WO2024089734A1 - Component conveyance system and component conveyance device - Google Patents

Component conveyance system and component conveyance device Download PDF

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Publication number
WO2024089734A1
WO2024089734A1 PCT/JP2022/039493 JP2022039493W WO2024089734A1 WO 2024089734 A1 WO2024089734 A1 WO 2024089734A1 JP 2022039493 W JP2022039493 W JP 2022039493W WO 2024089734 A1 WO2024089734 A1 WO 2024089734A1
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WO
WIPO (PCT)
Prior art keywords
towing device
item
cart
towing
trolley
Prior art date
Application number
PCT/JP2022/039493
Other languages
French (fr)
Japanese (ja)
Inventor
佳宏 藤田
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/039493 priority Critical patent/WO2024089734A1/en
Publication of WO2024089734A1 publication Critical patent/WO2024089734A1/en

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components

Definitions

  • This specification discloses technology relating to an item transport system and an item transport device.
  • the AGV (automated guided vehicle) described in Patent Document 1 is equipped with a PLC (programmable logic controller), a data transmitter, and a data receiver.
  • each trolley connected to and towed by the AGV is also equipped with a PLC, a data transmitter, and a data receiver.
  • the leading trolley transmits the message to the succeeding trolleys and replies to the AGV with a loading code indicating its own load status (whether or not there is load) added to the message.
  • the leading trolley described in Patent Document 1 replies to the AGV with a message that includes a loading code indicating its own loading status (whether or not an item is loaded), making it difficult for the AGV to obtain information about the items that the trolley can transport.
  • the type of items that the trolley can load and the method of delivery may differ, and there is a demand to obtain function information that indicates the functions of the trolley, including information about the items that the trolley can transport.
  • this specification discloses an item transport system and an item transport device that can acquire function information indicating the functions of a cart connected to a towing device, including information regarding items that the cart can transport.
  • This specification discloses an item transport system including a cart, a towing device, and an acquisition unit.
  • the cart transports items used in a substrate-related operation machine that performs a specified substrate-related operation on a substrate.
  • the towing device tows the cart.
  • the acquisition unit acquires function information indicating the function of the cart, including information regarding the items that can be transported by the cart connected to the towing device.
  • This specification also discloses an item transport device including a cart and a towing device.
  • the cart transports items used in a substrate-related operation machine that performs a specified substrate-related operation on a substrate.
  • the towing device tows the cart.
  • the cart transmits function information indicating the function of the cart, including information regarding the item that the cart connected to the towing device can transport, to the towing device via a connection part that electrically connects the cart and the towing device.
  • the above-mentioned item transport system makes it possible to obtain functional information. What has been said above about the item transport system also applies to the item transport device.
  • FIG. 2 is a plan view showing a configuration example of a production facility.
  • FIG. 2 is a partial perspective view showing an example of the configuration of a station and a cart.
  • 3 is a perspective view showing a state in which a storage case capable of storing articles is mounted on the dolly of FIG. 2.
  • FIG. 2 is a block diagram showing an example of a control block of the article transport system.
  • FIG. 4 is a flowchart showing an example of a control procedure by the item transport system.
  • 5A and 5B are schematic diagrams illustrating configuration examples of a connection portion.
  • 10 is a schematic diagram showing an example of the relationship between the protrusion amount and the monitoring range of the towing device; FIG. FIG.
  • FIG. 11 is a schematic diagram showing an example of a relationship between an amount of protrusion and a travel path of a towing device.
  • 11 is a schematic diagram showing an example of a relationship between an amount of protrusion and a stopping position of a towing device.
  • FIG. 11 is a schematic diagram showing another example of the relationship between the protrusion amount and the stopping position of the towing device.
  • 4 is a block diagram showing an example of a control block of the article transport device.
  • Embodiment 1-1 Configuration example of production facility 1
  • the item transport system 80 and the item transport device 90 can be applied to various production facilities 1 that produce board products.
  • the production facility 1 of the embodiment includes at least one (four in the figure) component mounting machine 10, an exchange system 30, an item moving device 40, a station group 50, a cart 60, a traction device 70, a line control device LC0, a production management device WC0, and a transport management device CC0.
  • the horizontal width direction of the component mounting machine 10 and the transport direction of the board are defined as the X direction.
  • the horizontal depth direction of the component mounting machine 10 and the direction perpendicular to the X direction on the horizontal plane are defined as the Y direction.
  • the vertical direction perpendicular to the X direction and the Y direction are defined as the Z direction.
  • At least one (four) component mounting machine 10 is installed along the board transport direction (X direction).
  • the component mounting machine 10 is included in a board-related work machine WM0 that performs a predetermined board-related work on the board.
  • the component mounting machine 10 carries in a board, positions it at a predetermined position, mounts multiple components on the positioned board, and removes the board with the components mounted.
  • the board-related work performed by the component mounting machine 10 includes board-related work, positioning work, and removal work.
  • the board-related work performed by the component mounting machine 10 includes component supply work, picking work, and mounting work.
  • the board-related work machine WM0 is not limited to the component mounting machine 10, and may be a printer that prints solder on a board, an inspection machine that inspects boards with solder printed on them or boards with components mounted on them, or a reflow oven that heats boards with components mounted on them to bond the components to the board.
  • the component mounting machine 10 is equipped with a component supplying device that supplies components to be mounted on a board.
  • the component supplying device is provided with a plurality of removably attached feeders 20.
  • the feeders 20 are included in the item AR0 used in the component supplying operation by the component mounting machine 10.
  • the component supplying device also has at least one slot capable of accommodating the plurality of feeders 20.
  • the component supplying device of the embodiment is provided in two positions, a first position and a second position.
  • the first position holds the installed feeder 20 in an operable state.
  • the operation of the feeder 20 installed at the first position is controlled during board-to-board operations by the component mounting machine 10, and components are sequentially supplied at a removal section provided at a predetermined position on the feeder 20.
  • the second position is disposed below the first position, and stocks the installed feeder 20. In other words, the second position holds the spare feeder 20 used in production, and temporarily holds the feeder 20 used in production.
  • the replacement system 30 includes a first rail 31 and a second rail 32.
  • the first rail 31 and the second rail 32 form a running path for the item moving device 40.
  • the first rail 31 and the second rail 32 are provided along the arrangement direction (board transport direction (X direction)) of at least one (four) component mounting machine 10.
  • the first rail 31 and the second rail 32 extend over substantially the entire area of the board transport direction (X direction) in the production facility 1.
  • the item moving device 40 is provided so that it can run along a running path formed by a first rail 31 and a second rail 32.
  • the item moving device 40 receives power from a power transmitting unit by non-contact power supply, for example, via a power receiving unit provided opposite the power transmitting unit provided on the first rail 31.
  • the power received by the power receiving unit is used for the running of the item moving device 40, specified operations, etc., via a power receiving circuit.
  • the item moving device 40 detects its position on the running path (current position) by, for example, a position detection device.
  • the position detection device can detect the position of the item moving device 40 on the running path (current position) by, for example, optical position detection, position detection using electromagnetic induction, etc.
  • the above-mentioned predetermined operations also include an exchange operation in which equipment that is detachably mounted on the substrate-related operation machine WM0, such as the component mounting machine 10, is exchanged between the substrate-related operation machine WM0.
  • the item moving device 40 performs an exchange operation of the feeder 20 between the component mounting machine 10, which is the substrate-related operation machine WM0, and the feeder 20 is a feeder that supplies components to be mounted on a board.
  • the item moving device 40 can also perform an exchange operation of the feeder 20 between the station group 50.
  • the item moving device 40 performs the operation of replacing the feeder 20 between the first position and the second position of the component supply device of the component mounting machine 10.
  • the item moving device 40 also transports the feeder 20 from the station group 50 to the first position or the second position of the component supply device to perform the operation of replenishing the feeder 20.
  • the item moving device 40 transports the feeder 20 that is no longer needed by the component mounting machine 10 from the component supply device to the station group 50 to perform the operation of recovering the feeder 20.
  • Station group 50 is provided on the substrate loading side of production equipment 1 (left side of the paper in FIG. 1). As shown in FIGS. 1 and 2, station group 50 is provided with at least one station 50s (two in the figure) capable of transferring item AR0 used in substrate-related work machine WM0 such as feeder 20. Station 50s may take various forms as long as it is capable of transferring item AR0. For example, station 50s is equipped with multiple rollers and can transfer item AR0 from cart 60 and can transfer item AR0 to cart 60.
  • the station 50s can also store the storage case 100 shown in FIG. 3, which can store the item AR0.
  • the station 50s can also transport the storage case 100 from the cart 60 using multiple rollers, and can transport the storage case 100 to the cart 60.
  • the storage case 100 has, for example, multiple slots, and each slot can be equipped with a feeder 20.
  • the feeder 20 equipped in the slot of the storage case 100 brought into the station 50s is supplied with power from the station 50s via the storage case 100, and becomes capable of communicating with the line control device LC0.
  • the identification information of the slot of the storage case 100 and the feeder 20 equipped in that slot are associated with each other and recorded in the line control device LC0.
  • the cart 60 transports the item AR0 used in the substrate-related operation machine WM0.
  • the cart 60 transports the item AR0 to or from the station 50s.
  • the transport of the item AR0 by the cart 60 is not limited to the station 50s, and if possible, the item AR0 may be transported directly to or from the substrate-related operation machine WM0.
  • the cart 60 may take various forms as long as it can transport the item AR0.
  • the cart 60 includes a cart main body 61, a loading platform 62, and a plurality of (e.g., four) wheels 63.
  • the loading platform 62 is provided on the upper part of the cart main body 61, and can carry the item AR0.
  • the loading platform 62 can carry a storage case 100 capable of storing the item AR0.
  • the loading platform 62 is equipped with multiple rollers 62a, and can carry the item AR0 into the station 50s, and can carry the item AR0 out of the station 50s.
  • the loading platform 62 can also carry the storage case 100 into the station 50s, and can also carry the storage case 100 out of the station 50s.
  • the loading platform 62 fixes the item AR0 or the storage case 100 except when the item AR0 or the storage case 100 is being carried in or out.
  • the loading platform 62 releases the fixation of the item AR0 or the storage case 100 when the item AR0 or the storage case 100 is being carried in or out.
  • the towing device 70 is disposed on the bottom of the cart body 61 and is connected to the cart body 61 so that it can tow the cart 60.
  • the towing device 70 is not limited as long as it is capable of automatic travel.
  • the towing device 70 may be a known automatic guided vehicle (AGV), an autonomous mobile robot (AMR), or the like.
  • the line control device LC0 is configured to be able to input and output various data to and from each device that constitutes the production equipment 1 via a network.
  • the line control device LC0 monitors the operating status of the production equipment 1, and controls the substrate-related operation machine WM0 such as the component mounting machine 10, the exchange system 30, the item movement device 40, and the station group 50.
  • the line control device LC0 stores various data for controlling the substrate-related operation machine WM0, the exchange system 30, the item movement device 40, and the station group 50.
  • the production management device WC0 can manage at least one (one in the figure) production facility 1.
  • the production management device WC0 is capable of communicating with the line control device LC0 of at least one (one) production facility 1, and manages the production of board products by at least one (one) production facility 1.
  • the transport management device CC0 can manage the cart 60 and the towing device 70.
  • the transport management device CC0 is capable of communicating with the cart 60, the towing device 70, the line control device LC0, and the production management device WC0, and drives the cart 60 and the towing device 70 according to the production status of board products in the production facility 1, and causes the cart 60 to deliver the item AR0.
  • the towing device 70 of the embodiment is an unmanned guided vehicle, and as shown in FIG. 1, the production facility 1 is provided with a guide unit 85.
  • the guide unit 85 is a member provided along the travel path of the cart 60 and the towing device 70, and guides the travel of the cart 60 and the towing device 70.
  • the towing device 70 which tows the cart 60, travels while recognizing the guide unit 85.
  • the guide unit 85 includes a guide member M0 that indicates the travel path of the cart 60 and the towing device 70, and an indicator member S0 that serves as an indicator when traveling.
  • the guide member M0 and the indicator member S0 improve the travel accuracy of the cart 60 and the towing device 70.
  • the guide member M0 and the indicator member S0 can take various forms.
  • the guide member M0 and the indicator member S0 are formed of magnetic tape.
  • the towing device 70 that tows the trolley 60 detects the guide member M0 while traveling, thereby preventing the trolley 60 and the towing device 70 from departing from the traveling path on which they should travel.
  • the towing device 70 can recognize the traveling position of the trolley 60 and the towing device 70 by detecting the indicator member S0.
  • the index member S0 includes a reference member indicating the reference position S10, an intermediate member indicating the intermediate position S20, and a target member indicating the target position S30.
  • the intermediate member includes a first intermediate member indicating the first intermediate position S21, and a second intermediate member indicating the second intermediate position S22.
  • the target member includes a first target member indicating the first target position S31, and a second target member indicating the second target position S32.
  • the towing device 70 towing the cart 60 detects the first route member and thereby recognizes that the cart 60 and the towing device 70 are traveling at the first route position S21. Also, for example, if at least one of the cart 60 and the towing device 70 communicates with the transport management device CC0 and the transport management device CC0 can recognize the traveling position of at least one of the cart 60 and the towing device 70, the indicator member S0 may be omitted.
  • the towing device 70 that tows the cart 60 travels toward the target station 50s along a pre-programmed travel route or a travel route instructed by the transport management device CC0.
  • the target station 50s is the station 50s on the left side of the paper shown in FIG. 1, and that the towing device 70 that tows the cart 60 moves from the reference position S10 to the first target position S31.
  • the towing device 70 that tows the cart 60 detects the first intermediate member, it rotates 90 degrees to the right and moves straight ahead. Then, when the towing device 70 that tows the cart 60 detects the first target member, it stops.
  • the station 50s on the right side of the paper shown in FIG. 1 is the target station 50s and the towing device 70 towing the cart 60 moves from the reference position S10 to the second target position S32.
  • the towing device 70 towing the cart 60 detects the second intermediate member, it rotates 90 degrees to the right and moves straight ahead. Then, when the towing device 70 towing the cart 60 detects the second target member, it stops.
  • the towing device 70 towing the cart 60 can detect the station 50s when the distance between it and the station 50s is less than a predetermined distance, and can stop even if it has not detected the first target member or the second target member.
  • the trolley 60 When the trolley 60 arrives at the target station 50s, it sends out the item AR0 or the storage case 100 to the station 50s, and the station 50s receives the item AR0 or the storage case 100 from the trolley 60.
  • the station 50s can also send out the item AR0 or the storage case 100 to the trolley 60, and the trolley 60 can receive the item AR0 or the storage case 100 from the station 50s.
  • the cart 60 can send the item AR0 or the storage case 100 to one station 50s, move to another station 50s, and receive the item AR0 or the storage case 100 from the station 50s.
  • the cart 60 can also receive the item AR0 or the storage case 100 from one station 50s, move to the other station 50s, and send the item AR0 or the storage case 100 received from the one station 50s to the other station 50s.
  • the item AR0 can be delivered while it is contained in the storage case 100, or it can be delivered without being contained in the storage case 100.
  • the cart 60 of the embodiment can transport the feeder 20 or the storage case 100 that houses the feeder 20.
  • the carts 60 there is a cart that can transport, for example, a mask used in a printer that prints solder on a board.
  • the carts 60 there is a cart that can transport, for example, tray parts arranged on a tray, wafers, etc.
  • the feeder 20, the mask, the tray parts, and the wafer are included in the item AR0.
  • the type of item AR0 that the cart 60 can carry and the method of delivery may differ depending on the type of cart 60, and there is a demand to obtain functional information indicating the functions of the cart 60, including information about the item AR0 that the cart 60 can transport. Therefore, the production facility 1 is provided with an item transport system 80. The production facility 1 can also be provided with an item transport device 90, which will be described later.
  • the item transport system 80 includes a trolley 60, a towing device 70, and an acquisition unit 81.
  • the item transport system 80 can also include a connection unit 82.
  • the item transport system 80 can also include a control device 83.
  • the item transport system 80 can also include a management device 84.
  • the item transport system 80 of the embodiment includes a trolley 60, a towing device 70, an acquisition unit 81, a connection unit 82, a control device 83, and a management device 84.
  • the cart 60 may take various forms as long as it is capable of transporting the item AR0 used in the substrate-related work machine WM0.
  • the towing device 70 may take various forms as long as it is capable of towing the cart 60.
  • the acquisition unit 81 and the management device 84 may be provided in various control devices and management devices. At least one of the acquisition unit 81 and the management device 84 may also be formed on the cloud.
  • the acquisition unit 81 of the embodiment is provided in the management device 84.
  • the management device 84 also includes the transport management device CC0 and the production management device WC0 described above.
  • the connection unit 82 electrically connects the cart 60 and the towing device 70.
  • the control device 83 is provided in the cart 60.
  • the item transport system 80 of the embodiment executes control, for example, according to the flowchart shown in FIG. 5.
  • the acquisition unit 81 performs the judgment and processing shown in steps SP1 and SP2.
  • the towing device 70 or the management device 84 performs the processing shown in steps SP3 and SP4.
  • the acquisition unit 81 acquires function information indicating the function of the cart 60, including information about the item AR0 that can be transported by the cart 60 connected to the towing device 70.
  • the item AR0 is not limited as long as it is used for the substrate-related operation machine WM0. As described above, for example, the feeder 20, mask, tray part, and wafer are included in the item AR0.
  • Information such as the type, model, and vendor of item AR0 is included in the information about item AR0.
  • Information such as the shape (external dimensions, etc.) and weight of item AR0 is also included in the information about item AR0.
  • information such as the state of item AR0 during transportation and the method of delivery is included in the function information indicating the function of the cart 60. As described above, for example, when the feeder 20 is housed in the storage case 100, delivery is performed by a plurality of rollers 62a provided on the loading platform 62 of the cart 60.
  • the method of delivery of the item AR0 transported by the cart 60 is changed as appropriate depending on the item AR0 being transported.
  • the tray parts and wafers are delivered by a plurality of rollers 62a provided on the platform 62 of the cart 60 in a state where they are housed in a storage case that can house multiple items along the vertical direction (Z direction).
  • the method of delivery of members such as masks used in printing machines is different from that of these items AR0.
  • a mask is housed in a storage case that can house a mask and transported to a delivery position by the cart 60, it is held by a holding mechanism provided in the printing machine, which is one of the substrate-related work machines WM0, and is delivered by the holding mechanism.
  • the cart 60 is equipped with a non-volatile memory device, and its own function information can be stored in the memory device in advance.
  • the function information can also be generated by a loopback connector, which will be described later.
  • the acquisition unit 81 may take various forms as long as it is capable of acquiring functional information.
  • the acquisition unit 81 in the embodiment is provided in a management device 84 that is separate from the towing device 70. If the trolley 60 is equipped with a communication device (e.g., a wireless communication device; the same applies below), the acquisition unit 81 can acquire functional information directly from the trolley 60 using the communication device.
  • a communication device e.g., a wireless communication device; the same applies below
  • the acquisition unit 81 can also associate the identification information and function information for each trolley 60 and store them in the storage device of the management device 84. In this case, the acquisition unit 81 acquires the identification information of the trolley 60 connected to the towing device 70 from at least one of the trolley 60 and the towing device 70. The acquisition unit 81 can then acquire the function information stored in association with the identification information of the trolley 60 from the storage device. Note that the acquisition unit 81 can recognize the towing device 70 to which the trolley 60 is connected by also acquiring the identification information of the towing device 70 to which the trolley 60 is connected.
  • the acquisition unit 81 can also acquire the function information via the towing device 70.
  • the trolley 60 can be equipped with an identification code (e.g., a barcode, a two-dimensional code, etc.) that can identify the function of the trolley 60.
  • the towing device 70 can read the identification code using a reading device (code reader) and acquire the function information. Then, the acquisition unit 81 can acquire the function information from the towing device 70 using a communication device.
  • the acquisition unit 81 can also receive from the towing device 70 the functional information transmitted by the trolley 60 to the towing device 70.
  • the trolley 60 can be equipped with a wireless tag that stores the functional information.
  • the towing device 70 can communicate with the wireless tag using a radio to acquire the functional information.
  • the acquisition unit 81 can then acquire the functional information from the towing device 70 using a communication device.
  • the bogie 60 can also transmit function information to the towing device 70 via a connection unit 82 that electrically connects the bogie 60 and the towing device 70.
  • the connection unit 82 can be a loopback connector.
  • the loopback connector outputs an output signal indicating the function information generated using the power supplied from the towing device 70 to the towing device 70.
  • connection unit 82 shown in FIG. 6 is an example of a loopback connector capable of outputting an output signal indicating 4-bit function information.
  • the connection unit 82 includes a traction device side connection unit 82a provided on the traction device 70 side, and a bogie side connection unit 82b provided on the bogie 60 side.
  • One pin of the traction device side connection unit 82a and the bogie side connection unit 82b is connected to the positive pole of a voltage source capable of outputting a predetermined DC voltage V1.
  • the voltage source can supply power to each device of the traction device 70 and also supply power (the supply power already described) to the bogie 60.
  • Pins 2 to 5 of the traction device side connection part 82a and the bogie side connection part 82b are connection parts provided in the middle of a signal line capable of sending and receiving an output signal indicating functional information, and the above pin of the traction device side connection part 82a is connected to an AD converter 70a provided in the traction device 70.
  • the AD converter 70a converts analog signals into digital signals.
  • Pin 6 of the traction device side connection part 82a and the bogie side connection part 82b is connected to the reference potential (0V (zero volts)) of the voltage source.
  • pins 2 to 4 of the bogie side connection part 82b are connected to pin 6 and are set to the reference potential (0V (zero volts)).
  • pin 5 of the bogie side connection part 82b is connected to pin 1 and is set to a DC voltage V1.
  • the AD converter 70a converts the above voltage level of the analog signal (DC voltage V1 or reference potential) into a digital signal and can obtain the 4-bit information 0001. This allows the traction device 70 to obtain the function information represented by the information 0001.
  • the traction device side connection part 82a and the bogie side connection part 82b can be automatically connected in conjunction with the positioning and connection between the bogie 60 and the traction device 70.
  • the bogie 60 outputs an output signal to the traction device 70 at the timing when it is connected to the traction device 70.
  • the voltage source outputs again after temporarily stopping output.
  • the loopback connector is temporarily de-energized, and then energized again to output an output signal indicating function information.
  • the bogie 60 outputs an output signal to the traction device 70 when it is coupled to the traction device 70 or when the loopback connector is energized by restarting the traction device 70.
  • the acquisition unit 81 can then acquire function information from the traction device 70 that has received the output signal (steps SP1 and SP2 shown in FIG. 5).
  • the acquisition unit 81 can acquire the function information from the traction device 70, for example, by using a communication device.
  • the towing device side connection part 82a and the bogie side connection part 82b can also be connected by an operator after the bogie 60 and the towing device 70 are coupled.
  • the bogie 60 outputs an output signal to the towing device 70 after being coupled to the towing device 70, or when the loopback connector is energized by restarting the towing device 70.
  • the acquisition part 81 can then acquire function information from the towing device 70 that has received the output signal (steps SP1 and SP2 shown in FIG. 5).
  • the trolley 60 can also be equipped with a control device 83 that generates a control signal indicating functional information.
  • the control device 83 can then transmit a control signal to the traction device 70 via the connection unit 82.
  • the connection unit 82 can use a signal connector provided midway along a signal line capable of transmitting and receiving the above-mentioned control signal.
  • the signal connector on the trolley 60 side is connected to a communication port of the control device 83.
  • the signal connector on the traction device 70 side is connected to a control device 70m provided on the traction device 70.
  • the control device 83 may be any known communication control device as long as it is capable of generating and transmitting the above control signal.
  • the control device 70m may be any known communication control device as long as it is capable of receiving the above control signal.
  • the control signal and communication method are not limited.
  • the control device 83 and the control device 70m may send and receive any control signal using any communication method, such as serial communication or parallel communication.
  • the control device 83 can transmit a control signal to the towing device 70 at any timing, and the acquisition unit 81 can acquire function information from the control device 70m of the towing device 70 that received the control signal. For example, when a trolley 60 is coupled to the towing device 70, it is necessary to acquire function information of the coupled trolley 60. In addition, when the towing device 70 is restarted, the trolley 60 may have been replaced, and it is necessary to acquire function information of the coupled trolley 60.
  • the acquisition unit 81 may instruct the traction device 70 to transmit a control signal to the traction device 70 when a predetermined time has elapsed since the instruction to couple the traction device 70 with the traction device 60 has been issued, or when the traction device 70 has been restarted.
  • the acquisition unit 81 may then acquire function information from the traction device 70 that has received the control signal (steps SP1 and SP2 shown in FIG. 5).
  • the specified time is the time (estimated time) required to connect the trolley 60 and the towing device 70, and can be set arbitrarily.
  • the management device 84 described below can instruct the connection of the trolley 60 and the towing device 70, and the acquisition unit 81 can acquire function information from the control device 70m of the towing device 70 using, for example, a communication device.
  • the item transport system 80 can combine the acquisition of function information using a loopback connector and the acquisition of function information using the control device 83.
  • the towing device 70 can calculate the amount of protrusion Q0, which is the amount by which the cart 60 and the item AR0 carried by the cart 60 protrude horizontally or three-dimensionally from the external dimensions of the towing device 70 (step SP3 shown in Figure 5). Then, based on the amount of protrusion Q0, the towing device 70 can switch the monitoring range CA0 around the towing device 70 (step SP4).
  • the monitoring range CA0 indicates the range in which a worker or obstacle OS0 is detected by a detection device or the like.
  • Figure 7 is a plan view, and the protrusion amount Q0 in the width direction (horizontal direction) of the towing device 70 is shown as a first protrusion amount Q1. Also, the protrusion amount Q0 in the depth direction of the towing device 70 (horizontal direction, the forward and backward directions of the towing device 70) is shown as a second protrusion amount Q2. Furthermore, in Figure 3, the protrusion amount Q0 in the height direction of the towing device 70 (vertical direction (Z direction), equivalent to three-dimensional protrusion) is shown as a third protrusion amount Q3.
  • the monitoring range CA0 when there is no protrusion amount Q0 is set as the first monitoring range CA1. Furthermore, the monitoring range CA0 when there is a protrusion amount Q0 is set as the second monitoring range CA2. In the example shown in FIG. 7, there is a protrusion amount Q0, and the towing device 70 switches the monitoring range CA0 from the first monitoring range CA1 to the second monitoring range CA2. This allows the towing device 70 to set the monitoring range CA0 according to the cart 60 and the item AR0 transported by the cart 60.
  • the second monitoring range CA2 can be made wider relative to the first monitoring range CA1 as the overhang amount Q0 increases. Furthermore, the second monitoring range CA2 can be made wider only in the direction of overhang. For example, if there is a first overhang amount Q1 and there is no second overhang amount Q2 or third overhang amount Q3, the towing device 70 can switch to a second monitoring range CA2 that is wider in the width direction (horizontal direction) of the towing device 70 relative to the first monitoring range CA1.
  • Management device 84 The management device 84 can calculate the protrusion amount Q0 in the same manner as the towing device 70. That is, the management device 84 determines whether the cart 60 and the article AR0 transported by the cart 60 are within the protrusion amount Q0 of the towing device 70 based on the function information.
  • the amount of protrusion Q0 which is the amount of protrusion in the horizontal direction or three-dimensionally with respect to the outer dimensions, can be calculated (step SP3 shown in FIG. 5).
  • the management device 84 can perform operation management based on the overhang amount Q0 (step SP4).
  • the management device 84 can perform various types of operation management.
  • operation management includes at least one of the following: selecting a travel route RT0 for the towing device 70 that prevents the item AR0 being transported by the cart 60 from interfering with other members, and switching the stop position ST0 of the towing device 70 when transferring the item AR0 to and from the substrate-related work machine WM0.
  • This figure is a plan view, and shows some of the multiple (two in this figure) travel routes RT0 of the towing device 70. Specifically, one of the multiple (two) travel routes RT0 is shown as a first travel route RT1. Also, the other of the multiple (two) travel routes RT0 is shown as a second travel route RT2.
  • the management device 84 selects the second travel path RT2 as the travel path RT0 of the towing device 70. This allows the management device 84 to suppress interference between the item AR0 transported by the cart 60 and other members (obstacle OS0).
  • FIGS. 9 and 10 are plan views showing an example of the stop position ST0 of the towing device 70 when transferring the item AR0 to and from the substrate-related work machine WM0.
  • the stop position ST0 of the towing device 70 when there is no second overhang amount Q2 in the travel direction of the towing device 70 is shown as a first stop position ST1.
  • the stop position ST0 when there is the second overhang amount Q2 in the travel direction of the towing device 70 is shown as a second stop position ST2.
  • the second stop position ST2 is set before the first stop position ST1 by an amount equivalent to the second overhang amount Q2.
  • the second overhang amount Q2 is on the traveling direction side of the towing device 70, and the management device 84 switches the stop position ST0 of the towing device 70 when transferring the item AR0 to the substrate-related work machine WM0 from the first stop position ST1 to the second stop position ST2. This allows the cart 60 to transfer the item AR0 to the substrate-related work machine WM0 (in this embodiment, station 50s) at an appropriate position.
  • the second stop position ST2 can be set closer to the first stop position ST1 as the second overhang amount Q2 in the travel direction of the towing device 70 increases.
  • the management device 84 can also manage both the selection of the travel route RT0 of the towing device 70 and the switching of the stop position ST0 of the towing device 70. In this way, the management device 84 can manage at least one of the operations of the selection of the travel route RT0 of the towing device 70 and the switching of the stop position ST0 of the towing device 70.
  • the management device 84 can also perform the above-mentioned operation management of the towing device 70 and production management of the substrate-related work machine WM0 using the towing device 70 (step SP4 shown in FIG. 5).
  • the management device 84 has functions equivalent to the already-described transport management device CC0 and production management device WC0.
  • the management device 84 acquires identification information of the towing device 70 and identification information of the cart 60 from at least one of the cart 60 and the towing device 70 connected to the towing device 70, in the same manner as the function information.
  • the management device 84 runs the towing device 70, to which the cart 60 capable of transporting the required item AR0 is connected, toward the substrate-related work machine WM0 that requires the item AR0, based on the identification information of the towing device 70 and the cart 60, and the function information of the cart 60. As described above, in the embodiment, the management device 84 first runs the towing device 70, to which the cart 60 capable of transporting the required item AR0 is connected, toward the station 50s.
  • the management device 84 issues an instruction to couple a trolley 60 capable of transporting the required item AR0 to the traction device 70. If the connection between the trolley 60 and the traction device 70 is automated, the specified trolley 60 and the traction device 70 are automatically connected. If the connection between the trolley 60 and the traction device 70 is not automated, the specified trolley 60 and the traction device 70 are connected by an operator. The management device 84 can check whether the specified trolley 60 and the traction device 70 that should be connected have been connected based on the function information of the trolley 60. Furthermore, if the specified trolley 60 and the traction device 70 are not connected, the management device 84 can instruct the operator to check and correct the connection work.
  • the management device 84 can perform at least one of the following operation management: selecting the travel route RT0 of the towing device 70 and switching the stop position ST0 of the towing device 70. What has been described above can also be applied to the case where an item AR0 that is no longer needed at the substrate-related work machine WM0 is collected. What has been described above can also be applied to the case where the driving power source (battery) of at least one of the cart 60 and the towing device 70 is charged.
  • the item transport device 90 includes a dolly 60 and a towing device 70.
  • the dolly 60 transports an item AR0 used in a substrate-related operation machine WM0 that performs a predetermined substrate-related operation on a substrate.
  • the towing device 70 tows the dolly 60.
  • the trolley 60 transmits function information indicating the functions of the trolley 60, including information about the item AR0 that can be transported by the trolley 60 connected to the towing device 70, to the towing device 70 via a connection unit 82 that electrically connects the trolley 60 and the towing device 70.
  • the trolley 60 of the item transport device 90 has a configuration equivalent to the acquisition unit 81 and connection unit 82 already described in the item transport system 80.
  • the traction device 70 can acquire the function information transmitted by the bogie 60 to the traction device 70.
  • the connection unit 82 can use a loopback connector that outputs an output signal indicating the function information generated using the power supplied from the traction device 70 to the traction device 70.
  • the bogie 60 outputs an output signal to the traction device 70 when it is connected to the traction device 70 or when the loopback connector is energized by restarting the traction device 70, and the traction device 70 can receive the output signal and acquire the function information.
  • the trolley 60 may also be equipped with a control device 83 that generates a control signal indicating functional information.
  • the control device 83 may then transmit a control signal to the towing device 70 via the connection unit 82.
  • the towing device 70 may instruct the trolley 60 to transmit a control signal when a predetermined time has elapsed since an instruction to couple the trolley 60 and the towing device 70 was given, or when the towing device 70 is restarted, and may receive the control signal to acquire functional information.
  • the towing device 70 can calculate the amount of protrusion Q0, which is the amount by which the cart 60 and the item AR0 carried by the cart 60 protrude horizontally or three-dimensionally from the external dimensions of the towing device 70, based on the functional information, and can also switch the monitoring range CA0 around the towing device 70 based on the amount of protrusion Q0.
  • Example of Effects of the Embodiment Function information can be acquired according to the item transport system 80. What has been described above about the item transport system 80 can also be said about the item transport device 90 in the same manner.
  • 60 cart, 70: traction device, 80: item transport system, 81: acquisition unit, 82: Connection unit, 83: Control device, 84: Management device, 90: Item transport device, AR0: item, Q0: overhang amount, CA0: monitoring range, RT0: travel route, ST0: stop position, WM0: substrate-related operation machine.

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Abstract

This component conveyance system comprises a carriage, a towing device, and an acquisition unit. The carriage conveys components to be used in a substrate work machine for performing prescribed substrate work on a substrate. The towing device tows the carriage. The acquisition unit acquires function information indicating the function of the carrier, said function information including information about components that can be conveyed by the carriage connected to the towing device.

Description

物品搬送システムおよび物品搬送装置Item transport system and item transport device
　本明細書は、物品搬送システムおよび物品搬送装置に関する技術を開示する。 This specification discloses technology relating to an item transport system and an item transport device.
　特許文献１に記載のＡＧＶ（無人搬送車）には、ＰＬＣ（プログラマブルロジックコントローラ）、データ送信器およびデータ受信器が設けられている。また、ＡＧＶに連結されて牽引される各台車にも、ＰＬＣ、データ送信器およびデータ受信器が設けられている。ＡＧＶから先頭の台車に電文が送信されると、先頭の台車は、電文を後続の台車に送信すると共に、自己の物品搭載状態（物品の搭載有無）を示す搭載コードを電文に付加してＡＧＶに返信する。 The AGV (automated guided vehicle) described in Patent Document 1 is equipped with a PLC (programmable logic controller), a data transmitter, and a data receiver. In addition, each trolley connected to and towed by the AGV is also equipped with a PLC, a data transmitter, and a data receiver. When a message is sent from the AGV to the leading trolley, the leading trolley transmits the message to the succeeding trolleys and replies to the AGV with a loading code indicating its own load status (whether or not there is load) added to the message.
特開２００７－１２８１４６号公報JP 2007-128146 A
　しかしながら、特許文献１に記載の先頭の台車は、自己の物品搭載状態（物品の搭載有無）を示す搭載コードを電文に付加してＡＧＶに返信するものであり、ＡＧＶは、台車が搬送可能な物品に関する情報を取得することは困難である。台車の種類に応じて、台車が搭載可能な物品の種類や受け渡し方法などが異なる可能性があり、台車が搬送可能な物品に関する情報を含む台車の機能を示す機能情報を取得したいという要請がある。 However, the leading trolley described in Patent Document 1 replies to the AGV with a message that includes a loading code indicating its own loading status (whether or not an item is loaded), making it difficult for the AGV to obtain information about the items that the trolley can transport. Depending on the type of trolley, the type of items that the trolley can load and the method of delivery may differ, and there is a demand to obtain function information that indicates the functions of the trolley, including information about the items that the trolley can transport.
　このような事情に鑑みて、本明細書は、牽引装置に連結されている台車が搬送可能な物品に関する情報を含む台車の機能を示す機能情報を取得可能な物品搬送システムおよび物品搬送装置を開示する。 In light of these circumstances, this specification discloses an item transport system and an item transport device that can acquire function information indicating the functions of a cart connected to a towing device, including information regarding items that the cart can transport.
　本明細書は、台車と、牽引装置と、取得部とを備える物品搬送システムを開示する。前記台車は、基板に所定の対基板作業を行う対基板作業機に使用される物品を搬送する。前記牽引装置は、前記台車を牽引する。前記取得部は、前記牽引装置に連結されている前記台車が搬送可能な前記物品に関する情報を含む前記台車の機能を示す機能情報を取得する。 This specification discloses an item transport system including a cart, a towing device, and an acquisition unit. The cart transports items used in a substrate-related operation machine that performs a specified substrate-related operation on a substrate. The towing device tows the cart. The acquisition unit acquires function information indicating the function of the cart, including information regarding the items that can be transported by the cart connected to the towing device.
　また、本明細書は、台車と、牽引装置とを備える物品搬送装置を開示する。前記台車は、基板に所定の対基板作業を行う対基板作業機に使用される物品を搬送する。前記牽引装置は、前記台車を牽引する。前記台車は、前記台車および前記牽引装置の間を電気的に接続する接続部を介して、前記牽引装置に連結されている前記台車が搬送可能な前記物品に関する情報を含む前記台車の機能を示す機能情報を前記牽引装置に対して送信する。 This specification also discloses an item transport device including a cart and a towing device. The cart transports items used in a substrate-related operation machine that performs a specified substrate-related operation on a substrate. The towing device tows the cart. The cart transmits function information indicating the function of the cart, including information regarding the item that the cart connected to the towing device can transport, to the towing device via a connection part that electrically connects the cart and the towing device.
　なお、本明細書には、願書に最初に添付した請求の範囲（以下、当初請求の範囲という。）に記載の請求項６において、「請求項３に記載の物品搬送システム」を「請求項３～請求項５のいずれか一項に記載の物品搬送システム」に変更した技術的思想が開示されている。また、本明細書には、当初請求の範囲に記載の請求項８において、「請求項１に記載の物品搬送システム」を「請求項１～請求項７のいずれか一項に記載の物品搬送システム」に変更した技術的思想が開示されている。さらに、本明細書には、当初請求の範囲に記載の請求項９において、「請求項１に記載の物品搬送システム」を「請求項１～請求項７のいずれか一項に記載の物品搬送システム」に変更した技術的思想が開示されている。 This specification discloses the technical idea of changing "the item transport system according to claim 3" to "the item transport system according to any one of claims 3 to 5" in claim 6 of the claims originally attached to the application (hereinafter referred to as the initial claims). This specification also discloses the technical idea of changing "the item transport system according to claim 1" to "the item transport system according to any one of claims 1 to 7" in claim 8 of the initial claims. This specification also discloses the technical idea of changing "the item transport system according to claim 1" to "the item transport system according to any one of claims 1 to 7" in claim 9 of the initial claims.
　上記の物品搬送システムによれば、機能情報を取得することができる。物品搬送システムについて上述されていることは、物品搬送装置についても同様に言える。 The above-mentioned item transport system makes it possible to obtain functional information. What has been said above about the item transport system also applies to the item transport device.
生産設備の構成例を示す平面図である。FIG. 2 is a plan view showing a configuration example of a production facility. ステーションおよび台車の構成例を示す部分斜視図である。FIG. 2 is a partial perspective view showing an example of the configuration of a station and a cart. 図２の台車に物品を収容可能な収容ケースが搭載された状態を示す斜視図である。3 is a perspective view showing a state in which a storage case capable of storing articles is mounted on the dolly of FIG. 2. FIG. 物品搬送システムの制御ブロックの一例を示すブロック図である。2 is a block diagram showing an example of a control block of the article transport system. FIG. 物品搬送システムによる制御手順の一例を示すフローチャートである。4 is a flowchart showing an example of a control procedure by the item transport system. 接続部の構成例を示す模式図である。5A and 5B are schematic diagrams illustrating configuration examples of a connection portion. はみ出し量と牽引装置の監視範囲の関係の一例を示す模式図である。10 is a schematic diagram showing an example of the relationship between the protrusion amount and the monitoring range of the towing device; FIG. はみ出し量と牽引装置の走行経路の関係の一例を示す模式図である。FIG. 11 is a schematic diagram showing an example of a relationship between an amount of protrusion and a travel path of a towing device. はみ出し量と牽引装置の停止位置の関係の一例を示す模式図である。11 is a schematic diagram showing an example of a relationship between an amount of protrusion and a stopping position of a towing device. FIG. はみ出し量と牽引装置の停止位置の関係の他の一例を示す模式図である。FIG. 11 is a schematic diagram showing another example of the relationship between the protrusion amount and the stopping position of the towing device. 物品搬送装置の制御ブロックの一例を示すブロック図である。4 is a block diagram showing an example of a control block of the article transport device. FIG.
　１．実施形態
　１－１．生産設備１の構成例
　物品搬送システム８０および物品搬送装置９０は、基板製品を生産する種々の生産設備１に適用することができる。図１に示すように、実施形態の生産設備１は、少なくとも一つ（同図では、４つ）の部品装着機１０と、交換システム３０と、物品移動装置４０と、ステーション群５０と、台車６０と、牽引装置７０と、ライン制御装置ＬＣ０と、生産管理装置ＷＣ０と、搬送管理装置ＣＣ０とを備えている。以下の説明において、部品装着機１０の水平幅方向であり、基板の搬送方向をＸ方向とする。また、部品装着機１０の水平奥行き方向であり、水平面においてＸ方向に直交する方向をＹ方向とする。さらに、Ｘ方向およびＹ方向に直交する鉛直方向をＺ方向とする。 1. Embodiment 1-1. Configuration example of production facility 1 The item transport system 80 and the item transport device 90 can be applied to various production facilities 1 that produce board products. As shown in FIG. 1, the production facility 1 of the embodiment includes at least one (four in the figure) component mounting machine 10, an exchange system 30, an item moving device 40, a station group 50, a cart 60, a traction device 70, a line control device LC0, a production management device WC0, and a transport management device CC0. In the following description, the horizontal width direction of the component mounting machine 10 and the transport direction of the board are defined as the X direction. Also, the horizontal depth direction of the component mounting machine 10 and the direction perpendicular to the X direction on the horizontal plane are defined as the Y direction. Furthermore, the vertical direction perpendicular to the X direction and the Y direction are defined as the Z direction.
　少なくとも一つ（４つ）の部品装着機１０は、基板の搬送方向（Ｘ方向）に沿って設置されている。部品装着機１０は、基板に所定の対基板作業を行う対基板作業機ＷＭ０に含まれる。部品装着機１０は、基板を搬入し所定位置に位置決めし、位置決めされた基板に複数の部品を装着して、部品が装着された基板を搬出する。つまり、部品装着機１０による対基板作業には、基板の搬入作業、位置決め作業および搬出作業が含まれる。また、部品装着機１０による対基板作業には、部品の供給作業、採取作業および装着作業が含まれる。なお、対基板作業機ＷＭ０は、基板にはんだを印刷する印刷機、はんだが印刷された基板や部品が装着された基板の検査を行う検査機、または、部品が装着された基板を加熱して基板に部品を結合するリフロー炉など、部品装着機１０に限られない。 At least one (four) component mounting machine 10 is installed along the board transport direction (X direction). The component mounting machine 10 is included in a board-related work machine WM0 that performs a predetermined board-related work on the board. The component mounting machine 10 carries in a board, positions it at a predetermined position, mounts multiple components on the positioned board, and removes the board with the components mounted. In other words, the board-related work performed by the component mounting machine 10 includes board-related work, positioning work, and removal work. In addition, the board-related work performed by the component mounting machine 10 includes component supply work, picking work, and mounting work. Note that the board-related work machine WM0 is not limited to the component mounting machine 10, and may be a printer that prints solder on a board, an inspection machine that inspects boards with solder printed on them or boards with components mounted on them, or a reflow oven that heats boards with components mounted on them to bond the components to the board.
　例えば、部品装着機１０は、基板に装着される部品を供給する部品供給装置を備えている。部品供給装置には、複数のフィーダ２０が着脱可能に設けられる。フィーダ２０は、部品装着機１０による部品の供給作業に使用される物品ＡＲ０に含まれる。また、部品供給装置は、複数のフィーダ２０を装備可能な少なくとも一つのスロットを備えている。実施形態の部品供給装置は、第一位置および第二位置の２つの位置に備えられている。 For example, the component mounting machine 10 is equipped with a component supplying device that supplies components to be mounted on a board. The component supplying device is provided with a plurality of removably attached feeders 20. The feeders 20 are included in the item AR0 used in the component supplying operation by the component mounting machine 10. The component supplying device also has at least one slot capable of accommodating the plurality of feeders 20. The component supplying device of the embodiment is provided in two positions, a first position and a second position.
　第一位置は、装備されたフィーダ２０を動作可能に保持する。第一位置に装備されたフィーダ２０は、部品装着機１０による対基板作業において動作が制御され、フィーダ２０の所定位置に設けられている取り出し部において、部品が順に供給される。第二位置は、第一位置の下方に配置され、装備されたフィーダ２０をストックする。つまり、第二位置は、生産に用いられるフィーダ２０を予備的に保持し、生産に用いられたフィーダ２０を一時的に保持する。 The first position holds the installed feeder 20 in an operable state. The operation of the feeder 20 installed at the first position is controlled during board-to-board operations by the component mounting machine 10, and components are sequentially supplied at a removal section provided at a predetermined position on the feeder 20. The second position is disposed below the first position, and stocks the installed feeder 20. In other words, the second position holds the spare feeder 20 used in production, and temporarily holds the feeder 20 used in production.
　第一位置と第二位置との間におけるフィーダ２０の交換作業、フィーダ２０の補給作業および回収作業は、交換システム３０および物品移動装置４０を用いて行われる。具体的には、図１に示すように、交換システム３０は、第一レール３１と、第二レール３２とを備えている。第一レール３１および第二レール３２は、物品移動装置４０の走行路を形成する。第一レール３１および第二レール３２は、少なくとも一つ（４つ）の部品装着機１０の配置方向（基板の搬送方向（Ｘ方向））に沿って設けられている。第一レール３１および第二レール３２は、生産設備１において、基板の搬送方向（Ｘ方向）の概ね全域に亘って延伸されている。 The replacement operation of the feeder 20 between the first position and the second position, and the replenishing and recovering operations of the feeder 20 are performed using the replacement system 30 and the item moving device 40. Specifically, as shown in FIG. 1, the replacement system 30 includes a first rail 31 and a second rail 32. The first rail 31 and the second rail 32 form a running path for the item moving device 40. The first rail 31 and the second rail 32 are provided along the arrangement direction (board transport direction (X direction)) of at least one (four) component mounting machine 10. The first rail 31 and the second rail 32 extend over substantially the entire area of the board transport direction (X direction) in the production facility 1.
　物品移動装置４０は、第一レール３１および第二レール３２によって形成される走行路に沿って走行可能に設けられている。物品移動装置４０は、例えば、第一レール３１に設けられる送電部と対向して設けられる受電部を介して、非接触給電によって送電部から電力の供給を受ける。受電部が受け取った電力は、受電回路を介して物品移動装置４０の走行、所定作業などに用いられる。なお、物品移動装置４０は、例えば、位置検出装置によって走行路上の位置（現在位置）を検出する。位置検出装置は、例えば、光学的な位置検出、電磁誘導を用いた位置検出などによって、物品移動装置４０の走行路上の位置（現在位置）を検出することができる。 The item moving device 40 is provided so that it can run along a running path formed by a first rail 31 and a second rail 32. The item moving device 40 receives power from a power transmitting unit by non-contact power supply, for example, via a power receiving unit provided opposite the power transmitting unit provided on the first rail 31. The power received by the power receiving unit is used for the running of the item moving device 40, specified operations, etc., via a power receiving circuit. The item moving device 40 detects its position on the running path (current position) by, for example, a position detection device. The position detection device can detect the position of the item moving device 40 on the running path (current position) by, for example, optical position detection, position detection using electromagnetic induction, etc.
　また、上記の所定作業には、部品装着機１０などの対基板作業機ＷＭ０に着脱可能に設けられる機器を、対基板作業機ＷＭ０との間で交換する交換作業などが含まれる。実施形態では、物品移動装置４０は、基板に装着される部品を供給するフィーダ２０を機器として、対基板作業機ＷＭ０である部品装着機１０との間でフィーダ２０の交換作業などを行う。また、物品移動装置４０は、ステーション群５０との間でフィーダ２０の交換作業などを行うこともできる。 The above-mentioned predetermined operations also include an exchange operation in which equipment that is detachably mounted on the substrate-related operation machine WM0, such as the component mounting machine 10, is exchanged between the substrate-related operation machine WM0. In the embodiment, the item moving device 40 performs an exchange operation of the feeder 20 between the component mounting machine 10, which is the substrate-related operation machine WM0, and the feeder 20 is a feeder that supplies components to be mounted on a board. The item moving device 40 can also perform an exchange operation of the feeder 20 between the station group 50.
　具体的には、物品移動装置４０は、部品装着機１０の部品供給装置の第一位置と第二位置との間で、フィーダ２０の交換作業を行う。また、物品移動装置４０は、ステーション群５０から部品供給装置の第一位置または第二位置にフィーダ２０を搬送して、フィーダ２０の補給作業を行う。さらに、物品移動装置４０は、部品装着機１０で不要になったフィーダ２０を部品供給装置からステーション群５０に搬送して、フィーダ２０の回収作業を行う。 Specifically, the item moving device 40 performs the operation of replacing the feeder 20 between the first position and the second position of the component supply device of the component mounting machine 10. The item moving device 40 also transports the feeder 20 from the station group 50 to the first position or the second position of the component supply device to perform the operation of replenishing the feeder 20. Furthermore, the item moving device 40 transports the feeder 20 that is no longer needed by the component mounting machine 10 from the component supply device to the station group 50 to perform the operation of recovering the feeder 20.
　ステーション群５０は、生産設備１の基板搬入側（図１の紙面左側）に設けられている。図１および図２に示すように、ステーション群５０には、フィーダ２０などの対基板作業機ＷＭ０に使用される物品ＡＲ０を受け渡し可能な少なくとも一つ（同図では、２つ）のステーション５０ｓが設けられている。ステーション５０ｓは、物品ＡＲ０を受け渡し可能であれば良く、種々の形態をとり得る。例えば、ステーション５０ｓは、複数のローラを備えており、台車６０から物品ＡＲ０を搬入することができ、台車６０に物品ＡＲ０を搬出することができる。 Station group 50 is provided on the substrate loading side of production equipment 1 (left side of the paper in FIG. 1). As shown in FIGS. 1 and 2, station group 50 is provided with at least one station 50s (two in the figure) capable of transferring item AR0 used in substrate-related work machine WM0 such as feeder 20. Station 50s may take various forms as long as it is capable of transferring item AR0. For example, station 50s is equipped with multiple rollers and can transfer item AR0 from cart 60 and can transfer item AR0 to cart 60.
　また、ステーション５０ｓは、物品ＡＲ０を収容可能な図３に示す収容ケース１００を収納することもできる。この場合も、ステーション５０ｓは、複数のローラによって、台車６０から収容ケース１００を搬入することができ、台車６０に収容ケース１００を搬出することができる。収容ケース１００は、例えば、複数のスロットを備えており、各スロットにフィーダ２０を装備することができる。ステーション５０ｓに搬入された収容ケース１００のスロットに装備されたフィーダ２０は、収容ケース１００を介してステーション５０ｓから電力が供給され、ライン制御装置ＬＣ０と通信可能な状態になる。これにより、収容ケース１００のスロットと当該スロットに装備されたフィーダ２０の識別情報が関連付けられて、ライン制御装置ＬＣ０に記録される。 The station 50s can also store the storage case 100 shown in FIG. 3, which can store the item AR0. In this case, the station 50s can also transport the storage case 100 from the cart 60 using multiple rollers, and can transport the storage case 100 to the cart 60. The storage case 100 has, for example, multiple slots, and each slot can be equipped with a feeder 20. The feeder 20 equipped in the slot of the storage case 100 brought into the station 50s is supplied with power from the station 50s via the storage case 100, and becomes capable of communicating with the line control device LC0. As a result, the identification information of the slot of the storage case 100 and the feeder 20 equipped in that slot are associated with each other and recorded in the line control device LC0.
　台車６０は、対基板作業機ＷＭ０に使用される物品ＡＲ０を搬送する。実施形態の台車６０は、ステーション５０ｓに対して物品ＡＲ０を搬入または搬出する。台車６０による物品ＡＲ０の搬送は、ステーション５０ｓに対してのみに限られず、可能であれば対基板作業機ＷＭ０に対して直接搬入または搬出するようにしてもよい。台車６０は、物品ＡＲ０を搬送することができれば良く、種々の形態をとり得る。例えば、図２および図３に示すように、台車６０は、台車本体部６１と、荷台６２と、複数（例えば、４つ）の車輪６３とを備えている。荷台６２は、台車本体部６１の上部に設けられており、物品ＡＲ０を搭載することができる。また、図３に示すように、荷台６２は、物品ＡＲ０を収容可能な収容ケース１００を搭載することもできる。 The cart 60 transports the item AR0 used in the substrate-related operation machine WM0. In the embodiment, the cart 60 transports the item AR0 to or from the station 50s. The transport of the item AR0 by the cart 60 is not limited to the station 50s, and if possible, the item AR0 may be transported directly to or from the substrate-related operation machine WM0. The cart 60 may take various forms as long as it can transport the item AR0. For example, as shown in FIG. 2 and FIG. 3, the cart 60 includes a cart main body 61, a loading platform 62, and a plurality of (e.g., four) wheels 63. The loading platform 62 is provided on the upper part of the cart main body 61, and can carry the item AR0. Also, as shown in FIG. 3, the loading platform 62 can carry a storage case 100 capable of storing the item AR0.
　荷台６２は、複数のローラ６２ａを備えており、ステーション５０ｓに物品ＡＲ０を搬入することができ、ステーション５０ｓから物品ＡＲ０を搬出することができる。また、荷台６２は、ステーション５０ｓに収容ケース１００を搬入することができ、ステーション５０ｓから収容ケース１００を搬出することもできる。なお、荷台６２は、物品ＡＲ０もしくは収容ケース１００を搬入または搬出するとき以外は、物品ＡＲ０もしくは収容ケース１００を固定する。荷台６２は、物品ＡＲ０もしくは収容ケース１００を搬入または搬出するときには、物品ＡＲ０もしくは収容ケース１００の固定を解除する。 The loading platform 62 is equipped with multiple rollers 62a, and can carry the item AR0 into the station 50s, and can carry the item AR0 out of the station 50s. The loading platform 62 can also carry the storage case 100 into the station 50s, and can also carry the storage case 100 out of the station 50s. The loading platform 62 fixes the item AR0 or the storage case 100 except when the item AR0 or the storage case 100 is being carried in or out. The loading platform 62 releases the fixation of the item AR0 or the storage case 100 when the item AR0 or the storage case 100 is being carried in or out.
　複数（４つ）の車輪６３は、台車本体部６１の下部に設けられており、台車６０は、牽引装置７０によって牽引されて走行する。具体的には、牽引装置７０が台車本体部６１の下部に配置された状態で、牽引装置７０が台車６０を牽引可能に台車本体部６１と連結されている。牽引装置７０は、自動走行可能であれば良く、限定されない。牽引装置７０は、例えば、公知の無人搬送車（ＡＧＶ：Ａｕｔｏｍａｔｉｃ　Ｇｕｉｄｅｄ　Ｖｅｈｉｃｌｅ）、自律走行搬送ロボット（ＡＭＲ：Ａｕｔｏｎｏｍｏｕｓ　Ｍｏｂｉｌｅ　Ｒｏｂｏｔ）などを用いることができる。 Multiple (four) wheels 63 are provided on the bottom of the cart body 61, and the cart 60 travels while being towed by a towing device 70. Specifically, the towing device 70 is disposed on the bottom of the cart body 61 and is connected to the cart body 61 so that it can tow the cart 60. The towing device 70 is not limited as long as it is capable of automatic travel. For example, the towing device 70 may be a known automatic guided vehicle (AGV), an autonomous mobile robot (AMR), or the like.
　ライン制御装置ＬＣ０は、ネットワークを介して、生産設備１を構成する各装置と種々のデータを入出力可能に構成されている。ライン制御装置ＬＣ０は、生産設備１の動作状況を監視し、部品装着機１０などの対基板作業機ＷＭ０、交換システム３０、物品移動装置４０およびステーション群５０を制御する。ライン制御装置ＬＣ０には、対基板作業機ＷＭ０、交換システム３０、物品移動装置４０およびステーション群５０を制御するための各種データが記憶されている。 The line control device LC0 is configured to be able to input and output various data to and from each device that constitutes the production equipment 1 via a network. The line control device LC0 monitors the operating status of the production equipment 1, and controls the substrate-related operation machine WM0 such as the component mounting machine 10, the exchange system 30, the item movement device 40, and the station group 50. The line control device LC0 stores various data for controlling the substrate-related operation machine WM0, the exchange system 30, the item movement device 40, and the station group 50.
　生産管理装置ＷＣ０は、少なくとも一つ（同図では、一つ）の生産設備１を管理することができる。生産管理装置ＷＣ０は、少なくとも一つ（一つ）の生産設備１のライン制御装置ＬＣ０と通信可能に設けられており、少なくとも一つ（一つ）の生産設備１による基板製品の生産を管理する。搬送管理装置ＣＣ０は、台車６０および牽引装置７０を管理することができる。搬送管理装置ＣＣ０は、台車６０、牽引装置７０、ライン制御装置ＬＣ０および生産管理装置ＷＣ０と通信可能に設けられており、生産設備１における基板製品の生産状況に応じて、台車６０および牽引装置７０を走行させ、台車６０に物品ＡＲ０の受け渡しを行わせる。 The production management device WC0 can manage at least one (one in the figure) production facility 1. The production management device WC0 is capable of communicating with the line control device LC0 of at least one (one) production facility 1, and manages the production of board products by at least one (one) production facility 1. The transport management device CC0 can manage the cart 60 and the towing device 70. The transport management device CC0 is capable of communicating with the cart 60, the towing device 70, the line control device LC0, and the production management device WC0, and drives the cart 60 and the towing device 70 according to the production status of board products in the production facility 1, and causes the cart 60 to deliver the item AR0.
　実施形態の牽引装置７０は、無人搬送車であり、図１に示すように、生産設備１には、案内部８５が設けられている。案内部８５は、台車６０および牽引装置７０の走行経路に沿って設けられる部材であって、台車６０および牽引装置７０の走行を案内する。具体的には、台車６０を牽引する牽引装置７０は、案内部８５を認識しながら走行する。例えば、案内部８５は、台車６０および牽引装置７０の走行路を示す案内部材Ｍ０と、走行時に指標となる指標部材Ｓ０とを備えている。案内部材Ｍ０および指標部材Ｓ０は、台車６０および牽引装置７０の走行精度を向上させる。 The towing device 70 of the embodiment is an unmanned guided vehicle, and as shown in FIG. 1, the production facility 1 is provided with a guide unit 85. The guide unit 85 is a member provided along the travel path of the cart 60 and the towing device 70, and guides the travel of the cart 60 and the towing device 70. Specifically, the towing device 70, which tows the cart 60, travels while recognizing the guide unit 85. For example, the guide unit 85 includes a guide member M0 that indicates the travel path of the cart 60 and the towing device 70, and an indicator member S0 that serves as an indicator when traveling. The guide member M0 and the indicator member S0 improve the travel accuracy of the cart 60 and the towing device 70.
　案内部材Ｍ０および指標部材Ｓ０は、種々の形態をとり得る。実施形態では、案内部材Ｍ０および指標部材Ｓ０は、磁気テープで形成されている。台車６０を牽引する牽引装置７０は、案内部材Ｍ０を検知しつつ走行することにより、台車６０および牽引装置７０が走行すべき走行路から離脱することを抑制することができる。また、牽引装置７０は、指標部材Ｓ０を検知することにより、台車６０および牽引装置７０の走行位置を認識することができる。 The guide member M0 and the indicator member S0 can take various forms. In the embodiment, the guide member M0 and the indicator member S0 are formed of magnetic tape. The towing device 70 that tows the trolley 60 detects the guide member M0 while traveling, thereby preventing the trolley 60 and the towing device 70 from departing from the traveling path on which they should travel. In addition, the towing device 70 can recognize the traveling position of the trolley 60 and the towing device 70 by detecting the indicator member S0.
　例えば、指標部材Ｓ０は、基準位置Ｓ１０を示す基準部材と、経由位置Ｓ２０を示す経由部材と、目標位置Ｓ３０を示す目標部材とを備えている。また、実施形態のステーション群５０は、２つのステーション５０ｓを備えているので、経由部材は、第一の経由位置Ｓ２１を示す第一経由部材と、第二の経由位置Ｓ２２を示す第二経由部材とを備えている。目標部材は、第一の目標位置Ｓ３１を示す第一目標部材と、第二の目標位置Ｓ３２を示す第二目標部材とを備えている。 For example, the index member S0 includes a reference member indicating the reference position S10, an intermediate member indicating the intermediate position S20, and a target member indicating the target position S30. In addition, since the station group 50 of the embodiment includes two stations 50s, the intermediate member includes a first intermediate member indicating the first intermediate position S21, and a second intermediate member indicating the second intermediate position S22. The target member includes a first target member indicating the first target position S31, and a second target member indicating the second target position S32.
　例えば、台車６０を牽引する牽引装置７０は、第一経由部材を検知することにより、台車６０および牽引装置７０が第一の経由位置Ｓ２１を走行していることを認識する。また、例えば、台車６０および牽引装置７０のうちの少なくとも一つと搬送管理装置ＣＣ０とが互いに通信して、搬送管理装置ＣＣ０が台車６０および牽引装置７０のうちの少なくとも一つの走行位置を認識可能な場合は、指標部材Ｓ０を省略しても良い。 For example, the towing device 70 towing the cart 60 detects the first route member and thereby recognizes that the cart 60 and the towing device 70 are traveling at the first route position S21. Also, for example, if at least one of the cart 60 and the towing device 70 communicates with the transport management device CC0 and the transport management device CC0 can recognize the traveling position of at least one of the cart 60 and the towing device 70, the indicator member S0 may be omitted.
　台車６０を牽引する牽引装置７０は、予めプログラムされている走行経路または搬送管理装置ＣＣ０から指示される走行経路で、目標のステーション５０ｓに向かって走行する。例えば、図１に示す紙面左側のステーション５０ｓが目標のステーション５０ｓであり、台車６０を牽引する牽引装置７０が基準位置Ｓ１０から第一の目標位置Ｓ３１に移動する場合を想定する。この場合、台車６０を牽引する牽引装置７０は、第一経由部材を検知すると、右方に９０度、回転して直進する。そして、台車６０を牽引する牽引装置７０は、第一目標部材を検知すると停車する。 The towing device 70 that tows the cart 60 travels toward the target station 50s along a pre-programmed travel route or a travel route instructed by the transport management device CC0. For example, assume that the target station 50s is the station 50s on the left side of the paper shown in FIG. 1, and that the towing device 70 that tows the cart 60 moves from the reference position S10 to the first target position S31. In this case, when the towing device 70 that tows the cart 60 detects the first intermediate member, it rotates 90 degrees to the right and moves straight ahead. Then, when the towing device 70 that tows the cart 60 detects the first target member, it stops.
　図１に示す紙面右側のステーション５０ｓが目標のステーション５０ｓであり、台車６０を牽引する牽引装置７０が基準位置Ｓ１０から第二の目標位置Ｓ３２に移動する場合も同様である。この場合、台車６０を牽引する牽引装置７０は、第二経由部材を検知すると、右方に９０度、回転して直進する。そして、台車６０を牽引する牽引装置７０は、第二目標部材を検知すると停車する。なお、台車６０を牽引する牽引装置７０は、ステーション５０ｓとの間の距離が所定距離以下になると、ステーション５０ｓを検知することができ、第一目標部材または第二目標部材を検知していない場合であっても、停車することができる。 The same applies when the station 50s on the right side of the paper shown in FIG. 1 is the target station 50s and the towing device 70 towing the cart 60 moves from the reference position S10 to the second target position S32. In this case, when the towing device 70 towing the cart 60 detects the second intermediate member, it rotates 90 degrees to the right and moves straight ahead. Then, when the towing device 70 towing the cart 60 detects the second target member, it stops. Note that the towing device 70 towing the cart 60 can detect the station 50s when the distance between it and the station 50s is less than a predetermined distance, and can stop even if it has not detected the first target member or the second target member.
　台車６０は、目標のステーション５０ｓに到着すると、ステーション５０ｓに物品ＡＲ０もしくは収容ケース１００を送出し、ステーション５０ｓは、台車６０から物品ＡＲ０もしくは収容ケース１００を受領する。また、ステーション５０ｓは、台車６０に物品ＡＲ０もしくは収容ケース１００を送出し、台車６０は、ステーション５０ｓから物品ＡＲ０もしくは収容ケース１００を受領することもできる。 When the trolley 60 arrives at the target station 50s, it sends out the item AR0 or the storage case 100 to the station 50s, and the station 50s receives the item AR0 or the storage case 100 from the trolley 60. The station 50s can also send out the item AR0 or the storage case 100 to the trolley 60, and the trolley 60 can receive the item AR0 or the storage case 100 from the station 50s.
　さらに、台車６０は、一のステーション５０ｓに物品ＡＲ０もしくは収容ケース１００を送出し、他のステーション５０ｓに移動して、当該ステーション５０ｓから物品ＡＲ０もしくは収容ケース１００を受領することもできる。また、台車６０は、一のステーション５０ｓから物品ＡＲ０もしくは収容ケース１００を受領し、他のステーション５０ｓに移動して、一のステーション５０ｓから受領した物品ＡＲ０もしくは収容ケース１００を他のステーション５０ｓに送出することもできる。なお、物品ＡＲ０は、収容ケース１００に収容された状態で受け渡しすることができ、収容ケース１００に収容されていない状態で受け渡しすることもできる。 Furthermore, the cart 60 can send the item AR0 or the storage case 100 to one station 50s, move to another station 50s, and receive the item AR0 or the storage case 100 from the station 50s. The cart 60 can also receive the item AR0 or the storage case 100 from one station 50s, move to the other station 50s, and send the item AR0 or the storage case 100 received from the one station 50s to the other station 50s. Note that the item AR0 can be delivered while it is contained in the storage case 100, or it can be delivered without being contained in the storage case 100.
　１－２．物品搬送システム８０の構成例
　既述されているように、実施形態の台車６０は、フィーダ２０もしくはフィーダ２０を収容する収容ケース１００を搬送することができる。また、台車６０には、例えば、基板にはんだを印刷する印刷機に使用されるマスクを搬送可能な台車が存在する。さらに、台車６０には、例えば、トレイに配列されたトレイ部品、ウェハなどを搬送可能な台車が存在する。フィーダ２０、マスク、トレイ部品およびウェハは、物品ＡＲ０に含まれる。 1-2. Example of the configuration of the item transport system 80 As described above, the cart 60 of the embodiment can transport the feeder 20 or the storage case 100 that houses the feeder 20. In addition, among the carts 60, there is a cart that can transport, for example, a mask used in a printer that prints solder on a board. In addition, among the carts 60, there is a cart that can transport, for example, tray parts arranged on a tray, wafers, etc. The feeder 20, the mask, the tray parts, and the wafer are included in the item AR0.
　このように、台車６０の種類に応じて、台車６０が搭載可能な物品ＡＲ０の種類や受け渡し方法などが異なる可能性があり、台車６０が搬送可能な物品ＡＲ０に関する情報を含む台車６０の機能を示す機能情報を取得したいという要請がある。そこで、生産設備１には、物品搬送システム８０が設けられている。また、生産設備１には、後述される物品搬送装置９０を設けることができる。 In this way, the type of item AR0 that the cart 60 can carry and the method of delivery may differ depending on the type of cart 60, and there is a demand to obtain functional information indicating the functions of the cart 60, including information about the item AR0 that the cart 60 can transport. Therefore, the production facility 1 is provided with an item transport system 80. The production facility 1 can also be provided with an item transport device 90, which will be described later.
　物品搬送システム８０は、台車６０と、牽引装置７０と、取得部８１とを備える。物品搬送システム８０は、接続部８２を備えることもできる。物品搬送システム８０は、制御装置８３を備えることもできる。物品搬送システム８０は、管理装置８４を備えることもできる。図４に示すように、実施形態の物品搬送システム８０は、台車６０と、牽引装置７０と、取得部８１と、接続部８２と、制御装置８３と、管理装置８４とを備えている。 The item transport system 80 includes a trolley 60, a towing device 70, and an acquisition unit 81. The item transport system 80 can also include a connection unit 82. The item transport system 80 can also include a control device 83. The item transport system 80 can also include a management device 84. As shown in FIG. 4, the item transport system 80 of the embodiment includes a trolley 60, a towing device 70, an acquisition unit 81, a connection unit 82, a control device 83, and a management device 84.
　台車６０は、対基板作業機ＷＭ０に使用される物品ＡＲ０を搬送することができれば良く、種々の形態をとり得る。同様に、牽引装置７０は、台車６０を牽引することができれば良く、種々の形態をとり得る。取得部８１および管理装置８４は、種々の制御装置、管理装置に設けることができる。取得部８１および管理装置８４のうちの少なくとも一つは、クラウド上に形成することもできる。 The cart 60 may take various forms as long as it is capable of transporting the item AR0 used in the substrate-related work machine WM0. Similarly, the towing device 70 may take various forms as long as it is capable of towing the cart 60. The acquisition unit 81 and the management device 84 may be provided in various control devices and management devices. At least one of the acquisition unit 81 and the management device 84 may also be formed on the cloud.
　図４に示すように、実施形態の取得部８１は、管理装置８４に設けられている。また、管理装置８４は、既述されている搬送管理装置ＣＣ０と、生産管理装置ＷＣ０を備えている。なお、接続部８２は、台車６０および牽引装置７０の間を電気的に接続する。また、制御装置８３は、台車６０に設けられる。 As shown in FIG. 4, the acquisition unit 81 of the embodiment is provided in the management device 84. The management device 84 also includes the transport management device CC0 and the production management device WC0 described above. The connection unit 82 electrically connects the cart 60 and the towing device 70. The control device 83 is provided in the cart 60.
　実施形態の物品搬送システム８０は、例えば、図５に示すフローチャートに従って、制御を実行する。取得部８１は、ステップＳＰ１およびステップＳＰ２に示す判断および処理を行う。また、牽引装置７０または管理装置８４は、ステップＳＰ３およびステップＳＰ４に示す処理を行う。 The item transport system 80 of the embodiment executes control, for example, according to the flowchart shown in FIG. 5. The acquisition unit 81 performs the judgment and processing shown in steps SP1 and SP2. In addition, the towing device 70 or the management device 84 performs the processing shown in steps SP3 and SP4.
　１－２－１．取得部８１、接続部８２および制御装置８３
　取得部８１は、牽引装置７０に連結されている台車６０が搬送可能な物品ＡＲ０に関する情報を含む台車６０の機能を示す機能情報を取得する。物品ＡＲ０は、対基板作業機ＷＭ０に使用されるものであれば良く、限定されない。既述されているように、例えば、フィーダ２０、マスク、トレイ部品およびウェハなどは、物品ＡＲ０に含まれる。 1-2-1. Acquisition unit 81, connection unit 82 and control device 83
The acquisition unit 81 acquires function information indicating the function of the cart 60, including information about the item AR0 that can be transported by the cart 60 connected to the towing device 70. The item AR0 is not limited as long as it is used for the substrate-related operation machine WM0. As described above, for example, the feeder 20, mask, tray part, and wafer are included in the item AR0.
　物品ＡＲ０の種類、型式、ベンダなどの情報は、物品ＡＲ０に関する情報に含まれる。また、物品ＡＲ０の形状（外形寸法など）、重量などの情報は、物品ＡＲ０に関する情報に含まれる。さらに、物品ＡＲ０の搬送時の状態、受け渡し方法などの情報は、台車６０の機能を示す機能情報に含まれる。既述されているように、例えば、フィーダ２０は、収容ケース１００に収容された状態で、台車６０の荷台６２に設けられている複数のローラ６２ａによって受け渡しが行われる。 Information such as the type, model, and vendor of item AR0 is included in the information about item AR0. Information such as the shape (external dimensions, etc.) and weight of item AR0 is also included in the information about item AR0. Furthermore, information such as the state of item AR0 during transportation and the method of delivery is included in the function information indicating the function of the cart 60. As described above, for example, when the feeder 20 is housed in the storage case 100, delivery is performed by a plurality of rollers 62a provided on the loading platform 62 of the cart 60.
　台車６０によって搬送された物品ＡＲ０の受け渡し方法は、搬送される物品ＡＲ０によって適宜変更される。フィーダ２０と同様に、トレイ部品およびウェハは、鉛直方向（Ｚ方向）に沿って複数の収容物を収容可能な収容ケースに収容された状態で、台車６０の荷台６２に設けられている複数のローラ６２ａによって受け渡しが行われる。しかしながら、印刷機で使用されるマスクなどの部材の受け渡し方法は、これらの物品ＡＲ０と異なる。具体的には、マスクは、マスクを収容可能な収容ケースに収容された状態で台車６０によって受け渡し位置まで搬送されると、対基板作業機ＷＭ０の１つである印刷機に設けられる保持機構によって保持されて、当該保持機構によって受け渡しが行われる。例えば、台車６０は、不揮発性の記憶装置を備えており、自己の機能情報を予め記憶装置に記憶させておくことができる。また、機能情報は、後述されるループバックコネクタによって生成することもできる。 The method of delivery of the item AR0 transported by the cart 60 is changed as appropriate depending on the item AR0 being transported. As with the feeder 20, the tray parts and wafers are delivered by a plurality of rollers 62a provided on the platform 62 of the cart 60 in a state where they are housed in a storage case that can house multiple items along the vertical direction (Z direction). However, the method of delivery of members such as masks used in printing machines is different from that of these items AR0. Specifically, when a mask is housed in a storage case that can house a mask and transported to a delivery position by the cart 60, it is held by a holding mechanism provided in the printing machine, which is one of the substrate-related work machines WM0, and is delivered by the holding mechanism. For example, the cart 60 is equipped with a non-volatile memory device, and its own function information can be stored in the memory device in advance. The function information can also be generated by a loopback connector, which will be described later.
　取得部８１は、機能情報を取得することができれば良く、種々の形態をとり得る。例えば、図４に示すように、実施形態の取得部８１は、牽引装置７０と別体の管理装置８４に設けられている。台車６０が通信装置（例えば、無線通信機。以下、同じ。）を備える場合、取得部８１は、通信装置を使用して、台車６０から直接、機能情報を取得することができる。 The acquisition unit 81 may take various forms as long as it is capable of acquiring functional information. For example, as shown in FIG. 4, the acquisition unit 81 in the embodiment is provided in a management device 84 that is separate from the towing device 70. If the trolley 60 is equipped with a communication device (e.g., a wireless communication device; the same applies below), the acquisition unit 81 can acquire functional information directly from the trolley 60 using the communication device.
　また、取得部８１は、台車６０ごとに識別情報と機能情報を関連付けて管理装置８４の記憶装置に記憶させておくこともできる。この場合、取得部８１は、台車６０および牽引装置７０のうちの少なくとも一つから、牽引装置７０に連結されている台車６０の識別情報を取得する。そして、取得部８１は、台車６０の識別情報に関連付けられて記憶されている機能情報を記憶装置から取得することができる。なお、取得部８１は、台車６０が連結されている牽引装置７０の識別情報を併せて取得することにより、台車６０が連結されている牽引装置７０を認識することができる。 The acquisition unit 81 can also associate the identification information and function information for each trolley 60 and store them in the storage device of the management device 84. In this case, the acquisition unit 81 acquires the identification information of the trolley 60 connected to the towing device 70 from at least one of the trolley 60 and the towing device 70. The acquisition unit 81 can then acquire the function information stored in association with the identification information of the trolley 60 from the storage device. Note that the acquisition unit 81 can recognize the towing device 70 to which the trolley 60 is connected by also acquiring the identification information of the towing device 70 to which the trolley 60 is connected.
　取得部８１は、牽引装置７０を介して機能情報を取得することもできる。例えば、台車６０は、台車６０の機能を識別可能な識別コード（例えば、バーコード、二次元コードなど）を備えることができる。この場合、牽引装置７０は、読み取り装置（コードリーダ）を使用して識別コードを読み取り、機能情報を取得することができる。そして、取得部８１は、通信装置を使用して、牽引装置７０から機能情報を取得することができる。 The acquisition unit 81 can also acquire the function information via the towing device 70. For example, the trolley 60 can be equipped with an identification code (e.g., a barcode, a two-dimensional code, etc.) that can identify the function of the trolley 60. In this case, the towing device 70 can read the identification code using a reading device (code reader) and acquire the function information. Then, the acquisition unit 81 can acquire the function information from the towing device 70 using a communication device.
　取得部８１は、台車６０が牽引装置７０に対して送信した機能情報を牽引装置７０から受信することもできる。例えば、台車６０は、機能情報を記憶する無線タグを備えることができる。この場合、牽引装置７０は、無線機を使用して無線タグと通信して、機能情報を取得することができる。そして、取得部８１は、通信装置を使用して、牽引装置７０から機能情報を取得することができる。 The acquisition unit 81 can also receive from the towing device 70 the functional information transmitted by the trolley 60 to the towing device 70. For example, the trolley 60 can be equipped with a wireless tag that stores the functional information. In this case, the towing device 70 can communicate with the wireless tag using a radio to acquire the functional information. The acquisition unit 81 can then acquire the functional information from the towing device 70 using a communication device.
　台車６０は、台車６０および牽引装置７０の間を電気的に接続する接続部８２を介して、牽引装置７０に対して機能情報を送信することもできる。例えば、接続部８２は、ループバックコネクタを用いることができる。ループバックコネクタは、牽引装置７０から供給された供給電力を用いて生成される機能情報を示す出力信号を牽引装置７０の側に出力する。 The bogie 60 can also transmit function information to the towing device 70 via a connection unit 82 that electrically connects the bogie 60 and the towing device 70. For example, the connection unit 82 can be a loopback connector. The loopback connector outputs an output signal indicating the function information generated using the power supplied from the towing device 70 to the towing device 70.
　例えば、図６に示す接続部８２は、４ビットの機能情報を示す出力信号を出力可能なループバックコネクタの一例を示している。具体的には、接続部８２は、牽引装置７０の側に設けられる牽引装置側接続部８２ａと、台車６０の側に設けられる台車側接続部８２ｂとを備えている。牽引装置側接続部８２ａおよび台車側接続部８２ｂの１ピンは、所定の直流電圧Ｖ１を出力可能な電圧源の正極に接続されている。電圧源は、牽引装置７０の各機器に電力を供給すると共に、台車６０に電力（既述されている供給電力）を供給することができる。 For example, the connection unit 82 shown in FIG. 6 is an example of a loopback connector capable of outputting an output signal indicating 4-bit function information. Specifically, the connection unit 82 includes a traction device side connection unit 82a provided on the traction device 70 side, and a bogie side connection unit 82b provided on the bogie 60 side. One pin of the traction device side connection unit 82a and the bogie side connection unit 82b is connected to the positive pole of a voltage source capable of outputting a predetermined DC voltage V1. The voltage source can supply power to each device of the traction device 70 and also supply power (the supply power already described) to the bogie 60.
　牽引装置側接続部８２ａおよび台車側接続部８２ｂの２ピン～５ピンは、機能情報を示す出力信号を送受信可能な信号線の途中に設けられる接続部であり、牽引装置側接続部８２ａの上記ピンは、牽引装置７０に設けられるＡＤ変換器７０ａに接続されている。ＡＤ変換器７０ａは、アナログ信号をデジタル信号に変換する。牽引装置側接続部８２ａおよび台車側接続部８２ｂの６ピンは、電圧源の基準電位（０Ｖ（ゼロボルト））に接続されている。 Pins 2 to 5 of the traction device side connection part 82a and the bogie side connection part 82b are connection parts provided in the middle of a signal line capable of sending and receiving an output signal indicating functional information, and the above pin of the traction device side connection part 82a is connected to an AD converter 70a provided in the traction device 70. The AD converter 70a converts analog signals into digital signals. Pin 6 of the traction device side connection part 82a and the bogie side connection part 82b is connected to the reference potential (0V (zero volts)) of the voltage source.
　例えば、４ビットの機能情報が情報０００１で表される場合、台車側接続部８２ｂの２ピン～４ピンは、６ピンと接続されており、基準電位（０Ｖ（ゼロボルト））に設定されている。また、台車側接続部８２ｂの５ピンは、１ピンと接続されており、直流電圧Ｖ１に設定されている。接続部８２は、牽引装置側接続部８２ａと台車側接続部８２ｂが接続された場合に、１ピン～６ピンがそれぞれ接続される。ＡＤ変換器７０ａは、アナログ信号の上記の電圧レベル（直流電圧Ｖ１または基準電位）をデジタル信号に変換して、４ビットの情報０００１を知得することができる。これにより、牽引装置７０は、情報０００１で表される機能情報を知得することができる。 For example, when the 4-bit function information is represented by the information 0001, pins 2 to 4 of the bogie side connection part 82b are connected to pin 6 and are set to the reference potential (0V (zero volts)). Also, pin 5 of the bogie side connection part 82b is connected to pin 1 and is set to a DC voltage V1. When the traction device side connection part 82a and the bogie side connection part 82b are connected, pins 1 to 6 of the connection part 82 are connected respectively. The AD converter 70a converts the above voltage level of the analog signal (DC voltage V1 or reference potential) into a digital signal and can obtain the 4-bit information 0001. This allows the traction device 70 to obtain the function information represented by the information 0001.
　牽引装置側接続部８２ａおよび台車側接続部８２ｂは、台車６０と牽引装置７０の間の位置決めおよび連結に伴って自動的に接続することができる。この場合、台車６０は、牽引装置７０に連結されたタイミングにおいて、牽引装置７０に対して出力信号を出力する。また、牽引装置７０が再起動すると、電圧源は、出力が一旦、停止した後に再び出力される。これにより、ループバックコネクタは、一旦、無通電状態になった後に再び通電して、機能情報を示す出力信号を出力する。 The traction device side connection part 82a and the bogie side connection part 82b can be automatically connected in conjunction with the positioning and connection between the bogie 60 and the traction device 70. In this case, the bogie 60 outputs an output signal to the traction device 70 at the timing when it is connected to the traction device 70. Also, when the traction device 70 is restarted, the voltage source outputs again after temporarily stopping output. As a result, the loopback connector is temporarily de-energized, and then energized again to output an output signal indicating function information.
　このように、台車６０は、牽引装置７０に連結されたタイミング、または、牽引装置７０の再起動によってループバックコネクタが通電したタイミングにおいて、牽引装置７０に対して出力信号を出力する。そして、取得部８１は、出力信号を受信した牽引装置７０から機能情報を取得することができる（図５に示すステップＳＰ１およびステップＳＰ２）。取得部８１は、例えば、通信装置を使用して、牽引装置７０から機能情報を取得することができる。 In this way, the bogie 60 outputs an output signal to the traction device 70 when it is coupled to the traction device 70 or when the loopback connector is energized by restarting the traction device 70. The acquisition unit 81 can then acquire function information from the traction device 70 that has received the output signal (steps SP1 and SP2 shown in FIG. 5). The acquisition unit 81 can acquire the function information from the traction device 70, for example, by using a communication device.
　なお、牽引装置側接続部８２ａおよび台車側接続部８２ｂは、台車６０と牽引装置７０が連結された後に、作業者によって接続することもできる。この場合も同様に、台車６０は、牽引装置７０に連結された後、または、牽引装置７０の再起動によってループバックコネクタが通電したタイミングにおいて、牽引装置７０に対して出力信号を出力する。そして、取得部８１は、出力信号を受信した牽引装置７０から機能情報を取得することができる（図５に示すステップＳＰ１およびステップＳＰ２）。 The towing device side connection part 82a and the bogie side connection part 82b can also be connected by an operator after the bogie 60 and the towing device 70 are coupled. In this case as well, the bogie 60 outputs an output signal to the towing device 70 after being coupled to the towing device 70, or when the loopback connector is energized by restarting the towing device 70. The acquisition part 81 can then acquire function information from the towing device 70 that has received the output signal (steps SP1 and SP2 shown in FIG. 5).
　図４に示すように、台車６０は、機能情報を示す制御信号を生成する制御装置８３を備えることもできる。そして、制御装置８３は、接続部８２を介して牽引装置７０に対して制御信号を送信することができる。この場合、接続部８２は、上記の制御信号を送受信可能な信号線の途中に設けられる信号用コネクタを用いることができる。台車６０の側の信号用コネクタは、制御装置８３の通信ポートに接続される。牽引装置７０の側の信号用コネクタは、牽引装置７０に設けられる制御装置７０ｍに接続される。 As shown in FIG. 4, the trolley 60 can also be equipped with a control device 83 that generates a control signal indicating functional information. The control device 83 can then transmit a control signal to the traction device 70 via the connection unit 82. In this case, the connection unit 82 can use a signal connector provided midway along a signal line capable of transmitting and receiving the above-mentioned control signal. The signal connector on the trolley 60 side is connected to a communication port of the control device 83. The signal connector on the traction device 70 side is connected to a control device 70m provided on the traction device 70.
　制御装置８３は、上記の制御信号を生成して送信することができれば良く、公知の通信制御装置を用いることができる。同様に、制御装置７０ｍは、上記の制御信号を受信することができれば良く、公知の通信制御装置を用いることができる。また、制御信号および通信方法は、限定されない。制御装置８３および制御装置７０ｍは、例えば、シリアル通信、パラレル通信などの任意の通信方法で、任意の制御信号を送受信することができる。 The control device 83 may be any known communication control device as long as it is capable of generating and transmitting the above control signal. Similarly, the control device 70m may be any known communication control device as long as it is capable of receiving the above control signal. Furthermore, the control signal and communication method are not limited. The control device 83 and the control device 70m may send and receive any control signal using any communication method, such as serial communication or parallel communication.
　制御装置８３は、任意のタイミングにおいて、牽引装置７０に対して制御信号を送信することができ、取得部８１は、制御信号を受信した牽引装置７０の制御装置７０ｍから機能情報を取得することができる。例えば、台車６０が牽引装置７０に連結された場合、連結された台車６０の機能情報を取得する必要がある。また、牽引装置７０が再起動した場合、台車６０が交換されている可能性があり、連結されている台車６０の機能情報を取得する必要がある。 The control device 83 can transmit a control signal to the towing device 70 at any timing, and the acquisition unit 81 can acquire function information from the control device 70m of the towing device 70 that received the control signal. For example, when a trolley 60 is coupled to the towing device 70, it is necessary to acquire function information of the coupled trolley 60. In addition, when the towing device 70 is restarted, the trolley 60 may have been replaced, and it is necessary to acquire function information of the coupled trolley 60.
　そこで、取得部８１は、台車６０と牽引装置７０の連結が指示されてから所定時間経過したタイミング、または、牽引装置７０が再起動したタイミングにおいて、牽引装置７０を介して台車６０に対して制御信号の送信を指示すると良い。そして、取得部８１は、制御信号を受信した牽引装置７０から機能情報を取得することができる（図５に示すステップＳＰ１およびステップＳＰ２）。 Then, the acquisition unit 81 may instruct the traction device 70 to transmit a control signal to the traction device 70 when a predetermined time has elapsed since the instruction to couple the traction device 70 with the traction device 60 has been issued, or when the traction device 70 has been restarted. The acquisition unit 81 may then acquire function information from the traction device 70 that has received the control signal (steps SP1 and SP2 shown in FIG. 5).
　所定時間は、台車６０と牽引装置７０の連結に要する所要時間（予想時間）であり、任意に設定することができる。また、後述される管理装置８４は、台車６０と牽引装置７０の連結を指示することができ、取得部８１は、例えば、通信装置を使用して、牽引装置７０の制御装置７０ｍから機能情報を取得することができる。さらに、物品搬送システム８０は、ループバックコネクタを使用した機能情報の取得と、制御装置８３を使用した機能情報の取得とを併用することもできる。 The specified time is the time (estimated time) required to connect the trolley 60 and the towing device 70, and can be set arbitrarily. In addition, the management device 84 described below can instruct the connection of the trolley 60 and the towing device 70, and the acquisition unit 81 can acquire function information from the control device 70m of the towing device 70 using, for example, a communication device. Furthermore, the item transport system 80 can combine the acquisition of function information using a loopback connector and the acquisition of function information using the control device 83.
　牽引装置７０は、機能情報に基づいて、台車６０および台車６０が搬送する物品ＡＲ０が牽引装置７０の外形寸法に対して水平方向もしくは立体的にはみ出している、はみ出し量Ｑ０を算出することができる（図５に示すステップＳＰ３）。そして、牽引装置７０は、はみ出し量Ｑ０に基づいて、牽引装置７０の周囲の監視範囲ＣＡ０の切り替えを行うことができる（ステップＳＰ４）。監視範囲ＣＡ０は、検出装置などによって作業者または障害物ＯＳ０を検出する範囲を示している。 Based on the function information, the towing device 70 can calculate the amount of protrusion Q0, which is the amount by which the cart 60 and the item AR0 carried by the cart 60 protrude horizontally or three-dimensionally from the external dimensions of the towing device 70 (step SP3 shown in Figure 5). Then, based on the amount of protrusion Q0, the towing device 70 can switch the monitoring range CA0 around the towing device 70 (step SP4). The monitoring range CA0 indicates the range in which a worker or obstacle OS0 is detected by a detection device or the like.
　例えば、図３および図７に示すように、台車６０および台車６０が搬送する物品ＡＲ０が牽引装置７０の外形寸法に対して、はみ出している場合を想定する。図７は、平面図であり、牽引装置７０の幅方向（水平方向）に対する、はみ出し量Ｑ０が第一はみ出し量Ｑ１で示されている。また、牽引装置７０の奥行き方向（水平方向であり、牽引装置７０の進行方向および後退方向）に対する、はみ出し量Ｑ０が第二はみ出し量Ｑ２で示されている。さらに、図３では、牽引装置７０の高さ方向（鉛直方向（Ｚ方向）であり、立体的なはみ出しに相当）に対する、はみ出し量Ｑ０が第三はみ出し量Ｑ３で示されている。 For example, as shown in Figures 3 and 7, assume that the cart 60 and the item AR0 that it transports protrude beyond the external dimensions of the towing device 70. Figure 7 is a plan view, and the protrusion amount Q0 in the width direction (horizontal direction) of the towing device 70 is shown as a first protrusion amount Q1. Also, the protrusion amount Q0 in the depth direction of the towing device 70 (horizontal direction, the forward and backward directions of the towing device 70) is shown as a second protrusion amount Q2. Furthermore, in Figure 3, the protrusion amount Q0 in the height direction of the towing device 70 (vertical direction (Z direction), equivalent to three-dimensional protrusion) is shown as a third protrusion amount Q3.
　また、図７に示すように、はみ出し量Ｑ０がない場合の監視範囲ＣＡ０を第一監視範囲ＣＡ１とする。さらに、はみ出し量Ｑ０がある場合の監視範囲ＣＡ０を第二監視範囲ＣＡ２とする。図７に示す例では、はみ出し量Ｑ０があり、牽引装置７０は、監視範囲ＣＡ０を第一監視範囲ＣＡ１から第二監視範囲ＣＡ２に切り替える。これにより、牽引装置７０は、台車６０および台車６０が搬送する物品ＡＲ０に応じた監視範囲ＣＡ０を設定することができる。 Also, as shown in FIG. 7, the monitoring range CA0 when there is no protrusion amount Q0 is set as the first monitoring range CA1. Furthermore, the monitoring range CA0 when there is a protrusion amount Q0 is set as the second monitoring range CA2. In the example shown in FIG. 7, there is a protrusion amount Q0, and the towing device 70 switches the monitoring range CA0 from the first monitoring range CA1 to the second monitoring range CA2. This allows the towing device 70 to set the monitoring range CA0 according to the cart 60 and the item AR0 transported by the cart 60.
　また、第二監視範囲ＣＡ２は、はみ出し量Ｑ０が多くなるほど、第一監視範囲ＣＡ１に対して広範化することができる。また、第二監視範囲ＣＡ２は、はみ出している方向についてのみ、広範化することもできる。例えば、第一はみ出し量Ｑ１があり、第二はみ出し量Ｑ２および第三はみ出し量Ｑ３がない場合、牽引装置７０は、第一監視範囲ＣＡ１に対して、牽引装置７０の幅方向（水平方向）に広範化された第二監視範囲ＣＡ２に切り替えることができる。 Furthermore, the second monitoring range CA2 can be made wider relative to the first monitoring range CA1 as the overhang amount Q0 increases. Furthermore, the second monitoring range CA2 can be made wider only in the direction of overhang. For example, if there is a first overhang amount Q1 and there is no second overhang amount Q2 or third overhang amount Q3, the towing device 70 can switch to a second monitoring range CA2 that is wider in the width direction (horizontal direction) of the towing device 70 relative to the first monitoring range CA1.
　１－２－２．管理装置８４
　管理装置８４は、牽引装置７０と同様に、はみ出し量Ｑ０を算出することができる。つまり、管理装置８４は、機能情報に基づいて、台車６０および台車６０が搬送する物品ＡＲ０が牽引装置７０の外形寸法に対して水平方向もしくは立体的にはみ出している、はみ出し量Ｑ０を算出することができる（図５に示すステップＳＰ３）。 1-2-2. Management device 84
The management device 84 can calculate the protrusion amount Q0 in the same manner as the towing device 70. That is, the management device 84 determines whether the cart 60 and the article AR0 transported by the cart 60 are within the protrusion amount Q0 of the towing device 70 based on the function information. The amount of protrusion Q0, which is the amount of protrusion in the horizontal direction or three-dimensionally with respect to the outer dimensions, can be calculated (step SP3 shown in FIG. 5).
　管理装置８４は、はみ出し量Ｑ０に基づいて、運行管理を行うことができる（ステップＳＰ４）。管理装置８４は、種々の運行管理を行うことができる。例えば、運行管理には、台車６０が搬送する物品ＡＲ０が他の部材と干渉しない牽引装置７０の走行経路ＲＴ０の選択、および、対基板作業機ＷＭ０との間で物品ＡＲ０を受け渡しする際の牽引装置７０の停止位置ＳＴ０の切り替えのうちの少なくとも一つが含まれる。 The management device 84 can perform operation management based on the overhang amount Q0 (step SP4). The management device 84 can perform various types of operation management. For example, operation management includes at least one of the following: selecting a travel route RT0 for the towing device 70 that prevents the item AR0 being transported by the cart 60 from interfering with other members, and switching the stop position ST0 of the towing device 70 when transferring the item AR0 to and from the substrate-related work machine WM0.
　例えば、図８に示すように、第一はみ出し量Ｑ１がある場合を想定する。同図は、平面図であり、牽引装置７０の複数（同図では、２つ）の走行経路ＲＴ０の一部が示されている。具体的には、複数（２つ）の走行経路ＲＴ０のうちの一つが第一走行経路ＲＴ１で示されている。また、複数（２つ）の走行経路ＲＴ０のうちの他の一つが第二走行経路ＲＴ２で示されている。 For example, as shown in FIG. 8, assume that there is a first overhang amount Q1. This figure is a plan view, and shows some of the multiple (two in this figure) travel routes RT0 of the towing device 70. Specifically, one of the multiple (two) travel routes RT0 is shown as a first travel route RT1. Also, the other of the multiple (two) travel routes RT0 is shown as a second travel route RT2.
　第一走行経路ＲＴ１には、第一はみ出し量Ｑ１がある場合に、牽引装置７０の走行の障害になる障害物ＯＳ０が存在する。図８に示す例では、第一はみ出し量Ｑ１があり、牽引装置７０が第一走行経路ＲＴ１を走行すると、台車６０が搬送する物品ＡＲ０が他の部材（この場合、障害物ＯＳ０）と干渉する可能性がある。よって、管理装置８４は、牽引装置７０の走行経路ＲＴ０として、第二走行経路ＲＴ２を選択する。これにより、管理装置８４は、台車６０が搬送する物品ＡＲ０と他の部材（障害物ＯＳ０）との干渉を抑制することができる。 If there is a first overhang amount Q1 on the first travel path RT1, there is an obstacle OS0 that will impede the travel of the towing device 70. In the example shown in FIG. 8, there is a first overhang amount Q1, and when the towing device 70 travels on the first travel path RT1, there is a possibility that the item AR0 transported by the cart 60 will interfere with other members (in this case, the obstacle OS0). Therefore, the management device 84 selects the second travel path RT2 as the travel path RT0 of the towing device 70. This allows the management device 84 to suppress interference between the item AR0 transported by the cart 60 and other members (obstacle OS0).
　また、図９および図１０は、平面図であり、対基板作業機ＷＭ０との間で物品ＡＲ０を受け渡しする際の牽引装置７０の停止位置ＳＴ０の一例が示されている。具体的には、図９に示すように、牽引装置７０の進行方向側に第二はみ出し量Ｑ２がない場合の牽引装置７０の停止位置ＳＴ０が第一停止位置ＳＴ１で示されている。また、図１０に示すように、牽引装置７０の進行方向側に第二はみ出し量Ｑ２がある場合の停止位置ＳＴ０が第二停止位置ＳＴ２で示されている。 FIGS. 9 and 10 are plan views showing an example of the stop position ST0 of the towing device 70 when transferring the item AR0 to and from the substrate-related work machine WM0. Specifically, as shown in FIG. 9, the stop position ST0 of the towing device 70 when there is no second overhang amount Q2 in the travel direction of the towing device 70 is shown as a first stop position ST1. As shown in FIG. 10, the stop position ST0 when there is the second overhang amount Q2 in the travel direction of the towing device 70 is shown as a second stop position ST2.
　第二停止位置ＳＴ２は、第二はみ出し量Ｑ２に相当する分、第一停止位置ＳＴ１よりも手前に設定されている。図１０に示す例では、牽引装置７０の進行方向側に第二はみ出し量Ｑ２があり、管理装置８４は、対基板作業機ＷＭ０との間で物品ＡＲ０を受け渡しする際の牽引装置７０の停止位置ＳＴ０を、第一停止位置ＳＴ１から第二停止位置ＳＴ２に切り替える。これにより、台車６０は、適切な位置で、対基板作業機ＷＭ０（実施形態では、ステーション５０ｓ）との間で物品ＡＲ０の受け渡しを行うことができる。 The second stop position ST2 is set before the first stop position ST1 by an amount equivalent to the second overhang amount Q2. In the example shown in FIG. 10, the second overhang amount Q2 is on the traveling direction side of the towing device 70, and the management device 84 switches the stop position ST0 of the towing device 70 when transferring the item AR0 to the substrate-related work machine WM0 from the first stop position ST1 to the second stop position ST2. This allows the cart 60 to transfer the item AR0 to the substrate-related work machine WM0 (in this embodiment, station 50s) at an appropriate position.
　なお、第二停止位置ＳＴ２は、牽引装置７０の進行方向側の第二はみ出し量Ｑ２が多くなるほど、第一停止位置ＳＴ１よりも手前に設定することができる。また、管理装置８４は、牽引装置７０の走行経路ＲＴ０の選択、および、牽引装置７０の停止位置ＳＴ０の切り替えの両方の運行管理を行うこともできる。このように、管理装置８４は、牽引装置７０の走行経路ＲＴ０の選択、および、牽引装置７０の停止位置ＳＴ０の切り替えのうちの少なくとも一つの運行管理を行うことができる。 The second stop position ST2 can be set closer to the first stop position ST1 as the second overhang amount Q2 in the travel direction of the towing device 70 increases. The management device 84 can also manage both the selection of the travel route RT0 of the towing device 70 and the switching of the stop position ST0 of the towing device 70. In this way, the management device 84 can manage at least one of the operations of the selection of the travel route RT0 of the towing device 70 and the switching of the stop position ST0 of the towing device 70.
　管理装置８４は、牽引装置７０の上記の運行管理と、牽引装置７０を使用した対基板作業機ＷＭ０の生産管理を行うこともできる（図５に示すステップＳＰ４）。この場合、管理装置８４は、既述されている搬送管理装置ＣＣ０と、生産管理装置ＷＣ０に相当する機能を備えている。例えば、管理装置８４は、機能情報と同様にして、牽引装置７０に連結されている台車６０および牽引装置７０のうちの少なくとも一つから、牽引装置７０の識別情報と台車６０の識別情報を取得する。 The management device 84 can also perform the above-mentioned operation management of the towing device 70 and production management of the substrate-related work machine WM0 using the towing device 70 (step SP4 shown in FIG. 5). In this case, the management device 84 has functions equivalent to the already-described transport management device CC0 and production management device WC0. For example, the management device 84 acquires identification information of the towing device 70 and identification information of the cart 60 from at least one of the cart 60 and the towing device 70 connected to the towing device 70, in the same manner as the function information.
　対基板作業機ＷＭ０の生産において物品ＡＲ０が必要な場合に、管理装置８４は、牽引装置７０および台車６０の識別情報、並びに、台車６０の機能情報に基づいて、必要な物品ＡＲ０を搬送可能な台車６０が連結されている牽引装置７０を、物品ＡＲ０が必要な対基板作業機ＷＭ０に向けて走行させる。既述されているように、実施形態の管理装置８４は、必要な物品ＡＲ０を搬送可能な台車６０が連結されている牽引装置７０を、まずステーション５０ｓに向けて走行させる。 When an item AR0 is required for the production of the substrate-related work machine WM0, the management device 84 runs the towing device 70, to which the cart 60 capable of transporting the required item AR0 is connected, toward the substrate-related work machine WM0 that requires the item AR0, based on the identification information of the towing device 70 and the cart 60, and the function information of the cart 60. As described above, in the embodiment, the management device 84 first runs the towing device 70, to which the cart 60 capable of transporting the required item AR0 is connected, toward the station 50s.
　なお、必要な物品ＡＲ０を搬送可能な台車６０が連結されている牽引装置７０がない場合に、管理装置８４は、必要な物品ＡＲ０を搬送可能な台車６０を牽引装置７０に連結させる指示を出す。台車６０と牽引装置７０の連結が自動化されている場合は、所定の台車６０と牽引装置７０が自動的に連結される。台車６０と牽引装置７０の連結が自動化されていない場合は、作業者によって所定の台車６０と牽引装置７０が連結される。管理装置８４は、台車６０の機能情報に基づいて、連結されるべき所定の台車６０と牽引装置７０が連結されたか否かを確認することができる。また、管理装置８４は、所定の台車６０と牽引装置７０が連結されていない場合に、作業者に連結作業の確認および修正を指示することができる。 If there is no traction device 70 connected to a trolley 60 capable of transporting the required item AR0, the management device 84 issues an instruction to couple a trolley 60 capable of transporting the required item AR0 to the traction device 70. If the connection between the trolley 60 and the traction device 70 is automated, the specified trolley 60 and the traction device 70 are automatically connected. If the connection between the trolley 60 and the traction device 70 is not automated, the specified trolley 60 and the traction device 70 are connected by an operator. The management device 84 can check whether the specified trolley 60 and the traction device 70 that should be connected have been connected based on the function information of the trolley 60. Furthermore, if the specified trolley 60 and the traction device 70 are not connected, the management device 84 can instruct the operator to check and correct the connection work.
　物品ＡＲ０が必要な対基板作業機ＷＭ０に向けて牽引装置７０を走行させる場合に、管理装置８４は、牽引装置７０の走行経路ＲＴ０の選択、および、牽引装置７０の停止位置ＳＴ０の切り替えのうちの少なくとも一つの運行管理を行うことができる。上述されていることは、対基板作業機ＷＭ０において不要になった物品ＡＲ０を回収する場合についても、同様に適用することができる。また、上述されていることは、台車６０および牽引装置７０のうちの少なくとも一つの駆動電源（バッテリ）を充電する場合についても、同様に適用することができる。 When the towing device 70 is driven toward the substrate-related work machine WM0 that requires the item AR0, the management device 84 can perform at least one of the following operation management: selecting the travel route RT0 of the towing device 70 and switching the stop position ST0 of the towing device 70. What has been described above can also be applied to the case where an item AR0 that is no longer needed at the substrate-related work machine WM0 is collected. What has been described above can also be applied to the case where the driving power source (battery) of at least one of the cart 60 and the towing device 70 is charged.
　１－３．物品搬送装置９０の構成例
　図１１に示すように、物品搬送装置９０は、台車６０と、牽引装置７０とを備える。物品搬送システム８０と同様に、台車６０は、基板に所定の対基板作業を行う対基板作業機ＷＭ０に使用される物品ＡＲ０を搬送する。また、牽引装置７０は、台車６０を牽引する。 11, the item transport device 90 includes a dolly 60 and a towing device 70. As in the item transport system 80, the dolly 60 transports an item AR0 used in a substrate-related operation machine WM0 that performs a predetermined substrate-related operation on a substrate. The towing device 70 tows the dolly 60.
　物品搬送装置９０では、台車６０は、台車６０および牽引装置７０の間を電気的に接続する接続部８２を介して、牽引装置７０に連結されている台車６０が搬送可能な物品ＡＲ０に関する情報を含む台車６０の機能を示す機能情報を牽引装置７０に対して送信する。つまり、物品搬送装置９０の台車６０は、物品搬送システム８０において既述されている取得部８１および接続部８２に相当する構成を備えている。 In the item transport device 90, the trolley 60 transmits function information indicating the functions of the trolley 60, including information about the item AR0 that can be transported by the trolley 60 connected to the towing device 70, to the towing device 70 via a connection unit 82 that electrically connects the trolley 60 and the towing device 70. In other words, the trolley 60 of the item transport device 90 has a configuration equivalent to the acquisition unit 81 and connection unit 82 already described in the item transport system 80.
　よって、牽引装置７０は、台車６０が牽引装置７０に対して送信した機能情報を取得することができる。また、接続部８２は、牽引装置７０から供給された供給電力を用いて生成される機能情報を示す出力信号を牽引装置７０の側に出力するループバックコネクタを用いることができる。さらに、台車６０は、牽引装置７０に連結されたタイミング、または、牽引装置７０の再起動によってループバックコネクタが通電したタイミングにおいて、牽引装置７０に対して出力信号を出力し、牽引装置７０は、出力信号を受信して機能情報を取得することができる。 Therefore, the traction device 70 can acquire the function information transmitted by the bogie 60 to the traction device 70. The connection unit 82 can use a loopback connector that outputs an output signal indicating the function information generated using the power supplied from the traction device 70 to the traction device 70. Furthermore, the bogie 60 outputs an output signal to the traction device 70 when it is connected to the traction device 70 or when the loopback connector is energized by restarting the traction device 70, and the traction device 70 can receive the output signal and acquire the function information.
　台車６０は、機能情報を示す制御信号を生成する制御装置８３を備えることもできる。そして、制御装置８３は、接続部８２を介して牽引装置７０に対して制御信号を送信することができる。また、牽引装置７０は、台車６０と牽引装置７０の連結が指示されてから所定時間経過したタイミング、または、牽引装置７０が再起動したタイミングにおいて、台車６０に対して制御信号の送信を指示し、制御信号を受信して機能情報を取得することができる。 The trolley 60 may also be equipped with a control device 83 that generates a control signal indicating functional information. The control device 83 may then transmit a control signal to the towing device 70 via the connection unit 82. The towing device 70 may instruct the trolley 60 to transmit a control signal when a predetermined time has elapsed since an instruction to couple the trolley 60 and the towing device 70 was given, or when the towing device 70 is restarted, and may receive the control signal to acquire functional information.
　牽引装置７０は、機能情報に基づいて、台車６０および台車６０が搬送する物品ＡＲ０が牽引装置７０の外形寸法に対して水平方向もしくは立体的にはみ出している、はみ出し量Ｑ０を算出し、はみ出し量Ｑ０に基づいて、牽引装置７０の周囲の監視範囲ＣＡ０の切り替えを行うこともできる。 The towing device 70 can calculate the amount of protrusion Q0, which is the amount by which the cart 60 and the item AR0 carried by the cart 60 protrude horizontally or three-dimensionally from the external dimensions of the towing device 70, based on the functional information, and can also switch the monitoring range CA0 around the towing device 70 based on the amount of protrusion Q0.
　このように、物品搬送システム８０について既述されていることは、物品搬送装置９０についても、同様に言える。よって、本明細書では、重複する説明が省略されている。また、本明細書において記載されている事項は、適宜、取捨選択して適用することができる。 In this way, what has already been described about the item transport system 80 can also be said about the item transport device 90. Therefore, duplicated explanations have been omitted in this specification. Furthermore, the matters described in this specification can be selectively applied as appropriate.
　２．実施形態の効果の一例
　物品搬送システム８０によれば、機能情報を取得することができる。物品搬送システム８０について上述されていることは、物品搬送装置９０についても同様に言える。 2. Example of Effects of the Embodiment Function information can be acquired according to the item transport system 80. What has been described above about the item transport system 80 can also be said about the item transport device 90 in the same manner.
６０：台車、７０：牽引装置、８０：物品搬送システム、８１：取得部、
８２：接続部、８３：制御装置、８４：管理装置、９０：物品搬送装置、
ＡＲ０：物品、Ｑ０：はみ出し量、ＣＡ０：監視範囲、ＲＴ０：走行経路、
ＳＴ０：停止位置、ＷＭ０：対基板作業機。 60: cart, 70: traction device, 80: item transport system, 81: acquisition unit,
82: Connection unit, 83: Control device, 84: Management device, 90: Item transport device,
AR0: item, Q0: overhang amount, CA0: monitoring range, RT0: travel route,
ST0: stop position, WM0: substrate-related operation machine.

Claims (14)

  1. 　基板に所定の対基板作業を行う対基板作業機に使用される物品を搬送する台車と、
    　前記台車を牽引する牽引装置と、
    　前記牽引装置に連結されている前記台車が搬送可能な前記物品に関する情報を含む前記台車の機能を示す機能情報を取得する取得部と、
    を備える物品搬送システム。     a carriage for transporting an article used in a substrate-related operation machine that performs a predetermined substrate-related operation on a substrate;
    A towing device that tows the carriage;
    an acquisition unit that acquires function information indicating a function of the cart, the function information including information regarding the article that the cart coupled to the towing device can transport;
    An article transport system comprising:
  2. 　前記取得部は、前記台車が前記牽引装置に対して送信した前記機能情報を前記牽引装置から受信する請求項１に記載の物品搬送システム。 The item transport system according to claim 1, wherein the acquisition unit receives the function information transmitted by the trolley to the towing device from the towing device.
  3. 　前記台車は、前記台車および前記牽引装置の間を電気的に接続する接続部を介して、前記牽引装置に対して前記機能情報を送信する請求項２に記載の物品搬送システム。 The article transport system according to claim 2, wherein the trolley transmits the function information to the towing device via a connection that electrically connects the trolley and the towing device.
  4. 　前記接続部は、前記牽引装置から供給された供給電力を用いて生成される前記機能情報を示す出力信号を前記牽引装置の側に出力するループバックコネクタである請求項３に記載の物品搬送システム。 The article transport system according to claim 3, wherein the connection part is a loopback connector that outputs an output signal indicating the function information generated using the power supplied from the towing device to the towing device side.
  5. 　前記台車は、前記牽引装置に連結されたタイミング、または、前記牽引装置の再起動によって前記ループバックコネクタが通電したタイミングにおいて、前記牽引装置に対して前記出力信号を出力し、
    　前記取得部は、前記出力信号を受信した前記牽引装置から前記機能情報を取得する請求項４に記載の物品搬送システム。     The bogie outputs the output signal to the traction device when the bogie is coupled to the traction device or when the loopback connector is energized by restarting the traction device;
    The article transport system according to claim 4 , wherein the acquisition unit acquires the functional information from the towing device that has received the output signal.
  6. 　前記台車は、前記機能情報を示す制御信号を生成する制御装置を備え、
    　前記制御装置は、前記接続部を介して前記牽引装置に対して前記制御信号を送信する請求項３に記載の物品搬送システム。     The cart includes a control device that generates a control signal indicative of the function information,
    The article transport system of claim 3 , wherein the control device transmits the control signal to the traction device via the connection portion.
  7. 　前記取得部は、前記台車と前記牽引装置の連結が指示されてから所定時間経過したタイミング、または、前記牽引装置が再起動したタイミングにおいて、前記牽引装置を介して前記台車に対して前記制御信号の送信を指示し、
    　前記取得部は、前記制御信号を受信した前記牽引装置から前記機能情報を取得する請求項６に記載の物品搬送システム。     The acquisition unit instructs the carriage to transmit the control signal via the traction device when a predetermined time has elapsed since a command to couple the carriage and the traction device has been issued or when the traction device has been restarted;
    The article transport system according to claim 6 , wherein the acquisition unit acquires the function information from the towing device that has received the control signal.
  8. 　前記牽引装置は、前記機能情報に基づいて、前記台車および前記台車が搬送する前記物品が前記牽引装置の外形寸法に対して水平方向もしくは立体的にはみ出している、はみ出し量を算出し、前記はみ出し量に基づいて、前記牽引装置の周囲の監視範囲の切り替えを行う請求項１に記載の物品搬送システム。 The item transport system of claim 1, wherein the towing device calculates the amount of horizontal or three-dimensional overhang of the cart and the item transported by the cart from the external dimensions of the towing device based on the functional information, and switches the monitoring range around the towing device based on the amount of overhang.
  9. 　前記機能情報に基づいて、前記台車および前記台車が搬送する前記物品が前記牽引装置の外形寸法に対して水平方向もしくは立体的にはみ出している、はみ出し量を算出する管理装置を備える請求項１に記載の物品搬送システム。 The item transport system according to claim 1, further comprising a management device that calculates the amount of protrusion of the cart and the item transported by the cart from the external dimensions of the towing device in the horizontal or three-dimensional direction based on the functional information.
  10. 　前記管理装置は、前記はみ出し量に基づいて、前記台車が搬送する前記物品が他の部材と干渉しない前記牽引装置の走行経路の選択、および、前記対基板作業機との間で前記物品を受け渡しする際の前記牽引装置の停止位置の切り替えのうちの少なくとも一つの運行管理を行う請求項９に記載の物品搬送システム。 The item transport system according to claim 9, wherein the management device performs at least one of the following operations management: selection of a travel path for the towing device so that the item transported by the cart does not interfere with other members, and switching of the stopping position of the towing device when transferring the item between the substrate-related work machine and the towing device, based on the amount of overhang.
  11. 　前記管理装置は、前記牽引装置の前記運行管理と、前記牽引装置を使用した前記対基板作業機の生産管理を行う請求項１０に記載の物品搬送システム。 The item transport system according to claim 10, wherein the management device performs the operation management of the towing device and the production management of the substrate-related work machine using the towing device.
  12. 　基板に所定の対基板作業を行う対基板作業機に使用される物品を搬送する台車と、
    　前記台車を牽引する牽引装置と、
    を備え、
    　前記台車は、前記台車および前記牽引装置の間を電気的に接続する接続部を介して、前記牽引装置に連結されている前記台車が搬送可能な前記物品に関する情報を含む前記台車の機能を示す機能情報を前記牽引装置に対して送信する物品搬送装置。     a carriage for transporting an article used in a substrate-related operation machine that performs a predetermined substrate-related operation on a substrate;
    A towing device that tows the carriage;
    Equipped with
    The trolley transmits function information indicating the functions of the trolley, including information regarding the items that can be transported by the trolley connected to the traction device, to the traction device via a connection part that electrically connects the trolley and the traction device.
  13. 　前記接続部は、前記牽引装置から供給された供給電力を用いて生成される前記機能情報を示す出力信号を前記牽引装置の側に出力するループバックコネクタである請求項１２に記載の物品搬送装置。 The article transport device according to claim 12, wherein the connection unit is a loopback connector that outputs an output signal indicating the function information generated using the power supplied from the towing device to the towing device side.
  14. 　前記台車は、前記機能情報を示す制御信号を生成する制御装置を備え、
    　前記制御装置は、前記接続部を介して前記牽引装置に対して前記制御信号を送信する請求項１２に記載の物品搬送装置。     The cart includes a control device that generates a control signal indicative of the function information,
    The article transport apparatus of claim 12 , wherein the control device transmits the control signal to the traction device via the connection.
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