JP2770447B2 - Operation control device for production line using automatic guided vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention uses a plurality of automatic guided vehicles instead of a conveyor, places a work on each of the automatic guided vehicles, and works while sequentially moving each process. The present invention relates to an operation control device for a production line using an automatic guided vehicle that performs an operation.

2. Description of the Related Art In an automobile manufacturing plant, etc., instead of an assembling line for assembling various parts onto a work conveyed by a conveyor, the work is conveyed by mounting the work on a plurality of automatic guided vehicles. For this purpose, an assembly line system for assembling parts has been adopted.

For example, in this type of assembling line system disclosed in Japanese Patent Application No. 1-95179, a plurality of automatic guided vehicles, each of which travels independently, are guided by a guide line laid on a traveling route of the assembling line. Travels at a constant inter-vehicle distance along the road, and performs processing and assembly on the work mounted on the unmanned guided vehicle while traveling, forming an assembly line that replaces the conventional conveyor line. It is considered to be.

In the conventional assembly line system using this automatic guided vehicle, the worker in charge of each process attaches parts and tightens bolts to the workpiece mounted and transported on each automatic guided vehicle. Alternatively, each operation such as quality check is performed. For example, when the operator forgets to tighten the bolt, if the operator himself notices that he has forgotten to tighten the bolt, the vehicle is provided with each automatic guided vehicle. The unmanned guided vehicle is stopped by pressing a stop button, and the bolting work that was forgotten during the stop is performed. After the work is completed, the stop button is released and the unmanned guided vehicle is restarted.

Problems to be Solved by the Invention However, in the conventional assembling line system using the automatic guided vehicle described above, for example, in many cases, the worker himself does not notice that he or she forgets to tighten the bolts. Is that the work with the bolts forgotten, etc. is transferred to the automatic guided vehicle and moved to the next process.As a result, the parts are forgotten to be assembled, the bolts are tightened or the quality check is forgotten. When assembly errors are found in the inspection process performed later, it is necessary to take countermeasures such as reworking, and the productivity is reduced. .

The present invention has been made in view of the above circumstances, and reliably detects the occurrence of a work error such as forgetting to tighten a bolt in each process, stops the automatic guided vehicle, and notifies the worker of the occurrence of the work error. It is an object of the present invention to provide an operation control device for a production line using an automatic guided vehicle, which can perform the operation control.

Means for Solving the Problems In order to achieve the above object, an operation control device for a production line using an automatic guided vehicle according to the present invention is provided in a section of a production line having at least a plurality of work steps. A plurality of unmanned guided vehicles guided and guided by the guide line laid on the traveling route are driven at a constant speed at a constant inter-vehicle distance corresponding to the distance between the steps, and all unmanned vehicles traveling in this section are driven. A traveling control device that controls the transport vehicle to stop and start all at once, and checks whether the work of each process in the section is completed when each unmanned transport vehicle travels a certain distance. And when a step in which work is not completed even at one point in the section is detected, a signal is sent to the travel control device to control all the automatic guided vehicles traveling in this section to stop at the same time. Work And a work completion management device.

Operation With the configuration described above, the plurality of automatic guided vehicles each carrying a work are controlled by the traveling control device when traveling in at least a fixed section of the production line, and maintain a fixed inter-vehicle distance. The vehicle travels at a constant speed in this section, sequentially moving through each process in this section, and assembling parts to the works mounted on the respective sections. When each of the AGVs traveling at a constant speed at equal intervals has traveled a certain distance, for example, a distance corresponding to the interval between adjacent processes, the work completion management device completes the work of each process in the section. It is checked whether or not the operation has been completed, and if the work has been completed in all the steps in the section, each automatic guided vehicle moves to the next step without stopping.

When the work completion management device detects that there is a process in which the work is not completed due to a work error or a work delay among the processes in the section, a signal is sent to the travel control device. All the automatic guided vehicles traveling in the section stop at the same place at the same time in response to a command from the traveling control device. Then, the worker performs a forgotten work on the work placed on the stopped automatic guided vehicle, and when this work is completed, it is determined that the work has been completed in all processes in the section. Completion management device detects
All automatic guided vehicles in the section are started again at once.

Therefore, even if the worker himself does not notice a work error such as forgetting to tighten a bolt, the work completion management device detects an incomplete work due to a work error or a work delay, and stops the automatic guided vehicle. To the operator that a work error has occurred, such as forgetting to tighten.

Embodiment An embodiment in which the device of the present invention is applied to an operation control device for an assembly line of an automobile engine will be described below with reference to FIGS. 1 to 3.

The automobile engine assembly line is composed of four processes from process A to process D. In three processes A, B, and C, parts are mounted on the engine block W one after another.
In the final D step, the bolt is fastened by the nut runner NR.

The steps A to D of the automobile engine assembly line are linearly arranged at equal intervals, and a plurality of types of parts to be attached to the engine block W are mounted on the three steps A, B, and C, respectively. The placed component shelves R ₁ , R ₂ , R ₃ are installed, and a nut runner NR for tightening bolts is arranged in the D step. Then, each of the processes A, B,
On the front side of C and D, a traveling path of the automatic guided vehicle 1 is provided linearly so as to be parallel, and a guide line 2 is embedded in this traveling path.

In each of the processes A, B, C, and D, workers H ₁ , H ₂ , H ₃ , and H ₄ are assigned to each of the processes. ₁ takes out predetermined parts from the parts rack R ₁ and assembles them to the engine block W mounted on the automatic guided vehicle 1. In the process B, the worker H ₂ also removes the parts from the parts rack R _2. Take out a predetermined part, assemble it into the engine block W, and in the process C,
The worker H ₃ takes out predetermined parts from the parts rack R ₃ and assembles them on the engine block W on the automatic guided vehicle 1. In the process D, the worker H ₄ tightens the mounting bolts of each part with the nut runner NR. Is to be performed.

The type of the engine block W mounted on the automatic guided vehicle 1 and the type of parts to be attached are displayed.
An ID tag 3 is attached at a position facing a reader 4 installed near each of the component shelves R ₁ , R ₂ , R ₃ in each of the processes A, B, and C. Each component shelf is connected to the ID controller 5 provided in the component shelves R ₁ , R ₂ , R ₃ and based on information read from the ID tag 3 of each automatic guided vehicle 1.
The storage location of the component to be mounted in the process from the component group stored in R ₁ , R ₂ , and R ₃ is displayed by turning on or blinking the display lamp 7 so that the operator does not mistakenly select the component. (See FIG. 3).

In addition, on the guide line 2 for guiding the traveling of the automatic guided vehicle 1, check points 6 are provided at regular intervals at positions that are the start point and the end point of each of the steps A to D arranged at regular intervals, A plurality of unmanned guided vehicles 1 guided by the guide line 2 and traveling unmanned are controlled so that the inter-vehicle distance becomes equal to the distance between the respective steps before the first A step. It is designed to enter the engine assembly line.

The operation control of this line composed of a plurality of automatic guided vehicles 1 guided and guided by the guide line 2 is performed by a travel control device 8 and a work completion management device 9. , A to D are determined. This judgment is made by A
To the component shelves R ₁ , R ₂ , R _{3 of the} processes C to C or the nut runner NR of the process D, for example, the component shelves R ₁ , R ₂ , R _{3 for the} processes A to C. Each of the
When the worker removes a proper part from the parts shelf, a part of the body of the worker or a part to be removed blocks light incident on the photoelectric tube, and it is assumed that work is performed in that step. Then, assuming that the worker has performed the work in this step by operating the nut runner NR and tightening the bolt, a work completion signal for each step is transmitted to the work completion management device 9.

Then, the work completion management device 9 receives the work completion signals from the respective processes and integrates them. When all the work in each of the processes has been completed, the work completion management device 9 sends a comprehensive completion signal to the travel control device 8. The traveling control device 8 that has transmitted and received the comprehensive completion signal issues a driving continuation command to each of the automatic guided vehicles 1, and each of the automatic guided vehicles 1 moves to the next step without stopping. . On the other hand, if any one of the steps A to D does not complete the work, the work completion management device 9 does not send a comprehensive completion signal to the travel control device. An operation stop command is issued from the control device 8 to each automatic guided vehicle 1, and each automatic guided vehicle 1 stops at the position of the check point 6. When an unfinished process occurs in each of the processes A to D, a display panel (not shown) of the work completion management device 9 indicates which process of the line is not completed. It is displayed whether it is completed.

Next, the operation of this embodiment configured as described above will be described.

The automatic guided vehicle 1 that is guided by the guide line and travels after the engine block W is transferred immediately before the assembly line of the automobile engine, and then the distance between the automatic guided vehicle 1 and the preceding automatic guided vehicle 1 becomes a predetermined fixed distance. The vehicle enters the engine assembly line while being controlled to have the same distance as the distance between the steps A to D.

Automatic guided vehicles 1 entering the engine assembly line
, When first first unit AGV 1 enters step A, the ID tag 3 provided in the automatic guided vehicle 1, parts shelves R ₁ side of the reader 4 reads an engine block at step A W
The lamp 7 for displaying where the component to be mounted is stored in the component shelf 4 is blinked. Therefore, A
The worker H _{1 in} charge of the process takes out the part whose storage position is indicated by the blinking of the lamp 7 from the parts shelf R ₁ ,
Assembly is performed on the engine block W mounted on the automatic guided vehicle 1 traveling in the process A area. At this time, the worker
When H ₁ takes out a predetermined part from the parts shelf R ₁ , the part to be taken out or a part of the body of the worker H ₁ blocks light incident on the photoelectric tube, thereby detecting that the predetermined part has been taken out. I do.

Then, the automatic guided vehicle 1 equipped with the engine block W on which the assembly work of the parts is completed while moving in the process A area.
Whether but when traveling to the boundary with the next step B, the completion of the process A work by a signal from the check point 6 is checked, the results being detected in advance, or the parts shelves R ₁ is prescribed component retrieved performs Kano confirmation as a substitute for confirmation of operation completion, the work completion signal a process on work completion management unit 9 to the parts shelves R ₁ is prescribed component has been removed is transmitted.

The unmanned guided vehicle 1 that has been confirmed to have completed the work when passing the check point 6 enters the process B without stopping at the check point 6.

When the first automatic guided vehicle 1 enters the process B, the second automatic guided vehicle 1 simultaneously enters the process A. Then, the first unmanned transport vehicle 1 that has entered the process B reads the ID tag 3 with the reading device 4 as in the case of the process A, and the component shelf R of the component to be assembled in the process B. clearly the position on ₂ flashing display lamp 7, also the operator H ₂ is detected to have taken out a predetermined part from parts shelves R _2. On the other hand, the second automatic guided vehicle 1 newly entering the process A is
For the first unit of the automatic guided vehicle 1 in the above-mentioned Step A and operates in the same manner, the assembling of the parts is carried out by the operator H _1.

When the first automatic guided vehicle advances to the boundary between the processes B and C, the second automatic guided vehicle 1 advances to the boundary between the processes A and B, and reaches the position of the check point 6, respectively. Then, completion of each operation of the process A and the process B is checked. When it is confirmed that the work in each process is completed, the work completion signal of the process A, the process B and the work completion signal are sent to the work completion management device 9, respectively. 9, each engine block W on the two automatic guided vehicles 1 in the engine assembly line
After confirming that both parties have completed their work on,
A general completion signal is transmitted from the work completion management device 9 to the traveling control device 8, and the traveling control device 8 that has received the general completion signal sends a driving continuation command to the two automatic guided vehicles 1 on the line, The first automatic guided vehicle 1 enters the process C, and the second automatic guided vehicle 1 enters the process.
The new automatic guided vehicle 1 enters the process A.

Similarly, the three automatic guided vehicles 1 travel through the process C, the process B, and the process A at a constant speed while maintaining a constant inter-vehicle distance, and pass predetermined parts while passing through the area of each process. Is completed, and the completion of the work of each process is confirmed by the work completion management device 9, and it is confirmed that the three automatic guided vehicles 1 on the engine assembling line have completed each work. Then, when the comprehensive completion signal is transmitted, the driving control device 8 sends a driving continuation command to the three AGVs 1 on the line, and the first AGV 1 enters the D process, and The third automatic guided vehicle 1 enters the process C, the third automatic guided vehicle 1 enters the process B, and the new fourth automatic guided vehicle 1 enters the process A.

Then, in the three steps A, B, and C, predetermined parts are assembled in the same manner as in the above-described respective steps.
In the process, the bolts are tightened by the nut runner NR while passing through the D process area.

When the four AGVs 1 advance to the boundaries on the traveling direction side of the respective process areas A to D, the second AGV 1 advances to the boundary between the C process and the D process, and When the position of the check point 6 is reached, completion of the work of each process is checked. When it is confirmed that the work in each process is completed, the work completion management device 9
In response to this, a completion signal of the part assembling work is sent from each of the steps A, B, and C, and a completion signal of the bolt tightening work is sent from the step D. Engine blocks W on one automatic guided vehicle 1
When it is confirmed that all of the operations for the vehicle have been completed, an overall completion signal is transmitted from the operation completion management device 9 to the traveling control device 8, and the traveling control device 8 that has received this overall completion signal An operation continuation command is sent to the four AGVs 1, and the second, third, and fourth AGVs 1 go to the D process, the C process, and the B process, respectively. The first unmanned transport vehicle 1 equipped with the engine block W, which has been attached, proceeds to a transfer process, transfers the engine block W to an outfitting line or the like by a transfer machine, and then moves the engine block W in an empty state. The vehicle travels to the loading position, a new engine block W is transferred by the transfer machine, and the process again proceeds to the process A of the engine assembly line.

As described above, the plurality of automatic guided vehicles 1 traveling at a constant inter-vehicle distance and at a constant speed sequentially move through the steps A to D of the engine assembly line to assemble parts and bolts. Are repeatedly performed.

Also, a case where a work error such as forgetting of assembly has occurred will be described. For example, four automatic guided vehicles 1 travel in each of the process areas A to D at a constant inter-vehicle distance and at a constant speed. In the meantime, a predetermined operation is performed in each step. Then, when the automatic guided vehicles 1 reach the check point 6 after proceeding to the boundary of each process area, the completion of the work of each process is checked. As a result, when forgetting to assemble the parts occurs in the process B, the work completion signal is transmitted from the three processes A, C, and D, but not transmitted from the process B. Therefore, the work completion management device 9 confirms the received completion signal, and as a result, since the work in the process B is not completed, the total completion signal is not transmitted. Therefore, as a result of not receiving the comprehensive completion signal, the travel control device 8 sends a driving stop command to the four automatic guided vehicles 1 on the engine assembly line, and the automatic guided vehicles 1 on the line The vehicle stops at the position of each check point 6 while maintaining the inter-vehicle distance.

As described above, when a work error such as forgetting to assemble occurs in any of a plurality of processes of the engine assembling line, the work completion management device 9 detects the process in which the work error has occurred and displays it on a panel or the like. Then, each worker or manager of the line is notified of the process in which a work error has occurred.

When the four automatic guided vehicles 1 in the engine assembly line are stopped at the same time, the process panel (process B) in which a work error has occurred is quickly identified by the display panel of the work completion management device 9 and the corresponding process is performed. A worker in charge (H ₂ ) or a line manager assembles predetermined parts to the engine block W on the automatic guided vehicle 1 stopped in the process area where the assembling has been forgotten. At this time, in a state where the automatic guided vehicle 1 is stopped, in order to detect that the parts shelves R ₂ is prescribed component the retrieved phototube, when the assembling operation of the corresponding process is completed, simultaneous activation of line Is performed, at each check point 6, the work completion of each process is checked again, and a work completion signal is transmitted from all the processes A to D to the work completion management device. A comprehensive completion signal is sent to the device 8, and a driving continuation command is sent from the traveling control device 8 to each of the automatic guided vehicles 1 so that each of the automatic guided vehicles 1 moves to the next step while maintaining a constant inter-vehicle distance. move on.

As described above, the operation control device for a production line using an automatic guided vehicle according to the present invention, as described above, is laid on the traveling route of the section in one section of the production line having at least a plurality of work processes. A plurality of automatic guided vehicles guided and guided by the guide line are caused to travel at a constant speed at a constant inter-vehicle distance corresponding to the distance between the respective steps, and all the automatic guided vehicles traveling in this section are simultaneously stopped and stopped. A travel control device that controls to start all at once, and when each unmanned guided vehicle has traveled a certain distance, it is checked whether the work of each process in the section is completed, and within the section A work completion management device that sends a signal to the travel control device when a process that has not been completed even at one location is detected, and controls all automatic guided vehicles traveling in this section to stop at the same time. Yes So, among the multiple processes of the production line,
If any uncompleted process occurs in any one place, it automatically detects the occurrence and stops all unmanned guided vehicles traveling on the line at once. A fixed inter-vehicle distance is maintained, and when the vehicle is started all at once, the conveyance can be resumed at a constant inter-vehicle distance.

In addition, since checkpoints are provided at the boundaries of each process area on the traveling path of the automatic guided vehicle to check whether work has been completed for each process, an assembly inspection process as a final process is unnecessary, Reduces the number of processes and workers, and removes assembled parts one by one, as in the case where a defective assembly was found in the inspection of the conventional final process, and eliminates defects by going back through several processes Since there is no need, productivity is improved.

Furthermore, if you forget to assemble parts or tighten bolts,
Alternatively, it is possible to prevent forgetting the quality check and the like, and it is possible to significantly improve the assembly quality of the product.

[Brief description of the drawings]

1 to 3 show an embodiment of an operation control device according to the present invention. FIG. 1 is a block diagram showing control for simultaneously stopping an automatic guided vehicle, and FIG. 2 is an arrangement of an engine assembly line. FIG. 3 is a diagram showing the relationship between the automatic guided vehicle and the component shelves. 1 ... automatic guided vehicle, 2 ... guide wire, 3 ... ID tag, 4 ...
... ID tag reader, 5 ... ID controller, 6 ...
Checkpoint, 7 ...... indicator lamp, 8 ...... driving control unit, 9 ...... work completion management unit, R ₁ to R ₃ ...... parts shelves, NR
…… Nutrunner, W …… Engine block.

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hideki Hori 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Co., Ltd. (72) Inventor Shigeru Umehara 2-1-1 Toyota Town, Kariya City, Aichi Prefecture Toyota Industries Corporation Inside the factory (72) Inventor Masahiko Mizuno 2-1-1 Toyota-cho, Kariya-shi, Aichi Pref. Inside the Toyota Industries Corporation (56) References Japanese Utility Model Sho-63-106591 (JP, U) JP-B 52-35155 (JP) , B2) (58) Field surveyed (Int. Cl. ⁶ , DB name) G05D 1/02 B25J 9/16 B23Q 17/04

Claims (1)

(57) [Claims] In a section of a production line having at least a plurality of work processes, a plurality of automatic guided vehicles traveling by being guided by a guide line laid on a travel route of the section are arranged at a distance between the respective steps. A traveling control device that controls the automatic guided vehicle to travel at a constant speed corresponding to the distance between the vehicles and controls all the automatic guided vehicles traveling in this section to stop and start all at once, and that each automatic guided vehicle travels at a fixed distance. At the time of traveling, it is checked whether or not the work of each step in the section is completed, and a signal is sent to the travel control device when a step in which the work is not completed is detected even at one place in the section. And a work completion management device for controlling all of the automatic guided vehicles traveling in the section to stop at the same time. An operation control device for a production line using automatic guided vehicles.