WO2024095443A1 - Véhicule de transport autonome - Google Patents

Véhicule de transport autonome Download PDF

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Publication number
WO2024095443A1
WO2024095443A1 PCT/JP2022/041145 JP2022041145W WO2024095443A1 WO 2024095443 A1 WO2024095443 A1 WO 2024095443A1 JP 2022041145 W JP2022041145 W JP 2022041145W WO 2024095443 A1 WO2024095443 A1 WO 2024095443A1
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WO
WIPO (PCT)
Prior art keywords
feeder
item
detection unit
transport
case
Prior art date
Application number
PCT/JP2022/041145
Other languages
English (en)
Japanese (ja)
Inventor
佳宏 藤田
晋吾 藤村
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/041145 priority Critical patent/WO2024095443A1/fr
Publication of WO2024095443A1 publication Critical patent/WO2024095443A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • This specification relates to an automated guided vehicle.
  • a part feeder which is a transported item, may be transported using a cart that is detachably connected to an electronic component mounting device.
  • the part monitoring system disclosed in Patent Document 2 includes a monitoring device that determines whether the storage status of the part feeder has changed between the time the part feeder is loaded onto the cart and the time the cart is connected to the electronic component mounting device, and performs an alarm operation if the storage status of the part feeder has changed.
  • automated guided vehicles are being generalized rather than specialized, making it possible to transport a variety of transported objects.
  • workers do not accompany the vehicles to monitor the transport process. For this reason, even if an item that forms an object is attached or detached during transport, whether intentionally or accidentally, it can only be determined whether the item has been attached or detached after the object has been handed over to the destination. In this case, there is a risk that a delay in the determination could affect production, for example, by causing a shortage of necessary parts. Therefore, when transporting objects by automated guided vehicles, it is desirable to be able to quickly determine whether an item has been attached or detached.
  • the purpose of this specification is to provide an automated guided vehicle that can detect and determine the attachment and detachment of an item when transporting an object.
  • an automated guided vehicle capable of transporting an object including an object used in a substrate-related operating machine and a case for detachably holding the object
  • the automated guided vehicle comprising a main body, a support section provided on the main body for supporting the case, a detection section provided on the main body for detecting the presence or absence of the object in the case during transport of the object, and a determination section for determining whether the object has been attached to or detached from the case based on the detection result by the detection section.
  • the detection unit can quickly detect and determine whether an item is being attached or detached during the transport of the item.
  • FIG. 1 is a perspective view for explaining a production line equipped with an automated guided vehicle.
  • FIG. 2 is a perspective view showing a schematic diagram of an automated guided vehicle with an object being carried thereon;
  • FIG. 2 is a perspective view showing a model of a carriage which is the main body of the unmanned transport vehicle.
  • 11 is a diagram for explaining detection by a detection unit and guidance to the outside.
  • FIG. 11 is a perspective view illustrating an automatic guided vehicle according to a first modified example, with an article being loaded thereon.
  • FIG. 11 is a perspective view showing a cart that is the main body of the unmanned guided vehicle according to a first modified example.
  • FIG. 13 is an enlarged perspective view for explaining the configuration of a detection unit of a first modified example.
  • FIG. 1 is a perspective view for explaining a production line equipped with an automated guided vehicle.
  • FIG. 2 is a perspective view showing a schematic diagram of an automated guided vehicle with an object being carried thereon;
  • FIG. 2 is a perspective view showing
  • FIG. 11 is a perspective view showing a schematic diagram of an automated guided vehicle with an object loaded thereon according to a second modified example.
  • FIG. 11 is a perspective view showing a cart that is the main body of the unmanned transport vehicle according to a second modified example.
  • 13A and 13B are diagrams illustrating detection by a detection unit and guidance to the outside according to a third modified example.
  • an automated guided vehicle will be explained with reference to the drawings.
  • an automated guided vehicle will be explained by taking as an example a case where the automated guided vehicle transports items required for production in a production line equipped with substrate-related operating machines.
  • the production line PL includes a warehouse 1, an automatic tape processing device 3 installed in an external setup area 2, a reel loading device 4, a buffer station 5 as a substrate-related operating device, and a component mounting machine 6.
  • the production line PL also includes a reel transport vehicle VR and a feeder transport vehicle VF as unmanned transport vehicles capable of transporting a transported object C including an article used in the component mounting machine 6 and a case for detachably holding the article.
  • an article e.g., a tape feeder, etc.
  • transported (moved) to the buffer station 5 by the feeder transport vehicle VF is supplied to each of the multiple component mounting machines 6 by a loader 7.
  • the feeder transport vehicle VF transports the article to the buffer station 5 is illustrated, but the feeder transport vehicle VF can also transport the article to the component mounting machine 6.
  • examples of items used in the component mounting machine 6 as a substrate-related operation machine include, for example, tape reels and tape feeders that supply electronic components and the like to the component mounting machine 6, and suction nozzles that pick up the supplied components.
  • Other examples of items include, for example, a mask when the substrate-related operation machine is a printing machine, and also trays and substrates (workpieces).
  • cases that form the transported goods C include tape reels, suction nozzles, racks on which masks, substrates, etc. are placed, magazines that house tape feeders, and pallets on which trays are placed.
  • the reel transport vehicle VR transports the transported goods C from the loading/unloading entrance 1a of the warehouse 1 to the automatic tape processing device 3 installed in the external setup area 2.
  • the reel transport vehicle VR also transports the transported goods C from the automatic tape processing device 3 to the reel loading device 4.
  • an example of the transported goods C transported by the reel transport vehicle VR is a tape reel R (hereinafter simply referred to as "reel R"), which is an item placed on a rack T, which is a case.
  • the feeder transport vehicle VF transports the transported item C from the loading/unloading entrance 1a of the warehouse 1 to the reel loading device 4.
  • the feeder transport vehicle VF also transports the transported item C from the reel loading device 4 to the buffer station 5.
  • an example of the transported item C transported by the feeder transport vehicle VF is a tape feeder F (hereinafter simply referred to as "feeder F"), which is an item stored in a magazine M, which is a case.
  • the reel transport vehicle VR and feeder transport vehicle VF which are unmanned transport vehicles, are capable of communicating with the management device 8.
  • the reel transport vehicle VR follows instructions based on the transport plan from the management device 8, and transports the rack T on which the target reel R is placed, i.e., the transported object C, from the entrance 1a of the warehouse 1 and carries it into the automatic tape processing device 3.
  • the reel transport vehicle VR also transports the rack T on which the reel R on which the carrier tape that has been subjected to the necessary processing in the automatic tape processing device 3 is placed, i.e., the transported object C, from the automatic tape processing device 3 to the reel loading device 4.
  • the feeder transport vehicle VF in accordance with instructions based on the transport plan from the management device 8, transports the magazine M containing the target feeder F, i.e., the transported object C, from the entrance/exit 1a of the warehouse 1 and transports it to the reel loading device 4.
  • the feeder transport vehicle VF also transports the magazine M containing multiple feeders F loaded with reels R, i.e., the transported object C, from the reel loading device 4 and transports it to the buffer station 5.
  • the feeder transport vehicle VF transports the magazine M containing the feeder F after parts supply or an empty magazine M not containing a feeder F, from the buffer station 5 as the transported object C, and transports it, for example, to the entrance/exit 1a of the warehouse 1.
  • the reel transport vehicle VR and the feeder transport vehicle VF differ in that the reel transport vehicle VR transports reels R placed on a rack T as the transported item C, whereas the feeder transport vehicle VF transports feeders F stored in a magazine M as the transported item C.
  • the configurations of the reel transport vehicle VR and the feeder transport vehicle VF are similar. Therefore, in the following explanation, the feeder transport vehicle VF will be specifically illustrated.
  • the automatic tape processing device 3 and the reel loading device 4 are arranged independently, but it is also possible to configure the automatic tape processing device 3 and the reel loading device 4 to be provided as an integrated unit. In this case, after processing by the automatic tape processing device 3, the loading process is performed directly by the reel loading device 4. For this reason, instead of providing the production line PL with both the reel transport vehicle VR that transports only the reels R placed on the rack T as the transported goods C and the feeder transport vehicle VF that transports only the feeders F contained in the magazine M as the transported goods C, it is also possible to configure the production line PL so that, for example, the feeder transport vehicle VF also transports the reels R placed on the rack T as the transported goods C.
  • Feeder vehicle VF (automated guided vehicle)
  • the feeder transport vehicle VF automatically transports the magazine M containing the feeder F or empty as the transported object C according to a preset transport plan.
  • the transport plan is set for each transported object C (specific feeder F and magazine M) transported by the feeder transport vehicle VF based on a production plan set for the production line PL.
  • the transport plan includes the type and number of feeders F contained in the magazine M, the position of the contained feeder F relative to the magazine M, i.e., the state of the magazine M to be transported, the transport route for transporting the transported object C, and the position (transport target) for loading and unloading the transported object C, i.e., the position for transferring the transported object C, etc. are set in advance.
  • the incorrect feeder F or the shortage of the correct feeder F cannot be determined during the transportation of the transported item C, it is determined and discovered, for example, when the transported item C is transported (handed over) to the buffer station 5. In other words, the incorrect feeder F or the shortage of the correct feeder F can be found at the destination to which the transported item C is transported, and therefore it takes time to discover, and discovery is delayed. If the incorrect feeder F or the shortage of the correct feeder F is discovered late, the state of the magazine M differs from the transportation plan, and for example, the component mounting machine 6 runs out of parts, causing production to stop, or the whereabouts or source of the feeder F or parts cannot be traced, which can affect production.
  • an unmanned transport vehicle including the feeder transport vehicle VF transports the transported object C, it is necessary to detect, determine and monitor the attachment and detachment of an item even during transport. If the attachment and detachment of an item is detected and determined during monitoring, notification information is quickly output to the management device 8 to notify the operator or manager that the attachment and detachment has occurred, and the operator or manager must be informed, for example, via a display device or the like installed on the production line PL. Furthermore, when the feeder F is attached or detached from the magazine M during transport, for example, the feeder F is likely to be incompletely stored (set) in the magazine M, and as a result, there is a risk that the feeder F will fall from the magazine M during the transport operation by the feeder transport vehicle VF.
  • the feeder transport vehicle VF which is an unmanned transport vehicle, mainly comprises a cart 10 as the main body, a cart control unit 16, a traveling device 20, and a detection unit 30 that detects the attachment/detachment (insertion/removal) of a feeder F as an article to a magazine M as a case during the transport of transported goods C, as shown in FIG. 2.
  • the front/rear, left/right, and top/bottom of the feeder transport vehicle VF are defined for the sake of convenience, as shown in FIG. 2.
  • the bogie 10 and the running device 20 are configured to be generally symmetrical with respect to a center line extending in the front-to-rear direction.
  • the bogie 10, which is the main body, is connected to the running device 20 by a connection mechanism (not shown).
  • the running device 20 can, for example, enter the underside of the bogie 10 from the rear, pull and move the connected bogie 10, and exit behind the bogie 10.
  • the detection unit 30 is provided on the bogie 10, which is the main body.
  • the dolly 10 mainly comprises a loading platform 11, left and right side portions 12, left and right legs 13, two front wheels 14 (only the left side is shown in Figure 2 etc.), two rear wheels 15, and a dolly control unit 16.
  • the loading platform 11 is formed in a roughly rectangular shape in a plan view and is disposed horizontally and spaced apart from the floor surface.
  • the dolly 10, which is the main body, is provided with a loading/unloading unit 17 as a support unit on the upper surface of the loading platform 11, and a detection unit 30 is installed on the upper surface at the rear in the fore-and-aft direction of the loading platform 11.
  • the left and right side portions 12 are provided so as to extend downward from the left and right edges of the loading platform 11.
  • a space for the running device 20 to enter is defined between the left and right side portions 12 on the underside of the loading platform 11.
  • Left and right legs 13 extending in the front-to-rear direction are provided on the underside of each side portion 12.
  • Front wheels 14 for running are provided on the front lower portion of the legs 13, and rear wheels 15 for running are provided on the rear lower portion of the legs 13.
  • the total of four front wheels 14 and rear wheels 15 are free-wheeling wheels whose running direction can be changed.
  • the two rear wheels 15 are provided with stoppers.
  • Carriage control unit 16 (determination unit 161)
  • the trolley control unit 16 is a microcomputer whose main components are a CPU, a ROM, a RAM, and various interfaces.
  • the trolley control unit 16 executes various programs (not shown) to comprehensively control the operation of the trolley 10 (specifically, the operation of the loading/unloading unit 17, etc.).
  • the trolley control unit 16 can also communicate with the management device 8, as shown in Figs. 1 and 4.
  • the trolley control unit 16 of this embodiment further includes a determination unit 161, which acquires the detection result S output from the connected detection unit 30.
  • the determination unit 161 determines whether or not the feeder F, which is an article, has been attached to or detached from the magazine M, which is a case, based on the detection result S by the detection unit 30.
  • the trolley control unit 16 communicates with the management device 8, and when the determination unit 161 determines that the feeder F has been inserted or removed, it outputs notification information J regarding the insertion or removal of the feeder F to the management device 8.
  • the management device 8 can quickly inform, for example, a worker or a manager of the insertion or removal of the feeder F.
  • the judgment unit 161 is provided in the bogie control unit 16.
  • the judgment unit 161 can also be provided in a control device other than the bogie control unit 16 (for example, the travel control unit 25 described below) or in various calculation devices.
  • the judgment unit 161 can also be provided in a management device 8 that can communicate with the bogie control unit 16.
  • the judgment unit 161 can be formed on the cloud.
  • the unloading unit 17 unloads the magazine M containing the feeder F or empty from the front of the front side of the dolly 10 in the front-rear direction.
  • the unloading unit 17 is composed of a main roller 171, six drive rollers 172, a guide roller 173, a locking mechanism 174, a locking hook 175, an operation panel 176, and a drive motor (not shown).
  • the three types of rollers are columnar or cylindrical members extending in the left-right direction and supported rotatably around a central axis.
  • the guide roller 173, the three drive rollers 172, the main roller 171, and the three drive rollers 172 are arranged in this order from the front to the rear of the dolly 10.
  • the main roller 171 is driven by forward and reverse rotation of the drive motor, and rotates in the forward and reverse directions.
  • the six drive rollers 172 are connected to the main roller 171 by a transmission belt (not shown), and rotate synchronously at the same rotational direction and speed as the main roller 171.
  • the guide roller 173 is not given a driving force and can rotate freely. Magazine M (transported object C including rack T, etc.) is loaded by the forward rotation of the main roller 171 and drive roller 172, and magazine M (transported object C including rack T, etc.) is unloaded by the reverse rotation.
  • the drive and stop of the drive motor and the rotation direction are controlled by the cart control unit 16.
  • the locking mechanism 174 is disposed behind the rearmost drive roller 172.
  • the locking mechanism 174 locks the loaded magazine M (carried object C including racks T, etc.) using a locking hook 175.
  • the front side of the locking hook 175 is bent upward, and is supported by an elastic member so that it can swing up and down.
  • the locking hook 175 lowers once and then rises, automatically locking a locking portion (not shown) provided at the rear end of the magazine M (transported object C including racks T, etc.).
  • the locking hook 175 lowers once and then rises, automatically fitting into a locking hole provided at the rear end of the magazine M (transported object C including racks T, etc.).
  • the locking hook 175 is driven downward by, for example, an electromagnetic solenoid (not shown), to release the lock on the magazine M (transported object C including racks T, etc.).
  • the operation of the electromagnetic solenoid is controlled by the trolley control unit 16.
  • the unloading operation of the unloading unit 17 is mainly performed automatically under the control of the cart control unit 16.
  • some operations of the unloading unit 17 can be performed manually by operating the operation panel 176 arranged at the rear of the platform 11.
  • by operating the operation panel 176 for example, when the unloading unit 17 stops due to an abnormality (error) in the unloading operation, it is possible to cancel the error in the case of a so-called error stop or to perform an emergency stop of the unloading unit 17.
  • the feeder transport vehicle VF more specifically the cart 10, transports (moves) along a transport route set by a preset transport plan, stops accurately at a stop position, and faces the transport destination, which is the transport target, at the stop position.
  • the dolly 10 is provided with a power receiving connector (not shown) on the loading platform 11.
  • the power receiving connector is arranged, for example, so as to face the traveling device 20 that has entered the space formed between the bottom plate of the loading platform 11, i.e., the left and right side portions 12.
  • the power receiving connector is fitted into a power supply connector (not shown) provided on the traveling device 20 side.
  • the power supply connector is connected to a battery (not shown) built into the traveling device 20. Therefore, by fitting the power receiving connector on the dolly 10 side with the power supply connector on the traveling device 20 side, power for driving the dolly control unit 16 and the loading/unloading unit 17 is supplied from the battery on the traveling device 20 side.
  • the dolly 10 does not need to be provided with a battery that supplies power for driving the dolly control unit 16 and the loading/unloading unit 17.
  • the trolley 10 is provided with a coupling mechanism for coupling with the traveling device 20 that has entered the space formed between the left and right side portions 12 and the bottom plate of the loading platform 11.
  • the trolley 10 is also provided with a positioning mechanism (bumper) in front of the loading platform 11 that enables positioning of the trolley 10, i.e., the feeder transport vehicle VF, when loading and unloading the transported goods C.
  • the configurations and operations of the coupling mechanism and positioning mechanism are not directly related to this embodiment, so a description thereof will be omitted.
  • the traveling device 20 is composed of a device body 21, a pair of left and right drive wheels 22 (only the left side is shown in Fig. 2), a pair of left and right front wheels 23 (only the left side is shown in Fig. 2), a pair of left and right rear wheels 24 (only the left side is shown in Fig. 2), a traveling control unit 25, an operation panel 26, a traveling motor (not shown), etc.
  • the device body 21 is formed in a shape of a rectangular parallelepiped that is generally long in the front-rear direction and has rounded corners in a plan view. The device body 21 is placed horizontally and slightly spaced from the floor surface.
  • the drive wheels 22 are positioned at a central position in the front-to-rear direction below the device body 21. Each drive wheel 22 is driven by forward and reverse rotation of a travel motor controlled by a travel control unit 25. Each drive wheel 22 is capable of rotating at different rotation speeds and in different rotation directions. This allows the travel device 20 to move forward, backward, and change direction freely.
  • the front wheels 23 are positioned in front of the drive wheels 22 in the front-rear direction on the underside of the device body 21.
  • the rear wheels 24 are positioned in front of the drive wheels 22 in the front-rear direction on the underside of the device body 21.
  • the total of four front wheels 23 and rear wheels 24 are free-wheeling wheels whose running direction is variable.
  • the front wheels 23 and rear wheels 24 rotate following the rotational state of each of the drive wheels 22.
  • the distance between the left and right wheels, i.e., the tread width is, for example, maximum for the drive wheels 22, minimum for the front wheels 23, and intermediate for the rear wheels 24. In this way, good steering performance of the traveling device 20 is ensured by the drive wheels 22 having the maximum tread width.
  • the driving control unit 25 is a microcomputer whose main components are a CPU, ROM, RAM, and various interfaces.
  • the driving control unit 25 executes various programs (not shown) to comprehensively control the operation of the driving device 20 (specifically, the operation of the driving motor, such as driving, stopping, and the direction of rotation).
  • the travel control unit 25 can communicate with the management device 8. As a result, the travel control unit 25 can control the travel of the traveling device 20 according to the transport route and transport target set by the transport plan by communicating with the management device 8. Furthermore, the travel control unit 25 can communicate with the cart control unit 16 when the cart 10 and the traveling device 20 are connected. As a result, the cart control unit 16 can obtain various information related to the travel (movement) including the positions of the feeder transport vehicle VF and the reel transport vehicle VR from the travel control unit 25.
  • an AGV Automatic Guided Vehicle
  • the traveling device 20 is provided with a tape detection unit that detects a route display tape (see FIG. 1) provided on the floor surface of the production line PL corresponding to the transport route and the transport target, and outputs the detection result to the traveling control unit 25.
  • the traveling control unit 25 controls the control amount of the drive wheels 22 (travel motor) according to the detection result output from the tape detection unit, and causes the traveling device 20 to travel along the transport route and to stop at the transport target.
  • the tape detection unit is disposed on the center line on the lower side of the device main body 21 at a front position and a rear position in the front-rear direction.
  • the route display tape can be a magnetic display type or an optical display type tape.
  • the traveling device 20 travels autonomously under the control of the traveling control unit 25.
  • some operations of the traveling device 20 can be manually performed by operating the operation panel 26 located at the rear of the top surface of the device main body 21.
  • the operation panel 26 located at the rear of the top surface of the device main body 21.
  • Detection unit 30 The detection unit 30 detects that a feeder F (reel R, etc.) which is an article is attached to or detached from a magazine M (rack T, etc.) which is a case placed on a support portion, i.e., the loading/unloading portion 17, of the cart 10 during the transportation of the transported object C. Specifically, the detection unit 30 of this embodiment is disposed on the upper surface behind the loading platform 11 in the front-rear direction of the cart 10, as shown in Figs.
  • the detection unit 30 of this embodiment is disposed on the upper surface of the platform 11 so as to be in the vicinity of the opening M1 of the magazine M supported by the loading/unloading unit 17.
  • the detection unit 30 of this embodiment detects the presence or absence of a feeder F, which is an article, at the opening M1 of the magazine M, i.e., whether the feeder F has been inserted or removed (an article has been attached or removed) through the opening M1.
  • the detection unit 30 detects that a feeder F has been inserted or removed from the magazine M, it outputs a detection result S to the determination unit 161 of the trolley control unit 16.
  • the determination unit 161 determines that the feeder F has been inserted or removed (attached or detached).
  • the detection unit 30 detects the insertion and removal of the feeder F, which is an item, based on a physical quantity that can be measured electromagnetically. For this reason, in this embodiment, for example, the detection unit 30 is provided with a photoelectric sensor that uses light, which is an electromagnetic wave, as an example.
  • the detection unit 30 of this embodiment includes a light-emitting unit 31 and a light-receiving unit 32.
  • the detection unit 30 does not output the detection result S.
  • the detection unit 30 outputs the detection result S.
  • a situation in which the light-receiving unit 32 is unable to receive light beyond the light-blocking time is assumed to be, for example, a case in which the feeder F is not properly accommodated in the magazine M (feeder F is dislodged, etc.) caused by vibrations or the like while the feeder transport vehicle VF is traveling (moving). Even in this case, the detection unit 30 outputs the detection result S to the cart control unit 16.
  • the determination unit 161 determines that the attachment and detachment of the feeder F has been completed. Then, the trolley control unit 16 and the travel control unit 25 cooperate to continue the transport of the transported item C when the determination unit 161 determines that the feeder F has been inserted and removed (attached and detached) and is complete.
  • the judgment unit 161 judges that the attachment/detachment of the feeder F is incomplete. Then, the trolley control unit 16 and the travel control unit 25 cooperate to stop the transport of the transported object C when the judgment unit 161 judges that the insertion/removal (attachment/detachment) of the feeder F is incomplete. This makes it possible to prevent the feeder F from falling out of the magazine M while being transported by the feeder transport vehicle VF.
  • the trolley control unit 16 when the determination unit 161 of the trolley control unit 16 determines that the feeder F has been inserted or removed, as shown in FIG. 4, the trolley control unit 16 outputs notification information J indicating that the feeder F has been inserted or removed during transport to the externally installed management device 8 via communication. In other words, when the determination unit 161 determines that the feeder F, which is an item, has been attached or detached during the transport of the transported object C, the trolley control unit 16 can output notification information J regarding the insertion or removal (attachment or detachment) of the feeder F to the management device 8.
  • the management device 8 when the management device 8 acquires the notification information J from the carriage control unit 16 of the feeder transport vehicle VF, it uses a guidance device to provide guidance (or an alarm) to the worker, manager, etc. That is, the guidance device provides guidance that the feeder F has been inserted or removed from the magazine M during transport to the buffer station 5 by the feeder transport vehicle VF.
  • the guidance device include a display device provided in the management device 8, a display device provided in the production line PL, or a mobile terminal or audio speaker carried by the worker.
  • the feeder transport vehicle VF (reel transport vehicle VR) as an automated transport vehicle of this embodiment is an automated transport vehicle capable of transporting transported goods C including feeders F (reels R) as items used in the buffer station 5 and component mounting machine 6, which are substrate-related work machines, and magazines M (racks T) as cases that detachably hold the feeders F (reels R), and is equipped with a cart 10 as a main body, a loading/unloading section 17 provided on the cart 10 as a support section that supports the magazines M (racks T), a detection section 30 provided on the cart 10 that detects the presence or absence of the feeder F (reels R) relative to the magazine M (racks T) during the transport of the transported goods C, and a judgment section 161 that judges whether the feeder F (reels R) has been attached to or detached from the magazine M (racks T) based on the detection result S by the detection section 30.
  • a cart 10 as a main body
  • a loading/unloading section 17 provided on the cart 10 as a support
  • the feeder transport vehicle VF and the reel transport vehicle VR allow the detection unit 30 to quickly detect the insertion and removal of the feeder F from the magazine M and the attachment and removal of the reel R from the rack T during the transport of the transported item C. And, with the feeder transport vehicle VF and the reel transport vehicle VR, when the judgment unit 161 judges based on the detection result S by the detection unit 30 that the feeder F has been inserted and removed from the magazine M and the reel R has been attached and removed from the rack T, it can output notification information J to the management device 8, etc., and can promptly inform the worker, manager, etc.
  • the detection unit 30 detects the presence or absence of a feeder F, which is an article, at the opening M1 of the magazine M, which is a case supported on the loading platform 11 of the cart 10.
  • the determination unit 161 determines that the feeder F has been inserted or removed through the opening M1 of the magazine M during the transport of the transported object C by the feeder transport vehicle VF, which is an unmanned transport vehicle. This enables the cart control unit 16 to output notification information J to the management device 8.
  • a feeder F that is not included in a transport plan including the attachment and detachment of a feeder F (reel R) to a preset magazine M (rack T) and the attachment and detachment of a magazine M (rack T) to the unloading section 17, is inserted or removed
  • the inserted or removed feeder F i.e., the part that is predicted to be in short supply, from the viewpoint of minimizing the impact on production due to a shortage of parts, for example.
  • the position of the feeder F to be accommodated in the magazine M is preset by the transport plan, it is preferable to be able to detect the position of the inserted or removed feeder F in relation to the magazine M.
  • the detection unit 30 is arranged on the platform 11 of the cart 10 so as to be below the feeder F, which is an article, through the slit M3, which is a gap provided in the bottom surface M2 of the magazine M, which is a case supported by the unloading unit 17, which is a support unit, as shown in Fig. 5 (see also Fig. 7). More specifically, the detection unit 30 of the first modified example is arranged below the drive roller 172 rearward of the main roller 171 of the unloading unit 17, as shown in Fig. 6, and is arranged so as to match the formation position of the slit M3 when the magazine M is supported, for example, to match the gap between the drive rollers 172 formed in the front-to-rear direction.
  • the detection units 30 of the first modified example are arranged in multiple units according to the width (pitch) of the feeders F contained in the magazine M in order to detect the presence or absence of the feeders F in the magazine M.
  • the detection units 30 of the first modified example are arranged in a one-to-one relationship with the feeders F contained in the magazine M.
  • the detection unit 30 of the first modification also includes a photoelectric sensor that uses light, which is an electromagnetic wave, like the detection unit 30 of the embodiment described above.
  • the detection units 30 of the first modification each have a light-emitting unit 33 and a light-receiving unit 34, as shown enlarged in FIG. 7.
  • the detection unit 30 arranged at a position where the feeder F is not housed in the magazine M i.e., there is no feeder F inside the magazine M
  • no reflected light is generated even if the light-emitting unit 33 emits light upward, and as a result, the light-receiving unit 34 does not receive the reflected light.
  • the determination unit 161 when the light receiving unit 34 of the detection unit 30 changes from a state in which it receives reflected light to a state in which it cannot receive reflected light during the transport of the transported object C by the feeder transport vehicle VF, the determination unit 161 outputs the detection result S because the feeder F has been removed (pulled out) from the magazine M. Also, in the first modified example, when the light receiving unit 34 changes from a state in which it does not receive reflected light to a state in which it receives reflected light, the determination unit 161 outputs the detection result S because the feeder F has been stored (inserted) in the magazine M.
  • the detection unit 30 outputs the detection result S by linking it to identification information (such as an identification number) that identifies itself.
  • the judgment unit 161 does not output the detection result S because the feeder F has not been removed (pulled out) from the magazine M.
  • the judgment unit 161 does not output the detection result S because the feeder F has not been stored (inserted) in the magazine M.
  • the judgment unit 161 of the first modified example judges that a feeder F has been inserted or removed (attached or detached) based on a change in the detection result S that occurs when the feeder F is switched between the presence or absence state of the feeder F detected by the detection unit 30, specifically, when the light receiving unit 34 receives reflected light or when the light receiving unit 34 does not receive reflected light.
  • the trolley control unit 16 outputs, via communication, to the management device 8 notification information J that indicates that a feeder F has been inserted or removed during the transport of the transported item C, and that indicates the identification information (identification number) of the detection unit 30 for identifying the inserted or removed feeder F.
  • the detection unit 30 of the first modified example detects the attachment or detachment of an item, a feeder F, during the transport of a transported item C, it can output to the management device 8 notification information J regarding the detected insertion or detachment (attachment or detachment) of the feeder F, including the fact that the insertion or detachment (attachment or detachment) has been performed and the position of the inserted or detached item, the feeder F, relative to the magazine M.
  • the management device 8 when the management device 8 acquires the notification information J from the carriage control unit 16 of the feeder transport vehicle VF, it uses the guidance device to provide guidance (or an alarm) to the worker, manager, etc.
  • the position of the feeder F that has been stored (inserted) or removed (removed) from the magazine M is also provided. Therefore, in the first modified example, in addition to obtaining the same effect as the above-mentioned embodiment, the position of the inserted or removed feeder F (the position of the attached or removed item) can be detected. This allows, for example, the worker, manager, etc. to quickly identify parts that are predicted to be in short supply, and as a result, it becomes possible to take measures such as replenishment more quickly and reduce the impact on production.
  • the detection unit 30 detects the insertion/removal (attachment/detachment) of the feeder F, which is an article, based on an electromagnetically measurable physical quantity.
  • the feeder F housed in the magazine M which is a case, or the reel R placed on the rack T is inserted or removed (attached or detached)
  • the state of the magazine M or the rack T changes.
  • the feeder F and reel R have a certain amount of weight. Therefore, when the feeder F is inserted or removed from the magazine M, the weight of the magazine M supported by the unloading unit 17, which is a support unit, and the feeder F contained in the magazine M, i.e., the transported object C, changes. Similarly, when the reel R is attached or detached from the rack T, the weight of the rack T supported by the unloading unit 17 and the reel R placed on the rack T, i.e., the transported object C, changes.
  • the detection unit 30 detects measurable physical quantities related to changes in the state of the magazine M or rack T, which are cases.
  • the judgment unit 161 judges the attachment/detachment (insertion/removal) of the feeder F or reel R, which are items, based on the changes in the physical quantities detected by the detection unit 30.
  • the detection unit 30 of the second modified example measures the weight of the magazine M or rack T, which are cases, which changes when the feeder F or reel R is attached or detached (inserted or removed), i.e., the transported item C, as a physical quantity.
  • the detection unit 30 is provided on the platform 11 of the cart 10 so as to be below the magazine M or rack T, which is a case supported by the loading/unloading unit 17, which is a support, as shown in FIG. 8. More specifically, the detection unit 30 of the second modified example is disposed at the rear of the platform 11 in the front-to-rear direction as shown in FIG. 9, and is disposed between the bottom surface of the magazine M or rack T in a supported state and the top surface of the platform 11, i.e., so as to be sandwiched between the bottom surface of the magazine M or rack T and the top surface of the platform 11.
  • the detection unit 30 of the second modified example measures the measurable weight in relation to changes in the state of the magazine M or rack T.
  • the detection unit 30 of the second modified example is equipped with a piezoelectric element that converts the pressure generated when the magazine M or rack T is clamped between the loading platform 11 and the magazine M or rack T into an electrical signal.
  • the pressure converted into an electrical signal and output can be easily converted into weight by multiplying it by the area of the bottom surface of the magazine M or rack T.
  • the detection unit 30 uses a piezoelectric element to measure the weight, there is no vertical displacement of the magazine M or rack T supported by the unloading unit 17. As a result, even in the second modified example in which the detection unit 30 measures the weight of the transported item C, there is no hindrance to the unloading operation of the magazine M or rack T by the unloading unit 17. Note that when measuring the weight of the transported item C, for example, if a normal weighing scale is used, the transported item C supported by the unloading unit 17 needs to be vertically displaced when measuring the weight.
  • the judgment unit 161 of the second modified example judges that the feeder F or reel R has been attached or detached (inserted or removed) when the measured weight increases or decreases by more than a reference weight determined based on the weight of one feeder F or reel R during the transport of the transported item C by the feeder transport vehicle VF.
  • the judgment unit 161 of the second modified example judges that the feeder F or reel R has not been attached or detached (inserted or removed) when the measured weight does not change until the item C is unloaded at the transfer position (transport target) during the transport of the transported item C by the feeder transport vehicle VF. Note that, when the detection units 30 are arranged on the left and right as shown in FIG. 9, even if it is not possible to specify the exact position, it is possible to assume that the feeder F has been inserted or removed on the right or left side, especially for the magazine M.
  • the carriage control unit 16 when the judgment unit 161 judges that the feeder F (reel R) has been attached/detached (inserted/removed) based on the detection result S by the detection unit 30, the carriage control unit 16 outputs, via communication, to the management device 8, notification information J indicating that the feeder F or the reel R has been attached/detached (inserted/removed) during the transport of the transported object C.
  • the management device 8 acquires notification information J from the carriage control unit 16 of the feeder transport vehicle VF, it provides guidance (or an alarm) to the worker, manager, etc. using the guidance device.
  • the detection unit 30 is arranged at the rear of the loading platform 11 in the front-rear direction, as shown in FIG. 9.
  • the arrangement of the detection unit 30 in the second modified example is not limited to the rear of the loading platform 11 in the front-rear direction, and it is also possible to arrange it in the center of the loading platform 11 in the front-rear direction, as shown by the dashed lines in FIG. 8 and FIG. 9. In other words, the arrangement of the detection unit 30 can be changed as appropriate depending on the shape of the magazine M and the rack T.
  • the detection unit 30 always detects the presence/absence state of the feeder F and the reel R, which are the articles, while transporting the magazine M or the rack T, which are the transported goods C, and the determination unit 161 always determines whether the feeder F or the reel R has been attached or detached (inserted or removed).
  • the detection unit 30 and the determination unit 161 are not limited to always detecting the presence/absence state of the feeder F or the reel R, which are the articles, and determining whether the attachment/detachment (insertion/removal) has been performed as described above.
  • the detection unit 30 and the determination unit 161 can also detect the presence/absence state of the feeder F or the reel R and determine whether the attachment/detachment (insertion/removal) has been performed when a predetermined state occurs, for example.
  • the third modification will be described.
  • the detection unit 30 of the third modified example detects the presence or absence of a feeder F or a reel R when a predetermined state occurs during the transport of the transported item C.
  • the judgment unit 161 of the third modified example judges whether the feeder F or the reel R has been attached or detached (inserted or removed) when a predetermined state occurs during the transport of the transported item C.
  • the judgment unit 161 outputs a detection command D to the detection unit 30 to detect the presence or absence of an item, specifically, the presence or absence of a feeder F (reel R) relative to the magazine M (rack T).
  • examples of the predetermined state include a state that is not included in the above-mentioned transport plan, that is, a state in which unintended attachment and detachment (insertion and removal) of the feeder F or reel R is possible.
  • a state that is not included in the above-mentioned transport plan that is, a state in which unintended attachment and detachment (insertion and removal) of the feeder F or reel R is possible.
  • the feeder transport vehicle VF or the reel transport vehicle VR unintentionally stops at a location on the transport path other than the transport target, it becomes easier to attach and detach (insert and remove) the feeder F or the reel R to the magazine M or the rack T than when the feeder transport vehicle VF or the reel transport vehicle VR is running (moving).
  • the judgment unit 161 outputs a detection command D to the detection unit 30 at a predetermined position on the transport path during the transport of the transported object C or at regular timing during the transport of the transported object C.
  • the detection unit 30 detects the presence or absence of the feeder F or the reel R at a predetermined position on the transport path or at regular timing, and outputs the detection result S to the judgment unit 161 (cart control unit 16).
  • the judgment unit 161 judges the attachment/detachment (insertion/removal) of the feeder F or the reel R based on the detection result S obtained at a predetermined position on the transport path or at regular timing.
  • the cart control unit 16 equipped with the judgment unit 161 is aware of the transport plan that has been set in advance, and is aware of the status of the feeder transport vehicle VF and the reel transport vehicle VR based on various information obtained from the travel control unit 25.
  • the detection unit 30 detects the presence or absence of the feeder F or reel R at a predetermined position on the transport path or at regular intervals, and the judgment unit 161 judges the attachment or detachment (insertion or removal) of the feeder F or reel R.
  • the detection unit 30 may always detect the presence or absence of the feeder F or reel R during the transport of the transported object C, and only the judgment unit 161 may judge the attachment or detachment (insertion or removal) of the feeder F or reel R at a predetermined position on the transport path or at regular intervals. That is, in this case, the judgment unit 161 does not output a detection command D to the detection unit 30.
  • the judgment unit 161 may constantly judge the attachment/detachment (insertion/removal) of the feeder F or reel R during the transport of the transported object C based on the detection result S that does not change for a certain period of time, and only the detection unit 30 may detect the presence/absence state of the feeder F or reel R at a predetermined position on the transport path or at regular timing. That is, in this case, when the judgment unit 161 outputs a detection command D to the detection unit 30 at a predetermined position or at regular timing, it judges the attachment/detachment (insertion/removal) of the feeder F or reel R based on the updated detection result S.
  • a predetermined state is a state in which an abnormality (error) as described above occurs during the transport of the transported object C and then the transport returns to normal.
  • the determination unit 161 determines in more detail as the predetermined state the attachment/detachment (insertion/removal) of the feeder F or reel R, which are the items, in a first state in which an abnormality (error) occurs and a second state in which the transport returns to normal. Signals such as an error stop are collected in the trolley control unit 16.
  • the judgment unit 161 determines the attachment/detachment (insertion/removal) of articles such as the feeder F and the reel R based on the state in which an abnormality (error) has occurred, in other words, the detection result S before recovery from the abnormality (error). Also, for example, when the trolley control unit 16 determines that the second state has occurred, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 determines the attachment/detachment (insertion/removal) of articles such as the feeder F and the reel R based on the detection result S after recovery from the abnormality (error).
  • the judgment unit 161 when a first state in which an abnormality (error) occurs and a second state in which the abnormality (error) has been recovered from occur, that is, before and after recovery from the abnormality (error) as a predetermined state, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 judges the attachment/detachment (insertion/removal) of articles such as the feeder F and reel R based on the change in the detection result S of the detection unit 30 before and after recovery from the abnormality (error).
  • an example of the predetermined state is a state in which the transported object C is handed over.
  • the judgment unit 161 judges the attachment/detachment (insertion/removal) of the feeder F or reel R, which are the articles, in a more detailed predetermined state, a third state before the transported object C is handed over from the feeder transport vehicle VF or the reel transport vehicle VR to the buffer station 5, and a fourth state after the transported object C is handed over from the buffer station 5 to the feeder transport vehicle VF or the reel transport vehicle VR.
  • the trolley control unit 16 controls the loading and unloading of the transported object C by the unloading unit 17, i.e., the handover of the transported object C to and from the substrate-related operating machine.
  • the judgment unit 161 outputs a detection command D to the detection unit 30.
  • the judgment unit 161 determines the attachment/detachment (insertion/removal) of items such as feeders F and reels R based on the detection result S before the transfer of the transported item C.
  • the judgment unit 161 outputs a detection command D to the detection unit 30.
  • the judgment unit 161 detects the attachment/detachment (insertion/removal) of items such as feeders F and reels R based on the detection result S after the transfer of the transported item C.
  • the judgment unit 161 when the third state before the transfer of the transported item C and the fourth state after the transfer of the transported item C occur, that is, before and after the transfer of the transported item C as a predetermined state, the judgment unit 161 outputs a detection command D to the detection unit 30.
  • the detection unit 30 detects the presence or absence of a feeder F relative to the magazine M and the presence or absence of a reel R relative to the rack T before and after the transfer of the transported item C, and the judgment unit 161 judges the attachment/detachment (insertion/removal) of items such as the feeder F and the reel R based on the change in the detection result S of the detection unit 30 before and after the transfer of the transported item C.
  • the third modified example it is possible to judge, in other words monitor, the attachment/detachment (insertion/removal) of the feeder F and the reel R, particularly in a specific state in which attachment/detachment (insertion/removal) of the feeder F and the reel R is likely to occur.
  • the same effects as those of the above-mentioned embodiment, the first modified example, and the second modified example can be obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Ce véhicule de transport autonome peut transporter un objet de transport qui comprend : un article qui est utilisé dans une machine de travail de substrat ; et un boîtier dans lequel l'article est maintenu de manière amovible. Le véhicule de transport autonome comprend : un corps ; une section de support qui est disposée sur le corps et supporte le boîtier ; une unité de détection qui est disposée sur le corps et détecte si l'article est présent dans le boîtier ou absent du boîtier dans le transport de l'objet à transporter ; et une unité de détermination qui détermine, sur la base d'un résultat de détection provenant de l'unité de détection, si l'article a été placé dans le boîtier ou retiré de celui-ci.
PCT/JP2022/041145 2022-11-04 2022-11-04 Véhicule de transport autonome WO2024095443A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/JP2022/041145 WO2024095443A1 (fr) 2022-11-04 2022-11-04 Véhicule de transport autonome

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/041145 WO2024095443A1 (fr) 2022-11-04 2022-11-04 Véhicule de transport autonome

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WO2024095443A1 true WO2024095443A1 (fr) 2024-05-10

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003137407A (ja) * 2001-10-30 2003-05-14 Murata Mach Ltd 部品供給システム
WO2014010084A1 (fr) * 2012-07-13 2014-01-16 富士機械製造株式会社 Système de montage de composants
WO2019159319A1 (fr) * 2018-02-16 2019-08-22 株式会社Ｆｕｊｉ Système de travail de substrat
WO2020026619A1 (fr) * 2018-07-31 2020-02-06 パナソニックＩｐマネジメント株式会社 Système de remplacement automatique, dispositif de gestion et procédé de remplacement automatique
WO2022190374A1 (fr) * 2021-03-12 2022-09-15 株式会社Fuji Système et procédé de distribution d'articles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003137407A (ja) * 2001-10-30 2003-05-14 Murata Mach Ltd 部品供給システム
WO2014010084A1 (fr) * 2012-07-13 2014-01-16 富士機械製造株式会社 Système de montage de composants
WO2019159319A1 (fr) * 2018-02-16 2019-08-22 株式会社Ｆｕｊｉ Système de travail de substrat
WO2020026619A1 (fr) * 2018-07-31 2020-02-06 パナソニックＩｐマネジメント株式会社 Système de remplacement automatique, dispositif de gestion et procédé de remplacement automatique
WO2022190374A1 (fr) * 2021-03-12 2022-09-15 株式会社Fuji Système et procédé de distribution d'articles

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