JP5228469B2 - Mixed work line system using automated guided vehicles - Google Patents

Description

  The present invention relates to a system for controlling a work line using an automatic guided vehicle, and belongs to the technical field of factory automation.

  In recent years, systems that use automated guided vehicles have been introduced to assembly lines in automobile production plants to improve productivity, such as reducing the burden on workers and reducing the occurrence of work errors and accidents. . In this work line, for example, as described in Patent Document 1, a guidance route is laid on the floor of a factory, and this guidance is performed while an automatic guided vehicle on which a work is mounted detects electromagnetically or optically. Auto travel along the route. On the guide route, a work zone in which an operator is stationed and performs work such as assembly to the work is provided, and the automatic guided vehicle transports the work to the work zone. The worker in the work zone performs work on the workpiece conveyed by the automatic guided vehicle.

  In such a work line, when a plurality of types of workpieces, that is, workpieces on which different operations are performed, flow in a mixed manner, the automatic guided vehicle transports the workpiece and holds information on the details of operations performed on the workpiece. Configured to do. For example, in the case of the system described in Patent Literature 1, an ID tag indicating work content information is attached to the automatic guided vehicle. When the automatic guided vehicle loaded with the work arrives at the work zone, the ID tag reader reads information on the work content to be performed on the work from the ID tag of the automatic guided vehicle, and the worker is based on the read information. Work on the workpiece. In this case, the ID tag reader is arranged at a predetermined distance from the guide route so that information can be read from the ID tag of the automatic guided vehicle on the guide route.

Japanese Patent No. 2770447

  However, in the case of the system disclosed in Patent Document 1, the ID tag reader may not be able to read information from the ID tag normally. This is because the automatic guided vehicle travels in a non-contact state on the guide route while electromagnetically or optically detecting the guide route, and cannot avoid meandering or slightly deviating from the route. For this reason, the distance between the ID tag attached to the automatic guided vehicle and the ID tag reader installed in the work zone is not constant. When the distance between the ID tag and the ID tag reading device exceeds the limit value, the ID tag reading device cannot normally read the work content information from the ID tag, thereby providing the worker with the work content to be performed on the workpiece. Disappear.

  Therefore, the present invention performs a work line in which a plurality of types of workpieces conveyed to an automatic guided vehicle flow in a mixed manner, and in particular, performs the same type of work in parallel in a plurality of work zones arranged in parallel to improve production efficiency. In an operation line configured as described above, an automatic guided vehicle that can reliably provide information on work contents performed on a work mounted on the automatic guided vehicle to a device or an operator that performs the work on the work. It is an object to provide a mixed flow work line system used.

In order to solve the above-mentioned problem, the invention according to claim 1 of the present application is
A mixed-flow work line system using an automatic guided vehicle in which a plurality of automatic guided vehicles moving along a guide route are loaded with workpieces having different work contents and conveyed to any one of a plurality of work zones arranged in parallel. Because
A working device arranged in each work zone and capable of performing work on each workpiece based on the acquired corresponding work content information;
Work content information management means for managing the work content information of each work in association with the identification information of each work;
Production sequence information management means for managing production sequence information for each workpiece;
Transport work information management means for managing the identification information of each automatic guided vehicle and the identification information of the work transported by the automatic guided vehicle in association with each other;
The operation of a plurality of automatic guided vehicles via communication means is controlled based on the production order information of the work, and the automatic operation control means connected to the work content information management means and the conveyed work information management means by wire. When,
When the automatic guided vehicle arrives at any of the work zones, it is transported by the automatic guided vehicle from the transport work information management means based on the identification information of the automatic guided vehicle transmitted from the automatic guided vehicle operation control means. The work content information about the work is obtained from the work content information management means based on the work identification information, and the work content information is acquired by the work device in the work zone. It is characterized by having work content information transmitting means for transmitting.

The invention according to claim 2 is a mixed work line system using the automatic guided vehicle according to claim 1,
The work device transmits work end information to the automatic guided vehicle operation control means when work on the work is finished,
The automatic guided vehicle operation control means starts the automatic guided vehicle loaded with the workpiece and operates based on the production order information when receiving the work end information from a work device. .

Furthermore, the invention according to claim 3 is a mixed work line system using the automatic guided vehicle according to claim 1 or 2,
The working device performs work on a work via an operator,
It has the display means which displays work content information to an operator, It is characterized by the above-mentioned.

Furthermore, the invention according to claim 4 is the mixed flow work line system using the automatic guided vehicle according to any one of claims 1 to 3,
The work performed on the work line is an assembly work for assembling a plurality of types of automobile subassemblies,
The work device is an assembly device capable of assembling a plurality of parts corresponding to a plurality of types of workpieces.

  According to the first aspect of the present invention, the identification information of the automatic guided vehicle and the identification information of the workpiece conveyed by the automatic guided vehicle are associated and managed. When the automatic guided vehicle arrives at the work zone, the identification information of the work transferred to the work zone is obtained based on the identification information of the automatic guided vehicle, and the work device arranged in the work zone The work content information for the work corresponding to the identification information is acquired and the work for the work is performed. Therefore, the work device can reliably acquire the work content information as compared to the case where the work content information is acquired via an ID tag that may cause a reading error. That is, an operation that reliably corresponds to the workpiece is performed.

  According to the second aspect of the present invention, the work device transmits work end information to the automatic guided vehicle operation control means when work on the work is finished. Upon receiving the work end information, the automatic guided vehicle operation control means starts an automatic guided vehicle that transports a work on which the work corresponding to the information is performed, and operates based on the production order information. Thereby, operation | movement of the automatic guided vehicle carrying the workpiece | work which completed the work is started automatically.

  According to the third aspect of the present invention, the work device performs work on the work via the worker, and has display means for displaying work content information to the worker. Thereby, the worker can know the work content to be performed on the work, and can perform the work on the work via the work device.

  Furthermore, according to the invention described in claim 4, the work performed on the work line is an assembly work for assembling a plurality of types of automobile sub-assemblies, and the work device supports a plurality of types of workpieces. This is an assembling apparatus capable of assembling a plurality of parts. Thus, a plurality of types of automobile subassemblies are assembled in the line.

  FIG. 1 shows a configuration of a work line controlled by a mixed flow work line system using an automatic guided vehicle (hereinafter referred to as “AGV”) according to an embodiment of the present invention, and FIG. 2 shows a configuration of an AGV. ing. FIG. 3 shows the control system of this system.

  1 is a work line in which a plurality (13) of AGV01 to 13 move along an endless guide route R, and a plurality of parts P1 corresponding to a plurality of types of workpieces W. , P2 is an assembly line for assembling. In addition, the code | symbol 01-13 attached | subjected to AGV respond | corresponds to the identification number (identification information) for identifying several AGV separately. The AGV identification is not limited to the identification number, but may be identification information such as other identification symbols.

  The guide path R is laid by sticking a magnetic tape on the floor of the factory. The guide path R has one branch point Bp, one junction point Mp, and three branch paths r1, r2, and r3 between them.

  Each of the AGVs 01 to 13 includes a drive wheel 12 driven by the drive motor 10 and a steering wheel 16 whose steering angle is controlled by the steering motor 14 as shown in FIG. The steering motor 14 is controlled on the basis of the detection result of the route R to move along the guide route R. Each of the AGVs 01 to 13 is equipped with a battery 20 as a power source such as the drive motor 10, the steering motor 14, and the guidance path detector 18.

  In the guide route R, the address plates A1 to A16 are installed on the floor surface where the AGVs 01 to 13 are stopped. Each of the AGVs 01 to 13 has an address plate detector 22 for detecting the address plates A1 to A16 in the lower part, and is configured to stop when the detector 22 detects the address plate. Each of the AGVs 01 to 13 includes a stop address signal indicating a stopped address plate and an identification number signal together with the AGV operation control device shown in FIG. 3 (corresponding to the automatic guided vehicle operation control means described in the claims). 100 is configured to transmit to 100. This identification number signal is always transmitted when various signals are transmitted to the AGV operation control apparatus 100. The AGV operation control apparatus 100 confirms at which position on the work line F each of the AGVs 01 to 13 is received based on the received stop address signal and identification number signal.

  The stopped AGVs 01 to 13 are configured to start upon receiving a departure signal from the AGV operation control device 100 (the timing at which the AGV operation control device 100 transmits the departure signal will be described later). Therefore, the AGV operation control device 100 determines where each AGV is moving or where it stops depending on the stop address signal transmitted last from each of the AGVs 01 to 13 and whether or not the departure signal is transmitted. Have confirmed. For example, when a stop address signal indicating the address plate A1 from the AGV is received and a departure signal is transmitted to the AGV, this means that the AGV is moving toward the address plate A2. Further, the AGV operation control apparatus 100 stores the history of the received stop address signal and identification number signal and the transmitted departure signal as data (operating data is stored).

  Note that the AGVs 01 to 13 and the AGV operation control device 100 communicate with each other by the radio device 24 provided in each AGV and the radio device 102 provided in the factory where the work line F exists, provided in the AGV operation control device 100. Is executed by wireless communication.

  Further, on the guide route R, work zones Z1 to Z4, Z5a to z5c, and Z6 to Z7 are provided in which various works are performed on the workpieces W conveyed by the AGVs 01 to 13, respectively.

  The work zone Z1 is a zone where the jig J is placed on the loading platforms 26 of the AGVs 01 to 13 by the worker H1. In work zone Z1, address board A1 for stopping each of AGV01-13 is installed. The jig J is placed using a roller 28 on the loading platform 26. When the placement of the jig J is completed, a work end button (not shown) pressed by the worker H1 is installed in the work zone Z1, and when this work end button is pressed, the AGV operation control apparatus 100 is Assuming that the placement of the jig J on the stationary AGV on the address plate A1 is completed, a departure signal is transmitted to the AGV.

  The work zones Z2 and Z3 are picking zones in which the parts P1 and P2 to be assembled to the workpiece W are mounted on the AGVs 01 to 13 on which the jig J is placed in the work zone Z1. An address plate A2 for stopping the AGVs 01 to 13 is installed in the work zone Z2, and A3 is installed in Z3.

  As shown in FIG. 2, each of AGV01 to AGV13 is provided with a shelf 30 for storing the component P1 supplied in the work zone Z2 and a shelf 32 for storing the component P2 supplied in the work zone Z3. . The parts P1 and P2 stored in the shelves 30 and 32 are picked from the parts management shelves S1 and S2 arranged in the zones Z2 and Z3 by the workers H2 and H3. When the picking work is completed, work end buttons (not shown) pushed by the workers H2 and H3 are installed in the work zones Z2 and Z3. When this work finish button is pushed, the AGV operation control apparatus 100 Assuming that the mounting of the parts P1 and P2 to the stationary AGV on the address plates A2 and A3 is completed, a departure signal is transmitted to the AGV.

  The work zone Z4 is a zone in which the work W is attached by the worker H4 to the jig J on the loading platform 26 of each of the AGVs 01 to 13 on which the parts P1 and P2 are mounted in the work zones Z2 and Z3. In the work zone Z4, an address plate A4 for stopping each of the AGVs 01 to 13 is installed. When the work W is completely attached to the jig J, a work end button (not shown) pushed by the worker H4 is installed in the work zone Z4. When the work end button is pushed, AGV operation control is performed. The apparatus 100 transmits a departure signal to the AGV, assuming that the work W has been mounted on the AGV that is stopped on the address plate A4.

  Each of the work zones Z5a to Z5c is provided on the corresponding branch paths r1 to r3, and the worker H5 in which the parts P1 and P2 transported together with the work W transported by the AGVs 01 to 13 resides in the work zone. A zone assembled by H7 (e.g., assembling an automobile subassembly). Address plates A9 to A11 for stopping the AGVs 01 to 13 are installed in the work zones Z5a to 5c, respectively. Details of the work zones Z5a to Z5c will be described later.

  The work zone Z6 is a zone for charging the batteries 20 of the AGVs 01 to 13 on which the work W (subassembly) in which the parts P1 and P2 are assembled in any one of the work zones Z5a to 5c is mounted. In work zone Z6, address plate A15 for stopping each of AGV01-13 is installed. Each of the AGVs 01 to 13 is configured to transmit a charging completion signal to the AGV operation control device 100 when the charging of the battery 20 is completed, and the AGV operation control device 100 that has received this charging completion signal receives the charging completion signal. A departure signal is transmitted to the transmitted AGV.

  The work zone Z7 is a zone where the jig J to which the work W (subassembly) on which the parts P1 and P2 are assembled is attached is removed from the AGV by the worker H8. In the work zone Z7, an address plate A16 for stopping each of the AGVs 01 to 13 is installed. The jig J to which the subassembly is attached is sent to another work line (for example, when the subassembly is an automobile subassembly, the main line through which the automobile body flows).

  Further, a work end button (not shown) pushed by the worker H8 when the dismounting work of the jig J to which the subassembly is attached is completed is installed in the work zone Z7, and when this work end button is pushed, The AGV operation control device 100 transmits a departure signal to the AGV, assuming that the jig J has been dismounted from the stopped AGV on the address plate A16. The AGV that has received this departure signal moves to the work zone Z1.

  The AGV operation control device 100 transmits a departure signal to each of the stopped AGVs 01 to 13 to the address plates A1 to A4, A9 to A11, and A15 to A16 of the work zones Z1 to Z4, Z5a to Z5c, and Z6 to Z7, respectively. In addition, the operation of each of the AGVs 01 to 13 is controlled so that the works W output from the work line F are in a predetermined order.

  More specifically, the production order is determined in advance for each of a plurality of types of workpieces W1 flowing through the work line F, and each workpiece W is numbered with a production number indicating the production order. Each workpiece W flowing through the work line F is identified and managed by a production number. Based on this production number, the AGV operation control device 100 operates each of the AGVs 01 to 13 so that the workpiece W is output from the work line F in the order of the production numbers.

  For example, when the work line F is a line for assembling a sub assembly of an automobile, the sub assembly assembled in the line F is conveyed to a sub assembly attachment zone of a main line through which the automobile body flows. At this time, the work line F needs to output a subassembly corresponding to the model of the automobile flowing through the main line.

  As shown in FIG. 4, a production number is numbered for each work of a plurality of types A to X (corresponding to a car model when the work is a part of a car). In the example of FIG. 4, type A workpieces correspond to production numbers 001 to 003, type B workpieces correspond to production numbers 004 to 007, and type C workpieces correspond to production numbers 008 to 010. That is, from the work line F, three subassemblies for the model A car, then four subassemblies for the model B car, and then three subassemblies for the model C car are supplied to the main line. . As a result, the corresponding subassemblies are incorporated in each of the three model A automobile bodies, the four model B automobile bodies, and then the three model C bodies flowing through the processing line.

As shown in the table of FIG. 4, the production number numbered for each work W1 and the type (model number) of the work are associated with each other and managed as data as shown in FIG. The workstation 104 (corresponding to the production order information management means described in the claims) is connected to the AGV operation control apparatus 100 by wire via a work management apparatus. The correspondence data between the production number managed by the workstation 104 and the type of workpiece (model number) is data created by the production manager based on the production plan.

  A work management device (corresponding to the transport work information management means described in claims) 106 manages the work W flowing through the work line F. Specifically, as shown in FIG. 5, the identification numbers of AGV01 to AGV13 and the production numbers of the workpieces W are associated and managed as data. In the example of FIG. 5, the work W with the production number 110 is conveyed to the AGV with the identification number 01.

The association between the AGV identification number and the work production number is performed in the work zone Z1. More specifically, when the AGV operation control device 100 receives the identification number signal transmitted from the AGV that has arrived at the work zone Z1, information data of the identification number is transmitted to the work management device 106. The work management apparatus 106 that has received the identification number information data, the production number that has not yet been associated with this identification number (that is, the work held by the jig J placed on the AGV that has arrived at the work zone Z1). W production number). For example, in the example of FIG. 5, when the AGV with the identification number 01 arrives at the work zone Z1 after getting off the work with the production number 110 in the work zone Z7, the jig J for the work with the production number 124 is attached. As a result, the AGV identification number 01 and the production number 124 are associated (the production number corresponding to the AGV identification number 01 is updated from 110 to 124).

  Strictly speaking, the work management apparatus 106 gives the worker H1 the work W of the model whose production order is most correlated with the previous production number among the production numbers not associated with the AGV identification number. It is confirmed via the data managed by the workstation 104 (correspondence data between the production number and the type of workpiece), and in the work zone Z1 so that the jig J for the workpiece W of the confirmed type is placed on the AGV. Instruction is given via a display device (not shown).

  Therefore, the AGV operation control device 100 refers to the correspondence data between the production number of the workpiece W managed by the workpiece management device 106 and the identification number of the AGV, and the workpiece W (the jig for holding the workpiece W in the work zone Z7). J) controls the operation of a plurality of AGVs 01 to 13 so that they get off from the AGV in the order of production numbers.

  More specifically, the transmission timing of the departure signal of the AGV stopped at the address plate A12 immediately before the branch point Bp and the address plates A12 to 14 arranged between the junction Mp and each of the three work zones Z5a to 5c. In the work zone Z7, the operation of the plurality of AGVs 01 to 13 is controlled such that the work W is dismounted from the AGV in the order of production numbers.

  Since the work zones Z5a to 5c are arranged on the branch paths r1 to r3 arranged in parallel, if the work time in each work zone differs depending on, for example, the skill level of the worker or the type of work, the work zone Despite the arrival of an AGV carrying a work W with a small production number (first production order) in any one of Z5a to 5c, the production number that arrived later in any of the remaining work zones is large (production An AGV equipped with a workpiece W (after order) may depart from the work zone first. If the AGV carrying the workpiece W having the larger production number passes through the junction Mp first, the workpiece getting off in the work zone Z7 will be different from the production number order. Therefore, the AGV carrying the workpiece W having the smaller production number. This AGV is made to wait on the address plate (any one of A12 to A14) between the work zone and the junction Mp until the AGV stopped at any one of the address plates A12 to 14 until it passes the junction Bp. Do not send a departure signal.)

  An example of the control flow of the AGV operation control apparatus 100 for this purpose is shown in FIG.

  First, the AGV operation control apparatus 100 confirms whether or not the AGV is stopped at the three address plates A12 to A14 in step S200. If confirmed, the process proceeds to step S210.

  Next, in step S210, the AGV operation control apparatus 100 has the smallest production number (the production order with the earliest production order) among the production numbers of the workpieces W mounted on at least one AGV stopped at A12 to A14. Number).

  Subsequently, in step S220, the AGV operation control apparatus 100 determines the production number (hereinafter referred to as the immediately preceding production number) of the workpiece mounted on the AGV that departs from any of the address plates A12 to A14 immediately before (most recently). ) (Check the operation data to be stored.)

  In step S230, it is confirmed whether or not the minimum number confirmed in step S210 is a number subsequent to the production number immediately before confirmed in step S220. If it is a subsequent number, the process proceeds to step S240. If not, go back to the start.

  In step S240, the AGV operation control apparatus 100 transmits a departure signal to the AGV in which the work W having the smallest production number is stopped on any one of the address plates A12 to A13 in step S230. Then go back to the start.

  When the AGV operation control apparatus 100 executes control according to the control flow shown in FIG. 6, the workpiece W passes through the junction Mp in the order of production numbers, that is, the workpiece W is output from the work line F in the order of production numbers.

  Further, the AGV operation control apparatus 100 allows any one of the three work zones Z5a to 5c so that the workpiece W can pass through the junction Mp in the order of production numbers with respect to the AGV stopped at the address plate A5 immediately before the branch point Bp. A destination instruction signal to be moved to one is transmitted together with the departure signal. The received AGV moves toward any one of the work zones Z5a to 5c indicated by the movement destination instruction signal.

  Note that the AGVs that are stopped on the address plates A6 to A8 that have not been described so far correspond to the AGVs that have completed the work in the corresponding work zones Z5a to 5c and that have the work W completed. When departing from the address plates A9 to A11, the departure signal is received from the AGV operation control device 100.

  From here, the operation | work which assembles | assembles several components P1 and P2 to the workpiece | work W of work zone Z5a-5c is demonstrated.

  In the work zones Z5a to 5c, assembling devices (corresponding to the working devices described in claims) 108a to 108c for assembling the parts P1 and P2 to the workpiece W are arranged.

  Specifically, as shown in FIG. 3, the assembling devices 108a to 108c are for controlling the electric drivers 110a to 110c for assembling the parts P1 and P2 corresponding to each of a plurality of types of workpieces W with bolts. For each type of workpiece W, the torque of the electric driver is managed at each of a plurality of tightening points. This is to prevent excessive tightening and tightening failure.

  Moreover, the assembling apparatuses 108a to 108c include display apparatuses 112a to 112c that indicate to the workers H5 to H7 the mounting positions and mounting procedures of the parts P1 and P2, which differ for each type of work.

  The assembling apparatuses 108a to 108c have torque value data (hereinafter referred to as “torque data”) of the electric drivers 110a to 110c at each of a plurality of tightening points for each type of workpiece W, and each type of workpiece W. The image data to be displayed on the display devices 112a to 112c is not held. When the workpiece W is conveyed by the AGV to the work zones Z5a to 5c, torque data and video data (2 In addition, it corresponds to the work content information data described in the claims.) From the work management device 106.

  For details of the functions of the AGV operation control device 100, the workstation 104, and the work management device 106 necessary for this purpose, refer to the flowchart showing the flow of the assembly device 108a to 108c receiving work content information data shown in FIG. While explaining.

  First, as shown in S300, for example, AGV08 on which workpiece W is mounted arrives at work zone Z5a.

  As shown in S <b> 310, the address plate A <b> 9 installed in the work zone Z <b> 5 a on which the AGV 08 on which the work W is mounted arrives is detected and stopped, and the stop address signal and the identification number signal are transmitted to the AGV operation control apparatus 100. .

  As shown in S320, the AGV operation control apparatus 100, based on the stop address signal and the identification number signal received from the AGV08, data indicating the address plate A9 where the AGV08 is stopped and the identification number 08 of the AGV Is transmitted to the work management device 106 (the AGV operation control device 100 is configured so that this is possible).

  As shown in S330, the work management device 106 receives the data indicating the information of the address plate A9 where the AGV08 is stopped and the AGV identification number 08 from the AGV operation control device 100, and the AGV identification number indicated by this data Based on the relationship data (refer to FIG. 5) between the AGV identification number and the production number managed with 08, the production number 118 of the workpiece W mounted on the AGV08 is retrieved, and the production of the retrieved workpiece W Data indicating the information of the number 118 is transmitted to the workstation 104 (the work management apparatus 106 is configured so as to be able to do this).

  As shown in S340, the workstation 104 has correspondence data between the production number 118 indicated by the data transmitted from the work management device 106, the managed production number, and the type of workpiece (model number) (see FIG. 4). ), The type D of the work W mounted on the AGV08 stopped in the work zone is searched, and the work content information data required for the type W of the searched type D is stored in the work management device 106. Reply (the work management device 106 is configured so that this is possible). For this purpose, the workstation 104 holds work content information data for each type of work W (functions as work content information management means described in claims).

  As shown in S350, when the work management apparatus 106 receives necessary work content information data for the type D work W from the workstation 106, this data is indicated by the data received from the AGV operation control apparatus 100 in S330. It is transmitted to the assembling apparatus 108a arranged in the work zone Z5a where the address plate A9 where the AGV08 is stopped is installed (the work management apparatus 106 is configured to enable this). That is, it functions as the work content information transmitting means described in the claims.

  As shown in S360, the assembling apparatus 108a performs a work corresponding to the work of the production number 118 based on the work content information data received from the work management apparatus 106. Specifically, while looking at the display device 112a on which an image corresponding to the received work content information data is displayed, the worker H5 uses the electric screwdriver 110a whose torque is managed to apply to the work W with the production number 118. Corresponding parts P1 and P2 are assembled.

  As in the other work zones, when the assembly work is completed, work end buttons (not shown) that are pushed by the workers H5 to 7 are installed in the work zones Z5a to 5c, respectively. Then, the AGV operation control device 100 transmits a departure signal to the AGV, assuming that the assembly work for the W mounted on the AGV stopped on the corresponding address plates A9 to A11 is completed.

  According to the present embodiment, the assembling apparatuses 108a to 108c do not receive the work content information data via the ID tag that may cause a reading error as in Patent Document 1, but the AGVs that have reached the work zones Z5a to 5c. Since the work content information data is received via the AGV operation control device 100, the workstation 104, and the work management device 106 based on the identification number, it is transported to the work zone by the AGV via the workers H5-7. The work corresponding to the workpiece W can be reliably performed.

  Further, in the case of an ID tag, work content information data having a large amount of data cannot be used because of a limited data storage amount, but this is possible in the case of the present embodiment. For example, it is possible to display a moving image indicating a work procedure with a large amount of data on the display devices 112a to 112c.

  Although the present invention has been described with reference to the above-described embodiment, the present invention is not limited to this.

  For example, in the case of the above-described embodiment, the work line F is an assembly work in which the workers H5 to H7 assemble the parts P1 and P2 corresponding to the workpiece W via the assembly devices 108a to 108c (operation for assembling the subassembly of the automobile). However, this may be automatic.

  For example, an assembling apparatus having a robot arm having an electric screwdriver at the tip and a robot arm that grips a part and fixes it at a work mounting position performs an assembling work on the work W conveyed by the AGV to the work zone. It may be performed automatically. In this case, the assembly device does not need to be provided with a display device that indicates the work content to the worker as in the above-described embodiment, but the AGV operation is performed in order to resume the operation of the AGV that has transported the workpiece after the assembly operation is completed. It is necessary to provide means for transmitting a signal indicating that the assembling work has been completed to the control device.

  In the above-described embodiment, the work performed on the work line is an assembling work, but is not limited thereto. For example, it may be an inspection operation for inspecting a plurality of types of objects (a work in the case of the above-described embodiment). In this case, the work device is configured by an inspection device capable of inspecting a plurality of types of objects.

  Further, in the case of the above-described embodiment, the assembling apparatus has a display device in order to show the work contents to the worker, but the work is not greatly different for each type of work, and the worker The display device may be omitted if the corresponding operation can be reliably performed.

  Furthermore, in the above-described embodiment, the work is identified and managed by the production number (although the production number serves as an identification number for identifying the work), that is, as shown in FIG. Even if the type is the same, the production number is different, but the type may be identified and managed. Further, the identification of each workpiece W is not limited to the production number, and identification information such as other identification symbols may be used.

  For example, in the case of the above-described embodiment, as shown in the table of FIG. 4, the production numbers 001 to 003 are numbered for the three types A workpieces and are output from the work line F in the order of the production numbers. At this time, if it is possible to change the output order of the three workpieces of the same type A from the work line F, the workpieces can be identified and managed according to the type. (The workpiece identification number corresponds to the type.) However, even with the same kind of work, when a unique number (for example, the work management number) for identifying one by one is numbered (when the individual is identified and managed in the same kind of work), Like the above-mentioned embodiment, a production number needs to be numbered to one work.

  As described above, according to the present invention, in a mixed flow work line in which an AGV transports a plurality of types of workpieces to a work zone in which the workpieces are arranged in parallel and the work is performed on each workpiece via the work device, Is reliably implemented. Therefore, it may be suitably used in the production field where mixed flow production is performed.

It is a figure which shows roughly the structure of the work line of the mixed-flow work line system of one Embodiment of this invention. It is a figure which shows schematically the structure of the automatic guided vehicle (AGV) shown in FIG. FIG. 2 is a diagram showing a control system of the work line shown in FIG. It is the figure which represented the correspondence data of the production number of a workpiece | work and the kind of workpiece | work managed with a workstation with a table. It is the figure which represented the correspondence data of the identification number of AGV and the production number of a workpiece | work managed with a workpiece | work management apparatus with the table. An example of a flow for controlling the operation of the AGV is shown so that a work performed in a work zone on a plurality of branch paths passes through the junction Mp in the order of production numbers. It is a figure for demonstrating the process in which work content information is transmitted to the working device of a work zone.

Explanation of symbols

R Guide route Z5a Work zone 108a Work device (assembly device)

Claims (4)

A mixed-flow work line system using an automatic guided vehicle in which a plurality of automatic guided vehicles moving along a guide route are loaded with workpieces having different work contents and conveyed to any one of a plurality of work zones arranged in parallel. Because
A working device arranged in each work zone and capable of performing work on each workpiece based on the acquired corresponding work content information;
Work content information management means for managing the work content information of each work in association with the identification information of each work;
Production sequence information management means for managing production sequence information for each workpiece;
Transport work information management means for managing the identification information of each automatic guided vehicle and the identification information of the work transported by the automatic guided vehicle in association with each other;
The operation of a plurality of automatic guided vehicles via communication means is controlled based on the production order information of the work, and the automatic operation control means connected to the work content information management means and the conveyed work information management means by wire. When,
When the automatic guided vehicle arrives at any of the work zones, it is transported by the automatic guided vehicle from the transport work information management means based on the identification information of the automatic guided vehicle transmitted from the automatic guided vehicle operation control means. The work content information about the work is obtained from the work content information management means based on the work identification information, and the work content information is acquired by the work device in the work zone. A mixed work line system using an automatic guided vehicle, characterized by comprising work content information transmitting means for transmitting. In the mixed work line system using the automatic guided vehicle according to claim 1,
The work device transmits work end information to the automatic guided vehicle operation control means when work on the work is finished,
The automatic guided vehicle operation control means starts the automatic guided vehicle loaded with the workpiece and operates based on the production order information when receiving the work end information from a work device. A mixed work line system using automated guided vehicles. In the mixed flow work line system using the automatic guided vehicle according to claim 1 or 2,
The working device performs work on a work via an operator,
A mixed work line system using an automatic guided vehicle, comprising display means for displaying work content information to an operator. In the mixed flow work line system using the automatic guided vehicle according to any one of claims 1 to 3,
The work performed on the work line is an assembly work for assembling a plurality of types of automobile subassemblies,
The mixed working line system using an automatic guided vehicle, wherein the working device is an assembling device capable of assembling a plurality of parts corresponding to a plurality of types of workpieces.

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