Stopping position adjustment method, information processing device, and conveying system
Patent Information
- Application Number
- PCT/JP2025/012598
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2026-10-01
Smart Images
Figure JP2025012598_01102026_PF_FP_ABST
Abstract
Description
Stop Position Adjustment Method, Information Processing Apparatus and Conveying System
[0001] The invention disclosed in the present specification relates to a stop position adjustment method, an information processing apparatus, and a conveying system.
[0002] Conventionally, as this type of stop position adjustment method, one used in a conveying system including a conveyance carriage that mounts and conveys an accommodation unit, and an automatic guided vehicle that automatically moves by connecting the conveyance carriage has been proposed (see, for example, Patent Document 1). In this method, when stopping the automatic guided vehicle at a target stop position, the position of the conveyance carriage is managed by positioning the conveyance carriage at a predetermined position. Further, as this type of stop position adjustment method, one used in a conveying system including a conveyance carriage that mounts and conveys an accommodation unit to be transferred to a transfer receiving apparatus has been proposed. In this method, the position of the accommodation unit is adjusted based on the difference between the reference stop position of the conveyance carriage and the actual stop position.
[0003] International Publication No. 2023 / 037498, Japanese Unexamined Patent Publication No. 2024-84304
[0004] However, in the stop position adjustment method described above, if the floor surface is inclined at the position where the accommodation unit is transferred to the transfer receiving apparatus, all of the accommodation unit, the conveyance carriage, and the automatic guided vehicle are inclined. Due to such inclination, positional deviation of the accommodation unit occurs at the position where the accommodation unit is transferred to the transfer receiving apparatus, resulting in transfer errors of the accommodation unit.
[0005] A main object of the stop position adjustment method, the information processing apparatus, and the conveying system of the present disclosure is to suppress the occurrence of transfer errors when transferring an accommodation unit to a transfer receiving apparatus.
[0006] The stop position adjustment method of the present disclosure adopts the following means to achieve the above-described main object.
[0007] The stopping position adjustment method of this disclosure is used in a transport system comprising a storage unit that houses work-related components used in a predetermined operation and is handed over to a handover device, a transport trolley on which the storage unit is placed and transported, and an automated guided vehicle that moves automatically in connection with the transport trolley, and is a stopping position adjustment method for adjusting the stopping position of the automated guided vehicle for handing over the storage unit to the handover device, and is characterized by adjusting the stopping position using the amount of horizontal displacement between the storage unit or a predetermined part of the transport trolley placed on the transport trolley on a horizontal floor surface and the predetermined part on the floor surface of the target stopping position of the automated guided vehicle for handing over the storage unit to the handover device.
[0008] In the stopping position adjustment method of this disclosure, the stopping position is adjusted using the amount of horizontal displacement between the storage unit or a predetermined part of the transport trolley placed on the transport trolley on a horizontal floor surface and a predetermined part on the floor surface of the target stopping position of the automated guided vehicle (AGV) for transferring the storage unit to the transfer device. As a result, the stopping position adjustment method can adjust the stopping position of the AGV according to the amount of displacement of the predetermined part of the storage unit. Consequently, the stopping position adjustment method can suppress the occurrence of transfer errors when transferring the storage unit to the transfer device. Furthermore, this contributes to the realization of a smart factory.
[0009] A schematic diagram showing an example of the mounting system 10 and mounting device 15. A diagram showing an example of the transport system 50 and storage device 14. A diagram showing a schematic example of the configuration of the transport system 50. A diagram showing an example of the loading device 61, trolley section 80 and automated guided vehicle 51. A diagram showing an example of the correspondence information 94 stored in the memory unit 92. A flowchart showing an example of the first displacement amount acquisition processing routine. A diagram to explain the state of the transport system 50 after preparation work. A diagram to explain the state of the transport system 50 on an inclined floor surface. A flowchart showing an example of the second displacement amount acquisition processing routine. A diagram to explain an example of the transport system 50 on a horizontal floor surface. A diagram to explain an example of the reference mark Ms. A diagram to explain the method of acquiring the second displacement amount. A flowchart showing an example of the storage magazine transport processing routine. A diagram showing an example of the operation in which the transport system 50 comes into contact with the storage device 14.
[0010] This embodiment will be described below with reference to the drawings. Figure 1 is a schematic diagram showing an example of the mounting system 10 and mounting device 15. Figure 2 is an explanatory diagram showing an example of the transport system 50 and storage device 14. Figure 3 is an explanatory diagram showing a schematic example of the configuration of the transport system 50. Figure 4 is an explanatory diagram showing a schematic example of the configuration of the loading device 61, trolley section 80 and automated guided vehicle 51, and Figure 5 is an explanatory diagram showing an example of the corresponding information 94 stored in the storage unit 92. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in Figures 1 to 4. Note that the front and back of each device in the mounting system 10 and the front and back of the transport system 50 are opposite to each other because they face each other.
[0011] The mounting system 10 includes a printing device 11, a printing inspection device 12, a transport system 50 as a moving system, a storage device 14, a management device 13, a mounting device 15, a mounting inspection device 16, a loader 18, a reflow device (not shown), and a control device 19. The mounting system 10 is configured as a production line in which, for example, a mounting device 15 that processes components P onto a substrate S (the target object) is arranged downstream of the printing device 11 in the transport direction of the substrate S. In the mounting system 10, the devices to be received that perform predetermined operations include the printing device 11 and the storage device 14. Mounting-related devices related to the mounting process include, for example, the printing device 11, a transport device that transports the substrate S, a printing inspection device 12, a management device 13, a storage device 14, a mounting device 15, a mounting inspection device 16, a loader 18, a reflow device, a control device 19, and a transport system 50. Examples of mounting-related components involved in the mounting process include components P and substrates S, as well as screen masks, support members for supporting the substrates S, and feeders F as supply devices for supplying components P.
[0012] The printing device 11 is a device that uses a squeegee to push solder on a screen mask into pattern holes formed in the screen mask, thereby applying (printing) the solder, which is a viscous fluid, onto a substrate S, which is an object below, through the pattern holes. Here, "object" can be, for example, a substrate S on which components P are mounted, or a three-dimensional base material. "Viscous fluid" can be solder paste, conductive paste, or adhesive. The printing inspection device 12 is a device that inspects the state of the viscous fluid, such as solder paste, printed on the substrate S by the printing device 11. The transport system 50 is a device that automatically transports mounting-related components between a preparation facility, such as a warehouse for mounting-related components, and the mounting system 10. The management device 13 is configured as a server that manages the mounting system 10. The management device 13 exchanges information with each device included in the mounting system 10 and manages the usage status of mounting-related components. The storage device 14 is a temporary storage location for the feeder F holding components P. The storage device 14 includes a storage magazine 30 as a storage system for storing the feeders F to be used, and a storage magazine 30 for collecting the feeders F after use. The mounting inspection device 16 is a device for inspecting the condition of the components P mounted on the substrate S. The loader 18 is configured as a mobile transfer device and moves left and right along the X-axis rail on the front side of the mounting device 15. The loader 18 is a device that automatically attaches, detaches, collects, and replenishes mounting-related components used in the mounting device 15, such as feeders F. The reflow device is a device that reflows the substrate S on which solder has been printed and components P have been placed. The control device 19 is a device that manages information of each device in the mounting system 10 via a network such as the Internet. The control device 19 exchanges information with one or more mounting systems 10 via a network and manages this information.
[0013] The mounting device 15 is a device that picks up components P and mounts them onto a substrate S. The mounting device 15 includes a control device 21, a substrate processing unit 22, a component supply unit 23, a mounting unit 24, a communication unit 27, an operation panel 28, and a mounting imaging unit. The control device 21 is configured as a microprocessor centered on a CPU as the control unit and controls the entire mounting device 15. The control device 21 exchanges signals with each unit and also exchanges information with external devices. The control device 21 has a storage unit that stores mounting job information, including the conditions for executing the mounting process, and mounting processing programs. The substrate processing unit 22 is a unit that loads, fixes, and unloads substrates S. A conveyor is provided in the substrate processing unit 22, and the substrates S are transported by this conveyor. The component supply unit 23 is a unit that supplies components P. The component supply unit 23 has multiple feeders F and a tray unit that contains components P, and is detachably attached to the front side of the mounting device 15. The feeder F is a device that feeds a tape holding components P to a collection position where the components will be collected by the collection member 26. The tray unit has a tray on which multiple components P are arranged and placed, and moves this tray in and out to a predetermined collection position. The mounting imaging unit is a unit that captures images of one or more components P collected and held by the mounting head 25. The mounting unit 24 is a unit that collects components P from the component supply unit 23 and places them on a substrate S fixed to the substrate processing unit 22. The mounting unit 24 is equipped with a mounting head 25 to which the collection member 26 is attached. The mounting head 25 moves in the XY direction by a head movement unit. One or more collection members 26 are detachably attached to the lower surface of the mounting head 25, and multiple components P can be collected at once. The collection member 26 may be a suction nozzle that collects components using negative pressure, or a mechanical chuck that grips components P. The communication unit 27 is an interface for communication with external devices. The control panel 28 has the functions of an operation unit that receives input from the worker W and a notification unit that notifies the worker W of information.
[0014] The storage magazine 30 is configured as a storage unit capable of accommodating multiple feeders F. As shown in Figure 2, the storage magazine 30 has a storage section 31 and slots 32. The storage section 31 is a rectangular parallelepiped housing. Multiple slots 32 are provided along the left-right direction on the rear entrance edge of the storage section 31. The rail members of the feeders F are inserted into the slots 32, holding the feeders F in the correct position and orientation. When the storage magazine 30 is mounted on the storage device 14, it is electrically connected to the control unit of the storage device 14 and exchanges information. This storage magazine 30 has, for example, 30 slots 32 and is configured to accommodate up to 30 general feeders F corresponding to the number of slots. Using this storage magazine 30, a large number of feeders F can be moved together in a single movement by the transport system 50.
[0015] The storage device 14 is a storage area for temporarily storing the feeder F used in the mounting device 15 by attaching the storage magazine 30. The storage device 14 is provided adjacent to the transport device between the printing inspection device 12 and the mounting device 15. As shown in Figure 2, the storage device 14 comprises a magazine storage section 34 and a management device 13, which are arranged side by side. As shown in Figure 2, the magazine storage section 34 is capable of holding two storage magazines 30. In addition, a plurality of transfer rollers 35 that move objects along the direction of the entrance and exit are pivotally supported on the bottom surface of the magazine storage section 34, and the storage magazines 30 are inserted and removed using these transfer rollers 35. A device guide section 36 is provided in the magazine storage section 34. The device guide section 36 is a component that has a predetermined clearance at the receiving position and positions the storage magazines 30 at the receiving position when the transported object is moved between the receiving position where the storage magazines 30 are loaded and unloaded as transported objects of the transport system 50 and the receiving position where the transported object is received and stored. The device guide section 36 has a shape that provides a large clearance in the width direction of the stored magazine 30 at the receiving position on the opening side, and a smaller clearance at the receiving position on the rear side of the magazine storage section 34. This predetermined clearance may be set to a width that can absorb the positional displacement that occurs when the transport system 50 moves at an angle and faces the magazine storage section 34, depending on the transport position accuracy of the transport system 50.
[0016] As shown in Figures 1 to 4, the transport system 50 automatically transports, for example, mounting-related components used in the mounting system 10, such as feeders F and screen masks, between the storage device 14, the printing device 11, and the preparation facility. The transport system 50 consists of an automated guided vehicle 51 and a transport trolley 60.
[0017] The automated guided vehicle (AGV) 51 is configured as, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The AGV 51 is connected to a transport trolley 60 and moves along the floor surface FL on which the printing device 11 and storage device 14 are installed. The floor surface FL may include a horizontal floor surface and a floor surface that is inclined in the left-right direction as the horizontal direction. As shown in Figure 3, the AGV 51 comprises a mounting unit 52, a power supply unit 53, a driving unit 54, a coupling unit 55, and a control device (not shown). The mounting unit 52 is a mechanism for attaching and detaching the coupling unit 55. The power supply unit 53 is a battery that supplies power to the entire transport system 50. Power supplied from this power supply unit 53 enables the driving of the running unit 54, control of the coupling unit 55, communication between the coupling unit 55 and the transport trolley 60, and driving of the loading device 61 on the transport trolley 60. The running unit 54 is the unit that drives the automated guided vehicle 51 and includes drive wheels, driven wheels, and a drive motor. The drive motor drives the drive wheels and controls the direction of travel of the vehicle body. The control device is a controller equipped with a control unit and a memory unit, and controls the entire system of the automated guided vehicle 51.
[0018] The coupling unit 55 is a unit that connects the automated guided vehicle 51 and the transport trolley 60. The coupling unit 55 is attached to the mounting section 52 of the automated guided vehicle 51 in a manner that allows it to be attached and detached. The coupling unit 55 may also be configured to be attached to the transport trolley 60 side. The coupling unit 55 comprises a coupling execution unit 56, a control unit 57, and a power communication unit 59. The coupling execution unit 56 is a unit that guides the coupling member 82, which is disposed on the underside of the loading device 61 of the transport trolley 60, to a predetermined coupling position, and fixes and releases the coupling member 82 at the coupling position. The control unit 57 is a unit that includes an interface for controlling the entire transport system 50. The control unit 57 is disposed at the rear of the coupling unit 55. The control unit 57 has a control unit 58 with a memory unit and an operation panel. The control unit 58 is configured as a microprocessor centered on a CPU and is in charge of controlling the entire device. The memory unit stores information that controls the entire transport system 50, such as transport job information including the serial number of the storage device 14 as a transfer device and information on mounting-related components to be transported to the storage device 14, as well as a transport program that executes the transport process. The operation panel informs the worker W of the status of the transport system 50 and includes a display unit for displaying information and an operation unit for receiving input from the worker W. The power communication unit 59 is a unit that supplies power to the transport trolley 60 and performs communication. The power communication unit 59 includes a power unit that exchanges power and a communication unit that exchanges signals, but these may be an integrated unit or separate units. Furthermore, the power communication unit 59 may be a wired unit with a connector, or a wireless unit without a physical connection, and a wireless unit is preferred for ease of maintenance.
[0019] The transport cart 60 transports mounting-related components for the mounting process. The transport cart 60 is not self-propelled and is connected to an automated guided vehicle 51. It receives power from the automated guided vehicle 51 via a power communication unit 59 and moves automatically as the automated guided vehicle moves. The transport cart 60 comprises a loading device 61 and a cart section 80. The loading device 61 may be, for example, a device that transfers a storage magazine 30 as a transported item and hands over the storage magazine 30 to the storage device 14. The loading device 61 may also include a conveyor device that moves the transported items between a loading position and an loading / unloading position.
[0020] The trolley section 80 is a vehicle that is equipped with a loading device 61 and moves in connection with the automated guided vehicle 51. As shown in Figure 3, the trolley section 80 has casters 81 and a connecting member 82. The trolley section 80 moves by supporting the loading device 61 with the casters 81. The casters 81 are running wheels that do not have a drive unit. Four casters 81 are provided on the trolley section 80. As shown in Figure 4, a connecting member 82 is provided on the underside of the trolley section 80. The connecting member 82 is a member that connects the automated guided vehicle 51 and the transport trolley 60 by being fixed in the connection position by the connecting execution unit 56. The connecting member 82 may be, for example, a columnar member. The connecting member 82 is provided facing downwards on the underside of the trolley section 80.
[0021] The central control unit 19 is an information processing device of the present disclosure and is configured as a server that creates and manages information used by each device of the mounting system 10, such as production plan information 93. As shown in Figure 1, the central control unit 19 comprises a central control unit 90, a storage unit 92, a communication unit 97, a display unit, and an input device. The central control unit 90 is configured as a microprocessor centered on a CPU 91 and is in charge of controlling the entire device. The storage unit 92 stores production plan information 93 and correspondence information 94 as information used by the mounting system 10. This production plan information 93 includes multiple mounting condition information necessary for the mounting system 10 to produce the substrate S. The correspondence information 94 is information on the amount of lateral positional displacement of the storage magazine 30 when the transport system 50 transfers the storage magazine 30 to the storage device 14. As shown in Figure 5, the correspondence information 94 includes first correspondence information 94a and second correspondence information 94b. The first correspondence information 94a is information that associates the storage device 14 and the printing device 11, which are the receiving devices to which the transported goods transported by the transport system 50 will be delivered, with the target stopping position for each receiving device and the first deviation amount. The information of the storage device 14 and the printing device 11 as receiving devices includes information to identify the receiving device, such as the type of each device and its serial number. The target stopping position is the target value of the delivery position when the automated guided vehicle 51 delivers the stored magazine 30 to the receiving device. The second correspondence information 94b is information that associates the automated guided vehicle 51 with the second deviation amount. The first deviation amount and the second deviation amount are acquired by the first deviation amount acquisition processing routine and the second deviation amount acquisition processing routine, which will be described later. The communication unit 97 is an interface for communicating with external devices. The display unit is a liquid crystal screen that displays various information. The input device includes a keyboard and mouse, etc., into which the operator W inputs various commands.
[0022] Next, the operation of the storage device 14 and the transport system 50 will be described, in particular the process of adjusting the handover position as the stopping position of the automated guided vehicle 51 when the transport system 50 transports the storage magazine 30 and hands it over to the storage device 14. In this embodiment, prior to the process of adjusting the handover position, a process is performed to acquire the first correspondence information 94a and the second correspondence information 94b, which are stored in the correspondence information 94 in advance.
[0023] First, the process of acquiring the first correspondence information 94a will be described. Figure 6 is a flowchart of an example of the first displacement amount acquisition processing routine executed by the central control unit 90 of the central control unit 19. The first displacement amount acquisition processing routine is stored in the storage unit 92 of the central control unit 90 and is executed at a predetermined timing before the transport system 50 starts the process of transferring the storage magazine 30 to the storage device 14. Prior to the execution of this first displacement amount acquisition processing routine, the worker W, as a preparatory task, connects the automated guided vehicle 51 and the transport trolley 60 of the transport system 50 and loads the storage magazine 30 onto the loading device 61. At this time, the storage magazine 30 may or may not contain the feeder F. Then, the worker W attaches the overhang portion 70 to the storage magazine 30 loaded onto the loading device 61. Furthermore, the worker W attaches two plumb bobs 72 to the overhang portion 70. Figure 7 is an explanatory diagram illustrating the state of the transport system 50 after preparatory work prior to the execution of the first displacement amount acquisition processing routine. In the figure, the floor surface on which the transport system 50 is placed is assumed to be horizontal. The overhang portion 70 is a rod-shaped member that extends outwards on both sides of the storage magazine 30. The overhang portion 70 is not limited to a rod-shaped member, but can be any shape as long as it extends outwards on both sides of the storage magazine 30 and is shaped such that a plumb bob 72 can be attached to it. Two plumb bobs 72 are attached to both ends of the overhang portion 70. Each plumb bob 72 comprises a string 73 and a conical weight 74. One end of the string 73 is attached to the end of the overhang portion 70. The other end of the string 73 is attached with the weight 74 with the tip of the cone facing downwards. The plumb bob 72 indicates the up and down direction as the vertical direction, regardless of the orientation of the transport system 50. In this embodiment, the straight line passing through the thread 73 and the lower end of the weight 74 is sometimes referred to as the unit's vertical line Ls. The unit's vertical line Ls is a reference vertical line that indicates the direction perpendicular to the storage magazine 30, regardless of the orientation of the storage magazine 30. In Figure 7, the dashed line represents the unit's vertical line Ls.
[0024] When the execution of this first displacement amount acquisition processing routine begins, the overall control unit 90 transmits a movement command to the automated guided vehicle (AGV) 51 to move it to a horizontal floor surface (S100). Upon receiving this movement command, the control unit 58 of the AGV's control unit 57 moves the AGV 51 to a horizontal floor surface FL. Subsequently, the overall control unit 90 waits until it can acquire the reference distance D1 (S110). As shown in Figure 7, the reference distance D1 is the distance in the left-right direction between the lower corner C of the storage magazine 30 and the unit's vertical line Ls on a horizontal floor surface. The overall control unit 90 may acquire the reference distance D1 measured by the worker W via the input device of the control unit 19, or it may use a camera to image the lower corner C of the storage magazine 30 and the plumb bob 72, and acquire the measured distance from the obtained image by image processing via communication or other means.
[0025] When the central control unit 90 acquires the reference distance D1, it transmits a movement command to the automated guided vehicle (AGV) 51 to move it to the target stopping position based on the first corresponding information 94a (S120). Upon receiving this movement command, the control unit 58 of the AGV 51's control unit 57 moves the AGV 51 to the target stopping position. Subsequently, the central control unit 90 waits until it acquires the stopping distance D2 (S130). The stopping distance D2 is the distance in the left-right direction between the lower corner C of the storage magazine 30 and the unit's vertical line Ls on the floor surface at the target stopping position. Figure 8 is an explanatory diagram illustrating the state of the transport system 50 on an inclined floor surface. In the figure, the dashed line shows the transport system 50 on a horizontal floor surface. As shown in the figure, when the floor surface is inclined, the distance in the left-right direction between the lower corner C of the storage magazine 30 and the unit's vertical line Ls is different from the reference distance D1 on a horizontal floor surface, and the difference from the reference distance D1 is larger when the floor surface is inclined than when it is not. Therefore, the stopping distance D2 reflects the inclination of the floor surface at the target stopping position, and the difference from the reference distance D1 is larger when the inclination of the floor surface is large compared to when it is small. The control unit 90 may acquire the stopping distance D2 by having the operator W measure the distance between the lower corner C and the thread 73 and input it to the control unit 19 using an input device, or it may acquire the measured distance D2 by using a camera to photograph the lower corner C of the storage magazine 30 and the plumb bob 72 and then using image processing or the like to obtain it via communication or the like.
[0026] When the control unit 90 obtains the stopping distance D2, it obtains the value obtained by subtracting the reference distance D1 from the obtained stopping distance D2 as the first deviation amount (S140). As described above, the stopping distance D2 reflects the inclination of the floor surface at the target stopping position, and the difference from the reference distance D1 is larger when the inclination of the floor surface is large compared to when it is small. Therefore, the first deviation amount is a parameter that is larger when the inclination of the floor surface at the target stopping position is large in the horizontal direction compared to when it is small. Next, the control unit 90 stores the obtained first deviation amount in the first correspondence information 94a in association with the storage device 14 (S150). Next, the control unit 90 determines whether there are any other devices to be handed over in the transport system 50 that will receive the storage magazine 30 (S160). If there are other devices to be handed over, the control unit 90 returns to S120 and executes the processing from S120 onward. If there are no other devices to be handed over in S160, the control unit 90 terminates the first deviation amount acquisition processing routine. Thus, when the transport system 50 is equipped with multiple transfer devices, the first correspondence information 94a creates information that associates each transfer device with the first displacement amount. In this way, the central control unit 90 creates the first correspondence information 94a using the first displacement amount obtained by actually moving the transport system 50 to the transfer position, so that the first displacement amount can be properly managed.
[0027] Next, the process for acquiring the second correspondence information 94b will be described. Figure 9 is a flowchart showing an example of a second displacement amount acquisition processing routine executed by the central control unit 90 of the central control unit 19. The second displacement amount acquisition processing routine is stored in the storage unit 92 of the central control unit 90 and is executed at a predetermined timing before the transport system 50 starts the process of transferring the storage magazine 30 to the storage device 14. The second displacement amount acquisition processing routine may be executed before or after the first displacement amount acquisition processing routine. Prior to the execution of this second displacement amount acquisition processing routine, the worker W performs preparatory work by connecting the automated guided vehicle 51 and the transport trolley 60 of the transport system 50 and loading the storage magazine 30 onto the loading device 61. Then, the worker W attaches the overhang portion 70B to the storage magazine 30 loaded onto the loading device 61 and attaches two plumb bobs 72B to the overhang portion 70B. Figure 10 is an explanatory diagram illustrating the state of the transport system 50 after preparation work prior to the execution of the second displacement amount acquisition processing routine. Figure 10A is an explanatory diagram illustrating an example of the transport system 50 viewed from the rear after preparation work. Figure 10B is an explanatory diagram illustrating an example of the transport system 50 viewed from above after preparation work. The overhang portion 70B has the same configuration as the overhang portion 70 described above, so a detailed explanation is omitted. The plumb bob 72B has the same configuration as the plumb bob 72 described above, except that it is equipped with a marking portion 75, so an explanation of the thread 73 and weight 74 is omitted. The marking portion 75 is attached to the lower end of the weight 74. The length of the thread 73 is adjusted so that it contacts the floor surface, and a mark is placed at the contact position on the floor surface. In this embodiment, the straight line passing through the thread 73, the lower end of the weight 74, and the lower end of the marking portion 75 is sometimes referred to as the vertical line Lt for the transport vehicle. The vertical line Lt for the transport vehicle is a reference vertical line that indicates the vertical direction relative to the transport vehicle 51, regardless of the orientation of the transport vehicle 51. The mark placed on the floor surface by the marking section 75 indicates the position of the vertical line Lt for the transport vehicle. When the operator W attaches the protruding section 70B and the two plumb bobs 72B to the storage magazine 30, he positions the transport system 50 at the reference stop position. The reference stop position is an ideal stop position based on the positions of the two target members 37 installed on a horizontal floor surface.The placement of the transport system 50 at the reference stopping position is not controlled by the central control unit 90, but is performed, for example, by the operator W manually. At this time, the marking unit 75 contacts the floor surface and leaves a reference mark Ms on the floor surface. That is, the reference mark Ms indicates the ideal stopping position of the transport system 50. The method of leaving this reference mark Ms is not limited to placing the transport system 50 at the reference stopping position, but any method can be used to leave a reference stopping position on the floor surface, such as setting the reference stopping position in advance based on the position of the target member 37 and the dimensions of the automated guided vehicle 51 or transport trolley 60, and having the operator W leave a reference mark Ms at the reference stopping position on the floor surface. Figure 11 is an explanatory diagram illustrating an example of a reference mark Ms. In the figure, the dashed line shows the transport system 50 at the reference position. The second displacement amount acquisition processing routine is executed for each automated guided vehicle 51 if the transport system 50 is equipped with multiple automated guided vehicles 51.
[0028] When the execution of this second displacement amount acquisition processing routine begins, the central control unit 90 transmits a movement command to the automated guided vehicle (AGV) 51 to move it to the reference position (S200). Upon receiving this movement command, the control unit 58 of the AGV 51's control unit 57 controls the AGV 51 to move it to the reference position. Subsequently, the central control unit 90 waits until the second displacement amount is acquired (S210). The second displacement amount is the horizontal displacement between the actual stopping position, which is the stopping position of the AGV 51 as controlled by the control unit 58 that received the movement command to move it to the reference position, and the reference position. Figure 12 is an explanatory diagram illustrating the method for acquiring the second displacement amount. In the figure, the dashed line shows the transport system 50 at the actual stopping position. The actual stopping mark Mr is a mark made by the marking unit 75 at the actual stopping position. The second displacement amount is acquired as the distance between the reference mark Ms and the actual stopping mark Mr. Even if the control unit 58 controls the automated guided vehicle (AGV) 51 to move to a reference position, the AGV 51 may stop deviating from the reference position. The second deviation is the amount of deviation in the stopping position due to mechanical variations, and will be a different value for each AGV. Thus, the central control unit 90 obtains the second deviation by actually moving the AGV 51, and can obtain a more appropriate second deviation. The central control unit 90 may obtain the second deviation by having the operator W manually measure the distance between the reference mark Ms and the actual stopping mark Mr and inputting it to the central control unit 19 using an input device, or it may obtain the distance between the reference mark Ms and the actual stopping mark Mr by taking an image of the reference mark Ms and the actual stopping mark Mr and obtaining the distance from the obtained image using image processing, etc., via communication, etc. When the control unit 90 acquires the second displacement amount, it stores the acquired second displacement amount in the second correspondence information 94b in association with the automated guided vehicle 51 (S220), and then terminates the second displacement amount acquisition processing routine. In this way, the control unit 90 creates the second correspondence information 94b using the second displacement amount acquired by actually moving the transport system 50, so the second displacement amount can be managed appropriately.
[0029] Next, the process by which the transport system 50 transports the storage magazine 30 and the storage device 14 accepts the storage magazine 30 will be described. Figure 13 is a flowchart showing an example of a storage magazine transport processing routine executed by the control device 21 of the mounting device 15. Figure 14 is an explanatory diagram showing an example of the operation in which the transport system 50 comes into contact with the storage device 14, with Figure 14A being an explanatory diagram when the transfer position has not been adjusted and Figure 10B being an explanatory diagram when the transfer position has been adjusted. The storage magazine transport processing routine is stored in the memory unit of the control device 21 and executed at a predetermined timing, such as after the execution of the mounting process has started. As preparation work, worker W connects the unmanned transport vehicle 51 of the transport system 50 with the transport trolley 60 and loads the storage magazine 30 onto the loading device 61.
[0030] When the execution of this storage magazine transport processing routine begins, the control unit 57's control unit 58 first acquires information regarding the target stop position based on the transport job information (S300). The information regarding the target stop position includes the type and serial number of the device to be handed over, and the X-axis coordinate of the target stop position. In this embodiment, the control unit 58 acquires the X-axis coordinate of the target stop position of the storage device 14 as information regarding the target stop position. Next, the control unit 58 acquires a first displacement amount corresponding to the storage device 14 and a second displacement amount corresponding to the automated guided vehicle 51 from the information of the storage device 14 acquired in S300 and the corresponding information 94 of the storage unit 92 of the control unit 19 (S310). Then, the control unit 58 acquires the corrected X-axis coordinate of the target stop position by subtracting the first displacement amount and the second displacement amount from the X-axis coordinate of the target stop position acquired in S300 (S320). The control unit 58 controls the transport system 50 to move to the corrected target stop position and adjusts the handover position as the stop position (S330). The adjustment of the handover position in S330 is a process of adjusting the handover position so that the first and second deviation amounts become a value of 0. However, the adjustment of the handover position in S330 may also be performed so that at least one of the first and second deviation amounts becomes a value other than 0, as long as it is within a range where the first and second deviation amounts become small. When the loading device 61 comes into contact with the storage device 14 (S340), the control unit 58 stops the transport system 50 from moving and drives the transport rollers 63 of the conveyor with the drive unit 64 (S350). At this time, if the handover position is not adjusted in S320, that is, if the transport system 50 comes into contact with the storage device 14 while shifted in the left-right direction, a mistake will occur in which the storage magazine 30 cannot be handed over to the storage device 14 (Figure 14A). By adjusting the transfer position in S320, the transport system 50 can contact the storage device 14 with less lateral displacement compared to Figure 14A, or with no lateral displacement at all, thereby transferring the stored magazine 30 to the storage device 14. This reduces the occurrence of transfer errors when the transport system 50 transfers the stored magazine 30 to the storage device 14.Furthermore, by adjusting the handover position as the stopping position so that the first and second misalignment amounts are small, the occurrence of handover errors when handing over the stored magazine 30 to the handover device can be suppressed more effectively. In addition, the transport system 50 includes a storage device 14 and a printing device 11 as handover devices, and a storage unit 92 for storing information. A target stopping position is set for each handover device, and correspondence information 94 that associates the target stopping position and the first misalignment amount for each handover device is stored in the storage unit 92. Therefore, in a transport system 50 having multiple handover devices, the misalignment amount for each handover device can be properly managed. As a result, the transport system 50 can suppress the occurrence of handover errors when handing over the stored unit to the handover device more effectively. Furthermore, the transport system 50 acquires a first deviation amount, a second deviation amount as the horizontal deviation between the target stopping position and the actual stopping position of the automated guided vehicle 51 when controlled to stop at the target stopping position, and adjusts the handover position as the stopping position using the first and second deviation amounts, thereby more effectively suppressing the occurrence of handover errors when handing over the stored magazine 30 to the storage device 14. The central control unit 90 acquires the second deviation amount as the horizontal deviation between the position of the transport vehicle's vertical line, which serves as a reference vertical line for the automated guided vehicle 51 at the target stopping position, and the position of the transport vehicle's vertical line at the actual stopping position, thereby obtaining a more appropriate second deviation amount. As a result, the transport system 50 can more effectively suppress the occurrence of handover errors when handing over the stored unit to the handover device. Furthermore, the transport system 50 has an overhang 70B attached to the automated guided vehicle 51, and a plumb bob 72B is attached to the overhang 70B, which has a marking section 75 and the marking section 75 is in contact with the floor surface on at least a horizontal floor surface. The plumb bob 72B defines the vertical line for the transport vehicle, and by using the marks made on the floor surface by the marking section 75, the position of the vertical line for the transport vehicle at the target stopping position and the position of the vertical line for the transport vehicle at the actual stopping position can be obtained, thereby obtaining a more appropriate second deviation amount.
[0031] After S350, the control unit 58 determines whether the transfer of the storage magazine 30 is complete (S360). If the transfer of the storage magazine 30 is not complete, it drives the conveyor. On the other hand, if the transfer of the storage magazine 30 is complete, it stops driving the conveyor (S370), moves to a retracted position equivalent to the transfer preparation position (S380), and ends this routine.
[0032] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The storage device 14 of this embodiment is an example of a receiving device of the present disclosure, the storage magazine 30 is an example of a storage unit, the transport cart 60 is an example of a transport cart, the automated guided vehicle 51 is an example of an automated guided vehicle, and the transport system 50 is an example of a transport system. In this embodiment, by describing the transport system 50, examples of the stop position adjustment method, information processing device, and transport system of the present disclosure are also clarified.
[0033] According to the transport system 50 that implements the stopping position adjustment method of this embodiment described above, by adjusting the handover position as the stopping position using a first displacement amount as the amount of horizontal displacement between the lower corner C of the storage magazine 30 on a horizontal floor surface and the lower corner C on the floor surface of the target stopping position of the automated guided vehicle 51 for handing over the storage unit to the handover device, the occurrence of handover errors when handing over the storage magazine 30 to the storage device 14 can be suppressed.
[0034] Furthermore, by adjusting the transfer position as the stopping position so that the first displacement is reduced, the transport system 50 can more effectively suppress the occurrence of transfer errors when transferring the stored magazine 30 to the storage device 14.
[0035] Furthermore, the transport system 50 can more accurately suppress the occurrence of transfer errors when transferring the stored magazine 30 to the storage device 14 by obtaining the difference between the reference distance D1, which is the horizontal distance between the lower corner C on the horizontal floor surface and the unit's vertical line Ls, which is the reference vertical line for the stored magazine 30, and the stopping distance D2, which is the horizontal distance between the lower corner C on the floor surface at the transfer position and the unit's vertical line Ls, as the first deviation amount.
[0036] The transport system 50 includes a storage device 14 and a printing device 11 as receiving devices, and a storage unit 92 for storing information. A target stopping position is set for each receiving device, and by storing corresponding information 94 in the storage unit 92 that associates the target stopping position for each receiving device with a first deviation amount, the system can more accurately reduce the occurrence of delivery errors when transferring the storage units to the receiving devices.
[0037] Furthermore, the transport system 50 acquires a first displacement amount, a second displacement amount which is the horizontal displacement between the target stopping position and the actual stopping position of the automated guided vehicle 51 when controlled to stop at the target stopping position, and adjusts the handover position as the stopping position using the first and second displacement amounts, thereby more accurately suppressing the occurrence of handover errors when handing over the stored magazines 30 to the storage device 14.
[0038] Furthermore, the transport system 50 can more accurately suppress the occurrence of delivery errors when transferring the storage unit to the receiving device by acquiring the horizontal deviation amount between the position of the transport vehicle's vertical line Lt, which serves as a reference vertical line for the transport vehicle 51 at the target stopping position, and the position of the transport vehicle's vertical line Lt at the actual stopping position, as a second deviation amount.
[0039] Furthermore, the transport system 50 has an overhanging portion 70B attached to the unmanned transport vehicle 51 that extends outward, and a plumb bob 72B is attached to the overhanging portion 70B, which has a marking portion 75 at its lower end on which a mark can be applied, and the marking portion 75 contacts the floor surface on at least a horizontal floor surface. The plumb bob 72B defines the vertical line Lt for the transport vehicle, and by using the mark applied to the floor surface by the marking portion 75, the position of the vertical line Lt for the transport vehicle at the target stopping position and the position of the vertical line Lt for the transport vehicle at the actual stopping position can be obtained, thereby obtaining a more appropriate second deviation amount.
[0040] Furthermore, the transport system 50 includes a plurality of automated guided vehicles 51 and a storage unit 92 for storing information. The central control unit 90 stores second correspondence information 94b, which associates the automated guided vehicle 51 with a second displacement amount, in the storage unit 92, thereby suppressing the occurrence of delivery errors when transferring the storage unit to the receiving device more appropriately.
[0041] It goes without saying that the present disclosure is not in any way limited to the above-described embodiments, and may be implemented in various aspects as long as they fall within the technical scope of the present invention.
[0042] For example, in the above-described embodiments, the reference distance D1 and the stopping distance D2 are defined as the distance in the left-right direction between the lower corner C of the storage magazine 30 and the vertical line for unit Ls. However, the reference distance D1 and the stopping distance D2 only need to be the distance in the left-right direction between any part included in the storage magazine 30 and the vertical line for unit Ls. For example, instead of the lower corner C, the distance in the left-right direction between the upper corner and the vertical line for unit Ls may be used. Further, instead of being set for the storage magazine 30, the reference distance D1 and the stopping distance D2 may be the distance in the left-right direction between a predetermined portion as any part included in the transport carriage 60 and the vertical line for unit Ls.
[0043] In the above-described embodiments, the overall control unit 90 transmits a movement command for moving the automated guided vehicle 51 to a horizontal floor surface to the automated guided vehicle 51. However, the overall control unit 90 may store the reference distance D1 in advance. The control unit 58 of the control unit 57 of the automated guided vehicle 51 that has received this movement command moves the automated guided vehicle 51 to a horizontal stop position included in the horizontal floor surface of the floor FL. The horizontal stop position is stored in the storage unit 38b of the automated guided vehicle 51.
[0044] In the above-described embodiments, the overall control unit 90 transmits a movement command for moving the automated guided vehicle 51 to a horizontal floor surface to the automated guided vehicle 51 in S100 of the first deviation amount acquisition processing routine. However, a worker W may move the automated guided vehicle 51 to the horizontal floor surface. In this case, the overall control unit 90 only needs to execute the processing from S110 onward without executing S100 of the first deviation amount acquisition processing routine.
[0045] In the above-described embodiments, the transport system 50 attaches plumb bobs 72 and 72B to the storage magazine 30 via overhanging portions 70 and 70B. However, in the transport system 50, the plumb bobs 72 and 72B may be attached to the transport carriage 60 either via the overhanging portions 70 and 70B or without the overhanging portions 70 and 70B.
[0046] In the embodiment described above, the conveyance system 50 acquires the first misalignment amount and the second misalignment amount using plumb bobs 72 and 72B. However, the acquisition of the first misalignment amount and the second misalignment amount is not limited to those using the plumb bobs 72 and 72B. For example, a device that measures the distance between a reference position and the lower corner C using an imaging device such as a camera may be used.
[0047] In the embodiment described above, the conveyance system 50 acquires the first misalignment amount and the second misalignment amount, and adjusts the transfer position so that the first misalignment amount and the second misalignment amount are reduced. However, the conveyance system 50 may acquire the first misalignment amount without acquiring the second misalignment amount, and adjust the transfer position so that the first misalignment amount is reduced. In this case, without executing the second misalignment amount acquisition processing routine illustrated in FIG. 9, the first misalignment amount may be acquired without acquiring the second misalignment amount in the stored magazine conveyance processing routine illustrated in FIG. 13, and the transfer position may be adjusted so that the first misalignment amount is reduced. Further, the conveyance system 50 may acquire the second misalignment amount without acquiring the first misalignment amount, and adjust the transfer position so that the second misalignment amount is reduced. In this case, without executing the first misalignment amount acquisition processing routine illustrated in FIG. 6, the second misalignment amount may be acquired without acquiring the first misalignment amount in the stored magazine conveyance processing routine illustrated in FIG. 13, and the transfer position may be adjusted so that the second misalignment amount is reduced.
[0048] In the embodiment described above, the conveyance system 50 transfers storage units to the storage device 14 and the printing device 11. The storage unit may store mounting-related members used in the mounting system 10, such as feeders F and screen masks, but is not limited to those that store mounting-related members, and any unit that stores work-related members used for predetermined work is acceptable. Further, the device to which the conveyance system 50 transfers the work-related members is not limited to the storage device 14 and the printing device 11, and any transfer-receiving device that receives work-related members is acceptable.
[0049] Furthermore, in the embodiment described above, the present disclosure has been described as being applied to the form of a stop position adjustment method used in the conveyance system 50, but the present disclosure may be configured as an information processing device used in the conveyance system 50, or the present disclosure may be configured as the conveyance system 50.
[0050] Herein, the information processing device of the present disclosure may be configured as follows. For example, the information processing device of the present disclosure is used in a transport system comprising: a storage unit that houses work-related components used in a delivery device that performs predetermined work and is delivered to the delivery device; a transport cart that carries the storage unit; and an automated guided vehicle that moves automatically in connection with the transport cart, and is an information processing device that generates adjustment information for adjusting the stopping position of the automated guided vehicle for delivering the storage unit to the delivery device, wherein the adjustment information is generated using the amount of horizontal displacement between a predetermined part of the storage unit on a horizontal floor surface and the predetermined part on the floor surface of the target stopping position of the automated guided vehicle for delivering the storage unit to the delivery device.
[0051] In the information processing device disclosed herein, adjustment information is generated using the amount of horizontal displacement between a predetermined part of the storage unit on a horizontal floor surface and a predetermined part on the floor surface of the target stopping position of the automated guided vehicle (AGV) for transferring the storage unit to the transfer device. This allows the information processing device to generate adjustment information more accurately. Therefore, in a transport system equipped with the information processing device, the stopping position of the AGV can be adjusted according to the amount of displacement of the predetermined part of the storage unit, thereby suppressing the occurrence of transfer errors when transferring the storage unit to the transfer device.
[0052] Furthermore, the transport system of this disclosure may be configured as follows. For example, the transport system of this disclosure is used in an information processing device of this disclosure as described above, that is, basically an information processing device that generates adjustment information for adjusting the stopping position of the automated guided vehicle for transferring the transport unit to the transport device, the information processing device that generates the adjustment information using the amount of horizontal displacement between a predetermined part of the transport unit on a horizontal floor surface and the predetermined part on the floor surface of the target stopping position, the transport unit, the transport cart, and the automated guided vehicle.
[0053] Since the transport system of this disclosure is equipped with the information processing device of this disclosure as described above, it provides the same effects as the information processing device of this disclosure, such as the effect of suppressing the occurrence of delivery errors when transferring a storage unit to a delivery device.
[0054] This specification also discloses technical concepts in which, in the original claim 6, "the method for adjusting the stop position described in claim 1 or 2" is changed to "the method for adjusting the stop position described in any one of claims 1 to 5", in the original claim 7, "the method for adjusting the stop position described in claim 1 or 2" is changed to "the method for adjusting the stop position described in any one of claims 1 to 6", and in the original claim 10, "the method for adjusting the stop position described in claim 7" is changed to "the method for adjusting the stop position described in any one of claims 7 to 9".
[0055] This disclosure can be used in industries such as the manufacturing of transport systems and information processing equipment.
[0056] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13 Management device, 14 Storage device, 15 Mounting device, 16 Mounting inspection device, 18 Loader, 19 Control device, 21 Control device, 22 Board processing unit, 23 Parts supply unit, 24 Mounting unit, 25 Mounting head, 26 Sampling material, 27 Communication unit, 28 Operation panel, 30 Storage magazine, 31 Storage unit, 32 Slot, 34 Magazine storage unit, 35 Transfer roller, 36 Device guide unit, 37 Target material, 38b Memory unit, 50 Transport system, 51 Automated guided vehicle, 52 Mounting unit, 53 Power supply unit, 54 Travel unit, 55 Coupling unit, 56 Coupling execution unit, 57 Control unit, 58 Control unit, 59 Power communication unit, 60 Transport trolley, 61 Loading device, 63 Transport roller, 64 Drive unit, 70 70B Overhang, 72 Plumb bob, 72B Plumb bob, 73 Thread, 74 Weight, 75 Marking section, 80 Cart section, 81 Caster, 82 Connecting member, 90 Control unit, 91 CPU, 92 Memory unit, 93 Production plan information, 94 Corresponding information, 94a First correspondence information, 94b Second correspondence information, 97 Communication section, C Lower corner section, F Feeder, FL Floor surface, Ls Vertical line for unit, Mr Actual stop mark, Ms Reference mark, P Parts, S Circuit board, W Worker.
Claims
1. A method for adjusting the stopping position of an automated guided vehicle (AGV) for transferring the storage unit to the AGV, used in a transport system comprising: a storage unit for storing work-related components used in a predetermined operation and transferring them to a transfer device; a transport trolley for carrying the storage unit; and an automated guided vehicle (AGV) for automatically moving in conjunction with the transport trolley, the method for adjusting the stopping position of the AGV for transferring the storage unit to the transfer device, wherein the stopping position is adjusted using the amount of horizontal displacement between a predetermined part of the storage unit or the transport trolley placed on the transport trolley on a horizontal floor surface and the predetermined part of the floor surface at the target stopping position of the AGV for transferring the storage unit to the transfer device.
2. A method for adjusting the stopping position according to claim 1, wherein the stopping position is adjusted such that the amount of deviation becomes smaller.
3. A method for adjusting the stopping position according to claim 1 or 2, wherein the difference between a reference distance, which is the horizontal distance between the predetermined portion on a horizontal floor surface and the unit's vertical line, which is the reference vertical line for the housing unit, and the stopping distance, which is the horizontal distance between the predetermined portion on the floor surface of the target stopping position and the unit's vertical line, is obtained as the amount of deviation.
4. A method for adjusting the stopping position according to claim 3, wherein the housing unit is fitted with an outwardly protruding portion, and the outwardly protruding portion is fitted with a plumb bob having a marking portion on which a mark can be applied, and the marking portion is in contact with the floor surface on at least a horizontal floor surface, the plumb bob defines the vertical line for the unit, and the method for adjusting the stopping position is to obtain the reference distance and the stopping distance using the mark applied to the floor surface by the marking portion.
5. A method for adjusting the stopping position according to claim 1 or 2, wherein the predetermined portion is the lower corner portion of the housing unit.
6. A method for adjusting the stopping position according to claim 1 or 2, wherein the transport system comprises a plurality of the transfer devices and a storage unit for storing information, the target stopping position is set for each of the transfer devices, and the storage unit stores corresponding information relating the target stopping position and the amount of deviation for each of the transfer devices.
7. A method for adjusting a stopping position according to claim 1 or 2, comprising: obtaining a first displacement amount as the displacement amount; obtaining a second displacement amount as the horizontal displacement amount between the target stopping position and the actual stopping position of the automated guided vehicle when controlled to stop at the target stopping position; and adjusting the stopping position using the first displacement amount and the second displacement amount.
8. A stopping position adjustment method according to claim 7, wherein the amount of horizontal deviation between the position of the vertical line for the transport vehicle as a reference vertical line for the transport vehicle at the target stopping position and the position of the vertical line for the transport vehicle at the actual stopping position is obtained as the second deviation amount.
9. A method for adjusting the stopping position according to claim 8, wherein the automated guided vehicle is fitted with an outwardly extending portion, and the outwardly extending portion is fitted with a plumb bob having a marking portion at its lower end on which a mark can be applied, and the marking portion contacts the floor surface on at least a horizontal floor surface, the plumb bob defines the vertical line for the guided vehicle, and the method for adjusting the stopping position is used to obtain the position of the vertical line for the guided vehicle at the target stopping position and the position of the vertical line for the guided vehicle at the actual stopping position using the mark applied to the floor surface by the marking portion.
10. A method for adjusting the stopping position according to claim 7, wherein the transport system comprises a plurality of automated guided vehicles and a storage unit for storing information, and the method for adjusting the stopping position includes storing correspondence information in the storage unit that associates the automated guided vehicles with the second displacement amount.
11. An information processing device used in a transport system comprising: a storage unit that houses work-related components used in a predetermined operation and is handed over to a handover device; a transport trolley on which the storage unit is placed and transported; and an automated guided vehicle that is connected to the transport trolley and moves automatically, wherein the information processing device generates adjustment information for adjusting the stopping position of the automated guided vehicle for handing over the storage unit to the handover device, wherein the adjustment information is generated using the amount of horizontal displacement between the storage unit or a predetermined part of the transport trolley placed on the transport trolley on a horizontal floor surface and the predetermined part on the floor surface of the target stopping position of the automated guided vehicle for handing over the storage unit to the handover device.
12. A transport system comprising: the information processing device according to claim 11; the storage unit; the transport trolley; and the automated guided vehicle.