Handling system

Abstract

Provided is a conveying system that is easy to construct. The conveying system conveys workpieces to a plurality of processing devices respectively, and includes: a conveying path that is disposed in a space directly above the processing devices throughout the range of the plurality of processing devices; an automated guided vehicle that travels on the conveying path and has a workpiece storage section for storing workpieces, a traveling mechanism disposed in the workpiece storage section, and a receiver for receiving control signals; a storage unit that has a storage section holding table for holding the workpiece storage section when transferring workpieces from a workpiece storage device storing workpieces to the workpiece storage section of the automated guided vehicle and a receiver for receiving control signals; and a storage section conveying unit that conveys the workpiece storage section between a region of the conveying path corresponding to above the storage unit and the storage section holding table of the storage unit or between a region of the conveying path corresponding to above the processing device and the inside of the processing device.

Description

Technical Field

[0001] The present invention relates to a conveying system that conveys a workpiece to a processing device. Background Art

[0002] In the manufacturing process of device chips assembled in electronic devices and the like, a plate-shaped workpiece such as a semiconductor wafer or a resin-encapsulated substrate is processed by various processing devices. When conveying the workpiece to the processing device, a box for conveyance that can accommodate a plurality of workpieces is generally used.

[0003] However, in the above method of accommodating a plurality of workpieces in a box and conveying them to the processing device at once, when the processing device stops for some reason, the unprocessed workpieces accommodated in the box all stand by. That is, the unprocessed workpieces cannot be processed by other processing devices either, so the processing efficiency is greatly reduced.

[0004] To overcome this problem, for example, it is only necessary to convey the workpieces one by one to the processing device according to the operating condition of the processing device. Therefore, the following conveying system has been proposed: a plurality of processing devices are connected by a conveying path, so that the workpiece can be conveyed to each processing device at an arbitrary timing (for example, refer to Patent Document 1).

[0005] Patent Document 1: Japanese Patent Laid-Open No. 6-177244

[0006] However, a piping connection portion for connecting piping or a maintenance door or the like is provided on the side of each processing device. When constructing the above conveying system, it is necessary to design the conveying path so as not to interfere with them. Therefore, it is not necessarily easy to construct the conveying system, and the conveying path is also likely to become long. Summary of the Invention

[0007] The present invention has been made in view of this problem, and an object thereof is to provide a conveying system that can convey workpieces to a plurality of processing devices respectively and is easy to construct.

[0008] According to one aspect of the present invention, there is provided a conveying system for conveying a workpiece to a plurality of processing devices respectively. The conveying system includes: a conveying path provided in a space directly above the plurality of processing devices over the entire range of the processing devices; an automated guided vehicle traveling on the conveying path, having a workpiece storage section, a traveling mechanism, and a receiver, wherein the workpiece storage section stores the workpiece, the traveling mechanism is provided on the workpiece storage section, and the receiver of the automated guided vehicle receives a control signal; a storage unit having a storage section holding table and a receiver, wherein the storage section holding table holds the storage section when transferring the workpiece from a workpiece storage device storing the workpiece to the storage section of the automated guided vehicle, and the receiver of the storage unit receives a control signal; a storage section conveying unit for conveying the workpiece storage section between the area above the storage unit corresponding to the conveying path and the storage section holding table of the storage unit or between the area above the processing device corresponding to the conveying path and the inside of the processing device; and a control unit having a transmitter, a receiver, and a control signal generation section, wherein the transmitter transmits control signals to the processing device, the automated guided vehicle, and the storage unit, the receiver of the control unit receives a notification signal transmitted from the processing device, the control signal generation section generates a control signal transmitted from the transmitter, the control signal generation section of the control unit generates a control signal transmitted from the transmitter of the control unit based on the notification signal received by the receiver of the control unit, the transmitter of the control unit transmits the control signal generated by the control signal generation section of the control unit to the processing device, the automated guided vehicle, and the storage unit, the automated guided vehicle travels on the conveying path according to the control signal received by the receiver of the automated guided vehicle, and the workpiece storage section of the automated guided vehicle and the workpiece stored in the workpiece storage section are transferred from the area above the processing device corresponding to the conveying path to the inside of the processing device.

[0009] In the conveying system, it is preferable that the conveying path is provided on the upper surface of the processing device.

[0010] In addition, in the conveying system, the automated guided vehicle may have the storage section conveying unit.

[0011] A transfer system according to one embodiment of the present invention includes: a transfer path provided throughout a plurality of processing devices; an automated guided vehicle that travels on the transfer path and has a workpiece storage unit for storing workpieces, a traveling mechanism provided in the workpiece storage unit, and a receiver for receiving control signals; a storage unit having a storage unit holding table for holding the workpiece storage unit of the automated guided vehicle when transferring the workpiece from the workpiece storage device storing the workpiece to the workpiece storage unit of the automated guided vehicle and a receiver for receiving control signals; and a storage unit transfer unit that transfers the workpiece storage unit between a region above the storage unit on the transfer path and the storage unit holding table of the storage unit or between a region above the processing device on the transfer path and the inside of the processing device.

[0012] Therefore, for example, by the storage unit transfer unit, the workpiece storage unit of the automated guided vehicle that has received the workpiece from the workpiece storage device in the storage unit is transferred to the transfer path, and the automated guided vehicle is made to travel on the transfer path, so that the workpieces can be transferred to the respective processing devices. Further, the workpiece storage unit of the automated guided vehicle is, for example, transferred to the inside of the processing device by the storage unit transfer unit after the automated guided vehicle has traveled.

[0013] In addition, in the transfer system according to one embodiment of the present invention, the transfer path is provided in the space directly above the processing device. Therefore, when designing the transfer path, it is not necessary to consider the structure on the side of each processing device. That is, the construction of the transfer system becomes easy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a top view showing a structural example of the transfer system according to the first embodiment.

[0015] Figure 2 is a functional block diagram showing an example of the connection relationship of the transfer system according to the first embodiment.

[0016] Figure 3 is a side view schematically showing a structural example of the storage unit according to the first embodiment.

[0017] Figure 4 (A) is a perspective view showing a structural example of the unmanned workpiece transfer vehicle and the transfer unit, Figure 4 (B) is a perspective view showing a situation where the unmanned workpiece transfer vehicle is transferred by the transfer unit.

[0018] Figure 5 is a perspective view showing the appearance of the cutting device and the transfer path according to the first embodiment.

[0019] Figure 6 is a perspective view showing a structural example of the cutting device.

[0020] Figure 7 It is a perspective view showing a case where a conveyance path is provided to a cutting device.

[0021] Figure 8 (A) of Figure 8 (B) of Figure 8 and (C) of

[0022] Figure 9 It is a perspective view showing a case where a conveyance path is formed by a path module.

[0023] Figure 10 (A) of Figure 10 and (B) of

[0024] Figure 11 It is a bottom view showing a structural example of a path module.

[0025] Figure 12 (A) of Figure 12 is a partial cross-sectional side view of the state where a conveyance unit is supported on a guide rail as viewed from the Y-axis direction,

[0026] Figure 13 (A) of Figure 12 is a partial cross-sectional side view of the state shown in (A) of Figure 13 as viewed from the X-axis direction, Figure 12 (B) of

[0027] Figure 14 It is a functional block diagram for explaining an example of a control method of a conveyance system according to the first embodiment.

[0028] Figure 15 (A) of Figure 15 is a partial cross-sectional side view of the state where a conveyance unit of a modified example is supported on a guide rail as viewed from the X-axis direction,

[0029] Figure 16 as viewed from the X-axis direction,

[0030] Figure 17 It is a side view showing a structural example of a storage unit according to the second embodiment.

[0031] Figure 18 It is a perspective view showing a structural example of an unmanned tool carrier.

[0032] Figure 19 It is a perspective view showing the appearance of a cutting device and the like according to the second embodiment.

[0033] Figure 20 It is an exploded perspective view showing a structural example of a tool changer.

[0034] Figure 21 It is a functional block diagram for explaining an example of a control method of a transfer system according to the second embodiment.

[0035] Figure 22 It is a side view schematically showing a structural example of a storage unit according to the third embodiment.

[0036] Figure 23 It is a plan view schematically showing the internal structure of a storage unit according to the third embodiment.

[0037] Figure 24 It is a side view schematically showing a situation where the first temporary placement table and the second temporary placement table of the storage unit according to the third embodiment are moved in the second direction to exchange the positions of the first temporary placement table and the second temporary placement table.

[0038] Figure 25 (A) of Figure 25 (B) of which is a plan view schematically showing an example of the operation of a storage unit according to the third embodiment.

[0039] Figure 26 (A) of Figure 26 (B) of which is a plan view schematically showing an example of the operation of a storage unit according to the third embodiment.

[0040] Reference numeral description

[0041] 2: Handling system; 4: Cutting device (processing device); 4a: Cutting device (processing device); 4b: Cutting device (processing device); 6: Handling path; 6a: Path module; 6b: Path module; 6c: Path module; 8: Storage unit; 10: Unmanned workpiece carrier (AGV); 10a: Unmanned workpiece carrier (AGV); 10b: Unmanned workpiece carrier (AGV); 10c: Unmanned workpiece carrier (AGV); 12: Handling unit (storage unit handling unit); 14: Control unit; 16: Housing; 16a: Ceiling; 16b: Opening; 18: Cartridge holding table; 20: Cartridge (workpiece storage); 22: Push-pull arm; 24: Guide rail; 26: Carrier holding table (storage unit holding table); 28: Handling unit support structure; 29: Support structure; 30: Support plate; 31: Guide rail; 31a: Support part; 32: Control device; 34: Receiver; 36: Transmitter; 37: Base (workpiece storage); 37a: Space; 37b: Opening; 38: Wheel (travel mechanism); 39: Upper housing; 39a: Base; 39b: Protrusion; 39c: Electrode; 40: Wire; 41: Wheel (travel mechanism); 42: Control device; 44: Receiver; 46: Transmitter; 50: Carrier holding table (storage unit holding table); 50a: Wheel fixing part; 92: Cover; 92a: Ceiling; 92b: Opening; 92c: Door; 92d: Opening; 96: Control device; 98: Receiver; 100: Transmitter; 132: Control section; 134: Receiver; 136: Transmitter; 138: Reader; 11: Workpiece; 13: Belt; 15: Frame; 21: Pipe. Detailed implementation mode

[0042] Referring to the attached drawings, the implementation modes of the present invention will be described. In addition, in the following implementation modes, a handling system for handling workpieces etc. to a plurality of cutting devices will be described, but the handling system of the present invention only needs to be configured to be able to handle workpieces etc. to a plurality of processing devices. That is, the handling destination of the workpieces etc. can be a processing device other than the cutting device.

[0043] For example, the handling system of the present invention is sometimes configured to be able to handle workpieces to a plurality of laser processing devices. In addition, the handling system of the present invention is sometimes also configured to be able to handle workpieces to a variety of processing devices used in a series of processes in sequence. In addition, in this specification, all devices that can be used in a series of processes for processing workpieces are expressed as processing devices. That is, the processing devices in this specification include tape sticking devices, ultraviolet irradiation devices, cleaning devices, etc. that are not necessarily for the purpose of processing workpieces.

[0044] (Embodiment 1)

[0045] Figure 1 is a top view showing a structural example of the transfer system 2 of the present embodiment, Figure 2 and is a functional block diagram showing an example of the connection relationship of the transfer system 2. As Figure 1 shown, the transfer system 2 of the present embodiment includes a transfer path 6 for transferring the plate-shaped workpiece 11 (refer to Figure 4 (B) etc. of ) machined by the cutting device (processing device) 4.

[0046] The workpiece 11 is, for example, a disk-shaped wafer formed of a semiconductor material such as silicon. The front side of the workpiece 11 is divided into a plurality of small regions by a plurality of mutually intersecting dividing predetermined lines (scribe lanes), and devices such as ICs (Integrated Circuits) and MEMS (Micro Electro Mechanical Systems) are formed in each small region.

[0047] A tape (dicing tape) 13 having a diameter larger than that of the workpiece 11 is pasted on the back side of the workpiece 11. The outer peripheral portion of the tape 13 is fixed to an annular frame 15 surrounding the workpiece 11. The workpiece 11 is transferred to the cutting device 4 while being supported by the frame 15 by means of the tape 13.

[0048] In addition, in the present embodiment, a disk-shaped wafer formed of a semiconductor material such as silicon is used as the workpiece 11, but there are no restrictions on the material, shape, structure, size, etc. of the workpiece 11. For example, a substrate formed of other semiconductor, ceramic, resin, metal and other materials may also be used as the workpiece 11.

[0049] Similarly, there are no restrictions on the type, number, shape, structure, size, arrangement, etc. of the devices. Devices may not be formed on the workpiece 11. In addition, in the present embodiment, the workpiece 11 in a state of being supported by the frame 15 by means of the tape 13 is used as the object to be transferred, but sometimes the workpiece 11 without the tape 13 pasted thereon, the workpiece 11 not supported by the frame 15, etc. are also used as the objects to be transferred.

[0050] In addition, the cutting device 4 that processes the workpiece 11 is connected to the transfer system 2 as the transfer destination of the workpiece 11, but is not necessarily a component of the transfer system 2. Thus, the cutting device 4 can be changed or omitted according to the usage mode of the transfer system 2 as described above.

[0051] And, in Figure 1 for the sake of convenience of explanation, only one cutting device 4a is shown, and in Figure 2In [the figure], two cutting devices 4a and 4b are shown. However, in the present embodiment, as the handling destinations of the workpiece 11, two or more cutting devices 4 are required. That is, the number of processing devices connected to the handling system 2 is two or more.

[0052] The handling path 6 is provided among the plurality of cutting devices 4 in such a manner that the workpiece 11 can be handled for each cutting device 4. That is, the plurality of cutting devices 4 are interconnected via the handling path 6. In addition, the handling path 6 is provided in the space directly above the cutting device 4. Therefore, the handling path 6 does not interfere with the piping 21 etc. connected to the side surfaces of the respective cutting devices 4.

[0053] Below the handling path 6, in addition to the cutting device 4, a storage unit 8 capable of storing a plurality of workpieces 11 is also provided. The workpiece 11 stored in the storage unit 8 is carried into the unmanned workpiece carrier (automated guided vehicle) 10 at an arbitrary timing. The unmanned workpiece carrier 10 travels on the handling path 6 to carry the workpiece 11 to each cutting device 4. In addition, in Figure 1 , three unmanned workpiece carriers 10a, 10b, and 10c are shown. In Figure 2 , two unmanned workpiece carriers 10a and 10b are shown. However, the number of unmanned workpiece carriers 10 is not limited.

[0054] As Figure 1 shown, a handling unit (storage unit handling unit) 12 is provided on the upper part of the unmanned workpiece carrier 10. By this handling unit 12, the unmanned workpiece carrier 10 is handled between the area corresponding to above the cutting device 4 in the handling path 6 and the inside of the cutting device 4 or between the area corresponding to above the storage unit 8 in the handling path 6 and the inside of the storage unit 8.

[0055] In addition, in the present embodiment, an example in which the handling unit 12 is provided on the unmanned workpiece carrier 10 is described. However, the handling unit 12 does not have to be provided on the unmanned workpiece carrier 10. Similarly, the handling unit 12 does not have to be controlled by the unmanned workpiece carrier 10. For example, the handling unit 12 may also be provided on the cutting device 4, the handling path 6, the storage unit 8, etc., and the handling unit 12 may be controlled by the cutting device 4, the handling path 6, the storage unit 8, etc. Of course, the handling unit 12 may also be independent of other components.

[0056] As Figure 2As shown, the cutting device 4, storage unit 8, and unmanned workpiece transport vehicle 10 (including transport unit 12) are wirelessly connected to a control unit 14 that controls their operations. The control unit 14 only needs to be configured to control the operations of the cutting device 4, storage unit 8, and unmanned workpiece transport vehicle 10 (including transport unit 12), and may also be connected to them by wire.

[0057] Figure 3 FIG is a side view schematically showing a structural example of the storage unit 8. Figure 3 As shown, the storage unit 8 includes a housing 16 for storing various components. Figure 3 In FIG, for the sake of convenience of explanation, only the outline of the housing 16 is shown.

[0058] A cassette holding table 18 is provided within the housing 16. The cassette holding table 18 is raised and lowered by a first lifting mechanism (not shown), such as a ball screw. A cassette (workpiece storage container) 20 capable of storing a plurality of workpieces 11 is placed on the upper surface of the cassette holding table 18. The cassette 20 stores the workpieces 11 supported on the frame 15 via the belt 13 as described above.

[0059] A push-pull arm 22 is disposed on the side of the cassette holding table 18. The push-pull arm 22 can move the frame 15 while holding the frame 15. For example, if the first lifting mechanism is used to adjust the height of the frame 15 stored in the cassette 20 to the same height as the push-pull arm 22, the push-pull arm 22 can hold the frame 15 in the cassette 20, and the frame 15 can be pulled out of the cassette 20.

[0060] A pair of guide rails 24 are provided across the push-pull arm 22, which move toward and away from each other while maintaining a parallel state. Each guide rail 24 has a support surface for supporting the frame 15 from below and side surfaces that are substantially perpendicular to the support surface. Each guide rail 24 sandwiches the frame 15 pulled out of the box 20 by the push-pull arm 22 and aligns it at a predetermined position.

[0061] A transporter holding platform (storage unit holding platform) 26 is provided on the other side of the push-pull arm 22 and the pair of guide rails 24. The platform is raised and lowered by a second lifting mechanism (not shown) such as a ball screw. An unmanned workpiece transporter 10 capable of storing workpieces 11 (frames 15) is placed on the upper surface of the transporter holding platform 26.

[0062] The frame 15 positioned at a specified position by a pair of guide rails 24 is again gripped by the push-pull arm 22 and inserted laterally into the unmanned workpiece carrier 10 on the carrier holding table 26 whose height has been adjusted by the second lifting mechanism. In addition, a fixing portion (not shown) for fixing the unmanned workpiece carrier 10 is provided on the upper surface of the carrier holding table 26. Thus, when the workpiece 11 is transferred from the cassette 20 storing the workpiece 11 to the unmanned workpiece carrier 10, the unmanned workpiece carrier 10 is positioned at a specified position determined by the fixing portion on the carrier holding table 26.

[0063] An opening 16b penetrating the ceiling 16a of the housing 16 up and down is provided in the region directly above the carrier holding table 26. The opening 16b is formed in a shape and size that can at least allow the unmanned workpiece carrier 10 placed on the carrier holding table 26 to pass through. The unmanned workpiece carrier 10 is transferred from the outside of the housing 16 to the inside through the opening 16b or transferred from the inside of the housing 16 to the outside through the opening 16b.

[0064] A transfer unit support structure 28 is provided above the housing 16 of the storage unit 8. When transferring the unmanned workpiece carrier 10 between the region corresponding to the upper part of the storage unit 8 in the transfer path 6 and the carrier holding table 26 of the storage unit 8, the transfer unit support structure 28 supports the transfer unit 12. Elements such as the first lifting mechanism, the push-pull arm 22, the pair of guide rails 24, and the second lifting mechanism are connected to a control device 32 for controlling the operation of the storage unit 8.

[0065] The control device 32 typically consists of a computer including a processing device such as a CPU (Central Processing Unit) and a storage device such as a flash memory. The processing device and the like operate according to the software stored in the storage device, thereby realizing the functions of the control device 32.

[0066] A receiver 34 and a transmitter 36 are also connected to the control device 32. The receiver 34 receives a control signal sent from the control unit 14 of the transfer system 2, and the transmitter 36 sends a notification signal to the control unit 14. The control device 32 controls the operation of the storage unit 8 according to the signal received by the receiver 34. In addition, the control device 32 sends the required signal to the control unit 14 through the transmitter 36.

[0067] Figure 4 (A) shows a perspective view of a structural example of the unmanned workpiece carrier 10 and the transfer unit 12. Figure 4 (B) shows a perspective view of the situation where the unmanned workpiece carrier 10 is transferred by the transfer unit 12. As Figure 4As shown in (A) of FIG. , the unmanned workpiece carrier 10 includes, for example, a rectangular parallelepiped-shaped base (workpiece storage unit) 37 configured to be able to store one workpiece 11 (and the frame 15).

[0068] A space 37a for storing the workpiece 11 (and the frame 15) is formed inside the base 37. Openings 37b sized to allow the workpiece 11 (and the frame 15) to pass through are provided on a pair of side surfaces of the base 37, and the space 37a of the base 37 is connected to the outside via the openings 37b. That is, the workpiece 11 (and the frame 15) is carried into the space 37a of the base 37 through the opening 37b and is carried out of the space 37a of the base 37 through the opening 37b.

[0069] A plurality of (four in the present embodiment) wheels (traveling mechanism) 38 are provided on the lower surface side of the base 37. Each wheel 38 is connected to a rotational drive source such as an electric motor and rotates. By rotating the wheel 38 with the rotational drive source, the unmanned workpiece carrier 10 travels on the transfer path 6 together with the transfer unit 12. In addition, as the wheel 38, a so-called Mecanum wheel in which a plurality of inclined barrel-shaped (cylindrical) rotating bodies are mounted on the outer peripheral surface in contact with the transfer path 6 can be used.

[0070] An upper housing 39 constituting the transfer unit 12 is disposed above the base 37. The upper housing 39 includes a flat base portion 39a formed to be approximately the same size as the base 37 when viewed from above. A plurality of (four in the present embodiment) wires 40 are disposed on the lower surface side of the regions corresponding to the four corners of the base portion 39a. The unmanned workpiece carrier 10 and the transfer unit 12 are interconnected via the wires 40. In addition, a winch (not shown) for winding the wire 40 is provided inside the base portion 39a.

[0071] For example, if the winch is operated to pull out the wire 40 from the base portion 39a while the base portion 39a of the transfer unit 12 is supported in a state of floating the base 37 of the unmanned workpiece carrier 10, then as shown in (B) of FIG. Figure 4 , the base 37 can be lowered. In addition, if the winch is operated to wind up the wire 40 and store it in the base portion 39a, the base 37 can be raised.

[0072] On the upper surface side of the base portion 39a, a rectangular parallelepiped-shaped protrusion 39b is disposed, and a plurality (four in the present embodiment) of wheels (traveling mechanisms) 41 are provided on the side surface of the protrusion 39b. Each wheel 41 is connected to a rotational drive source such as an electric motor and rotates. For example, if the wheel 41 is placed on the transfer unit support structure 28 or the like and rotated, even when the wheel 38 of the unmanned workpiece transfer vehicle 10 is not in contact with the transfer path 6, the unmanned workpiece transfer vehicle 10 and the transfer unit 12 can be moved along the transfer unit support structure 28 or the like.

[0073] In addition, a control device 42 for controlling the operations of the unmanned workpiece transfer vehicle 10 and the transfer unit 12 is provided inside the base portion 39a. The control device 42 typically comprises a computer including a processing device such as a CPU and a storage device such as a flash memory. The processing device and the like operate according to the software stored in the storage device, thereby realizing the functions of the control device 42.

[0074] A receiver 44 and a transmitter 46 are connected to the control device 42. The receiver 44 receives a control signal sent from the control unit 14 of the transfer system 2, and the transmitter 46 sends a notification signal to the control unit 14. The control device 42 controls the operations of the unmanned workpiece transfer vehicle 10 and the transfer unit 12 according to the signal received by the receiver 44. In addition, the control device 42 sends the required signal to the control unit 14 through the transmitter 46.

[0075] In addition, in the present embodiment, for the sake of convenience of explanation, the control device 42, the receiver 44, and the transmitter 46 are treated as components of the unmanned workpiece transfer vehicle 10, but the control device 42, the receiver 44, and the transmitter 46 may also be treated as components of the transfer unit 12. Of course, the control device 42, the receiver 44, and the transmitter 46 may also be treated as common components of the unmanned workpiece transfer vehicle 10 and the transfer unit 12.

[0076] The above-described components such as the rotational drive source, the winch, the control device 42, the receiver 44, and the transmitter 46 are connected to, for example, a secondary battery, and each component of the unmanned workpiece transfer vehicle 10 and the transfer unit 12 operates by the electric power supplied from the secondary battery. The power supply (charging) to the secondary battery is preferably performed in a non-contact (wireless, contactless) manner, but may also be performed in a contact manner.

[0077] In addition, an electrode 39c that can contact the above-described transfer unit support structure 28 or the like is provided on the protrusion 39b (see Figure 12), power can be supplied from the outside to components that make up part or all of the unmanned workpiece carrier 10 and the handling unit 12 through the electrode 39c. Therefore, for example, by the power supplied from the outside, the rotation drive source of the handling unit 12 or a winch that easily consumes a large amount of power is operated, the discharge of the secondary battery can be suppressed, and the unmanned workpiece carrier 10 can operate for a long time. In addition, the secondary battery can also be charged using the power supplied through the electrode 39c.

[0078] Figure 5 is a perspective view showing the appearance of the cutting device 4, the handling path 6, etc. Figure 6 is a perspective view showing a structural example of the cutting device 4. As Figure 5 and Figure 6 shown, the cutting device 4 has a base 48 that supports each component. An opening 48a is formed at the corner of the base 48, and a carrier table (storage unit carrier table) 50 that is lifted and lowered by a lifting mechanism (not shown) is provided in the opening 48a.

[0079] On the upper surface of the carrier table 50, the base 37 of the above-mentioned unmanned workpiece carrier 10 is placed. In addition, a wheel fixing portion 50a for fixing the wheels 38 of the unmanned workpiece carrier 10 is provided on the upper surface of the carrier table 50, and the base 37 on the carrier table 50 is positioned at a prescribed position determined by the wheel fixing portion 50a.

[0080] As Figure 6 shown, an opening 48b that is long in the X-axis direction (front-rear direction, machining feed direction) is formed on the side of the opening 48a. A ball screw type X-axis movement mechanism (machining feed unit) 52 and a dust and drip-proof cover 54 that covers the upper part of the X-axis movement mechanism 52 are arranged in the opening 48b. The X-axis movement mechanism 52 has an X-axis movement table 52a, and the X-axis movement mechanism 52 moves the X-axis movement table 52a in the X-axis direction.

[0081] A chuck table (holding table) 56 for attracting and holding the workpiece 11 is provided on the X-axis movement table 52a. The chuck table 56 is connected to a rotation drive source such as a motor (not shown) and rotates around a rotation axis that is substantially parallel to the Z-axis direction (vertical direction, cutting feed direction). In addition, the chuck table 56 moves (machining feed) in the X-axis direction through the above-mentioned X-axis movement mechanism 52.

[0082] The upper surface of the chuck table 56 is a holding surface 56a for holding the workpiece 11. The holding surface 56a is connected to a suction source (not shown) via a suction path (not shown) formed inside the chuck table 56 and the like. In addition, four clamps 58 are provided around the chuck table 56 for fixing the frame 15 that supports the workpiece 11 from all around.

[0083] Above the opening 48b, a pair of guide rails (temporary storage area) 60 are provided which approach and move away while maintaining a state parallel to the Y-axis direction (left-right direction, indexing feed direction). Each of the pair of guide rails 60 has a support surface for supporting the frame 15 from below and a side surface substantially perpendicular to the support surface. The pair of guide rails 60 sandwich the frame 15 pulled out from the base 37 in the X-axis direction and position it at a specified position.

[0084] Above the base 48, a gantry-type first support structure 62 is arranged so as to straddle the opening 48b. A first rail 64 along the Y-axis direction is fixed on the front surface (the surface on the side of the guide rails 60) of the first support structure 62, and the first rail 64 is connected to the first holding unit 68 by means of a first moving mechanism 66 and the like.

[0085] The first holding unit 68, for example, contacts the upper surface of the frame 15 to adsorb and hold the frame 15. The first holding unit 68 is lifted and lowered by the first moving mechanism 66 and moves in the Y-axis direction along the first rail 64. A holding mechanism 68a for holding the frame 15 is provided on the opening 48a side of the first holding unit 68.

[0086] For example, if the frame 15 is held by the holding mechanism 68a and the first holding unit 68 is moved in the Y-axis direction, the frame 15 in the base 37 can be pulled out onto the pair of guide rails 60 or the frame 15 on the pair of guide rails 60 can be inserted into the base 37. In addition, after the frame 15 is positioned by the pair of guide rails 60, the first holding unit 68 adsorbs and holds the frame 15 (workpiece 11) and transports it to the chuck table 56.

[0087] In addition, on the front surface of the first support structure 62, a second rail 70 along the Y-axis direction is fixed above the first rail 64. The second rail 70 is connected to the second holding unit 74 by means of a second moving mechanism 72 and the like. The second holding unit 74, for example, contacts the upper surface of the frame 15 to adsorb and hold the frame 15. The second holding unit 74 is lifted and lowered by the second moving mechanism 72 and moves in the Y-axis direction along the second rail 70.

[0088] A gantry-shaped second support structure 76 is arranged behind the first support structure 62. On the front surface of the second support structure 76 (the surface on the side of the first support structure 62), two sets of cutting units (processing units) 80 are respectively arranged by means of a Y-axis Z-axis moving mechanism (indexing feed unit, plunge feed unit) 78. Each cutting unit 80 moves (indexing feed) in the Y-axis direction and moves (plunge feed) in the Z-axis direction through the corresponding Y-axis Z-axis moving mechanism 78.

[0089] Each cutting unit 80 has a main shaft (not shown) that is a rotation axis substantially parallel to the Y-axis direction. A ring-shaped cutting tool 82 is mounted on one end side of each main shaft. A rotation drive source such as an electric motor (not shown) is connected to the other end side of each main shaft. In addition, a nozzle for supplying a cutting fluid such as pure water to the workpiece 11 and the cutting tool 82 is arranged beside the cutting tool 82.

[0090] While supplying the cutting fluid from this nozzle, the rotating cutting tool 82 is plunged into the workpiece 11 held by the chuck table 56, so that the workpiece 11 can be cut. A photographing unit (camera) 84 for photographing the workpiece 11 held by the chuck table 56 and the like is arranged at a position adjacent to the cutting unit 80. This photographing unit 84 also moves in the Y-axis direction and moves in the Z-axis direction through the Y-axis Z-axis moving mechanism 78.

[0091] A cleaning unit 86 is arranged at a position on the side opposite to the opening 48a with respect to the opening 48b. The cleaning unit 86 has a rotating table 88 in a cylindrical cleaning space for sucking and holding the workpiece 11. A rotation drive source (not shown) for rotating the rotating table 88 at a specified speed is connected to the lower part of the rotating table 88.

[0092] A spray nozzle 90 for spraying a cleaning fluid (typically a mixed fluid of water and air) toward the workpiece 11 held by the rotating table 88 is arranged above the rotating table 88. By rotating the rotating table 88 holding the workpiece 11 and spraying the cleaning fluid from the spray nozzle 90, the workpiece 11 can be cleaned.

[0093] After the workpiece 11 is cut by the cutting unit 80, for example, the frame 15 is adsorbed and held by the second holding unit 74 and carried into the cleaning unit 86. After the workpiece 11 is cleaned by the cleaning unit 86, for example, the frame 15 is adsorbed and held by the first holding unit 68 and placed on a pair of guide rails 60, and then the frame 15 is gripped by the gripping mechanism 68a and stored in the base 37.

[0094] As Figure 5As shown, the upper surface side of the base 48 is covered by the cover 92, and the above-described respective components are housed inside the cover 92. An opening 92b that vertically penetrates the ceiling 92a of the cover 92 is provided in a region directly above the opening 48a. The base 37 of the unmanned workpiece transport cart 10 is transported from the outside to the inside of the cover 92 through this opening 92b, or is transported from the inside to the outside of the cover 92 through this opening 92b. There is no particular limitation on the shape or size of the opening 92b, but the opening 92b needs to be configured to allow at least the base 37 to pass through.

[0095] A transport unit support structure 28 is provided above the cover 92 of the cutting device 4. This transport unit support structure 28 includes, for example, a support structure 29 whose lower end is fixed to the transport path 6 (or the cutting device 4). One end of a flat support plate 30 extending in the X-axis direction and the Y-axis direction is fixed, for example, to the upper end of the support structure 29. A guide rail 31 extending in the X-axis direction is provided on the other end side of the lower surface of the support plate 30. However, the structure, configuration, etc. of the transport unit support structure 28 can be arbitrarily changed according to the structure of the cutting device 4 or the configuration of the transport path 6, etc.

[0096] A pair of flat support portions 31a are provided at the lower end of the guide rail 31 and are arranged at intervals in the Y-axis direction (refer to Figure 13 (A) etc. of the figure). The interval between the pair of support portions 31a is set according to the interval between the wheels 41 of the transport unit 12 (the thickness of the protruding portion 39b). Therefore, for example, if the unmanned workpiece transport cart 10 and the transport unit 12 are moved in the X-axis direction in such a manner that the protruding portion 39b is inserted into this interval, the wheels 41 of the transport unit 12 are placed on the upper surfaces of the pair of support portions 31a. As a result, the transport unit 12 is in a state of being supported by the transport unit support structure 28.

[0097] When the wheels 41 are rotated while the transport unit 12 is in a state of being supported by the transport unit support structure 28, the transport unit 12 moves along the guide rail 31. That is, by using the transport unit 12 in combination with this transport unit support structure 28, even when the wheels 38 of the unmanned workpiece transport cart 10 are not in contact with the transport path 6, the unmanned workpiece transport cart 10 and the transport unit 12 can be moved along the guide rail 31.

[0098] Therefore, for example, after moving the base 37 of the unmachined workpiece carrier 10 to directly above the opening 92b using the transfer unit 12 and pulling out the wire 40 from the base portion 39a to lower the base 37, the base 37 can be placed on the carrier holding table 50. Further, after storing the wire 40 in the base portion 39a to raise the base 37 from the carrier holding table 50 and then moving the base 37 using the transfer unit 12 so that the wheels 38 contact the transfer path 6, the unmachined workpiece carrier 10 can move on its own via the wheels 38.

[0099] In this way, when the base 37 of the unmachined workpiece carrier 10 is transferred between the area above the cutting device 4 in the transfer path 6 and the carrier holding table 50 of the cutting device 4, the transfer unit support structure 28 supports the transfer unit 12. In addition, the structure of the transfer unit support structure 28 included in the storage unit 8 can be the same as the structure of the transfer unit support structure 28 included in the cutting device 4.

[0100] Each component of the above-described cutting device 4 is connected to the control device 96 ( Figure 5 ). The control device 96 typically consists of a computer including a processing device such as a CPU and a storage device such as a flash memory. The functions of the control device 96 are realized by operating the processing device etc. according to the software stored in the storage device.

[0101] A receiver 98 and a transmitter 100 are also connected to the control device 96. The receiver 98 receives a control signal sent from the control unit 14 of the transfer system 2, and the transmitter 100 sends a notification signal to the control unit 14. The control device 96 controls each component of the above-described cutting device 4, for example, based on the signal received by the receiver 98.

[0102] A pipe connection portion 48c for connecting various pipes 21 is provided on the side wall of the base 48 ( Figure 5 ). In addition, a door 92c that opens and closes during maintenance etc. is provided on the side wall of the cover 92 ( Figure 5 ). In addition, an operation panel (not shown), a display (not shown), etc. may be provided on the side wall of the cover 92.

[0103] Figure 7 is a perspective view showing a case where the transfer path 6 of the transfer system 2 is provided to the cutting device 4. As Figure 7 etc. show, the transfer path 6 of the transfer system 2 of the present embodiment is installed on the upper surface side of the ceiling 92a of the cover 92 included in the cutting device 4. That is, the transfer path 6 is provided in the space directly above the cutting device 4.

[0104] Accordingly, the transfer path 6 will not interfere with structures such as the pipe connection portion 48c provided on the side surface of the cutting device 4 and the door 92c. That is, when designing the transfer path 6, it is not necessary to consider the structure on the side surface of the cutting device 4. Therefore, the construction of the transfer system 2 becomes easy.

[0105] Figure 8 (A) of is a top view showing a structural example of the path module 6a used in the transfer path 6, Figure 8 (B) of is a top view showing a structural example of the path module 6b, Figure 8 (C) of is a top view showing a structural example of the path module 6c. The transfer path 6 is, for example, formed by Figure 8 (A) of, Figure 8 (B) of, and Figure 8 (C) of shown in a combination of a plurality of path modules 6a, 6b, 6c.

[0106] Each of the path modules 6a, 6b, 6c includes: a path portion 102 having an upper surface with high flatness suitable for the travel of the unmanned work-piece carrier 10; and a guide portion 104 provided at the end in the width direction of the path portion 102 and along the path portion 102. The distance from the upper end of the guide portion 104 to the path portion 102 is, for example, higher than the height of the wheels 38 of the unmanned work-piece carrier 10. Thereby, it is possible to prevent the unmanned work-piece carrier 10 traveling on the path portion 102 from falling off the path portion 102.

[0107] Figure 8 (A) of of the path module 6a further has a standby portion 106 for the unmanned work-piece carrier 10 to standby, and the standby portion 106 is provided, for example, directly above the cutting device 4 or the like. In addition, a power supply device (charger) for supplying power to the secondary battery of the unmanned work-piece carrier 10 can be provided in the standby portion 106 or the like. On the other hand, Figure 8 (B) of of the path module 6b is formed in a straight line, Figure 8 (C) of of the path module 6c is formed in a right-angled shape suitable for a corner.

[0108] The path modules 6b, 6c are used, for example, to connect between two adjacent path modules 6a. Among them, there are no restrictions on the type, number, configuration (connection relationship), etc. of the path modules constituting the transfer path 6. For example, two path modules 6a can also be connected using other path modules 6a. In addition, for example, an arc-shaped (curved) path module can be used instead of the right-angled path module 6c.

[0109] Figure 9 is a perspective view showing a situation where the transfer path 6 is formed by the path module 6a and the path module 6b. Figure 10 (A) andFigure 10 The cross-sectional view (B) shows the case where the connection path module 6a and the path module 6b are connected. In addition, Figure 11 The bottom view shows a structural example of the path module 6b.

[0110] As Figure 9 shown, a pair of angle irons (brackets) 108 with an L-shaped cross-section are provided at the end in the longitudinal direction of the lower surface of the path portion 102 (the end along the direction of the transfer path 6). Each angle iron 108 has a substantially horizontal support surface 108a and a side surface 108b substantially perpendicular to the support surface 108a, and each angle iron 108 is fixed to the lower surface of the path portion 102 in such a manner that the longitudinal direction of each angle iron 108 is along the transfer path 6.

[0111] When connecting the connection path module 6a and the path module 6b, first, as Figure 10 shown in (A), the end in the longitudinal direction of the path portion 102 constituting the path module 6a is brought sufficiently close to the end in the longitudinal direction of the path portion 102 constituting the path module 6b. Then, as Figure 10 shown in (B), the connecting member 110 is inserted into the angle irons 108 provided on the path portion 102 constituting the path module 6a and the angle irons 108 provided on the path portion 102 constituting the path module 6b.

[0112] The connecting member 110 includes, for example: a rod portion 110a that is longer than the sum of the lengths of the angle iron 108 of the path module 6a and the angle iron 108 of the path module 6b; and ring portions 110b provided at both ends of the rod portion 110a and having an opening in the center. The rod portion 110a of the connecting member 110 is inserted into the angle iron 108.

[0113] After the rod portion 110a is inserted into the angle iron 108, a bolt 112 is passed through the opening of the ring portion 110b and screwed into a bolt hole (not shown) on the lower surface side of the path portion 102. Thereby, the path module 6a and the path module 6b can be connected by means of the connecting member 110. In addition, the path module 6c is also connected to other path modules (such as the path module 6a or the path module 6b) by the same procedure.

[0114] The installation of the path modules 6a, 6b, and 6c with respect to the cutting device 4 is performed, for example, by means of Figure 9 , Figure 11 and other foot members 114 as shown. The foot member 114 includes: a plate-shaped base portion 114a; a columnar column portion 114b that protrudes from the vicinity of the center of one side surface of the base portion 114a; and a suction cup-shaped adsorption portion 114c ( Figure 11 ), which is installed at the front end of the column portion 114b.

[0115] Four openings 114d that penetrate the base portion 114a in the thickness direction are formed in a region of the base portion 114a that does not overlap with the column portion 114b. In addition, bolt holes 102a corresponding to the respective openings 114d are formed on the lower surface of the passage portions 102 constituting the passage modules 6a, 6b, and 6c.( Figure 11 )

[0116] Therefore, as long as the surface on the other side of the base portion 114a is brought into contact with the lower surface of the passage portion 102 and the bolt 116 is inserted through the opening 114d and screwed into the bolt hole 102a, the leg member 114 can be fixed to the passage modules 6a, 6b, and 6c. In addition, there are no restrictions on the number, arrangement, etc. of the openings 114d and the bolt holes 102a.

[0117] As Figure 11 shown, in the passage module 6b of the present embodiment, four bolt holes 102a corresponding to the four openings 114d of the base portion 114a are respectively formed in a plurality of regions on the lower surface of the passage portion 102, and the leg member 114 can be installed in any region. The same applies to the other passage modules 6a and 6c.

[0118] That is, the leg member 114 is installed in an arbitrary region selected from a plurality of regions on the lower surface of the passage portion 102. In addition, it is preferable to install a plurality of leg members 114 in each of the passage modules 6a, 6b, and 6c. Thereby, it is easy to stabilize the position of the transfer passage 6 relative to the cutting device 4.

[0119] When installing the passage modules 6a, 6b, and 6c on the cutting device 4, for example, alignment of the passage modules 6a, 6b, and 6c with respect to the cover 92 of the cutting device 4 is performed. As Figure 7 shown, the adsorption portion 114c of the leg member 114 is pressed against the upper surface of the ceiling 92a of the cover 92. Thereby, the adsorption portion 114c can be adsorbed to the upper surface of the ceiling 92a of the cover 92 and any of the passage modules 6a, 6b, and 6c can be installed on the cover 92. That is, any of the passage modules 6a, 6b, and 6c is installed on the cover 92 of the cutting device 4 by means of the leg member 114.

[0120] In addition, it is not necessary to install all of the passage modules 6a, 6b, and 6c on the cutting device 4. For example, sometimes the passage module located between two cutting devices 4 is supported only by the connecting member 110 on the adjacent passage module. In addition, as Figure 1 shown, an information providing portion 102b such as an identification code represented by a two-dimensional code or a wireless tag is provided on the passage portion 102 of the passage module installed on the cutting device 4 or the storage unit 8 or the like. The information provided by the information providing portion 102b is used, for example, to confirm the position of the unmanned workpiece transfer cart 10 and the like.

[0121] Next, the operation of transporting the base 37 of the unmachined workpiece carrier 10 between the area above the cutting device 4 in the transport path 6 and the carrier holding table 50 of the cutting device 4 will be described in detail. Figure 12 (A) of Figure 12 is a partial cross-sectional side view of the state of supporting the transport unit 12 on the guide rail 31 as viewed from the Y-axis direction. Figure 12 (B) of Figure 12 is a partial cross-sectional side view of the state of lowering the base 37 by the transport unit 12 as viewed from the Y-axis direction.

[0122] In addition, Figure 13 (A) of Figure 13 is a partial cross-sectional side view as viewed from the X-axis direction of Figure 12 the state shown in (A) of Figure 12 . Figure 13 (B) of Figure 13 is a partial cross-sectional side view as viewed from the X-axis direction of Figure 12 the state shown in (B) of Figure 12 . When transporting the base 37 from the area above the cutting device 4 in the transport path 6 to the carrier holding table 50 of the cutting device 4, as shown in Figure 12 (A) of Figure 12 and Figure 13 (A) of Figure 13 , first, the position of the unmachined workpiece carrier 10 is adjusted so that the wheels 41 are positioned at the starting point on the extension line of the guide rail 31.

[0123] Next, the wheels 38 are rotated to move the unmachined workpiece carrier 10 and the transport unit 12 toward the guide rail 31. That is, the unmachined workpiece carrier 10 and the transport unit 12 are moved in the X-axis direction. As a result, the protruding portion 39b of the transport unit 12 is inserted into the gap between the pair of support portions 31a of the guide rail 31, and the wheels 41 of the transport unit 12 are placed on the upper surfaces of the pair of support portions 31a.

[0124] In addition, at this time, the electrode 39c of the transport unit 12 comes into contact with the guide rail 31, and power supply to the transport unit 12 etc. starts. After the wheels 41 of the transport unit 12 are placed on the upper surfaces of the pair of support portions 31a, the wheels 41 are rotated to move the base 37 directly above the opening 92b of the cutting device 4.

[0125] And, as shown in Figure 12 (B) of Figure 12 and Figure 13 (B) of Figure 13 , the winch of the transport unit 12 is operated to pull out the wire 40 from the base portion 39a. As a result, the base 37 is lowered so as to pass through the opening 92b, and the base 37 can be placed on the carrier holding table 50. After the base 37 is placed on the carrier holding table 50, the workpiece 11 (frame 15) is removed from the base 37. In addition, after the cutting of the workpiece 11 is completed, the workpiece 11 (frame 15) is carried into the base 37.

[0126] When transporting the base 37 from the carrier holding table 50 of the cutting device 4 to the area above the cutting device 4 in the transport path 6, first, the winch of the transport unit 12 is actuated to wind up the wire 40 and store it in the base 39a. Thereby, the base 37 is raised so as to pass through the opening 92b, and the base 37 can be carried out to the outside of the cover 92 of the cutting device 4.

[0127] Next, the wheels 41 are rotated to move the unmanned workpiece carrier 10 and the transport unit 12 toward the above-mentioned starting point. That is, the unmanned workpiece carrier 10 and the transport unit 12 are moved in the X-axis direction. As a result, the wheels 41 of the transport unit 12 are detached from the pair of support portions 31a.

[0128] In addition, at this time, the electrode 39c of the transport unit 12 is separated from the guide rail 31, and the power supply to the transport unit 12 and the like is terminated. In addition, the wheels 38 of the unmanned workpiece carrier 10 come into contact with the transport path 6, and the unmanned workpiece carrier 10 can move on its own by the wheels 38.

[0129] Next, an example of the control method of the transport system 2 of the present embodiment will be described. Figure 14 It is a functional block diagram for explaining an example of the control method of the transport system 2. For example, when there is a situation where a new workpiece 11 (unprocessed workpiece 11) is required, the control device 96 of the cutting device 4 generates a notification signal (workpiece request signal) for notifying this intention. The notification signal (workpiece request signal) generated by the control device 96 is transmitted from the transmitter 100 to the control unit 14.

[0130] As Figure 14 shown, the control unit 14 has a control section (control signal generation section) 132 that generates control signals for performing various controls. This control section 132 typically consists of a computer including a processing device such as a CPU and a storage device such as a flash memory. The functions of the control section 132 are realized by causing the processing device and the like to operate according to the software stored in the storage device.

[0131] Connected to the control section 132 are a receiver 134 and a transmitter 136. The receiver 134 receives the notification signals transmitted from the cutting device 4, the storage unit 8, the unmanned workpiece carrier 10, etc., and the transmitter 136 transmits control signals to the cutting device 4, the storage unit 8, the unmanned workpiece carrier 10 (including the transport unit 12), etc.

[0132] When the receiver 134 of the control unit 14 receives the notification signal (workpiece request signal) transmitted from the transmitter 100 of the cutting device 4, the notification signal is sent to the control unit 132. When the control unit 132 confirms the notification signal (workpiece request signal) from the cutting device 4, an instruction is issued to the unmanned workpiece carrier 10 (and the handling unit 12) to move it next to the storage unit 8 and transport the base 37 to the carrier holding table 26 of the storage unit 8. Specifically, the control unit 132 generates a control signal (first transport instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the unmanned workpiece carrier 10.

[0133] When the receiver 44 of the unmanned workpiece carrier 10 receives the control signal (first transport instruction signal) from the control unit 14, the control signal is sent to the control device 42. Based on this control signal (first transport instruction signal), the control device 42 controls the operation of the wheels (travel mechanism) 38, etc., so that the unmanned workpiece carrier 10 travels along the transport path 6.

[0134] In addition, as Figure 14 shown, a reader 138 for reading the information of the information providing unit 102b provided on the transport path 6 is connected to the control device 42 of the unmanned workpiece carrier 10. Therefore, by the reader 138 reading the information of the information providing unit 102b, the control device 42 can confirm its own position (unmanned workpiece carrier 10).

[0135] When the control device 42 confirms that it has moved (unmanned workpiece carrier 10) next to the storage unit 8, the unmanned workpiece carrier 10 and the handling unit 12 are moved in such a way that the protruding portion 39b of the handling unit 12 is inserted into the gap between the pair of support portions 31a of the guide rail 31 arranged above the storage unit 8. As a result, the wheels 41 of the handling unit 12 are placed on the upper surfaces of the pair of support portions 31a.

[0136] After the wheels 41 of the handling unit 12 are placed on the upper surfaces of the pair of support portions 31a, the control device 42 rotates the wheels 41 to move the base 37 directly above the opening 16b of the storage unit 8. And the base 37 is lowered so as to pass through the opening 16b and the base 37 is placed on the carrier holding table 26 inside the storage unit 8.

[0137] After the base 37 is placed on the carrier holding table 26, the control device 42 generates a notification signal (first transport completion signal) for notifying the meaning of the completion of the transport of the base 37 to the storage unit 8. The notification signal (first transport completion signal) generated by the control device 42 is transmitted from the transmitter 46 to the control unit 14.

[0138] When the receiver 134 of the control unit 14 receives the notification signal (first transfer completion signal) transmitted from the transmitter 46 of the unmanned workpiece transfer vehicle 10, it transmits the notification signal to the control section 132. When the control section 132 confirms the notification signal (first transfer completion signal) from the unmanned workpiece transfer vehicle 10, it gives an instruction to the storage unit 8 to transfer a new workpiece 11 onto the base 37 on the transfer vehicle holding table 26. Specifically, the control section 132 generates a control signal (first transfer instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the storage unit 8.

[0139] When the receiver 34 of the storage unit 8 receives the control signal (first transfer instruction signal) from the control unit 14, it transmits the control signal to the control device 32. Based on this control signal (first transfer instruction signal), the control device 32 controls the operations of the first lifting mechanism, the push-pull arm 22, the pair of guide rails 24, the second lifting mechanism, etc., and transfers a new workpiece 11 onto the base 37.

[0140] When a new workpiece 11 is transferred onto the base 37, the control device 32 generates a notification signal (first transfer completion signal) for notifying the meaning that the transfer of the workpiece 11 to the base 37 has been completed. The notification signal (first transfer completion signal) generated by the control device 32 is transmitted from the transmitter 36 to the control unit 14.

[0141] When the receiver 134 of the control unit 14 receives the notification signal (first transfer completion signal) transmitted from the transmitter 36 of the storage unit 8, it transmits the notification signal to the control section 132. When the control section 132 confirms the notification signal (first transfer completion signal) from the storage unit 8, it gives an instruction to the unmanned workpiece transfer vehicle 10 (and the transfer unit 12) to move to the side of the cutting device 4 and transfer the base 37 to the transfer vehicle holding table 50 of the cutting device 4. Specifically, the control section 132 generates a control signal (second transfer instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the unmanned workpiece transfer vehicle 10.

[0142] When the receiver 44 of the unmanned workpiece transfer vehicle 10 receives the control signal (second transfer instruction signal) from the control unit 14, it transmits the control signal to the control device 42. Based on this control signal (second transfer instruction signal), the control device 42 raises the base 37 and transfers the base 37 outside the storage unit 8. Then, it controls the operations of the wheels 41, etc., to move the base 37 above the transfer path 6. And it controls the operations of the wheels 38, etc., to make the unmanned workpiece transfer vehicle 10 travel along the transfer path 6.

[0143] When the control device 42 confirms that itself (the unmanned workpiece carrier 10) has moved beside the cutting device 4, the unmanned workpiece carrier 10 and the transfer unit 12 are moved in such a manner that the protruding portion 39b of the transfer unit 12 is inserted into the gap between the pair of support portions 31a of the guide rail 31 disposed above the cutting device 4 as described above. As a result, the wheels 41 of the transfer unit 12 are placed on the upper surfaces of the pair of support portions 31a.

[0144] After the wheels 41 of the transfer unit 12 are placed on the upper surfaces of the pair of support portions 31a, the control device 42 rotates the wheels 41 to move the base 37 directly above the opening 92b of the cutting device 4. Then, the base 37 is lowered so as to pass through the opening 92b, and the base 37 is placed on the carrier holding table 50 inside the cutting device 4.

[0145] After the base 37 is placed on the carrier holding table 50, the control device 42 generates a notification signal (second transfer completion signal) for notifying the meaning that the transfer of the base 37 to the cutting device 4 has been completed. The notification signal (second transfer completion signal) generated by the control device 42 is sent from the transmitter 46 to the control unit 14.

[0146] When the receiver 134 of the control unit 14 receives the notification signal (second transfer completion signal) sent from the transmitter 46 of the unmanned workpiece carrier 10, the notification signal is sent to the control section 132. When the control section 132 confirms the notification signal (second transfer completion signal) from the unmanned workpiece carrier 10, an instruction is given to the cutting device 4 to remove the new workpiece 11 from the base 37 on the carrier holding table 50. Specifically, the control section 132 generates a control signal (first removal instruction signal) corresponding to the instruction, and sends it from the transmitter 136 to the cutting device 4.

[0147] When the receiver 98 of the cutting device 4 receives the control signal (first removal instruction signal) from the control unit 14, the control signal is sent to the control device 96. The control device 96 controls the operations of the respective components according to the control signal (first removal instruction signal), and removes the new workpiece 11 from the base 37.

[0148] When the new workpiece 11 is removed from the base 37, for example, the control device 96 generates a notification signal (first removal completion signal) for notifying the meaning that the removal of the workpiece 11 from the base 37 has been completed. The notification signal (first removal completion signal) generated by the control device 96 is sent from the transmitter 100 to the control unit 14.

[0149] According to such steps, the workpiece 11 of any cutting device 4 can be transported and stored in the storage unit 8. In addition, the steps for transporting the workpiece 11 from the storage unit 8 to the cutting device 4 are mainly described here, but the steps for transporting the workpiece 11 from the cutting device 4 to the storage unit 8 are the same.

[0150] Specifically, for example, when the control device 96 of the cutting device 4 finishes processing the workpiece 11, a notification signal (processing completion signal) for notifying this intention is generated. The notification signal (processing completion signal) generated by the control device 96 is sent from the transmitter 100 to the control unit 14. When the receiver 134 of the control unit 14 receives the notification signal (processing completion signal) sent from the transmitter 100 of the cutting device 4, the notification signal is sent to the control section 132.

[0151] When the control section 132 confirms the notification signal (processing completion signal) from the cutting device 4, an instruction is issued to the unmanned workpiece transport vehicle 10 (and the transport unit 12) to move it to the side of the cutting device 4 and transport the base 37 to the transport vehicle holding table 50 of the cutting device 4. Specifically, the control section 132 generates a control signal (third transport instruction signal) corresponding to this instruction and sends it from the transmitter 136 to the unmanned workpiece transport vehicle 10.

[0152] When the receiver 44 of the unmanned workpiece transport vehicle 10 receives the control signal (third transport instruction signal) from the control unit 14, the control signal is sent to the control device 42. The control device 42 controls the actions of the wheels (travel mechanism) 38, etc. according to this control signal (third transport instruction signal), and makes the unmanned workpiece transport vehicle 10 travel along the transport path 6.

[0153] When the control device 42 confirms that itself (the unmanned workpiece transport vehicle 10) has moved to the side of the cutting device 4, the unmanned workpiece transport vehicle 10 and the transport unit 12 are moved in such a way that the protruding portion 39b of the transport unit 12 is inserted into the gap between the pair of support portions 31a of the guide rail 31 arranged above the cutting device 4. As a result, the wheels 41 of the transport unit 12 are placed on the upper surfaces of the pair of support portions 31a.

[0154] After the wheels 41 of the transport unit 12 are placed on the upper surfaces of the pair of support portions 31a, the control device 42 rotates the wheels 41 to move the base 37 directly above the opening 92b of the cutting device 4. And the base 37 is lowered so as to pass through the opening 92b, and the base 37 is placed on the transport vehicle holding table 50 inside the cutting device 4.

[0155] After the base 37 is placed on the carrier table 50 of the transport vehicle, the control device 42 generates a notification signal (third transport completion signal) for notifying the completion of the transport of the base 37 to the cutting device 4. The notification signal (third transport completion signal) generated by the control device 42 is transmitted from the transmitter 46 to the control unit 14.

[0156] When the receiver 134 of the control unit 14 receives the notification signal (third transport completion signal) transmitted from the transmitter 46 of the unmanned workpiece transport vehicle 10, the notification signal is transmitted to the control section 132. When the control section 132 confirms the notification signal (third transport completion signal) from the unmanned workpiece transport vehicle 10, it gives an instruction to the cutting device 4 to carry the processed workpiece 11 onto the base 37 on the carrier table 50 of the transport vehicle. Specifically, the control section 132 generates a control signal (second loading instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the cutting device 4.

[0157] When the receiver 98 of the cutting device 4 receives the control signal (second loading instruction signal) from the control unit 14, the control signal is transmitted to the control device 96. The control device 96 controls the operation of each component according to this control signal (second loading instruction signal) and carries the processed workpiece 11 onto the base 37.

[0158] When the processed workpiece 11 is carried onto the base 37, the control device 96 generates a notification signal (second loading completion signal) for notifying the completion of the loading of the workpiece 11 onto the base 37. The notification signal (second loading completion signal) generated by the control device 96 is transmitted from the transmitter 100 to the control unit 14.

[0159] When the receiver 134 of the control unit 14 receives the notification signal (second loading completion signal) transmitted from the transmitter 100 of the cutting device 4, the notification signal is transmitted to the control section 132. When the control section 132 confirms the notification signal (second loading completion signal) from the cutting device 4, it gives an instruction to the unmanned workpiece transport vehicle 10 (and the transport unit 12) to move to the side of the storage unit 8 and then carry the base 37 to the carrier table 26 of the transport vehicle of the storage unit 8. Specifically, the control section 132 generates a control signal (fourth transport instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the unmanned workpiece transport vehicle 10.

[0160] When the receiver 44 of the unmanned workpiece carrier 10 receives a control signal (the fourth transfer instruction signal) from the control unit 14, the control signal is sent to the control device 42. The control device 42 raises the base 37 according to the control signal (the fourth transfer instruction signal) and transfers the base 37 to the outside of the cutting device 4. Then, the operations of the wheels 41 and the like are controlled to move the base 37 above the transfer path 6. And the operations of the wheels 38 and the like are controlled to make the unmanned workpiece carrier 10 travel along the transfer path 6.

[0161] When the control device 42 confirms that itself (the unmanned workpiece carrier 10) has moved beside the storage unit 8, the unmanned workpiece carrier 10 and the transfer unit 12 are moved in such a way that the protruding portion 39b of the transfer unit 12 is inserted into the gap between the pair of support portions 31a of the guide rail 31 arranged above the storage unit 8 as described above. As a result, the wheels 41 of the transfer unit 12 are placed on the upper surfaces of the pair of support portions 31a.

[0162] After the wheels 41 of the transfer unit 12 are placed on the upper surfaces of the pair of support portions 31a, the control device 42 rotates the wheels 41 to move the base 37 directly above the opening 16b of the storage unit 8. And the base 37 is lowered so as to pass through the opening 16b, and the base 37 is placed on the carrier holding table 26 inside the storage unit 8.

[0163] After the base 37 is placed on the carrier holding table 26, the control device 42 generates a notification signal (the fourth transfer completion signal) for notifying the meaning that the transfer of the base 37 to the storage unit 8 has been completed. The notification signal (the fourth transfer completion signal) generated by the control device 42 is sent from the transmitter 46 to the control unit 14.

[0164] When the receiver 134 of the control unit 14 receives the notification signal (the fourth transfer completion signal) sent from the transmitter 46 of the unmanned workpiece carrier 10, the notification signal is sent to the control section 132. When the control section 132 confirms the notification signal (the fourth transfer completion signal) from the unmanned workpiece carrier 10, an instruction is given to the storage unit 8 to carry out the processed workpiece 11 from the base 37 on the carrier holding table 26. Specifically, the control section 132 generates a control signal (the second carry-out instruction signal) corresponding to the instruction and sends it from the transmitter 136 to the storage unit 8.

[0165] When the receiver 34 of the storage unit 8 receives a control signal (the second unloading instruction signal) from the control unit 14, the control signal is sent to the control device 32. The control device 32 controls the operations of the first lifting mechanism, the push-pull arm 22, the pair of guide rails 24, the second lifting mechanism, etc. according to the control signal (the second unloading instruction signal), and unloads the processed workpiece 11 from the base 37.

[0166] When unloading the processed workpiece 11 from the base 37, for example, the control device 32 generates a notification signal (the second unloading completion signal) for notifying the meaning of the completion of unloading the workpiece 11 from the base 37. The notification signal (the second unloading completion signal) generated by the control device 32 is sent from the transmitter 36 to the control unit 14. By following such steps, the storage unit 8 can carry the workpiece 11 processed by the cutting device 4.

[0167] In addition, the above steps can be arbitrarily changed within the range where the workpiece 11 can be appropriately carried. For example, multiple steps included in the above steps can be performed simultaneously, or the order of the steps can be changed within the range that does not interfere with the carrying of the workpiece 11. Similarly, any steps can be added, changed, or omitted within the range that does not interfere with the carrying of the workpiece 11.

[0168] As described above, the handling system 2 of the present embodiment includes: a handling path 6 provided throughout a plurality of cutting devices (processing devices) 4; an unmanned workpiece carrier (unmanned carrier) 10 that travels on the handling path 6 and has a base (workpiece storage unit) 37 for storing the workpiece 11, wheels (traveling mechanism) 3B provided on the base 37, and a receiver 44 for receiving a control signal; a storage unit 8 that has a carrier holding table (storage unit holding table) 26 for holding the base 37 when transferring the workpiece 11 from a cassette (workpiece storage) 20 storing the workpiece to the base 37 of the unmanned workpiece carrier 10 and a receiver 34 for receiving a control signal; and a handling unit (storage unit handling unit) 12 that transfers the base 37 between a region corresponding to above the storage unit 8 on the handling path 6 and the carrier holding table 26 of the storage unit 8 or between a region corresponding to above the cutting device 4 on the handling path 6 and the inside of the cutting device 4.

[0169] Therefore, for example, the base 37 of the unmanned workpiece carrier 10 that has received the workpiece 11 from the cassette 20 in the storage unit 8 is transported to the transport path 6 by the transport unit 12, and the unmanned workpiece carrier 10 is made to travel on the transport path 6, so that the workpiece 11 can be transported to the plurality of cutting devices 4 respectively. In addition, after the unmanned workpiece carrier 10 travels, the base 37 of the unmanned workpiece carrier 10 is, for example, transported inside the cutting device 4 by the transport unit 12.

[0170] In addition, in the transport system 2 of the present embodiment, the transport path 6 is provided in the space directly above the cutting device 4. Therefore, when designing the transport path 6, it is not necessary to consider the structure of the side surface of each cutting device 4. That is, the construction of the transport system becomes easy.

[0171] In addition, in the above-described embodiment, the transport unit (storage unit transport unit) 12 corresponding to the pair of support portions 31a having a predetermined gap is shown, but the transport unit and the transport unit support structure of the present invention are not particularly limited. Figure 15 FIG. (A) is a partially cut-away side view of the transport unit 140 and the transport unit support structure 142 of the modified example as viewed from the X-axis direction. Figure 15 FIG. (B) is a partially cut-away side view of the state when the base 37 is lowered by the transport unit 140 of the modified example as viewed from the X-axis direction.

[0172] In addition, the basic structure of the transport unit 140 of this modified example is the same as the basic structure of the transport unit 12 of the above-described embodiment. Therefore, mainly only the differences will be described here. As Figure 15 shown in FIG. (A) and Figure 15 FIG. (B), the transport unit 140 of the modified example has an upper housing 144.

[0173] The upper housing 144 includes a flat base portion 144a that is formed to be approximately the same size as the base 37 in plan view. A plurality of wires 40 are arranged on the lower surface side of the regions corresponding to the four corners of the base portion 144a. In addition, a winch (not shown) for winding the wire 40 is provided inside the base portion 144a.

[0174] A rectangular parallelepiped-shaped protrusion 144b is arranged on the upper surface side of the base portion 144a, and a plurality of wheels (traveling mechanism) 41 are provided on the side surface of the protrusion 144b. Each wheel 41 is connected to a rotational drive source such as a motor and rotates. In addition, in the transport unit 140 of this modified example, the wheels (traveling mechanism) 41 are provided only on one side in the Y-axis direction of the protrusion 144b.

[0175] Above the cover 92 of the cutting device 4, a transfer unit support structure 142 is provided. This transfer unit support structure 142 includes, for example, a support structure 146 with its lower end fixed to the transfer path 6 (or the cutting device 4). At the upper end of the support structure 146, one end of a flat support plate 148 extending along the X-axis and Y-axis directions is fixed, for example. On the other end side of the lower surface of the support plate 148, a hollow guide rail 150 extending along the X-axis direction is provided. However, the structure, configuration, etc. of the transfer unit support structure 142 can be arbitrarily changed according to the structure of the cutting device 4, the configuration of the transfer path 6, etc.

[0176] A prescribed opening is formed on the side of the guide rail 150 in such a way that the wheel 41 can be inserted into the inside of the guide rail 150. For example, if the unmanned workpiece transfer vehicle 10 and the transfer unit 140 are moved in the X-axis direction and the wheel 41 is inserted into the inside of the guide rail 150, the transfer unit 12 is in a state of being supported by the transfer unit support structure 140. Therefore, when using the transfer unit 140 and the transfer unit support structure 142 of this modification, the unmanned workpiece transfer vehicle 10 and the transfer unit 140 can also be moved along the guide rail 150.

[0177] (Embodiment 2)

[0178] In the present embodiment, a transfer system for transferring the cutting tool 82 and the like together with the workpiece 11 will be described. In addition, the basic structure of the transfer system in the present embodiment is the same as the basic structure of the transfer system 2 in Embodiment 1. Accordingly, the same reference numerals are given to the same components as those in the transfer system 2 in Embodiment 1, and detailed descriptions thereof are omitted.

[0179] Figure 16 is a functional block diagram showing an example of the connection relationship of the transfer system 202 in the present embodiment. As Figure 16 shown, the control unit 14 of the transfer system 202 in the present embodiment is connected wirelessly to the unmanned workpiece transfer vehicle (unmanned transfer vehicle) 10, the cutting device 204, the unmanned tool transfer vehicle 206, and the storage unit 208.

[0180] The unmanned tool transfer vehicle 206 travels on the transfer path 6 (refer to Figure 16 etc.) in the same manner as the unmanned workpiece transfer vehicle 10, and transfers the cutting tool 82 to each cutting device 204. The storage unit 208 is configured to be able to store not only a plurality of workpieces 11 but also the cutting tools 82 provided to each cutting device 204.

[0181] In addition, in Figure 16In order to facilitate the description, two unmanned workpiece transfer vehicles 10a and 10b, two cutting devices 204a and 204b, and two unmanned tool transfer vehicles 206a and 206b are shown, but the number of each device is not limited. In addition, the control unit 14 can be connected to the unmanned workpiece transfer vehicle 10, the cutting device 204, the unmanned tool transfer vehicle 206, the storage unit 208, etc. in a wired manner.

[0182] Figure 17 is a side view showing a structural example of the storage unit 208 of the second embodiment. As Figure 17 shown, the basic structure of the storage unit 208 is the same as the basic structure of the storage unit 8 of the first embodiment. However, in the storage unit 208 of the present embodiment, a tool storage 210 for storing a plurality of cutting tools 82 is provided.

[0183] The tool storage 210 is configured, for example, in a tray shape whose upper surface side is divided into a plurality of regions. The cutting tools 82 are stored in each region. In addition, a tool transfer arm (tool transfer unit) 212 is provided beside the tool storage 210, and the tool transfer arm (tool transfer unit) 212 transfers the cutting tool 82 between the tool storage 210 and the unmanned tool transfer vehicle 206.

[0184] Figure 18 is a perspective view showing a structural example of the unmanned tool transfer vehicle 206. As Figure 18 shown, the unmanned tool transfer vehicle 206 includes a tray-shaped base (tool holding unit) 214. A plurality of recesses 214a corresponding to the size of the cutting tool 82 are formed on the upper surface side of the base 214, and tool boxes 216 capable of storing the cutting tool 82 are arranged in each recess 214a.

[0185] The cutting tool 82 transferred by the tool transfer arm 212 is placed in the tool box 216 arranged in the recess 214a of the base 214. In addition, an information providing unit 214b such as a wireless tag or an identification code is provided at a position corresponding to each tool box 216 (recess 214a) of the base 214. Thus, based on the information provided by the information providing unit 214b, it is possible to easily determine the cutting tool 82 stored in each tool box 216.

[0186] A plurality of (four in the present embodiment) wheels (traveling mechanism) 218 are provided on the lower surface side of the base 214. Each wheel 218 is connected to a rotational drive source such as an electric motor and rotates. By rotating the wheel 218 by the rotational drive source, the unmanned tool transfer vehicle 206 travels on the transfer path 6. In addition, as the wheel 218, so-called Mecanum wheels or the like in which a plurality of rotating bodies in an inclined barrel shape (cylindrical shape) are mounted on the outer peripheral surface in contact with the transfer path 6 can be used.

[0187] Inside the base 214, a control device 220 for controlling the operation of the unmanned tool carrier 206 is provided. The control device 220 typically consists of a computer including a processing device such as a CPU and a storage device such as a flash memory. The processing device and the like operate according to the software stored in the storage device, thereby realizing the functions of the control device 220.

[0188] A receiver 222 and a transmitter 224 are connected to the control device 220. The receiver 222 receives a control signal sent from the control unit 14, and the transmitter 224 sends a notification signal to the control unit 14. The control device 220 controls the operation (travel) of the unmanned tool carrier 206 according to the signal received by the receiver 222. In addition, the control device 220 sends the required signal to the control unit 14 through the transmitter 224.

[0189] Figure 19 It is a perspective view showing the appearance of the cutting device 204 and the like. As Figure 19 shown, the basic structure of the cutting device 204 is the same as that of the cutting device 4 in the first embodiment. In addition, the structure around the cutting device 204 is also the same as the basic structure around the cutting device 4 in the first embodiment. For example, in Figure 19 it is omitted, but a transfer unit support structure 28 and the like are provided above the cutting device 204.

[0190] On the cutting device 204, two openings 92d of the ceiling 92a that penetrate the upper and lower covers 92 are also provided. Each opening 92d is sized to allow the cutting tool 82 to pass through. In addition, a tool lifting mechanism 226 for lifting and lowering the cutting tool 82 is arranged at each opening 92d.

[0191] The tool lifting mechanism 226 has a tool holding portion 228 for holding the cutting tool 82, and the tool lifting mechanism 226 lifts and lowers the tool holding portion 228. Therefore, as long as the cutting tool 82 is held by the tool holding portion 228 and then the tool holding portion 228 is lifted and lowered, the cutting tool 82 can be transferred from the outside of the cover 92 to the inside or from the inside of the cover 92 to the outside.

[0192] A tool transfer arm 230 is provided on the ceiling 92a of the cover 92. The tool transfer arm 230 transfers the cutting tool 82 between the tool holding part 228 of the tool lifting mechanism 226 and the unmanned tool transfer vehicle 206 waiting beside the tool lifting mechanism 226. The tool transfer arm 230 has a tool gripping part 230a for gripping the cutting tool 82. By rotating and lifting the tool gripping part 230a, the cutting tool 82 is transferred between the unmanned tool transfer vehicle 206 and the tool holding part 228.

[0193] A tool changer 232 is also provided inside the cover 92 of the cutting device 204. The tool changer 232 automatically controls the replacement of the cutting tool 82 of the cutting unit 80. The tool changer 232 is connected to the control device 96 together with the tool lifting mechanism 226 and the tool transfer arm 230.

[0194] Figure 20 It is an exploded perspective view showing a structural example of the tool changer 232. The tool changer 232 has, for example, a fixed plate 234 whose position is fixed relative to the base 48, the cover 92, etc. A pair of guide rails 236 that are long in the X-axis direction are provided on the lower surface side of the fixed plate 234. The moving plate 238 is supported by the guide rails 236 so as to be slidable in the X-axis direction.

[0195] A bracket 240 corresponding to the shape of the guide rail 236 is provided at the end of the moving plate 238 in the Y-axis direction. The moving plate 238 is supported by the guide rail 236 by means of the bracket 240. A nut part 242 is fixed on the upper surface of the moving plate 238. A ball screw 244 substantially parallel to the X-axis direction is rotatably inserted into the threaded hole 242a of the nut part 242.

[0196] A pulse motor 246 is connected to one end of the ball screw 244. If the ball screw 244 is rotated by the pulse motor 246, the moving plate 238 moves in the X-axis direction along the guide rail 236. A changer support structure 248 is fixed on the lower surface side of the moving plate 238.

[0197] A pair of nut loading and unloading mechanisms 250 are supported on the changer support structure 248. The pair of nut loading and unloading mechanisms 250 are used for loading and unloading the fixing nut (not shown) that fixes the cutting tool 82 to the cutting unit 80. Each nut loading and unloading mechanism 250 is configured to be movable in the Y-axis direction and rotatable about a rotation axis parallel to the Y-axis direction. By gripping and rotating the fixing nut with the nut loading and unloading mechanism 250, the fixing nut is installed on the cutting unit 80 or can be removed from the cutting unit 80.

[0198] In addition, a pair of tool changing mechanisms 252 for changing the cutting tool 82 are supported on the changer support structure 248. Each tool changing mechanism 252 includes a first tool holding portion 252a and a second tool holding portion 252b that can hold the cutting tool 82. The tool changing mechanism 252 is configured to be movable along the Y-axis direction and to be able to change the positions of the first tool holding portion 252a and the second tool holding portion 252b in the X-axis direction.

[0199] When changing the cutting tool 82 using the tool changer 232, for example, the first tool holding portion 252a receives the replacement cutting tool 82 held by the tool holding portion 228 of the tool lifting mechanism 226. Then, the fixing nut is removed from the cutting unit 80 using the nut loading and unloading mechanism 250. In addition, the cutting tool 82 mounted on the cutting unit 80 is removed from the cutting unit 80 using the second tool holding portion 252b.

[0200] Then, the positions of the first tool holding portion 252a and the second tool holding portion 252b are swapped, and the replacement cutting tool 82 is mounted on the cutting unit 80 using the first tool holding portion 252a. And finally, the fixing nut is mounted on the cutting unit 80 using the nut loading and unloading mechanism 250. In addition, the cutting tool 82 previously mounted on the cutting unit 80 is handed over to, for example, the tool holding portion 228 of the tool lifting mechanism 226 from the second tool holding portion 252b.

[0201] Next, an example of the control method of the transfer system 202 of the present embodiment will be described. Figure 21 It is a functional block diagram for explaining an example of the control method of the transfer system 202. In addition, the control of the transfer of the workpiece 11 is the same as that in the first embodiment. Therefore, in the present embodiment, an example of the control of the transfer of the cutting tool 82 will be mainly described.

[0202] For example, when in a situation where the cutting tool 82 needs to be changed, the control device 96 of the cutting device 204 generates a notification signal (tool request signal) for notifying this intention. The notification signal (tool request signal) generated by the control device 96 is transmitted from the transmitter 100 to the control unit 14.

[0203] When the receiver 134 of the control unit 14 receives the notification signal (tool request signal) transmitted from the transmitter 100 of the cutting device 204, the notification signal is transmitted to the control unit 132. When the control unit 132 confirms the notification signal (tool request signal) from the cutting device 204, an instruction is issued to the unmanned tool carrier 206 to standby beside the storage unit 208 (the position where the cutting tool 82 is transferred). Specifically, the control unit 132 generates a control signal (first standby instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the unmanned tool carrier 206.

[0204] When the receiver 222 of the unmanned tool carrier 206 receives the control signal (first standby instruction signal) from the control unit 14, the control signal is transmitted to the control device 220. The control device 220 controls the operations of the wheels (travel mechanism) 218, etc. according to the control signal (first standby instruction signal), so that the unmanned tool carrier 206 travels along the transfer path 6.

[0205] In addition, as Figure 21 shown, a reader 254 for reading the information of the information providing unit 102b provided on the transfer path 6 is connected to the control device 220 of the unmanned tool carrier 206. Therefore, by reading the information of the information providing unit 102b by the reader 254, the control device 220 can confirm its own position (unmanned tool carrier 206).

[0206] When the control device 220 confirms that it has moved to beside the storage unit 208 (unmanned tool carrier 206), it stops the wheels 218, etc. In addition, the control device 220 generates a notification signal (first standby signal) for notifying the meaning that the unmanned tool carrier 206 is standby beside the storage unit 208. The notification signal (first standby signal) generated by the control device 220 is transmitted from the transmitter 224 to the control unit 14.

[0207] When the receiver 134 of the control unit 14 receives the notification signal (first standby signal) transmitted from the transmitter 224 of the unmanned tool carrier 206, the notification signal is transmitted to the control unit 132. When the control unit 132 confirms the notification signal (first standby signal) from the unmanned tool carrier 206, an instruction is issued to the storage unit 208 to transfer the cutting tool 82 to the unmanned tool carrier 206. Specifically, the control unit 132 generates a control signal (first transfer instruction signal) corresponding to this instruction and transmits it from the transmitter 136 to the storage unit 208.

[0208] When the receiver 34 of the storage unit 208 receives a control signal (the first transfer instruction signal) from the control unit 14, it sends the control signal to the control device 32. Based on this control signal (the first transfer instruction signal), the control device 32 controls the operations of the tool transfer arm 212, etc., to remove the cutting tool 82 from the tool storage 210 and place it on the base 214 of the unmanned tool carrier 206. Specifically, for example, the cutting tool 82 is placed in the tool magazine 216 indicated by the control signal (the first transfer instruction signal) from the control unit 14.

[0209] When transferring the cutting tool 82 to the unmanned tool carrier 206, the control device 32 generates a notification signal (the first transfer completion signal) for notifying the meaning that the transfer of the cutting tool 82 to the unmanned tool carrier 206 has been completed. The notification signal (the first transfer completion signal) generated by the control device 32 is sent from the transmitter 36 to the control unit 14.

[0210] When the receiver 134 of the control unit 14 receives the notification signal (the first transfer completion signal) sent from the transmitter 36 of the storage unit 208, it sends the notification signal to the control section 132. When the control section 132 confirms the notification signal (the first transfer completion signal) from the storage unit 208, it gives an instruction to the unmanned tool carrier 206 to move to the side of the cutting device 204 (the position for handing over the cutting tool 82) and standby. Specifically, the control section 132 generates a control signal (the second standby instruction signal) corresponding to this instruction and sends it from the transmitter 136 to the unmanned tool carrier 206.

[0211] When the receiver 222 of the unmanned tool carrier 206 receives a control signal (the second standby instruction signal) from the control unit 14, it sends the control signal to the control device 220. Based on this control signal (the second standby instruction signal), the control device 220 controls the operations of the wheels 218, etc., to make the unmanned tool carrier 206 travel along the transfer path 6.

[0212] When the control device 220 confirms that the unmanned tool carrier 206 has moved to the side of the cutting device 204, it stops the wheels 218, etc. In addition, the control device 220 generates a notification signal (the second standby signal) for notifying the meaning that the unmanned tool carrier 206 is standby beside the cutting device 204. The notification signal (the second standby signal) generated by the control device 220 is sent from the transmitter 224 to the control unit 14.

[0213] When the receiver 134 of the control unit 14 receives the notification signal (the second standby signal) transmitted from the transmitter 224 of the unmanned tool carrier 206, it transmits the notification signal to the control section 132. When the control section 132 confirms the notification signal (the second standby signal) from the unmanned tool carrier 206, it gives an instruction to the cutting device 204 to carry the cutting tool 82 from the unmanned tool carrier 206. Specifically, the control section 132 generates a control signal (the second carrying instruction signal) corresponding to the instruction and transmits it from the transmitter 136 to the cutting device 204.

[0214] When the receiver 98 of the cutting device 204 receives the control signal (the second carrying instruction signal) from the control unit 14, it transmits the control signal to the control device 96. The control device 96 controls the operations of the tool transfer arm 230 and the like according to the control signal (the second carrying instruction signal), and takes out the cutting tool 82 from the base 214 of the unmanned tool carrier 206 and transfers it to the tool holding section 228. Specifically, the cutting tool 82 in the tool magazine 216 indicated by the control signal (the second carrying instruction signal) from the control unit 14 is taken out and transferred to the tool holding section 228.

[0215] When transferring the cutting tool 82 to the cutting device 204, for example, the control device 96 generates a notification signal (the second carrying completion signal) for notifying the meaning that the transfer of the cutting tool 82 to the cutting device 204 has been completed. The notification signal (the second carrying completion signal) generated by the control device 96 is transmitted from the transmitter 100 to the control unit 14. Through such steps, the cutting tool 82 stored in the storage unit 208 can be transferred to the cutting device 204 as needed.

[0216] Then, the cutting device 204, for example, transfers the cutting tool 82 from the above-mentioned tool holding section 228 to the tool changer 232. Then, the tool changer 232 replaces the cutting tool 82 received from the tool holding section 228 with the used cutting tool 82 already installed in the cutting unit 80.

[0217] The used cutting tool 82 removed from the cutting unit 80 is transferred to the tool holding section 228. The tool transfer arm 230 places the used cutting tool 82 held by the tool holding section 228 on the base 214 of the standby unmanned tool carrier 206. At this time, the used cutting tool 82 is placed, for example, in the tool magazine 216 designated by the control device 96.

[0218] When transporting the used cutting tool 82 to the unmanned tool carrier 206, the control device 96 generates a notification signal (the third transportation completion signal) for notifying the completion of the transportation of the used cutting tool 82 to the unmanned tool carrier 206. The notification signal (the third transportation completion signal) generated by the control device 96 is sent from the transmitter 100 to the control unit 14. In addition, the information of the tool magazine 216 on which the used cutting tool 82 is placed (the information of the information providing unit 214b corresponding to the tool magazine 216) is included in this notification signal (the third transportation completion signal).

[0219] When the receiver 134 of the control unit 14 receives the notification signal (the third transportation completion signal) sent from the transmitter 100 of the cutting device 204, this notification signal is sent to the control section 132. When the control section 132 confirms the notification signal (the third transportation completion signal) from the cutting device 204, an instruction is given to the unmanned tool carrier 206 to move to the side of the storage unit 208 and standby. Specifically, the control section 132 generates a control signal (the third standby instruction signal) corresponding to this instruction and sends it from the transmitter 136 to the unmanned tool carrier 206.

[0220] When the receiver 222 of the unmanned tool carrier 206 receives the control signal (the third standby instruction signal) from the control unit 14, this control signal is sent to the control device 220. The control device 220 controls the operation of the wheels 218, etc. according to this control signal (the third standby instruction signal), and makes the unmanned tool carrier 206 travel along the transportation path 6.

[0221] When the control device 220 confirms that the unmanned tool carrier 206 has moved to the side of the storage unit 208, it stops the wheels 218, etc. In addition, the control device 220 generates a notification signal (the third standby signal) for notifying the standby of the unmanned tool carrier 206 beside the storage unit 208. The notification signal (the third standby signal) generated by the control device 220 is sent from the transmitter 224 to the control unit 14.

[0222] When the receiver 134 of the control unit 14 receives the notification signal (the third standby signal) sent from the transmitter 224 of the unmanned tool carrier 206, this notification signal is sent to the control section 132. When the control section 132 confirms the notification signal (the third standby signal) from the unmanned tool carrier 206, an instruction is given to the storage unit 208 to take out the used cutting tool 82 from the unmanned tool carrier 206. Specifically, the control section 132 generates a control signal (the third transportation instruction signal) corresponding to this instruction and sends it from the transmitter 136 to the storage unit 208.

[0223] When the receiver 34 of the storage unit 208 receives a control signal (the third transfer instruction signal) from the control unit 14, the control signal is sent to the control device 32. The control device 32 controls the operations of the tool transfer arm 212 and the like according to the control signal (the third transfer instruction signal), and removes the used cutting tool 82 from the base 214 of the unmanned tool transfer vehicle 206 and stores it in the tool storage 210. Specifically, the cutting tool 82 in the tool magazine 216 indicated by the control signal (the third transfer instruction signal) from the control unit 14 is removed and handed over to the tool storage 210.

[0224] Through such steps, the cutting tool 82 stored in the storage unit 208 can be transferred to the cutting device 204 as needed, and the used cutting tool 82 removed from the cutting unit 80 of the cutting device 204 can be recycled. In addition, here, the unmanned tool transfer vehicle 206 is in standby at the original position during the operation of replacing the cutting tool 82. However, for example, during the operation of replacing the cutting tool 82, the cutting tool 82 can also be transferred to other cutting devices 204.

[0225] In addition, the above steps can be changed within the range where the cutting tool 82 can be appropriately transferred. For example, multiple steps included in the above steps can be performed simultaneously, or the order of the steps can be swapped within the range that does not interfere with the transfer of the cutting tool 82. Similarly, any steps can be added, changed, or omitted within the range that does not interfere with the transfer of the cutting tool 82.

[0226] As described above, the transfer system 202 of the present embodiment includes: a transfer path 6 provided throughout a plurality of cutting devices (processing devices) 204; an unmanned tool transfer vehicle 206 having a base (tool holding portion) 214, wheels (traveling mechanism) 218, and a receiver 222; and a storage unit 208 having a tool transfer arm (tool transfer portion) 212 and a receiver 34.

[0227] Therefore, by using the tool transfer arm 212 to transfer the cutting tool 82 stored in the tool storage 210 to the base 214 of the unmanned tool transfer vehicle 206 and making the unmanned tool transfer vehicle 206 travel on the transfer path 6, the cutting tool 82 can be transferred to a plurality of cutting devices 204 respectively. In addition, in the transfer system 202 of the present embodiment, the transfer path 6 is provided in the space directly above the cutting device 204. Therefore, when designing the transfer path 6, the structure on the side of each cutting device 204 does not need to be considered. That is, the construction of the transfer system 202 becomes easy.

[0228] (Embodiment 3)

[0229] In the present embodiment, a storage unit having a structure different from that of the storage units 8 and 208 will be described. In addition, the basic structure of a handling system or the like in which the storage unit of the present embodiment is assembled is the same as that of the handling systems in the first and second embodiments. Therefore, the same reference numerals are assigned to the same components, and detailed descriptions thereof are omitted.

[0230] Figure 22 FIG. 4 is a side view schematically showing a structural example of the storage unit 308 of the present embodiment, Figure 23 and FIG. 5 is a plan view schematically showing the internal structure of the storage unit 308. As Figure 22 shown, the storage unit 308 includes a housing 316 that houses various components. In addition, in Figure 22 FIG. 4, for ease of explanation, only the outline of the housing 316 is shown.

[0231] In the housing 316, for example, a cassette holding table 318 that is lifted and lowered by a first lifting mechanism (not shown) of a ball screw type is provided. A cassette (workpiece storage) 20 capable of storing a plurality of workpieces 11 is placed on the upper surface of the cassette holding table 318. In addition, the cassette 20 houses the workpiece 11 in a state of being supported by the belt 13 on the frame 15 as described above.

[0232] As Figure 23 shown, a first workpiece moving unit 320 that grips and moves the frame 15 is disposed at a first position facing the cassette holding table 318 (cassette 20). The first workpiece moving unit 320 includes: a gripping portion 322 that grips the frame 15 vertically; and a driving portion 324 that moves the gripping portion 322 in a substantially horizontal direction.

[0233] On the upper surface of the driving portion 324, a slit-shaped opening 324a that extends substantially horizontally toward the cassette holding table 318 is formed, and the driving portion 324 moves the gripping portion 322 in a first direction along the opening 324a. That is, the gripping portion 322 moves in a manner of approaching or separating from the cassette holding table 318.

[0234] Therefore, for example, if the height of the frame 15 stored in the cassette 20 is made to coincide with the height of the gripping portion 322 by the first lifting mechanism and the gripping portion 322 is brought close to the cassette holding table 318, the frame 15 in the cassette 20 can be gripped by the gripping portion 322. In addition, if the gripping portion 322 is separated from the cassette holding table 318 after gripping the frame 15 in the cassette 20 by the gripping portion 322, the frame 15 is pulled out of the cassette 20.

[0235] Around the first workpiece moving unit 320, a first temporary placement table 326 for temporarily placing the frame 15 carried out from the cassette 20 is arranged. The first temporary placement table 326 includes: a pair of guide portions 326a, which are respectively longer in the first direction; and a base portion 326b, which is longer in the second direction perpendicular to and horizontal to the first direction. The pair of guide portions 326a are connected by the base portion 326b in a manner that their longitudinal directions are parallel to each other. The frame 15 pulled out from the cassette 20 by the first workpiece moving unit 320 is placed on the pair of guide portions 326a.

[0236] The first temporary placement table 326 is supported by a first temporary placement table moving unit 328 that moves the first temporary placement table 326 in the second direction. The first temporary placement table moving unit 328 has a guide rail 330 that is longer in the second direction. A moving member 332 is slidably mounted on the guide rail 330.

[0237] A nut portion (not shown) is provided on the moving member 332, and a ball screw (not shown) that is substantially parallel to the guide rail 330 is screwed onto the nut portion. A pulse motor 334 is connected to one end of the ball screw. When the ball screw is rotated by the pulse motor 334, the moving member 332 moves in the second direction along the guide rail 330.

[0238] The base portion 326b of the first temporary placement table 326 is fixed to the upper portion of the moving member 332. Therefore, the first temporary placement table 326 moves in the second direction together with the moving member 332. In addition, the first temporary placement table moving unit 328 is configured to be able to move the first temporary placement table 326 between a first position and a second position next to the first position.

[0239] A second workpiece moving unit 336 that grips and moves the frame 15 is arranged at the second position. That is, the second workpiece moving unit 336 is arranged next to the first workpiece moving unit 320. The structure of the second workpiece moving unit 336 is the same as the structure of the first workpiece moving unit 320.

[0240] Specifically, the second workpiece moving unit 336 includes: a gripping portion 338 that grips the frame 15 up and down; and a driving portion 340 that moves the gripping portion 338 in a substantially horizontal direction. A slit-shaped opening 340a that is longer in the first direction is formed on the upper surface of the driving portion 340, and the driving portion 340 moves the gripping portion 338 along the opening 340a.

[0241] Around the second workpiece moving unit 336, a second temporary placement table 342 having the same structure as the first temporary placement table 326 is arranged. That is, the second temporary placement table 342 includes: a pair of guide portions 342a, which are respectively longer in the first direction; and a base portion 342b, which is longer in the second direction perpendicular and horizontal to the first direction. The pair of guide portions 342a are connected by the base portion 342b in a manner that their longitudinal directions are parallel to each other.

[0242] The second temporary placement table 342 is supported by a second temporary placement table moving unit 344 that moves the second temporary placement table 342 in the second direction and the vertical direction. The second temporary placement table moving unit 344 has a guide rail 346 that is longer in the second direction. A moving member 348 is slidably mounted on the guide rail 346.

[0243] A nut portion (not shown) is provided on the moving member 348, and a ball screw (not shown) substantially parallel to the guide rail 346 is screwed onto the nut portion. A pulse motor 350 is connected to one end of the ball screw. When the ball screw is rotated by the pulse motor 350, the moving member 348 moves in the second direction along the guide rail 346.

[0244] The base portion 342b of the second temporary placement table 342 is fixed to the upper portion of the moving member 348 by a lifting mechanism 352 composed of a cylinder or the like. Therefore, the second temporary placement table 342 moves in the second direction together with the moving member 348 and the lifting mechanism 352, and is lifted by the lifting mechanism 352. In addition, the second temporary placement table moving unit 344 is configured to be able to move the second temporary placement table 342 between the second position and the first position next to the second position.

[0245] Figure 24 It is a side view schematically showing the situation where the first temporary placement table 326 and the second temporary placement table 342 are moved in the second direction to exchange the positions of the first temporary placement table 326 and the second temporary placement table 342. When exchanging the positions of the first temporary placement table 326 and the second temporary placement table 342, first, the second temporary placement table 342 is lifted by the lifting mechanism 352. Specifically, the second temporary placement table 342 is positioned at a raised position where the height of the lower end of the second temporary placement table 342 is higher than the height of the upper end of the first temporary placement table 326.

[0246] Then, with the second temporary placement table 342 positioned at the raised position, the second temporary placement table 342 is moved to the first position side by the second temporary placement table moving unit 344. At the same time, the first temporary placement table 326 is moved to the second position side by the first temporary placement table moving unit 328. In addition, in Figure 24 it shows the situation where the first temporary placement table 326 moves from the first position to the second position and the second temporary placement table 342 moves from the second position to the first position.

[0247] After the movement of the first temporary placement table 326 and the second temporary placement table 342 is completed, the second temporary placement table 342 is lowered by the lifting mechanism 352, and the second temporary placement table 342 is positioned at a reference position where the height of the lower end of the second temporary placement table 342 is substantially equal to the height of the lower end of the first temporary placement table 326. Thus, in the storage unit 308, the first temporary placement table 326 and the second temporary placement table 342 can be moved in such a way that they are swapped between the first position and the second position by the first temporary placement table moving unit 328 and the second temporary placement table moving unit 344.

[0248] A carrier vehicle holding table (storage unit holding table) 354 that is lifted and lowered by a ball screw type second lifting mechanism (not shown) is provided at a position facing the second position where the second workpiece moving unit 336 is arranged. The base 37 of the unmanned workpiece carrier vehicle 10 is placed on the upper surface of the carrier vehicle holding table 354. As Figure 22 shown, an opening 316b that vertically penetrates the ceiling 316a of the housing 316 is provided in the area directly above the carrier vehicle holding table 354. The opening 316b is formed in a shape and size that allows the base 37 placed on the carrier vehicle holding table 354 to pass through.

[0249] A control device 362 for controlling the operation of the storage unit 308 is connected to components such as the first lifting mechanism for lifting and lowering the cassette holding table 318, the first workpiece moving unit 320, the first temporary placement table moving unit 328, the second workpiece moving unit 336, the second temporary placement table moving unit 344, the lifting mechanism 352, and the second lifting mechanism for lifting and lowering the carrier vehicle holding table 354. The control device 362 typically consists of a computer including a processing device such as a CPU and a storage device such as a flash memory, and the processing device and the like operate according to software stored in the storage device, thereby realizing the functions of the control device 362.

[0250] A receiver 364 and a transmitter 366 are also connected to the control device 362. The receiver 364 receives a control signal sent from the control unit 14 of the handling system, and the transmitter 366 sends a notification signal to the control unit 14. The control device 362 controls the operation of the storage unit 308 according to the signal received by the receiver 364. In addition, the control device 362 sends the required signal to the control unit 14 through the transmitter 366.

[0251] Next, the operation of the storage unit 308 of the present embodiment will be described. Figure 25 of (A), Figure 25 of (B), Figure 26 of (A) and Figure 26(B) is a top view schematically showing an example of the operation of the storage unit 308. In addition, in the present embodiment, the operation in the case where the first temporary placement table 326 is positioned at the first position and the second temporary placement table 342 is positioned at the second position will be described. However, the operation in the case where the first temporary placement table 326 is positioned at the second position and the second temporary placement table 342 is positioned at the first position is the same.

[0252] For example, the transfer unit 12 places the base 37 of the unmanned workpiece carrier 10 storing the processed workpiece 11 on the carrier holding table 354. In addition, a box 20 storing the workpiece 11 (frame 15) before processing is placed in advance on the box holding table 318.

[0253] Then, as Figure 25 shown in (A), the gripping portion 322 is brought close to the box 20 on the box holding table 318, and the frame 15 stored in the box 20 is gripped by the gripping portion 322. At the same time, the gripping portion 338 is brought close to the base 37 on the carrier holding table 354, and the frame 15 stored in the base 37 is gripped by the gripping portion 338.

[0254] After gripping the frame 15 in the box 20 by the gripping portion 322, as Figure 25 shown in (B), the gripping portion 322 is moved away from the box holding table 318. Similarly, after gripping the frame 15 in the base 37 by the gripping portion 338, as Figure 25 shown in (B), the gripping portion 338 is moved away from the carrier holding table 354. As a result, the workpiece 11 before processing is pulled out from the box 20 to the first temporary placement table 326, and the workpiece 11 after processing is pulled out from the base 37 to the second temporary placement table 342.

[0255] Next, as Figure 26 shown in (A), the first temporary placement table 326 and the second temporary placement table 342 are moved in such a way that they are swapped between the first position and the second position. That is, the second temporary placement table 342 is raised by the lifting mechanism 352 and positioned at the raised position. And the second temporary placement table 342 is moved along the second direction to the first position side.

[0256] In addition, at the same time, the first temporary placement table 326 is moved along the second direction to the second position side. After the movement of the first temporary placement table 326 and the second temporary placement table 342 is completed, the second temporary placement table 342 is lowered by the lifting mechanism 352 and positioned at the reference position. As a result, the first temporary placement table 326 is positioned at the second position facing the carrier holding table 354, and the second temporary placement table 342 is positioned at the first position facing the box holding table 318.

[0257] Then, as Figure 26As shown in (B) thereof, the holding portion 338 holds the frame 15 on the first temporary placing table 326, and the holding portion 338 is brought close to the base 37 on the carrier holding table 354. Thereby, the frame 15 on the first temporary placing table 326 that supports the workpiece 11 before processing is received in the base 37 on the carrier holding table 354.

[0258] At the same timing, the holding portion 322 holds the frame 15 on the second temporary placing table 342, and the holding portion 338 is brought close to the cassette 20 on the cassette holding table 318. Thereby, the frame 15 on the second temporary placing table 342 that supports the workpiece 11 after processing is received in the cassette 20 on the cassette holding table 318.

[0259] After the transfer unit 12 receives the frame 15 on the first temporary placing table 326 in the base 37 on the carrier holding table 354, the base 37 is transferred from the carrier holding table 354. Through the above, it is possible to transfer the workpiece 11 after processing from the unmanned workpiece transfer vehicle 10 to the storage unit 308, and transfer the workpiece 11 before processing from the storage unit 308 to the unmanned workpiece transfer vehicle 10.

[0260] In addition, the first temporary placing table 326 and the second temporary placing table 342 have the same function, and the frame 15 carried out from the cassette 20 can be temporarily placed on any one of the first temporary placing table 326 and the second temporary placing table 342. For example, when the second temporary placing table 342 is positioned at the first position, the frame 15 carried out from the cassette 20 can be temporarily placed on the second temporary placing table 342.

[0261] In addition, the above-described first workpiece moving unit 320 moves the workpiece 11 between the first temporary placing table 326 or the second temporary placing table 342 positioned at the first position and the cassette holding table 318 (cassette 20). Similarly, the second workpiece moving unit 336 moves the workpiece 11 between the second temporary placing table 342 or the first temporary placing table 326 positioned at the second position and the carrier holding table 354 (base 37).

[0262] In addition, the present invention is not limited to the description of the above-described embodiment, and various modifications can be made and implemented. For example, in the cutting device 204 of the above-described embodiment, a tool lifting mechanism 226 for lifting the cutting tool 82 is provided, but the tool lifting mechanism can also be installed on the transfer path 6 or the unmanned tool transfer vehicle 206. In this case, the versatility of the transfer system is enhanced as compared with the case where the tool lifting mechanism is provided in the cutting device.

[0263] In addition, the transfer path 6 may have a space (standby area) for diverging two unmanned workpiece transfer carts 10 or the like. Further, the transfer path 6 may be set to a so-called one-way traffic that only allows the unmanned workpiece transfer carts 10 or the like to travel in one direction. In this case, a transfer path 6 for the forward journey and a transfer path 6 for the return journey may be provided in the cutting device (processing device).

[0264] In addition, in the above-described embodiment, the information providing unit 102b such as an identification code or a wireless tag is provided on the path unit 102, but the information providing unit may be installed in the guiding unit 104. In this case, for example, the information providing unit may be installed on the inner wall surface or the upper end portion of the guiding unit 104 or the like.

[0265] In addition, the tool storage 210 or the tool transfer arm (tool transfer unit) 212 of the storage unit 208 or the like may be assembled to the storage unit 308.

[0266] In addition to the above, the structures, methods, etc. of the above-described embodiment or modification examples or the like may be appropriately changed and implemented as long as they do not depart from the scope of the object of the present invention.

Claims

1. A handling system that separately handles workpieces for a plurality of processing devices, characterized in that: The handling system includes: A handling path that is provided in the space directly above the processing devices throughout the range of the plurality of processing devices; An automated guided vehicle that travels on the handling path and has a storage unit, a traveling mechanism, and a receiver. The storage unit stores the workpiece, the traveling mechanism is provided on the storage unit, and the receiver of the automated guided vehicle receives a control signal; A storage unit that has a storage unit holding table and a receiver. The storage unit holding table holds the storage unit when transferring the workpiece from the workpiece storage device storing the workpiece to the storage unit of the automated guided vehicle, and the receiver of the storage unit receives a control signal; A storage unit handling unit that transfers the storage unit between the area above the storage unit of the storage unit on the handling path and the storage unit holding table of the storage unit, or between the area above the processing device on the handling path and the inside of the processing device; and A control unit that has a transmitter, a receiver, and a control signal generation unit. The transmitter sends control signals to the processing device, the automated guided vehicle, and the storage unit. The receiver of the control unit receives a notification signal sent from the processing device, and the control signal generation unit generates a control signal sent from the transmitter; The control signal generation unit of the control unit generates a control signal sent from the transmitter of the control unit based on the notification signal received by the receiver of the control unit; The transmitter of the control unit sends the control signal generated by the control signal generation unit of the control unit to the processing device, the automated guided vehicle, and the storage unit; The automated guided vehicle travels on the handling path according to the control signal received by the receiver of the automated guided vehicle; The storage unit of the automated guided vehicle and the workpiece stored in the storage unit are transferred from the area above the processing device on the handling path to the inside of the processing device together.

2. The handling system according to claim 1, characterized in that: The handling path is provided on the upper surface of the processing device.

3. The handling system according to claim 1 or 2, characterized in that: The automated guided vehicle has the storage unit handling unit.

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