Article transfer system and method

Abstract

When the article is handed over between the first electric conveyer of the automated guided vehicle and the second electric conveyer of the storage part, the first communication module of the automated guided vehicle and the second communication module of the storage part exchange signals, the power supply to the first electric conveyer is cut off corresponding to the action of the first emergency stop switch of the automated guided vehicle, and the first signal from the first communication module changes, the power supply to the second electric conveyer is cut off corresponding to the change of the first signal, the power supply to the second electric conveyer is cut off corresponding to the action of the second emergency stop switch of the storage part, and the second signal from the second communication module changes, the power supply to the second electric conveyer is cut off corresponding to the change of the second signal.

Description

Technical Field

[0001] This disclosure relates to an article transfer system and method for transferring articles between an unmanned transport vehicle that transports articles and a storage facility that holds the component. Background Technology

[0002] Conventionally, a transfer safety control method is known for transferring goods between an unmanned transport vehicle (UAV) equipped with an UAV-side optical communicator and an UAV-side control unit and ground equipment equipped with a ground-side optical communicator and a ground-side control unit (see, for example, Patent Document 1). In this method, when the power supply to the UAV is cut off during the transfer of goods based on an emergency stop command, the UAV-side control unit outputs an UAV-side operation preparation release signal from the UAV-side optical communicator. Furthermore, when the power supply to the ground equipment is cut off, the ground-side control unit outputs a ground-side operation preparation release signal from the ground-side optical communicator. Moreover, when the UAV-side control unit receives the ground-side operation preparation release signal from the UAV-side optical communicator, it cuts off the power supply to the UAV; similarly, when the ground-side control unit receives the UAV-side operation preparation release signal from the ground-side optical communicator, it cuts off the power supply to the ground equipment. Thus, when the power supply to one of the UAV or the ground equipment is cut off, the power supply to the other is automatically cut off.

[0003] Furthermore, conventional mobile robot systems are known to operate by moving between devices and stopping in front of each device while performing tasks (for example, see Patent Document 2). This system includes an external control panel located outside the mobile robot's work area and equipped with an operation preparation switch, an emergency stop switch, etc.; and a connecting electrode section electrically connected to the external control panel. The mobile robot includes a connecting electrode section detachably connected to the connecting electrode section at a stopping position in front of the device; an operation preparation circuit that supplies power to the drive unit of the mobile robot, such as the robot arm, travel mechanism, and air supply source; and a control panel equipped with an operation preparation switch, an emergency stop switch, etc. When the operation preparation circuit of the mobile robot is activated by turning on the external control panel or the operation preparation switch of the mobile robot while the connecting electrode section is connected to the connecting electrode section, it supplies power to the drive unit. Furthermore, when the operation preparation circuit is activated by turning on the external control panel or the emergency stop switch of the mobile robot while the connecting electrode section is connected to the connecting electrode section, it cuts off the power supply to the drive unit. This ensures safety when the mobile robot is operating.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 9-140002

[0007] Patent Document 2: Japanese Patent Application Publication No. 2001-88080 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] However, as described in Patent Document 1, if the power supply to one of the automated guided vehicle (AGV) and the ground equipment is cut off in response to a power failure, there is a concern that the transported item may fall due to the cessation of all functions of the other party, or that subsequent recovery operations may become cumbersome. Furthermore, the technology described in Patent Document 2 only stops the power supply to the drive source of the AGV from both the electrically connected mobile robot and the external control panel; it does not improve the safety of the handover operation between the AGV and the storage unit of the stored items, nor does it improve the ease of recovery after an emergency stop.

[0010] Therefore, the main objective of this disclosure is to improve the safety of the handover operation between the unmanned transport vehicle and the storage department of the stored items, as well as the operability of the recovery operation after an emergency stop.

[0011] Technical solutions for solving the problem

[0012] The item transfer system disclosed herein is used for transferring items between an automated guided vehicle (AGV) used in the production of a substrate on which components are mounted and a storage unit storing the items. The item transfer system includes: a first electric conveyor disposed on the AGV side, which transfers items between the first electric conveyor and the storage unit; a first communication module disposed on the AGV side, which transmits a first signal to the storage unit side; a first emergency stop switch disposed on the AGV side; a second electric conveyor disposed on the storage unit side, which transfers items between the second electric conveyor and the first electric conveyor of the AGV; and a second communication module disposed on the storage unit side, which transmits a second signal. The first and second communication modules are able to exchange signals with each other. Corresponding to the operation of the first emergency stop switch, the power supply to the first electric conveyor is cut off. When the first signal from the first communication module changes, corresponding to the operation of the second emergency stop switch, the power supply to the second electric conveyor is cut off. When the second signal from the second communication module changes, corresponding to the change in the first signal from the first communication module, the power supply to the second electric conveyor is cut off. When the second signal from the second communication module changes, corresponding to the change in the first signal from the first communication module, the power supply to the first electric conveyor is cut off.

[0013] In the item transfer system disclosed herein, power supply to the first electric conveyor is cut off in response to the operation of the first emergency stop switch on the Automated Guided Vehicle (AGV) side, and a change in the first signal from the first communication module corresponds to a corresponding cut-off of power supply to the second electric conveyor. Furthermore, power supply to the second electric conveyor is cut off in response to the operation of the second emergency stop switch on the storage unit side, and a change in the second signal from the second communication module corresponds to a corresponding cut-off of power supply to the first electric conveyor. Thus, both the first electric conveyor on the AGV side and the second electric conveyor on the storage unit side can be stopped in response to the operation of either the first emergency stop switch on the AGV side or the second emergency stop switch on the storage unit side. As a result, accidental movement of items during emergency stops can be effectively suppressed, further improving the safety of item transfer operations between the AGV and the storage unit. Furthermore, the first and second electric conveyors can be stopped in response to the action of either the first or the second emergency stop switch, thereby ensuring safety and allowing the unmanned transport vehicle and any equipment (control devices, etc.) in the storage department to continue operating, thus improving the workability of recovery after an emergency stop. Attached Figure Description

[0014] Figure 1 This is a schematic structural diagram of a production line that includes the article transfer system disclosed herein.

[0015] Figure 2 This is an example of assembly in Figure 1 A 3D view of the feeder of the component assembly machine included in the production line.

[0016] Figure 3 This is a perspective view of a housing for the transfer of items in the item transfer system disclosed herein.

[0017] Figure 4 It means Figure 1 A three-dimensional diagram of the storage department included in the production line.

[0018] Figure 5 This is a perspective view showing the unmanned transport vehicle and storage unit that constitute the article transfer system of this disclosure.

[0019] Figure 6 This is a perspective view showing the unmanned transport vehicle and storage unit that constitute the article transfer system of this disclosure.

[0020] Figure 7 This is a block diagram representing the item transfer system disclosed herein.

[0021] Figure 8This is a block diagram representing the state of the item transfer system disclosed herein when the emergency stop switch on the side of the unmanned transport vehicle is activated.

[0022] Figure 9 This is a block diagram showing the state of the item transfer system disclosed herein when the emergency stop switch on the storage side is activated. Detailed Implementation

[0023] Next, the form of the invention used to implement this disclosure will be described with reference to the accompanying drawings.

[0024] Figure 1 This is a schematic structural diagram of a production line 1 including the article transfer system of this disclosure. The production line 1 shown in the diagram is used to produce substrates S with components P mounted on them, and includes a printing unit 2, a printing inspection unit 3, a storage section (buffer station) 4, multiple (in this embodiment, for example, four) component mounting machines 5, a mounting inspection device 6, a reflow soldering unit 7, a reflow soldering inspection device 8, and a production management device (control device) 10 for managing and controlling the entire line. The printing unit 2, printing inspection device 3, storage section 4, multiple component mounting machines 5, mounting inspection device 6, reflow soldering unit 7, and reflow soldering inspection device 8 are arranged sequentially along a predetermined transport direction of the substrates S.

[0025] The printing apparatus 2 prints solder on the wiring pattern of the substrate S, and includes a substrate transport device for transporting the substrate S, a printing head, a head moving device for moving the printing head, a fixing frame for fixing the screen mask, and a computer (control device) including a CPU, ROM, RAM, and storage devices (all omitted from the illustration). The printing inspection apparatus 3 detects the state of the solder printed on the substrate S by the printing apparatus 2, and includes an inspection mechanism and a control device (computer) for controlling the inspection mechanism. The control devices of the printing apparatus 2 and the printing inspection apparatus 3 exchange information with the production management device 10 via wireless or wired communication.

[0026] Storage unit 4 is integrated between the printing inspection device 3 and the upstream component mounting machine 5 of production line 1, forming the item transfer system of this disclosure together with the automated guided vehicle (AGV) 100. To improve production efficiency in production line 1, storage unit 4 temporarily stores multiple items used in the production of the substrate S on which the component P is mounted. In this embodiment, the items stored by storage unit 4 are the feeders 50 assembled on each component mounting machine 5. Furthermore, storage unit 4 includes: a control device 40 for managing the stored feeders 50 and controlling various equipment; and multiple (two in this embodiment) storage spaces 41. The control device 40 is a computer including a CPU, ROM, RAM, storage devices, etc., and exchanges information with the production management device 10 via wireless or wired communication. In addition, each storage space 41 is equipped with an electric conveyor (second electric conveyor) 42 controlled by the control device 40 and used for transferring items between the control device 40 and the AGV 100. Furthermore, one storage space 41 stores a plurality of feeders 50 pre-installed on the component mounting machine 5, while the other storage space 41 stores a plurality of feeders 50 removed from the component mounting machine 5 after use.

[0027] like Figure 2 As shown, the feeder 50 is a cassette-type belt feeder, including a reel 51, a belt feeding mechanism 52, a connector 53, and a feeder control device (not shown) that controls the belt feeding mechanism 52. A belt containing multiple components P is wound on the reel 51. In each reel 51, the multiple components P are protected by a film covering the surface of the belt, which is peeled off before the components P reach the component supply position in the component mounting machine 5. The belt feeding mechanism 52 pulls the belt out from the reel 51 and delivers it to the component supply position. The feeder control device includes a microcomputer with a CPU, ROM, RAM, etc.

[0028] Furthermore, in this embodiment, in order to transfer multiple feeders 50 between the storage unit 4 and the automated guided vehicle 100 simultaneously, a method is used... Figure 3 The storage housing 90 is a box-shaped housing (tray) as shown. The housing 90 includes: a plurality of (e.g., 30) slots SLT into which feeders 50 are inserted; a clamping member 91 clamped by the electric conveyor 42 of the storage section 4; a detection member 92 used for detecting the position of the housing 90; and a plurality of (e.g., 30) connectors 93 each capable of engaging with a corresponding connector 53 of the feeder 50. The clamping member 91 is formed, for example, in a cuboid shape, extending from the bottom surface of the housing 90 towards... Figure 3 The component being tested 92 protrudes below the housing 90. The component being tested 92 includes components extending from the bottom of the housing 90 towards the plurality of connectors 93, closer to the clamped component 91. Figure 3 The thin, plate-like protrusion protruding from the bottom.

[0029] Multiple (e.g., 30) feeders 50 are inserted into corresponding slots SLTs such that connectors 53 engage with corresponding connectors 93, and are housed within a housing 90. Furthermore, the housing 90 has connectors 46 (see reference 46) that connect to the multiple connectors 93 and are capable of connecting to the storage space 41 provided in the storage section 4. Figure 4 An external connector (not shown) is used to connect each feeder 50 to the control device 40 of the storage unit 4 and the power supply of the storage unit 4 (not shown) via a corresponding connector 93 and the external connector. Thus, each feeder 50 can communicate with the control device 40, and feeder information of each feeder 50 can be received by the control device 40. The feeder information includes information such as the feeder 50 ID, the ID of the reel 51 contained in the feeder 50, the component type, the number of components remaining (the status of the feeder 50), and the slot SLT number where the feeder 50 is mounted (the position of the feeder 50). Furthermore, multiple feeders 50 housed within a housing 90 can accommodate different components or identical components.

[0030] Furthermore, production line 1 includes a loader 9, which moves along the transport direction of the substrate S and transfers feeders 50 between storage section 4 and multiple component mounting machines 5. That is, the loader 9 retrieves used feeders 50 from the corresponding component mounting machine 5 and stores them in the receiving housing 90 stored in the storage space 41 of the storage section 4. In addition, the loader 9 removes the unused feeders 50 from the storage space 41 (receiving housing 90) of the storage section 4 and assembles them into the corresponding component mounting machine 5.

[0031] Multiple component mounting machines 5 are surface mount machines capable of picking up components P from feeders 50 and mounting them on substrates S, such as... Figure 1 As shown, the components are arranged downstream of the printing inspection device 3 along the transport direction of the substrate S. Each component mounting machine 5 includes: a housing, a feeder mounting table equipped with multiple feeders 50, a substrate transport device, an XY moving device, a mounting head including at least one nozzle, a part camera, a marking camera, a nozzle station, and a mounting control unit, etc. (all omitted from the illustration). The mounting control unit of each component mounting machine 5 is a computer including a CPU, ROM, RAM, storage devices, etc., and exchanges information with the production management device 10 via wireless or wired communication. In addition, the mounting control unit acquires the shooting data of the part camera and the marking camera, and the detection values ​​of various sensors (not shown) installed on the substrate transport device, the XY moving device, the mounting head, etc. The mounting control unit controls the multiple feeders 50, the XY moving device, the mounting head, etc. based on the information from the production management device 10, the shooting data of the part camera and the marking camera, and the detection values ​​of various sensors.

[0032] The mounting inspection device 6 inspects the mounting status of components P mounted by the component mounting machines 5, and includes an inspection mechanism and a control device (computer) that controls the inspection mechanism. The control device of the mounting inspection device 6 also exchanges information with the production management device 10 via wireless or wired communication. The reflow soldering device 7 is located downstream of the mounting inspection device 6 and includes a substrate transport device for transporting substrates S from the mounting inspection device 6, a heating unit for heating the substrates S transported by the substrate transport device, and a reflow soldering control unit for controlling the substrate transport device, the heating unit, etc. The reflow soldering device 7 heats the substrates S to a predetermined reflow soldering temperature (e.g., 220°C-250°C) using the heating unit, melting the solder on the substrates S. Thereby, by cooling and solidifying the molten solder, each component is electrically connected to and fixed to the wiring pattern of the substrates S. The reflow soldering inspection device 8 inspects the status of components P on the substrates S that have undergone reflow soldering, and includes an inspection mechanism and a control device that controls the inspection mechanism. The control devices for both the reflow soldering unit 7 and the reflow soldering inspection unit 8 are computers including CPU, ROM, RAM, and storage devices, and they exchange information with the production management unit 10 via wireless or wired communication.

[0033] In this embodiment, the production management device 10 is a computer that includes a CPU, ROM, RAM, storage devices, etc., and is connected to input devices such as a keyboard and mouse, and a display. The storage device of the production management device 10 stores the production program for the substrate S, production information related to the production of the substrate S, etc. The production program specifies the mounting order of components P in the multiple component mounting machines 5 of the production line 1 relative to the substrate S, the production quantity of the substrate S, etc. In addition, the production information includes: production plan, operating status of the equipment constituting the production line 1, printing information indicating the printing position of solder on the substrate S, component information related to the components P mounted on the substrate S, target mounting position (XY coordinates) of each component P on the substrate S, nozzle information related to the nozzles assembled on the mounting head, etc. When the substrate S is produced, the production management device 10 uses the production information, etc., to execute the production program and gives various instruction signals to the printing control unit of the printing device 2, the mounting control unit of each component mounting machine 5, the reflow soldering control unit of the reflow soldering device 7, etc.

[0034] Figure 4 This is a 3D view of the storage section 4 of production line 1. Figure 5 and Figure 6 This is a 3D view showing the storage unit 4 and the automated guided vehicle 100. Figure 7 This is a control block diagram of an item transfer system consisting of storage unit 4 and unmanned transport vehicle 100.

[0035] like Figures 4-6As shown, the electric conveyor (second electric conveyor) 42 of each storage space 41 in the storage section 4 includes a conveyor drive device 43 (see reference). Figure 7 The electric conveyor 42 is a roller conveyor that clamps the clamped component 91 of the housing 90 and the housing 90. However, the electric conveyor 42 may also be other conveying devices such as a conveyor. The electric conveyor 42 is provided in the corresponding storage space 41 facing the wall 45, which is provided in the storage section 4 across two storage spaces 41. The conveyor drive device 43 of the electric conveyor 42 includes an electric motor, a drive circuit for the electric motor controlled by the control device 40, etc., and is connected to the power supply 49 via the conveyor power relay (second relay) 4R (see reference). Figure 7 The conveyor power relay 4R is a mechanical relay that includes a coil 4L, movable contacts, fixed contacts, etc.

[0036] The clamping mechanism 44 includes a flat support plate 44a disposed on the mounting surface of the electric conveyor 42, a moving member 44b, and a claw member 44c. The moving member 44b is supported by a guide member fixed to the back of the support plate 44a and is movable along the transport direction of the electric conveyor 42. It is moved by a drive unit (not shown) such as a cylinder controlled by the control device 40. Furthermore, the moving member 44b has an abutment portion that can abut against one end (the end on the connector 93 side) of the clamped member 91 of the housing 90, which protrudes from an opening formed in the support plate 44a.

[0037] The claw component 44c, supported by the moving component 44b, is rotatable about a rotation axis orthogonal to the transport direction of the electric conveyor 42 and protrudes from the opening formed in the support plate 44a. The claw component 44c rotates relative to the moving component 44b so that, as the moving component 44b moves toward the wall 45 via the drive unit, the claw component 44c is guided by the guide component to abut against the other end (the end opposite to the connector 93 side) of the clamped component 91 of the housing 90. Furthermore, the claw component 44c rotates relative to the moving component 44b so that, as the moving component 44b moves away from the wall 45 via the drive unit, the claw component 44c is guided by the guide component to separate from the other end (the end opposite to the connector 93 side) of the clamped component 91 of the housing 90.

[0038] Furthermore, the clamping mechanism 44 includes: a first sensor for detecting the detected component 92 (protrusion) that has entered the slit of the housing 90 formed in the support plate 44a; a second sensor for detecting that the clamped component 91 of the housing 90 is clamped; and a third sensor for detecting that the clamping of the clamped component 91 is released (all figures omitted). The first sensor is, for example, a light-blocking sensor, which sends a signal indicating that the detected component 92 has been detected to the control device 40. The second and third sensors are position sensors that detect the position of the moving component 44b (the lever of the drive unit), and send signals indicating that the clamped component 91 is clamped or that the clamping of the clamped component 91 is released to the control device 40.

[0039] Furthermore, the aforementioned connector 46 and two first housing detection sensors 47 are disposed on the wall 45 of the storage section 4. The connector 46, as described above, can be coupled to the external connector of the housing 90. Both first housing detection sensors 47 are proximity sensors, disposed at intervals on the wall 45 such that they can abut against the ends of the housing 90. Each first housing detection sensor 47 sends a signal indicating that the housing 90 has approached the wall 45 to the control device 40. Additionally, each storage space 41 is provided with a second housing detection sensor 58 that detects the entry and exit of the housing 90 relative to the electric conveyor 42. Each second housing detection sensor 58 is, for example, a light-blocking sensor, which sends a signal indicating this to the control device 40 during the passage of the housing 90.

[0040] Furthermore, each storage space 41 of the storage unit 4 includes: an input / output (I / O) module (second signal generation unit) 4io connected to the control device 40 and various devices; an optical communication module (second communication module) 4co connected to the I / O module 4io; and an emergency stop switch (second emergency stop switch) 4sw disposed in a location easily accessible to the operator. The I / O module 4io includes a microcomputer that controls communication with the input unit, output unit, control device 40, etc., and communication between the input unit and the output unit. The optical communication module 4co includes a bidirectional photoelectric conversion device that converts electrical signals (current signals), such as infrared light, into optical signals and converts optical signals into electrical signals (current signals), and is connected to the I / O module 4io via multiple communication lines including first and second lines L1 and L2. In addition, the optical communication module 4co may be directional or non-directional.

[0041] In this embodiment, during the exchange of the housing 90 between the electric conveyor 42 and the unmanned transport vehicle 100 in the storage section 4 (storage space 41), the input / output module 4io continuously outputs an electrical signal (current signal) to the first line L1 according to instructions from the control device 40. Furthermore, the optical communication module 4co converts the electrical signal from the first line L1 into an optical signal and outputs this optical signal (second signal) from the light-emitting unit as a preparation-end signal indicating the end of the exchange preparation for the housing 90. Moreover, the optical communication module 4co converts a predetermined optical signal (first signal) received by the light-receiving unit into an electrical signal (current signal) and outputs this electrical signal to the second line L2. The second line L2 is programmed with a coil 4L containing the aforementioned conveyor power relay 4R, and the electrical signal output from the optical communication module 4co to the second line L2 is transmitted to the input / output module 4io via this coil 4L.

[0042] The emergency stop switch 4sw is a normally closed push-button switch that disconnects when pressed. It is operated (pressed) by the operator when an abnormality occurs during the transfer of the receiving housing 90 between the electric conveyor 42 and the automated guided vehicle 100. For example... Figure 7 As shown, the emergency stop switch 4sw is programmed into the first and second lines L1 and L2, allowing communication (transmission) between the input / output module 4io and the optical communication module 4co via the first and second lines L1 and L2 when the button is not pressed. When the button of the emergency stop switch 4sw is not pressed, the electrical signal (current signal) output from the optical communication module 4co to the second line L2 is applied as an excitation current to the coil 4L of the conveyor power relay 4R, and the movable contact of the conveyor power relay 4R contacts the fixed contact. Thus, when the button of the emergency stop switch 4sw is not pressed, the conveyor power relay 4R can be closed (connected), supplying power from the power supply 49 to the conveyor drive device 43, causing the electric conveyor 42 to operate.

[0043] Furthermore, when the aforementioned button is pressed, the emergency stop switch 4sw cuts off the communication (transmission) between the input / output module 4io and the optical communication module 4co via the first line L1, and also cuts off the communication (energization) between the optical communication module 4co and the conveyor power relay 4R (coil 4L) via the second line L2. When the button of the emergency stop switch 4sw is pressed, the electrical signal (current signal) output from the optical communication module 4co to the second line L2 is not supplied to the coil 4L of the conveyor power relay 4R, causing the conveyor power relay 4R to disconnect (cut off).

[0044] An unmanned transport vehicle 100 transports a housing 90 containing multiple feeders 50 (not shown) between an off-site production adjustment area where multiple feeders 50 are stored and a storage section 4 of production line 1. (Example:) Figure 7 As shown, the unmanned transport vehicle 100 includes drive wheels W (see reference). Figure 5 and Figure 6 The automated guided vehicle (AGV) 100 is a general-purpose transport vehicle consisting of a driving drive unit 101 and a driving control unit 105 that controls the driving drive unit 101 based on detection values ​​from a position sensor, obstacle monitoring sensor, etc. (not shown). The driving drive unit 101 of the AGV 100 includes: an electric motor driven by power from a battery 109, a drive circuit for the electric motor controlled by the driving control unit 105, a steering mechanism (not shown), etc. The driving control unit 105 is a computer including a CPU, ROM, RAM, storage devices, etc. Furthermore, the AGV 100 is equipped with an electric conveyor (first electric conveyor) 110 for transferring a housing 90 containing items between electric conveyors 42 provided in each storage space 41 of the storage section 4. The electric conveyor 110 is fixed to the mounting section of the AGV 100 in a manner that allows it to face the electric conveyors 42 provided in each storage space 41 of the storage section 4.

[0045] like Figure 5 and Figure 6 As shown, the electric conveyor 110 is a roller conveyor manufactured separately from the automated guided vehicle (AGV) 100, and is configured as a unit including a conveyor drive unit 111 and a conveyor control unit 115 that controls the conveyor drive unit 111. Thus, by mounting the electric conveyor 110, a unit independent of the AGV 100, onto the AGV 100, a common AGV 100 or an existing AGV 100 can be utilized, thereby suppressing the increase in the cost of the goods transfer system. The conveyor drive unit 111 of the electric conveyor 110 includes an electric motor, a drive circuit for the electric motor controlled by the conveyor control unit 115, etc., and is connected to the AGV 100's battery (power supply) 109 via a conveyor power relay (first relay) 110R, a connector (not shown), and cables (see reference). Figure 7 The conveyor power relay 110R is a mechanical relay including a coil 110L, movable contacts, fixed contacts, etc. Furthermore, the conveyor control device 115 is a computer including a CPU, ROM, RAM, storage devices, etc., and is connected to the drive control device 105 of the automated guided vehicle 100 via input / output modules (not shown) to exchange information wirelessly or via wired communication. However, the electric conveyor 110 may also be a conveyor or other handling device, and may include a dedicated battery (power source) different from the battery 109 of the automated guided vehicle 100.

[0046] Moreover, such as Figure 5 and Figure 6 As shown, the electric conveyor 110 includes: a first housing detection sensor 112 for detecting the presence or absence of a housing 90; and a second housing detection sensor 114 for detecting the entry and exit of the housing 90 relative to the electric conveyor 110. The first housing detection sensor 112 is, for example, a light-shielding sensor disposed at the rear end of the electric conveyor 110 (the end furthest from the electric conveyor 42), and sends a signal indicating the presence of the housing 90 to the conveyor control device 115. The second housing detection sensor 114 is, for example, a light-shielding sensor disposed at the front end of the electric conveyor 110 (the end closest to the electric conveyor 42), and sends a signal indicating this to the conveyor control device 115 during the passage of the housing 90.

[0047] Furthermore, the electric conveyor 110 includes: an input / output (I / O) module (first signal generation unit) 110io connected to the conveyor control device 115 and the driving control device 105 of the unmanned transport vehicle 100; an optical communication module (first communication module) 110co connected to the input / output module 110io via multiple signal lines and capable of exchanging optical signals with optical communication modules 4co of each storage space 41 of the storage unit 4; and an emergency stop switch (first emergency stop switch) 110sw disposed in a position easily accessible to the operator. The input / output module 110io includes a microcomputer for controlling communication with the input unit, output unit, conveyor control device 115, etc., and communication between the input unit and the output unit. The optical communication module 110co includes a bidirectional photoelectric conversion device that converts electrical signals (current signals) into optical signals such as infrared light and converts optical signals into electrical signals (current signals), and is connected to the input / output module 110io via multiple communication lines including first and second lines La and Lb. In addition, as long as the optical communication module 110co can also exchange optical signals with the optical communication modules 4co of each storage space 41, it can be directional or non-directional.

[0048] In this embodiment, during the exchange of the receiving housing 90 between the electric conveyor 42 on the storage section 4 (storage space 41) side and the electric conveyor 110 on the unmanned transport vehicle 100 side, the input / output module 110io continuously outputs an electrical signal (current signal) to the first line La according to instructions from the conveyor control device 115. Furthermore, the optical communication module 110co converts the electrical signal from the first line La into an optical signal and outputs this optical signal (first signal) as an arrival signal indicating that the light-emitting part is approaching the storage section 4 relative to the optical communication module 4co on the storage section 4 side. Moreover, the optical communication module 110co converts the optical signal (second signal, i.e., a readiness-to-end signal) received by the light-receiving part from the optical communication module 4co on the storage section 4 side into an electrical signal (current signal) and outputs this electrical signal to the second line Lb. The second line Lb is programmed into the coil 110L of the aforementioned conveyor power relay 110R. The electrical signal output from the optical communication module 110co to the second line Lb is sent to the input / output module 110io via the coil 110L.

[0049] The emergency stop switch 110sw is also a normally closed push-button switch that disconnects when pressed. It is operated (pressed) by the operator when an abnormality occurs during the transfer of the receiving housing 90 between the electric conveyor 110 and the electric conveyor 42 on the storage section 4. For example... Figure 7 As shown, the emergency stop switch 110sw allows communication (transmission) between the input / output module 110io and the optical communication module 110co via the first and second lines La and Lb when the button is not pressed. When the button of the emergency stop switch 110sw is not pressed, the electrical signal (current signal) output from the optical communication module 110co to the second line Lb is applied as an excitation current to the coil 110L of the conveyor power relay 110R, and the movable contact of the conveyor power relay 110R contacts the fixed contact. Thus, when the button of the emergency stop switch 110sw is not pressed, the conveyor power relay 110R can be closed (connected) to supply power from the battery 109 to the conveyor drive unit 111, causing the electric conveyor 110 to operate.

[0050] Furthermore, when the aforementioned button is pressed, the emergency stop switch 110sw cuts off the communication (transmission) between the input / output module 110io and the optical communication module 110co via the first line La, and also cuts off the communication between the optical communication module 110co and the conveyor power relay 110R (coil 110L) via the second line Lb. When the button of the emergency stop switch 110sw is pressed, the electrical signal (current signal) output from the optical communication module 110co to the second line Lb is not supplied to the coil 110L of the conveyor power relay 110R, causing the conveyor power relay 110R to disconnect (cut off).

[0051] Next, the process of receiving and receiving the housing 90 containing multiple feeders 50 between the electric conveyor 110 on the unmanned transport vehicle 100 side and the electric conveyor 42 in the storage section 4 (storage space 41) will be described.

[0052] When the automated guided vehicle 100 transports the housing 90 containing multiple pre-use feeders 50 to the storage section 4 and transfers the corresponding storage space 41, the housing 90 is placed on the electric conveyor 110 mounted on the automated guided vehicle 100 in the aforementioned production adjustment area. Furthermore, the driving control device 105 of the automated guided vehicle 100 sets the storage space 41 of the storage section 4, designated by the management device of the production adjustment area, as the target location. The driving control device 105 also controls the driving drive device 101 to cause the automated guided vehicle 100 to travel along a predetermined route to the target storage space 41.

[0053] After the unmanned transport vehicle 100 begins operation, the travel control device 105 instructs the input / output module 110io of the electric conveyor 110 to output an electrical signal (current signal) to the first line La. The optical communication module 110co of the electric conveyor 110 (on the unmanned transport vehicle 100 side) converts the electrical signal from the first line La into an optical signal (first signal) and outputs the optical signal as an arrival signal from the light-emitting unit. Furthermore, the control device 40 of the storage unit 4, conditional on the ability to perform the handover of the housing 90, instructs the input / output module 4io of the storage space 41, which becomes the transport destination of the housing 90, to output an electrical signal to the first line L1. The optical communication module 4co of the storage space 41 converts the electrical signal from the first line L1 into an optical signal (second signal) and outputs the optical signal as a ready-to-end signal from the light-emitting unit.

[0054] If the unmanned transport vehicle 100 approaches the storage space 41, which is the target location, communication can be established between the optical communication module 4co of the storage space 41 and the optical communication module 110co of the electric conveyor 110. If the optical communication module 4co of the storage space 41 receives (receives light) an arrival signal (optical signal) from the optical communication module 110co of the electric conveyor 110, it converts the arrival signal into an electrical signal and outputs the electrical signal to the second line L2. The electrical signal (current signal) output to the second line L2 is supplied to the input / output module 4io of the storage space 41 via the coil 4L of the conveyor power relay 4R. As a result, the coil 4L of the conveyor power relay 4R is energized, so that the conveyor power relay 4R is closed (connected) in a manner that allows power to be supplied to the electric conveyor 42 (conveyor drive device 43).

[0055] Furthermore, if the optical communication module 110co of the electric conveyor 110 receives (receives light) a preparation-to-end signal (optical signal) from the optical communication module 4co of the storage space 41, it converts the preparation-to-end signal into an electrical signal and outputs the electrical signal to the second line Lb. The electrical signal (current signal) output to the second line Lb is supplied to the input / output module 110io on the unmanned transport vehicle 100 side via the coil 110L of the conveyor power relay 110R. As a result, the coil 110L of the conveyor power relay 110R is energized, so that the conveyor power relay 110R is closed (connected) in a manner that allows power to be supplied to the electric conveyor 110 (conveyor drive device 111).

[0056] Furthermore, for the driving control device 105 of the automated guided vehicle 100, if the electrical signal supplied from the second line Lb to the input / output module 110io corresponding to the reception (light reception) of the preparation to end signal becomes high, the automated guided vehicle 100 is stopped in such a way that the electric conveyor 110 is aligned with the electric conveyor 42 of the storage space 41 based on the detection values ​​of the position sensor and the monitoring sensor. After the automated guided vehicle 100 stops, the conveyor control device 115 of the electric conveyor 110 controls the conveyor drive device 111 to send the housing 90 toward the electric conveyor 42. Thus, the conveyor drive device 111 is driven by the power supplied from the battery 109 via the conveyor power relay 110R, and the housing 90 is sent toward the electric conveyor 42 via the electric conveyor 110. Furthermore, the control device 40 of the storage unit 4 controls the conveyor drive device 43 so that the electric conveyor 42 of the corresponding storage space 41 receives the housing 90 from the electric conveyor 110. Thus, the conveyor drive device 43 is driven by the power supplied from the power source 49 via the conveyor power relay 4R, and the housing 90 is transferred from the electric conveyor 110 to the electric conveyor 42.

[0057] If the housing 90 is transferred to the electric conveyor 42, one end of the clamped member 91 of the housing 90 abuts against the moving member 44b. Furthermore, the control device 40 of the storage unit 4 actuates the drive unit of the moving member 44b by pulling it towards the wall 45 based on signals from the first sensor, etc., from the clamping mechanism 44. As the moving member 44b moves towards the wall 45, the claw member 44c rotates relative to the moving member 44b, abutting against the other end of the clamped member 91. Thus, the clamped member 91 is clamped by the clamping mechanism 44, and the drive unit of the clamping mechanism 44 pulls the housing 90 towards the wall 45. Moreover, if the moving member 44b moves further towards the wall 45, the housing 90 is pulled up onto the support plate 44a, and the external connector of the housing 90 engages with the connector 46 of the storage space 41. Thus, the handover from the automated guided vehicle 100 to the storage housing 90 in the storage space 41 is completed, and the multiple feeders 50 inside the storage housing 90 can communicate with the control device 40. After the handover of the storage housing 90 is completed, the control device 40 of the storage unit 4 stops the corresponding electric conveyor 42, and the conveyor control device 115 on the automated guided vehicle 100 side stops the electric conveyor 110.

[0058] On the other hand, when the housing 90 containing multiple used feeders 50 is transferred from the corresponding storage space 41 to the automated guided vehicle 100, the automated guided vehicle 100 without the housing 90 on the electric conveyor 110 starts moving from the external production adjustment area toward the storage space 41, which is the target location. In this case, the driving control device 105 of the automated guided vehicle 100 also instructs the input / output module 110io of the electric conveyor 110 to output an electrical signal (current signal) to the first line La. The optical communication module 110co of the electric conveyor 110 (on the automated guided vehicle 100 side) converts the electrical signal from the first line La into an optical signal (first signal) and outputs the optical signal as an arrival signal from the light-emitting part. In addition, the control device 40 of the storage unit 4 instructs the input / output module 4io of the corresponding storage space 41 to output an electrical signal to the first line L1, provided that the clamping member 91 of the housing 90 containing at least multiple used feeders 50 is clamped by the clamping mechanism 44. The optical communication module 4co of the storage space 41 converts the electrical signal from the first line L1 into an optical signal (second signal), and outputs the optical signal from the light-emitting part as a ready-to-end signal.

[0059] If communication between the optical communication module 4co of the storage space 41 and the optical communication module 110co of the electric conveyor 110 can occur in response to the approach of the unmanned transport vehicle 100 to the storage space 41, then, as described above, the electrical signal output from the optical communication module 4co of the storage space 41 to the second line L2 is supplied to the input / output module 4io of the storage space 41 via the coil 4L of the conveyor power relay 4R. This closes (connects) the conveyor power relay 4R in a manner that allows power to be supplied to the electric conveyor 42 (conveyor drive unit 43). Furthermore, the electrical signal output from the optical communication module 110co of the electric conveyor 110 to the second line Lb is supplied to the input / output module 110io on the unmanned transport vehicle 100 side via the coil 110L of the conveyor power relay 110R. This closes (connects) the conveyor power relay 110R in a manner that allows power to be supplied to the electric conveyor 110 (conveyor drive unit 111).

[0060] If the automated guided vehicle 100 stops and the electric conveyor 110 is directly opposite the electric conveyor 42 of the storage space 41, the control device 40 of the storage unit 4 controls the conveyor drive device 43 to cause the electric conveyor 42 to deliver the housing 90 to the electric conveyor 110. Thus, the conveyor drive device 43 is driven by power supplied from the power source 49 via the conveyor power relay 4R, and the housing 90 containing the used feeder 50 is delivered to the electric conveyor 110 via the electric conveyor 42. Furthermore, the conveyor control device 115 of the electric conveyor 110 controls the conveyor drive device 111 to receive the housing 90 from the electric conveyor 42. Thus, the conveyor drive device 111 is driven by power supplied from the battery 109 via the conveyor power relay 110R, and the operation of the electric conveyor 110 begins.

[0061] After the operation of electric conveyors 42 and 110 begins, the control device 40 of the storage unit 4 actuates the drive unit of the moving member 44b, causing the moving member 44b of the clamping mechanism 44 to separate from the wall 45. As the moving member 44b separates from the wall 45, the housing 90 is pressed towards the electric conveyor 110 via the clamped member 91 by the moving member 44b, and the claw member 44c rotates relative to the moving member 44b in a manner that separates from the other end of the clamped member 91. Thus, the clamping of the clamped member 91 based on the clamping mechanism 44 is released, the housing 90 is transferred from the support plate 44a to the electric conveyor 42, and then transferred from the electric conveyor 42 to the electric conveyor 110. Furthermore, when the conveyor control device 115 of the electric conveyor 110 determines, based on the detection values ​​of the first and second housing detection sensors 112 and 114, that the housing 90 has reached a predetermined position on the electric conveyor 110, it stops the electric conveyor 110. Correspondingly, the control device 40 of the storage unit 4 also stops the corresponding electric conveyor 42. Thus, the transfer of the housing 90 from the storage space 41 to the unmanned transport vehicle 100 is completed.

[0062] As described above, during the handover of the housing 90 between the electric conveyor 42 in storage space 41 and the electric conveyor 110 on the Automated Guided Vehicle (AGV) 100 side, the aforementioned preparation / end signal and arrival signal are exchanged between the optical communication modules 4co and 110co. This causes the conveyor power relays 4R and 110R to close, enabling the electric conveyors 42 and 110 to operate. Furthermore, in production line 1, if an operator discovers an abnormality during the handover of the housing 90 between storage space 41 and AGV 100, the handover of the housing 90 can be stopped by pressing the button on the emergency stop switch 4sw of storage space 41 or the emergency stop switch 110sw of electric conveyor 110 (AGV 100 side).

[0063] That is, if the operator presses the emergency stop switch 110sw button on the electric conveyor 110, such as Figure 8 As shown, corresponding to the action of the emergency stop switch 110sw, the electrical signal (current signal) output from the optical communication module 110co of the electric conveyor 110 to the second line Lb is not supplied to the coil 110L of the conveyor power relay 110R. Figure 8 (Refer to the dashed line in the middle). Thus, corresponding to the pressing of the button of the emergency stop switch 110sw, the conveyor power relay 110R is disconnected (cut off), cutting off the power supply from the battery 109 to the conveyor drive unit 111 (electric conveyor 110).

[0064] Furthermore, corresponding to the operation of the emergency stop switch 110sw, the transmission of electrical signals from the input / output module 110io of the electric conveyor 110 to the optical communication module 110co via the first line La is cut off. Consequently, the aforementioned arrival signal (optical signal) is not output from the optical communication module 110co. Therefore, the electrical signal (current signal) output from the optical communication module 4co on the storage section 4 side to the second line L2 changes from a high level to a low level (0V), and this electrical signal (current signal) is not supplied to the coil 4L of the conveyor power relay 4R. Figure 8 (Refer to the dashed line in the middle). As a result, the conveyor power relay 4R is disconnected (cut off) corresponding to the pressing of the button of the emergency stop switch 110sw, cutting off the power supply from the power source 49 to the conveyor drive unit 43 (electric conveyor 42).

[0065] Furthermore, if the operator presses the emergency stop switch 4sw button on side 4 of the storage unit, such as Figure 9 As shown, corresponding to the action of the emergency stop switch 4sw, the electrical signal (current signal) output from the optical communication module 4co of the storage space 41 to the second line L2 is not supplied to the coil 4L of the conveyor power relay 4R (and the input / output module 4io). Figure 9 (Refer to the dashed line in the middle). Thus, pressing the button of the emergency stop switch 4sw disconnects (cuts off) the conveyor power relay 4R, cutting off the power supply from the power source 49 to the conveyor drive unit 43 (electric conveyor 42).

[0066] Furthermore, corresponding to the activation of the emergency stop switch 4sw, the transmission of electrical signals from the input / output module 4io in the storage space 41 to the optical communication module 4co via the first line L1 is cut off. Consequently, the aforementioned arrival signal (optical signal) is not output from the optical communication module 4co. Therefore, the electrical signal (current signal) output from the optical communication module 110co of the electric conveyor 110 to the second line Lb changes from a high level to a low level (0V), and this electrical signal (current signal) is not supplied to the coil 110L of the conveyor power relay 110R (see reference). Figure 9 (Middle dashed line). As a result, the conveyor power relay 110R is disconnected (cut off) corresponding to the pressing of the emergency stop switch 4sw, cutting off the power supply from the battery 109 to the conveyor drive unit 111 (electric conveyor 110).

[0067] Thus, in production line 1, the electric conveyor 110 on the Automated Guided Vehicle (AGV) 100 side and the electric conveyor 42 on the corresponding storage space 41 can be stopped by disconnecting any one of the emergency stop switches 110sw on the electric conveyor 110 (AGV 100 side) and 4sw on each storage space 41. Therefore, the accidental movement of the housing 90 during an emergency stop can be effectively suppressed, further improving the safety of the handover operation of the housing 90 between the AGV 100 and the storage space 41 (storage section 4).

[0068] Furthermore, by stopping both electric conveyors 42 and 110 of the receiving housing 90 in accordance with the disconnection (operation) of either emergency stop switch 4sw or 110sw, safety can be ensured and the operability of any equipment in the unmanned transport vehicle 100 and the storage unit 4 can be improved after an emergency stop. That is, in this embodiment, even if power supply to electric conveyors 42 and 110 continues in accordance with the disconnection of either emergency stop switch 4sw or 110sw, power supply from a low-voltage power source (not shown) to the control device 40 of the storage unit 4 and the conveyor control device 115 of the electric conveyor 110 (on the unmanned transport vehicle 100 side) also continues. Thus, after stopping both electric conveyors 42 and 110 in accordance with the disconnection of either emergency stop switch 4sw or 110sw, communication between the control device 40 of the storage unit 4 and the conveyor control device 115 on the unmanned transport vehicle 100 side can continue via optical communication modules 4co and 110co. As a result, when multiple unmanned transport vehicles 100 are used during the production of substrate S, it is easy to identify the unmanned transport vehicle 100 that is subject to emergency stop, thus improving the workability of recovery after emergency stop.

[0069] Furthermore, in this embodiment, if either emergency stop switch 4sw or 110sw is disconnected, this information is communicated from the input / output module 110io to the driving control device 105 of the automated guided vehicle 100. The driving control device 105 then disconnects a relay (not shown) between the driving drive unit 101 and the battery 109, cutting off power to the driving drive unit 101. This further enhances safety when both the electric conveyors 42 and 110 of the receiving housing 90 are stopped in response to the disconnection of either emergency stop switch 4sw or 110sw.

[0070] Furthermore, the electric conveyor 110 mounted on the unmanned transport vehicle 100 includes: an input / output module 110io that transmits electrical signals to the optical communication module 110co as a first signal generation unit; and a conveyor power relay (first relay) 110R that cuts off power supply to the conveyor drive unit 111 (electric conveyor 110) in accordance with the emergency stop switch 110sw cutting off communication between the input / output module 110io and the optical communication module 110co. Additionally, the storage unit 4 includes: an input / output module 4io that transmits electrical signals to the optical communication module 4co as a second signal generation unit; and a conveyor power relay (second relay) 4R that cuts off power supply to the conveyor drive unit 43 (electric conveyor 42) in accordance with the emergency stop switch 4sw cutting off communication between the input / output module 4io and the optical communication module 4co. Furthermore, the optical communication module 110co of the electric conveyor 110 (on the side of the unmanned transport vehicle 100) sends an arrival signal (first signal) obtained based on the electrical signal from the input / output module 110io to the optical communication module 4co. Corresponding to the interruption of communication between the input / output module 4io and the optical communication module 110co by the emergency stop switch 4sw on the storage section 4 side, when the preparation end signal (second signal) from the optical communication module 4co changes from a high level to a low level, the electrical signal (current signal) to the second line Lb changes to a low level (0V), causing the conveyor power relay 110R to cut off the power supply to the conveyor drive device 111 (electric conveyor 110). Furthermore, the optical communication module 4co on the storage section 4 sends a preparation-to-end signal (second signal) based on the electrical signal from the input / output module 4io to the optical communication module 4co. Corresponding to the interruption of communication between the input / output module 110io and the optical communication module 110co via the emergency stop switch 110sw of the electric conveyor 110, when the arrival signal (first signal) from the optical communication module 110co changes from a high level to a low level, the electrical signal (current signal) to the second line L2 changes to a low level (0V), causing the conveyor power relay 4R to cut off the power supply to the conveyor drive unit 43 (electric conveyor 42). Thus, the electric conveyors 42 and 110 in the receiving housing 90 can be stopped more reliably in accordance with the disconnection of either the emergency stop switches 4sw and 110sw.

[0071] However, the structure that cuts off the power supply to the electric conveyor 110 in response to the operation of the emergency stop switch 110sw is not limited to the structure described above, nor is the structure that cuts off the power supply to the electric conveyor 42 in response to the operation of the emergency stop switch 4sw. That is, the conveyor power relays 4R and 110R do not necessarily need to cut off the power supply to the electric conveyor 42 or 110 in response to the opening of the emergency stop switches 4sw and 110sw. Moreover, the conveyor power relays 4R and 110R may also have a relay drive circuit including a transistor (switching element) and a diode, and may apply current from a separately provided excitation power supply to the coils 4L and 110L by turning on (conducting) the transistor according to the electrical signal (current signal) from the optical communication module 4co or 110co.

[0072] Furthermore, while the aforementioned emergency stop switches 4sw and 110sw are normally closed switches, they are not limited to this. That is, emergency stop switch 4sw can also be a relay (switch) that is disconnected by control device 40 when an abnormality is detected in storage unit 4. Similarly, emergency stop switch 110sw can also be a relay (switch) that is disconnected by conveyor control device 115 when an abnormality is detected in unmanned transport vehicle 100 or electric conveyor 110. Furthermore, a normally closed switch and a switch disconnected by control device 40 can be programmed between input / output module 4io and optical communication module 4co, and a normally closed switch and a switch disconnected by conveyor control device 115 can also be programmed between input / output module 110io and optical communication module 110co.

[0073] Furthermore, in storage section 4, a wireless communication module (non-contact communication module) utilizing electromagnetic fields, radio waves, etc., can be installed instead of optical communication module 4co. Similarly, in electric conveyor 110, a wireless communication module (non-contact communication module) utilizing electromagnetic fields, radio waves, etc., can be installed instead of optical communication module 110co. Additionally, communication modules that are connected to each other via mechanical connectors can be used instead of optical communication modules 4co and 110co. Input / output module 4io and input / output module 110io can also be connected to each other via mechanical connectors.

[0074] Furthermore, the structure of the aforementioned housing 90 is not limited to the structure described above. Moreover, the items transferred between the electric conveyors 42 and 110 are not limited to the housing 90 that houses multiple feeders 50. That is, at least one feeder 50 may be transferred between the electric conveyors 42 and 110 while remaining unchanged, or a trolley supporting multiple feeders 50 may be transferred between the electric conveyors 42 and 110. Furthermore, the items transferred between the electric conveyors 42 and 110 may also be a reel 51 housing components P to be assembled onto the substrate S, a component tray with components P arranged to be assembled onto the substrate S, a component container irregularly housing components P to be assembled onto the substrate S, a mounting head, nozzle, clamp of a component mounting machine 5, a container housing at least one of these components, a scraper, mask, printing head, dispensing head of a printing apparatus 2, a container housing at least one of these components, a solder container, etc.

[0075] Furthermore, the aforementioned storage unit 4 is incorporated into production line 1, which includes component mounting machine 5 that mounts components P onto substrate S, but is not limited thereto. That is, storage unit 4 may also be incorporated into a line that only includes component mounting machine 5. In addition, storage unit 4 may also be provided in an external production adjustment area or the like, which is different from the installation area of ​​production line 1. Moreover, storage unit 4 is not limited to having two storage spaces 41, and may have one or more storage spaces 41.

[0076] Furthermore, while the aforementioned electric conveyor 110 is a separate unit from the automated guided vehicle 100, it is not limited to this. That is, the electric conveyor 110 can also be integrated with the automated guided vehicle 100. Moreover, the driving control device 105 of the automated guided vehicle 100 can also be a remote control device not mounted on the automated guided vehicle 100. Additionally, the optical communication module 110co, the input / output module 110io, and the emergency stop switch 110sw can also be installed on the automated guided vehicle 100.

[0077] Furthermore, the invention disclosed herein is not limited by the above embodiments in any way, and it is self-evident that various modifications can be made within the scope of this disclosure. Moreover, the above embodiments are merely a specific form of the invention described in the "Summary of the Invention" section, and are not elements that limit the invention described in this section.

[0078] Industrial applicability

[0079] The invention disclosed herein can be used in the manufacturing industry of substrates on which components are mounted.

[0080] Explanation of reference numerals in the attached figures

[0081] 1...Production line 2...Printing device 3...Printing inspection device 4...Storage section 4co...Optical communication module 4io...Input / output module 4L...Coil 4R...Conveyor power relay 4sw...Emergency stop switch 40...Control device 41...Storage space 42...Electric conveyor 43...Conveyor drive device 44...Clamping mechanism 44a...Support plate 44b...Moving part 44c...Claw part 45...Wall part 46...Connector 47...First housing detection sensor 48...Second housing detection sensor 49...Power supply 5...Component mounting machine 50...Feeder 51...Pulley 52...Pulley feeding mechanism 53...Connector 6...Installation inspection device 7...Reflow soldering device 8...Reflow soldering Inspection device 9... Loader 10... Production management device 90... Housing 91... Clamped component 92... Detected component 93... Connector 100... Automated guided vehicle 101... Drive unit 105... Drive control unit 109... Battery 110... Electric conveyor 110co... Optical communication module 110io... Input / output module 110L... Coil 110R... Conveyor power relay 110sw... Emergency stop switch 111... Conveyor drive unit 112... First housing detection sensor 114... Second housing detection sensor 115... Conveyor control unit L1, La... First line L2, Lb... Second line P... Component S... Substrate SLT... Slot W... Drive wheel

Claims

1. A work transfer system for transferring work items between an automated guided vehicle (AGV) used in the production of work items containing power supplies and transporting substrates on which components are mounted, and a storage unit storing the work items, wherein, The item handover system has the following features: A first electric conveyor is installed on the side of the unmanned transport vehicle and transfers the items between the first electric conveyor and the storage section; The first communication module is located on the side of the unmanned transport vehicle and sends a first signal to the storage section. The first emergency stop switch is located on the side of the unmanned transport vehicle; A conveyor control device is installed on the side of the unmanned transport vehicle and controls the first electric conveyor; A second electric conveyor is installed on the storage side and transfers the items between the second electric conveyor and the first electric conveyor of the unmanned transport vehicle; A second communication module is installed on the storage side and sends a second signal to the unmanned transport vehicle side; and The second emergency stop switch is located on the storage section side. The first communication module and the second communication module can exchange signals with each other via optical communication or wireless communication. Corresponding to the action of the first emergency stop switch, the power supply from the power source of the unmanned transport vehicle to the first electric conveyor is cut off, and the first signal from the first communication module changes. Corresponding to the action of the second emergency stop switch, the power supply to the second electric conveyor is cut off, and the second signal from the second communication module changes. The power supply to the second electric conveyor is cut off in response to the change in the first signal from the first communication module. The power supply from the power source to the first electric conveyor is cut off in response to the change in the second signal from the second communication module, while the power supply from the power source to the conveyor control device continues.

2. The article transfer system according to claim 1, wherein, The item transfer system also includes a control device, which is located on the storage side and connected to the second communication module. The conveyor control device is connected to the first communication module. Even if the power supply to the first electric conveyor and the second electric conveyor is cut off in accordance with the action of the first emergency stop switch or the second emergency stop switch, the power supply to the conveyor control device and the control device continues.

3. The article transfer system according to claim 2, wherein, The first electric conveying mechanism is mounted on the unmanned transport vehicle as a unit comprising the first communication module, the first emergency stop switch, and the conveyor control device. The conveyor control device is connected to the control device of the unmanned transport vehicle by exchanging information.

4. The article transfer system according to any one of claims 1 to 3, wherein, The power supply to the drive source of the unmanned transport vehicle is cut off in accordance with the action of the first emergency stop switch or the second emergency stop switch.

5. The article transfer system according to any one of claims 1 to 3, wherein, The item handover system also has the following features: A first signal generating unit is located on the side of the unmanned transport vehicle and sends an electrical signal to the first communication module. A first relay is located on the side of the unmanned transport vehicle and is capable of cutting off the power supply to the first electric conveyor; The second signal generating unit is disposed on the storage unit side and is capable of sending electrical signals to the second communication module; and The second relay is located on the storage side and is capable of cutting off the power supply to the second electric conveyor. The first emergency stop switch can cut off the communication between the first signal generating unit and the first communication module. The second emergency stop switch can cut off the communication between the second signal generating unit and the second communication module. The first communication module sends the first signal, obtained based on the electrical signal from the first signal generator, to the second communication module. When the second signal from the second communication module changes, corresponding to the communication between the second signal generator and the second communication module being cut off by the second emergency stop switch, the first relay cuts off the power supply to the first electric conveyor. The second communication module sends the second signal, which is obtained based on the electrical signal from the second signal generating unit, to the first communication module. When the first signal from the first communication module changes in a manner corresponding to the first emergency stop switch cutting off communication between the first signal generating unit and the first communication module, the second relay cuts off the power supply to the second electric conveyor.

6. The article transfer system according to claim 5, wherein, The first relay cuts off the power supply to the first electric conveyor in accordance with the first emergency stop switch cutting off the communication between the first signal generating unit and the first communication module. The second relay cuts off the power supply to the second electric conveyor in accordance with the second emergency stop switch cutting off the communication between the second signal generating unit and the second communication module.

7. The article transfer system according to any one of claims 1 to 3, wherein, The first emergency stop switch and the second emergency stop switch include at least one of a normally closed switch and a switch controlled to disconnect in response to the detection of an abnormality.

8. The article transfer system according to any one of claims 1 to 3, wherein, The article is a feeder that includes a belt containing multiple of the said elements.

9. The article transfer system according to claim 8, wherein, The storage unit is incorporated into a production line that includes a component mounting machine that mounts the components onto the substrate.

10. A method for transferring articles between a first electric conveyor on the side of an unmanned transport vehicle used in the production of articles containing power and transporting a substrate on which components are mounted, and a second electric conveyor on the side of a storage section storing the articles, wherein... The method for handing over the items includes the following steps: When the items are transferred between the first electric conveyor and the second electric conveyor, signals are exchanged between the first communication module on the unmanned transport vehicle side and the second communication module on the storage side via optical communication or wireless communication. Corresponding to the action of the first emergency stop switch on the side of the unmanned transport vehicle, the power supply from the power source of the unmanned transport vehicle to the first electric conveyor is cut off, and the first signal from the first communication module changes, corresponding to the change in the first signal, the power supply to the second electric conveyor is cut off; and Corresponding to the operation of the second emergency stop switch on the storage side, the power supply to the second electric conveyor is cut off, and the second signal from the second communication module changes. Corresponding to the change in the second signal, the power supply from the power source to the first electric conveyor is cut off, and the power supply from the power source to the conveyor control device that controls the first electric conveyor continues.

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