WO2024089734A1 - Système de transport de composants et dispositif de transport de composants - Google Patents

Système de transport de composants et dispositif de transport de composants 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
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Application number
PCT/JP2022/039493
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English (en)
Japanese (ja)
Inventor
佳宏 藤田
Original Assignee
株式会社Fuji
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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/fr
Publication of WO2024089734A1 publication Critical patent/WO2024089734A1/fr

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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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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de transport de composants comprenant un chariot, un dispositif de remorquage et une unité d'acquisition. Le chariot transporte des composants à utiliser dans une machine de travail de substrat pour effectuer un travail de substrat prescrit sur un substrat. Le dispositif de remorquage remorque le chariot. L'unité d'acquisition acquiert des informations de fonction indiquant la fonction du support, lesdites informations de fonction comprenant des informations concernant des composants qui peuvent être transportés par le chariot connecté au dispositif de remorquage.
PCT/JP2022/039493 2022-10-24 2022-10-24 Système de transport de composants et dispositif de transport de composants WO2024089734A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/039493 WO2024089734A1 (fr) 2022-10-24 2022-10-24 Système de transport de composants et dispositif de transport de composants

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/039493 WO2024089734A1 (fr) 2022-10-24 2022-10-24 Système de transport de composants et dispositif de transport de composants

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3743461B2 (ja) * 1996-03-29 2006-02-08 マツダ株式会社 搬送車の制御方法及びその制御装置
WO2020115915A1 (fr) * 2018-12-07 2020-06-11 株式会社Ｆｕｊｉ Système de gestion de machine pour machines de travail de substrat
WO2021019596A1 (fr) * 2019-07-26 2021-02-04 株式会社Ｆｕｊｉ Système de distribution
JP2021086205A (ja) * 2019-11-25 2021-06-03 株式会社リコー 識別部材、自律移動装置、連結システムおよび連結方法
JP6980637B2 (ja) * 2018-11-09 2021-12-15 株式会社東芝 無人搬送車、無人搬送車の制御方法、及びプログラム
JP7081194B2 (ja) * 2018-02-13 2022-06-07 セイコーエプソン株式会社 搬送車の走行制御システム、及び、搬送車の走行制御方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3743461B2 (ja) * 1996-03-29 2006-02-08 マツダ株式会社 搬送車の制御方法及びその制御装置
JP7081194B2 (ja) * 2018-02-13 2022-06-07 セイコーエプソン株式会社 搬送車の走行制御システム、及び、搬送車の走行制御方法
JP6980637B2 (ja) * 2018-11-09 2021-12-15 株式会社東芝 無人搬送車、無人搬送車の制御方法、及びプログラム
WO2020115915A1 (fr) * 2018-12-07 2020-06-11 株式会社Ｆｕｊｉ Système de gestion de machine pour machines de travail de substrat
WO2021019596A1 (fr) * 2019-07-26 2021-02-04 株式会社Ｆｕｊｉ Système de distribution
JP2021086205A (ja) * 2019-11-25 2021-06-03 株式会社リコー 識別部材、自律移動装置、連結システムおよび連結方法

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