Unmanned carrier and unmanned carrying method for wiring board

Abstract

To provide an unmanned carrier for a wiring board, realizing unmanned carrying of a wiring board in a simple configuration.SOLUTION: An unmanned carrier for a wiring board projecting forward from a front module of a wiring board processing system to replace and load wiring board containers between itself and a container loading part provided on an upper surface of a station for putting in / out the wiring board with respect to the front module is provided with: a support frame supporting two arm parts such that the station enters a container loading position below the two arm parts from a front direction without interfering the container loading part with the two arm parts to support both side parts of the wiring board container and passing in a front direction from the container loading position; a lifting driving mechanism lifting / lowering the wiring board container between a lifted-up position apart upward from the container loading part and a lifted-down position where the wiring board container is loaded on the container loading part; and an automatic traveling carriage supporting the lifting driving mechanism and automatically traveling on a floor through a designated passage to stop in a state in which the station has entered the container loading position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an automated guided vehicle for a wiring board and an automated guided vehicle method.

Background Art

[0002] Conventionally, as an automated guided vehicle (AGV) for transporting a load to a station, for example, one equipped with a transfer conveyor that can swing between a vertical direction and a horizontal direction as described in Patent Document 1 is known. When this AGV arrives near the station, it swings its transfer conveyor horizontally and extends it from the AGV toward the station, bridging the gap between the AGV and the station, and uses the transfer conveyor to transfer the load between the AGV and the station.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when this conventional AGV bridges the transfer conveyor between the AGV and the station, it extends the transfer conveyor from the AGV toward the station, so that the center of gravity position deviates from the central part of the AGV and the AGV is likely to tip over. Therefore, when a relatively heavy wiring board container containing a plurality of wiring boards is used as a load, manual transfer confirmation is required, and there is a problem that it is difficult to achieve unmanned transfer.

[0005] An object of the present invention is to provide an automated guided vehicle for a wiring board and an automated guided vehicle method that can achieve unmanned transfer of a wiring board with a simple configuration.

Means for Solving the Problems

[0006] The unmanned carrier vehicle for a wiring board of the present invention is In an unmanned carrier vehicle for a wiring board that replaces a wiring board container between a container mounting portion provided on the upper surface of a station that protrudes forward from a front module of a wiring board processing system and takes in and out a wiring board with respect to the front module, It has two arm portions for supporting both side portions of the wiring board container, and the station can move relative to the container mounting position below the arm portions from in front of the arm portions without interference between the container mounting portion and the arm portions. It has a support frame for supporting the two arm portions, A lifting drive mechanism that supports the support frame and raises and lowers the wiring board container between a raised position spaced above the container mounting portion and a lowered position mounted on the container mounting portion, An automatic traveling cart that supports the lifting drive mechanism and automatically travels on the floor surface along a specified path and stops with the station inserted into the container mounting position, It is characterized by comprising

[0007] Also, the method for handling a wiring board of the present invention using the unmanned carrier vehicle for a wiring board is When replacing a wiring board container between a container mounting portion provided on the upper surface of a station that protrudes forward from a front module of a wiring board processing system and takes in and out a wiring board with respect to the front module and the unmanned carrier vehicle for a wiring board, The automatic traveling cart automatically travels on the floor surface along the specified path, advances, and stops with the station inserted into the container mounting position, In the stopped state of the automated guided vehicle, the lifting drive mechanism lowers the support frame to transfer the wiring board container, which is supported by the two arm portions at both sides, to the container mounting portion, and separates the two arm portions downward from both side portions of the wiring board container, or raises the support frame to support both side portions of the wiring board container mounted on the container mounting portion by the two arm portions, transfers the wiring board container from the container mounting portion to the automated guided vehicle for wiring boards, and separates it upward from the container mounting portion. The automated guided vehicle retreats from the state where it has entered the station into the container mounting position, exits from the space from the lower surface of the station to the floor surface, and automatically travels on the floor surface along the specified route. It is characterized by including the above.

[0008] In the automated guided vehicle for wiring boards and the method for automated guided vehicle for wiring boards of the present invention, preferably, the station has a space through which a part of the support frame excluding the two arm portions, the lifting drive mechanism, and the automated guided vehicle can enter and exit from its lower surface to the floor surface.

[0009] Also, in the automated guided vehicle for wiring boards and the method for automated guided vehicle for wiring boards of the present invention, preferably, the wiring board container is a front-opening and closing type sealed cassette that horizontally supports and houses a plurality of plates as wiring boards on a rack.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Embodiments for Carrying out the Invention

[0011] Hereinafter, an unmanned carrier for a wiring board according to an embodiment of the present invention and an unmanned carrier method for a wiring board according to an embodiment of the present invention using the same will be described with reference to the drawings. FIGS. 1(a), 1(b), and 1(c) are side views schematically showing the unmanned carrier for a wiring board according to an embodiment of the present invention and the unmanned carrier method for a wiring board according to an embodiment of the present invention using the same. FIG. 2 is also a side view schematically showing the unmanned carrier for a wiring board according to an embodiment of the present invention and the unmanned carrier method for a wiring board according to an embodiment of the present invention using the same. In the embodiments shown in FIGS. 1(a) to 1(c) and FIG. 2, regarding the dimensions of each member, particularly the dimensions in the height direction, they are described with dimensions different from the actual dimensions in order to better understand the features of the present invention.

[0012] The unmanned carrier for a wiring board of this embodiment indicated by reference numeral 1 is provided between a trapezoidal container mounting portion 3a provided on the upper surface of a load port (LP) 3, which protrudes forward from a front-end module (Equipment Front End Module: EFEM) 2 of a wiring board processing system and serves as a station for loading and unloading a wiring board (not shown) with respect to the EFEM 2, and replaces a front-opening sealed cassette (Front Opening Unify Pod: FOUP) 4 as a wiring board container.

[0013] Here, the LP 3 has a space S into which most of the unmanned carrier 1 for a wiring board, a support frame 7 described later, and a lifting drive mechanism 8 can enter from its lower surface to the floor surface F. The container mounting portion 3a of the LP 3 has a fitting portion (not shown) that fits with a fitting portion on the lower surface of the FOUP 4 to position the FOUP 4 forward at a predetermined position.

[0014] For the above-mentioned replacement, the unmanned carrier vehicle 1 for a wiring board according to the above embodiment has, for example, two L-shaped cross-section arms 5 for supporting both sides of the FOUP 4 from below, and the LP3 can enter from the front to the container mounting position 6 below the two arms 5 without interfering with the container mounting portion 3a, and the LP3 can exit forward from the container mounting position 6 without interfering with the container mounting portion 3a on the two arms 5. The support frame 7 supports the two arms 5.

[0015] The support frame 7 has, for example, two upper arms 5 in the illustrated example, and also has a column 7a and a base 7b, and forms a U-shape in a side view. The two arms 5 extend horizontally and parallel to each other with their front ends separated, and their base ends are fixed to the upper ends of the column 7a. And the column 7a extends vertically and its lower ends are fixed to the rear end of the frame-shaped base 7b. The support frame 7 may be configured to support, for example, two FOUP 4s in the front-rear direction to improve the transport efficiency. Also, the support frame 7 may have, for example, a motor-driven slide mechanism for finely adjusting the relative position between the FOUP 4 and the container mounting portion 3a in order to quickly and accurately mount the FOUP 4 on the LP3.

[0016] The unmanned carrier vehicle 1 for a wiring board according to the above embodiment also includes a lifting drive mechanism 8, and the support frame 7 is supported by the lifting drive mechanism 8 via a base 7b that is fixed on the lifting platform 8a of the lifting drive mechanism 8 and extends horizontally. The lifting drive mechanism 8 has, for example, a motor-driven lifting mechanism such as a screw mechanism or a cam mechanism (not shown). By this lifting mechanism, the support frame 7 can be lifted and lowered to an arbitrary height while maintaining the front ends of the two arms 5 facing forward of the unmanned carrier vehicle 1 for a wiring board. Thereby, the lifting drive mechanism 8 can lift and lower the FOUP 4, for example, between a raised position where it is separated upward from the container mounting portion 3a and a lowered position where it is mounted on the container mounting portion 3a.

[0017] The automated guided vehicle 1 for a wiring board according to the above embodiment further includes an automated guided vehicle 9 that supports the lifting drive mechanism 8. This automated guided vehicle 9 is controlled for running and steering by a control device having a normal computer mounted thereon or arranged at a separate fixed position and wirelessly connected thereto, automatically runs on the floor surface F along a previously specified path, and can stop with the station inserted into the container mounting position.

[0018] The method for an automated guided vehicle for a wiring board according to the above embodiment, which uses the automated guided vehicle 1 for a wiring board according to the above embodiment, involves replacing the FOUP 4 as a wiring board container between the container mounting portion 3a provided on the upper surface of the LP3 as a station that protrudes forward from the EFEM 2 of the wiring board processing system and takes in and out a wiring board (not shown) with respect to the EFEM 2 and the automated guided vehicle 1 for a wiring board.

[0019] At least during this replacement, first, the automated guided vehicle 9 of the automated guided vehicle 1 for a wiring board according to the above embodiment automatically runs on the floor surface F along the specified path, moves forward as indicated by the arrow in FIG. 1(a), and performs the step of stopping with the LP3 inserted into the container mounting position 6 as shown in FIG. 1(b).

[0020] Next, when replacing the FOUP 4 from the automated guided vehicle 1 for a wiring board to the container mounting portion 3a of the LP3, with the automated guided vehicle 9 in a stopped state, as indicated by the arrow in FIG. 1(c), the lifting drive mechanism 8 lowers the support frame 7 and transfers the FOUP 4 supported by the lower surfaces of both side portions by the two arm portions 5 to the container mounting portion 3a, and also performs the step of separating the two arm portions 5 downward from the lower surfaces of both side portions of the FOUP 4.

[0021] Also, when replacing the FOUP 4 from the container mounting portion 3a of the LP3 to the automated guided vehicle 1 for a wiring board, the lifting drive mechanism 8 raises the support frame 7, supports the lower surfaces of both side portions of the FOUP 4 mounted on the container mounting portion 3a by the two arm portions 5, transfers the FOUP 4 from the container mounting portion 3a to the automated guided vehicle for a wiring board, and also performs the step of separating the FOUP 4 upward from the container mounting portion 3a.

[0022] Then, after that, the automatic guided vehicle 9 retreats from the state where LP3 has entered the container mounting position 6, exits from the space S from the lower surface of LP3 to the floor surface F, and performs a step of automatically traveling on the floor surface F toward the next processing device along the specified path.

[0023] According to the unmanned carrier 1 for a wiring board of this embodiment and the unmanned carrier method for a wiring board of this embodiment using the same, when replacing the FOUP4, only the FOUP4 is lifted and lowered, and there is no center of gravity movement. Therefore, unmanned conveyance of the wiring board can be realized with a simple configuration.

[0024] Note that the wiring board container in this invention is not limited to the FOUP as long as it can accommodate the wiring board, and for example, it may be of other structures. Further, the support frame in this invention is not limited to a U-shaped one in side view as long as it can transfer the wiring board container to the container mounting portion of the LP without interference. For example, the wiring board container may be arranged on the container mounting portion straddling the LP, and may be U-shaped or gate-shaped in front view. In that case, the lifting drive mechanism and the automatic guided vehicle may be, for example, divided left and right of the LP, or form a U-shape in plan view so as to avoid the LP, support the support frame, lift and lower it, and automatically travel.

[0025] 1 Unmanned Carrier (AGV) for Wiring Board 2 Front Module (EFEM) of Wiring Board Processing System 3 Load Port (LP) 3a Container Mounting Portion 4 Front Opening and Closing Type Sealed Cassette (FOUP) 5 Arm 6 Container Mounting Position 7 Support Frame 7a Support Column 7b Base 8 Lifting Drive Mechanism 8a Lifting Platform 9 Automatic Guided Vehicle F Floor Surface S Space

Claims

1. In an unmanned carrier vehicle for printed circuit boards that exchanges printed circuit board containers between a container mounting portion provided on the upper surface of a station that protrudes forward from a front module of a printed circuit board processing system and takes in and out printed circuit boards with respect to the front module, it has two arm portions for supporting both side portions of the printed circuit board container, and the station can relatively enter from in front of the arm portions to a container mounting position below the arm portions and relatively exit from the container mounting position to in front of the arm portions without interference between the container mounting portion and the arm portions. It includes a support frame that supports the two arm portions, a lifting drive mechanism that supports the support frame and raises and lowers the printed circuit board container between a raised position spaced upward from the container mounting portion and a lowered position mounted on the container mounting portion, and an automatic guided vehicle that supports the lifting drive mechanism and automatically travels on the floor surface along a specified path and stops with the station entering the container mounting position. An unmanned carrier vehicle for printed circuit boards, characterized by comprising the above.

2. In the unmanned carrier vehicle for printed circuit boards according to Claim 1, the station has a space from its lower surface to the floor surface through which a part of the support frame excluding the two arm portions, the lifting drive mechanism, and the automatic guided vehicle can enter and exit.

3. In the unmanned carrier vehicle for printed circuit boards according to Claim 1, the printed circuit board container is a front-opening and closing sealed cassette that horizontally supports and houses a plurality of plates as printed circuit boards on a rack.

4. When exchanging a printed circuit board container between a container mounting portion provided on the upper surface of a station that protrudes forward from a front module of a printed circuit board processing system and takes in and out printed circuit boards with respect to the front module and the unmanned carrier vehicle for printed circuit boards according to any one of Claims 1 to 3, the automatic guided vehicle automatically travels on the floor surface along the specified path, advances, and stops with the station entering the container mounting position. In the stopped state of the automatic guided vehicle, the lifting drive mechanism lowers the support frame to transfer the wiring board container supported by the two arm portions on both side portions to the container mounting portion and separates the two arm portions downward from both side portions of the wiring board container, or raises the support frame to support both side portions of the wiring board container mounted on the container mounting portion by the two arm portions, transfers the wiring board container from the container mounting portion to the unmanned carrier for wiring boards, and separates it upward from the container mounting portion. The automatic guided vehicle retreats from the state where it has entered the station at the container mounting position, exits from the space from the lower surface of the station to the floor surface, and automatically travels on the floor surface along the designated path. A method for unmanned conveyance of a wiring board, characterized by including the above.

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