Automatic guided vehicle

Abstract

The present invention relates to an automated guided vehicle capable of transporting objects to be transported, the objects to be transported including an article used in a substrate working machine and a case for detachably holding the article, the automated guided vehicle being provided with: a main body; the supporting part is arranged on the main body and is used for supporting the box body; a detection unit that is provided to the main body and that detects the presence or absence of an article in the box during conveyance of the object to be conveyed; and a determination unit that determines whether or not the article has been attached to and detached from the case on the basis of a detection result obtained by the detection unit.

Description

Technical Field

[0001] This manual relates to an unmanned guided vehicle. Background Art

[0002] In recent years, as a part of saving manpower, it is popular to use an unmanned guided vehicle to transport objects in an article transport system, as disclosed in Patent Document 1. In this case, the unmanned guided vehicle can automatically transport the objects according to a pre-set transport plan, and automatically deliver the transported objects to the transport destination.

[0003] In addition, for example, as disclosed in Patent Document 2, a trolley connected to an electronic component mounting device in a detachable manner is sometimes used to transport a parts feeder as a transport object. Here, in the component monitoring system disclosed in Patent Document 2, a monitoring device is provided, which determines whether the storage state of the parts feeder has changed from the time the parts feeder is loaded on the trolley to the time the trolley is connected to the electronic component mounting device, and performs a warning action when the storage state of the parts feeder has changed.

[0004] Prior art literature

[0005] Patent Document 1: International Publication No. 2021 / 144866

[0006] Patent Document 2: Japanese Patent Application Publication No. 2015-220304 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In order to enable more efficient operation, unmanned guided vehicles are not specialized but generalized, and can carry various loads. However, in production sites where various loads are carried by unmanned guided vehicles, in principle, staff will not accompany and monitor the transportation. Therefore, for example, whether intentionally or negligently, even if the items that form the load are disassembled during transportation, it can only be determined whether the items have been disassembled after the load is handed over at the transportation destination. In this case, due to the delay in judgment, it is possible that the required components are insufficient, which affects production. Therefore, in the transportation of loads by unmanned guided vehicles, it is desirable to be able to quickly determine the disassembly and assembly of items.

[0009] The purpose of this specification is to provide an unmanned guided vehicle that can detect and determine the installation and removal of objects during the transportation of the objects.

[0010] Means for solving problems

[0011] The present specification discloses an unmanned transport vehicle capable of transporting objects, wherein the objects include articles used in a substrate operation machine and a box for holding the articles in a detachable manner. The unmanned transport vehicle comprises: a main body; a support portion, which is provided on the main body and supports the box; a detection portion, which is provided on the main body and detects the presence or absence of the articles relative to the box during the transport of the objects; and a judgment portion, which judges whether the articles have been disassembled or assembled relative to the box based on the detection result of the detection portion.

[0012] This specification also discloses the technical idea of ​​changing "the unmanned guided vehicle described in claim 1" to "the unmanned guided vehicle described in any one of claims 1 to 8" in claim 9 of the original application. In addition, this specification also discloses the technical idea of ​​changing "the unmanned guided vehicle described in claim 1" to "the unmanned guided vehicle described in any one of claims 1 to 9" in claim 10 of the original application. In addition, this specification also discloses the technical idea of ​​changing "the unmanned guided vehicle described in claim 1 or 2" to "the unmanned guided vehicle described in any one of claims 1 to 13" in claim 14 of the original application.

[0013] Effects of the Invention

[0014] According to the automated guided vehicle, the detection unit can quickly detect and determine whether an article is being attached or detached during the transportation of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a perspective view for explaining a production line equipped with an automated guided vehicle.

[0016] Figure 2 It is a perspective view schematically showing an automated guided vehicle with objects being loaded.

[0017] Figure 3 It is a perspective view schematically showing a vehicle serving as a main body of the automated guided vehicle.

[0018] Figure 4 This is a diagram for explaining detection by a detection unit and notification to the outside.

[0019] Figure 5 The first modification example is a perspective view schematically showing an automated guided vehicle with an object to be transported loaded thereon.

[0020] Figure 6 The first modification example is a perspective view schematically showing a vehicle serving as a main body of the automated guided vehicle.

[0021] Figure 7 It is an enlarged perspective view for explaining the structure of the detection unit according to the first modification.

[0022] Figure 8 The second modification is a perspective view schematically showing an automated guided vehicle with an object to be transported loaded thereon.

[0023] Fig. 9 The second modification is a perspective view schematically showing a vehicle serving as a main body of the automated guided vehicle.

[0024] Fig.10 The third modification example is a diagram for explaining detection by a detection unit and notification to the outside. DETAILED DESCRIPTION

[0025] Hereinafter, the unmanned guided vehicle will be described with reference to the drawings. This embodiment will be described by taking as an example a case where an unmanned guided vehicle transports objects required for production in a production line equipped with a substrate work machine.

[0026] 1. Overview of production line PL

[0027] like Figure 1 As shown, the production line PL includes: a warehouse 1, an automatic tape handling device 3 set in an external production change adjustment area 2, a tape reel loading device 4, a buffer station 5 as a substrate operation machine, and a component mounting machine 6. In addition, the production line PL includes a reel transport vehicle VR and a feeder transport vehicle VF as unmanned transport vehicles that can transport transported objects C, and the transported objects C include items used in the component mounting machine 6 and boxes that hold the items in a detachable manner. In addition, in the production line PL, for example, the items (for example, tape feeders, etc.) transported (moved) to the buffer station 5 by the feeder transport vehicle VF are supplied to each of the multiple component mounting machines 6 by the loader 7. In addition, in the present embodiment, the case where the feeder transport vehicle VF transports the items to the buffer station 5 is illustrated, but the feeder transport vehicle VF can also transport the items to the component mounting machine 6.

[0028] Here, as an article used in the component mounting machine 6 as a substrate operation machine, for example, a tape reel or a tape feeder that supplies electronic components to the component mounting machine 6, a suction nozzle that sucks the supplied components, etc. can be exemplified. In addition, as other articles, for example, in the case where the substrate operation machine is a printing machine, a mask can be exemplified, and a tray or a substrate (workpiece) can also be exemplified. In addition, as a box forming the transported object C, a shelf for placing a tape reel, a suction nozzle, a mask, a substrate, etc., a bin for storing a tape feeder, a bracket for placing a tray, etc. can be exemplified.

[0029] The reel transport vehicle VR transports the transported object C from the storage entrance 1a of the warehouse 1 to the tape automatic processing device 3 provided in the external production changeover adjustment area 2. In addition, the reel transport vehicle VR transports the transported object C from the tape automatic processing device 3 to the reel loading device 4. Here, as the transported object C transported by the reel transport vehicle VR, a reel R (hereinafter referred to as "reel R") as an article placed on a shelf T as a box body can be exemplified.

[0030] The feeder transport vehicle VF transports the transported object C from the storage port 1a of the warehouse 1 to the reel loading device 4. In addition, the feeder transport vehicle VF transports the transported object C from the reel loading device 4 to the buffer station 5. Here, as the transported object C transported by the feeder transport vehicle VF, a tape feeder F (hereinafter referred to as "feeder F") as an article accommodated in a bin M as a box body can be exemplified.

[0031] The reel transport vehicle VR and the feeder transport vehicle VF, which are unmanned transport vehicles, can communicate with the management device 8. Thus, the reel transport vehicle VR carries out the rack T carrying the target reel R, that is, the transported object C, from the inlet and outlet port 1a of the warehouse 1 and carries it into the tape automatic processing device 3 in accordance with the instruction based on the transport plan from the management device 8. In addition, the reel transport vehicle VR carries out the rack T carrying the reel R wound with the carrier tape that has undergone the necessary processing in the tape automatic processing device 3, that is, the transported object C, from the tape automatic processing device 3 and carries it into the reel loading device 4.

[0032] On the other hand, the feeder transport vehicle VF carries out the bin M containing the target feeder F, i.e., the transported object C, from the access port 1a of the warehouse 1 and carries it into the reel loading device 4, according to the instruction based on the transport plan from the management device 8. In addition, the feeder transport vehicle VF carries out the bin M containing a plurality of feeders F loaded with reels R, i.e., the transported object C, from the reel loading device 4 and carries it into the buffer station 5. In addition, the feeder transport vehicle VF carries out the bin M containing the feeder F after component supply or the empty bin M containing no feeder F as the transported object C from the buffer station 5 and carries it into the access port 1a of the warehouse 1, for example.

[0033] Here, the reel transport vehicle VR and the feeder transport vehicle VF are different in that the reel transport vehicle VR transports the reel R placed on the shelf T as the transport object C, while the feeder transport vehicle VF transports the feeder F stored in the bin M as the transport object C. However, the reel transport vehicle VR and the feeder transport vehicle VF have the same structure. Therefore, in the following description, the feeder transport vehicle VF is specifically exemplified for description.

[0034] In addition, in the present embodiment, the case where the tape automatic processing device 3 and the tape reel loading device 4 are independently arranged is exemplified, but it is also possible to configure the tape automatic processing device 3 and the tape reel loading device 4 to be provided integrally. In this case, the loading process by the tape reel loading device 4 is directly performed after the processing by the tape automatic processing device 3. Therefore, in the production line PL, instead of having both the tape reel transport vehicle VR that transports only the tape reels R placed on the shelf T as the transported object C and the feeder transport vehicle VF that transports only the feeders F stored in the bin M as the transported object C, it is also possible to configure the feeder transport vehicle VF to also transport the tape reels R placed on the shelf T as the transported object C.

[0035] 2. Feeder Carrier VF (Automatic Carrier)

[0036] Next, the structure of the feeder carrier VF as an example of an unmanned carrier is described. As described above, the feeder carrier VF automatically carries a silo M containing a feeder F or an empty silo as a carrier C according to a pre-set carrier plan. In addition, based on the production plan set for the production line PL, a carrier plan is set for each carrier C (specific feeders F and silo M) carried by the feeder carrier VF. In addition, the carrier plan pre-sets the type and number of feeders F contained in the silo M, or the position of the contained feeders F relative to the silo M, i.e., the state of the silo M being carried, the carrier path for carrying the carrier C, the position (carrying target) for loading and unloading the carrier C, i.e., the transfer of the carrier C, etc.

[0037] However, when the feeder carrier VF automatically (autonomously) carries the transported object C, it is possible that an undesired or negligent removal of an object that is not in the transport plan is performed during the transport. For example, sometimes a feeder F that should be stored in the bin M is forgotten to be stored, or a feeder F that should not be stored in the bin M is stored. In this case, the operator may store the correct feeder F in the bin M or remove the wrong feeder F from the bin M during the transport by the feeder carrier VF. However, such insertion and removal of the feeder F from the bin M is an act of restoring the state of the correct bin M based on the transport plan, so the impact on production is minimal.

[0038] However, when the feeder F is inserted or removed during the transportation of the transported object C by the feeder transport vehicle VF, even if the state of the bin M is correct with respect to the transportation plan, for example, a feeder F not included in the production plan may be added to the bin M by mistake, or a correct feeder F may be removed from the bin M. That is, when such an article is installed or removed, the state of the bin M transported by the feeder transport vehicle VF as the transported object C may be different from the state of the bin M preset in the transportation plan.

[0039] Here, when the wrong feeder F or the shortage of the correct feeder F cannot be determined during the transportation of the conveyed object C, it is determined and discovered when the conveyed object C is conveyed (handed over) to the buffer station 5, for example. That is, the wrong feeder F or the shortage of the correct feeder F can be discovered at the conveying destination of the conveyed object C, so it takes time to discover it and the discovery is delayed. In addition, when the discovery of the wrong feeder F or the shortage of the correct feeder F is delayed, the state of the silo M is different from the transportation plan, so that, for example, the component mounting machine 6 runs out of components and stops production, or the feeder F or the component cannot be tracked. As a result, production may be affected.

[0040] Therefore, when the unmanned guided vehicle including the feeder transport vehicle VF transports the transported object C, it is necessary to detect, judge and monitor the disassembly and assembly of the article during the transportation. In addition, when the disassembly and assembly of the article is detected and judged during the monitoring, it is necessary to quickly output the report information for reporting the disassembly and assembly to the management device 8, for example, to notify the operator or the manager via the display device installed in the production line PL. In addition, when the feeder F is disassembled and assembled with respect to the silo M during the transportation, for example, the storage (installation) of the feeder F in the silo M is likely to be incomplete, and as a result, there is a risk that the feeder F will fall from the silo M during the transportation operation of the feeder transport vehicle VF.

[0041] Therefore, in this embodiment, if Figure 2 As shown, the feeder transport vehicle VF as an unmanned transport vehicle mainly includes: a trolley 10 as a main body, a trolley control unit 16, a travel device 20, and a detection unit 30 for detecting the removal (insertion and removal) of the feeder F as an article relative to the silo M as a box body during the transportation of the transported object C. In addition, in the following description, Figure 2 As shown, the front, back, left, right, and up and down directions of the feeder transport vehicle VF can be easily determined.

[0042] The trolley 10 and the travel device 20 are configured to be approximately bilaterally symmetrical with respect to a center line extending in the front-rear direction. The trolley 10 as the main body is connected to the travel device 20 by a connecting mechanism (not shown). The travel device 20 can, for example, enter the lower side of the trolley 10 from the rear, pull the connected trolley 10 to move it, and exit to the rear of the trolley 10. The detection unit 30 is provided on the trolley 10 as the main body.

[0043] 2-1. Carriage 10

[0044] like Figure 2 and Figure 3 As shown, the vehicle 10 mainly includes: a platform 11, left and right side parts 12, left and right legs 13, two front wheels 14 (in Figure 2 Only the left side is shown in the figure), two rear wheels 15 and a trolley control unit 16. Figure 3 As shown, the platform 11 is formed into a substantially rectangular shape when viewed from above and is arranged horizontally apart from the ground. In addition, the trolley 10 as the main body is provided with a loading and unloading portion 17 as a support portion on the upper surface of the platform 11, and a detection portion 30 is provided on the rear upper surface of the platform 11 in the front-rear direction.

[0045] The left and right side portions 12 are provided so as to extend downward from the left and right edges of the platform 11. A space for the travel device 20 to enter is defined between the left and right side portions 12 on the lower side of the platform 11. Left and right leg portions 13 extending in the front-back direction are provided on the lower side of each of the side portions 12. Front wheels 14 for travel are provided on the lower front part of the leg portions 13, and rear wheels 15 for travel are provided on the lower rear part of the leg portions 13. In addition, the total of four front wheels 14 and rear wheels 15 are universal wheels whose travel direction can be changed. In addition, stoppers are provided on the two rear wheels 15.

[0046] 2-2. Carriage Control Unit 16 (Determination Unit 161)

[0047] The trolley control unit 16 is a microcomputer mainly composed of a CPU, ROM, RAM, and various interfaces, and controls the operation of the trolley 10 (specifically, the operation of the loading and unloading unit 17 ) by executing various programs (not shown).

[0048] In addition, if Figure 1 and Figure 4 As shown, the trolley control unit 16 can communicate with the management device 8. In addition, the trolley control unit 16 of the present embodiment is provided with a judgment unit 161, which obtains the detection result S output from the connected detection unit 30. The judgment unit 161 judges whether the feeder F as an article is installed or removed (plugged or unplugged) relative to the silo M as a box body based on the detection result S of the detection unit 30. In addition, the trolley control unit 16 communicates with the management device 8, and when the judgment unit 161 judges that the feeder F is installed or removed (plugged or unplugged), the report information J related to the installation or removal (installation or removal) of the feeder F is output to the management device 8. Therefore, in the present embodiment, the management device 8 can quickly notify the operator or the manager, etc., of the installation or removal (plugging or unplugging) of the feeder F, for example.

[0049] In addition, in this embodiment, the case where the determination unit 161 is provided in the vehicle control unit 16 is exemplified. However, the determination unit 161 can also be provided in a control device other than the vehicle control unit 16 (for example, the travel control unit 25 described later) or various computing devices. In addition, the determination unit 161 can also be provided in the management device 8 that can communicate with the vehicle control unit 16. In addition, the determination unit 161 can also be formed on the cloud.

[0050] 2-3. Loading and unloading section 17 (support section)

[0051] The loading and unloading section 17 loads and unloads the silo M containing the feeder F or an empty silo from the front side of the trolley 10 in the front-to-back direction. Figure 3 As shown, the loading and unloading section 17 is composed of a main roller 171, six driving rollers 172, a guide roller 173, a locking mechanism 174, a locking hook 175, an operation panel 176, and a driving motor (not shown). The three types of rollers are cylindrical or cylindrical components extending in the left-right direction and are supported so as to be able to rotate around the central axis. The guide roller 173, the three driving rollers 172, the main roller 171, and the three driving rollers 172 are arranged in sequence from the front side to the rear side of the carriage 10.

[0052] The main roller 171 is driven by the forward rotation and reverse rotation of the driving motor, and rotates in the forward and reverse directions. The six driving rollers 172 are connected to the main roller 171 by a transmission belt (not shown), and rotate synchronously in the same rotation direction and at the same rotation speed as the main roller 171. The guide roller 173 is not applied with a driving force and can rotate freely. The bin M (including the transported objects C such as the shelf T) is loaded by the forward rotation of the main roller 171 and the driving roller 172, and the bin M (including the transported objects C such as the shelf T) is unloaded by the reverse rotation. The driving and stopping control of the driving motor and the control of the rotation direction are performed by the trolley control unit 16.

[0053] The locking mechanism 174 is arranged behind the rearmost driving roller 172. The locking mechanism 174 uses a locking hook 175 to lock the loaded bin M (including the transported objects C such as the rack T). Figure 3 As shown, the front side of the locking hook 175 is bent upward, and is supported by an elastic member so as to be able to swing in the up-down direction.

[0054] Thus, when loading the silo M (including the conveyed objects C such as the rack T), the locking hook 175 temporarily descends and then rises, thereby automatically locking with the locked portion (not shown) provided at the rear end of the silo M (including the conveyed objects C such as the rack T). Alternatively, the locking hook 175 temporarily descends and then rises, thereby automatically embedding into the locked hole provided at the rear end of the silo M (including the conveyed objects C such as the rack T). On the other hand, before the silo M (including the conveyed objects C such as the rack T) is about to be unloaded, the locking hook 175 is driven by, for example, an electromagnetic solenoid not shown in the figure, and descends to release the locking of the silo M (including the conveyed objects C such as the rack T). In addition, in this case, the action of the electromagnetic solenoid is controlled by the trolley control unit 16.

[0055] As described above, the loading and unloading action of the loading and unloading section 17 is mainly performed automatically through the control of the trolley control section 16. In addition, by operating the operation panel 176 arranged at the rear of the cargo platform 11, a part of the action of the loading and unloading section 17 can be manually operated. Specifically, by operating the operation panel 176, for example, when the loading and unloading section 17 stops due to an abnormality (error) in the loading and unloading action, it is possible to perform an error release in the case of a so-called error stop or to perform an emergency stop of the loading and unloading section 17. Here, in order to enable the loading and unloading section 17 to perform stable loading and unloading actions, it is important that the feeder transport vehicle VF, more specifically the trolley 10, transports (moves) along the transport path set by the pre-set transport plan, and stops accurately at the stop position, and at the stop position is directly opposite to the transport destination as the transport target.

[0056] Here, the trolley 10 is provided with a power receiving connector (not shown) on the platform 11. The power receiving connector is arranged, for example, in a manner facing the travel device 20 that enters into the space formed between the bottom plate of the platform 11, that is, the left and right side parts 12. Therefore, when the trolley 10 and the travel device 20 are connected, the power receiving connector is engaged with the power supply connector (not shown) provided on the travel device 20 side. In addition, the power supply connector is connected to the battery (not shown) built into the travel device 20. Therefore, by engaging the power receiving connector on the trolley 10 side with the power supply connector on the travel device 20 side, the power for driving the trolley control unit 16 and the loading and unloading unit 17 is supplied from the battery on the travel device 20 side. That is, there is no need to provide a battery for supplying power for driving the trolley control unit 16 and the loading and unloading unit 17 on the trolley 10.

[0057] In addition, the trolley 10 is provided with a connecting mechanism for connecting with the travel device 20 that enters the space formed between the left and right side parts 12 relative to the bottom plate of the stage 11. In addition, the trolley 10 is provided with a positioning mechanism (buffer) that can position the trolley 10, that is, the feeder transport vehicle VF, when the transported object C is loaded and unloaded relative to the front of the stage 11. The structure and operation of the connecting mechanism and the positioning mechanism are not directly related to this embodiment, and therefore the description is omitted.

[0058] 2-4. Traveling device 20

[0059] like Figure 2 As shown, the travel device 20 comprises a device body 21, a pair of left and right driving wheels 22 (in Figure 2 Only the left side is shown), a pair of left and right front wheels 23 (in Figure 2 Only the left side is shown), a pair of left and right rear wheels 24 (in Figure 2The device body 21 is composed of a driving control unit 25, an operation panel 26, a driving motor (not shown), etc. The device body 21 is a rectangular parallelepiped shape that is long in the front-back direction and has rounded corners when viewed from above. The device body 21 is arranged horizontally and slightly separated from the ground.

[0060] The driving wheels 22 are arranged at the middle position in the front-rear direction of the lower side of the device body 21. Each driving wheel 22 is driven by the forward and reverse rotation of the travel motor controlled by the travel control unit 25. Each driving wheel 22 can rotate at different rotation speeds and different rotation directions. Thus, the travel device 20 can move forward, backward, and change direction freely.

[0061] The front wheel 23 is arranged at a position forward of the driving wheel 22 in the front-rear direction of the lower side of the device body 21. The rear wheel 24 is arranged at a position backward of the driving wheel 22 in the front-rear direction of the lower side of the device body 21. In addition, the total of four front wheels 23 and rear wheels 24 are universal wheels with variable driving directions. The front wheels 23 and rear wheels 24 follow the rotation conditions of the driving wheels 22 and rotate slavingly. In addition, the distance between the left and right wheels, that is, the tread width, is, for example, the largest at the driving wheel 22, the smallest at the front wheel 23, and the intermediate value at the rear wheel 24. In this way, by making the tread width of the driving wheel 22 the largest, it is possible to ensure good steering performance of the travel device 20.

[0062] The travel control unit 25 is a microcomputer mainly composed of a CPU, ROM, RAM, and various interfaces. The travel control unit 25 controls the operation of the travel device 20 (specifically, the driving, stopping, and rotation direction of the travel motor) by executing various programs not shown.

[0063] In addition, if Figure 1 As shown, the travel control unit 25 can communicate with the management device 8. Thus, the travel control unit 25 can control the travel of the travel device 20 according to the transport path and the transport target set by the transport plan through communication with the management device 8. In addition, the travel control unit 25 can communicate with the trolley control unit 16 in a state where the trolley 10 is connected to the travel device 20. Thus, the trolley control unit 16 can obtain various information related to travel (movement) including the positions of the feeder transport vehicle VF and the reel transport vehicle VR from the travel control unit 25.

[0064] Here, as the travel device 20, for example, an AGV (Automatic Guided Vehicle) can be used. In this case, the travel device 20 is provided with a belt detection unit that detects a path display belt (see FIG. 1 ) provided on the floor of the production line PL corresponding to the transport path and the transport target. Figure 1 ), and outputs the detection result to the travel control unit 25. Thus, the travel control unit 25 controls the control amount of the (travel motor) driving the wheel 22 according to the detection result output from the belt detection unit, so that the travel device 20 travels along the transport path and stops at the transport target. In addition, the belt detection unit is arranged at the front position and the rear position in the front-rear direction on the center line of the lower side of the device body 21. In addition, the path display belt can use a magnetic display method or an optical display method belt.

[0065] As described above, the travel of the travel device 20 is autonomously performed by the control of the travel control unit 25. In addition, by operating the operation panel 26 disposed at the rear portion of the upper surface of the device body 21, a part of the operation of the travel device 20 can be manually operated. Specifically, by operating the operation panel 26, for example, a stop caused by an error related to the travel of the travel device 20 (for example, an abnormality such as a path deviation or a stop position deviation), an error cancellation in the case of a so-called error stop, or an emergency stop of the travel device 20 can be performed.

[0066] 2-5. Detection Unit 30

[0067] The detection unit 30 detects the attachment or detachment of a feeder F (reel R, etc.) as an article to a bin M (shelf T, etc.) as a box body mounted on the loading and unloading unit 17, which is a support portion of the cart 10, during the transport of the transported object C. Specifically, Figure 2 and Figure 3 As shown, the detection unit 30 of the present embodiment is arranged on the upper surface behind the stage 11 in the front-rear direction of the vehicle 10 .

[0068] In more detail, Figure 2 As shown, the detection unit 30 of the present embodiment is arranged on the upper surface of the cargo platform 11 in a manner to be located near the opening M1 of the silo M supported by the loading and unloading unit 17. Thus, the detection unit 30 of the present embodiment detects the presence or absence of the feeder F as an article at the opening M1 of the silo M, that is, the insertion and removal of the feeder F (the removal of the article) through the opening M1.

[0069] And, if Figure 4 As shown, when the detection unit 30 detects that the feeder F is inserted or removed from the bin M, the detection result S is output to the determination unit 161 of the carriage control unit 16. Thus, when the detection unit 30 detects the presence of the feeder F at the opening M1, the determination unit 161 determines that the feeder F has been inserted or removed (installed or removed).

[0070] The detection unit 30 detects insertion and removal of the feeder F as an article based on a physical quantity that can be measured electromagnetically. Therefore, in the present embodiment, for example, the detection unit 30 including a photoelectric sensor using light as an electromagnetic wave is exemplified.

[0071] like Figure 2 and Figure 3 As shown, the detection unit 30 of this embodiment includes a light emitting unit 31 and a light receiving unit 32. Therefore, when the light emitted from the light emitting unit 31 to the light receiving unit 32 is received by the light receiving unit 32, the emitted light is not blocked, that is, the feeder F does not exist in the opening M1 and the feeder F is not inserted or removed, so the detection unit 30 does not output the detection result S.

[0072] On the other hand, when the light emitted from the light emitting unit 31 to the light receiving unit 32 is not received by the light receiving unit 32, or when the light receiving unit 32 is not received for a light shielding time that can be preset based on the time required for plugging and unplugging the feeder F, the emitted light is blocked, that is, the feeder F is present in the opening M1 and the feeder F is plugged and unplugged, so the detection unit 30 outputs the detection result S. In addition, the situation where the light receiving unit 32 cannot receive light for more than the light shielding time is assumed to be, for example, the poor accommodation of the feeder F relative to the bin M (the feeder F falls off, etc.) caused by vibration during the travel (movement) of the feeder transport vehicle VF. In this case, the detection unit 30 also outputs the detection result S to the trolley control unit 16.

[0073] Here, after the judgment unit 161 judges that the feeder F has been inserted or removed (installed or removed), if the detection unit 30 does not continuously detect the presence of the feeder F for a predetermined time (for example, the light shielding time that can be appropriately set as described above) or more, it judges that the feeder F has been installed or removed. In addition, the carriage control unit 16 and the travel control unit 25 cooperate to continue the transportation of the transported object C when the judgment unit 161 judges that the feeder F has been inserted or removed (installed or removed).

[0074] On the other hand, when the detection unit 30 continues to detect the presence of the feeder F for more than a predetermined time due to, for example, the above-mentioned fall of the feeder F, the determination unit 161 determines that the attachment and detachment of the feeder F is not completed. In addition, the vehicle control unit 16 and the travel control unit 25 cooperate to stop the transportation of the transported object C when the determination unit 161 determines that the insertion and removal (attachment and detachment) of the feeder F is not completed. In this way, it is possible to prevent the feeder F from falling from the material bin M in the middle of the transportation by the feeder transport vehicle VF.

[0075] In addition, when the judging unit 161 judges that the feeder F is inserted or removed, the trolley control unit 16 Figure 4As shown, the report information J indicating that the feeder F is plugged or unplugged during transportation is output to the management device 8 provided outside through communication. That is, when the judging unit 161 judges that the feeder F as an article is attached or detached during transportation of the conveyed object C, the trolley control unit 16 can output the report information J related to the plugging or unplugging (attachment or detachment) of the feeder F to the management device 8.

[0076] Here, when the management device 8 obtains the report information J from the carriage control unit 16 of the feeder transport vehicle VF, it notifies (or warns) the operator or the manager using the notification device. That is, the notification device notifies, for example, that the feeder F is plugged in or out of the bin M during the transportation to the buffer station 5 by the feeder transport vehicle VF. In addition, as the notification device, for example, a display device provided in the management device 8, a display device provided in the production line PL, or a portable terminal held by the operator, a sound speaker, etc. can be exemplified.

[0077] It can also be understood from the above description that the feeder transport vehicle VF (reel transport vehicle VR) as the unmanned transport vehicle of the present embodiment is an unmanned transport vehicle capable of transporting a transport object C, which includes a feeder F (reel R) as an item used in a buffer station 5 and a component mounting machine 6 as a substrate operation machine and a bin M (shelf T) as a box body for holding the feeder F (reel R) in a detachable manner. The feeder transport vehicle VF (reel transport vehicle VR) comprises: a trolley 10 as a main body; a loading and unloading portion 17, which is provided on the trolley 10 and serves as a supporting portion for supporting the bin M (shelf T); a detection portion 30, which is provided on the trolley 10 and detects the presence or absence of the feeder F (reel R) relative to the bin M (shelf T) during the transportation of the transport object C; and a judgment portion 161, which judges whether the feeder F (reel R) has been disassembled (plugged in) relative to the bin M (shelf T) based on the detection result S of the detection portion 30.

[0078] According to the feeder transport vehicle VF and the reel transport vehicle VR, the detection unit 30 can quickly detect the insertion and removal of the feeder F from the silo M and the removal and installation of the reel R from the shelf T during the transportation of the transported object C. Furthermore, according to the feeder transport vehicle VF and the reel transport vehicle VR, when the judgment unit 161 judges that the feeder F is inserted or removed from the silo M and the reel R is removed or installed from the shelf T based on the detection result S of the detection unit 30, the report information J can be output to the management device 8, etc., and the operator or the manager can be notified quickly. Thus, for example, even if the feeder F is inserted or removed from the silo M and the reel R is removed or installed from the shelf T during the transportation of the transported object C, the occurrence of shortage of components required for production can be suppressed, and as a result, the influence on production can be suppressed to a minimum.

[0079] 3. First Modification

[0080] In the above-mentioned embodiment, the case where the detection unit 30 detects the presence or absence of the feeder F as an article at the opening M1 of the silo M as a box body supported on the stage 11 of the carriage 10 is exemplified. In this case, the judgment unit 161 judges that the feeder F is inserted or removed through the opening M1 of the silo M during the transportation of the transported object C by the feeder transport vehicle VF as an unmanned transport vehicle. As a result, the carriage control unit 16 can output the report information J to the management device 8.

[0081] However, it is preferable that, when a feeder F that is not included in the transport plan including the pre-set attachment and detachment of the feeder F (reel R) to the silo M (shelf T) and the attachment and detachment of the silo M (shelf T) to the loading and unloading unit 17 is inserted and removed, the inserted and removed feeder F can be identified. That is, when a feeder F that is not included in the transport plan, that is, undesired, is inserted and removed, for example, from the viewpoint of reducing the influence of the shortage of components on production, it is preferable to identify the inserted and removed feeder F, that is, the component predicted to be insufficient. Specifically, since the position of the feeder F stored in the silo M is pre-set by the transport plan, it is preferable to detect the position of the inserted and removed feeder F relative to the silo M.

[0082] Therefore, in the first modification, if Figure 5 As shown, the detection unit 30 is arranged on the stage 11 of the carriage 10 so as to be located below the feeder F as an article via the slit M3 (see also Figure 7 ), the slit M3 is a gap provided in the bottom surface M2 of the box body, that is, the silo M supported by the loading and unloading part 17 as a supporting part. In more detail, as Figure 6 As shown, the detection unit 30 of the first variant is arranged at a position below the driving roller 172 which is closer to the rear side than the main roller 171 of the loading and unloading unit 17, and is arranged to be consistent with the formation position of the slit M3 when supported by the box body M, for example, consistent with the gap between the driving rollers 172 formed in the front and rear directions.

[0083] Furthermore, in order to detect the presence or absence of the feeder F relative to the bin M, the detection unit 30 of the first modified example is arranged in plurality corresponding to the width (pitch) of the feeder F accommodated in the bin M. In other words, the detection unit 30 of the first modified example is arranged in a one-to-one relationship with the feeder F accommodated in the bin M.

[0084] The detection unit 30 of the first modification also includes a photoelectric sensor using light as an electromagnetic wave, similarly to the detection unit 30 of the above-mentioned embodiment. Figure 7As shown in the enlarged view, the detection unit 30 of the first modified example includes a light emitting unit 33 and a light receiving unit 34. Thus, when the light emitting unit 33 of the detection unit 30 disposed at a position where the feeder F is accommodated in the bin M emits light upward, the light is reflected on the lower surface of the accommodated feeder F (i.e., present inside the bin M), and the reflected light is received by the light receiving unit 34. On the other hand, the detection unit 30 disposed at a position where the feeder F is not accommodated in the bin M (i.e., there is no feeder F inside the bin M) does not generate reflected light even if the light emitting unit 33 emits light upward, and as a result, the light receiving unit 34 does not receive the reflected light.

[0085] Therefore, the judgment unit 161 of the first modified example outputs the detection result S when, for example, the light receiving unit 34 of the detection unit 30 changes from a state of receiving reflected light to a state of not being able to receive reflected light during the transportation of the transported object C by the feeder transport vehicle VF. In addition, when, for example, the light receiving unit 34 changes from a state of not receiving reflected light to a state of receiving reflected light, the feeder F is accommodated (inserted) in the bin M, and the detection result S is output. Here, in the first modified example, the detection unit 30 outputs the detection result S by associating the identification information (identification number, etc.) for identifying itself with the detection result S.

[0086] In addition, the judgment unit 161 of the first modified example does not output the detection result S when, for example, the state in which the light receiving unit 34 receives reflected light does not change before loading and unloading at the handover position (handling target) in the transport plan during the transport of the transport object C by the feeder transport vehicle VF. In addition, the judgment unit 161 does not output the detection result S when, for example, the state in which the light receiving unit 34 does not receive reflected light does not change before loading and unloading at the handover position (handling target). In addition, the judgment unit 161 does not output the detection result S when, for example, the state in which the light receiving unit 34 does not receive reflected light does not change before loading and unloading at the handover position (handling target).

[0087] That is, the judgment unit 161 of the first modified example judges that the feeder F has been plugged in or out (attached or removed) based on the switching of the presence or absence state of the feeder F detected by the detection unit 30, specifically, based on the change in the detection result S generated by the state in which the light receiving unit 34 receives the reflected light or the state in which the light receiving unit 34 does not receive the reflected light. And in the first modified example, when the judgment unit 161 judges that the feeder F has been plugged in or out (attached or removed) based on the detection result S of the detection unit 30, the carriage control unit 16 outputs the report information J indicating that the feeder F has been plugged in or out during the conveyance of the conveyed object C, and the identification information (identification number) of the detection unit 30 for identifying the feeder F after plugging or out, to the management device 8 through communication. That is, when the detection unit 30 of the first variant detects the installation or removal of a feeder F as an article during the transportation of the conveyed object C, it can output the insertion or removal (installation or removal) situation and the position of the article that has been inserted or removed (installed or removed), i.e., the feeder F, relative to the silo M to the management device 8 as report information J related to the detected insertion or removal (installation or removal) of the feeder F.

[0088] Here, in the first variant, the management device 8 also notifies (or alarms) the operator or the manager using the notification device when the report information J is obtained from the trolley control unit 16 of the feeder carrier VF. However, in the first variant, for example, in the middle of the transportation to the buffer station 5 by the feeder carrier VF, in addition to notifying the insertion and removal of the feeder F relative to the silo M, the position of the feeder F accommodated (inserted) in the silo M or removed (pulled out) is also notified. Therefore, in the first variant, in addition to being able to obtain the same effect as the above-mentioned embodiment, the position of the feeder F after insertion and removal (the position of the item after disassembly) can also be detected. As a result, for example, the operator or the manager can quickly determine the original parts that are predicted to be insufficient, and as a result, it is possible to respond more quickly such as replenishment and further reduce the impact on production.

[0089] 4. Second Modification

[0090] In the above-mentioned embodiment and the above-mentioned first modification, the detection unit 30 detects the insertion and removal (installation and removal) of the feeder F as an article based on the physical quantity that can be measured electromagnetically. However, when the feeder F stored in the bin M as a box body or the reel R placed on the shelf T is inserted or removed (installed and removed), the state of the bin M or the shelf T changes.

[0091] For example, the feeder F and the reel R have a certain degree of weight. Therefore, when the feeder F is inserted or removed from the silo M, the weight of the silo M supported by the loading and unloading section 17 as a support section and the feeder F stored in the silo M, that is, the conveyed object C, changes. Similarly, when the reel R is installed or removed from the rack T, the weight of the rack T supported by the loading and unloading section 17 and the reel R placed on the rack T, that is, the conveyed object C, changes.

[0092] Therefore, in the second modification, the detection unit 30 detects a physical quantity that can be measured in association with the state change of the silo M or the rack T as a box. And the judgment unit 161 judges the attachment (insertion) and removal of the feeder F or the reel R as an article based on the change of the physical quantity detected by the detection unit 30. Specifically, the detection unit 30 of the second modification measures the weight of the silo M or the rack T as a box, that is, the transported object C, which changes when the feeder F or the reel R is attached or removed (inserted) as a physical quantity.

[0093] In the second variant, if Figure 8 As shown in FIG. 1 , the detection unit 30 is provided on the platform 11 of the trolley 10 so as to be located below the box body, that is, the silo M or the shelf T, which is supported by the loading and unloading unit 17 as a support unit. Fig. 9 As shown, the detection unit 30 of the second variant is arranged at the rear of the platform 11 in the front-to-back direction, and is arranged between the lower surface of the material bin M or the shelf T in a supported state and the upper surface of the platform 11, that is, it is arranged to be clamped by the lower surface of the material bin M or the shelf T and the upper surface of the platform 11.

[0094] As described above, the detection unit 30 of the second modification example measures the weight that can be measured in association with the state change of the silo M or the shelf T. Here, the detection unit 30 of the second modification example includes a piezoelectric element that converts the pressure generated when the silo M or the shelf T is clamped by the stage 11 into an electrical signal. In addition, the pressure converted into an electrical signal and output can be easily converted into weight by multiplying the area of ​​the lower surface of the silo M or the shelf T.

[0095] When the detection unit 30 uses a piezoelectric element to measure the weight, there is no displacement of the silo M or the shelf T supported by the loading and unloading unit 17 in the upward and downward directions. Therefore, in the second modified example in which the detection unit 30 measures the weight of the conveyed object C, there is no obstacle to the loading and unloading operation of the silo M or the shelf T performed by the loading and unloading unit 17. In addition, when measuring the weight of the conveyed object C, for example, when using a conventional weight meter, the conveyed object C supported by the loading and unloading unit 17 needs to be displaced in the upward and downward directions when measuring the weight. Therefore, when the loading and unloading unit 17 loads and unloads the silo M or the shelf T, for example, at the buffer station 5, there is a difference between the height of the loading and unloading unit 17 and the height of the buffer station 5, and as a result, there is a possibility that loading and unloading cannot be performed and the operation stops in error.

[0096] The judgment unit 161 of the second modified example judges that the feeder F or the reel R has been detached (inserted or unplugged) when, for example, the weight measured relative to the reference weight determined based on the weight of one feeder F or the reel R increases or decreases by more than the reference weight during the transportation of the object C by the feeder transport vehicle VF. In addition, when the measured weight does not change before loading and unloading at the handover position (transportation target) during the transportation of the object C by the feeder transport vehicle VF, the judgment unit 161 of the second modified example judges that the feeder F or the reel R has not been detached (inserted or unplugged). In addition, as Fig. 9 As shown, when the detection units 30 are arranged on the left and right, even if the exact position cannot be determined, especially for the bin M, it can be assumed that the feeder F is inserted or removed on the right or left side.

[0097] Thus, in the second modification, when the judgment unit 161 judges that the feeder F (reel R) is attached or detached (plugged or unplugged) based on the detection result S of the detection unit 30, the carriage control unit 16 also outputs the report information J indicating that the feeder F or the reel R is attached or detached (plugged or unplugged) during the transportation of the transported object C to the management device 8 through communication. Here, in the second modification, when the management device 8 obtains the report information J from the carriage control unit 16 of the feeder transport vehicle VF, it notifies (or alarms) the operator or the manager using the notification device. That is, in the second modification, for example, it is also notified that the feeder F is plugged or unplugged relative to the silo M during the transportation to the buffer station 5 by the feeder transport vehicle VF. Therefore, in the second modification, the same effect as the above-mentioned embodiment can be obtained.

[0098] In addition, in the second variant, two detection units are provided, for example, to detect the weight change of the left and right sides of the silo M, or to average the detected weight. However, the number of detection units 30 in the second variant is not limited, and may be one, or may be three or more. Fig. 9 As shown in FIG. 1 , the detection unit 30 is arranged at the rear of the stage 11 in the front-rear direction. However, the arrangement of the detection unit 30 of the second modified example is not limited to the rear of the stage 11 in the front-rear direction. Figure 8 and Fig. 9 As shown by the dashed line, the detection unit 30 may be arranged at the center in the front-rear direction of the stage 11. That is, the arrangement of the detection unit 30 can be changed appropriately according to the shape of the silo M or the shelf T.

[0099] 5. Third Modification

[0100] In the above-mentioned embodiment, the above-mentioned first variant and the above-mentioned second variant, the detection unit 30 always detects the presence or absence of the feeder F or the reel R as the object when transporting the silo M or the shelf T as the transported object C, and the judgment unit 161 always judges whether the feeder F or the reel R has been installed or removed (plugged in) or not. However, the detection unit 30 and the judgment unit 161 are not limited to always detecting the presence or absence of the feeder F or the reel R as the object and judging whether the installation or removal (plugging in) has been performed as described above. That is, the detection unit 30 and the judgment unit 161 may also detect the presence or absence of the feeder F or the reel R and judge whether the installation or removal (plugging in) has been performed, for example, when a predetermined state occurs. The third variant is described below.

[0101] The detection unit 30 of the third modification example detects the presence or absence of the feeder F or the reel R when a predetermined state occurs during the transportation of the transported object C. In addition, the determination unit 161 of the third modification example determines whether the feeder F or the reel R is installed or removed (inserted or removed) when a predetermined state occurs during the transportation of the transported object C. Here, in the third modification example, Fig.10 As shown, when a predetermined state occurs, the determination unit 161 outputs a detection command D to the detection unit 30 for detecting the presence or absence of an article, specifically, the presence or absence of a feeder F (reel R) relative to a magazine M (shelf T).

[0102] Here, as a predetermined state, for example, a state in which it is possible to attach (insert) or detach (remove) the feeder F or the reel R which is not included in the above-mentioned transport plan, that is, an undesired feeder F or a reel R can be exemplified. Specifically, for example, in a state in which the feeder transport vehicle VF or the reel transport vehicle VR stops unexpectedly at a place other than the transport target on the transport path, it is easier to attach (insert) or detach the feeder F or the reel R with respect to the bin M or the rack T than in a state in which the feeder transport vehicle VF or the reel transport vehicle VR is traveling (moving).

[0103] Therefore, for example, the judgment unit 161 outputs a detection instruction D to the detection unit 30 based on a predetermined position on the transport path during the transport of the transported object C or a regular timing during the transport of the transported object C. As a result, the detection unit 30 detects the presence or absence of the feeder F or the reel R at a predetermined position on the transport path or according to a regular timing, and outputs the detection result S to the judgment unit 161 (trolley control unit 16). In addition, the judgment unit 161 determines the removal (insertion and removal) of the feeder F or the reel R based on the detection result S obtained at a predetermined position on the transport path or at a regular opportunity. In addition, the trolley control unit 16 equipped with the judgment unit 161 grasps the pre-set transport plan, and grasps the status of the feeder transport vehicle VF or the reel transport vehicle VR based on various information obtained from the travel control unit 25.

[0104] Here, in the third modification, the detection unit 30 detects the presence or absence of the feeder F or the reel R at a predetermined position on the transport path or at a regular timing, and the determination unit 161 determines whether the feeder F or the reel R is attached or detached (plugged or unplugged). However, for example, the detection unit 30 may always detect the presence or absence of the feeder F or the reel R during the transport of the transported object C, and only the determination unit 161 determines whether the feeder F or the reel R is attached or detached (plugged or unplugged) at a predetermined position on the transport path or at a regular timing. That is, in this case, the determination unit 161 does not output the detection instruction D to the detection unit 30.

[0105] Alternatively, the determination unit 161 may always determine the attachment or removal (insertion or removal) of the feeder F or the reel R during the conveyance of the conveyed object C based on the detection result S that does not change for a certain period of time, and the detection unit 30 may detect the presence or absence of the feeder F or the reel R at a predetermined position on the conveyance path or at a regular timing. That is, in this case, when the determination unit 161 outputs the detection instruction D to the detection unit 30 at a predetermined position or at a regular timing, the determination unit 161 determines the attachment or removal (insertion or removal) of the feeder F or the reel R based on the updated detection result S.

[0106] In addition, as a predetermined state, for example, a state in which the above-mentioned abnormality (error) occurs during the conveying of the conveyed object C and then the conveyed object C is recovered can be exemplified. In this case, the judgment unit 161 judges the attachment (insertion) and removal (removal) of the feeder F or the reel R as the article in the first state in which the abnormality (error) occurs and the second state in which the abnormality (error) is recovered as the predetermined state. In addition, signals such as error stop are collected in the carriage control unit 16.

[0107] Furthermore, the judging unit 161 outputs a detection command D to the detection unit 30, for example, when the trolley control unit 16 judges that the first state has occurred. Thus, the judging unit 161 judges whether the feeder F or the reel R or other items are attached or detached (inserted or unattached) based on the state in which the abnormality (error) has occurred, in other words, based on the detection result S before recovery from the abnormality (error). Furthermore, the judging unit 161 outputs a detection command D to the detection unit 30, for example, when the trolley control unit 16 judges that the second state has occurred. Thus, the judging unit 161 judges whether the feeder F or the reel R or other items are attached or detached (inserted or unattached) based on the detection result S after recovery from the abnormality (error).

[0108] That is, when the first state in which an abnormality (error) occurs and the second state in which the abnormality (error) is recovered occurs, that is, before and after the abnormality (error) is recovered as a predetermined state, the determination unit 161 outputs the detection command D to the detection unit 30. Thus, the determination unit 161 determines the attachment (insertion) or removal (removal) of the feeder F or the reel R, etc., based on the change in the detection result S of the detection unit 30 before and after the abnormality (error) is recovered.

[0109] In addition, as the predetermined state, for example, the state of handing over the conveyed object C can be exemplified. In this case, the judgment unit 161 judges the attachment and removal (plugging and unplugging) of the feeder F or the reel R as the article as the predetermined state, more specifically, in the third state before handing over the conveyed object C from the feeder transport vehicle VF or the reel transport vehicle VR to the buffer station 5 and in the fourth state after handing over the conveyed object C from the buffer station 5 to the feeder transport vehicle VF or the reel transport vehicle VR. In addition, as described above, the carriage control unit 16 controls the loading and unloading of the conveyed object C by the loading and unloading unit 17, that is, the handing over of the conveyed object C to the substrate operation machine.

[0110] Furthermore, when the carriage control unit 16 determines that the third state has occurred, for example, the determination unit 161 outputs a detection command D to the detection unit 30. Thus, the determination unit 161 determines the attachment and removal (insertion and removal) of an article such as a feeder F or a reel R based on the detection result S before the delivery of the conveyed object C. Furthermore, when the carriage control unit 16 determines that the fourth state has occurred, for example, the determination unit 161 outputs a detection command D to the detection unit 30. Thus, the determination unit 161 detects the attachment and removal (insertion and removal) of an article such as a feeder F or a reel R based on the detection result S after the delivery of the conveyed object C.

[0111] That is, when the third state before the delivery of the conveyed object C and the fourth state after the delivery of the conveyed object C occur, that is, before and after the delivery of the conveyed object C as the predetermined state, the judgment unit 161 outputs the detection instruction D to the detection unit 30. As a result, the detection unit 30 detects the presence or absence of the feeder F relative to the bin M or the presence or absence of the reel R relative to the shelf T before and after the delivery of the conveyed object C, and the judgment unit 161 determines the attachment or detachment (insertion or removal) of the feeder F or the reel R based on the change in the detection result S of the detection unit 30 before and after the delivery of the conveyed object C.

[0112] Therefore, in the third modification, in particular, in a predetermined state where the feeder F or the reel R is likely to be attached or detached (inserted or unattached), the attachment or detachment (insertion or unattachment) of the feeder F or the reel R can be determined intensively, in other words, can be monitored. As for other effects, the same effects as those of the above-mentioned embodiment, the first modification, and the second modification can be obtained.

[0113] Description of Reference Numerals

[0114] 1…Warehouse, 1a…Inlet and outlet, 2…External production changeover adjustment area, 3…Automatic belt handling device, 4…Tape reel loading device, 5…Buffer station (for substrate operation machine), 6…Component mounting machine (for substrate operation machine), 7…Loader, 8…Management device, 10…Trolley (main body), 11…Carrier, 12…Side part, 13…Leg, 14…Front wheel, 15…Rear wheel, 16…Trolley control unit, 161…Judgment unit, 17…Loading and unloading unit (support unit), 171…Main roller, 172…Drive roller, 173…Guide roller, 174…Lock mechanism, 175…Lock hook, 176… 6…operation panel, 20…travel device, 21…device body, 22…drive wheel, 23…front wheel, 24…rear wheel, 25…travel control unit, 26…operation panel, 30…detection unit, 31…light emitting unit, 32…light receiving unit, 33…light emitting unit, 34…light receiving unit, S…production line, VR…reel transport vehicle (automatic guided vehicle), VF…feeder transport vehicle (automatic guided vehicle), C…transported object, T…shelf (box), R…reel (article), M…silo (box), F…tape feeder (article), S…detection result, J…report information, D…detection instruction

Claims

1. An unmanned guided vehicle capable of transporting objects, the objects including articles used in a substrate processing machine and a box for holding the articles in a detachable manner, the unmanned guided vehicle comprising: main body; A support part, provided on the main body, supporting the box body; a detection unit, provided in the main body, for detecting the presence or absence of the article in the box during the transportation of the transported object; and The determination unit determines whether the article has been placed in or removed from the box based on the detection result obtained by the detection unit.

2. The unmanned guided vehicle according to claim 1, wherein: The detection unit detects the presence or absence of the article at an opening of the box supported by the support unit for loading and unloading the article. The determination unit determines that the article has been attached or detached when the detection unit detects the presence of the article.

3. The unmanned guided vehicle according to claim 2, wherein: After the judgment unit determines that the article has been assembled or disassembled, if the detection unit does not continuously detect the presence of the article for more than a predetermined time, the judgment unit determines that the assembly or disassembly of the article has been completed; if the detection unit continuously detects the presence of the article for more than the predetermined time, the judgment unit determines that the assembly or disassembly of the article has not been completed.

4. The unmanned guided vehicle according to claim 2, wherein: When the determination unit determines that the attachment and detachment of the article is completed, the transportation of the transported object is continued, and when the determination unit determines that the attachment and detachment of the article is not completed, the transportation of the transported object is stopped.

5. The unmanned guided vehicle according to claim 1, wherein: The detection unit is arranged below the article through a slit provided on the bottom surface of the box supported by the support unit, and detects the presence or absence of the article. The determination unit determines that the article has been attached or detached based on the switching of the presence or absence state of the article obtained by the detection unit.

6. The unmanned guided vehicle according to claim 5, wherein: The detection unit detects a position where the article is installed or removed from the box.

7. The unmanned guided vehicle according to claim 1, wherein: The detection unit detects a physical quantity that can be measured in association with a state change of the housing. The determination unit determines whether the article is attached or detached based on a change in the physical quantity detected by the detection unit.

8. The unmanned guided vehicle according to claim 7, wherein: The physical quantity is the weight of the transported object.

9. The unmanned guided vehicle according to claim 1, wherein: When the determination unit determines that the article has been attached or detached, report information on the attachment or detachment of the article is output to a management device that manages transportation of the transported object.

10. The unmanned guided vehicle according to claim 1, wherein: The determination unit determines attachment or detachment of the article that is not included in a transport plan, wherein the transport plan includes a preset attachment or detachment of the article to or from the box and an attachment or detachment of the box to or from the support unit.

11. The unmanned guided vehicle according to claim 10, wherein: At least one of detection of the presence or absence of the article by the detection unit and determination of attachment or detachment of the article by the determination unit is performed at a predetermined position during the transportation of the article or at a regular timing during the transportation of the article.

12. The unmanned guided vehicle according to claim 10, wherein: When an abnormality occurs in the conveyance of the conveyed object, the determination unit determines whether to attach or detach the article based on a change in the detection result of the detection unit before and after recovery from the abnormality.

13. The unmanned guided vehicle according to claim 1, wherein: The detection unit detects the presence or absence of the article in the box before and after the delivery of the transported object.

14. The unmanned guided vehicle according to claim 1 or 2, wherein: The article is a feeder for supplying components to the substrate operation machine. The box is a silo capable of plugging in and out a plurality of the feeders. The detection unit detects insertion and removal of the feeder with respect to the silo during conveyance of the conveyed object.

Images