.

[0142] When it is determined that there is a sheet HS as a light-transmitting film hanging down from the roll body R provided in the winding section 13, the notification section 289 makes a notification. For example, when it is determined that there is a sheet HS hanging down from the roll body R provided in the winding section 13, the notification section 289 causes the speaker 276b of the output section 276 to output a warning sound.

[0143] The core holding portion lifting control unit 290 controls the movement of the lifting unit 211 of the core holding portion 21. For example, at the timing when the holding portion main body 210 of the core holding portion 21 moves to the core setting position below the winding shaft 131a by the core setting preparation control performed by the travel control unit 288, the holding portion main body 210 of the core holding portion 21 is lifted and moved to the lifting position h2.

[0144] The winding body holding part lifting control part 291 controls the operation of the winding body lifting part 221 of the winding body holding part 22. For example, at the timing when the holding part main body 220 of the winding body holding part 22 moves to the winding body recovery position below the winding shaft 131a by the winding body recovery preparation control performed by the travel control part 288, the holding part main body 220 of the winding body holding part 22 is raised and moved to the raised position H2.

[0145] [Control device]

[0146] Next, use Fig.10 An example of the control device 30 will be described. Fig.10 1 is a block diagram showing the hardware configuration of the ceramic green sheet molding apparatus according to the present embodiment. In addition, for configurations that are common or the same as those already described, the same names may be given and detailed descriptions may be omitted.

[0147] The control device 30 is a structure for performing various controls for manufacturing a roll R wound with a green film G in the manufacturing system S and conveying it to a subsequent process. The control device 30 includes a processor, etc., and the processor performs calculation processing to realize various actions. Fig.10 As shown, the control device 30 includes a processor 300, a ROM 301, a RAM 302, a bus 303, an input / output interface 304, an input unit 305, an output unit 306, a storage unit 307, a communication unit 308, and a power supply unit 309. The output unit 306 includes a monitor 306a and a speaker 306b. In addition, the structure of the control device 30 is not limited to this.

[0148] (Control Module)

[0149] Next, use Fig.11 The functional structure of the control device 30 will be described. Fig.11 31 is a block diagram showing the functional structure of the control device involved in this embodiment. In addition, for the structure that is common or the same as the structure that has been described, the same name is sometimes marked and the detailed description is omitted. The control unit 310 that performs various controls of the manufacturing system S is implemented by executing a program through a processor that performs arithmetic processing. The control unit 310 of this embodiment includes an input control unit 311, an output control unit 312, a communication control unit 313, a gate control unit 314, an unwinding control unit 315, a coating control unit 316, an air ejection control unit 317, a chuck control unit 318, and a winding control unit 319.

[0150] The gate control unit 314 controls the opening and closing of the gate 10b of the ceramic green sheet molding device 10. For example, the gate control unit 314 performs the following processing, that is, the gate 10b is raised and lowered, thereby moving between an open position where the gate 10b is opened and a closed position where the gate 10b is closed. In addition, the gate control unit 314 can also open the gate 10b at the timing when the unmanned conveyance vehicle 20 approaches the gate 10b. Whether the unmanned conveyance vehicle 20 approaches the gate 10b can be sensed by a known method. For example, the approach of the unmanned conveyance vehicle 20 can also be sensed by a proximity sensor or the like.

[0151] Alternatively, the gate control unit 314 may open the gate 10b at the timing of receiving the gate 10b opening command from the automated guided vehicle 20. In this case, the automated guided vehicle 20 may send the gate 10b opening command to the control device 30 at the timing of approaching the gate 10b.

[0152] The unwinding control unit 315 performs various controls on the unwinding unit 11. For example, the unwinding control unit 315 controls the clamping action of the unwinding unit 11 on the roll body Rc wound with the carrier film C. The control of the clamping action of the roll body Rc by the unwinding control unit 315 is the same as the control of the clamping action of the roll body R by the chuck control unit 318 described later, so the description is omitted.

[0153] The coating control unit 316 performs various controls on the coating unit 12. For example, the coating control unit 316 controls the coating operation of the coating unit 12 to coat the slurry containing the ceramic material onto the carrier film C and the drying operation of the drying unit (not shown).

[0154] The air ejection control unit 317 controls the air ejection operation of the air ejection unit 132. For example, the air ejection control unit 317 performs the air ejection operation of the air ejection unit 132 during the winding operation of the green sheet film G formed on the carrier film C into a roll shape by the winding unit 13. The control of the air ejection operation is not limited to this.

[0155] The chuck control unit 318 controls the clamping action performed by the clamping unit 131. For example, the chuck control unit 318 controls the clamping action in a state where the clamping unit 131 does not clamp the core T. In this case, the chuck control unit 318 confirms whether the holding unit body 210 of the core holding unit 21 of the automated conveying vehicle 20 has moved to the raised position h2 with the core T placed thereon. The chuck control unit 318 starts the clamping action of moving the holding unit body 210 to the clamping position for clamping the core T at the timing when the holding unit body 210 moves to the raised position h2.

[0156] In addition, the chuck control unit 318 controls the clamping operation in a state where the clamping unit 131 clamps the wound body R after winding. In this case, the chuck control unit 318 confirms whether the holding unit body 220 of the wound body holding unit 22 of the unmanned conveying vehicle 20 has moved to the raised position H2. The chuck control unit 318 starts the clamping operation of moving the holding unit body 220 to the clamping release position to release the clamping of the wound body R at the timing when the holding unit body 220 moves to the raised position H2.

[0157] In addition, as for the method of sensing whether the holding part main body 210 of the core holding part 21 of the automated transport vehicle 20 has moved to the raised position h2 or whether the holding part main body 220 of the winding body holding part 22 has moved to the raised position H2, a known technique can be used. For example, photoelectric sensors respectively provided on a pair of support parts 130 may be used. In this case, it is also possible to determine that the holding part main body 210 of the core holding part 21 has moved to the raised position h2 or the holding part main body 220 of the winding body holding part 22 has moved to the raised position H2 based on the light between the photoelectric sensors being blocked.

[0158] The winding control unit 319 performs various controls on the winding unit 13. For example, the winding control unit 319 controls the winding operation of the winding unit 13 to wind up the raw film G formed on the carrier film C into a roll shape. In addition, the control of the winding operation by the winding control unit 319 is performed in conjunction with the control of the unwinding operation by the unwinding control unit 315 and the control of the coating operation and the drying operation by the coating control unit 316.

[0159] <Wound body manufacturing process>

[0160] Next, use Fig.12 The wound body manufacturing process executed by the manufacturing system S according to the present invention will be described. Fig.12 This is a flowchart for explaining the flow of the wound body manufacturing process according to the present embodiment. The wound body manufacturing process includes a wound body unwinding process (step S10), a wound body coating process (step S11), and a wound body winding process (step S12).

[0161] The roll unwinding step (step S10 ) is a step of unwinding the carrier film C wound in a roll shape and supplying the carrier film C to the application unit.

[0162] The winding body coating step (step S11) is a step of coating a slurry containing a ceramic material on the carrier film C and forming a ceramic green sheet on the carrier film C. In the winding body coating step (step S11), the ceramic green sheet formed on the carrier film C may be dried.

[0163] The roll winding step (step S12 ) is a step of winding the green film G into a roll shape and recovering it.

[0164] <Wound body winding process>

[0165] Next, use Fig.13 The roll winding step will be described. The roll winding step is an operation flow until the green sheet film G is wound onto the winding core T provided in the winding section 13 to form the roll R. Fig.13 It is used to illustrate Fig.12 A flowchart of the process of the winding body winding process included in the winding body manufacturing process. The winding body winding process (step S12) performed by the manufacturing system S involved in the present invention includes a core setting process (step S20), a film adhesion process (step S21), a coated sheet winding process (step S22), a sheet cutting process (step S23), and a winding body disassembly process (step S24).

[0166] In addition, in the present embodiment, when the winding body winding process (step S12) is continuously performed, the winding body disassembly process (step S24) in the previous winding body winding process (step S12) and the winding core setting process (step S20) in the subsequent winding body winding process (step S12) are continuously performed. The details will be described later.

[0167] The winding core setting process (step S20) is a process of setting the winding core T on the winding shaft 131a. The details will be described later.

[0168] The film sticking step (step S21) is a step of sticking the film end surface of the mounting film C to the winding core T provided on the winding shaft 131a. The film sticking may be performed manually or with a device for sticking the film.

[0169] The coated sheet winding process (step S22) is a process of winding the coated sheet with the winding core T provided on the winding shaft 131a. For example, the winding control unit 319 causes the winding drive unit 131d to rotate the winding shaft 131a and winds the coated sheet with the winding core T provided on the winding shaft 131a.

[0170] The sheet cutting step (step S23) is a step of completing the roll by cutting the sheet of the carrier film C. One end of the carrier film C is bonded to the core of the roll Rc, so after a certain amount of the sheet of the carrier film C is wound to form the roll R, the roll Rc and the roll R are connected via the carrier film C. Therefore, the sheet cutting is performed to cut the sheet of the carrier film C from the core of the roll Rc. The sheet cutting can be performed manually or by providing a device for cutting the sheet.

[0171] The wound body detaching step (step S24) is a step of detaching the wound body R from the winding shaft 131a. The details will be described later.

[0172] In addition, after the removal of the winding body R is completed, the control device 30 opens the gate 10b, and the unmanned transport vehicle 20 travels on a given route to continuously transport the winding body R to a warehouse, etc. Then, the control device 30 controls to close the gate 10b. In addition, the winding section 13 can also be a winding section 13 with an automatic winding function.

[0173] Next, use Figure 14 to Figure 18 , the winding body disassembly process (step S24) of the previous winding body winding process (step S12) and the core setting process (step S20) of the subsequent winding body winding process (step S12), which are continuously performed when the winding body winding process (step S12) is continuously performed, are described in more detail.

[0174] Fig.14It is used to describe the continuous Fig.13 A flowchart of the process of the winding body disassembly process and the core setting process in the case of the winding body winding process. Fig.15 It is used to illustrate Fig.14 Schematic diagram of the first half of the winding body recovery action included in the core setting process. Fig.16 It is used to illustrate Fig.14 Schematic diagram of the second half of the winding body recovery action included in the winding core setting process. Fig.17 It is used to illustrate Fig.14 Schematic diagram of the first half of the core setting action included in the core setting process. Fig.18 It is used to illustrate Fig.14 Schematic diagram of the second half of the core setting action included in the core setting process.

[0175] The winding body disassembly process (step S24) and the core setting process (step S20) performed continuously include a core conveying process (step S30), a winding body recovery process (step S31), a core setting process (step S32), and a winding body conveying process (step S33).

[0176] The core transporting process (step S30) is a process in which the unmanned transport vehicle 20 transports the core T and moves to the winding section 13. For example, when the unmanned transport vehicle 20 receives a call command from the control device 30, the travel control unit 288 controls the travel unit 25b to move to the gate 10b of the ceramic green sheet molding apparatus 10 via a given route.

[0177] First, the gate control unit 314 opens the gate 10b of the ceramic green sheet molding device 10, for example. Specifically, the control device 30 determines the approach of the unmanned conveyance vehicle 20 through a proximity sensor (not shown), and moves the gate 10b to the open position if it is determined that the unmanned conveyance vehicle 20 is approaching. For example, when the proximity sensor (not shown) senses an approaching object, the control device 30 may also perform the following control, that is, when the unmanned conveyance vehicle 20 is being called, the gate 10b is moved to the open position, and when the unmanned conveyance vehicle is not being called, the gate 10b is kept in the closed position.

[0178] When the gate 10b is opened, the automated guided vehicle 20 moves inside. Alternatively, when the entire automated guided vehicle 20 moves inside the housing 10a, the control device may move the gate 10b to the closed position.

[0179] The roll recovery process (step S31) is a process for recovering the roll R in which the green sheet film G is wound as a roll sheet. The unmanned transport vehicle 20 moved to the interior of the ceramic green sheet molding apparatus 10 is as follows. Fig.15For example, the travel control unit 288 causes the travel unit 25b to travel to the wound body recovery position.

[0180] Next, the unmanned transport vehicle 20 moved to the roll collection position raises the roll holding portion from the lowered position H1 to the raised position H2. Fig.16 As shown, the roll holding unit lifting control unit 291 raises the holding unit main body 220 of the roll holding unit 22 via the roll lifting unit 221 to move from the lowered position H1 to the raised position H2.

[0181] Next, when the holding portion main body 220 of the winding body holding portion 22 reaches the raised position H2, the control device 30 causes the clamping portion 131 of the winding portion 13 to release the clamping of the winding body R. Specifically, when the holding portion main body 220 reaches the raised position H2, the chuck control portion 318 causes the chuck driving portion 131c to slide, so that the interval between the pair of winding shafts 131a is widened, thereby releasing the clamping of the winding core T and completing the winding body removal.

[0182] Next, the automated guided vehicle 20 lowers the roll holder from the raised position H2 to the lowered position H1. Specifically, the roll holder lifting control unit 291 lowers the holder body 220 of the roll holder 22 via the roll lifting unit 221 to move from the raised position H2 to the lowered position H1.

[0183] Next, the winding core setting process (step S32) is started. The winding core setting process (step S32) is a process in which the unmanned guided vehicle 20 sets the winding core. First, the unmanned guided vehicle 20 moves to the winding core setting position. For example, the driving control unit 288 causes the unmanned guided vehicle 20 to transport the winding core T and Fig.17 As shown, the traveling portion 25b is traveled to the winding core installation preparation position.

[0184] Next, the unmanned transport vehicle 20 that has moved to the core setting position raises the holding portion body 210 of the core holding portion 21 from the lowered position h1 to the raised position h2. Fig.18 As shown, the core holding portion lifting control unit 290 raises the holding portion main body 210 of the core holding portion 21 via the lifting unit 211 to move from the lowered position h1 to the raised position h2.

[0185] Next, the control device 30 causes the winding section 13 to clamp the winding core T when the holding section main body 210 reaches the ascending position h2. Specifically, when the holding section main body 210 reaches the ascending position h2, the chuck control section 318 controls the chuck drive section 131c to slide the pair of winding shafts 131a from the clamping release position to the clamping position. The pair of winding shafts 131a slide to narrow the gap, thereby clamping the winding core T and completing the winding core setting.

[0186] Next, the core holding portion lifting control unit 290 lowers the holding portion body 210 of the core holding portion 21 from the raised position h2 to the lowered position h1. Fig.18 As shown, the core holding portion lifting control unit 290 lowers the holding portion main body 210 of the core holding portion 21 through the lifting unit 211 to move from the raised position h2 to the lowered position h1.

[0187] The winding body transporting process (step S33) is a process in which the unmanned conveying vehicle 20 transports the winding body and moves it to a warehouse not shown in the figure, the next process, etc. The control device 30 moves the gate 10b to the open position. Then, the unmanned conveying vehicle 20 travels along a given route and moves to a warehouse not shown in the figure, the next process, etc., and performs a given transporting action. In addition, when the entire unmanned conveying vehicle 20 comes out of the shell, the control device moves the gate 10b to the closed position.

[0188] <Sheet Sagging Sensing Process>

[0189] Here, as described above, the winding end portion of the winding body R may sag after the winding of the winding body R is completed, and the unmanned conveyor vehicle 20 may contact the sagging sheet HS, resulting in the possibility of damage to the winding body. Therefore, in the manufacturing system S involved in the present embodiment, the sensing unit 23 senses the sagging of the sheet through the sheet sagging sensing process, and the unmanned conveyor vehicle 20 is stopped, etc., thereby preventing the unmanned conveyor vehicle 20 from contacting the sagging sheet HS.

[0190] Below, using Fig.19 The sheet droop sensing process performed by the automated transport vehicle 20 according to the present embodiment will be described. Fig.19 This is a flowchart for explaining the flow of the sheet sag sensing process according to the present embodiment.

[0191] First, the control unit 280 checks whether the gate 10b has moved to the open position (step S40). If the gate 10b has not moved to the open position (step S40: No), the control unit 280 repeats the process until the gate 10b moves to the open position. On the other hand, if the gate 10b has moved to the open position (step S40: Yes), the lighting control unit 285 of the control device 30 causes the lighting unit 24 of the unmanned transport vehicle 20 to start the lighting operation (step S41). That is, the lighting control unit 285 causes the lighting unit 24 to perform the lighting operation of emitting the lighting light L1 a plurality of times while the gate 10b of the ceramic green sheet molding apparatus 10 is open.

[0192] Next, the information acquisition unit 286 starts to acquire image information of at least one of the winding body holding portion passing area R1 and the core passing area R2 at multiple timings corresponding to the emission timings of the illumination light L1 emitted by the illumination unit 24 (step S42).

[0193] Next, the determination unit 287 determines whether there is a sheet HS of light-transmitting film hanging down from the winding body R arranged in the winding section 13 based on the image information of at least any one of the multiple timed winding body holding portion passing through the area R1 and the core passing through the area R2 acquired by the information acquisition unit 286 when the gate 10b of the winding section 13 is opened (step S43).

[0194] When it is determined that there is no sheet HS hanging down from the winding body R provided in the winding unit 13 (step S43: No), the control unit 280 checks whether the winding sheet recovery position has been reached (step S47). When the winding sheet recovery position has not been reached (step S47: No), the process jumps to step S41, and until the winding sheet recovery position is reached, it is repeatedly checked whether there is a sheet HS hanging down from the winding body. When the winding sheet recovery position has been reached (step S47: Yes), the control unit 280 ends the sheet droop sensing process.

[0195] When it is determined that there is a sheet HS hanging down from the winding body provided in the winding unit 13 (step S43: Yes), the travel control unit 288 performs control to stop the driving of the travel unit 25b of the unmanned conveyor vehicle (step S44). After the driving of the travel unit 25b of the unmanned conveyor vehicle is stopped, the hanging sheet HS is wound onto the winding body (step S45). The operator may manually wind the hanging sheet HS onto the winding body R, or the control device 30 may control the winding unit 13 so that the hanging sheet HS is automatically wound onto the winding body R.

[0196] When it is determined that there is a sheet HS hanging down from the winding body provided in the winding unit 13, the notification unit 289 makes a notification, for example, through the speaker 276b of the output unit 276 (step S46). For example, the notification may be made to urge the operator to stop driving the unmanned transport vehicle 20, or the notification may be made to urge the operator to work so that the hanging sheet HS is wound up on the winding body R.

[0197] Here, the sensing unit 23 acquires image information in order to sense the sagging sheet HS, so as to sense the sagging sheet. Fig. 20 The sensor s shown is configured to detect light reflected by the sagging sheet HS, thereby detecting the sagging sheet HS.

[0198] Fig. 20 is a schematic diagram for illustrating the membrane sag sensing method involved in this embodiment. More specifically, Fig. 20 This is an image sensed by the sensor 23 of the unmanned transport vehicle 20 when entering the interior of the housing 10a to transport the core T to the winding section 13 and collect the roll body R. The carrier film C hanging from the roll body R is a light-transmitting film and is transparent, so the application section 12 and the like can usually be seen through, but in Fig. 20 In order to facilitate the explanation, it is omitted. Fig. 20 In the figure, reflecting parts D1, D2, and D3 are shown. The reflecting parts D1, D2, and D3 are parts that reflect the illumination light L1 emitted from the illumination unit 24 of the automated guided vehicle 20.

[0199] As described above, the roll body R is formed by applying a slurry containing a ceramic material on a carrier film C and then winding the green film G around a core T. However, since the slurry is not applied to the front end side of the long carrier film C, and the sensing object of the sensor 23 is a light-transmitting film, it is not easy to sense based on image information, etc.

[0200] However, in this embodiment, the determination is made based on a plurality of images corresponding to the emission timing of the illumination light L1 a plurality of times, so that it becomes easy to sense. The illumination light L1 emitted by the illumination unit 24 is preferably a flash, and the sensing unit 23 senses the presence of the translucent film by obtaining an image showing the reflection of the flash at the translucent film. That is, the sensing unit 23 can obtain the image of the translucent film. Fig. 20 The images of the reflection portions D1 , D2 , and D3 shown in the figure can determine the presence of the sheet HS as the carrier film C hanging down from the roll R based on the presence of the reflection portions D1 , D2 , and D3 .

[0201] The image acquired by the sensor 23 may be stored in a storage device or the like in any device on the network N, or displayed on a monitor of the device. With such a configuration, the status of the automated guided vehicle 20 can be monitored or the cause of the stop can be analyzed.

[0202] In addition, in the present embodiment, when the sagging sheet HS is sensed in at least one of the multiple images corresponding to the emission timing of the illumination light L1 for multiple times, it is determined that there is a sheet HS sagging from the winding body R provided in the winding section 13. In addition, the existence of the sagging sheet HS may be determined based on the difference of multiple image information. For example, the determination section 287 may obtain the difference of two image information subjected to noise removal, binarization processing, etc., and determine that there is a sheet HS sagging from the winding body R when there is a difference in a given area or more.

[0203] Furthermore, in the present embodiment, when the light-transmitting film droops from the winding body R provided on the winding shaft 131a of the winding unit 13, the air ejection unit 132 of the winding unit 13 ejects air to cause the drooping light-transmitting film sheet HS to shake. Thus, the drooping sheet HS swings or tilts and is not in a fixed state, so that it becomes easy to sense the presence of the light-transmitting film from any of the multiple images corresponding to the emission timing of the illumination light L1 for multiple times.

[0204] Furthermore, if Fig.21 , Fig. 22 As shown, the winding section 13 may include an anti-reflection cover AR. Fig.21 is the equivalent of Figure 2 Schematic diagram of . Fig. 22 is from Fig.21 Schematic diagram of the core retaining portion when viewed from the side.

[0205] The anti-reflection cover AR is a structure for assisting detection of the sheet HS hanging from the roll body R, and is, for example, a plate-shaped member having an anti-reflection treatment applied to the surface. Here, if the lighting unit 24 emits flash light, in addition to the sheet HS hanging from the roll body R, reflection may occur from an object located further back in the depth direction of the device than the roll body R of the winding unit 13. In this case, the sensor unit 23 of the automated guided vehicle 20 may perform erroneous sensing.

[0206] In order to suppress the reflection caused by the object located in the inner side of the winding body R of the winding section 13 in the depth direction of the device, as shown in FIG. Fig. 22 As shown, the anti-reflection cover AR is arranged further back in the depth direction of the device than the support portion 130. More specifically, it is arranged further outside the range in which the automatic guided vehicle 20 moves when collecting the roll R.

[0207] In addition, if Fig.21 As shown, the size of the anti-reflection cover AR is preferably longer in the height direction than the distance from the ground to the lower end of the roll R set on the winding shaft 131a. In addition, the size of the anti-reflection cover AR is preferably longer in the width direction of the roll R set on the winding shaft 131a than the width of the roll R. By setting the size of the anti-reflection cover AR as described above, the sagging sheet HS can be more clearly identified.

[0208] The manufacturing system S is provided with an anti-reflection cover AR, which can prevent reflection caused by an object located further back in the depth direction of the device than the roll R of the winding section 13 when the illumination unit 24 of the unmanned conveyor 20 radiates the illumination light L1. As a result, it is possible to suppress false sensing caused by the sensor unit 23 of the unmanned conveyor 20, and to more clearly identify the sagging sheet HS, and to more reliably prevent the roll from being damaged when the roll core is supplied to the sheet winding device.

[0209] The unmanned conveyor 20 constructed as described above can obtain the following effects. As described above, the winding end portion of the winding body may sag after the winding of the winding body is completed. If the unmanned conveyor enters the sheet winding device under the condition that the film sags from the winding body provided in the sheet winding device, the sheet sags from the winding body, for example, contacts the holding part main body of the winding body holding part of the unmanned conveyor, the lifting mechanism, etc., and as a result, the winding body may be damaged.

[0210] Furthermore, if the unmanned conveyance vehicle enters the sheet winding device while the film is hanging down from the winding body provided in the sheet winding device, the sheet HS hanging down from the winding body may be caught in the wheels of the unmanned conveyance vehicle, and as a result, the winding body may be damaged.

[0211] In addition, in the case where the unmanned conveyor vehicle has a core holding portion, if the unmanned conveyor vehicle enters the sheet winding device when the film is hanging down from the winding body provided in the sheet winding device, the core held by the core holding portion of the unmanned conveyor vehicle and the film hanging down from the winding body will stick together, resulting in that the winding body may sometimes be damaged.

[0212] In the past, there was an unmanned guided vehicle that had a ground obstacle sensing sensor for sensing the presence or absence of obstacles on the ground on which the unmanned guided vehicle was traveling. However, such a ground obstacle sensing sensor did not obtain information about the area through which the winding body holding portion passed, including the position through which the winding body holding portion passed when the unmanned guided vehicle was moving forward, and therefore it was difficult to sense the sheet HS hanging down from the winding body.

[0213] In addition, the ceramic green sheet is usually formed on the carrier film at the portion other than the winding start and the winding end of the roll. Therefore, the winding start portion and the winding end portion of the roll are only composed of the carrier film, and the ceramic green sheet is not formed. Furthermore, in the case where the carrier film is composed of a light-transmitting film, the sheet hanging from the roll becomes a light-transmitting member, and it is even more difficult to sense it optically.

[0214] According to the unmanned transport vehicle of this embodiment, even if the sheet HS hanging from the winding body is a light-transmitting film, it can be properly sensed. However, the sheet to be sensed is not limited to a light-transmitting sheet. It may also be a sheet that is not light-transmitting. For example, it may be a sheet in which a ceramic green sheet is formed on a carrier film that is not light-transmitting.

[0215] The unmanned conveyor vehicle 20 involved in this embodiment is an unmanned conveyor vehicle comprising: a winding body holding section 22 for holding the winding body R; a sensing section 23 for acquiring information of a winding body holding section passing area R1 including a passing position of the winding body holding section 22 when the unmanned conveyor vehicle 20 moves forward; and a lighting section 24 for emitting lighting light L1 toward the winding body holding section passing area R1.

[0216] Thus, the unmanned conveyance vehicle of the present embodiment can prevent the winding body from being damaged when the unmanned conveyance vehicle 20 enters the winding section 13 as the sheet winding device.

[0217] In addition, the unmanned transport vehicle 20 involved in this embodiment also includes: a core holding unit 21 for holding a core T having an adhesive on the surface, a sensing unit 23 for acquiring information of a core passing area R2 including a passing position of the core T held by the core holding unit 21 when the unmanned transport vehicle 20 moves forward, and a lighting unit 24 for emitting lighting light L1 toward the core passing area R2.

[0218] Thus, the automated transport vehicle 20 of this embodiment can suppress the situation in which the roll body R is damaged due to the contact between the drooping sheet HS and the sticky surface of the core T when supplying the core T to the winding section 13 as a sheet winding device.

[0219] In the automated transport vehicle 20 according to the present embodiment, the sensor unit 23 is an image sensor that acquires image information of the wound body holding unit passing through the region R1 .

[0220] Thus, the presence or absence of sheet HS hanging down from the roll body R can be determined based on image information, and the hanging sheet HS can be detected more accurately, thereby more reliably preventing the roll body R from being damaged when the unmanned conveyance vehicle 20 enters the winding section 13, etc.

[0221] Furthermore, in the automated transport vehicle 20 according to the present embodiment, the sensing unit 23 is an image sensor that acquires image information of the core passing region R2 .

[0222] Thus, it is possible to determine whether there is a sheet HS hanging down from the winding body R based on the image information, and the hanging sheet HS can be detected more accurately, thereby preventing the winding body R from being damaged due to the contact between the hanging sheet HS and the adhesive surface of the winding core T when the unmanned conveyor vehicle 20 enters the winding section 13, etc.

[0223] In addition, in the automated guided vehicle 20 according to the present embodiment, the illumination light L1 emitted by the illumination unit 24 is a flashing light.

[0224] Thus, it becomes easy to detect reflection from the sheet HS hanging down from the roll R by the flash, so it is possible to more reliably prevent the roll R from being damaged when the automatic transport vehicle 20 enters the winding section 13 or the like.

[0225] The unmanned transport vehicle 20 according to the present embodiment collects the roll R from the winding section 13 and transports the roll. The sensor 23 senses the presence of the sheet HS hanging down from the roll R provided in the winding section 13 .

[0226] Thereby, even when the wound body R provided in the winding section 13 is recovered, it is possible to more reliably prevent the wound body R from being damaged.

[0227] The unmanned conveyance vehicle 20 according to the present embodiment conveys the winding core T to the winding section 13 , and the sensor section 23 senses the presence of the sheet HS hanging down from the winding body R provided in the winding section 13 .

[0228] Thereby, when the winding core T is conveyed to the winding section 13, it is possible to more reliably prevent the wound body R from being damaged.

[0229] Furthermore, the automated guided vehicle 20 according to the present embodiment further includes a ground obstacle sensing unit 26 for sensing a ground obstacle, and for sensing whether there is an obstacle on the ground at the destination of the automated guided vehicle 20 .

[0230] Thus, when there is an obstacle on the ground, the obstacle can be sensed and handled by the ground obstacle sensor 26. On the other hand, when the sheet HS sags, the sensor 23 as the sheet sag sensor can prevent the winding body from being damaged when the unmanned transport vehicle 20 enters the winding section 13.

[0231] In addition, the manufacturing system S involved in the present embodiment is a manufacturing system including the unmanned conveyor vehicle 20 as described above, which is equipped with a winding section 13 for winding up the raw sheet film G to manufacture the roll body R, and an unmanned conveyor vehicle control device 27 and a control device 30. The unmanned conveyor vehicle control device 27 determines whether there is a sheet HS hanging down from the roll body R arranged in the winding section 13 based on the information of the roll body holding section passing through the area R1 obtained by the sensing section 23.

[0232] This can prevent the wound body R from being damaged when the unmanned transport vehicle 20 enters the winding section 13 or the like.

[0233] In addition, in the manufacturing system S involved in the present embodiment, the lighting unit 24 emits a plurality of illumination lights L1 at intervals, the sensing unit 23 obtains information of a plurality of timed winding body holding units passing through the area R1 corresponding to the emission timing of the plurality of illumination lights L1, and the unmanned conveyor vehicle control device 27 determines whether there is a sheet HS hanging down from the winding body R arranged in the winding section 13 based on the information of a plurality of timed winding body holding units passing through the area R1.

[0234] Thus, the sensor unit 23 can determine multiple times whether the sheet HS hangs down from the roll R, thereby more reliably preventing the roll R from being damaged when the unmanned transport vehicle moves to the vicinity of the winding unit 13 to collect the roll R.

[0235] In addition, in the manufacturing system S involved in the present embodiment, the lighting unit 24 emits a plurality of illumination lights L1 at intervals, and the sensing unit 23 obtains information on at least any one of a plurality of timed winding body holding portions passing through the area RI and a winding core passing through the area R2 corresponding to the emission timing of the plurality of illumination lights L1. The unmanned conveyor vehicle control device 27 determines whether there is a sheet HS hanging down from the winding body R arranged in the winding section 13 based on the information on a plurality of timed winding body holding portions passing through the area R1.

[0236] Thus, the sensor unit 23 can determine multiple times whether the sheet HS hanging from the roll R exists, and thus can more reliably prevent the roll R from being damaged when the automatic transport vehicle 20 enters the winding unit 13 or the like.

[0237] Furthermore, in the manufacturing system S according to the present embodiment, when it is determined that there is a sheet HS hanging down from the roll body R provided in the winding section 13 , the automated conveyance vehicle control device 27 performs control for stopping the forward movement of the automated conveyance vehicle 20 .

[0238] Thus, when the sensor 23 determines multiple times that there is a sheet HS hanging from the roll R, the automated transport vehicle 20 can automatically stop moving forward, thereby more reliably preventing the roll R from being damaged.

[0239] Furthermore, the manufacturing system S according to the present embodiment includes the air blowing unit 132 , and when a sheet HS droops from the roll body R provided in the winding unit 13 , the air blowing unit 132 blows the air W to shake the drooping sheet HS.

[0240] As a result, the sheet HS hanging from the roll R shakes, and the illumination light L1 from the illumination unit 24 is easily reflected, so that the sensor unit 23 can more reliably sense the sheet HS hanging from the roll R, and the roll R can be prevented from being damaged.

[0241] In addition, in the manufacturing system S involved in this embodiment, there is a gate 10b that blocks the entry of the unmanned conveyor vehicle 20, and the unmanned conveyor vehicle control device 27 determines whether there is a sheet HS hanging down from the winding body R arranged in the winding section 13 based on the information of the winding body holding section passing through the area R1 obtained by the sensing section 23 when the gate 10b is opened.

[0242] Thus, the present invention can be effective even in a structure such as a housing 10a provided with a gate 10b that surrounds the winding section 13. For example, inside the housing 10a provided with a gate 10b, the sensor 23 can obtain information that the winding body holding section passes through the region R1 when the gate 10b is open.

[0243] Furthermore, in the manufacturing system S according to the present embodiment, the lighting unit 24 emits the illumination light L1 a plurality of times while the shutter 10b is open.

[0244] Thus, even when the unmanned transport vehicle 20 enters the winding section 13 in the housing 10a having the gate 10b, the sensor unit 23 can repeatedly determine whether there is sagging sheet HS, thereby more reliably preventing the winding body R from being damaged.

[0245] In addition, in the manufacturing system S involved in this embodiment, there is a gate 10b that blocks the entry of the unmanned conveyor vehicle 20, and the unmanned conveyor vehicle control device 27 determines whether there is a sheet HS hanging down from the winding body R arranged in the winding section 13 based on the information of the core passing through the area R2 obtained by the sensor unit 23 when the gate 10b is opened.

[0246] Thus, even when the automated transport vehicle 20 enters the winding section 13 in the housing 10a having the gate 10b, it is possible to more reliably prevent the wound body R from being damaged.

[0247] In addition, the manufacturing system S involved in the present embodiment is a manufacturing system including the unmanned conveyor 20 as described above, and is equipped with an unmanned conveyor control device 27 and a control device 30. The unmanned conveyor control device 27 determines whether there is a sheet HS hanging down from the winding body R arranged in the winding section 13 based on the information of the core passing through the area R2 obtained by the sensing section 23.

[0248] This can prevent the wound body R from being damaged when the unmanned transport vehicle 20 supplies the winding core T to the winding unit 13 or the like.

[0249] In addition, the unmanned conveyor vehicle 20 involved in this embodiment is an unmanned conveyor vehicle comprising: a core holding portion 21 for holding a core T having an adhesive on its surface; a sensing portion 23 for acquiring information of a core passing area R2 including a passing position of the core T held by the core holding portion 21 when the unmanned conveyor vehicle 20 moves forward; and a lighting portion 24 for emitting lighting light L1 toward the core passing area R2.

[0250] Thus, the unmanned transport vehicle 20 of the present embodiment can prevent the wound body R from being damaged when supplying the winding core T to the winding unit 13 or the like.

[0251] <Other Modifications>

[0252] In addition, regarding the control unit of the manufacturing system S including the unmanned guided vehicle 20, in the above-mentioned embodiment, it is representatively described as the control unit 280 and the control unit 310, but it is not limited to this. For example, the control unit of the manufacturing system S including the unmanned guided vehicle 20 can be dispersedly set in the unmanned guided vehicle control device 27 and the control device 30, or a part or all of it can be set on a server on the network. Even if the control unit is dispersedly set, when it cooperates with the functions of the unmanned guided vehicle 20 in terms of function, it can actually be considered as the control unit 280 of the unmanned guided vehicle 20. In addition, even if the control unit is dispersedly set, when it cooperates with the functions of the manufacturing system S in terms of function, it can actually be considered as the control unit 310 of the manufacturing system S.

[0253] The present invention is not limited to the configuration of the above-described embodiment, and can be applied with appropriate changes within the scope of the present invention. In addition, an invention combining two or more of the preferred configurations described in the above-described embodiment is also the present invention.

[0254] <1>

[0255] An unmanned transport vehicle, comprising:

[0256] A winding body holding portion for holding the winding body;

[0257] a sensing unit that acquires information about a winding body holding unit passing area including a passing position of the winding body holding unit when the automated guided vehicle moves forward; and

[0258] The illumination unit emits illumination light toward the winding body holding unit passing region.

[0259] <2>

[0260] according to <1> The unmanned transport vehicle, wherein:

[0261] The invention further comprises: a core holding portion for holding a core having an adhesive on its surface;

[0262] The sensor unit acquires information on a core passing area including a passing position of the core held by the core holding unit when the automated guided vehicle moves forward.

[0263] The lighting unit emits lighting light toward the core passing region.

[0264] <3>

[0265] according to <1> or <2> The unmanned transport vehicle, wherein:

[0266] The sensing unit is an image sensor that acquires image information of a region through which the wound body holding unit passes.

[0267] <4>

[0268] according to <2> The unmanned transport vehicle, wherein:

[0269] The sensing unit is an image sensor that acquires image information of a region where the winding core passes.

[0270] <5>

[0271] according to <1> to <4> Any one of the unmanned transport vehicles described above, wherein:

[0272] The illumination light emitted by the illumination unit is a flash light.

[0273] <6>

[0274] according to <1> to <5> Any one of the unmanned transport vehicles described above, wherein:

[0275] The unmanned transport vehicle is an unmanned transport vehicle that collects the roll body from the sheet winding device and transports it.

[0276] The sensing unit senses the presence of a sheet hanging down from a winding body provided in the sheet winding device.

[0277] <7>

[0278] according to <2> The unmanned transport vehicle, wherein:

[0279] The unmanned transport vehicle is an unmanned transport vehicle that transports the core to the sheet winding device.

[0280] The sensing unit senses the presence of a sheet hanging down from a winding body provided in the sheet winding device.

[0281] <8>

[0282] according to <1> to <7> Any one of the unmanned transport vehicles described above, wherein:

[0283] The vehicle further includes a ground obstacle sensing unit for sensing a ground obstacle, the unit sensing whether there is an obstacle on the ground at the destination of the automated guided vehicle.

[0284] <9>

[0285] A manufacturing system comprising <1> The unmanned transport vehicle, wherein:

[0286] The manufacturing system comprises:

[0287] a sheet winding device for winding the sheet to produce a roll; and

[0288] Control Department,

[0289] The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device, based on information on a region through which the roll holding unit has passed acquired by the sensor unit.

[0290] <10>

[0291] according to <9> The manufacturing system, wherein:

[0292] The illumination unit emits illumination light a plurality of times at intervals.

[0293] The sensor unit acquires information about the region where the wound body holding unit passes at a plurality of timings corresponding to the emission timings of the illumination light at a plurality of times.

[0294] The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device based on information on a region where the roll holding unit passes at the plurality of timings.

[0295] <11>

[0296] according to <9> or <10> The manufacturing system, wherein:

[0297] The control unit performs control for stopping the forward movement of the automated conveyor vehicle when it is determined that there is a sheet hanging down from a winding body provided in the sheet winding device.

[0298] <12>

[0299] according to <9> to <11> A manufacturing system as described in any one of claims , wherein:

[0300] Equipped with air blowing unit,

[0301] When a sheet droops from a winding body provided in the sheet winding device, the air blowing section blows air to shake the drooping sheet.

[0302] <13>

[0303] according to <9> to <12> A manufacturing system as described in any one of claims , wherein:

[0304] Equipped with a gate to block the entry of unmanned transport vehicles,

[0305] The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device based on information of a region through which the roll holding unit has passed acquired by the sensor unit when the shutter is opened.

[0306] <14>

[0307] according to <13> The manufacturing system, wherein:

[0308] The illumination unit emits illumination light a plurality of times while the shutter is open.

[0309] <15>

[0310] A manufacturing system comprising <2> The unmanned transport vehicle, wherein:

[0311] The manufacturing system comprises:

[0312] a sheet winding device for winding the sheet to produce a roll; and

[0313] Control Department,

[0314] The control unit determines whether or not there is a sheet hanging down from a winding body provided in a sheet winding device based on the information of the winding core passing area acquired by the sensor unit.

[0315] <16>

[0316] according to <15> The manufacturing system, wherein:

[0317] The illumination unit emits illumination light a plurality of times at intervals.

[0318] The sensor unit acquires information about the core passing region at a plurality of timings corresponding to the emission timings of the illumination light at a plurality of times,

[0319] The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device based on the information of the winding core passing region at the plurality of timings.

[0320] <17>

[0321] according to <15> or <16> The manufacturing system, wherein:

[0322] The control unit performs control for stopping the forward movement of the automated conveyor vehicle when it is determined that there is a sheet hanging down from a winding body provided in the sheet winding device.

[0323] <18>

[0324] according to <15> to <17> A manufacturing system as described in any one of claims , wherein:

[0325] Equipped with air blowing unit,

[0326] When a sheet droops from a winding body provided in the sheet winding device, the air blowing section blows air to shake the drooping sheet.

[0327] <19>

[0328] according to <15> to <18> A manufacturing system as described in any one of claims , wherein:

[0329] Equipped with a gate to block the entry of unmanned transport vehicles,

[0330] The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device based on the information of the winding core passing area acquired by the sensing unit when the gate is opened.

[0331] <20>

[0332] according to <19> The manufacturing system, wherein:

[0333] The illumination unit emits illumination light a plurality of times while the shutter is open.

[0334] <21>

[0335] An unmanned transport vehicle, comprising:

[0336] A core holding portion for holding a core having an adhesive on its surface;

[0337] a sensing unit that acquires information on a core passing area including a passing position of the core held by the core holding unit when the automated guided vehicle moves forward; and

[0338] The lighting unit emits lighting light toward the core passing area.

[0339] <1>

[0340] An unmanned transport vehicle, wherein:

[0341] have:

[0342] A core holding portion for holding a core having an adhesive on its surface;

[0343] a sensing unit that acquires information on a core passing area including a passing position of the core held by the core holding unit when the automated guided vehicle moves forward; and

[0344] The lighting unit emits lighting light toward the core passing area.

[0345] <2>

[0346] according to <1> The unmanned transport vehicle, wherein:

[0347] The device further comprises: a winding body holding portion for holding the winding body;

[0348] The sensor unit acquires information about a region where the roll-up holding unit passes, including a position where the roll-up holding unit passes when the automated guided vehicle moves forward.

[0349] The illumination unit emits illumination light toward a region where the roll holding unit passes.

[0350] <3>

[0351] according to <1> or <2> The unmanned transport vehicle, wherein:

[0352] The sensing unit is an image sensor that acquires image information of a region where the winding core passes.

[0353] <4>

[0354] according to <2> The unmanned transport vehicle, wherein:

[0355] The sensing unit is an image sensor that acquires image information of a region through which the wound body holding unit passes.

[0356] <5>

[0357] according to <1> to <4> Any one of the unmanned transport vehicles described above, wherein:

[0358] The illumination light emitted by the illumination unit is a flash light.

[0359] <6>

[0360] according to <1> to <5> Any one of the unmanned transport vehicles described above, wherein:

[0361] The unmanned transport vehicle is an unmanned transport vehicle that transports the core to the sheet winding device.

[0362] The sensing unit senses the presence of a sheet hanging down from a winding body provided in the sheet winding device.

[0363] <7>

[0364] according to <2> The unmanned transport vehicle, wherein:

[0365] The unmanned transport vehicle is an unmanned transport vehicle that collects the roll body from the sheet winding device and transports it.

[0366] The sensing unit senses the presence of a sheet hanging down from a winding body provided in the sheet winding device.

[0367] <8>

[0368] according to <1> to <7> A manufacturing system as described in any one of claims , wherein:

[0369] The vehicle further includes a ground obstacle sensing unit for sensing a ground obstacle, the unit sensing whether there is an obstacle on the ground at the destination of the automated guided vehicle.

[0370] <9>

[0371] A manufacturing system comprising <1> The unmanned transport vehicle, wherein:

[0372] The manufacturing system comprises:

[0373] a sheet winding device for winding the sheet to produce a roll; and

[0374] Control Department,

[0375] The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device, based on the information of the winding core passing region acquired by the sensor unit.

[0376] <10>

[0377] according to <9> The manufacturing system, wherein:

[0378] The illumination unit emits illumination light a plurality of times at intervals.

[0379] The sensor unit acquires information about the core passing region at a plurality of timings corresponding to the emission timings of the illumination light at a plurality of times,

[0380] The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device based on the information of the winding core passing region at the plurality of timings.

[0381] <11>

[0382] according to <9> or <10> The manufacturing system, wherein:

[0383] The control unit performs control for stopping the forward movement of the automated conveyor vehicle when it is determined that there is a sheet hanging down from a winding body provided in the sheet winding device.

[0384] <12>

[0385] according to <9> to <11> A manufacturing system as described in any one of claims , wherein:

[0386] Equipped with air blowing unit,

[0387] When a sheet droops from a winding body provided in the sheet winding device, the air blowing section blows air to shake the drooping sheet.

[0388] <13>

[0389] according to <9> to <12> A manufacturing system as described in any one of claims , wherein:

[0390] Equipped with a gate to block the entry of unmanned transport vehicles,

[0391] The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device based on the information of the winding core passing area acquired by the sensing unit when the gate is opened.

[0392] <14>

[0393] according to <13> The manufacturing system, wherein:

[0394] The illumination unit emits illumination light a plurality of times while the shutter is open.

[0395] <15>

[0396] A manufacturing system comprising <2> The unmanned transport vehicle, wherein:

[0397] The manufacturing system comprises:

[0398] a sheet winding device for winding the sheet to produce a roll; and

[0399] Control Department,

[0400] The control unit determines whether or not there is a sheet hanging down from a roll provided in a sheet winding device based on information on a region through which the roll holding unit has passed acquired by the sensor unit.

[0401] <16>

[0402] according to <15> The manufacturing system, wherein:

[0403] The illumination unit emits illumination light a plurality of times at intervals.

[0404] The sensor unit acquires information about the region where the wound body holding unit passes at a plurality of timings corresponding to the emission timings of the illumination light at a plurality of times.

[0405] The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device based on information on a region where the roll holding unit passes at the plurality of timings.

[0406] <17>

[0407] according to <15> or <16> The manufacturing system, wherein:

[0408] The control unit performs control for stopping the forward movement of the automated conveyor vehicle when it is determined that there is a sheet hanging down from a winding body provided in the sheet winding device.

[0409] <18>

[0410] according to <15> to <17> A manufacturing system as described in any one of claims , wherein:

[0411] Equipped with air blowing unit,

[0412] When a sheet droops from a winding body provided in the sheet winding device, the air blowing section blows air to shake the drooping sheet.

[0413] <19>

[0414] according to <15> to <18> A manufacturing system as described in any one of claims , wherein:

[0415] Equipped with a gate to block the entry of unmanned transport vehicles,

[0416] The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device based on information of a region through which the roll holding unit has passed acquired by the sensor unit when the shutter is opened.

[0417] <20>

[0418] according to <19> The manufacturing system, wherein:

[0419] The illumination unit emits illumination light a plurality of times while the shutter is open.

[0420] <21>

[0421] An unmanned transport vehicle, wherein:

[0422] have:

[0423] A winding body holding portion for holding the winding body;

[0424] a sensing unit that acquires information about a winding body holding unit passing area including a passing position of the winding body holding unit when the automated guided vehicle moves forward; and

[0425] The illumination unit emits illumination light toward the winding body holding unit passing region.

Claims

1. An unmanned transport vehicle, wherein: have: A winding body holding portion for holding the winding body; a sensing unit for acquiring information on a winding body holding unit passing area including a passing position of the winding body holding unit when the unmanned guided vehicle moves forward; as well as The illumination unit emits illumination light toward the winding body holding unit passing region.

2. The unmanned guided vehicle according to claim 1, wherein: The invention further comprises: a core holding portion for holding a core having an adhesive on its surface; The sensor unit acquires information on a core passing area including a passing position of the core held by the core holding unit when the automated guided vehicle moves forward. The lighting unit emits lighting light toward the core passing region.

3. The unmanned guided vehicle according to claim 1 or 2, wherein: The sensing unit is an image sensor that acquires image information of a region through which the wound body holding unit passes.

4. The unmanned guided vehicle according to claim 2, wherein: The sensing unit is an image sensor that acquires image information of a region where the winding core passes.

5. The unmanned guided vehicle according to any one of claims 1 to 4, wherein: The illumination light emitted by the illumination unit is a flash light.

6. The unmanned guided vehicle according to any one of claims 1 to 5, wherein: The unmanned transport vehicle is an unmanned transport vehicle that collects the roll body from the sheet winding device and transports it. The sensing unit senses the presence of a sheet hanging down from a winding body provided in the sheet winding device.

7. The unmanned guided vehicle according to claim 2, wherein: The unmanned transport vehicle is an unmanned transport vehicle that transports the core to the sheet winding device. The sensing unit senses the presence of a sheet hanging down from a winding body provided in the sheet winding device.

8. The unmanned guided vehicle according to any one of claims 1 to 7, wherein: The vehicle further includes a ground obstacle sensing unit for sensing a ground obstacle, the unit sensing whether there is an obstacle on the ground at the destination of the automated guided vehicle.

9. A manufacturing system comprising the unmanned guided vehicle according to claim 1, wherein: The manufacturing system comprises: a sheet winding device for winding the sheet to produce a roll; and Control Department, The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device, based on information on a region through which the roll holding unit has passed acquired by the sensor unit.

10. The manufacturing system according to claim 9, wherein: The illumination unit emits illumination light a plurality of times at intervals. The sensor unit acquires information about the region where the wound body holding unit passes at a plurality of timings corresponding to the emission timings of the illumination light at a plurality of times. The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device based on information on a region where the roll holding unit passes at the plurality of timings.

11. The manufacturing system according to claim 9 or 10, wherein: The control unit performs control for stopping the forward movement of the automated conveyor vehicle when it is determined that there is a sheet hanging down from a winding body provided in the sheet winding device.

12. The manufacturing system according to any one of claims 9 to 11, wherein: Equipped with air blowing unit, When a sheet droops from a winding body provided in the sheet winding device, the air blowing section blows air to shake the drooping sheet.

13. The manufacturing system according to any one of claims 9 to 12, wherein: Equipped with a gate to block the entry of unmanned transport vehicles, The control unit determines whether or not there is a sheet hanging down from a roll provided in the sheet winding device based on information of a region through which the roll holding unit has passed acquired by the sensor unit when the shutter is opened.

14. The manufacturing system according to claim 13, wherein: The illumination unit emits illumination light a plurality of times while the shutter is open.

15. A manufacturing system comprising the unmanned guided vehicle according to claim 2, wherein: The manufacturing system comprises: a sheet winding device for winding the sheet to produce a roll; and Control Department, The control unit determines whether or not there is a sheet hanging down from a winding body provided in a sheet winding device based on the information of the winding core passing area acquired by the sensor unit.

16. The manufacturing system according to claim 15, wherein: The illumination unit emits illumination light a plurality of times at intervals. The sensor unit acquires information about the core passing region at a plurality of timings corresponding to the emission timings of the illumination light at a plurality of times, The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device based on the information of the winding core passing region at the plurality of timings.

17. The manufacturing system according to claim 15 or 16, wherein: The control unit performs control for stopping the forward movement of the automated conveyor vehicle when it is determined that there is a sheet hanging down from a winding body provided in the sheet winding device.

18. The manufacturing system according to any one of claims 15 to 17, wherein: Equipped with air blowing unit, When a sheet droops from a winding body provided in the sheet winding device, the air blowing section blows air to shake the drooping sheet.

19. The manufacturing system according to any one of claims 15 to 18, wherein: Equipped with a gate to block the entry of unmanned transport vehicles, The control unit determines whether or not there is a sheet hanging down from a winding body provided in the sheet winding device based on the information of the winding core passing area acquired by the sensing unit when the gate is opened.

20. The manufacturing system of claim 19, wherein: The illumination unit emits illumination light a plurality of times while the shutter is open.

21. An unmanned transport vehicle, wherein: have: A core holding portion for holding a core having an adhesive on its surface; a sensing unit that acquires information about a core passing area including a passing position of the core held by the core holding unit when the automated guided vehicle moves forward; as well as The lighting unit emits lighting light toward the core passing area.

Images