JP3268353B2 - Control method of automatic guided vehicle using carrier cut-off machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling an automatic guided vehicle using a circuit breaker for a guided vehicle. More specifically, in a transfer path of an automatic guided vehicle (hereinafter, referred to as AGV) moving along an assembly transfer line or the like of a factory, during manual transfer operation by a manual transfer vehicle (hereinafter, referred to as MGV), an AGV and a person or an MGV are transferred. The present invention relates to a control method of an AGV using a carrier cut-off device capable of reliably preventing collision with an intruding object.

[0002]

2. Description of the Related Art Conventionally, when parts or products are transferred along various production lines such as a factory assembly transfer line, the parts are transferred using an AGV. Usually, one or more AGVs are used by moving them simultaneously to a predetermined transport path.

FIG. 5 is, for example, Japanese Patent Application Laid-Open No. 4-255006.
FIG. 1 is a schematic diagram showing a configuration of a conventional AGV collision prevention device disclosed in Japanese Patent Application Laid-Open Publication No. HEI 10-115,036. In FIG. 5, the carrier 2 which is an AGV
A data carrier 31 buried at an entrance 23 of a specific section A of the transport path 22 of 1a, 21b is provided, and a limit switch 32 is provided at an exit 24. The data carrier 31 gives a stop signal to the succeeding carrier 21a while the preceding carrier 21b passes through the specific section A, but gives an operation signal after passing the specific section A.

[0004] Each of the transport vehicles 21a and 21b includes a read / write head 33a and 33b for transmitting and receiving data to and from the data carrier 31, ID controllers 35a and 35b for identifying various kinds of instruction information, and transport vehicles. And drive vehicles 34a and 34b for operating / stopping the vehicle.

In such a conventional AGV collision prevention apparatus, when the transport vehicle 21b preceding the specific section A has already entered, the entry from the data carrier 31 to the ID controller 35a of the succeeding transport vehicle 21a is prohibited. Is given, and the carrier 21a stops. On the other hand, when the carrier 21b passes through the specific section A and closes the limit switch 32, the data carrier 31
Is given an entry permission signal.

A conventional AGV uses an obstacle approaching detection sensor such as a photo sensor or an ultrasonic sensor provided at the front of the AGV or the like to detect an obstacle or a preceding A.
The collision with the GV is prevented.

[0007]

However, the above-mentioned conventional AGV collision prevention apparatus has a problem that, in the specific section A, an intruding object other than the preceding vehicle 21b, for example, a person or an MG.
If V or the like has already entered, or has suddenly entered, the opposing photo sensor (not shown) mounted on the succeeding carrier 21a cannot detect it, and the carrier 21a and the person or MGV enter. There is a risk of collision with objects.

In a liquid crystal display device manufacturing plant, a glass substrate is often transported by AGV and MGV. If an AGV carrying a glass substrate
If the glass collides with an intruding object, the glass substrate being conveyed may be damaged by a slight impact. In particular, when processing with a procedure different from the mass production product process, such as a development product or a startup product, or by performing AGV maintenance in a certain process,
For example, when unmanned transport cannot be performed, there is a case where the MGV is arranged on the AGV transport route near the processing apparatus. In this case, there is a possibility that the AGV collides with a person or an invading object such as the MGV. high.

[0009] The present invention has been made to solve such a problem, a transport vehicle for breaker which a collision with intruding object such as AGV and human or MGV during manual transportation task can be reliably prevented An object of the present invention is to provide a control method of the AGV used.

[0010]

SUMMARY OF THE INVENTION According to the present invention , there is provided a carrier cut-off device for a carrier provided near a predetermined position where an MGV is disposed on a carrier path of an AGV having an obstacle approach detection sensor. (A) a positioning switch that closes when the MGV is placed at the predetermined position; and (b) at least one side of the predetermined position in the transport path on the transport path. (C) projecting the reflector into the transport path when the positioning switch is closed, and retracting the reflector from the transport path when the positioning switch is opened; And a reflection plate driving means for reciprocating the reflection plate. When the reflection plate is detected by an obstacle approach detection sensor provided in the automatic guided vehicle, It is characterized by stopping the person transport vehicle.

[0011] It is preferable that a positioning confirmation lamp to be turned on when the positioning switch is closed is provided.

[0012] It is preferable that a sound generating unit for generating a sound when the positioning switch is closed is provided.

It is preferable that the reflector driving means is covered by a cover.

It is preferable that the reflection plate and the reflection plate driving means are built in a processing device near the predetermined position.

Preferably, the obstacle approach detection sensor is a photo sensor.

The method for controlling an AGV according to the present invention is characterized in that
A AGV control method using a transport vehicle for breaker involved in, MGV positioning switch is closed when the is in place, whereby the reflector driving means a reflector inside the conveying path of the AGV When the obstacle approaching sensor of the AGV detects the reflector, the AGV
When the MGV is not located at the predetermined position, the positioning switch is opened, whereby the reflector driving means retracts the reflector out of the transport path, and the normal running of the AGV is stopped. It is characterized by forgiveness.

[0017]

According to the control method of the AGV using the carrier cut-off device of the present invention, when the MGV is not used, the reflector driving means does not operate because the positioning switch is open. At that time, the reflection plate is retracted outside the AGV transport path. Therefore, the AGV can perform normal traveling on the transport route.

On the other hand, when the MGV is used, when the MGV is positioned at a predetermined position on the transport path, the positioning switch is closed, and the reflector driving means operates to cause the reflector to protrude into the transport path. At this time, the obstacle approach detection sensor of the AGV surely detects the reflector, thereby
The GV can be reliably stopped.

[0020]

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a more detailed description of the AGV control method using the transport vehicle for breaker of the present invention with reference to the drawings. Figure 1 is a transport vehicle for breaker according to the present invention
Plan view of an example, FIG. 2 is a plan explanatory view showing another example of a transport vehicle for breaker according to the present invention, or in FIG. 3 the present invention
Explanatory plan view and FIG. 4 showing still another embodiment of the transport vehicle for breaker replaces is a plane explanatory view showing an example of AGV stopping device.

The following first to third embodiments show examples in which the present invention is applied to an AGV in a liquid crystal display device manufacturing line as an example. However, it is needless to say that the present invention is not limited to this, and can be applied to a production line for other products.

Embodiment 1 In FIG. 1, reference numeral 1 denotes an obstacle approach detection sensor (not shown).
2 is a reflector provided so as to protrude and retract from the AGV transport path 11 which is a predetermined AGV 1 transport path, 3 is an MGV for a glass substrate, 4 is a positioning switch, 5 is an MGV 3 at a predetermined position. (E.g., the position shown in FIG. 1), a confirmation lamp that lights up when positioned, a driving device 6 for operating the reflection plate 2 via the positioning switch 4, a protection case 7 for housing the reflection plate 2, and a CVD device 8
Equipment, processing equipment such as etching equipment or exposure equipment,
9 is a positioning jig of the MGV 3, 10 is an operator, 12 is a glass substrate cassette, and 13 is a drive unit cover. In addition,
A stocker may be arranged instead of the processing device 8.

As the obstacle approaching detection sensor of the AGV1, a conventionally known sensor such as a photo sensor (diffuse reflection type, mirror reflection type, etc.), an ultrasonic sensor, or the like is employed. Among them, photo sensors have a longer detection distance than other sensors,
It is particularly preferable because it is hardly affected by disturbance such as temperature change.

The carrier circuit breaker shown in FIG.
The transport path 11 is provided near a predetermined position where the MGV 3 is disposed. The circuit breaker for a transport vehicle includes a positioning switch 4 that closes when the MGV 3 is disposed at the predetermined position, and a protruding / retracting switch in the AGV transport path 11 on the AGV transport path 11 and at least one side of the predetermined position. A reflection plate 2 provided so as to allow the reflection plate 2 to protrude into the AGV transport path 11 when the positioning switch 4 is closed, and to transport the reflection plate 2 when the positioning switch 4 is opened. Reflector driving device 6 for reciprocating reflector 2 to retreat from road 11
It is composed of

The positioning switch 4 includes a push switch or a proximity switch, a micro switch,
A photo switch or the like is employed.

The reflection plate 2 is provided upstream of a predetermined position of the MGV 3, that is, at a position closer to the AGV 1 than the MGV 3. When the AGV 1 can travel both forward and backward, the reflectors 2 may be provided on both sides of a predetermined position of the MGV 3, respectively. The reflection plate 2 is a person or an MGV.
3 has a reflecting surface sufficiently larger than the area of the side surface.

The reflection plate 2 is made of an aluminum plate, a stainless steel plate or the like. In particular, when the obstacle approach detection sensor of the AGV 1 is a photo sensor, it is preferable that the reflection plate 2 is made of a polished stainless steel plate or the like which can appropriately reflect light and can be reliably detected, or is subjected to a surface treatment.

As the reflection plate driving device 6, a device such as a linear motor, an air cylinder, an induction motor or the like which can drive the reflection plate 2 back and forth is employed. The reflector driving device 6 is controlled by opening and closing the positioning switch 4. The reflection plate driving device 6 employs a linear motor, an induction motor, or an air cylinder so that when the positioning switch 4 is closed to open (that is, when the MGV is closed).
3 is moved from a predetermined position), C (not shown)
By receiving an instruction from a PU or the like, the operation in the direction opposite to that in the case of opening → closing is performed, so that the reflection plate 2 can be retracted from the AGV transport path 11.

When the traveling of the AGV is controlled by using the transport breaker constructed as described above, the operation is performed as follows.

First, when MGV3 is not used,
Since there is no MGV 3 at the predetermined position, the positioning switch 4 is open (OFF state), so that the reflector driving device 6 does not operate. At this time, the reflection plate 2 is retracted while being housed inside the protection case 7 outside the AGV transport path 11.
Therefore, the AGV 1 can travel normally on the AGV transport path 11.

On the other hand, when the MGV3 is used, the MGV3
When the positioning switch 4 is positioned at a predetermined position (the position of the MGV 3 in FIG. 1) on the AGV transport path 11, the positioning switch 4 is closed (ON state), and the reflection plate driving device 6 operates to operate the reflection plate 2
Are projected into the AGV transport path 11. At this time, AGV
The obstacle approach detection sensor such as the photo sensor 1 has a reflection surface wider than the worker 10 or the MGV 3 and more reliably detects the reflection plate 2 located at a short distance.
GV1 can be reliably stopped. As a result, AG
Collision between V1 and an intruding object such as the worker 10 or the MGV3 can be more reliably prevented.

Thereafter, when the MGV 3 is moved from a predetermined position, the positioning switch 4 shifts from closed to open.
At this time, the reflector driving device 6 retreats the reflector 2 from the AGV transport path 11.

In the circuit breaker for a transport vehicle shown in FIG. 1, since the positioning confirmation lamp 5 is turned on when the positioning switch 4 is closed, the operator 10 checks whether the MGV 3 is positioned at the correct position. It can be easily and reliably confirmed just by visual recognition.

Further, since the reflector driving device 6 is covered by the driving portion cover 13, the AGV1 or the MGV
The adhesion of dust to the transported object 3, for example, the glass substrate cassette 12 can be reduced.

Second Embodiment In the first embodiment, an example is shown in which the reflecting plate 2 and the reflecting plate driving device 6 are separately provided on the outer surface of the processing device 8. However, as another example, FIG. As shown in FIG. 2, even if the reflection plate 2 and the reflection plate driving device 6 are incorporated in the processing device 8, the protection case 7 and the driving cover 13 are provided.
The same operation can be performed without providing (see FIG. 1), and adhesion of dust to a glass substrate cassette or the like can be prevented. In addition, since the protective case 7 and the drive unit cover 13 are not required, the number of parts and the size of the carrier breaker can be reduced.

Third Embodiment In the circuit breakers of the first and second embodiments, the positioning switch 4 is closed (in the ON state) when the MGV 3 is positioned, and the positioning confirmation lamp 5 is turned on.
As yet another example, as shown in FIG. 3, if an audio device 16 composed of a voice synthesis LSI for notifying the buzzer or the completion of the positioning by artificial voice is provided in place of the positioning confirmation lamp 5, the worker 10 Can confirm the notification sound emitted from the audio device 16 by ear,
The completion of positioning of V3 can be easily and reliably confirmed. In addition, both the positioning confirmation lamp 5 and the audio device 16 may be provided.
The user can more easily and reliably confirm that the positioning is completed by both eyes and ears.

[0038] One technique will be described in detail with reference to FIG. 4 for an example of A GV stopping device.

In the carrier cut-off devices described in the first to third embodiments, the reflection plate 2 is made to protrude above the AGV transport path 11 so that the obstacle approaching detection sensor of the AGV 1 being transported detects it. However, the AGV stop device shown in FIG. 4 includes a positioning switch 4 that closes when the MGV 3 is placed at a predetermined position (the position of the MGV 3 in FIG. 4), and an A that sends a stop signal when the positioning switch 4 closes.
A GV radio station 14, a receiving unit 17 provided in the AGV 1 for receiving a stop signal transmitted from the AGV radio station 14, and a predetermined stop position on the AGV transport path 11 (the magnetic tape shown in FIG. 4). 15) A magnetic tape 15 provided, a magnetic tape detection unit (not shown) provided in the AGV 1 for detecting the position of the magnetic tape 15, and an AGV transport path by the magnetic tape detection unit 1
And a control unit (not shown) for stopping the AGV 1 when the upper magnetic tape 15 is detected . The AGV1 is traveling by radio that are controlled. Furthermore, if to perform also detection by the obstacle approach detection sensor, a two-stage stance AGV stopping method and ing. Note that, among the other components, those denoted by reference numerals are common to the components denoted by the same reference numerals in FIGS.

As described above, the AGV stopping device of FIG.
If the positioning switch 4 is closed (at ON) when positioning the GV 3, the AGV wireless station 14 wirelessly transmits the AG signal.
A stop signal is transmitted to the receiving unit 17 of the V1 and the AGV transport path 11 on the upstream side of the predetermined position of the processing device 8 and the MGV 3.
Since the AGV 1 is stopped on the magnetic tape 15 provided thereon, the AGV radio station 14 is provided in the processing device 8 and the receiving unit 17 is provided in the AGV 1, so that the above described FIGS. as the reflection plate 2 is detected an obstacle approach detection sensor AGV1 reliably stopping the AGV as well as stopping it is and Turkey. When the AGV 1 receives the stop signal, the AGV 1 travels a short distance, and the magnetic tape detector detects the magnetic tape 15 on the AGV transport path 11.
Stop when detecting.

As the AGV radio station 14 and the receiving unit 17, for example, a mode is used in which the frequency is transmitted from the AGV radio station 14 using an arbitrary frequency, the frequency is received by the receiving unit 17, and the AGV 1 is stopped by the magnetic tape 15. Can be

The AGV stopping device shown in FIG. 4 may include the positioning confirmation lamp 5 and / or the audio device 16.

[0043]

According to the control method of the AGV with conveying breaker of the present invention, by protruding the reflector AGV conveying path, ensures the obstacle approach detection sensor, such as opposing photosensors AGV Detection can be performed, thereby reliably preventing collision between the AGV and an intruder such as a person or an MGV.

Further, by reducing the collision between the AGV and a person or an MGV, the damage of a conveyed object such as a glass substrate can be reduced.
The yield can be improved.

Further, by providing a positioning confirmation lamp, the efficiency of MGV positioning work can be improved.

By providing a cover for the reflector driving unit, it is possible to reduce adhesion of dust to the glass substrate.

[0047]

[Brief description of the drawings]

1 is a plan view showing an example of a transport vehicle for breaker according to the present invention.

Is a plan view showing another example of a transport vehicle for breaker according to the present invention; FIG.

[Figure 3] Yet other transport vehicles breaker according to the present invention
It is a plane explanatory view showing an example .

FIG. 4 is an explanatory plan view showing an embodiment of the automatic guided vehicle stopping device of the present invention.

FIG. 5 is a schematic diagram showing an overall configuration of a conventional automatic guided vehicle.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 AGV (automatic guided vehicle) 2 reflector 3 MGV (manual carrier) 4 positioning switch 5 positioning confirmation lamp 6 reflector driving device 7 protective case 8 processing device 9 positioning jig 10 worker 11 AGV transport path 12 glass substrate cassette DESCRIPTION OF SYMBOLS 13 Drive cover 14 AGV radio station 15 Magnetic tape 16 Audio device 17 Receiver

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 1/00-1/12 E01F 13/00-15/00

Claims (1)

(57) [Claims] 1. An unmanned transport having an obstacle approach detection sensor
A manual transport trolley is placed on the transport route of the vehicle.
A carrier circuit breaker provided near a predetermined position
Ri, (a) is disposed the manual conveyance carriage is in the predetermined position
Close positioning switch when and (b) on the transport path, and less of the predetermined position
On one side so that it can emerge in the transport path
And (c) the reflector when the positioning switch is closed.
Into the transport path, and the positioning switch
When opening, the reflector is retracted from the transport path.
And a reflector driving means for reciprocating the reflector.
And an obstacle approach detection sensor provided in the automatic guided vehicle.
Stops the automatic guided vehicle when it detects the reflector
A method for controlling an automatic guided vehicle using a circuit breaker for a guided vehicle, wherein the positioning switch is closed when the manual guided vehicle is placed at a predetermined position, whereby the reflector driving means moves the reflector to the automated guided vehicle. And stops the automatic guided vehicle when the obstacle approach detection sensor of the automatic guided vehicle detects the reflection plate, while the manual guided vehicle is not disposed at a predetermined position. A method for controlling an automatic guided vehicle, in which a positioning switch is opened, whereby the reflector driving means retracts the reflector out of the transport path and allows normal traveling of the automatic guided vehicle.