KR101221392B1 - cassette transfer vehicle - Google Patents

Abstract

The present invention relates to a cassette transport cart for transporting a cassette while traveling between manufacturing equipment for flat panel display devices.

Specifically, the present invention, the main body for providing a stage in the cassette seating position; A moving part installed at a lower end of the main body to support and move the entire body; An arm part attached to the stage to directly load and unload a cassette; A bumper guard provided along at least one outer surface of the main body; Buffer means interposed between the bumper guard and at least one outer surface of the body; An impact sensing means interposed between the bumper guard and at least one outer surface of the body; It provides a cassette transfer cart including a control unit for controlling the moving unit in accordance with the detection result of the impact detecting means.

Therefore, by using the cassette transport cart according to the present invention, it is possible to minimize the damage caused by the collision situation, reduce the likelihood of a chain accident, and quickly and appropriately cope with the collision, thereby enabling a safer and smoother manufacturing process of the flat panel display device. do.

Description

Cassette transfer vehicle

1 is a layout view of manufacturing facilities of a general flat panel display.

2 is a perspective view of a general AGV.

3 is a perspective view of an AGV according to the present invention;

4 is a cross-sectional view taken along the line IIIV-IIIV of FIG. 3.

Figure 5 is a block diagram showing a control unit and interlocking elements of the AGV according to the present invention.

<Description of the symbols for the main parts of the drawings>

120: main body 200: bumper guard

210: buffer means 212: spring

218: damper 220: impact detection means

222: contact sensor

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cassette transfer vehicle, and more particularly to a cassette transfer vehicle for carrying a cassette while traveling between manufacturing equipment for a flat panel display device.

In line with the recent full-scale informatization era, the display field for displaying electrical signal information as a visible image has also been rapidly developed. In response to this, the display has small and small size and low power consumption. As a flat panel display device (FPD), a liquid crystal display device (LCD), a plasma display panel device (PDP), a field emission display device (FED), Electro luminescence display devices (ELDs) have been introduced to quickly replace existing cathode ray tubes (CRTs).

These common flat panel display devices have a common display element (plat display panel) for image realization, which shows a form in which two substrates are bonded side by side with a unique layer of fluorescent or polarizing material interposed therebetween. In particular, an active matrix type in which pixels, which are basic units of image expression, are arranged in a matrix on a flat panel display panel, and each is individually controlled by a switching element such as a thin film transistor (TFT). It is widely used because of its ability to implement video and reproduce colors.

On the other hand, most of the manufacturing process of a flat panel display device is directed to a substrate, for example, a thin film deposition process for forming a thin film of a predetermined material on the surface of the substrate, and photolithography exposing selected portions of the thin film. The lithography process and the etching process of patterning the pattern to the desired shape by removing the exposed portions of the thin film are repeated several times, and various processes such as washing, bonding and cutting are involved.

The substrate is transported and supplied to the process equipment that performs the process for each of these processes, and a cassette for storing a plurality of substrates in order to save time and effort in transporting and storing the substrate during the process. Is used, and a cassette transfer vehicle (CTV) is mobilized as an unmanned transfer means for carrying it. Cassette transfer trucks that are widely used at present include RGV (Rail Guided Vehicle) moving along the rail, AGV (Automatic Guided Vehicle) moving along the designated path by its own driving force by the controller, and recently, laser navigation system. LGV (Laser Guided Vehicle) is also used.

FIG. 1 is a schematic plan view showing an arrangement relationship of a manufacturing apparatus of a general flat panel display, which is a space partitioned in a service area, and several movement paths between bays A where process equipment is placed. (2) is set appropriately, and along each movement route 2, a port (P), which is a loading and unloading position of the cassette, is arranged in close proximity, and a plurality of cassette transfers along each movement route 2 are carried out. The cart 4 takes the form of carrying the cassette of the port P as it runs.

Next, FIG. 2 is a perspective view of an AGV 10, which is a representative example of a general cassette transfer truck, and has a moving unit 30 mounted to a lower end of a main body 20 provided with a stage 22, which is a seating position of a cassette C. An arm portion 40 is attached to the stage 22 of the main body 20. At this time, the moving unit 30 is a portion for supporting and moving the entire AGV (10) is provided with a wheel (wheel: 32) to rotate along the floor by a driving means such as a motor, the arm portion 40 is a stage 22 Rotating disk 42 installed in the arm, and the arm 44 mounted on the rotating disk 42 so as to be able to contract and extend, and the catch plate 46, which is attached to the end thereof directly to support the cassette (C), etc. . Accordingly, the AGV 10 loads or unloads the cassette C to the desired port through the rotation, contraction, and extension of the arm part 40 while traveling along the traveling path by the moving part 30.

On the other hand, in the service area for manufacturing a general flat panel display device, a cassette transport truck such as the AGV 10 is busy along a plurality of moving paths defined in the form of a mesh, and thus there is a high possibility of an accident. .

That is, in FIG. 1, the movement path 2 of the cassette transport trolley 4 is minimally shown for convenience, but the movement path 2 of the actual cassette transport trolley 4 crosses or approaches between a plurality of manufacturing facilities. The number of cassette transfer trucks 4 running along each other is also large. In addition, in view of the frequent movement of various equipment and personnel in the service area, the operation of the cassette feed truck 4 necessarily involves an accident, and in particular, the movement path of the cassette feed cart 4 on the movement path (2). The accidental appearance of people, equipment or other cassette transport trolleys (4) can lead to costly damage and even casualties.

Accordingly, the general cassette transfer truck 4 has several safety facilities. For example, the emergency stop switch 52 mounted on the front surface of the main body 20 of the AGV 10 and the obstacle detecting sensor 54 are provided. This is the case. At this time, the emergency stop switch 52 is for emergency stop of the AGV 10 by direct manipulation of a person, and is provided at an appropriate position on the upper side of the front surface of the main body 20 in consideration of the height of the operator, and the obstacle detecting sensor 54. ) Detects obstacles ahead while driving.

However, these existing safety facilities are not effective, for example, it is impossible to cope with the obstacles haunted from the blind area of the obstacle detection sensor 54, and do not deviate from the movement path due to a certain degree of impact. Since the AGV 10 continues to travel, there is a high possibility of a secondary collision of the second and third cars, and in particular, the emergency stop switch 52 requiring direct human operation is difficult to use quickly in an emergency collision situation, as well as an obstacle detection sensor ( 54) the large blind spot is always largely exposed to the possibility of a large collision.

Accordingly, the present invention has been made to solve the above problems, and the object of the present invention is to reduce the possibility of large-scale accidents that may appear during operation of the cassette transport truck to proceed with a more stable flat panel display manufacturing process. To this end, the present invention is to present a concrete way to minimize the damage can be quickly and appropriately deal with the collision with the obstacle suddenly appeared on the moving path of the cassette transport cart in operation.

The present invention to achieve the above object, the main body for providing a stage in the cassette seating position; A moving part installed at a lower end of the main body to support and move the entire body; An arm part attached to the stage to directly load and unload a cassette; A bumper guard provided along at least one outer surface of the main body; Buffer means interposed between the bumper guard and at least one outer surface of the body; An impact sensing means interposed between the bumper guard and at least one outer surface of the body; It provides a cassette transfer cart including a control unit for controlling the moving unit in accordance with the detection result of the impact detecting means.

At this time, the buffer means, at least one spring for exerting a restoring force to return the bumper guard to its original position when the bumper guard is at least one side of the main body due to the collision; Due to the collision, the bumper guard includes at least one damper that absorbs the pressure exerted from the bumper guard when approaching the at least one outer surface of the body. In addition, the spring is characterized in that at least one selected from a leaf spring, coil spring, air spring.

In addition, the damper is characterized in that at least one selected from the hydraulic damper, pneumatic damper, the impact sensing means, characterized in that the pressure sensor or contact sensor, the bumper guard and the buffer means are spaced apart from each other, the pressure sensor Is interposed in close contact with each of the bumper guard and the buffer means. The bumper guard and the buffer means are spaced apart from each other, and the contact sensor is characterized in that it comprises a contact sensor attached to one of the bumper guard and the buffer means spaced apart from the other.

In addition, the moving unit, the wheel in contact with the floor; And a motor for rotating the wheels, wherein the control unit stops the wheels when the impact sensing means senses an impact, and the arm unit rotates mounted on the stage. A disk; An arm contracting and extending in a state where one end is coupled to the rotating disk; It is characterized in that it comprises a catch plate coupled to the other end of the arm to directly support the cassette.

In particular, the cassette transport cart is characterized in that the rail guided vehicle (RGV), automatic guided vehicle (AGV) or laser guided vehicle (LGV).

Hereinafter, the present invention will be described in more detail with reference to the drawings.

Prior to the full description, the technical idea of the present invention described below is a cassette transport truck of all kinds used in the manufacturing process of a flat panel display device, and is characterized in that it can be universally applied to RGV, AGV or LGV. For convenience, a representative example is described through AGV, but it is not necessarily limited thereto.

3 is a perspective view of the AGV 110 according to the technical concept of the present invention, the role of which is to carry the cassette (C) while traveling along a predetermined progress path in the service area, the main body in appearance 120 may be divided into a moving part 130 at a lower end of the main body 120 and an arm part 140 at an upper end of the main body 120.

Look at each one in detail.

First, the main body 120 forms a mother body on which all the following components, including the moving part 130 and the arm part 140, are mounted, and provides a stage 122 on which the cassette C may be seated. do. In addition, the main body 120 is defined in front and rear and side toward the traveling direction as it travels along a predetermined movement path by the moving unit 130. The AGV 110 according to the present invention is particularly The bumper guard 200 is mounted on at least one surface of the main body 120, and the bumper guard 200 and the main body 120 are characterized in that the shock detection means including a predetermined buffer means is interposed.

That is, FIG. 4 is a partial cross-sectional view taken along the line IV-IV of FIG. 3 and illustrates the shock absorbing means 220 and the shock absorbing means 210 including the bumper guard 200. Reference is made in conjunction with FIG. 3 above.

As shown, the bumper guard 200 is horizontally installed on one side of the main body 120 of the AGV 110 according to the present invention, and is transmitted from the bumper guard 200 between the bumper guard 200 and the main body 120. The shock detection means 220 for detecting the shock transmitted from the bumper guard 200 together with the shock absorbing means 210 for absorbing the shock is provided, the double bumper guard 200 is made of a synthetic resin or metal, etc. 120 and spaced apart from each other, and the shock absorbing means 210 may be used as a shock absorbing member such as a damper (218) including an elastic member such as a spring (spring: 212), the shock sensing means ( The contact sensor 222 or the pressure sensor may be used as the 220. In this case, the spring 212 is a general term for a mechanical element that can absorb and accumulate energy using elastic deformation of an object to act as a buffer, and may be a coil spring or a plate spring. , Rubber spring (rubber spring) and the like used in the sense of broad (,), damper 218 is a generic name of a device that absorbs vibration energy, oil damper (oil damper) and air damper (air damper) or dash This means including a port (dash port), etc.

That is, the bumper guard 200 is horizontally installed on at least one outer surface of the main body 120 of the AGV 110 according to the present invention, from the one side of the main body 120 so that an impact is applied first in case of an accident such as a collision. It protrudes to some extent.

In addition, between the bumper guard 200 and the main body 120 as a buffer means for exerting an elastic force to the impact applied from the bumper guard 200, at least one spring 212 and the shock-absorbing member that is an elastic member At least one damper 212 is installed, the double spring 212, the middle portion is spaced to some extent toward the inner surface of the bumper guard 200 with both ends coupled to one side of the main body 120 as shown Semicircular or similarly protruding leaf springs are possible, which can be fixed by screws S or the like which are inserted into one side of the main body 120 through a slit hole perforated along the longitudinal direction of both ends. have. Therefore, when the bumper guard 200 approaches the main body 120 due to an external shock such as a collision, the middle portion of the leaf spring is in close contact with the inner surface of the bumper guard 200, and the long holes at both ends penetrated through the screw S are momentarily. Exercising the play of the positional change in the longitudinal direction as the bar spring afterwards exerts a restoring force to push the bumper guard 200 in place.

At this time, the leaf spring is made of spring steel material, the leaf spring can be used.

In addition, the damper 218 may be mounted on the outer surface of the main body 120 facing the middle portion of the leaf spring or directly facing the bumper guard 200, although not shown in the drawing, similar to the dashpot or oil It may represent a configuration in which the piston moves inside the cylinder filled with air, in which case the through-hole is passed through the piston and a restoring force is applied by a separate spring. Accordingly, when the bumper guard 200 approaches the main body 120 due to a collision or the like and exerts an external force in the moving direction of the piston, the oil or air in the cylinder absorbs vibration during the escape of the piston through the piston, and the restoring force by the spring is absorbed. Through the piston is back in place.

In addition, between the main body 120 and the bumper guard 200 of the AGV 110 according to the present invention, a contact sensor 222 or a pressure sensor is used as the shock detection means 220, in the case of the double contact sensor 222 As shown in the figure, the bumper guard 200 may be mounted at a predetermined distance from the middle of the leaf spring, and although not separately shown, the pressure sensor may be interposed in close contact with the bumper guard 200 and the leaf spring at the corresponding position. Therefore, when the bumper guard 200 approaches the main body 120 due to a collision or the like, these contact sensors 222 or the pressure sensor are in close contact or pressure is applied to the inner surface of the bumper guard 200. Detects shock through.

Accordingly, in the AVG 110 according to the present invention, the bumper guard 200 collides for the first time when a sudden obstacle appears, and the impact amount is reduced through the buffer means 210 such as the damper 218 including the spring 212. At the same time, it can be confirmed whether or not the collision through the impact detection means 220, such as the contact sensor 222.

In addition, the AGV 110 is emergencyly stopped at the same time as the detection of the impact detecting means 220. For this purpose, the control unit controls the moving unit 130 in a state connected to the impact detecting means 220. Is prepared.

That is, FIG. 5 is a block diagram illustrating a control unit 230 and an interlocking element provided in the main body 120 of the AGV 110 according to the present invention. The control unit 230 having a predetermined algorithm includes a contact sensor 222. As a result of the detection of the impact sensing means 220, that is, the wheel 132 of the moving unit 130, which will be described later with respect to the collision facts is stopped, whereby the AGV 110 is emergency-stopped and the second and third chain collision This is avoided. At this time, if necessary, warning means 240 such as a speaker or an emergency light connected to the controller 230 may be additionally installed at one side of the main body 120, and the control unit 230 confirms the fact of collision and at the same time the AGV 110. Emergency stop and informs the worker through the warning means (240).

3 again, the moving unit 130 of the AGV 110 according to the present invention is laid at the bottom of the main body 120 to support the whole and at the same time the entire AGV 110 can be moved according to the user's purpose. For example, the plurality of wheels 132 rotated along the floor and the driving means such as a motor for rotating the wheels 132 and the wheel 132 may be forcibly stopped, although not clearly shown in the drawings. It includes a break that can be. In this case, the wheel 132 may be made of a urethane or rubber material to reduce vibration and noise, and may have a caster shape that is free to change direction. The brake emergency stops the wheel 132 according to the instruction of the controller (see 230 of FIG. 5) in the case of a collision or the like.

Next, the arm unit 140 is a rotatable disk 142 rotatably mounted on the stage 122 of the main body 120 and an arm capable of contracting and extending in a state where one end is fixed to the rotating disk 142. 144 and catch plate 146 coupled to its ends to directly support cassette C. In this case, the arm 144 may be a sliding method as shown in the drawing, but a so-called multi-joint method in which several links are connected or folded or unfolded through a hinge is possible.

Therefore, the AGV 110 according to the present invention loads or unloads the cassette C by connecting the rotation, contraction and extension of the arm 140 from the desired point while traveling along the movement path by the moving unit 130. If a collision occurs during this process, the impact is minimized through primary shock reduction, the AGV is urgently eliminated, and the possibility of subsequent chain accidents is eliminated, and the worker is notified so that appropriate actions can be taken.

Meanwhile, although not described above, the AGV 110 according to the present invention may be equipped with an emergency stop switch 152 mounted on the front surface of the main body 120, an obstacle detection sensor 154, and the like. 152 is for emergency stop of the AGV 110 by direct manipulation of a person, and is provided at an appropriate position on the top of the front surface of the main body 120 in consideration of the height of the operator, and the obstacle detecting sensor 154 is in operation. The AGV 110 may be emergencyly stopped in the case of a collision possibility by detecting an obstacle in front of the vehicle.

The core technical idea of the present invention described above is to minimize the occurrence of damages by mitigating impact when the cassette transfer truck collides, and also to quickly detect whether a collision occurs to stop the cassette transport cart, thereby reducing the possibility of subsequent accidents. It was informed so that proper coping was possible. Therefore, there may be various applications for specific components for each of them, for example, a specific form or mounting position for a shock absorbing means such as a spring or a damper, all of which should fall within the scope of the present invention. In addition, the present invention can be applied to all cassette transfer trucks other than AGV, such a modification is within the scope of the present invention, which will be more clearly understood through the claims below.

Therefore, by using the cassette transport cart according to the present invention, it is possible to minimize the damage caused by the collision situation, reduce the likelihood of a chain accident, and quickly and appropriately cope with the collision, thereby enabling a safer and smoother manufacturing process of the flat panel display device. do.

Claims (10)

A main body providing a stage at a cassette seating position; A moving part installed at a lower end of the main body to support and move the entire body; An arm part attached to the stage to directly load and unload a cassette; A bumper guard provided along at least one outer surface of the main body; Buffer means interposed between the bumper guard and at least one outer surface of the body; An impact sensing means interposed between the bumper guard and the shock absorbing means; Control unit for controlling the moving unit according to the detection result of the impact detection means Cassette transfer cart comprising a. The method of claim 1, The buffer means, At least one spring exerting a restoring force to return the bumper guard to its original position when the bumper guard is brought closer to at least one outer surface of the main body due to a collision; At least one damper that absorbs pressure exerted from the bumper guard when the bumper guard is brought closer to at least one outer surface of the body due to a collision Cassette transfer cart comprising a. 3. The method of claim 2, The spring is at least one selected from a leaf spring, coil spring, air spring, The damper is a cassette conveying bogie is at least one selected from a hydraulic damper, a pneumatic damper. The method of claim 1, The impact detecting means is a cassette transport cart, which is a pressure sensor or a contact sensor. 5. The method of claim 4, The bumper guard and the buffer means are spaced apart from each other, The pressure sensor is a cassette transfer cart interposed in close contact between each of the bumper guard and the buffer means. 5. The method of claim 4, The bumper guard and the buffer means are spaced apart from each other, The touch sensor is a contact sensor attached to one of the bumper guard and the buffer means spaced apart from the other Cassette transfer cart comprising a. Claim 7 has been abandoned due to the setting registration fee. The method of claim 1, The moving unit, A wheel in contact with the floor; Motor for rotating the wheel Cassette transfer cart comprising a. Claim 8 was abandoned when the registration fee was paid. 8. The method of claim 7, The control unit, the cassette transport cart for stopping the wheel when the impact detection means detects an impact. Claim 9 has been abandoned due to the setting registration fee. The method of claim 1, The arm part, A rotating disk mounted on the stage; An arm contracting and extending in a state where one end is coupled to the rotating disk; Catch plate coupled to the other end of the arm to directly support the cassette Claim 10 has been abandoned due to the setting registration fee. The method of claim 1, The cassette transport cart is a rail guided vehicle (RGV), an automatic guided vehicle (AGV) or a laser guided vehicle (LGV).

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