| 摘要 |
An unmanned conveying vehicle (100) has a base (102) for supporting a roll (2) of a film or paper. A lifter (164) vertically moves the base (102). The rotation of the base (102) about a pin (146) adjusts the tilt of the base (102) relative to the horizontal. An x-direction slider (162) moves the base (102) in the direction of the axis (M) of the roll (2). Two y-direction drive sections (150, 160) move the base (102) in the y-direction or rotate the base (102) about a cross roller (148). Load cells (122, 123, 130, 132) supporting the base (102) measure loads acting on the base (102). Position detectors (138, 140) measure the position and the orientation of the base (102) relative to a turret (20). When the conveying vehicle (100) delivers the roll (2) to the turret (20) or receives the roll (2) from the turret (20), the base (102) is moved or rotated on the basis of the outputs from the load cells (122, 123, 130, 132) and the position detectors (138, 140). |
