Item delivery system and method

Abstract

In the present invention, when an article is delivered between a first electric conveyor of an automated guided vehicle and a second electric conveyor of a storage part, a first communication module of the automated guided vehicle and a second communication module of the storage part transmit and receive signals, the supply of power to the first electric conveyor is shut off and a first signal from the first communication module changes in response to the operation of a first emergency-stop switch of the automated guided vehicle, the supply of power to the second electric conveyor is shut off in response to the change of the first signal, the supply of power to the second electric conveyor is shut off and a second signal from the second communication module changes in response to the operation of a second emergency-stop switch of the storage part, and the supply of power to the second electric conveyor is shut off in response to the change of the second signal.

Description

[Technical field]

[0001] The present disclosure relates to an article transfer system and method for transferring an article between an automated guided vehicle that transfers an article and a storage unit that stores the article. [Background technology]

[0002] Conventionally, a transfer safety control method for transferring an object between an unmanned guided vehicle having an unmanned vehicle-side optical communication device and an unmanned vehicle-side control unit, and ground equipment having a ground-side optical communication device and a ground-side control unit is known (for example, see Patent Document 1). In this method, when the power supply of the unmanned guided vehicle is cut off in response to a command such as an emergency stop during the transfer of the object, the unmanned vehicle-side control unit causes the unmanned vehicle-side optical communication device to output an unmanned vehicle-side operation preparation release optical signal. Also, when the power supply of the ground equipment is cut off, the ground-side control unit causes the ground-side optical communication device to output a ground-side operation preparation release optical signal. Then, when the unmanned vehicle-side optical communication device receives the ground-side operation preparation release optical signal, the unmanned vehicle-side control unit cuts off the power supply of the unmanned guided vehicle, and when the ground-side optical communication device receives the unmanned vehicle-side operation preparation release optical signal, the ground-side control unit cuts off the power supply of the ground equipment. As a result, when the power supply of one of the unmanned guided vehicle and the ground equipment is cut off, the power supply of the other is automatically cut off.

[0003] Also, a mobile robot system is known in the past in which a mobile robot is moved between facilities and stopped in front of each facility to perform work (see, for example, Patent Document 2). The facility of this system includes an external operation panel located outside the working area of ​​the mobile robot and having an operation preparation switch, an emergency stop switch, etc., and a connecting electrode unit electrically connected to the external operation panel. The mobile robot also includes a connected electrode unit detachably connected to the connecting electrode unit at a stopping position in front of the facility, an operation preparation circuit that supplies power for driving the mobile robot's driving units, such as a robot arm, a traveling mechanism, and an air supply source, and an operation panel having an operation preparation switch, an emergency stop switch, etc. The operation preparation circuit of the mobile robot supplies power for driving the driving unit when the external operation panel or the operation preparation switch of the mobile robot is turned on with the connected electrode unit connected to the connecting electrode unit. Also, the operation preparation circuit cuts off the power for driving the driving unit when the external operation panel or the emergency stop switch of the mobile robot is turned on with the connected electrode unit connected to the connecting electrode unit. This ensures safety when the mobile robot is made to perform work. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 9-140002 [Patent Document 2] JP 2001-88080 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, as in the method described in Patent Document 1, when the power supply of either the automated guided vehicle or the ground equipment is cut in response to a power failure of the other, there is a risk that the transported object will fall due to the complete cessation of all functions of the other, and that the subsequent recovery work will become complicated. Also, the technology described in Patent Document 2 merely makes it possible to stop the power supply to the driving source of the mobile robot from both the electrically connected mobile robot and the external operation panel, and does not improve the safety of the work of transferring articles between the automated guided vehicle and the storage unit that stores the articles, or the workability of recovery after an emergency stop.

[0006] Therefore, a primary object of the present disclosure is to improve the safety of the work of transferring items between an automated guided vehicle and a storage unit that stores the items, and the operability of recovery after an emergency stop. [Means for solving the problem]

[0007] The item transfer system of the present disclosure is an item transfer system for transferring items used in the production of boards having components mounted thereon between an automated guided vehicle that transfers the items used in the production of boards having components mounted thereon and a storage unit that stores the items, the system including a first electric conveyor provided on the automated guided vehicle side for transferring the items between the storage unit, a first communication module provided on the automated guided vehicle side for transmitting a first signal to the storage unit, a first emergency stop switch provided on the automated guided vehicle side, a second electric conveyor provided on the storage unit side for transferring the items between the automated guided vehicle and the first electric conveyor, a second communication module provided on the storage unit side for transmitting a second signal to the automated guided vehicle, and a second emergency stop switch provided on the storage section side, wherein the first and second communication modules are capable of exchanging signals with each other, and in response to activation of the first emergency stop switch, power supply to the first electric conveyor is cut off and the first signal from the first communication module changes, and in response to activation of the second emergency stop switch, power supply to the second electric conveyor is cut off and the second signal from the second communication module changes, and power supply to the second electric conveyor is cut off in response to the change in the first signal from the first communication module, and power supply to the first electric conveyor is cut off in response to the change in the second signal from the second communication module.

[0008] In the article transfer system of the present disclosure, in response to the operation of the first emergency stop switch on the automated guided vehicle side, the power supply to the first electric conveyor is cut off and the first signal from the first communication module changes, and in response to the change in the first signal from the first communication module, the power supply to the second electric conveyor is cut off. In addition, in response to the operation of the second emergency stop switch on the storage unit side, the power supply to the second electric conveyor is cut off and the second signal from the second communication module changes, and in response to the change in the second signal from the second communication module, the power supply to the first electric conveyor is cut off. As a result, in response to the operation of either the first emergency stop switch on the automated guided vehicle side or the second emergency stop switch on the storage unit side, both the first electric conveyor on the automated guided vehicle side and the second electric conveyor on the storage unit side can be stopped. As a result, unexpected movement of articles during an emergency stop can be effectively suppressed, and the safety of the article transfer operation between the automated guided vehicle and the storage unit can be further improved. Furthermore, by stopping both the first and second electric conveyors in response to the activation of either the first or second emergency stop switch, it is possible to ensure safety while continuing to operate any equipment (control devices, etc.) in the automated guided vehicle or storage section, thereby improving the ease of recovery work after an emergency stop. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic configuration diagram showing a production line including an item delivery system according to the present disclosure. [Diagram 2] 2 is a perspective view illustrating a feeder attached to a component mounter included in the production line of FIG. 1. [Diagram 3] 1 is a perspective view illustrating an example of a storage case used for delivering an item in the item delivery system of the present disclosure. [Figure 4] 2 is a perspective view showing a storage section included in the production line of FIG. 1. [Diagram 5] 1 is a perspective view showing an automated guided vehicle and a storage unit constituting an item delivery system according to the present disclosure. [Figure 6] 1 is a perspective view showing an automated guided vehicle and a storage unit constituting an item delivery system according to the present disclosure. [Figure 7] 1 is a block diagram showing an item delivery system according to the present disclosure. [Figure 8] 13 is a block diagram showing the state of the article delivery system of the present disclosure when an emergency stop switch on the automated guided vehicle is activated. FIG. [Figure 9] 13 is a block diagram showing the state of the item delivery system of the present disclosure when the emergency stop switch on the storage unit side is activated. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Next, an embodiment of the present disclosure will be described with reference to the drawings.

[0011] 1 is a schematic diagram showing a production line 1 including an article delivery system according to the present disclosure. The production line 1 shown in the figure is for producing a board S on which components P are mounted, and includes a printing device 2, a print inspection device 3, a storage unit (buffer station) 4, a plurality of component mounters 5 (for example, four in this embodiment), a mounting inspection device 6, a reflow device 7, a reflow inspection device 8, and a production management device (control device) 10 that manages and controls the entire line. The printing device 2, the print inspection device 3, the storage unit 4, the plurality of component mounters 5, the mounting inspection device 6, the reflow device 7, and the reflow inspection device 8 are arranged in this order along a predetermined transport direction of the board S.

[0012] The printing device 2 prints solder on the wiring pattern of the substrate S, and includes a substrate transport device that transports the substrate S, a print head, a head moving device that moves the print head, a fixed frame to which a screen mask is fixed, and a control device which is a computer including a CPU, ROM, RAM, storage device, etc. (all not shown). The print inspection device 3 inspects the state of the solder printed on the substrate S by the printing device 2, and includes an inspection mechanism and a control device (computer) that controls the inspection mechanism. The control devices of the printing device 2 and the print inspection device 3 exchange information with the production management device 10 via wireless or wired communication, respectively.

[0013] The storage unit 4 is incorporated between the print inspection device 3 and the component mounter 5 on the most upstream side of the production line 1, and constitutes the article transfer system of the present disclosure together with the automated guided vehicle (AGV) 100. In order to improve production efficiency in the production line 1, the storage unit 4 temporarily stores a plurality of articles used in the production of the board S on which the components P are mounted. In this embodiment, the articles stored in the storage unit 4 are feeders 50 attached to each component mounter 5. The storage unit 4 also includes a control device 40 that manages the stored feeders 50 and controls various devices, and a plurality of (two in this embodiment) storage spaces 41. The control device 40 is a computer including a CPU, ROM, RAM, a storage device, etc., and exchanges information with the production management device 10 via wireless or wired communication. In addition, an electric conveyor (second electric conveyor) 42 that is controlled by the control device 40 and transfers articles between the storage space 41 and the automated guided vehicle 100 is installed in each storage space 41. One storage space 41 stores multiple feeders 50 that are scheduled to be installed in the component mounter 5 (before use), and the other storage space 41 stores multiple used feeders 50 that have been removed from the component mounter 5.

[0014] 2, the feeder 50 is a cassette-type tape feeder, and includes a tape reel 51, a tape feeding mechanism 52, a connector 53, and a feeder control device (not shown) that controls the tape feeding mechanism 52. A tape containing a plurality of components P is wound around the tape reel 51. In each tape reel 51, the plurality of components P are protected by a film covering the surface of the tape, and the film is peeled off before the components P reach a component supply position in the component mounter 5. The tape feeding mechanism 52 pulls out the tape from the tape reel 51 and sends it out to the component supply position. The feeder control device includes a microcomputer having a CPU, ROM, RAM, etc.

[0015] In this embodiment, a box-shaped storage case (pallet) 90 as shown in FIG. 3 is used to transfer a plurality of feeders 50 collectively between the storage unit 4 and the automatic guided vehicle 100. The storage case 90 includes a plurality of (e.g., 30) slots SLT into which the feeders 50 are inserted, a clamped member 91 clamped by the electric conveyor 42 of the storage unit 4, a detected member 92 used to detect the position of the storage case 90, and a plurality of (e.g., 30) connectors 93 that can be coupled to the corresponding connectors 53 of the feeders 50. The clamped member 91 is formed, for example, in a rectangular parallelepiped shape, and protrudes downward in FIG. 3 from the bottom surface of the storage case 90. The detected member 92 includes a thin plate-shaped protruding portion that protrudes downward in FIG. 3 from the bottom surface of the storage case 90 on the side of the plurality of connectors 93 from the clamped member 91.

[0016] A plurality of (e.g., 30) feeders 50 are inserted into the corresponding slots SLT so that the connectors 53 are coupled to the corresponding connectors 93, and are accommodated in the accommodation case 90. Furthermore, the accommodation case 90 has an external connector (not shown) that is connected to the plurality of connectors 93 and can be coupled to a connector 46 (see FIG. 4, etc.) provided in the storage space 41 of the storage unit 4, and each feeder 50 is connected to the control device 40 of the storage unit 4 and a power source (not shown) of the storage unit 4 through the corresponding connector 93 and the external connector. This enables each feeder 50 and the control device 40 to communicate with each other, and feeder information of each feeder 50 can be taken into the control device 40. The feeder information includes information such as the ID of the feeder 50, the ID of the tape reel 51 included in the feeder 50, the type of parts and the number of remaining parts (the state of the feeder 50), and the number of the slot SLT in which the feeder 50 is installed (the position of the feeder 50). The multiple feeders 50 housed in one housing case 90 may house different components, or may house the same components.

[0017] Furthermore, the production line 1 includes a loader 9 that moves along the transport direction of the board S to transfer the feeders 50 between the storage unit 4 and the multiple component mounters 5. That is, the loader 9 collects the multiple used feeders 50 from the corresponding component mounters 5 and stores them in a storage case 90 stored in the other storage space 41 of the storage unit 4. The loader 9 also takes out the multiple feeders 50 before use from the one storage space 41 (storage case 90) of the storage unit 4 and attaches them to the corresponding component mounters 5.

[0018] The multiple component mounters 5 are surface mounters capable of picking up components P from a tape fed by a feeder 50 and mounting them on a board S, and are arranged downstream of the print inspection device 3 along the conveying direction of the board S, as shown in FIG. 1. Each component mounter 5 includes a housing, a feeder set table on which the multiple feeders 50 are mounted, a board conveying device, an XY moving device, a mounting head including at least one suction nozzle, a parts camera, a mark camera, a nozzle station, and a mounting control unit (all of which are not shown). The mounting control unit of each component mounter 5 is a computer including a CPU, a ROM, a RAM, a storage device, and the like, and exchanges information with the production management device 10 via wireless or wired communication. The mounting control unit also acquires imaging data from the parts camera and the mark camera, and detection values ​​of various sensors (not shown) installed on the board conveying device, the XY moving device, the mounting head, and the like. The mounting control unit controls the multiple feeders 50, the XY moving device, the mounting head, and the like based on information from the production management device 10, imaging data from the parts camera and the mark camera, and detection values ​​of various sensors.

[0019] The mounting inspection device 6 inspects the mounting state of the components P mounted by each component mounter 5, and includes an inspection mechanism and a control device (computer) that controls the inspection mechanism. The control device of the mounting inspection device 6 also exchanges information with the production management device 10 via wireless or wired communication. The reflow device 7 is disposed downstream of the mounting inspection device 6, and includes a board transport device that transports the board S from the mounting inspection device 6, a heating unit that heats the board S transported by the board transport device, and a reflow control unit that controls the board transport device, the heating unit, and the like. The reflow device 7 melts the solder on the board S by heating the board S to a predetermined reflow temperature (for example, 220°C-250°C) with the heating unit. As a result, the molten solder is cooled and solidified, and each component is electrically connected and fixed to the wiring pattern of the board S. The reflow inspection device 8 inspects the state of the components P on the board S that has been subjected to the reflow process, and includes an inspection mechanism and a control device that controls the inspection mechanism. The control devices of the reflow device 7 and the reflow inspection device 8 are both computers including a CPU, ROM, RAM, storage device, etc., and exchange information with the production management device 10 via wireless or wired communication.

[0020] In this embodiment, the production management device 10 is a computer including a CPU, a ROM, a RAM, a storage device, etc., and is connected to input devices such as a keyboard and a mouse, and a display. The storage device of the production management device 10 stores a production program for the board S, production information related to the production of the board S, etc. The production program specifies the mounting order of the components P on the board S in the multiple component mounters 5 of the production line 1, the production number of the boards S, etc. The production information includes a production plan, the operating status of the devices constituting the production line 1, printing information indicating the printing position of the solder on the board S, component information related to the components P mounted on the board S, the target mounting position (XY coordinates) of each component P on the board S, nozzle information related to the suction nozzle attached to the mounting head, etc. When producing the board S, the production management device 10 executes the production program using the production information, etc., and gives various command signals, etc. to the print control unit of the printing device 2, the mounting control unit of each component mounter 5, the reflow control unit of the reflow device 7, etc.

[0021] Figure 4 is an oblique view showing the storage section 4 of the production line 1, Figures 5 and 6 are oblique views showing the storage section 4 and the automated guided vehicle 100, and Figure 7 is a control block diagram of an item transfer system composed of the storage section 4 and the automated guided vehicle 100.

[0022] As shown in Figs. 4 to 6, the electric conveyor (second electric conveyor) 42 of each storage space 41 of the storage section 4 is a roller conveyor including a conveyor drive device 43 (see Fig. 7) and a clamp mechanism 44 that clamps the clamped member 91 of the storage case 90. However, the electric conveyor 42 may be another transport device such as a belt conveyor. The electric conveyor 42 is installed in the corresponding storage space 41 so as to face a wall portion 45 installed in the storage section 4 so as to straddle the two storage spaces 41. The conveyor drive device 43 of the electric conveyor 42 includes an electric motor and a drive circuit of the electric motor controlled by the control device 40, and is connected to a power source 49 via a conveyor power relay (second relay) 4R (see Fig. 7). The conveyor power relay 4R is a mechanical relay including a coil 4L, a movable contact, a fixed contact, and the like.

[0023] The clamping mechanism 44 includes a flat support plate 44a disposed on the mounting surface of the electric conveyor 42, a moving member 44b, and a claw member 44c. The moving member 44b is supported movably along the conveying direction of the electric conveyor 42 by a guide member fixed to the rear surface of the support plate 44a, and is moved by a drive unit (not shown) such as an air cylinder controlled by the control device 40. The moving member 44b also has an abutment portion that can abut against one end (the end on the connector 93 side) of the clamped member 91 of the storage case 90, and the abutment portion is exposed from an opening formed in the support plate 44a.

[0024] The claw member 44c is supported by the moving member 44b so as to be rotatable about a rotation axis perpendicular to the conveying direction of the electric conveyor 42, and is exposed from an opening formed in the support plate 44a. As the moving member 44b is moved toward the wall portion 45 by the drive unit, the claw member 44c is guided by the guide member and rotates relative to the moving member 44b so as to abut against the other end (the end opposite the connector 93 side) of the clamped member 91 of the storage case 90. As the moving member 44b is moved away from the wall portion 45 by the drive unit, the claw member 44c is guided by the guide member and rotates relative to the moving member 44b so as to move away from the other end (the end opposite the connector 93 side) of the clamped member 91 of the storage case 90.

[0025] Furthermore, the clamping mechanism 44 includes a first sensor that detects the detected member 92 (protruding portion) of the storage case 90 that has entered a slit formed in the support plate 44a, a second sensor that detects that the clamped member 91 of the storage case 90 has been clamped, and a third sensor that detects that the clamped member 91 has been released from clamping (all of which are omitted from the drawing). The first sensor is, for example, a light-shielding sensor, and transmits a signal to the control device 40 indicating that the detected member 92 has been detected. The second and third sensors are position sensors that detect the position of the moving member 44b (rod of the drive unit), and transmit a signal to the control device 40 indicating that the clamped member 91 has been clamped or a signal indicating that the clamped member 91 has been released from clamping.

[0026] Further, the above-mentioned connector 46 and two first case detection sensors 47 are arranged on the wall 45 of the storage section 4. As described above, the connector 46 is capable of being coupled to the external connector of the storage case 90. The two first case detection sensors 47 are both proximity sensors, and are arranged on the wall 45 at intervals so that they can abut against the ends of the storage case 90. Each first case detection sensor 47 transmits a signal indicating that the storage case 90 has approached the wall 45 to the control device 40. In addition, a second case detection sensor 58 is installed in each storage space 41 to detect the entrance and exit of the storage case 90 to the electric conveyor 42. Each second case detection sensor 58 is, for example, a light-shielding sensor, and transmits a signal indicating this to the control device 40 while the storage case 90 is passing through.

[0027] Furthermore, each storage space 41 of the storage unit 4 includes an input / output (I / O) module (second signal generating unit) 4io connected to the control device 40 and various devices, an optical communication module (second communication module) 4co connected to the input / output module 4io, and an emergency stop switch (second emergency stop switch) 4sw arranged at a position easily accessible to an operator. The input / output module 4io includes an input unit, an output unit, a microcomputer that controls communication with the control device 40 and the like and communication between the input unit and the output unit. The optical communication module 4co includes a bidirectional photoelectric conversion device that converts an electric signal (current signal) into an optical signal such as infrared light and converts an optical signal into an electric signal (current signal), and is connected to the input / output module 4io via a plurality of communication lines including the first and second lines L1 and L2. The optical communication module 4co may or may not have directionality.

[0028] In this embodiment, the input / output module 4io constantly outputs an electric signal (current signal) to the first line L1 in response to a command from the control device 40 while the storage case 90 can be transferred between the electric conveyor 42 of the storage unit 4 (storage space 41) and the automatic guided vehicle 100. The optical communication module 4co converts the electric signal from the first line L1 into an optical signal and outputs the optical signal (second signal) from the light-emitting unit as a preparation completion signal indicating that the preparation for the transfer of the storage case 90 is complete. Furthermore, the optical communication module 4co converts a predetermined optical signal (first signal) received by the light-receiving unit into an electric signal (current signal) and outputs the electric signal to the second line L2. The coil 4L of the conveyor power relay 4R is incorporated in the second line L2, and the electric signal output from the optical communication module 4co to the second line L2 is sent to the input / output module 4io via the coil 4L.

[0029] The emergency stop switch 4sw is a normally closed push button switch that opens when pressed, and is operated (pressed) by an operator when some abnormality occurs while the storage case 90 is being transferred between the electric conveyor 42 and the automatic guided vehicle 100. As shown in FIG. 7, the emergency stop switch 4sw is incorporated in the first and second lines L1, L2, and when the button is not pressed, it allows communication (transmission) between the input / output module 4io and the optical communication module 4co via the first and second lines L1, L2. When the button of the emergency stop switch 4sw is not pressed in this way, an electric signal (current signal) output from the optical communication module 4co to the second line L2 is applied as an excitation current to the coil 4L of the conveyor power relay 4R, and the movable contact of the conveyor power relay 4R comes into contact with the fixed contact. As a result, when the emergency stop switch 4sw button is not pressed, the conveyor power relay 4R is closed (ON), supplying power from the power source 49 to the conveyor drive device 43, making it possible to operate the electric conveyor 42.

[0030] When the button of the emergency stop switch 4sw is pressed, it cuts off communication (transmission) between the input / output module 4io and the optical communication module 4co via the first line L1, and also cuts off communication (energization) between the optical communication module 4co and the input / output module 4io via the second line L2 between the optical communication module 4co and the conveyor power relay 4R (coil 4L). When the button of the emergency stop switch 4sw is pressed in this way, the electric signal (current signal) output from the optical communication module 4co to the second line L2 is no longer supplied to the coil 4L of the conveyor power relay 4R, and the conveyor power relay 4R is opened (OFF).

[0031] The automated guided vehicle 100 transports a storage case 90 that stores a plurality of feeders 50, either before or after use, between an external setup area (not shown) where a large number of feeders 50 are stored and the storage section 4 of the production line 1. As shown in FIG. 7, the automated guided vehicle 100 is a general-purpose carrier that includes a travel drive device 101 that drives drive wheels W (see FIGS. 5 and 6) and a travel control device 105 that controls the travel drive device 101 based on detection values ​​of position sensors and obstacle monitoring sensors (not shown). The travel drive device 101 of the automated guided vehicle 100 includes an electric motor driven by power from a battery 109 as a power source, a drive circuit for the electric motor controlled by the travel control device 105, a steering mechanism (not shown), and the like. The travel control device 105 is a computer that includes a CPU, a ROM, a RAM, a storage device, and the like. The automated guided vehicle 100 is equipped with an electric conveyor (first electric conveyor) 110 for transferring storage cases 90 as articles between the automated guided vehicle 100 and the electric conveyors 42 installed in each storage space 41 of the storage section 4. The electric conveyor 110 is fixed to a mounting portion of the automated guided vehicle 100 so as to be able to face the electric conveyors 42 installed in each storage space 41 of the storage section 4.

[0032] As shown in Fig. 5 and Fig. 6, the electric conveyor 110 is a roller conveyor manufactured separately from the automatic guided vehicle 100, and is configured as one unit including a conveyor drive device 111 and a conveyor control device 115 that controls the conveyor drive device 111. In this way, by mounting the electric conveyor 110, which is a unit separate from the automatic guided vehicle 100, on the automatic guided vehicle 100, it becomes possible to use a general-purpose automatic guided vehicle 100 or an existing automatic guided vehicle 100, and therefore it is possible to suppress an increase in the cost of the article delivery system. The conveyor drive device 111 of the electric conveyor 110 includes an electric motor and a drive circuit of the electric motor controlled by the conveyor control device 115, and is connected to the battery (power source) 109 of the automatic guided vehicle 100 via a conveyor power relay (first relay) 110R, a connector not shown, a cable, and the like (see Fig. 7). The conveyor power relay 110R is a mechanical relay including a coil 110L, a movable contact, a fixed contact, etc. The conveyor control device 115 is a computer including a CPU, a ROM, a RAM, a storage device, etc., and is connected to the travel control device 105 of the automatic guided vehicle 100 via an input / output module (not shown) so as to exchange information with each other by wireless or wired communication. However, the electric conveyor 110 may be another conveying device such as a belt conveyor, and may include a dedicated battery (power source) separate from the battery 109 of the automatic guided vehicle 100.

[0033] 5 and 6, the electric conveyor 110 further includes a first case detection sensor 112 for detecting the presence or absence of the storage case 90, and a second case detection sensor 114 for detecting the entrance and exit of the storage case 90 to the electric conveyor 110. The first case detection sensor 112 is, for example, a light-shielding sensor arranged at the rear end (the end farther from the electric conveyor 42) of the electric conveyor 110, and transmits a signal indicating the presence of the storage case 90 to the conveyor control device 115. The second case detection sensor 114 is, for example, a light-shielding sensor arranged at the front end (the end closer to the electric conveyor 42) of the electric conveyor 110, and transmits a signal indicating that the storage case 90 is passing by to the conveyor control device 115.

[0034] The electric conveyor 110 also includes an input / output (I / O) module (first signal generating unit) 110io connected to the conveyor control device 115 and the travel control device 105 of the automatic guided vehicle 100, an optical communication module (first communication module) 110co connected to the input / output module 110io via multiple signal lines and capable of exchanging optical signals with the optical communication module 4co of each storage space 41 of the storage unit 4, and an emergency stop switch (first emergency stop switch) 110sw arranged at a position easily accessible to an operator. The input / output module 110io includes an input unit, an output unit, a microcomputer that controls communication with the conveyor control device 115, etc., and communication between the input unit and the output unit, etc. The optical communication module 110co includes a bidirectional photoelectric conversion device that converts an electric signal (current signal) into an optical signal such as infrared light, and converts an optical signal into an electric signal (current signal), and is connected to the input / output module 110io via multiple communication lines including the first and second lines La and Lb. In addition, the optical communications module 110co may also be directional or non-directional, so long as it is capable of exchanging optical signals with the optical communications module 4co in each storage space 41.

[0035] In this embodiment, while the storage case 90 can be transferred between the electric conveyor 42 on the storage unit 4 (storage space 41) side and the electric conveyor 110 on the automatic guided vehicle 100 side, the input / output module 110io constantly outputs an electric signal (current signal) to the first line La in response to a command from the conveyor control device 115. In addition, the optical communication module 110co converts the electric signal from the first line La into an optical signal and outputs the optical signal (first signal) from the light-emitting unit to the optical communication module 4co on the storage unit 4 side as an arrival signal indicating that the storage unit 4 is approaching. In addition, the optical communication module 110co converts the optical signal (second signal, i.e., preparation completion signal) from the optical communication module 4co on the storage unit 4 side received by the light-receiving unit into an electric signal (current signal) and outputs the electric signal to the second line Lb. The coil 110L of the conveyor power relay 110R is incorporated in the second line Lb, and an electrical signal output from the optical communication module 110co to the second line Lb is sent to the input / output module 110io via the coil 110L.

[0036] The emergency stop switch 110sw is also a normally-closed push button switch that opens when pressed, and is operated (pressed) by an operator when some abnormality occurs while the storage case 90 is being transferred between the electric conveyor 110 and the electric conveyor 42 on the storage unit 4 side. As shown in FIG. 7, when the button of the emergency stop switch 110sw is not pressed, the emergency stop switch 110sw allows communication (transmission) between the input / output module 110io and the optical communication module 110co via the first and second lines La and Lb. When the button of the emergency stop switch 110sw is not pressed in this way, an electric signal (current signal) output from the optical communication module 110co to the second line Lb is applied as an excitation current to the coil 110L of the conveyor power relay 110R, and the movable contact of the conveyor power relay 110R comes into contact with the fixed contact. As a result, when the emergency stop switch 110sw button is not pressed, the conveyor power relay 110R is closed (ON), supplying power from the battery 109 to the conveyor drive device 111, making it possible to operate the electric conveyor 110.

[0037] When the button of the emergency stop switch 110sw is pressed, it cuts off communication (transmission) between the input / output module 110io and the optical communication module 110co via the first line La, and also cuts off communication between the optical communication module 110co and the input / output module 110io via the second line Lb between the optical communication module 110co and the conveyor power relay 110R (coil 110L). When the button of the emergency stop switch 110sw is pressed in this way, the electric signal (current signal) output from the optical communication module 110co to the second line Lb is no longer supplied to the coil 110L of the conveyor power relay 110R, and the conveyor power relay 110R is opened (OFF).

[0038] Next, a procedure for transferring the storage case 90 containing the multiple feeders 50 between the electric conveyor 110 on the side of the automatic guided vehicle 100 and the electric conveyor 42 of the storage section 4 (storage space 41) will be described.

[0039] When a storage case 90 storing a plurality of unused feeders 50 is transported by the automated guided vehicle 100 to the storage unit 4 and handed over to the corresponding storage space 41, the storage case 90 is placed on an electric conveyor 110 mounted on the automated guided vehicle 100 in the off-site setup area. The travel control device 105 of the automated guided vehicle 100 sets the storage space 41 of the storage unit 4 designated by a management device or the like of the off-site setup area as a target position. Furthermore, the travel control device 105 controls the travel drive device 101 so that the automated guided vehicle 100 travels along a predetermined travel route to the storage space 41, which is the target position.

[0040] After the automated guided vehicle 100 starts traveling, the travel control device 105 commands the input / output module 110io of the electric conveyor 110 to output an electric signal (current signal) to the first line La. The optical communication module 110co of the electric conveyor 110 (on the automated guided vehicle 100 side) converts the electric signal from the first line La into an optical signal (first signal) and outputs the optical signal from the light-emitting unit as an arrival signal. In addition, the control device 40 of the storage unit 4 commands the input / output module 4io of the storage space 41, which is the destination of the storage case 90, to output an electric signal to the first line L1, on the condition that the storage case 90 is ready to be handed over. The optical communication module 4co of the storage space 41 converts the electric signal from the first line L1 into an optical signal (second signal) and outputs the optical signal from the light-emitting unit as a preparation completion signal.

[0041] When the automated guided vehicle 100 approaches the storage space 41, which is the target position, communication between the optical communication module 4co of the storage space 41 and the optical communication module 110co of the electric conveyor 110 becomes possible. When the optical communication module 4co of the storage space 41 receives (receives light) an arrival signal (optical signal) from the optical communication module 110co of the electric conveyor 110, it converts the arrival signal into an electric signal and outputs the electric signal to the second line L2. The electric signal (current signal) output to the second line L2 is supplied to the input / output module 4io of the storage space 41 via the coil 4L of the conveyor power relay 4R. As a result, the coil 4L of the conveyor power relay 4R is excited, and the conveyor power relay 4R is closed (ON) to allow power supply to the electric conveyor 42 (conveyor driving device 43).

[0042] Furthermore, when the optical communication module 110co of the electric conveyor 110 receives (receives light) a preparation completion signal (optical signal) from the optical communication module 4co of the storage space 41, it converts the preparation completion signal into an electric signal and outputs the electric signal to the second line Lb. The electric signal (current signal) output to the second line Lb is supplied to the input / output module 110io on the automatic guided vehicle 100 side via the coil 110L of the conveyor power relay 110R. As a result, the coil 110L of the conveyor power relay 110R is excited, and the conveyor power relay 110R is closed (ON) to allow power supply to the electric conveyor 110 (conveyor driving device 111).

[0043] Furthermore, when the electric signal supplied from the second line Lb to the input / output module 110io becomes high in response to receiving (receiving light from) the ready signal, the travel control device 105 of the automated guided vehicle 100 stops the automated guided vehicle 100 so that the electric conveyor 110 faces the electric conveyor 42 of the storage space 41 based on the detection values ​​of the position sensor and the monitoring sensor. After the automated guided vehicle 100 stops, the conveyor control device 115 of the electric conveyor 110 controls the conveyor driving device 111 so that the electric conveyor 110 sends out the storage case 90 to the electric conveyor 42 side. As a result, the conveyor driving device 111 is driven by the power from the battery 109 supplied via the conveyor power relay 110R, and the storage case 90 is sent out to the electric conveyor 42 side by the electric conveyor 110. Furthermore, the control device 40 of the storage unit 4 controls the conveyor driving device 43 so that the electric conveyor 42 of the corresponding storage space 41 receives the storage case 90 from the electric conveyor 110. As a result, the conveyor driving device 43 is driven by power from the power source 49 supplied via the conveyor power relay 4R, and the storage case 90 is transferred from the electric conveyor 110 to the electric conveyor 42.

[0044] When the storage case 90 is transferred to the electric conveyor 42, one end of the clamped member 91 of the storage case 90 comes into contact with the moving member 44b. The control device 40 of the storage unit 4 operates the drive unit of the moving member 44b so as to draw the moving member 44b toward the wall 45 based on a signal from the first sensor of the clamp mechanism 44. As the moving member 44b moves toward the wall 45, the claw member 44c rotates relative to the moving member 44b so as to come into contact with the other end of the clamped member 91. As a result, the clamped member 91 is clamped by the clamp mechanism 44, and the storage case 90 is drawn toward the wall 45 by the drive unit of the clamp mechanism 44. When the moving member 44b further moves toward the wall 45, the storage case 90 is pulled up onto the support plate 44a, and the external connector of the storage case 90 is coupled to the connector 46 of the storage space 41. This completes the transfer of the storage case 90 from the automated guided vehicle 100 to the storage space 41, and enables communication between the multiple feeders 50 in the storage case 90 and the control device 40. After the transfer of the storage case 90 is completed, the control device 40 of the storage unit 4 stops the corresponding electric conveyor 42, and the conveyor control device 115 on the automated guided vehicle 100 side stops the electric conveyor 110.

[0045] On the other hand, when a storage case 90 containing a plurality of used feeders 50 is transferred from the corresponding storage space 41 to the automated guided vehicle 100, the automated guided vehicle 100 without the storage case 90 mounted on the electric conveyor 110 starts traveling from the external setup area toward the storage space 41, which is the target position. In this case as well, the travel control device 105 of the automated guided vehicle 100 commands the input / output module 110io of the electric conveyor 110 to output an electrical signal (current signal) to the first line La. The optical communication module 110co of the electric conveyor 110 (on the automated guided vehicle 100 side) converts the electrical signal from the first line La into an optical signal (first signal) and outputs the optical signal from the light emitting unit as an arrival signal. Furthermore, the control device 40 of the storage unit 4 commands the input / output module 4io of the corresponding storage space 41 to output an electrical signal to the first line L1, on the condition that the clamped member 91 of the storage case 90 that contains at least a plurality of used feeders 50 is clamped by the clamp mechanism 44. The optical communication module 4co of the storage space 41 converts the electrical signal from the first line L1 into an optical signal (second signal), and outputs the optical signal from the light-emitting unit as a preparation completion signal.

[0046] When communication between the optical communication module 4co of the storage space 41 and the optical communication module 110co of the electric conveyor 110 becomes possible as the automatic guided vehicle 100 approaches the storage space 41, as described above, the electric signal output from the optical communication module 4co of the storage space 41 to the second line L2 is supplied to the input / output module 4io of the storage space 41 via the coil 4L of the conveyor power relay 4R. As a result, the conveyor power relay 4R is closed (ON) so as to allow power supply to the electric conveyor 42 (conveyor driving device 43). In addition, the electric signal output from the optical communication module 110co of the electric conveyor 110 to the second line Lb is supplied to the input / output module 110io on the automatic guided vehicle 100 side via the coil 110L of the conveyor power relay 110R. As a result, the conveyor power relay 110R is closed (ON) so as to allow power supply to the electric conveyor 110 (conveyor driving device 111).

[0047] When the automated guided vehicle 100 stops and the electric conveyor 110 faces the electric conveyor 42 of the storage space 41, the control device 40 of the storage unit 4 controls the conveyor drive device 43 so that the electric conveyor 42 sends out the storage case 90 to the electric conveyor 110 side. As a result, the conveyor drive device 43 is driven by power from the power source 49 supplied via the conveyor power relay 4R, and the storage case 90 containing the used feeder 50 is sent out to the electric conveyor 110 side by the electric conveyor 42. In addition, the conveyor control device 115 of the electric conveyor 110 controls the conveyor drive device 111 so that the electric conveyor 110 receives the storage case 90 from the electric conveyor 42. As a result, the conveyor drive device 111 is driven by power from the battery 109 supplied via the conveyor power relay 110R, and the operation of the electric conveyor 110 is started.

[0048] After the electric conveyors 42 and 110 start operating, the control device 40 of the storage unit 4 operates the drive unit of the moving member 44b of the clamping mechanism 44 so as to move the moving member 44b away from the wall 45. As the moving member 44b moves away from the wall 45, the storage case 90 is pushed toward the electric conveyor 110 by the moving member 44b via the clamped member 91, and the claw member 44c rotates relative to the moving member 44b so as to move away from the other end of the clamped member 91. This releases the clamping of the clamped member 91 by the clamping mechanism 44, and the storage case 90 is transferred from the support plate 44a to the electric conveyor 42 and is transferred from the electric conveyor 42 to the electric conveyor 110. Then, when the conveyor control device 115 of the electric conveyor 110 determines that the storage case 90 has reached a predetermined position on the electric conveyor 110 based on the detection values ​​of the first and second case detection sensors 112, 114, it stops the electric conveyor 110, and in response, the control device 40 of the storage unit 4 also stops the corresponding electric conveyor 42. This completes the transfer of the storage case 90 from the storage space 41 to the automatic guided vehicle 100.

[0049] As described above, while the storage case 90 is being transferred between the electric conveyor 42 in the storage space 41 and the electric conveyor 110 on the automated guided vehicle 100 side, the above-mentioned preparation completion signal and arrival signal are transmitted and received between the optical communication modules 4co and 110co, whereby the conveyor power relays 4R, 110R are closed and the electric conveyors 42, 110 become operable. Also, in the production line 1, when an operator finds any abnormality during the transfer of the storage case 90 between the storage space 41 and the automated guided vehicle 100, the transfer of the storage case 90 can be stopped by pressing the button of the emergency stop switch 4sw in the storage space 41 or the emergency stop switch 110sw of the electric conveyor 110 (on the automated guided vehicle 100 side).

[0050] That is, when an operator presses the button of the emergency stop switch 110sw of the electric conveyor 110, the electric signal (current signal) output from the optical communication module 110co of the electric conveyor 110 to the second line Lb is no longer supplied to the coil 110L of the conveyor power relay 110R in response to the activation, i.e., opening, of the emergency stop switch 110sw, as shown in Fig. 8 (see the dashed line in Fig. 8). As a result, the conveyor power relay 110R is opened (OFF) in response to the pressing of the button of the emergency stop switch 110sw, and the power supply from the battery 109 to the conveyor driving device 111 (electric conveyor 110) is cut off.

[0051] In addition, in response to the operation, i.e., opening, of the emergency stop switch 110sw, the transmission of an electric signal from the input / output module 110io of the electric conveyor 110 to the optical communication module 110co via the first line La is interrupted, and the arrival signal (optical signal) is no longer output from the optical communication module 110co. As a result, the electric signal (current signal) output from the optical communication module 4co on the storage unit 4 side to the second line L2 changes from high level to low level (0V), and the electric signal (current signal) is no longer supplied to the coil 4L of the conveyor power relay 4R (see the dashed line in FIG. 8). As a result, the conveyor power relay 4R is opened (OFF) in response to the pressing of the button of the emergency stop switch 110sw, and the power supply from the power source 49 to the conveyor drive device 43 (electric conveyor 42) is interrupted.

[0052] Furthermore, when the worker presses the button of the emergency stop switch 4sw on the storage unit 4 side, the electric signal (current signal) output from the optical communication module 4co of the storage space 41 to the second line L2 is no longer supplied to the coil 4L (and the input / output module 4io) of the conveyor power relay 4R in response to the activation, i.e., opening, of the emergency stop switch 4sw, as shown in Fig. 9 (see the dashed line in Fig. 9). As a result, the conveyor power relay 4R is opened (OFF) in response to the pressing of the button of the emergency stop switch 4sw, and the power supply from the power source 49 to the conveyor drive device 43 (electric conveyor 42) is cut off.

[0053] In addition, in response to the operation, i.e., opening, of the emergency stop switch 4sw, the transmission of an electric signal from the input / output module 4io of the storage space 41 to the optical communication module 4co via the first line L1 is interrupted, and the arrival signal (optical signal) is no longer output from the optical communication module 4co. As a result, the electric signal (current signal) output from the optical communication module 110co of the electric conveyor 110 to the second line Lb changes from high level to low level (0V), and the electric signal (current signal) is no longer supplied to the coil 110L of the conveyor power relay 110R (see the dashed line in FIG. 9). As a result, the conveyor power relay 110R is opened (OFF) in response to the pressing of the button of the emergency stop switch 4sw, and the power supply from the battery 109 to the conveyor driving device 111 (electric conveyor 110) is interrupted.

[0054] In this way, in the production line 1, both the electric conveyor 110 on the automatic guided vehicle 100 side and the electric conveyor 42 of the corresponding storage space 41 can be stopped in response to the opening of either the emergency stop switch 110sw of the electric conveyor 110 (on the automatic guided vehicle 100 side) or the emergency stop switch 4sw of each storage space 41. Therefore, it is possible to effectively prevent unexpected movement of the storage case 90 in the event of an emergency stop, and to further improve the safety of the operation of transferring the storage case 90 between the automatic guided vehicle 100 and the storage space 41 (storage section 4).

[0055] Furthermore, by stopping both of the electric conveyors 42, 110 transferring the storage case 90 in response to the opening (activation) of any one of the emergency stop switches 4sw, 110sw, any equipment of the automatic guided vehicle 100 and the storage unit 4 can be continuously operated while ensuring safety, thereby improving the workability of recovery after an emergency stop. That is, in this embodiment, even if the power supply to the electric conveyors 42, 110 is continued in response to the opening of any one of the emergency stop switches 4sw, 110sw, the power supply from a low voltage power source (not shown) to the control device 40 of the storage unit 4 and the conveyor control device 115 of the electric conveyor 110 (on the automatic guided vehicle 100 side) is continued. As a result, even after both of the electric conveyors 42, 110 are stopped in response to the opening of any one of the emergency stop switches 4sw, 110sw, the communication between the control device 40 of the storage unit 4 and the conveyor control device 115 on the automatic guided vehicle 100 side can be continued via the optical communication modules 4co, 110co. As a result, even if multiple unmanned guided vehicles 100 are used during the production of the substrate S, the unmanned guided vehicle 100 that was the subject of the emergency stop can be easily identified, thereby further improving the workability of recovery after the emergency stop.

[0056] In this embodiment, when any one of the emergency stop switches 4sw, 110sw is opened, the input / output module 110io notifies the traveling control device 105 of the automated guided vehicle 100 of the opening of the emergency stop switches, and the traveling control device 105 opens a relay (not shown) installed between the traveling drive device 101 and the battery 109 to cut off the power supply to the traveling drive device 101. This makes it possible to further improve safety when both of the electric conveyors 42, 110 transferring the storage case 90 are stopped in response to the opening of any one of the emergency stop switches 4sw, 110sw.

[0057] Furthermore, the electric conveyor 110 mounted on the automatic guided vehicle 100 includes an input / output module 110io as a first signal generating unit that transmits an electric signal to the optical communication module 110co, and a conveyor power relay (first relay) 110R that cuts off the power supply to the conveyor driving device 111 (electric conveyor 110) in response to the interruption of communication between the input / output module 110io and the optical communication module 110co by the emergency stop switch 110sw. The storage unit 4 also includes an input / output module 4io as a second signal generating unit that transmits an electric signal to the optical communication module 4co, and a conveyor power relay (second relay) 4R that cuts off the power supply to the conveyor driving device 43 (electric conveyor 42) in response to the interruption of communication between the input / output module 4io and the optical communication module 4co by the emergency stop switch 4sw. Furthermore, the optical communication module 110co of the electric conveyor 110 (on the automated guided vehicle 100 side) transmits an arrival signal (first signal) based on the electrical signal from the input / output module 110io to the optical communication module 4co, and when the preparation completion signal (second signal) from the optical communication module 4co changes from high level to low level in response to the interruption of communication between the input / output module 4io and the optical communication module 110co by the emergency stop switch 4sw on the storage unit 4 side, it changes the electrical signal (current signal) to the second line Lb to low level (0V) to cause the conveyor power relay 110R to cut off the power supply to the conveyor drive device 111 (electric conveyor 110). In addition, the optical communication module 4co on the storage unit 4 side transmits a preparation completion signal (second signal) based on the electric signal from the input / output module 4io to the optical communication module 4co, and when the arrival signal (first signal) from the optical communication module 110co changes from high level to low level in response to the interruption of communication between the input / output module 110io and the optical communication module 110co by the emergency stop switch 110sw of the electric conveyor 110, the electric signal (current signal) to the second line L2 is changed to low level (0V) to cause the conveyor power relay 4R to interrupt the power supply to the conveyor drive device 43 (electric conveyor 42). This makes it possible to more reliably stop both of the electric conveyors 42 and 110 transferring the storage cases 90 in response to the opening of either one of the emergency stop switches 4sw and 110sw.

[0058] However, the configuration for cutting off the power supply to the electric conveyor 110 in response to the operation of the emergency stop switch 110sw is not limited to the above, and the configuration for cutting off the power supply to the electric conveyor 42 in response to the operation of the emergency stop switch 4sw is not limited to the above. That is, the conveyor power relays 4R, 110R do not necessarily need to cut off the power supply to the electric conveyor 42 or 110 in response to the opening of the emergency stop switches 4sw, 110sw. Furthermore, the conveyor power relays 4R, 110R may have a relay drive circuit including a transistor (switching element) and a diode, and a current from a separately provided excitation power source may be applied to the coils 4L, 110L in response to the transistor being turned ON (conducting) by an electric signal (current signal) from the optical communication module 4co or 110co.

[0059] Moreover, the above-mentioned emergency stop switches 4sw and 110sw are both normally closed switches, but are not limited thereto. That is, the emergency stop switch 4sw may be a relay (switch) or the like that is opened by the control device 40 when some abnormality or the like is detected in the storage unit 4. Furthermore, the emergency stop switch 110sw may be a relay (switch) or the like that is opened by the conveyor control device 115 or the like when some abnormality or the like is detected in the automatic guided vehicle 100 or the electric conveyor 110. Furthermore, both a normally closed switch and a switch that is opened by the control device 40 may be incorporated between the input / output module 4io and the optical communication module 4co, and both a normally closed switch and a switch that is opened by the conveyor control device 115 or the like may be incorporated between the input / output module 110io and the optical communication module 110co.

[0060] Furthermore, a wireless communication module (non-contact type communication module) using an electromagnetic field, radio waves, or the like may be installed in the storage unit 4 instead of the optical communication module 4co, and a wireless communication module (non-contact type communication module) using an electromagnetic field, radio waves, or the like may be installed in the electric conveyor 110 instead of the optical communication module 110co. Also, instead of the optical communication modules 4co, 110co, communication modules coupled to each other via a mechanical connector may be used, and the input / output module 4io and the input / output module 110io may be connected to each other via a mechanical connector.

[0061] The configuration of the storage case 90 is not limited to the above. Furthermore, the article transferred between the electric conveyors 42 and 110 is not limited to the storage case 90 that stores a plurality of feeders 50. That is, at least one feeder 50 may be transferred between the electric conveyors 42 and 110 as it is, or a cart that collectively supports a plurality of feeders 50 may be transferred between the electric conveyors 42 and 110. The article transferred between the electric conveyors 42 and 110 may be a tape reel 51 that stores the components P to be mounted on the board S, a component tray on which the components P to be mounted on the board S are arranged, a component container that irregularly stores the components P to be mounted on the board S, a mounting head, a suction nozzle, a chuck, or a container that stores at least one of these of the component mounter 5, a squeegee, a mask, a print head, a dispense head, or a container that stores at least one of these of the printing device 2, or a container that stores solder, etc.

[0062] Furthermore, the storage unit 4 is incorporated into a production line 1 including a component mounter 5 that mounts components P on a board S, but is not limited to this. That is, the storage unit 4 may be incorporated into a line that includes only the component mounter 5. The storage unit 4 may also be installed in an off-site setup area or the like that is different from the installation area of ​​the production line 1. Furthermore, the storage unit 4 is not limited to having two storage spaces 41, and may have one or three or more storage spaces 41.

[0063] Also, the electric conveyor 110 is a separate unit from the automated guided vehicle 100, but is not limited to this. That is, the electric conveyor 110 may be integrated with the automated guided vehicle 100. Furthermore, the travel control device 105 of the automated guided vehicle 100 may be a remote control device that is not mounted on the automated guided vehicle 100. Also, the optical communication module 110co, the input / output module 110io, and the emergency stop switch 110sw may be provided in the automated guided vehicle 100.

[0064] The present disclosure is not limited to the above embodiment, and various modifications can be made within the scope of the present disclosure. Furthermore, the above embodiment is merely a specific form of the invention described in the Summary of the Invention, and does not limit the elements of the invention described in the Summary of the Invention. [Industrial Applicability]

[0065] The present disclosure is applicable to the industry of manufacturing substrates on which components are mounted. [Explanation of symbols]

[0066] 1 production line, 2 printing device, 3 printing inspection device, 4 storage section, 4co optical communication module, 4io input / output module, 4L coil, 4R conveyor power relay, 4sw emergency stop switch, 40 control device, 41 storage space, 42 electric conveyor, 43 conveyor drive device, 44 clamp mechanism, 44a support plate, 44b moving member, 44c claw member, 45 wall section, 46 connector, 47 first case detection sensor, 48 second case detection sensor, 49 power supply, 5 component mounting machine, 50 feeder, 51 tape reel, 52 tape feed mechanism, 53 connector, 6 mounting inspection device, 7 reflow device, 8 reflow inspection device, 9 loader, 10 production management device, 90 storage case, 91 clamped member, 92 detected member, 93 connector, 100 automated guided vehicle, 101 travel drive device, 105 Driving control device, 109 battery, 110 electric conveyor, 110co optical communication module, 110io input / output module, 110L coil, 110R conveyor power relay, 110sw emergency stop switch, 111 conveyor drive device, 112 first case detection sensor, 114 second case detection sensor, 115 conveyor control device, L1,La first line, L2,Lb second line, P part, S board, SLT slot, W drive wheel.

Claims

1. An article transfer system for transferring an article used in the production of a circuit board including a power source and having components mounted thereon between an automated guided vehicle that transfers the article and a storage unit that stores the article, comprising: a first electric conveyor provided on the automated guided vehicle side for transferring the article between the automated guided vehicle and the storage unit; A first communication module provided on the automated guided vehicle side and configured to transmit a first signal to the storage unit side; A first emergency stop switch provided on the automated guided vehicle side; A conveyor control device provided on the automatic guided vehicle side for controlling the first electric conveyor; a second electric conveyor provided on the storage unit side for transferring the article between the second electric conveyor and the first electric conveyor of the automated guided vehicle; A second communication module provided on the storage unit side and configured to transmit a second signal to the automated guided vehicle side; A second emergency stop switch provided on the storage unit side; Equipped with the first and second communication modules are capable of exchanging signals with each other via optical communication or wireless communication; In response to an actuation of the first emergency stop switch, power supply from the power source of the automated guided vehicle to the first electric conveyor is cut off and the first signal from the first communication module changes; In response to the actuation of the second emergency stop switch, power supply to the second electric conveyor is cut off and the second signal from the second communication module changes; power supply to the second motorized conveyor is cut off in response to a change in the first signal from the first communication module; An article delivery system in which power supply from the power source to the first electric conveyor is cut off in response to a change in the second signal from the second communication module, while power supply from the power source to the conveyor control device is continued.

2. 2. The article delivery system according to claim 1, A control device is provided on the storage unit side and connected to the second communication module, the conveyor controller is connected to the first communication module; An article delivery system in which power supply to the conveyor control device and the control device continues even if power supply to the first and second electric conveyors is cut off in response to activation of the first or second emergency stop switch.

3. 3. The article delivery system according to claim 2, the first electric conveyor is configured as one unit including the first communication module, the first emergency stop switch, and the conveyor control device, and is mounted on the automatic guided vehicle; An article delivery system, wherein the conveyor control device is connected to the control device of the automated guided vehicle so as to exchange information with the automatic guided vehicle.

4. In the article delivery system according to any one of claims 1 to 3, An article delivery system in which power supply to a driving source for driving the automatic guided vehicle is cut off in response to activation of the first or second emergency stop switch.

5. An article transfer system for transferring an article used in the production of a board on which components are mounted between an automated guided vehicle that transports the article and a storage unit that stores the article, comprising: a first electric conveyor provided on the automated guided vehicle side for transferring the article between the automated guided vehicle and the storage unit; A first communication module provided on the automated guided vehicle side and configured to transmit a first signal to the storage unit side; A first emergency stop switch provided on the automated guided vehicle side; a first signal generating unit provided on the automated guided vehicle side for transmitting an electrical signal to the first communication module; a first relay provided on the automatic guided vehicle and capable of cutting off power supply to the first electric conveyor; a second electric conveyor provided on the storage unit side for transferring the article between the second electric conveyor and the first electric conveyor of the automated guided vehicle; A second communication module provided on the storage unit side and configured to transmit a second signal to the automated guided vehicle side; A second emergency stop switch provided on the storage unit side; A second signal generating unit provided on the storage unit side and transmitting an electrical signal to the second communication module; a second relay provided on the storage unit side and capable of cutting off power supply to the second electric conveyor; Equipped with the first and second communication modules are capable of exchanging signals with each other; In response to the actuation of the first emergency stop switch, power supply to the first electric conveyor is cut off and the first signal from the first communication module changes; In response to the actuation of the second emergency stop switch, power supply to the second electric conveyor is cut off and the second signal from the second communication module changes; power supply to the second motorized conveyor is cut off in response to a change in the first signal from the first communication module; power supply to the first electric conveyor is cut off in response to a change in the second signal from the second communication module; the first emergency stop switch is capable of cutting off communication between the first signal generating unit and the first communication module, the second emergency stop switch is capable of cutting off communication between the second signal generating unit and the second communication module, the first communication module transmits the first signal based on the electrical signal from the first signal generating unit to the second communication module, and when the second signal from the second communication module changes in response to the interruption of communication between the second signal generating unit and the second communication module by the second emergency stop switch, causes the first relay to interrupt the power supply to the first electric conveyor; The second communication module transmits the second signal based on the electrical signal from the second signal generating unit to the first communication module, and when the first signal from the first communication module changes in response to communication between the first signal generating unit and the first communication module being cut off by the first emergency stop switch, causes the second relay to cut off power supply to the second electric conveyor.

6. 6. The article delivery system according to claim 5, the first relay cuts off power supply to the first electric conveyor in response to a cutoff of communication between the first signal generating unit and the first communication module by the first emergency stop switch; The second relay cuts off the power supply to the second electric conveyor in response to the second emergency stop switch cutting off communication between the second signal generating unit and the second communication module.

7. In the article delivery system according to any one of claims 1 to 6, The article delivery system, wherein the first and second emergency stop switches include at least one of a normally closed switch and a switch that is controlled to open in response to detection of an abnormality.

8. In the article delivery system according to any one of claims 1 to 7, The article delivery system, wherein the article is a feeder including a tape containing a plurality of the parts.

9. 9. The article delivery system according to claim 8, The storage unit is an item delivery system that is incorporated into a production line that includes a component mounter that mounts the components on the board.

10. A method for transferring an item between a first electric conveyor on an automated guided vehicle side that transports an item used in the production of a circuit board including a power source and having components mounted thereon, and a second electric conveyor on a storage unit side that stores the item, comprising: When the article is transferred between the first and second electric conveyors, a first communication module of the automatic guided vehicle and a second communication module of the storage unit are connected to each other via optical communication or wireless communication. in response to an actuation of a first emergency stop switch on the automated guided vehicle side, cutting off power supply from the power source of the automated guided vehicle to the first electric conveyor and changing a first signal from the first communication module, and cutting off power supply to the second electric conveyor in response to the change in the first signal; in response to an operation of a second emergency stop switch on the storage section side, cutting off power supply to the second electric conveyor and changing a second signal from the second communication module, and in response to the change in the second signal, cutting off power supply from the power source to the first electric conveyor and continuing power supply from the power source to a conveyor control device that controls the first electric conveyor. Delivery method of goods.

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