Article transport system and article transport procedure

Abstract

An article transport system comprises a station, a cart, a sensing section, and a control section. The station is configured to feed an article used by a printed circuit board (PCB) processing machine, which performs a predetermined PCB operation on a printed circuit board. The cart is configured to automatically transport the article to and from the station and to move it. The sensing section is located at the station and / or the cart and is configured to detect the relative position between the station and the cart. When the sensing section detects that the relative position is within a first range where the article can be fed between the station and the cart, the control section allows the article to be fed between the station and the cart.If the detection section does not detect that the relative position is in the first area, the control section prevents the item from being fed between the station and the cart.

Description

Technical area

[0001] The present invention provides a technique for an article transport system and an article transport method.

[0002] An article transport system described in Patent Literature 1 includes a station group, a first communication device, and a determination section. In the station group, a plurality of stations capable of supplying an article used for a printed circuit board work machine that performs a predetermined circuit board work on a printed circuit board are arranged side by side. The determination section determines, using the first communication device, whether a transport vehicle has arrived at a destination station, which is the station where the transport vehicle is to deliver or receive the article.

[0003] An automated guided vehicle system described in Patent Literature 2 includes a marking magnetic tape on a floor surface and performs transportation by towing a towed vehicle using an automated guided vehicle. The automated guided vehicle includes a front sensor capable of detecting the marked magnetic tape on a floor surface of the automated guided vehicle. Reference listPatent literature Patent Literature 1: WO 2021 / 144866 Patent Literature 2: JP-A-2020-044859 Summary of the inventionProblem

[0004] In the article transport system described in Patent Literature 1 and the automated guided vehicle system described in Patent Literature 2, it can be determined that a cart has arrived at the station where the cart is to deliver or receive the article, but feeding the article between the station and the cart may be difficult depending on the positional relationship between the station and the cart.

[0005] In view of these circumstances, the present invention provides an article conveying system and an article conveying method that can reliably perform the feeding of an article between a station and a carriage. Problem solving

[0006] The present invention provides an article transport system comprising a station, a carriage, a detection section, and a control section. The station is configured to feed an article used for a printed circuit board work machine that performs a predetermined circuit board work on a printed circuit board. The carriage is configured to automatically feed the article into and out of the station and move it. The detection section is provided at the station and / or the carriage and is configured to detect a relative position between the station and the carriage.The control section is configured to allow feeding of the article between the station and the carriage when the detecting section detects that the relative position is within a first range in which the article can be fed between the station and the carriage, and to prohibit feeding of the article between the station and the carriage when the detecting section does not detect that the relative position is within the first range.

[0007] The present invention provides an article transporting method comprising a detecting step and a controlling step. The detecting step detects a relative position between a station configured to feed an article intended for a circuit board work machine that performs a predetermined circuit board work on a circuit board, and a carriage configured to automatically transport the article into or out of the station and to travel. The controlling step allows feeding of the article between the station and the carriage when the detecting step detects that the relative position is within a first range in which the article can be fed between the station and the carriage, and prohibits feeding of the article between the station and the carriage when the detecting step does not detect that the relative position is within the first range.

[0008] It should be noted that the present invention provides a technical idea according to which, in claim 3 of the original claims of the present application (hereinafter referred to as the original claims), the phrase "article transport system according to claim 1" is modified to "article transport system according to claim 1 or 2." Furthermore, the present invention provides a technical idea according to which, in claim 5 of the original claims, the phrase "article transport system according to claim 3" is modified to "article transport system according to claim 3 or 4." Furthermore, the present invention provides a technical idea according to which, in claim 8 of the original claims, the phrase "article transport system according to claim 3" is modified to "article transport system according to any one of claims 3 to 7."Furthermore, the present invention provides a technical idea according to which, in claim 9 of the original claims, the passage "article transport system according to claim 3" is modified to "article transport system according to any one of claims 3 to 8." Furthermore, the present invention provides a technical idea according to which, in claim 11 of the original claims, the passage "article transport system according to claim 3" is modified to "article transport system according to any one of claims 3 to 10." Advantageous effects of the invention

[0009] In the article transport system, if the detection section detects that the relative position between the station and the carriage is within the first range, the control section permits feeding of the article between the station and the carriage. If the detection section does not detect that the relative position between the station and the carriage is within the first range, the control section prohibits feeding of the article between the station and the carriage. Thus, the article transport system can reliably perform feeding of the article between the station and the carriage. The above description of the article transport system also applies accordingly to the article transport method. Brief description of the drawings Fig. 1 is a plan view showing a configuration example of a production facility. Fig. 2 is a partial perspective view showing a configuration example of a station and a car. Fig. 3 is a perspective view showing a state in which a receiving case for receiving an article is mounted on the carriage in Fig. 2 is mounted. Fig. 4 is a block diagram showing an example of a control block of an article transport system. Fig. 5 is a flowchart showing an example of a control procedure according to the article transport system. Fig. 6 is a diagram showing an example of determination and control according to the control timing. Fig. 7 is a partial perspective view showing an example of a state of a detector when a station-side contact part and a car-side contact part are not in contact with each other. Fig. 8 is a partial perspective view showing an example of a state of the detector when the station-side contact part and the car-side contact part are in contact with each other. Fig. 9 is a schematic view showing an example of the positional relationship between the station and the car. Fig. 10 is a perspective view showing another configuration example of the car. Description of Embodiments 1. Embodiment 1-1. Configuration example of the production plant

[0010] The article transport system 80 can be applied to various production plants 1 that manufacture printed circuit board products. As shown in Fig. 1, the production plant 1 of the embodiment comprises at least one (four in Fig. 1) Component mounter 10, an exchange system 30, an article moving device 40, a station group 50, a carriage 60, an automated guided vehicle 70, a line control device LC0, a production management device WC0, and a transportation management device CC0. In the following description, the horizontal width direction of the component mounter 10 and the printed circuit board transportation device are defined as the X direction. Furthermore, a horizontal depth direction of the component mounter 10 and a direction perpendicular to the X direction in the horizontal plane are defined as the Y direction. Furthermore, a vertical direction perpendicular to the X direction and the Y direction is defined as the Z direction.

[0011] At least one (or four) component mounters 10 are installed along the conveying direction of the printed circuit board (X direction). The component mounter 10 is included in a printed circuit board working machine WM0, which performs predetermined circuit board work on a printed circuit board. The component mounter 10 mounts a plurality of components on a printed circuit board, which is conveyed in and positioned at a predetermined position, and conveys out the printed circuit board on which the components have been mounted. That is, the printed circuit board work performed by the component mounter 10 includes a circuit board insertion work, a positioning work, and a circuit board removal work. Furthermore, the printed circuit board work performed by the component mounter 10 includes a component feeding work, a collecting work, and a mounting work.

[0012] For example, the component mounter 10 includes a component feeder that feeds components to be mounted on a circuit board. A plurality of feeders 20 are attachably and detachably provided in the component feeder. The feeder 20 is provided in an article AR0 used for component mounting work by the component mounter 10. Furthermore, the component feeder includes at least one slot in which a plurality of feeders 20 can be mounted. The component feeder of this embodiment is provided at two positions, namely a first position and a second position.

[0013] The first position holds the installed feeder 20 in an operable state. The operation of the feeder 20 installed in the first position is controlled by the component mounter 10 during circuit board work, and the components are sequentially fed by a pick-up section provided at a predetermined position of the feeder 20. The second position is a position below the first position for storing the installed feeder 20. Thus, the second position temporarily holds the feeder 20 used for production and further temporarily holds a feeder 20 that has already been used for production.

[0014] The work of exchanging the feeder 20 between the first position and the second position and the work of refilling and retrieving the feeder 20 are performed using the exchange system 30 and the article moving device 40. In particular, as shown in Fig. 1, the exchange system 30 includes a first rail 31 and a second rail 32. The first rail 31 and the second rail 32 form a movement path of the article moving device 40. The first rail 31 and the second rail 32 are provided along an arrangement direction of at least one component mounter 10 (or four component mounters 10) (along the transport direction (X direction) of the printed circuit board). The first rail 31 and the second rail 32 extend over substantially the entire area of ​​the transport direction (X direction) of the printed circuit board in the production facility 1.

[0015] The article moving device 40 is provided so that it can move along the movement path formed by the first rail 31 and the second rail 32. The article moving device 40 receives a power supplied from a power transmission section by means of a contactless power supply and, for example, via a power receiving section arranged opposite a power transmission section in the first rail 31. The power received by the power receiving section is used for the movement of the article moving device 40, a predetermined work, or the like via a power receiving circuit. Note that the article moving device 40 detects, for example, a position (current position) on the movement path by a position detecting device.The position detecting means may detect the position (current position) of the article moving means 40 on the moving path by, for example, optical position detection, position detection using electromagnetic induction, etc.

[0016] Furthermore, the predetermined work described above includes an exchange work for exchanging a device such as the component mounter 10, which is attachably and detachably provided in the printed circuit board working machine WM0, with the printed circuit board working machine WM0. In this embodiment, the article moving device 40 uses the feeder 20 that feeds the components to be mounted on the printed circuit board, and performs the exchange work of the feeder 20 with the component mounter 10, which is the printed circuit board working machine WM0. Furthermore, the article moving device 40 can perform the exchange work of the feeder 20 with the station group 50.

[0017] Specifically, the moving device 40 performs the exchange work of the feeder 20 between the first position and the second position of the component feeding device of the component mounter 10. Furthermore, the article moving device 40 transports the feeder 20 from the station group 50 to the first position or the second position of the component feeding device and performs the replenishment work of the feeder 20. Furthermore, the article moving device 40 transports the feeder 20, which is no longer needed in the component mounter 10, from the component feeding device to the station group 50 and performs the recovery work of the feeder 20.

[0018] The station group 50 is located on a PCB insertion side (on the left side in the drawing of Fig. 1) of the production plant 1. As in Fig. 1 and Fig. 2, the station group 50 is provided with at least one station 50s (two stations 50s in Fig. 1 and Fig. 2) configured to feed an article AR0 used for the printed circuit board processing machine WM0, such as a feeder 20. The station 50s only needs to be capable of feeding the article AR0 and can take various forms. For example, the station 50s includes a plurality of rollers with which it can transport the article AR0 from the carriage 60 into and transport the article AR0 out of the carriage 60.

[0019] The Station 50s can also be a Fig. 3, which can accommodate an article AR0. In this case, too, the station 50s can transport the receptacle housing 90 from the carriage 60 by means of a plurality of rollers and can transport the receptacle housing 90 out of the carriage 60. The receptacle housing 90 includes, for example, four slots, and the feeder 20 can be provided in each of these slots. The feeder 20, which is installed in the slot of the receptacle housing 90 transported to the station 50s, is supplied with power from the station 50s via the receptacle housing 90 and is thereby placed in a state in which it can communicate with the line controller LC0. As a result, identification information of the slot of the receptacle housing 90 and the feeder 20 installed in the slot are associated with each other and recorded in the line controller LC0.

[0020] The cart 60 is configured to automatically transport an article AR0 into or out of the station 50s and to move it. The cart 60 need only be capable of automatically performing the operations described above and can have various forms. For example, the cart 60 comprises Fig. 2 and Fig. 3 shows a cart main body portion 61, a loading platform 62, and several (for example, four) wheels 63. The loading platform 62 is provided on the upper part of the cart main body portion 61 and can be mounted with the article AR0. As shown in Fig. 3, the loading platform 62 may be equipped with a receiving housing 90 capable of receiving the article AR0.

[0021] The loading platform 62 includes a plurality of rollers 62a and can transport an article AR0 into the station 50s and can transport an article AR0 out of the station 50s. Furthermore, the loading platform 62 can transport the receiving housing 90 into the station 50s and can transport the receiving housing 90 out of the station 50s. The loading platform 62 fixes the article AR0 or the receiving housing 90 except when the article AR0 or the receiving housing 90 is being transported into or out of the station 50s. The loading platform 62 releases the fixation of the article AR0 or the receiving housing 90 when the article AR0 or the receiving housing 90 is being transported into or out of the station 50s.

[0022] A plurality of (four) wheels 63 are provided at the lower part of the cart main body portion 61 so that the cart 60 can move. The cart 60 of this embodiment is towed and moved by the driverless vehicle 70. Specifically, when the driverless vehicle 70 is disposed at the lower part of the cart main body portion 61, the driverless vehicle 70 is connected to the cart main body portion 61 so that it can tow the cart 60. The driverless vehicle 70 only needs to be capable of automatic movement, and various known driverless vehicles can be used.

[0023] The line control device LC0 can input and output various data to and from the devices of the production line 1 via a network. The line control device LC0 monitors the operating status of the production line 1 and controls the printed circuit board processing machine WM0, such as the component mounter 10, the exchange system 30, the article movement device 40, and the station group 50. The line control device LC0 stores various data for controlling the printed circuit board processing machine WM0, the exchange system 30, the article movement device 40, and the station group 50.

[0024] The production management facility WC0 can have at least one (in Fig. 1 manage a production facility 1. The production management device WC0 is provided such that it can communicate with the line control device LC0 of at least one production facility 1, and can manage the production of printed circuit board products by at least one production facility 1. The transportation management device CC0 can manage the cart 60 and the driverless vehicle 70. The transportation management device CC0 is provided such that it can communicate with the cart 60, the driverless vehicle 70, the line control device LC0, and the production management device WC0. The transportation management device CC0 causes the cart 60 and the driverless vehicle 70 to move based on the production status of the printed circuit board products in the production facility 1, and causes the cart 60 to perform feeding of the article AR0.

[0025] As in Fig. As shown in Figure 1, the production facility 1 is provided with a guide member 85. The guide member 85 is a link provided along the movement route of the carriage 60 and guides the movement of the carriage 60. The carriage 60 moves while detecting the guide member 85. The guide member 85 only needs to be capable of guiding the movement of the carriage 60 and can have various forms. For example, the guide member 85 includes a guide member M0 that indicates a movement path of the carriage 60 and an indicator member S0 that serves as an indicator during the movement of the carriage 60. The guide member M0 and the indicator member S0 improve the movement accuracy of the carriage 60.

[0026] The guide member M0 and the indicator member S0 can have various shapes. In the embodiment, the guide member M0 and the indicator member S0 are formed from a magnetic tape. Furthermore, the carriage 60 of the embodiment is towed by the driverless vehicle 70. The driverless vehicle 70 towing the carriage 60 can prevent the driverless vehicle 70 (the carriage 60) from deviating from the intended movement path by causing the driverless vehicle 70 to move while detecting the guide member M0. The driverless vehicle 70 can detect the movement position of the driverless vehicle 70 (the carriage 60) by detecting the indicator member S0.

[0027] For example, the indicator member 50 includes a reference member indicating a reference position S10, a passage member indicating a passage position S20, and a target member indicating a target position S30. Furthermore, since the station group 50 of the embodiment includes two stations 50s, the passage member includes a first passage member indicating a first passage position S21 and a second passage member indicating a second passage position S22. The target member includes a first target member indicating a first target position S31 and a second target member indicating a second target position S32. For example, the driverless vehicle 70 towing the cart 60 detects that the driverless vehicle 70 (the cart 60) first moves past the position S21 by detecting the first passage member.For example, if the driverless vehicle 70 (the carriage 60) and the transport management device CC0 communicate with each other and the transport management device CC0 can detect the moving position of the driverless vehicle 70 (the carriage 60), the indicator element S0 can be omitted.

[0028] The driverless vehicle 70 towing the carriage 60 moves to the destination station 50s along a previously programmed movement route or a movement route instructed by the transportation management device CC0. For example, consider a case where the station 50s is located on the left side of the drawing of Fig. 1 is the target station 50s, and the driverless vehicle 70 towing the cart 60 is moving from the reference position S10 to the first target position S31. In this case, when the driverless vehicle 70 towing the cart 60 detects the first through link, the driverless vehicle 70 turns 90 degrees to the right and then continues straight ahead. Then, the driverless vehicle 70 stops towing the cart 60 when the first target link is detected.

[0029] The same applies if the station 50s on the right side of the drawing of Fig. 1 is the target station 50s, and the driverless vehicle 70 towing the cart 60 is moved from the reference position S10 to the second target position S32. In this case, when the driverless vehicle 70 towing the cart 60 detects the second through link, the driverless vehicle 70 turns 90 degrees to the right and continues straight. Then, the driverless vehicle 70 towing the cart 60 stops when the second target link is detected. The driverless vehicle 70 towing the cart 60 can detect the station 50s when the distance between the driverless vehicle 70 and the station 50s becomes equal to or shorter than a predetermined distance, and can stop even if the first target link or the second target link is not detected.

[0030] When arriving at the destination station 50s, the cart 60 delivers the article AR0 or the receptacle 90 to the station 50s, and the station 50s receives the article AR0 or the receptacle 90 from the cart 60. Further, the station 50s may deliver the article AR0 or the receptacle 90 to the cart 60, and the cart 60 may receive the article AR0 or the receptacle 90 from the station 50s.

[0031] Furthermore, the carriage 60 can also deliver an article AR0 or a receiving housing 90 to the first station 50s, move to the second station 50s, and receive an article AR0 or a receiving housing 90 from the station 50s. Furthermore, the carriage 60 can receive an article AR0 or a receiving housing 90 from the first station 50s, move to the second station 50s, and deliver the article AR0 or the receiving housing 90 received from the first station 50s to the second station 50s. The following description describes feeding the article AR0. The article AR0 does not have to be received in a receiving housing 90, but can be received in a receiving housing 90. 1-2. Configuration example of the article transport system 80

[0032] Depending on the positional relationship between the station 50s and the carriage 60, it may be difficult to feed the article AR0 between the station 50s and the carriage 60. For example, at the position where the carriage 60 has stopped after detecting the target link, the relative position between the station 50s and the carriage 60 may be spaced such that feeding the article AR0 is difficult, or the relative angle between the station 50s and the carriage 60 may be inclined such that feeding the article AR0 is difficult. In this case, the article AR0 may fall during feeding of the article AR0. In the embodiment, the article transport system 80 is provided.

[0033] The article transport system 80 includes the station 50s, the carriage 60, a detection section 81, and a control section 82. The article transport system 80 may include a position detection section 83. The article transport system 80 may include a flag processing section 84. The article transport system 80 may include a guide part 85. As shown in Fig. 4, the article transport system 80 of the embodiment includes the station 50s, the carriage 60, the detection section 81, the control section 82, the position detection section 83, the flag processing section 84, and the guide part 85. Furthermore, the carriage 60 of this embodiment is towed by the driverless vehicle 70.

[0034] The detection section 81, the control section 82, the position detection section 83, and the flag processing section 84 may be provided in various detectors, storage devices, arithmetic devices, control devices, management devices, etc. For example, the detection section 81, the control section 82, the position detection section 83, and the flag processing section 84 may be provided in the station 50s, the carriage 60, the driverless vehicle 70, etc. The control section 82, the position detection section 83, and / or the flag processing section 84 may be provided in the line control device LC0, the production management device WC0, the transportation management device CC0, etc.

[0035] The control section 82, the position detection section 83 and / or the flag processing section 84 may be provided in a cloud. As in Fig. As shown in FIG. 4, in the article transport system 80 of this embodiment, the detection section 81 is provided on the carriage 60. The control section 82 and the flag processing section 84 are provided in the transport management device CC0. The position detection section 83 is provided in the driverless vehicle 70 towing the carriage 60. The guide part 85 is provided on a floor surface of the production facility 1.

[0036] The article transport system 80 of this embodiment performs control according to the Fig. 5. The detection section 81 performs the processing shown in step SP1. The control section 82 performs the processing and determination shown in steps SP2 to SP6. Fig. 6 shows an example of the determination and control shown in step SP6. 1-2-1. Recording section 81

[0037] The detecting section 81 is provided at the station 50s and / or the carriage 60 and detects the relative position 81p between the station 50s and the carriage 60 (step SP1 in Fig. 5). The detecting section 81 only needs to be able to detect the relative position 81b and can take various forms. For example, the detecting section 81 can detect the relative position 81p between the station 50s and the carriage 60 (the relative position 81p of the carriage 60 with respect to the station 50s or the relative position 81p of the station 50s with respect to the carriage 60, hereinafter the same) using a range sensor such as a laser displacement meter. The detecting section 81 can also detect the relative angle between the station 50s and the carriage 60 (the relative angle of the carriage 60 with respect to the station 50s or the relative angle of the station 50s with respect to the carriage 60, hereinafter the same) using a range sensor such as a laser displacement meter.

[0038] The detection section 81 can also detect the relative position 81p between the station-side contact part 50t provided at the station 50s and the carriage-side contact part 60t provided at the carriage 60. The detection section 81 can also detect the relative angle between the station-side contact part 50t and the carriage-side contact part 60t. The detection section 81 can also detect whether the station-side contact part 50t and the carriage-side contact part 60t are in contact with each other. As shown in Fig. 2 and Fig. 3, the detecting section 81 of the embodiment is provided on the carriage main body portion 61 on the feed direction side of the carriage 60. The detecting section 81 may also be provided at the station 50s. The detecting section 81 may also be provided at both the station 50s and the carriage 60.

[0039] As in Fig. 7 and Fig. As shown in Fig. 8, the carriage main body portion 61 includes a pushing part 61a, a pair of holding parts 61b and 61b, and a pair of elastic members 61c and 61c. The pushing part 61a corresponds to the carriage-side contact part 60t. The pushing part 61a is provided along the width direction of the carriage 60 on the carriage main body portion 61 on the feed direction side of the carriage 60. The pushing part 61a is formed, for example, of metal, a hard resin, or the like so that it can withstand a predetermined number of contacts with the station-side contact part 50t. The pushing part 61a only needs to be capable of coming into contact with the station-side contact part 50t provided along the width direction of the station 50s and can have various shapes. For example, the pushing part 61a of the embodiment has a plate-like rod shape.

[0040] The abutting part 61a can come into contact with the station-side contact part 50t at at least two points spaced apart by a predetermined distance in the width direction of the carriage 60. Specifically, the abutting part 61a includes a pair of support rods 61a1 and 61a1 at positions spaced apart by a predetermined distance in the width direction of the carriage 60. Similar to the abutting part 61a, a pair of support rods 61a1 and 61a1 are formed in a cylindrical columnar rod shape, for example, from metal, hard resin, or the like.

[0041] Each of the pair of holding parts 61b and 61b includes a holding hole extending in the advancing and retreating directions of the carriage 60. The holding hole holds the holding rod 61a1 movably in the advancing and retreating directions of the carriage 60. The pair of holding parts 61b and 61b hold the pushing part 61a movably along the advancing and retreating directions of the carriage 60 with respect to the carriage main body portion 61. Each pair of holding parts 61b and 61b includes a contact plate 61b1 on the retreating direction side of the carriage 60. The contact plate 61b1 is formed larger than the outer diameter of the holding hole and prevents the holding rod 61a1 from slipping out of the holding part 61b in the advancing direction of the carriage 60.

[0042] The pair of elastic members 61c and 61c are provided between the pushing part 61a and the pair of holding parts 61b and 61b. Specifically, each pair of elastic members 61c and 61c surrounds the outer peripheral surface of the holding rod 61a1. For example, cylindrical coil springs can be used as the pair of elastic members 61c and 61c. The pair of elastic members 61c and 61c can expand and contract in the advancing and retracting directions of the carriage 60 and are mounted in a compressed state.

[0043] That is, the pushing part 61a is biased by the pair of elastic members 61c and 61c toward the feed direction side of the carriage 60 with respect to the carriage main body portion 61. Therefore, when the pushing part 61a and the station-side contact part 50t are not in contact with each other, the contact plate 61b1 is held in contact with the holding part 61b. When the pushing part 61a comes into contact with the station-side contact part 50t, the pair of elastic members 61c and 61c are further compressed to absorb the shock while the pushing part 61a and the station-side contact part 50t come into contact with each other.

[0044] The detection section 81 detects whether the abutment part 61a corresponding to the carriage-side contact part 60t and the station-side contact part 50t are in contact with each other. The detection section 81 of the embodiment includes a sensor bar 81a and a light shield detection sensor 81b. As shown in Fig. 7 and Fig. As shown in Figure 8, the sensor beam 81a is formed from a plate member having an L-shape and is attached to the contact plate 61b1. The light-shielding detection sensor 81b is provided above the support part 61b in the vertical direction. The light-shielding detection sensor 81b includes a light-emitting portion and a light-receiving portion spaced apart from each other in the vertical direction, and detects whether the detection light emitted from the light-emitting portion to the light-receiving portion is in a light-shielding state in which the light is shielded by the sensor beam 81a.

[0045] If, as in Fig. As shown in Figure 7, when the abutting portion 61a corresponding to the carriage-side contact portion 60t and the station-side contact portion 50t are not in contact with each other, the contact plate 61b1 is in contact with the holding portion 61b. In this case, the sensor beam 81a is inserted between the light-emitting portion and the light-receiving portion of the light-shielding detection sensor 81b, and the light-shielding detection sensor 81b detects the light-shielding state. In this way, the detection portion 81b can detect that the abutting portion 61a corresponding to the carriage-side contact portion 60t and the station-side contact portion 50t are not in contact with each other (or are spaced apart from each other).

[0046] When the pushing part 61a corresponding to the carriage-side contact part 60t and the station-side contact part 50t are in contact with each other and the carriage 60 moves further to the station 50s, the elastic member 61c is compressed. Accordingly, as in Fig. As shown in Figure 8, the pushing part 61a, the support rod 61a1, the contact plate 61b1, and the sensor beam 81a move relative to the carriage main body portion 61 toward the retreat direction side of the carriage 60. At this time, the contact plate 61b1 is spaced apart from the supporting part 61b. In this case, the sensor beam 81a is not positioned between the light emitting portion and the light receiving portion of the light shielding detection sensor 81b, and the light shielding detection sensor 81b detects that the detection light is not in the light shielding state (light receiving state). In this way, the detection portion 81b can detect that the pushing part 61a corresponding to the carriage-side contact part 60t and the station-side contact part 50t are in contact with each other.

[0047] The detection section 81 of the embodiment detects contact between the carriage 60 and the station 50s through the light-shielding detection sensor 81b. The detection station 81 may also detect contact using other sensors. For example, the detection section 81 may include a proximity sensor in the support part 61b. The proximity sensor may detect contact by relative movement of the support rod 61a1 in the retraction direction of the carriage 60. The detection section 81 of the embodiment detects a relative position in the Y direction between the abutment part 61a corresponding to the carriage-side contact part 60t and the station-side contact part 50t. The detection section 81 may also detect a relative position in the X direction between the abutment part 61a corresponding to the carriage-side contact part 60t and the station-side contact part 50t.

[0048] Furthermore, in the detection section 81 of the embodiment, a light-shielding detection sensor 81b that detects the contact between the carriage 60 and the station 50s is provided at positions (at two positions spaced apart by a predetermined distance in the X direction) spaced apart by a predetermined distance in the width direction of the carriage 60. The detection section 81 can detect the relative angle between the carriage 60 and the station 50s. Furthermore, the driverless vehicle 70 (the carriage 60) can adjust the movement so that the relative angle becomes zero (so that the carriage-side contact part 60t and the station-side contact part 50t are parallel to each other). 1-2-2. Tax section 82

[0049] As in Fig. For example, as shown in Fig. 9, when the relative position 81p of the carriage 60 with respect to the station 50s is spaced from the station 50s, the distance between the station 50s and the carriage 60 is greater. As the distance is greater, the possibility of the article AR0 falling between the station 50s and the carriage 60 during feeding of the article AR0 is also greater.

[0050] If the detection section 81 detects that the relative position 81p is within the first range R1 in which the article AR0 can be fed between the station 50s and the carriage 60, the control section 82 allows feeding of the article AR0 between the station 50s and the carriage 60. If the detection section 81 does not detect that the relative position 81p is within the first range R1, the control section 82 prohibits feeding of the article AR0 between the station 50s and the carriage 60.

[0051] The first area R1 only needs to be an area where the article AR0 can be fed between the station 50s and the carriage 60, and can be set as desired. The first area R1 can also be set in accordance with, for example, the type of the article AR0 (the size, weight, etc. of the article AR0) and the state of the article AR0 when performing the feeding (whether the article AR0 is accommodated in the accommodation case 90). In any case, the first area R1 can be determined in advance by, for example, simulation, verification by an actual machine, or the like.

[0052] When the station-side contact part 50t provided in the station 50s and the carriage-side contact part 60t provided in the carriage 60 are in contact with each other, no clearance is provided between the station 50s and the carriage 60. In this case, during feeding of the article AR0 between the station 50s and the carriage 60, falling of the article AR0 caused by the clearance can be prevented.

[0053] When the station-side contact part 50t provided in the station 50s and the carriage-side contact part 60t provided in the carriage 60 are in contact with each other, the detection section 81 can detect that the relative position 81p is within the first range R1. When the station-side contact part 50t and the carriage-side contact part 60t are not in contact with each other, the detection section 81 preferably does not detect that the relative position 81p is within the first range R1.

[0054] In the above-described embodiment, when the station-side contact part 50t and the carriage-side contact part 60t are in contact with each other, the control section 82 allows feeding of the article AR0 between the station 50s and the carriage 60. When the station-side contact part 50t and the carriage-side contact part 60t are not in contact with each other (spaced apart from each other), the control section 82 prohibits feeding of the article AR0 between the station 50s and the carriage 60. The above description of the station 50s, the carriage 60, the detecting section 81, and the control section 82 also apply to the embodiments described below. 1-2-3. Position detection section 83, flag processing section 84 and guide part 85

[0055] In the above-described embodiment, the control section 82 determines whether feeding of the article AR0 between the station 50s and the carriage 60 is permitted based on the detection result detected by the detection section 81. For example, there is a possibility of a failure occurring in the production line 1, for example, an abnormality may occur in the detector 81s of the detection section 81 (corresponding to the above-described light shield detection sensor 81b).

[0056] The article transport system 80 of the embodiment includes a position detection section 83, a flag processing section 84, and a guide part 85. The position detection section 83 detects the movement position 60p at which the carriage 60 moves. As described above, the guide part 85 is a member provided along the movement route of the carriage 60 and guides the movement of the carriage 60. The carriage 60 (in the embodiment, the driverless vehicle 70 towing the carriage 60) moves while detecting the guide part 85.

[0057] Specifically, the guide part 85 includes the guide member M0, which indicates the movement path of the carriage 60, and the indicator member S0, which serves as an indicator during the movement of the carriage 60. The driverless vehicle 70 towing the carriage 60 can prevent the driverless vehicle 70 (carriage 60) from deviating from the movement path to be followed by ensuring that the driverless vehicle 70 detects the guide member M0 during the movement. The driverless vehicle 70 can detect the movement position of the driverless vehicle 70 (carriage 60) by detecting the indicator member S0.

[0058] The flag processing section 84 sets the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detecting section 83 reaches the target position S30 at which the carriage 60 performs feeding of the article AR0 to and from the station 50s, or at a time when the moving position 60p of the carriage 60 enters a second area R2 where an adjustment operation to the target position S30 is performed. Furthermore, the flag processing section 84 cancels the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30, or at a time when the moving position 60p of the carriage 60 is retreated outside the second area R2.

[0059] Thus, the flag processing section 84 may set the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 reaches the target position S30, and may cancel the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 is far from the target position S30. The flag processing section 84 may set the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 enters the second area R2, and may cancel the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 is retreated outside the second area R2.

[0060] Furthermore, the flag processing section 84 may set the first flag F1 at a time point F1 when the moving position 60p of the carriage 60 detected by the position detection section 83 reaches the target position S30, and may cancel the first flag F1 at a time point when the moving position 60p of the carriage 60 detected by the position detection section 83 is too far away from the second area R2. The flag processing section 84 may set the first flag F1 at a time point when the moving position 60p of the carriage 60 detected by the position detection section 83 enters the second area R2, and may cancel the first flag F1 at a time point when the moving position 60p of the carriage 60 detected by the position detection section 83 is too far away from the target position S30.

[0061] The flag processing section 84 of the embodiment operates while the carriage 60 is automatically operated. The adjustment operation includes an operation for bringing the carriage 60 closer to the target position S30 and simultaneously adjusting the position and angle of the carriage 60 with respect to the station 50s in a movement to the target position S30, at which the carriage 60 performs feeding of the article AR0 to and from the station 50s. For example, consider a case where the station 50s is located on the left side of the drawing of Fig. 1 is a destination station 50s and a driverless vehicle 70 towing the carriage 60 moves from the reference position S10 to the first destination position S31.

[0062] In this case, when the driverless vehicle 70 towing the carriage 60 detects the first passage link indicating the first passage position S21, the driverless vehicle 70 turns 90 degrees to the right and then continues straight. The adjustment operation is performed while the driverless vehicle 70 towing the carriage 60 moves from the first position S21 to the first target position S31. Specifically, the driverless vehicle 70 towing the carriage 60 brings the carriage 60 closer to the target position S30, and at the same time, the position and angle of the carriage 60 are adjusted so that the station-side contact part 50t and the carriage-side contact part 60t are brought closer to each other in a parallel state. In this case, the second range R2 is a range from the first passage position S21 to the first target position S31.Accordingly, the adjustment operation is performed while the driverless vehicle 70 towing the carriage 60 is moving from the second passing position S22 to the second target position S32. In this case, the second range R2 is a range from the second passing position S22 to the second target position S32.

[0063] Therefore, when the moving position 60p of the carriage 60 detected by the position detecting section 83 enters the second area R2, there is a possibility that the station 50s and the carriage 60 are brought closer to each other. When the moving position 60p of the carriage 60 detected by the position detecting section 83 reaches the target position S30, the station 50s and the carriage 60 are already brought closer to each other. The flag processing section 84 sets the first flag F1 at these times. Conversely, the flag processing section 84 cancels the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30, or at a time when the moving position 60p of the carriage 60 is retreated outside the second area R2.Accordingly, the control section 82 can detect a state in which the station 50s and the carriage 60 have already been brought closer to each other, or a possibility of bringing the station 50s and the carriage 60 closer together.

[0064] The second area R2 can be set optionally. For example, the second area R2 can be set in an area (a area a predetermined distance from the station 50s) where interference with other members including the station 50s is possible upon rotation of the carriage 60. Furthermore, the flag processing section 84 can cancel the first flag F1 not only at a time when the carriage 60 arrives at the destination station 50s, delivers the article AR0, and then is spaced apart from the destination station 50s by a predetermined distance, but also at various other times. For example, the flag processing section 84 can cancel the first flag F1 at a time when the driverless vehicle 70 towing the carriage 60 starts moving from the reference position S10.Furthermore, the flag processing section 84 may cancel the first flag F1 at a time when the carriage 60 returns to a normal state after an abnormality occurs in the carriage 60 and is spaced from the station 50s by a predetermined distance. The flag processing section 84 may resume control of the carriage 60 after stopping control of the carriage 60 and may cancel the first flag F1 at a time when the carriage 60 is spaced from the station 50s by a predetermined distance.

[0065] The first flag F1 can be provided in memory areas in various memory devices. For example, as in Fig. As shown in Figure 4, the first flag F1 is provided in a predetermined storage area of ​​the storage device 84s of the transport management device CC0. When the first flag F1 is set by the flag processing section 84, high-level information (for example, a 1) is stored in the storage area. When the first flag F1 is cleared by the flag processing section 84, low-level information (for example, a 0) is stored in the storage area. The above description of the storage device also applies accordingly to the second flag F2 described below.

[0066] In the embodiment in which the article transport system 80 includes the position detection section 83 and the flag processing section 84, the control section 82 may perform the determination and control of Fig. 6 (steps SP2 to SP6 in Fig. 5). The article transport system 80 of the embodiment may employ a configuration in which the following determinations and controls are optionally combined. For example, when the detecting section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has set the first flag F1, the detection result detected by the detecting section 81 does not contradict the state of the first flag F1 processed by the flag processing section 84. Similarly, when the detecting section 81 does not detect that the relative position 81p is within the first range R1, and the flag processing section 84 has not set the first flag F1, the detection result detected by the detecting section 81 does not contradict the state of the first flag F1 processed by the flag processing section 84.Accordingly, the control section 82 determines that the processing performed by the detection section 81 and the flag processing section 84 is in a normal state.

[0067] On the other hand, if the detection section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has not set the first flag F1, the detection result detected by the detection section 81 contradicts the state of the first flag F1 processed by the flag processing section 84. Similarly, if the detection section 81 does not detect that the relative position 81p is within the first range R1, and the flag processing section 84 has set the first flag F1, the detection result detected by the detection section 81 contradicts the state of the first flag F1 processed by the flag processing section 84. Accordingly, the control section 82 determines that the processing performed by the detection section 81 and the flag processing section 84 is in an abnormal state.

[0068] When the detecting section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has set the first flag F1, the control section 82 allows feeding of the article AR0 between the station 50s and the carriage 60 (steps SP2 to SP4 in Fig. 5, number 1 in Fig. 6). If the detecting section 81 does not detect that the relative position 81p is within the first range R1, the control section 82 prohibits feeding of the article AR0 between the station 50s and the carriage 60 (steps SP2, SP3 and SP5 in Fig. 5, and number 2 and number 4 in Fig. 6). If the detecting section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has not set the first flag F1, the control section 82 prohibits feeding of the article AR0 between the station 50s and the carriage 60 (steps SP2, SP3 and SP5 in Fig. 5, number 3 in Fig. 6).

[0069] Furthermore, the control section 82 can determine a possibility of a fault in the production plant 1 based on the detection result detected by the detection section 81 and the state of the first flag F1 processed by the flag processing section 84. For example, the time 1 ((1) of number 3 in Fig. 6) at which the carriage 60 moves to the target position S30. At time 1, the normal state is a state in which the detecting section 81 does not detect that the relative position 81p is within the first range R1.

[0070] The control section 82 determines that an abnormality exists in the detector 81s of the detection section 81 that detects the relative position 81p when, at a time when the carriage 60 moves to the target position S30, the detection section 81 detects that the relative position 81p is within the first range R1 and the flag processing section 84 has not set the first flag F1. For example, the Fig. 7 and Fig. 8 is connected to the detector 81s. In this case, for example, a worker checks the detector 81s. If an abnormality (e.g., a fault) is detected in the detector 81s, the worker prohibits use of the production equipment 1 (in the embodiment of the carriage 60) with the detector 81s included therein and performs replacement, repair, or the like.

[0071] Time point 2 ((2) of point 3 in Fig. 6), at which the position detecting section 83 detects that the carriage 60 reaches the target position S30 and begins feeding the article AR0. At time 2, the normal state is a state in which the flag processing section 84 has set the first flag F1. In this case, the control section 82 determines that an abnormality exists in the guide part 85 or carriage 60 if, at the time the position detecting section 83 detects that the carriage 60 reaches the target position S30 and begins feeding the article AR0, the detecting section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has not set the first flag F1.

[0072] For example, the guide element M0 and the indicator element S0 are Fig. 1 in the guide part 85. For example, consider a case where the flag processing section 84 sets the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 reaches the target position S30. However, even if the moving position 60p of the carriage 60 reaches the target position S30, for example, when the target link indicating the target position S30 is removed, there is a possibility that the flag processing section 84 has not set the first flag F1. In addition, the abnormality in the position detection section 83 in the carriage 60 (in the driverless vehicle 70 towing the carriage 60 in the embodiment) is included in the abnormality of the carriage 60. In this case, for example, the worker checks the guide part 85 or the carriage 60.When there is an abnormality in the guide part 85 or the carriage 60, the worker prohibits use of the production equipment 1 provided with the guide part 85 or the carriage 60 and performs replacement, repair, or the like.

[0073] Furthermore, the time 3 at which the car 60 returns to a normal state after the occurrence of an abnormality in the car 60, or the time 4 ((3) of paragraph 3 in Fig. 6) at which control of the carriage 60 is resumed after stopping control of the carriage 60. For example, if the detecting section 81 detects at time 3 or time 4 that the relative position 81p is within the first range R1, and the flag processing section 84 has not set the first flag F1, there is a possibility that the carriage 60 is being moved by the worker.

[0074] The control section 82 retracts the carriage 60 from the second area R2 when, at the time the carriage 60 returns to a normal state after an abnormality occurs in the carriage 60, or at the time the control of the carriage 60 is resumed after the control of the carriage 60 is stopped, the detection section 81 detects that the relative position 81p is within the first area R1, and the flag processing section 84 has not set the first flag F1. As a result, the control section 82 can avoid interference between the carriage 60 and other members, including the station 50s, which may occur when the carriage 60 rotates.

[0075] It should continue to be the point 2 ((1) of number 4 in Fig. 6), at which the position detection section 83 detects that the carriage 60 reaches the target position S30 and begins feeding the article AR0. If, at time 2, the detection section 81 has not detected that the relative position 81p is within the first range R1, and the flag processing section 84 has set the first flag F1, there is a possibility that the movement of the carriage 60 is insufficient.

[0076] The control section 82 moves the carriage 60 to the target position S30 again if, at the time the position detection section 83 detects that the carriage 60 reaches the target position S30 and begins feeding the article AR0, the detection section 81 does not detect that the relative position 81p is within the first range R1 and the flag processing section 84 has set the first flag F1. Furthermore, the control section 82 may stop the movement of the carriage 60 if the detection section 81 does not detect that the relative position 81p is within the first range R1, even if the carriage 60 is moved to the target position S30 a predetermined number of times. In this case, for example, the worker checks the status of the carriage 60.

[0077] At the time 1 when the carriage 60 moves to the target position S30, it may happen that the detecting section 81 does not detect that the relative position 81p is within the first range R1, and the flag processing section 84 has set the first flag F1 ((1) of number 4 in Fig. 6). Specifically, when the carriage 60 moves within the second area R2, the above-described state occurs. In the above-described state, there is a possibility that the station 50s and the carriage 60 are brought closer to each other, and the above-described state is classified as an abnormal state for the sake of simplicity. In this case, too, the movement of the carriage 60 is insufficient, and the control section 82 moves the carriage 60 to the target position S30. When the carriage 60 moves outside the second area R2, it may happen that the detection section 81 does not detect that the relative position 81p is within the first area R1, and the flag processing section 84 has not set the first flag F1 (number 2 of Fig. 6). In this state, there is no possibility that the station 50s and the carriage 60 are brought closer to each other, and the detection result detected by the detection section 81 and the state of the first flag F1 processed by the flag processing section 84 do not contradict each other, and this state is classified as a normal state.

[0078] Furthermore, the time 3 at which the car 60 returns to a normal state after the occurrence of an abnormality in the car 60, or the time 4 ((2) of paragraph 4 in Fig. 6) at which control of the carriage 60 is resumed after stopping control of the carriage 60. For example, if at time 3 or time 4, the detecting section 81 does not detect that the relative position 81p is within the first range R1, and the flag processing section 84 has set the first flag F1, there is a possibility that the carriage 60 may be moved by the worker.

[0079] The control section 82 moves the carriage 60 to the target position S30 after the carriage 60 is retracted from the second area R2 if, at a time when the carriage 60 returns to a normal state after an abnormality occurs in the carriage 60, or at a time when control of the carriage 60 is resumed after stopping the control of the carriage 60, the detection section 81 does not detect that the relative position 81p is within the first area R1, and the flag processing section 84 has set the first flag F1. As a result, the control section 82 can move the carriage 60 to the target position S30 while avoiding interference between the carriage 60 and other members including the station 50s that may occur upon rotation of the carriage 60. 1-2-4. Other embodiments

[0080] The flag processing section 84 of the embodiment operates while the carriage 60 is operating automatically. Therefore, for example, the flag processing section 84 does not change the state of the first flag F1 while an abnormality occurs in the carriage 60. Accordingly, the flag processing section 84 does not change the state of the first flag F1 while control of the carriage 60 is stopped. Accordingly, during the above-described period, the control section 82 can obtain the processing result performed by the flag processing section 84 while the carriage 60 is operating automatically, and can perform the determination and control as described above.

[0081] Furthermore, the flag processing section 84 of the embodiment sets the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 reaches the target position S30, or at a time when the moving position 60p of the carriage 60 enters the second area R2. The flag processing section 84 cancels the first flag F1 at a time when the moving position 60p of the carriage 60 detected by the position detection section 83 is away from the target position S30, or at a time when the moving position 60p of the carriage 60 is retreated outside the second area R2.Accordingly, the flag processing section 84 of the embodiment, for example, does not change the state of the first flag F1 at time 3 when the carriage 60 returns to a normal state after an abnormality occurs in the carriage 60, or at time 4 when control of the carriage 60 is resumed after control of the carriage 60 is stopped. As a result, during automatic operation, the carriage 60 can more reliably feed the article AR0 based on the detection result detected by the detection section 81 and the state of the first flag F1 processed by the flag processing section 84. Furthermore, the control section 82 can determine a fault in the production line 1 or the like.Furthermore, for example, at time 3 or time 4, the control section 82 may determine whether the carriage 60 has been brought closer to the station 50s by the worker or whether the carriage 60 has been moved away from the station 50s by the worker.

[0082] However, the article transport system 80 may include a flag processing section 84 that can cancel the flag regardless of the timing described above. Specifically, the flag processing section 84 of the modified embodiment sets the second flag F2 when the moving position 60p of the automatically operated carriage 60 detected by the position detecting section 83 reaches the target position S30, at which the carriage 60 performs feeding of the article AR0 to and from the station 50s, or enters a second area R2 where the adjustment operation to the target position S30 is performed. And the flag processing section 84 then cancels the second flag F2, regardless of whether the carriage 60 is automatically operated, when the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30 or has retreated outside the second area R2.

[0083] In the modified embodiment, when the detecting section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has set the second flag F2, the control section 82 permits feeding of the article AR0 between the station 50s and the carriage 60. When the detecting section 81 does not detect that the relative position 81p is within the first range R1, or when the detecting section 81 detects that the relative position 81p is within the first range R1, and the flag processing section 84 has not set the second flag F2, the control section 82 prohibits feeding of the article AR0 between the station 50s and the carriage 60.

[0084] The second flag F2 is replaced for convenience to distinguish the second flag F2 from the first flag F1, and is similar to the first flag F1. Furthermore, the above description of the target position S30, the second area R2, the operation of the first flag F1, etc., also applies to the flag processing section 84 of the modified embodiment. Furthermore, the above description of the station 50s, the carriage 60, the detection section 81, and the control section 82 also applies to the flag processing section 84 of the modified embodiment.

[0085] After the second flag F2 is set, the flag processing section 84 of the modified embodiment cancels the second flag F2 regardless of whether the carriage 60 is automatically operated, when the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30 or is retreated outside the second range R2. That is, the flag processing section 84 of the modified embodiment can also cancel the second flag F2 at a time other than the time when the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30 by the automatic operation of the carriage 60, or the time when the moving position 60p of the carriage 60 is retreated outside the second range R2 by the automatic operation of the carriage 60.

[0086] For example, consider time 3 when the carriage 60 returns to a normal state after an abnormality occurs in the carriage 60, or time 4 when control of the carriage 60 is resumed after control of the carriage 60 is stopped. At time 3 or time 4, for example, as described above, there is a possibility that the carriage 60 is moved by the worker. The flag processing section 84 of the modified embodiment determines whether the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30 at time 3 or time 4. If the moving position 60p of the carriage 60 detected by the position detecting section 83 is away from the target position S30, the flag processing section 84 of the modified embodiment cancels the second flag F2 regardless of whether the carriage 60 is operating automatically.When the moving position 60p of the carriage 60 detected by the position detecting section 83 is not far from the target position S30 (the moving position 60p is the target position S30), the flag processing section 84 of the modified embodiment maintains a state in which the second flag F2 is set regardless of whether the carriage 60 is operating automatically. Thus, when the carriage 60 returns to a normal state, the carriage 60 can seamlessly resume automatic operation based on the moving position 60p of the carriage 60.

[0087] Accordingly, when the moving position 60p of the carriage 60 detected by the position detecting section 83 is retreated outside the second range R2, the flag processing section 84 of the modified embodiment can cancel the second flag F2 regardless of whether the carriage is automatically operated. When the moving position 60p of the carriage 60 detected by the position detecting section 83 is not retreated outside the second range R2 (the moving position 60p is within the second range R2), the flag processing section 84 of the modified embodiment can maintain a state in which the second flag F2 is set regardless of whether the carriage 60 is automatically operated. Thus, the flag processing section 84 of the modified embodiment can be executed at any time regardless of whether the carriage 60 is automatically operated.Then, the flag processing section 84 of the modified embodiment can cancel the second flag F2 based on the moving position 60p of the carriage 60 detected by the position detecting section 83, regardless of whether the carriage 60 is operating automatically. Thus, when the carriage 60 returns to a normal state, the carriage 60 can smoothly resume automatic operation based on the moving position 60p of the carriage 60. The position detecting section 83 can detect the moving position 60p of the carriage 60 according to the method described above.

[0088] The printed circuit board processing machine WM0 only needs to perform a predetermined circuit board work on a printed circuit board and is not limited to a component mounter 10. The production facility 1 may include various printed circuit board processing machines WM0. For example, the production facility 1 may include a printed circuit board processing machine WM0 such as a solder printer, a solder inspection machine, a reflow oven, and a visual inspection machine. Accordingly, the article AR0 only needs to be used for the printed circuit board processing machine WM0 and is not limited to the feeder 20. For example, the reel on which a component tape containing components to be mounted on the printed circuit board is wound is included in the article AR0. Furthermore, a component tray in which components to be mounted on the printed circuit board are arranged is included in the article AR0.

[0089] Furthermore, a holding member (for example, a suction nozzle, a chuck, or the like) for collecting and holding the components is included in the article AR0. Furthermore, a mounting head with which the components are mounted on the circuit board using a holding member is included in the article AR0. Furthermore, the holding member receiving device that can receive the holding member is included in the article AR0. When the printed circuit board machine WM0 is a printer that moves a solder along a mask to print the solder on a circuit board using a squeegee, the squeegee, the mask, a support member for holding the circuit board, and a solder container for receiving the solder are included in the article AR0.And when the printed circuit board processing machine WM0 is a component holder 10 or one with a liquid material application mechanism for applying a liquid material such as an adhesive material or solder to each of a plurality of printing positions on a printed circuit board using a print head, a liquid material container for accommodating the liquid material used for the print head and a discharge head, and the liquid material application mechanism are included in the article AR0. The shape of the receiving housing 90 can be modified according to the article AR0 to be accommodated, in which case the loading platform 62 of the carriage 60 can be modified to correspond to the receiving housing 90.

[0090] In the embodiment, the carriage 60 performs feeding of the receiving case 90 with the feeder 20 accommodated therein to and from the station 50s in the station group 50 on the board insertion side of the production line 1. However, the station 50s supplying the article AR0 is not limited to the above-described embodiment. For example, the carriage 60 may perform feeding of the receiving case 90 with the feeder 20 accommodated therein to and from the printed circuit board processing machine WM0. For example, the carriage 60 may perform feeding of the receiving case 90 with the feeder 20 accommodated therein to and from the first position of the component mounter 10. The above-described embodiment can be applied to the printed circuit board processing machine WM0 in the production line 1 as needed.

[0091] Furthermore, the cart 60 is not limited to being towed by the driverless vehicle 70. For example, the cart 60 may be towed as in Fig. 10, a driverless vehicle 70 may be shown to which the above-described cart main body portion 61 and the loading platform 62 are removably attached. Furthermore, the cart 60 may be a driverless vehicle 70 in which the above-described cart main body portion 61 and the loading platform 62 are integrated. The production facility 1 may further include a storage that stores the article AR0. The production facility 1 may be provided with a setup change area in which setup change of the printed circuit board working machine WM0 is performed. The cart 60 can perform feeding of the article AR0 to and from the station 50s provided in the storage and can also perform feeding of the article AR0 to and from the station 50s in the setup change area.

[0092] The detection of the moving position 60p of the carriage 60 by the position detection section 83 is not limited to detecting the detection guide part 85 formed by the magnetic tape. For example, the transportation management device CC0 can detect the moving position 60p of the carriage 60 based on an image or moving image captured by the camera capable of recording the movement route of the carriage 60 and issue a movement command to the carriage 60. Furthermore, the transportation management device CC0 can detect the moving position 60p of the carriage 60 based on the detection result of the sensor installed at a predetermined position on the movement route of the carriage 60 and issue a movement command to the carriage 60. If, as in Fig.As shown in Figure 9, when the moving position 60p of the carriage 60 reaches the target position S30, the relative position 81p between the station 50s and the carriage 60 may be spaced apart from the moving position 60p and the target position S30 by a specified distance. When the moving position 60p of the carriage 60 reaches the target position S30, the relative position 81p between the station 50s and the carriage 60 may be aligned with the moving position 60p and the target position S30. 2. Article transport procedure

[0093] The above description of the article transport system 80 also applies accordingly to the article transport method. In particular, the article transport method comprises a detection step and a control step. The detection step detects the relative position 81p between the station 50s configured for feeding the article AR0 used for the circuit board work machine WM0, which performs a predetermined circuit board work on a circuit board, and the carriage 60, which is configured for automatically transporting the article AR0 into or out of the station 50s and for moving it. In the control step, if the relative position 81p detected in the detection step is within the first range R1 in which the article AR0 can be fed between the station 50s and the carriage 60, feeding of the article AR0 between the station 50s and the carriage 60 is permitted.And when the relative position 81p is not within the first range R1 in the detecting step, feeding of the article AR0 between the station 50s and the carriage 60 is prohibited.

[0094] That is, the control performed by the detecting section 81 corresponds to the detecting step. The control performed by the controlling section 82 corresponds to the controlling step. The article transporting method may include a position detecting step. The article transporting method may include a flag processing step. The control performed by the position detecting section 83 corresponds to the position detecting step. The control performed by the flag processing section 84 corresponds to the flag processing step. The production facility 1 to which the article transporting method is applied may include the guiding part 85. 3. Example of effects of the invention

[0095] In the article transport system 80, when the detection section 81 detects that the relative position 81p between the station 50s and the carriage 60 is within the first range R1, the control section 82 permits feeding of the article AR0 between the station 50s and the carriage 60. And when the detection section 81 does not detect that the relative position 81p between the station 50s and the carriage 60 is within the first range R1, the control section 82 restricts feeding of the article AR0 between the station 50s and the carriage 60. Therefore, the article transport system 80 can reliably perform feeding of the article AR0 between the station 50s and the carriage 60. The above description of the article transport system 80 also applies accordingly to the article transport method. List of reference symbols

[0096] 1: Production equipment; 50s: Station; 50t: Station-side contact part; 60: Carriage; 60p: Moving position; 60t: Carriage-side contact part; 80: Article conveying system; 81: Detection section; 81p: Relative position; 81s: Detector; 82: Control section; 83: Position detection section; 84: Flag processing section; 85: Guide part; AR0: Article; R1: First area; R2: Second area; F1: First flag; F2: Second flag; S30: Target position; WM0: PCB working machine. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2021 / 144866

[0003] JP-A-2020-044859

[0003]

Claims

[1] Article transport system, comprising: a station configured to supply an article used for a printed circuit board machine that performs a predetermined circuit board work on a printed circuit board, a cart configured to automatically transport the article into and out of the station and to move, a detection section provided at the station and / or the carriage and configured to detect a relative position between the station and the carriage, and a control section configured to permit feeding of the article between the station and the carriage when the detecting section detects that the relative position is within a first range in which the article can be fed between the station and the carriage, and to prohibit feeding of the article between the station and the carriage when the detecting section does not detect that the relative position is within the first range. [2] The article conveying system according to claim 1, wherein the detecting section detects that the relative position is within the first range when a station-side contact part provided in the station and a carriage-side contact part provided on the carriage are in contact with each other, and does not detect that the relative position is within the first range when the station-side contact part and the carriage-side contact part are not in contact with each other. [3] The article transport system of claim 1, further comprising: a position detection section configured to detect a movement position of the carriage at which the carriage moves, and a flag processing section configured to set a first flag at a time when the position of the carriage detected by the position detection section reaches a target position at which the carriage performs feeding of the article to and from the station, or at a time when the moving position of the carriage detected by the position detection section enters a second area in which an adjustment operation to the target position is performed, and to cancel the first flag at a time when the moving position of the carriage detected by the position detection section is away from the target position, or at a time when the moving position of the carriage detected by the position detection section is retreated outside the second area, each of which occurs during the automatic operation of the carriage, and wherein the control section permits feeding of the article between the station and the carriage when the detecting section detects that the relative position is within the first range and the flag processing section has set the first flag, and prohibits feeding of the article between the station and the carriage when the detecting section does not detect that the relative position is within the first range, or when the detecting section detects that the relative position is within the first range and the flag processing section has not set the first flag. [4] The article transporting system according to claim 3, wherein the adjusting operation is an operation for bringing the carriage closer to the target position and simultaneously adjusting the position and angle of the carriage with respect to the station in a movement to the target position at which the carriage performs feeding of the article to and from the station. [5] The article transport system according to claim 3, wherein the control section determines a possibility of a failure in a production facility based on a detection result detected by the detection section and a state of the first flag processed by the flag processing section. [6] The article transporting system according to claim 5, wherein the control section determines that there is an abnormality in a relative position detecting detector of the detecting section when, at the time the carriage moves to the target position, the detecting section detects that the relative position is within the first range and the flag processing section has not set the first flag. [7] An article transport system according to claim 5 or 6, further comprising: a guide part, which is a member provided along a movement route of the carriage and configured to guide the movement of the carriage, whereby the carriage moves and detects the guide part, and the control section determines that an abnormality exists in the guide part or the carriage when, at a time point when the position detecting section detects that the carriage reaches the target position and starts feeding the article, the detecting section detects that the relative position is within the first range and the flag processing section has not set the first flag. [8] The article transporting system according to claim 3, wherein the control section withdraws the carriage from the second area when, at a time when the carriage returns to a normal state after an abnormality occurs in the carriage or at a time when control of the carriage is resumed after control of the carriage is stopped, the detecting section detects that the relative position is within the first area and the flag processing section has not set the first flag. [9] The article transporting system according to claim 3, wherein the control section moves the carriage to the target position again when, at a time point when the position detecting section detects that the carriage reaches the target position and starts feeding the article, the detecting section does not detect that the relative position is within the first range and the flag processing section has set the first flag. [10] The article transporting system according to claim 9, wherein the control section stops the movement of the carriage when the detecting section does not detect that the relative position is within the first range even if the carriage is moved to the target position for a predetermined number of repetitions. [11] The article transporting system according to claim 3, wherein the control section moves the carriage to the target position after retracting the carriage from the second area, if at a time when the carriage returns to a normal state after an abnormality occurs in the carriage or at a time when control of the carriage is resumed after control is stopped, the detecting section does not detect that the relative position is within the first area and the flag processing section has set the first flag. [12] An article transport system according to claim 1 or 2, further comprising: a position detection section configured to detect a movement position at which the carriage moves, and a flag processing section configured to set a second flag when the moving position of the automatically operated carriage detected by the position detecting step reaches a target position at which the carriage performs feeding of the article to and from the station, or enters a second area in which an adjustment operation to the target position is performed, and then to cancel the second flag regardless of whether the carriage is automatically operated when the moving position of the carriage detected by the position detecting section is away from the target position or retreated outside the second area, and the control section permits feeding of the article between the station and the carriage when the detecting section detects that the relative position is within the first range and the flag processing section has set the second flag, and prohibits feeding of the article between the station and the carriage when the detecting section does not detect that the relative position is within the first range or when the detecting section detects that the relative position is within the first range and the flag processing section has not set the second flag. [13] Article transport method, comprising: a detecting step for detecting a relative position between a station configured to supply an article used for a printed circuit board machine that performs a predetermined circuit board work on a printed circuit board and a carriage configured to automatically transport the article into and out of the station and to move it, and a control step for permitting feeding of the article between the station and the carriage when the relative position detected in the detecting step is within a first range in which the article can be fed between the station and the carriage, and for prohibiting feeding of the article between the station and the carriage when the relative position detected in the detecting step is not within the first range.

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