Moving body, conveying device, and component mounting system

文档序号：296778 发布日期：2021-11-26 浏览：7次中文

阅读说明：本技术 移动体、输送装置以及部件安装系统 (Moving body, conveying device, and component mounting system ) 是由佐藤宽之水野修西方友美中村彻于 2021-05-13 设计创作，主要内容包括：本发明的目的在于抑制运动稳定性的降低。移动体(1)具备主体(10)、至少一个驱动轮(2)、多个辅助轮(3)、支承体(4)以及引导支承部(5)。至少一个驱动轮(2)设置于主体(10)。多个辅助轮(3)设置于支承体(4)。引导支承部(5)以能够沿着规定的移动方向(DR1)移动的状态将支承体(4)相对于主体(10)支承。支承体(4)以能够沿着移动方向(DR1)移动的状态安装于主体(10)。(The purpose of the present invention is to suppress a decrease in the motion stability. A movable body (1) is provided with a main body (10), at least one drive wheel (2), a plurality of auxiliary wheels (3), a support body (4), and a guide support section (5). At least one drive wheel (2) is provided to the main body (10). A plurality of auxiliary wheels (3) are provided on the support body (4). The guide support portion (5) supports the support body (4) relative to the main body (10) in a state of being movable along a predetermined movement direction (DR 1). The support body (4) is mounted to the main body (10) so as to be movable along a movement direction (DR 1).)

1. A moving body in which, in a moving body,

the moving body includes:

a main body;

at least one drive wheel provided to the main body;

a plurality of auxiliary wheels;

a support body on which the plurality of auxiliary wheels are provided; and

a guide support portion that supports the support body with respect to the main body in a movable state along a predetermined moving direction,

the support body is attached to the main body so as to be movable in the moving direction.

2. The movable body according to claim 1, wherein,

the movable body further includes an elastic body that generates an elastic force that presses the support body downward.

3. The movable body according to claim 2, wherein,

the elastic body has a spring constant smaller than that of a portion of the support body where the auxiliary wheel is provided.

4. The movable body according to claim 2 or 3, wherein,

the plurality of auxiliary wheels are pressed against a moving surface on which the movable body moves by an elastic force generated by the elastic body in a state where all of the plurality of auxiliary wheels and the driving wheel are in contact with the moving surface.

5. The movable body according to any one of claims 1 to 4, wherein,

two driving wheels are arranged on the main body.

6. The movable body according to any one of claims 1 to 5, wherein,

the movable body further includes a damper that suppresses movement of the support body relative to the main body.

7. The movable body according to any one of claims 1 to 6, wherein,

one or more auxiliary wheels are disposed on the support body and on each of both sides of the drive wheel in the traveling direction of the main body.

8. The movable body according to any one of claims 1 to 7, wherein,

the moving direction in which the support body is movable is along a normal line of a moving surface on which the moving body moves.

9. A conveying apparatus, wherein,

the transport apparatus using the movable body according to any one of claims 1 to 8,

the main body has a holding portion that holds an object to be conveyed.

10. The delivery device of claim 9,

the holding unit includes a coupling unit that holds the object to be conveyed by coupling to the object to be conveyed.

11. A component mounting system, wherein,

the component mounting system comprises at least one component mounting machine for mounting components to a substrate,

the component mounting apparatus includes:

a feeder carriage that supplies the component; and

a mounting body including a mounting head that mounts the component to the substrate,

the feeder carriage is the transported object transported to the mounting body by the transporting device of claim 9 or 10.

Technical Field

The invention relates to a moving body, a conveying device and a component mounting system. More specifically, the present invention relates to a moving body that travels over a moving surface, a conveying device, and a component mounting system.

Background

Document 1 (japanese laid-open patent publication No. 2020 and 15403) discloses a transport vehicle that moves while supporting a load such as a distribution truck. The base of the transport vehicle is provided with two drive wheels arranged at a predetermined interval and two driven wheels arranged in parallel to the direction in which the drive wheels are arranged at a narrower interval than the drive wheels.

Disclosure of Invention

Problems to be solved by the invention

The transport vehicle (moving body) of document 1 is grounded on a moving surface by two driving wheels and two driven wheels. If the driven wheel climbs up to the undulation of the traveling surface, the driving wheel may be separated from the traveling surface. If the contact state between the driving wheels and the ground contact surface is broken, the driving force or the braking force generated by the driving wheels may be reduced, and the motion stability of the transport vehicle may be lowered.

The invention aims to provide a moving body, a conveying device and a component mounting system which can inhibit the reduction of motion stability.

Means for solving the problems

A movable body according to one aspect of the present invention includes a main body, at least one drive wheel, a plurality of auxiliary wheels, a support body, and a guide support portion. The at least one drive wheel is disposed on the body. The plurality of auxiliary wheels are provided on the support body. The guide support portion supports the support body with respect to the main body in a state of being movable in a predetermined moving direction. The support body is attached to the main body so as to be movable in the moving direction.

A conveying apparatus according to an aspect of the present invention uses the movable body, and the main body includes a holding portion that holds an object to be conveyed.

A component mounting system according to an aspect of the present invention includes at least one component mounter which mounts components on a substrate. The component mounting apparatus includes: a feeder carriage that supplies the component; and a mounting body including a mounting head that mounts the component to the substrate. The feeder carriage is the transported object transported to the mounting body by the transporting device.

Effects of the invention

According to the present invention, a decrease in the motion stability can be suppressed.

Drawings

Fig. 1 is a schematic perspective view of a transport apparatus using a mobile body according to an embodiment of the present invention.

Fig. 2 is a schematic side view of a state in which the conveying device is conveying the conveyed object.

Fig. 3 is a schematic plan view of a state in which the transport device is transporting the object.

Fig. 4 is a schematic side view illustrating a traveling state of the transport apparatus.

Fig. 5 is a schematic block diagram of the entire system including the transport apparatus.

Fig. 6 is a schematic side view of a conveyor device using a moving body according to modification 1 of one embodiment of the present invention.

Fig. 7 is a schematic side view of a conveyor device using a moving body according to modification 2 of one embodiment of the present invention.

Fig. 8 is a schematic perspective view of a conveyor device using a mobile body according to modification 3 of one embodiment of the present invention.

Fig. 9 is an explanatory diagram of a traveling state of the conveyance device.

Fig. 10 is a plan view schematically showing the conveying device and the component mounting system.

Description of reference numerals:

1 moving body

2 driving wheel

3 auxiliary wheel

4 support body

5 guide support part

6 elastomer

7 vibration damper

10 main body

18 holding part

80 parts mounting machine

81 feeder trolley

82 mounting body

181 connecting part

A1 conveyed article

B1 moving surface

Direction of movement of DR1

Normal to VL1

W1 component mounting system

X1 conveyor.

Detailed Description

(embodiment mode)

(1) Summary of the invention

The drawings described in the following embodiments are schematic drawings, and the ratio of the size and thickness of each component in each drawing does not necessarily reflect the actual dimensional ratio.

The movable body 1 includes a main body 10, at least one driving wheel 2, a plurality of auxiliary wheels 3, a support body 4, and a guide support portion 5. At least one driving wheel 2 is provided to the main body 10. The plurality of auxiliary wheels 3 are provided on the support body 4. The guide support portion 5 supports the support body 4 with respect to the main body 10 in a state of being movable along a predetermined movement direction DR 1. The support 4 is attached to the main body 10 so as to be movable along the moving direction DR 1.

The movable body 1 of the present embodiment travels on the travel surface B1 while coming into contact with the travel surface B1 by at least one drive wheel 2 and a plurality of auxiliary wheels 3. When the auxiliary wheel 3 climbs up to the undulation of the travel surface B1, the support body 4 provided with the auxiliary wheel 3 moves in the travel direction DR1 with respect to the main body 10, whereby the undulation of the travel surface B1 is absorbed, and the drive wheel 2 can be brought into contact with the travel surface B1. Therefore, even when the traveling surface B1 undulates, the contact state between the drive wheels 2 and the traveling surface B1 is easily maintained, and the driving force and the braking force generated by the drive wheels 2 are less likely to be reduced, so that a decrease in the motion stability of the moving body 1 can be suppressed.

Hereinafter, a case will be described as an example where the moving body 1 of the present embodiment is a conveying device X1 that conveys a conveyed object a1 as shown in fig. 2 and 3. The object a1 has a wheel a11, and is configured to be able to travel on the travel surface B1 together with the transport apparatus X1 by the wheel a 11.

The transportation apparatus X1 is introduced into facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The travel surface B1 is a surface on which the transport apparatus X1 travels, and when the transport apparatus X1 travels inside the facility, the floor surface of the facility and the like become the travel surface B1, and when the transport apparatus X1 travels outdoors, the floor surface and the like become the travel surface B1. Hereinafter, a case where the transport apparatus X1 is used in a factory provided with the component mounting system W1 (see fig. 10) will be described as an example. The component mounting system W1 is explained in "(2.3) component mounting system".

(2) Detailed description of the invention

Hereinafter, the transport device X1 using the moving body 1 of the present embodiment and the component mounting system W1 (see fig. 10) including the transport device X1 will be described in detail with reference to the drawings.

(2.1) integral Structure

The conveyor device X1 according to the present embodiment is configured to be capable of communicating with a host system 100 (see fig. 5), for example. The term "communicable" in the present invention means that information can be transmitted and received directly or indirectly via the network NT1, the repeater R1, or the like by an appropriate communication method such as wired communication or wireless communication. In the present embodiment, the upper system 100 and the transport apparatus X1 can communicate with each other bidirectionally, and can transmit both information from the upper system 100 to the transport apparatus X1 and information from the transport apparatus X1 to the upper system 100.

The host system 100 is a system for collectively controlling one or more transport apparatuses X1, and is realized by, for example, a server apparatus. The host system 100 indirectly controls the plurality of transport devices X1 by instructing the plurality of transport devices X1, respectively. Specifically, when the high-level system 100 issues a conveyance instruction of the object a1 to the conveyance device X1, the conveyance device X1 receives the conveyance instruction and autonomously performs the operation of moving the object a1 to the target position.

In the present embodiment, the host system 100 is mainly configured by a computer system having one or more processors and memories. Therefore, the functions of the upper system 100 are realized by executing the program recorded in the memory by one or more processors. The program may be recorded in advance in a memory, may be provided via a telecommunication line such as the internet, or may be recorded in a non-transitory recording medium such as a memory card. In the present embodiment, the host system 100 is not necessarily required and may be omitted as appropriate, and the transport device X1 may autonomously perform the transport operation of the object a1 based on a transport instruction input directly or via an operation terminal.

(2.2) moving body

Next, the moving object 1 used as the conveyance device X1 will be described.

As shown in fig. 2 and 3, the mobile body 1 travels without a person to convey the object a 1.

As described above, the movable body 1 includes the main body 10, at least one driving wheel 2, a plurality of auxiliary wheels 3, the support body 4, and the guide support portion 5. The movable body 1 of the present embodiment includes a pair of drive wheels 2 and two pairs of auxiliary wheels 3. As shown in fig. 5, the mobile unit 1 of the present embodiment further includes a drive wheel unit 20 that drives the drive wheels 2, a control device 11, a power source 12, a communication unit 13, and a detection unit 14.

The movable body 1 has a plurality of (a pair of in the present embodiment) drive wheels 2 aligned in the left-right direction of the movable body 1. The "left-right direction" referred to in the present invention is a longitudinal direction of the moving body 1, and is an X-axis direction in fig. 1 and 3. The up-down direction is a normal direction of the moving surface B1, and is a Z-axis direction in fig. 1. The front-rear direction of the moving body 1 is a direction perpendicular to the left-right direction and the up-down direction, that is, a short-side direction of the moving body 1, and is a Y-axis direction in fig. 1 and 3.

The moving object 1 of the present embodiment is used as the conveyance device X1. In the conveying apparatus X1 using the moving body 1, the main body 10 includes a holding portion 18 (see fig. 2 and 3) that holds the object a1 to be conveyed. In the present embodiment, the holding unit 18 includes a coupling unit 181 that couples to the object a1 to hold the object a 1.

When the moving body 1 conveys the object a1, a coupling portion 181 that couples the object a1 is provided on one surface of the moving body 1 in the front-rear direction. The moving body 1 moves together with the object a1 to be conveyed, which is connected to the moving body 1 using the connection portion 181. The connection portion 181 is detachably connected to the object a1 by, for example, catching or fitting at least a part of the object a1 traveling on the traveling surface B1. The connection portion 181 detachably connects the main body 10 and the object a1, for example, with a degree of freedom in the vertical direction. Here, the connection of the object a1 to the connection portion 181 may be performed automatically by the mobile unit 1 or another device, or may be performed by a person. The shape of the coupling portion 181 and the number of coupling portions 181 included in the moving object 1 (the conveyor apparatus X1) may be appropriately changed. In the present embodiment, the moving body 1 includes the connecting portion 181 as the holding portion 18 for holding the object a1, but the holding portion is not limited to the connecting portion 181. The moving body 1 may have an electromagnet as a holding portion, for example, and hold the object a1 by attracting the object a1 by a magnetic force generated by the electromagnet.

Here, when the moving body 1 moves in the front-rear direction, the direction in which the moving body 1 advances (traveling direction) is referred to as front, and the opposite direction is referred to as rear. When the mobile body 1 conveys the object a1, there are a travel mode in which the mobile body 1 serves as the leading end and pulls the object a1, and a travel mode in which the mobile body 1 pushes the object a1 with the object a1 serving as the leading end. In general, the traveling state of the traveling system for pulling the conveyance object a1 is stable as compared with the traveling system for pushing the conveyance object a1 from the rear side, and therefore the moving body 1 normally pulls the conveyance object a1 and moves. When the moving body 1 moves by pulling the object a1, the forward direction in the Y-axis direction is the front side, and the forward direction in the X-axis direction is the right side. However, these directions are examples, and the direction of the moving body 1 when used is not limited. In the drawings, arrows indicating respective directions are merely marked for explanation and do not have entities.

The body 10 of the moving body 1 is formed in a rectangular parallelepiped shape as shown by a two-dot chain line in fig. 1. A plurality of drive wheels 2 and a plurality of auxiliary wheels 3 are disposed at a lower portion of the main body 10. In the present embodiment, the pair of drive wheels 2 is arranged in the left-right direction with respect to the main body 10. A pair of auxiliary wheels 3 are arranged on the main body 10 so as to be aligned in the left-right direction on the front side and the rear side of the pair of drive wheels 2, respectively.

In the present embodiment, the pair of drive wheels 2 includes a left drive wheel 2L located on the left side of the main body 10 and a right drive wheel 2R located on the right side of the main body 10. In the present embodiment, two drive wheels 2 are provided on the main body 10, and the mobile body 1 travels on the travel surface B1 using the two drive wheels 2 and the four auxiliary wheels 3. However, when the moving body 1 is provided with only two drive wheels 2 and one auxiliary wheel 3 and the moving surface B1 is grounded by only three wheels, namely, the two drive wheels 2 and the one auxiliary wheel 3, there is a possibility that the state where all of the three wheels are grounded on the moving surface B1 cannot be maintained due to a change in the center of gravity position caused by acceleration and deceleration. Therefore, when the moving body 1 is configured such that the moving body 1 is provided with the two drive wheels 2 and the plurality of auxiliary wheels 3 and the moving surface B1 is grounded by at least three wheels, there is a possibility that one of the two drive wheels 2 and the two auxiliary wheels 3 may be grounded on the moving surface B1 due to the undulation of the moving surface B1. In this case, since one of the two drive wheels 2 floats from the moving surface B1, there is a possibility that the driving force or the braking force generated by the drive wheel 2 is reduced. In contrast, in the present embodiment, the support body 4 provided with a plurality of (two pairs in the example of the figure) auxiliary wheels 3 is provided on the main body 10 in a state of being movable in the moving direction DR1 with respect to the main body 10. Thus, when any one of the four auxiliary wheels 3 climbs up to the undulation of the travel surface B1, the support body 4 moves upward, and the one auxiliary wheel 3 and the two drive wheels 2 that climbs up to the undulation come into contact with the travel surface B1. Therefore, since the state in which the two drive wheels 2 are in contact with the travel surface B1 is maintained, it is possible to suppress a decrease in the driving force or the braking force generated by the two drive wheels 2 and to suppress a decrease in the motion stability of the moving body 1. The number of the drive wheels 2 is not limited to two, and may be one or three or more. That is, at least one drive wheel 2 may be provided on the main body 10, and the main body may be configured to be moved on the moving surface B1 by the at least one drive wheel 2.

In the present embodiment, the left driving wheel 2L and the right driving wheel 2R also serve as steering wheels, respectively. A drive mechanism that drives the left drive wheel 2L and a steering mechanism that changes the orientation of the left drive wheel 2L are integrated into a left drive wheel unit 20L. Further, a drive mechanism that drives the right drive wheel 2R and a steering mechanism that changes the orientation of the right drive wheel 2R are integrated into a right drive wheel unit 20R. That is, the drive wheel unit 20 described above includes the left drive wheel unit 20L and the right drive wheel unit 20R.

The left driving wheel unit 20L controls the rotation and rudder angle of the left driving wheel 2L. As shown in fig. 1 and 5, the left drive wheel unit 20L includes a drive motor 21L that rotates the left drive wheel 2L in the circumferential direction, and a steering motor 23L that changes the orientation (rolling direction) of the left drive wheel 2L. The steering motor 23L is attached to a left end portion of a flat plate-like fixed plate 24, and the flat plate-like fixed plate 24 is provided along the lower surface of the main body 10 with respect to the main body 10. The steering motor 23L changes the direction of the left drive wheel 2L by rotating the bracket 22L to which the drive motor 21L is fixed in a plane parallel to the movement plane B1. That is, the left drive wheel unit 20L and the left drive wheel 2L supported by the left drive wheel unit 20L are fixed to the main body 10 via the fixing plate 24 and the like. Here, the left driving wheel unit 20L receives a control command from the control device 11, so that the steering motor 23L changes the left driving wheel 2L to the direction indicated by the control command, and the drive motor 21L rotates the left driving wheel 2L at the rotational torque or rotational speed indicated by the control command.

The right drive wheel unit 20R controls the rotation and rudder angle of the right drive wheel 2R. As shown in fig. 1 and 5, the right drive wheel unit 20R includes a drive motor 21R that rotates the right drive wheel 2R in the circumferential direction, and a steering motor 23R that changes the orientation (rolling direction) of the right drive wheel 2R. The steering motor 23R is attached to the right end portion of the fixed plate 24. The steering motor 23R changes the direction of the right drive wheel 2R by rotating the bracket 22R to which the drive motor 21R is fixed in a plane parallel to the travel surface B1. That is, the right drive wheel unit 20R and the right drive wheel 2R supported by the right drive wheel unit 20R are fixed to the main body 10 via the fixing plate 24 and the like. Here, the right driving wheel unit 20R receives a control command from the control device 11, so that the steering motor 23R changes the right driving wheel 2R to the direction indicated by the control command, and the drive motor 21R rotates the right driving wheel 2R at the rotational torque or rotational speed indicated by the control command.

Two shafts 25 are provided on the lower surface of the fixing plate 24 to which the right and left drive wheel units 20R and 20L are attached, the shafts protruding downward from the center in the left-right direction. The two shafts 25 are formed in a circular bar shape and arranged in a left-right direction. Further, a projection 26 projecting downward from a portion between the two shafts 25 is provided on the lower surface of the fixed plate 24, and one end portion (upper end portion) of the coil spring 6 is inserted into the projection 26.

The control device 11 of the mobile body 1 controls the right drive wheel unit 20R to drive the right drive wheel 2R alone, and controls the left drive wheel unit 20L to drive the left drive wheel 2L alone. That is, since the pair of drive wheels 2 (the right drive wheel 2R and the left drive wheel 2L) can be steered independently, the moving body 1 can be moved in a desired direction by steering the pair of drive wheels 2 independently. In the present embodiment, the pair of drive wheels 2 each doubles as a steered wheel, and the number of wheels provided in the moving body 1 can be reduced as compared with a case where steered wheels are separately provided to the drive wheels 2.

In the present embodiment, two pairs of auxiliary wheels 3 are provided on the support body 4. The two pairs of auxiliary wheels 3 are driven wheels that change their orientation following the direction of movement of the moving body 1. Here, the two pairs of auxiliary wheels 3 include free wheels whose orientation of an axle 3A (see fig. 1) is variable. That is, the two pairs of auxiliary wheels 3 are, for example, free wheels (so-called free casters) each supporting a wheel such that the axle 3A is rotatable and is rotatable in the entire circumferential direction of 360 degrees in a plane parallel to the moving surface B1. The free wheel serving as the auxiliary wheel 3 is not limited to a free wheel whose direction of the axle 3A is variable, and may be a caster wheel whose spherical body serving as a wheel is rotatable in any direction.

The support body 4 provided with the two pairs of auxiliary wheels 3 is attached to the main body 10 in a movable state with respect to the main body 10. The support body 4 includes a rectangular plate-shaped center piece 41 having a dimension in the left-right direction longer than a dimension in the front-rear direction, a pair of front leg pieces 42 projecting forward from both ends in the left-right direction of the center piece 41, and a pair of rear leg pieces 43 projecting rearward from both ends in the left-right direction of the center piece 41. The support body 4 is formed in an H-shape in a plan view by the center piece 41, the pair of front leg pieces 42, and the pair of rear leg pieces 43. The pair of auxiliary wheels 3 are attached to the front portions of the pair of front leg pieces 42 one by one, and the pair of auxiliary wheels 3 are attached to the rear portions of the pair of rear leg pieces 43 one by one. Here, of the two pairs of auxiliary wheels 3, the pair of auxiliary wheels 3 provided on the front side portions of the pair of front leg pieces 42 may be referred to as front auxiliary wheels 31, and the pair of auxiliary wheels 3 provided on the rear side portions of the pair of rear leg pieces 43 may be referred to as rear auxiliary wheels 32. The pair of drive wheels 2 is disposed between the pair of front auxiliary wheels 31 and the pair of rear auxiliary wheels 32 in the front-rear direction. In other words, one or more (two in the example of fig. 1 and 2) auxiliary wheels 3 are disposed on the support body 4 on each side of the drive wheel 2 in the traveling direction (front-rear direction) of the main body 10.

Two cylindrical portions 44 into which the two shafts 25 are inserted are arranged in the left-right direction on the center piece 41 of the support body 4 to which the two pairs of auxiliary wheels 3 are fixed. Further, a projection 45 projecting upward from a portion between the two cylindrical portions 44 is provided on the upper surface of the center piece 41, and the other end portion (lower end portion) of the coil spring 6 is inserted into the projection 45. In this way, the two shafts 25 provided in the fixed plate 24 are inserted into the two cylindrical portions 44 of the support body 4 one by one, and the coil spring 6 is mounted between the central piece 41 of the support body 4 and the fixed plate 24.

Thereby, the support body 4 is attached to the main body 10 so as to be movable along the longitudinal direction of the shaft 25. That is, the pair of shafts 25 and the pair of cylindrical portions 44 into which the pair of shafts 25 are inserted respectively constitute the guide support portion 5 that supports (holds) the support body 4 in a movable state along the predetermined moving direction DR 1. The support 4 is attached to the main body 10 so as to be movable along the moving direction DR 1. Here, the movable direction DR1 in which the support body 4 is movable is along a normal VL1 (see fig. 2) of a moving surface B1 on which the moving body 1 moves. In other words, the movable direction DR1 of the support 4 is parallel to the normal VL1 of the moving surface B1, and the support 4 is movable in the direction (vertical direction) orthogonal to the moving surface B1. Note that the parallelism of the moving direction DR1 with respect to the normal line VL1 of the moving surface B1 is not limited to a state in which the straight line parallel to the moving direction DR1 is perfectly parallel to the normal line VL1 of the moving surface B1, and an angle formed by the straight line parallel to the moving direction DR1 and the normal line VL1 of the moving surface B1 may be within a predetermined allowable error range (about several degrees). The direction perpendicular to the moving surface B1 is not limited to the direction perpendicular to the moving surface B1, and may be deviated from perpendicular as long as the deviation is within an error range of about several degrees.

As described above, in the present embodiment, the support body 4 provided with the auxiliary wheel 3 is configured to be movable in the predetermined movement direction DR1 with respect to the main body 10. Therefore, when the auxiliary wheel 3 climbs up and down the travel surface B1, the support body 4 moves upward relative to the main body 10, and the contact state between the drive wheel 2 and the travel surface B1 can be easily maintained. This makes it difficult to reduce the driving force or braking force generated by the driving wheels 2, and can suppress a decrease in the motion stability of the mobile unit 1.

In the present embodiment, four auxiliary wheels 3 are provided on the support body 4, but a plurality of auxiliary wheels 3 may be provided on the support body 4, and two or three auxiliary wheels 3 may be provided on the support body 4, or five or more auxiliary wheels 3 may be provided on the support body 4.

In the present embodiment, one or more auxiliary wheels 3 (two auxiliary wheels in fig. 1 and 2) are disposed on the support body 4 and on both sides of the drive wheel 2 in the traveling direction of the main body 10. Therefore, when the body 10 tries to tilt to the rear side when the moving body 1 accelerates, the body 10 can be supported by the rear auxiliary wheels 3, and when the body 10 tries to tilt to the front side when the moving body 1 decelerates, the body 10 can be supported by the front auxiliary wheels 3, so that a change in the posture of the body 10 can be suppressed.

Further, the coil spring 6 is mounted in a compressed state between the support body 4 and the fixing plate 24. Therefore, the pair of front auxiliary wheels 31 and the pair of rear auxiliary wheels 32 attached to the support body 4 are pressed against the movement surface B1 by the elastic force of the coil spring 6. That is, the movable body 1 of the present embodiment further includes an elastic body that generates an elastic force that presses the support body 4 downward (the moving surface B1). Here, "downward" is preferably the direction of gravity, and is preferably the normal direction of the moving surface B1 when the moving surface B1 is horizontal, but may be a deviation within a predetermined allowable angle from the direction of gravity. In the present embodiment, the elastic body is formed of a coil spring 6.

In the present embodiment, the elastic member is, for example, the coil spring 6, and the coil spring 6 can press the support body 4 downward with respect to the main body 10, thereby pressing the auxiliary wheel 3 provided on the support body 4 against the traveling surface B1. Therefore, when the moving body 1 is accelerated or decelerated, the main body 10 tends to tilt to the rear side or the front side due to inertia, but the main body 10 is pressed upward by the elastic force F1 of the coil spring 6, so that there is an advantage that the main body 10 is hard to tilt to the rear side or the front side. For example, when the main body 10 tries to tilt to the rear side when the mobile body 1 accelerates, a load corresponding to the inertial force G1 generated in the main body 10 is applied to the rear auxiliary wheels 32. At this time, when a force to tilt the main body 10 rearward is generated, the coil spring 6 is deflected, and the support body 4 is pressed downward by the elastic force of the coil spring 6, so that the rear auxiliary wheel 32 receives a reaction force F2 equal to the elastic force F1 of the coil spring 6 from the moving surface B1. Here, when the height of the center of gravity P1 of the main body 10 from the movement plane B1 is H1, the moment to tilt the main body 10 to the rear side due to the inertial force G1 is (G1 × H1). Therefore, when the distance between the center of gravity P1 and the rear auxiliary wheel 32 is d1, if the relationship of G1 × H1 — F2 × d1 is established, the moment that the body 10 tries to tilt rearward due to the inertial force G1 is cancelled by the reaction force corresponding to the spring force of the coil spring 6, and therefore the change in the posture of the body 10 is suppressed. Therefore, the spring constant of the coil spring 6 may be set so that the relationship of G1 × H1 — F2 × d1 is satisfied, and the change in the posture of the main body 10 due to acceleration/deceleration of the moving body 1 can be suppressed by the elastic force of the coil spring 6. The elastic body that presses the support body 4 downward with respect to the main body 10 is not limited to the coil spring 6, and may be a plate spring or the like.

As described above, in a state where all of the plurality of auxiliary wheels 3 and the drive wheel 2 are in contact with the travel surface B1 on which the moving body 1 travels, the plurality of auxiliary wheels 3 are pressed against the travel surface B1 by the elastic force generated by the elastic body (coil spring 6). When the moving body 1 accelerates or decelerates, the main body 10 tries to tilt backward or forward due to the inertia of the main body 10, but the plurality of auxiliary wheels 3 are pressed against the moving surface B1 by the elastic force of the coil spring 6, so that the tilting of the main body 10 backward or forward can be suppressed. Therefore, it is possible to suppress the change in the posture of the main body 10 when the moving body 1 is accelerated or decelerated, and to suppress the amplitude of the vibration applied to the object a1 coupled to the moving body 1 due to the change in the posture of the moving body 1. Therefore, the influence of the vibration applied to the object a1 or the article mounted on the object a1 can be suppressed.

In the present embodiment, one spring system for pressing the support body 4 provided with the pair of front auxiliary wheels 31 and the pair of rear auxiliary wheels 32 downward with respect to the main body 10 is constituted by one elastic body (coil spring 6). Here, when an elastic body (spring system) that presses the front auxiliary wheel 31 against the moving surface B1 and an elastic body (spring system) that presses the rear auxiliary wheel 32 against the moving surface B1 are provided, respectively, the elastic forces of the two elastic bodies (spring systems) are applied to the moving surface B1. In other words, since the main body 10 is lifted from the travel surface B1 by the two spring systems, there is a possibility that the force with which the drive wheel 2 provided on the main body 10 grips the travel surface B1 is weakened. In contrast, in the present embodiment, since the elastic body for pressing the front auxiliary wheel 31 against the movement surface B1 and the elastic body for pressing the rear auxiliary wheel 32 against the movement surface B1 are formed of one elastic body (spring system), the force for lifting the main body 10 from the movement surface B1 is generated by only one elastic body (spring system). Therefore, a decrease in the force with which the drive wheels 2 grip the moving surface B1 can be suppressed, and a decrease in the driving force or braking force of the drive wheels 2 can be suppressed, so that a decrease in the motion stability can be suppressed. In the present embodiment, one spring system for pressing the support body 4 provided with the plurality of auxiliary wheels 3 downward with respect to the main body 10 is constituted by one coil spring 6, but the one spring system may be constituted by a plurality of elastic bodies provided in series or in parallel.

In the present embodiment, the support body 4 and the elastic body are configured such that the spring constant of the elastic body (coil spring 6) is smaller than the spring constant of the portion (front leg piece 42 or rear leg piece 43) of the support body 4 where the auxiliary wheel 3 is provided. The portion of the support body 4 where the auxiliary wheel 3 is provided is a front leg piece 42 and a rear leg piece 43 that project forward and rearward from the center piece 41, respectively, and the spring constant of the front leg piece 42 and the rear leg piece 43 is larger than that of the coil spring 6. Since the front leg piece 42 and the rear leg piece 43 are less likely to deflect than the coil spring 6, when the auxiliary wheel 3 climbs up to the undulation B2 of the travel surface B1 as shown in fig. 4, the undulation B2 of the travel surface B1 can be absorbed by compressing the coil spring 6.

Next, the detection unit 14 will be explained. The detection unit 14 detects the behavior of the main body 10, the peripheral condition of the main body 10, and the like. The term "action" as used herein refers to an action or situation. That is, the action of the main body 10 includes an operation state of the main body 10 indicating that the main body 10 is traveling/stopped, a moving distance and a traveling time of the main body 10, a speed (and a speed change) of the main body 10, an acceleration acting on the main body 10, an attitude of the main body 10, and the like.

The Detection unit 14 includes sensors such as a lidar (light Detection and ranging)141 for detecting an object present around the main body 10 and a magnetic sensor 142 for detecting a guide line provided on the travel surface B1.

The LiDAR141 detects the presence or absence of an object in the periphery of the main body 10, detects the position of the object when the object is present, and outputs the detection result to the control device 11. The control device 11 can avoid a collision with an object based on information of the object detected by the LiDAR 141.

Here, it is preferable that a detection unit 14 (for example, LiDAR141 in the present embodiment) for detecting an object present around the main body 10 be supported by the main body 10. That is, preferably, the LiDAR141 is fixedly provided to the main body 10. Even when the moving surface B1 undulates, since the posture of the main body 10 can be suppressed from changing by moving the support body 4 to which the auxiliary wheels 3 are attached in the moving direction DR1 with respect to the main body 10, the posture of the LiDAR141 provided on the main body 10 can be suppressed from changing with respect to the moving surface B1. Therefore, the possibility that the LiDAR141 erroneously detects the moving surface B1 as an object existing around the main body 10 can be reduced. The detection unit 14 for detecting an object present around the main body 10 is not limited to the LiDAR 141. As such a sensor, a sensor that detects an object using at least one of sound waves, light, and radio waves may be used.

The guide line provided on the travel surface B1 is formed of, for example, rubber or the like including a hard magnetic material such as a permanent magnet material, and is formed linearly on the surface of the travel surface B1 along the travel path of the moving body 1.

The magnetic sensor 142 magnetically detects the guide wire provided on the moving surface B1. The control device 11 controls the right driving wheel unit 20R and the left driving wheel unit 20L based on the detection result of the magnetic sensor 142, and moves the moving body 1 so that the moving body 1 passes over the guide line.

As described above, in the present embodiment, the two front auxiliary wheels 31 are disposed on the left and right sides of the front portion of the main body 10, the two rear auxiliary wheels 32 are disposed on the left and right sides of the rear portion of the main body 10, and the two drive wheels 2 are disposed on the left and right sides of the central portion of the main body 10. That is, since the wheels (the front auxiliary wheels 31 and the rear auxiliary wheels 32) are not disposed at the center positions in the left-right direction in the front and rear portions of the main body 10, one magnetic sensor 142 can be disposed at each center position. Therefore, when the moving body 1 is moved forward or backward so that the center position in the left-right direction of the main body 10 passes over the guide line based on the detection result of the magnetic sensor 142, the drive wheel 2 and the auxiliary wheel 3 can be prevented from passing over the guide line, and thus the loss of the guide line can be suppressed.

In the moving surface B1, it is not essential to provide a guide line throughout the entire travel path of the moving body 1, and a guide mark made of a magnetic material may be provided at a main portion of the travel path, so that the moving body 1 can move while following the guide mark. The guide line or the guide mark provided on the travel surface B1 is not limited to the guide of the moving object 1 by magnetism, and a guide line or a guide mark (for example, a two-dimensional barcode or the like) detected by an image sensor provided on the moving object 1 may be provided on the travel surface B1. The guide line or the guide mark may be detected by a contact sensor provided in the movable body 1.

The detection unit 14 may detect the presence position of the conveyor X1 in the predetermined area based on the position information of the peripheral object detected by the LiDAR141 and the electronic map information of the predetermined area, and output the detection result of the presence position to the control device 11. The detection unit 14 may include a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters, detect the current position based on the beacon signals transmitted by the plurality of transmitters, and output the detection result of the current position to the control device 11. Here, the plurality of transmitters are disposed at a plurality of locations within a predetermined area where the transport device X1 moves. The detection unit 14 measures the current position of the mobile unit 1 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. The detection unit 14 may detect the current position of the mobile object 1 using a global Positioning system such as gps (global Positioning system).

The control device 11 includes, for example, a microcomputer having one or more processors and memories. In other words, the control device 11 is realized by a computer system having one or more processors and memories. The control device 11 outputs a control command to each of the drive wheel units 20 and controls the direction and rotation of each of the drive wheels 2 based on, for example, a conveyance instruction from the host system 100 and a detection result of the detection unit 14, thereby moving the moving body 1 in a desired direction at a desired speed.

The power source 12 is, for example, a secondary battery. The power source 12 directly or indirectly supplies electric power to the left and right driving wheel units 20L and 20R, the control device 11, the communication unit 13, the detection unit 14, and the like. The power may be supplied from the outside to the conveyor device X1, and in this case, the conveyor device X1 may not include the power source 12.

The communication unit 13 is configured to be able to communicate with the upper system 100. In the present embodiment, the communication unit 13 communicates with any one of the plurality of relays R1 provided in a predetermined area where the transport device X1 moves, by wireless communication using radio waves as a medium. Therefore, the communication unit 13 communicates with the upper system 100 indirectly via at least the network NT1 and the repeater R1.

Each of the repeaters R1 is a device (access point) for relaying communication between the communication unit 13 and the upper system 100. The repeater R1 communicates with the upper system 100 via the network NT 1. In the present embodiment, as an example, wireless communication conforming to specifications such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) which does not require permission is adopted for communication between the repeater R1 and the communication unit 13. The network NT1 is not limited to the internet, and may be a local communication network in a predetermined area where the transport apparatus X1 moves or an operating company in the predetermined area, for example.

(2.3) component mounting System

As shown in fig. 10, the transport device X1 of the present embodiment is used in a component mounting system W1 including at least one component mounter 80 that mounts components on a substrate.

The component mounting apparatus 80 includes: a feeder carriage 81 (see fig. 10) that supplies components; and a mounting body 82 including a mounting head that mounts a component to a substrate.

The feeder carriage 81 is used to supply components to a mounting body 82 of a component mounting machine 80 provided in a factory. The "component mounter" referred to herein is, for example, a machine that mounts components on an object such as a substrate. The mounting body 82 includes a mounting head that mounts a component to a substrate. In the present embodiment, the feeder device X1 conveys the feeder carriage 81 as the object a1 to the installation location of the mounting body 82 of the component mounter 80. Thereby, the component mounting system W1 can be constructed. In other words, the component mounting system W1 is a system including at least one component mounter 80 that mounts components on a substrate. And, the feeder carriage 81 is conveyed to the mounting body 82 by the conveying device X1. In the present embodiment, the transport device X1 receives an instruction from the host system 100, for example, and moves the feeder carriage 81 placed at a certain position in a predetermined area to a position connected to the mounting body 82. When the transport device X1 moves the feeder carriage 81 into the recess 821 provided on the side surface of the mounting body 82, the second connector of the feeder carriage 81 is connected to the first connector provided on the mounting body 82, and thereby the mounting body 82 and the feeder carriage 81 are connected to each other. In a state where the mounting body 82 and the feeder carriage 81 are connected to each other, the parts can be supplied from the feeder carriage 81 to the mounting body 82.

Here, the transport device X1 is preferably connectable to a portion of the feeder carriage 81 on the opposite side of the portion where the components are discharged to the mounting body 82. In this case, when the feeder carriage 81 is conveyed to the installation place of the mounting body 82 of the component mounting machine 80, the part of the feeder carriage 81 where the components are discharged faces the mounting body 82. Therefore, when the feeder carriage 81 is conveyed to the installation place of the mounting body 82 of the component mounting apparatus 80, the operation of changing the orientation of the feeder carriage 81 so that the discharged portion is directed to the mounting body 82 may not be performed.

(3) Movement of

An example of the operation of the transport apparatus X1 using the moving object 1 according to the present embodiment will be described below with reference to the drawings.

The transport device X1 of the present embodiment performs an operation of transporting the object a1 by moving together with the object a1 connected by the connection portion 181. Here, the connection portion 181 connects the object a1 with a degree of freedom in the vertical direction.

In the transport apparatus X1 according to the present embodiment, as shown in fig. 4, when the auxiliary wheels 3 (the front auxiliary wheel 31 and the rear auxiliary wheel 32) climb up to the undulations B2 of the travel surface B1, the main body 10 can be lowered by its own weight, and the drive wheel 2 can be brought into contact with the travel surface B1. This can suppress a decrease in the driving force or braking force of the driving wheels 2 while maintaining the state in which the driving wheels 2 and the auxiliary wheels 3 are in contact with the travel surface B1, and thus can suppress a decrease in the motion stability of the moving body 1.

(4) Modification example

Modifications of the above embodiment will be described below. The modifications described below can be applied in appropriate combinations.

The moving body 1 (conveyance device X1) in the present invention includes a computer system. The computer system has a main structure including a processor and a memory as hardware. The function as the moving body 1 (conveyance device X1) in the present invention is realized by executing a program recorded in a memory of a computer system by a processor. The program may be recorded in advance in a memory of the computer system, may be provided via a telecommunication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. A processor of a computer system is constituted by one or more electronic circuits including a semiconductor Integrated Circuit (IC) or a large scale integrated circuit (LSI). The integrated circuits such as ICs and LSIs referred to herein are called differently depending on the degree of Integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ulsi (ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array) programmed after the manufacture of the LSI, or a logic device capable of reconstructing a bonding relationship inside the LSI or reconstructing a circuit section inside the LSI can also be used as a processor. The plurality of electronic circuits may be provided in a single chip or may be provided in a plurality of chips in a dispersed manner. The plurality of chips may be provided in a single device or may be provided in a plurality of devices in a distributed manner. The computer system described herein includes a microcontroller having more than one processor and more than one memory. Therefore, for the microcontroller, it is also constituted by one or more electronic circuits including a semiconductor integrated circuit or a large scale integrated circuit.

(4.1) modification 1

As shown in fig. 6, the moving body 1 of modification 1 is different from the above-described embodiment in that the support body 4 is attached to the main body 10 at a position shifted from the center of gravity P1 in the front-rear direction of the moving body 1. In the mobile unit 1 of modification 1, the same reference numerals are given to the components common to the mobile unit 1 of the above embodiment, and the description thereof will be omitted.

In the moving body 1 of the above embodiment, as shown in fig. 2, the support body 4 is attached to the main body 10 in the front-rear direction of the moving body 1 and in the vicinity of the center of gravity P1. Therefore, the load due to the elastic force of the coil spring 6 can be equally applied to the front auxiliary wheel 31 and the rear auxiliary wheel 32.

In contrast, in the present embodiment, as shown in fig. 6, the support body 4 is attached to the main body 10 at a position shifted from the center of gravity P1 in the front-rear direction of the moving body 1. Accordingly, the elastic force generated by the coil spring 6 can be distributed to the front auxiliary wheel 31 and the rear auxiliary wheel 32 in accordance with the distance L1 from the position where the support body 4 is supported by the main body 10 via the coil spring 6 to the front auxiliary wheel 31 and the distance L2 to the rear auxiliary wheel 32.

The position at which the support body 4 is attached to the main body 10 can be appropriately changed according to the shape and weight of the moving body 1, the moving manner of the moving body 1, and the like.

(4.2) modification 2

As shown in fig. 7, the moving body 1 of modification 2 is different from the above-described embodiment in that a damper 7 that suppresses movement of the support body 4 with respect to the main body 10 is further provided. Since the same components as those of the moving body 1 of the above embodiment are common to the above embodiment except for the damper 7, the same reference numerals are given to the components common to the moving body 1 of the above embodiment, and the description thereof will be omitted.

The damper 7 is, for example, a hydraulic damper in which oil is filled in the interior of a piston, and is attached between the main body 10 and the support body 4. Specifically, the damper 7 is mounted between the fixed plate 24 and the support body 4 of the main body 10. When the support body 4 moves in the movement direction DR1 with respect to the main body 10, the damper 7 applies a damping force to the support body 4 in accordance with the movement of the support body 4, thereby damping the movement of the support body 4 over time. Therefore, the influence of vibration on the object a1 conveyed by the moving body 1 or the article mounted on the object a1 can be suppressed.

The damper 7 is not limited to the hydraulic damper, and may be formed of a viscous damper, a viscoelastic damper, or the like.

(4.3) modification 3

As shown in fig. 8 and 9, the moving body 1 of modification 3 is different from the above-described embodiment in that a pair of front auxiliary wheels 31 are attached to a support body 4A via a link mechanism 70, and a pair of rear auxiliary wheels 32 are attached to the support body 4A via the link mechanism 70. Since the link mechanism 70 and the support body 4A are common to the above-described embodiments, the same reference numerals are given to the components common to the moving body 1 of the above-described embodiment, and the description thereof is omitted.

The support body 4A is formed in a flat plate shape having a longer dimension in the front-rear direction than in the left-right direction. Support pieces 47 projecting upward are provided at the front end portion and the rear end portion of the support body 4A, respectively.

The link mechanism 70 has a plate-like link plate 71 having a longer dimension in the left-right direction than in the front-rear direction. Both right and left end portions of the lower surface of the link plate 71 extend outward of the support body 4A, and the auxiliary wheels 3 (the front auxiliary wheel 31 or the rear auxiliary wheel 32) are attached to both right and left end portions of the lower surface of the link plate 71, respectively. A support piece 72 is provided at the center in the left-right direction of the lower surface of the link plate 71. The link plate 71 is attached to the support body 4A so as to be rotatable about the rotation shaft 73 by inserting the rotation shaft 73 through the hole of the support piece 72 and the hole of the support piece 47.

Thus, the pair of front auxiliary wheels 31 attached to the link plate 71 are provided on the support body 4A so as to be rotatable about the rotation shaft 73. The pair of rear auxiliary wheels 32 attached to the link plate 71 are provided on the support body 4A so as to be rotatable about the rotation shaft 73. For example, as shown in fig. 8 and 9, when only the right front auxiliary wheel 31 of the pair of front auxiliary wheels 31 climbs up to the undulation B2 of the travel surface B1, both the front auxiliary wheels 31 supported by the link plate 71 can be brought into contact with the travel surface B1 by the link plate 71 rotating about the rotation shaft 73. Therefore, the auxiliary wheels 3 (the front auxiliary wheels 31 and the rear auxiliary wheels 32) and the drive wheels 2 can be kept in a state of being in contact with the travel surface B1, and the reduction in the driving force or the braking force of the drive wheels 2 can be suppressed, so that the reduction in the motion stability of the moving body 1 can be suppressed.

(4.4) other modifications

In the above embodiment, the plurality of auxiliary wheels 3 are fixed to the support body 4, but elastic members may be provided between each of the plurality of auxiliary wheels 3 and the support body 4. That is, the plurality of auxiliary wheels 3 may be attached to the support body 4 via elastic members (coil springs, leaf springs, or the like), so that vibrations applied to the plurality of auxiliary wheels 3 can be absorbed by the elastic members.

(conclusion)

As described above, the mobile body 1 according to the first aspect includes the main body 10, at least one drive wheel 2, a plurality of auxiliary wheels 3, the support body 4, and the guide support portion 5. At least one driving wheel 2 is provided to the main body 10. The plurality of auxiliary wheels 3 are provided on the support body 4. The guide support portion 5 supports the support body 4 with respect to the main body 10 in a state of being movable along a predetermined movement direction DR 1. The support 4 is attached to the main body 10 so as to be movable along the moving direction DR 1.